Wall-climbing robot with bionic mechanical arm and slippage protection structure

Abstract

The invention discloses a wall-climbing robot with a bionic mechanical arm and a slippage protection structure. A wall-climbing robot belongs to the field of wall-climbing robots and is mainly composed of a first wall-climbing module, a second wall-climbing module, a bionic connecting mechanical arm and the like jointly, the first wall-climbing module and the second wall-climbing module are main adsorption and advancing modules, and a complete wall-climbing robot structure is formed by connecting the first wall-climbing module and the second wall-climbing module through the bionic connecting mechanical arm. The wall-climbing robot formed by connecting the two wall-climbing modules through the flexible bionic mechanical arm is flexible and changeable in form, suitable for various complex working conditions and good in applicability. According to the wall-climbing robot, the designed self-ejection parachute is installed on the wall-climbing robot body, so that impact damage caused by rapid falling when the robot accidentally slips can be prevented, the complex manual laying process of the safety rope is omitted, operation of the wall-climbing robot is simplified, and the wall-climbing robot is more suitable for being applied to unmanned scenes.

Description

Technical Field

[0001] The invention belongs to the field of wall-climbing robots and relates to a wall-climbing robot with a bionic mechanical arm and a slip protection structure. Background Art

[0002] In today's rapidly developing field of robotics, wall-climbing robots have attracted much attention due to their unique application prospects. Such robots can move on vertical or inclined surfaces and are widely used in building inspection, maintenance, cleaning, military reconnaissance and other fields. Compared with traditional mobile robots, wall-climbing robots have higher flexibility and adaptability and can perform tasks in various complex environments. However, existing wall-climbing robots still have many deficiencies in structural design, power system and safety, and are in urgent need of further improvement. Therefore, the present invention proposes a wall-climbing robot with a bionic mechanical arm and a slip protection structure. Summary of the invention

[0003] In view of the above problems, the present invention aims to provide a wall-climbing robot with a bionic mechanical arm and a slip protection structure.

[0004] The technical solution of the present invention is: a wall-climbing robot with a bionic mechanical arm and a slip protection structure according to the present invention comprises a first wall-climbing module (1), a second wall-climbing module (2) and a bionic connection mechanical arm (3) which are connected to each other;

[0005] The first wall climbing module (1) comprises a wall climbing module body (11), a mechanical arm slot (12), a launching parachute (13), a driving wheel (14) and a crawler track (15);

[0006] The mechanical arm slot (12) is installed on the top of the wall climbing module body (11);

[0007] The ejection parachute (13) is installed at the front part of the wall climbing module body (11);

[0008] The driving wheel (14) and the crawler belt (15) together constitute a walking driving mechanism, which are respectively arranged at the bottom of the wall climbing module body (11).

[0009] Furthermore, the crawler belt (15) comprises driving grousers (151) and magnetic grousers (152), and the driving grousers (151) and the magnetic grousers (152) are arranged alternately;

[0010] The magnetic grouser (152) is made of Haier shell magnets.

[0011] Furthermore, the second wall-climbing module (2) comprises a wall-climbing module body (11), a mechanical arm slot (12), a driving wheel (14) and a crawler track (15);

[0012] The mechanical arm slot (12) is installed on the top of the wall climbing module body (11);

[0013] The driving wheel (14) and the crawler belt (15) together constitute a walking driving mechanism, which are respectively installed at the bottom of the wall climbing module body (11);

[0014] The crawler belt (15) comprises driving grousers (151) and magnetic grousers (152), and the two are arranged alternately;

[0015] The magnetic grouser (152) is made of Haier shell magnets.

[0016] Furthermore, the ejection parachute (13) comprises an ejection capsule shell (130),

[0017] A first electromagnet (131) is fixedly arranged at the bottom of the ejection parachute (13), a stainless steel spring assembly (132) is arranged at the upper end of the first electromagnet (131), and an ejection iron shell (133) is arranged on the ejection capsule shell (130) and at the upper end of the stainless steel spring assembly (132).

[0018] An ejection slide groove (134) is arranged on the ejection compartment shell (130) and at the upper end of the ejection iron shell (133), and is fitted with circular sliding handle sleeve grooves arranged on both sides of the ejection iron shell (133);

[0019] A parachute (138) is arranged inside the ejection capsule shell (130) and at the upper end of the ejection iron shell (133).

[0020] A hinged top cover (139) is arranged at the top of the ejection capsule shell (130), and a second electromagnetic ring (135) is fixedly arranged below the inner wall top of the ejection capsule shell (130) and the hinged top cover (139);

[0021] A fixed connection ring (136) is fixedly arranged on the inner wall of the ejection capsule shell (130) and below the second electromagnetic circular ring (135);

[0022] A fixed connection rope (137) is connected between the fixed connection ring (136) and the parachute (138), one end of the fixed connection rope (137) is fixedly connected to the fixed connection ring (136), and the other end of the fixed connection rope (137) is bound to the parachute (138).

[0023] Furthermore, the ejection capsule shell (130) constitutes the outer capsule of the ejection parachute (13) and provides a layout space for various components;

[0024] A T-shaped protrusion is arranged on the upper side of the first electromagnet (131);

[0025] The stainless steel spring assembly (132) is supported by stainless steel, with its lower end fixedly mounted on the first electromagnet (131) and its upper end mounted on the bottom of the ejection iron shell (133);

[0026] The ejection iron shell (133) is an iron thin plate with circular sliding handles on both sides;

[0027] The hinged top cover (139) is made of a light iron shell, one end of which is free and the other end of which is hinged to the ejection compartment shell (130) through a hinge.

[0028] Furthermore, it also includes a power supply (4), a posture sensor (5) and a switch (6);

[0029] The first electromagnet (131) and the second electromagnet ring (135) are connected in series with a switch (6) via a wire, the other end of the switch (6) is connected to a power source (4) via a wire, and the posture sensor (5) is connected to the power source (4) via a wire.

[0030] Furthermore, the bionic connection mechanical arm (3) comprises a first wrist joint (34) of the mechanical arm, a first elbow joint (32) of the mechanical arm, a shoulder joint (31) of the mechanical arm, a slide connection arm (37), a telescopic driving handle (36), a sliding connection arm (38), a second elbow joint (33) of the mechanical arm and a second wrist joint (35) of the mechanical arm, which are connected to each other;

[0031] The mechanical arm shoulder joint (31), the mechanical arm first elbow joint (32), the mechanical arm second elbow joint (33), the mechanical arm first wrist joint (34) and the mechanical arm second wrist joint (35) are based on the bionics principle and can rotate freely by being driven by connected electric power;

[0032] The telescopic driving handle (36), the slide connecting arm (37) and the sliding connecting arm (38) are installed between the two joints, and cooperate with each other to enable the bionic connecting mechanical arm (3) to freely extend and retract under the connected electric power drive;

[0033] The slide groove connecting arm (37) and the telescopic driving handle (36) are symmetrically distributed on both sides of the sliding connecting arm (38) in the upper and lower directions.

[0034] Furthermore, the first elbow joint (32) of the robotic arm, the second elbow joint (33) of the robotic arm, the first wrist joint (34) of the robotic arm, and the second wrist joint (35) of the robotic arm are similar in composition;

[0035] Each comprises a first rotating shaft (301), a connecting shaft (302), a driving handle (303), a fixing ear (304), a second rotating shaft (305) and a third rotating shaft (306) which are connected to each other;

[0036] The first rotating shaft (301) is hingedly connected via a driving handle (303) and a fixing ear (304), and the driving handle (303) is driven to rotate by the connected electric power;

[0037] The (304) is fixedly mounted on the second rotating shaft (305), and the other end of the second rotating shaft (305) is connected with a slide groove (308) to connect to another joint;

[0038] The first rotating shaft (301) is fixedly connected to the third rotating shaft (306) via a connecting shaft (302), and the other end of the third rotating shaft (306) is connected to a sliding arm (307) to connect to another joint.

[0039] Furthermore, the telescopic driving handle (36) includes a driving head (361), a driving gear (362) and a driving connecting arm fixing shaft (363);

[0040] The slide slot connecting arm (37) comprises a connecting arm body (370), in which a slide slot rack (371), a gear slot (372) and a stopper (373) are arranged;

[0041] The sliding groove rack (371) is matched with the driving gear (362), and the side of the driving gear (362) that is matched with the sliding groove rack (371) is arranged in the gear clamping groove (372);

[0042] The stopper (373) is arranged at the end of the slide slot rack (371);

[0043] The driving connecting arm fixed shaft (363) is fixedly connected to the sliding connecting arm (38).

[0044] Furthermore, it also includes other energy and power modules, data processing modules, control modules required for operation, and external modules corresponding to different working conditions.

[0045] Working principle of the present invention: 1. The present invention is based on the principle of bionics. By setting a flexible and rotatable shoulder, elbow and wrist joint mechanical arm to connect two wall-climbing modules, a flexible and adaptable wall-climbing robot structure is formed; 2. Based on the aerodynamic mechanism, the present invention attaches a parachute to the wall-climbing robot so that it can pop out when the robot accidentally slips, thereby avoiding the impact damage of the robot due to rapid falling.

[0046] The beneficial effects of the present invention are: 1. The wall-climbing robot formed by connecting two wall-climbing modules through a flexible bionic mechanical arm is flexible in shape and suitable for various complex working conditions with good applicability; 2. The present invention installs the designed self-ejection parachute on the main body of the wall-climbing robot, which can prevent the robot from being damaged by falling rapidly when it accidentally slips, eliminates the complicated manual deployment process of the safety rope, simplifies the operation of the wall-climbing robot, and is more suitable for application in unmanned scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0048] Figure 2 It is a structural schematic diagram of the wall climbing module in the present invention;

[0049] Figure 3 It is a schematic diagram of the structure of the ejection parachute in the present invention;

[0050] Figure 4 It is a schematic diagram of the structure of the bionic connection mechanical arm in the present invention;

[0051] Figure 5 It is a schematic diagram of the structure of the mechanical arm joint in the present invention;

[0052] Figure 6 It is a schematic diagram of the telescopic structure of the mechanical arm in the present invention;

[0053] Figure 7 It is a schematic diagram of the transformation process of the robot of the present invention between the unfolding mode and the folding mode;

[0054] Figure 8 Schematic diagrams of two typical steering modes of the robot of the present invention;

[0055] Fig. 9 This is a schematic diagram of the robot's characteristic driving mode of the present invention - creeping forward;

[0056] Fig.10 It is a schematic diagram of the adaptability of the robot of the present invention to walls with different curvatures;

[0057] Fig.11 This is a schematic diagram of the obstacle crossing process of the first typical working condition of the present invention;

[0058] Fig.12 This is a schematic diagram of the obstacle crossing process of the second typical working condition of the present invention;

[0059] In the figure, 1 is the first wall climbing module, 11 is the wall climbing module body, 12 is the mechanical arm slot,

[0060] 13 is an ejection parachute, 130 is an ejection capsule shell, 131 is a first electromagnet, 132 is a stainless steel spring assembly, 133 is an ejection iron shell, 134 is an ejection chute, 135 is a second electromagnet ring, 136 is a fixed connection ring, 137 is a fixed connection rope, 138 is a parachute, and 139 is a hinged top cover;

[0061] 14 is a driving wheel, 15 is a crawler belt, 151 is a driving grouser, 152 is a magnetic grouser,

[0062] 2 is the second wall climbing module,

[0063] 3 is a bionic joint robot arm, 31 is a robot arm shoulder joint, 32 is a robot arm first elbow joint, 33 is a robot arm second elbow joint, 34 is a robot arm first wrist joint, 35 is a robot arm second wrist joint,

[0064] 301 is the first rotating shaft, 302 is the connecting shaft, 303 is the driving handle, 304 is the fixing ear, 305 is the second rotating shaft, 306 is the third rotating shaft, 307 is the sliding arm, and 38 is the sliding groove;

[0065] 36 is a telescopic driving handle, 361 is a driving head, 362 is a driving gear, 363 is a driving connecting arm fixed shaft 363

[0066] 37 is a slide connecting arm, 370 is a connecting arm body, 371 is a slide rack, 372 is a gear slot, and 373 is a stopper;

[0067] 38 is a sliding connecting arm;

[0068] 4 is the power supply, 5 is the attitude sensor, and 6 is the switch. DETAILED DESCRIPTION

[0069] The specific technical scheme of the present invention is further described in detail below with reference to specific examples.

[0070] like Figure 1-2 As shown, a wall-climbing robot with a bionic mechanical arm and a slip protection structure described in the present invention are composed of a first wall-climbing module 1, a second wall-climbing module 2, a bionic connecting mechanical arm 3 and other devices;

[0071] The first wall-climbing module 1 and the second wall-climbing module 2 are main adsorption and travel modules, which are connected by a bionic connection mechanical arm 3 to form a complete wall-climbing robot structure;

[0072] The first wall climbing module 1 and the second wall climbing module 2 have similar structures. The first wall climbing module 1 is additionally provided with a launch parachute 13 compared with the second wall climbing module 2. Taking the structure of the first wall climbing module 1 as an example, the first wall climbing module 1 includes a wall climbing module body 11, a mechanical arm slot 12, a launch parachute 13, a driving wheel 14 and a crawler 15.

[0073] The wall-climbing module body 11 is the main skeleton and platform component, which is used to support the entire wall-climbing module and can carry corresponding functional modules to meet different application requirements; the mechanical arm slot 12 is provided at the top of the wall-climbing module body 11, which is used for the stable placement of the bionic connection mechanical arm 3 in the folded mode, so as to avoid fatigue damage and precision damage caused by large-scale vibration of the bionic connection mechanical arm 3 under the contraction state; the ejection parachute 13 is arranged at the front of the wall-climbing module body 11, and the parachute can be automatically ejected when the wall-climbing robot falls off under extreme working conditions, so as to avoid data loss and economic loss caused by the robot falling; the driving wheel 14 and the crawler 15 together constitute the main walking driving mechanism, which is installed at the bottom of the wall-climbing module body 11;

[0074] The crawler belt 15 is mainly composed of driving grousers 151 and magnetic grousers 152, which are arranged alternately and provide driving force together during operation.

[0075] The magnetic grouser 152 is made of Haier shell magnets to ensure the small weight and large suction force of the magnetic component.

[0076] like Figure 3 As shown, the ejection parachute 13 includes an ejection capsule shell 130, a first electromagnet 131, a stainless steel spring assembly 132, an ejection iron shell 133, an ejection chute 134, a second electromagnet ring 135, a fixed connection ring 136, a fixed connection rope 137, a parachute 138 and a hinged top cover 139;

[0077] The ejection capsule shell 130 constitutes the outer capsule of the ejection parachute 13, providing a layout space for various components; the first electromagnet 131 is fixedly arranged at the bottom of the ejection parachute 13, and the upper side of the first electromagnet 131 is provided with a T-shaped protrusion, providing a better fixed layout structure for the stainless steel spring assembly 132; the stainless steel spring assembly 132 is supported by stainless steel, which has better elasticity on the one hand and does not interfere with the ejection magnetic field on the other hand, and its lower end is fixedly arranged on the first electromagnet 131, and its upper end is installed at the bottom of the ejection iron shell 133; the ejection The ejection iron shell 133 is an iron sheet composed of circular sliding handles on both sides. When the robot is operating normally, the first electromagnet 131 is energized to form a suction magnetic field with the ejection iron shell 133, and the stainless steel spring assembly 132 is compressed; the ejection chute 134 is provided on the ejection cabin shell 130, and fits with the circular sliding handle sleeve grooves on both sides of the ejection iron shell 133. When the robot accidentally falls off, the first electromagnet 131 is powered off, and the suction magnetic field with the ejection iron shell 133 disappears, releasing the potential energy stored in the spring, so that the ejection iron shell 133 can move on the track of the ejection chute 134 to eject and land. The second electromagnetic ring 135 is fixedly arranged on the top of the inner wall of the ejection capsule shell 130 and below the hinge top cover 139, and is connected in series with the first electromagnet 131 switch 6, and is powered on or off at the same time to fix or release the hinge top cover 139; the fixed connecting ring 136 is fixedly arranged on the inner wall of the ejection capsule shell 130 and below the second electromagnetic ring 135, and is used to fix the fixed connecting rope 137, and the other end of the fixed connecting rope 137 is bound to the parachute 138, so that the parachute 138 is fixed on the robot, and the parachute is ensured during the robot's fall. Provide air resistance to prevent the robot from crashing and being destroyed; the parachute 138 is connected to the fixed connecting rope 137 and stored in the cabin; the hinged top cover 139 is made of a lightweight iron shell, placed on the top of the ejection cabin shell 130 and above the second electromagnetic ring 135, with one end free and the other end hinged to the ejection cabin shell 130 by a hinge. When the second electromagnetic ring 135 is energized, the hinged top cover 139 is fixed to the top of the ejection cabin shell 130, and when the second electromagnetic ring 135 is de-energized, it can rotate freely around the hinge joint, so that the parachute 138 can be easily ejected when it is ejected.

[0078] like Figure 4 As shown, the bionic connection mechanical arm 3 includes a mechanical arm shoulder joint 31, a mechanical arm first elbow joint 32, a mechanical arm second elbow joint 33, a mechanical arm first wrist joint 34, a mechanical arm second wrist joint 35, a telescopic driving handle 36, a slide connecting arm 37 and a sliding connecting arm 38, etc.;

[0079] The robotic arm shoulder joint 31, the robotic arm first elbow joint 32, the robotic arm second elbow joint 33, the robotic arm first wrist joint 34, and the robotic arm second wrist joint 35 are based on the principle of bionics, imitating the human shoulder joint, elbow joint, and wrist joint, and can be driven by electricity to rotate freely, and the structures of the joints are similar;

[0080] At the same time, the telescopic driving handle 36, the slide connecting arm 37, and the sliding connecting arm 38 are arranged between the two joints, and through mutual cooperation, the mechanical arm can be freely extended and retracted under electric drive.

[0081] like Figure 5 As shown, the first elbow joint 32, the second elbow joint 33, the first wrist joint 34 and the second wrist joint 35 of the bionic connection robot arm 3 are similarly composed, including a first rotating shaft 301, a connecting shaft 302, a driving handle 303, a fixing ear 304, a second rotating shaft 305, a third rotating shaft 306, a sliding arm 307 and a sliding groove 308;

[0082] Among them, the first rotating shaft 301 is hingedly connected by a driving handle 303 and a fixing ear 304. The driving handle 303 is rotated by electric drive to make the first rotating shaft 301 rotate around the central axis; the fixing ear 304 is fixedly arranged on the second rotating shaft 305, and the second rotating shaft 305 can be rotated around the axis by electric drive, and the other end of the second rotating shaft 305 is connected to the slide groove 308 to further connect another joint; the first rotating shaft 301 is fixedly connected with the third rotating shaft 306 through the connecting shaft 302, and the third rotating shaft 306 can be rotated around the axis by electric drive, and the other end of the third rotating shaft 306 is connected to the slide arm 307 to further connect another joint.

[0083] like Figure 6 As shown, the slide connecting arm 37 is mainly composed of a connecting arm body 370, a slide rack 371, a gear slot 372, and a stopper 373; the telescopic driving handle 36 is mainly composed of a driving head 361, a driving gear 362, and a driving connecting arm fixed shaft 363;

[0084] The slide rack 371, the gear slot 372 and the stopper 273 are arranged and opened on the connecting arm body 370; the slide rack 371 is matched with the driving gear 362, and the end of the driving gear 362 that is matched with the slide rack 371 is arranged in the gear slot 372, so that the driving gear 362 can run smoothly along the central axis of the connecting arm body 370 and the slide rack 371; the stopper 273 is arranged at the end of the slide rack 371 to prevent the driving gear 362 from slipping off; the driving head 361 is driven to rotate by electricity, thereby driving the driving gear 362 to rotate, and further driving the slide rack 371 to extend and retract; the driving connecting arm fixed shaft 363 is fixedly connected to the sliding connecting arm 38 to drive the sliding connecting arm 38 to perform telescopic movement along the slide connecting arm 37, and the slide connecting arm 37 and the telescopic driving handle 36 are symmetrically distributed on both sides of the sliding connecting arm 38 up and down to ensure the smooth telescopic operation of the mechanical arm.

[0085] Furthermore, the wall-climbing robot with a bionic robotic arm and the slip protection structure described above also include, in addition to the above-mentioned modules, other energy and power modules necessary for operation, a data processing module, a control module, and external modules corresponding to different working conditions.

[0086] like Figure 7 As shown, a wall-climbing robot with a bionic mechanical arm and a slip protection structure can realize an unfolding mode, a folding mode and any mode in the intermediate process through the rotation and extension of the bionic connecting mechanical arm 3 to adapt to different working conditions.

[0087] like Figure 8 As shown, a wall-climbing robot with a bionic mechanical arm and a slip protection structure include two basic robot steering movement modes, namely, track wheel differential rotation steering and mechanical connecting arm drive operation. Flexible steering modes suitable for different working conditions can be performed through single-mode wall-climbing block motion, double-mode wall-climbing module motion, and combined motion modes.

[0088] like Fig. 9 As shown, a wall-climbing robot with a bionic mechanical arm and a slip protection structure can perform a creeping crawling mode by combining the bionic connecting mechanical arm 3 with the first wall-climbing module 1 and the second wall-climbing module 2 in addition to the ordinary crawler driving operation mode, so as to move more stably and quietly to adapt to some special working conditions.

[0089] like Fig.10 As shown, a wall-climbing robot with a bionic mechanical arm and a slip protection structure can adapt to the attachment and climbing of large, medium and small walls of arbitrary curvature through the cooperation of a bionic connecting mechanical arm 3 and a first wall-climbing module 1 and a second wall-climbing module 2.

[0090] like Fig.11As shown, a wall-climbing robot with a bionic mechanical arm and a slip protection structure can achieve dead-angle-free operation at an angle by connecting the mechanical arm 3 and the first wall-climbing module 1 and the second wall-climbing module 2.

[0091] like Fig.12 As shown, a wall-climbing robot with a bionic mechanical arm and a slip protection structure can smoothly cross intermediate obstacles during the climbing process by connecting the mechanical arm 3 and the first wall-climbing module 1 and the second wall-climbing module 2.

Claims

1. A wall-climbing robot with a bionic mechanical arm and a slip protection structure, characterized in that: It comprises a first wall-climbing module (1), a second wall-climbing module (2) and a bionic connection mechanical arm (3) which are connected to each other; The first wall climbing module (1) comprises a wall climbing module body (11), a mechanical arm slot (12), a launching parachute (13), a driving wheel (14) and a crawler track (15); The mechanical arm slot (12) is installed on the top of the wall climbing module body (11); The ejection parachute (13) is installed at the front part of the wall climbing module body (11); The driving wheel (14) and the crawler belt (15) together constitute a walking driving mechanism, which are respectively arranged at the bottom of the wall climbing module body (11).

2. A wall-climbing robot with a bionic mechanical arm and a slip protection structure according to claim 1, characterized in that: The crawler belt (15) comprises driving grousers (151) and magnetic grousers (152), and the two are arranged alternately; The magnetic grouser (152) is made of Haier shell magnets.

3. A wall-climbing robot with a bionic mechanical arm and a slip protection structure according to claim 1, characterized in that: The second wall-climbing module (2) comprises a wall-climbing module body (11), a mechanical arm slot (12), a driving wheel (14) and a crawler track (15); The mechanical arm slot (12) is installed on the top of the wall climbing module body (11); The driving wheel (14) and the crawler belt (15) together constitute a walking driving mechanism, which are respectively installed at the bottom of the wall climbing module body (11); The crawler belt (15) comprises driving grousers (151) and magnetic grousers (152), and the two are arranged alternately; The magnetic grouser (152) is made of Haier shell magnets.

4. A wall-climbing robot with a bionic mechanical arm and a slip protection structure according to claim 1, characterized in that: The ejection parachute (13) comprises an ejection capsule shell (130), A first electromagnet (131) is fixedly arranged at the bottom of the ejection parachute (13), a stainless steel spring assembly (132) is arranged at the upper end of the first electromagnet (131), and an ejection iron shell (133) is arranged on the ejection capsule shell (130) and at the upper end of the stainless steel spring assembly (132). An ejection slide groove (134) is arranged on the ejection compartment shell (130) and at the upper end of the ejection iron shell (133), and is fitted with circular sliding handle sleeve grooves arranged on both sides of the ejection iron shell (133); A parachute (138) is arranged inside the ejection capsule shell (130) and at the upper end of the ejection iron shell (133). A hinged top cover (139) is arranged at the top of the ejection capsule shell (130), and a second electromagnetic ring (135) is fixedly arranged below the inner wall top of the ejection capsule shell (130) and the hinged top cover (139); A fixed connection ring (136) is fixedly arranged on the inner wall of the ejection capsule shell (130) and below the second electromagnetic circular ring (135); A fixed connection rope (137) is connected between the fixed connection ring (136) and the parachute (138), one end of the fixed connection rope (137) is fixedly connected to the fixed connection ring (136), and the other end of the fixed connection rope (137) is bound to the parachute (138).

5. A wall-climbing robot with a bionic mechanical arm and a slip protection structure according to claim 4, characterized in that: The ejection capsule shell (130) constitutes the outer capsule of the ejection parachute (13) and provides a layout space for various components; A T-shaped protrusion is arranged on the upper side of the first electromagnet (131); The stainless steel spring assembly (132) is supported by stainless steel, with its lower end fixedly mounted on the first electromagnet (131) and its upper end mounted on the bottom of the ejection iron shell (133); The ejection iron shell (133) is an iron thin plate with circular sliding handles on both sides; The hinged top cover (139) is made of a light iron shell, one end of which is free and the other end of which is hinged to the ejection compartment shell (130) through a hinge.

6. A wall-climbing robot with a bionic mechanical arm and a slip protection structure according to claim 5, characterized in that: It also includes a power supply (4), a posture sensor (5) and a switch (6); The first electromagnet (131) and the second electromagnet ring (135) are connected in series with a switch (6) via a wire, the other end of the switch (6) is connected to a power source (4) via a wire, and the posture sensor (5) is connected to the power source (4) via a wire.

7. The wall-climbing robot with a bionic mechanical arm and a slip protection structure according to claim 1, characterized in that: The bionic connection mechanical arm (3) comprises a first wrist joint (34) of the mechanical arm, a first elbow joint (32) of the mechanical arm, a shoulder joint (31) of the mechanical arm, a slide connection arm (37), a telescopic driving handle (36), a sliding connection arm (38), a second elbow joint (33) of the mechanical arm and a second wrist joint (35) of the mechanical arm, which are connected to each other; The mechanical arm shoulder joint (31), the mechanical arm first elbow joint (32), the mechanical arm second elbow joint (33), the mechanical arm first wrist joint (34) and the mechanical arm second wrist joint (35) are based on the bionics principle and can rotate freely by being driven by connected electric power; The telescopic driving handle (36), the slide connecting arm (37) and the sliding connecting arm (38) are installed between the two joints, and cooperate with each other to enable the bionic connecting mechanical arm (3) to freely extend and retract under the connected electric power drive; The slide groove connecting arm (37) and the telescopic driving handle (36) are symmetrically distributed on both sides of the sliding connecting arm (38) in the upper and lower directions.

8. The wall-climbing robot with a bionic mechanical arm and the slip protection structure according to claim 7, characterized in that: The first elbow joint (32) of the robotic arm, the second elbow joint (33) of the robotic arm, the first wrist joint (34) of the robotic arm and the second wrist joint (35) of the robotic arm are similar in composition; Each comprises a first rotating shaft (301), a connecting shaft (302), a driving handle (303), a fixing ear (304), a second rotating shaft (305) and a third rotating shaft (306) which are connected to each other; The first rotating shaft (301) is hingedly connected via a driving handle (303) and a fixing ear (304), and the driving handle (303) is driven to rotate by the connected electric power; The (304) is fixedly mounted on the second rotating shaft (305), and the other end of the second rotating shaft (305) is connected with a slide groove (308) to connect to another joint; The first rotating shaft (301) is fixedly connected to the third rotating shaft (306) via a connecting shaft (302), and the other end of the third rotating shaft (306) is connected to a sliding arm (307) to connect to another joint.

9. The wall-climbing robot with a bionic mechanical arm and a slip protection structure according to claim 7, characterized in that: The telescopic driving handle (36) comprises a driving head (361), a driving gear (362) and a driving connecting arm fixing shaft (363); The slide slot connecting arm (37) comprises a connecting arm body (370), in which a slide slot rack (371), a gear slot (372) and a stopper (373) are arranged; The sliding groove rack (371) is matched with the driving gear (362), and the side of the driving gear (362) that is matched with the sliding groove rack (371) is arranged in the gear clamping groove (372); The stopper (373) is arranged at the end of the slide slot rack (371); The driving connecting arm fixed shaft (363) is fixedly connected to the sliding connecting arm (38).

10. The wall-climbing robot with a bionic mechanical arm and a slip protection structure according to claim 1, characterized in that: It also includes other energy and power modules, data processing modules, control modules required for operation, and external modules corresponding to different working conditions.

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