CN108216409A - A kind of flexible wiggle climbing robot - Google Patents

Abstract

The present invention is applicable to the field of climbing robots, and provides a flexible peristaltic climbing robot, which includes two guide assemblies, two open clamp assemblies, a main spring and a drive assembly, and the two open clamp assemblies are clamped on on the cable, and can open and close along the radial direction of the cable; the two guide assemblies are installed on the two opposite outer sides of the two open clamping assemblies, and are always clamped on the outer edge of the cable, and the guide assemblies can be moved along the The radial direction of the cable is elastically contracted; the main spring is connected to the two opposite inner sides of the two open clamping components, and one end of the main spring is fixedly connected to one of the open clamping components, and the other end is screwed to the driving component to drive The component is fixed on another open clamping component, the driving component drives the main spring to rotate, and the main spring is extended or shortened correspondingly with the rotation of the driving component. The robot can adapt to cables of different diameters, can easily cope with the cable environment with curvature, and has good environmental adaptability.

Description

A flexible crawling climbing robot

technical field

The invention belongs to the field of climbing robots, in particular to a flexible peristaltic climbing robot.

Background technique

The cable is one of the main stress-bearing components of the cable-stayed bridge and the suspension bridge. It is exposed to the air for a long time. Under the long-term action of the bridge load, rain vibration and wind vibration, the protective layer (polyethylene PE) on the cable surface is prone to hardening and aging. And other damage phenomena, the steel wire bundle inside the cable is prone to broken wires and fractures, which endangers the safety of the bridge. Therefore, the cable inspection work is very important.

At present, the conventional detection method is manual inspection or detection using a cable climbing robot. The way of manual inspection is not only heavy workload, low efficiency, but also poor security. Existing cable climbing robots usually adopt a wheeled structure. When the cable is tightly held, the contact surface is small, resulting in damage to the cable surface protection layer; at the same time, the wheel-driven cable detection robot is prone to slipping and jamming when working at high altitudes. Phenomenon. The frame of the existing cable climbing robot mostly adopts fixed and closed wheel type clamping structure, the diameter change range is limited by the outer frame, the clamping force adjustment range is small, and it is easy to fall off and loosen when the clamping environment changes.

The patented cable-stayed bridge cable detection robot (201520031317.1), the patented cable detection robot based on parallelogram independent suspension (201410332561.1) and the patented cable detection robot (201510553087.X) all use rigid robot bodies, which are difficult to deal with cables with curvature. Moreover, when a protrusion appears on the cable, the rigid body of the robot is easily stuck, and the environmental adaptability is poor.

Contents of the invention

The technical problem to be solved by the present invention is to provide a flexible peristaltic climbing robot, which aims to solve the problem that the climbing robot in the prior art is difficult to cope with the cables with curvature and cannot automatically adapt to obstacles.

In order to solve the above-mentioned technical problems, the present invention is achieved in this way, a flexible peristaltic climbing robot includes two open clamping assemblies, a main spring and a drive assembly, and the two open clamping assemblies are aligned along the axial direction of the cable. set at intervals, and can open and close along the radial direction of the cable, and at any time, at least one open clamping component clamps the cable; one end of the main spring is connected to one of the open clamping components Fixed connection, the other end of which is screwed to the drive assembly, the drive assembly is fixed on another open clamp assembly, the drive assembly drives the main spring to rotate, and the main spring rotates with the drive assembly lengthen or shorten accordingly.

Further, the driving assembly includes a driving motor, a first helical driving gear, a second helical driving gear, a hollow helical copper sleeve, a helical driving shaft, an upper cover and a lower cover, and the helical copper sleeve and the helical driving shaft are respectively rotatably installed between the upper cover plate and the lower cover plate, and the upper cover plate and the lower cover plate are respectively fixed on the open clamping assembly; the first helical drive gear is sleeved and fixed on the On the outer edge of the spiral copper sleeve, the second spiral drive gear is fixed on the outer edge of the spiral drive shaft, and the first spiral drive gear and the second spiral drive gear mesh with each other; the spiral copper There is an internal thread in the sleeve, the main spring is screwed with the helical copper sleeve, and the helical drive shaft is fixedly connected with the power output shaft of the driving motor.

Further, the open clamping assembly includes a fixed seat, a clamping wheel, two clamping arms and a rotating power source, the clamping wheel is fixed on the side of the fixed seat facing the object to be clamped, the The two clamping arms are respectively rotatably installed on both sides of the fixed base; the rotating power source is installed on the fixing base and is connected to the two clamping arms in transmission, and the rotating power source drives The two clamping arms are mutually opened and closed; an elastically deformable clamping palm assembly is installed on the end of each of the clamping arms away from the fixed seat, and the clamping palm assembly on the two clamping arms is The clamping palm assembly and the clamping wheel cooperate to clamp the cable.

Further, the clamping arm includes an adapter base, a clamp base, a first crank, a second crank and a connecting rod, one end of the adapter base is hinged on one side of the fixed base, and the clamp base One end of one end is hinged on the other end of the adapter base, and the clamping palm assembly is installed on the other end of the clamping base; the first crank is fixed on the fixed base, and the second crank is fixed On the clamping seat, two ends of the connecting rod are hinged to the first crank and the second crank respectively.

Further, a first spur gear is installed on the power output end of the rotating power source, a rotating shaft is pierced in the fixed seat, and a second spur gear is inherently sleeved on the rotating shaft, and the two sides of the rotating shaft There is a first bevel gear at each end, and a second bevel gear is fixed on the adapter seat of each clamping arm. The first spur gear and the second spur gear mesh with each other. The two first bevel gears mesh with the two second bevel gears on the two adapter seats respectively.

Further, the clamping palm assembly includes a clamping palm, a fork, a spring guide shaft, a first guide spring, a hollow guide sleeve and a pressure sensor, and the clamping palm is rotatably mounted on the bottom of the fork, The bottom of the spring guide shaft is fixed on the top of the fork; the spring guide shaft and the first guide spring are installed in the hollow guide sleeve, and the hollow guide sleeve is provided with a device for preventing the spring from guiding The limit step where the shaft falls out, the limit protrusion is correspondingly provided on the periphery of the spring guide shaft, the spring guide shaft can move up and down along the guide sleeve, the limit protrusion is correspondingly aligned with the limit The steps are separated from each other or against each other; the pressure sensor is installed on the top of the hollow guide sleeve, one end of the first guide spring is always in contact with the pressure sensor, and the other end is sleeved on the spring guide shaft, and correspondingly abut against the limit protrusion of the spring guide shaft, and the spring guide shaft moves up and down along the guide sleeve, driving the first guide spring to press the pressure sensor.

Further, the climbing robot also includes two guide assemblies, the two guide assemblies are respectively installed on the two opposite outer sides of the two open clamp assemblies, and are always clamped on the outer edge of the cable , and the guide assembly can be elastically contracted along the radial direction of the cable.

Further, the guide assembly includes several guide wheel parts, several second guide springs, several pin shafts and several fixed seats, the fixed seats are fixed on the open clamping assembly, and the guide wheel parts pass through the The pin shaft is rotatably installed on the fixed base, and the second guide spring is connected between two adjacent guide wheel parts.

Further, the guide wheel component includes a guide wheel connecting rod, a fixed ring, a guide wheel seat and a rubber wheel, the bottom of the guide wheel connecting rod is rotatably mounted on the fixed base through the pin shaft, the The fixed ring is fixed on the middle part of the connecting rod of the guide wheel, and the two ends of the fixed ring are respectively provided with connecting holes for connecting the second guide spring; the guide wheel seat is rotatable around the axis of the connecting rod of the guiding wheel The rubber wheel is rotatably installed on the guide wheel seat and is always in contact with the cable.

Further, a through hole is opened on the guide wheel seat, and a transverse groove is opened on one side of the through hole, and the guide wheel connecting rod is passed through the through hole of the guide wheel seat, and the guide wheel A threaded hole is provided at a position corresponding to the transverse groove on the connecting rod, and a flat head screw passes through the transverse groove and is threadedly connected to the connecting rod of the guide wheel.

Compared with the prior art, the present invention has beneficial effects in that: a flexible peristaltic climbing robot of the present invention includes two open clamping assemblies, a main spring and a driving assembly. The driving assembly can make the main spring extend or shorten accordingly, so as to realize the climbing action. The robot uses the main spring as a transmission part, so that the robot body has flexibility and automatic adaptability. The joint movement can adapt to cables of different diameters, and the range of diameter change is large. When encountering obstacles during the climbing process, it can better overcome obstacles and have better environmental adaptability. At the same time, because the robot body is composed of a main spring, the robot body can be bent, so that it can easily cope with the cable environment with curvature.

Description of drawings

Fig. 1 is a three-dimensional structural schematic diagram of a flexible peristaltic climbing robot provided by an embodiment of the present invention;

Fig. 2 is a front view structural schematic diagram of Fig. 1;

Fig. 3 is a three-dimensional structural schematic view of the driving assembly except the motor in Fig. 1;

Fig. 4 is a schematic cross-sectional structure diagram of Fig. 3;

Fig. 5 is a schematic diagram of a three-dimensional structure of the open clamping assembly in Fig. 1;

Fig. 6 is a schematic diagram of the front view of Fig. 5;

Fig. 7 is a schematic structural diagram of another working state of Fig. 6;

Fig. 8 is a schematic bottom view of Fig. 5;

Fig. 9 is a schematic view of the left view of Fig. 5;

Fig. 10 is a schematic structural view of the clamping palm assembly in Fig. 5;

Fig. 11 is a partial cross-sectional front structural schematic diagram of Fig. 10;

Fig. 12 is a schematic diagram of a three-dimensional structure of the guide assembly in Fig. 1;

Fig. 13 is a three-dimensional structural schematic diagram of the guide wheel component in Fig. 12 .

Detailed ways

In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

As shown in FIG. 1 and FIG. 2 , a flexible crawling climbing robot 100 provided by an embodiment of the present invention includes two guiding assemblies 1 , two open clamping assemblies 2 , a main spring 3 and a driving assembly 4 .

The two open clamping assemblies 2 are arranged at intervals along the axial direction of the cable 50, and can be opened and closed along the radial direction of the cable 50, so that the open clamping assemblies 2 can clamp different diameters. The cable has a large diameter change range; and at any time, at least one open clamping assembly 2 clamps the cable 50 to ensure that the robot 100 will not slide down. The two guide assemblies 1 are respectively installed on the two opposite outer sides of the two open clamp assemblies 2, and are always clamped on the outer edge of the cable 50, and the guide assembly 1 can move along the cable The elastic contraction of the radial direction of 50 serves to guide the movement of the robot 100 .

The main spring 3 is connected to two opposite inner sides of the two open clamping assemblies 2, and one end of the main spring 3 is fixedly connected to one of the open clamping assemblies 2, and the other end thereof is connected to the drive assembly. 4 is screwed, and the driving assembly 4 is fixed on another open clamping assembly 2. The driving assembly 4 drives the main spring 3 to rotate, and the main spring 3 is extended or shortened correspondingly with the rotation of the driving assembly 4 , so as to provide power for the climbing of the robot 100 .

3 and 4, the driving assembly 4 includes a driving motor 41, a first helical driving gear 42, a second helical driving gear 43, a hollow helical copper sleeve 44, a helical driving shaft 45, an upper cover plate 46 and a lower cover Plate 47. The spiral copper sleeve 11 and the spiral drive shaft 45 are respectively rotatably installed between the upper cover plate 46 and the lower cover plate 47, and the upper cover plate 46 and the lower cover plate 47 are respectively fixed on the open clamp On the holding assembly 2, it is used to fix the relative position of each component. The first helical driving gear 42 is sleeved on the outer edge of the helical copper sleeve 44, the second helical driving gear 43 is sleeved on the outer edge of the helical driving shaft 45, and the first helical The driving gear 42 meshes with the second helical driving gear 43 for power transmission. The helical copper sleeve 44 has an internal thread (not marked), the main spring 3 is screwed to the helical copper sleeve 44 , and the helical drive shaft 45 is fixedly connected to the power output shaft of the drive motor 41 .

During specific work, the drive motor 41 drives the helical drive shaft 45 to rotate, and the rotation of the helical drive shaft 45 will correspondingly drive the second helical drive gear 43 to rotate, and the second helical drive gear 43 is engaged by gears The rotation of the first helical driving gear 42 is driven, and the rotation of the first helical driving gear correspondingly drives the rotation of the helical copper sleeve 44 . Since the main spring 3 is screwed with the helical copper sleeve 44, the rotation of the helical copper sleeve 44 will drive the main spring 3 to rotate, so that the forward rotation and reverse rotation of the drive motor 41 can make the main spring 3 lengthen or shorten accordingly.

Referring to FIGS. 5 to 7 , the open clamping assembly 2 includes a fixed base 21 , a clamping wheel 22 , two clamping arms 23 and a rotating power source 24 . The clamping wheel 22 is fixed on the top of the fixing base 21 , and the two clamping arms 23 are rotatably mounted on two sides of the fixing base 21 respectively. The rotating power source 24 is installed on the fixing seat 21 and is connected to the two clamping arms 23 in transmission, and the rotating power source 24 drives the two clamping arms 23 to open and close each other for Adjust the clamping diameter to accommodate cables of different diameters. An elastically deformable clamping palm assembly 25 is installed on each of the clamping arms 23 away from the end of the fixed seat 21, and the clamping palm assembly 25 on the two clamping arms 23 is connected with the clamping palm assembly 25. The wheels 22 clamp the cable 50 together, and the combination of wheels and palms can effectively prevent the robot 100 from sliding down, and use the elastic deformation of the clamping palm assembly 25 to achieve flexible control of the clamping force.

The clamping arm 23 includes an adapter base 231 , a clamping base 232 , a first crank 233 , a second crank 234 and a connecting rod 235 . One end of the adapter base 231 is hinged on one side of the fixed base 21, one end of the clamping base 232 is hinged on the other end of the adapter base 231, and the clamping palm assembly 25 is mounted on the The other end of the clamping seat 232; the first crank 233 is fixed on the fixed seat 21, the second crank 234 is fixed on the clamping seat 232, and the two ends of the connecting rod 235 are respectively connected with The first crank 233 and the second crank 234 are hinged. Since the position of the first crank 233 is fixed and one end of the connecting rod 235 is hinged on the first crank 233 , the connecting rod 235 can only move in a circular arc around the hinge point of the first crank 233 . At the same time, since the second crank 234 is fixedly connected with the clamping seat 232, when the adapter seat 231 rotates, the clamping seat 232 will also rotate accordingly, and utilize the connections between the first crank 233 and the second crank 233 to rotate. The connecting rod 235 between the two cranks 234 plays a limiting role on the clamping seat 232, so that the clamping seat 232 cannot freely rotate along the adapter seat 231, ensuring the stability of clamping.

Referring to Fig. 8, a first spur gear 61 is installed on the power output end of the rotary power source 24. In the embodiment of the present invention, the rotary power source 24 is a rotary motor, and the first spur gear 61 is connected through a shaft coupling. The generator 62 is connected to the power output end of the rotating electrical machine 24 . The fixed seat 21 is pierced with a rotating shaft 63, the second spur gear 64 is covered on the rotating shaft 63, and the two ends of the rotating shaft 63 respectively have a first bevel gear 65, each of the clips A second bevel gear 66 is fixed on the adapter seat 231 of the holding arm 23, the first spur gear 61 and the second spur gear 64 mesh with each other, and the two first bevel gears 65 at both ends of the rotating shaft 63 are respectively It meshes with the two second bevel gears 66 on the two adapter seats 231 .

The rotation of the rotating motor 24 will drive the first spur gear 61 to rotate, and the first spur gear 61 will drive the rotation shaft 63 to rotate through the meshing with the second spur gear 64, and the rotation of the rotation shaft 63 will drive the rotation of the two ends. The two first bevel gears 65 rotate accordingly, and the rotation of the two first bevel gears 65 correspondingly drives the rotation of the second bevel gear 66 . Since the second bevel gear 66 is fixedly connected to the adapter base 231, the rotation of the second bevel gear 66 will drive the adapter base 231 to rotate accordingly, so that the forward rotation and reverse rotation of the rotating motor 24 can realize all The opening and closing movement of the two clamping arms 3 is described.

Continuing to refer to FIG. 9 , in the embodiment of the present invention, the two clamping palm assemblies 25 on the two clamping arms 23 are arranged oppositely, and the two clamping palm assemblies 25 and the clamping wheel 22 are arranged along the The edge of the fixed seat is distributed at intervals, so that the two clamping palm assemblies 25 on the two clamping arms 23 are located in the same vertical plane, and the two clamping palm assemblies 25 and the clamping wheel 22 not in the same vertical plane. By eccentrically setting the flexible clamping palm assembly 25 and the clamping wheel 22, it is equivalent to a different-plane shearing effect on the cable 50, utilizing the principle of leverage to increase the clamping pressure, so that the entire clamping device 100 is not easy skidding.

10 and 11, the clamping palm assembly 25 includes a clamping palm 251, a fork 252, a spring guide shaft 253, a guide spring 254, a hollow guide sleeve 255, a pressure sensor 256, a guide pin 257, a connecting pin 258 and At least one pair of return springs 259 . The fork frame 252 is U-shaped, and the two side walls of the U-shaped fork frame 252 are provided with through holes (not marked); the top of the clamping palm 251 has an ear plate 2511, and the ear plate 2511 Inserted in the U-shaped groove of the U-shaped fork frame 252, and the position corresponding to the through hole of the U-shaped fork frame 252 on the ear plate 2511 is also provided with a through hole (not marked). The connecting pin 258 passes through the through hole of the U-shaped fork frame 252 and the through hole on the clamping lug plate 2511 in turn, so that the clamping palm 251 is rotatably mounted on the bottom of the fork frame 252 . At the same time, the at least one pair of return springs 259 are symmetrically installed on both sides of the U-shaped fork 252 and the support palm 251, and the two ends of each of the return springs 259 are respectively connected to the U-shaped fork 252. It is connected with the supporting palm 251, so that the supporting palm 251 can return to the original position by the return spring 259 under the unstressed state.

Referring to Fig. 11, the top of the fork frame 252 is provided with a through hole (not shown), the bottom of the spring guide shaft 253 is provided with a threaded groove 2531, and the spring guide shaft 253 is bolted to the fork frame 252, Thus the bottom of the spring guide shaft 253 is fixed on the top of the fork 252 . Both the spring guide shaft 253 and the guide spring 254 are installed in the hollow guide sleeve 255, the hollow guide sleeve 255 is provided with a limit step 2551 for preventing the spring guide shaft 253 from falling out, and the spring guide A limit protrusion 2532 is correspondingly provided on the periphery of the shaft 253, the spring guide shaft 253 can move up and down along the guide sleeve 255, and the limit protrusion 2532 is separated from or mutually separated from the limit step 2551 accordingly. top.

The pressure sensor 256 is mounted on the top of the hollow guide sleeve 255, the guide pin 257 is inserted on the top of the guide spring 254, and the top of the guide pin 257 is always in contact with the pressure sensor 256; of course Alternatively, one end of the guide spring 254 may always be in contact with the pressure sensor 256 to ensure that there is a pressure value on the pressure sensor 256 at all times. The other end of the guide spring 254 is sheathed on the spring guide shaft 253, and correspondingly abuts against the limit protrusion 2532 of the spring guide shaft 253, and the spring guide shaft 253 moves along the guide sleeve. 255 moves up and down to drive the guide pin 257 to squeeze the pressure sensor 256, and the pressure sensor 256 can also be replaced with a pressure sensor having the same function.

Referring to FIG. 12 , the guide assembly 1 includes several guide wheel parts 11 , several second guide springs 12 , several pin shafts 13 and several fixed seats 14 . The fixed seat 14 is fixed on the open clamping assembly 2, the guide wheel part is rotatably mounted on the fixed seat 14 through the pin shaft 13, and two adjacent guide wheel parts 11 The second guide spring 12 is connected therebetween. Utilizing the second guide spring 12 enables the guide wheel parts 11 to elastically shrink along the radial direction of the cable 50, so as to be able to conduct motion guidance on cables 50 of different diameters and automatically adapt to changes in cable diameter.

Referring to FIG. 13 , the guide wheel component 11 includes a guide wheel connecting rod 111 , a fixing ring 112 , a guide wheel seat 113 and a rubber wheel 114 . The bottom of the guide wheel connecting rod 111 is rotatably mounted on the fixed base 14 through the pin shaft 13, the fixed ring 112 is fixed on the middle part of the guide wheel connecting rod 111, and the fixed ring 112 Connecting holes 1121 are respectively opened at both ends of the two ends for connecting with the second guide spring 12 .

The guide wheel seat 113 is provided with a through hole (not marked), and one side of the through hole is provided with a transverse groove 1131, and the guide wheel connecting rod 111 is penetrated in the through hole of the guide wheel seat 113, And there is a threaded hole (not shown) at the position corresponding to the transverse groove 1131 on the guide wheel connecting rod 111 . After the flat head screw 115 passes through the transverse groove 1131, it is threaded on the guide wheel connecting rod 111, so that the guide wheel seat 113 is rotatably installed on the guide wheel connecting rod 111 around the axis of the guide wheel. The top of the guide wheel connecting rod, its rotation range is the length of the transverse groove 1131. The rubber wheel 114 is rotatably mounted on the guide wheel seat 113, and is always in contact with the cable 50, so as to hold the cable 50 tightly, and achieve movement through the relative rolling of the rubber wheel 114 and the cable 50 guide.

During specific work, in the initial state, the two open clamping assemblies 2 hold the cable 50 tightly at the same time, and the main spring 3 is at the zero position; in the first step, the open clamping assembly 2 at one end away from the drive assembly Open, the drive motor 41 rotates and drives the main spring 3 to elongate; in the second step, the opened open clamping assembly 2 hugs the cable 50; in the third step, another open clamping assembly 2 Open, the drive motor 41 reversely rotates, and drives the main spring 3 to shorten; in the fourth step, the other open clamping assembly 2 hugs the cable 5 tightly. In this way, the crawling and climbing of the robot 100 is realized.

To sum up, the embodiment of the present invention provides a flexible crawling climbing robot 100, which uses the main spring 3 as a transmission component, so that the body of the robot 100 has flexibility and automatic adaptability, and at the same time, uses the open clamping assembly The opening and closing movement of 2 can be adapted to cables of different diameters, and the range of variable diameters is relatively large. When encountering obstacles during the climbing process, it can overcome obstacles better, and has better environmental adaptability. At the same time, because the robot body is composed of the main spring 3, the robot body can be bent, so that it can easily cope with the cable environment with curvature.

The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present invention should be included in the protection of the present invention. within range.

Claims (10)

1. a kind of flexible wiggle climbing robot, which is characterized in that including two open type clamp assemblies, main spring and drive component, Described two open type clamp assemblies along cable axial direction be arranged at intervals, and can along the radial direction open and close movement of the cable, And in any time, at least one open type clamp assemblies clamps the cable；One end of the main spring and one of open type Clamp assemblies are fixedly connected, and the other end is screwed on the driving component, and the driving component is fixed on the clamping of another open type On component, the driving component drives the main spring rotation, and the main spring is correspondingly extended or contracted with the rotation of drive component It is short.

2. flexible wiggle climbing robot as described in claim 1, which is characterized in that the driving component includes driving electricity Machine, the first screw drives gear, the second screw drives gear, hollow spiral copper sheathing, screw drives axis, upper cover plate and lower cover Plate, the spiral copper sheathing and screw drives axis are installed in rotation on respectively between the upper cover plate and lower cover, the upper cover Plate and lower cover are separately fixed on the open type clamp assemblies；The first screw drives gear is fixed in the spiral copper sheathing Outer rim on, the second screw drives gear is fixed in the outer rim of the screw drives axis, and first screw drives Gear and the second screw drives gear are intermeshed；There is internal thread, the main spring and the spiral copper in the spiral copper sheathing Set is screwed on, and the screw drives axis is fixedly connected with the power output shaft of the driving motor.

3. flexible wiggle climbing robot as described in claim 1, which is characterized in that the open type clamp assemblies include fixing Seat, clamping wheel, two clamping limbs and rotating power source, the clamping wheel are fixed on the fixed seat one towards gripped object On side, described two clamping limbs are installed in rotation on the both sides of the fixed seat respectively；The rotating power source is mounted on It in the fixed seat, and is sequentially connected with described two clamping limbs, the rotating power source drives described two clamping limbs mutual Open and close movement；One end far from the fixed seat is respectively mounted the clamping there are one elastically deformable on clamping limb described in each Component is slapped, the clamping palm component on described two clamping limbs clamps cable jointly with clamping wheel.

4. flexible wiggle climbing robot as claimed in claim 3, which is characterized in that the clamping limb includes adapter, folder Seat, the first crank, the second crank and connecting rod are held, one end of the adapter is hinged on the side of the fixed seat, the folder The one end for holding seat is hinged on the other end of the adapter, and the clamping palm component is mounted on the other end of the grip slipper； First crank is fixed in the fixed seat, and second crank is fixed on the grip slipper, the both ends of the connecting rod It is hinged respectively with first crank and the second crank.

5. flexible wiggle climbing robot as claimed in claim 4, which is characterized in that the power output of the rotating power source First spur gear on end is installed, rotary shaft is equipped in the fixed seat, intrinsic second spur gear is covered in the rotary shaft, and The both ends of the rotary shaft are respectively provided with a first bevel gear, and one is respectively and fixedly provided on the adapter of each clamping limb Second bevel gear, first spur gear and the second spur gear are intermeshed, two first bevel gears of the rotating shaft terminal It is intermeshed respectively with two second bevel gears on two adapters.

6. flexible wiggle climbing robot as claimed in claim 3, which is characterized in that the clamping palm component includes clamping The palm, crotch, spring guiding axis, the first guide spring, hollow guide sleeve and pressure sensor, the clamping palm are rotationally pacified Mounted in the bottom of the crotch, the bottom of the spring guiding axis is fixed on the top of the crotch；The spring guiding axis and First guide spring is installed in the hollow guide sleeve, is provided with to prevent the spring from leading in the hollow guide sleeve The limited step dropped out to axis is correspondingly provided with limit protrusion, the spring guiding axis on the periphery of the spring guiding axis It can be moved up and down along the guide sleeve, the limit protrusion is correspondingly separated from each other with the limited step or mutually supports；Institute The top that pressure sensor is mounted on the hollow guide sleeve is stated, one end of first guide spring passes always with the pressure Sensor is in contact, and the other end is set on the spring guiding axis, and correspondingly supports the limiting in the spring guiding axis In protrusion, spring guiding axis the moving up and down along the guide sleeve drives first guide spring to squeeze the pressure Sensor.

7. flexible wiggle climbing robot as described in claim 1, which is characterized in that the climbing robot further includes two Guidance set, described two guidance sets are separately mounted to two opposite exterior lateral sides of described two open type clamp assemblies, and press from both sides always It puts in the outer rim of the cable, and the guidance set can be along the radial direction elastic shrinkage of the cable.

8. flexible wiggle climbing robot as claimed in claim 7, which is characterized in that the guidance set includes several guiding Wheel component, several second guide springs, several axis pins and several fixed seats, the fixed seat are fixed on the open type clamp assemblies On, it is described guiding wheel component be installed in rotation in the fixed seat by the axis pin, it is two neighboring guiding wheel component it Between be connected with second guide spring.

9. flexible wiggle climbing robot as claimed in claim 8, which is characterized in that the guiding wheel component includes directive wheel Connecting rod, retainer ring, guiding wheel seat and rubber wheel, the bottom of the directive wheel connecting rod are rotatably mounted by the axis pin In the fixed seat, the retainer ring is fixed on the middle part of the directive wheel connecting rod, and the both ends difference of the retainer ring Offer the connecting hole for connecting the second guide spring；The guiding wheel seat is rotatable around the axis of the directive wheel connecting rod Ground is mounted on the top of the directive wheel connecting rod, and the rubber wheel is installed in rotation on the guiding wheel seat, and always It is in contact with the cable.

10. flexible wiggle climbing robot as claimed in claim 9, which is characterized in that offered on the guiding wheel seat logical Hole, the side of the through-hole offer translot, and the directive wheel connecting rod is threaded through described be oriented in the through-hole of wheel seat, and described With having threaded hole at the corresponding position of the translot in directive wheel connecting rod, flat cheese head screw passes through the translot and screw thread It is connected in the directive wheel connecting rod.