Climbing robot for single-column steel tube tower

Abstract

The climbing robot for the single-column steel tube tower comprises an upper module, a lower module, a telescopic traction unit and wrapping and clamping units, the upper module and the lower module are connected through the telescopic traction unit, and the wrapping and clamping units are arranged on the upper module and the lower module; the wrapping and clamping unit comprises driving assemblies, clamping assemblies, rollers and elastic pieces, the clamping assemblies are connected to the two sides of the upper module and the two sides of the lower module, the output end of the driving assembly in each module is connected with the clamping assembly on the corresponding module, the multiple rollers are arranged at the clamping ends of the clamping assemblies, and each clamping assembly is connected with the corresponding elastic piece connected with the corresponding module. The robot has the advantages that the robot can autonomously climb the single-column steel tube tower, and the high-altitude operation risk of installation personnel is avoided; the clamping assemblies can adapt to obstacles on the single-column steel tube tower to achieve expansion or contraction, so that connection between the robot and the single-column steel tube tower is more stable and safer, and adaptability of the robot is improved.

Description

Technical Field

[0001] The invention relates to the field of electric power operation climbing robots, in particular to a climbing robot for a single-column steel pipe tower. Background Art

[0002] The existing installation process of single-column steel pipe tower installation high-altitude operations mostly uses cranes to lift and assemble in sections. During the operation, coordination and cooperation between the installers and the crane are required, but this method is prone to high construction safety risks and high labor intensity at high altitudes. According to incomplete statistics, there are more than ten accidents related to steel pipe towers every year, causing 10 deaths, multiple injuries and great economic losses. The lack of high-altitude work protection measures and safety hazards for workers during the installation of steel pipe towers have become common problems in the industry.

[0003] The Chinese patent document with publication number CN114802513A discloses a vertical climbing robot for a wind power tower. The climbing mechanism drives the friction wheel to rotate through a driving motor to achieve vertical up and down movement on the tower wall, and uses the worm gear structure to achieve hovering on the outer wall of the wind power tower; the clamping mechanism pulls the balance pressure rod through the clamping screw, and uses the balance pressure rod to rotate under force to provide two equal pressures for the springs in the upper and lower climbing mechanisms, respectively, which are transmitted to the friction wheel through the clamping rod to adjust the positive pressure of the friction wheel to prevent the outer wall of the wind power tower from being crushed. However, this patent is relatively bulky, and there cannot be large protruding obstacles such as welds on the tower, so the applicability is poor.

[0004] The Chinese patent document with publication number CN208411902U discloses a composite foot end of a climbing robot and a climbing robot. The patent uses a screw motor to provide power to complete the grasping and releasing of foot nails or similar cylindrical rods. The climbing robot can carry this foot end to complete the rapid and stable movement on the angle steel tower, and at the same time drive the small arm to drive the embracing curved arm to make a circular motion with the connection point of the claw shoulder bracket, and the embracing curved arm drives the clamping arm to move, and the two large arms move inward relative to each other to achieve the function of holding the foot nail, and the entire composite foot end is firmly clamped by the mechanical claw The foot nails are tightened so that the electromagnet is adsorbed on the edge of the angle steel, ensuring that the robot is firmly attached to the angle steel tower. When the robot is about to make the next movement, the screw motor reverses to make the clamping arm release the foot nails, and then the relay controls the electromagnet to cut off the power and lose the adsorption force, so that the composite foot end can perform the next clamping and adsorption action. However, the patented composite foot end and the climbing mechanical claw of the climbing robot are specially designed for the foot nails and angle steel main materials, and are not applicable to the ladder-type single-column steel pipe tower that is generally provided with a raised step ladder on the steel pipe tower, a flange plate across the end face of the steel pipe tower, and other structures. Summary of the invention

[0005] The technical problem to be solved by the present invention is how to realize autonomous climbing of a single-column steel pipe tower by a robot with strong adaptability.

[0006] In order to solve the above technical problems, the present invention provides the following technical solutions: A climbing robot for a single-column steel pipe tower, comprising an upper module, a lower module, a telescopic traction unit and a clamping unit, wherein the upper module and the lower module are connected via the telescopic traction unit, and the upper module and the lower module are both provided with a clamping unit;

[0007] The clamping unit includes a driving component, a clamping component, a roller and an elastic member. The upper module and the lower module are connected to both sides with the clamping components. The output end of the driving component in each module is connected to the clamping component on the corresponding module. The clamping end of the clamping component is provided with a plurality of rollers. Each clamping component is connected to an elastic member connected to the module. Without being driven by the driving component, the elastic member can drive the clamping component to expand or contract automatically.

[0008] The climbing robot connects the upper module and the lower module through a telescopic traction unit, and clamps and fixes the single-column steel pipe tower according to the actual situation on site through the clamping unit movably connected on the outside of the upper and lower modules, and then provides power through the telescopic traction unit connection, thereby driving the upper and lower modules to move upward and downward, and reciprocating, thereby realizing the robot's autonomous climbing of the single-column steel pipe tower, avoiding the risk of installation personnel working at high altitudes.

[0009] In addition, when the driving assembly is not working, the clamping assembly can adapt to obstacles on the single-column steel pipe tower to expand or contract, so that when the module moves, the roller can always roll and fit with the single-column steel pipe tower, making the connection between the robot and the single-column steel pipe tower more stable and secure, thereby improving the adaptability of the robot.

[0010] Preferably, the driving assembly includes a driving motor, a transmission member, an articulated rod, and a horizontal driving rod. The driving motor is fixed inside the module. The output end of the driving motor is threadedly connected to the transmission member. The transmission member is hinged with articulated rods having the same number as the clamping members on each module. The other end of the articulated rod is hinged with a horizontal driving rod fixed to the clamping assembly. Driving the driving motor can drive the transmission member to move linearly, and then drive the horizontal driving rod to move horizontally through the articulated rod.

[0011] Preferably, a second threaded sleeve is fixed on the transmission member, and the output end of the drive motor is threadedly connected to the second threaded sleeve.

[0012] Preferably, the clamping assembly includes a clamping motor, a moving rod, a clamping screw, a fixed splint, and a sliding splint. The fixed end of the clamping motor is fixedly connected to the driving end of the driving assembly through the moving rod. The output end of the clamping motor is connected to the clamping screw. The end of the clamping screw can be rotatably connected to the fixed splint. The clamping screw passes through the sliding splint. One end of the roller is rotatably arranged on the fixed end of the clamping motor, and the other end passes through the sliding splint and is rotatably connected to the fixed splint. The elastic member is sleeved on the moving rod, one end of the elastic member is connected to the module, and the other end is connected to the moving rod.

[0013] Preferably, a fixing sleeve is fixed on both the upper module and the lower module, the moving rod passes through the fixing sleeve, one end of the elastic member is connected to the inner wall of the fixing sleeve, and the other end is connected to the moving rod.

[0014] Preferably, a third threaded sleeve is provided on the sliding clamping plate, and the clamping screw threaded sleeve is provided with the third threaded sleeve and passes through the sliding clamping plate.

[0015] Preferably, the elastic member is always in a stretched state.

[0016] Preferably, the telescopic traction unit includes a guide rod, a traction motor, a first threaded sleeve, and a traction screw. The upper module and the lower module can be slidably arranged at both ends of the guide rod. The traction motor is fixed in one of the modules, and the first threaded sleeve is fixed on the other module. The output end of the traction motor is connected to the traction screw, and the other end of the traction screw is threadedly connected to the first threaded sleeve and then extends into the module.

[0017] Preferably, the upper module and the lower module are both boxes with a hollow interior.

[0018] Preferably, vision modules are provided at opposite ends of the upper module and the lower module.

[0019] Compared with the prior art, the present invention has the following beneficial effects:

[0020] 1. The climbing robot connects the upper module and the lower module through a telescopic traction unit, and clamps and fixes the single-column steel pipe tower according to the actual situation on site through the clamping unit movably connected on the outside of the upper module and the lower module, and then provides power for it through the telescopic traction unit, thereby driving the upper module and the lower module to move upward and downward, and reciprocating in this way, thereby realizing the robot's autonomous climbing of the single-column steel pipe tower, avoiding the risk of installation personnel working at high altitudes.

[0021] 2. When the driving component is not working, the clamping component can adapt to obstacles on the single-column steel pipe tower to expand or contract, so that when the module moves, the roller can always roll and fit with the single-column steel pipe tower, making the connection between the robot and the single-column steel pipe tower more stable and safe, thereby improving the adaptability of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is a schematic structural diagram of a climbing robot for a single-column steel pipe tower according to an embodiment of the present invention;

[0023] Figure 2 This is a schematic diagram of the partial structure of a climbing robot for a single-column steel pipe tower according to an embodiment of the present invention;

[0024] Figure 3 This is a schematic structural diagram of a climbing robot clamping unit for a single-column steel pipe tower according to an embodiment of the present invention;

[0025] Figure 4 A cross-sectional view of a clamping assembly of a climbing robot for a single-column steel pipe tower according to an embodiment of the present invention;

[0026] Figure 5 This is a schematic diagram of a climbing robot control system for a single-column steel pipe tower according to an embodiment of the present invention;

[0027] Figure 6 A schematic diagram of a technical route of a climbing robot control system for a single-column steel pipe tower according to an embodiment of the present invention;

[0028] Figure 7 This is a schematic diagram of an intermediate layer control system of a climbing robot for a single-column steel pipe tower according to an embodiment of the present invention. DETAILED DESCRIPTION

[0029] To facilitate those skilled in the art to understand the technical solution of the present invention, the technical solution of the present invention is further described in conjunction with the accompanying drawings.

[0030] The terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0031] See also Figure 1 This embodiment discloses a climbing robot for a single-column steel pipe tower, including an upper module 1, a lower module 2, a telescopic traction unit 3, a clamping unit 4 and a visual module 5.

[0032] In this embodiment, the upper module 1 and the lower module 2 are both rectangular boxes with hollow interiors. The upper module 1 and the lower module 2 are connected via a telescopic traction unit 3 . The upper module 1 and the lower module 2 are both provided with a clamping unit 4 .

[0033] See also Figure 1 and Figure 2The telescopic traction unit 3 includes a guide rod 31, a traction motor 32, a first threaded sleeve 33, and a traction screw rod 34. The upper module 1 and the lower module 2 are slidably arranged at both ends of two sets of parallel guide rods 31. In this embodiment, the traction motor 32 is fixed in the lower module 2, and the first threaded sleeve 33 is fixed on the upper module 1. The output end of the traction motor 32 is connected to the traction screw rod 34. The other end of the traction screw rod 34 is threadedly connected to the first threaded sleeve 33 and then extends into the upper module 1, and is rotatably connected to the inner wall of the upper module 1.

[0034] Specifically, when the lower module 2 is fixed, the traction motor 32 drives the traction screw 34 to rotate, and under the action of the two sets of parallel guide rods 31, the first threaded sleeve 33 moves linearly on the traction screw 34, thereby driving the upper module 1 away from the lower module 2; when the upper module 1 is fixed, the traction motor 32 drives the traction screw 34 to rotate, and under the action of the two sets of parallel guide rods 31, the traction screw 34 moves linearly on the first threaded sleeve 33, thereby driving the upper module 1 to approach the lower module 2.

[0035] See also Figure 2 and Figure 3 The clamping unit 4 includes a driving component 41, a clamping component 42, a roller 43 and an elastic member 44. The upper module 1 and the lower module 2 are connected to both sides with the clamping components 42. In the present embodiment, two groups of clamping components 42 are symmetrically arranged on both sides of each module. A driving component 41 is arranged in each module, and the output end of the driving component 41 is connected to the clamping component 42 on the corresponding module. The clamping end of the clamping component 42 is provided with two rollers 43.

[0036] Specifically, the driving assembly 41 includes a driving motor 411, a transmission member 412, a second threaded sleeve 413, a hinged rod 414, and a horizontal driving rod 415. The driving motor 41 is fixed inside the module, and the output end of the driving motor 41 is threadedly connected to the second threaded sleeve 413, and the second threaded sleeve 413 is fixedly connected to one end of the driving member 412. In the present embodiment, the driving member 412 is a rectangular plate, and the four corner ends of the driving member 412 are hinged with a stepped hinged rod 412, and the other end of the hinged rod 412 is hinged with a horizontal driving rod 415 fixedly connected to the clamping assembly 42; driving the driving motor 411 can drive the transmission member 412 to make a linear motion at the output end of the driving motor 411, thereby driving the horizontal driving rod 415 to move horizontally through the hinged rod 414, thereby driving the clamping assembly 42 to expand or contract.

[0037] See also Figure 2 and Figure 4The clamping assembly 42 includes a clamping motor 421, a moving rod 422, a clamping screw 423, a fixed clamping plate 424, a sliding clamping plate 425, and a third threaded sleeve 426. The fixed end of the clamping motor 41 passes through the moving rod 422 and is fixedly connected to the horizontal driving rod 415 of the module. The output end of the clamping motor 421 is connected to the clamping screw 423. The end of the clamping screw 423 is rotatably connected to the fixed clamping plate 424. The sliding clamping plate 425 is fixed with a third threaded sleeve 426. The clamping screw 423 is threadedly sleeved with the third threaded sleeve 426 and passes through the sliding clamping plate. Plate 425, one end of two sets of parallel rollers 43 is rotatably arranged on the fixed end of the clamping motor 421, and the other end passes through the sliding clamping plate 425 and is rotatably connected to the fixed clamping plate 424; through the arrangement of the two sets of parallel rollers 43, not only the horizontal direction of the sliding clamping plate 425 and the fixed clamping plate 424 is limited to prevent the clamping plate from rotating, ensuring that the sliding clamping plate 425 can make a linear motion on the clamping screw 423, but also the rollers 43 can roll and fit with the single-column steel pipe tower when the module moves, making the connection between the robot and the single-column steel pipe tower more stable and safe.

[0038] Each clamping assembly 42 is connected to an elastic member 44 connected to the module; specifically, a fixed sleeve 6 is fixed on the upper module 1 and the lower module 2, the moving rod 422 passes through the side wall of the module and the fixed sleeve 6 to connect to the horizontal driving rod 415, one end of the elastic member 44 is connected to the inner wall of the fixed sleeve 6, and the other end is connected to the moving rod 422. In this embodiment, the elastic member 44 is a spring that is always in a stretched state.

[0039] When there are large protruding obstacles such as welds on the single-column steel pipe tower, the clamping assembly 42 will expand outward along with the obstacle, and the elastic member 44 will begin to shrink while being in a stretched state, and at the same time will drive the horizontal drive rod 415 to move horizontally outward. Since the horizontal drive rod 415 is connected to the transmission member 412 via the hinged rod 414, the horizontal movement of the horizontal drive rod 415 will not drive the movement of the transmission member 412. Therefore, when the drive motor 411 is not working, the clamping assembly 42 can adapt to the obstacles on the single-column steel pipe tower to achieve expansion or contraction, so that the roller 43 can always roll and fit with the single-column steel pipe tower when the module moves, making the connection between the robot and the single-column steel pipe tower more stable and secure, thereby improving the adaptability of the robot.

[0040] In this embodiment, the climbing robot adopts inchworm-type dual-module movement, and the single modules are alternately connected to the herringbone ladder through the clamping assembly 42, and the device realizes autonomous crawling by cooperating with the telescopic traction unit 3 in the climbing robot.

[0041] The upper module 1 and the lower module 2 are both provided with visual modules 5 at opposite ends, so as to have the functions of detection, communication, adjustment and control position, etc.

[0042] Furthermore, in terms of detection, when the climbing robot moves to a position adjacent to the work assisting device, the detection system on the intersection and docking mechanism starts working. In this solution, the detection system mainly includes visual detection / positioning and wireless Bluetooth system docking technology. The above two detection systems respectively realize the two functions of regional positioning and precise positioning through different methods, providing precise guidance for the precise intersection and docking of the climbing robot and the work assisting device. Infrared guidance uses infrared sensors to achieve ranging and orientation. The infrared sensor is placed at the front end of the intersection and docking device. When the intersection and docking function is started, the distance between the docking point on the work assisting device and the intersection and docking device is measured by continuously measuring the rotation and distance, and the minimum value is recorded through multiple measurements. Repeat the above actions through the motion algorithm adjustment until it moves to the precise positioning area.

[0043] In this embodiment, in response to the functional requirements of the climbing robot, the climbing robot needs to understand the status information of its various parts and the detailed scene information in the on-site environment during the process of autonomous walking and docking. The collection and processing of the above information are achieved through the environmental perception system of the autonomous climbing device.

[0044] In terms of its own status, the device uses electricity as the system power, and collects data and monitors the status of information systems such as the stability of the device control system, the status of the power supply system, and the location of the execution system. The device's own status information is mainly collected through temperature sensors, position sensors, current / voltage detection sensors and other sensors. The control system is the core device of the device. In this solution, data is collected for the operating temperature, humidity and data information transmission success rate detection of the control system hardware. The power supply is the basis for the operation of the device. In this solution, data is collected for the power supply voltage detection, power supply stability detection, and power supply current monitoring information of the power supply system. The execution system completes the function of the device. In this solution, data is collected through proximity sensors, laser distance sensors, Bluetooth sensors, visual sensors, etc.

[0045] In terms of environmental information, the walking strategy and motion execution process of the device need to be judged based on the environmental status and position information, such as whether the device is crossing, the docking position of the device and the docking position of the platform. The device's travel position information is used as the basis for the walking strategy execution judgment. In this solution, laser sensors, visual sensors, photoelectric sensors, etc. are used to collect data. The device docking position information is used as the basis for the motion guidance and control judgment of the docking mechanism. In this solution, visual sensors, laser distance sensors, etc. are used to collect data.

[0046] See also Figure 7, the control system of this application adopts an operation mode that combines manual and intelligent control. The climbing robot is manually controlled to connect to the ladder system from the initial position below the tower. At this time, the system prompts that the next operation process can be carried out. The manual work of guiding the robot to initially position is completed, and the next work is completed by the device itself. The core control system of the device uses an ARM board as the central control system, and the bottom layer uses controllers, development boards, etc. to realize motors, sensors, data processing, etc. The overall control platform of the device integrates the motion mechanism control, dynamic guidance system and docking system on the same control platform. The control platform has good human-computer interaction functions and can provide operators and systems with various environmental and monitoring parameters collected on the robot. These data can be used as a reference and guidance for staff to carry out further work. At the same time, in the future, it can be uploaded to the industry cloud platform as part of the real-time data of the power grid industry network cloud platform, providing data support for the intelligent Internet of Things of the power grid. The motion control system of the device is composed of a core control system using DSP+FPGA, and the underlying motion control of the device is realized through integrated drive and control. The advantage of the DSP+FPGA combination is its flexible structure, which is suitable for the universal and modular control system of the device in this project, can improve algorithm efficiency and hardware versatility, and at the same time, its development cycle is short, the system is easy to maintain and expand, and is suitable for real-time signal processing.

[0047] The working principle of this embodiment is:

[0048] In the initial state of the robot, the fixed clamp 424 and the sliding clamp 425 are open. After the staff places the robot at the specified position, the staff controls the robot through intelligent control, controls the multiple clamping components 42 on the outside of the upper module 1 and the lower module 2 to fall, and then drives the driving motor 411 to drive the transmission member 412 to make a linear motion at the output end of the driving motor 411, thereby driving the horizontal driving rod 415 to move horizontally through the hinged rod 414, and then drives the clamping component 42 to contract, so that the two sets of parallel rollers 43 fit on the single-column steel pipe tower, and then drives the clamping motor 421 to drive the clamping screw 423 to rotate, and then drives the sliding clamp 425 to move toward the fixed clamp 424, clamping the single-column steel pipe tower, so that the robot is stably and reliably fixed to the single-column steel pipe tower.

[0049] During the process of the two modules of the robot climbing up the ladder interactively, when the lower module 2 is fixed, the traction motor 32 drives the traction screw 34 to rotate, and under the action of the two sets of parallel guide rods 31, the first threaded sleeve 33 moves linearly on the traction screw 34, thereby driving the upper module 1 away from the lower module 2; when the upper module 1 is fixed, the traction motor 32 drives the traction screw 34 to rotate, and under the action of the two sets of parallel guide rods 31, the traction screw 34 moves linearly on the first threaded sleeve 33, thereby driving the upper module 1 to approach the lower module 2, so that the upper module 1 and the lower module 2 move in a "caterpillar-like" manner back and forth, and when the module moves, the roller 43 can roll and fit with the single-column steel pipe tower, making the connection between the robot and the single-column steel pipe tower more stable and safe.

[0050] When there are large protruding obstacles such as welds on the single-column steel pipe tower, the clamping assembly 42 will expand outward along with the obstacle, and the elastic member 44 will begin to shrink while being in a stretched state, and at the same time will drive the horizontal drive rod 415 to move horizontally outward. Since the horizontal drive rod 415 is connected to the transmission member 412 via the hinged rod 414, the horizontal movement of the horizontal drive rod 415 will not drive the movement of the transmission member 412. Therefore, when the drive motor 411 is not working, the clamping assembly 42 can adapt to the obstacles on the single-column steel pipe tower to achieve expansion or contraction, so that the roller 43 can always roll and fit with the single-column steel pipe tower when the module moves, making the connection between the robot and the single-column steel pipe tower more stable and secure, thereby improving the adaptability of the robot.

[0051] The present application connects the upper module 1 and the lower module 2 through a telescopic traction unit 3, and clamps and adsorbs the single-column steel pipe tower according to the actual situation on site through a clamping unit 4 movably connected to the outside of the upper module 1 and the lower module 2, and then provides power through the telescopic traction unit connection, thereby driving the upper module 1 and the lower module 2 to move upward and downward, and reciprocating in this way, thereby realizing the robot's autonomous climbing of the single-column steel pipe tower, avoiding the risk of installation personnel working at high altitudes.

[0052] It is obvious to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the present invention can be implemented in other specific forms without departing from the spirit or essential features of the present invention. Therefore, the embodiments should be regarded as exemplary and non-limiting from any point of view, and the scope of the present invention is defined by the appended claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims are included in the present invention, and any reference numerals in the claims should not be regarded as limiting the claims involved.

[0053] The above-described embodiments merely represent implementation methods of the invention. The protection scope of the present invention is not limited to the above-described embodiments. For those skilled in the art, several modifications and improvements may be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention.

Claims

1. A climbing robot for a single-column steel pipe tower, characterized in that: It includes an upper module, a lower module, a telescopic traction unit and a clamping unit, wherein the upper module and the lower module are connected via the telescopic traction unit, and the upper module and the lower module are both provided with a clamping unit; The clamping unit includes a driving component, a clamping component, a roller and an elastic member. The upper module and the lower module are connected to both sides with the clamping components. The output end of the driving component in each module is connected to the clamping component on the corresponding module. The clamping end of the clamping component is provided with a plurality of rollers. Each clamping component is connected to an elastic member connected to the module. Without being driven by the driving component, the elastic member can drive the clamping component to expand or contract automatically.

2. A climbing robot for a single-column steel pipe tower according to claim 1, characterized in that: The driving assembly includes a driving motor, a transmission member, an articulated rod, and a horizontal driving rod. The driving motor is fixed inside the module. The output end of the driving motor is threadedly connected to the transmission member. The transmission member is hinged with articulated rods having the same number as the clamping members on each module. The other end of the articulated rod is hinged with a horizontal driving rod fixed to the clamping member. Driving the driving motor can drive the transmission member to move linearly, and then drive the horizontal driving rod to move horizontally through the articulated rod.

3. A climbing robot for a single-column steel pipe tower according to claim 2, characterized in that: A second threaded sleeve is fixed on the transmission member, and the output end of the drive motor is threadedly connected to the second threaded sleeve.

4. The climbing robot for a single-column steel pipe tower according to claim 1, characterized in that: The clamping assembly includes a clamping motor, a moving rod, a clamping screw, a fixed clamping plate, and a sliding clamping plate. The fixed end of the clamping motor is fixedly connected to the driving end of the driving assembly through the moving rod, the output end of the clamping motor is connected to the clamping screw, the end of the clamping screw can be rotatably connected to the fixed clamping plate, the clamping screw passes through the sliding clamping plate, one end of the roller is rotatably arranged on the fixed end of the clamping motor, and the other end passes through the sliding clamping plate and can be rotatably connected to the fixed clamping plate; the elastic member is sleeved on the moving rod, one end of the elastic member is connected to the module, and the other end is connected to the moving rod.

5. The climbing robot for a single-column steel pipe tower according to claim 4, characterized in that: A fixing sleeve is fixed on both the upper module and the lower module, the moving rod passes through the fixing sleeve, one end of the elastic member is connected to the inner wall of the fixing sleeve, and the other end is connected to the moving rod.

6. The climbing robot for a single-column steel pipe tower according to claim 4, characterized in that: The sliding clamping plate is provided with a third threaded sleeve, and the clamping screw threaded sleeve is provided with the third threaded sleeve and penetrates the sliding clamping plate.

7. The climbing robot for a single-column steel pipe tower according to claim 1, characterized in that: The elastic member is always in a stretched state.

8. The climbing robot for a single-column steel pipe tower according to claim 1, characterized in that: The telescopic traction unit includes a guide rod, a traction motor, a first threaded sleeve, and a traction screw. The upper module and the lower module are slidably arranged at both ends of the guide rod. The traction motor is fixed in one of the modules, and the first threaded sleeve is fixed on the other module. The output end of the traction motor is connected to the traction screw, and the other end of the traction screw is threadedly connected to the first threaded sleeve and then extends into the module.

9. The climbing robot for a single-column steel pipe tower according to claim 1, characterized in that: The upper module and the lower module are both boxes with hollow interiors.

10. The climbing robot for a single-column steel pipe tower according to claim 1, characterized in that: The upper module and the lower module are both provided with visual modules at opposite ends.

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