Three-ring single-power ground spinning robot based on triple symmetric Bricard mechanism

Abstract

The invention relates to a three-ring single-power ground spinning robot based on a triple symmetric Bricard mechanism, which is based on a space six-rod closed chain mechanism of the triple symmetric Bricard mechanism. The invention relates to a three-degree-of-freedom connecting rod which is composed of a first connecting rod (1), a second connecting rod (2), a third connecting rod (3), a fourth connecting rod (4), a fifth connecting rod (5), a sixth connecting rod (6), a seventh connecting rod (7), an eighth connecting rod (8), a ninth connecting rod (9), a tenth connecting rod (10), an eleventh connecting rod (11), a twelfth connecting rod (12), a thirteenth connecting rod (13), a fourteenth connecting rod (14), a fifteenth connecting rod (15), a sixteenth connecting rod (16), a seventeenth connecting rod (17) and an eighteenth connecting rod (18). The robot can have five gaits of overturning, spinning, continuous spinning, rolling and wriggling through control over a single drive, autonomous controllable rotating motion is achieved, the robot can be completely folded by controlling the rotating direction of a steering engine so that space can be saved in the storage and transportation process, or the robot can conduct spinning motion in a complete folding mode, and therefore the robot can be folded completely. By controlling the rotating direction, the rotating speed and the stalling time of the steering engine, the robot can move and steer, and the robot can be well applied to the fields of education, entertainment, military affairs and the like.

Description

Technical Field

[0001] The invention relates to the technical field of ground rotating robots, in particular to a three-ring single-power ground spinning robot based on a triple-symmetric Bricard mechanism. Background Art

[0002] Spatial single-closed-chain mechanisms such as the Bricard mechanism are widely used in the field of mobile robots due to their low degrees of freedom, high flexibility, high rigidity and high reliability. They enhance the performance of robots in terms of deformation ability and adaptability to complex terrains, allowing single-degree-of-freedom spatial closed-chain robots based on the Bricard mechanism to be folded and expanded. By utilizing this deformation ability, the robot can have both the ability to move freely in space and the ability to store in a small space.

[0003] By analyzing the three typical rotational motions in nature, a bio-inspired spin mechanism is proposed from the three aspects of bionic morphological design, stable axis layout, and posture balance adjustment. The mechanical structure is cleverly designed in combination with the characteristics of the spatial single-closed-chain Bricard mechanism, and a spatial single-closed-chain ground rotating robot with a new mobile mechanism is designed. The robot can realize autonomous and controllable rotational motion through the folding and unfolding of the mechanical structure under single power, and has multiple complex motion modes such as multi-directional flipping and in-situ crawling, as well as multiple motion states such as folding and unfolding. It can realize autonomous and controllable adjustment of angles and positions to realize spin motion in a variety of environments such as sea, land, and air. Summary of the invention

[0004] Technical problem to be solved by the present invention: Generally speaking, mobile robots have poor folding and unfolding capabilities, are difficult to store and transport, and often require too many servo drives to achieve complex movements, resulting in structural and performance waste.

[0005] A three-ring single-power ground spinning robot based on a triple-symmetric Bricard mechanism, characterized in that: the single-degree-of-freedom foldable robot based on the Bricard mechanism comprises 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 thirteenth connecting rod, a fourteenth connecting rod, a fifteenth connecting rod, a sixteenth connecting rod, a seventeenth connecting rod, and an eighteenth connecting rod;

[0006] The first connecting rod comprises a fifteenth connecting rod mounting hole, a fourteenth connecting rod parallel angular rotation pair, a first branch chain rod, a spherical base, a bottom concave groove, a steering gear, a steering gear bracket and a concave weight-reducing groove, wherein the first branch chain rod adopts the fourteenth connecting rod parallel angular rotation pair to connect the two triangular prism-like structures into a whole, one side of the large triangular prism-like structure is an arc-shaped surface, and the other two side surfaces are planes, the top end is a plane provided with an anti-interference groove, two concave weight-reducing grooves are provided in the middle, and a bottom concave groove is provided at the end, the end is a spherical base, the top end of one side plane is provided with the fourteenth connecting rod parallel angular rotation pair, and the end of the other side plane is provided with a steering gear and a steering gear bracket; one side of the small triangular prism-like structure is an arc-shaped surface, the other two side surfaces are planes, the top end is a plane provided with an anti-interference groove, a concave weight-reducing groove is provided in the middle, the end is a plane, the top end of one side plane is provided with the fourteenth connecting rod parallel angular rotation pair, and the end of the other side plane is provided with a fifteenth connecting rod mounting hole;

[0007] The second connecting rod comprises a sixth connecting rod mounting hole, a seventh connecting rod parallel angular rotation pair, a second supporting chain rod, a steering gear shaft connecting frame and a concave weight-reducing groove, wherein the second supporting chain rod adopts the seventh connecting rod parallel angular rotation pair to connect the two triangular prism-like structures into a whole, one side of the large triangular prism-like structure is an arc-shaped curved surface, and the other two side surfaces are planes, the top end is a plane provided with an anti-interference groove, two concave weight-reducing grooves are provided in the middle, and the end is an inclined surface, the top end of one side plane is provided with the seventh connecting rod parallel angular rotation pair, and the end of one side plane is provided with a steering gear shaft connecting frame; one side of the triangular prism-like structure is an arc-shaped curved surface, the other two side surfaces are planes, the top end is a plane provided with an anti-interference groove, a concave weight-reducing groove is provided in the middle, the end is a plane, the top end of one side plane is provided with the seventh connecting rod parallel angular rotation pair, and the end of the other side plane is provided with the sixth connecting rod mounting hole;

[0008] The third connecting rod comprises a seventh connecting rod mounting hole, a third branch chain rod, a fourth connecting rod mounting hole and a concave weight-reducing groove, wherein the third branch chain rod adopts a triangular prism-like structure, one side surface is an arc-shaped curved surface, the other two side surfaces are planes, both ends are planes, a concave weight-reducing groove is provided in the middle, a seventh connecting rod mounting hole is provided at the top of one side plane, and a fourth connecting rod mounting hole is provided at the end of another side plane;

[0009] The fourth connecting rod comprises a fifth connecting rod mounting hole, a fourth branching rod, a third connecting rod mounting hole and a concave weight-reducing groove, wherein the fourth branching rod adopts a triangular prism-like structure, one side surface is an arc-shaped curved surface, the other two side surfaces are planes, the top is a plane, the end is an inclined surface, a concave weight-reducing groove is provided in the middle, the top of one side plane is provided with a third connecting rod mounting hole, and the end of the other side plane is provided with a fifth connecting rod mounting hole;

[0010] The fifth connecting rod comprises a spherical base, a fourth connecting rod mounting hole, a fifth branching rod, a sixth connecting rod mounting hole and a concave weight-reducing groove, wherein the fifth branching rod adopts a triangular prism-like structure, one side surface is an arc-shaped curved surface, the other two side surfaces are planes, the top end is a plane, a concave weight-reducing groove is provided in the middle, the end is a spherical base, the top end of one side plane is provided with a sixth connecting rod mounting hole, and the end of another side plane is provided with a fourth connecting rod mounting hole;

[0011] The sixth connecting rod has the same structure and dimensions as the fourth connecting rod;

[0012] The seventh connecting rod comprises a spherical base, an eighth connecting rod mounting hole, a seventh branch link, a second connecting rod parallel angular rotation pair, a third connecting rod mounting hole and a concave weight-reducing groove, wherein the seventh branch link adopts the second connecting rod parallel angular rotation pair to connect the two triangular prism-like structures into a whole, one side of the large triangular prism-like structure is an arc-shaped surface, the other two side surfaces are planes, the top is a plane provided with anti-interference grooves, two concave weight-reducing grooves are provided in the middle, and the end is a spherical base, the top of one side plane is provided with a second connecting rod parallel angular rotation pair, and the end of the other side plane is provided with an eighth connecting rod mounting hole; one side of the small triangular prism-like structure is an arc-shaped surface, the other two side surfaces are planes, the top is a plane provided with anti-interference grooves, a concave weight-reducing groove is provided in the middle, the end is a plane, the top of one side plane is provided with a second connecting rod parallel angular rotation pair, and the end of the other side plane is provided with a third connecting rod mounting hole;

[0013] The eighth connecting rod comprises a seventh connecting rod mounting hole, an eighth branch link, a thirteenth connecting rod parallel angular rotation pair, a twelfth connecting rod mounting hole and a concave weight-reducing groove, wherein the eighth branch link adopts the thirteenth connecting rod parallel angular rotation pair to connect the two triangular prism-like structures into a whole, one side surface of the large triangular prism-like structure is an arc-shaped curved surface, the other two side surfaces are planes, the top end is a plane provided with an anti-interference groove, two concave weight-reducing grooves are provided in the middle, the end is an inclined surface, the top end of one side plane is provided with the thirteenth connecting rod parallel angular rotation pair, and the end of one side plane is provided with the seventh connecting rod mounting hole; one side surface of the small triangular prism-like structure is an arc-shaped curved surface, the other two side surfaces are planes, the top end is a plane provided with an anti-interference groove, a concave weight-reducing groove is provided in the middle, the end is a plane, the top end of one side plane is provided with the thirteenth connecting rod parallel angular rotation pair, and the end of another side plane is provided with the twelfth connecting rod mounting hole;

[0014] The ninth connecting rod has the same structure and dimensions as the third connecting rod;

[0015] The tenth connecting rod has the same structure and external dimensions as the fourth connecting rod;

[0016] The eleventh connecting rod has the same structure and external dimensions as the fifth connecting rod;

[0017] The twelfth connecting rod has the same structure and dimensions as the fourth connecting rod;

[0018] The thirteenth connecting rod has the same structure and dimensions as the seventh connecting rod;

[0019] The fourteenth connecting rod has the same structure and external dimensions as the eighth connecting rod;

[0020] The fifteenth connecting rod has the same structure and dimensions as the third connecting rod;

[0021] The sixteenth connecting rod has the same structure and dimensions as the fourth connecting rod;

[0022] The seventeenth connecting rod has the same structure and dimensions as the fifth connecting rod;

[0023] The eighteenth connecting rod has the same structure and dimensions as the fourth connecting rod;

[0024] The servo of the first connecting rod is connected to the servo shaft connecting frame of the second connecting rod through a rotating pair, the second connecting rod is connected to the second connecting rod parallel angle rotating pair of the seventh connecting rod through a rotating pair, the third connecting rod is connected to the third connecting rod mounting hole of the seventh connecting rod through a rotating pair, the fourth connecting rod is connected to the fourth connecting rod mounting hole of the third connecting rod through a rotating pair, the fifth connecting rod is connected to the fifth connecting rod mounting hole of the fourth connecting rod through a rotating pair, and the sixth connecting rod is connected to the fifth connecting rod mounting hole of the fourth connecting rod through a rotating pair. The rod is connected to the sixth connecting rod mounting hole of the fifth connecting rod through a rotating pair through the fifth connecting rod mounting hole, the seventh connecting rod is connected to the seventh connecting rod mounting hole of the eighth connecting rod through the eighth connecting rod mounting hole through the rotating pair, the eighth connecting rod is connected to the eighth connecting rod parallel angle rotating pair of the thirteenth connecting rod through the thirteenth connecting rod parallel angle rotating pair through the rotating pair, the ninth connecting rod is connected to the ninth connecting rod mounting hole of the thirteenth connecting rod through the thirteenth connecting rod mounting hole through the rotating pair, the tenth connecting rod is connected to the tenth connecting rod mounting hole of the ninth connecting rod through the ninth connecting rod mounting hole through the rotating pair The eleventh connecting rod is connected with the eleventh connecting rod mounting hole of the tenth connecting rod through the tenth connecting rod mounting hole through a rotating pair, the twelfth connecting rod is connected with the twelfth connecting rod mounting hole of the eleventh connecting rod through the eleventh connecting rod mounting hole through a rotating pair, the thirteenth connecting rod is connected with the thirteenth connecting rod mounting hole of the fourteenth connecting rod through the fourteenth connecting rod mounting hole through the fourteenth connecting rod mounting hole through the fourteenth connecting rod mounting hole through the fourteenth connecting rod mounting hole through the fourteenth connecting rod mounting hole through the first connecting rod parallel angle rotating pair through the rotating pair, the fifteenth connecting rod is connected with the fifteenth connecting rod mounting hole of the first connecting rod through the first connecting rod mounting hole through the rotating pair, the sixteenth connecting rod is connected with the sixteenth connecting rod mounting hole of the fifteenth connecting rod through the fifteenth connecting rod mounting hole through the rotating pair, the seventeenth connecting rod is connected with the seventeenth connecting rod mounting hole of the sixteenth connecting rod through the sixteenth connecting rod mounting hole through the sixteenth connecting rod mounting hole through the rotating pair, the eighteenth connecting rod is connected with the eighteenth connecting rod mounting hole of the seventeenth connecting rod through the seventeenth connecting rod mounting hole through the seventeenth connecting rod mounting hole through the rotating pair, and the eighteenth connecting rod is connected with the eighteenth connecting rod mounting hole of the fourteenth connecting rod through the fourteenth connecting rod mounting hole through the fourteenth connecting rod mounting hole through the rotating pair.

[0025] By controlling a single driving servo, the robot can have both movement and steering capabilities;

[0026] By controlling the rotation direction and speed of the servo, the robot's movement and steering can be changed, so that the robot can be switched to a single-power free motion mode with both movement and steering. By controlling the rotation direction of the servo, the robot can be folded and unfolded, so that the robot can be switched to a flipping motion mode moving to a positioning target point, a spinning motion mode and a continuous spinning motion mode that only changes the steering direction without changing the position, a creeping mode of small-amplitude creeping spin in place, and a completely folded mode that is easy to store and transport.

[0027] Beneficial effects of the present invention: The three-ring single-power ground spinning robot based on the triple symmetric Bricard mechanism of the present invention has a simple structure and is easy to manufacture and process. In the civilian field, it provides an opportunity for primary and secondary school students to understand mobile mechanisms and can be used to make toys and teaching aids. In the military field, it can also be further designed and transformed into a military detection robot to achieve autonomous and controllable rotation in water, on the ground and in the air. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 A three-ring single-powered ground spinning robot based on a triple-symmetric Bricard mechanism

[0029] Figure 2 First connecting rod structure diagram

[0030] Figure 3 Second connecting rod structure diagram

[0031] Figure 4 The third connecting rod structure

[0032] Figure 5 Fourth connecting rod structure diagram

[0033] Figure 6 Fifth connecting rod structure diagram

[0034] Figure 7 Sixth connecting rod structure diagram

[0035] Figure 8 Seventh connecting rod structure diagram

[0036] Fig. 9 The eighth connecting rod structure

[0037] Fig.10 Ninth connecting rod structure diagram

[0038] Fig.11 Tenth connecting rod structure diagram

[0039] Fig.12 Eleventh connecting rod structure diagram

[0040] Fig.13 Structure diagram of the twelfth connecting rod

[0041] Fig.14 Thirteenth connecting rod structure diagram

[0042] Fig.15 Fourteenth connecting rod structure diagram

[0043] Fig.16 Fifteenth connecting rod structure diagram

[0044] Fig.17 Sixteenth connecting rod structure diagram

[0045] Fig.18 Seventeenth connecting rod structure diagram

[0046] Fig.19 18th connecting rod structure diagram

[0047] Fig. 20 Schematic diagram of the flipping motion of a three-ring single-powered ground-based spinning robot based on a triple-symmetric Bricard mechanism

[0048] Fig.21 Schematic diagram of the spinning motion of a three-ring single-powered ground spinning robot based on a triple-symmetric Bricard mechanism

[0049] Fig. 22 Schematic diagram of continuous spinning motion of a three-ring single-powered ground spinning robot based on a triple-symmetric Bricard mechanism

[0050] Fig.23 Schematic diagram of the creeping motion of a three-ring single-powered ground-based spinning robot based on a triple-symmetric Bricard mechanism

[0051] Fig.24 Schematic diagram of the fully folded three-ring single-powered ground spinning robot based on the triple-symmetric Bricard mechanism DETAILED DESCRIPTION

[0052] The present invention will be further described in detail below in conjunction with the accompanying drawings.

[0053] like Figure 1 As shown, a single-degree-of-freedom foldable robot based on a Bricard mechanism comprises 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), an eleventh link (11), a twelfth link (12), a thirteenth link (13), a fourteenth link (14), a fifteenth link (15), a sixteenth link (16), a seventeenth link (17), and an eighteenth link (18);

[0054] like Figure 2As shown, the first connecting rod (1) comprises a fifteenth connecting rod mounting hole (1-1), a fourteenth connecting rod parallel angular rotation pair (1-2), a first supporting chain rod (1-3), a spherical base (1-4), a bottom concave groove (1-5), a steering gear (1-6), a steering gear bracket (1-7) and a concave weight reduction groove (1-8), wherein the first supporting chain rod (1-3) uses the fourteenth connecting rod parallel angular rotation pair (1-2) to connect two triangular prism-like structures into a whole, one side of the triangular prism-like structure is an arc surface, the other two side surfaces are planes, the top is a plane with an anti-interference groove, and two concave weight reduction grooves ( 1-7), a bottom concave groove (1-5) is provided at the end, a spherical base (1-4) is provided at the end, a fourteenth connecting rod parallel angular rotation pair (1-2) is provided at the top of one side plane, and a steering gear (1-6) and a steering gear bracket (1-7) are provided at the end of another side plane; one side of the small triangular prism structure is an arc-shaped curved surface, the other two side surfaces are planes, the top is a plane with an anti-interference groove, a concave weight-reducing groove (1-7) is provided in the middle, the end is a plane, a fourteenth connecting rod parallel angular rotation pair (1-2) is provided at the top of one side plane, and a fifteenth connecting rod mounting hole (1-1) is provided at the end of another side plane;

[0055] like Figure 3 As shown, the second connecting rod (2) comprises a sixth connecting rod mounting hole (2-1), a seventh connecting rod parallel angular rotation pair (2-2), a second supporting chain rod (2-3), a steering gear shaft connecting frame (2-4) and a concave weight-reducing groove (2-5), wherein the second supporting chain rod (2-1) uses the seventh connecting rod parallel angular rotation pair (2-2) to connect two triangular prism-like structures into a whole, one side of the triangular prism-like structure is an arc-shaped curved surface, the other two side surfaces are planes, the top is a plane with an anti-interference groove, and two concave weight-reducing grooves are provided in the middle. A groove (2-5) is provided at the end of the groove, a slope is provided at the top of one side plane, and a steering gear shaft connecting frame (2-4) is provided at the end of one side plane; one side of the triangular prism-like structure is an arc-shaped curved surface, the other two side surfaces are planes, the top is a plane with an anti-interference groove, a concave weight-reducing groove (2-5) is provided in the middle, the end is a plane, the top of one side plane is provided with a seventh connecting rod parallel angular rotation pair (2-2), and the end of the other side plane is provided with a sixth connecting rod mounting hole (2-1);

[0056] like Figure 4 As shown, the third connecting rod (3) comprises a seventh connecting rod mounting hole (3-1), a third branch chain rod (3-2), a fourth connecting rod mounting hole (3-3) and a concave weight-reducing groove (3-4), wherein the third branch chain rod (3-2) adopts a triangular prism-like structure, one side surface is an arc-shaped curved surface, the other two side surfaces are planes, both ends are planes, a concave weight-reducing groove (3-4) is arranged in the middle, the seventh connecting rod mounting hole (3-1) is arranged at the top of one side plane, and the fourth connecting rod mounting hole (3-3) is arranged at the end of another side plane;

[0057] like Figure 5 As shown, the fourth connecting rod (4) comprises a fifth connecting rod mounting hole (4-1), a fourth branching rod (4-2), a third connecting rod mounting hole (4-3) and a concave weight-reducing groove (4-4), wherein the fourth branching rod (4-2) adopts a triangular prism-like structure, one side surface is an arc-shaped curved surface, the other two side surfaces are planes, the top end is a plane, the end is an inclined surface, the middle part is provided with a concave weight-reducing groove (4-3), the top end of one side plane is provided with the third connecting rod mounting hole (4-3), and the end of the other side plane is provided with a fifth connecting rod mounting hole (4-1);

[0058] like Figure 6 As shown, the fifth connecting rod (5) comprises a spherical base (5-1), a fourth connecting rod mounting hole (5-2), a fifth branch chain rod (5-3), a sixth connecting rod mounting hole (5-4) and a concave weight-reducing groove (5-5), wherein the fifth branch chain rod (5-3) adopts a triangular prism-like structure, one side surface is an arc-shaped curved surface, the other two side surfaces are planes, the top end is a plane, a concave weight-reducing groove (5-5) is provided in the middle, the end is a spherical base (5-1), the top end of one side plane is provided with a sixth connecting rod mounting hole (5-4), and the end of another side plane is provided with a fourth connecting rod mounting hole (5-2);

[0059] like Figure 7 As shown, the sixth connecting rod (6) has the same structure and external dimensions as the fourth connecting rod (4);

[0060] like Figure 8 As shown, the seventh connecting rod (7) includes a spherical base (7-1), an eighth connecting rod mounting hole (7-2), a seventh supporting rod (7-3), a second connecting rod parallel angular rotation pair (7-4), a third connecting rod mounting hole (7-5) and a concave weight-reducing groove (7-6), wherein the seventh supporting rod (7-3) uses the second connecting rod parallel angular rotation pair (7-4) to connect two triangular prism-like structures into a whole, one side of the triangular prism-like structure is an arc-shaped curved surface, the other two side surfaces are planes, the top is a plane with an anti-interference groove, and two concave weight-reducing grooves are provided in the middle. The groove (7-6) is provided with a spherical base (7-1) at the end, a second connecting rod parallel angular rotation pair (7-4) is provided at the top of one side plane, and an eighth connecting rod mounting hole (7-2) is provided at the end of another side plane; one side surface of the small triangular prism structure is an arc-shaped curved surface, the other two side surfaces are planes, the top surface is a plane with an anti-interference groove, a concave weight-reducing groove (7-6) is provided in the middle, the end is a plane, a second connecting rod parallel angular rotation pair (7-4) is provided at the top of one side plane, and a third connecting rod mounting hole (7-5) is provided at the end of another side plane;

[0061] like Fig. 9As shown, the eighth connecting rod (8) includes a seventh connecting rod mounting hole (8-1), an eighth supporting rod (8-2), a thirteenth connecting rod parallel angular rotation pair (8-3), a twelfth connecting rod mounting hole (8-4) and a concave weight-reducing groove (8-5), wherein the eighth supporting rod (8-2) uses the thirteenth connecting rod parallel angular rotation pair (8-3) to connect two triangular prism-like structures into a whole, one side of the triangular prism-like structure is an arc-shaped curved surface, the other two side surfaces are planes, the top is a plane with an anti-interference groove, and two concave weight-reducing grooves are provided in the middle. The groove (2-5) is provided with an inclined surface at the end, a thirteenth connecting rod parallel angular rotation pair (8-3) is provided at the top of one side plane, and a seventh connecting rod mounting hole (8-1) is provided at the end of one side plane; one side surface of the small triangular prism structure is an arc-shaped curved surface, the other two side surfaces are planes, the top surface is a plane with an anti-interference groove, a concave weight-reducing groove (8-5) is provided in the middle, the end is a plane, the thirteenth connecting rod parallel angular rotation pair (8-3) is provided at the top of one side plane, and a twelfth connecting rod mounting hole (8-4) is provided at the end of another side plane;

[0062] like Fig.10 As shown, the ninth connecting rod (9) has the same structure and external dimensions as the third connecting rod (3);

[0063] like Fig.11 As shown, the tenth connecting rod (10) has the same structure and external dimensions as the fourth connecting rod (4);

[0064] like Fig.12 As shown, the eleventh connecting rod (11) has the same structure and external dimensions as the fifth connecting rod (5);

[0065] like Fig.13 As shown, the twelfth connecting rod (12) has the same structure and external dimensions as the fourth connecting rod (4);

[0066] like Fig.14 As shown, the thirteenth connecting rod (13) has the same structure and external dimensions as the seventh connecting rod (7);

[0067] like Fig.15 As shown, the fourteenth connecting rod (14) has the same structure and external dimensions as the eighth connecting rod (8);

[0068] like Fig.16 As shown, the fifteenth connecting rod (15) has the same structure and external dimensions as the third connecting rod (3);

[0069] like Fig.17 As shown, the sixteenth connecting rod (16) has the same structure and external dimensions as the fourth connecting rod (4);

[0070] like Fig.18 As shown, the seventeenth connecting rod (17) has the same structure and external dimensions as the fifth connecting rod (5);

[0071] like Fig.19 As shown, the eighteenth connecting rod (18) has the same structure and external dimensions as the fourth connecting rod (4);

[0072] like Figure 1As shown, the steering gear (1-6) of the first connecting rod (1) is connected to the steering gear rotating shaft connecting frame (2-4) of the second connecting rod (2) through a revolving pair, the second connecting rod (2) is connected to the second connecting rod parallel angular revolving pair (7-4) of the seventh connecting rod (7) through a revolving pair through the seventh connecting rod parallel angular revolving pair (2-2), the third connecting rod (3) is connected to the third connecting rod mounting hole (7-5) of the seventh connecting rod (7) through the seventh connecting rod mounting hole (3-1) through a revolving pair, the fourth connecting rod (4) is connected to the fourth connecting rod mounting hole (3-3) of the third connecting rod (3) through the third connecting rod mounting hole (4-3) through a revolving pair, and the fifth connecting rod (5) is connected to the fifth connecting rod mounting hole (4-1) of the fourth connecting rod (4) through the fourth connecting rod mounting hole (5-2). The sixth connecting rod (6) is connected to the sixth connecting rod mounting hole (5-4) of the fifth connecting rod (5) through the fifth connecting rod mounting hole (6-1) through the rotating pair, the seventh connecting rod (7) is connected to the seventh connecting rod mounting hole (8-1) of the eighth connecting rod (8) through the eighth connecting rod mounting hole (7-2) through the rotating pair, the eighth connecting rod (8) is connected to the eighth connecting rod parallel angle rotating pair (8-4) of the thirteenth connecting rod (13) through the thirteenth connecting rod parallel angle rotating pair (8-3) through the rotating pair, the ninth connecting rod (9) is connected to the ninth connecting rod mounting hole (13-5) of the thirteenth connecting rod (13) through the thirteenth connecting rod mounting hole (9-1) through the rotating pair, and the tenth connecting rod (10) is connected to the ninth connecting rod mounting hole (10-3) through the ninth connecting rod mounting hole (10-3) The 11th connecting rod (11) is connected to the 11th connecting rod mounting hole (10-1) of the 10th connecting rod (10) through the 10th connecting rod mounting hole (11-2) through the 12th connecting rod (12) is connected to the 12th connecting rod mounting hole (11-4) of the 11th connecting rod (11) through the 11th connecting rod mounting hole (12-3) through the 13th connecting rod (13) is connected to the 13th connecting rod mounting hole (14-1) of the 14th connecting rod (14) through the 14th connecting rod mounting hole (13-2) through the 14th connecting rod (14) through the 14th connecting rod mounting hole (14-3) and the 14th connecting rod parallel angle connecting hole (14-1) of the 14th connecting rod (1) through the 14th connecting rod parallel angle connecting hole (14-2). The revolving pair (1-2) is connected through a revolving pair, the fifteenth connecting rod (15) is connected to the fifteenth connecting rod mounting hole (1-1) of the first connecting rod (1) through the first connecting rod mounting hole (15-1) through a revolving pair, the sixteenth connecting rod (16) is connected to the sixteenth connecting rod mounting hole (15-3) of the fifteenth connecting rod (15) through the fifteenth connecting rod mounting hole (16-3) through a revolving pair, the seventeenth connecting rod (17) is connected to the seventeenth connecting rod mounting hole (16-1) of the sixteenth connecting rod (16) through the sixteenth connecting rod mounting hole (17-2) through a revolving pair, the eighteenth connecting rod (18) is connected to the eighteenth connecting rod mounting hole (17-4) of the seventeenth connecting rod (17) through the seventeenth connecting rod mounting hole (18-3) through a revolving pair,The eighteenth connecting rod (18) is connected to the eighteenth connecting rod mounting hole (14-4) of the fourteenth connecting rod (14) through the fourteenth connecting rod mounting hole (18-1) through a revolute pair.

[0073] Specific usage:

[0074] The three-ring single-power ground spinning robot based on the triple-symmetric Bricard mechanism can realize the flipping motion mode. Fig. 20 As shown, the robot is initially placed on the ground in a folded state and is in a static equilibrium state. The steering gear (1-6) on the first connecting rod (1) rotates unidirectionally, and the robot is driven to gradually unfold from the folded state and move in the forward direction by increasing the driving angle of the driving motor. When the driving angle of the robot is at a critical value, the robot is in a critical state of being about to tip over. The driving angle is further increased, and the robot flips in the forward direction and tips over. When the driving angle reaches the maximum value of the physical limit, the steering gear (1-6) on the first connecting rod (1) stops rotating, and the robot is in a fully unfolded state, realizing the robot flipping motion mode.

[0075] The three-ring single-power ground spinning robot based on the triple-symmetric Bricard mechanism can realize the spinning motion mode. Fig.21 As shown, the robot is initially placed on the ground in a forward unfolded state and is in a static equilibrium state. The steering gear (1-6) on the first connecting rod (1) is reversed, and the robot is driven to gradually fold from the unfolded state by reducing the size of the driving angle. During the folding process, the three spherical supports of the ground contact rod rely on the folding and unfolding movement of the mechanism to interact with the ground to generate active torque, overcome the friction resistance and drive the robot to rotate slightly around its own axis; during the robot gradually moves to the fully folded state, when the driving torque is greater than the resistance torque, the robot performs a rapid spin motion under the torque drive, and as the driving torque decreases, the resistance torque is greater than the driving torque, and the robot performs a decelerated spin motion. Continue to reduce the driving angle to 0, the robot gradually moves to the fully folded state, and the robot continues to spin under the torque drive until the movement stops, realizing the robot spin motion mode.

[0076] The three-ring single-power ground spinning robot based on the triple-symmetric Bricard mechanism can achieve a continuous spinning motion mode. Fig. 22As shown, the robot is initially placed on the ground in a forward unfolded state and is in a static equilibrium state. The servo (1-6) on the first connecting rod (1) is reversed, and the robot is driven to gradually fold from the unfolded state by reducing the size of the driving angle. During the folding process, the three spherical supports of the ground contact rod rely on the folding and unfolding movement of the mechanism to interact with the ground to generate active torque, overcome the friction resistance and drive the robot to rotate slightly around the central axis. During the robot's gradual movement until the fully folded state, when the driving torque is greater than the resistance torque, the robot performs a rapid spin motion under torque drive. As the driving torque decreases, the resistance torque is greater than the driving torque, and the robot performs a decelerated spin motion. Before the current spin motion ends, that is, when the driving angle approaches 0, the robot approaches a fully folded state. At this time, the steering gear (1-6) on the first connecting rod (1) is driven to rotate forward, and the robot enters the unfolding process and starts to spin in the reverse direction. When the driving angle reaches the maximum value of the physical limit, the robot approaches the fully unfolded state again. When the driving angle reaches the maximum value of the physical limit, the steering gear (1-6) on the first connecting rod (1) is driven to reverse, and the robot continues to spin in the forward direction, thereby realizing a continuous spin motion mode of the robot.

[0077] The three-ring single-power ground-based spinning robot based on the triple-symmetric Bricard mechanism can realize the creeping mode. Fig.23 As shown, the robot first touches the ground in a reverse unfolded state, and the steering gear (1-6) on the first connecting rod (1) reverses to drive the robot to shrink toward the middle axis until it enters a folded state. After entering the folded state, the steering gear (1-6) on the first connecting rod (1) rotates forward, and the robot spins and creeps at a low speed. During the creeping process, the robot unfolds again and spins counterclockwise for a certain angle as a whole to complete a creeping gait. The above process is repeated, and the robot can adjust the direction of the body to realize the robot creeping mode.

[0078] The three-ring single-power ground-based spinning robot based on the triple-symmetric Bricard mechanism can achieve a fully folded mode. Fig.24 As shown, the steering gear (1-6) on the first connecting rod (1) rotates unidirectionally to drive the robot to fold and realize a fully folded mode.

Claims

1. A three-ring single-power ground spinning robot based on a triple-symmetric Bricard mechanism, characterized in that: A single-degree-of-freedom foldable robot based on a Bricard mechanism comprises 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), an eleventh link (11), a twelfth link (12), a thirteenth link (13), a fourteenth link (14), a fifteenth link (15), a sixteenth link (16), a seventeenth link (17), and an eighteenth link (18); The first connecting rod (1) comprises a fifteenth connecting rod mounting hole (1-1), a fourteenth connecting rod parallel angular rotation pair (1-2), a first supporting chain rod (1-3), a spherical base (1-4), a bottom concave groove (1-5), a steering gear (1-6), a steering gear bracket (1-7) and a concave weight reduction groove (1-8), wherein the first supporting chain rod (1-3) uses the fourteenth connecting rod parallel angular rotation pair (1-2) to connect two triangular prism-like structures into a whole, one side of the triangular prism-like structure is an arc surface, the other two side surfaces are planes, the top is a plane provided with an anti-interference groove, and two concave weight reduction grooves ( 1-7), a bottom concave groove (1-5) is provided at the end, a spherical base (1-4) is provided at the end, a fourteenth connecting rod parallel angular rotation pair (1-2) is provided at the top of one side plane, and a steering gear (1-6) and a steering gear bracket (1-7) are provided at the end of another side plane; one side of the small triangular prism structure is an arc-shaped curved surface, the other two side surfaces are planes, the top is a plane with an anti-interference groove, a concave weight-reducing groove (1-7) is provided in the middle, the end is a plane, a fourteenth connecting rod parallel angular rotation pair (1-2) is provided at the top of one side plane, and a fifteenth connecting rod mounting hole (1-1) is provided at the end of another side plane; The second connecting rod (2) comprises a sixth connecting rod mounting hole (2-1), a seventh connecting rod parallel angular rotation pair (2-2), a second supporting chain rod (2-3), a steering gear shaft connecting frame (2-4) and a concave weight-reducing groove (2-5), wherein the second supporting chain rod (2-1) uses the seventh connecting rod parallel angular rotation pair (2-2) to connect two triangular prism-like structures into a whole, one side of the triangular prism-like structure is an arc-shaped curved surface, the other two side surfaces are planes, the top is a plane with an anti-interference groove, and two concave weight-reducing grooves are provided in the middle. A groove (2-5) is provided at the end of the groove, a slope is provided at the top of one side plane, and a steering gear shaft connecting frame (2-4) is provided at the end of one side plane; one side of the triangular prism-like structure is an arc-shaped curved surface, the other two side surfaces are planes, the top is a plane with an anti-interference groove, a concave weight-reducing groove (2-5) is provided in the middle, the end is a plane, the top of one side plane is provided with a seventh connecting rod parallel angular rotation pair (2-2), and the end of the other side plane is provided with a sixth connecting rod mounting hole (2-1); The third connecting rod (3) comprises a seventh connecting rod mounting hole (3-1), a third branch chain rod (3-2), a fourth connecting rod mounting hole (3-3) and a concave weight-reducing groove (3-4), wherein the third branch chain rod (3-2) adopts a triangular prism-like structure, one side surface is an arc-shaped curved surface, the other two side surfaces are planes, both ends are planes, a concave weight-reducing groove (3-4) is arranged in the middle, the seventh connecting rod mounting hole (3-1) is arranged at the top of one side plane, and the fourth connecting rod mounting hole (3-3) is arranged at the end of another side plane; The fourth connecting rod (4) comprises a fifth connecting rod mounting hole (4-1), a fourth branching rod (4-2), a third connecting rod mounting hole (4-3) and a concave weight-reducing groove (4-4), wherein the fourth branching rod (4-2) adopts a triangular prism-like structure, one side surface is an arc-shaped curved surface, the other two side surfaces are planes, the top end is a plane, the end is an inclined surface, a concave weight-reducing groove (4-3) is provided in the middle, the top end of one side plane is provided with the third connecting rod mounting hole (4-3), and the end of the other side plane is provided with the fifth connecting rod mounting hole (4-1); The fifth connecting rod (5) comprises a spherical base (5-1), a fourth connecting rod mounting hole (5-2), a fifth branching rod (5-3), a sixth connecting rod mounting hole (5-4) and a concave weight-reducing groove (5-5), wherein the fifth branching rod (5-3) adopts a triangular prism-like structure, one side surface is an arc-shaped curved surface, the other two side surfaces are planes, the top end is a plane, a concave weight-reducing groove (5-5) is provided in the middle, the end is a spherical base (5-1), the top end of one side plane is provided with a sixth connecting rod mounting hole (5-4), and the end of the other side plane is provided with a fourth connecting rod mounting hole (5-2); The sixth connecting rod (6) has the same structure and external dimensions as the fourth connecting rod (4); The seventh connecting rod (7) comprises a spherical base (7-1), an eighth connecting rod mounting hole (7-2), a seventh branching rod (7-3), a second connecting rod parallel angular rotation pair (7-4), a third connecting rod mounting hole (7-5) and a concave weight-reducing groove (7-6), wherein the seventh branching rod (7-3) uses the second connecting rod parallel angular rotation pair (7-4) to connect two triangular prism-like structures into a whole, one side of the triangular prism-like structure is an arc-shaped curved surface, the other two side surfaces are planes, the top is a plane with an anti-interference groove, and two concave weight-reducing grooves are provided in the middle. The groove (7-6) is provided with a spherical base (7-1) at the end, a second connecting rod parallel angular rotation pair (7-4) is provided at the top of one side plane, and an eighth connecting rod mounting hole (7-2) is provided at the end of another side plane; one side surface of the small triangular prism structure is an arc-shaped curved surface, the other two side surfaces are planes, the top surface is a plane with an anti-interference groove, a concave weight-reducing groove (7-6) is provided in the middle, the end is a plane, a second connecting rod parallel angular rotation pair (7-4) is provided at the top of one side plane, and a third connecting rod mounting hole (7-5) is provided at the end of another side plane; The eighth connecting rod (8) comprises a seventh connecting rod mounting hole (8-1), an eighth supporting rod (8-2), a thirteenth connecting rod parallel angular rotation pair (8-3), a twelfth connecting rod mounting hole (8-4) and a concave weight-reducing groove (8-5), wherein the eighth supporting rod (8-2) uses the thirteenth connecting rod parallel angular rotation pair (8-3) to connect two triangular prism-like structures into a whole, one side of the triangular prism-like structure is an arc-shaped curved surface, the other two side surfaces are planes, the top is a plane with an anti-interference groove, and two concave weight-reducing grooves are provided in the middle. The groove (2-5) is provided with an inclined surface at the end, a thirteenth connecting rod parallel angular rotation pair (8-3) is provided at the top of one side plane, and a seventh connecting rod mounting hole (8-1) is provided at the end of one side plane; one side surface of the small triangular prism structure is an arc-shaped curved surface, the other two side surfaces are planes, the top surface is a plane with an anti-interference groove, a concave weight-reducing groove (8-5) is provided in the middle, the end is a plane, the thirteenth connecting rod parallel angular rotation pair (8-3) is provided at the top of one side plane, and a twelfth connecting rod mounting hole (8-4) is provided at the end of another side plane; The ninth connecting rod (9) has the same structure and external dimensions as the third connecting rod (3); The tenth connecting rod (10) has the same structure and external dimensions as the fourth connecting rod (4); The eleventh connecting rod (11) has the same structure and external dimensions as the fifth connecting rod (5); The twelfth connecting rod (12) has the same structure and external dimensions as the fourth connecting rod (4); The thirteenth connecting rod (13) has the same structure and external dimensions as the seventh connecting rod (7); The fourteenth connecting rod (14) has the same structure and external dimensions as the eighth connecting rod (8); The fifteenth connecting rod (15) has the same structure and external dimensions as the third connecting rod (3); The sixteenth connecting rod (16) has the same structure and external dimensions as the fourth connecting rod (4); The seventeenth connecting rod (17) has the same structure and external dimensions as the fifth connecting rod (5); The eighteenth connecting rod (18) has the same structure and external dimensions as the fourth connecting rod (4); The steering gear (1-6) of the first connecting rod (1) is connected to the steering gear rotating shaft connecting frame (2-4) of the second connecting rod (2) through a rotating pair, the second connecting rod (2) is connected to the second connecting rod parallel angle rotating pair (7-4) of the seventh connecting rod (7) through a rotating pair through the seventh connecting rod parallel angle rotating pair (2-2), the third connecting rod (3) is connected to the third connecting rod mounting hole (7-5) of the seventh connecting rod (7) through the seventh connecting rod mounting hole (3-1) through a rotating pair, the fourth connecting rod (4) is connected to the fourth connecting rod mounting hole (3-3) of the third connecting rod (3) through the third connecting rod mounting hole (4-3) through a rotating pair, the fifth connecting rod (5) is connected to the fifth connecting rod mounting hole (4-1) of the fourth connecting rod (4) through the fourth connecting rod mounting hole (5-2) The sixth connecting rod (6) is connected to the sixth connecting rod mounting hole (5-4) of the fifth connecting rod (5) through the fifth connecting rod mounting hole (6-1) through a rotating pair, the seventh connecting rod (7) is connected to the seventh connecting rod mounting hole (8-1) of the eighth connecting rod (8) through the eighth connecting rod mounting hole (7-2) through a rotating pair, the eighth connecting rod (8) is connected to the eighth connecting rod parallel angle rotating pair (13-4) of the thirteenth connecting rod (13) through the thirteenth connecting rod parallel angle rotating pair (8-3) through a rotating pair, the ninth connecting rod (9) is connected to the ninth connecting rod mounting hole (13-5) of the thirteenth connecting rod (13) through the thirteenth connecting rod mounting hole (9-1) through a rotating pair, the tenth connecting rod (10) is connected to the seventh connecting rod mounting hole (8-1) of the eighth connecting rod (8) through the eighth connecting rod mounting hole (7-2) through a rotating pair, the eighth connecting rod (8) is connected to the eighth connecting rod parallel angle rotating pair (13-4) of the thirteenth connecting rod (13) through the thirteenth connecting rod mounting hole (9-1) through a rotating pair, The tenth connecting rod mounting hole (9-3) of the nine connecting rods (9) is connected via a revolute pair; the eleventh connecting rod (11) is connected via the tenth connecting rod mounting hole (11-2) to the eleventh connecting rod mounting hole (10-1) of the tenth connecting rod (10) via a revolute pair; the twelfth connecting rod (12) is connected via the eleventh connecting rod mounting hole (12-3) to the twelfth connecting rod mounting hole (11-4) of the eleventh connecting rod (11) via a revolute pair; the thirteenth connecting rod (13) is connected via the fourteenth connecting rod mounting hole (13-2) to the thirteenth connecting rod mounting hole (14-1) of the fourteenth connecting rod (14) via a revolute pair; the fourteenth connecting rod (14) is connected via the first connecting rod parallel angular revolute pair (14-3) to the fourteenth connecting rod parallel angular revolute pair of the first connecting rod (1). The movable pair (1-2) is connected via a revolving pair, the fifteenth connecting rod (15) is connected to the fifteenth connecting rod mounting hole (1-1) of the first connecting rod (1) via a revolving pair via the first connecting rod mounting hole (15-1), the sixteenth connecting rod (16) is connected to the sixteenth connecting rod mounting hole (15-3) of the fifteenth connecting rod (15) via a revolving pair via the fifteenth connecting rod mounting hole (16-3), the seventeenth connecting rod (17) is connected to the seventeenth connecting rod mounting hole (16-1) of the sixteenth connecting rod (16) via the sixteenth connecting rod mounting hole (17-2), the eighteenth connecting rod (18) is connected to the eighteenth connecting rod mounting hole (17-4) of the seventeenth connecting rod (17) via the seventeenth connecting rod mounting hole (18-3),The eighteenth connecting rod (18) is connected to the eighteenth connecting rod mounting hole (14-4) of the fourteenth connecting rod (14) through the fourteenth connecting rod mounting hole (18-1) through a revolute pair.

2. A three-ring single-powered ground spinning robot based on a triple-symmetric Bricard mechanism as claimed in claim 1, characterized in that: By controlling a single drive servo, the robot can have both movement and steering capabilities.

3. A three-ring single-powered ground spinning robot based on a triple-symmetric Bricard mechanism as claimed in claim 1, characterized in that: By controlling the rotation direction and speed of the servo, the robot's movement and steering can be changed, so that the robot can be switched to a single-power free motion mode with both movement and steering. By controlling the rotation direction of the servo, the robot can be folded and unfolded, so that the robot can be switched to a flipping motion mode moving toward a positioning target point, a spinning motion mode and a continuous spinning motion mode that only changes the steering direction without changing the position, a creeping mode of small-amplitude creeping spinning in place, and a completely folding mode that is easy to store and transport.

Images