Polygon rolling robot based on composite cam regulation

Abstract

The application belongs to the field of ground mobile robots, and particularly relates to a polygon rolling robot based on composite cam regulation and control, which comprises a planar six-bar mechanism (A), a center driving assembly (B), a first moving guide rod group (C1), a second moving guide rod group (C2), a first cam connecting rod assembly (D1), a second cam connecting rod assembly (D2) and a center cam (E). The polygon rolling robot based on composite cam regulation and control has high structural symmetry, can rely on single-degree-of-freedom driving to realize rolling on unstructured terrain, and adopts the center cam on both sides of the robot to adjust the structural trajectory for realizing high-speed rolling of the robot. The stable and fast moving performance makes the robot applicable to fields such as environmental survey and space exploration, and has a broad prospect.

Description

Technical Field

[0001] This application belongs to the field of ground mobile robots, specifically relating to a polygonal rolling robot based on compound cam control. Background Technology

[0002] Planar multi-link monolithic mobile robots have been extensively studied due to their simple structure and good mobility and obstacle-crossing capabilities. However, existing planar monolithic mobile robot structures contain many degrees of freedom and mainly rely on static analysis to achieve rolling, which limits their mobility reliability and efficiency. For example, CN201210152476 discloses a planar seven-link rolling robot. By controlling the changes in the interior angles of two parallelograms with shared sides, the robot can complete structural deformation and spatial tumbling. However, the gait obtained from static analysis makes it difficult to achieve high-speed movement in unstructured terrain. Furthermore, its structure contains multiple rotational degrees of freedom, and multiple motors are needed to drive and control the rotational joints of the seven-link robot during rolling. Summary of the Invention

[0003] To address the aforementioned problems, this invention provides a polygonal rolling robot based on compound cam control. This robot has a highly symmetrical structure and can achieve rolling on unstructured terrain using a single-degree-of-freedom drive. To achieve high-speed rolling, central cams on both sides of the robot are used to adjust its structural trajectory. Its stable and rapid movement performance makes it suitable for fields such as environmental surveying and space exploration, and has broad prospects.

[0004] To achieve the above-mentioned objectives, the technical solution of the present invention is as follows: a polygonal rolling robot based on compound cam control, comprising: a planar six-bar linkage, a central drive assembly, a first moving guide rod group, a second moving guide rod group, a first cam link assembly, a second cam link assembly, and a central cam;

[0005] The planar six-bar linkage includes: a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod, a fifth connecting rod, and a sixth connecting rod. Each pair of adjacent rods is connected end-to-end via a revolute joint. The first, second, and third connecting rods are structurally and dimensionally identical to the fourth, fifth, and sixth connecting rods, respectively. The central drive assembly includes: a first DC geared motor, a first coupling, a commutator, a second coupling, and a second DC geared motor. The first and second DC geared motors, as well as the first and second couplings, are structurally and dimensionally identical. The first movable guide rod assembly includes... The first cam connecting rod assembly includes: a guide rod, a slide rail, a rubber pad, a spring, a slider, a motor mounting plate, and a slider mounting plate. The second moving guide rod assembly has the same structure and dimensions as the first moving guide rod assembly. The motor mounting plate has a first circular connecting hole on the upper side and a second circular connecting hole on the lower side. The slider mounting plate has a first countersunk hole on the lower side and a first circular connecting hole on the upper side. The first cam connecting rod assembly includes: a coupling, a connecting shaft, a guide rail, a first guide rod, a first push rod, a first guide bearing, a first roller, a second guide rod, a second push rod, a second guide bearing, and a second roller. The second cam connecting rod assembly has the same structure and dimensions as the first cam connecting rod assembly.

[0006] Furthermore, the first, second, third, fourth, fifth, and sixth connecting rods are sequentially rotatably connected end-to-end. The first and second DC geared motors are fixedly connected to the commutator via the first and second couplings, respectively, and are arranged symmetrically about the center of the commutator. One end of the guide rod is rotatably connected to the third connecting rod, and the other end is fixedly connected to the slide rail and the rubber pad. Both ends of the spring are fixedly connected to the slide rail and the slider fixing plate, respectively. The motor fixing plate is fixedly connected to the commutator via the first circular connecting hole and to the first DC geared motor via the second circular connecting hole. The slider fixing plate is fixedly connected to the slider via the first countersunk hole and rotatably connected to the commutator via the first circular connecting hole. The second moving guide rod group is structurally and internally connected to the first moving guide rod group. The methods are exactly the same. The commutator is fixedly connected to the connecting shaft via a coupling. The center cam is fixedly connected to the connecting shaft via a flange-type extended shaft. The flange-type extended shaft ends at the middle position of the center cams on both sides of the robot are arranged towards the center drive assembly. The guide rail is rotatably connected to the other end of the connecting shaft. One end of the first guide rod and the second guide rod are rotatably connected to one end of the first connecting rod and the third connecting rod, respectively. The other end is fixedly connected to one end of the first push rod and the second push rod via a square hole. The first roller is rotatably connected to the other end of the first push rod. The first guide bearing is located in the concave groove of the guide rail and is rotatably connected to the middle of the first push rod. The second roller is rotatably connected to the other end of the second push rod. The second guide bearing is located in the concave groove of the guide rail and is rotatably connected to the middle of the second push rod. The internal connection method of the second cam connecting rod assembly is exactly the same as that of the first cam connecting rod assembly.

[0007] Furthermore, the rotatable connection is in the form of a revolute joint, and its direction is perpendicular to the plane of the rod.

[0008] The rotation center of the central cam (E) is (0, 0). With the structural transmission efficiency and the rolling speed of the polygonal robot as the main optimization objectives, the outer contour curve of the central cam (E) is designed with a multi-segment line. To reduce the complexity of structural reuse, the key feature points of the cam contour are extracted. The existing central cam (E) contour contains six feature points numbered 1-6, with coordinates of (38.52, 47.97), (48.68, 0), (31.39, -58.03), (-13.64, -25.66), (-85.75, 2.38), and (2.58, 46.88), respectively. The proportion of coordinates is reduced to 0.01% of that before optimization, and the planar contour fit exceeds 95%. Between feature point 1 and feature point 2, there are 3 secondary feature points with coordinates (43.45, 34.48), (46.90, 22.49), and (48.80, 11.10); between feature point 2 and feature point 3, there are 3 secondary feature points with coordinates (47.35, -13.04), (43.62, -26), and (38.84, -40.50); ​​between feature point 3 and feature point 4, there are 3 secondary feature points with coordinates (11.40, -44.70), (0.13, -35.66), and (-7.34, -29.69); feature point 4... There are three secondary feature points between feature point 1 and feature point 5, with coordinates of (-21.44, -22.28), (-32.37, -18.85), and (-50.93, -12.99); there are three secondary feature points between feature point 5 and feature point 6, with coordinates of (-59.81, 27.23), (-32.42, 35.22), and (-14.72, 41.01); there are three secondary feature points between feature point 6 and feature point 1, with coordinates of (10.64, 48.96), (19.09, 49.83), and (28.43, 49.50).

[0009] The coordinates of the feature points and secondary feature points on the central cam can be enlarged or reduced proportionally according to the overall size of the mechanism.

[0010] The beneficial effects of this invention are as follows:

[0011] The present invention discloses a polygonal rolling robot based on compound cam control. Through a highly centrally symmetrical structural arrangement, it has only a single rotational degree of freedom. It can achieve stable rolling movement on rugged terrain surfaces by relying on central drive. In order to improve the movement speed during the rolling process, central cams on both sides of the robot are used to adjust its structural trajectory. Its stable terrain adaptability makes it suitable for environmental surveying, space exploration and other fields, and has broad prospects. Attached Figure Description

[0012] Figure 1 A 3D model of a polygonal rolling robot based on compound cam control;

[0013] Figure 2 Three-dimensional diagram of a planar six-bar linkage;

[0014] Figure 3 3D view of the central drive assembly and moving guide rod assembly;

[0015] Figure 4 3D diagram of the central driving component;

[0016] Figure 5 3D view of the first movable guide rod assembly;

[0017] Figure 6 3D view of the motor mounting plate;

[0018] Figure 7 3D view of the slider fixing plate;

[0019] Figure 8 3D view of the first cam connecting rod assembly;

[0020] Figure 9 Schematic diagram of low center of mass tumbling gait;

[0021] Figure 10 Schematic diagram of high-speed tumbling gait;

[0022] Figure 11 Schematic diagram of the structural parameters of the central cam. Detailed Implementation

[0023] The present invention will now be further described in conjunction with the accompanying drawings and specific embodiments. It should be noted that, without conflict, the various embodiments or technical features described below can be arbitrarily combined to form new embodiments.

[0024] A polygonal rolling robot based on compound cam control, such as Figure 1 As shown, it includes: a planar six-bar linkage A, a central drive assembly B, a first moving guide rod group C1, a second moving guide rod group C2, a first cam link assembly D1, a second cam link assembly D2, and a central cam E;

[0025] like Figure 2 As shown, the planar six-bar linkage A includes: a first connecting rod A-1, a second connecting rod A-2, a third connecting rod A-3, a fourth connecting rod A-4, a fifth connecting rod A-5, and a sixth connecting rod A-6; the first connecting rod A-1, the second connecting rod A-2, and the third connecting rod A-3 are structurally and dimensionally identical to the fourth connecting rod A-4, the fifth connecting rod A-5, and the sixth connecting rod A-6, respectively, and are sequentially rotatably connected end to end;

[0026] like Figure 3 As shown, guide rod assemblies C1 and C2 are arranged symmetrically with respect to the central drive assembly B. C1 and C2 have the same structure and size, and the connection method between guide rod assemblies C1 and C2 and the central drive assembly B is exactly the same.

[0027] like Figure 4 As shown, the center drive assembly B includes: a first DC geared motor B-1, a first coupling B-2, a commutator B-3, a second coupling B-4, and a second DC geared motor B-5. The first DC geared motor B-1 and the second DC geared motor B-5, as well as the first coupling B-2 and the second coupling B-4, have the same structure and dimensions. The first DC geared motor B-1 and the second DC geared motor B-2 are fixedly connected to the commutator B-3 through the first coupling B-2 and the second coupling B-4, respectively, and are arranged symmetrically about the center of the commutator.

[0028] like Figure 5 As shown, the first movable guide rod assembly C1 includes: guide rod C1-1, slide rail C1-2, rubber pad C1-3, spring C1-4, slider C1-5, motor fixing plate C1-6, and slider fixing plate C1-7. The second movable guide rod assembly C2 has the same structure and dimensions as the first movable guide rod assembly C1, as shown below. Figure 6 As shown, the upper side of the motor mounting plate C1-6 has a first circular connecting hole C1-6-1, and the lower side has a second circular connecting hole C1-6-2, as... Figure 7 As shown, the lower side of the slider fixing plate C1-7 has a first countersunk hole C1-7-1, and the upper side has a first circular connecting hole C1-7-2. The motor fixing plate C1-6 is fixedly connected to the commutator B-3 through the first circular connecting hole C1-6-1, and fixedly connected to the first DC geared motor B-1 through the second circular connecting hole C1-6-2. The slider fixing plate C1-7 is fixedly connected to the slider C1-5 through the first countersunk hole C1-7-1, and rotatably connected to the commutator B-3 through the first circular connecting hole C1-7-2.

[0029] like Figure 8As shown, the first cam link assembly D1 includes: coupling D1-1, connecting shaft D1-2, guide rail D1-3, first guide rod D1-4, first push rod D1-5, first guide bearing D1-6, first roller D1-7, second guide rod D1-8, second push rod D1-9, second guide bearing D1-10, and second roller D1-11. The second cam link assembly D2 has the same structure and dimensions as the first cam link assembly D1. The commutator B-3 is fixedly connected to one end of the connecting shaft D1-2 via coupling D1-1. The central cam E is fixedly connected to the connecting shaft D1-2 via a flange-type extended shaft. The flange-type extended shaft ends at the middle positions of the central cam E on both sides of the robot are arranged towards the central drive component B. The guide rail D1-3 is rotatably connected to the other end of the connecting shaft D1-2. One end of the first guide rod D1-4 is rotatably connected to one end of the third connecting rod A-3, and the other end is fixedly connected to one end of the first push rod D1-5 through a square hole. One end of the second guide rod D1-8 is rotatably connected to one end of the first connecting rod A-1, and the other end is fixedly connected to one end of the push rod D1-9 through a square hole.

[0030] Working process: A polygonal rolling robot based on compound cam control can achieve stable rolling and high-speed traversal in narrow and unstructured terrains. Under different initial configurations, the robot's structural trajectory is controlled by a central cam, enabling the robot to achieve functions such as... Figure 9 and Figure 10 The low center of mass tumbling and high-speed tumbling gaits are shown.

[0031] Robot's low center of gravity tumbling gait, such as Figure 9 As shown, Figure 9 Figure a shows the robot's initial posture, at which point the robot's outer contour is a regular hexagon, and the first connecting rod is a support rod. Driven by a DC geared motor, the guide rod connected to the central cam pulls the connecting rod to adjust the robot's outer contour, achieving the desired effect. Figure 9 As shown in state b, as the driving angle of the DC geared motor continues to increase, the included angles between the connecting rods further change, resulting in the tumbling transition configuration of the planar six-bar robot, as shown in state b. Figure 9 As shown in Figure c, the robot's outer contour is approximately a parallelogram at this point. Then, the DC geared motor continues to drive the central cam to rotate, and the guide rod pulls the connecting rod to change the outer contour, achieving the desired shape. Figure 9 The state shown in d.

[0032] Figure 10The diagram shows the robot's high-speed tumbling gait. Under the output torque of the DC geared motor, the central cam pushes the guide rod to change the robot's external structure, causing the robot's center of mass to tilt forward and always remain outside the projection plane. This causes the robot to continuously exhibit a forward-tilting and tumbling tendency. The repeated motion cycles generate greater movement speed. The rotation center coordinates of the central cam are (0, 0). The structural parameters of the central cam obtained based on dynamic analysis are as follows: Figure 11 As shown, the size of the central cam can be proportionally enlarged or reduced according to the overall size of the mechanism.

[0033] The robot's internal structure is arranged symmetrically with respect to the commutator B-3. To avoid singular configurations during robot movement, the guide rails rely on rubber pads fixed to the rails for limiting and structural buffering. The springs connected to both ends of the guide rails can assist the robot in completing adaptive structural adjustments during movement.

[0034] The specific embodiments of the present invention have been described above. However, those skilled in the art should understand that these are merely illustrative examples, and the scope of protection of the present invention is defined by the appended claims. Those skilled in the art can make various changes or modifications to these embodiments without departing from the principles and essence of the present invention, but all such changes and modifications fall within the scope of protection of the present invention.

Claims

1. A polygonal rolling robot based on compound cam control, comprising: Planar six-bar linkage (A), central drive assembly (B), first moving guide rod group (C1), second moving guide rod group (C2), first cam link assembly (D1), second cam link assembly (D2), central cam (E); The planar six-bar linkage (A) includes: a first connecting rod (A-1), a second connecting rod (A-2), a third connecting rod (A-3), a fourth connecting rod (A-4), a fifth connecting rod (A-5), and a sixth connecting rod (A-6). Each pair of adjacent rods is connected by a sequential rotational connection. The first connecting rod (A-1), the second connecting rod (A-2), and the third connecting rod (A-3) are identical in structure and size to the fourth connecting rod (A-4), the fifth connecting rod (A-5), and the sixth connecting rod (A-6), respectively. The central drive assembly (B) includes: a first DC geared motor (B-1), a first coupling (B-2), a commutator (B-3), a second coupling (B-4), and a second DC geared motor (B-5). The first DC geared motor (B-1) and the second DC geared motor (B-5), as well as the first coupling (B-2) and the second coupling (B-4), have the same structure and dimensions. The first movable guide rod assembly (C1) includes: a guide rod (C1-1), a slide rail (C1-2), a rubber pad (C1-3), a spring (C1-4), a slider (C1-5), a motor fixing plate (C1-6), and a slider fixing plate (C1-7). The second movable guide rod assembly (C2) has the same structure and dimensions as the first movable guide rod assembly (C1). The motor fixing plate (C1-6) has a first circular connecting hole (C1-6-1) on its upper side and a second circular connecting hole (C1-6-2) on its lower side. The slider fixing plate (C1-7) has a first countersunk hole (C1-7-1) on its lower side and a first circular connecting hole (C1-7-2) on its upper side. The first cam link assembly (D1) includes: a coupling (D1-1), a connecting shaft (D1-2), a guide rail (D1-3), a first guide rod (D1-4), a first push rod (D1-5), a first guide bearing (D1-6), a first roller (D1-7), a second guide rod (D1-8), a second push rod (D1-9), a second guide bearing (D1-10), and a second roller (D1-11). The second cam link assembly (D2) has the same structure and dimensions as the first cam link assembly (D1). The first DC geared motor (B-1) and the second DC geared motor (B-5) are fixedly connected to the commutator (B-3) through the first coupling (B-2) and the second coupling (B-4) respectively, and are arranged symmetrically about the center of the commutator (B-3); One end of the guide rod (C1-1) is rotatably connected to the third connecting rod (A-3), and the other end is fixedly connected to the slide rail (C1-2) and the rubber pad (C1-3); The two ends of the spring (C1-4) are fixedly connected to the slide rail (C1-2) and the slider fixing plate (C1-7) respectively; The motor mounting plate (C1-6) is fixedly connected to the commutator (B-3) through the first circular connecting hole (C1-6-1) and to the first DC geared motor (B-1) through the second circular connecting hole (C1-6-2); The slider fixing plate (C1-7) is fixedly connected to the slider (C1-5) through the first countersunk hole (C1-7-1), and is rotatably connected to the commutator (B-3) through the first circular connecting hole (C1-7-2) of the slider fixing plate; The second moving guide rod group (C2) has the same structure and internal connection method as the first moving guide rod group (C1); The commutator (B-3) is fixedly connected to one end of the connecting shaft (D1-2) via a coupling (D1-1), and the center cam (E) is fixedly connected to the connecting shaft (D1-2) via a flange-type extended shaft. The flange-type extended shaft ends at the middle position of the center cams (E) on both sides of the robot are arranged towards the center drive assembly (B). The guide rail (D1-3) is rotatably connected to the other end of the connecting shaft (D1-2). One end of the first guide rod (D1-4) is rotatably connected to one end of the sixth connecting rod (A-6), and the other end is fixedly connected to one end of the first push rod (D1-5) through a square hole. One end of the second guide rod (D1-8) is rotatably connected to one end of the first connecting rod (A-1), and the other end is fixedly connected to one end of the second push rod (D1-9) through a square hole. The first roller (D1-7) is rotatably connected to the other end of the first push rod (D1-5). The first guide bearing (D1-6) is located in the concave groove of the guide rail (D1-3) and rotatably connected to the middle of the first push rod (D1-5). The second roller (D1-11) is rotatably connected to the other end of the second push rod (D1-9). The second guide bearing (D1-10) is located in the concave groove of the guide rail (D1-3) and rotatably connected to the middle of the second push rod (D1-9). The second cam link assembly (D2) has the same internal connection method as the first cam link assembly (D1); The rotating connection is in the form of a rotating pair, and its direction is perpendicular to the plane of the rod; The rotation center coordinates of the central cam (E) are (0, 0). With the structural transmission efficiency and the rolling speed of the polygonal robot as the main optimization objectives, the outer contour curve of the central cam (E) is designed with a multi-segment line. To reduce the complexity of structural reuse, the key feature points of the cam contour are extracted. The central cam (E) contour contains six feature points numbered 1-6, with coordinates of (38.52, 47.97), (48.68, 0), (31.39, -58.03), (-13.64, -25.66), (-85.75, 2.38), and (2.58, 46.88), respectively. The proportion of coordinates is reduced to 0.01% of that before optimization, and the planar contour fit exceeds 95%.

2. The polygonal rolling robot based on compound cam control according to claim 1, characterized in that: The feature point 1 and feature point 2 are connected by three secondary feature points with coordinates (43.45, 34.48), (46.90, 22.49), and (48.80, 11.10), respectively; the feature point 2 and feature point 3 are connected by three secondary feature points with coordinates (47.35, -13.04), (43.62, -26), and (38.84, -40.50), respectively; the feature point 3 and feature point 4 are connected by three secondary feature points with coordinates (11.40, -44.70), (0.13, -35.66), and (-7.34, -29.69), respectively; the feature point 4... There are three secondary feature points between feature point 5 and feature point 6, with coordinates of (-21.44, -22.28), (-32.37, -18.85), and (-50.93, -12.99); there are three secondary feature points between feature point 5 and feature point 6, with coordinates of (-59.81, 27.23), (-32.42, 35.22), and (-14.72, 41.01); there are three secondary feature points between feature point 6 and feature point 1, with coordinates of (10.64, 48.96), (19.09, 49.83), and (28.43, 49.50). The coordinates of the feature points and secondary feature points on the central cam can be enlarged or reduced proportionally according to the overall size of the mechanism.

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