A single-powered crawling robot based on Bricard mechanism

Abstract

The present invention relates to the field of mobile robots, and in particular provides a single-power crawling robot based on a spatial Bricard mechanism, which comprises a first driving rod (1), a driving motor (2), a connecting rod (3), a first auxiliary rod (4), a second auxiliary rod (5), a first crawling rod (6), a second crawling rod (7), a second driving rod (8), a third auxiliary rod (9), a fourth auxiliary rod (10), a third crawling rod (11), and a fourth crawling rod (12). The robot can move straight and turn by changing the motor speed and the direction of the motor, and will be well applied in the fields of military, education, entertainment, etc.

Description

Technical Field

[0001] The present invention relates to a single-power crawling robot based on a Bricard mechanism, and in particular to a single-power mobile robot which is a combination of different arrangements based on a spatial six-rod Bricard mechanism and drives the robot to move straight and turn by driving a motor to rotate forward and reverse and changing the speed of the motor. Background Art

[0002] From the perspective of the degrees of freedom of mechanism, a ground mobile device needs at least two degrees of freedom to achieve movement and steering, that is, at least two power machines are needed for driving and control. If a ground mobile device can achieve movement and steering control with one power machine, the structural complexity of the mobile device will be greatly simplified and the difficulty of control can be effectively reduced.

[0003] Chinese patent CN104477270B discloses "a single-power mobile six-rod robot". The robot is based on a spatial six-rod mechanism and realizes the overall translation and steering of the mechanism through the flipping and swinging actions of the power machine driving parts. Summary of the invention

[0004] Technical problem to be solved by the present invention: Generally speaking, a single-degree-of-freedom mechanism can only achieve movement but not steering.

[0005] The single-power crawling robot based on the Bricard mechanism includes: a first driving rod, a driving motor, a connecting rod, a first auxiliary rod, a second auxiliary rod, a first crawling rod, a second crawling rod, a second driving rod, a third auxiliary rod, a fourth auxiliary rod, a third crawling rod, and a fourth crawling rod;

[0006] The first driving rod (1) has a circular cross-section, a threaded hole and a groove on the left side, a large-radius spherical protrusion (1-1) is provided near the left side, and the right side is connected to the driving motor (2);

[0007] The driving motor (2) is a double-shaft motor installed in the connecting rod (3), and the two shafts of the double-shaft motor are respectively connected to the first driving rod (1) and the second driving rod (8);

[0008] The connecting rod (3) has a rectangular cross-section, a motor mounting hole (3-1) is provided in the middle for mounting a dual-axis motor, the upper end is rotatably connected to the third auxiliary rod (9), and the lower end is rotatably connected to the first auxiliary rod (4);

[0009] The first auxiliary rod (4) has a rectangular cross-section, a large-radius spherical protrusion block (4-2) is provided in the middle, and vertical circular holes (4-1) and (4-3) are provided at both ends, and the first auxiliary rod (4) is rotatably connected to the second auxiliary rod (5) through the circular hole (4-3).

[0010] The second auxiliary rod (5) has a circular cross-section, and a large-radius spherical protrusion block (5-1) is provided on the right side, which is rotatably connected to the first crawling rod (6);

[0011] The first climbing rod (6) has a rectangular cross-section, with vertical circular holes 3 (6-1) and 4 (6-2) at both ends, and circular borders with small thickness at the upper and lower sides, and is rotatably connected to the second climbing rod (7) through the 4 (6-2) circular hole;

[0012] The second climbing rod (7) has a rectangular cross-section, a threaded hole and a groove on the upper side, and vertical circular holes (7-1) and (7-2) at both ends. The upper and lower sides are provided with small-thickness circular boundaries, and are rotatably connected to the second driving rod (8) through the circular hole (7-2).

[0013] The second driving rod (8) has the same structure and dimensions as the first driving rod (1);

[0014] The third auxiliary rod (9) has the same structure and dimensions as the first auxiliary rod (4);

[0015] The fourth auxiliary rod (10) has the same structure and dimensions as the second auxiliary rod (5);

[0016] The third crawling rod (11) has the same structure and external dimensions as the first crawling rod (6);

[0017] The fourth crawling rod (12) has the same structure and external dimensions as the second crawling rod (7);

[0018] Connection method of parts constituting the mechanism:

[0019] The first driving rod (1) is directly connected to the motor shaft on one side of the driving motor (2) through a sleeve, the second driving rod (8) is directly connected to the motor shaft on the other side of the driving motor (2) through a sleeve, the driving motor housing is connected to the motor mounting hole (3-1) through an interference fit, and the connecting rod (3) and the first auxiliary rod (4), the first auxiliary rod (4) and the second auxiliary rod (5), the second auxiliary rod (5) and the first climbing rod (6), the first climbing rod (6) and the second climbing rod (7), the second climbing rod (7) and the second driving rod (8), the third auxiliary rod (9) and the fourth auxiliary rod (10), the fourth auxiliary rod (10) and the third climbing rod (11), and the third climbing rod (11) and the fourth climbing rod (12) are all connected through bolts.

[0020] The first driving rod (1) and the second driving rod (8) are completely identical and symmetrically arranged. Under the action of the driving motor (2), they rotate a full circle. The first auxiliary rod (4), the second auxiliary rod (5), the third auxiliary rod (9) and the fourth auxiliary rod (10) play a supporting role. The connection joint point between the first climbing rod (6) and the second climbing rod (7) and the connection joint point between the third climbing rod (11) and the fourth climbing rod (12) move a full circle in space.

[0021] The spherical protrusion block 1 (1-1), spherical protrusion block 2 (4-2), spherical protrusion block 3 (5-1), spherical protrusion block 4 (8-1), spherical protrusion block 5 (9-2) and spherical protrusion block 6 (10-1) are completely identical, and their sizes are larger than the cross-sectional size of the rod, generating a spatial difference when in point contact with the ground.

[0022] The driving motor (2) should be a dual-output shaft motor.

[0023] Beneficial effects of the present invention: The single-power crawling robot based on the Bricard mechanism of the present invention is a single-degree-of-freedom mechanism, which drives the mechanism to move straight and turn by utilizing the forward and reverse rotation of the driving motor and changing the motor speed. The mechanism has a simple structure and is easy to manufacture and process. In the civilian field, it provides an opportunity for primary and secondary school students to understand mobile mechanisms, and can be used to make toys and teaching aids. In the military field, it can also be further designed and transformed into a military detection robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 Single-powered crawling robot based on Bricard mechanism

[0025] Figure 2 First drive rod structure diagram

[0026] Figure 3 Connecting rod structure diagram

[0027] Figure 4 First auxiliary rod structure diagram

[0028] Figure 5 Structural diagram of the second auxiliary rod

[0029] Figure 6 The first crawling rod structure diagram

[0030] Figure 7 The second crawling rod structure diagram

[0031] Figure 8 Second drive rod structure diagram

[0032] Fig. 9 The third auxiliary rod structure diagram

[0033] Fig.10 Structure diagram of the fourth auxiliary rod

[0034] Fig.11 The third crawling rod structure diagram

[0035] Fig.12 The fourth creeping rod structure diagram

[0036] Fig.13 Schematic diagram of the mechanism's straight forward movement

[0037] Fig.14 Schematic diagram of changing the motor speed to perform steering gait 1

[0038] Fig.15 Schematic diagram of changing the motor direction to perform turning gait 1 DETAILED DESCRIPTION

[0039] The present invention will be further described in detail below in conjunction with the accompanying drawings.

[0040] like Figure 1 As shown, a single-power crawling robot based on the Bricard mechanism is a closed-chain mechanism, comprising a first driving rod (1), a second driving rod (2), a driving motor (3), a connecting rod (4), a first auxiliary rod (5), a second auxiliary rod (6), a first crawling rod (7), a second crawling rod (8), a third auxiliary rod (9), a fourth auxiliary rod (10), a third crawling rod (11), and a fourth crawling rod (12);

[0041] like Figure 2 As shown, the first driving rod (1) has a circular cross-section, a threaded hole and a groove are provided on the left side, a large-radius spherical protrusion (1-1) is provided near the left side, and the right side is connected to the driving motor (2);

[0042] like Figure 3 As shown, the second driving rod (2) has a circular cross-section, a threaded hole and a groove are provided on the right side, a large-radius spherical protrusion block 2 (2-1) is provided near the right side, and the left side is connected to the driving motor (2);

[0043] like Figure 4 As shown, the cross-section of the connecting rod (4) is rectangular, a motor mounting hole (4-1) is provided in the middle for mounting a dual-axis motor, the upper end is rotatably connected to the first auxiliary rod (5), and the lower end is rotatably connected to the third auxiliary rod (9);

[0044] like Figure 5 As shown, the first auxiliary rod (5) has a rectangular cross-section, a large-radius spherical protrusion block (5-2) is provided in the middle, and vertical circular holes (5-1) and (5-3) are provided at both ends, and the first auxiliary rod (5) is rotatably connected to the second auxiliary rod (6) through the circular hole (5-3);

[0045] like Figure 6As shown, the cross-section of the second auxiliary rod (6) is circular, and a large-radius spherical protrusion block 4 (6-1) is provided on the right side, which is rotatably connected to the first crawling rod (7);

[0046] like Figure 7 As shown, the first climbing rod (7) has a rectangular cross-section, with vertical circular holes 3 (7-1) and 4 (7-2) at both ends, and circular boundaries of small thickness are set on the upper and lower sides, and is rotatably connected to the second climbing rod (8) through the 4 (7-2) circular hole;

[0047] like Figure 8 As shown, the second driving rod (8) has the same structure and external dimensions as the first driving rod (1);

[0048] like Fig. 9 As shown, the third auxiliary rod (9) has the same structure and external dimensions as the first auxiliary rod (4);

[0049] like Fig.10 As shown, the fourth auxiliary rod (10) has the same structure and external dimensions as the second auxiliary rod (5);

[0050] like Fig.11 As shown, the structure and dimensions of the third crawling rod (11) and the first crawling rod (6);

[0051] like Fig.12 As shown, the fourth climbing rod (12) has the same structure and external dimensions as the second climbing rod (7);

[0052] like Figure 1 As shown, the first driving rod (1) is directly connected to the motor shaft of one side of the driving motor (3) through a sleeve, the second driving rod (2) is directly connected to the motor shaft of the other side of the driving motor (3) through a sleeve, the driving motor housing is connected to the motor mounting hole (4-1) through an interference fit, and the connecting rod (4) and the first auxiliary rod (5), the first auxiliary rod (5) and the second auxiliary rod (6), the second auxiliary rod (6) and the first climbing rod (7), the first climbing rod (7) and the second climbing rod (8), the second climbing rod (8) and the third auxiliary rod (9), the third auxiliary rod (9) and the fourth auxiliary rod (10), the fourth auxiliary rod (10) and the third climbing rod (11), and the third climbing rod (11) and the fourth climbing rod (12) are all connected through bolts.

[0053] Specific usage:

[0054] The single-power crawling robot based on the Bricard mechanism can realize the functions of straight walking and turning on the ground. Fig.13 Describes the movement of the robot in one cycle in the forward state Fig.13 a- Fig.13 The e in Fig.13a in the figure is the initial state of the robot. The first auxiliary rod, the second auxiliary rod, the third auxiliary rod and the fourth auxiliary rod are in point contact with the ground for support. The drive motor is locked. The centers of the rods are in the same plane. Driven by the drive motor, the first climbing rod, the second climbing rod, the third climbing rod and the fourth climbing rod are lifted first. The joints at the connection between the first climbing rod and the second climbing rod and the joints at the connection between the third climbing rod and the fourth climbing rod move in a semicircular trajectory to reach Fig.13 In state b, the motor continues to drive, and the joint continues to move in a semicircular trajectory until it falls to the ground. Fig.13 The motor continues to rotate, and the first and third climbing rods are in contact with the ground. Under the action of static friction, the entire mechanism is pushed forward to reach Fig.13 At position d in the figure, the motor continues to rotate and the mechanism returns to its initial state. Fig.13 e in;

[0055] The single-power crawling robot based on the Bricard mechanism can realize the turning action. There are two kinds of turning actions: turning mode one and turning mode two.

[0056] Fig.14 The figure shows the robot's action diagram of turning gait 1. Turning gait 1 changes the direction of the robot's movement by changing the speed of the motor. The robot first reaches Fig.14 In the state a in the figure, the joints at the connection between the first climbing rod and the second climbing rod and the joints at the connection between the third climbing rod and the fourth climbing rod move in a semicircular trajectory to reach Fig.14 By changing the state of b in the figure, the motor speed is changed. At different moving speeds of the mechanism, the contact points of the first and third climbing rods with the ground will change the magnitude, direction and working time of the friction between the joints of the mechanism and the ground, thereby changing the direction of movement to achieve Fig.14 The state of c in the figure continues to change the motor speed. The first crawling rod and the third crawling rod contact the ground and continue to change the movement direction of the mechanism. Finally, the result is as follows Fig.14 The state of d in ;

[0057] Fig.15 The figure shows the robot's action diagram of turning gait 2. Turning gait 2 changes the direction of the robot's movement by changing the direction of the motor. The robot first reaches Fig.15 In the state a in the figure, the joints at the connection between the first climbing rod and the second climbing rod and the joints at the connection between the third climbing rod and the fourth climbing rod move in a semicircular trajectory to reach Fig.15The state of b in the figure changes the direction of the motor, and the first and third climbing rods are in contact with the ground. Under the action of static friction, the entire mechanism is pushed forward to make a clockwise circular motion along the tangent direction when the motor direction is changed, thereby changing the direction of movement to achieve Fig.15 In the state of c, the motor continues to rotate, pushing the mechanism forward to reach Fig.15 The state of d in .

Claims

1. A single-powered crawling robot based on Bricard mechanism, Features: A single-power crawling robot based on a Bricard mechanism is a closed-chain mechanism, comprising a first driving rod (1), a driving motor (2), a connecting rod (3), a first auxiliary rod (4), a second auxiliary rod (5), a first crawling rod (6), a second crawling rod (7), a second driving rod (8), a third auxiliary rod (9), a fourth auxiliary rod (10), a third crawling rod (11), and a fourth crawling rod (12); The first driving rod (1) has a circular cross-section, a threaded hole and a groove on the left side, a large-radius spherical protrusion (1-1) is provided near the left side, and the right side is connected to the driving motor (2); The driving motor (2) is a double-shaft motor installed in the connecting rod (3), and the two shafts of the double-shaft motor are respectively connected to the first driving rod (1) and the second driving rod (8); The connecting rod (3) has a rectangular cross-section, a motor mounting hole (3-1) is provided in the middle for mounting a dual-axis motor, the upper end is rotatably connected to the third auxiliary rod (9), and the lower end is rotatably connected to the first auxiliary rod (4); The first auxiliary rod (4) has a rectangular cross-section, a large-radius spherical protrusion block (4-2) is provided in the middle, and vertical circular holes (4-1) and (4-3) are provided at both ends, and the first auxiliary rod (4) is rotatably connected to the second auxiliary rod (5) through the circular hole (4-3). The second auxiliary rod (5) has a circular cross-section, and a large-radius spherical protrusion block (5-1) is provided on the right side, which is rotatably connected to the first crawling rod (6); The first climbing rod (6) has a rectangular cross-section, with vertical circular holes 3 (6-1) and 4 (6-2) at both ends, and circular borders with small thickness at the upper and lower sides, and is rotatably connected to the second climbing rod (7) through the 4 (6-2) circular hole; The second climbing rod (7) has a rectangular cross-section, a threaded hole and a groove on the upper side, and vertical circular holes (7-1) and (7-2) at both ends. The upper and lower sides are provided with small-thickness circular boundaries, and are rotatably connected to the second driving rod (8) through the circular hole (7-2). The second driving rod (8) has the same structure and dimensions as the first driving rod (1); The third auxiliary rod (9) has the same structure and dimensions as the first auxiliary rod (4); The fourth auxiliary rod (10) has the same structure and dimensions as the second auxiliary rod (5); The third crawling rod (11) has the same structure and external dimensions as the first crawling rod (6); The fourth crawling rod (12) has the same structure and external dimensions as the second crawling rod (7); The first driving rod (1) is directly connected to the motor shaft on one side of the driving motor (2) through a sleeve, the second driving rod (8) is directly connected to the motor shaft on the other side of the driving motor (2) through a sleeve, the driving motor housing is connected to the motor mounting hole (3-1) through an interference fit, and the connecting rod (3) and the first auxiliary rod (4), the first auxiliary rod (4) and the second auxiliary rod (5), the second auxiliary rod (5) and the first climbing rod (6), the first climbing rod (6) and the second climbing rod (7), the second climbing rod (7) and the second driving rod (8), the third auxiliary rod (9) and the fourth auxiliary rod (10), the fourth auxiliary rod (10) and the third climbing rod (11), and the third climbing rod (11) and the fourth climbing rod (12) are all connected through bolts.

2. A single-powered crawling robot based on a Bricard mechanism as claimed in claim 1, Features: The first driving rod (1) and the second driving rod (8) are completely identical and symmetrically arranged. Under the action of the driving motor (2), they rotate in a full circle. The first auxiliary rod (4), the second auxiliary rod (5), the third auxiliary rod (9) and the fourth auxiliary rod (10) play a supporting role. The connection point between the first climbing rod (6) and the second climbing rod (7) and the connection point between the third climbing rod (11) and the fourth climbing rod (12) perform a full circle motion in space.

3. A single-powered crawling robot based on a Bricard mechanism as claimed in claim 1, Features: The large radius spherical protrusion block one (1-1), the large radius spherical protrusion block two (4-2), the large radius spherical protrusion block three (5-1), the spherical protrusion block four (8-1), the spherical protrusion block five (9-2) and the spherical protrusion block six (10-1) are completely identical, and their sizes are larger than the cross-sectional size of the rod, and a spatial difference is generated when they are in point contact with the ground.

4. A single-powered crawling robot based on a Bricard mechanism as claimed in claim 1, Features: The driving motor (2) should be a dual output shaft motor.

Images