CN216070259U

CN216070259U - Bionic grabbing device for attachment of different wall surfaces

Info

Publication number: CN216070259U
Application number: CN202122898110.2U
Authority: CN
Inventors: 谢超; 吴晅; 王晓杰; 陈贵松; 李彬
Original assignee: Hefei Institutes of Physical Science of CAS
Current assignee: Hefei Institutes of Physical Science of CAS
Priority date: 2021-11-24
Filing date: 2021-11-24
Publication date: 2022-03-18
Anticipated expiration: 2031-11-24

Abstract

The utility model discloses a bionic grabbing device for different wall attachments, which comprises a mounting rack, wherein foot separating mechanisms are respectively arranged on the left side and the right side of the mounting rack; each foot separating mechanism comprises a foot separating frame and a four-bar mechanism, the foot separating frame of each foot separating frame is connected with the mounting frame through the four-bar mechanism, a bionic grabbing and attaching assembly and a bionic adhering assembly are mounted on the foot separating frame, the bionic adhering assembly is fixedly arranged at the bottom of the foot separating frame and protrudes downwards out of the foot separating frame, the bionic grabbing and attaching assembly comprises a plurality of mutually independent hook claw pieces which are sequentially arranged in an overlapping mode in the front-back direction, barbs are arranged at the bottoms of the hook claw pieces, a lifting component is arranged on the foot separating frame, and the barbs of the hook claw pieces protrude downwards out of the bottom of the bionic adhering assembly in a natural state; the hook pricks on the hook claw pieces are driven to be lifted upwards to the bottom of the bionic adhesion assembly through the action of the lifting component. The utility model has the advantages that: the method and the device realize effective adhesion between the rough wall surface and the smooth wall surface and convenient switching between the rough wall surface and the smooth wall surface.

Description

Bionic grabbing device for attachment of different wall surfaces

Technical Field

The utility model relates to the technical field of robots, in particular to a bionic grabbing device for attachment of different wall surfaces.

Background

In recent years, stable crawling of robots on various wall surfaces becomes one of the key points of the neighborhood research of the wall-climbing robot. At present, researchers in all countries around the world have developed a plurality of bionic wall-climbing robots for a single wall surface (rough or smooth). However, most of the existing wall-climbing robots can only climb on a single type of wall surface, cannot realize the cooperative application of multiple attachment modes, and cannot well solve the problems of stability and adaptability during movement on different wall surfaces.

SUMMERY OF THE UTILITY MODEL

The utility model aims to overcome the defects of the prior art and provides a bionic grabbing device for different wall attachments so as to realize effective attachment on a rough wall surface and a smooth wall surface and convenient switching between the rough wall surface and the smooth wall surface.

The utility model is realized by the following technical scheme:

a bionic grabbing device for different wall attachments comprises a mounting rack, wherein foot separating mechanisms are respectively arranged on the left side and the right side of the mounting rack;

each foot separating mechanism comprises a foot separating frame and a four-bar mechanism, each foot separating frame comprises a foot separating frame, each foot separating frame is connected with the mounting frame through the four-bar mechanism, each foot separating frame is provided with a bionic grabbing component and a bionic adhering component, each bionic adhering component is fixedly arranged at the bottom of each foot separating frame and protrudes out of the corresponding foot separating frame downwards, each bionic grabbing component comprises a plurality of mutually independent hook claw pieces which are sequentially arranged in an overlapping mode in the front-back direction, a barb with the bottom inclined inwards is arranged at the position, close to the outer end, of the bottom of each hook claw piece, each lifting component is arranged on each foot separating frame, and in a natural state, the barb of each hook claw piece protrudes out of the bottom of each bionic adhering component downwards; through the action of the lifting part, each claw sheet can be driven to move upwards, so that the barbs on each claw sheet are driven to lift upwards to the bottom of the bionic adhesion assembly.

Furthermore, the front side and the rear side of the foot dividing frame are respectively provided with a front side plate and a rear side plate, each side plate is provided with a mounting hole and a waist-shaped hole, the claw piece is provided with a fixing hole and a limiting groove, the fixing holes on the plurality of claw pieces are sequentially penetrated through by a fixing shaft from front to back, the front end and the rear end of the fixing shaft respectively penetrate through the mounting holes on the two side plates, and the plurality of claw pieces are rotatably mounted on the foot dividing frame; the limiting shaft sequentially penetrates through the limiting grooves in the plurality of claw pieces from front to back, and the front end and the rear end of the limiting shaft respectively penetrate through the waist-shaped holes in the two side plates, so that the plurality of claw pieces are limited; the lifting component is a shape memory spring, the outer sides of the two side plates are respectively provided with the shape memory spring, the upper end of the shape memory spring is fixed on the side plates, the lower end of the shape memory spring is fixed with the limiting shaft, and the shape memory spring is electrified and contracted to drive the limiting shaft to move upwards along the waist-shaped hole, so that the hook claw sheets are driven to upwards overturn around the fixing shaft, and hook thorn lifting on the hook claw sheets is realized.

Furthermore, the bionic adhesion assembly comprises an adhesion air bag and an air bag fixing plate fixed at the upper end of the adhesion air bag, the air bag fixing plate is fixed on the foot separating frame, an adhesion material layer is arranged on the surface of the adhesion air bag, particulate matters are filled in an air cavity in the adhesion air bag, and an air nozzle communicated with the air cavity is arranged on one side of the adhesion air bag.

Furthermore, the claw pieces comprise a rigid main body and a flexible part molded by casting on the surface concave part of the rigid main body, a cantilever extending outwards is arranged at the top end of the rigid main body, an auxiliary connecting block is arranged at the outer end of the cantilever and made of a flexible material, the auxiliary connecting block is a rigid part and is provided with auxiliary holes, the auxiliary shaft sequentially penetrates through the auxiliary holes in the plurality of claw pieces from front to back, and the front end and the rear end of the auxiliary shaft respectively penetrate through the auxiliary mounting holes in the two side plates, so that the auxiliary mounting of the claw pieces and the sub-foot frames is realized.

Furthermore, the mounting frame is provided with a driving mechanism, and the four-bar mechanisms of the two sub-foot mechanisms are driven by the driving mechanism to synchronously move, so that the two sub-feet are driven to synchronously move, and the grabbing or desorbing action of the two sub-feet is realized.

Furthermore, the four-bar mechanism comprises a fixed rod, a first connecting rod, a connecting rod and a second connecting rod which are sequentially hinged end to end, the fixed rod is fixedly connected with the mounting frame or directly consists of a part of the mounting frame, one end of the first connecting rod and one end of the second connecting rod are respectively hinged to two ends of the fixed rod, the other end of the first connecting rod and the other end of the second connecting rod are respectively hinged to two ends of the connecting rod, one end of the connecting rod, far away from the mounting frame, is provided with an outwardly extending extension part, and the foot-separating frame with feet is mounted on the extension part.

Furthermore, the driving mechanism comprises a driver, a driving gear, a driven gear, a first working gear and a second working gear, the driving gear is fixedly connected with an output shaft of the driver, the driving gear and the driven gear are bevel gears and are meshed with each other, the first working gear is fixedly connected with the driven gear in a coaxial mode, the first working gear is meshed with the second working gear, and gear shafts of the two working gears are fixedly connected with first connecting rod rods of the two foot separating mechanisms respectively.

Compared with the prior art, the utility model has the following advantages:

1. according to the bionic grabbing device for different wall attachments, the bionic grabbing component and the bionic adhesion component are integrated, so that effective attachment on a rough wall surface and effective attachment on a smooth wall surface can be realized, and effective attachment on two wall surfaces is realized.

2. According to the bionic grabbing device for different wall attachments, the shape memory spring is used as the lifting part, and whether the bionic grabbing assembly is lifted or not is realized by utilizing the telescopic deformation of the power-on and power-off of the shape memory spring, so that whether the bionic adhering assembly is exposed or not is controlled, and the automatic and rapid switching between rough wall attachment and smooth wall attachment is realized.

3. According to the bionic grabbing device for attaching to different wall surfaces, the bionic grabbing component adopts the left foot separating mechanism and the right foot separating mechanism to form stable grabbing attachment with a rough wall surface in a grabbing mode, and stable grabbing and desorption on a vertical wall surface, an inclined wall surface and even a ceiling can be realized.

4. The bionic grabbing device for attaching to different wall surfaces, provided by the utility model, has the advantages that the bionic adhering component adopts the adhering air bag with the surface provided with the adhering material layer, the particles filled in the air cavity inside the adhering air bag are matched, and the effective attachment or detachment on the smooth wall surface can be realized by controlling the air pressure in the air cavity inside the adhering air bag.

5. According to the bionic grabbing device for different wall attachments, the same driving mechanism is adopted to drive the two foot separating mechanisms to synchronously act, so that the consistency of the actions of the two foot separating mechanisms is improved, and only one driving mechanism is needed, so that the energy is saved, and the weight is reduced; and the compact connection of the grabbing and the desorption actions can be realized by controlling the positive rotation and the reverse rotation of the driver at intervals, so that the continuity of the whole climbing process is ensured.

Drawings

Fig. 1 is an overall perspective view of the present invention.

Fig. 2 is a perspective view of a single foot-separating mechanism of the present invention.

Figure 3 is a front view of the foot-separating mechanism of the biomimetic attachment assembly of the present invention in operation.

Fig. 4 is a front view of the foot separating mechanism in which the biomimetic adhesive assembly of the present invention functions.

Fig. 5 is a front view of the catch plate of the present invention.

Figure 6 is a perspective view of a biomimetic adhesive assembly of the present invention.

Fig. 7 is a perspective view of the drive mechanism of the present invention.

Reference numbers in the figures: 1, mounting a frame; 2, a foot separating mechanism; 3, dividing a foot frame; 4 a first linking rod; 5, a connecting rod; 6 a second side link; 7 an extension part; 8 hook claw sheets; 9, hooking; 10 fixing holes; 11, a limiting groove; 12, fixing a shaft; 13 waist-shaped holes; 14, limiting a shaft; 15 shape memory springs; 16 a rigid body; 17 a flexible member; 18 a cantilever; 19 auxiliary connecting blocks; 20 auxiliary holes; 21 a driver; 22 a drive gear; 23 a driven gear; 24 a first working gear; 25 a second working gear; 26 adhering the air bag; 27 an air bag fixing plate; 28 air tap.

Detailed Description

The following examples are given for the detailed implementation and specific operation of the present invention, but the scope of the present invention is not limited to the following examples.

Referring to fig. 1 to 7, the embodiment discloses a bionic grabbing device for different wall attachments, which includes a mounting rack 1, and foot separating mechanisms 2 are respectively arranged on the left side and the right side of the mounting rack 1.

Every branch sufficient mechanism 2 is enough to reach four-bar linkage including dividing, divides sufficient 3 including dividing foot frame, divides foot frame 3 to be connected with mounting bracket 1 through four-bar linkage, and four-bar linkage includes end to end articulated dead lever in proper order, first side link 4, connecting rod 5, second side link 6, and the dead lever constitutes with mounting bracket 1 fixed connection or direct partly by mounting bracket 1, and the dead lever comprises mounting bracket 1's partly in this embodiment. One end of the first side link 4 and one end of the second side link 6 are hinged to two ends of the fixing rod respectively, the other end of the first side link 4 and the other end of the second side link 6 are hinged to two ends of the connecting rod 5 respectively, the connecting rod 5 is provided with an extending portion 7 extending outwards at one end far away from the mounting frame 1, and the foot-separating frame 3 is fixedly mounted on the extending portion 7. The bionic grabbing component and the bionic adhesion component are mounted on the foot separating frame 3, the bionic adhesion component is fixedly arranged at the bottom of the foot separating frame 3 and protrudes downwards out of the foot separating frame 3, the bionic grabbing component comprises a plurality of mutually independent hook sheets 8 which are sequentially arranged in an overlapping mode in the front-back direction, a barb 9 with the bottom inclined inwards is arranged at the position, close to the outer end, of the bottom of each hook sheet 8, a lifting component is arranged on the foot separating frame 3, and in a natural state, the barb 9 of each hook sheet 8 protrudes downwards out of the bottom of the bionic adhesion component; through the action of the lifting part, each hook claw piece 8 can be driven to move upwards, so that the barbs 9 on each hook claw piece 8 are driven to lift upwards to the bottom of the bionic adhesion assembly.

The foot separating frame 3 is of a U-shaped frame structure integrally, the foot separating frame 3 comprises a back plate and side plates positioned on the front side and the rear side of the back plate, and the plurality of claw pieces 8 are positioned in a space enclosed by the back plate and the two side plates. Each side plate is provided with a mounting hole and a waist-shaped hole 13, the claw piece 8 is provided with a fixing hole 10 and a limiting groove 11, the fixing shaft 12 sequentially penetrates through the fixing holes 10 on the claw pieces 8 from front to back, the front end and the rear end of the fixing shaft 12 respectively penetrate through the mounting holes on the two side plates, and the plurality of claw pieces 8 are rotatably mounted on the foot separating frame 3; a limiting shaft 14 sequentially penetrates through the limiting grooves 11 on the plurality of claw pieces 8 from front to back, and the front end and the back end of the limiting shaft 14 respectively penetrate through the waist-shaped holes 13 on the two side plates, so that the plurality of claw pieces 8 are limited; the lifting component is a shape memory spring 15, the shape memory springs 15 are arranged on the outer sides of the two side plates respectively, the upper ends of the shape memory springs 15 are fixed on the side plates, the lower ends of the shape memory springs 15 are fixed with a limiting shaft 14, and the shape memory springs 15 are electrified and contracted to drive the limiting shaft 14 to move upwards along a waist-shaped hole 13, so that the hook claw sheets 8 are driven to upwards turn around the fixing shaft 12, and the lifting of the barbs 9 on the hook claw sheets 8 is realized.

The claw piece 8 comprises a rigid main body 16 and a flexible part 17 formed by casting on a concave part on the surface of the rigid main body 16, the top end of the rigid main body 16 is provided with a cantilever 18 extending outwards, the outer end of the cantilever 18 is provided with an auxiliary connecting block 19, the cantilever 18 is made of a flexible material, the auxiliary connecting block 19 is a rigid part, an auxiliary hole 20 is formed in the auxiliary connecting block 19, an auxiliary shaft sequentially penetrates through the auxiliary holes 20 in the claw pieces 8 from front to back, the front end and the rear end of the auxiliary shaft respectively penetrate through the auxiliary mounting holes in the two side plates, and the auxiliary mounting of the claw pieces 8 and the foot separating frame 3 is realized. Here, the auxiliary connecting block 19 is connected to the rigid body 16 through a flexible cantilever 18, and the flexible cantilever 18 has a certain elasticity, so that when the hook plate 8 is turned around the fixing shaft 12, the flexible cantilever 18 can be elastically deformed without hindering the turning action of the hook plate 8, thereby ensuring the normal turning of the hook plate 8.

The mounting rack 1 is provided with a driving mechanism, and the four-bar mechanisms of the two sub-foot mechanisms 2 are driven by the driving mechanism to synchronously move, so that the two sub-feet are driven to synchronously move, and the grabbing or desorbing action of the two sub-feet is realized. The driving mechanism comprises a driver 21, a driving gear 22, a driven gear 23, a first working gear 24 and a second working gear 25, the driving gear 22 is fixedly connected with an output shaft of the driver 21, the driving gear 22 and the driven gear 23 are both bevel gears and are meshed with each other, the first working gear 24 is fixedly connected with the driven gear 23 in a coaxial mode, the first working gear 24 is meshed with the second working gear 25, and gear shafts of the two working gears are fixedly connected with the first connecting frame rods 4 of the two foot separating mechanisms 2 respectively. The driver 21 can adopt any one of a steering engine, a direct current motor or a stepping motor, the driver 21 drives the driving gear 22 to rotate, the driving gear 22 drives the driven gear 23 engaged with the driving gear to rotate, the driven gear 23 drives the first working gear 24 to synchronously rotate, the first working gear 24 drives the second working gear 25 engaged with the first working gear to rotate, two groups of four-bar mechanisms are respectively driven by the two working gears to synchronously move, and then the left and right sub-feet are driven to synchronously move, so that the grabbing and desorbing actions of the two sub-feet and the wall surface are realized.

The bionic adhesion assembly comprises an adhesion air bag 26 and an air bag fixing plate 27 fixed with the upper end of the adhesion air bag 26, the air bag fixing plate 27 is fixed on two side plates of the foot-dividing frame 3, an adhesion material layer is arranged on the surface of the adhesion air bag 26, particulate matters are filled in an air cavity in the adhesion air bag 26, an air nozzle 28 communicated with the air cavity is arranged on one side of the adhesion air bag 26, and the adhesion air bag 26 is pumped or inflated through the air nozzle 28. Wherein, the adhesion material layer can be made of polydimethylsiloxane material, and the particles can be quartz sand particles. The adsorption and desorption principle of the bionic adhesion component is as follows:

in the initial state, the pressure difference between the inside and the outside of the adhesion air bag 26 is nearly zero, the particles in the adhesion air bag 26 are in a scattered arrangement and accumulation state, the integral rigidity of the adhesion air bag 26 is small, and the surface adaptability is good. At this time, the pressing force is applied to make the surface of the adhered airbag 26 contact the wall surface adaptively and sufficiently. Subsequently, the adhesion air bag 26 is evacuated to reduce the air pressure of the air cavity inside the adhesion air bag 26, so that the particles inside the adhesion air bag 26 are in a tight state from the body phase under the conditions of unchanged number and unchanged physical properties, the overall elastic modulus and rigidity of the adhesion air bag 26 are increased, namely a particle blocking effect is generated, the adhesion air bag 26 is effectively adhered to the wall surface through the adhesion material layer on the surface, and the adhesion state can be maintained by keeping a certain air pressure. When the detachment is needed, the adhering air bag 26 is inflated until the air pressure is equal to the external atmospheric pressure, at this time, the particles inside the adhering air bag 26 are restored to the initial state, and the adhering air bag 26 is detached from the wall surface through the adhering material layer on the surface. Namely, by controlling the air pressure in the air cavity inside the adhesion air bag 26, the effective adhesion or desorption on the smooth wall surface can be realized.

The working process of the bionic grabbing device provided by the embodiment is as follows:

when the wall surface is rough, the shape memory spring 15 is not electrified, the shape memory spring 15 is in a stretching state, the limiting shaft 14 is positioned at the bottom end of the waist-shaped hole 13, the barb 9 of the claw sheet 8 protrudes downwards to the bottom of the bionic adhesion component, and the bionic adhesion component plays a role at the moment. When grabbing, the two groups of four-bar mechanisms are driven by the driving mechanism to act to drive the two groups of feet to act simultaneously, under the drive of the screw rod mechanism, the motion trail of each group of feet is in a D shape, the feet slowly fall from a high point, the array of the hook claw sheets 8 slowly contacts with a rough wall surface at a certain angle and drags a certain distance on the wall surface, when the barb 9 of each hook claw sheet 8 is successfully locked with the protrusion of the wall surface, one-time grabbing is completed, and at the moment, the two groups of feet are enough to form stable grabbing with the wall surface. During desorption, the driver 21 rotates reversely by the same angle, the foot separating mechanism 2 desorbs from the wall surface at a certain angle and moves to the highest point to wait for the next grabbing action. Thus, a successful grasping and desorbing action is achieved.

When the wall surface is smooth, the shape memory spring 15 is electrified and contracted to drive the limiting shaft 14 to move upwards along the waist-shaped hole 13, the limiting shaft 14 drives the hook claw sheets 8 to upwards turn around the fixing shaft 12, so that the barbs 9 on the hook claw sheets 8 are lifted, the barbs 9 on the hook claw sheets 8 are upwards lifted to the bottom of the bionic adhesion component, and the bionic adhesion component can be switched to play a role. At this time, the adhesion air bag 26 is in contact with the wall surface, and effective adhesion or desorption on the smooth wall surface can be realized by controlling the air pressure in the air cavity inside the adhesion air bag 26.

The present invention is not limited to the above preferred embodiments, and any modifications, equivalent substitutions and improvements made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. The utility model provides a bionical grabbing device for different wall adhereing, includes mounting bracket (1), its characterized in that: the left side and the right side of the mounting rack (1) are respectively provided with a foot separating mechanism (2);

each foot dividing mechanism (2) comprises a foot dividing mechanism and a four-bar mechanism, each foot dividing mechanism comprises a foot dividing frame (3), each foot dividing frame (3) is connected with the mounting frame (1) through the four-bar mechanism, each foot dividing frame (3) is provided with a bionic grabbing component and a bionic adhering component, each bionic adhering component is fixedly arranged at the bottom of each foot dividing frame (3) and protrudes out of the corresponding foot dividing frame (3) downwards, each bionic grabbing component comprises a plurality of mutually independent hook sheets (8) which are sequentially arranged in an overlapping mode in the front-back direction, a barb (9) with the inwards inclined bottom is arranged at the position, close to the outer end, of the bottom of each hook sheet (8), each foot dividing frame (3) is provided with a lifting component, and in a natural state, the barb (9) of each hook sheet (8) protrudes out of the bottom of each bionic adhering component downwards; through the action of the lifting part, each hook claw piece (8) can be driven to move upwards, so that the barbs (9) on each hook claw piece (8) are driven to lift upwards to the bottom of the bionic adhesion assembly.

2. A biomimetic grasping device for differential wall attachment according to claim 1, wherein: the front side and the rear side of the foot separating frame (3) are respectively provided with a front side plate and a rear side plate, each side plate is provided with a mounting hole and a waist-shaped hole (13), the hook claw piece (8) is provided with a fixing hole (10) and a limiting groove (11), the fixing holes (10) on the hook claw pieces (8) are sequentially penetrated through a fixing shaft (12) from front to back, the front end and the rear end of the fixing shaft (12) respectively penetrate through the mounting holes on the two side plates, and the rotating mounting of the hook claw pieces (8) on the foot separating frame (3) is realized; the limiting shaft (14) sequentially penetrates through the limiting grooves (11) on the plurality of claw pieces (8) from front to back, and the front end and the rear end of the limiting shaft (14) respectively penetrate through the waist-shaped holes (13) on the two side plates, so that the plurality of claw pieces (8) are limited; the lifting component is a shape memory spring (15), the outer sides of the two side plates are respectively provided with the shape memory spring (15), the upper end of the shape memory spring (15) is fixed on the side plates, the lower end of the shape memory spring (15) is fixed with a limiting shaft (14), and the shape memory spring (15) is electrified and contracted, so that the limiting shaft (14) is driven to move upwards along a waist-shaped hole (13), a plurality of hook claw pieces (8) are driven to upwards turn around a fixing shaft (12), and lifting of the barbs (9) on the hook claw pieces (8) is realized.

3. A biomimetic grasping device for differential wall attachment according to claim 1, wherein: the bionic adhesion assembly comprises an adhesion air bag (26) and an air bag fixing plate (27) fixed to the upper end of the adhesion air bag (26), the air bag fixing plate (27) is fixed to the foot separating frame (3), an adhesion material layer is arranged on the surface of the adhesion air bag (26), particulate matters are filled in an air cavity inside the adhesion air bag (26), and an air nozzle (28) communicated with the air cavity is arranged on one side of the adhesion air bag (26).

4. A biomimetic grasping device for differential wall attachment according to claim 2, wherein: the hook claw piece (8) comprises a rigid main body (16) and a flexible part (17) formed by casting a concave part on the surface of the rigid main body (16), the top end of the rigid main body (16) is provided with an outwards extending cantilever (18), the outer end of the cantilever (18) is provided with an auxiliary connecting block (19), the cantilever (18) is made of a flexible material, the auxiliary connecting block (19) is a rigid part, an auxiliary hole (20) is formed in the auxiliary connecting block (19), the auxiliary shaft sequentially penetrates through the auxiliary holes (20) in the hook claw pieces (8) from the front to the back, the front end and the rear end of the auxiliary shaft respectively penetrate through the auxiliary mounting holes in the two side plates, and the auxiliary mounting of the hook claw piece (8) and the foot separating frame (3) is realized.

5. A biomimetic grasping device for differential wall attachment according to claim 1, wherein: the mounting rack (1) is provided with a driving mechanism, and the four-bar mechanisms of the two sub-foot mechanisms (2) are driven by the driving mechanism to synchronously move, so that the two sub-feet are driven to synchronously move, and the grabbing or desorbing action of the two sub-feet is realized.

6. The biomimetic grasping device for attachment to different walls according to claim 5, wherein: the four-bar mechanism comprises a fixed rod, a first connecting rod (4), a connecting rod (5) and a second connecting rod (6) which are sequentially hinged from head to tail, the fixed rod is fixedly connected with the mounting frame (1) or directly formed by a part of the mounting frame (1), one end of the first connecting rod (4) and one end of the second connecting rod (6) are respectively hinged to two ends of the fixed rod, the other end of the first connecting rod (4) and the other end of the second connecting rod (6) are respectively hinged to two ends of the connecting rod (5), one end of the connecting rod (5) far away from the mounting frame (1) is provided with an extending portion (7) extending outwards, and the foot separating frame (3) with feet separating feet is mounted on the extending portion (7).

7. The biomimetic grasping device for attachment to different walls according to claim 6, wherein: the driving mechanism comprises a driver (21), a driving gear (22), a driven gear (23), a first working gear (24) and a second working gear (25), the driving gear (22) is fixedly connected with an output shaft of the driver (21), the driving gear (22) and the driven gear (23) are bevel gears and are meshed with each other, the first working gear (24) is fixedly connected with the driven gear (23) in a coaxial mode, the first working gear (24) is meshed with the second working gear (25), and gear shafts of the two working gears are fixedly connected with first connecting rods (4) of the two foot separating mechanisms (2) respectively.