A metamorphic wheel mechanism based on a triple-symmetrical bricard mechanism

Abstract

The present application relates to mobile robot technology, in particular to a kind of deformation wheel mechanism based on triple symmetry Bricard mechanism, by first bar (1), second bar (2), third bar (3), fourth bar (4), fifth bar (5), sixth bar (6), seventh bar (7), eighth bar (8), ninth bar (9), tenth bar (10), first deformation steering gear (11), second deformation steering gear (12) are constituted, by structure itself deformation possesses two kinds of movement mode, wheel type, leg type, can adapt to different working environment and work demand.

Description

Technical Field

[0001] This invention relates to mobile robot technology, specifically to a deformable wheel mechanism based on a triple-symmetric Bricard mechanism, which achieves wheel-leg mode switching through deformation of its own structure. Background Technology

[0002] Wheeled robots are structurally stable and fast, suitable for rapid movement on smooth surfaces, but have poor adaptability to complex environments. Legged robots have good obstacle-crossing capabilities and strong terrain adaptability, but their structure is more complex and their operating efficiency is lower. Wheel-legged robots combine the advantages of both wheeled and legged robots, enabling them to operate in different environments. They are characterized by high adaptability and high flexibility, making them a research hotspot in the field of robotics.

[0003] Bricard mechanisms, as typical single-closed-chain spatial six-bar (6R) mechanisms, have a wide range of applications in robotics research. The triple-symmetric Bricard mechanism is a novel hybrid Bricard mechanism that combines the ordinary plane-symmetric form with the trihedral form, exhibiting triple rotational symmetry and triple plane symmetry. Deformable wheel mechanisms based on this mechanism can switch between multiple working modes through structural deformation, making them valuable for applications in disaster relief, military reconnaissance, and other scenarios. Summary of the Invention

[0004] This invention utilizes the application of the classic spatial single-closed-chain Bricard mechanism in the field of wheeled and legged robots. Wheeled robots have high speed on flat roads, but poor terrain adaptability and obstacle crossing performance. Legged robots have strong terrain adaptability and obstacle crossing ability, but their movement speed is relatively slow. Combining the advantages of wheeled and legged robots, a triple-symmetric Bricard mechanism is proposed after improving the link shape.

[0005] The technical solution of the present invention is to design a deformable wheel mechanism based on the Bricard mechanism. The moving mechanism includes a first link (1), a second link (2), a third link (3), a fourth link (4), a fifth link (5), a sixth link (6), a seventh link (7), an eighth link (8), a ninth link (9), a tenth link (10), a first deformable servo motor (11), and a second deformable servo motor (12).

[0006] The first rod (1) is a driving rod for the rotation of the deformable wheel. Its outer center is connected to the vehicle body, its inner center is connected to the second rod (2), and its two ends are connected to the third rod (3) and the seventh rod (7) respectively.

[0007] The second rod (2) is a driving rod for the deformation of the deformation wheel. Its center is connected to the first rod (1), and its two ends are connected to the sixth rod (6) and the tenth rod (10) respectively.

[0008] The third member (3) is an irregularly shaped connecting rod, which is connected to the first member (1) and the fourth member (4) respectively, and the side and front are two arc-shaped surfaces respectively;

[0009] The fourth member (4) is an irregularly shaped connecting rod, which is connected to the third member (3) and the fifth member (5) respectively. The side and the front are two arc-shaped surfaces respectively.

[0010] The fifth member (5) is an irregularly shaped connecting rod, which is connected to the fourth member (4) and the sixth member (6) respectively. The side and the front are two arc-shaped surfaces respectively.

[0011] The sixth member (6) is an irregularly shaped connecting rod, which is connected to the fifth member (5) and the second member (2) respectively. The side and the front are two arc-shaped surfaces respectively.

[0012] The seventh member (7) has the same structure and external dimensions as the third member (3), and is connected to the second member (2) and the eighth member (8) respectively;

[0013] The eighth member (8) has the same structure and external dimensions as the fourth member (4), and is connected to the seventh member (7) and the ninth member (9) respectively;

[0014] The ninth member (9) has the same structure and external dimensions as the fifth member (5), and is connected to the eighth member (8) and the tenth member (10) respectively;

[0015] The tenth member (10) has the same structure and external dimensions as the sixth member (6), and is connected to the first member (1) and the ninth member (9) respectively;

[0016] The first deformable servo (11) and the second deformable servo (12) are of the same model and are connected to the ninth link (9), the tenth link (10) and the fifth link (5) and the sixth link (6), respectively.

[0017] The control system can control the mechanism to achieve both leg-type and wheel-type deformation. In the initial state of the leg-type deformation mechanism, both the first deformation servo (11) and the second deformation servo (12) are locked, the second link (2) and the first link (1) are at their maximum angle, and the side arc surfaces of the third link (3), fourth link (4), fifth link (5), sixth link (6), seventh link (7), eighth link (8), ninth link (9), and tenth link (10) are in contact with the ground for support. The transforming servo (11) and the second transforming servo (12) rotate 90° clockwise, realizing the rotational deformation of the third link (3), fourth link (4), fifth link (5), sixth link (6), seventh link (7), eighth link (8), ninth link (9), and tenth link (10). The mechanism is fully unfolded to a plane. At this time, the third link (3), fourth link (4), fifth link (5), sixth link (6), seventh link (7), eighth link (8), ninth link (9), and tenth link (10) rotate and deform. 0) The end arc surface contacts the ground for support; the initial state of the wheel structure mechanism deformation is that the first deformation servo (11) and the second deformation servo (12) are both locked, the angle between the second link (2) and the first link (1) is the smallest, so that the end arc surfaces of the third link (3), the fourth link (4), the fifth link (5), the sixth link (6), the seventh link (7), the eighth link (8), the ninth link (9), and the tenth link (10) contact the ground for support, the first deformation servo (11) and the second deformation servo... The servo motor (12) rotates 90° to achieve the rotation and deformation of the third link (3), fourth link (4), fifth link (5), sixth link (6), seventh link (7), eighth link (8), ninth link (9), and tenth link (10), and the mechanism is completely folded. At this time, the side arc surfaces of the third link (3), fourth link (4), fifth link (5), sixth link (6), seventh link (7), eighth link (8), ninth link (9), and tenth link (10) are in contact with the ground for support.

[0018] The aforementioned deformable wheel mechanism based on the triple symmetric Bricard mechanism can have its rod shape profile extended in other ways and can be used as a modular unit to form a wheel-leg type mobile platform.

[0019] The beneficial effects of this invention are as follows: The deformable wheel mechanism based on the Bricard mechanism described in this invention possesses both wheel-type and leg-type deformability by changing the mechanism structure. The wheel-type working mode enables rapid and flexible wheel rolling motion, allowing high-speed movement on flat surfaces; the leg-type working mode features good obstacle-crossing performance, enabling passage through uneven surfaces. The two deformable structures can be switched according to different road conditions and work requirements. Attached Figure Description

[0020] Figure 1Structural diagram of the deformable wheel mechanism based on the triple Bricard mechanism

[0021] Figure 2 First member structure diagram

[0022] Figure 3 Second member structure diagram

[0023] Figure 4 Third member structure diagram

[0024] Figure 5 Fourth member structural diagram

[0025] Figure 6 Fifth member structural diagram

[0026] Figure 7 Sixth member structural diagram

[0027] Figure 8 Seventh member structural diagram

[0028] Figure 9 Eighth member structural diagram

[0029] Figure 10 Ninth member structural diagram

[0030] Figure 11 Tenth member structural diagram

[0031] Figure 12 3D diagram of the deformation process of the leg-type structure

[0032] Figure 13 3D diagram of the deformation process of the wheel structure Detailed Implementation

[0033] The present invention will now be described in further detail with reference to the accompanying drawings.

[0034] like Figure 1 As shown, a deformable wheel mechanism based on a triple Bricard mechanism is provided. The moving mechanism includes a first link (1), a second link (2), a third link (3), a fourth link (4), a fifth link (5), a sixth link (6), a seventh link (7), an eighth link (8), a ninth link (9), a tenth link (10), a first deformable servo motor (11), and a second deformable servo motor (12).

[0035] The drive motor is directly connected to the first rod, and the deforming motor is directly connected to the second rod via a sleeve; all other rods are connected by rotation.

[0036] like Figure 2As shown, the first rod (1) is a driving rod for the rotation of the deformable wheel. The outer center is connected to the vehicle body through a round hole (1-4), and the inner center is connected to the second rod (2) through a round hole (1-2). The two ends are connected to the third rod (3) and the seventh rod (7) through round holes (1-1) and (1-3) respectively.

[0037] like Figure 3 As shown, the second rod (2) is a driving rod for the deformation of the deformation wheel. Its center is connected to the first rod (1) through a circular hole (2-2), and its two ends are connected to the sixth rod (6) and the tenth rod (10) through circular holes (2-1) and (2-2) respectively.

[0038] like Figure 4 As shown, the third member (3) is an irregularly shaped connecting rod, which is connected to the first member (1) and the fourth member (4) through round holes (3-1) and (3-2) respectively. The side and the front are two arc-shaped curved surfaces respectively.

[0039] like Figure 5 As shown, the fourth member (4) is an irregularly shaped connecting rod, which is connected to the third member (3) and the fifth member (5) through round holes (4-1) and (4-2) respectively. The side and the front are two arc-shaped curved surfaces respectively.

[0040] like Figure 6 As shown, the fifth member (5) is an irregularly shaped connecting rod, which is connected to the fourth member (4) and the sixth member (6) through round holes (5-1) and (5-2) respectively. The side and front are two arc-shaped curved surfaces respectively.

[0041] like Figure 7 As shown, the sixth member (6) is an irregularly shaped connecting rod, which is connected to the fifth member (5) and the second member (2) through round holes (6-1) and (6-2) respectively. The side and front are two arc-shaped curved surfaces respectively.

[0042] like Figure 8 As shown, the seventh member (7) has the same structure and external dimensions as the third member (3), and is rotatably connected to the second member (2) and the eighth member (8) through round holes (7-1) and (7-2) respectively;

[0043] like Figure 9 As shown, the eighth member (8) and the fourth member (4) have the same structure and external dimensions, and are rotatably connected to the seventh member (7) and the ninth member (9) through round holes (8-1) and (8-2) respectively;

[0044] like Figure 10As shown, the ninth member (9) has the same structure and external dimensions as the fifth member (5), and is rotatably connected to the eighth member (8) and the tenth member (10) through round holes (9-1) and (9-2) respectively;

[0045] like Figure 11 As shown, the tenth member (10) and the sixth member (6) have the same structure and external dimensions, and are rotatably connected to the first member (1) and the ninth member (9) through round holes (10-1) and (10-2) respectively;

[0046] Specific usage method: The control system can control the mechanism to achieve both legged and wheeled structural deformation. The deformation process of the legged structure is as follows: Figure 12 As shown, Figure 12 (a) is the initial state of the mechanism. The first deformable servo (11) and the second deformable servo (12) are both locked. The second link (2) and the first link (1) are at the maximum angle. The side arc surfaces of the third link (3), fourth link (4), fifth link (5), sixth link (6), seventh link (7), eighth link (8), ninth link (9), and tenth link (10) are in contact with the ground for support. The first deformable servo (11) and the second deformable servo (12) rotate clockwise, and so on. Figure 12 (b) and Figure 12 In state (c), the first transforming servo (11) and the second transforming servo (12) continue to rotate forward until the angle between the second link and the first link is at its minimum, realizing the rotational deformation of the third link (3), the fourth link (4), the fifth link (5), the sixth link (6), the seventh link (7), the eighth link (8), the ninth link (9), and the tenth link (10), and the mechanism is fully unfolded into a plane. At this time, the third link (3), the fourth link (4), the fifth link (5), the sixth link (6), the seventh link (7), the eighth link (8), the ninth link (9), and the tenth link (10) are all in a plane. The end arc surface contacts the ground for support; the initial state of the wheel structure mechanism deformation is that the first deformation servo (11) and the second deformation servo (12) are both locked, the angle between the second link (2) and the first link (1) is the smallest, so that the end arc surfaces of the third link (3), the fourth link (4), the fifth link (5), the sixth link (6), the seventh link (7), the eighth link (8), the ninth link (9), and the tenth link (10) contact the ground for support, the first deformation servo (11) and the second deformation servo (12) reverse, the angle between the first link and the second link increases, and so on, reaching the following states. Figure 13 (b) and Figure 13In state (c), the first deformable servo (11) and the second deformable servo (12) continue to reverse until the second link and the first link are at their smallest angle. The third link (3), the fourth link (4), the fifth link (5), the sixth link (6), the seventh link (7), the eighth link (8), the ninth link (9), and the tenth link (10) rotate and deform, and the mechanism is completely folded. At this time, the side arc surfaces of the third link (3), the fourth link (4), the fifth link (5), the sixth link (6), the seventh link (7), the eighth link (8), the ninth link (9), and the tenth link (10) are in contact with the ground for support.

Claims

1. A deformable wheel mechanism based on a triple-symmetric Bricard mechanism, characterized in that: The deformable wheel mechanism includes a first link (1), a second link (2), a third link (3), a fourth link (4), a fifth link (5), a sixth link (6), a seventh link (7), an eighth link (8), a ninth link (9), a tenth link (10), a first deformable servo motor (11), and a second deformable servo motor (12). The connections between the first rod (1) and the vehicle body, the second rod (2), the third rod (3), the seventh rod (7) and the tenth rod (10), the second rod (2) and the sixth rod (6) and the tenth rod (10), the third rod (3) and the fourth rod (4), the fourth rod (4) and the fifth rod (5), the fifth rod (5) and the sixth rod (6), the seventh rod (7) and the eighth rod (8), the eighth rod (8) and the ninth rod (9), and the ninth rod (9) and the tenth rod (10) are all rotatable connections. The first rod (1) is a driving rod for the rotation of the deformable wheel. Its outer center is connected to the vehicle body, its inner center is connected to the second rod (2), and its two ends are connected to the third rod (3) and the seventh rod (7) respectively. The second rod (2) is a driving rod for the deformation of the deformation wheel. Its center is connected to the first rod (1), and its two ends are connected to the sixth rod (6) and the tenth rod (10) respectively. The third member (3) is an irregularly shaped connecting rod, which is connected to the first member (1) and the fourth member (4) respectively, and the side and front are two arc-shaped surfaces respectively; The fourth member (4) is an irregularly shaped connecting rod, which is connected to the third member (3) and the fifth member (5) respectively. The side and the front are two arc-shaped surfaces respectively. The fifth member (5) is an irregularly shaped connecting rod, which is connected to the fourth member (4) and the sixth member (6) respectively. The side and the front are two arc-shaped surfaces respectively. The sixth member (6) is an irregularly shaped connecting rod, which is connected to the fifth member (5) and the second member (2) respectively. The side and the front are two arc-shaped surfaces respectively. The seventh member (7) has the same structure and external dimensions as the third member (3), and is connected to the second member (2) and the eighth member (8) respectively; The eighth member (8) has the same structure and external dimensions as the fourth member (4), and is connected to the seventh member (7) and the ninth member (9) respectively; The ninth member (9) has the same structure and external dimensions as the fifth member (5), and is connected to the eighth member (8) and the tenth member (10) respectively; The tenth member (10) has the same structure and external dimensions as the sixth member (6), and is connected to the first member (1) and the ninth member (9) respectively; The first deformable servo (11) and the second deformable servo (12) are of the same model and are connected to the ninth link (9), the tenth link (10) and the fifth link (5) and the sixth link (6), respectively. The control system can control the mechanism to achieve both leg-type and wheel-type structural deformation.

2. The deformable wheel mechanism based on a triple-symmetric Bricard mechanism as described in claim 1, characterized in that: Both the first deformable servo (11) and the second deformable servo (12) are single-output shaft servos.

3. The deformable wheel mechanism based on a triple-symmetric Bricard mechanism as described in claim 1, characterized in that: The initial state of the leg-type structure's deformation mechanism is that both the first deformable servo (11) and the second deformable servo (12) are locked, the second link (2) and the first link (1) are at their maximum angle, and the side arc surfaces of the third link (3), fourth link (4), fifth link (5), sixth link (6), seventh link (7), eighth link (8), ninth link (9), and tenth link (10) are in contact with the ground for support. The first deformable servo (11) and the second deformable servo (12) are in the correct position. Rotate 90° to achieve the rotational deformation of the third (3), fourth (4), fifth (5), sixth (6), seventh (7), eighth (8), ninth (9), and tenth (10) links, allowing the mechanism to fully unfold onto a single plane. At this point, the end arc surfaces of the third (3), fourth (4), fifth (5), sixth (6), seventh (7), eighth (8), ninth (9), and tenth (10) links contact the ground. The initial state of the wheel structure mechanism deformation is that the first deformation servo (11) and the second deformation servo (12) are both locked, the angle between the second link (2) and the first link (1) is minimized, so that the end arc surfaces of the third link (3), the fourth link (4), the fifth link (5), the sixth link (6), the seventh link (7), the eighth link (8), the ninth link (9), and the tenth link (10) are in contact with the ground to form a support surface, and the first deformation servo (11) and the second deformation servo (12) are locked. Reverse 90° to achieve rotational deformation of the third (3), fourth (4), fifth (5), sixth (6), seventh (7), eighth (8), ninth (9), and tenth (10) links, and the mechanism is completely folded. At this time, the side arc surfaces of the third (3), fourth (4), fifth (5), sixth (6), seventh (7), eighth (8), ninth (9), and tenth (10) links are in contact with the ground for support.

4. A deformable wheel mechanism based on a triple-symmetric Bricard mechanism as described in claim 1, characterized in that: The shape and profile of the rods of the deformable wheel mechanism can be further extended, and can be used as a modular unit to form a wheel-leg mobile platform.

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