CN114750143B - Rope robot for energy recovery, control method and device thereof, and storage medium - Google Patents

Abstract

The embodiment of the application provides a rope robot for energy recovery, a control method and a control device thereof and a storage medium, and relates to the technical field of parallel robots. Wherein such a rope robot comprises a control assembly, a handling assembly and at least two power assemblies. The power assembly comprises a T-shaped groove platform, a winch, a support column connected with the T-shaped groove platform, a guide pulley connected with the support column, a sling with two ends respectively connected with the winch and the carrying assembly, a motor and a clutch connected with the winch, a driver electrically connected with the motor, a pump motor connected with the clutch, an oil tank and an electric control valve respectively connected with an inlet and an outlet of the pump motor, a hydraulic accumulator connected with the electric control valve, and a pressure sensor connected between the pump motor and the hydraulic accumulator. The control assembly is electrically connected to the driver, the pressure sensor and the electrically controlled valve. Potential energy of the rope robot in the falling process of the heavy objects is recovered, the electric energy consumption of a motor is reduced, and the energy utilization rate and the working efficiency of the whole device are improved.

Description

Energy recovery rope robot and its control method, device and storage medium

Technical field

The present invention relates to the technical field of parallel robots, and specifically to an energy recovery rope robot and its control method, device and storage medium.

Background technique

Cargo handling is crucial in processing production lines, packaging and palletizing, machinery manufacturing and other industries. Hoisting machinery currently plays the main role in heavy-duty cargo handling, such as gantry cranes, wheeled cranes, etc., but its handling accuracy depends on the operator. proficiency.

With the rapid development of the economy, various emerging industries are rising rapidly. While the economy is growing, the labor structure of society is also changing. In recent years, robot technology has also been applied to the handling industry. Series robots have been widely used in various industrial handling industries due to their large working space and good flexibility. However, their shortcomings such as low load-bearing ratio, low rigidity, and large cumulative error are not Suitable for various heavy-load situations.

In view of this, the applicant proposes this application after studying the existing technology.

Contents of the invention

The invention provides an energy recovery rope robot and its control method, device and storage medium to improve the above technical problems.

first,

Embodiments of the present invention provide an energy recovery rope robot, which includes a control component, a handling component and at least two power components. The handling component is used to engage with the load to move the load.

The power component includes a T-slot platform and a hoist, a support column connected to the T-slot platform, a guide pulley connected to the support column, a sling that passes through the guide pulley and is connected to the hoist and the handling assembly at both ends, and a motor connected to the winch. , a driver electrically connected to the motor, a clutch connected to the hoist, a pump motor connected to the clutch, a fuel tank and an electric control valve respectively connected to the inlet and outlet of the pump motor, a hydraulic accumulator connected to the electric control valve, and a hydraulic accumulator connected to the pump motor and pressure sensor between the hydraulic accumulator.

The control component includes a host computer and a motion controller electrically connected to the host computer. The motion controller is electrically connected to the driver, pressure sensor and electronically controlled valve.

Second aspect,

An embodiment of the present invention provides a control method for an energy-recovery rope robot, which includes steps S1 to S4.

S1. Obtain the trajectory planning of the rope robot.

S2. Control the motor operation according to the trajectory planning and determine the load conditions.

S3. When it is determined that the load condition is falling, open the electronic control valve and connect the clutch so that the hoisting mechanism compresses the hydraulic oil in the tank into the hydraulic accumulator through the pump motor for energy recovery, and at the same time determines the hydraulic energy storage Check whether the pressure of the device exceeds a predetermined value. When it is determined that the pressure of the hydraulic accumulator exceeds the preset value, the electronically controlled valve is closed and the clutch is disconnected.

S4. When it is determined that the load condition is rising, determine whether the pressure of the hydraulic accumulator is greater than the preset value. When it is determined that the pressure of the hydraulic accumulator is greater than the preset value, the electronically controlled valve is opened and the clutch is connected so that the hydraulic accumulator drives the pump motor to operate, thereby assisting in driving the hoist.

The third aspect,

An embodiment of the present invention provides a control device for an energy recovery rope robot, which includes:

The trajectory acquisition module is used to obtain the trajectory planning of the rope robot.

The working condition judgment module is used to control the operation of the motor according to the trajectory planning and judge the working condition of the load.

The first execution module is used to open the electronic control valve and connect the clutch when it is judged that the load condition is falling, so that the hoisting mechanism compresses the hydraulic oil in the tank into the hydraulic accumulator through the pump motor for energy recovery. At the same time, it is judged whether the pressure of the hydraulic accumulator exceeds a predetermined value. When it is determined that the pressure of the hydraulic accumulator exceeds the preset value, the electronically controlled valve is closed and the clutch is disconnected.

The second execution module is used to determine whether the pressure of the hydraulic accumulator is greater than the preset value when it is determined that the load condition is rising. When it is determined that the pressure of the hydraulic accumulator is greater than the preset value, the electronically controlled valve is opened and the clutch is connected so that the hydraulic accumulator drives the pump motor to operate, thereby assisting in driving the hoist.

The fourth aspect,

An embodiment of the present invention provides a computer-readable storage medium. The computer-readable storage medium includes a stored computer program, wherein when the computer program is run, the device where the computer-readable storage medium is located is controlled to execute the method for controlling the rope robot as described in any paragraph of the second aspect.

By adopting the above technical solutions, the present invention can achieve the following technical effects:

The energy-recovery rope robot according to the embodiment of the present invention can be used for heavy object transportation, hoisting and other operations. It has a large working range and a simple structure. It can automatically complete heavy object transportation operations with high precision, recover the potential energy during the descent of heavy objects, and can The recovered energy is used to assist the motor driving operation, which reduces the electric energy consumption of the motor and improves the energy utilization rate and the working efficiency of the entire device.

In order to make the above-mentioned objects, features and advantages of the present invention more obvious and understandable, preferred embodiments are given below and described in detail with reference to the accompanying drawings.

Description of the drawings

In order to explain the technical solutions of the embodiments of the present invention more clearly, the drawings required to be used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and therefore do not It should be regarded as a limitation of the scope. For those of ordinary skill in the art, other relevant drawings can be obtained based on these drawings without exerting creative efforts.

Figure 1 is an isometric view of a rope robot provided by the first embodiment of the present invention;

Figure 2 is a top view of the rope robot provided by the first embodiment of the present invention;

Figure 3 is a control principle diagram of the rope robot provided by the first embodiment of the present invention;

Figure 4 is a schematic flowchart of a control method provided by the second embodiment of the present invention.

Marked in the picture: 1-support column, 2-T-shaped slot platform, 3-beam, 4-guide pulley, 5-winch, 6-transportation platform, 7-hoisting part, 8-sling, 9-electric control cabinet, 10-motor, 11-driver, 12-host computer, 13-motion controller, 14-clutch, 15-pump motor, 16-fuel tank, 17-first pressure sensor, 18-second pressure sensor, 19-hydraulic accumulator energizer, 20-electronic control valve, 21-relief valve.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of the present invention.

In order to better understand the technical solution of the present invention, the embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

The terminology used in the embodiments of the present invention is only for the purpose of describing specific embodiments and is not intended to limit the present invention. As used in this embodiment and the appended claims, the singular forms "a," "the" and "the" are intended to include the plural forms as well, unless the context clearly dictates otherwise.

It should be understood that the term "and/or" used in this article is only an association relationship describing related objects, indicating that there can be three relationships, for example, A and/or B, which can mean: A alone exists, and A and A exist simultaneously. B, there are three situations of B alone. In addition, the character "/" in this article generally indicates that the related objects are an "or" relationship.

Depending on the context, the word "if" as used herein may be interpreted as "when" or "when" or "in response to determination" or "in response to detection." Similarly, depending on the context, the phrase "if determined" or "if (stated condition or event) is detected" may be interpreted as "when determined" or "in response to determining" or "when (stated condition or event) is detected )" or "in response to detecting (a stated condition or event)".

The "first\second" mentioned in the embodiment is only to distinguish similar objects and does not represent a specific ordering of the objects. It is understandable that the "first\second" can be interchanged if allowed. Sequence or sequence. It is to be understood that the "first\second" distinction is interchangeable under appropriate circumstances so that the embodiments described herein can be practiced in sequences other than those illustrated or described herein.

The present invention will be described in further detail below in conjunction with the accompanying drawings and specific embodiments:

Example 1:

Referring to FIGS. 1 to 3 , a first embodiment of the present invention provides an energy recovery rope robot, which includes a control component, a handling component and at least two power components. The handling component is used to engage with the load to move the load.

The power assembly includes a T-slot platform 2 and a hoist 5, a support column 1 connected to the T-slot platform 2, a guide pulley 4 connected to the support column 1, and a guide pulley 4 with both ends connected to the hoist 5 and the handling assembly respectively. The sling 8, the motor 10 coupled to the hoist 5, the driver 11 electrically connected to the motor 10, the clutch 14 coupled to the hoist 5, the pump motor 15 coupled to the clutch 14, the oil tank 16 coupled to the inlet and outlet of the pump motor 15, and The electronically controlled valve 20 , the hydraulic accumulator 19 coupled to the electronically controlled valve 20 , and the pressure sensor coupled between the pump motor 15 and the hydraulic accumulator 19 . Preferably, the motor 10 and the clutch 14 are respectively engaged with the rotating shaft of the hoist 5 .

The control component includes a host computer 12 and a motion controller 13 electrically connected to the host computer 12 . The motion controller 13 is electrically connected to the driver 11 , the pressure sensor and the electronically controlled valve 20 . Preferably, the rope robot also includes an electric control cabinet 9 . The electric control cabinet 9 is electrically connected to the motor 10, the driver 11 and the motion controller 13, and is used to supply power to the motor 10, the driver 11 and the motion controller 13.

Preferably, the rope robot also includes a reinforcing component, which includes a cross beam 3 disposed between the support columns 1 .

Specifically, the T-slot platform 2 and the bottom of the support column 1 are fixed by bolts, and beams 3 are added between the connected support columns 1 for reinforcement. The overall structure is easy to disassemble and can be reassembled according to different needs. The pulley group is fixed on the top of the support column 1; three servo motors 10 and drivers 11 are set below the support column 1 and connected to the winch 5. The rotation of the motor 10 drives the rotation of the winch 5. The wire rope is wrapped around the winch 5 and passes through 4 sets of guide pulleys. It is connected to the lifting ring of the transportation platform 6; the rotation of the winch 5 drives the retraction and release of the rope, thereby realizing the movement of the transportation platform 6 according to the expected planned trajectory; the motion controller 13 is connected to the motor driver 11 and the upper computer 12, and according to the actual transportation needs, through the upper computer The machine 12 performs trajectory planning and sends trajectory control instructions to the motion controller 13; the encoder of the motor 10 forms real-time communication with the host computer 12, and continuously optimizes the terminal trajectory through real-time feedback of the actual rotation speed of the motor 10; the rotating shaft of the winch 5 is connected to the clutch 14, and the clutch 14 is connected to the pump motor 15, the pump motor 15 is connected to the oil tank 16, the outlet of the pump motor 15 is connected to the first pressure sensor 17, the electronic control valve 20 is connected to the hydraulic accumulator 19, the hydraulic accumulator 19 is connected to the relief valve 21, The second sensor is connected, the relief valve 21 is connected to the oil cylinder, and the first sensor, the second sensor, and the proportional solenoid valve are all connected to the motion controller 13 to form communication.

According to the embodiment of the present invention, the rope robot capable of energy recovery uses the sling 8 to replace the rigid connecting rod of the traditional parallel robot, which reduces the manufacturing cost, increases the robot working space, and retains its advantages of strong load capacity and high precision. The platform is easy to disassemble and reassemble, and the structure can be changed according to different operating environments. It can automatically complete heavy object transportation operations according to trajectory planning. Through the connection between the host computer 12, the controller, the motor driver 11, the motor 10, the reel and the end handling platform 6, real-time communication is formed, different trajectories can be planned according to different working conditions, and cargo handling operations can be automatically completed with high precision.

Adding a hydraulic system (pump motor 15 and hydraulic accumulator 19) to the drive unit can recover the potential energy during the descent of the heavy object, and can use the recovered energy to assist the driving operation of the motor 10, reducing the power consumption of the motor 10 and increasing the energy utilization and overall plant efficiency.

As shown in Figures 1 and 2, based on the above embodiments, in an optional embodiment of the present invention, the rope robot includes three power components. Specifically, the cross beam 3 is a steel frame cross beam 3. Three power components form a triangle, and the rope robot is used to move the handling components within the triangle.

It should be noted that in other embodiments, the number of power assemblies may be four, five, or other numbers, which is not specifically limited by the present invention.

Preferably, the transportation assembly includes a transportation platform 6 and a lifting part 7 arranged on the transportation platform 6 . The lifting part 7 is used to engage the sling 8 . The sling 8 is a steel wire rope. In this embodiment, the handling component is in the form of a platform for placing the load. In other embodiments, the handling component can be in the form of a hook for hoisting the load. The invention does not limit the specific structure of the handling component.

As shown in FIG. 3 , based on the above embodiment, in an optional embodiment of the present invention, the power assembly further includes a relief valve 21 coupled between the electronically controlled valve 20 and the oil tank 16 . The power assembly includes a first pressure sensor 17 and a second pressure sensor 18 . The first pressure sensor 17 is coupled between the pump motor 15 and the electronically controlled valve 20 . The second pressure sensor 18 is coupled between the electronically controlled valve 20 and the hydraulic accumulator 19 . Specifically, the electronic control valve 20 is a two-position, two-way proportional solenoid valve.

Embodiment 2.

Embodiments of the present invention provide a control method for an energy-recovery rope robot, which can be executed by a rope robot capable of energy recovery, in particular, by one or more processors in the rope robot to implement steps S1 to S1. Step S4.

S1. Obtain the trajectory planning of the rope robot.

Specifically, the actual demand for load movement is obtained according to the control instructions of the remote control or the control instructions of the automation system. The host computer 12 plans the transportation trajectory according to the actual working conditions and sends the trajectory plan to the motion controller 13. The motion controller 13 The trajectory command is sent to the motor driver 11 to drive the motor 10 to rotate, and the actual speed information can be obtained from the encoder provided by the motor 10. The actual speed information is fed back to the motion controller 13 through the motor driver 11, and the motion controller 13 feeds back the error information. Back to the host computer 12, the host computer 12 continuously corrects the trajectory based on the error information to form a closed-loop control.

It can be understood that planning the transportation trajectory according to the requirements of the working conditions belongs to the existing technology, and will not be described in detail in the present invention.

Before step S1, it also includes opening the electric control cabinet 9, starting the motion controller 13, and powering on to detect whether the motion controller 13, driver 11, motor 10, first pressure sensor 17, second pressure sensor 18, and electronic control valve 20 are working normally. , if a fault occurs, the power should be cut off to eliminate the fault and then restart each unit.

S2. Control the operation of the motor 10 according to the trajectory planning, and determine the working conditions of the load.

Specifically, the rotating shaft of the winch 5 is connected to the clutch 14, the clutch 14 is connected to the pump motor 15, the pump motor 15 is connected to the oil tank 16, the first pressure sensor 17 is connected to the outlet of the pump motor 15, and the second sensor is connected to the inlet and outlet of the hydraulic accumulator 19. connected, the electronic control valve 20 is connected to the hydraulic accumulator 19 and the relief valve 21; the outlet of the relief valve 21 is connected to the fuel tank 16, and the electronic control valve 20, the first pressure sensor 17 and the second sensor are all connected to the motion controller 13 form communications.

The motion controller 13 sends the received trajectory information to the driver 11, and the motor driver 11 drives the motor 10 to rotate, thereby driving the drum to rotate, realizing the contraction of the rope, thereby controlling the movement of the end platform. The host computer 12 can determine the direction of rotation of the motor 10 through the rotational speed information of the motor 10 fed back by the motor driver 11.

Based on the above embodiments, in an optional embodiment of the present invention, step S2 specifically includes steps S21 to S23.

S21. Control the operation of the motor 10 according to the trajectory planning, and determine the direction of the motor 10.

S22. When it is determined that the rotation direction of the motor 10 is positive, the working condition of the load is marked as rising.

S23. When it is determined that the rotation direction of the motor 10 is negative, the working condition of the load is marked as falling.

Specifically, the working condition of the load can be directly determined through the steering of the motor 10, which has very good practical significance.

S3. When it is determined that the load condition is falling, the electronic control valve 20 is opened and the clutch 14 is connected, so that the winch mechanism 5 compresses the hydraulic oil in the tank 16 into the hydraulic accumulator 19 through the pump motor 15 for energy recovery. , and at the same time determine whether the pressure of the hydraulic accumulator 19 exceeds a predetermined value. When it is determined that the pressure of the hydraulic accumulator 19 exceeds the preset value, the electronically controlled valve 20 is closed and the clutch 14 is disconnected.

Specifically, the encoder of the motor 10 feeds back the speed information of the motor 10 to the motion controller 13. If the speed is negative, the motor 10 reverses. At this time, the working condition is a heavy object falling process, and the motion controller 13 opens the electronic control valve 20. Energy recovery is performed. If the pressure sensor reaches the peak value of the hydraulic accumulator 19 to prevent damage to the hydraulic accumulator 19, the motion controller 13 closes the electronic control valve 20 and disconnects the clutch 14.

S4. When it is determined that the working condition of the load is rising, it is determined whether the pressure of the hydraulic accumulator 19 is greater than the preset value. When it is determined that the pressure of the hydraulic accumulator 19 is greater than the preset value, the electronically controlled valve 20 is opened and the clutch 14 is connected, so that the hydraulic accumulator 19 drives the pump motor 15 to operate, thereby assisting in driving the hoist 5 .

Specifically, if the energy in the hydraulic accumulator 19 needs to be released to assist the motor 10 to work, the motion controller 13 opens the electronic control valve 20 and connects the clutch 14. At this time, the pump motor 15 rotates to assist the motor 10 to work, and through the movement The controller 13 controls the rotation speed of the motor 10 until the pressure sensor reflects insufficient energy in the hydraulic accumulator 19, presses the clutch 14, and waits for the next heavy object lowering condition to recover energy again.

Embodiment 3.

An embodiment of the present invention provides a control device for an energy recovery rope robot, which includes:

The trajectory acquisition module is used to obtain the trajectory planning of the rope robot.

The working condition judgment module is used to control the operation of the motor according to the trajectory planning and judge the working condition of the load.

The first execution module is used to open the electronic control valve 20 and connect the clutch when it is determined that the load condition is falling, so that the hoisting mechanism compresses the hydraulic oil in the tank into the hydraulic accumulator through the pump motor for energy recovery. , and at the same time determine whether the pressure of the hydraulic accumulator exceeds a predetermined value. When it is determined that the pressure of the hydraulic accumulator exceeds the preset value, the electronically controlled valve is closed and the clutch is disconnected.

The second execution module is used to determine whether the pressure of the hydraulic accumulator is greater than the preset value when it is determined that the load condition is rising. When it is determined that the pressure of the hydraulic accumulator is greater than the preset value, the electronically controlled valve is opened and the clutch is connected so that the hydraulic accumulator drives the pump motor to operate, thereby assisting in driving the hoist.

Based on the above embodiments, in an optional embodiment of the present invention, the working condition judgment module specifically includes:

The steering judgment unit is used to control the operation of the motor according to the trajectory planning and determine the steering of the motor.

The first working condition identification unit is used to mark that the working condition of the load is rising when it is determined that the rotation direction of the motor is positive.

The second operating condition identification unit is used to identify the load operating condition as falling when it is determined that the rotation direction of the motor is negative.

Embodiment 4.

An embodiment of the present invention provides a computer-readable storage medium. The computer-readable storage medium includes a stored computer program, wherein when the computer program is run, the device where the computer-readable storage medium is located is controlled to execute the method for controlling the rope robot as described in any paragraph of the second aspect.

In the several embodiments provided by the embodiments of the present invention, it should be understood that the disclosed devices and methods can also be implemented in other ways. The device and method embodiments described above are only illustrative. For example, the flowcharts and block diagrams in the accompanying drawings show possible implementation architectures of the devices, methods and computer program products according to multiple embodiments of the present invention. Functionality and operation. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code that contains one or more components for implementing the specified logical function(s). Executable instructions. It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two consecutive blocks may actually execute substantially in parallel, or they may sometimes execute in the reverse order, depending on the functionality involved. It will also be noted that each block of the block diagram and/or flowchart illustration, and combinations of blocks in the block diagram and/or flowchart illustration, can be implemented by special purpose hardware-based systems that perform the specified functions or acts. , or can be implemented using a combination of specialized hardware and computer instructions.

In addition, each functional module in various embodiments of the present invention can be integrated together to form an independent part, each module can exist alone, or two or more modules can be integrated to form an independent part.

If the functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention essentially or the part that contributes to the existing technology or the part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium, including Several instructions are used to cause a computer device (which may be a personal computer, electronic device, or network device, etc.) to execute all or part of the steps of the method described in various embodiments of the present invention. The aforementioned storage media include: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disk or optical disk and other media that can store program code. . It should be noted that, as used herein, the terms "include", "comprises" or any other variation thereof are intended to cover a non-exclusive inclusion, such that a process, method, article or device that includes a series of elements not only includes those elements, It also includes other elements not expressly listed or inherent in the process, method, article or equipment. Without further limitation, an element defined by the statement "comprises a..." does not exclude the presence of additional identical elements in a process, method, article, or apparatus that includes the stated element.

The above descriptions are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and changes. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention shall be included in the protection scope of the present invention.

Claims (9)

1. The rope robot for energy recovery is characterized by comprising a control assembly, a carrying assembly and at least two power assemblies; the carrying assembly is used for being engaged with a load so as to drive the load to move;

the power assembly comprises a T-shaped groove platform (2) and a winch (5), a support column (1) connected to the T-shaped groove platform (2), a guide pulley (4) connected to the support column (1), a sling (8) passing through the guide pulley (4) and respectively connected to the winch (5) and the carrying assembly at two ends, a motor (10) connected to the winch (5), a driver (11) electrically connected to the motor (10), a clutch (14) connected to the winch (5), a pump motor (15) connected to the clutch (14), an oil tank (16) and an electric control valve (20) respectively connected to an inlet and an outlet of the pump motor (15), and a hydraulic accumulator (19) connected to the electric control valve (20), and a pressure sensor connected between the pump motor (15) and the hydraulic accumulator (19);

the control assembly comprises an upper computer (12) and a motion controller (13) electrically connected with the upper computer (12); the motion controller (13) is electrically connected to the actuator (11), the pressure sensor and the electrically controlled valve (20).

2. The rope robot for energy recovery of claim 1, said rope robot comprising three of said power assemblies;

the carrying assembly comprises a carrying platform (6) and a hoisting part (7) arranged on the carrying platform (6); the hoisting part (7) is used for jointing the sling (8); the sling (8) is a steel wire rope.

3. The rope robot of energy recovery according to claim 1, characterized in that the rope robot further comprises a reinforcement assembly comprising a cross beam (3) arranged between the support columns (1).

4. The rope robot of claim 1, characterized in that the power assembly further comprises a relief valve (21) coupled between the electrically controlled valve (20) and the oil tank (16).

5. The rope robot of claim 1, characterized in that the power assembly comprises a first pressure sensor (17) and a second pressure sensor (18); -said first pressure sensor (17) is coupled between said pump motor (15) and said electrically controlled valve (20); the second pressure sensor (18) is coupled between the electrically controlled valve (20) and the hydraulic accumulator (19).

6. The rope robot of energy recovery according to any one of claims 1-5, characterized in that the rope robot further comprises an electric control cabinet (9); the electric control cabinet (9) is electrically connected with the motor (10), the driver (11) and the motion controller (13);

the electric control valve (20) is a two-position two-way proportional electromagnetic valve.

7. A control method of a rope robot for energy recovery, for controlling the rope robot for energy recovery according to any one of claims 1 to 6, comprising:

acquiring a track plan of the rope robot;

controlling the operation of the motor according to the track planning, and judging the working condition of the load;

when the working condition of the load is judged to be declining, the electric control valve is opened and the clutch is connected, so that the hoisting mechanism retracts the hydraulic oil pressure in the oil tank into the hydraulic accumulator through the pump motor to recover energy, and meanwhile, whether the pressure of the hydraulic accumulator exceeds a preset value is judged; when the pressure of the hydraulic accumulator exceeds a preset value, closing an electric control valve and disconnecting a clutch;

when the working condition of the load is judged to be rising, judging whether the pressure of the hydraulic accumulator is larger than a preset value or not; when the pressure of the hydraulic accumulator is judged to be greater than a preset value, the electric control valve is opened and the clutch is connected, so that the hydraulic accumulator drives the pump motor to operate, and the winch is driven in an auxiliary mode;

controlling the motor to run according to the track planning, and judging the working condition of the load, including:

controlling the motor to run according to the track planning, and judging the steering of the motor;

when the steering of the motor is judged to be positive, the working condition of the load is rising;

when the steering of the motor is judged to be negative, the working condition of the load is reduced.

8. A control device of a rope robot for energy recovery, for controlling the rope robot for energy recovery according to any one of claims 1 to 6, comprising:

the track acquisition module is used for acquiring track planning of the rope robot;

the working condition judging module is used for controlling the operation of the motor according to the track planning and judging the working condition of the load;

the first execution module is used for opening the electric control valve and connecting the clutch when judging that the working condition of the load is descending, so that the hoisting mechanism retracts the hydraulic oil pressure in the oil tank into the hydraulic accumulator through the pump motor to recover energy, and judging whether the pressure of the hydraulic accumulator exceeds a preset value or not; when the pressure of the hydraulic accumulator exceeds a preset value, closing an electric control valve and disconnecting a clutch;

the second execution module is used for judging whether the pressure of the hydraulic accumulator is greater than a preset value or not when the working condition of the load is judged to be rising; when the pressure of the hydraulic accumulator is judged to be greater than a preset value, the electric control valve is opened and the clutch is connected, so that the hydraulic accumulator drives the pump motor to operate, and the winch is driven in an auxiliary mode;

the working condition judging module specifically comprises:

the steering judging unit is used for controlling the motor to run according to the track planning and judging the steering of the motor;

the first working condition identification unit is used for identifying the working condition of the load to be rising when judging that the steering of the motor is positive;

and the second working condition identification unit is used for identifying that the working condition of the load is declining when the steering of the motor is judged to be negative.

9. A computer readable storage medium, characterized in that the computer readable storage medium comprises a stored computer program, wherein the computer program, when run, controls a device in which the computer readable storage medium is located to perform the method of controlling a rope robot according to claim 7.