CN-117465573-B - Polygonal rolling robot based on composite cam regulation and control

Abstract

The application belongs to ground mobile robot field, concretely relates to polygon rolling robot based on compound cam regulation and control, include: the device comprises a plane six-bar mechanism (A), a central driving assembly (B), a first movable guide bar group (C1), a second movable guide bar group (C2), a first cam connecting rod assembly (D1), a second cam connecting rod assembly (D2) and a central cam (E); the polygonal rolling robot based on the compound cam regulation and control has the advantages that the structure is highly symmetrical, rolling on unstructured terrains can be realized by means of single-degree-of-freedom driving, the structural track of the robot is regulated by adopting the central cams at two sides of the robot for realizing high-speed rolling of the robot, and the robot is applicable to the fields of environmental investigation, space exploration and the like due to stable and rapid moving performance, and has wide prospects.

Inventors

• ZHANG QIANQIAN
• KANG SHOUZHEN
• LI YEZHUO

Assignees

• 北京交通大学

Dates

Publication Date

20260508

Application Date

20231211

Claims (2)

1. 1. A polygonal rolling robot based on compound cam regulation comprises a plane six-bar mechanism (A), a central driving assembly (B), a first movable guide bar group (C1), a second movable guide bar group (C2), a first cam connecting rod assembly (D1), a second cam connecting rod assembly (D2) and a central cam (E); The plane six-rod mechanism (A) comprises 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), wherein the first connecting rod (A-1), the second connecting rod (A-2) and the third connecting rod (A-3) are connected with the fourth connecting rod (A-4), the fifth connecting rod (A-5) and the sixth connecting rod (A-6) in a head-to-tail sequential rotation mode, and the structures and the sizes of the first connecting rod, the second connecting rod and the third connecting rod are identical; The center driving assembly (B) comprises a first direct current speed reduction motor (B-1), a first coupler (B-2), a commutator (B-3), a second coupler (B-4) and a second direct current speed reduction motor (B-5), wherein the structures and the sizes of the first direct current speed reduction motor (B-1) and the second direct current speed reduction motor (B-5) as well as the first coupler (B-2) and the second coupler (B-4) are completely the same; The first movable guide rod group (C1) comprises guide rods (C1-1), sliding rails (C1-2), rubber pads (C1-3), springs (C1-4), sliding blocks (C1-5), motor fixing plates (C1-6) and sliding block fixing plates (C1-7), wherein the structure and the size of the second movable guide rod group (C2) are identical to those of the first movable guide rod group (C1), the upper side of the motor fixing plates (C1-6) is provided with first circular connecting holes (C1-6-1) of the motor fixing plates, the lower side of the motor fixing plates is provided with second circular connecting holes (C1-6-2), the lower side of the sliding block fixing plates (C1-7) is provided with first countersunk holes (C1-7-1), and the upper side of the motor fixing plates is provided with first circular connecting holes (C1-7-2) of the sliding block fixing plates; The first cam connecting rod assembly (D1) comprises a coupler (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), wherein the second cam connecting rod assembly (D2) and the first cam connecting rod assembly (D1) are identical in structure and size; the first direct current gear motor (B-1) and the second direct current gear motor (B-5) are fixedly connected with the commutator (B-3) through a first coupler (B-2) and a second coupler (B-4) respectively, and are symmetrically arranged about the center of the commutator (B-3); one end of the guide rod (C1-1) is rotationally connected with the third connecting rod (A-3), and the other end of the guide rod is fixedly connected with the slide rail (C1-2) and the rubber pad (C1-3); two ends of the spring (C1-4) are fixedly connected with the sliding rail (C1-2) and the sliding block fixing plate (C1-7) respectively; the motor fixing plate (C1-6) is fixedly connected with the commutator (B-3) through a first circular connecting hole (C1-6-1) of the motor fixing plate and is fixedly connected with the first direct current gear motor (B-1) through a second circular connecting hole (C1-6-2); The sliding block fixing plate (C1-7) is fixedly connected with the sliding block (C1-5) through a first countersunk hole (C1-7-1), and is rotationally connected with the commutator (B-3) through a first circular connecting hole (C1-7-2) of the sliding block fixing plate; the second movable guide rod group (C2) and the first movable guide rod group (C1) are completely identical in structure and internal connection mode; The commutator (B-3) is fixedly connected with one end of the connecting shaft (D1-2) through the coupler (D1-1), the central cam (E) is fixedly connected with the connecting shaft (D1-2) through a flange type overhanging shaft, flange type overhanging shaft ends of middle positions of the central cams (E) on two sides of the robot are all arranged towards one side of the central driving assembly (B), and the guide rail (D1-3) is rotationally connected with the other end of the connecting shaft (D1-2); One end of a sixth connecting rod (A-6) at one end of a first guide rod (D1-4) is rotationally connected, the other end of the sixth connecting rod is fixedly connected with one end of a first push rod (D1-5) through a square hole, one end of a first connecting rod (A-1) at one end of a second guide rod (D1-8) is rotationally connected, and the other end of the first connecting rod is fixedly connected with one end of a second push rod (D1-9) through a square hole; The first roller (D1-7) is rotationally connected with the other end of the first push rod (D1-5), the first guide bearing (D1-6) is positioned in a concave groove of the guide rail (D1-3) and rotationally connected with the middle part of the first push rod (D1-5), the second roller (D1-11) is rotationally connected with the other end of the second push rod (D1-9), and the second guide bearing (D1-10) is positioned in the concave groove of the guide rail (D1-3) and rotationally connected with the middle part of the second push rod (D1-9); The second cam connecting rod assembly (D2) and the first cam connecting rod assembly (D1) are connected in the same mode; The rotary connection is in a revolute pair mode, and the directions of the rotary connection are all perpendicular to the plane of the rod piece; The rotation center coordinates of the center cam (E) are (0, 0), the structure transmission efficiency and the dynamic rolling speed of the polygonal robot are used as main optimization targets, the outer contour curve of the center cam (E) is subjected to multi-section line design, key feature points of the cam contour are extracted for reducing the complexity of structure multiplexing, the contour of the center cam (E) comprises six feature points of numbers 1-6, the coordinates of the six feature points are (38.52,47.97), (48.68,0), (31.39-58.03), (-13.64, -25.66), (-85.75,2.38) and (2.58,46.88) in sequence, the coordinate quantity is reduced to 0.01% before optimization, and the fitting degree of the plane contour is more than 95%.
2. 2. The polygonal rolling robot based on compound cam regulation and control as claimed in claim 1, wherein: The coordinates of the secondary characteristic points are (43.45,34.48), (46.90,22.49) and (48.80,11.10) between the No. 1 characteristic point and the No. 2 characteristic point, the coordinates of the secondary characteristic points are (47.35, -13.04), (43.62, -26), (38.84, -40.50) between the No. 2 characteristic point and the No. 3 characteristic point, the coordinates of the secondary characteristic points are (11.40, -44.70), (0.13, -35.66), (7.34-29.69) between the No. 4 characteristic point and the No. 5 characteristic point, the coordinates of the secondary characteristic points are (-21.44, -22.28), (32.37, -18.85), (50.93, -12.99) between the No. 5 characteristic point and the No. 6 characteristic point, the coordinates of the secondary characteristic points are (-59.81,27.23), (32.42,35.22) and (14.72,41.01) between the No. 6 characteristic points and the No. 1 characteristic point, and the coordinates of the secondary characteristic points are (28.43,49.50), (38) between the No. 6 characteristic points and the No. 1 characteristic points; the coordinates of the feature points and the secondary feature points on the central cam can be scaled up or down in equal proportion to the overall size of the mechanism.

Description

Polygonal rolling robot based on composite cam regulation and control Technical Field The application belongs to the field of ground mobile robots, and particularly relates to a polygonal rolling robot based on composite cam regulation. Background The planar multi-rod integral mobile robot has a simple structure, has good movement and obstacle surmounting capability in the movement process, is widely researched, has multiple degrees of freedom, mainly relies on statics analysis to realize the rolling of a mechanism, and limits the movement reliability and movement efficiency in the working process. As disclosed in CN201210152476, a planar seven-link rolling robot is disclosed, by controlling the internal angle change of two co-edge parallelograms, the robot can complete structural deformation and space rolling, but the gait obtained by relying on statics analysis makes it difficult to realize high-speed movement in unstructured terrain, and the structure thereof comprises multiple rotational degrees of freedom, and the seven-link robot rotational joints are required to be driven and controlled by multiple motors in the rolling process. Disclosure of Invention The invention aims to solve the problems, and provides a polygonal rolling robot based on compound cam regulation and control, which has a highly symmetrical structure, can realize rolling on unstructured terrains by means of single-degree-of-freedom driving, and has wide prospects in order to realize high-speed rolling of the robot, the two sides of the robot adopt central cams to regulate the structural track of the robot, and the stable and rapid moving performance enables the robot to be applicable to the fields of environmental investigation, space exploration and the like. In order to achieve the aim of the invention, the technical scheme of the invention is that the polygonal rolling robot based on composite cam regulation comprises a planar six-bar mechanism, a central driving component, a first movable guide bar group, a second movable guide bar group, a first cam connecting rod component, a second cam connecting rod component and a central cam; The planar six-rod mechanism comprises 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, wherein the first connecting rod, the second connecting rod and the third connecting rod are connected with the fourth connecting rod, the fifth connecting rod and the sixth connecting rod through revolute pairs in sequence from beginning to end, the central driving assembly comprises a first direct current speed reducing motor, a first coupler, a reverser, a second coupler and a second direct current speed reducing motor, the structures and the sizes of the first direct current speed reducing motor, the second direct current speed reducing motor, the first coupler and the second coupler are identical, the first movable guide rod group comprises a guide rod, a sliding rail, a rubber pad, a spring, a sliding block, a motor fixing plate and a sliding block fixing plate, the structures and the sizes of the second movable guide rod group are identical, the upper side of the motor fixing plate is a first circular connecting hole, the lower side of the sliding block fixing plate is a first countersunk hole, the upper side is a first circular connecting hole, and the first coupler, the first guide rod, the second guide rod, the first roller and the first roller assembly are identical; Further, the first connecting rod, the second connecting rod, the third connecting rod, the fourth connecting rod, the fifth connecting rod and the sixth connecting rod are sequentially connected in a head-to-tail rotation mode, the first direct-current speed reduction motor and the second direct-current speed reduction motor are fixedly connected with the commutator through the first coupler and the second coupler respectively and are symmetrically arranged around the center of the commutator, one end of the guide rod is rotationally connected with the third connecting rod, the other end of the guide rod is fixedly connected with the sliding rail and the rubber pad, two ends of the spring are fixedly connected with the sliding rail and the sliding block fixing plate respectively, the motor fixing plate is fixedly connected with the commutator through the first circular connecting hole, the sliding block fixing plate is fixedly connected with the first direct-current speed reduction motor through the second circular connecting hole, the sliding block fixing plate is rotationally connected with the commutator through the first circular connecting hole, the second movable guide rod group is completely the same as the first movable guide rod group in structure and internal connection mode, the commutator is fixedly connected with the connecting shaft through a coupler, the central cam is fixedly connected with the connecting shaft through a flange