Line patrol robot clamping and walking mechanism based on force feedback and control method of line patrol robot clamping and walking mechanism

Abstract

The invention discloses a line patrol robot clamping walking mechanism based on force feedback and a control method thereof. Comprising an upper guide rail vertical rod and a lower guide rail vertical rod, the tail ends of the upper guide rail vertical rod and the lower guide rail vertical rod are mutually embedded, the free ends of the upper guide rail vertical rod and the lower guide rail vertical rod are vertically welded to an upper supporting cross rod and a lower supporting cross rod respectively, the tail end of the upper supporting cross rod is fixed to a main driving motor, the main driving motor is used for driving a large hub, and the lower supporting cross rod is connected with a small hub in a sleeved mode. A trapezoidal connecting plate is welded to the lower guide rail vertical rod at the midpoint position of the guide rail stroke, the trapezoidal connecting plate is connected with a lead screw sliding table, and the lead screw sliding table is driven by a linear mechanism; the linear mechanism comprises a lead screw motor; a force sensor is fixed in a rotating shaft of the small hub, and the line patrol robot master controller drives the lead screw motor to rotate according to received pressure data of the force sensor, so that the small hub moves up and down in the vertical direction to clamp a cable. According to the invention, the ability of the robot to autonomously resist external force interference is optimized, and the efficiency and intelligent degree of overhead line inspection work are improved.

Description

Technical Field

[0001] The invention belongs to the field of substation inspection terminals, and in particular relates to a clamping walking mechanism of a line inspection robot based on force feedback and a control method thereof. Background Art

[0002] Overhead transmission lines transmit electricity from power plants to users through towers and wires, which may be damaged due to various unexpected situations, including natural disasters, vegetation impact, insulation aging, etc. In the construction of intelligent power grids, a type of line patrol robot is specially designed to replace manual work to complete transmission line inspection, flaw detection, and repair work. Most line patrol robots adopt a suspended design and are equipped with operation modules.

[0003] However, ordinary single-hub suspension solutions cannot adapt to some special environments. For example, in areas with high wind potential energy, the robot will reduce its inspection efficiency due to the large interference it receives, or even fail to complete the inspection work; for transmission lines with long tower spacing, the bending of cables to form sloped sections will also affect the robot's movement efficiency, and in extreme cases may even cause the hub to slip. Some existing multi-hub clamping designs are mostly pure mechanical clamping solutions, such as patent CN112448313B and patent CN109698476A. According to the established itinerary, the cables are manually clamped before the inspection task begins, or the clamping force is manually controlled, and neither has intelligent attributes. Summary of the invention

[0004] To solve the above problems, the present invention discloses a clamping and walking mechanism of a line patrol robot based on force feedback and a control method thereof. The pressure between the wheel hub and the cable is measured in real time by a force sensor, the operating status of the robot is judged through processing by a controller, the motor is controlled to drive the lead screw through feedback, and the double wheel hub is controlled through a specially designed mechanical structure to finally clamp or loosen the cable, thereby realizing intelligent cable walking, further reducing labor costs, improving inspection efficiency, and broadening application scenarios.

[0005] To achieve the above object, the technical solution of the present invention is as follows:

[0006] The present invention first provides a clamping walking mechanism of a line patrol robot based on force feedback, comprising an upper guide rail vertical rod and a lower guide rail vertical rod whose ends are embedded in each other, the free ends of the upper guide rail vertical rod and the lower guide rail vertical rod are respectively vertically welded with an upper support cross bar and a lower support cross bar, the end of the upper support cross bar is fixed to a main drive motor, the main drive motor is connected to the central axis of a large wheel hub for driving the large wheel hub, the lower support cross bar is sleeved with a small wheel hub, the lower guide rail vertical rod is welded with a trapezoidal connecting plate at the midpoint of the guide rail stroke, the trapezoidal connecting plate is connected to a lead screw slide, and the lead screw slide is driven by a linear mechanism; the linear mechanism includes a linear mechanism connected to the lead screw The sliders are matched at both ends of the slider, and the sliders are installed on the screw guide rails. The lower bottom surface cooperates with the screw nut to connect the ball screw. The screw guide rails are fixed on the upper surfaces of the long sides of the bottom plate of the linear mechanism, and the screw base and the screw motor are respectively fixed on the upper surfaces of the short sides on both sides; the screw unit is installed in the screw motor seat; the force sensor is fixed to the internal casing of the rotating shaft of the small wheel hub, and the force sensor, the screw motor and the main drive motor are all connected to the main control of the line patrol robot. The main control of the line patrol robot drives the screw motor to rotate according to the pressure data received from the force sensor, so that the small wheel hub moves up and down in the vertical direction to clamp the cable.

[0007] Furthermore, the force sensor is arranged inside the rotating shaft of the small wheel hub and is located in the small casing of the lower supporting cross bar; a wiring groove for burying data lines and power lines of the force sensor is reserved inside the lower supporting cross bar.

[0008] Furthermore, the guide rail vertical rod, the lower guide rail vertical rod and the linear mechanism are all installed in the receiver, and the receiver includes a cylindrical receiver shell and a disc-shaped receiver upper cover. The upper end of the cylindrical receiver shell is welded with an upper limit plate, and the lower end is welded with a connecting mechanism; a rotating shaft is installed at the end of the upper guide rail vertical rod, and the rotating shaft passes through the receiver shell and extends to the outside of the receiver; the upper limit plate and the connecting mechanism are both provided with arc-shaped limiting holes for the upper support cross bar and the lower support cross bar to pass through, and the arc-shaped limiting holes are all hollowed out with the rotating shaft as the center; the curvature of the arc-shaped limiting holes of the upper limit plate and the connecting mechanism should be less than , wherein the width of the arc-shaped limiting hole of the upper limit plate should be slightly larger than the outer diameter of the upper supporting cross bar, and the width of the arc-shaped limiting hole of the lower connecting mechanism should be slightly smaller than the stroke of the screw slide.

[0009] Furthermore, the bottom surface of the bottom plate of the linear mechanism is in close contact with the limiting groove inside the casing shell.

[0010] The present invention also provides a control method for the clamping walking mechanism of the above-mentioned line patrol robot based on force feedback, the method comprising the following steps: S1. Preparation: connect the two sets of connection mechanisms of the clamping walking mechanism of the line patrol robot based on force feedback to the front and rear ends of the line patrol robot body respectively, and then mount the connected whole device on the cable. After the preparation is completed, power on the device and start it; S2. The force sensor starts to collect data: collects the pressure data on the small wheel hub vertically, that is, the real-time pressure of the cable on the small wheel hub and sends the collected pressure data to the line patrol robot main control; S3. The main control of the line patrol robot analyzes the pressure data and controls the lead screw motor to drive the small wheel hub to move up and down in the vertical direction to clamp the cable and quickly calibrate the pressure on the force sensor, adjust the pressure data to a preset standard pressure range, and keep the pressure relatively stable; S4. The main control of the line patrol robot drives the main drive motor to work, and the robot starts to move forward; S5. The main control of the line patrol robot monitors the data measured by the force sensor in real time, and continuously drives the small wheel hub to move up and down in the vertical direction to clamp the cable, so as to correct the pressure value to within the standard range. At this time, the system has formed a closed-loop control loop based on force feedback; if the main control of the robot receives other interrupt signals and needs to stop the robot from moving forward, S6 is executed; if the real-time pressure value continues to exceed the standard range, a secondary correction is performed; S6. The line patrol robot main control drives the main drive motor to stop and handles the interrupt service. If a stop working signal is received, execute S7; S7. The line patrol robot main control records the work log, keeps the current posture unchanged, and enters the standby state.

[0011] Furthermore, the pressure applied to the force sensor is quickly calibrated in step S3, and the specific method is as follows: S3-1: The robot master first controls the lead screw motor to reverse to the shortest stroke position, and then (unit: ), according to the received pressure data, the screw motor is driven to rotate forward at low speed according to formula (10-1): (10-1), in: The actual value of the driving voltage of the main control screw motor (12), unit: ; is the conversion parameter, whose value is equal to the master control analog-to-digital conversion equivalent parameter multiplied by the established magnification; The real-time pressure measured by the force sensor, unit: ; is the transformed step function; According to the formula, after After that, the motor stops; at this time, the robot master will wait for the operator to confirm the calibration result: If the confirmation is successful, the robot master will update the preset standard range: based on the current pressure value. (unit: ) interval is recorded as the new standard interval. After the calibration is completed, the robot master will execute S4; If the confirmation fails, the robot master will record the calibration failure and stop driving the motor, and execute S3-2; S3-2: The line patrol robot main control stops the driving motor, performs manual calibration, and updates the standard pressure range. After the operator manually clamps the small wheel hub, the robot main control updates the preset standard range and executes S4.

[0012] Furthermore, the secondary correction method in step S5 is as follows: S5-1: The line patrol robot main control drives the main drive motor to stop and confirms the robot status. Try to correct the pressure value to within the standard range. If successful, directly call back to execute S4; if it fails due to timeout, execute S5-2; S5-2: The robot master will drive the lead screw motor to rotate forward at high speed according to formula (10-1) to clamp the cable to the maximum extent, record this correction and upload it, and call back to execute S4.

[0013] Compared with the prior art, the present invention has the following beneficial effects: In view of the defects of the existing single-hub suspension solution that cannot adapt to strong wind environments and cable bending changes, the present invention adopts a large and small double-hub clamping mechanism design and introduces force feedback control to enable the robot to dynamically adjust the clamping force according to environmental interference while clamping the cable.

[0014] 1. This design can improve the stability of the robot in complex working environments through the collaborative work of the dual hubs. When the robot encounters wind interference or curved sections, the dual hub clamping provides better support for maintaining the stability of the robot, effectively preventing the hub from slipping, ensuring that the robot can maintain balance under dynamic conditions, and preventing it from falling off or losing control due to interference.

[0015] 2. The programming control method based on force feedback uses the real-time data of the force sensor to accurately adjust the size of the clamping force. This dynamic adjustment mechanism greatly improves the flexibility of the robot and improves the overall work efficiency and safety. The real-time correction mechanism clamping force is within the appropriate range, which can prevent excessive force from blocking the robot's progress and prevent too little clamping force from causing clamping failure.

[0016] 3. Finally, the present invention realizes autonomous calibration of the robot before inspection, intelligent correction of wheel hub clamping force during inspection, and keeps work log after inspection. It enhances the adaptability of the robot to special environments, broadens the application scenarios, improves the robot's online walking efficiency, significantly improves the degree of automation and intelligence, and greatly reduces manual intervention. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is the outer side view of the complete view of the clamping and walking mechanism of the line patrol robot based on force feedback; Figure 2 This is the inner view of the complete view of the clamping and walking mechanism of the line patrol robot based on force feedback; Figure 3 A partial view of the outer shell removed for the gripping walking mechanism of the line patrol robot based on force feedback; Figure 4 This is a partial enlargement and projection view of the force sensor of the gripping walking mechanism of the line patrol robot based on force feedback; Figure 5 A partial view of removing the upper cover of the clamping walking mechanism of the line patrol robot based on force feedback; Figure 6 This is the first working diagram of the clamping and walking mechanism of the line patrol robot based on force feedback; Figure 7 The second working diagram of the clamping and walking mechanism of the line patrol robot based on force feedback; Figure 8 This is a complete flow chart of the line patrol robot's gripping and walking control algorithm based on force feedback. DETAILED DESCRIPTION

[0018] The present invention will be further explained below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the following specific embodiments are only used to illustrate the present invention and are not used to limit the scope of the present invention.

[0019] Embodiment 1: like Figures 1 to 4As shown, the clamping walking mechanism of the line patrol robot based on force feedback described in this embodiment includes an upper guide rail vertical rod 15a and a lower guide rail vertical rod 16 whose ends are embedded in each other, and the free ends of the upper guide rail vertical rod 15a and the lower guide rail vertical rod 16 are respectively vertically welded to the upper support cross bar 4 and the lower support cross bar 6, and the end of the upper support cross bar 4 is fixed to the main drive motor 3, and the main drive motor 3 is connected to the central axis of the large wheel hub 2 for driving the large wheel hub 2, and the lower support cross bar 6 is sleeved with the small wheel hub 5, and the lower guide rail vertical rod 16 is welded with a trapezoidal connecting plate 19 at the midpoint of the guide rail stroke, and the trapezoidal connecting plate 19 is connected to the lead screw slide 9, and the lead screw slide is driven by a linear mechanism; the linear mechanism includes a connection with the lead screw slide 9 The slider 10 is matched at both ends, and the slider 10 is installed on the screw guide rail 8. The lower bottom surface cooperates with the screw nut to connect the ball screw 11). The screw guide rail 8 is fixed on the upper surface of the long sides of the linear mechanism base plate 7, and the screw base 14 and the screw motor 12 are fixed on the upper surfaces of the short sides on both sides; the screw unit 12 is installed in the screw motor seat 13; the internal casing 17 of the rotating shaft of the small wheel hub 5 is fixed with a force sensor 18, and the force sensor 18 and the screw motor 12 and the main drive motor 3 are all connected to the main control of the line patrol robot. The main control of the line patrol robot drives the screw motor 12 to rotate according to the pressure data received from the force sensor 18, so that the small wheel hub 5 moves up and down in the vertical direction to clamp the cable.

[0020] Furthermore, the force sensor 18 is placed inside the rotating shaft of the small wheel hub 5 and is located in the small casing of the lower supporting crossbar 6. The small casing should match the shape of the force sensor 18 so that the sensor is placed vertically in the small casing and the relative position does not change significantly, keeping the measurement direction vertically upward, and minimizing the measurement error caused by the sensor offset when the equipment moves. A wiring groove is reserved inside the lower supporting crossbar 6 for burying the data cable and power cable of the force sensor 18. A wiring groove is reserved inside the lower supporting crossbar 6, and its inner diameter is small, which is specially designed for burying the data cable and power cable of the force sensor 18, so that the cable can be connected to the inside of the casing shell 1a without being exposed to the outside, isolating the data transmission from possible external damage.

[0021] Furthermore, the guide rail vertical rod 15a, the lower guide rail vertical rod 16 and the linear mechanism are all installed in the receiver, and the receiver includes a cylindrical receiver shell 1a and a disc-shaped receiver upper cover 1b. The upper end of the cylindrical receiver shell 1a is welded with an upper limit plate 1c, and the lower end is welded with a connecting mechanism 1d; a rotating shaft 15b is installed at the end of the upper guide rail vertical rod 15a, and the rotating shaft passes through the receiver shell 1a and extends to the outside of the receiver; the upper limit plate 1c and the connecting mechanism 1d are both provided with arc-shaped limiting holes for the upper supporting cross bar 4 and the lower supporting cross bar 6 to pass through, and the arc-shaped limiting holes are all hollowed out with the rotating shaft 15b as the center of the circle; the purpose is to prevent the mechanism from rotating around the rotating shaft 15b beyond the design limit, causing the mechanism to reverse, thereby ensuring the stability of the mechanism operation; the curvature of the arc-shaped limiting holes of the upper limit plate 1c and the connecting mechanism 1d should be less than , the width of the arc-shaped limit hole of the upper limit plate 1c should be slightly larger than the outer diameter of the upper support cross bar 6, and the width of the arc-shaped limit hole of the lower connecting mechanism 1d should be slightly smaller than the stroke of the lead screw slide 9. Then the upper guide rail vertical rod 15a and the mechanism directly connected to it are fixed around the rotation axis 15b, and the upper guide rail vertical rod 15a, the lower guide rail vertical rod 16 and the large wheel hub 2, the small wheel hub 5 and other connected mechanisms are all capable of rotating around the rotation axis 15b. The guide directions of the upper 15a and lower guide rail vertical rods 16 are consistent with the directions of the two rods, so that the lower guide rail vertical rod 16 can slide bidirectionally along the guide rail within the stroke, and the guide rails fit tightly, and the sliding has a damping feeling.

[0022] Furthermore, the bottom surface of the linear mechanism base plate 7 is in close contact with the limiting groove 20 inside the casing shell 1a. At the same time, since the other surface of the linear mechanism base plate 7 finally forms a mechanical transmission relationship with the upper guide rail vertical rod 15a through the screw guide rail 8, the screw slide 9 and other mechanisms, the linear mechanism base plate 7 can rotate around the rotating axis 15b, and due to the obstruction of the limiting groove 20, the linear mechanism base plate 7 will not produce a transverse axis displacement.

[0023] Furthermore, the material selected for the upper guide rail vertical rod 15a and the lower guide rail vertical rod 16 should have the characteristic of a high surface friction coefficient, so that the guide rail is not easy to slip, and at the same time the rotation resistance of the rotating shaft 15b is increased, thereby improving the anti-disturbance ability of the mechanism; and the material selected for the limit groove 20 should have the characteristic of a low surface friction coefficient, thereby avoiding blockage when the mechanism rotates around the rotating shaft 15b, resulting in a decrease in structural stability.

[0024] The electronic control components involved will be uniformly connected to the external robot main control for programming control, including: the main drive motor 3, the screw motor 12 and the force sensor 18; the data line and the power line pass through the internal space of the mechanism or the reserved space, and should be as close to the casing shell 1a as possible.

[0025] The upload is completed and the callback is executed in S4.

[0026] Embodiment 2: like Figures 6 to 8 As shown, the line patrol robot clamping walking mechanism and control method based on force feedback described in this embodiment include the following contents.

[0027] S1: Preparation. Connect the connection mechanism 1d of the two force feedback-based line patrol robot clamping walking mechanism to the front and rear ends of the robot body respectively, and then mount the whole device on the cable. After the preparation is completed, the cable should be stuck between the large hub 2 and the small hub 5, and the lead screw slide 9 is in the middle of the stroke, and the small hub 5 has no contact with the cable or the contact is shallow. At this time, the device is powered on and started.

[0028] S2: The force sensor 18 starts collecting data. Since the force sensor 18 is placed vertically, it can collect the pressure data on the small hub 5 vertically through programming control, that is, the real-time pressure of the cable on the small hub 5.

[0029] S3: The line patrol robot main control analyzes the pressure data and drives the motor for quick calibration. Within a period of time (3 to 5 minutes by default), according to the received pressure data, the robot main control will drive the screw motor 12 to rotate forward and reverse to control the small wheel hub 5 to move up and down in the vertical direction to clamp the cable. The robot main control will try to adjust the pressure data to the preset standard pressure range and keep the pressure relatively stable. After completion, S4 will be executed; if it cannot be completed within the time limit, the robot main control will execute S3-1.

[0030] S3-1: The line patrol robot main control drives the motor to perform a complete calibration and updates the standard pressure range. The robot main control first controls the lead screw motor 12 to reverse to the shortest stroke position, and then (unit: ), according to the received pressure data, the screw motor 12 is driven to rotate forward at a low speed according to formula (10-1): (10-1), in: The actual value of the driving voltage of the main control screw motor 12, unit: ; is the conversion parameter, whose value is equal to the master control analog-to-digital conversion equivalent parameter multiplied by the established magnification; The real-time pressure measured by the force sensor 18, unit: ; is the transformed step function.

[0031] According to the formula, after After that, the motor stops. At this time, the robot master will wait for the operator to confirm the calibration result. If the confirmation is successful, the robot master will update the preset standard range: based on the current pressure value, (unit: ) interval is recorded as the new standard interval. After the calibration is completed, the robot master will execute S4; if it is confirmed to fail, the robot master will record the calibration failure and stop driving the motor and execute S3-2.

[0032] S3-2: The line patrol robot main control stops the driving motor, performs manual calibration, and updates the standard pressure range. The robot main control temporarily suspends the screw motor 12, and after the operator manually clamps the small wheel hub 5, the robot main control updates the preset standard range, and re-powers the screw motor 12 to execute S4.

[0033] S4: The main control of the line patrol robot drives the main drive motor 3 to work, the large wheel hub 2 rotates, and the robot starts to move forward. Execute S5.

[0034] S5: The line patrol robot main control monitors the data measured by the force sensor 18 in real time, and continuously drives the screw motor 12 to rotate forward and reverse to control the small wheel hub 5 to move up and down in the vertical direction to clamp the cable, so as to correct the pressure value to within the standard range. At this point, the system has formed a closed-loop control loop based on force feedback; if the robot main control receives other interrupt signals and needs to stop the robot from moving forward, execute S6; if the real-time pressure value continues to exceed the standard range for (unit: ), execute 5-1.

[0035] S5-1: The line patrol robot main control drives the main drive motor 3 to stop and confirms the robot status. Try to correct the pressure value to the standard range for the second time. If successful, directly call back to execute S4; if timeout ( ,unit: ) results in failure, and execution of S5-2 occurs.

[0036] S5-2: The robot master will drive the lead screw motor 12 to rotate forward at high speed according to formula (10-1) to clamp the cable to the maximum extent, and wait for (unit: ), record the correction and upload it, and call back to execute S4.

[0037] S6: The line patrol robot main control drives the main drive motor 3 to stop rotating and handles the interrupt service. If a stop working signal is received, S7 is executed.

[0038] S7: The line patrol robot main control records the work log, drives the main drive motor 3 and the lead screw motor 12 to stop rotating, keeps the current posture unchanged, and enters the standby state.

Claims

1. A line patrol robot gripping walking mechanism based on force feedback, comprising an upper guide rail vertical rod (15a) and a lower guide rail vertical rod (16) whose ends are mutually embedded, the free ends of the upper guide rail vertical rod (15a) and the lower guide rail vertical rod (16) are respectively vertically welded to an upper support cross bar (4) and a lower support cross bar (6), the end of the upper support cross bar (4) is fixed to a main drive motor (3), the main drive motor (3) is connected to the central axis of a large wheel hub (2) for driving the large wheel hub (2), the lower support cross bar (6) is sleeved with a small wheel hub (5), and is characterized in that: The lower guide rail vertical rod (16) is welded with a trapezoidal connecting plate (19) at the midpoint of the guide rail travel, and the trapezoidal connecting plate (19) is connected to the lead screw slide (9), and the lead screw slide is driven by a linear mechanism; the linear mechanism comprises a slider (10) matched with both ends of the lead screw slide (9), the slider (10) is mounted on the lead screw guide rail (8), and the lower bottom surface is matched with the lead screw nut to connect the ball screw (11), the upper surface of the long sides of the linear mechanism bottom plate (7) on both sides is fixed to the lead screw guide rail (8), and the upper surface of the short sides on both sides is respectively fixed to the lead screw A base (14) and a lead screw motor (12), wherein the lead screw unit (12) is installed in a lead screw motor base (13); a force sensor (18) is fixed to an internal casing (17) of the rotating shaft of the small wheel hub (5); the force sensor (18), the lead screw motor (12) and a main drive motor (3) are all connected to a main control of a line patrol robot; the main control of the line patrol robot drives the lead screw motor (12) to rotate according to pressure data received from the force sensor (18), thereby causing the small wheel hub (5) to move up and down in a vertical direction to clamp the cable.

2. The line patrol robot clamping and walking mechanism based on force feedback according to claim 1 is characterized in that: The force sensor (18) is arranged inside the rotating shaft of the small wheel hub (5) and is located in the small casing of the lower supporting cross bar (6); a wiring groove for burying data cables and power cables of the force sensor (18) is reserved inside the lower supporting cross bar (6).

3. The line patrol robot clamping walking mechanism based on force feedback according to claim 1 or 2, characterized in that: The guide rail vertical rod (15a), the lower guide rail vertical rod (16) and the linear mechanism are all installed in the receiver. The receiver comprises a cylindrical receiver shell (1a) and a disc-shaped receiver upper cover (1b). The upper end of the cylindrical receiver shell (1a) is welded with an upper limit plate (1c), and the lower end is welded with a connecting mechanism (1d). A rotating shaft (15b) is installed at the end of the upper guide rail vertical rod (15a), and the rotating shaft passes through the receiver shell (1a) and extends to the outside of the receiver. The upper limit plate (1c) and the connecting mechanism (1d) are both provided with arc-shaped limiting holes for the upper supporting cross bar (4) and the lower supporting cross bar (6) to pass through. The arc-shaped limiting holes are centered on the rotating shaft (15b) and are hollow in design. The arc of the arc-shaped limiting holes of the upper limit plate (1c) and the connecting mechanism (1d) should be less than , wherein the width of the arc-shaped limit hole of the upper limit plate (1c) should be slightly larger than the outer diameter of the upper support cross bar (6), and the width of the arc-shaped limit hole of the lower connecting mechanism (1d) should be slightly smaller than the stroke of the lead screw slide (9).

4. The line patrol robot clamping and walking mechanism based on force feedback according to claim 3 is characterized in that: The bottom surface of the linear mechanism bottom plate (7) is in close contact with the limiting groove (20) inside the casing shell (1a).

5. A control method for a line patrol robot clamping walking mechanism based on force feedback according to any one of claims 1 to 4, characterized in that: The method comprises the following steps: S1. Preparation: connect the two sets of connection mechanisms (1d) of the clamping walking mechanism of the line patrol robot based on force feedback to the front and rear ends of the line patrol robot body respectively, and then mount the connected whole device on the cable. After the preparation is completed, power on the device and start it; S2. The force sensor (18) starts collecting data: collecting the pressure data on the small wheel hub (5) vertically above, that is, the real-time pressure of the cable on the small wheel hub (5) and sending the collected pressure data to the line patrol robot main control; S3. The main control of the line patrol robot analyzes the pressure data and controls the lead screw motor (12), drives the small wheel hub (5) to move up and down in the vertical direction to clamp the cable and quickly calibrate the pressure on the force sensor (18), adjusts the pressure data to a preset standard pressure range, and keeps the pressure relatively stable; S4. The main control of the line patrol robot drives the main drive motor (3) to work, and the robot starts to move forward; S5. The main control of the line patrol robot monitors the data measured by the force sensor (18) in real time, and continuously drives the small wheel hub (5) to move up and down in the vertical direction to clamp the cable, so as to correct the pressure value to within the standard range. At this time, the system has formed a closed-loop control loop based on force feedback; if the main control of the robot receives other interruption signals and needs to stop the robot from moving forward, S6 is executed; if the real-time pressure value continues to exceed the standard range, a secondary correction is performed; S6. The line patrol robot main control drives the main drive motor (3) to stop and handles the interrupt service. If a stop working signal is received, execute S7; S7. The line patrol robot main control records the work log, keeps the current posture unchanged, and enters the standby state.

6. The control method of the clamping walking mechanism of the line patrol robot based on force feedback according to claim 5 is characterized in that: The specific method of quickly calibrating the pressure on the force sensor (18) in step S3 is as follows: S3-1: The robot master first controls the lead screw motor (12) to reverse to the shortest stroke position, and then (unit: ), according to the received pressure data, the screw motor (12) is driven to rotate forward at a low speed according to formula (10-1): （10-1）， in: The actual value of the driving voltage of the main control screw motor (12), unit: ; is the conversion parameter, whose value is equal to the master control analog-to-digital conversion equivalent parameter multiplied by the established magnification; The real-time pressure measured by the force sensor (18), unit: ; is the transformed step function; According to the formula, after After that, the motor stops; at this time, the robot master will wait for the operator to confirm the calibration result: If the confirmation is successful, the robot master will update the preset standard range: based on the current pressure value. (unit: ) interval is recorded as the new standard interval. After the calibration is completed, the robot master will execute S4; If the confirmation fails, the robot master will record the calibration failure and stop driving the motor, and execute S3-2; S3-2: The line patrol robot main control stops the driving motor, performs manual calibration, and updates the standard pressure range. After the operator manually clamps the small wheel hub (5), the robot main control updates the preset standard range and executes S4.

7. The control method of the clamping walking mechanism of the line patrol robot based on force feedback according to claim 6 is characterized in that: The secondary correction method in step S5 is as follows: S5-1: The line patrol robot main control drives the main drive motor (3) to stop, and confirms the robot status. Try to correct the pressure value to within the standard range. If successful, directly call back to execute S4; if it fails due to timeout, execute S5-2; S5-2: The robot master will drive the lead screw motor (12) to rotate forward at high speed according to formula (10-1) to clamp the cable to the maximum extent, record this correction and upload it, and call back to execute S4.

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