CN108500954A - A kind of flexible robot for being suitable for variable cross-section - Google Patents

Abstract

The utility model relates to a robot capable of stretching and adapting to a variable section, which belongs to the technical field of automation equipment. It is characterized in that it includes a plurality of clasping mechanisms arranged at intervals, a push-pull mechanism for pushing the clasping mechanism to move is provided between every two adjacent clasping mechanisms, and one or more disconnecting parts are provided on the clasping mechanism , the disconnected part of the holding mechanism is connected by a distance adjustment mechanism to form a closed ring, and the inside of the holding mechanism is provided with a holding power module for holding or loosening the column or rope, and each of two adjacent holding mechanisms Tighten the power module and alternately tighten or loosen the pole or rope. The telescopic and adaptable robot with variable cross-section can easily carry different equipment and heavy equipment, and can also stay at any position on the column or rope, and stay stable, so that it is convenient to carry the equipment itself. In addition, it can also adapt to different The cross-sectional pole or rope climbing action has a wide range of applications and is easy to adjust.

Description

A telescopic and adaptable robot with variable cross-section

technical field

The utility model relates to a robot capable of stretching and adapting to a variable section, which belongs to the technical field of automation equipment.

Background technique

Rod-climbing robots are one of the current research hotspots in robotics. Rod-climbing robots are widely used in high-altitude and dangerous operations, and are increasingly promising in other industries. The structure of the power mechanism and transmission mechanism of the existing pole-climbing robot is complex, which leads to the weight of the pole-climbing robot. On the one hand, it affects the flexibility of the robot, causing the robot to only complete some simple actions. , resulting in fewer tools that the robot can carry, which affects the application of the pole-climbing robot.

The Chinese invention patent with the application number 201310005091.3 discloses a cable-free airbag robot system, which realizes the walking of the robot in the intestinal tract through the inflation and exhaust of the airbag and the elastic force of the shape memory alloy spring, but its principle can only be applied to pipelines. internal, and cannot be applied externally to the pipe. The application number is 201610391745.4, which discloses an adaptive inner wall pipeline robot, which realizes passive walking from top to bottom relying on the robot's own gravity by changing the friction state between the airbag in the airbag walking mechanism and the inner wall of the pipeline, or by controlling the piston rod in the cylinder. Up and down, push the upper and lower airbag walking mechanism to carry out active walking, its upward and downward use different driving methods, its structure is complicated, and it can only be used for walking in the pipeline. And above-mentioned two kinds of robots can only be adapted to the crawling in the pipeline of constant thickness, when encountering the pipeline of uneven thickness, because its structural limitation causes it to be unable to work normally.

Contents of the invention

The technical problem to be solved by the present invention is to overcome the deficiencies of the prior art and provide a robot that can change its own shape to adapt to the pole climbing action of columns or ropes that do not pass through the section.

The technical solution adopted by the present invention to solve the technical problem is: the telescopic and adaptable variable-section robot is characterized in that it includes a plurality of gripping mechanisms arranged at intervals, and each two adjacent gripping mechanisms are provided with A push-pull mechanism that pushes the clamping mechanism to move. There are one or more disconnected parts on the clamping mechanism. The disconnected parts of the clamping structure are connected by a distance adjustment mechanism to form a closed ring. Or loosen the holding power modules of the columns or ropes, and the holding power modules of every two adjacent holding mechanisms alternately hold or loosen the columns or ropes.

Preferably, the clamping mechanism is a ring surrounded by a plurality of installation frames, thereby forming a plurality of disconnected parts, and every two adjacent installation frames are connected by a distance adjustment mechanism, so that the power module can be installed tightly on the mounting bracket.

Preferably, the holding mechanism is a ring surrounded by a plurality of installation frames, thereby forming a plurality of disconnected parts, each adjacent installation frame is connected by rotation or through a distance adjustment mechanism, and the power module is installed tightly on the mounting bracket.

Preferably, the distance adjustment mechanism includes an extension module and a connection guide mechanism, both ends of the extension module and the connection guide mechanism are fixedly connected to both sides of the disconnection part.

Preferably, the stretching module includes an adjusting airbag and a return spring, one side of the disconnecting part is provided with an adjusting airbag or both sides of the disconnecting part are provided with adjusting airbags, and the two ends of the returning spring are connected to the two ends of the disconnecting part respectively. End fixed connection.

Preferably, the connection guide mechanism includes a guide rod and a guide sleeve, the guide rod and the guide sleeve are respectively installed at both ends of the disconnecting part, and the guide rod is slidably arranged in the guide sleeve.

Preferably, a creeping guide mechanism is provided inside the clasping mechanism for guiding the axial movement of the clasping mechanism.

Preferably, the crawling guide mechanism includes guide wheels rotatably mounted on the gripping mechanism, each gripping mechanism is provided with a plurality of gripping power modules at intervals, and the guide wheels are arranged between the gripping power modules.

Preferably, the push-pull mechanism includes a climbing spring and one or more climbing airbags arranged between adjacent clasping mechanisms, and the two ends of the climbing spring are respectively connected to two adjacent clasping mechanisms.

Preferably, the push-pull mechanism includes a climbing cylinder arranged between adjacent clasping mechanisms, and the fixed end and piston of the climbing cylinder are respectively connected with two adjacent clasping mechanisms.

Compared with prior art, the beneficial effect that the present invention has is:

1. This telescoping robot can be adapted to multiple gripping mechanisms of variable cross-section robots to alternately grip the columns or ropes, and cooperate with the push-pull mechanism to realize the movement of each gripping mechanism along the axis of the columns or ropes, thereby realizing the climbing action. , the pole-climbing action is simple, the climbing pole is stable, the structure is simple, and the weight is small, which can not only facilitate the climbing action of the robot, but also facilitate the carrying of different equipment and heavy equipment. The characteristics of the walking mode of the robot, the robot can stay at any position of the column or the rope, and stay stable, which is convenient for the work of carrying equipment. Adjust the distance of the disconnection part, and then adjust the shape and size of the holding mechanism, so as to adapt to the pole climbing action of columns or ropes with different cross-sectional shapes, which has a wide range of adaptation and is convenient to adjust.

2. Two adjacent installation frames or every two adjacent installation frames are connected by a spacing adjustment mechanism, so that the size or shape of the holding mechanism can be adjusted according to the needs to adapt to columns or ropes with different cross-sectional shapes, and the adjustment flexible.

3. By adjusting the inflation of the airbag to increase the distance between the disconnected parts, so that the holding mechanism can adapt to the climbing action of the column or rope with a larger cross-section, and the return spring can make the distance between the disconnected parts when the airbag is deflated. Narrow down, so that the gripping mechanism returns to the pole-climbing action suitable for small-section columns or ropes, realizes automatic adjustment, and is easy to use.

4. The guide sleeve and the guide rod can prevent the two ends of the disconnected part from being separated, so that the holding mechanism cannot hold the column or the rope tightly, which affects the pole climbing action.

5. The guide wheel is set between the clamping power modules. When the clamping power module releases the column or rope, the guide wheel contacts the column or rope, thereby guiding the movement of the clamping mechanism and avoiding the clamping mechanism from contacting the column or rope. The rope deviates axially, and when the power module is tightened to hold the column or the rope, the guide wheel is separated from the column or the rope.

6. Through the cooperation of the climbing airbag and the climbing spring, the distance between the adjacent holding mechanisms can be adjusted, and then the movement of the holding mechanism along the column or the axis of the rope can be realized. Since the weight of the climbing spring and the climbing airbag is very small, it is different from the electric motor Compared with the climbing method, the self-weight of the equipment is greatly reduced; the climbing airbag and the climbing spring are arranged around the clamping mechanism, thus ensuring the synchronous movement of each position of the clamping mechanism and ensuring the stable climbing of the robot.

7. Adjust the distance between adjacent clamping mechanisms through the climbing cylinder, and then realize the movement of the clamping mechanism along the column or the axial direction of the rope, which is convenient and precise to control the climbing distance of the clamping mechanism, with high precision and convenient control. Compared with the traditional method, the transmission of the equipment is simplified and the self-weight of the equipment is reduced.

Description of drawings

Fig. 1 is a three-dimensional schematic diagram of a telescopic and adaptable variable-section robot.

FIG. 2 is a partial enlarged view of A in FIG. 1 .

Figure 3 is a schematic diagram of the installation of the climbing airbag and the clinging airbag.

Fig. 4 is the connection structure of the telescopic and adaptable mounting frame of the variable-section robot.

Fig. 5 is a schematic perspective view of a pole-climbing cleaning robot.

FIG. 6 is a partially enlarged view of B in FIG. 5 .

Fig. 7 is the connection structure of the mounting frame of the obstacle-crossing robot.

FIG. 8 is a perspective schematic diagram of a telescopic and adaptable variable-section robot in Embodiment 2. FIG.

FIG. 9 is a perspective schematic diagram of a telescopic and adaptable variable-section robot in Embodiment 3. FIG.

Fig. 10 is a schematic perspective view of a telescopic and adaptable variable-section robot in Embodiment 4.

Fig. 11 is a schematic diagram of the installation of the climbing airbag and the clinging airbag in Embodiment 5.

Figure 12 is a schematic diagram of the installation of the climbing airbag and the clinging airbag in Embodiment 6.

In the figure: 1, climbing component 101, mounting frame 102, connecting part 103, connecting rod 2, holding air bag 201, groove 202, protrusion 3, climbing air bag 4, connecting piece 5, climbing spring 6, climbing cylinder 7, Brush roller 8, motor 9, connection guide mechanism 10, back-moving spring 11, regulating air bag 12, magnet.

Detailed ways

Fig. 1～7 is preferred embodiment of the present invention, below in conjunction with accompanying drawing 1～12 the present invention is described further.

A telescopic and adaptable robot with variable cross-section, including a plurality of gripping mechanisms arranged at intervals, a push-pull mechanism for pushing the gripping mechanism to move is arranged between every two adjacent gripping mechanisms, and a gripping mechanism is provided with a or a plurality of disconnected parts, the disconnected parts of the clamping mechanism are connected by the distance adjustment mechanism to form a closed ring, and the clamping mechanism is provided with a clamping power module for clamping or loosening the column or rope inside the clamping mechanism, and each adjacent The tightening power modules of the two tightening mechanisms alternately tighten or loosen the columns or ropes. This telescoping robot can be adapted to alternately hold columns or ropes with multiple holding mechanisms of robots with variable cross-sections, and cooperate with push-pull mechanisms to realize the movement of each holding mechanism along the axis of columns or ropes, thereby realizing pole-climbing actions, climbing The pole movement is simple, the climbing pole is stable, the structure is simple, and the weight is small, which can not only facilitate the climbing action of the robot, but also facilitate the carrying of different equipment and heavy equipment. In addition, due to the existence of the holding mechanism and the The characteristics of the walking mode, the robot can stay at any position of the column or the rope, and stay stable, which is convenient for the work of carrying the equipment. The distance of the opening, and then adjust the shape and size of the holding mechanism to adapt to the pole climbing action of columns or ropes with different cross-sectional shapes. The adaptability is wide and the adjustment is convenient. The robot is mainly used for cleaning insulators in the field of power transmission, and it is easy to clean.

The present invention will be further described below in conjunction with specific embodiments, yet those who are familiar with the art should understand that the detailed description given here in conjunction with the accompanying drawings is for better explanation, and the structure of the present invention must exceed these limited embodiments, As for some equivalent replacement solutions or common means, this article will not describe them in detail, but they still belong to the protection scope of the present application.

Example 1

As shown in FIGS. 1-2 : the gripping mechanism includes a climbing assembly 1 , and in this embodiment, the climbing assembly 1 is in the shape of a ring, and the gripping power module is arranged inside the climbing assembly 1 . The climbing assembly 1 is a circular ring surrounded by a plurality of installation frames 101, thereby forming a plurality of disconnected parts. The installation frame 101 is a box or a groove with an opening facing inward. In this embodiment, the installation frame 101 is an opening Towards the inside of the box, and the distance between the two adjacent sides of the mounting frame 101 and the opening side gradually decreases from outside to inside, and a plurality of mounting frames 101 just encloses a circular ring.

The power module is to hold the airbag 2 tightly, and the airbag 2 is one or multiple arranged at intervals. In this embodiment, the airbag 2 is arranged at intervals. One correspondence, the holding airbag 2 is installed in the mounting frame 101, so that the mounting frame 101 protects the holding airbag 2, and avoids damage to the holding airbag 2 during use.

Push-pull mechanism is climbing spring 5 and climbing air bag 3. There are one or more climbing airbags 3, and they are arranged on the upper side or the lower side of the mounting frame 101. Preferably, there are multiple climbing airbags 3, and a climbing airbag 3 is provided on the upper and lower sides of each mounting frame 101, Therefore, the spacing adjustment can be made more flexible, and the spacing adjustment speed is improved, that is, the climbing speed of the telescopic and adaptable variable-section robot is increased. A plurality of climbing springs 5 are evenly distributed around the axis of the holding mechanism between each two adjacent holding mechanisms, and the side of the mounting frame 101 is provided with a connecting piece 4, and the upper and lower ends of the climbing spring 5 pass through the connecting pieces. 4 is fixedly connected with the installation frame 101. The connecting piece 4 is "L" shaped, the vertical part of the connecting piece 4 is arranged between the adjacent installation frames 101, and is fixedly connected with one mounting frame 101, and the climbing spring 5 is fixedly connected with the horizontal part of the connecting piece 4. The climbing spring 5 is in a stretched state. When the climbing airbag 3 is inflated, the distance between adjacent holding mechanisms increases. When the climbing airbag 3 is deflated, the distance between adjacent holding mechanisms decreases under the elastic force of the climbing spring 5. .

Climbing airbag 3 and holding airbag 2 are all connected with air pump or compressed air pipeline, and the inlet and outlet of climbing airbag 3 and holding airbag 2 are all connected with solenoid valve, and solenoid valve is connected with PLC controller or single-chip microcomputer. In this embodiment, there are three clasping mechanisms. When the holding airbag 2 on the upper side is deflated and the column or rope is released, the middle holding airbag 2 is inflated and holds the column or rope tightly. At this time, the climbing airbag 3 between the holding mechanisms on the upper and lower sides is inflated to push the upper The side holding mechanism moves upwards. When the climbing airbag 3 is inflated, the upper holding airbag 2 inflates and holds the column or rope tightly. The middle holding airbag 2 deflates and releases the column or rope. Mechanism moves upward under the effect of climbing spring 5, has completed the pole-climbing action of holding tight mechanism, thereby utilizes the principle of adjusting two holding tight mechanism distances to realize pole-climbing action. The principle of coordinating the pole-climbing mechanism of the clamping mechanism on the lower side and the clamping mechanism in the middle is the same as that of the two clamping mechanisms in the middle and the upper.

A crawling guide mechanism is provided between two adjacent installation frames 101 of each gripping mechanism. Crawling guide mechanism is the guide wheel that is installed on the mounting frame 101 for rotation, and the guide wheel is installed on the mounting frame 101 by the guide wheel mounting rod, and the axis of the guide wheel is horizontally arranged. When the airbag 2 is inflated, the guide wheel is separated from the column or the rope. When the airbag 2 is deflated, the guide wheel is in contact with the column or rope, and guides the climbing of the holding mechanism to ensure that the holding mechanism is in contact with the column. Or the rope is always coaxial, which improves the stability of climbing.

As shown in Figure 3: the inner side of the holding airbag 2 is provided with a groove 201, the groove 201 is square or cylindrical, which can increase the friction of holding the airbag 2, and then increase the distance between the holding airbag 2 and the column or rope. The friction between the airbag 2 can also be used to inflate the airbag 2, because the groove 201 fits with the column or the rope and forms a closed cavity with the column or rope, and the volume increases when the airbag 2 is inflated tightly, so that the groove 201 As the volume increases, the internal air pressure decreases, thereby attracting the post or the rope, ensuring that the airbag 2 is tightly hugged firmly.

As shown in Figure 4: every two adjacent installation frames 101 of the holding mechanism are connected by a spacing adjustment mechanism, so that the shape of the climbing assembly 1 can be adjusted to adapt to robots with different cross-sectional shapes of columns or ropes, and can adapt to Columns or ropes with variable cross-sections are suitable for a wide range of applications.

The number of distance adjustment mechanisms can be less than the number of installation frames 101 , at this time, only some adjacent installation frames 101 are connected through the distance adjustment mechanism, and the remaining adjacent installation frames 101 are rotationally connected. The lower parts of both sides adjacent to the opening side of the mounting frame 101 are provided with connecting parts 102, and every two adjacent mounting frames 101 are connected by the connecting parts 102, so that the climbing assembly 1 can be regarded as a flexible structure, so that it can When the power module is tightened to hold the column or rope, the shape can be changed as required, and it can also adapt to the climbing of irregular circular columns or ropes.

The distance adjustment mechanism includes an extension module and a connection guide mechanism 9. The extension module is connected to two adjacent installation frames 101 and adjusts the distance between the two adjacent installation frames 101. The connection guide mechanism 9 can guide the installation frames 101 to avoid adjacent The mounting bracket 101 is detached so that the clasping mechanism is broken.

The stretching module includes an adjustable airbag 11 and a return spring 10. The adjustable airbag 11 is arranged between two adjacent installation frames 101. Preferably, two adjacent sides of the two adjacent installation frames 101 are equipped with two adjustable airbags 11. , and the two regulating airbags 11 are arranged on the same position of the mounting frame 101, the air inlets and air outlets of the two regulating airbags 11 are connected with solenoid valves, and the solenoid valves are connected with the PLC controller or single-chip microcomputer. When the cross-sectional shape or cross-sectional area of the column or rope changes, the airbag 11 is adjusted to inflate, thereby adjusting the distance between the two installation frames 101, and then the climbing assembly 1 of the holding mechanism is changed. Climbing components take on arbitrary shapes. When the airbag 11 is adjusted to deflate, under the elastic force of the return spring 10, the adjacent two mounting brackets 101 are reset, so as to be able to adapt to the pole climbing action of poles or ropes with different cross-sectional shapes, and can climb poles according to the pole climbing process. Or the shape of the rope adjusts its own shape, which is easy to use, has a wide climbing range, and is easy to adjust.

The connecting guide mechanism 9 comprises a guide sleeve and a guide rod, and the guide sleeve and the guide rod are arranged on two adjacent mounting frames 101 respectively, and the guide sleeve is installed on the mounting frame 101, and one end of the guide rod is installed on another adjacent mounting frame 101, the other end slides into the guide sleeve, so as to guide the movement of the mounting frame 101 and prevent the connected mounting frame 101 from being disconnected. Both the guide rod and the guide sleeve are made of soft material, so that the shapes of the guide rod and the guide sleeve can be adjusted according to the shape of the adjusted holding mechanism, and the use is convenient.

As shown in Figures 5 to 6: the present application also provides a climbing pole cleaning robot, which differs from the telescopic and adaptable variable-section robot in that each gripping mechanism includes two climbing components 1, and two climbing components 1 Set at intervals, and a cleaning mechanism is provided between the two climbing components, and no spacing adjustment mechanism is provided between the installation frames 101 . Each holding mechanism is evenly distributed with a plurality of cleaning mechanisms around the axis, so that the side part of the column or the rope can be cleaned at the same time, and the cleaning effect is good. The two climbing assemblies 1 are connected through a connecting rod 103 , the connecting rod 103 is arranged between the two climbing assemblies 1 , and both ends of the connecting rod 103 are fixedly connected with the two climbing assemblies 1 respectively. In this embodiment, three connecting rods 103 are arranged at intervals around the axis of the climbing assembly 1 .

In this embodiment, each climbing assembly 1 is surrounded by two mounting frames 101 , and each mounting frame 101 is in the shape of a semicircle, and the two ends of the two mounting frames 101 are respectively connected by rotation to form a ring. A clinging airbag 2 is all installed in each installation frame 101 . The opening sides of the multiple climbing components 1 are located on the same vertical straight line, so that it is convenient to fit on the poles or ropes and clean the poles or ropes.

In the present embodiment, there are two holding mechanisms, and the push-pull mechanism is the climbing cylinder 6 . There are three climbing cylinders 6 evenly distributed around the climbing assembly 1. The climbing cylinder 6 is vertically arranged, and the bottom of the climbing cylinder 6 is installed on the climbing assembly 1 of the lower holding mechanism. Climb assembly 1 is connected. The intake pipe and the air outlet pipe of the climbing cylinder 6 are connected with a solenoid valve, and the solenoid valve is connected with a PLC controller or a single-chip microcomputer. When the tightening airbag 2 of the lower tightening mechanism tightens the column or rope, the tightening airbag 2 of the upper tightening mechanism releases the column or rope. At this time, the piston rod of the climbing cylinder 6 stretches out and pushes the upper tightening mechanism upward. Move, when the upper gripping mechanism moves a certain distance, the gripping airbag 2 of the upper gripping mechanism grips the column or rope, and the gripping airbag 2 of the lower gripping mechanism releases the column or rope, and the piston rod of the climbing cylinder 6 resets And drive the lower gripping mechanism to rise, so as to realize the climbing action by using the principle of adjusting the distance between the two gripping mechanisms.

The cleaning mechanism includes a brush roller 7 and a cleaning power mechanism that drives the brush roller 7 to rotate. In this embodiment, the cleaning power mechanism is a motor 8, and the motor 8 is installed on the climbing assembly 1 on the lower side of the holding mechanism. The brush roller 7 It is arranged coaxially with the output shaft of the motor 8, and the upper end of the brush roller 7 is mounted on the climbing assembly 1 on the top of the holding mechanism, and the lower end of the brush roller 7 is coaxially connected with the output shaft of the motor 8. The motor 8 drives the brush roller 7 to rotate, thereby cleaning up the post or the rope. Since there are multiple cleaning mechanisms, when the climbing assembly 1 drives the cleaning mechanism to climb the pole, the cleaning mechanism can clean the circumference of the column or rope at one time, the cleaning effect is good, and the cleaning speed is fast, without affecting the climbing assembly 1. climbing action.

As shown in Figure 7: the present application also provides a robot that crosses obstacles, which differs from the telescopic and adaptable variable-section robot in that the distance adjustment mechanism includes magnets 12 that are arranged on two adjacent mounting frames 101, two The magnets 12 are respectively arranged at the same height of the two mounting frames 101, and the two magnets 12 are facing to each other, and the adjacent sides of the two magnets 12 are opposite in polarity, so that the two magnets 12 generate suction, ensuring that the two mounting frames 101 can be connected. Since the magnets 12 are used to connect with each other by suction, the two installation frames 101 can straddle obstacles. When the obstacle-crossing robot climbs the pipeline, if there is a tee or branch pipe connected to the pipeline, under the action of holding the airbag 2 tightly, the distance between adjacent mounting frames 101 increases. When crossing the tee or branch pipe, the distance between adjacent mounting frames 101 The distance between 101 is approached under the action of the attraction force of the magnet 12, so as to complete the action of crossing the obstacle. In this embodiment, it is preferable to hold the power module tightly to the cylinder, that is, to hold the column or rope tightly by the piston rod of the cylinder, which is easy to operate, and can provide greater thrust, and the thrust is easy to adjust, so that it can hold Posts or ropes can push the distance between adjacent mounting frames 101 to increase when needed.

Example 2

As shown in Figure 8: the difference between embodiment 2 and embodiment 1 is that the installation frame 101 of the telescopic and adaptable variable-section robot is a box with an inner opening, and the climbing assembly 1 is a triangle surrounded by a plurality of installation frames 101 The loop of the row can adapt to the pole climbing action of the triangular column or rope.

Example 3

As shown in Figure 9: the difference between embodiment 3 and embodiment 1 is that the climbing assembly 1 of the robot that can adapt to the variable cross-section is a concave polygonal ring surrounded by a plurality of installation frames 101, so that the cross-section can be adapted to be inward. Concave polygonal pole or rope climbing.

Example 4

As shown in Figure 10: the difference between embodiment 4 and embodiment 1 is that the climbing assembly 1 of the robot that can adapt to the variable cross-section is a convex polygonal ring surrounded by a plurality of installation frames 101, so that it can adapt to the cross-section as an outer Convex polygonal pole or rope climbing.

Example 5

As shown in Figure 11: the difference between embodiment 5 and embodiment 1 is: the inner side of the tight airbag 2 of the robot that can adapt to the variable section, that is, the side near the column or rope is provided with a protrusion 202, and the protrusion 202 is The horizontal strip or cylinder shape increases the friction between the airbag 2 and the column or rope, ensures the stability of the climbing component 1 holding the column or rope, and improves the working stability of the robot climbing over obstacles. sex.

Example 6

As shown in Figure 12: the difference between embodiment 6 and embodiment 1 is that the inner side of the airbag 2 that is flexible and adaptable to the robot with variable cross-section, that is, there are multiple layers on the side near the column or the rope, so as to form folds. When the column or rope is tightened, it can not only avoid the friction with the column or rope to cause air leakage of the holding airbag 2, improve the service life of the holding airbag 2, but also improve the friction between the climbing component 1 and the column or rope, and avoid This prevents the climbing assembly 1 from slipping with the column or the rope, so that the climbing assembly 1 moves a large stroke each time.

The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention to other forms. Any skilled person who is familiar with this profession may use the technical content disclosed above to change or modify the equivalent of equivalent changes. Example. However, any simple modifications, equivalent changes and modifications made to the above embodiments according to the technical essence of the present invention without departing from the content of the technical solution of the present invention still belong to the protection scope of the technical solution of the present invention.

Claims (10)

1. A telescopic robot capable of adapting to a variable section, characterized in that: it includes a plurality of gripping mechanisms arranged at intervals, and a push-pull mechanism for pushing the gripping mechanism to move is arranged between every two adjacent gripping mechanisms, and the gripping mechanism There are one or more disconnected parts on the tightening mechanism, and the disconnected parts of the tightening mechanism are connected by a distance adjustment mechanism to form a closed ring. The inner side of the tightening mechanism is provided with a tightening power for tightening or loosening the column or rope. Modules, the locking power modules of every two adjacent locking mechanisms alternately hold or loosen columns or ropes. 2. The telescopic and adaptable robot with variable cross-section according to claim 1, characterized in that: the gripping mechanism is a ring surrounded by a plurality of installation frames (101), thereby forming a plurality of disconnected parts, each Two adjacent installation frames (101) are connected by a distance adjustment mechanism, and the power module is tightly held and installed on the installation frame (101). 3. The telescopic and adaptable robot with variable cross-section according to claim 1, characterized in that: said gripping mechanism is a ring surrounded by a plurality of installation frames (101), thereby forming a plurality of disconnected parts, each The two adjacent installation frames (101) are rotationally connected or connected through a distance adjustment mechanism, and the power module is tightly hugged and installed on the installation frame (101). 4. The telescopic and adaptable variable-section robot according to claims 1-3, characterized in that: the distance adjustment mechanism includes a stretching module and a connection guide mechanism (9), and the stretching module and the connection guide mechanism (9) Both ends are fixedly connected to both sides of the disconnection part. 5. The telescopic and adaptable variable-section robot according to claim 4, characterized in that: the stretching module includes an adjustment airbag (11) and a return spring (10), and one side of the disconnection part is provided with an adjustment airbag ( 11) or both sides of the disconnecting part are provided with adjustable airbags (11), and the two ends of the return spring (10) are respectively fixedly connected to the two ends of the disconnecting part. 6. The telescopic and adaptable variable-section robot according to claim 4, characterized in that: the connecting guide mechanism (9) includes a guide rod and a guide sleeve, and the guide rod and the guide sleeve are respectively installed on the two sides of the disconnecting part. end, and the guide rod is slidably arranged in the guide sleeve. 7. The telescopic and adaptable variable-section robot according to claim 1, characterized in that: a creeping guide mechanism is provided inside the clasping mechanism for guiding the axial movement of the clasping mechanism. 8. The telescopic and adaptable variable-section robot according to claim 7, characterized in that: the crawling guide mechanism includes guide wheels rotatably mounted on the holding mechanism, and each holding mechanism is provided with a plurality of The power modules are tightly hugged, and the guide wheels are arranged between the power modules. 9. The telescopic and adaptable variable-section robot according to claim 1, characterized in that: the push-pull mechanism includes climbing springs (5) and one or more climbing airbags ( 3), the two ends of the climbing spring (5) are respectively connected with two adjacent holding mechanisms. 10. The telescopic and adaptable variable-section robot according to claim 1, characterized in that: the push-pull mechanism includes climbing cylinders (6) arranged between adjacent gripping mechanisms, and the fixing of the climbing cylinders (6) The end and the piston are respectively connected with two adjacent holding mechanisms.