A multi-mode bionic wall-climbing robot imitating the movement morphology of katydids

Abstract

The present invention relates to the field of robot technology, and in particular to a multi-mode bionic wall-climbing robot that imitates the movement form of a katydid, comprising a trunk main body, a plurality of foot driving mechanisms are arranged at the lower part of the trunk main body, a foot-end cooperative attachment mechanism that contacts a wall surface is arranged on the foot driving mechanism, a wireless receiver is arranged on the trunk main body, a signal is received by the wireless receiver and the plurality of foot driving mechanisms on the trunk main body are controlled to be linked to each other, and the foot-end cooperative attachment mechanism is controlled to contact or separate from the wall surface, so as to realize the robot climbing or jumping, and the robot innovatively combines an actively controlled "grasping-adhesion" structure and a connecting rod mechanism, so as to realize crawling and jumping on a variety of complex wall surfaces.

Description

Technical Field

[0001] The invention relates to the technical field of robots, and in particular to a multi-mode bionic wall-climbing robot imitating the movement morphology of a katydid. Background Art

[0002] The vacuum and strong magnetic wall attachment methods used by traditional wall-climbing robots are only suitable for specific application scenarios. For example, vacuum attachment is mainly for smooth and dust-free walls, and is prone to failure on rough walls or negative pressure environments; strong magnetic adsorption can only be used on magnetic surfaces. In addition, these traditional wall-climbing robots have high energy consumption and high working noise, making them difficult to miniaturize and lighten, and cannot operate in small areas. Researchers have developed a series of adhesion and claw-type bionic climbing robots by imitating the special adhesion and movement abilities of organisms such as geckos, spiders, and insects. Although their adhesive materials can be used for the attachment of a variety of smooth walls, they require greater pressing and desorption forces during the adhesion and desorption processes. Their claw-type attachment method can be applied to some rough walls, but when the wall morphology changes greatly, the grasping points often fail. The main reason is that the current bionic mechanism does not consider the synergistic effects of multiple attachment methods, which greatly limits its own movement ability and autonomy. The robot is required to perform detection, reconnaissance, lurking and other tasks on the walls of three-dimensional space for a long time, which places extremely high demands on the robot's ability to climb and quickly transition on different walls. However, the existing bionic wall-climbing robots are unable to cope with these tasks, so there is an urgent need to study efficient and stable wall-climbing technology.

[0003] At present, the attachment method of climbing robots is relatively simple, the wall adaptability is poor, and there is a lack of synergy between multiple attachment methods. Most bionic climbing robots do not have the ability to quickly jump and transition on the wall, and there has never been a case of jumping robots being used in wall climbing operations. Therefore, facing the requirements of free, flexible and stable movement of robots in three-dimensional wall space, it is one of the urgent problems to be solved in the current field of wall climbing technology to carry out research on climbing robots with active control and coordinated attachment mechanisms and rapid switching mechanisms between walls. The research of this project will open up new research ideas for the adaptability of bionic wall-climbing robots to multiple walls, which has important theoretical value and practical application prospects. Summary of the invention

[0004] The technical problem to be solved by the present invention is: in order to overcome the problems in the prior art that the climbing robot has a relatively single attachment method, poor wall adaptability and lacks the ability to quickly jump and transition on the wall, a multi-mode bionic wall-climbing robot imitating the movement form of a katydid is provided. During the wall climbing process, three legs are kept in a supporting phase at the same time, and the other three legs are in a suspended phase, and the center of gravity of the robot is in a triangle formed by the three supporting legs; by controlling the alternating movements of the front foot, the middle foot and the rear foot, the robot can move in all directions on the wall; during the wall jumping transition process, the take-off postures of the front foot and the middle foot are adjusted, and the rear foot uses the power modulation of the motor to drive the eight-bar series mechanism to extend and contract, so as to adjust the robot's aerial posture and actively control the flexible contact with the wall.

[0005] The technical solution adopted by the present invention to solve the technical problem is: a multi-mode bionic wall-climbing robot imitating the movement form of a katydid, comprising a trunk body, a plurality of foot driving mechanisms are arranged at the lower part of the trunk body, a foot end cooperative attachment mechanism contacting the wall surface is arranged on the foot driving mechanism, a wireless receiver is arranged on the trunk body, a signal is received by the wireless receiver and the plurality of foot driving mechanisms on the trunk body are controlled to be linked to each other, and the foot end cooperative attachment mechanism is controlled to contact or separate from the wall surface, so as to realize the robot climbing or jumping;

[0006] The foot-end cooperative attachment mechanism includes a connecting plate, a motor is provided on the connecting plate, claws are provided on the lower surface of the connecting plate, a floating support is provided on the connecting plate, the floating support is sealed and slidably connected to the gas cavity opened on the connecting plate, an extrusion piston is slidably arranged in the gas cavity, the extrusion piston is transmission-connected to the output end of the motor, and a plurality of foot pads are provided on the lower end surface of the floating support.

[0007] The foot driving mechanism is composed of a plurality of front-drive foot driving mechanisms and rear-drive jumping mechanisms, and the front-drive foot driving mechanisms and the rear-drive jumping mechanisms are symmetrically arranged on both sides of the lower part of the trunk body.

[0008] The front-wheel drive foot driving mechanism includes a first joint assembly, a second joint assembly, a third joint assembly, a thigh rod and a calf rod. The first joint assembly is fixed on the trunk body, and is transmission-connected to the thigh rod and can drive the thigh rod to reciprocate. The other end of the thigh rod is fixedly connected to the second joint assembly, and the second joint assembly is transmission-connected to the calf rod and can drive the calf rod to reciprocate. The other end of the calf rod is fixedly connected to the third joint assembly, and the third joint assembly is transmission-connected to the foot-end cooperative attachment mechanism and can drive the foot-end cooperative attachment mechanism to reciprocate.

[0009] The rear-drive jumping mechanism includes a connecting rod mechanism, a rotating joint assembly and a damping buffer mechanism for ensuring that the robot can maintain a level with the robot's abdomen during the initial jump-contact full cycle stage. The rotating joint assembly is fixed to the rear end of the trunk body side, the rotating joint assembly is transmission-connected to the connecting rod mechanism, the damping buffer mechanism is fixed to the rear side of the trunk body and is transmission-connected to the connecting rod mechanism, and the foot-end cooperative attachment mechanism is connected to the lower end of the connecting rod mechanism.

[0010] The connecting rod mechanism includes a first connecting rod mechanism and a second connecting rod mechanism, the first connecting rod mechanism includes a first rod, a second rod and a third rod, one end of the first rod is hinged to one end of the second rod, one end of the third rod is hinged to the other end of the first rod, and the other end of the third rod is hinged to the other end of the second rod, the second connecting rod mechanism includes a fourth rod, a fifth rod and a sixth rod, one end of the fourth rod is hinged to one end of the fifth rod, the other end of the fourth rod is hinged to one end of the sixth rod, the other end of the fifth rod is hinged to the second rod, and the other end of the sixth rod is hinged to the third rod, and a four-bar connecting rod mechanism is formed between the hinge points of the fourth rod, the fifth rod, the sixth rod and the fifth rod and the hinge point of the sixth rod.

[0011] The damping buffer mechanism is composed of a magnetorheological damper and a power modulation motor, and the output end of the power modulation motor is connected to a connecting rod mechanism. The power modulation motor drives the connecting rod mechanism to realize the jumping function of the robot. By controlling the current of the magnetorheological damper and changing the stiffness coefficient of the magnetorheological fluid, the smooth transition of the attachment mechanism during the wall contact process can be achieved, and at the same time, the impact of the impact load on the power modulation motor can be reduced. The connecting rod mechanism ensures that the robot can remain horizontal with the robot's abdomen during the initial jump-contact full cycle stage, ensuring the consistency of the robot's posture when it contacts the wall.

[0012] The first joint assembly, the second joint assembly, the third joint assembly and the rotating joint assembly are all drive motors and gear assemblies arranged at the output end of the drive motors. The first joint assembly, the second joint assembly and the third joint assembly are used to adjust the joint angles of the thigh rod and the calf rod. The rotating joint assembly is used to adjust the angle of the rotating connecting rod mechanism.

[0013] In order to provide sufficient support and stability for the trunk, a front-drive foot drive mechanism is set on both sides of the front of the trunk, and a front-drive foot drive mechanism is set on both sides of the middle of the trunk. The front-drive foot drive mechanism includes three joint components, which respectively realize the deflection and rolling posture adjustment of the foot. Each end joint is connected to the foot end cooperative attachment mechanism, which is similar to the freedom drive method of the katydid foot.

[0014] Two wireless receivers are arranged at the front end of the trunk body.

[0015] The foot pad is made of polyurethane. Polyurethane is made through shape deposition process and silicon wafer etching process. There are micro-nano features on the surface of the foot pad. The foot pad is stably attached to the wall through the van der Waals force at a microscopic angle. The robot goes from suspended to in contact with the wall. By controlling the current of the magnetorheological damper and changing the stiffness coefficient of the magnetorheological fluid, the smooth transition of the attachment mechanism in the process of contacting the wall can be achieved. At the same time, the impact of the impact load on the motor can be reduced. The connecting rod mechanism ensures that the robot can remain horizontal with the robot's abdomen during the initial jump-contact cycle stage, ensuring the consistency of the robot's posture when contacting the wall. The connecting rod motion mechanism can always maintain the "adhesion-grasping" of the rear-drive jumping mechanism. When the foot-end cooperates with the attachment mechanism to contact the wall, it always maintains parallel contact with the wall, without the need to change the contact posture by adjusting the power modulation motor and rotating the joint assembly.

[0016] The beneficial effects of the present invention are: the present invention has the following advantages:

[0017] 1. The present invention provides a multi-mode bionic wall-climbing robot that imitates the movement morphology of a katydid, which innovatively combines an actively controlled "grasping-adhesion" structure and a connecting rod mechanism, and can achieve crawling and jumping on a variety of complex wall surfaces.

[0018] 2. The robot adopts a triangular gait when climbing the wall, that is, three legs are kept in the supporting phase at the same time, and the other three legs are in the suspended phase. The center of gravity of the robot is in the triangle formed by the three supporting legs. By controlling the alternating movements of the forefoot, midfoot and hindfoot, the robot can move in all directions on the wall. During the transition process of wall jumping, the take-off postures of the forefoot and midfoot are adjusted, and the rear foot uses the motor power modulation to drive the eight-bar series mechanism to extend and contract, so as to adjust the robot's aerial posture and actively control the flexible contact of the wall.

[0019] 3. The katydid's gait provides inspiration for the design of the crawling and jumping movement methods of wall-climbing robots, greatly improving the robot's ability to adapt to spatial walls.

[0020] 4. When the robot crawls on a smooth wall, since the claws have no attachment points, it can only rely on the adhesion between the foot pads and the wall to achieve its own movement on the wall; when crawling on a rough wall, the claws, foot pads and wall particles form a mechanical interlock to achieve stable crawling on the wall. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0022] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention;

[0023] Figure 2is a top view of the present invention;

[0024] Figure 3 It is a schematic structural diagram of the front-drive foot driving mechanism of the present invention;

[0025] Figure 4 It is a structural schematic diagram of the foot-end cooperative attachment mechanism of the present invention;

[0026] Figure 5 It is a front view of the rear-drive jumping mechanism of the present invention;

[0027] Figure 6 It is a top view of the rear-drive jumping mechanism in the present invention.

[0028] In the figure: 1. Trunk body, 2. Foot drive mechanism, 3. Wireless receiver,

[0029] 4. Front-drive foot drive mechanism, 41. First joint assembly, 42. Second joint assembly, 43. Third joint assembly, 44. Thigh rod, 45. Calf rod, 46. Foot end cooperative attachment mechanism, 461. Connecting plate, 462. Motor, 463. Claw, 464. Floating support, 465. Gas chamber, 466. Extrusion piston, 467. Foot pad;

[0030] 5. Rear drive jumping mechanism, 51. Connecting rod mechanism, 511. First rod, 512. Second rod, 513. Third rod, 514. Fourth rod, 515. Fifth rod, 516. Sixth rod, 52. Rotating joint assembly, 53. Damping buffer mechanism, 531. Magnetorheological damper, 532. Power modulation motor. DETAILED DESCRIPTION

[0031] 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.

[0032] like Figure 1-6 As shown, a multi-mode bionic wall-climbing robot imitating the movement form of a katydid is provided with a plurality of foot driving mechanisms 2 at the lower part of the trunk body 1, and a foot-end cooperative attachment mechanism 46 in contact with the wall is provided on the foot driving mechanism 2, and a wireless receiver 3 is provided on the trunk body 1, and the wireless receiver 3 receives signals and controls the plurality of foot driving mechanisms 2 on the trunk body 1 to be linked to each other, and at the same time controls the foot-end cooperative attachment mechanism 46 to be in contact with or out of the wall, so as to realize the robot climbing or jumping;

[0033] The front-drive foot driving mechanism 4 includes a first joint assembly 41, a second joint assembly 42, a third joint assembly 43, a thigh rod 44 and a shank rod 45, wherein the first joint assembly 41 is fixed to the trunk body 1, and is transmission-connected to the thigh rod 44 and can drive the thigh rod 44 to reciprocate, the other end of the thigh rod 44 is fixedly connected to the second joint assembly 42, the second joint assembly 42 is transmission-connected to the shank rod 45 and can drive the shank rod 45 to reciprocate, the other end of the shank rod 45 is fixedly connected to the third joint assembly 43, the third joint assembly 43 is transmission-connected to the foot-end cooperative attachment mechanism 46 and can drive the foot-end cooperative attachment mechanism 46 to reciprocate;

[0034] The foot-end cooperative attachment mechanism 46 comprises a connecting plate 461, on which a motor 462 is provided, and a claw thorn 463 is provided on the lower surface of the connecting plate 461, and a floating support 464 is provided between the claw thorn 463 and on the surface of the connecting plate 461, and the floating support 464 is sealed and slidably connected to a gas cavity 465 provided on the connecting plate 461, and the output end of the motor 462 is connected to the gas cavity 465 provided in the connecting plate 461 through an extrusion piston 466, and a plurality of foot pads 467 are provided on the lower end surface of the floating support 464;

[0035] The rear-drive jumping mechanism 5 includes a connecting rod mechanism 51, a rotating joint assembly 52 and a damping buffer mechanism 53 for ensuring that the robot can maintain a level with the robot's abdomen during the initial jump-contact full cycle stage. The rotating joint assembly 52 is fixed to the rear end of the trunk body 1, and the rotating joint assembly 52 is transmission-connected to the connecting rod mechanism 51. The damping buffer mechanism 53 is fixed to the rear side of the trunk body 1 and is transmission-connected to the connecting rod mechanism 51. The foot-end cooperative attachment mechanism 46 is connected to the lower end of the connecting rod mechanism 51. During the process from the robot being suspended in the air to contacting the wall, the stiffness coefficient of the magnetorheological fluid is changed by controlling the current of the magnetorheological damper 531, so as to achieve a smooth transition of the foot-end cooperative attachment mechanism 46 during the wall contact process. At the same time, the impact of the impact load on the motor can be reduced. The connecting rod mechanism 51 ensures that the robot can remain level with the robot's abdomen during the initial jump-contact cycle, ensuring the consistency of the robot's posture when contacting the wall. The connecting rod mechanism 51 can always maintain the "adhesion-grasping" of the rear-drive jumping mechanism. When the foot-end cooperative attachment mechanism 46 contacts the wall, it always maintains parallel contact with the wall, and there is no need to change the contact posture by adjusting the power modulation motor 532 and rotating the joint assembly 52.

[0036] The first joint assembly 41, the second joint assembly 42, the third joint assembly 43 and the rotating joint assembly 52 are all drive motors and gear assemblies arranged at the output end of the drive motors. The first joint assembly 41, the second joint assembly 42 and the third joint assembly 43 are used to adjust the joint angles of the thigh rod 44 and the shank rod 45, and the rotating joint assembly 52 is used to adjust the angle of the rotating connecting rod mechanism 51.

[0037] A front-drive foot driving mechanism 4 is provided at the front and middle of both sides of the trunk body 1. In order to provide the trunk body 1 with sufficient support and stability, a front-drive foot driving mechanism 4 is provided at both sides of the front of the trunk body 1, and a front-drive foot driving mechanism 4 is provided at both sides of the middle of the trunk body 1. The front-drive foot driving mechanism 4 includes three joint components, which respectively realize the deflection and rolling posture adjustment of the foot, and each end joint is connected to the foot end cooperative attachment mechanism, which is similar to the freedom driving method of the katydid foot.

[0038] Two wireless receivers 3 are provided at the front end of the trunk body 1 .

[0039] The damping buffer mechanism 53 is composed of a magnetorheological damper 531 and a power modulation motor 532, and the output end of the power modulation motor 532 is connected to the connecting rod mechanism 51. The power modulation motor 532 drives the connecting rod mechanism 51 to realize the jumping function of the robot. By controlling the current of the magnetorheological damper 531 and changing the stiffness coefficient of the magnetorheological fluid, the smooth transition of the foot-end cooperative attachment mechanism 46 in the process of contacting the wall can be realized. At the same time, the impact of the impact load on the power modulation motor 532 can also be reduced. The connecting rod mechanism 51 ensures that the robot can maintain a level with the robot's abdomen during the initial jump-contact full cycle stage, ensuring the consistency of the robot's posture when contacting the wall.

[0040] The foot pad 467 is made of polyurethane. The foot pad 467 is made of polyurethane. The polyurethane is made by shape deposition process and silicon wafer etching process. There are micro-nano features on the surface of the foot pad 467. Through the van der Waals force at a microscopic angle, the foot pad is stably attached to the wall.

[0041] The connecting rod mechanism 51 includes a first connecting rod mechanism and a second connecting rod mechanism, the first connecting rod mechanism includes a first rod 511, a second rod 512 and a third rod 513, one end of the first rod 511 is hinged to one end of the second rod 512, one end of the third rod 513 is hinged to the other end of the first rod 511, and the other end of the third rod 513 is hinged to the other end of the second rod 512, the second connecting rod mechanism includes a fourth rod 514, a fifth rod 515 and a sixth rod 516, one end of the fourth rod 514 is hinged to one end of the fifth rod 515, the other end of the fourth rod 514 is hinged to one end of the sixth rod 516, the other end of the fifth rod 515 is hinged to the second rod 512, and the other end of the sixth rod 516 is hinged to the third rod 513, and a four-bar connecting rod mechanism is formed between the hinge points of the fourth rod 514, the fifth rod 515, the sixth rod 516 and the fifth rod 515 and the hinge point of the sixth rod 516. The damping buffer mechanism 53 is provided between the first link mechanism and the second link mechanism.

[0042] When in use, there are two movement modes: climbing mode and jumping mode. The coordination between the claw 463 and the foot pad 367 on the foot-end cooperative attachment mechanism 46 is the key to achieving stable crawling on a variety of smooth and rough walls. The "claw-adhesion" foot-end cooperative attachment mechanism 46 based on the active control mechanism is used for wall attachment. The rear-drive jumping mechanism 5 can provide initial elastic force for its transition between different walls. It is planned to use a motor power modulation series connecting rod mechanism 51 to achieve the robot's transition between walls. According to the requirements of the robot running on a variety of complex walls, the above-mentioned foot-end cooperative attachment mechanism 46 and the rear-drive jumping mechanism 5 are integrated. Based on the configuration synthesis method and combined with the finite element analysis and verification calculation, the mechanical system parameters are optimized. The robot consists of a trunk body 1, a number of front-drive foot driving mechanisms 4, a number of rear-drive jumping mechanisms 5 and a wireless receiver 3. The front-drive foot driving mechanism 4 includes three joint components, which respectively realize the deflection and rolling posture adjustment of the foot. Each end joint is connected to the foot-end cooperative attachment mechanism; similar to the katydid foot degree of freedom driving method, the robot's hind feet only include two driving degrees of freedom to adjust the joint angles of the thigh and calf, each joint is composed of different driving modules, and the end joint of the rear-drive jumping mechanism 5 is also provided with a foot-end cooperative attachment mechanism 46. During the wall climbing process, the robot adopts a triangular gait, that is: three legs are kept in a supporting phase at the same time, and the other three legs are in a suspended phase. The center of gravity of the robot is in the triangle formed by the three supporting feet. By controlling the alternating actions of the front-drive foot driving mechanism 4 and the rear-drive jumping mechanism 5, the robot can move in all directions on the wall. During the wall jumping transition process, the various take-off postures of the front-drive foot driving mechanism 4 are adjusted, and the rear-drive jumping mechanism 5 uses the damping buffer mechanism 53 to drive the connecting rod mechanism 51 to extend and contract, so as to adjust the robot's aerial posture and actively control the flexible contact of the wall.

[0043] Based on the above ideal embodiments of the present invention, the relevant staff can make various changes and modifications without departing from the technical concept of the present invention through the above description. The technical scope of the present invention is not limited to the contents of the specification, and its technical scope must be determined according to the scope of the claims.

Claims

1. A multi-mode bionic wall-climbing robot imitating the movement morphology of a katydid, comprising a trunk body (1), characterized in that: A plurality of foot drive mechanisms (2) are provided at the lower part of the trunk body (1), and a foot end cooperative attachment mechanism (46) in contact with a wall is provided on the foot drive mechanism (2). A wireless receiver (3) is provided on the trunk body (1), and the wireless receiver (3) receives signals and controls the plurality of foot drive mechanisms (2) on the trunk body (1) to be linked to each other, and at the same time controls the foot end cooperative attachment mechanism (46) to be in contact with or out of contact with the wall, thereby realizing the robot climbing or jumping; The foot-end cooperative attachment mechanism (46) comprises a connecting plate (461), a motor (462) is provided on the connecting plate (461), claws (463) are provided on the lower surface of the connecting plate (461), a floating support (464) is provided on the connecting plate (461), the floating support (464) is sealed and slidably connected to a gas cavity (465) provided on the connecting plate (461), an extrusion piston (466) is slidably provided in the gas cavity (465), the extrusion piston (466) is transmission-connected to the output end of the motor (462), and a plurality of foot pads (467) are provided on the lower end surface of the floating support (464); The foot driving mechanism (2) is composed of a plurality of front-drive foot driving mechanisms (4) and rear-drive jumping mechanisms (5), and the front-drive foot driving mechanisms (4) and rear-drive jumping mechanisms (5) are symmetrically arranged on both sides of the lower part of the trunk body; The front-drive foot driving mechanism (4) comprises a first joint assembly (41), a second joint assembly (42), a third joint assembly (43), a thigh rod (44) and a shank rod (45); the first joint assembly (41) is fixed to the trunk body (1), and is transmission-connected to the thigh rod (44) and can drive the thigh rod (44) to reciprocate; the other end of the thigh rod (44) is fixedly connected to the second joint assembly (42); the second joint assembly (42) is transmission-connected to the shank rod (45) and can drive the shank rod (45) to reciprocate; the other end of the shank rod (45) is fixedly connected to the third joint assembly (43); the third joint assembly (43) is transmission-connected to the foot-end cooperative attachment mechanism (46) and can drive the foot-end cooperative attachment mechanism (46) to reciprocate; The rear-drive jumping mechanism (5) comprises a connecting rod mechanism (51), a rotating joint assembly (52) and a damping buffer mechanism (53) for ensuring that the robot can maintain a level with the robot's abdomen during the jumping initial-contact full cycle stage, the rotating joint assembly (52) is fixed to the rear end of the trunk body (1), the rotating joint assembly (52) is transmission-connected to the connecting rod mechanism (51), the damping buffer mechanism (53) is fixed to the rear side of the trunk body (1) and is transmission-connected to the connecting rod mechanism (51), and the foot-end cooperative attachment mechanism (46) is connected to the lower end of the connecting rod mechanism (51).

2. A multi-mode bionic wall-climbing robot imitating the movement morphology of a katydid as claimed in claim 1, characterized in that: The connecting rod mechanism (51) comprises a first connecting rod mechanism and a second connecting rod mechanism, wherein the first connecting rod mechanism comprises a first rod (511), a second rod (512) and a third rod (513), one end of the first rod (511) is hinged to one end of the second rod (512), one end of the third rod (513) is hinged to the other end of the first rod (511), and the other end of the third rod (513) is hinged to the other end of the second rod (512), and the second connecting rod mechanism comprises a fourth rod (514), a fifth rod (515) and a sixth rod (516). The fourth rod (514) is hinged to one end of the fifth rod (515), the other end of the fourth rod (514) is hinged to one end of the sixth rod (516), the other end of the fifth rod (515) is hinged to the second rod (512), the other end of the sixth rod (516) is hinged to the third rod (513), and a four-bar linkage is formed between the hinge points of the fourth rod (514), the fifth rod (515), the sixth rod (516) and the fifth rod (515) and the hinge point of the sixth rod (516).

3. A multi-mode bionic wall-climbing robot imitating the movement morphology of a katydid as claimed in claim 1 or 2, characterized in that: The damping buffer mechanism (53) is composed of a magnetorheological damper (531) and a power modulation motor (532), and the output end of the power modulation motor (532) is transmission-connected to the connecting rod mechanism (51).

4. A multi-mode bionic wall-climbing robot imitating the movement morphology of a katydid as claimed in claim 1, characterized in that: The first joint assembly (41), the second joint assembly (42), the third joint assembly (43) and the rotary joint assembly (52) are all drive motors and gear assemblies arranged at the output ends of the drive motors.

5. The multi-mode bionic wall-climbing robot imitating the movement morphology of a katydid as claimed in claim 1, characterized in that: A front-drive foot driving mechanism (4) is respectively arranged at the front and middle parts of both sides of the trunk body (1).

6. A multi-mode bionic wall-climbing robot imitating the movement morphology of a katydid as claimed in claim 1, characterized in that: Two wireless receivers (3) are provided at the front end of the trunk body (1).

7. A multi-mode bionic wall-climbing robot imitating the movement morphology of a katydid as claimed in claim 1, characterized in that: The foot pad (467) is made of polyurethane.

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