The invention discloses a stay wire type robot, relates to a four-limb robot, and aims to solve the problems that a conventional stay wire driving continuum robot is poor in load capacity and complex to control, and the working precision is difficult to guarantee. And a high-speed motor matched with a common four-limb robot and a speed reducer matched with a low-speed joint are difficult to manufacture, the structure of a driving assembly is tedious and huge, and the rotational inertia of the joint is large. The stay wire type robot is of a driving mechanical four-limb structure, four sets of drivers are fixedly installed on a driving lower shell, a thigh supporting frame is installed on each fixing plate, each set of drivers drives a leg walking assembly to move through six driver stay wires, and a left upper end push rod, an upper middle push rod and a right upper end push rod are installed on a driving upper shell. The left side lower end push rod, the lower middle push rod and the right side lower end push rod are installed on the driving lower shell, and each upper end push rod, each lower end push rod and each middle push rod are connected with the leg walking assembly through a driver stay wire. The invention belongs to the field of stay wire controlled robots.
一种拉线式机器人,本发明涉及四肢机器人,本发明的目的是为了解决常规拉线驱动连续体机器人负载能力差,控制复杂,难以保证工作精度。以及常见四肢机器人匹配高速度的电机和低速度关节的减速器难于制造,驱动组件结构冗杂庞大,关节转动惯量大的问题。拉线式机器人为驱动机械四肢结构,四组驱动器均固定安装在驱动下壳上,每个固定板上安装有一个大腿支撑架,每组驱动器通过六个驱动器拉线驱动一个腿部行走组件运动,左侧上端推杆、上中间推杆和右侧上端推杆安装在驱动上壳上,左侧下端推杆、下中间推杆和右侧下端推杆安装在驱动下壳上,每个上端推杆、下端推杆和中间推杆通过驱动器拉线与腿部行走组件连接。本发明属于拉线控制的机器人领域。
Guyed robot
一种拉线式机器人
04.06.2024
Patent
Elektronische Ressource
Chinesisch
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