A three-ring spherical robot based on a bennett mechanism

Abstract

The application discloses a three-ring spherical robot based on a Bennett mechanism, which is composed of a first spherical mechanism (1), a second spherical mechanism (2), a third spherical mechanism (3), a fourth spherical mechanism (4), a first connecting rod (5), a second connecting rod (6), a third connecting rod (7), a fourth connecting rod (8), a fifth connecting rod (9), a sixth connecting rod (10), a seventh connecting rod (11), an eighth connecting rod (12), a ninth connecting rod (13), a tenth connecting rod (14), an eleventh connecting rod (15), a twelfth connecting rod (16), a first driving motor (17), a second driving motor (18) and a third driving motor (19). The three-ring spherical robot based on the Bennett mechanism has the characteristics that the robot can be automatically opened and closed to realize the motion function.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of robot technology, in particular, to a three-ring spherical robot based on Bennett mechanism, which can be opened and closed autonomously to realize the motion function of spherical robot. BACKGROUND

[0002] The spherical shell of the spherical robot can enable it to move quickly and stably without overturning during task execution, and the spherical closed space can protect the internal mechanism from being damaged by various complex terrains and road conditions. The spherical robot has point contact with the ground during movement, and has small movement resistance.

[0003] The Bennett mechanism is a single degree of freedom spatial linkage mechanism composed of four revolute pairs and specially arranged. The mechanism has simple and compact structure. By using its characteristics, the sphere can be divided into four parts and combined with it. By changing the configuration of the sphere, a new configuration of spherical robot is obtained, and the straight motion and turning motion ability are achieved.

[0004] Chinese patent CN105690375B discloses a single degree of freedom four-bar mobile robot and its control method. The invention proposes a single degree of freedom four-bar mobile robot and its control method, which realizes the straight motion and deterministic turning motion of the single degree of freedom robot on the plane. SUMMARY

[0005] A three-ring spherical robot based on Bennett mechanism is composed of a first spherical mechanism, a second spherical mechanism, a third spherical mechanism, a fourth spherical mechanism, a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod, a fifth connecting rod, a sixth connecting rod, a seventh connecting rod, an eighth connecting rod, a ninth connecting rod, a tenth connecting rod, an eleventh connecting rod, a twelfth connecting rod, a first drive motor, a second drive motor and a third drive motor.

[0006] Structure of parts constituting the mechanism:

[0007] The first spherical mechanism has a quarter-sphere shape. Two bolt holes are provided on the surface thereof for fixed connection with the first connecting rod. The second spherical mechanism has a quarter-sphere shape. Two bolt holes are provided on the surface thereof for fixed connection with the second connecting rod. The third spherical mechanism has a quarter-sphere shape. Two bolt holes are provided on the surface thereof for fixed connection with the fifth connecting rod. The fourth spherical mechanism has a quarter-sphere shape. Two bolt holes are provided on the surface thereof for fixed connection with the ninth connecting rod.

[0008] The first spherical mechanism, the second spherical mechanism, the third spherical mechanism and the fourth spherical mechanism are all provided with three grooves on the outside, which are used to reduce the weight of the spherical mechanism, realize lightweight design, and at the same time, increase the friction with the ground.

[0009] The first connecting rod is a slender rod, with one end connected to the second connecting rod via a revolute joint, and the other end connected to the fourth connecting rod via a revolute joint. The plane containing the revolute joint connected to the fourth connecting rod has two bolt holes with countersunk head structures, ensuring the bolt heads do not protrude above the surface of the first connecting rod. The distance between the two holes is the same as the distance between the two holes in the first spherical mechanism. It is fixedly connected to the first spherical mechanism via bolts. The fifth connecting rod has the same structure and dimensions as the first connecting rod, and its connection method to the second spherical mechanism is the same as that between the first connecting rod and the first spherical mechanism.

[0010] The second connecting rod is a slender rod, with its other end connected to the third connecting rod via a revolute joint. The plane of the revolute joint connected to the third connecting rod has two bolt holes with countersunk head structures, ensuring the bolt heads do not protrude above the surface of the second connecting rod. The distance between the two holes is the same as the distance between the two holes in the second spherical mechanism. They are fixedly connected via bolts and the second spherical mechanism. The ninth connecting rod has the same structure and dimensions as the second connecting rod, and its connection to the fourth spherical mechanism is the same as that between the second connecting rod and the second spherical mechanism.

[0011] The third link is a slender rod. The seventh, tenth, and twelfth links have the same structure and dimensions as the third link.

[0012] The fourth link is a slender rod. The sixth, eighth, and eleventh links have the same structure and dimensions as the fourth link.

[0013] The connection method of the parts that make up the mechanism:

[0014] One end of the first link is connected to one end of the second link via a revolute joint, and the other end of the first link is connected to one end of the fourth link via a revolute joint. The other end of the second link is connected to one end of the third link via a revolute joint. The other end of the third link is connected to the other end of the fourth link via a revolute joint. The fifth, sixth, seventh, and eighth links are connected in the same way as the first link. The second, third, and fourth links are connected in the same way. The ninth, tenth, eleventh, and twelfth links are connected in the same way as the first link. The second, third, and fourth links are connected in the same way. The other end of the third link is connected to the other end of the eleventh link via another revolute joint, the fourth link is connected to the other end of the seventh link via another revolute joint, and the other end of the eighth link is connected to the other end of the twelfth link via another revolute joint.

[0015] The first spherical mechanism is fixedly connected to the first connecting rod through bolt holes; the second spherical mechanism is fixedly connected to the second connecting rod through bolt holes; the third spherical mechanism is fixedly connected to the fifth connecting rod through bolt holes; and the fourth spherical mechanism is fixedly connected to the ninth connecting rod through bolt holes.

[0016] The first drive motor is installed at the revolute joint connecting the second and third links. One side of the first drive motor is connected to the second link, and the other side is connected to the third link. The second drive motor is installed at the revolute joint connecting the sixth and seventh links. One side of the second drive motor is connected to the sixth link, and the other side is connected to the seventh link. The third drive motor is installed at the revolute joint connecting the tenth and eleventh links. One side of the third drive motor is connected to the tenth link, and the other side is connected to the eleventh link.

[0017] The lengths of the first, second, third, fourth, fifth, sixth, seventh, eighth, ninth, tenth, eleventh, and twelfth links must not exceed the diameter of the spherical mechanism.

[0018] The first drive motor drives the connected second and third links via a revolute joint. The second link drives the first link via a revolute joint, and the third link drives the fourth link via a revolute joint. The second drive motor drives the sixth and seventh links in the same way as the third drive motor drives the tenth and eleventh links. The first, second, fifth, and ninth links drive the fixedly connected spherical mechanism. Attached Figure Description

[0019] Figure 1 Assembly principle diagram of a three-sided circular robot based on the Bennett mechanism

[0020] Figure 2 Structural diagrams of the first, second, third, and fourth spherical mechanisms.

[0021] Figure 3 Structure diagrams of the first, second, third, and fourth links.

[0022] Figure 4 A schematic diagram of the tumbling gait of a three-sided circular robot based on the Bennett mechanism.

[0023] Figure 5 A schematic diagram of the peristaltic gait of a three-sided circular robot based on the Bennett mechanism. Detailed Implementation

[0024] The following explanation, in conjunction with the accompanying drawings, further illustrates the following:

[0025] like Figure 1As shown, a three-sphere circular robot based on the Bennett mechanism consists of a first spherical mechanism (1), a second spherical mechanism (2), a third spherical mechanism (3), a fourth spherical mechanism (4); a first link (5), a second link (6), a third link (7), a fourth link (8), a fifth link (9), a sixth link (10), a seventh link (11), an eighth link (12), a ninth link (13), a tenth link (14), an eleventh link (15), a twelfth link (16); a first drive motor (17), a second drive motor (18), and a third drive motor (19).

[0026] The structure of the components that make up the mechanism:

[0027] like Figure 2 As shown in Figure a, the first spherical mechanism (1) is shaped like a quarter sphere. Its surface has bolt holes (1-1) and (1-2) for fixed connection with the first connecting rod (5); the second spherical mechanism (2) is shaped like a quarter sphere. Its surface has bolt holes (2-1) and (2-2) for fixed connection with the second connecting rod (6); the third spherical mechanism (3) is shaped like a quarter sphere. Its surface has bolt holes (3-1) and (3-2) for fixed connection with the fifth connecting rod (9); the fourth spherical mechanism (4) is shaped like a quarter sphere. Its surface has bolt holes (4-1) and (4-2) for fixed connection with the ninth connecting rod (13).

[0028] like Figure 2 As shown in b, the first spherical mechanism (1) has three grooves (1-1), (1-2), and (1-3) on its exterior to reduce the weight of the spherical mechanism, achieve lightweight design, and increase friction with the ground. The groove structure and shape of the second spherical mechanism (2), the third spherical mechanism (3), and the fourth spherical mechanism (4) are the same as those of the first spherical mechanism (1).

[0029] like Figure 3 As shown, the first connecting rod (5) is a slender rod. One end (5-1) is connected to the second connecting rod (6) via a revolute joint, and the other end (5-4) is connected to the fourth connecting rod (9) via a revolute joint. The plane of the revolute joint connected to the fourth connecting rod (8) has two bolt holes (5-2) and (5-3). The bolt holes are countersunk, and the bolt heads must not be higher than the surface of the first connecting rod. The distance between the two holes is the same as the distance between the two holes of the first spherical mechanism. It is fixedly connected to the first spherical mechanism (1) by bolts. The structure and external dimensions of the fifth connecting rod (9) are the same as those of the first connecting rod (5), and the connection method between the second spherical mechanism (2), the first connecting rod (5), and the first spherical mechanism (1) is the same.

[0030] like Figure 3As shown, the second connecting rod (6) is a slender rod, and its other end (6-4) is connected to the third connecting rod (7) via a revolute joint. The plane of the revolute joint connected to the third connecting rod (7) has two bolt holes (6-2) and (6-3), with countersunk bolt holes, ensuring the bolt head does not protrude above the surface of the second connecting rod (6). The distance between the two holes is the same as the distance between the two holes in the second spherical mechanism (2). The connecting rod is fixedly connected to the second spherical mechanism (2) via bolts. The structure and dimensions of the ninth connecting rod (13) are the same as those of the second connecting rod (6), and its connection method with the fourth spherical mechanism (4), the second connecting rod (6), and the second spherical mechanism (2) is the same.

[0031] like Figure 3 As shown, the third link (7) is a slender rod. The seventh link (11), the tenth link (14), and the twelfth link (16) have the same structure and external dimensions as the third link (7).

[0032] like Figure 3 As shown, the fourth link (8) is a slender rod. The sixth link (10), the eighth link (12), and the eleventh link (15) have the same structure and external dimensions as the fourth link (8).

[0033] The connection method of the parts that make up the mechanism:

[0034] One end of the first link (5-1) is connected to one end of the second link (6-1) via a revolute joint. The other end of the first link (5-4) is connected to one end of the fourth link (8-1) via a revolute joint. The other end of the second link (6-2) is connected to one end of the third link (7-1) via a revolute joint. The other end of the third link (7-2) is connected to the other end of the fourth link (8-2) via a revolute joint. The fifth, sixth, seventh, and eighth links are connected in the same way as the first link. The second, third, and fourth links are connected in the same way. The ninth, tenth, eleventh, and twelfth links are connected in the same way as the first link. The second, third, and fourth links are connected in the same way. The other end of the third link (7-2) is connected to the other end of the eleventh link via another revolute joint. The other end of the fourth link (8-2) is connected to the other end of the seventh link via another revolute joint. The other end of the eighth link is connected to the other end of the twelfth link via another revolute joint.

[0035] The first spherical mechanism (1) is fixedly connected to the first connecting rod (5) through bolt holes (1-1) and (1-2), the second spherical mechanism (2) is fixedly connected to the second connecting rod (6) through bolt holes, the third spherical mechanism (3) is fixedly connected to the fifth connecting rod (9) through bolt holes, and the fourth spherical mechanism (4) is fixedly connected to the ninth connecting rod (13) through bolt holes.

[0036] The first drive motor (17) is installed at the revolute joint connecting the second link (6) and the third link (7). The first drive motor (17) is connected to the second link (6) on one side and to the third link (7) on the other side. The second drive motor (18) is installed at the revolute joint connecting the sixth link (10) and the seventh link (11). The second drive motor is connected to the sixth link (10) on one side and to the seventh link (11) on the other side. The third drive motor (19) is installed at the revolute joint connecting the tenth link (14) and the eleventh link (15). The third drive motor (19) is connected to the tenth link (14) on one side and to the eleventh link (15) on the other side.

[0037] The lengths of the first link (5), second link (6), third link (7), fourth link (8), fifth link (9), sixth link (10), seventh link (11), eighth link (12), ninth link (13), tenth link (14), eleventh link (15), and twelfth link (16) shall not exceed the diameter of the spherical mechanism.

[0038] The first drive motor (17) drives the connected second link (6) and third link (7) to move through a revolute joint. The second link (6) drives the first link (5) to move through a revolute joint, and the third link (7) drives the fourth link (8) to move through a revolute joint. The second drive motor (18) drives the sixth link (10) and the seventh link (11) in the same way as the third drive motor (19) drives the tenth link (14) and the eleventh link (15). The first drive motor (17) drives the second link (6) and the third link (7) in the same way. The first link (5), the second link (6), the fifth link (9), and the ninth link (13) drive the fixedly connected spherical mechanism to move.

[0039] Specific usage instructions:

[0040] A three-sided circular robot based on the Bennett mechanism can roll forward. Figure 4 This describes the robot's rolling forward motion in the next cycle. Figure 4 'a' represents the robot's initial state, with the mechanisms fully retracted and the shape resembling a sphere. Driven by motors (17), (18), and (19), the first spherical mechanism (1), the second spherical mechanism (2), the third spherical mechanism (3), and the fourth spherical mechanism (4) separate from each other (e.g., ...). Figure 4 b) The third spherical mechanism (3) and the fourth spherical mechanism (4) continue to move away from the first spherical mechanism (1) and the second spherical mechanism (2), and the mechanisms are nearly perpendicular to the ground. Figure 4 c), the third spherical mechanism (3) and the fourth spherical mechanism (4) tilt to the right and come into contact with the ground. Figure 4d), at this time the motor reverses its drive, the mechanism retracts, and the first spherical mechanism (1) and the second spherical mechanism (2) are driven to move towards the third spherical mechanism (3) and the fourth spherical mechanism (4), and the spherical shell closes. Figure 4 e) This prompts the robot to keep moving forward.

[0041] A three-sided circular robot based on the Bennett mechanism can crawl forward. Figure 5 This describes the robot's movements in the first few cycles before it begins to crawl. Figure 5 'a' represents the robot's initial state, with the mechanisms fully retracted and the shape spherical. Driven by motors (17), (18), and (19), the first spherical mechanism (1), the second spherical mechanism (2), the third spherical mechanism (3), and the fourth spherical mechanism (4) separate. The third spherical mechanism (3) and the fourth spherical mechanism (4) lift in the forward direction. Figure 5 b) The third spherical mechanism (3) and the fourth spherical mechanism (4) tilt forward and come into contact with the ground. Figure 5 c), at this time the motor reverses, and the mechanism closes ( Figure 5 d) This causes the robot to continuously crawl forward. Throughout the entire movement process, the first spherical mechanism (1) and the second spherical mechanism (2) are initially in contact with the ground. The first spherical mechanism (1) and the second spherical mechanism (2) are symmetrical about the direction of movement, and the third spherical mechanism (3) and the fourth spherical mechanism (4) are symmetrical about the direction of movement, sliding forward.

Claims

1. A three-sphere circular robot based on the Bennett mechanism comprises a first spherical mechanism, a second spherical mechanism, a third spherical mechanism, a fourth spherical mechanism; a first link, a second link, a third link, a fourth link, a fifth link, a sixth link, a seventh link, an eighth link, a ninth link, a tenth link, an eleventh link, a twelfth link; a first drive motor, a second drive motor, and a third drive motor; The structure of the components that make up the mechanism: The first spherical mechanism is shaped like a quarter sphere; its surface has two bolt holes for fixed connection with the first connecting rod; the second spherical mechanism is shaped like a quarter sphere; its surface has two bolt holes for fixed connection with the second connecting rod; the third spherical mechanism is shaped like a quarter sphere; its surface has two bolt holes for fixed connection with the fifth connecting rod; the fourth spherical mechanism is shaped like a quarter sphere; its surface has two bolt holes for fixed connection with the ninth connecting rod. The first, second, third, and fourth spherical mechanisms are each provided with three grooves on their exteriors to reduce the weight of the spherical mechanisms, achieve a lightweight design, and increase friction with the ground. The first connecting rod is a slender rod, with one end connected to the second connecting rod via a revolute joint, and the other end connected to the fourth connecting rod via a revolute joint. The plane containing the revolute joint connected to the fourth connecting rod has two bolt holes with countersunk head structures, ensuring the bolt heads do not protrude above the surface of the first connecting rod. The distance between the two holes is the same as the distance between the two holes in the first spherical mechanism. The first connecting rod is fixedly connected to the first spherical mechanism via bolts. The fifth connecting rod has the same structure and dimensions as the first connecting rod, and the connection method between the fifth connecting rod and the second spherical mechanism is the same as the connection method between the first connecting rod and the first spherical mechanism. The second connecting rod is a slender rod, and its other end is connected to the third connecting rod via a revolute joint. The plane of the revolute joint connected to the third connecting rod has two bolt holes with countersunk bolt holes, and the bolt heads must not be higher than the surface of the second connecting rod. The distance between the two holes is the same as the distance between the two holes of the second spherical mechanism. The connecting rod is fixedly connected to the second spherical mechanism via bolts. The structure and dimensions of the ninth connecting rod are the same as those of the second connecting rod. The connection method between the ninth connecting rod and the fourth spherical mechanism is the same as that between the second connecting rod and the second spherical mechanism. The third link is a slender rod. The seventh, tenth, and twelfth links have the same structure and dimensions as the third link. The fourth link is a slender rod. The sixth, eighth, and eleventh links have the same structure and dimensions as the fourth link. The connection method of the parts constituting the mechanism is as follows: One end of the first link is connected to one end of the second link via a revolute joint, and the other end of the first link is connected to one end of the fourth link via a revolute joint; the other end of the second link is connected to one end of the third link via a revolute joint; the other end of the third link is connected to the other end of the fourth link via a revolute joint; the fifth, sixth, seventh, and eighth links are connected in the same way as the first, second, third, and fourth links, and the ninth, tenth, eleventh, and twelfth links are connected in the same way as the first, second, third, and fourth links; the other end of the third link is connected to the other end of the eleventh link via another revolute joint, the fourth link is connected to the other end of the seventh link via another revolute joint, and the other end of the eighth link is connected to the other end of the twelfth link via another revolute joint; The first spherical mechanism is fixedly connected to the first connecting rod through bolt holes; the second spherical mechanism is fixedly connected to the second connecting rod through bolt holes; the third spherical mechanism is fixedly connected to the fifth connecting rod through bolt holes; and the fourth spherical mechanism is fixedly connected to the ninth connecting rod through bolt holes. The first drive motor is installed at the revolute joint connecting the second and third links; one side of the first drive motor is connected to the second link, and the other side is connected to the third link; the second drive motor is installed at the revolute joint connecting the sixth and seventh links; one side of the second drive motor is connected to the sixth link, and the other side is connected to the seventh link; the third drive motor is installed at the revolute joint connecting the tenth and eleventh links; one side of the third drive motor is connected to the tenth link, and the other side is connected to the eleventh link. The lengths of the first, second, third, fourth, fifth, sixth, seventh, eighth, ninth, tenth, eleventh, and twelfth links shall not exceed the diameter of the spherical mechanism. The first drive motor drives the connected second and third links through a revolute joint. The second link drives the first link through a revolute joint, and the third link drives the fourth link through a revolute joint. The second drive motor drives the sixth and seventh links in the same way as the third drive motor drives the tenth and eleventh links. The first, second, fifth, and ninth links drive the fixedly connected spherical mechanism to move.

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