The invention provides a crawler robot adopting a muscle-imitating functional structure for movement assistance. A main body structure of the crawler robot comprises a head part at the front end part of the robot, a tail part at the rear end part of the robot, a trunk structure between the head part and the tail part, and a supporting foot structure on the lower side of the robot. A spring steel belt structure is structurally added to assist overall movement, the requirement for motor torque in movement can be lowered, accordingly, a motor smaller in size is selected, and conditions are provided for further miniaturization of the robot. And the spring steel band is in a certain compression state during installation, so that the idle stroke difference caused by the machining precision of the parallel mechanism can be reduced, and the control precision is improved. In addition, the muscle structure can improve the overall energy utilization efficiency of the robot, energy is stored and released in the mechanism movement process, energy consumption of an actuator is reduced, and the cruising ability of the robot can be improved when the robot is powered by a battery.

    本发明提出一种采用仿肌肉功能结构运动辅助的爬虫机器人,其主体结构包括机器人前端部分的头部,后端部分的尾部,头尾之间的躯干结构,以及机器人下侧的支撑足结构。在结构上加入了弹簧钢带结构对整体的运动进行辅助,可以降低运动中对电机转矩的要求,从而选取体积更小的电机,为机器人的进一步小型化提供了条件。并且由于弹簧钢带在安装时就处于一定的压缩状态下,因此可以减小并联机构因机械加工精度而造成的空程差,提高控制精度。此外肌肉结构可以提高机器人整体的能源利用效率,在机构运动过程中储存和释放能量,有助于减少执行器的能量消耗,在机器人使用电池供电时可以提高其续航能力。


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    Titel :

    Crawler robot adopting muscle-imitating functional structure for movement assistance


    Weitere Titelangaben:

    一种采用仿肌肉功能结构运动辅助的爬虫机器人


    Beteiligte:
    YUAN SHIWEI (Autor:in) / YANG JIANHUA (Autor:in) / WANG ZHONGCHENG (Autor:in)

    Erscheinungsdatum :

    2024-01-16


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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