An inverted-arm climbing robot and its traveling method

Abstract

The present invention discloses an inverted-arm climbing robot and its traveling method. The robot includes a soft driving arm, and adaptive clamping claws respectively arranged at both ends of the soft driving arm. The soft driving arm can perform bending motion. The adaptive clamping claw includes a fin bar gripper, a clamping driving component, an adaptive rotating disc, a camera, a rotating driving component, a connecting rod assembly, a one-way locking mechanism, a fastener and an air duct. The connecting rod assembly includes a fixed bracket, a first fin bar mounting rod, a rotating rod, a second fin bar mounting rod and a clamping adjustment elastic capsule. By the bending motion of the soft driving arm cooperating with the clamping of the convex positions in the environment by the two adaptive clamping claws, the present invention can achieve continuous advancement in an uneven environment, and can adapt to inclined or even vertical environments, and can be applied to scenarios such as ruins search and rescue and military reconnaissance.

Description

Technical Field

[0001] The present invention belongs to the field of soft - body driven robots, and particularly relates to an inverted - arm climbing robot and its traveling method. Background Art

[0002] In some motion scenarios where wheeled robots cannot be applied, such as climbing robots or jumping robots. First of all, a soft - robot climbing system that utilizes flexible - body deformation to store elastic energy has not been well studied. Some small biological climbers, such as caterpillars, snakes, and insects, have inspired robotics experts to develop soft climbing robots. Robots inspired by caterpillars or inchworms have compliant and lightweight bodies, enabling them to move along walls or tree branches.

[0003] People have designed some soft robots with flexible drives by imitating the Ω - shaped motion of insects. However, due to the design based on the Ω - shaped motion, the designed robots have a slow movement speed. When moving, they need to cooperate with the application of soft sensors, and data analysis and acquisition are difficult. Moreover, these robots can only crawl on smooth surfaces and have poor robustness. At the same time, there is another design of a soft autonomous climbing robot. Compared with the previous design based on the Ω - shaped motion, the speed of a soft autonomous climbing robot design has been significantly improved and it can adapt to relatively rough object surfaces. However, during the movement process, the end is fixed by drilling into the surface of the tree with multiple - headed drills, which greatly reduces the overall movement speed. The design of the multiple - headed drills is not only complex but also damages the surface of the climbing object.

[0004] The above two types of bionic robots both have certain disadvantages and are difficult to achieve efficient movement between some trees. Summary of the Invention

[0005] The purpose of the present invention is to provide an inverted - arm climbing robot based on flexible drive and a soft gripper and its traveling method.

[0006] An inverted - arm climbing robot provided by the present invention includes a soft - body drive arm, and adaptive grippers respectively arranged at both ends of the soft - body drive arm. The soft - body drive arm can perform bending movements. The adaptive gripper includes fin - bar grippers, a gripper drive assembly, an adaptive rotating disk, a camera, a rotation drive assembly, a link assembly, a one - way locking mechanism, fasteners, and an air duct. The adaptive rotating disk is rotatably connected to the end of the soft - body drive arm and is driven to rotate by the rotation drive assembly. The camera is installed on the adaptive rotating disk.

[0007] The described connecting rod assembly includes a fixed bracket, a first fin mounting rod, a rotating rod, a second fin mounting rod, and a clamping and adjusting elastic bladder. The fixed bracket is fixed on the adaptive rotating disk of the adaptive rotating disk. The inner end of the rotating rod and one end of the first fin mounting rod are rotatably connected to different positions of the fixed bracket. One end of the second fin mounting rod is rotatably connected to the outer end of the rotating rod. The other end of the first fin mounting rod is rotatably connected to the other end of the second fin mounting rod. A clamping and adjusting elastic bladder is provided at one or more positions among the connection between the rotating rod and the fixed bracket, the connection between the rotating rod and the first fin mounting rod, and the connection between the first fin mounting rod and the fixed bracket. The clamping and adjusting elastic bladder provides a restoring force for the adaptive clamping claws.

[0008] Two fin grippers are respectively fixed on the outer sides of the first fin mounting rod and the second fin mounting rod. The fin grippers are made of elastic materials. In the initial state, a clamping opening that is larger outside and smaller inside is formed between the two fin grippers.

[0009] The described one-way locking mechanism is installed between the rotating rod and the fixed bracket, or between the rotating rod and the first fin mounting rod, or between the connection positions of the first fin mounting rod and the fixed bracket. The one-way locking mechanism enables the two fin grippers to only move closer to each other. A structure for releasing the one-way locking is provided inside the one-way locking mechanism.

[0010] Preferably, the flexible driving arm can perform bending and telescoping movements, including a long strip-shaped driving arm body, and m flexible driving bodies installed on the outer side of the driving arm body, where m≥3. The m flexible driving bodies are all in long strip shapes and are arranged in sequence along the circumferential direction of the central axis of the flexible driving arm. The m flexible driving bodies are all air bladders; the internal pressures of the m flexible driving bodies can be independently adjusted.

[0011] Preferably, the driving arm body is in a corrugated shape.

[0012] Preferably, the camera uses a binocular camera.

[0013] Preferably, the rotation driving assembly includes a servo support frame, a servo, a driving gear, a driven gear, and an internal gear. The servo support frame is fixed at the end of the driving arm body. The servo is fixed in the middle of the servo support frame. The output shaft of the servo is coaxially fixed to the driving gear. The adaptive rotating disk is rotatably connected to the servo support frame. The internal gear is fixed on the adaptive rotating disk. The two driven gears are both rotatably connected to the servo support frame and are respectively arranged on both sides of the driving gear. The two driven gears are both meshed with the driving gear; the two driven gears are both meshed with the internal gear.

[0014] Preferably, the clamping and adjusting elastic bladder uses an air bladder and is connected to a gas source through a pressure regulating valve.

[0015] Preferably, the fin holder is composed of an outer bracket and elastic support bars. A plurality of elastic support bars that are parallel to each other and arranged at equal intervals in sequence are all disposed inside the outer bracket. Both ends of the elastic support bars are respectively connected to the two side walls inside the outer bracket. Define the adjacent sides of the two fin holders as the clamping sides, the opposite sides of the two fin holders as the free sides, and the positions where the two fin holders are connected to the link assembly as the fixed sides. The elastic support bars are inclined with respect to the fixed sides, and the distance from the end of the elastic support bar connected to the clamping side to the fixed side is less than the distance from the end of the elastic support bar connected to the free side to the fixed side.

[0016] Preferably, the outer bracket is in the shape of an isosceles triangle.

[0017] Preferably, the one-way locking mechanism includes an arc-shaped ratchet bar, a ratchet pawl, and an electromagnet. One end of the arc-shaped ratchet bar is fixed to the inner side of the first fin mounting rod. The arc-shaped ratchet bar is in a circular arc shape, and the center position is on the rotation axis of the first fin mounting rod. Ratchet teeth are arranged on the arc-shaped ratchet bar in sequence along its length direction. The inner end of the ratchet pawl is rotatably connected to the fixed bracket. A torsion spring is arranged between the ratchet pawl and the fixed bracket. Under the elastic force provided by the torsion spring, the outer end of the ratchet pawl abuts against the side of the arc-shaped ratchet bar provided with ratchet teeth, so that the first fin mounting rod can only rotate unidirectionally relative to the fixed bracket. The ratchet pawl is made of a ferromagnetic material; the electromagnet is fixed on the fixed bracket and is located on the side of the ratchet pawl away from the arc-shaped ratchet bar.

[0018] The traveling method of the inverted-arm climbing robot includes the following steps:

[0019] Step 1: Clamp one of the adaptive clamping claws on a raised position in the environment. Take the end of the soft driving arm clamped on the external environment as the fixed end, and the end not clamped on the external environment as the free end.

[0020] Step 2: The soft driving arm moves, driving the free end of the soft driving arm to move in the target direction; the camera on the free end of the soft driving arm takes pictures of the external environment and performs recognition to judge the position of the target raised portion that can be clamped by the adaptive clamping claw in the target direction. The free end of the soft driving arm moves to the state where the adaptive clamping claw abuts against the target raised portion.

[0021] Step 3: The soft driving arm moves, so that a squeezing force is generated between the adaptive clamping claw at the free end and the target raised portion, driving the first fin mounting rod and the second fin mounting rod at the adaptive clamping claw at the free end to rotate inward at the connection, so that the two fin holders approach each other and deform to reach the state of clamping the target raised portion. The one-way locking mechanism locks the clamping state of the two fin holders on the target raised portion.

[0022] After that, the one-way locking mechanism in the adaptive clamping claws at the fixed end of the soft body drive arm releases the one-way locking, so that the two fin grippers reset under the elastic force of the clamping adjustment elastic capsule, and the fixed end and the free end clamped by the soft body drive arm are reversed.

[0023] Step 4: Repeat Step 2 and Step 3 so that the inverted arm climbing robot continuously advances along the target direction.

[0024] The specific beneficial effects of the present invention are as follows:

[0025] 1. Through the bending movement of the soft body drive arm and the clamping of the convex positions in the environment by the two adaptive clamping claws, the present invention can achieve continuous advancement in uneven environments and can adapt to inclined or even vertical environments, and can be applied to scenarios such as disaster relief search and military reconnaissance.

[0026] 2. The present invention uses a connecting rod assembly to enable the two fin grippers to automatically close when being squeezed by environmental protrusions, realizing clamping of the convex positions, so that the controller does not need to actively control the clamping timing, greatly reducing the control difficulty of the climbing robot; in addition, the one-way locking mechanism in the present invention can enable the two fin grippers to maintain the clamping state of the convex positions; when releasing the clamping, only need to control the electromagnet of the one-way locking mechanism to be energized, greatly simplifying the complexity of the clamping structure.

[0027] 3. The present invention installs the camera behind the fin gripper, so that the camera can move together with the fin gripper, facilitating the acquisition of the spatial coordinates of the convex positions that can be clamped by the fin gripper, thus greatly improving the movement speed of the climbing robot.

[0028] 4. By adjusting the initial pressure of the clamping adjustment elastic capsule, the present invention can change the initial opening degree of the two fin grippers, so as to adapt to different climbing scenarios. Description of the Drawings

[0029] Figure 1 is the overall structure schematic diagram of the present invention;

[0030] Figure 2 is the first structure schematic diagram of the adaptive clamping claw in the present invention;

[0031] Figure 3 is the second structure schematic diagram of the adaptive clamping claw in the present invention;

[0032] Figure 4 is the structure schematic diagram of the rotation drive assembly in the present invention;

[0033] Figure 5 is the structure schematic diagram of the one-way locking mechanism in the present invention. Detailed Embodiment

[0034] To make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly described below with reference to the accompanying drawings in the embodiments of the present invention.

[0035] As Figure 1 shown, an inverted-arm climbing robot based on flexible drive and soft gripper includes a soft drive arm, and adaptive grippers respectively arranged at both ends of the soft drive arm. The adaptive grippers are used to grip objects in the environment, and cooperate with the bending and telescopic movements of the soft drive arm to realize the flipping and continuous advancement of the inverted-arm climbing robot. The soft drive arm includes a strip-shaped drive arm main body, and four flexible drive bodies 5 installed on the outer side of the drive arm main body. The drive arm main body is in a bellows shape and can perform bending and telescopic movements. The four flexible drive bodies 5 are all strip-shaped and are circumferentially distributed along the central axis of the soft drive arm. The four flexible drive bodies 5 are used to drive the drive arm main body to perform bending and telescopic movements. The four flexible drive bodies 5 all adopt strip-shaped air bags; the four flexible drive bodies 5 are respectively connected to a gas source through four independent pressure regulating valves. By controlling the pressure changes inside the four flexible drive bodies 5, the lengths of the four flexible drive bodies 5 are adjusted to realize the bending and telescopic control of the drive arm main body.

[0036] As Figure 2 、 3 and Fig. 4 shown, the adaptive gripper includes a fin gripper 1, a gripper drive assembly 2, an adaptive rotating disk 3, a camera 4, a rotation drive assembly 6, a link assembly 7, a one-way locking mechanism 8, a fastener 9 and an air duct 10. The rotation drive assembly 6 includes a servo support frame 6-1, a servo 6-2, a driving gear 6-3, a driven gear 6-4 and an internal gear 6-5. The servo support frame 6-1 is fixed at the end of the drive arm main body. The servo 6-2 is fixed in the middle of the servo support frame 6-1. The axis of the output shaft of the servo 6-2 coincides with the axis of the soft drive arm when it is in a straight state. The output shaft of the servo 6-2 is coaxially fixed with the driving gear 6-3. The adaptive rotating disk 3 is rotatably connected to the servo support frame 6-1. The internal gear 6-5 is fixed on the adaptive rotating disk 3 and is coaxially arranged with the driving gear 6-3. The two driven gears 6-4 are both rotatably connected to the servo support frame 6-1 and are respectively arranged on both sides of the driving gear 6-3. The two driven gears 6-4 are both meshed with the driving gear 6-3; at the same time, the two driven gears 6-4 are both meshed with the internal gear 6-5. The camera 4 is fixed at the edge of the adaptive rotating disk 3 and faces away from the soft drive arm. The air ducts 10 of the four flexible drive bodies 5 are led out from the side of the rotation drive assembly 6 on the adaptive gripper. Two air ducts 10 are led out from the side of each rotation drive assembly 6. The camera 4 adopts a binocular camera, and can identify the position of the target object in space in cooperation with an image recognition algorithm.

[0037] As shown Figure 2 in the figure, the connecting rod assembly 7 includes a fixed bracket 7-1, a first fin mounting rod 7-2, a rotating rod 7-3, a second fin mounting rod 7-4, and a clamping and adjusting elastic bladder 7-5. The fixed bracket 7-1 is fixed on the adaptive rotating disc 3 of the adaptive rotating disc 3. The inner end of the rotating rod 7-3 is rotatably connected to one end of the fixed bracket 7-1. One end of the first fin mounting rod 7-2 is rotatably connected to the other end of the fixed bracket 7-1. One end of the second fin mounting rod 7-4 is rotatably connected to the outer end of the rotating rod 7-3. The other end of the first fin mounting rod 7-2 is rotatably connected to the other end of the second fin mounting rod 7-4. In the initial state, the first fin mounting rod 7-2 and the second fin mounting rod 7-4 are in a straight line, and the rotation axis between the first fin mounting rod 7-2 and the fixed bracket 7-1 is symmetric with the rotation axis between the second fin mounting rod 7-4 and the rotating rod 7-3 about the central axis of the adaptive rotating disc 3. Both sides of the clamping and adjusting elastic bladder 7-5 are respectively fixed to the rotating rod 7-3 and the second fin mounting rod 7-4. The clamping and adjusting elastic bladder 7-5 is located at the angle formed by the rotating rod 7-3 and the second fin mounting rod 7-4; the clamping and adjusting elastic bladder 7-5 adopts an airbag, and the inner cavity is connected to the air source through a pressure regulating valve and can independently adjust the pressure.

[0038] Two fin grippers 1 are respectively fixed on the outer sides of the first fin mounting rod 7-2 and the second fin mounting rod 7-4. The fin gripper 1 is an isosceles triangle, and the bottom side is fixed to the first fin mounting rod 7-2 or the second fin mounting rod 7-4. In the initial state, the adjacent sides of the two fin grippers 1 present an isosceles trapezoidal clamping area with the outer side large and the inner side small. When the clamping and adjusting elastic bladder 7-5 is evacuated to reduce the angle between the rotating rod 7-3 and the second fin mounting rod 7-4, the two fin grippers 1 respectively flip along with the first fin mounting rod 7-2 and the second fin mounting rod 7-4, so that the tips of the two fin grippers 1 approach each other first to complete the clamping action.

[0039] When the rotating rod 7-3 and the second fin mounting rod 7-4 rotate relative to each other, the clamping and adjusting elastic bladder 7-5 is squeezed and deformed; so that the clamping and adjusting elastic bladder 7-5 provides an elastic force for resetting the rotating rod 7-3 and the second fin mounting rod 7-4, that is, the clamping and adjusting elastic bladder 7-5 can provide a reset force for the adaptive clamping claw to release the clamping state; by inflating and deflating the clamping and adjusting elastic bladder 7-5, the elastic force between the rotating rod 7-3 and the second fin mounting rod 7-4, and further adjust the initial opening size between the two fin grippers 1.

[0040] The fin gripper 1 is made of an elastic material and can undergo elastic deformation, enabling the adjacent sides of the two fin grippers 1 to closely fit on both sides of the object to be gripped, thereby forming a tight connection between the adaptive gripper and the object to be gripped. The fin gripper 1 consists of an outer bracket and elastic support bars. The outer bracket is in the shape of an isosceles triangle. Multiple elastic support bars that are parallel to each other and arranged at equal intervals in sequence are all provided inside the outer bracket. Both ends of the elastic support bars are respectively connected to the two inner sidewalls of the outer bracket.

[0041] Define the adjacent sides of the two fin grippers 1 as the clamping sides, the opposite sides of the two fin grippers 1 as the free sides, and the positions where the two fin grippers 1 are connected to the link assembly 7 as the fixed sides. The elastic support bars are inclined relative to the fixed sides, and the distance from the end of the elastic support bar connected to the clamping side to the fixed side is less than the distance from the end of the elastic support bar connected to the free side to the fixed side. The angle of the elastic support bars helps to improve the fastening performance when the fin gripper 1 grips an object.

[0042] As Figure 5 shown, the one-way locking mechanism 8 includes an arc-shaped ratchet bar 8-1, a ratchet pawl 8-2, and an electromagnet 8-3. One end of the arc-shaped ratchet bar 8-1 is fixed to the inner side of the first fin mounting rod 7-2. The arc-shaped ratchet bar 8-1 is in the shape of a circular arc, and the center position is on the axis of rotation of the first fin mounting rod 7-2. Ratchet teeth are arranged in sequence along the length direction of the arc-shaped ratchet bar 8-1. The inner end of the ratchet pawl 8-2 is rotatably connected to the fixed bracket 7-1. A torsion spring is provided between the ratchet pawl 8-2 and the fixed bracket 7-1. Under the elastic force provided by the torsion spring, the outer end of the ratchet pawl 8-2 abuts against the side of the arc-shaped ratchet bar 8-1 provided with ratchet teeth, so that the first fin mounting rod 7-2 can only rotate unidirectionally relative to the fixed bracket 7-1. Specifically, the first fin mounting rod 7-2 can only rotate in the direction close to the fixed bracket 7-1, so that the opening between the two fin grippers 1 can only decrease and cannot increase in the one-way locked state. The ratchet pawl 8-2 is made of a ferromagnetic material and can be adsorbed by a magnet; the electromagnet 8-3 is fixed on the fixed bracket 7-1 and is located on the side of the ratchet pawl 8-2 away from the arc-shaped ratchet bar 8-1. When the electromagnet 8-3 is energized, it can adsorb the ratchet pawl 8-2, so that the outer end of the ratchet pawl 8-2 is separated from the arc-shaped ratchet bar 8-1, and the one-way locking between the first fin mounting rod 7-2 and the fixed bracket 7-1 is released; the two fin grippers 1 are reset under the elastic force provided by the clamping adjustment elastic bladder 7-5.

[0043] The traveling process of the inverted arm climbing robot based on flexible drive and soft gripper is as follows:

[0044] Step 1: Squeeze one of the adaptive clamping claws towards a raised position on the area to be explored. When the two fin holders 1 are subjected to the pressure of the raised part, it drives the connection between the first fin mounting rod 7-2 and the second fin mounting rod 7-4 to rotate inward, causing the two fin holders 1 to approach each other and deform to reach a state of clamping the raised part. After stopping the manual squeezing force on the inverted-arm climbing robot, the two fin holders 1 maintain their postures under the action of the one-way locking mechanism 8 and continue to clamp the raised part on the area to be explored. Define the end of the soft drive arm clamped to the external environment as the fixed end, and the end not clamped to the external environment as the free end.

[0045] Step 2: The four flexible drive bodies 5 drive the soft drive arm to bend or stretch, so that the free end of the soft drive arm moves towards the target direction. The camera 4 on the free end of the soft drive arm captures an image of the external environment and performs recognition to determine the position of the target raised part that can be clamped by the adaptive clamping claw in the target direction. The four flexible drive bodies 5 drive the soft drive arm to continue bending or stretching, and the rotation drive assembly 6 drives the adaptive rotating disc 3 to rotate to an appropriate angle, so that the adaptive clamping claw at the free end of the soft drive arm abuts against the target raised part.

[0046] Step 3: The soft drive arm continues to move, so that a squeezing force is generated between the adaptive clamping claw at the free end of the soft drive arm and the target raised part, driving the connection between the first fin mounting rod 7-2 and the second fin mounting rod 7-4 to rotate inward, causing the two fin holders 1 to approach each other and deform to reach a state of clamping the target raised part.

[0047] After that, the electromagnet 8-3 in the adaptive clamping claw at the fixed end of the soft drive arm away from the target direction is energized, so that the one-way locking of the adaptive clamping claw at the fixed end of the soft drive arm away from the target direction is released, and the two fin holders 1 are reset under the elastic force of the clamping adjustment elastic capsule 7-5 and no longer clamp the raised part on the external environment. Thus, the inversion of the fixed end and the free end of the soft drive arm clamping is completed, that is, the fixed end in Step 2 becomes the free end, and the free end becomes the fixed end.

[0048] Step 4: Repeat Steps 2 and 3 so that the inverted-arm climbing robot continues to move forward along the target direction.

Claims

1. An inverted arm climbing robot, comprising a soft drive arm; characterized in that: It further includes adaptive clamping claws respectively arranged at both ends of the soft driving arm; the soft driving arm can perform bending motion; the adaptive clamping claw includes a fin gripper (1), a clamping driving component (2), an adaptive rotating disc (3), a camera (4), a rotating driving component (6), a connecting rod component (7), a one-way locking mechanism (8), a fastener (9) and an air duct (10); the adaptive rotating disc (3) is rotatably connected to the end of the soft driving arm and is driven to rotate by the rotating driving component (6); the camera (4) is installed on the adaptive rotating disc (3). The connecting rod component (7) includes a fixed bracket (7-1), a first fin mounting rod (7-2), a rotating rod (7-3), a second fin mounting rod (7-4) and a clamping adjustment elastic capsule (7-5); the fixed bracket (7-1) is fixed on the adaptive rotating disc (3) of the adaptive rotating disc (3); the inner end of the rotating rod (7-3), one end of the first fin mounting rod (7-2) are rotatably connected to different positions of the fixed bracket (7-1); one end of the second fin mounting rod (7-4) is rotatably connected to the outer end of the rotating rod (7-3); the other end of the first fin mounting rod (7-2) is rotatably connected to the other end of the second fin mounting rod (7-4); a clamping adjustment elastic capsule (7-5) is arranged at one or more positions among the connection between the rotating rod (7-3) and the fixed bracket (7-1), the connection between the rotating rod (7-3) and the first fin mounting rod (7-2), and the connection between the first fin mounting rod (7-2) and the fixed bracket (7-1); the clamping adjustment elastic capsule (7-5) provides a restoring force for the adaptive clamping claw. Two fin grippers (1) are respectively fixed on the outer sides of the first fin mounting rod (7-2) and the second fin mounting rod (7-4); the fin gripper (1) is made of an elastic material; in the initial state, a clamping opening with a large outer and a small inner is formed between the two fin grippers (1). The one-way locking mechanism (8) is installed between the rotating rod (7-3) and the fixed bracket (7-1), or between the rotating rod (7-3) and the first fin mounting rod (7-2), or between the connection of the first fin mounting rod (7-2) and the fixed bracket (7-1); the one-way locking mechanism (8) enables the two fin grippers (1) to only perform the motion of approaching each other; a structure for releasing the one-way locking is arranged in the one-way locking mechanism (8).

2. The inverted-arm climbing robot according to claim 1, wherein: The soft driving arm can perform bending and telescopic motions, including a strip-shaped driving arm body and m flexible driving bodies (5) installed on the outer side of the driving arm body, m≥3; the m flexible driving bodies (5) are all strip-shaped and are arranged in sequence along the circumferential direction of the central axis of the soft driving arm; the m flexible driving bodies (5) are all air bags; the internal pressures of the m flexible driving bodies (5) can be independently adjusted.

3. The inverted-arm climbing robot according to claim 2, wherein: The driving arm body is in a corrugated shape.

4. The inverted arm climbing robot according to claim 1, wherein: The camera (4) uses a binocular camera.

5. The inverted-arm climbing robot according to claim 1, characterized in that: The described rotation drive assembly (6) includes a servo support frame (6-1), a servo (6-2), a driving gear (6-3), a driven gear (6-4), and an internal gear (6-5); the servo support frame (6-1) is fixed to the end of the driving arm body; the servo (6-2) is fixed to the middle of the servo support frame (6-1); the output shaft of the servo (6-2) is coaxially fixed to the driving gear (6-3); the adaptive rotating disc (3) is rotatably connected to the servo support frame (6-1); the internal gear (6-5) is fixed to the adaptive rotating disc (3); the two driven gears (6-4) are both rotatably connected to the servo support frame (6-1) and are respectively arranged on both sides of the driving gear (6-3); the two driven gears (6-4) are both meshed with the driving gear (6-3); the two driven gears (6-4) are both meshed with the internal gear (6-5).

6. The inverted-arm climbing robot according to claim 1, characterized in that: The described clamping and adjusting elastic bladder (7-5) is an air bladder and is connected to an air source through a pressure regulating valve.

7. The inverted-arm climbing robot according to claim 1, wherein: The described fin holder (1) consists of an outer bracket and elastic support bars; multiple elastic support bars that are parallel to each other and arranged at equal intervals in sequence are all arranged inside the outer bracket; both ends of the elastic support bars are respectively connected to the two side walls inside the outer bracket; define the adjacent sides of the two fin holders (1) as the clamping sides, the opposite sides of the two fin holders (1) as the free sides, and the positions where the two fin holders (1) are connected to the connecting rod assembly (7) as the fixed sides; the elastic support bars are inclined with respect to the fixed sides, and the distance from the end of the elastic support bar connected to the clamping side to the fixed side is less than the distance from the end of the elastic support bar connected to the free side to the fixed side.

8. A handstand arm climbing robot according to claim 7, characterized in that: The described outer bracket is an isosceles triangle.

9. The inverted-arm climbing robot according to claim 1, characterized in that: The described one-way locking mechanism (8) includes an arc-shaped ratchet bar (8-1), a ratchet pawl (8-2), and an electromagnet (8-3); one end of the arc-shaped ratchet bar (8-1) is fixed to the inner side of the first fin mounting rod (7-2); the arc-shaped ratchet bar (8-1) is arc-shaped, and the center position is on the rotation axis of the first fin mounting rod (7-2); ratchet teeth are arranged on the arc-shaped ratchet bar (8-1) in sequence along its own length direction; the inner end of the ratchet pawl (8-2) is rotatably connected to the fixed bracket (7-1); a torsion spring is arranged between the ratchet pawl (8-2) and the fixed bracket (7-1); under the elastic force provided by the torsion spring, the outer end of the ratchet pawl (8-2) abuts against the side of the arc-shaped ratchet bar (8-1) provided with ratchet teeth, so that the first fin mounting rod (7-2) can only rotate unidirectionally relative to the fixed bracket (7-1); the ratchet pawl (8-2) is made of ferromagnetic material; the electromagnet (8-3) is fixed to the fixed bracket (7-1) and is located on the side of the ratchet pawl (8-2) away from the arc-shaped ratchet bar (8-1).

10. The traveling method of an inverted arm climbing robot according to claim 1, characterized in that: Including the following steps: Step 1: Clamp one of the adaptive clamping claws at a convex position in the environment; Take the end of the soft driving arm clamped to the external environment as the fixed end, and the end not clamped to the external environment as the free end; Step 2: The soft driving arm moves, driving the free end of the soft driving arm to move in the target direction; the camera (4) on the free end of the soft driving arm captures an image of the external environment and performs recognition to determine the position of the target protrusion that can be clamped by the adaptive clamping claw in the target direction; the free end of the soft driving arm moves to the state where the adaptive clamping claw abuts against the target protrusion; Step 3: The soft driving arm moves, generating a squeezing force between the adaptive clamping claw at the free end and the target protrusion, driving the connection between the first fin mounting rod (7-2) and the second fin mounting rod (7-4) of the adaptive clamping claw at the free end to rotate inward, causing the two fin grippers (1) to approach each other and deform to reach the state of clamping the target protrusion; the one-way locking mechanism (8) locks the clamping state of the two fin grippers (1) on the target protrusion; After that, the one-way locking of the one-way locking mechanism (8) in the adaptive clamping claw at the fixed end of the soft driving arm is released, so that the two fin grippers (1) reset under the elastic force of the clamping adjustment elastic bladder (7-5), and the fixed end and the free end clamped by the soft driving arm are reversed; Step 4: Repeat Step 2 and Step 3 so that the inverted arm climbing robot continues to move forward along the target direction.

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