A split type operation method based on a power angle steel tower

Abstract

The present application belongs to the technical field of power angle steel tower climbing, and particularly relates to a split type operation method based on a power angle steel tower. The present application comprises the following steps: S1, installing a climbing main machine with a climbing sub-machine on an angle steel main material until the climbing claws of the climbing main machine clamp the angle steel main material; then, operating the climbing main machine to go up along the angle steel main material to a predetermined operation height; S2, starting the climbing sub-machine and separating it from the climbing main machine, and climbing along the auxiliary component to a predetermined operation area to achieve the split type operation purpose. The present application designs a two-stage recursive concept, thereby radiating the operation area to the auxiliary component of the power angle steel tower; while ensuring the structural simplicity and the operation simplicity, the present application also meets the full-area dead angle free operation requirement of the power angle steel tower.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of power angle steel tower climbing, and particularly relates to a split type operation method based on a power angle steel tower. BACKGROUND

[0002] The stability and safety of power are the basic guarantee for promoting the development of various industries. In China, the number of power angle steel towers is large, and they are widely distributed and exposed to the outdoor environment for a long time, even in harsh environments such as dust, strong wind and high humidity. In the traditional way, maintenance personnel need to carry maintenance equipment and climb the angle steel tower along the side of the nail, and gradually connect the safety rope to prevent falling, which leads to a long inspection cycle, high climbing risk and low work efficiency. Therefore, climbing robots suitable for angle steel towers have emerged, and various types of climbing robots have gradually emerged, such as snake robots and inchworm robots. No matter what kind of robot, after loading the working part, the overall quality is very large, which puts a severe test on the climbing reliability of the robot. The current robot climbing mode is still in the whole machine working mode, that is, one machine to the end, and relies on the pawl to realize the positioning operation requirement all the way. The actual structure is described in the related patents with the patent publication number "CN104129447B" and the name "A power transmission tower climbing robot and a power transmission tower inspection method thereof". The problems of the existing climbing robot are as follows: first, due to the large quality of the robot, a three-point clamping structure is often used to ensure the reliability of the movement and positioning, which causes the pawl to have the disadvantages of complex structure and many moving parts, which not only further increases the overall quality of the robot, but also puts a severe test on the precision of the assembly and the action mode. Second, the angle steel tower not only has angle steel main materials, but also has auxiliary components such as cross arms and inclined materials of different specifications. The one-machine-to-end working mode needs to further design the pawl to not only meet the size requirements of the angle steel main materials, but also change the clamping diameter online to match the specifications of the corresponding auxiliary components. Obviously, this further aggravates the complexity of the pawl structure and control. Therefore, the working area of the current traditional climbing robot cannot be radiated to the end area of the angle steel tower, and only the working area in the region of the angle steel main materials can be worked, which greatly affects the operation popularity of the climbing robot and needs to be solved urgently. SUMMARY

[0003] The purpose of the present application is to overcome the shortcomings of the prior art, and to provide a split type operation method based on a power angle steel tower, which designs a two-stage recursive concept to radiate the operation area to the auxiliary components of the power angle steel tower; while ensuring the simplicity of the structure and the convenience of the operation, the full-area dead-angle-free operation requirement of the power angle steel tower is also met.

[0004] To achieve the above-mentioned purpose, the present application adopts the following technical solutions:

[0005] A split-type operation method based on power angle steel towers, characterized by the following steps:

[0006] S1. Install the climbing main unit with the climbing sub-machine onto the main angle steel member until the climbing claws at the climbing main unit clamp the main angle steel member; then, operate the climbing main unit to move up the main angle steel member to the predetermined working height.

[0007] S2. The climbing sub-machine starts up and detaches from the climbing host and climbs along the auxiliary components to the designated work area, achieving the purpose of split-type operation.

[0008] Preferably, the working end of the climbing host is equipped with a feeding component; the feeding component includes a feeding rod that slides and engages with the working end via a slide rail, a rack is arranged on the feeding rod along the length of the rod, and a power motor with a reduction gear is arranged on the working end, so that the reciprocating linear motion of the feeding rod along the length of the rod is realized by the meshing of the reduction gear and the rack; a docking platform is provided at the top of the feeding rod for the claws at the foot end of the climbing submachine to disengage and connect;

[0009] When the climbing main unit moves up the angle steel main material to the predetermined working height, the feeding component is activated, sending the climbing sub-machine to a position away from the climbing main unit. Only then do the climbing sub-machine's claws disengage from the docking platform and enter the area where the auxiliary material components are located.

[0010] Preferably, a visual positioning label is set on the jaw, and an observation hole is set through the docking platform, with a positioning camera arranged in the observation hole; a positioning pin is also provided at the docking platform, and a pin-hole positioning fit is formed between the positioning pin and the positioning hole set on the jaw.

[0011] Preferably, a magnetic plate is attached to the docking platform, and a positioning pin is installed on the magnetic plate.

[0012] Preferably, the claw includes a base bracket, the upper surface of which forms a contact surface for contacting one of the outer walls of the auxiliary material component; with one end of the base bracket located at the edge of the auxiliary material component as the inner end, the inner end of the base bracket extends upward to form a edging for contacting the edge of the auxiliary material component, and the outer end of the base bracket is provided with a clamping block for clamping the edge of the outer wall, the clamping block and the edging working together to clamp the auxiliary material component; an electromagnet for adsorbing the outer wall of the auxiliary material component is also provided at the contact surface.

[0013] Preferably, the clamping block is mounted on the base bracket via a flipping assembly; the flipping assembly includes a flipping hinge seat for the clamping block to flip and a linear power source for pushing the clamping block to flip; the tail end of the linear power source is hinged to the base bracket via a tail end hinge seat, and the head end of the linear power source is hinged to the clamping block via a head end hinge seat, and the hinge point of the head end hinge seat relative to the clamping block and the hinge point of the flipping hinge seat relative to the clamping block are mutually asymmetric.

[0014] Preferably, the clamping block is L-shaped, and the short side of the clamping block forms a hinge end for cooperating with the first end hinge seat; when the clamping block and the edge together clamp one side of the auxiliary material component, the long side of the clamping block is parallel to the bottom bracket, and the gap formed by the long side of the clamping block and the contact surface of the bottom bracket forms a clamping gap for clamping the one side.

[0015] Preferably, the base bracket includes a support plate with a right-angled groove shape and a sealing plate covering the groove opening of the support plate. The groove-shaped space formed by the support plate and the sealing plate constitutes a mounting cavity for placing the flipping component. At this time, the upper surface of the sealing plate constitutes the contact surface. The width limiting plate is installed on both sides of the groove wall of the support plate. The width limiting plate extends horizontally along the length of the groove of the support plate and then extends vertically upward, so that the inner curved side of the "L"-shaped width limiting plate forms the edging. Mounting holes are arranged in the groove wall of the support plate. The mounting holes are evenly distributed in sequence along the length of the groove of the support plate. The mounting screws pass through the width limiting plate and fit into the mounting holes. The two width limiting plates are fixed to each other by a horizontal bar.

[0016] Preferably, the width limiting plate is provided with a side contact detection switch for detecting the positioning information of one of the outer walls of the auxiliary material component, and a bottom contact detection switch is provided at the contact surface for detecting the contact status of the other outer wall of the auxiliary material component.

[0017] Preferably, the claws are in two sets, respectively arranged at the two foot ends of the articulated robotic arm; the articulated robotic arm is a five-axis dual-bar robotic arm, including foot-end motors fixed to the two foot ends by mounting plates, the output shafts of the foot-end motors being fixedly connected to the base bracket; an end joint motor is provided at the first end of the connecting rod of the articulated robotic arm, the output shaft of the end joint motor forming a fixed connection with the mounting plate; an intermediate joint motor is provided at the tail end of one of the connecting rods of the articulated robotic arm, the output shaft of the intermediate joint motor forming a fixed connection with the tail end of the other connecting rod; the axes of each joint motor are parallel to each other, and the axes of each joint motor are perpendicular to the axes of the foot-end motors.

[0018] The beneficial effects of this invention are as follows:

[0019] 1) Abandoning the numerous drawbacks of traditional single-machine systems, such as complex structures and cumbersome programming, this invention adopts a two-stage recursive approach. During operation, the main climbing unit climbs the main angle steel structure to deliver the sub-climbing unit to a designated height. Subsequently, the sub-climbing unit can detach from the main climbing unit to perform remote operations at greater distances. Thus, this invention can extend the work area to the auxiliary components of the power angle steel tower. The climbing claws or clamps do not require complex designs, ensuring both structural simplicity and ease of operation while meeting the requirement for comprehensive, blind-spot-free operation across the entire power angle steel tower area.

[0020] 2) When this invention is actually in operation, the climbing host, as a conventional climbing machine, can carry the climbing sub-machine to a designated height on the main angle steel member. Subsequently, by utilizing the release and gripping actions of the claws at the docking platform and the climbing sub-machine, the climbing sub-machine can achieve detachment and connection with the climbing host. Due to the dimensional inconsistencies between the main angle steel member and auxiliary components such as crossarms, the specifications of the climbing claws at the climbing host and the claws at the climbing sub-machine can also be inconsistent. This overcomes the drawback of conventional climbing hosts being unable to reach the end of the power angle steel tower, thus achieving a full-coverage inspection, maintenance, and disassembly / reassembly effect for the power angle steel tower.

[0021] Of course, the climbing submachine can be implemented in various ways. The preferred embodiment of this invention is an inchworm-like structure, that is, using an inchworm-like jointed robotic arm to cooperate with the claws, thereby realizing the climbing function of the main angle steel material and even auxiliary components.

[0022] 3) Considering that there is a certain distance between the main angle steel and auxiliary components of some power angle steel towers, relying solely on the climbing submachine may affect its climbing efficiency; therefore, this invention incorporates a feeding component to meet the need for nearby delivery. Furthermore, as the climbing main unit moves up or down along the main angle steel, the feeding rod of the telescopic feeding component allows the center of gravity of the climbing submachine to gradually align with that of the climbing main unit, facilitating a more balanced and stable upward or downward movement of the climbing main unit.

[0023] 4) The climbing submachine gun's gripper adopts a single-sided, edge-fitting, single-outer-wall gripper structure, effectively ensuring the compactness and simplicity of the structure. Furthermore, because the clamping block abuts against the single-sided edge, and the edging abuts against the corner, once clamping is complete, it ensures the force and shape sealing requirements during the climbing process along the angle steel tower, thus effectively ensuring the stability and reliability of the climbing operation.

[0024] 5) In actual operation, this invention adds a magnetic attraction fixing function to the mechanical clamping of the claw, thereby realizing the dual positioning function of the claw relative to the auxiliary material component, which is very effective.

[0025] 6) For the flipping assembly, the linear power source is preferably an electric push rod. During operation, the electric push rod pushes the "L"-shaped clamping block to produce a flipping action. The gap formed by the long side of the clamping block and the contact surface of the base bracket can be used to clamp one side of the auxiliary material component. At this time, the edge and corner of the single side are abutted by the clamping block and the edge banding respectively, and the single side is surrounded and constrained by the gap, which ensures the reliability and stability of clamping to the greatest extent.

[0026] 7) For edge binding, this is actually achieved through a width limiting plate. The width limiting plate itself is an adjustable structure, meaning that the installation position of the mounting screws can be adjusted adaptively according to the width of the outer wall or a single side of the auxiliary component, thereby achieving an adaptive adjustment effect for the auxiliary component to be clamped, making it very flexible to use.

[0027] 8) The side contact detection switch and the bottom contact detection switch are used to further improve the reliability of the gripper. Only after all the above switches have obtained the positioning information of the auxiliary material components can the gripper be officially in a stable clamping state relative to the auxiliary material components. Attached Figure Description

[0028] Figure 1 This is a schematic diagram of the three-dimensional structure of the chuck;

[0029] Figure 2 Diagram of the claw structure after the sealing plate has been removed;

[0030] Figure 3 and Figure 4 This is a diagram showing the motion state of the gripper.

[0031] Figure 5 A three-dimensional structural diagram of the climbing submachine gun;

[0032] Figure 6 and Figure 7 Diagram showing the clamping states of auxiliary components of different widths for the claws of the climbing submachine gun;

[0033] Figure 8 This is a diagram showing the arrangement of the end joint motors;

[0034] Figure 9 for Figure 8 A sectional view;

[0035] Figure 10 , Figure 11 and Figure 12 A flowchart illustrating the movement of the climbing submachine along the auxiliary components;

[0036] Figure 13 This is a diagram showing the working status of the climbing submachine gun;

[0037] Figure 14 and Figure 17 A flowchart illustrating the workflow of a climbing robot;

[0038] Figure 15 for Figure 14 A magnified view of part I;

[0039] Figure 16 This is a schematic diagram of the three-dimensional structure of the docking platform.

[0040] The actual correspondence between the reference numerals and component names in this invention is as follows:

[0041] a-Angle steel main material; b-Crossbeam; c-Working components;

[0042] 10-Base bracket; 11-Support plate; 11a-Mounting hole; 12-Sealing plate; 13-Visual positioning label; 14-Positioning hole;

[0043] 20-Width limiting plate; 20a-Edge binding; 21-Mounting screw; 22-Horizontal bar;

[0044] 30 - Clamping block; 40 - Electromagnet;

[0045] 51-Flip hinge seat; 52-Linear power source; 53-Tail hinge seat; 54-Head hinge seat;

[0046] 61-Side contact detection switch; 62-Bottom contact detection switch;

[0047] 70 - Articulated robotic arm; 71 - Mounting plate; 72 - Foot motor; 73 - Linkage rod; 74 - End joint motor; 75 - Intermediate joint motor;

[0048] 80-Climbing main unit; 81-Dating platform; 81a-Observation hole; 82-Positioning camera; 83-Positioning pin; 84-Magnetic suction plate;

[0049] 91-Feeding rod; 92-Rack and pinion. Detailed Implementation

[0050] For ease of understanding, this section combines... Figures 1-17 Taking the climbing main machine 80 clamping the angle steel main material a and the climbing submachine clamping the crossbeam b as an example, the specific structure and working method of the present invention are further described as follows:

[0051] The main structure of this invention comprises two parts: a climbing sub-machine with claws, and a climbing main machine 80 for forming the loading base of the climbing sub-machine. Wherein:

[0052] I. Climbing host 80

[0053] The disengagement action between the climbing host 80 and the climbing sub-machine is one of the core highlights of this invention.

[0054] The structural components include the main angle steel member (a) and auxiliary components such as crossbeams (b). In actual operation, the climbing host 80 can be implemented using existing angle steel tower climbing devices, whose functions and structures are already quite mature. Of course, the climbing host 80 still needs to be modified accordingly to form a climbing platform, ultimately enabling the climbing host 80 to load climbing sub-machines, thereby forming a multi-segment push-type split climbing structure.

[0055] More specifically, such as Figures 14-17 As shown, the working end of the climbing host 80 is equipped with a docking platform 81. The width of the docking platform 81 matches the width of one side of the auxiliary material component to be clamped, such as the crossbeam b, so that the claw of the climbing sub-machine, which is a inchworm-like robot, can clamp the crossbeam b while also clamping it at the docking platform 81.

[0056] For details on the clamping state of the docking platform 81 and the gripper, please refer to... Figures 14-15 As shown. To ensure the stability and accuracy of clamping, the docking platform 81, in addition to the magnetic suction plate 84, is also equipped with a positioning pin 83, so as to form an insertion and positioning fit with the corresponding positioning hole 14 at the claw, and can even complete the locking after docking. In addition, a visual positioning label 13 is also set at the bottom bracket 10 of the claw, and a positioning camera 82 is set at the docking platform 81 to guide the docking claw.

[0057] Furthermore, with Figure 14 Taking the operation of the crossarm as an example: Since the climbing host 80 itself exists as a primary feeding unit, its purpose is to deliver the climbing sub-machine, which is a secondary unit, to the crossarm b at a specified height, so that the climbing sub-machine can clamp the crossarm b with pre-specified claws and perform high-stability operations on the crossarm b. Of course, this can also extend to other auxiliary components such as diagonal braces. Furthermore, since there may be a certain gap between the crossarm b and the main angle steel a, or it may be desirable to place the climbing sub-machine as close as possible to the work point when delivering it, or considering the balance requirements of the climbing sub-machine when the climbing host 80 is moving upwards, this invention can also add a feeding component to the working end of the climbing host 80. The shape of the feeding component is shown in the figure. Figures 14-17 As shown, the system includes a feeding rod 91 connecting to the docking platform 81, with a slide rail at the working end to form a guide rail sliding engagement with the feeding rod 91. Simultaneously, a rack 92 is arranged on the feeding rod 91, and a power motor with a reducer is installed at the working end. The gear at the output shaft of the power motor meshes with the rack 92 to achieve the telescopic conveying purpose of the docking platform 81. Because the docking platform 81 can perform telescopic conveying, the climbing submachine gun can be transported to a more suitable location.

[0058] Of course, during the process of the climbing host 80 moving up or down along the main angle steel a, the telescopic feeding rod 91 can also make the center of gravity of the climbing submachine gradually match the center of gravity of the climbing host 80, making it easier to achieve the purpose of the climbing host 80 moving up or down in a balanced and stable manner.

[0059] II. Climbing Submachine

[0060] The specific structure of the climbing submachine is another core highlight of this invention.

[0061] The climbing submachine, while retaining the gripper, can actually be implemented using many known climbing robot structures.

[0062] The present invention preferably employs, as follows: Figures 5-7 and Figures 10-13 The inchworm-like climbing structure shown.

[0063] More specifically, the climbing robot is formed by an articulated robotic arm 70 and two grippers located at the two feet of the articulated robotic arm 70. In design, the articulated robotic arm 70 is a five-axis, double-bar robotic arm, including foot motors 72 fixed to the two feet via mounting plates 71, with the output shafts of the foot motors 72, equipped with speed reducers, fixed to the base bracket 10; end joint motors 74 are installed at the ends of the connecting rods 73 of the articulated robotic arm 70, with the output shafts of the end joint motors 74, equipped with speed reducers, fixedly connected to the mounting plate 71; an intermediate joint motor 75 is installed at the tail end of one of the connecting rods 73 of the articulated robotic arm 70, with the output shaft of the intermediate joint motor 75, equipped with speed reducers, fixedly connected to the tail end of the other connecting rod 73. In short, the five axes of this five-axis, double-bar robotic arm consist of the two axes of the two sets of foot motors 72, the two axes of the two end joint motors 74, and the axis of the intermediate joint motor 75, while the two bars consist of two connecting rods 73 hinged to each other via the intermediate joint motor 75.

[0064] To be further refined to: such as Figures 8-9 As shown, the foot motor 72 is mounted on the connecting rod 73, and the driving gear is mounted on the output shaft of the foot motor 72. The driving gear meshes with the driven gear. The driven gear, axial locking bolt, first axial limiting thrust bearing, radial limiting bearing, second axial limiting thrust bearing, and axial locking anti-loosening nut are coaxial. The axial locking bolt forms a rotational fit with the connecting rod 73 through the radial limiting bearing. Simultaneously, the driven gear is coaxial with the axial locking bolt. The upper and lower surfaces of the first axial limiting thrust bearing contact the driven gear and the connecting rod 73 respectively, and the upper and lower surfaces of the radial limiting bearing contact the connecting rod 73 and the axial locking anti-loosening nut respectively, allowing the driven gear to rotate while being axially locked by the axial locking bolt and the axial locking anti-loosening nut. The encoder shaft is fixed to the axial locking bolt and is used to detect the rotation angle of the driven gear.

[0065] During further assembly, the two sets of grippers are respectively installed on the flanges of the output shafts of the two foot motors 72, so that they can rotate 360° around the corresponding output shafts of the foot motors 72. The grippers can clamp the crossarm b and other auxiliary components such as diagonal members through a combination of magnetic force and mechanical clamping force. They have the characteristics of fast magnetic attraction speed, strong magnetic force, and safe and reliable mechanical clamping. Combined with the five-axis double-bar mechanism, they can move on the crossarm b and other auxiliary components such as diagonal members, with a large degree of freedom of movement, and can move on complex structures.

[0066] Additionally, extra working components, such as hooks and pulleys, can be installed on both sets of grippers. These components can be replaced depending on the specific task. Working cameras are mounted on two connecting rods 73 to identify and locate the gripped object during movement.

[0067] For the chuck, such as Figures 1-4 As shown, the claw is a magnetic composite type, and the adsorption and bonding work is completed by an electromagnet 40 and a sealing plate 12 with a bonding surface. During assembly, the support plate 11 is installed on the foot end mounting base, which is then installed on the foot end motor 72. Several electromagnets 40 are installed on the support plate 11 for adsorbing the corresponding outer walls of auxiliary components such as crossarm b. The sealing plate 12, while housing the electromagnets 40, also has a visual positioning tag 13 affixed to it, which is used to further coordinate with the positioning camera 82 for claw positioning when the climbing sub-machine docks with the climbing main machine 80. The positioning camera 82 needs to work through a visual positioning tag 13. Figure 16 Observation is performed through the observation hole 81a shown. Two width limiting plates 20 are respectively installed on the outer sides of the two groove walls of the support plate 11, with their inner bends forming a edging 20a, and can be used as... Figures 6-7 The horizontal adjustment shown is achieved by mounting screws 21 and mounting holes 11a to accommodate auxiliary components of different widths.

[0068] Taking the clamping of crossarm b as an example: Two side contact detection switches 61 are installed on the two width limiting plates 20 respectively, used to detect whether the right-angled surface of the crossarm b's edge is aligned with the inner vertical surface of the width limiting plate 20. A horizontal rod 22 is used to connect the two width limiting plates 20, ensuring their front-to-back positions remain consistent. The surface of the sealing plate 12 located at the slot of the support plate 11 is slightly lower than the working surface of the electromagnet 40, and a bottom contact detection switch 62 is installed on the sealing plate 12 to detect whether the other right-angled surface of the crossarm b is in contact with the jaw's adsorption surface. Only when both side contact detection switches 61 and the bottom contact detection switch 62 are triggered does it indicate that the jaw is fully in contact with the crossarm b, allowing for adsorption and clamping, thus avoiding the risk of a fall due to inadequate clamping. Two positioning pins 83 are also provided on the sealing plate 12 for docking with the positioning pins 83 at the docking platform 81.

[0069] The action of the chuck at the locator to clamp the single edge of the crossarm b is as follows: Figures 1-4 The clamping block 30 shown is flipped and held by a flipping assembly. More specifically: the tail-end hinge seat 53 and the flipping hinge seat 51 are both fixed to the base bracket 10, while the head-end hinge seat 54 is hinged to the short side of the "L"-shaped clamping block 30. The two ends of the linear power source 52, i.e., the electric push rod, are respectively hinged to the head-end hinge seat 54 and the tail-end hinge seat 53. By extending and retracting the electric push rod, the clamping block 30 can be driven to... Figure 3 The initial position shown and Figure 4The clamping positions shown are used to change postures.

[0070] Furthermore, regarding the operating mode of the climbing submachine gun, Figures 10-13 The diagram shows the movement of the climbing submachine gun when it is suspended along the auxiliary material components; of course, the climbing submachine gun can also walk upright in addition to the suspended mode. In principle, when the climbing submachine gun of this invention is working, the contact surface of the claws should be on a horizontal plane. At this time, the climbing submachine gun is in the state of maximum magnetic attraction, which is conducive to maintaining the stability of the claws' adsorption and the working stability of the climbing submachine gun.

[0071] Of course, as mentioned above, the climbing submachine gun can also carry the working component c on its gripper. Once one end of the climbing submachine gun is fixed, the climbing submachine gun can be considered as using a robotic arm to operate the working component c for operations. The working component c can be changed according to different tasks. Taking a pulley as an example... Figures 14-15 As shown, the trolley is mounted on the claw. When the climbing submachine climbs to the working position, the posture is adjusted so that the trolley is suspended and locked onto the crossbeam b and other auxiliary components, which can meet the corresponding operation requirements and is very convenient to use.

[0072] It will be understood by those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, but also includes the same or similar structures that can be implemented in other specific forms without departing from the spirit or essential characteristics of the invention. Therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0073] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

[0074] The technologies, shapes, and structures not described in detail in this invention are all known technologies.

Claims

1. A split-type operation method based on power angle steel towers, characterized in that, Includes the following steps: S1. Install the climbing host (80) with the climbing submachine onto the main angle steel member until the climbing claws at the climbing host (80) clamp the main angle steel member; then, operate the climbing host (80) to move up along the main angle steel member to the predetermined working height. S2. The climbing submachine starts and detaches from the climbing host (80) and climbs along the auxiliary components to the designated work area to achieve the purpose of split operation; The working end of the climbing host is equipped with a feeding assembly; the feeding assembly includes a feeding rod (91) that slides and engages with the working end via a slide rail, a rack (92) is arranged on the feeding rod (91) along the length of the rod, and a power motor with a reduction gear is arranged on the working end, so that the feeding rod (91) can reciprocate linearly along the length of the rod by relying on the meshing of the reduction gear and the rack (92); the top of the feeding rod (91) is equipped with a docking platform (81) for the claws at the foot end of the climbing submachine to disengage and connect. When the climbing host (80) moves up along the main angle steel to the predetermined working height, the feeding component is activated, sending the climbing submachine to a position away from the climbing host (80). Only then do the claws of the climbing submachine disengage from the docking platform (81) and enter the area where the auxiliary material components are located.

2. The split-type operation method based on power angle steel tower according to claim 1, characterized in that: A visual positioning label (13) is set on the jaw, and an observation hole (81a) is set through the docking platform (81). A positioning camera (82) is arranged in the observation hole (81a). A positioning pin (83) is also provided on the docking platform (81). The positioning pin (83) and the positioning hole (14) set on the jaw form a pin hole positioning fit.

3. The split-type operation method based on power angle steel tower according to claim 2, characterized in that: A magnetic plate (84) is attached to the docking platform (81), and a positioning pin (83) is installed on the magnetic plate (84).

4. The split-type operation method based on power angle steel tower according to claim 1, 2, or 3, characterized in that: The claw includes a base bracket (10), the upper plate surface of which forms a bonding surface for bonding one of the outer walls of the auxiliary material component; with the end of the base bracket (10) located at the edge of the auxiliary material component as the inner end, the inner end of the base bracket (10) extends upward with a edging (20a) for bonding the edge of the auxiliary material component, and the outer end of the base bracket (10) is provided with a clamping block (30) for clamping the edge of the outer wall, the clamping block (30) and the edging (20a) cooperate to clamp the auxiliary material component; an electromagnet (40) for adsorbing the outer wall of the auxiliary material component is also provided at the bonding surface.

5. The split-type operation method based on power angle steel tower according to claim 4, characterized in that: The clamping block (30) is mounted on the base bracket (10) via a flipping assembly. The flipping assembly includes a flipping hinge seat (51) for the clamping block (30) to perform a flipping action and a linear power source (52) for pushing the clamping block (30) to perform a flipping action. The tail end of the linear power source (52) is hinged to the base bracket (10) via a tail end hinge seat (53), and the head end of the linear power source (52) is hinged to the clamping block (30) via a head end hinge seat (54). The hinge point of the head end hinge seat (54) relative to the clamping block (30) and the hinge point of the flipping hinge seat (51) relative to the clamping block (30) are positioned to avoid each other.

6. The split-type operation method based on power angle steel tower according to claim 5, characterized in that: The clamping block (30) is L-shaped. The short side of the clamping block (30) forms a hinge end for cooperating with the first end hinge seat (54). When the clamping block (30) and the edge (20a) clamp one side of the auxiliary material component, the long side of the clamping block (30) is parallel to the bottom bracket (10). At this time, the gap formed by the long side of the clamping block (30) and the contact surface of the bottom bracket (10) forms a clamping gap for clamping the one side.

7. The split-type operation method based on power angle steel tower according to claim 6, characterized in that: The base bracket (10) includes a support plate (11) with a right-angled groove shape and a sealing plate (12) covering the groove opening of the support plate. The groove-shaped space formed by the support plate (11) and the sealing plate (12) constitutes a mounting cavity for placing the flipping component. At this time, the upper surface of the sealing plate (12) constitutes the contact surface. Width limiting plates (20) are installed on both sides of the groove wall of the support plate (11). The width limiting plates (20) extend horizontally along the groove length direction of the support plate (11). After extension, it extends vertically upward, so that the inner curved side of the "L"-shaped width limiting plate (20) forms the edging (20a); mounting holes (11a) are arranged in the groove wall of the support plate (11), and each mounting hole (11a) is evenly distributed in sequence along the groove length direction of the support plate (11). The mounting screw (21) passes through the width limiting plate (20) and fits into the mounting hole (11a); the two width limiting plates (20) are fixed to each other by a horizontal bar (22).

8. The split-type operation method based on power angle steel tower according to claim 7, characterized in that: A side contact detection switch (61) for detecting the position information of one of the outer walls of the auxiliary material component is arranged on the width limiting plate (20), and a bottom contact detection switch (62) for detecting the contact status of the other outer wall of the auxiliary material component is provided at the contact surface.

9. The split-type operation method based on power angle steel tower according to claim 4, characterized in that: The claws are in two sets and are respectively arranged at the two feet of the articulated robotic arm (70); the articulated robotic arm (70) is a five-axis double-bar robotic arm, the articulated robotic arm (70) includes foot motors (72) fixed to the two feet by mounting plates (71), the output shaft of the foot motors (72) is fixed to the base bracket (10); the first end of the connecting rod (73) of the articulated robotic arm (70) is provided with an end joint motor (74), the output shaft of the end joint motor (74) is fixedly connected to the mounting plate (71); the tail end of one of the connecting rods (73) of the articulated robotic arm (70) is provided with an intermediate joint motor (75), the output shaft of the intermediate joint motor (75) is fixedly connected to the tail end of the other connecting rod (73); the axes of each joint motor are parallel to each other, and the axes of each joint motor are perpendicular to the axis of the foot motor (72).

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