A rolling-type robot

Abstract

The application relates to the field of mobile robots, and relates to a kind of rolling bar type mobile robot of rolling space multi-closed chain moving mechanism based on space single closed chain 6R mechanism, which is composed of first upper end connecting rod (1), second upper end connecting rod (14), third upper end connecting rod (7), fourth upper end connecting rod (9), fifth upper end connecting rod (5), sixth upper end connecting rod (11), seventh upper end connecting rod (17), eighth upper end connecting rod (16), motor (12), redundant motor (3), first small ring support rod (15), second small ring support rod (8), third small ring support rod (4), fourth small ring support rod (13), first cross rod (10), second cross rod (6) and large ring support rod (2). By controlling the forward and reverse rotation of the motor, straight movement, reverse movement, turning movement, obstacle crossing, continuous step descending and directional target point movement can be realized, and the robot will be well applied in the fields of education, entertainment and military.

Description

TECHNICAL FIELD

[0001] The application relates to a kind of rolling rod type mobile robots, in particular to a kind of rolling rod type mobile robots based on spatial single closed chain 6R mechanism, by driving motor's positive and negative rotation, and then drive mechanism advances, turns and overcomes the obstacle. BACKGROUND

[0002] Polyhedral robot, ring robot and spherical robot are all integrated mobile robots, which have good moving ability in complex environment. The integrated mobile robot based on connecting rod mechanism has multiple moving modes such as peristalsis, rolling, crawling and walking, which can switch through complex terrain environment according to the motion characteristics and motion mode of the rod.

[0003] The spatial single closed chain 6R mechanism with whole rotation characteristics is taken as the basic unit, the mechanism design method is proposed, the spatial multi-closed chain rod type moving mechanism with rolling moving mode is constructed, the rod structure is adjusted, and the rolling rod type mobile robot with good moving performance is designed.

[0004] Chinese patent CN104477270B discloses a single-power mobile six-bar robot, which takes the spatial six-bar mechanism as the basis, and realizes the overall translation and turning of the mechanism through the flipping and swinging action of the power machine driving part. SUMMARY

[0005] The technical problem to be solved by the application is that generally, single degree of freedom mechanism can only realize movement, but cannot realize turning.

[0006] A kind of rolling rod type mobile robot, comprising: first upper end connecting rod, second upper end connecting rod, third upper end connecting rod, fourth upper end connecting rod, fifth upper end connecting rod, sixth upper end connecting rod, seventh upper end connecting rod, eighth upper end connecting rod, motor, redundant motor, first small ring support rod, second small ring support rod, third small ring support rod, fourth small ring support rod, first cross rod, second cross rod, large ring support rod.

[0007] The part structure of the robot is as follows:

[0008] The first upper end connecting rod is a rod with a circular cross section, and a rotating pair is arranged at one end, and a rotating pair with an axis offset by 90 degrees is arranged at the other end; the second upper end connecting rod, the third upper end connecting rod, the fourth upper end connecting rod, the fifth upper end connecting rod, the sixth upper end connecting rod, the seventh upper end connecting rod and the eighth upper end connecting rod are completely the same as the first upper end connecting rod in structure and outer dimension.

[0009] The first small ring support rod member is an arc-shaped rod member with a circular cross section, and rotating pairs are arranged at both ends, the rotating pair axes are located in the same plane and the included angle is 90 degrees; the second small ring support rod member, the third small ring support rod member and the fourth small ring support rod member are completely same in structure and outer dimension with the first small ring support rod member.

[0010] The first cross rod member is a four-perpendicular-intersecting cylindrical rod member with a circular cross section, rotating pairs are arranged at top ends, and motor grooves for mounting driving motors are arranged at middle connecting portions; the second cross rod member is completely same in structure and outer dimension with the first cross rod member.

[0011] The large ring support rod member is an arc-shaped rod member with a circular cross section, and rotating pairs are arranged at both ends, the rotating pair axes are located in the same plane and the included angle is 90 degrees; grooves are arranged at a certain distance close to the rotating pair ends for connecting the supporting legs.

[0012] The connecting mode of the parts constituting the mechanism is as follows:

[0013] The first upper end connecting rod, the first small ring support rod member and the second upper end connecting rod of the robot are rotatably connected with the two rotating pairs on the same side of the first cross rod member and the second cross rod member, thereby forming the first loop of the robot; the third upper end connecting rod, the second small ring support rod member and the fourth upper end connecting rod of the robot are rotatably connected with the two rotating pairs on the same side of the first cross rod member and the second cross rod member, thereby forming the second loop of the robot; the fifth upper end connecting rod, the third small ring support rod member and the seventh upper end connecting rod of the robot are rotatably connected with the two rotating pairs on the other side of the first cross rod member and the second cross rod member, thereby forming the third loop of the robot; the sixth upper end connecting rod, the fourth small ring support rod member and the eighth upper end connecting rod of the robot are rotatably connected with the two rotating pairs on the other side of the first cross rod member and the second cross rod member, thereby forming the fourth loop of the robot; the motor and the redundant motor are respectively mounted in the motor grooves reserved in the first cross rod member and the second cross rod member; the large ring support rod member is rotatably mounted in the grooves in the middle of the first cross rod member and the second cross rod member through the rotating pairs.

[0014] The rolling-like rod type mobile robot only needs one drive to realize the moving processes of the robot such as straight movement, turning, climbing, continuously descending steps and obstacle crossing.

[0015] The rolling-like rod type mobile robot of the present application is a single degree of freedom mechanism, the control algorithm is simple, only one drive is needed to realize the moving processes of the robot such as straight movement, turning, climbing, continuously descending steps and obstacle crossing, the moving gait of the rolling-like mobile robot is enriched, the motion reliability of the robot is improved, and the terrain adaptability of the robot is improved by the rolling-like moving mode. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 Assembly principle diagram of the rolling bar type mobile robot

[0017] Figure 2 First upper end connecting rod structure diagram

[0018] Figure 3 First small ring support rod structure diagram

[0019] Figure 4 First cross rod structure diagram

[0020] Figure 5 Large ring support rod structure diagram

[0021] Figure 6 Straight moving action schematic diagram of the rolling bar type mobile robot

[0022] Figure 7 Reverse moving action schematic diagram of the rolling bar type mobile robot

[0023] Figure 8 First stage action schematic diagram of the rolling bar type mobile robot in steering moving action

[0024] Figure 9 Second stage action schematic diagram of the rolling bar type mobile robot in steering moving action

[0025] Figure 10 Action schematic diagram of the rolling bar type mobile robot in obstacle crossing process

[0026] Figure 11 Action schematic diagram of the rolling bar type mobile robot in continuous stair descending process DETAILED DESCRIPTION

[0027] The application will be further described in detail below with reference to the accompanying drawings.

[0028] As Figure 1 shown in the drawings, a rolling bar type mobile robot comprises a first upper end connecting rod (1), a second upper end connecting rod (14), a third upper end connecting rod (7), a fourth upper end connecting rod (9), a fifth upper end connecting rod (5), a sixth upper end connecting rod (11), a seventh upper end connecting rod (17), an eighth upper end connecting rod (16), a motor (12), a redundant motor (3), a first small ring support rod (15), a second small ring support rod (8), a third small ring support rod (4), a fourth small ring support rod (13), a first cross rod (10), a second cross rod (6), and a large ring support rod (2).

[0029] Parts structure of the mechanism:

[0030] The first upper end connecting rod (1) is a rod with a circular cross section, and rotating pairs (1-1) are arranged at both ends, and a rotating pair (1-2) is arranged at the other end with a 90-degree offset; the second upper end connecting rod (14), the third upper end connecting rod (7), the fourth upper end connecting rod (9), the fifth upper end connecting rod (5), the sixth upper end connecting rod (11), the seventh upper end connecting rod (17), and the eighth upper end connecting rod (16) are completely identical to the first upper end connecting rod (1) in structure and outer dimensions.

[0031] The first small ring support rod (15) is an arc-shaped rod with a circular cross section, and rotating pairs (2-1) are arranged at both ends; the second small ring support rod (8), the third small ring support rod (4), and the fourth small ring support rod (13) are completely identical to the first small ring support rod (15) in structure and outer dimensions.

[0032] The first cross rod (10) is a cross rod with a circular cross section, and rotating pairs (3-2) are arranged at the top end, and a motor slot (3-3) for mounting a driving motor is arranged at the middle connecting part; the second cross rod (6) is completely identical to the first cross rod (10) in structure and outer dimensions.

[0033] The large ring support rod (2) is an arc-shaped rod with a circular cross section, and rectangular protrusions and rotating pairs (4-1) are arranged at both ends, and grooves are arranged at a certain distance from the rotating pairs to connect the supporting legs (4-2).

[0034] The connecting mode of the parts constituting the mechanism is as follows:

[0035] The first upper end link (1), the first small ring support rod (15) and the second upper end link (14) are rotationally connected with the two rotation pairs of the same side of the first cross rod (10) and the second cross rod (6) through the rotation pairs, and form the first loop of the robot; the third upper end link (7), the second small ring support rod (8) and the fourth upper end link (9) are rotationally connected with the two rotation pairs of the same side of the first cross rod (10) and the second cross rod (6) through the rotation pairs, and form the second loop of the robot; the fifth upper end link (5), the third small ring support rod (4) and the seventh upper end link (17) are rotationally connected with the two rotation pairs of the other side of the first cross rod (10) and the second cross rod (6) through the rotation pairs, and form the third loop of the robot; the sixth upper end link (11), the fourth small ring support rod (13) and the eighth upper end link (16) are rotationally connected with the two rotation pairs of the other side of the first cross rod (10) and the second cross rod (6) through the rotation pairs, and form the fourth loop of the robot; the motor (12) and the redundant motor (3) are respectively installed in the motor slot (3-3) reserved in the first cross rod (10) and the second cross rod (6); the large ring support rod (2) is installed in the groove in the middle of the first cross rod (10) and the second cross rod (6) through the rotation pairs.

[0036] The specific use method is as follows:

[0037] The rolling-like rod type mobile robot can realize forward movement, reverse movement, turning and obstacle crossing. Figure 6 Described is the movement action of the robot in one period in the forward movement state. The robot is initially in a stable state, as shown in Figure 6 a); when the two motors of the robot are synchronously rotated forward, the four loops rotate clockwise around the motor output shaft, and the mass center position of the robot still falls in the support area, in a stable state, as shown in Figure 6 b); when the mass center of the robot is located directly above the contact point of the rod 8, it is in a critical state, as shown in Figure 6 c); the motors continue to rotate, the mass center projection of the robot is outside the support area, and the robot tilts forward in the forward direction, in an unstable state in the tilting process, as shown in Figure 6 d); after the robot tilts, the motors continue to rotate by a certain angle, and the robot is in contact with the ground, which is consistent with the initial state, as shown in Figure 6 e). The movement process of each loop is the same, and the small ring support rods of the four loops are sequentially in contact with the ground to generate friction force to drive the robot to move in a rolling-like gait.

[0038] During the movement of the robot, the driving direction of the motor is changed, and the robot changes from straight line movement to reverse straight line movement, and the switching process is as shown in Figure 7The robot motor is reversed, and the initial state is that two small ring support rods and one large ring support rod are in contact with the ground and move straight to the right, and the robot is in a stable state, as shown in 7a); the motor driving direction is switched to reverse, the large ring support rod rotates clockwise around the periphery of the ring and passes above the ring, and the robot is switched to a state in which the right side is in contact with the ground, and the robot is in a stable state during rotation, as shown in 7b)-d); the motor continues to reverse, and the robot moves straight to the left, as shown in 7e).

[0039] During the movement of the robot, changing the motor driving direction can achieve the turning movement of the robot. The first stage of the robot turning gait is to switch from straight-line movement to reverse turning movement, as shown in Figure 8 The motor driving direction is switched to reverse, the large ring support rod rotates clockwise around the periphery of the ring and passes above the ring, and the motor continues to reverse, and the robot starts to turn to the right side of the forward direction along a circular trajectory of a certain diameter.

[0040] The second stage of the robot turning gait is to switch from reverse turning movement to straight-line movement, which is deflected from the initial straight-line movement direction, as shown in Figure 9 When the asymmetric support leg is in contact with the ground, the robot centroid projection position is low, and the robot is deflected to one side, and after moving a certain distance, the motor driving direction is switched to forward, the small ring support rod rotates counterclockwise around the ring, and the motor continues to forward, and the robot moves along a straight line after being deflected to the right side of the initial forward direction by a certain angle, achieving the turning movement of the robot.

[0041] The rolling bar type mobile robot has the ability to overcome obstacles, and the obstacle crossing gait of the robot is planned. The robot uses a wrapping type crossing method to pass through a certain volume of obstacles, as shown in Figure 10 When the robot encounters an obstacle in the forward direction, it continues to move straight in the rolling gait, and the obstacle is wrapped into the interval between ring II and ring III during the forward movement, and the robot continues to move straight in the rolling gait, and the robot completes the crossing of the obstacle.

[0042] The robot has the ability to continuously descend stairs, and moves in the rolling gait during movement, as shown in Figure 11 The initial position of the robot is in a stable state, as shown in Figure 11 a); the driving motor is forward, and when the centroid projection position is outside the support area, the robot is tilted forward, as shown in Figures 2-11 b)-c); the motor continues to forward, and when the centroid projection position moves outside the support area, the robot is tilted forward, as shown in Figure 11d) - f) as shown. In this way, the movement of each loop of the robot is the same, and the small loop support rods of the four loops are in contact with the steps in turn to generate friction to drive the robot to move down the stairs continuously with a similar rolling gait.

Claims

1. A rollingly-omni type mobile robot characterized by A single degree of freedom steering mobile linkage robot, comprising: a first upper end linkage (1), a second upper end linkage (14), a third upper end linkage (7), a fourth upper end linkage (9), a fifth upper end linkage (5), a sixth upper end linkage (11), a seventh upper end linkage (17), an eighth upper end linkage (16), a motor (12), a redundant motor (3), a first small ring support rod (15), a second small ring support rod (8), a third small ring support rod (4), a fourth small ring support rod (13), a first cross rod (10), a second cross rod (6), a large ring support rod (2); The part structure of the robot is constructed: The first upper end linkage (1) is a rod with a circular cross section, and a rotating pair (1-1) is arranged at one end and a rotating pair (1-2) is arranged at the other end, which is staggered by 90 degrees; the second upper end linkage (14), the third upper end linkage (7), the fourth upper end linkage (9), the fifth upper end linkage (5), the sixth upper end linkage (11), the seventh upper end linkage (17) and the eighth upper end linkage (16) are completely the same in structure and outer dimension as the first upper end linkage (1); The first small ring support rod (15) is an arc-shaped rod with a circular cross section, and rotating pairs (2-1) are arranged at both ends; the second small ring support rod (8), the third small ring support rod (4) and the fourth small ring support rod (13) are completely the same in structure and outer dimension as the first small ring support rod (15); The first cross rod (10) is a cross rod with a circular cross section, and rotating pairs (3-2) are arranged at the top end, and a motor groove (3-3) for mounting a driving motor is arranged at the middle connecting part; the second cross rod (6) is completely the same in structure and outer dimension as the first cross rod (10); The large ring support rod (2) is an arc-shaped rod with a circular cross section, and rectangular protrusions and rotating pairs (4-1) are arranged at both ends, and grooves are arranged at a certain distance from the rotating pairs to connect the supporting legs (4-2); The part connection mode of the robot is constructed: The first upper end connecting rod, the first small ring support rod, and the second upper end connecting rod are connected to the same two rotating pairs of the first cross rod and the second cross rod through rotating pairs to form a rotating connection, thereby constituting a first loop of the robot; the third upper end connecting rod, the second small ring support rod, and the fourth upper end connecting rod are connected to the same two rotating pairs of the first cross rod and the second cross rod through rotating pairs to form a rotating connection, thereby constituting a second loop of the robot; the fifth upper end connecting rod, the third small ring support rod, and the seventh upper end connecting rod are connected to the other two rotating pairs of the first cross rod and the second cross rod through rotating pairs to form a rotating connection, thereby constituting a third loop of the robot; the sixth upper end connecting rod, the fourth small ring support rod, and the eighth upper end connecting rod are connected to the other two rotating pairs of the first cross rod and the second cross rod through rotating pairs to form a rotating connection, thereby constituting a fourth loop of the robot; the motor and the redundant motor are respectively installed in the motor slots reserved in the first cross rod and the second cross rod; and the large ring support rod is installed in the groove in the middle of the first cross rod and the second cross rod through rotating pairs.

2. The omni-wheel type mobile robot according to claim 1, wherein: Only one drive is needed to realize the straight movement, turning, climbing, continuous step descending, and obstacle moving processes of the robot.

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