The invention discloses a tensegrity structure wheeled robot with an anisotropic function. The tensegrity structure wheeled robot comprises a bearing workpiece, a middle vertical plate, a driving wheel mechanism and an auxiliary wheel mechanism. The two bearing workpieces are respectively arranged on a headstock and a tailstock; the middle vertical plates are rotationally connected with the adjacent bearing workpieces, and every two adjacent middle vertical plates are rotationally connected, so that the wheeled robot with the tensegrity structure forms a structure that multiple sections of vehicle bodies can swing in the running process, and tension springs are connected among the multiple sections of vehicle bodies of the wheeled robot with the tensegrity structure; the driving wheel mechanism is used for driving the wheeled robot with the tensegrity structure to run; the auxiliary wheel mechanism is arranged at the bottom of the middle vertical plate and is of a structure capable of elastically moving back and forth in the rotating axial direction. According to the scheme, sufficient rigidity is achieved in the longitudinal direction for bearing effective loads, sufficient flexibility is achieved in the transverse direction for turning, the robot can adapt to the complex and changeable working environment, and the advantages of being high in environment robustness, high in quality efficiency and the like are achieved.
本发明公开了一种具有各向异性功能的张拉整体结构轮式机器人,包括承重工件、中间立式板、驱动轮机构和辅助轮机构;两该承重工件分别置于车头和车尾;该中间立式板与相邻承重工件之间、以及相邻的两中间立式板之间均转动连接,以使张拉整体结构轮式机器人形成多段车身可在行驶过程进行摆动的结构,且张拉整体结构轮式机器人的多段车身之间连接有张紧弹簧;该驱动轮机构用于驱动张拉整体结构轮式机器人行驶;该辅助轮机构设于中间立式板的底部,并为可沿转动轴向弹性往返移动的结构;此方案在纵向上具有足够的刚度承载有效载荷,在横向上具备足够的柔顺性进行拐弯,能适应复杂多变的工作环境,具有环境鲁棒性强和质量效率高等优点。
Tensioning integral structure wheeled robot with anisotropic function
一种具有各向异性功能的张拉整体结构轮式机器人
2025-03-04
Patent
Electronic Resource
Chinese