A single drive self-rotating robot based on bricard mechanism

Abstract

A single drive self-rotating robot based on Bricard mechanism, which is based on a triple symmetric Bricard space closed chain linkage mechanism, is composed of a first linkage (1), a second linkage (2), a third linkage (3), a fourth linkage (4), a fifth linkage (5) and a sixth linkage (6). The robot can realize self-rotation, movement and steering through one drive. The robot can realize complete folding and complete unfolding by controlling the rotation of the motor, and can perform self-rotation. The robot can realize acceleration, deceleration and braking by controlling the rotation direction and speed of the motor. The robot can be completely folded into a bundle, which is convenient for storage and transportation to save space, and will be well applied in the fields of education and entertainment.

Description

Technical Field

[0001] This invention relates to a single-drive spin robot based on a Bricard mechanism, specifically a spatial triple-symmetric Bricard closed-chain mechanism. By controlling a single drive, the robot can achieve folding motion, possessing both movement and steering capabilities. By controlling the rotation direction of the motor, the robot can be completely folded, saving space in storage and transportation, and enabling spin motion that changes direction only without changing position. Background Technology

[0002] Due to the spatial structure of the Bricard mechanism, single-degree-of-freedom spatial closed-loop robots based on the Bricard mechanism can be folded and deformed. By utilizing this deformation capability, the robot can have both small space storage capability and spatial free movement capability.

[0003] Chinese patent CN202110204914.X discloses "a single-powered steerable mobile robot". Based on the Mayard mechanism, the robot can control the synchronous deformation of two wheels by controlling the steering and speed of the through-type lead screw linear stepper motor (18). This allows different rods of the two deformable wheels to alternately contact the ground. The robot uses the shift of the overall center of gravity to achieve rolling. By controlling the size of the deformation angle of the two deformable wheels, it can achieve the functions of straight-line movement and turning. Summary of the Invention

[0004] The technical problem this invention aims to solve is that, generally speaking, mobile robots have poor folding and unfolding capabilities, are difficult to store and transport, and often require too many motor drives to achieve complex movements, resulting in a waste of structure and performance.

[0005] A single-drive spin robot based on the Bricard mechanism is characterized in that: the single-degree-of-freedom deployable robot based on the Bricard mechanism includes a first link, a second link, a third link, a fourth link, a fifth link, and a sixth link;

[0006] The first link includes a sixth link mounting hole, a first support link, a first type of spherical base, a bottom concave groove, a dual-axis motor, a motor bracket, and a first concave weight reduction groove. The first support link adopts a triangular prism structure with one side being an arc-shaped curved surface, the other two sides being flat surfaces, and the top being a sloping surface. It has a first concave weight reduction groove in the middle, a bottom concave groove at the bottom, and a first type of spherical base at the end. The top of one side plane has a sixth link mounting hole, and the end of the other side plane has a motor bracket and a dual-axis motor.

[0007] The second link includes a second support rod, a motor shaft connecting frame, a second concave weight reduction groove, and a third link mounting hole. The second support rod adopts a triangular prism structure with one side being an arc-shaped curved surface and the other two sides being flat surfaces. Both ends are inclined surfaces, and a second concave weight reduction groove is provided in the middle. A third link mounting hole is provided at the top of one side plane, and a motor shaft connecting frame is provided at the end of the other side plane.

[0008] The third link includes a second link mounting hole, a third support link, a third type of spherical base, a fourth link mounting hole, and a third concave weight reduction groove. The third support link adopts a triangular prism structure with one side being an arc-shaped curved surface, the other two sides being flat surfaces, the top being a sloping surface, a third concave weight reduction groove in the middle, and a third type of spherical base at the end. The top of one side plane has a second link mounting hole, and the end of the other side plane has a fourth link mounting hole.

[0009] The fourth link includes a fourth support link, a second third link mounting hole, a fourth concave weight reduction groove, and a fifth link mounting hole. The fourth support link adopts a triangular prism structure with one side being an arc-shaped curved surface and the other two sides being flat surfaces. Both ends are inclined surfaces, and a fourth concave weight reduction groove is provided in the middle. A fifth link mounting hole is provided at the top of one side plane, and a second third link mounting hole is provided at the end of the other side plane.

[0010] The fifth link has the same structure and external dimensions as the third link;

[0011] The sixth link has the same structure and external dimensions as the fourth link;

[0012] The dual-axis motor of the first link is connected to the motor shaft connecting bracket of the second link via a revolute joint. The second link is connected to the second link mounting hole of the third link via a revolute joint. The third link is connected to the second link mounting hole of the fourth link via a revolute joint. The fourth link is connected to the second link mounting hole of the fifth link via a revolute joint. The fifth link is connected to the second link mounting hole of the sixth link via a revolute joint. The sixth link is connected to the sixth link mounting hole of the first link via a revolute joint.

[0013] By controlling a single drive, the robot can possess both movement and turning capabilities;

[0014] By controlling the rotation speed and direction of the motor, the robot's movement and steering can be adjusted, thus switching the robot to a single-drive free motion mode that combines movement and steering. By controlling the rotation direction of the motor, the robot can be folded, thus switching the robot to a fully folded mode that facilitates storage and transportation, and a spin mode that changes direction without changing position.

[0015] The beneficial effects of this invention are as follows: The single-drive spin robot based on the Bricard mechanism described in this invention has a simple structure and is easy to manufacture and process. In the civilian field, it provides primary and secondary school students with an opportunity to learn about mobile mechanisms and can be used to make toys and teaching aids. In the military field, it can also be further designed and modified into a military reconnaissance robot. Attached Figure Description

[0016] Figure 1 Single-drive spin robot based on the Bricard mechanism

[0017] Figure 2 First Linkage Structure Diagram

[0018] Figure 3 Second Linkage Structure Diagram

[0019] Figure 4 Third Link Structure Diagram

[0020] Figure 5 Fourth Link Structure Diagram

[0021] Figure 6 Fully folded mode

[0022] Figure 7 Single-drive free motion mode

[0023] Figure 8 Spin motion mode Detailed Implementation

[0024] The present invention will now be described in further detail with reference to the accompanying drawings.

[0025] like Figure 1 As shown, the single-degree-of-freedom deployable robot based on the Bricard mechanism includes a first link (1), a second link (2), a third link (3), a fourth link (4), a fifth link (5), and a sixth link (6).

[0026] like Figure 2 As shown, the first link (1) includes a sixth link mounting hole (1-1), a first support link (1-2), a first type of spherical base (1-3), a bottom concave groove (1-4), a dual-axis motor (1-5), a motor bracket (1-6), and a first concave weight reduction groove (1-7). The first support link (1-2) adopts a triangular prism structure, with one side being an arc-shaped curved surface, the other two sides being flat surfaces, and the top being an inclined surface. The middle is provided with a first concave weight reduction groove (1-7), the bottom is provided with a bottom concave groove (1-4), and the end is a first type of spherical base (1-3). The top of one side plane is provided with a sixth link mounting hole (1-1), and the end of the other side plane is provided with a motor bracket (1-6) and a dual-axis motor (1-5).

[0027] like Figure 3 As shown, the second link (2) includes a second support link (2-1), a motor shaft connecting frame (2-2), a second concave weight reduction groove (2-3), and a third link mounting hole (2-4). The second support link (2-1) adopts a triangular prism structure, with one side being an arc-shaped curved surface and the other two sides being flat surfaces. Both ends are inclined surfaces, and the second concave weight reduction groove (2-3) is provided in the middle. The top of one side plane is provided with a third link mounting hole (2-4), and the end of the other side plane is provided with a motor shaft connecting frame (2-2).

[0028] like Figure 4 As shown, the third link (3) includes a second link mounting hole (3-1), a third branch link (3-2), a third type of spherical base (3-3), a fourth link mounting hole (3-4), and a third concave weight reduction groove (3-5). The third branch link (3-2) adopts a triangular prism structure, with one side being an arc-shaped curved surface, the other two sides being flat surfaces, and the top being an inclined surface. A third concave weight reduction groove (3-5) is provided in the middle, and a third type of spherical base (3-3) is provided at the end. A second link mounting hole (3-1) is provided at the top of one side plane, and a fourth link mounting hole (3-4) is provided at the end of the other side plane.

[0029] like Figure 5 As shown, the fourth link (4) includes a fourth support link (4-1), a third link mounting hole 2 (4-2), a fourth concave weight reduction groove (4-3), and a fifth link mounting hole (4-4). The fourth support link (4-1) adopts a triangular prism structure, with one side being an arc-shaped curved surface and the other two sides being flat surfaces. Both ends are inclined surfaces, and a fourth concave weight reduction groove (4-3) is provided in the middle. A fifth link mounting hole (4-4) is provided at the top of one side plane, and a third link mounting hole 2 (4-2) is provided at the end of the other side plane.

[0030] The fifth link (5) has the same structure and external dimensions as the third link (3);

[0031] The sixth link (6) has the same structure and external dimensions as the fourth link (4);

[0032] like Figure 1As shown, the dual-axis motor (1-5) of the first link (1) is connected to the motor shaft connecting bracket (2-2) of the second link (2) via a revolute joint. The second link (2) is connected to the second link mounting hole (3-1) of the third link (3) via a revolute joint through the first mounting hole (2-4) of the third link (3). The third link (3) is connected to the second mounting hole (4-2) of the third link (4) via a revolute joint through the fourth mounting hole (3-4). The fourth link (4) is connected to the second mounting hole (3-1) of the fifth link (5) via a revolute joint through the fifth mounting hole (4-4). The fifth link (5) is connected to the second mounting hole (4-2) of the third link (6) via the fourth mounting hole (3-4) of the sixth link (6) via a revolute joint through the fifth mounting hole (4-4) of the first link (1) via a revolute joint.

[0033] Specific usage instructions:

[0034] A single-drive spin robot based on the Bricard mechanism can achieve a fully folded mode. For example... Figure 6 As shown, the dual-axis motor (1-5) on the first link (1) rotates in one direction, driving the robot to fold and achieve a fully folded mode;

[0035] A single-drive spin robot based on the Bricard mechanism can achieve a single-drive free motion mode. For example... Figure 7 As shown, the dual-axis motor (1-5) on the first link (1) rotates in one direction, driving the robot to fold to a specific posture. Then, the dual-axis motor (1-5) on the first link (1) stops rotating, the robot falls to the ground in a specific direction and changes position. Then, the dual-axis motor (1-5) on the first link (1) rotates in the opposite direction, driving the robot to unfold, realizing the robot's single-drive free movement mode.

[0036] A single-drive spin robot based on the Bricard mechanism can achieve a spin motion mode. For example... Figure 8 As shown, the dual-axis motor (1-5) on the first link (1) rotates in one direction, driving the robot to fold, so that the robot moves gradually until it is fully folded. Then the robot can rotate around its own axis. After the spin stops, the robot can fall to the ground in the current direction and change its position, realizing the robot's spin motion mode.

Claims

1. A single-drive spin robot based on the Bricard mechanism, characterized in that: A single-degree-of-freedom deployable robot based on the Bricard mechanism includes a first link (1), a second link (2), a third link (3), a fourth link (4), a fifth link (5), and a sixth link (6). The first link (1) includes a sixth link mounting hole (1-1), a first support link (1-2), a first type of spherical base (1-3), a bottom concave groove (1-4), a dual-axis motor (1-5), a motor bracket (1-6), and a first concave weight reduction groove (1-7). The first support link (1-2) adopts a triangular prism structure, with one side being an arc-shaped curved surface, the other two sides being flat surfaces, and the top being a sloping surface. The middle is provided with a first concave weight reduction groove (1-7), the bottom is provided with a bottom concave groove (1-4), and the end is a first type of spherical base (1-3). The top of one side plane is provided with a sixth link mounting hole (1-1), and the end of the other side plane is provided with a motor bracket (1-6) and a dual-axis motor (1-5). The second link (2) includes a second support link (2-1), a motor shaft connecting frame (2-2), a second concave weight reduction groove (2-3), and a third link mounting hole (2-4). The second support link (2-1) adopts a triangular prism structure, with one side being an arc-shaped curved surface and the other two sides being flat surfaces. Both ends are inclined surfaces, and the second concave weight reduction groove (2-3) is provided in the middle. The top of one side plane is provided with a third link mounting hole (2-4), and the end of the other side plane is provided with a motor shaft connecting frame (2-2). The third link (3) includes a second link mounting hole (3-1), a third branch link (3-2), a third type of spherical base (3-3), a fourth link mounting hole (3-4), and a third concave weight reduction groove (3-5). The third branch link (3-2) adopts a triangular prism structure, with one side being an arc-shaped curved surface, the other two sides being flat surfaces, the top being an inclined surface, a third concave weight reduction groove (3-5) in the middle, and a third type of spherical base (3-3) at the end. A second link mounting hole (3-1) is provided at the top of one side plane, and a fourth link mounting hole (3-4) is provided at the end of the other side plane. The fourth link (4) includes a fourth branch link (4-1), a third link mounting hole 2 (4-2), a fourth concave weight reduction groove (4-3), and a fifth link mounting hole (4-4). The fourth branch link (4-1) adopts a triangular prism structure, with one side being an arc-shaped curved surface and the other two sides being flat surfaces. Both ends are inclined surfaces, and a fourth concave weight reduction groove (4-3) is provided in the middle. A fifth link mounting hole (4-4) is provided at the top of one side plane, and a third link mounting hole 2 (4-2) is provided at the end of the other side plane. The fifth link (5) has the same structure and external dimensions as the third link (3); The sixth link (6) has the same structure and external dimensions as the fourth link (4); The dual-axis motor (1-5) of the first link (1) is connected to the motor shaft connecting bracket (2-2) of the second link (2) by a rotating joint. The second link (2) is connected to the second link mounting hole (3-1) of the third link (3) by a rotating joint through the first mounting hole (2-4) of the third link (3). The third link (3) is connected to the second mounting hole (4-2) of the third link (4) by a rotating joint through the fourth mounting hole (3-4). The fourth link (4) is connected to the second mounting hole (3-1) of the fifth link (5) by a rotating joint through the fifth mounting hole (4-4). The fifth link (5) is connected to the second mounting hole (4-2) of the third link (6) by a rotating joint through the fourth mounting hole (3-4). The sixth link (6) is connected to the sixth mounting hole (1-1) of the first link (1) by a rotating joint through the fifth mounting hole (4-4).

2. The single-drive spin robot based on the Bricard mechanism as described in claim 1, characterized in that: By controlling a single drive, the robot can possess both movement and steering capabilities.

3. The single-drive spin robot based on the Bricard mechanism as described in claim 1, characterized in that: By controlling the rotation speed and direction of the motor, the robot's movement and steering can be adjusted, thus switching the robot to a single-drive free motion mode that combines movement and steering. By controlling the rotation direction of the motor, the robot can be folded, thus switching the robot to a fully folded mode that facilitates storage and transportation, and a spin motion mode that changes direction without changing position.

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