Compound Wall-Climbing Robot Imitating the Movement Form of Inchworm

Abstract

The present invention relates to the field of robot technology, and in particular to a composite wall-climbing robot that simulates the motion of an inchworm, comprising a first mechanical arm and a second mechanical arm, wherein the first mechanical arm is connected to a hand-grasping mechanism thereon through a first driving unit, the second mechanical arm is connected to a hand-grasping mechanism thereon through a second driving unit, and the first mechanical arm is connected to the second mechanical arm through an intermediate driving unit. The composite wall-climbing robot that simulates the motion of an inchworm of the present invention proposes two motion modes: a ground wheeled rapid movement mode and a climbing mode. By switching between the two motion modes, the robot can not only achieve rapid movement on horizontal ground but also achieve climbing on complex walls.

Description

Technical Field

[0001] The invention relates to the technical field of robots, and in particular to a composite wall-climbing robot imitating the motion form of an inchworm. Background Art

[0002] As an important equipment that replaces people working on steep walls and obtains real-time environmental information in three-dimensional space, wall-climbing robots can effectively improve work efficiency and ensure work safety. They can be widely used in chemical equipment, nuclear fuel tank inspection, glass curtain wall cleaning, anti-terrorism investigation and other fields. The vacuum, strong magnetic, and static electricity wall attachment methods used by traditional wall-climbing robots are only suitable for specific application scenarios. Since then, people have developed a series of bionic wall-climbing robots by imitating the special attachment and movement abilities of organisms such as geckos, spiders, salamanders, and insects. However, most of the existing bionic wall-climbing robots can only climb on a single type of wall, and cannot achieve the synergistic effect of multiple attachment methods, and have not been able to solve the stability and adaptability problems when crawling on different walls. This has greatly restricted the development of wall-climbing technology. Summary of the invention

[0003] The technical problem to be solved by the present invention is: in order to overcome the problem that most of the bionic wall-climbing robots in the prior art can only climb on a single type of wall surface, cannot achieve the synergistic effect of multiple attachment methods, and fail to solve the stability and adaptability problems when crawling on different walls, a composite wall-climbing robot imitating the movement form of an inchworm is provided. The invention proposes two movement modes: ground wheeled rapid movement mode and climbing mode. By switching between the two movement modes, the robot can not only achieve rapid movement on horizontal ground but also climb on complex walls. .

[0004] The technical solution adopted by the present invention to solve the technical problem is: a composite wall-climbing robot imitating the movement form of an inchworm, comprising a first mechanical arm and a second mechanical arm, the first mechanical arm is connected to the hand grasping mechanism thereon through a first driving unit, the second mechanical arm is connected to the hand grasping mechanism thereon through a second driving unit, and the first mechanical arm is connected to the second mechanical arm through an intermediate driving unit;

[0005] The first driving unit is used to drive the hand gripping mechanism thereon to rotate relative to the first mechanical arm around a first axis, the intermediate driving unit is used to drive the first mechanical arm to rotate relative to the second mechanical arm around a second axis, and the second driving unit is used to drive the hand gripping mechanism thereon to rotate relative to the second mechanical arm around a third axis, wherein the first axis, the second axis and the third axis are parallel to each other;

[0006] The hand gripping mechanism comprises a joint bracket, a suction cup, two hand gripping assemblies and a hand gripping driving unit, wherein the suction cup is fixedly mounted at the bottom of the joint bracket, the hand gripping assemblies are all located at the bottom of the joint bracket, and the hand gripping driving unit is used to drive the two hand gripping assemblies to move closer to or away from each other;

[0007] At least two rollers are arranged on the joint brackets of the two hand gripping mechanisms, at least one roller among all the rollers is a driving wheel, and the other rollers are driven wheels, and the driving wheel is transmission-connected with a roller driving unit for driving the driving wheel to rotate.

[0008] The hand grasping assembly comprises a claw thorn seat and a plurality of elastic thorn pieces which are arranged on the claw thorn seat at intervals along a straight line direction, and hook claws are protruded downward at the bottom of the elastic thorn pieces.

[0009] The hand grip drive unit includes a hand grip motor, a gear, a first rack and a second rack. The first rack and the second rack are both slidably mounted on the joint bracket, and the hand grip motor is fixedly mounted on the joint bracket. The output end of the hand grip motor is connected to the gear transmission. The first rack and the second rack are respectively located on both sides of the gear and are both meshed with the gear.

[0010] The first rack and the second rack are both slidably connected to a slide rail arranged on the joint bracket through a slider.

[0011] The driving wheel is arranged on a joint bracket on one of the hand grasping mechanisms, and there are two driving wheels. Two driven wheels are arranged on a joint bracket on the other hand grasping mechanism. The roller driving unit connected to the driving wheel is a driving motor.

[0012] The first driving unit comprises a first fixing seat, one end of which is fixedly connected to the first mechanical arm, and the other end of which is connected to the hand grasping mechanism through a first driving motor.

[0013] The second driving unit comprises a second fixing seat, one end of which is fixedly connected to the second mechanical arm, and the other end of which is connected to the hand grasping mechanism through a second driving motor.

[0014] The intermediate driving unit comprises an intermediate fixing seat, one end of which is fixedly connected to the second mechanical arm, and the other end of which is connected to the first mechanical arm through an intermediate driving motor.

[0015] The suction cup includes a suction skirt, a suction cup inner cavity is provided in the middle of the suction skirt, and a skirt inner cavity is opened inside the suction skirt, a suction cup connecting support for connecting a joint bracket is provided at the rear end of the suction skirt, a plurality of suction air nozzles are provided on the outer surface of the suction skirt, and a vacuum generator is connected to the end of the suction air nozzle.

[0016] The inner cavity of the skirt is filled with coffee powder.

[0017] By adjusting the spatial layout of the elastic barbs of the elastic barb claws, sufficient stiffness and flexibility of the elastic barb claws can be ensured, which is beneficial for the elastic barb claws to support and facilitates the sliding of the elastic barb claws along the wall surface to find suitable attachment points. The working principle of the hand grasping assembly is as follows: The steering wheel of the hand grasping motor is fixedly connected to the gear, and the gear is in meshing with the first rack and the second rack. Both the first rack and the second rack are slidably connected to the slide rails provided on the joint bracket through sliders. The elastic barbs are fixed in the barb seat, and the barb seat is manufactured by 3D printing. As the hand grasping motor drives the rotation of the first rack and the second rack, through the meshing movement of the gear, the first rack and the second rack, the grasping and releasing actions of the elastic barbs on both sides are realized; in addition, a vacuum generator is connected to the adsorption nozzle on the suction cup, and coffee powder is filled inside the skirt cavity. The adsorption skirt adaptively fits into the gaps between the wall surface particles according to the characteristics of the wall surface, not only blocking the connection with the outside air, but also playing a role in attachment. When the robot crawls on a smooth wall surface, there is no attachment position between the elastic barbs and the wall surface features. Therefore, only through the suction cup can the robot be attached to the wall surface. After the adsorption skirt contacts the wall surface, the air flow is blocked, and the vacuum generator continuously pumps air, forming a negative pressure in the inner cavity of the suction cup, thereby realizing the adsorption of the robot on the wall surface. By filling coffee powder inside the skirt cavity, under the action of the vacuum adsorption force, the stiffness of the adsorption skirt matrix changes, and the edge of the adsorption skirt can not only achieve effective sealing with the wall surface, but also be used as a grasping tool to realize the grasping of small-diameter objects.

[0018] The robot has two motion modes, namely the ground wheeled fast moving mode and the climbing mode. By rotating the angles of the first robotic arm, the second robotic arm and the two hand grasping mechanisms, the two motion modes can be switched. The robot can not only achieve fast movement on the horizontal ground but also climb on complex wall surfaces.

[0019] The ground wheeled fast moving mode consists of two roller drive units and two active wheels on one of the hand grasping mechanisms and two driven wheels on the other hand grasping mechanism. By controlling the speeds of the two roller drive units on the front hand grasping mechanism, actions such as the forward, backward and turning of the robot can be realized.

[0020] The wall - climbing mode is composed of a first robotic arm and a second robotic arm with three degrees of freedom, and two gripper mechanisms. The first robotic arm and the second robotic arm with three degrees of freedom are used to adjust the positions of the front and rear two gripper mechanisms, and are driven by an intermediate drive motor, a first drive motor and a second drive motor; both of the two gripper mechanisms include two bionic flexible opposing suction cups and two gripper components. Among them: the base body of the suction cup is formed by fusing silicone material and nylon through a shape deposition process, and the elastic spines at the end are bonded by fishhooks; through the meshing of gears with the first rack and the second rack on both sides, the grasping and detachment of the elastic spines on both sides are realized; the suction cup includes a vacuum generator, a suction cup inner cavity, a skirt inner cavity and an adsorption skirt. The skirt inner cavity inside the adsorption skirt is filled with 3 / 4 coffee foam, and the air extraction by the vacuum generator can achieve the tight sealing of the adsorption skirt and the wall surface. When the suction cup contacts the rough wall surface, relying on the grasping of the gripper components on both sides with the wall surface particles, the attachment of the robot to the wall surface can be realized. At the same time, the flexible adsorption skirt can also be effectively embedded with the wall surface particles, and the suction cup can play an auxiliary supporting role. When the suction cup contacts the smooth wall surface, there is no grasping point between the opposing gripper feet and the wall surface. Therefore, the attachment of the robot to the wall surface can only be realized by relying on the closed space formed between the flexible suction cup and the wall surface. When the elastic spines on the two gripper components grasp the wall surface, it is necessary to ensure that the connection line of the two gripper components is perpendicular to the wall surface to ensure that the elastic spines effectively hook the wall surface particle features.

[0021] The beneficial effects of the present invention are as follows: The present invention has the following advantages compared with the prior art:

[0022] 1. The compound wall - climbing robot with the inchworm - like motion form provided by the present invention innovatively combines vacuum adsorption, claw - thorn grasping and ground fast - walking motion modes, and can realize the climbing operation on various complex wall surfaces and the fast movement on the ground.

[0023] 2. The robot can realize crawling on various characteristic wall surfaces. When crawling on the rough wall surface, the adopted motion mode is the combination of vacuum adsorption and claw - thorn grasping. When crawling on the smooth wall surface, the robot realizes stable crawling on the wall surface only by relying on the adsorption force generated by vacuum adsorption.

[0024] 3. The inchworm motion gait provides inspiration for the motion mode design of the wall - climbing robot. This alternating motion mode enables the robot to have a greater obstacle - crossing ability.

[0025] 4. The opposing grasping action of the gripper is realized by a servo - motor driving an intermediate gear to mesh with the racks on both sides. This motion mode is beneficial for the claw thorn to perform a linear reciprocating motion after contacting the wall surface, and avoids large deformation and damage when the claw thorn base body contacts the wall surface. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The present invention will be further described below in conjunction with the drawings and embodiments.

[0027] Figure 1 is a structural schematic diagram of the present invention;

[0028] Figure 2 is Figure 1 the front view of;

[0029] Figure 3 is a structural schematic diagram of the robot climbing mode;

[0030] Figure 4 is a structural schematic diagram of the robot ground wheeled fast moving mode;

[0031] Figure 5 is Figure 1 the structural schematic diagram of the hand grasping mechanism in;

[0032] Figure 6 is Figure 5 the front view of;

[0033] Figure 7 is Figure 6 the sectional view at A-A in;

[0034] Figure 8 is Figure 5 the connection structural schematic diagram of the hand grasping assembly in;

[0035] Figure 9 is Figure 8 the side view of;

[0036] Figure 10 is Figure 1 the internal structural schematic diagram of the suction cup in.

[0037] In the figure: 1. The first robotic arm;

[0038] 2. The second robotic arm;

[0039] 3. The first drive unit, 31. The first fixed seat, 32. The first drive motor;

[0040] 4. The hand grasping mechanism, 41. The joint bracket, 42. The suction cup, 421. The adsorption skirt, 422. The suction cup inner cavity, 423. The skirt inner cavity, 424. The suction cup connection support, 425. The adsorption nozzle, 426. The vacuum generator, 43. The hand grasping assembly, 431. The claw seat, 432. The elastic thorn piece, 433. The hook claw, 44. The hand grasping drive unit, 441. The hand grasping motor, 442. The gear, 443. The first rack, 444. The second rack, 445. The slider, 446. The slide rail, 45. The roller, 46. The roller drive unit,

[0041] 5. The second drive unit, 51. The second fixed seat, 52. The second drive motor;

[0042] 6. Intermediate drive unit, 61. Intermediate fixing seat, 62. Intermediate drive motor. DETAILED DESCRIPTION

[0043] The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, which only illustrate the basic structure of the present invention in a schematic manner, and therefore only show the components related to the present invention.

[0044] like Figure 1 : is a structural schematic diagram of the present invention, a composite wall-climbing robot imitating the movement form of an inchworm, comprising a first mechanical arm 1 and a second mechanical arm 2, the first mechanical arm 1 is connected to the hand grasping mechanism 4 thereon through a first driving unit 3, the second mechanical arm 2 is connected to the hand grasping mechanism 4 thereon through a second driving unit 5, and the first mechanical arm 1 is connected to the second mechanical arm 2 through an intermediate driving unit 6;

[0045] Combination Figures 1 to 4 As shown, the first driving unit 3 is used to drive the hand grasping mechanism 4 thereon to rotate relative to the first mechanical arm 1 around the first axis, the intermediate driving unit 6 is used to drive the first mechanical arm 1 to rotate relative to the second mechanical arm 2 around the second axis, and the second driving unit 5 is used to drive the hand grasping mechanism 4 thereon to rotate relative to the second mechanical arm 2 around the third axis, wherein the first axis, the second axis and the third axis are parallel to each other;

[0046] Combination Figures 5 to 7 As shown, the hand grasping mechanism 4 includes a joint bracket 41, a suction cup 42, two hand grasping components 43 and a hand grasping driving unit 44, the suction cup 42 is fixedly mounted on the bottom of the joint bracket 41, the hand grasping components 43 are all located at the bottom of the joint bracket 41, and the hand grasping driving unit 44 is used to drive the two hand grasping components 43 to move closer to or away from each other;

[0047] Combination Figures 1 to 7 As shown, at least two rollers 45 are provided on the joint brackets 41 of the two hand gripping mechanisms 4, at least one roller 45 among all the rollers 45 is a driving wheel, and the other rollers 45 are driven wheels, and the driving wheel is transmission-connected to a roller driving unit 46 for driving the driving wheel to rotate.

[0048] Combination Figure 8 and Figure 9 As shown, the hand grip assembly 43 includes a claw thorn seat 431 and a plurality of elastic thorn pieces 432 arranged on the claw thorn seat 431 at intervals along a straight line direction, and a hook claw 433 protrudes downward from the bottom of the elastic thorn piece 432.

[0049] Combination Figures 5 to 7As shown, the gripper driving unit 44 includes a gripper motor 441, a gear 442, a first rack 443, and a second rack 444. The first rack 443 and the second rack 444 are both slidably mounted on the joint bracket 41. The gripper motor 441 is fixedly mounted on the joint bracket 41. The output end of the gripper motor 441 is in driving connection with the gear 442. The first rack 443 and the second rack 444 are respectively located on both sides of the gear 442 and are both engaged with the gear 442.

[0050] Combined with Figures 5 to 7 As shown, both the first rack 443 and the second rack 444 are slidably connected to the slide rail 446 provided on the joint bracket 41 through sliders 445.

[0051] Combined with Figures 1 to 7 As shown, the driving wheels are arranged on the joint bracket 41 of one of the gripper mechanisms 4, and there are two driving wheels. Two driven wheels are arranged on the joint bracket 41 of the other gripper mechanism 4. The roller driving unit 46 connected to the driving wheels is a driving motor.

[0052] Combined with Figures 1 to 4 As shown, the first driving unit 3 includes a first fixed seat 31. One end of the first fixed seat 31 is fixedly connected to the first robotic arm 1, and the other end of the first fixed seat 31 is in driving connection with the gripper mechanism 4 through a first driving motor 32.

[0053] Combined with Figures 1 to 4 As shown, the second driving unit 5 includes a second fixed seat 51. One end of the second fixed seat 51 is fixedly connected to the second robotic arm 2, and the other end of the second fixed seat 51 is in driving connection with the gripper mechanism 4 through a second driving motor 52.

[0054] Combined with Figures 1 to 4 As shown, the intermediate driving unit 6 includes an intermediate fixed seat 61. One end of the intermediate fixed seat 61 is fixedly connected to the second robotic arm 2, and the other end of the intermediate fixed seat 61 is in driving connection with the first robotic arm 1 through an intermediate driving motor 62.

[0055] Combined with Figure 1 and Figure 10 As shown, the suction cup 42 includes an adsorption skirt 421. A suction cup inner cavity 422 is provided in the middle of the adsorption skirt 421, and a skirt inner cavity 423 is formed inside the adsorption skirt 421. Coffee powder is arranged in the skirt inner cavity 423. A suction cup connection support 424 for connecting to the joint bracket is provided at the rear end of the adsorption skirt 421. A plurality of adsorption nozzles 425 are arranged on the outer surface of the adsorption skirt 421. The ends of the adsorption nozzles 425 are connected to a vacuum generator 426.

[0056] By adjusting the spatial layout of the claw spines of the elastic claw 432, sufficient stiffness and flexibility can be ensured for the elastic claw 432, which is beneficial for the elastic claw 432 to support and facilitates the sliding of the elastic claw 432 along the wall surface to find a suitable attachment point. The working principle of the hand-gripping assembly 43 is as follows: The steering wheel of the hand-gripping motor 441 is fixedly connected to the gear 442. The gear 442 is in meshing with the first rack 443 and the second rack 444. Both the first rack 443 and the second rack 444 are slidably connected to the slide rail 446 provided on the joint bracket 41 through the slider 445. The elastic thorn piece 432 is fixed in the claw thorn seat 431, and the claw thorn seat 431 is manufactured by 3D printing. As the hand-gripping motor 441 drives the rotation of the first rack 443 and the second rack 444, through the meshing movement of the gear 442, the first rack 443 and the second rack 444, the grasping and releasing actions of the elastic thorn pieces 432 on both sides are realized. In addition, a vacuum generator 426 is connected to the adsorption air nozzle 425 on the suction cup 42, and coffee powder is filled inside the skirt inner cavity 423. The adsorption skirt 421 adaptively inserts into the gaps between the wall surface particles according to the characteristics of the wall surface, which not only blocks the communication with the outside air but also plays a role in attachment. When the robot crawls on a smooth wall surface, there is no attachment position between the elastic thorn piece 432 and the wall surface characteristics. Therefore, only through the suction cup 42 can the robot be attached to the wall surface. After the adsorption skirt 421 contacts the wall surface, the air flow is blocked. By continuously pumping air through the vacuum generator 426, a negative pressure is formed in the suction cup inner cavity 422, and thus the adsorption of the robot on the wall surface is realized. Coffee powder is filled inside the skirt inner cavity 423. Under the action of the vacuum adsorption force, the matrix stiffness of the adsorption skirt 421 changes. The edge of the adsorption skirt 421 can not only achieve effective sealing with the wall surface but also be used as a grasping tool to grasp small-diameter objects.

[0057] The robot has two motion modes, namely the ground wheeled rapid movement mode and the climbing mode. By rotating the angles of the first robotic arm 1, the second robotic arm 2 and the two hand-gripping mechanisms 4, the two motion modes can be switched. The robot can not only achieve rapid movement on the horizontal ground but also climb on complex wall surfaces.

[0058] The ground wheeled rapid movement mode consists of two roller drive units 46 and two driving wheels on one of the hand-gripping mechanisms 4 and two driven wheels on the other hand-gripping mechanism 4. By controlling the speeds of the two roller drive units 46 on the front hand-gripping mechanism 4, actions such as the forward, backward and turning of the robot can be realized.

[0059] The wall-climbing mode is composed of a first robotic arm 1 and a second robotic arm 2 with three degrees of freedom, and two gripper mechanisms 4. The first robotic arm 1 and the second robotic arm 2 with three degrees of freedom are used to adjust the positions of the front and rear gripper mechanisms 4, and are driven by an intermediate drive motor 62, a first drive motor 32, and a second drive motor 52. Both gripper mechanisms 4 include two suckers 42 that are bionic and flexible and grip each other, and two gripper components 43. Among them: The base of the sucker 42 is formed by fusing silicone material and nylon through a shape deposition process, and the elastic spines 432 at the end are bonded by fishhooks. By the meshing of the gear 442 with the first rack 443 and the second rack 444 on both sides, the gripping and detachment of the elastic spines 432 on both sides are realized. The sucker 42 includes a vacuum generator 426, a sucker inner cavity 422, a skirt inner cavity 423, and an adsorption skirt 421. The skirt inner cavity 423 inside the adsorption skirt 421 is filled with 3 / 4 of coffee foam, and the tight seal between the adsorption skirt 421 and the wall surface can be achieved by pumping air through the vacuum generator 426. When the sucker 42 contacts the rough wall surface, the attachment of the robot to the wall surface can be realized by relying on the gripping of the two gripper components 43 on both sides with the wall surface particles. At the same time, the flexible adsorption skirt 421 can also be effectively embedded with the wall surface particles, and the sucker 42 can play an auxiliary supporting role. When the sucker 42 contacts the smooth wall surface, there is no gripping point between the gripping feet and the wall surface. Therefore, the attachment of the robot to the wall surface can only be realized by relying on the enclosed space formed between the flexible sucker and the wall surface. When the elastic spines 432 on the two gripper components 43 grip the wall surface, it is necessary to ensure that the line connecting the two gripper components 43 is perpendicular to the wall surface to ensure that the elastic spines 432 effectively hook the wall surface particle features.

[0060] Inspired by the ideal embodiments of the present invention described above, through the above description, relevant staff can completely make various changes and modifications without departing from the technical idea of this invention. The technical scope of this invention is not limited to the content in the specification, and its technical scope must be determined according to the scope of the claims.

Claims

1. A composite wall-climbing robot imitating the movement form of an inchworm, comprising a first mechanical arm (1) and a second mechanical arm (2), It is characterized in that The first mechanical arm (1) is transmission-connected to a hand-gripping mechanism (4) thereon via a first drive unit (3), the second mechanical arm (2) is transmission-connected to a hand-gripping mechanism (4) thereon via a second drive unit (5), and the first mechanical arm (1) is transmission-connected to the second mechanical arm (2) via an intermediate drive unit (6); The first driving unit (3) is used to drive the hand gripping mechanism (4) thereon to rotate relative to the first mechanical arm (1) around a first axis, the intermediate driving unit (6) is used to drive the first mechanical arm (1) to rotate relative to the second mechanical arm (2) around a second axis, and the second driving unit (5) is used to drive the hand gripping mechanism (4) thereon to rotate relative to the second mechanical arm (2) around a third axis, wherein the first axis, the second axis and the third axis are parallel to each other; The hand grasping mechanism (4) comprises a joint bracket (41), a suction cup (42), two hand grasping components (43) and a hand grasping driving unit (44), wherein the suction cup (42) is fixedly mounted on the bottom of the joint bracket (41), the hand grasping components (43) are all located at the bottom of the joint bracket (41), and the hand grasping driving unit (44) is used to drive the two hand grasping components (43) to move closer to or away from each other; At least two rollers (45) are provided on the joint brackets (41) of the two hand gripping mechanisms (4), at least one roller (45) among all the rollers (45) is a driving wheel, and the other rollers (45) are driven wheels, and the driving wheel is transmission-connected to a roller driving unit (46) for driving the driving wheel to rotate.

2. The composite wall-climbing robot imitating the movement form of an inchworm according to claim 1, Features: The hand grip assembly (43) comprises a claw thorn seat (431) and a plurality of elastic thorn pieces (432) arranged on the claw thorn seat (431) at intervals along a straight line direction, and a hook claw (433) protrudes downward at the bottom of the elastic thorn piece (432).

3. The composite wall-climbing robot imitating the movement form of an inchworm according to claim 1, Features: The hand-gripping driving unit (44) comprises a hand-gripping motor (441), a gear (442), a first rack (443) and a second rack (444); the first rack (443) and the second rack (444) are both slidably mounted on the joint bracket (41); the hand-gripping motor (441) is fixedly mounted on the joint bracket (41); the output end of the hand-gripping motor (441) is transmission-connected to the gear (442); the first rack (443) and the second rack (444) are respectively located on both sides of the gear (442) and are both meshed with the gear (442).

4. The composite wall-climbing robot imitating the movement form of an inchworm according to claim 3, Features: The first rack (443) and the second rack (444) are both slidably connected to a slide rail (446) provided on the joint bracket (41) via a slider (445).

5. The composite wall-climbing robot imitating the movement form of an inchworm according to claim 1, Features: The driving wheel is arranged on a joint bracket (41) on one of the hand gripping mechanisms (4), and there are two driving wheels. The joint bracket (41) on the other hand gripping mechanism (4) is provided with two driven wheels. The roller driving unit (46) connected to the driving wheel is a driving motor.

6. The composite wall-climbing robot imitating the movement form of an inchworm according to claim 1, Features: The first drive unit (3) comprises a first fixed seat (31), one end of the first fixed seat (31) is fixedly connected to the first mechanical arm (1), and the other end of the first fixed seat (31) is connected to the hand gripping mechanism (4) via a first drive motor (32).

7. The composite wall-climbing robot imitating the movement form of an inchworm according to claim 1, Features: The second drive unit (5) comprises a second fixed seat (51), one end of the second fixed seat (51) is fixedly connected to the second mechanical arm (2), and the other end of the second fixed seat (51) is transmission-connected to the hand-gripping mechanism (4) via a second drive motor (52).

8. The composite wall-climbing robot imitating the movement form of an inchworm according to claim 1, Features: The intermediate drive unit (6) comprises an intermediate fixing seat (61), one end of the intermediate fixing seat (61) is fixedly connected to the second mechanical arm (2), and the other end of the intermediate fixing seat (61) is transmission-connected to the first mechanical arm (1) via an intermediate drive motor (62).

9. The composite wall-climbing robot imitating the movement form of an inchworm according to claim 1, Features: The suction cup (42) comprises a suction skirt (421), a suction cup inner cavity (422) is provided in the middle of the suction skirt (421), and a skirt inner cavity (423) is opened inside the suction skirt (421), a suction cup connecting support (424) for connecting to a joint bracket is provided at the rear end of the suction skirt (421), and a plurality of suction air nozzles (425) are provided on the outer surface of the suction skirt (421).

10. The composite wall-climbing robot imitating the movement form of an inchworm according to claim 9, Features: The skirt inner cavity (423) is filled with coffee powder.

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