The invention relates to the technical field of multi-legged climbing machines, in particular to a high-degree-of-freedom six-legged climbing robot which comprises a main body and six climbing claws which are rotatably connected to the circumference of the main body and are uniformly distributed, and is characterized in that the main body is in a central symmetry shape and is provided with six convex parts and six concave parts; the six convex parts and the six concave parts are alternately connected to jointly form the outer contour of the main body; each climbing claw comprises a first joint, a second joint, a third joint and a suction cup which are rotationally connected to the top end of the corresponding protruding part in the direction perpendicular to the plane of the body. The first joint comprises a first double-head stepping motor, the second joint comprises a second double-head stepping motor and a second support, and the third joint comprises a third double-head stepping motor, a third support and a fourth double-head stepping motor. The climbing robot has the high degree of freedom, the large-angle climbing claw rotating stopping action can be achieved, the advancing speed of the climbing robot is increased, and the working efficiency of the climbing robot is improved.

    本申请涉及多足爬行机器技术领域,尤其是指一种高自由度六足攀爬机器人,包括主体和转动连接于主体周向并均匀分布的六个攀爬爪,其特征在于:所述主体呈中心对称形状,并具有六个凸起部和六个下凹部,六个所述凸起部和六个所述下凹部交替连接,共同构成主体的外轮廓;所述攀爬爪包括垂直于主体平面方向转动连接于凸起部顶端的第一关节、第二关节、第三关节和吸盘;所述第一关节包括第一双头步进电机,所述第二关节包括第二双头步进电机和第二支架,所述第三关节包括第三双头步进电机、第三支架和第四双头步进电机。本申请具有高自由度,能够实现大角度的攀爬爪旋停动作,提高了攀爬机器人的行进速度和工作效率。


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    Title :

    High-degree-of-freedom six-legged climbing robot


    Additional title:

    一种高自由度六足攀爬机器人


    Contributors:
    SHANG XUEMEI (author) / LI JIABAO (author) / MEN JING (author) / WANG GUOPING (author) / CAO YUHAN (author)

    Publication date :

    2023-10-13


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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