The invention belongs to the field of climbing robots, and discloses a climbing robot convenient to expand, which has good expansion configuration capability, can flexibly adjust the forming structure of the robot according to scenes, is very flexible, and comprises a main vision module, a trunk module, at least two limb chain units, a wrist module and an adsorption module, the ends of the main vision module, the limb chain unit and the adsorption module are provided with electromechanical coupling female ends, the main module and the wrist module are provided with a plurality of electromechanical coupling male ends, and the electromechanical coupling male ends and the electromechanical coupling female ends are correspondingly matched, so that one end of the main vision module and one end of the limb chain unit are detachably connected with the main module, and the other end of the limb chain unit is detachably connected with the wrist module. The other end of the limb chain unit and the adsorption module are detachably connected with the wrist module, the limb chain unit comprises an arm module and two joint composite parts, the arm module is in a rod shape, the two ends of the arm module are each provided with an electromechanical coupling male end, each joint composite part comprises at least two joint servo motors, and the joint composite parts can achieve torque output of at least two dimensions.

    本发明属于攀爬机器人领域,公开了一种便于扩展的攀爬机器人,具有良好的扩展配置能力,从而能够根据场景灵活地调整机器人的形成结构,非常灵活,包括主视觉模块、主干模块、至少两条肢体链单元、腕模块以及吸附模块,主视觉模块、肢体链单元、吸附模块的端部均具有机电耦合母端,主干模块、腕模块均具有多个机电耦合公端,机电耦合公端和机电耦合母端对应配合,从而主视觉模块、肢体链单元的一端可拆卸地与主干模块机连接,肢体链单元的另一端、吸附模块可拆卸地与腕模块连接,肢体联单元包括臂模块和两个关节复合件,臂模块呈杆状,两端均具有机电耦合公端,关节复合件包括至少两个关节伺服电机,关节复合件能实现至少两个维度的转矩输出。


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    Title :

    Climbing robot convenient to expand


    Additional title:

    一种便于扩展的攀爬机器人


    Contributors:
    XU KUNBO (author) / SHEN JINYANG (author) / ZHANG WENQING (author) / XING YAZHENG (author) / ZHANG BAO (author) / ZHANG XINRONG (author) / ZHOU SHIJIE (author)

    Publication date :

    2024-05-07


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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