A side-by-side bricard metamorphic wheel leg mechanism

Abstract

The present application relates to mobile robot technology, in particular to a side-by-side arrangement of Bricard deformation wheel leg mechanism, which is composed of a first motor, a rack rod, a first driving connecting rod, a first rolling connecting rod, a second rolling connecting rod, a first auxiliary connecting rod, a first connecting rack rod, a second motor, a second connecting rack rod, a second auxiliary connecting rod, a third rolling connecting rod, a fourth rolling connecting rod and a second driving connecting rod, and has the deformation ability of two movement modes of wheel type and leg type by changing the mechanism structure, and has good adaptability to different working environments and working requirements.

Description

Technical Field

[0001] This invention relates to mobile robot technology, specifically to a Bricard deformable wheel-leg mechanism arranged side by side. Background Technology

[0002] Traditional mobile robots, relying on different motion actuators, exhibit varying mobility characteristics: wheeled robots move at high speeds, adapting to high-speed movement on flat surfaces, but their obstacle-crossing capabilities are weak; legged robots are highly adaptable to complex environments and have good obstacle-crossing abilities, but their structures are more complex and control is more difficult. Wheel-legged robots break through the motion limitations of single-mode mobile robots, combining the advantages of both wheeled and legged robots. Their flexibility and stability are improved, and their adaptability to complex environments is greatly enhanced, making them a research hotspot in the field of robotics. A deformable wheel-legged mechanism designed with a parallel arrangement based on the spatial closed-chain Bricard mechanism allows for switching between different motion modes through structural deformation, showing promising applications in rescue and exploration scenarios in complex terrain. Summary of the Invention

[0003] This invention utilizes the application of the classic spatial closed-chain Bricard mechanism in the field of wheeled-legged robots. Wheeled robots have high speeds on flat surfaces but poor adaptability to complex terrain and insufficient obstacle-crossing ability. Legged robots have strong terrain adaptability and good obstacle-crossing ability, but their structure is more complex and their operating speed is lower. Combining the advantages of wheeled and legged robots, a novel deformable wheeled-legged mechanism is proposed by designing and optimizing the linkage shape of two sets of Bricard mechanisms arranged side by side.

[0004] The technical solution of this invention: A Bricard deformable wheel leg mechanism arranged side-by-side is designed. This moving mechanism includes a first motor, a frame rod, a first drive link, a first rolling link, a second rolling link, a first auxiliary link, a first connecting rod, a second motor, a second connecting rod, a second auxiliary link, a third rolling link, a fourth rolling link, and a second drive link. The first motor is connected to the frame rod via an interference fit. The output shafts on both sides of the first motor are fixedly connected to the through holes of the first and second drive links, respectively. The second motor is connected to the frame rod, the second motor to the first connecting rod, and the second motor to the second connecting rod. The rods are directly connected by sleeves. The lower ends of the first drive connecting rod, the second drive connecting rod, the first rolling connecting rod, the second rolling connecting rod, the third rolling connecting rod, the fourth rolling connecting rod, and the first connecting rod and the second connecting rod are connected by interference fit. The first drive connecting rod, the first rolling connecting rod, the second rolling connecting rod, the first connecting rod, the frame rod, the second connecting rod, the third rolling connecting rod, the second rolling connecting rod, and the fourth rolling connecting rod are all fixedly connected by bolts.

[0005] The first motor is a dual-output-shaft motor;

[0006] The frame rod has a rectangular cross-section, with a vertical circular hole and a thin circular boundary on the left side, and a through hole on the right side, which is connected to the first motor.

[0007] The first drive link is an irregularly shaped link with a vertical circular hole and a thin circular boundary on the left side, and is connected to the first motor on the right side.

[0008] The first rolling link is an irregularly shaped link with a threaded hole and a groove on the left side and a vertical circular hole and a thin circular boundary on the right side.

[0009] The second rolling connecting rod is an irregularly shaped connecting rod with a vertical circular hole and a thin circular boundary on the left side, a threaded hole and a groove on the right side, and its upper end is connected to the first rolling connecting rod.

[0010] The first auxiliary link is an irregularly shaped link with a threaded hole and groove on the left side and is connected to the first link on the right side.

[0011] The first connecting rod has a rectangular cross-section, with a vertical circular hole on the right side and a connection to the first auxiliary connecting rod on the left side.

[0012] The second motor is a DC motor;

[0013] The second connecting rod has the same structure and external dimensions as the first connecting rod;

[0014] The second auxiliary link has the same structure and external dimensions as the first auxiliary link;

[0015] The third rolling link has the same structure and external dimensions as the second rolling link;

[0016] The fourth rolling link has the same structure and external dimensions as the first rolling link;

[0017] The second drive link has the same structure and external dimensions as the first drive link;

[0018] The control system can control the mechanism to achieve both legged and wheeled deformation and movement. In the initial deformation state of the legged structure, the arc surfaces of the first, second, third, and fourth rolling links are in contact with the ground for support. The first motor is locked, and the angles between the frame rod and the first link, and between the frame rod and the second link, are all horizontal. The first motor rotates, changing the angles between the frame rod and the first and second links. The first motor continues to rotate until both the upper and lower parts of the mechanism are transformed into a kite-shaped structure and then locked. At this point, the mechanism is a legged structure. The second motor then engages the first auxiliary link. The second auxiliary link rotates a full circle to achieve the leg-like structure's movement. In the initial state of the wheel-like structure's deformation, the connecting joints of the first, second, third, and fourth rolling links are in contact with the ground for support. The first motor rotates, changing the angles between the frame rod and the first link, and between the frame rod and the second link. As the first motor continues to rotate, locking the irregular grooves and boundaries on the first, second, third, and fourth rolling links, the mechanism becomes a wheel-like structure. The second motor causes the first and second auxiliary links to rotate a full circle, achieving the wheel-like structure's movement.

[0019] The aforementioned Bricard deformable wheel leg mechanism, which is arranged side by side, combines two sets of Bricard mechanisms by sharing a frame rod. Compared with the layered Bricard mechanism, it reduces the number of rods, lowers the overall weight, and makes the structure more compact and rigorous.

[0020] The Bricard deformable wheel-leg mechanism arranged side by side can be used as a modular mobile unit to form a wheel-leg mobile platform.

[0021] The beneficial effects of this invention are as follows: The Bricard deformable wheel-leg mechanism arranged side by side as described in this invention has a compact structure and can transform into both wheel and leg modes by changing the structure. The wheel mode enables rolling motion with high stability and flexibility, allowing for rapid movement on flat surfaces; the leg mode provides strong obstacle-crossing ability and good traversal in complex environments. The two deformable structures can be switched according to different road conditions and work requirements. Attached Figure Description

[0022] Figure 1 Structural diagram of the Bricard deformable wheel leg mechanism arranged side by side

[0023] Figure 2 Frame pole structure diagram

[0024] Figure 3 First drive linkage structure diagram

[0025] Figure 4 First rolling link structure diagram

[0026] Figure 5 Second rolling link structure diagram

[0027] Figure 6 First auxiliary link structure diagram

[0028] Figure 7 First connecting rod structure diagram

[0029] Figure 8 Second connecting rod structure diagram

[0030] Figure 9 Second auxiliary rod structure diagram

[0031] Figure 10 Third rolling link structure diagram

[0032] Figure 11 Fourth rolling link structure diagram

[0033] Figure 12 Second drive linkage structure diagram

[0034] Figure 13 3D diagram of the deformation process of the leg-type structure

[0035] Figure 14 3D diagram of the deformation process of the wheel structure

[0036] Figure 15 Schematic diagram of a mobile platform consisting of Bricard deformable wheel-leg mechanisms arranged side by side. Detailed Implementation

[0037] The present invention will now be described in further detail with reference to the accompanying drawings.

[0038] like Figure 1As shown, a Bricard deformable wheel leg mechanism is arranged side by side. The moving mechanism includes a first motor (1), a frame rod (2), a first drive link (3), a first rolling link (4), a second rolling link (5), a first auxiliary link (6), a first connecting rod (7), a second motor (8), a second connecting rod (9), a second auxiliary link (10), a third rolling link (11), a fourth rolling link (12), and a second drive link (13). The first motor (1) is connected to the frame rod (2) by an interference fit. The output shafts on both sides of the first motor (1) are fixedly connected to the through holes of the first drive link (3) and the second drive link (13), respectively. The second motor (8) is connected to the frame rod (2), the second motor (8) is connected to the first connecting rod (7), and the second motor (8) is connected to the second connecting rod (9) by sleeves. Direct connection: the lower end of the first drive link (3) is connected to the lower end of the second drive link (13), the lower end of the first rolling link (4) is connected to the lower end of the second rolling link (5), the lower end of the third rolling link (11) is connected to the lower end of the fourth rolling link (12), and the lower end of the first connecting rod (7) is connected to the lower end of the second connecting rod (9) by interference fit. The first drive link (3) is connected to the first rolling link (4), the first rolling link (4) is connected to the second rolling link (5), the second rolling link (5) is connected to the first connecting rod (7), the first connecting rod (7) is connected to the frame rod (2), the second connecting rod (9) is connected to the frame rod (2), the third rolling link (11) is connected to the second connecting rod (9), the third rolling link (11) is connected to the fourth rolling link (12), and the second drive link (13) is connected to the fourth rolling link (12) by bolts.

[0039] The first motor (1) is a dual-output shaft motor;

[0040] like Figure 2 As shown, the frame rod (2) has a rectangular cross-section, with a vertical circular hole and a thin circular boundary on the left side, and a through hole on the right side, which is connected to the first motor (1).

[0041] like Figure 3 As shown, the first drive link (3) is an irregularly shaped link with a vertical circular hole and a thin circular boundary on the left side, and is connected to the first motor (1) on the right side;

[0042] like Figure 4 As shown, the first rolling link (4) is an irregularly shaped link with a threaded hole and a groove on the left side and a vertical circular hole and a thin circular boundary on the right side.

[0043] like Figure 5 As shown, the second rolling link (5) is an irregularly shaped link with a vertical circular hole and a thin circular boundary on the left side, a threaded hole and a groove on the right side, and its upper end is connected to the first rolling link (4).

[0044] like Figure 6 As shown, the first auxiliary connecting rod (6) is an irregularly shaped connecting rod with a threaded hole and a groove on the left side and is connected to the first connecting rod (7) on the right side;

[0045] like Figure 7 As shown, the first connecting rod (7) has a rectangular cross-section, a vertical circular hole on the right side, and is connected to the first auxiliary connecting rod (6) on the left side;

[0046] The second motor (8) is a DC motor;

[0047] like Figure 8 As shown, the second connecting rod (9) has the same structure and external dimensions as the first connecting rod (7);

[0048] like Figure 9 As shown, the second auxiliary link (10) has the same structure and external dimensions as the first auxiliary link (6);

[0049] like Figure 10 As shown, the third rolling link (11) has the same structure and external dimensions as the second rolling link (5);

[0050] like Figure 11 As shown, the fourth rolling link (12) has the same structure and external dimensions as the first rolling link (4);

[0051] like Figure 12 As shown, the second drive link (13) has the same structure and external dimensions as the first drive link (3);

[0052] The control system can control the mechanism to achieve both legged and wheeled structural deformation and movement, such as Figure 13 (a)-(d) are three-dimensional diagrams of the deformation process of the leg-type structure. Figure 13 (a) is the initial state of the mechanism. The arc surfaces of the first rolling link (4), the second rolling link (5), the third rolling link (11), and the fourth rolling link (12) are in contact with the ground for support. The first motor (1) is locked. The included angles between the frame rod (2) and the first connecting rod (7) and between the frame rod (2) and the second connecting rod (9) are all horizontal. The first motor (1) rotates, changing the included angles between the frame rod (2) and the first connecting rod (7) and between the frame rod (2) and the second connecting rod (9) in sequence to reach the desired angles. Figure 13 (b) and Figure 13 In state (c), the first motor (1) continues to rotate, causing both the upper and lower parts of the mechanism to transform into a kite-shaped structure and then lock, achieving the desired state. Figure 13In state (d), the mechanism is a leg-type structure. At this time, the second motor (8) causes the first auxiliary link (6) and the second auxiliary link (10) to rotate a full circle, realizing the leg-type structure's traveling motion; as... Figure 14 (a)-(d) are three-dimensional diagrams of the deformation process of the wheel structure. Figure 14 (a) is the initial state of the wheel structure mechanism deformation. The connecting joints of the first rolling link (4), the second rolling link (5), the third rolling link (11), and the fourth rolling link (12) are in contact with the ground for support. The first motor (1) rotates, changing the included angles between the frame rod (2) and the first connecting rod (7), and between the frame rod (2) and the second connecting rod (9) in sequence. Figure 15 (b) and Figure 15 In state (c), the first motor (1) continues to rotate, locking the irregular grooves and boundaries on the first rolling link (4) and the second rolling link (5), the third rolling link (11) and the fourth rolling link (12), achieving the desired state. Figure 15 In state (d), the mechanism is a wheel structure. The second motor (8) causes the first auxiliary link (6) and the second auxiliary link (10) to rotate a full circle, thereby realizing the movement of the wheel structure.

[0053] The Bricard deformable wheel leg mechanism arranged side by side combines two sets of Bricard mechanisms by sharing a frame rod (2). Compared with the layered Bricard mechanism, it reduces the number of rods, lowers the overall weight, and makes the structure more compact.

[0054] The Bricard deformable wheel-leg mechanism arranged side-by-side can be used as a modular mobile unit to constitute a wheel-leg mobile platform, such as... Figure 15 The diagram shows a four-wheeled legged mobile platform constructed by the aforementioned mechanism.

Claims

1. A Bricard deformable wheel leg mechanism arranged side by side, characterized in that: The deformable wheel leg mechanism includes a first motor (1), a frame rod (2), a first drive link (3), a first rolling link (4), a second rolling link (5), a first auxiliary link (6), a first connecting rod (7), a second motor (8), a second connecting rod (9), a second auxiliary link (10), a third rolling link (11), a fourth rolling link (12), and a second drive link (13). The first motor (1) is connected to the frame rod (2) by an interference fit. The output shafts on both sides of the first motor (1) are fixedly connected to the through holes of the first drive link (3) and the second drive link (13), respectively. The second motor (8) is directly connected to the frame rod (2), the second motor (8) is connected to the first connecting rod (7), and the second motor (8) is connected to the second connecting rod (9) by a sleeve. (3) The lower end of the first rolling link (4) is connected to the lower end of the second driving link (13), the lower end of the first rolling link (4) is connected to the lower end of the second rolling link (5), the lower end of the third rolling link (11) is connected to the lower end of the fourth rolling link (12), and the lower end of the first connecting rod (7) is connected to the lower end of the second connecting rod (9) by interference fit. The first driving link (3) is connected to the first rolling link (4), the first rolling link (4) is connected to the second rolling link (5), the second rolling link (5) is connected to the first connecting rod (7), the first connecting rod (7) is connected to the frame rod (2), the second connecting rod (9) is connected to the frame rod (2), the third rolling link (11) is connected to the second connecting rod (9), the third rolling link (11) is connected to the fourth rolling link (12), and the second driving link (13) is connected to the fourth rolling link (12) by bolts. The first motor (1) is a dual-output shaft motor; The frame rod (2) has a rectangular cross-section, with a vertical circular hole and a thin circular boundary on the left side, and a through hole on the right side, which is connected to the first motor (1). The first drive link (3) is an irregularly shaped link with a vertical circular hole and a thin circular boundary on the left side, and is connected to the first motor (1) on the right side. The first rolling link (4) is an irregularly shaped link with a threaded hole and a groove on the left side and a vertical circular hole and a thin circular boundary on the right side. The second rolling link (5) is an irregularly shaped link with a vertical circular hole and a thin circular boundary on the left side, a threaded hole and a groove on the right side, and its upper end is connected to the first rolling link (4). The first auxiliary link (6) is an irregularly shaped link with a threaded hole and groove on the left side and is connected to the first link (7) on the right side. The first connecting rod (7) has a rectangular cross-section, a vertical circular hole on the right side, and is connected to the first auxiliary connecting rod (6) on the left side; The second motor (8) is a DC motor; The second connecting rod (9) has the same structure and external dimensions as the first connecting rod (7); The second auxiliary link (10) has the same structure and external dimensions as the first auxiliary link (6); The third rolling link (11) has the same structure and external dimensions as the second rolling link (5); The fourth rolling link (12) has the same structure and external dimensions as the first rolling link (4); The second drive link (13) has the same structure and external dimensions as the first drive link (3); the control system can control the mechanism to achieve two types of deformation: leg-type and wheel-type. The initial state of the deformation of the leg-type mechanism is that the arc surfaces of the first rolling link (4), the second rolling link (5), the third rolling link (11), and the fourth rolling link (12) are in contact with the ground for support. The first motor (1) is locked, and the included angles between the frame rod (2) and the first connecting rod (7) and between the frame rod (2) and the second connecting rod (9) are all horizontal. The first motor (1) rotates, changing the included angles between the frame rod (2) and the first connecting rod (7) and between the frame rod (2) and the second connecting rod (9). The first motor (1) continues to rotate, and when the upper and lower parts of the mechanism are transformed into kite-shaped structures and locked, the mechanism is a leg-type structure. At this time, the second motor (8) The first auxiliary link (6) and the second auxiliary link (10) rotate a full circle to realize the movement of the leg structure; the initial state of the deformation of the wheel structure is that the connecting joints of the first rolling link (4), the second rolling link (5), the third rolling link (11) and the fourth rolling link (12) are in contact with the ground for support. The first motor (1) rotates and changes the angle between the frame rod (2) and the first connecting rod (7) and the frame rod (2) and the second connecting rod (9). The first motor (1) continues to rotate and locks the irregular grooves and boundaries on the first rolling link (4) and the second rolling link (5), the third rolling link (11) and the fourth rolling link (12). When this is the wheel structure, the second motor (8) makes the first auxiliary link (6) and the second auxiliary link (10) rotate a full circle to realize the movement of the wheel structure.

2. The Bricard deformable wheel leg mechanism arranged side by side as described in claim 1, characterized in that: The Bricard deformable wheel-leg mechanism arranged side by side can be used as a modular mobile unit to form a wheel-leg mobile platform.

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