A congruent orthogonal bricard hypoid wheel set mechanism

Abstract

The congruent orthogonal Bricard special wheel group mechanism is composed of a first supporting rod (1), a second supporting rod (2), a third supporting rod (3), a fourth supporting rod (4), a fifth supporting rod (5) and a sixth supporting rod (6). The special wheel mechanism is driven to move on the ground by using the rotary motion of a driving motor. The mechanism also has an over-constrained characteristic, so that the rigidity of the mechanism is high, thereby improving the load-carrying capacity of the mechanism, and through the analysis of the motion characteristics and mechanical characteristics of the mechanism, the stability and accuracy of the motion of the mechanism are realized. The whole rotation of the mechanism can be realized by controlling the single motor, and based on the continuous contact of the special wheel with the ground, the mass center of motion is ensured to be stable. Through the different layout structures of the multiple wheel group mechanisms, the moving platform can have the ability of fast movement on flat ground, the ability of obstacle crossing and the ability of omnidirectional movement, and has a relatively broad application prospect in the fields of logistics, military and the like.

Description

TECHNICAL FIELD

[0001] The present application relates to a full equivalent orthogonal Bricard special-shaped wheel group mechanism, in particular to a wheel group mechanism based on a full equivalent orthogonal Bricard mechanism of a spatial single closed chain linkage mechanism, which drives the special-shaped wheel mechanism to move by utilizing the rotary motion of a driving motor. BACKGROUND

[0002] The Bricard mechanism is one of the spatial single closed chain linkage mechanisms, has six rotary pairs and a degree of freedom of 1. The Bricard mechanism has unique design parameters and arrangement modes, thereby determining its special kinematics and mechanical characteristics. The mechanism also has over-constrained characteristics, so that the rigidity of the mechanism is high, thereby improving the carrying capacity of the mechanism. SUMMARY

[0003] The problem to be solved by the present application is that the common wheel-leg composite mobile robot has high degrees of freedom, complex control algorithm and a large number of driving motors. The present application provides a wheel group mechanism with multiple movement modes based on a full equivalent orthogonal Bricard mechanism, and realizes the stability and accuracy of the movement of the mechanism by analyzing the movement characteristics and mechanical characteristics of the mechanism.

[0004] A full equivalent orthogonal Bricard special-shaped wheel group mechanism, characterized in that the full equivalent orthogonal Bricard special-shaped wheel group mechanism is composed of a first support rod, a second support rod, a third support rod, a fourth support rod, a fifth support rod and a sixth support rod.

[0005] Structure of parts constituting the mechanism

[0006] The first support rod, the second support rod, the third support rod, the fourth support rod, the fifth support rod and the sixth support rod are equal in length.

[0007] The first support rod is a rod piece with a square cross section at one end and a circular cross section at the other end, and a bearing hole is arranged at the top end of the square cross section.

[0008] The second support rod is a special-shaped wheel with a curved surface in the middle and square cross section rod piece structures at both ends, one end of which is a hollow dome with a bearing hole, and the other end is a solid dome with a bearing hole, and the included angle between the two bearing holes is 90 degrees.

[0009] The third support rod is a square cross section rod piece, one end of which is a solid dome with a bearing hole, and the other end is a hollow dome with a bearing hole, and the included angle between the two bearing holes is 90 degrees.

[0010] The fourth support rod is a rod piece with a circular cross section at one end and a square cross section at the other end, and a solid dome with a bearing hole is arranged at the top of the square cross section.

[0011] The fifth support rod is a square section rod, one end of which is a square top with a bearing hole, and the other end is a hollow round top with a bearing hole, and the two bearing holes are at an angle of 90 degrees;

[0012] The sixth support rod is a square section rod, one end of which is a solid round top with a bearing hole, and the other end is a hollow round top with a bearing hole, and the two bearing holes are at an angle of 90 degrees;

[0013] Specific connection mode

[0014] The bearing hole of the first support rod is connected with the bearing hole of the second support rod through a revolute pair, the bearing hole of the second support rod is connected with the bearing hole of the third support rod through a revolute pair, the bearing hole of the third support rod is connected with the bearing hole of the fourth support rod through a revolute pair, the other end of the fourth support rod is connected with the bearing hole of the fifth support rod through a revolute pair, the bearing hole of the fifth support rod is connected with the bearing hole of the sixth support rod through a revolute pair, and the bearing hole of the sixth support rod is connected with the first support rod, so that the six rods form a complete closed chain.

[0015] The full-equivalent orthogonal Bricard special-shaped wheel group mechanism is characterized in that the lengths of the first support rod, the second support rod, the third support rod, the fourth support rod, the fifth support rod and the sixth support rod are equal, innovative design is realized based on the existing Bricard mechanism, the lengths of the rods can be increased or decreased in equal proportion, the outer shapes of the rods are various, and in addition to the square shape, the rods can also be designed into a circular shape, a rhombic shape and other shapes according to application requirements.

[0016] The full-equivalent orthogonal Bricard special-shaped wheel group mechanism is characterized in that the curved special-shaped wheel structure of the second support rod (2) ensures stable mass center during overall movement, and the shape filling in the curved wheel profile in contact with the ground during movement can be changed.

[0017] The full-equivalent orthogonal Bricard special-shaped wheel group mechanism is characterized in that the special-shaped wheel group mechanism can realize whole-circle rotation of the mechanism through motor control, and the mobile platform can be realized by using different layout structures of multiple wheel group mechanisms, so that the mobile platform can realize fast movement on a flat ground, cross over obstacles such as slopes, trenches and vertical walls, and has the omnidirectional movement ability of straight movement, crab movement, crab movement and zero-radius turning.

[0018] The full-equivalent orthogonal Bricard special-shaped wheel group mechanism has the advantages of high stability, high movement precision, simple structure, high reliability, strong adaptability and realization of multiple movement modes, explores a new special-shaped wheel structure mode, solves the problem of severe mass center fluctuation, and provides a thinking for the construction of a closed-chain wheel-leg fusion robot. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1Three-dimensional view of the congruent orthogonal Bricard heteromorphous wheel group mechanism

[0020] Figure 2 Three-dimensional view of the first support rod

[0021] Figure 3 Three-dimensional view of the second support rod

[0022] Figure 4 Three-dimensional view of the third support rod

[0023] Figure 5 Three-dimensional view of the fourth support rod

[0024] Figure 6 Three-dimensional view of the fifth support rod

[0025] Figure 7 Three-dimensional view of the sixth support rod

[0026] Figure 8 Schematic diagram of the rotation process of the congruent orthogonal Bricard heteromorphous wheel group mechanism DETAILED DESCRIPTION

[0027] The application will be described in further detail below with reference to the accompanying drawings.

[0028] As shown in Figure 1 , the congruent orthogonal Bricard heteromorphous wheel group mechanism is composed of a first support rod (1), a second support rod (2), a third support rod (3), a fourth support rod (4), and a fifth support rod (5); wherein the first support rod (1), the second support rod (2), the third support rod (3), the fourth support rod (4), and the fifth support rod (5) are equal in length;

[0029] As shown in Figure 2 , the first support rod (1) is a rod member with a square cross section at one end and a circular cross section at the other end, and the square cross section top end is provided with a bearing hole (1-1);

[0030] As shown in Figure 3 , the second support rod (2) is a heteromorphous wheel (2-1) with a curved surface in the middle and square cross section rod member structures at both ends, one end of which is a hollow dome with a bearing hole (2-2), and the other end is a solid dome with a bearing hole (2-3), and the two bearing holes have an included angle of 90 degrees;

[0031] As shown in Figure 4 , the third support rod (3) is a square cross section rod member, one end of which is a solid dome with a bearing hole (3-1), and the other end is a hollow dome with a bearing hole (3-2), and the two bearing holes have an included angle of 90 degrees;

[0032] As shown in Figure 5As shown, the fourth support rod (4) is a rod with one end of circular cross section and one end of square cross section, and the top of the square cross section is a solid dome with a bearing hole (4-1);

[0033] As shown in the figure, Figure 6 As shown, the fifth support rod (5) is a rod with square cross section, and the top of one end is a square dome with a bearing hole (5-1), and the top of the other end is a hollow dome with a bearing hole (5-2), and the included angle of the two bearing holes is 90 degrees;

[0034] As shown in the figure, Figure 7 As shown, the sixth support rod (6) is a rod with square cross section, one end is a solid dome with a bearing hole (6-1), and the other end is a hollow dome with a bearing hole (6-2), and the included angle of the two bearing holes is 90 degrees;

[0035] Specific connection mode

[0036] The bearing hole (1-1) of the first support rod (1) is connected with the bearing hole (2-2) of the second support rod (2) through a revolute pair, the bearing hole (2-1) of the second support rod (2) is connected with the bearing hole (3-1) of the third support rod (3) through a revolute pair, the bearing hole (3-2) of the third support rod (3) is connected with the bearing hole (4-1) of the fourth support rod (4) through a revolute pair, the other end of the fourth support rod (4) is connected with the bearing hole (5-1) of the fifth support rod (5) through a revolute pair, the bearing hole (5-2) of the fifth support rod (5) is connected with the bearing hole (6-1) of the sixth support rod (6) through a revolute pair, and the bearing hole (6-2) of the sixth support rod (6) is connected with the first support rod (1), and the six rods form a complete closed chain.

[0037] The full equivalent orthogonal Bricard special-shaped wheel group mechanism is characterized in that: the lengths of the first support rod (1), the second support rod (2), the third support rod (3), the fourth support rod (4), the fifth support rod (5) and the sixth support rod (6) are equal, and the innovative design is realized based on the existing Bricard mechanism, the lengths of the rods can be increased or decreased in equal proportion, the outer shape of the rods is various, and in addition to square, the rods can also be designed into circular, rhombic and other shapes according to application requirements.

[0038] The full equivalent orthogonal Bricard special-shaped wheel group mechanism is characterized in that: the curved surface special-shaped wheel structure of the second support rod (2) ensures the stable centroid during the whole movement, and the shape filling in the curved surface profile in contact with the ground during movement can be changed.

[0039] The full-equivalent orthogonal Bricard special-shaped wheel group mechanism is characterized in that: the special-shaped wheel group mechanism can realize whole-circle rotation of the mechanism through motor control, and a moving platform can be constructed by using different layouts of multiple groups of wheel group mechanisms, so that the moving platform can realize fast movement on flat ground, cross over obstacles such as slopes, trenches and vertical walls, and has the omnidirectional movement ability of straight movement, crab movement, crab movement and zero-radius turning.

[0040] Specific use method:

[0041] The full-equivalent orthogonal Bricard special-shaped wheel group mechanism can realize whole-circle rotation of the mechanism through motor control, so as to drive the rotation of the special-shaped wheel and realize continuous contact with the ground, thereby ensuring the stable center of mass during the overall movement.

[0042] When the motor drives the first supporting rod (1) to rotate, the special-shaped wheel can be driven to rotate. Figure 8 (a) shows the state of the full-equivalent orthogonal Bricard special-shaped wheel group mechanism when the first supporting rod rotates 0 degrees, Figure 8 (b) shows the state of the full-equivalent orthogonal Bricard special-shaped wheel group mechanism when the first supporting rod rotates 90 degrees, Figure 8 (c) shows the state of the full-equivalent orthogonal Bricard special-shaped wheel group mechanism when the first supporting rod rotates 180 degrees.

[0043] Based on the different layouts of multiple groups of full-equivalent orthogonal Bricard special-shaped wheel group mechanisms, a moving platform can be constructed, so that the moving platform can realize fast movement on flat ground, cross over obstacles such as slopes, trenches and vertical walls, and has the omnidirectional movement ability of straight movement, crab movement, crab movement and zero-radius turning, and has broad application prospects in the fields of logistics and military.

Claims

1. A congruent orthogonal Bricard irregular wheel mechanism, characterized in that: The congruent orthogonal Bricard irregular wheel assembly mechanism consists of a first support rod (1), a second support rod (2), a third support rod (3), a fourth support rod (4), a fifth support rod (5), and a sixth support rod (6); The first support rod (1), the second support rod (2), the third support rod (3), the fourth support rod (4), the fifth support rod (5), and the sixth support rod (6) are all of equal length; The first support rod (1) is a rod with a square cross-section at one end and a circular cross-section at the other end, and a bearing hole (1-1) is provided at the top of the square cross-section. The second support rod (2) has a curved wheel (2-1) in the middle, which ensures the stability of the center of gravity during the overall movement. The shape filling of the curved contour in contact with the ground can be changed during the movement. Both ends are square cross-section rod structures, one end is a hollow dome with a bearing hole (2-2), and the other end is a solid dome with a bearing hole (2-3). The included angle between the two bearing holes is 90 degrees. The third support rod (3) is a rod with a square cross section. One end is a solid dome with a bearing hole (3-1), and the other end is a hollow dome with a bearing hole (3-2). The included angle between the two bearing holes is 90 degrees. The fourth support rod (4) is a rod with a circular cross-section at one end and a square cross-section at the other end. The top of the square cross-section is a solid dome and has a bearing hole (4-1). The fifth support rod (5) is a rod with a square cross section. One end of the top is a square top with a bearing hole (5-1), and the other end of the top is a hollow dome with a bearing hole (5-2). The included angle between the two bearing holes is 90 degrees. The sixth support rod (6) is a rod with a square cross section. One end is a solid dome with a bearing hole (6-1), and the other end is a hollow dome with a bearing hole (6-2). The included angle between the two bearing holes is 90 degrees. The bearing hole (1-1) of the first support rod (1) is connected to the bearing hole (2-3) of the second support rod (2) by a rotating joint. The bearing hole (2-2) of the second support rod (2) is connected to the bearing hole (3-1) of the third support rod (3) by a rotating joint. The bearing hole (3-2) of the third support rod (3) is connected to the bearing hole (4-1) of the fourth support rod (4) by a rotating joint. The other end of the fourth support rod (4) is connected to the bearing hole (5-1) of the fifth support rod (5) by a rotating joint. The bearing hole (5-2) of the fifth support rod (5) is connected to the bearing hole (6-1) of the sixth support rod (6) by a rotating joint. The bearing hole (6-2) of the sixth support rod (6) is connected to the first support rod (1). The six rods form a complete closed chain.

2. The congruent orthogonal Bricard irregular wheel mechanism as described in claim 1, characterized in that: The aforementioned irregular wheel set mechanism can achieve full-circle rotation through motor control. By constructing a mobile platform using multiple wheel set mechanisms with different layouts, it can achieve rapid movement on flat ground, cross obstacles such as slopes, ditches, and vertical walls, and has omnidirectional movement capabilities such as straight movement, crab movement, diagonal movement, and zero-radius turning.

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