Climbing robot for power transmission line steel pipe tower and operation method of climbing robot

Abstract

The invention discloses a climbing robot for a power transmission line steel tube pole tower and an operation method thereof, the climbing robot comprises an upper clamping jaw mechanism, a lower clamping jaw mechanism, a lower clamping jaw mechanism and a climbing mechanism, the upper clamping jaw mechanism comprises two upper clamping jaws capable of being opened and closed oppositely and an upper clamping jaw driving part used for driving the two upper clamping jaws to be opened and closed; the lower clamping jaw mechanism comprises two lower clamping jaws capable of being oppositely opened and closed and a lower clamping jaw driving part used for driving the two lower clamping jaws to be opened and closed; the telescopic mechanism is provided with an upper telescopic end and a lower telescopic end which can be relatively close to each other or relatively far away from each other, the upper telescopic end is connected with the upper clamping jaw mechanism, and the lower telescopic end is connected with the lower clamping jaw mechanism; the upper telescopic end and the lower telescopic end move oppositely in the first direction, the two upper clamping jaws and the two lower clamping jaws are oppositely opened and closed in the second direction, and the first direction is perpendicular to the second direction. Through the arrangement, the climbing robot can climb up and down along the power transmission line steel pipe tower provided with the foot nails.

Description

Technical Field

[0001] This application relates to the technical field of transmission line maintenance, and in particular to a climbing robot for a steel pipe tower of a transmission line and its operation method. Background Art

[0002] Since transmission lines are exposed to the natural environment for a long time, the lines and towers are prone to equipment defects and problems threatening the safety of the lines due to the influence of the surrounding environment and natural changes. Therefore, regular power outage maintenance of transmission lines has become an important part of ensuring power transmission, and the power outage maintenance mainly adopts the method of manual maintenance by climbing the towers. There may be a problem of falling from a height during the process of power maintenance personnel climbing the steel pipe towers of transmission lines.

[0003] In order to solve the problem of falling from a height during the process of power maintenance personnel climbing the tower and improve the climbing safety, in the prior art, a climbing robot is used to bring an anti-falling rope to the top of the tower and then climb using the anti-falling rope, which can greatly improve the climbing safety.

[0004] Chinese Patent, Publication No.: CN112290448B, Publication Date: December 03, 2021, discloses a climbing method of a climbing robot. The climbing robot includes a main body, two moving blocks are connected to the main body, a swinging frame is connected to the moving blocks, the swinging frame has two swinging arms, two rollers are connected between the two swinging arms, and an enclosed area is formed by enclosing between the two swinging arms and the two rollers; the climbing method includes the following steps: 1), the climbing robot is installed on the electric pole, and the two rollers on the swinging frame abut against the electric pole; 2), keep the moving block on the upper part of the main body and the main body fixed, and drive the moving block on the lower part of the main body to move upward by a set distance; 3), keep the two moving blocks fixed, and drive the main body to move upward by a set distance; 4), keep the moving block on the lower part of the main body and the main body fixed, and drive the moving block on the upper part of the main body to move upward by a set distance; 5), repeat the above step 2), step 3) and step 4) until the climbing robot reaches the set position along the electric pole. The above technical solution has the following technical problems: In order to facilitate the power maintenance personnel to climb the tower, the steel pipe tower of the transmission line includes a steel pipe and footrests alternately installed on both sides of the steel pipe. Since the swinging arms of the above climbing robot surround the electric pole, during the upward climbing process, the swinging arms are blocked by the footrests, resulting in the climbing robot being unable to continue climbing upward. Summary of the Invention

[0005] In order to solve the deficiencies of the prior art, the purpose of this application is to provide a climbing robot for a steel pipe tower of a transmission line and its operation method, which can climb up and down along the steel pipe tower of the transmission line provided with footrests.

[0006] To achieve the above purpose, the following technical solutions are adopted in this application: The present application provides a climbing robot for a steel pipe tower of a transmission line. The climbing robot includes: an upper jaw mechanism, which includes two upper jaws that can open and close relative to each other and an upper jaw driving component for driving the two upper jaws to open and close; a lower jaw mechanism, which includes two lower jaws that can open and close relative to each other and a lower jaw driving component for driving the two lower jaws to open and close; a telescopic mechanism, which has an upper telescopic end and a lower telescopic end that can move relatively closer or relatively farther away from each other. The upper telescopic end is connected to the upper jaw mechanism, and the lower telescopic end is connected to the lower jaw mechanism. The upper telescopic end and the lower telescopic end move relative to each other in a first direction, and the two upper jaws and the two lower jaws all open and close relative to each other in a second direction, and the first direction is perpendicular to the second direction.

[0007] As a preferred technical solution, the climbing robot further includes: an auxiliary jaw mechanism, which is connected to the upper jaw mechanism or the auxiliary jaw mechanism is connected to the lower jaw mechanism. The auxiliary jaw mechanism includes two auxiliary jaws that can open and close relative to each other and an auxiliary jaw driving component for driving the two auxiliary jaws to open and close.

[0008] As a preferred technical solution, the telescopic mechanism includes: a first parallel four-bar linkage mechanism, which includes two groups of first swing arms arranged in parallel. The upper ends of the first swing arms are rotatably connected to the upper jaw mechanism; a second parallel four-bar linkage mechanism, which includes two groups of second swing arms arranged in parallel. The upper end of the second swing arm is connected to the lower end of the second swing arm; a telescopic driving mechanism, which includes a telescopic driving motor, a reduction pinion, a reduction gear, and two groups of telescopic driving pulleys. The output shaft of the telescopic driving motor is fixedly connected to the reduction pinion, and the reduction pinion meshes with the reduction gear. The lower ends of the two groups of second swing arms are respectively rotatably connected to two lower swing arm shafts of the second swing arms, and the reduction gear is fixedly installed on one of the lower swing arm shafts of the second swing arms. The two groups of telescopic driving pulleys are respectively fixedly installed on the two lower swing arm shafts of the second swing arms, and the corresponding telescopic driving pulleys on the two lower swing arm shafts are connected by a synchronous transmission belt. The lower swing arm shaft and the upper swing arm shaft of the second swing arm are connected by a synchronous belt; a telescopic transmission mechanism, which includes four groups of telescopic transmission gears. The lower ends of the two groups of first swing arms are respectively rotatably connected to two lower swing arm shafts of the first swing arms, and the upper ends of the two groups of second swing arms are respectively rotatably connected to two upper swing arm shafts of the second swing arms. The four groups of telescopic transmission gears are respectively fixedly installed on the two lower swing arm shafts of the first swing arms and the two upper swing arm shafts of the second swing arms, and the upper and lower corresponding telescopic transmission gears on the two lower swing arm shafts of the first swing arms and the two upper swing arm shafts of the second swing arms are meshed with each other in pairs.

[0009] As a preferred technical solution, the climbing robot further includes: an upper limit switch, which is installed on the upper jaw mechanism. The upper jaw mechanism moves upward or downward along the steel pipe tower until the upper limit switch touches the foot peg on the steel pipe tower, and the upper limit switch operates to control the upper jaw driving component to drive the two upper jaws to clamp the steel pipe of the steel pipe tower; a lower limit switch, which is installed on the lower jaw mechanism. The lower jaw mechanism moves upward or downward along the steel pipe tower until the lower limit switch touches the foot peg on the steel pipe tower, and the lower limit switch operates to control the lower jaw driving component to drive the two lower jaws to clamp the steel pipe of the steel pipe tower.

[0010] As a preferred technical solution, the climbing robot further includes: a plurality of guide wheels, which are installed on the upper jaw mechanism and / or the lower jaw mechanism along the first direction. An annular groove matching with the steel pipe of the steel pipe tower is provided on the outer peripheral surface of the guide wheel. The guide wheel is rotatably connected to the guide wheel shaft. Pin shafts and compression springs are respectively provided at both ends of the guide wheel shaft. The guide wheel shaft is slidably connected to the pin shafts at both ends, and the end of the compression spring abuts against the guide wheel shaft to press the guide wheel shaft towards the steel pipe of the steel pipe tower.

[0011] As a preferred technical solution, the climbing robot further includes: an upper support frame, on which the upper jaw mechanism and the telescopic mechanism are installed. A guide rail is provided at the bottom of the upper support frame; a lower support frame, on which the lower jaw mechanism is installed. A guide rail groove is provided at the top of the lower support frame. The guide rail and the guide rail groove are slidably matched along the third direction, and the third direction is perpendicular to the first direction, so as to limit the relative movement of the lower support frame and the upper support frame along the first direction; a locking bolt, which is fixedly installed through the upper support frame and the lower support frame, so as to limit the relative movement of the guide rail and the guide rail groove along the third direction.

[0012] As a preferred technical solution, the upper jaw driving component includes: a jaw driving motor, a small reduction pulley, a large reduction pulley, a lead screw, a lead screw nut and two groups of connecting rods. The output shaft of the jaw driving motor is fixedly connected to the small reduction pulley. The small reduction pulley and the large reduction pulley are connected by a synchronous transmission belt. The large reduction pulley is fixedly installed on the lead screw to drive the lead screw to rotate. The lead screw nut is threadedly connected to the lead screw so that the lead screw nut moves along the length direction of the lead screw. The upper jaw has a rotating end and a swinging end. One end of the connecting rod is rotatably connected to the lead screw nut, and the other end of the connecting rod is rotatably connected to the swinging end of the upper jaw; the structure of the lower jaw mechanism is the same as that of the upper jaw mechanism.

[0013] As a preferred technical solution, the auxiliary jaw driving component includes: an auxiliary jaw driving servo and two groups of auxiliary jaw four-bar linkages. The two groups of auxiliary jaw four-bar linkages are symmetrically arranged, and each group of auxiliary jaw four-bar linkages is respectively connected to an auxiliary jaw. Each group of auxiliary jaw four-bar linkages includes two auxiliary jaw linkages arranged in parallel. The four auxiliary jaw linkages have driving rotating shafts that are relatively close to each other. A transmission gear is respectively installed on each driving rotating shaft. The four transmission gears are meshed and driven. The output shaft of the auxiliary jaw driving servo is fixedly connected to one of the driving rotating shafts.

[0014] As a preferred technical solution, both the upper limit switch and the lower limit switch have disc spring rods, and the disc spring rods deform to a certain extent to trigger the switch signals of the upper limit switch or the lower limit switch.

[0015] The present application also provides an operation method for a climbing robot of a steel pipe tower of a transmission line. The operation method includes: Step 1, the climbing robot climbs upward along the steel pipe tower: Step 101, place the climbing robot at the bottom of the steel pipe tower. At this time, the telescopic mechanism is in a contracted state, and both the two upper jaws and the two lower jaws are tightly held on the steel pipe of the steel pipe tower; Step 102, the upper jaw driving component drives the two upper jaws to open; Step 103, the telescopic mechanism extends so that the upper jaw mechanism moves upward until the upper limit switch touches the foot peg of the steel pipe tower; Step 104, the upper limit switch acts to control the upper jaw driving component to drive the two upper jaws to clamp the steel pipe of the steel pipe tower; Step 105, the lower jaw driving component drives the two lower jaws to open; Step 106, the telescopic mechanism contracts so that the lower jaw mechanism moves upward until the lower limit switch touches the foot peg of the steel pipe tower; Step 107, the lower limit switch acts to control the lower jaw driving component to drive the two lower jaws to clamp the steel pipe of the steel pipe tower; Step 108, repeat Step 102 - Step 107 to achieve the climbing robot climbing upward along the steel pipe tower; Step 2, the climbing robot climbs downward along the steel pipe tower: Step 201, the climbing robot is located at the top of the steel pipe tower. At this time, the telescopic mechanism is in a contracted state, and both the two upper jaws and the two lower jaws are tightly held on the steel pipe of the steel pipe tower; Step 202, the lower jaw driving component drives the two lower jaws to open; Step 203, the telescopic mechanism extends so that the lower jaw mechanism moves downward until the lower limit switch touches the foot peg of the steel pipe tower; Step 204, the lower limit switch acts to control the lower jaw driving component to drive the two lower jaws to clamp the steel pipe of the steel pipe tower; Step 205, the upper jaw driving component drives the two upper jaws to open; Step 206, the telescopic mechanism contracts so that the upper jaw mechanism moves downward until the upper limit switch touches the foot peg of the steel pipe tower; Step 207, the upper limit switch acts to control the upper jaw driving component to drive the two upper jaws to clamp the steel pipe of the steel pipe tower; Step 208, repeat Step 202 - Step 207 to achieve the climbing robot climbing downward along the steel pipe tower.

[0016] Compared with the prior art, the beneficial effects of the present application are as follows: The climbing robot for a transmission line steel pipe tower of the present application can carry a fall prevention rope and climb up and down the transmission line steel pipe tower provided with foot studs. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 is a schematic structural view of the climbing robot for a transmission line steel pipe tower of the present application; Figure 2 is a front view of the climbing robot for a transmission line steel pipe tower of the present application; Figure 3 is a left view of the climbing robot for a transmission line steel pipe tower of the present application; Figure 4 is a schematic view of the Jishou of the upper jaw mechanism of the present application; Figure 5 is a schematic installation structure view of the upper support frame and the lower support frame of the climbing robot for a transmission line steel pipe tower of the present application; Figure 6 is a front view of the installation structure of the upper support frame and the lower support frame of the climbing robot for a transmission line steel pipe tower of the present application; Figure 7 is a schematic structural view of the auxiliary jaw mechanism of the present application; Figure 8 is a schematic structural view of the guide wheel of the present application; Figure 9 is a schematic structural view of the first use state of the climbing robot of the present application; Figure 10 is a schematic structural view of the second use state of the climbing robot of the present application; Figure 11 is a front view of the second use state of the climbing robot of the present application; Figure 12 is a top view of the second use state of the climbing robot of the present application; Wherein: 2a, lower support frame; 2b, upper support frame; 3, lower jaw mechanism; 3a, lower jaw drive component; 3b, lower jaw; 4, upper jaw mechanism; 4a, upper jaw drive component; 4b, upper jaw; 5, auxiliary jaw mechanism; 5a, auxiliary jaw drive component; 5b, auxiliary jaw; 6, controller; 7a, upper limit switch; 7b, lower limit switch; 8, telescopic drive connecting plate; 9, second swing arm; 10, first swing arm; 11, telescopic drive mechanism; 12, telescopic drive gear; 13, synchronous belt; 14, guide wheel; 15, lower rotating shaft of the second swing arm; 16a, upper rotating shaft of the second swing arm; 16b, lower rotating shaft of the first swing arm; 17, upper rotating shaft of the first swing arm; 20a, guide rail groove; 20b, guide rail; 20c, locking bolt; 30, steel pipe tower; 30a, steel pipe; 30b, foot peg; 34, profiling groove; 34a, jaw drive motor; 34b, connecting rod; 34c, lead screw; 34d, lead screw nut; 34e, small reduction pulley; 34f, large reduction pulley; 35a, auxiliary jaw drive servo; 35b, auxiliary jaw four-bar linkage; 36, guide wheel shaft; 36a, annular groove; 36b, pin shaft; 36c, compression spring. Detailed implementation manners

[0018] In order to enable those skilled in the art to better understand the solution of this application, the technical solutions in the specific implementation manners of this application will be clearly and completely described below in conjunction with the accompanying drawings in the implementation manners of this application.

[0019] As Figure 1 , Figure 2 and Figure 3 shown, and with reference to Figures 9 - 12 , this application provides a climbing robot for a steel pipe tower 30 of a transmission line. The climbing robot is used to carry an anti-falling rope and install one end of the fixed anti-falling rope on the top of the steel pipe tower 30. Such a steel pipe tower 30 includes a steel pipe 30a and foot pegs 30b installed on one side or both sides of the steel pipe 30a.

[0020] The climbing robot includes: an upper jaw mechanism 4, a lower jaw mechanism 3, and a telescopic mechanism. The anti-falling rope is installed on the upper jaw mechanism 4 or the lower jaw mechanism 3 so that the anti-falling rope can be carried by the climbing robot to the top of the steel pipe tower 30 of the transmission line.

[0021] The upper jaw mechanism 4 includes two upper jaws 4b that can be opened and closed relative to each other and an upper jaw drive component 4a for driving the two upper jaws 4b to open and close. The lower jaw mechanism 3 includes two lower jaws 3b that can be opened and closed relative to each other and a lower jaw drive component 3a for driving the two lower jaws 3b to open and close. The telescopic mechanism has an upper telescopic end and a lower telescopic end that can be relatively close or relatively far away from each other. The upper telescopic end is connected to the upper jaw mechanism 4, and the lower telescopic end is connected to the lower jaw mechanism 3.

[0022] The upper telescopic end and the lower telescopic end move relative to each other in the first direction, and the two upper clamping jaws 4b and the two lower clamping jaws 3b both open and close relative to each other in the second direction. The first direction is perpendicular to the second direction. The first direction refers to the length direction of the steel pipe 30a, generally the vertical direction.

[0023] When the upper clamping jaw mechanism 4 holds the steel pipe 30a tightly, the lower clamping jaw mechanism 3 opens, and the lower telescopic end contracts upward through the telescopic mechanism so that the lower clamping jaw mechanism 3 climbs upward. During the upward climbing process of the lower clamping jaw mechanism 3, since the lower clamping jaw mechanism 3 is in an open state, the projections of the two lower clamping jaws 3b and the foot studs 30b in the vertical direction do not intersect, so the lower clamping jaw mechanism 3 will not be blocked by the foot studs 30b. When the lower clamping jaw mechanism 3 holds the steel pipe 30a tightly, the upper clamping jaw mechanism 4 opens, and the upper telescopic end extends upward through the telescopic mechanism so that the upper clamping jaw mechanism 4 climbs upward. Similarly, during the upward climbing process of the upper clamping jaw mechanism 4, since the upper clamping jaw mechanism 4 is in an open state, the projections of the two upper clamping jaws 4b and the foot studs 30b in the vertical direction do not intersect, so the upper clamping jaw mechanism 4 will not be blocked by the foot studs 30b. The upper clamping jaw mechanism 4 and the lower clamping jaw mechanism 3 climb alternately to enable the overall upward climbing of the climbing robot, so as to carry the anti-falling rope to the top of the transmission line steel pipe tower 30.

[0024] Similarly, when the upper clamping jaw mechanism 4 holds the steel pipe 30a tightly, the lower clamping jaw mechanism 3 opens, and the lower telescopic end extends downward through the telescopic mechanism so that the lower clamping jaw mechanism 3 climbs downward. During the downward climbing process of the lower clamping jaw mechanism 3, since the lower clamping jaw mechanism 3 is in an open state, the projections of the two lower clamping jaws 3b and the foot studs 30b in the vertical direction do not intersect, so the lower clamping jaw mechanism 3 will not be blocked by the foot studs 30b. When the lower clamping jaw mechanism 3 holds the steel pipe 30a tightly, the upper clamping jaw mechanism 4 opens, and the upper telescopic end contracts downward through the telescopic mechanism so that the upper clamping jaw mechanism 4 climbs downward. Similarly, during the downward climbing process of the upper clamping jaw mechanism 4, since the upper clamping jaw mechanism 4 is in an open state, the projections of the two upper clamping jaws 4b and the foot studs 30b in the vertical direction do not intersect, so the upper clamping jaw mechanism 4 will not be blocked by the foot studs 30b. The upper clamping jaw mechanism 4 and the lower clamping jaw mechanism 3 climb downward alternately to enable the overall downward climbing of the climbing robot, so as to bring the anti-falling rope back to the ground from the top of the transmission line steel pipe tower 30.

[0025] In this application, the lower clamping jaw 3b and the upper clamping jaw 4b are both provided with profiling grooves 34; the shape of the profiling grooves 34 is determined according to the actual diameter of the steel pipe 30a.

[0026] As Figure 4 shown, in this application, the upper clamping jaw driving component 4a includes: a clamping jaw driving motor 34a, a small reduction pulley 34e, a large reduction pulley 34f, a lead screw 34c, a lead screw 34c nut, and two groups of connecting rods 34b.

[0027] The output shaft of the jaw drive motor 34a is fixedly connected to the small reduction pulley 34e, and the small reduction pulley 34e is drivingly connected to the large reduction pulley 34f through a synchronous drive belt. The large reduction pulley 34f is fixedly installed on the lead screw 34c to drive the lead screw 34c to rotate, and the lead screw nut is threadedly connected to the lead screw 34c so that the lead screw nut moves along the length direction of the lead screw 34c. The upper jaw 4b has a rotating end and a swinging end. One end of the connecting rod 34b is rotatably connected to the lead screw nut, and the other end of the connecting rod 34b is rotatably connected to the swinging end of the upper jaw 4b.

[0028] The jaw drive motor 34a drives the small reduction pulley 34e to rotate, so that the large reduction pulley 34f drives the lead screw 34c to rotate, thereby causing the lead screw nut to move along the length direction of the lead screw 34c. The lead screw nut causes the swinging end of the upper jaw 4b to swing through the connecting rod 34b, thereby realizing the opening or clamping of the two upper jaws 4b on the steel pipe 30a.

[0029] The lead screw 34c and the lead screw nut can be self-locked at any position, so that the two upper jaws 4b are relatively fixed in any state, so that the two upper jaws 4b can clamp steel pipes 30a with different diameters, thereby enabling the climbing robot to climb various steel pipe towers 30 of the transmission line, improving the applicability of the climbing robot.

[0030] In this application, the structure of the lower jaw mechanism 3 is the same as that of the upper jaw mechanism 4 and will not be described in detail.

[0031] As a preferred technical solution, the climbing robot further includes: an auxiliary jaw 5b mechanism 5.

[0032] A safety rope device for carrying a safety rope and for fixedly installing the safety rope on the top of the steel pipe tower 30 is installed on the upper jaw mechanism 4 or the lower jaw mechanism 3. The safety rope device has a certain weight, which may cause the upper jaw mechanism 4 or the lower jaw mechanism 3 installed with the safety rope device to shake during climbing. By installing the auxiliary jaw 5b mechanism 5 on the upper jaw mechanism 4 or the lower jaw mechanism 3 installed with the safety rope device, the climbing stability of the climbing robot is improved.

[0033] Specifically, the auxiliary jaw 5b mechanism 5 is connected to the upper jaw mechanism 4 or the auxiliary jaw 5b mechanism 5 is connected to the lower jaw mechanism 3. The auxiliary jaw 5b mechanism 5 includes two auxiliary jaws 5b that can be relatively opened and closed and an auxiliary jaw drive component 5a for driving the two auxiliary jaws 5b to open and close.

[0034] In this application, the anti-falling rope device and the auxiliary jaw 5b mechanism 5 are both installed on the lower jaw mechanism 3, so that the center of the climbing robot is biased downward, thereby improving the climbing stability of the climbing robot. The two auxiliary jaws 5b and the two lower jaws 3b are opened or closed around the steel pipe 30a simultaneously.

[0035] As Figure 5 and Figure 7 shown, in this application, the auxiliary jaw driving component 5a includes: an auxiliary jaw driving servo 35a and two groups of auxiliary jaw four-bar linkages 35b. The two groups of auxiliary jaw four-bar linkages 35b are symmetrically arranged, and each group of auxiliary jaw four-bar linkages 35b is respectively connected to an auxiliary jaw 5b. Each group of auxiliary jaw four-bar linkages 35b includes two auxiliary jaw linkages arranged in parallel, and the four auxiliary jaw linkages have a relatively approaching driving rotating shaft. A transmission gear is respectively installed on each driving rotating shaft, and the four transmission gears are meshed for transmission. The output shaft of the auxiliary jaw driving servo 35a is fixedly connected to one of the driving rotating shafts.

[0036] The auxiliary jaw driving servo 35a drives one of the driving rotating shafts to rotate, and the transmission gear on this driving rotating shaft drives the other three transmission gears to rotate, so as to drive the two groups of auxiliary jaw four-bar linkages 35b to act, thereby controlling the two auxiliary jaws 5b to open or close around the steel pipe 30a.

[0037] As Figure 1 , Figure 2 and Figure 3 shown, as a preferred technical solution, the telescopic mechanism includes: a first parallel four-bar linkage, a second parallel four-bar linkage, a telescopic driving mechanism 11, and a telescopic transmission mechanism.

[0038] The first parallel four-bar linkage includes two groups of first swing arms 10 arranged in parallel. The upper ends of the first swing arms 10 are rotationally connected to the upper jaw mechanism 4 through the first swing arm upper rotating shafts 17. The second parallel four-bar linkage includes two groups of second swing arms 9 arranged in parallel. The upper end of the second swing arm 9 is connected to the lower end of the second swing arm 9. The lengths of the first swing arm 10 and the second swing arm 9 are the same.

[0039] In this application, each group of first swing arms 10 includes two first swing arms 10 arranged side by side, and each group of second swing arms 9 includes two second swing arms 9 arranged side by side.

[0040] The telescopic drive mechanism 11 includes a telescopic drive motor, a reduction pinion, a reduction gear, and two sets of telescopic drive pulleys. The output shaft of the telescopic drive motor is fixedly connected to the reduction pinion, and the reduction pinion meshes with the reduction gear. The lower ends of the two sets of second swing arms 9 are respectively rotatably connected to the lower rotating shafts of the two second swing arms 9, and the reduction gear is fixedly installed on one of the lower rotating shafts of the second swing arms 9. The two sets of telescopic drive pulleys are respectively fixedly installed on the lower rotating shafts of the two second swing arms 9, and the corresponding telescopic drive pulleys on the two lower rotating shafts of the second swing arms 9 are connected by a synchronous drive belt.

[0041] Through the setting of the reduction pinion and the reduction gear, the torque transmitted by the telescopic drive motor to the lower rotating shaft of the second swing arm 9 is increased, so as to provide sufficient power for the climbing robot to climb.

[0042] The telescopic transmission mechanism includes four sets of telescopic transmission gears 12 and two sets of synchronous belts 13. The lower ends of the two sets of first swing arms 10 are respectively rotatably connected to the lower rotating shafts of the two first swing arms 10, the upper ends of the two sets of second swing arms 9 are respectively rotatably connected to the upper rotating shafts of the two second swing arms 9, and the four sets of telescopic transmission gears 12 are respectively fixedly installed on the lower rotating shafts of the two first swing arms 10 and the upper rotating shafts of the two second swing arms 9. The upper and lower corresponding telescopic transmission gears 12 on the lower rotating shafts of the two first swing arms 10 and the upper rotating shafts of the two second swing arms 9 are meshed with each other in pairs. The two ends of the lower rotating shafts of the two first swing arms 10 and the upper rotating shafts of the two second swing arms 9 are respectively rotatably connected to two telescopic transmission connecting plates 8. The lower rotating shaft of the second swing arm 9 and the upper rotating shaft of the second swing arm 9 are connected by a synchronous belt 13.

[0043] The telescopic drive mechanism 11 drives the lower rotating shafts of the two second swing arms 9 of the second parallel four-bar mechanism to rotate, so as to drive the two second swing arms 9 to swing; through the telescopic transmission mechanism, the two first swing arms 10 of the first parallel four-bar mechanism swing synchronously, so that the upper telescopic end at the top of the first parallel four-bar mechanism and the lower telescopic end at the lower end of the second parallel four-bar mechanism move relative to each other along the first direction.

[0044] As a preferred technical solution, the climbing robot further includes: an upper limit switch 7a and a lower limit switch 7b.

[0045] The upper limit switch 7a is installed on the upper jaw mechanism 4. The upper jaw mechanism 4 moves upward or downward along the steel pipe tower 30 until the upper limit switch 7a touches the foot peg 30b on the steel pipe tower 30, and the upper limit switch 7a operates to control the upper jaw driving component 4a to drive the two upper jaws 4b to clamp the steel pipe 30a of the steel pipe tower 30. The lower limit switch 7b is installed on the lower jaw mechanism 3. The lower jaw mechanism 3 moves upward or downward along the steel pipe tower 30 until the lower limit switch 7b touches the foot peg 30b on the steel pipe tower 30, and the lower limit switch 7b operates to control the lower jaw 3b driving component 3a to drive the two lower jaws 3b to clamp the steel pipe 30a of the steel pipe tower 30.

[0046] Due to the processing and construction technology problems of the steel pipe tower 30, the spacing between some of the foot pegs 30b of the steel pipe tower 30 is not completely consistent. Through the settings of the upper limit switch 7a and the lower limit switch 7b, the telescopic strokes of the upper telescopic end and the lower telescopic end of the telescopic mechanism are controlled, so that the climbing robot can adapt to the steel pipe towers 30 with different spacings of the foot pegs 30b, thereby improving the applicability of the climbing robot.

[0047] Specifically, both the upper limit switch 7a and the lower limit switch 7b have a disc spring rod, and the disc spring rod deforms to a certain extent to trigger the switch signal of the upper limit switch 7a or the lower limit switch 7b. Through the above settings, it is ensured that: the upper jaw 4b / lower jaw 3b is always above the foot peg 30b through its own self-locking and the grasping position, and a more secure grasping can be achieved. That is: if the steel pipe 30a slips due to wind and snow weather, and causes the upper jaw 4b / lower jaw 3b to slip and descend, the upper jaw 4b / lower jaw 3b will also be blocked by the foot peg 30b so that the upper jaw 4b / lower jaw 3b will not continue to slip and will remain in the original position.

[0048] More specifically, two upper limit switches 7a and two lower limit switches 7b are provided. The two upper limit switches 7a are located on both sides of the steel pipe 30a, and the two lower limit switches 7b are located on both sides of the steel pipe 30a. This can ensure that whether the foot pegs 30b on the steel pipe 30a are arranged unilaterally or bilaterally, it can be ensured that the disc spring rod of the limit switch can contact the foot peg 30b and trigger the switch signal.

[0049] As a preferred technical solution, the climbing robot further includes: a plurality of guide wheels 14. The plurality of guide wheels 14 are installed on the upper jaw mechanism 4 and / or the lower jaw mechanism 3 along the first direction. An annular groove 36a matching with the steel pipe 30a of the steel pipe tower 30 is provided on the outer peripheral surface of the guide wheel 14 along the guide wheel 14. The annular groove 36a is determined according to the diameter of the steel pipe 30a and the actual working conditions of the steel pipe tower 30.

[0050] Such as Figure 8As shown, the guide wheel 14 is rotatably connected to the guide wheel shaft 36. At both ends of the guide wheel shaft 36, a pin shaft 36b and a compression spring 36c are respectively provided. The guide wheel shaft 36 is slidably connected to the pin shafts 36b at both ends, and the end of the compression spring 36c abuts against the guide wheel shaft 36 to press the guide wheel shaft 36 against the steel pipe 30a of the steel pipe tower 30. Through the above settings, it can be ensured that when the guide wheel 14 is working, in addition to being able to rotate around the guide wheel shaft 36 to play a guiding role for the climbing robot, it can also ensure that during the climbing process of the climbing robot, the guide wheel 14 can make forward and backward adjustment movements along the pin shaft 36b, so that the guide wheel 14 always clings to the climbing steel pipe 30a during work.

[0051] As a preferred technical solution, the climbing robot further includes: an upper support frame 2b, a lower support frame 2a, and a locking bolt 20c.

[0052] The upper jaw mechanism 4 and the telescopic mechanism are installed on the upper support frame 2b, and a guide rail 20b is provided at the bottom of the upper support frame 2b. The lower jaw mechanism 3 is installed on the lower support frame 2a, and a guide rail groove 20a is provided at the top of the lower support frame 2a. The guide rail 20b and the guide rail groove 20a are slidably matched in the third direction, and the third direction is perpendicular to the first direction to limit the relative movement of the lower support frame 2a and the upper support frame 2b in the first direction. The locking bolt 20c is fixedly installed through the upper support frame 2b and the lower support frame 2a to limit the relative movement of the guide rail 20b and the guide rail groove 20a in the third direction. Through the above settings, the climbing robot can be disassembled into upper and lower parts, and the quick installation and disassembly of the upper and lower parts of the climbing robot can be realized. Ensure that the combined upper support frame 2b and lower support frame 2a will not come apart.

[0053] In this application, the movement control of the climbing robot is realized through the controller 6, and the controller 6 is wirelessly connected to the ground terminal to realize remote control. The controller 6 is wired or wirelessly connected to the upper jaw driving component 4a, the telescopic driving mechanism 11, the lower jaw 3b driving component 3a, and the auxiliary jaw driving component 5a.

[0054] This application also provides an operation method for a climbing robot of a transmission line steel pipe tower 30, and this operation method includes: First, assemble the upper and lower parts of the climbing robot. Assemble the upper support frame 2b and the lower support frame 2a by using the guide rail 20b and the guide rail groove 20a, and fix the upper support frame 2b and the lower support frame 2a by using the locking bolt 20c; Step 1, the climbing robot climbs upward along the steel pipe tower 30: Step 101, as Figure 9 shown, place the climbing robot at the bottom of the steel pipe tower 30. At this time, the telescopic mechanism is in a contracted state, and both the two upper jaws 4b and the two lower jaws 3b are tightly held on the steel pipe 30a of the steel pipe tower 30; The operator sends instructions to the climbing robot controller 6 through the ground terminal, and the climbing robot starts to climb upward; Step 102, after the climbing robot receives the instruction to climb upward, the controller 6 sends a control instruction to the upper jaw driving component 4a, and the upper jaw driving component 4a drives the two upper jaws 4b to open; At this time, the lower jaw 3b and the auxiliary jaw 5b are still in the closed state and tightly grip the steel pipe 30a; the auxiliary jaw 5b plays an auxiliary role to prevent the center of gravity of the climbing robot body from tilting; Step 103, the controller 6 automatically sends a control instruction to the telescopic driving mechanism 11, so that the telescopic driving motor of the telescopic driving mechanism 11 drives the telescopic driving pulley to act, drives the lower rotating shaft of the second swing arm 9 to rotate and at the same time drives the second swing arm 9 to rotate counterclockwise. The rotation of the second swing arm 9 will drive the four groups of telescopic transmission gears 12 to rotate synchronously, driving the first swing arm 10 to rotate clockwise; Thus, the telescopic mechanism extends, so that the upper jaw mechanism 4 moves upward; As Figure 10 、 Figure 11 and Figure 12 shown, when the upper support frame 2b drives the upper jaw mechanism 4 to move vertically upward, it will also drive the upper limit switch 7a upward until the upper limit switch 7a touches the foot peg 30b of the steel pipe tower 30. At this time, the system determines that the climbing robot of the present application has completed an upward climb of a distance unit; Step 104, the upper limit switch 7a acts, and the controller 6 immediately sends an instruction to control the upper jaw 4b to close and grip the steel pipe 30a, so as to control the upper jaw driving component 4a to drive the two upper jaws 4b to clamp the steel pipe 30a of the steel pipe tower 30; Because the upper limit switch 7a is installed at a position below the upper jaw 4b, when the upper limit switch 7a is triggered, the locking position of the upper jaw 4b is just at a small distance above the foot peg 30b, and at the same time, the nut and the lead screw 34c of the upper jaw mechanism 4 can be self-locked in the current position; Step 105, the controller 6 sends a control instruction to the lower jaw 3b driving component 3a and the auxiliary jaw driving component 5a, so that both the lower jaw 3b and the auxiliary jaw 5b are completely opened; Step 106, then, the controller 6 automatically sends a control instruction to the telescopic driving mechanism 11, so that the telescopic driving mechanism 11 acts to drive the second swing arm 9 to rotate clockwise; the rotation of the second swing arm 9 will drive the four groups of telescopic transmission gears 12 to rotate synchronously, driving the first swing arm 10 to rotate counterclockwise; Thus, the telescopic mechanism contracts, so that the lower jaw mechanism 3 moves upward; Meanwhile, each guide wheel 14 ensures that the climbing robot clings tightly to the steel pipe 30a and prevents the climbing robot from swaying left and right; During the upward movement of the lower support frame 2a with the lower jaw 3b, the lower limit switch 7b will also move upward until the lower limit switch 7b touches the foot peg 30b of the steel pipe tower 30. At this time, the system determines that the climbing robot of the present application has completed another distance unit of upward climbing; Step 107, the lower limit switch 7b acts, and the controller 6 sends an instruction to the lower jaw 3b driving component 3a and the auxiliary jaw driving component 5a to control the lower jaw 3b and the auxiliary jaw 5b to close and grip the steel pipe 30a tightly; Similarly, because the lower limit switch 7b is installed at a position below and close to the lower jaw 3b, when the lower limit switch 7b is triggered, the locking position of the lower jaw 3b is just at a short distance above the foot peg 30b, and at the same time, the lower jaw 3b can be self-locked in the current position to achieve double clamping protection; Step 108, repeat steps 102 - 107 to enable the climbing robot to climb upward along the steel pipe tower 30; Until the climbing robot climbs to the designated position, the operator sends a stop climbing instruction to the controller 6 through the ground terminal.

[0055] Step 2, the climbing robot climbs downward along the steel pipe tower 30: When the operator finishes the repair and needs the climbing robot to carry the safety rope down, at this time, the operator sends an instruction to the controller 6 of the climbing robot through the ground terminal, and the climbing robot starts to climb downward; Step 201, the climbing robot is located at the top of the steel pipe tower 30. At this time, the telescopic mechanism is in a contracted state, and both the two upper jaws 4b and the two lower jaws 3b are tightly held on the steel pipe 30a of the steel pipe tower 30; Step 202, the controller 6 sends a control instruction to the lower jaw 3b driving component 3a and the auxiliary jaw driving component 5a to completely open both the lower jaw 3b and the auxiliary jaw 5b; Step 203, the controller 6 automatically sends a control instruction to the telescopic driving mechanism 11, so that the telescopic driving motor of the telescopic driving mechanism 11 drives the telescopic driving pulley to act, drives the lower rotating shaft of the second swing arm 9 to rotate and at the same time drives the second swing arm 9 to rotate counterclockwise. The rotation of the second swing arm 9 will drive the four groups of telescopic transmission gears 12 to rotate synchronously, driving the first swing arm 10 to rotate clockwise; The telescopic mechanism extends to make the lower jaw mechanism 3 move downward; When the lower support frame 2a drives the lower jaw 3b to move downward, it will also drive the lower limit switch 7b downward until the lower limit switch 7b touches the foot peg 30b of the steel pipe tower 30. At this time, the system determines that the climbing robot of the present application has completed a downward climb of a distance unit; Step 204, the lower limit switch 7b acts, and the controller 6 sends an instruction to the lower jaw drive member 3a and the auxiliary jaw drive member 5a to control the lower jaw 3b and the auxiliary jaw 5b to close and grip the steel pipe 30a; Step 205, the controller 6 sends a control instruction to the upper jaw drive member 4a, and the upper jaw drive member 4a drives the two upper jaws 4b to open; Step 206, the controller 6 automatically sends a control instruction to the telescopic drive mechanism 11 to cause the telescopic drive mechanism 11 to act and drive the second swing arm 9 to rotate clockwise; the rotation of the second swing arm 9 will drive the four sets of telescopic transmission gears 12 to rotate synchronously, driving the first swing arm 10 to rotate counterclockwise; Thus, the telescopic mechanism contracts so that the upper jaw mechanism 4 moves downward; When the upper support frame 2b drives the upper jaw mechanism 4 to move vertically downward, it will also drive the upper limit switch 7a downward until the upper limit switch 7a touches the foot peg 30b of the steel pipe tower 30. At this time, the system determines that the climbing robot of the present application has completed a downward climb of a distance unit; Step 207, the upper limit switch 7a acts, and the controller 6 immediately sends an instruction to control the upper jaw 4b to close and grip the steel pipe 30a to control the upper jaw drive member 4a to drive the two upper jaws 4b to clamp the steel pipe 30a of the steel pipe tower 30; Step 208, repeat steps 202 - 207 to enable the climbing robot to climb downward along the steel pipe tower 30; Until the climbing robot reaches the designated position, the operator opens all the jaws of the climbing robot and moves the climbing robot from the steel pipe 30a to the ground.

[0056] It should be noted that the terms "first", "second" and similar terms used in the description and claims of this application do not denote any order, quantity or importance, but are only used to distinguish different components. Similarly, terms such as "a" or "an" do not denote a quantity limitation, but rather indicate the presence of at least one. "Plural" or "several" means at least two. Unless otherwise specified, terms such as "front", "rear", "left", "right", "lower" and / or "upper" are for ease of description only and are not limited to a single position or a spatial orientation. The terms "comprising" or "including" and similar terms mean that the elements or items appearing before "comprising" or "including" cover the elements or items listed after "comprising" or "including" and their equivalents, and do not exclude other elements or items. The terms "connected" or "coupled" and similar terms are not limited to physical or mechanical connections, and may include electrical connections, whether direct or indirect.

[0057] The singular forms of "a", "the" and "said" used in the description and the appended claims of this application are also intended to include the plural forms unless the context clearly dictates otherwise. It should also be understood that the term "and / or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.

[0058] It should be understood that those of ordinary skill in the art can make improvements or modifications based on the above description, and all such improvements and modifications shall fall within the protection scope of the appended claims of this application.

Claims

1. Climbing robot for steel pipe tower of transmission line, characterized in that, The climbing robot comprises: An upper clamping jaw mechanism, the upper clamping jaw mechanism comprising two upper clamping jaws that can open and close relative to each other and an upper clamping jaw driving component for driving the two upper clamping jaws to open and close; A lower clamping jaw mechanism, the lower clamping jaw mechanism comprising two lower clamping jaws that can open and close relative to each other and a lower clamping jaw driving component for driving the two lower clamping jaws to open and close; A telescopic mechanism, the telescopic mechanism having an upper telescopic end and a lower telescopic end that can be relatively close to or relatively far away from each other, the upper telescopic end is connected to the upper clamping jaw mechanism, and the lower telescopic end is connected to the lower clamping jaw mechanism; The upper telescopic end and the lower telescopic end move relatively along a first direction, and the two upper clamping jaws and the two lower clamping jaws open and close relatively along a second direction, and the first direction is perpendicular to the second direction.

2. The climbing robot for a steel pipe tower of a transmission line according to claim 1, wherein The climbing robot also includes: An auxiliary clamping jaw mechanism is connected to the upper clamping jaw mechanism or the auxiliary clamping jaw mechanism is connected to the lower clamping jaw mechanism. The auxiliary clamping jaw mechanism includes two auxiliary clamping jaws that can be opened and closed relative to each other and an auxiliary clamping jaw driving component for driving the two auxiliary clamping jaws to open and close.

3. The climbing robot for a steel pipe pole tower of a transmission line according to claim 1, wherein, The telescopic mechanism comprises: A first parallel four-bar linkage, wherein the first parallel four-bar linkage comprises two sets of first swing arms arranged in parallel, and the upper ends of the first swing arms are rotatably connected to the upper clamping jaw mechanism; A second parallel four-bar linkage, wherein the second parallel four-bar linkage comprises two sets of second swing arms arranged in parallel, and the upper end of the second swing arm is connected to the lower end of the second swing arm; The telescopic drive mechanism comprises a telescopic drive motor, a reduction pinion, a reduction gear and two sets of telescopic drive pulleys, the output shaft of the telescopic drive motor is fixedly connected to the reduction pinion, the reduction pinion is meshed with the reduction gear, the lower ends of the two sets of second swing arms are respectively rotatably connected to the two second swing arm lower shafts, the reduction gear is fixedly mounted on one of the second swing arm lower shafts, the two sets of telescopic drive pulleys are respectively fixedly mounted on the two second swing arm lower shafts, the corresponding telescopic drive pulleys on the two second swing arm lower shafts are connected by synchronous transmission belt transmission, and the second swing arm lower shaft and the second swing arm upper shaft are connected by synchronous belt transmission; The telescopic transmission mechanism includes four groups of telescopic transmission gears. The lower ends of the two groups of first swing arms are respectively rotatably connected to the lower rotating shafts of the two first swing arms, and the upper ends of the two groups of second swing arms are respectively rotatably connected to the upper rotating shafts of the two second swing arms. The four groups of telescopic transmission gears are respectively fixedly installed on the lower rotating shafts of the two first swing arms and the upper rotating shafts of the two second swing arms, and the upper and lower corresponding telescopic transmission gears on the lower rotating shafts of the two first swing arms and the upper rotating shafts of the two second swing arms are meshed in pairs.

4. The climbing robot for a steel pipe pole tower of a transmission line according to claim 1, characterized in that, The climbing robot also includes: An upper limit switch, the upper limit switch is installed on the upper clamp mechanism, the upper clamp mechanism moves upward or downward along the steel pipe tower until the upper limit switch touches the foot nail on the steel pipe tower, and the upper limit switch is actuated to control the upper clamp driving component to drive the two upper clamps to clamp the steel pipe of the steel pipe tower; A lower limit switch, which is installed on the lower jaw mechanism. The lower jaw mechanism moves upward or downward along the steel pipe tower until the lower limit switch touches the foot peg on the steel pipe tower, and the lower limit switch operates to control the lower jaw driving component to drive the two lower jaws to clamp the steel pipe of the steel pipe tower.

5. The climbing robot for a steel pipe pole tower of a transmission line according to claim 1, characterized in that The climbing robot further includes: a plurality of guide wheels, which are installed on the upper jaw mechanism and / or the lower jaw mechanism along a first direction. An annular groove matching with the steel pipe of the steel pipe tower is provided on the outer peripheral surface of the guide wheel. The guide wheel is rotatably connected to a guide wheel shaft. Pin shafts and compression springs are respectively provided at both ends of the guide wheel shaft. The guide wheel shaft is slidably connected to the pin shafts at both ends, and the end of the compression spring abuts against the guide wheel shaft to press the guide wheel shaft towards the steel pipe of the steel pipe tower.

6. The climbing robot for a steel pipe tower of a transmission line according to claim 1, wherein The climbing robot further includes: An upper support frame, on which the upper jaw mechanism and the telescopic mechanism are installed. A guide rail is provided at the bottom of the upper support frame; A lower support frame, on which the lower jaw mechanism is installed. A guide rail groove is provided at the top of the lower support frame. The guide rail and the guide rail groove are slidably matched along a third direction, and the third direction is perpendicular to the first direction, so as to limit the relative movement of the lower support frame and the upper support frame along the first direction; A locking bolt, which is fixedly installed through the upper support frame and the lower support frame, so as to limit the relative movement of the guide rail and the guide rail groove along the third direction.

7. The climbing robot for a steel pipe tower of a transmission line according to claim 1, wherein The upper jaw driving component includes: a jaw driving motor, a small reduction pulley, a large reduction pulley, a lead screw, a lead screw nut and two groups of connecting rods. The output shaft of the jaw driving motor is fixedly connected to the small reduction pulley. The small reduction pulley and the large reduction pulley are connected by a synchronous transmission belt. The large reduction pulley is fixedly installed on the lead screw to drive the lead screw to rotate. The lead screw nut is threadedly connected to the lead screw so that the lead screw nut moves along the length direction of the lead screw. The upper jaw has a rotating end and a swinging end. One end of the connecting rod is rotatably connected to the lead screw nut, and the other end of the connecting rod is rotatably connected to the swinging end of the upper jaw; The structure of the lower jaw mechanism is the same as that of the upper jaw mechanism.

8. The climbing robot for a steel pipe pole tower of a transmission line according to claim 2, wherein, The auxiliary jaw driving component includes: an auxiliary jaw driving servo and two groups of auxiliary jaw four-bar link mechanisms. The two groups of auxiliary jaw four-bar link mechanisms are symmetrically arranged, and each group of auxiliary jaw four-bar link mechanisms is respectively connected to an auxiliary jaw. Each group of auxiliary jaw four-bar link mechanisms includes two parallel auxiliary jaw connecting rods. The four auxiliary jaw connecting rods have relatively approaching driving rotating shafts. A transmission gear is respectively installed on each driving rotating shaft, and the four transmission gears are meshed and transmitted. The output shaft of the auxiliary jaw driving servo is fixedly connected to one of the driving rotating shafts.

9. The climbing robot for a steel pipe tower of a transmission line according to claim 4, wherein Both the upper limit switch and the lower limit switch have a disc spring rod, and the disc spring rod deforms to a certain extent to trigger the switch signal of the upper limit switch or the lower limit switch.

10. The operating method of a climbing robot for a steel pipe tower of a transmission line, characterized in that, The operation method includes: Step 1, the climbing robot climbs upward along the steel pipe tower: Step 101, place the climbing robot at the bottom of the steel pipe tower. At this time, the telescopic mechanism is in a contracted state, and both the two upper clamping jaws and the two lower clamping jaws are tightly clamped on the steel pipe of the steel pipe tower; Step 102, the upper clamping jaw driving component drives the two upper clamping jaws to open; Step 103, the telescopic mechanism extends so that the upper clamping jaw mechanism moves upward until the upper limit switch touches the foot peg of the steel pipe tower; Step 104, the upper limit switch acts to control the upper clamping jaw driving component to drive the two upper clamping jaws to clamp the steel pipe of the steel pipe tower; Step 105, the lower clamping jaw driving component drives the two lower clamping jaws to open; Step 106, the telescopic mechanism contracts so that the lower clamping jaw mechanism moves upward until the lower limit switch touches the foot peg of the steel pipe tower; Step 107, the lower limit switch acts to control the lower clamping jaw driving component to drive the two lower clamping jaws to clamp the steel pipe of the steel pipe tower; Step 108, repeat Step 102 - Step 107 to achieve the climbing robot climbing upward along the steel pipe tower; Step 2, the climbing robot climbs downward along the steel pipe tower: Step 201, the climbing robot is located at the top of the steel pipe tower. At this time, the telescopic mechanism is in a contracted state, and both the two upper clamping jaws and the two lower clamping jaws are tightly clamped on the steel pipe of the steel pipe tower; Step 202, the lower clamping jaw driving component drives the two lower clamping jaws to open; Step 203, the telescopic mechanism extends so that the lower clamping jaw mechanism moves downward until the lower limit switch touches the foot peg of the steel pipe tower; Step 204, the lower limit switch acts to control the lower clamping jaw driving component to drive the two lower clamping jaws to clamp the steel pipe of the steel pipe tower; Step 205, the upper clamping jaw driving component drives the two upper clamping jaws to open; Step 206, the telescopic mechanism contracts so that the upper clamping jaw mechanism moves downward until the upper limit switch touches the foot peg of the steel pipe tower; Step 207, the upper limit switch acts to control the upper clamping jaw driving component to drive the two upper clamping jaws to clamp the steel pipe of the steel pipe tower; Step 208, repeat Step 202 - Step 207 to achieve the climbing robot climbing downward along the steel pipe tower.

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