对履带式煤矿救灾机器人的能量传递过程进行了理论分析,得到了各环节的效率公式,尤其对行走机构的效率进行了详细的分析,并据此建立了机器人系统综合效率的模型。通过对模型的分析发现,可以通过对放电电流的控制优化来提高机器人能量使用效率。进一步仿真得到履带式机器人系统效率和电流、电池容量的关系,结论可以为建立机器人能耗模型、提高机器人系统效率提供理论依据。 The energy transfer process of crawler coal mine disaster relief robot is theoretically analyzed, and the efficiency formula of each link is obtained. In particular, the efficiency of walking mechanism is analyzed in detail and a model of the overall efficiency of the robot system is established. Through the analysis of the model, it is found that the robot energy efficiency can be improved by controlling the discharge current. The relationship between system efficiency and current and battery capacity of crawler robot is further simulated. The conclusion can provide a theoretical basis for establishing model of robot energy consumption and improving the efficiency of robot system.