The multi-degree-of-freedom leg structure comprises a thigh body, a shank body and a foot body, a magnet piece is connected to the foot body, one end of the thigh body is hinged to a supporting frame body through a first hinge shaft, and the other end of the thigh body is hinged to the shank body through a second hinge shaft; the thigh body is further hinged to a first driving piece through a first hinge shaft, the supporting frame body is hinged to the middle of a second driving piece, the two ends of the second driving piece are a first driving end and a second driving end respectively, the first driving end is connected with the first driving piece through a first rod piece, and the second driving end is connected with the thigh body through a second rod piece. The first driving end and the second driving end are driven by a first driving source and a second driving source respectively, the first driving piece and the shank body are connected with a first chain wheel and a second chain wheel respectively, and the first chain wheel and the second chain wheel are connected through a chain. The movement flexibility of the leg structure can be effectively improved.

    本发明涉及一种用于磁吸附多足爬壁机器人的多自由度腿部结构,包括大腿主体、小腿主体和足部主体,足部主体上连接有磁铁件,大腿主体的一端通过第一铰接轴和支撑架体相铰接,另一端通过第二铰接轴和小腿主体相铰接,大腿主体还通过第一铰接轴和第一驱动件相铰接,支撑架体和第二驱动件的中部相铰接,第二驱动件的两端分别为第一驱动端和第二驱动端,第一驱动端通过第一杆件和第一驱动件相连接,第二驱动端通过第二杆件和大腿主体相连接接,第一驱动端、第二驱动端分别由第一驱动源、第二驱动源驱动,第一驱动件和小腿主体上分别连接有第一链轮和第二链轮,第一链轮和第二链轮之间通过链条相连接。本发明可以有效提高腿部结构的运动灵活性。


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    Title :

    Multi-degree-of-freedom leg structure for magnetic adsorption multi-legged wall-climbing robot


    Additional title:

    用于磁吸附多足爬壁机器人的多自由度腿部结构


    Contributors:
    LI JIANWEI (author) / ZHOU JIANBANG (author) / ZHOU YUNHAI (author)

    Publication date :

    2023-01-13


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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