Line inspection robot clamping walking mechanism based on force feedback and control method thereof

Abstract

The application discloses a line inspection robot clamping walking mechanism based on force feedback and a control method thereof. The mechanism comprises upper guide rail vertical rods and lower guide rail vertical rods which are mutually embedded at the tail end, the free ends of the upper guide rail vertical rods and the lower guide rail vertical rods are respectively vertically welded with upper support horizontal rods and lower support horizontal rods, the tail end of the upper support horizontal rods is fixed with a main drive motor, the main drive motor is used for driving a large wheel hub, the lower support horizontal rods are sleeved with small wheel hubs, the lower guide rail vertical rods are welded with trapezoidal connecting plates at the midpoint positions of guide rail strokes, the trapezoidal connecting plates are connected with screw sliding tables, and the screw sliding tables are driven through a linear mechanism. The linear mechanism comprises a screw motor. A force sensor is fixed inside the rotating shaft of the small wheel hub, a line inspection robot main control unit drives the screw motor to rotate according to the pressure data received by the force sensor, and the small wheel hub moves up and down in the vertical direction to clamp the cable. The application optimizes the ability of the robot to resist external force interference, and improves the efficiency and intelligent degree of overhead line inspection work.

Description

Technical Field

[0001] This invention belongs to the field of substation inspection terminals, specifically relating to a force feedback-based line inspection robot clamping and walking mechanism and its control method. Background Technology

[0002] Overhead transmission lines transmit electricity from power plants to users via towers and wires. They can be damaged by various unforeseen circumstances, including natural disasters, vegetation impacts, and insulation aging. In the construction of smart grids, a type of line inspection robot has been specially designed to replace manual labor in the inspection, flaw detection, and repair of transmission lines. Most line inspection robots adopt a suspended design and are equipped with operating modules.

[0003] However, conventional single-hub suspension systems cannot adapt to certain special environments. For example, in areas with high wind potential energy, the robot's inspection efficiency will be reduced due to greater interference, or it may even be unable to complete the inspection work. For power transmission lines with long tower spacing, cable bends forming sloping sections will also affect the robot's movement efficiency, and in extreme cases, may even cause the hub to slip. Existing multi-hub clamping designs are mostly purely mechanical clamping solutions, such as patents CN112448313B and CN109698476A. They require manual clamping of cables before the inspection task begins according to a predetermined stroke, or manual control of the clamping force, and neither possesses intelligent features. Summary of the Invention

[0004] To address the aforementioned issues, this invention discloses a force feedback-based clamping and walking mechanism for a line-inspection robot and its control method. The mechanism uses a force sensor to measure the pressure between the wheel hub and the cable in real time. The controller processes this data to determine the robot's operating status, provides feedback control to the motor-driven lead screw, and uses a specially designed mechanical structure to control the dual wheel hubs to ultimately clamp or release the cable. This intelligent cable movement further reduces labor costs, improves inspection efficiency, and expands application scenarios.

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

[0006] This invention first provides a force feedback-based clamping and walking mechanism for a line-following robot, comprising an upper guide rail vertical rod and a lower guide rail vertical rod whose ends are interlocked. The free ends of the upper and lower guide rail vertical rods are respectively vertically welded to an upper support horizontal rod and a lower support horizontal rod. The end of the upper support horizontal rod is fixed to a main drive motor, which is connected to the central shaft of a large wheel hub to drive the large wheel hub. The lower support horizontal rod is sleeved with a small wheel hub. A trapezoidal connecting plate is welded to the lower guide rail vertical rod at the midpoint of the guide rail stroke. The trapezoidal connecting plate is connected to a lead screw slide, which is driven by a linear mechanism. The linear mechanism includes a connecting rod... The slide block has sliders at both ends of the slide table, which are mounted on the lead screw guide rail. The lower bottom surface of the slider is connected to the ball screw with the lead screw nut. The lead screw guide rail is fixed on the upper surface of the long side of the linear mechanism base plate, and the lead screw base and lead screw motor are fixed on the upper surface of the short side of the linear mechanism base plate, respectively. The lead screw is installed in the lead screw motor base. The force sensor is fixed in the internal casing of the rotating shaft of the small hub. The force sensor, the lead screw motor, and the main drive motor are all connected to the main controller of the line inspection robot. The main controller of the line inspection robot drives the lead screw motor to rotate according to the pressure data received from the force sensor, so that the small hub moves up and down in the vertical direction to clamp the cable.

[0007] Furthermore, the force sensor is housed inside the rotating shaft of the small hub and located within a small housing of the lower support crossbar; the lower support crossbar has a pre-drilled groove for embedding data cables and power cables for the force sensor.

[0008] Furthermore, the guide rail vertical rod, the lower guide rail vertical rod, and the linear mechanism are all installed in the housing. The housing includes a cylindrical housing shell and a disc-shaped housing cover. An upper limit plate is welded to the upper end of the cylindrical housing shell, and a connecting mechanism is welded to the lower end. A rotating shaft is installed at the end of the upper guide rail vertical rod, and the rotating shaft passes through the housing shell and extends to the outside of the housing. The upper limit plate and the connecting mechanism are both provided with arc-shaped limiting holes for the upper and lower support crossbars to pass through. 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 [missing information]. The width of the arc-shaped limiting hole of the upper limit plate should be slightly larger than the outer diameter of the upper support crossbar, while the width of the arc-shaped limiting hole of the lower connecting mechanism should be slightly smaller than the stroke of the lead screw slide.

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

[0010] The present invention also provides a control method for the above-mentioned force feedback-based clamping and walking mechanism of a line-following robot, the method comprising the following steps: S1. Preparation: Connect the two sets of force feedback-based line-following robot clamping and walking mechanisms to the front and rear ends of the line-following robot body, respectively. Then hang the connected whole device on the cable. After preparation, power on the device and start it. S2. The force sensor begins to collect data: it collects the pressure data of the small hub vertically above it, that is, the real-time pressure of the cable on the small hub, and sends the collected pressure data to the main control of the line-following robot. S3. The main controller of the line-following robot analyzes the pressure data and controls the lead screw motor to drive the small 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 the preset standard pressure range, and keep the pressure relatively stable. S4. The main drive motor of the line-following robot's main control unit starts working, and the robot will begin to move forward; S5. The main controller of the line-following robot monitors the data measured by the force sensor in real time and continuously drives the small 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 robot main controller receives other interruption signals and needs to stop the robot from moving forward, execute S6. If the real-time pressure value continues to exceed the standard range, a second correction is performed. S6. The main control unit of the line-following robot stops the main drive motor and handles the interruption. If a stop signal is received, execute S7; S7. The main controller of the line-following robot records the work log, maintains the current pose, and enters standby mode.

[0011] Furthermore, the rapid calibration of the pressure applied to the force sensor described in step S3 is performed as follows: S3-1: The robot's main controller first controls the lead screw motor to reverse to the shortest stroke position, and then... (unit: Within the range, based on the received pressure data, the lead screw motor is driven to rotate at low speed in a forward direction according to formula (10-1): (10-1) in: The actual value of the drive voltage of the lead screw motor (12) controlled by the main controller, in units of: ; This is a conversion parameter, the value of which is equal to the equivalent parameter of the main control analog-to-digital conversion multiplied by a predetermined amplification factor; The force sensor measures the real-time pressure, in units of: ; This is the transformed step function; According to the formula, after... Then, the motor stops; at this point, the robot's main controller will wait for the operator to confirm the calibration results. If successful, the robot's main controller will update the preset standard range: based on the current pressure value. (unit: The interval is recorded as a new standard interval. After calibration, the robot controller will execute S4. If the failure is confirmed, the robot's main controller will record the calibration failure and stop the drive motor, executing S3-2; S3-2: The robot's main controller stops the drive motor, performs manual calibration, and updates the standard pressure range. After the operator manually clamps the small hub, the robot's main controller updates the preset standard range and executes S4.

[0012] Furthermore, the secondary correction method described in step S5 is as follows: S5-1: The main controller of the line-following robot stops the main drive motor and confirms the robot's status. It attempts to correct the pressure value to the standard range. If successful, it directly calls back to execute S4; if it times out and fails, it executes S5-2. S5-2: The robot's main controller will drive the lead screw motor to rotate at high speed according to formula (10-1) to clamp the cable to the maximum extent, record this correction and upload it, and then execute S4 in a callback.

[0013] The advantages of this invention compared to the prior art are: To address the shortcomings of existing single-hub suspension solutions that cannot adapt to strong winds and cable bending, this invention adopts a dual-hub clamping mechanism with both large and small hubs and introduces force feedback control, enabling the robot to dynamically adjust the clamping force according to environmental interference while clamping the cable.

[0014] 1. This design, through the collaborative operation of dual wheel hubs, can improve the stability of the robot in complex working environments. When the robot encounters wind interference or curved road sections, the dual wheel hub clamping provides better support for maintaining the robot's stability, effectively preventing wheel hub slippage, 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 force feedback-based programming control method utilizes real-time data from force sensors to precisely adjust the clamping force. This dynamic adjustment mechanism greatly improves the robot's flexibility, overall work efficiency, and safety. Real-time correction of the clamping force ensures it remains within an appropriate range, preventing both excessive force that hinders robot movement and insufficient force that leads to clamping failure.

[0016] 3. Ultimately, this invention enables the robot to perform autonomous calibration before inspection, intelligent correction of wheel hub clamping force during inspection, and maintain a work log after inspection. This enhances the robot's adaptability to special environments, broadens its application scenarios, improves the robot's online mobility efficiency, significantly enhances automation and intelligence, and greatly reduces human intervention. Attached Figure Description

[0017] Figure 1 The outer view of the complete clamping and walking mechanism of the force feedback-based line-following robot; Figure 2 The inner view of the complete view of the clamping and walking mechanism of the force feedback-based line-following robot; Figure 3 A partial view of the outer shell removed from the gripping and walking mechanism of a force feedback-based line-following robot; Figure 4 A magnified and projected view of the force sensor of the gripping and walking mechanism of a force feedback-based line-following robot. Figure 5 A partial view of the top cover is removed from the gripping and walking mechanism of a force feedback-based line-following robot. Figure 6 One of the schematic diagrams of the clamping and walking mechanism of a line-following robot based on force feedback; Figure 7 The second schematic diagram shows the working principle of the clamping and walking mechanism of the line-following robot based on force feedback. Figure 8 This is a complete flowchart of the force feedback-based clamping and walking control algorithm for a line-following robot. Detailed Implementation

[0018] The present invention will be further illustrated below with reference to the accompanying drawings and specific embodiments. It should be understood that the following specific embodiments are for illustrative purposes only and are not intended to limit the scope of the invention.

[0019] Example 1: like Figures 1 to 4As shown, the force feedback-based line-following robot clamping and walking mechanism described in this embodiment includes an upper guide rail vertical rod 15a and a lower guide rail vertical rod 16 with their ends interlocked. 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 horizontal rod 4 and a lower support horizontal rod 6. The end of the upper support horizontal rod 4 is fixed to a main drive motor 3. The main drive motor 3 is connected to the central shaft of the large wheel hub 2 to drive the large wheel hub 2. The lower support horizontal rod 6 is sleeved with a small wheel hub 5. A trapezoidal connecting plate 19 is welded to the lower guide rail vertical rod 16 at the midpoint of the guide rail stroke. The trapezoidal connecting plate 19 is connected to a lead screw slide 9, which is driven by a linear mechanism. The linear mechanism includes a connection to the lead screw slide 9. The slider 10, which is fitted at both ends, is mounted on the lead screw guide rail 8. The lower bottom surface is fitted with the lead screw nut to connect to the ball screw 11. The lead screw guide rail 8 is fixed on the upper surface of the long side of the linear mechanism base plate 7, and the lead screw base 14 and the lead screw motor 12 are fixed on the upper surface of the short side of the two sides, respectively. The lead screw motor 12 is installed in the lead screw motor seat 13. The force sensor 18 is fixed in the internal casing 17 of the rotating shaft of the small hub 5. The force sensor 18, the lead screw motor 12, and the main drive motor 3 are all connected to the main controller of the line inspection robot. The main controller of the line inspection robot drives the lead screw motor 12 to rotate according to the pressure data received from the force sensor 18, so that the small hub 5 moves up and down in the vertical direction to clamp the cable.

[0020] Furthermore, the force sensor 18 is housed inside the rotating shaft of the small hub 5 and within a small housing of the lower support crossbar 6. The small housing should be shaped to match the force sensor 18, ensuring the sensor is placed vertically within the housing with minimal change in relative position, maintaining a vertically upward measurement direction, and minimizing measurement errors caused by sensor displacement during equipment movement. The lower support crossbar 6 has a pre-drilled channel for embedding data and power cables for the force sensor 18. This channel, with its small inner diameter, is specifically designed for embedding data and power cables for the force sensor 18, allowing the cables to be routed into the housing 1a without exposure, thus protecting data transmission from potential 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 housing. The housing includes a cylindrical housing shell 1a and a disc-shaped housing cover 1b. An upper limit plate 1c is welded to the upper end of the cylindrical housing shell 1a, and a connecting mechanism 1d is welded to the lower end. A rotating shaft 15b is installed at the end of the upper guide rail vertical rod 15a, and the rotating shaft extends through the housing shell 1a to the outside of the housing. The upper limit plate 1c and the connecting mechanism 1d are both provided with arc-shaped limiting holes for the upper support crossbar 4 and the lower support crossbar 6 to pass through. The arc-shaped limiting holes are all hollowed out with the rotating shaft 15b as the center. The purpose is to prevent the mechanism from rotating around the rotating shaft 15b beyond the design limit, which would cause the mechanism to reverse and ensure the stability of the mechanism's operation. The arc of the arc-shaped limiting holes of the upper limit plate 1c and the connecting mechanism 1d should be less than the radius of curvature of the upper limit plate 1c and the connecting mechanism 1d. The width of the arc-shaped limiting hole in the upper limit plate 1c should be slightly larger than the outer diameter of the upper support crossbar 6, while the width of the arc-shaped limiting hole in the lower connecting mechanism 1d should be slightly smaller than the stroke of the lead screw slide 9. The upper guide rail vertical rod 15a and its directly connected mechanism are then fixed around the rotation axis 15b, ensuring that the upper guide rail vertical rod 15a, the lower guide rail vertical rod 16, and the large hub 2 and small hub 5, among other connected mechanisms, all have the ability to rotate around the rotation axis 15b. The guide rail directions of the upper 15a and lower guide rail vertical rod 16 are consistent with the directions of the two rods, allowing the lower guide rail vertical rod 16 to slide bidirectionally along the guide rail within its stroke, with a tight fit between the guide rails and a damped sliding feel.

[0022] Furthermore, the bottom surface of the linear mechanism base plate 7 is in close contact with the limiting groove 20 inside the casing 1a. Meanwhile, since the other side of the linear mechanism base plate 7 is mechanically transmitted to the upper guide rail vertical rod 15a through the lead screw guide rail 8, lead screw slide 9 and other mechanisms, the linear mechanism base plate 7 can rotate around the rotation axis 15b. And due to the obstruction of the limiting groove 20, the linear mechanism base plate 7 will not produce lateral displacement.

[0023] Furthermore, the materials used for the upper guide rail vertical rod 15a and the lower guide rail vertical rod 16 should have a high coefficient of surface friction to prevent the guide rail from slipping and to increase the rotational resistance of the rotating shaft 15b, thereby improving the mechanism's resistance to disturbances. The material used for the limiting groove 20 should have a low coefficient of surface friction to prevent the mechanism from becoming blocked when rotating around the rotating shaft 15b, which would lead to a decrease in structural stability.

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

[0025] Upload the data and execute S4 via callback.

[0026] Example 2: like Figures 6 to 8 As shown in this embodiment, the force feedback-based clamping and walking mechanism and control method for line-following robots include the following contents.

[0027] S1: Preparation. Connect the connecting mechanism 1d of the two sets of force feedback-based line-following robot clamping and walking mechanisms to the front and rear ends of the robot body, respectively. Then, hang the entire device on the cable. After preparation, the cable should be clamped between the large hub 2 and the small hub 5, and the lead screw slide 9 should be in the middle of its stroke. The small hub 5 should not be in contact with the cable or should have only shallow contact. At this time, power on the device and start it.

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

[0029] S3: The robot's main controller analyzes the pressure data and drives the motor for rapid calibration. Within a certain period (default 3-5 minutes), based on the received pressure data, the robot's main controller drives the lead screw motor 12 to rotate forward and backward to control the small hub 5 to move up and down vertically to clamp the cable. The robot's main controller will attempt to adjust the pressure data to a preset standard pressure range and maintain a relatively stable pressure. After completion, it will execute S4; if it cannot be completed within the time limit, the robot's main controller will execute S3-1.

[0030] S3-1: The main control drive motor of the line-following robot undergoes complete calibration and updates the standard pressure range. The robot's main control first controls the lead screw motor 12 to reverse to the shortest stroke position, and then... (unit: Within the range, based on the received pressure data, the lead screw motor 12 is driven to rotate at low speed in a forward direction according to formula (10-1): (10-1) in: The actual value of the drive voltage of the lead screw motor 12 controlled by the main controller, in units of: ; This is a conversion parameter, the value of which is equal to the equivalent parameter of the main control analog-to-digital conversion multiplied by a predetermined amplification factor; The force sensor 18 measures the real-time pressure magnitude, in units of: ; This is the transformed step function.

[0031] According to the formula, after... Then, the motor stops. At this point, the robot's main controller waits for the operator to confirm the calibration result. If the confirmation is successful, the robot's main controller will update the preset standard range: based on the current pressure value. (unit: The interval is recorded as the new standard interval. After calibration, the robot controller will execute S4. If the calibration fails, the robot controller will record the calibration failure and stop the drive motor, and execute S3-2.

[0032] S3-2: The main controller of the line-following robot stops the drive motor, performs manual calibration, and updates the standard pressure range. The robot main controller temporarily suspends the lead screw motor 12. After the operator manually clamps the small hub 5, the robot main controller updates the preset standard range and re-energizes the lead screw motor 12, executing S4.

[0033] S4: The main drive motor 3 of the line-following robot is activated, the large wheel hub 2 rotates, and the robot begins to move forward. Execute S5.

[0034] S5: The main controller of the line-following robot monitors the data measured by the force sensor 18 in real time and continuously drives the lead screw motor 12 to rotate forward and backward to control the small hub 5 to move up and down in the vertical direction to clamp the cable, thereby correcting 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 robot main controller receives other interruption signals and needs to stop the robot's forward movement, execute S6; if the real-time pressure value continues to exceed the standard range... (unit: ), execute 5-1.

[0035] S5-1: The main controller of the line-following robot stops the main drive motor 3 and confirms the robot's status. It attempts to correct the pressure value back to the standard range. If successful, it directly calls back to execute S4; otherwise, it times out. ,unit: This caused the process to fail, and S5-2 was executed.

[0036] S5-2: The robot's main controller will drive the lead screw motor 12 to rotate at high speed according to formula (10-1) to clamp the cable to the maximum extent, and wait. (unit: Record this correction and upload it; execute S4 via callback.

[0037] S6: The main controller of the line-following robot stops the main drive motor 3 and handles the interruption service. If a stop signal is received, execute S7.

[0038] S7: The main controller of the line-following robot records the work log, drives the main drive motor 3 and the lead screw motor 12 to stop rotating, maintains the current posture, and enters the standby state.

Claims

1. A force feedback-based clamping and walking mechanism for a line-following robot, comprising an upper guide rail vertical rod (15a) and a lower guide rail vertical rod (16) with their ends interlocked, wherein 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 horizontal rod (4) and a lower support horizontal rod (6), the end of the upper support horizontal rod (4) is fixed to a main drive motor (3), the main drive motor (3) is connected to the central shaft of a large wheel hub (2) for driving the large wheel hub (2), and the lower support horizontal rod (6) is sleeved with a small wheel hub (5), 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 stroke. The trapezoidal connecting plate (19) is connected to the lead screw slide (9). The lead screw slide is driven by a linear mechanism. The linear mechanism includes sliders (10) that cooperate with both ends of the lead screw slide (9). The sliders (10) are installed on the lead screw guide rail (8). The lower bottom surface is connected to the ball screw (11) with the lead screw nut. The lead screw guide rail (8) is fixed on the upper surface of the long side of the linear mechanism base plate (7), and the lead screw is fixed on the upper surface of the short side of the two sides respectively. The base (14) and the lead screw motor (12) are installed in the lead screw motor seat (13); the internal casing (17) of the rotating shaft of the small hub (5) is fixed with a force sensor (18). The force sensor (18), the lead screw motor (12), and the main drive motor (3) are all connected to the main controller of the line inspection robot. The main controller of the line inspection robot drives the lead screw motor (12) to rotate according to the pressure data received from the force sensor (18), so that the small hub (5) moves up and down in the vertical direction to clamp the cable. The upper guide rail vertical rod (15a), the lower guide rail vertical rod (16), and the linear mechanism are all installed in the housing. The housing includes a cylindrical housing shell (1a) and a disc-shaped housing cover (1b). The upper end of the cylindrical housing 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 extends through the housing shell (1a) to the outside of the housing. The upper limit plate (1c) and the connecting mechanism (1d) are both provided with arc-shaped limiting holes for the upper support crossbar (4) and the lower support crossbar (6) to pass through. The arc-shaped limiting holes are all hollowed out with the rotating shaft (15b) as the center. The arc of the arc-shaped limiting holes of the upper limit plate (1c) and the connecting mechanism (1d) should be less than 1 / 3 of the radius of the hole. The width of the arc-shaped limiting hole of the upper limit plate (1c) should be slightly larger than the outer diameter of the upper support crossbar (4), while the width of the arc-shaped limiting hole of the connecting mechanism (1d) should be slightly smaller than the stroke of the lead screw slide (9).

2. The force feedback-based clamping and walking mechanism for a line-following robot according to claim 1, characterized in that: The force sensor (18) is installed inside the rotating shaft of the small hub (5) and located in the small housing of the lower support crossbar (6); the lower support crossbar (6) has a reserved wiring groove for embedding data lines and power lines for the force sensor (18).

3. The force feedback-based clamping and walking mechanism for a line-following robot according to claim 1, characterized in that: The bottom surface of the linear mechanism base plate (7) is closely attached to the limiting groove (20) inside the casing shell (1a).

4. A control method for a force feedback-based clamping and walking mechanism of a line-following robot as described in any one of claims 1-3, characterized in that: The method includes the following steps: S1. Preparation: Connect the two sets of the connecting mechanisms (1d) of the force feedback-based line-following robot clamping and walking mechanism to the front and rear ends of the line-following robot body respectively, and then hang the connected whole equipment on the cable. After preparation, power on the equipment and start it. S2. The force sensor (18) starts collecting data: it collects the pressure data of the small hub (5) vertically above, that is, the real-time pressure of the cable on the small hub (5) and sends the collected pressure data to the main control of the line inspection robot. S3. The main controller of the line-following robot analyzes the pressure data and controls the lead screw motor (12) to drive the small 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), adjust the pressure data to the preset standard pressure range, and keep the pressure relatively stable. If it cannot be completed within the time limit, the main controller of the line-following robot performs a complete calibration and updates the standard pressure range. S4. The main drive motor (3) of the line-following robot is driven by the main controller, and the robot will start to move forward; S5. The main controller of the line-following robot monitors the data measured by the force sensor (18) in real time and continuously drives the small hub (5) to move up and down in the vertical direction to clamp the cable, so as to correct the pressure value to the standard range. At this time, the system has formed a closed-loop control loop based on force feedback. If the robot main controller receives other interruption signals and needs to stop the robot from moving forward, execute S6. If the real-time pressure value continues to exceed the standard range, a second correction is performed. S6. The main drive motor (3) of the line-following robot is stopped and the interrupt service is handled; if a stop signal is received, S7 is executed. S7. The main controller of the line-following robot records the work log, maintains the current pose, and enters standby mode.

5. The control method for the clamping and walking mechanism of a line-following robot based on force feedback according to claim 4, characterized in that: The specific method for the complete calibration is as follows: S3-1: The robot's main controller first controls the lead screw motor (12) to reverse to the shortest stroke position, and then... Inside, based on the received pressure data, the lead screw motor (12) is driven to rotate forward at low speed according to formula (10-1): （10-1） in: The actual value of the drive voltage of the lead screw motor (12) controlled by the main controller, in units of: ; This is a conversion parameter, the value of which is equal to the equivalent parameter of the main control analog-to-digital conversion multiplied by a predetermined amplification factor; The force sensor (18) measures the real-time pressure magnitude, in units of: ; This is the transformed step function; According to the formula, after... Then, the motor stops; at this point, the robot's main controller will wait for the operator to confirm the calibration results. If successful, the robot's main controller will update the preset standard range: based on the current pressure value. The interval is recorded as a new standard interval. After calibration, the robot's main controller will execute S4. If the failure is confirmed, the robot's main controller will record the calibration failure and stop the drive motor, executing S3-2; S3-2: The main controller of the line-following robot stops the drive motor, performs manual calibration, and updates the standard pressure range; after the operator manually clamps the small hub (5), the main controller of the robot updates the preset standard range and executes S4.

6. The control method for the clamping and walking mechanism of a line-following robot based on force feedback according to claim 4, characterized in that: The secondary correction method described in step S5 is as follows: S5-1: The main control of the line-following robot drives the main drive motor (3) to stop and confirms the robot status; attempts to correct the pressure value to the standard range. If successful, it directly calls back to execute S4; if it times out and fails, it executes S5-2. S5-2: The robot master controller will drive the lead screw motor (12) to rotate at high speed according to formula (10-1) to clamp the cable to the maximum extent, record the correction and upload it, and execute S4 in the callback.

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