The invention relates to a robot, and aims to provide a motion redundancy robot climbing mechanism to solve the problems of heavy structure, difficulty in positioning control, low precision and small working space of the existing serial and parallel climbing robots, and the mechanism has the characteristics of large working space and high precision. According to the technical scheme, the motion redundancy robot climbing mechanism is characterized by comprising a first adsorption mechanism, a second adsorption mechanism and a motion redundancy parallel mechanism connected between the first adsorption mechanism and the second adsorption mechanism; the first adsorption mechanism comprises a first connecting rod, a first rotating pair, a second connecting rod and a suction cup which are connected in sequence; the structure of the second adsorption mechanism is the same as that of the first adsorption mechanism, and a first connecting rod in the second adsorption mechanism is fixedly connected with a lower platform in the motion redundancy parallel mechanism.
本发明涉及一种机器人,目的是提供一种运动冗余机器人攀爬机构,以解决现有串、并联攀爬机器人结构笨重、定位控制困难、精度低、工作空间小的问题,该机构具有工作空间大、精度高的特点。技术方案是一种运动冗余机器人攀爬机构,其特征在于:该机构包括第一吸附机构、第二吸附机构以及连接在第一吸附机构与第二吸附机构之间的运动冗余并联机构;所述第一吸附机构包括依序连接的第一连杆、第一转动副、第二连杆以及吸盘;所述第二吸附机构结构与第一吸附机构相同,第二吸附机构中第一连杆与运动冗余并联机构中的下平台固连。
Motion redundancy robot climbing mechanism
一种运动冗余机器人攀爬机构
2024-04-02
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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European Patent Office | 2021
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