CN207860309U - A kind of flexible wiggle climbing robot - Google Patents

Abstract

The utility model is suitable for climbing robot field, provide a kind of flexible wiggle climbing robot, including two guidance sets, two open type clamp assemblies, main spring and drive component, two open type clamp assemblies are clamped on cable, and can be along the radial direction open and close movement of cable；Two guidance sets are separately mounted to two opposite exterior lateral sides of two open type clamp assemblies, and are interposed in the outer rim of cable always, and guidance set can be along the radial direction elastic shrinkage of cable；Main spring is connected to two relative inners of two open type clamp assemblies, and one end of main spring is fixedly connected with one of open type clamp assemblies, its other end is screwed on drive component, drive component is fixed on another open type clamp assemblies, drive component drives main spring rotation, main spring correspondingly to be elongated or shortened with the rotation of drive component.The robot is suitable for the cable of different-diameter, can easily cope with the cable environment with curvature, and adaptive capacity to environment is preferable.

Description

A kind of flexible wiggle climbing robot

Technical field

The utility model belongs to climbing robot field more particularly to a kind of flexible wiggle climbing robot.

Background technology

Cable is one of the main bearing member of cable-stayed bridge, suspension bridge, is chronically exposed in air, in bridge load, rain It shakes, under the long term of wind shake, the breakoff phenomenons such as hardening, aging, cable easily occurs in the protective layer (polythene PE) on cable surface Easily there is fracture of wire, fracture in inner wire beam, and crisis bridge security, therefore, cable inspection work are most important.

Currently, conventional detection mode is manual inspection or is detected using cable climbing robot.Manual inspection Not only heavy workload, efficiency are low for mode, but also safety is poor.Existing cable climbing robot generally use wheeled construction, When holding cable tightly since contact surface is small, cable sealer is caused to be destroyed；Meanwhile the cable inspection machine of in-wheel driving People is susceptible to skidding, stuck phenomenon in working at height.The frame of existing cable climbing robot mostly uses fixed, closing Wheeled clamp structure, reducing range limited by outline border, and chucking power adjustable range is small, loosening easy to fall off when environmental change is clamped.

A kind of cable detection robot for cable-stayed bridge of patent (201520031317.1), patent are based on parallelogram and independently hang The cable detecting robot (201410332561.1) and patent cable detecting robot (201510553087.X) of extension are all made of The robot body of rigidity, it is difficult to cope with the cable with curvature.Moreover, when occurring protrusion on cable, the rigidity of robot Ontology is easy stuck, and adaptive capacity to environment is poor.

Utility model content

The technical problem to be solved by the utility model is to provide a kind of flexible wiggle climbing robots, it is intended to solve existing The problem of thering is the climbing robot in technology to be difficult to cope with the cable with curvature, and barrier can not be adapted to automatically.

In order to solve the above technical problems, the utility model is realized in this way, a kind of flexible wiggle climbing robot, including Two open type clamp assemblies, main spring and drive component, described two open type clamp assemblies are arranged along cable axial direction interval, and Can be 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 Rope；One end of the main spring is fixedly connected with one of open type clamp assemblies, and the other end is screwed on the driving component, institute Drive component is stated to be fixed on another open type clamp assemblies, the driving component drives the main spring rotation, the main spring with The rotation for drive component correspondingly elongates or shortens.

Further, the driving component include driving motor, the first screw drives gear, the second screw drives gear, Hollow spiral copper sheathing, screw drives axis, upper cover plate and lower cover, the spiral copper sheathing and screw drives axis difference are rotationally 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 outer rim of the spiral copper sheathing, and the second screw drives gear is fixed in described In the outer rim of screw drives axis, and the first screw drives gear and the second screw drives gear are intermeshed；The spiral There is internal thread, the main spring to be screwed on the spiral copper sheathing, the screw drives axis is dynamic with the driving motor in copper sheathing Power output shaft is fixedly connected.

Further, the open type clamp assemblies include fixed seat, clamping wheel, two clamping limbs and rotating power source, The clamping wheel is fixed on the fixed seat towards on the one side of gripped object, and described two clamping limbs are rotationally pacified respectively Mounted in the both sides of the fixed seat；The rotating power source is mounted in the fixed seat, and is driven with described two clamping limbs Connection, the rotating power source drive described two mutual open and close movements of clamping limb；Far from institute on clamping limb described in each The one end for stating fixed seat is respectively mounted there are one the clamping of elastically deformable palm component, and component is slapped in the clamping on described two clamping limbs Cable is clamped jointly with clamping wheel.

Further, the clamping limb includes adapter, grip slipper, the first crank, the second crank and connecting rod, described turn One end of joint chair is hinged on the side of the fixed seat, and one end of the grip slipper is hinged on the other end of the adapter, The clamping palm component is mounted on the other end of the grip slipper；First crank is fixed in the fixed seat, and described Two cranks are fixed on the grip slipper, and the both ends of the connecting rod are hinged with first crank and the second crank respectively.

Further, the first spur gear is installed on the power output end of the rotating power source, is worn in the fixed seat Equipped with rotary shaft, intrinsic second spur gear is covered in the rotary shaft, and the both ends of the rotary shaft are respectively provided with one first cone Gear, is respectively and fixedly provided with a second bevel gear on the adapter of each clamping limb, first spur gear and second straight Gear is intermeshed, two first bevel gears of the rotating shaft terminal respectively with two second bevel gears on two adapters Intermeshing.

Further, clamping palm component includes the clamping palm, crotch, spring guiding axis, the first guide spring, hollow leads To set and pressure sensor, the clamping palm is installed in rotation on the bottom of the crotch, the bottom of the spring guiding axis Portion is fixed on the top of the crotch；The spring guiding axis and the first guide spring are installed in the hollow guide sleeve, The limited step for preventing the spring guiding axis from dropping out, the week of the spring guiding axis are provided in the hollow guide sleeve Limit protrusion is correspondingly provided on edge, the spring guiding axis can be moved up and down along the guide sleeve, the limit protrusion phase It is separated from each other with the limited step with answering or mutually supports；The pressure sensor is mounted on the top of the hollow guide sleeve The one end in portion, first guide spring is in contact with the pressure sensor always, and the other end is set in the spring and leads It on axis, and correspondingly supports on the limit protrusion of the spring guiding axis, the spring guiding axis is along the guide sleeve It moves up and down, first guide spring is driven to squeeze the pressure sensor.

Further, the climbing robot further includes two guidance sets, and described two guidance sets are separately mounted to Two opposite exterior lateral sides of described two open type clamp assemblies, and be interposed in always in the outer rim of the cable, and the guidance set It can be along the radial direction elastic shrinkage of the cable.

Further, if the guidance set include several guiding wheel components, several second guide springs, several axis pins and Solid reservation, the fixed seat are fixed on the open type clamp assemblies, and the guiding wheel component is rotatable by the axis pin Ground is mounted in the fixed seat, and second guide spring is connected between two neighboring guiding wheel component.

Further, the guiding wheel component includes directive wheel connecting rod, fixed ring, is oriented to wheel seat and rubber wheel, described The bottom of directive wheel connecting rod is installed in rotation on by the axis pin in the fixed seat, and the fixed ring is fixed on described The middle part of directive wheel connecting rod, and the both ends of the fixed ring offer the connecting hole for connecting the second guide spring respectively； The top for being oriented to wheel seat and being installed in rotation on the directive wheel connecting rod around the axis of the directive wheel connecting rod, it is described Rubber wheel is installed in rotation on the guiding wheel seat, and is in contact always with the cable.

Further, through-hole is offered on the guiding wheel seat, the side of the through-hole offers translot, the directive wheel Connecting rod is threaded through in the through-hole of the guiding wheel seat, and in the directive wheel connecting rod at position corresponding with the translot With threaded hole, flat cheese head screw passes through the translot and is threaded in the directive wheel connecting rod.

Compared with prior art, advantageous effect is the utility model：A kind of flexible wiggle climbing machine of the utility model Device people comprising two open type clamp assemblies, main spring and drive component.Drive component may make main spring correspondingly to extend or contract Short, to realize climbing motion, the robot is using main spring as transferring element so that robot body has flexible and automatic Adaptability, meanwhile, be suitable for the cable of different-diameter using the open and close movement of the open type clamp assemblies, reducing range compared with Greatly.When encountering barrier during climbing can preferably obstacle detouring, adaptive capacity to environment is preferable, simultaneously as robot sheet Body is made of main spring, and robot body can be bent, so as to easily cope with the cable environment with curvature.

Description of the drawings

Fig. 1 is a kind of three dimensional structure diagram for flexible wiggle climbing robot that the utility model embodiment provides；

Fig. 2 is the main structure diagram of Fig. 1；

Fig. 3 is the three dimensional structure diagram for the drive component that motor is removed in Fig. 1；

Fig. 4 is the cross-sectional view of Fig. 3；

Fig. 5 is the three dimensional structure diagram of Fig. 1 middle open type clamp assemblies；

Fig. 6 is the main structure diagram of Fig. 5；

Fig. 7 is the structural schematic diagram of another working condition of Fig. 6；

Fig. 8 is the present invention looks up structural representation of Fig. 5；

Fig. 9 is the left view structural representation of Fig. 5；

Figure 10 is the structural schematic diagram of clamping palm component in Fig. 5；

Figure 11 is the broken section main structure diagram of Figure 10；

Figure 12 is the three dimensional structure diagram of guidance set in Fig. 1；

Figure 13 is the three dimensional structure diagram that wheel component is oriented in Figure 12.

Specific implementation mode

In order to make the purpose of the utility model, technical solutions and advantages more clearly understood, below in conjunction with attached drawing and implementation Example, the present invention will be further described in detail.It should be appreciated that specific embodiment described herein is only used to explain The utility model is not used to limit the utility model.

As depicted in figs. 1 and 2, a kind of flexible wiggle climbing robot 100 provided for the utility model embodiment, packet Include two guidance sets, 1, two open type clamp assemblies 2, main spring 3 and drive component 4.

Described two open type clamp assemblies 2 are arranged along the axial direction interval of cable 50, and can be along the diameter of the cable 50 To direction open and close movement, so that the cable of different-diameter can be clamped in the open type clamp assemblies 2, reducing range is larger； And in any time, at least one open type clamp assemblies 2 clamps the cable 50, to ensure that robot 100 will not glide. Described two guidance sets 1 are separately mounted to two opposite exterior lateral sides of described two open type clamp assemblies 2, and are interposed in always described In the outer rim of cable 50, and the guidance set 1 can be along the radial direction elastic shrinkage of the cable 50, for the machine The movement of people 100 is oriented to.

The main spring 3 is connected to two relative inners of described two open type clamp assemblies 2, and one end of the main spring 3 with One of open type clamp assemblies 2 are fixedly connected, and the other end is screwed on the driving component 4, and the driving component 4 is fixed on On another open type clamp assemblies 2.The driving component 4 drives the main spring 3 to rotate, and the main spring 3 is with drive component 4 Rotation correspondingly elongates or shortens, to provide power for the climbing of robot 100.

With reference to Fig. 3 and Fig. 4, the driving component 4 includes driving motor 41, the first screw drives gear 42, the second spiral Drive gear 43, hollow spiral copper sheathing 44, screw drives axis 45, upper cover plate 46 and lower cover 47.11 He of spiral copper sheathing Screw drives axis 45 is installed in rotation on respectively between the upper cover plate 46 and lower cover 47, the upper cover plate 46 and lower cover 47 are separately fixed on the open type clamp assemblies 2, the relative position for fixing each component.The first screw drives gear 42 are fixed in the outer rim of the spiral copper sheathing 44, and the second screw drives gear 43 is fixed in the screw drives axis 45 In outer rim, and the first screw drives gear 42 and the second screw drives gear 43 are intermeshed, and are transmitted for power.It is described There is internal thread (not marking), the main spring 3 to be screwed on the spiral copper sheathing 44, the screw drives axis 45 in spiral copper sheathing 44 It is fixedly connected with the power output shaft of the driving motor 41.

When specific works, the screw drives axis 45 is driven to rotate by the driving motor 41, the screw drives axis 45 rotation can correspondingly drive the second screw drives gear 43 to rotate, and the second screw drives gear 43 is engaged by gear The first screw drives gear 42 is driven to rotate, the rotation of the first screw drives gear correspondingly drives the spiral copper sheathing 44 Rotation.Since the main spring 3 is screwed on spiral copper sheathing 44, the rotation of the spiral copper sheathing 44 can drive main spring 3 to rotate, To may make the main spring 3 correspondingly to elongate or shorten by rotating and reverse for the driving motor 41.

With reference to Fig. 5 to Fig. 7, the open type clamp assemblies 2 include fixed seat 21,22, two clamping limbs 23 of clamping wheel and Rotating power source 24.The clamping wheel 22 is fixed on the top of the fixed seat 21, and described two clamping limbs 23 are rotatable respectively Ground is mounted on the both sides of the fixed seat 21.The rotating power source 24 be mounted on the fixed seat 21 on, and with it is described two Clamping limb 23 is sequentially connected, and the rotating power source 24 drives the 23 mutual open and close movement of described two clamping limbs, for adjusting folder Diameter is held, to adapt to the cable of different-diameter.Pacify one end far from the fixed seat 21 on clamping limb 23 described in each There are one the clampings of elastically deformable to slap component 25 for dress, and the clamping palm component 25 and clamping wheel 22 on described two clamping limbs 23 are total With cable 50 is clamped, the mechanism combined using the wheel palm can effectively prevent robot 100 to glide, and slap component 25 using the clamping Elastic deformation realize chucking power flexible control.

The clamping limb 23 includes adapter 231, grip slipper 232, the first crank 233, the second crank 234 and connecting rod 235.One end of the adapter 231 is hinged on the side of the fixed seat 21, and one end of the grip slipper 232 is hinged on described On the other end of adapter 231, the clamping palm component 25 is mounted on the other end of the grip slipper 232；First crank 233 are fixed in the fixed seat 21, and second crank 234 is fixed on the grip slipper 232, and the two of the connecting rod 235 End is hinged with first crank, 233 and second crank 234 respectively.Since the position of the first crank 233 immobilizes, and connecting rod 235 one end is hinged on the first crank 233, therefore the connecting rod 235 can only do circular arc around the hinge joint of the first crank 233 Movement.Simultaneously as second crank 234 is fixedly connected with grip slipper 232, and therefore, when the adapter 231 rotates, The grip slipper 232 also can be rotated and then, and right using the connecting rod 235 being connected between the first crank 233 and the second crank 234 Grip slipper 232 plays position-limiting action, makes grip slipper 232 that can not be freely rotated along adapter 231, ensures the stability of clamping.

With reference to Fig. 8, first spur gear 61 is installed on the power output end of the rotating power source 24, in the utility model In embodiment, the rotating power source 24 is electric rotating machine, and first spur gear 61 is connected to the rotation by shaft coupling 62 On the power output end of rotating motor 24.It is equipped with rotary shaft 63 in the fixed seat 21, intrinsic second is covered in the rotary shaft 63 Spur gear 64, and the both ends of the rotary shaft 63 are respectively provided with a first bevel gear 65, each clamping limb 23 turns A second bevel gear 66 is respectively and fixedly provided on joint chair 231, the intermeshing of first spur gear, 61 and second spur gear 64 is described Two first bevel gears 65 at 63 both ends of rotary shaft are mutually nibbled with two second bevel gears 66 on two adapters 231 respectively It closes.

The rotation of the electric rotating machine 24 can drive first spur gear 61 to rotate, first spur gear 61 by with The engagement of second spur gear 64 drives rotary shaft 63 to rotate, and the rotation of the rotary shaft 63 drives two first bevel gears at both ends 65 correspondingly rotate, and the rotation of described two first bevel gears 65 correspondingly drives the second bevel gear 66 to rotate.By institute It states second bevel gear 66 to be fixedly connected with adapter 231, therefore the rotation of second bevel gear 66 can drive adapter 231 correspondingly Rotation, to pass through the open and close movement for rotating and reverse achievable described two clamping limbs 3 of the electric rotating machine 24.

With continued reference to Fig. 9, in the utility model embodiment, two clamping palm components 25 on described two clamping limbs 23 It is oppositely arranged, and described two clampings palm component 25 is spaced apart with the clamping wheel 22 along fixed seat edge, so that institute It states two on two clamping limbs 23 clamping palm components 25 to be located in the same perpendicular, and component 25 is slapped in described two clampings With the clamping wheel 22 not in the same perpendicular.By the way that clamping flexible palm component 25 is set with 22 bias of clamping wheel It sets, is then equivalent to cable 50 there are one the effect of antarafacial shearing, lever principle is utilized, increases enclasping pressure so that is whole A clamping device 100 is not easy to skid.

0 and Figure 11 referring to Fig.1, the clamping palm component 25 include the clamping palm 251, crotch 252, spring guiding axis 253, lead To spring 254, hollow guide sleeve 255, pressure sensor 256, guide pin 257, connecting pin 258 and at least a pair of of return spring 259. 252 U-shaped shape of the crotch offers through-hole (not marking) on the two side of the U-shaped crotch 252；The clamping palm 251 top has otic placode 2511, and the otic placode 2511 is plugged in the U-type groove of the U-shaped crotch 252, and the otic placode Also through-hole (not marking), the connecting pin 258 are offered on 2511 at position corresponding with the through-hole of the U-shaped crotch 252 The through-hole on the through-hole and clamping palm otic placode 2511 of the U-shaped crotch 252 is sequentially passed through, it can to which the clamping is slapped 251 It is rotatably mounted at the bottom of the crotch 252.Meanwhile at least a pair of of the return spring 259 is symmetrically mounted on the U-shaped fork Frame 252 and the both sides for supporting the palm 251, the both ends of the return spring 259 described in each respectively with the U-shaped crotch 252 and branch 251 connection of the palm is held, so that the support palm 251 can return original under the state of not stressing using the return spring 259 Beginning position.

Referring to Fig.1 1, the top of the crotch 252 offers through-hole (not shown), the bottom of the spring guiding axis 253 Thread groove 2531 is offered, the spring guiding axis 253 is bolted with the crotch 252, thus by the spring guiding axis 253 bottom is fixed on the top of the crotch 252.The spring guiding axis 253 and guide spring 254 be installed in it is described in In empty guide sleeve 255, the limiting stand for preventing the spring guiding axis 253 from dropping out is provided in the hollow guide sleeve 255 Rank 2551 is correspondingly provided with limit protrusion 2532 on the periphery of the spring guiding axis 253, and the spring guiding axis 253 can It is moved up and down along the guide sleeve 255, the limit protrusion 2532 is correspondingly separated from each other with the limited step 2551 or phase Mutually support.

The pressure sensor 256 is mounted on the top of the hollow guide sleeve 255, and the guide pin 257 is interspersed in described The top of guide spring 254, and the top of the guide pin 257 is in contact with the pressure sensor 256 always；Certainly, also may be used Directly one end of the guide spring 254 to be in contact with the pressure sensor 256 always, to ensure the pressure sensing It is carved with pressure value when on device 256.The other end of the guide spring 254 is set on the spring guiding axis 253, and corresponding Ground is supported on the limit protrusion 2532 of the spring guiding axis 253, and the spring guiding axis 253 is along the guide sleeve 255 It moves up and down, the guide pin 257 is driven to squeeze the pressure sensor 256, the pressure sensor 256 can also be substituted for tool There is the pressure transducer etc. of identical function.

Referring to Fig.1 2, the guidance set 1 includes several guiding wheel components 11, several second guide springs 12, Ruo Ganxiao Axis 13 and several fixed seats 14.The fixed seat 14 is fixed on the open type clamp assemblies 2, and the guiding wheel component leads to 11 mistakes The axis pin 13 is installed in rotation in the fixed seat 14, and described second is connected between two neighboring guiding wheel component 11 Guide spring 12.Using second guide spring 12 so that several guiding wheel components 11 can be along the radial direction of cable 50 Elastic shrinkage so as to carry out motion guide on the cable 50 of different-diameter, and can adapt to the change of cable diameters automatically Change.

Referring to Fig.1 3, the guiding wheel component 11 includes directive wheel connecting rod 111, fixed ring 112, is oriented to 113 and of wheel seat Rubber wheel 114.The bottom of the directive wheel connecting rod 111 is installed in rotation on the fixed seat 14 by the axis pin 13 On, the fixed ring 112 is fixed on the middle part of the directive wheel connecting rod 111, and the both ends of the fixed ring 112 open up respectively There is connecting hole 1121, for being attached with the second guide spring 12.

Through-hole (not marking) is offered on the guiding wheel seat 113, the side of the through-hole offers translot 1131, described Directive wheel connecting rod 111 be threaded through it is described be oriented to wheel seat 113 through-hole in, and in the directive wheel connecting rod 111 with the cross There is threaded hole (not shown) at 1131 corresponding position of slot.After the translot 1131 being passed through by flat cheese head screw 115, spiral shell Line is connected in the directive wheel connecting rod 111 so that described to be oriented to axis of the wheel seat 113 around the directive wheel connecting rod 111 It is installed in rotation on the top of the directive wheel connecting rod, slewing area is the length of the translot 1131.The rubber Rubber tire 114 is installed in rotation on the guiding wheel seat 113, and is in contact always with the cable 50, to hold cable tightly 50, and motion guide is realized by the relative rolling of the rubber wheel 114 and cable 50.

When specific works, in the initial state, described two open type clamp assemblies 2 hold cable 50, the main spring 3 tightly simultaneously In zero-bit；The first step, the open type clamp assemblies 2 far from 4 one end of drive component open, and the driving motor 41 rotates, and drives Main spring 3 extends；The open type clamp assemblies 2 of second step, the opening hold cable 50 tightly；Third walks, another open type clamp assemblies 2 It opens, the driving motor 41 reversely rotates, and main spring 3 is driven to shorten；4th step, the open type clamping group that another is opened Part 2 holds cable 5 tightly.It is moved in circles with this, realizes that the wriggling of the robot 100 climbs.

In conclusion a kind of flexible wiggle climbing robot 100 that the utility model embodiment provides, utilizes main spring 3 As transferring element so that 100 ontology of robot has flexible and automatic adaptability, meanwhile, utilize the open type clamping group The open and close movement of part 2 is suitable for the cable of different-diameter, and reducing range is larger.It can be compared with when encountering barrier during climbing Obstacle detouring well, adaptive capacity to environment is preferable, simultaneously as robot body is made of main spring 3, robot body can be bent, So as to easily cope with the cable environment with curvature.

The above is only the preferred embodiment of the utility model only, is not intended to limit the utility model, all at this All any modification, equivalent and improvement etc., should be included in the utility model made by within the spirit and principle of utility model Protection domain within.

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 interval be arranged, 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, the main spring correspondingly to extend or contract 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 with first crank and the second crank respectively.

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 is installed on end, 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 in the hollow guide sleeve for preventing the spring from leading 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 is passed with the pressure always Sensor is in contact, and the other end is set on the spring guiding axis, and correspondingly supports the limit 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 sets 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, the guiding wheel component is installed in rotation on by the axis pin in the fixed seat, 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, fixed 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 fixed ring is fixed on the middle part of the directive wheel connecting rod, and the both ends difference of the fixed 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 The side in hole, the through-hole offers translot, and the directive wheel connecting rod is threaded through in the through-hole of the guiding wheel seat, and described There is in directive wheel connecting rod at position corresponding with the translot threaded hole, flat cheese head screw to pass through the translot and screw thread It is connected in the directive wheel connecting rod.