Multi-gait mobile robot based on dual-spherical 6r

Abstract

A kind of multi-gait mobile robot based on double spherical 6R, the robot is based on space six-pole double spherical mechanism, by first connecting rod (1), first long connecting rod (2), first type curved support rod (3), second long connecting rod (4), second connecting rod (5), second type curved support rod (6) are formed.The forward movement and steering are realized by using the positive and negative rotation driving mechanism of driving motor, and it will be well applied in the fields of terrain survey, military reconnaissance and the like.

Description

Technical Field

[0001] This invention relates to a multi-gait mobile robot based on a double-spherical 6R mechanism, specifically to a multi-gait mobile robot based on a double-spherical 6R mechanism that moves and turns by using a forward and reverse drive mechanism of a drive motor. Background Technology

[0002] Currently, ground mobile robots are widely used in complex terrain exploration and earthquake rescue. However, when facing narrow and rugged terrain, traditional wheeled, legged, and tracked robots cannot effectively achieve both strong traversal capabilities and simple control. While traditional space-linked 6R robots have strong obstacle-crossing performance, they have many degrees of freedom, complex control, and carry too many motors, resulting in significant weight and making it difficult to carry other equipment. Designing a robot that can traverse narrow and rugged terrain while having fewer degrees of freedom and simple control would effectively solve these problems.

[0003] To address the above technical challenges, this invention provides a design for a multi-gait mobile robot based on a double-spherical 6R. Summary of the Invention

[0004] The multi-gait mobile robot based on the double spherical 6R includes: a first connecting rod, a first long connecting rod, a first type of curved support rod, a second long connecting rod, a second connecting rod, and a second type of curved support rod.

[0005] The structure of the components that make up the mechanism:

[0006] The first connecting rod consists of a central sphere, a right connecting rod, and a left connecting rod, forming a whole. The right connecting rod and the left connecting rod are exactly the same in shape and size, and are composed of two cylindrical rods of different thicknesses. The section closer to the sphere has a slightly smaller radius, while the other end has a slightly larger radius. The included angle between the reference axes of the right connecting rod and the left connecting rod is 60 degrees.

[0007] The first long connecting rod consists of a central sphere, a lower connecting rod, and an upper connecting rod, forming a whole. The upper connecting rod is composed of two cylindrical rods of varying thicknesses, with the end rod having a slightly larger radius and the rod closer to the sphere having a slightly smaller radius. It also has two bends, one at 60 degrees and the other at 90 degrees. The lower connecting rod is composed of two cylindrical rods of varying thicknesses, with the end rod closer to the sphere having a slightly smaller radius and the end rod having a slightly larger radius, which corresponds to the same radius as the right connecting post of the first connecting rod.

[0008] The first type of curved support rod is a rod with a circular cross-section, and has a left sphere and a right sphere in the middle, and a left connecting column and a right connecting column at both ends. The left and right spheres have the same radius and are symmetrical with respect to the central axis of the first type of curved support rod. The left and right connecting columns are exactly the same size and shape and are symmetrical with respect to the central axis of the first type of curved support rod.

[0009] The second long connecting rod is composed of a central sphere, a lower connecting rod, and an upper connecting rod, forming a whole. The upper connecting rod consists of two cylindrical rods of different thicknesses, with the end rod having a slightly larger radius and the rod closer to the sphere having a slightly smaller radius. It also has two bends, one at 60 degrees and the other at 90 degrees. The lower connecting rod consists of two cylindrical rods of different thicknesses, with the end rod closer to the sphere having a slightly smaller radius and the end rod having a slightly larger radius, which corresponds to the same radius as the right connecting post of the first connecting rod.

[0010] The second connecting rod is composed of a central sphere, a right connecting rod, and a left connecting rod, forming a whole. The right connecting rod and the left connecting rod are exactly the same in shape and size, and are composed of two cylindrical rods of different thicknesses. The radius of the rod closer to the sphere is slightly smaller, and the radius of the rod at the other end is slightly larger. The included angle between the reference axes of the right connecting rod and the left connecting rod is 60 degrees.

[0011] The second type of curved support rod is a rod with a circular cross-section, and has a left connecting column and a right connecting column at both ends. The left connecting column and the right connecting column are exactly the same in size and shape and are symmetrical with respect to the central axis of the second type of curved support rod.

[0012] The twelve parts—the larger radius portions of the right and left connecting rods of the first connecting rod, the larger radius portions of the lower and upper connecting rods of the first long connecting rod, the left and right connecting columns of the first type of curved support rod, the larger radius portions of the lower and upper connecting rods of the second long connecting rod, the larger radius portions of the right and left connecting rods of the second connecting rod, and the left and right connecting columns of the second type of curved support rod—are all cylinders with identical sizes and shapes.

[0013] Connection methods of the components constituting the mechanism:

[0014] The left and right connecting posts of the first type of curved support rod are coaxially fitted with the larger radius portions of the upper connecting rod ends of the first long connecting rod and the second long connecting rod, respectively, to form a revolute joint; the lower connecting rods of the first and second long connecting rods are coaxially fitted with the larger radius portions of the right and left connecting rod ends of the first and second connecting rods, respectively, to form a revolute joint; the larger radius portions of the left and right connecting rod ends of the first and second connecting rods are coaxially fitted with the left and right connecting posts of the second type of curved support rod, respectively, to form a revolute joint.

[0015] The axes of the revolute joints formed by the first connecting rod and the second type of curved support rod, the revolute joints formed by the first connecting rod and the first long connecting rod, and the revolute joints formed by the first long connecting rod and the first type of curved support rod intersect at one point. The axes of the revolute joints formed by the second connecting rod and the second type of curved support rod, the revolute joints formed by the second connecting rod and the second long connecting rod, and the revolute joints formed by the second long connecting rod and the first type of curved support rod intersect at one point. These two intersection points are the double sphere centers of the multi-gait mobile robot based on the double spherical 6R.

[0016] The rotational connection between the contact surfaces of the first connecting rod, the first long connecting rod, the first type of curved support rod, the second long connecting rod, the second connecting rod, and the second type of curved support rod can be achieved in various ways, such as by using hinges.

[0017] The angle of the bent portion in the upper connecting rod of the first long connecting rod near the sphere and the upper connecting rod of the second long connecting rod near the sphere is not limited to the angle described in this application, and other angles can be extended.

[0018] The curvature of the first and second type curved support rods is not limited to the angles described in this application, and can be extended to other angles.

[0019] The beneficial effects of this invention are as follows: The proposed multi-gait mobile robot based on a double-spherical 6R structure belongs to the category of double-spherical mechanisms. It effectively utilizes the forward and reverse rotation of the drive motor to achieve the robot's forward and backward functions, and uses the singular positions of the auxiliary legs to achieve the steering function. This mechanism is simple to design and control, and relatively easy to manufacture and process, making it well-suited for tasks such as complex terrain exploration and earthquake rescue. Attached Figure Description

[0020] Figure 1 Assembly principle diagram of a multi-gait mobile robot based on a double-spherical 6R surface.

[0021] Figure 2 First connecting rod structure diagram

[0022] Figure 3 First long connecting rod structure diagram

[0023] Figure 4 First type of curved support rod structure diagram

[0024] Figure 5 Second Long Connecting Rod Structure Diagram

[0025] Figure 6 Second connecting rod structure diagram

[0026] Figure 7 Second type of curved support rod structure diagram

[0027] Figure 8Schematic diagram of the two sphere centers of a multi-gait mobile robot based on a double-spherical 6R surface.

[0028] Figure 9 Auxiliary pivot point diagram of a multi-gait mobile robot based on a double-spherical 6R surface.

[0029] Figure 10 A schematic diagram illustrating the rolling and straight-line gait of a multi-gait mobile robot based on a dual-spherical 6R surface.

[0030] Figure 11 A schematic diagram illustrating the motion of a multi-gait mobile robot based on a bispherical 6R surface performing a creeping straight-line gait.

[0031] Figure 12 A schematic diagram of the tumbling and turning gait of a multi-gait mobile robot based on a double-spherical 6R surface.

[0032] Figure 13 A schematic diagram illustrating the motion of a multi-gait mobile robot based on a bispherical 6R surface performing a creeping turning gait. Detailed Implementation

[0033] The present invention will now be described in further detail with reference to the accompanying drawings.

[0034] like Figure 1 As shown, the multi-step mobile robot mechanism based on the double spherical 6R consists of a first connecting rod (1), a first long connecting rod (2), a first type of curved support rod (3), a second long connecting rod (4), a second connecting rod (5), and a second type of curved support rod (6).

[0035] like Figure 2 As shown, the first connecting rod (1) is composed of a central sphere (1-2), a right connecting rod (1-1), and a left connecting rod (1-3) forming a whole. The right connecting rod (1-1) and the left connecting rod (1-3) are exactly the same in shape and size, and are composed of two cylindrical rods of different thicknesses. The radius of the part closer to the sphere (1-2) is slightly smaller, and the radius of the other part is slightly larger. The included angle between the reference axes of the right connecting rod (1-1) and the left connecting rod (1-3) is 60 degrees.

[0036] like Figure 3 As shown, the first long connecting rod (2) is composed of a central sphere (2-2), a lower connecting rod (2-1), and an upper connecting rod (2-3) forming a whole. The upper connecting rod (2-3) is composed of two cylindrical rods of different thicknesses. The end rod has a slightly larger radius, while the rod closer to the sphere (2-2) has a slightly smaller radius. It also has two bends, one at 60 degrees and the other at 90 degrees. The lower connecting rod (2-1) is composed of two cylindrical rods of different thicknesses. The section closer to the sphere (2-2) has a slightly smaller radius, while the end rod has a slightly larger radius, which corresponds to the same radius as the right connecting post (1-3) of the first connecting rod.

[0037] like Figure 4 As shown, the first type of curved support rod (3) is a rod with a circular cross section, and has a left sphere (3-2) and a right sphere (3-3) in the middle, and a left connecting column (3-1) and a right connecting column (3-4) at both ends. The left sphere (3-2) and the right sphere (3-3) have the same radius and are symmetrical with respect to the central axis of the first type of curved support rod (3). The left connecting column (3-1) and the right connecting column (3-4) are exactly the same in size and shape and are symmetrical with respect to the central axis of the first type of curved support rod (3).

[0038] like Figure 5 As shown, the second long connecting rod (4) is composed of a central sphere (4-2), a lower connecting rod (4-1), and an upper connecting rod (4-3) forming a whole. The upper connecting rod (4-3) is composed of two cylindrical rods of different thicknesses. The end rod has a slightly larger radius, while the rod closer to the sphere (4-2) has a slightly smaller radius. It also has two bends, one at 60 degrees and the other at 90 degrees. The lower connecting rod (4-1) is composed of two cylindrical rods of different thicknesses. The section closer to the sphere (4-2) has a slightly smaller radius, while the end rod has a slightly larger radius, which corresponds to the same radius as the right connecting post (1-3) of the first connecting rod.

[0039] like Figure 6 As shown, the second connecting rod (5) is composed of a central sphere (5-2), a right connecting rod (5-3), and a left connecting rod (5-1) forming a whole. The right connecting rod (5-3) and the left connecting rod (5-1) are exactly the same in shape and size, and are composed of two cylindrical rods of different thicknesses. The radius of the section closer to the sphere (5-2) is slightly smaller, and the radius of the other end is slightly larger. The included angle between the reference axes of the right connecting rod (5-3) and the left connecting rod (5-1) is 60 degrees.

[0040] like Figure 7 As shown, the second type of curved support rod (6) is a rod with a circular cross section, and has a left connecting column (6-1) and a right connecting column (6-2) at both ends. The left connecting column (6-1) and the right connecting column (6-2) are exactly the same in size and shape and are symmetrical with respect to the central axis of the second type of curved support rod (6).

[0041] like Figure 1As shown, the left connecting column (3-1) and right connecting column (3-4) of the first type of curved support rod (3) are coaxially fitted with the larger radius portions of the upper connecting rod (2-3) of the first long connecting rod (2) and the larger radius portions of the upper connecting rod (4-3) of the second long connecting rod (4) to form a revolute joint; the lower connecting rod (2-1) of the first long connecting rod (2) and the lower connecting rod (4-1) of the second long connecting rod (4) are coaxially fitted with the larger radius portions of the right connecting rod (1-1) of the first connecting rod (1) and the left connecting rod (5-1) of the second connecting rod (5) to form a revolute joint; the larger radius portions of the left connecting rod (1-3) of the first connecting rod (1) and the larger radius portions of the right connecting rod (5-3) of the second connecting rod (5) are coaxially fitted with the left connecting column (6-1) and right connecting column (6-2) of the second type of curved support rod (6) to form a revolute joint.

[0042] like Figure 8 As shown, the axes of the revolute joints formed by the first connecting rod and the second type of curved support rod, the revolute joints formed by the first connecting rod and the first long connecting rod, and the revolute joints formed by the first long connecting rod and the first type of curved support rod intersect at one point. The axes of the revolute joints formed by the second connecting rod and the second type of curved support rod, the revolute joints formed by the second connecting rod and the second long connecting rod, and the revolute joints formed by the second long connecting rod and the first type of curved support rod intersect at one point. These two intersection points constitute the double sphere centers of the multi-gait mobile robot based on the double spherical 6R.

[0043] Specific usage instructions:

[0044] In the multi-gait mobile robot configuration design based on a dual-spherical 6R as described in this application, by introducing auxiliary legs and pivot points and changing the driving method, four gait modes can be achieved: rolling straight-line gait, creeping straight-line gait, rolling turning gait, and creeping turning gait.

[0045] like Figure 9 As shown, the auxiliary pivots of the multi-gait mobile robot based on the double spherical 6R are as follows: pivots A1 and A2 are fixed to the second type of curved support rod (6); pivot B2 is fixed to the first long connecting rod (2) and is located at one end close to the first connecting rod (1); pivot B1 is fixed to the second long connecting rod (4) and is located at one end close to the second connecting rod (5); pivot C2 is fixed to the first long connecting rod (2) and is located at one end close to the first type of curved support rod (3); pivot C1 is fixed to the second long connecting rod (4) and is located at one end close to the first type of curved support rod (3); pivots D1 and D2 are fixed to the right and left ends of the middle of the first type of curved support rod (3), respectively.

[0046] like Figure 10The figure shows the rolling straight-line gait of the multi-gait mobile robot based on a double spherical 6R. The motors are respectively installed between the first connecting rod (1) and the second type of curved support rod (6), and between the second connecting rod (5) and the second type of curved support rod (6). Let the input angle of JR1 when D1 and D2 are in contact with the ground be θ1, and the input angle of JR1 when C1 and C2 are in contact with the ground be θ2. When the motor input angle is from 0° to θ1, it is the first stage of tumbling. The first type of curved support rod (3) is lifted. At this time, the fulcrum A1 and A2 and the second type of curved support rod (6) are in contact with the ground. When the motor input angle is from θ1 to θ2, it is the second stage of tumbling. The first type of curved support rod (3) makes contact with the ground and lifts the robot. At this time, the second type of curved support rod (6) tilts. The fulcrum D1 and D2 and the second type of curved support rod (6) are in contact with the ground. Due to the friction between the first type of curved support rod (3) and the ground, the robot moves forward. When the motor input angle is from θ2 to 360°, it is the third stage of tumbling. At this time, the fulcrum C1 and C2 and the second type of curved support rod (6) are in contact with the ground. The robot continues to move forward by relying on the inertia of moving forward in the second stage and the friction between the legs and the ground in this stage. When the motor input angle reaches 360°, the first type of curved support rod (3) rotates one revolution, completing one cycle of tumbling straight gait.

[0047] like Figure 11 The image shows the creeping straight-line gait of the aforementioned multi-gait mobile robot based on a double-spherical 6R surface. In the above-described rolling straight-line gait, if the motor drive mode is changed when the motor input angle is θ2, a creeping straight-line gait can be achieved. For example... Figure 11 As shown in (a), this is the first stage of the creeping straight gait, at which point the motor input angle is θ2, and pivots D1 and D2, and pivots A1 and A2, are in contact with the ground; as Figure 11 As shown in (b), the motor is reversed to reach the second stage of the creeping straight gait. At this time, the motor input angle is θ1, and the D1 and D2 fulcrums and the second type of curved support rod (6) are in contact with the ground; Figure 11 As shown in (c), the motor is controlled to rotate forward, reaching the third stage of the creeping straight gait. At this time, the motor input angle is θ2, and the pivot points D1, D2 and A1, A2 are in contact with the ground. By controlling the motor between θ1 and θ2 according to the above process, the creeping straight gait can be completed.

[0048] like Figure 12As shown, this is the tumbling and turning gait of the multi-gait mobile robot based on the double spherical 6R. Based on the tumbling straight gait mentioned above, the input method of the two motors is changed. When the motor input angle is from 0° to θ1, it is the first stage of tumbling. The first type of curved support rod (3) is lifted. At this time, the fulcrum A1 and A2 and the second type of curved support rod (6) are in contact with the ground. When the motor input angle is from θ1 to θ2, it is the second stage of tumbling. The first type of curved support rod (3) is in contact with the ground and lifts the robot and causes a certain angle of deflection. At this time, the second type of curved support rod (6) tilts. The fulcrum D1 and D2 and the second type of curved support rod (6) are in contact with the ground. Due to the friction between the first type of curved support rod (3) and the ground, the robot turns. When the motor input angle is from θ2 to 360°, it is the third stage of tumbling. At this time, the fulcrum C1 and C2 and the second type of curved support rod (6) are in contact with the ground. The robot continues to move diagonally forward by relying on the inertia of moving to the right in the second stage and the friction between the legs and the ground in this stage. When the motor input angle reaches 360°, the first type of curved support rod (3) rotates one revolution and completes one cycle of tumbling and turning gait. Furthermore, the robot's tumbling and turning gait can also be achieved using unequal outriggers.

[0049] like Figure 13 The image shows the creeping turning gait of the aforementioned multi-gait mobile robot based on a double-spherical 6R surface. Figure 13 As shown in (a), this is the first stage of the creeping turning gait. At this time, the motor reverses and the first type of curved support rod (3) rotates downward, and the fulcrums A1, A2, D1, and D2 contact the ground; as Figure 13 As shown in (b), the motor reverses direction, which is the second stage of the creeping turning gait. At this time, the C1 pivot point is in contact with the ground. Due to the single outrigger touching the ground, the robot body is unbalanced, so the robot turns. Figure 13 As shown in (c), the motor rotates forward and returns to the origin.

Claims

1. A multi-gait mobile robot mechanism based on a double-spherical 6R structure, characterized in that: The multi-step mobile robot mechanism based on double spherical 6R consists of a first connecting rod (1), a first long connecting rod (2), a first type of curved support rod (3), a second long connecting rod (4), a second connecting rod (5), and a second type of curved support rod (6); The structure of the components that make up the mechanism: The first connecting rod (1) is composed of a central sphere (1-2), a right connecting rod (1-1), and a left connecting rod (1-3) forming a whole. The right connecting rod (1-1) and the left connecting rod (1-3) are exactly the same in shape and size, and are composed of two cylindrical rods of different thicknesses. The radius of the part closer to the sphere (1-2) is slightly smaller, and the radius of the other part is slightly larger. The included angle between the reference axes of the right connecting rod (1-1) and the left connecting rod (1-3) is 60 degrees. The first long connecting rod (2) is composed of a central sphere (2-2), a lower connecting rod (2-1), and an upper connecting rod (2-3) forming a whole. The upper connecting rod (2-3) is composed of two cylindrical rods of different thicknesses. The end rod has a slightly larger radius, while the rod closer to the sphere (2-2) has a slightly smaller radius. It also has two bends, one at 60 degrees and the other at 90 degrees. The lower connecting rod (2-1) is composed of two cylindrical rods of different thicknesses. The section closer to the sphere (2-2) has a slightly smaller radius, while the end rod has a slightly larger radius, which corresponds to the same cylindrical radius as the left connecting rod in the first connecting rod. The first type of curved support rod (3) is a rod with a circular cross section, and has a left sphere (3-2) and a right sphere (3-3) in the middle, and a left connecting column (3-1) and a right connecting column (3-4) at both ends. The left sphere (3-2) and the right sphere (3-3) have the same radius and are symmetrical with respect to the central axis of the first type of curved support rod (3). The left connecting column (3-1) and the right connecting column (3-4) are exactly the same in size and shape and are symmetrical with respect to the central axis of the first type of curved support rod (3). The second long connecting rod (4) is composed of a central sphere (4-2), a lower connecting rod (4-1), and an upper connecting rod (4-3) forming a whole. The upper connecting rod (4-3) is composed of two cylindrical rods of different thicknesses. The end rod has a slightly larger radius, while the rod closer to the sphere (4-2) has a slightly smaller radius. It also has two bends, one at 60 degrees and the other at 90 degrees. The lower connecting rod (4-1) is composed of two cylindrical rods of different thicknesses. The section closer to the sphere (4-2) has a slightly smaller radius, while the end rod has a slightly larger radius, which corresponds to the same cylindrical radius as the left connecting rod in the first connecting rod. The second connecting rod (5) is composed of a central sphere (5-2), a right connecting rod (5-3), and a left connecting rod (5-1) forming a whole. The right connecting rod (5-3) and the left connecting rod (5-1) are exactly the same in shape and size, and are composed of two cylindrical rods of different thicknesses. The radius of the section closer to the sphere (5-2) is slightly smaller, and the radius of the other end is slightly larger. The included angle between the reference axes of the right connecting rod (5-3) and the left connecting rod (5-1) is 60 degrees. The second type of curved support rod (6) is a rod with a circular cross section, and has a left connecting column (6-1) and a right connecting column (6-2) at both ends. The left connecting column (6-1) and the right connecting column (6-2) are exactly the same in size and shape and are symmetrical with respect to the central axis of the second type of curved support rod (6). The twelve parts of the first connecting rod (1) with the larger radius at the end of the right connecting rod (1-1) and the left connecting rod (1-3), the first long connecting rod (2) with the larger radius at the end of the lower connecting rod (2-1) and the upper connecting rod (2-3), the first type of curved support rod (3) with the left connecting column (3-1) and the right connecting column (3-4), the second long connecting rod (4) with the larger radius at the end of the lower connecting rod (4-1) and the upper connecting rod (4-3), the second connecting rod (5) with the larger radius at the end of the right connecting rod (5-3) and the left connecting rod (5-1), and the second type of curved support rod (6) with the left connecting column (6-1) and the right connecting column (6-2) are all cylinders with the same size and shape. Specific connection method: The left connecting column (3-1) and right connecting column (3-4) of the first type of curved support rod (3) are coaxially fitted with the larger radius portions of the upper connecting rod (2-3) of the first long connecting rod (2) and the larger radius portions of the upper connecting rod (4-3) of the second long connecting rod (4) to form a rotating pair; the lower connecting rod (2-1) of the first long connecting rod (2) and the lower connecting rod (4-1) of the second long connecting rod (4) are coaxially fitted with the larger radius portions of the right connecting rod (1-1) of the first connecting rod (1) and the left connecting rod (5-1) of the second connecting rod (5) to form a rotating pair; the larger radius portions of the left connecting rod (1-3) of the first connecting rod (1) and the larger radius portions of the right connecting rod (5-3) of the second connecting rod (5) are coaxially fitted with the left connecting column (6-1) and right connecting column (6-2) of the second type of curved support rod (6) to form a rotating pair; The rotational joints formed by the first connecting rod (1) and the second type of curved support rod (6), the rotational joints formed by the first connecting rod (1) and the first long connecting rod (2), and the rotational joints formed by the first long connecting rod (2) and the first type of curved support rod (3) intersect at one point. The rotational joints formed by the second connecting rod (5) and the second type of curved support rod (6), the rotational joints formed by the second connecting rod (5) and the second long connecting rod (4), and the rotational joints formed by the second long connecting rod (4) and the first type of curved support rod (3) intersect at one point. These two intersection points are the double sphere centers of the multi-step mobile robot based on the double spherical 6R.

2. The multi-gait mobile robot mechanism based on a double-spherical 6R as described in claim 1, characterized in that: The contact surfaces of the first connecting rod (1), the first long connecting rod (2), the first type of curved support rod (3), the second long connecting rod (4), the second connecting rod (5), and the second type of curved support rod (6) are connected by hinges to form a rotating connection.

3. The multi-gait mobile robot mechanism based on a double-spherical 6R as described in claim 1, characterized in that: The angle of the bent portion of the upper connecting rod (2-3) of the first long connecting rod (2) near the sphere (2-2) and the upper connecting rod (4-3) of the second long connecting rod (4) near the sphere (2-2) can be extended to other angles.

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