A three-ring single-power ground spinning robot based on a three-fold symmetric bricard mechanism

Abstract

A three-ring single-power ground self-rotating robot based on a three-fold symmetric Bricard mechanism, which is based on a three-fold symmetric Bricard mechanism space six-bar closed chain mechanism, 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). Through control of a single drive, the robot can have five gaits, i.e., overturning, self-rotation, continuous self-rotation, rolling, and peristalsis, and realize autonomous and controllable rotating motion. By controlling the rotating direction of the rudder, the robot can be completely folded to save space during storage and transportation, or perform self-rotation in a completely folded mode. By controlling the rotating direction and stopping time of the rudder, the robot can complete movement and turning, and will be well applied in the fields of education, entertainment, and military.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of ground rotating robots, in particular to a three-ring single-power ground self-rotating robot based on a triple-symmetry Bricard mechanism. BACKGROUND

[0002] Spatial single-closed-chain mechanisms such as Bricard mechanisms are widely used in mobile robots due to their few degrees of freedom, high flexibility, high stiffness, and high reliability. They enhance the performance of robots in terms of deformation ability and complex terrain adaptability, enabling single-degree-of-freedom spatial closed-chain robots based on Bricard mechanisms to fold and unfold. This deformation ability allows the robot to have both spatial free motion capability and small-space storage capability.

[0003] By analyzing three typical rotational motions in nature, a biological-inspired self-rotation mechanism is proposed from three aspects: bionic form design, stable axis layout, and posture balance adjustment. Combined with the characteristics of spatial single-closed-chain Bricard mechanisms, a mechanical structure is designed, resulting in a spatial single-closed-chain ground rotating robot with a new moving mechanism. This robot can achieve autonomous and controllable rotational motion through the folding and unfolding of the mechanical structure under single-power driving. It has multiple complex motion modes such as multi-directional flipping and in-place squirming, as well as multiple motion states like folding and unfolding. It can achieve autonomous and controllable adjustment of angle and position to realize self-rotation in various environments such as sea, land, and air. SUMMARY

[0004] The technical problem to be solved by the present application is that generally, mobile robots have poor folding and unfolding capabilities, are difficult to store and transport, and often require excessive steering drives to achieve complex motion, resulting in waste of structure and performance.

[0005] A three-ring single-power ground self-rotating robot based on a triple-symmetry Bricard mechanism, characterized by a single-degree-of-freedom foldable robot based on a Bricard mechanism, including a first link, a second link, a third link, a fourth link, a fifth link, a sixth link, a seventh link, an eighth link, a ninth link, a tenth link, an eleventh link, a twelfth link, a thirteenth link, a fourteenth link, a fifteenth link, a sixteenth link, a seventeenth link, and an eighteenth link.

[0006] The first connecting rod comprises a fifteenth connecting rod mounting hole, a fourteenth connecting rod angle rotation pair, a first branch chain rod, a spherical base, a bottom concave groove, a rudder, a rudder support and a concave weight reduction groove, wherein the first branch chain rod connects two large triangular prism structures into a whole through the fourteenth connecting rod angle rotation pair, one side of the large triangular prism structure is an arc curved surface, the other two sides are planes, the top end is a plane provided with an anti-interference groove, two concave weight reduction grooves are arranged in the middle, the bottom end is provided with a bottom concave groove, the bottom end is a spherical base, the top end of one side plane is provided with the fourteenth connecting rod angle rotation pair, and the bottom end of the other side plane is provided with the rudder and the rudder support; one side of the small triangular prism structure is an arc curved surface, the other two sides are planes, the top end is a plane provided with an anti-interference groove, one concave weight reduction groove is arranged in the middle, the bottom end is a plane, the top end of one side plane is provided with the fourteenth connecting rod angle rotation pair, and the bottom end of the other side plane is provided with the fifteenth connecting rod mounting hole.

[0007] The second connecting rod comprises a sixth connecting rod mounting hole, a seventh connecting rod angle rotation pair, a second branch chain rod, a rudder shaft connecting frame and a concave weight reduction groove, wherein the second branch chain rod connects two large triangular prism structures into a whole through the seventh connecting rod angle rotation pair, one side of the large triangular prism structure is an arc curved surface, the other two sides are planes, the top end is a plane provided with an anti-interference groove, two concave weight reduction grooves are arranged in the middle, the bottom end is an inclined plane, the top end of one side plane is provided with the seventh connecting rod angle rotation pair, and the bottom end of the other side plane is provided with the rudder shaft connecting frame; one side of the small triangular prism structure is an arc curved surface, the other two sides are planes, the top end is a plane provided with an anti-interference groove, one concave weight reduction groove is arranged in the middle, the bottom end is a plane, the top end of one side plane is provided with the seventh connecting rod angle rotation pair, and the bottom 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 reduction groove, wherein the third branch chain rod adopts a triangular prism structure, one side is an arc curved surface, the other two sides are planes, both ends are planes, a concave weight reduction groove is arranged in the middle, the top end of one side plane is provided with the seventh connecting rod mounting hole, and the bottom end of the other side plane is provided with the fourth connecting rod mounting hole.

[0009] The fourth connecting rod comprises a fifth connecting rod mounting hole, a fourth branch chain rod, a third connecting rod mounting hole and a concave weight reduction groove, wherein the fourth branch chain rod adopts a triangular prism structure, one side is an arc curved surface, the other two sides are planes, the top end is a plane, the bottom end is an inclined plane, a concave weight reduction groove is arranged in the middle, the top end of one side plane is provided with the third connecting rod mounting hole, and the bottom end of the other side plane is provided with the fifth connecting rod mounting hole.

[0010] The fifth connecting rod comprises a spheroid base, a fourth connecting rod mounting hole, a fifth branch chain rod, a sixth connecting rod mounting hole and a concave lightening groove, wherein the fifth branch chain rod adopts a trilateral prism structure, one side is an arc curved surface, the other two sides are planes, the top end is a plane, a concave lightening groove is arranged in the middle, the end is a spheroid base, one side plane top end is provided with a sixth connecting rod mounting hole, and the other side plane end is provided with a fourth connecting rod mounting hole;

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

[0012] The seventh connecting rod comprises a spheroid base, an eighth connecting rod mounting hole, a seventh branch chain rod, a second connecting rod angle joint, a third connecting rod mounting hole and a concave lightening groove, wherein the seventh branch chain rod adopts a second connecting rod angle joint to connect two trilateral prism structures into a whole, one side of the large trilateral prism structure is an arc curved surface, the other two sides are planes, the top end is a plane provided with an anti-interference groove, two concave lightening grooves are arranged in the middle, the end is a spheroid base, one side plane top end is provided with a second connecting rod angle joint, and the other side plane end is provided with an eighth connecting rod mounting hole; one side of the small trilateral prism structure is an arc curved surface, the other two sides are planes, the top end is a plane provided with an anti-interference groove, one concave lightening groove is arranged in the middle, the end is a plane, one side plane top end is provided with a second connecting rod angle joint, and the other side plane end is provided with a third connecting rod mounting hole;

[0013] The eighth connecting rod comprises a seventh connecting rod mounting hole, an eighth branch chain rod, a thirteenth connecting rod angle joint, a twelfth connecting rod mounting hole and a concave lightening groove, wherein the eighth branch chain rod adopts a thirteenth connecting rod angle joint to connect two trilateral prism structures into a whole, one side of the large trilateral prism structure is an arc curved surface, the other two sides are planes, the top end is a plane provided with an anti-interference groove, two concave lightening grooves are arranged in the middle, the end is an inclined plane, one side plane top end is provided with a thirteenth connecting rod angle joint, and one side plane end is provided with a seventh connecting rod mounting hole; one side of the small trilateral prism structure is an arc curved surface, the other two sides are planes, the top end is a plane provided with an anti-interference groove, one concave lightening groove is arranged in the middle, the end is a plane, one side plane top end is provided with a thirteenth connecting rod angle joint, and the other side plane end is provided with a twelfth connecting rod mounting hole;

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

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

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

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

[0018] The thirteenth link has the same structure and outer dimensions as the seventh link;

[0019] The fourteenth link has the same structure and outer dimensions as the eighth link;

[0020] The fifteenth link has the same structure and outer dimensions as the third link;

[0021] The sixteenth link has the same structure and outer dimensions as the fourth link;

[0022] The seventeenth link has the same structure and outer dimensions as the fifth link;

[0023] The eighteenth link has the same structure and outer dimensions as the fourth link;

[0024] The steering wheel of the first connecting rod is connected with the steering wheel rotation shaft connecting frame of the second connecting rod through a rotary joint, the second connecting rod is connected with the second connecting rod angle joint of the seventh connecting rod through a rotary joint through the seventh connecting rod angle joint, the third connecting rod is connected with the third connecting rod mounting hole of the seventh connecting rod through a rotary joint through the seventh connecting rod mounting hole, the fourth connecting rod is connected with the fourth connecting rod mounting hole of the third connecting rod through a rotary joint through the third connecting rod mounting hole, the fifth connecting rod is connected with the fifth connecting rod mounting hole of the fourth connecting rod through a rotary joint through the fourth connecting rod mounting hole, the sixth connecting rod is connected with the sixth connecting rod mounting hole of the fifth connecting rod through a rotary joint through the fifth connecting rod mounting hole, the seventh connecting rod is connected with the seventh connecting rod mounting hole of the eighth connecting rod through a rotary joint through the eighth connecting rod mounting hole, the eighth connecting rod is connected with the eighth connecting rod angle joint of the thirteenth connecting rod through a rotary joint through the thirteenth connecting rod angle joint, the ninth connecting rod is connected with the ninth connecting rod mounting hole of the thirteenth connecting rod through a rotary joint through the thirteenth connecting rod mounting hole, the tenth connecting rod is connected with the tenth connecting rod mounting hole of the ninth connecting rod through a rotary joint through the ninth connecting rod mounting hole, the eleventh connecting rod is connected with the eleventh connecting rod mounting hole of the tenth connecting rod through a rotary joint through the tenth connecting rod mounting hole, the twelfth connecting rod is connected with the twelfth connecting rod mounting hole of the eleventh connecting rod through a rotary joint through the eleventh connecting rod mounting hole, the thirteenth connecting rod is connected with the thirteenth connecting rod mounting hole of the fourteenth connecting rod through a rotary joint through the fourteenth connecting rod mounting hole, the fourteenth connecting rod is connected with the fourteenth connecting rod angle joint of the first connecting rod through a rotary joint through the first connecting rod angle joint, the fifteenth connecting rod is connected with the fifteenth connecting rod mounting hole of the first connecting rod through a rotary joint through the first connecting rod mounting hole, the sixteenth connecting rod is connected with the sixteenth connecting rod mounting hole of the fifteenth connecting rod through a rotary joint through the fifteenth connecting rod mounting hole, the seventeenth connecting rod is connected with the seventeenth connecting rod mounting hole of the sixteenth connecting rod through a rotary joint through the sixteenth connecting rod mounting hole, the eighteenth connecting rod is connected with the eighteenth connecting rod mounting hole of the seventeenth connecting rod through a rotary joint through the seventeenth connecting rod mounting hole, and the eighteenth connecting rod is connected with the eighteenth connecting rod mounting hole of the fourteenth connecting rod through a rotary joint through the fourteenth connecting rod mounting hole.

[0025] The robot has the moving and turning motion ability by controlling the single driving steering wheel;

[0026] The moving and turning of the robot can be changed by controlling the rotation direction and speed of the steering wheel, so that the robot switches to the single-power free motion mode with moving and turning, the rotation direction of the steering wheel is controlled to fold and unfold the robot, so that the robot switches to the flip motion mode moving to the positioning target point, the self-rotation motion mode not changing the position but changing the turning, the continuous self-rotation motion mode, the small-amplitude in-place peristaltic self-rotation motion mode and the completely folded mode for storage and transportation.

[0027] The beneficial effects of the present application: the three-ring single-power ground self-spinning robot based on the triple symmetry Bricard mechanism has simple structure, easy to manufacture and process. In the civil field, it provides an opportunity for primary and middle school students to understand the mobile mechanism, and can be used for making toys and teaching aids. In the military field, it can also be transformed into a military detection robot through further design to realize autonomous and controllable rotary motion in water, ground and air. BRIEF DESCRIPTION OF DRAWINGS

[0028] Figure 1 Three-ring single-power ground self-spinning robot based on triple symmetry Bricard mechanism

[0029] Figure 2 First connecting rod structure diagram

[0030] Figure 3 Second connecting rod structure diagram

[0031] Figure 4 Third connecting rod structure diagram

[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] Figure 9 Eighth connecting rod structure diagram

[0037] Figure 10 Ninth connecting rod structure diagram

[0038] Figure 11 Tenth connecting rod structure diagram

[0039] Figure 12 Eleventh connecting rod structure diagram

[0040] Figure 13 Twelfth connecting rod structure diagram

[0041] Figure 14 Thirteenth connecting rod structure diagram

[0042] Figure 15 Fourteenth connecting rod structure diagram

[0043] Figure 16 Fifteenth connecting rod structure diagram

[0044] Figure 17 Sixteenth connecting rod structure diagram

[0045] Figure 18 Seventeenth linkage structure diagram

[0046] Figure 19 Eighteenth linkage structure diagram

[0047] Figure 20 Rolling motion schematic diagram of three-ring single-actuated ground spinning robot based on three-fold symmetric Bricard mechanism

[0048] Figure 21 Spinning motion schematic diagram of three-ring single-actuated ground spinning robot based on three-fold symmetric Bricard mechanism

[0049] Figure 22 Continuous spinning motion schematic diagram of three-ring single-actuated ground spinning robot based on three-fold symmetric Bricard mechanism

[0050] Figure 23 Peristalsis schematic diagram of three-ring single-actuated ground spinning robot based on three-fold symmetric Bricard mechanism

[0051] Figure 24 Complete folding schematic diagram of three-ring single-actuated ground spinning robot based on three-fold symmetric Bricard mechanism DETAILED DESCRIPTION

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

[0053] As shown in Figure 1 , the single-DOF deployable robot based on Bricard mechanism includes a first linkage (1), a second linkage (2), a third linkage (3), a fourth linkage (4), a fifth linkage (5), a sixth linkage (6), a seventh linkage (7), an eighth linkage (8), a ninth linkage (9), a tenth linkage (10), an eleventh linkage (11), a twelfth linkage (12), a thirteenth linkage (13), a fourteenth linkage (14), a fifteenth linkage (15), a sixteenth linkage (16), a seventeenth linkage (17), and an eighteenth linkage (18).

[0054] As shown in Figure 2As shown in the drawings, the first connecting rod (1) includes a fifteenth connecting rod mounting hole (1-1), a fourteenth connecting rod parallel angle revolute pair (1-2), a first branch chain rod (1-3), a spherical base (1-4), a bottom concave groove (1-5), a steering engine (1-6), a steering engine support (1-7) and a concave weight-reducing groove (1-8). The first branch chain rod (1-3) connects two large triangular prism structures into a whole by the fourteenth connecting rod parallel angle revolute pair (1-2). One side of the large triangular prism structure is an arc-shaped curved surface, the other two sides are planes, the top end is a plane provided with an anti-interference groove, the middle is provided with two concave weight-reducing grooves (1-7), the end is provided with a bottom concave groove (1-5), the end is a spherical base (1-4), one side plane top end is provided with a fourteenth connecting rod parallel angle revolute pair (1-2), and the other side plane end is provided with a steering engine (1-6) and a steering engine support (1-7). One side of the small triangular prism structure is an arc-shaped curved surface, the other two sides are planes, the top end is a plane provided with an anti-interference groove, the middle is provided with a concave weight-reducing groove (1-7), the end is a plane, one side plane top end is provided with a fourteenth connecting rod parallel angle revolute pair (1-2), and the other side plane end is provided with a fifteenth connecting rod mounting hole (1-1).

[0055] As shown in the drawings, Figure 3 The second connecting rod (2) includes a sixth connecting rod mounting hole (2-1), a seventh connecting rod parallel angle revolute pair (2-2), a second branch chain rod (2-3), a steering engine shaft connecting frame (2-4) and a concave weight-reducing groove (2-5). The second branch chain rod (2-1) connects two triangular prism structures into a whole by the seventh connecting rod parallel angle revolute pair (2-2). One side of the large triangular prism structure is an arc-shaped curved surface, the other two sides are planes, the top end is a plane provided with an anti-interference groove, the middle is provided with two concave weight-reducing grooves (2-5), the end is an inclined plane, one side plane top end is provided with a seventh connecting rod parallel angle revolute pair (2-2), and one side plane end is provided with a steering engine shaft connecting frame (2-4). One side of the small triangular prism structure is an arc-shaped curved surface, the other two sides are planes, the top end is a plane provided with an anti-interference groove, the middle is provided with a concave weight-reducing groove (2-5), the end is a plane, one side plane top end is provided with a seventh connecting rod parallel angle revolute pair (2-2), and the other side plane end is provided with a sixth connecting rod mounting hole (2-1).

[0056] As shown in the drawings, Figure 4 The third connecting rod (3) includes 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). The third branch chain rod (3-2) adopts a triangular prism structure. One side is an arc-shaped curved surface, the other two sides are planes, both ends are planes, the middle is provided with a concave weight-reducing groove (3-4), one side plane top end is provided with a seventh connecting rod mounting hole (3-1), and the other side plane end is provided with a fourth connecting rod mounting hole (3-3).

[0057] As shown in Figure 5 , the fourth connecting rod (4) includes a fifth connecting rod mounting hole (4-1), a fourth branch chain rod (4-2), a third connecting rod mounting hole (4-3), and a concave lightening groove (4-4), wherein the fourth branch chain rod (4-2) adopts a quasi-triangular prism structure, one side is an arc curved surface, the other two sides are flat, the top end is flat, the end is beveled, and the middle part is provided with a concave lightening groove (4-3); one side flat top end is provided with a third connecting rod mounting hole (4-3), and the other side flat end is provided with a fifth connecting rod mounting hole (4-1);

[0058] As shown in Figure 6 , the fifth connecting rod (5) includes a quasi-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 lightening groove (5-5), wherein the fifth branch chain rod (5-3) adopts a quasi-triangular prism structure, one side is an arc curved surface, the other two sides are flat, the top end is flat, the middle part is provided with a concave lightening groove (5-5), and the end is a quasi-spherical base (5-1); one side flat top end is provided with a sixth connecting rod mounting hole (5-4), and the other side flat end is provided with a fourth connecting rod mounting hole (5-2);

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

[0060] As shown in Figure 8 , the seventh connecting rod (7) includes a quasi-spherical base (7-1), an eighth connecting rod mounting hole (7-2), a seventh branch chain rod (7-3), a second connecting rod angle joint revolute pair (7-4), a third connecting rod mounting hole (7-5), and a concave lightening groove (7-6), wherein the seventh branch chain rod (7-3) adopts a second connecting rod angle joint revolute pair (7-4) to connect two quasi-triangular prism structures into a whole, one side of the large quasi-triangular prism structure is an arc curved surface, the other two sides are flat, the top end is a flat surface provided with an anti-interference groove, the middle part is provided with two concave lightening grooves (7-6), and the end is a quasi-spherical base (7-1); one side flat top end is provided with a second connecting rod angle joint revolute pair (7-4), and the other side flat end is provided with an eighth connecting rod mounting hole (7-2); one side of the small quasi-triangular prism structure is an arc curved surface, the other two sides are flat, the top end is a flat surface provided with an anti-interference groove, the middle part is provided with a concave lightening groove (7-6), and the end is a flat surface; one side flat top end is provided with a second connecting rod angle joint revolute pair (7-4), and the other side flat end is provided with a third connecting rod mounting hole (7-5);

[0061] As shown in Figure 9As shown, the eighth connecting rod (8) comprises a seventh connecting rod mounting hole (8-1), an eighth branch connecting rod (8-2), a thirteenth connecting rod parallel angle revolute pair (8-3), a twelfth connecting rod mounting hole (8-4) and a concave lightening groove (8-5), wherein the eighth branch connecting rod (8-2) connects two large triangular prism structures into a whole through the thirteenth connecting rod parallel angle revolute pair (8-3), one side of the large triangular prism structure is an arc curved surface, the other two sides are planes, the top end is a plane provided with an anti-interference groove, two concave lightening grooves (2-5) are arranged in the middle, and the end is a bevel, one side plane top end is provided with the thirteenth connecting rod parallel angle revolute pair (8-3), and one side plane end is provided with the seventh connecting rod mounting hole (8-1); one side of the small triangular prism structure is an arc curved surface, the other two sides are planes, the top end is a plane provided with an anti-interference groove, one concave lightening groove (8-5) is arranged in the middle, the end is a plane, one side plane top end is provided with the thirteenth connecting rod parallel angle revolute pair (8-3), and the other side plane end is provided with the twelfth connecting rod mounting hole (8-4);

[0062] As shown in Figure 10 , the ninth connecting rod (9) has the same structure and outer dimensions as the third connecting rod (3);

[0063] As shown in Figure 11 , the tenth connecting rod (10) has the same structure and outer dimensions as the fourth connecting rod (4);

[0064] As shown in Figure 12 , the eleventh connecting rod (11) has the same structure and outer dimensions as the fifth connecting rod (5);

[0065] As shown in Figure 13 , the twelfth connecting rod (12) has the same structure and outer dimensions as the fourth connecting rod (4);

[0066] As shown in Figure 14 , the thirteenth connecting rod (13) has the same structure and outer dimensions as the seventh connecting rod (7);

[0067] As shown in Figure 15 , the fourteenth connecting rod (14) has the same structure and outer dimensions as the eighth connecting rod (8);

[0068] As shown in Figure 16 , the fifteenth connecting rod (15) has the same structure and outer dimensions as the third connecting rod (3);

[0069] As shown in Figure 17 , the sixteenth connecting rod (16) has the same structure and outer dimensions as the fourth connecting rod (4);

[0070] As shown in Figure 18 , the seventeenth connecting rod (17) has the same structure and outer dimensions as the fifth connecting rod (5);

[0071] As Figure 19 shown, the eighteenth link (18) has the same structure and outer dimensions as the fourth link (4);

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

[0073] The specific use method is as follows:

[0074] The three-ring single-power ground self-spinning robot based on the triply symmetric Bricard mechanism can realize a flip motion mode. As shown in Figure 20 The robot is initially stably placed on the ground in a folded state and is in a static balance state. The steering gear (1-6) on the first connecting rod (1) is unidirectionally rotated. The robot is gradually unfolded from the folded state by increasing the driving angle of the driving motor, and moves in the forward direction. When the driving angle of the robot is at a critical value, the robot is in a critical state of about to be tipped over. The robot is flipped over and tipped over in the forward direction by continuously increasing the driving angle. The driving angle reaches the maximum value of the physical limit. The steering gear (1-6) on the first connecting rod (1) stops rotating. The robot is in a completely unfolded state, and the robot flip motion mode is realized.

[0075] The three-ring single-power ground self-spinning robot based on the triply symmetric Bricard mechanism can realize a spin motion mode. As shown in Figure 21 The robot is initially stably placed on the ground in a forward unfolded state and is in a static balance state. The steering gear (1-6) on the first connecting rod (1) is reversed. The robot is gradually folded from the unfolded state by reducing the size of the driving angle. During the folding process, the three spherical supports of the touch rod interact with the ground to generate a driving torque, overcoming the frictional resistance to drive the robot to rotate around its axis at a small amplitude. The robot gradually moves until the completely folded state. When the driving torque is greater than the resistance torque, the robot rotates rapidly under the driving of the torque. With the decrease of the driving torque, the resistance torque is greater than the driving torque, and the robot rotates at a deceleration. Continue to reduce the driving angle to 0. The robot gradually moves until the completely folded state. The robot continues to spin under the driving of the torque until the motion stops, and the robot spin motion mode is realized.

[0076] The three-ring single-power ground self-spinning robot based on the triply symmetric Bricard mechanism can realize a continuous spin motion mode. As shown in Figure 22As shown, the robot is initially stably placed on the ground in a forward unfolding state, in a static balance state, the servo (1-6) on the first connecting rod (1) is reversed, and the robot is gradually folded from the unfolding state by reducing the size of the driving angle, and the three spherical supports of the touch-down rod interact with the ground during the folding process to generate a driving torque, overcoming the friction resistance to drive the robot to rotate around the central axis at a small amplitude, and the robot gradually moves until the complete folding state, when the driving torque is greater than the resistance torque, the robot rotates rapidly under the driving torque, and when the driving torque decreases, the resistance torque is greater than the driving torque, and the robot rotates at a reduced speed. Before the current spinning motion ends, that is, the size of the driving angle approaches 0, the robot approaches the completely folded state, and the servo (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 opposite direction. When the driving angle reaches the maximum physical limit, the robot approaches the completely unfolded state again, and when the driving angle reaches the maximum physical limit, the servo (1-6) on the first connecting rod (1) is reversed, and the robot continues to spin forward, realizing the continuous spinning motion mode of the robot.

[0077] The three-ring single-power ground self-rotating robot based on the triple symmetric Bricard mechanism can realize the peristaltic mode. As shown in Figure 23 As shown, the robot first touches the ground in the reverse unfolding state, the servo (1-6) on the first connecting rod (1) is reversed, and the robot is driven to shrink towards the middle axis until it enters the folded state. After entering the folded state, the servo (1-6) on the first connecting rod (1) is rotated forward, and the robot rotates at a low speed peristaltic, and the robot is unfolded again during the peristaltic process, and the whole body rotates counterclockwise by a certain angle, completing a peristaltic gait. By repeating the above process, the robot can adjust the direction of the body to realize the peristaltic mode of the robot.

[0078] The three-ring single-power ground self-rotating robot based on the triple symmetric Bricard mechanism can realize the completely folded mode. As shown in Figure 24 As shown, the servo (1-6) on the first connecting rod (1) is unidirectionally rotated to drive the robot to fold and realize the completely folded mode.

Claims

1. A three-ring single-drive spinning robot based on a three-fold symmetric Bricard mechanism, characterized in that: The single degree of freedom foldable robot based on Bricard mechanism comprises 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 first connecting rod (1) comprises a fifteenth connecting rod mounting hole (1-1), a fourteenth connecting rod parallel angle revolute pair (1-2), a first branch chain rod (1-3), a spherical base (1-4), a bottom concave groove (1-5), a rudder (1-6), a rudder support (1-7), and a concave weight-reducing groove (1-8); the first branch chain rod (1-3) is connected into a whole by the fourteenth connecting rod parallel angle revolute pair (1-2); one side of a large trilateral prism structure is an arc-shaped curved surface, the other two sides are planes, the top end is a plane provided with an anti-interference groove, the middle is provided with two concave weight-reducing grooves (1-8), the end is provided with a bottom concave groove (1-5), the end is a spherical base (1-4), one side plane top end is provided with a fourteenth connecting rod parallel angle revolute pair (1-2), and the other side plane end is provided with a rudder (1-6) and a rudder support (1-7); one side of a small trilateral prism structure is an arc-shaped curved surface, the other two sides are planes, the top end is a plane provided with an anti-interference groove, the middle is provided with a concave weight-reducing groove (1-8), the end is a plane, one side plane top end is provided with a fourteenth connecting rod parallel angle revolute pair (1-2), and the other side plane end is provided with a fifteenth connecting rod mounting hole (1-1); The second connecting rod (2) comprises a sixth connecting rod mounting hole (2-1), a seventh connecting rod parallel angle revolute pair (2-2), a second branch chain rod (2-3), a rudder shaft connecting frame (2-4), and a concave weight-reducing groove (2-5); the second branch chain rod (2-3) is connected into a whole by the seventh connecting rod parallel angle revolute pair (2-2); one side of a large trilateral prism structure is an arc-shaped curved surface, the other two sides are planes, the top end is a plane provided with an anti-interference groove, the middle is provided with two concave weight-reducing grooves (2-5), the end is an inclined plane, one side plane top end is provided with a seventh connecting rod parallel angle revolute pair (2-2), and one side plane end is provided with a rudder shaft connecting frame (2-4); one side of a small trilateral prism structure is an arc-shaped curved surface, the other two sides are planes, the top end is a plane provided with an anti-interference groove, the middle is provided with a concave weight-reducing groove (2-5), the end is a plane, one side plane top end is provided with a seventh connecting rod parallel angle revolute pair (2-2), and the other side plane end 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 lightening groove (3-4), wherein the third branch chain rod (3-2) adopts a structure similar to a triangular prism, one side is an arc curved surface, the other two sides are planes, both ends are planes, and a concave lightening groove (3-4) is arranged in the middle, one side plane top end is provided with the seventh connecting rod mounting hole (3-1), and the other side plane end is provided with the fourth connecting rod mounting hole (3-3); The fourth connecting rod (4) comprises a fifth connecting rod mounting hole (4-1), a fourth branch chain rod (4-2), a third connecting rod mounting hole (4-3) and a concave lightening groove (4-4), wherein the fourth branch chain rod (4-2) adopts a structure similar to a triangular prism, one side is an arc curved surface, the other two sides are planes, the top end is a plane, the end is an inclined plane, and a concave lightening groove (4-4) is arranged in the middle, one side plane top end is provided with the third connecting rod mounting hole (4-3), and the other side plane end 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 branch chain rod (5-3), a sixth connecting rod mounting hole (5-4) and a concave lightening groove (5-5), wherein the fifth branch chain rod (5-3) adopts a structure similar to a triangular prism, one side is an arc curved surface, the other two sides are planes, the top end is a plane, a concave lightening groove (5-5) is arranged in the middle, and the end is a spherical base (5-1), one side plane top end is provided with the sixth connecting rod mounting hole (5-4), and the other side plane end is provided with the fourth connecting rod mounting hole (5-2); The sixth connecting rod (6) is the same in structure and size 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 branch chain rod (7-3), a second connecting rod angular rotation pair (7-4), a third connecting rod mounting hole (7-5) and a concave lightening groove (7-6), wherein the seventh branch chain rod (7-3) adopts a second connecting rod angular rotation pair (7-4) to connect two structures similar to triangular prisms into a whole, one side of the large triangular prism structure is an arc curved surface, the other two sides are planes, the top end is a plane provided with an anti-interference groove, two concave lightening grooves (7-6) are arranged in the middle, and the end is a spherical base (7-1), one side plane top end is provided with the second connecting rod angular rotation pair (7-4), and the other side plane end is provided with the eighth connecting rod mounting hole (7-2); one side of the small triangular prism structure is an arc curved surface, the other two sides are planes, the top end is a plane provided with an anti-interference groove, one concave lightening groove (7-6) is arranged in the middle, and the end is a plane, one side plane top end is provided with the second connecting rod angular rotation pair (7-4), and the other side plane end is provided with the third connecting rod mounting hole (7-5); The eighth connecting rod (8) comprises a seventh connecting rod mounting hole (8-1), an eighth branch connecting rod (8-2), a thirteenth connecting rod and angle rotating pair (8-3), a twelfth connecting rod mounting hole (8-4) and a concave lightening groove (8-5), wherein the eighth branch connecting rod (8-2) is connected into a whole by the thirteenth connecting rod and angle rotating pair (8-3), one side of the large category triangular prism structure is an arc curved surface, the other two sides are planes, the top end is a plane provided with an anti-interference groove, two concave lightening grooves (8-5) are arranged in the middle, the end is an inclined plane, one side plane top end is provided with the thirteenth connecting rod and angle rotating pair (8-3), and one side plane end is provided with the seventh connecting rod mounting hole (8-1); one side of the small category triangular prism structure is an arc curved surface, the other two sides are planes, the top end is a plane provided with an anti-interference groove, one concave lightening groove (8-5) is arranged in the middle, the end is a plane, one side plane top end is provided with the thirteenth connecting rod and angle rotating pair (8-3), and the other side plane end is provided with the twelfth connecting rod mounting hole (8-4); The ninth connecting rod (9) is the same in structure and outer dimension as the third connecting rod (3); The tenth connecting rod (10) is the same in structure and outer dimension as the fourth connecting rod (4); The eleventh connecting rod (11) is the same in structure and outer dimension as the fifth connecting rod (5); The twelfth connecting rod (12) is the same in structure and outer dimension as the fourth connecting rod (4); The thirteenth connecting rod (13) is the same in structure and outer dimension as the seventh connecting rod (7); The fourteenth connecting rod (14) is the same in structure and outer dimension as the eighth connecting rod (8); The fifteenth connecting rod (15) is the same in structure and outer dimension as the third connecting rod (3); The sixteenth connecting rod (16) is the same in structure and outer dimension as the fourth connecting rod (4); The seventeenth connecting rod (17) is the same in structure and outer dimension as the fifth connecting rod (5); The eighteenth connecting rod (18) is the same in structure and outer dimension as the fourth connecting rod (4); The steering gear (1-6) of the first connecting rod (1) is connected with 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 with the second connecting rod parallel rotating pair (7-4) of the seventh connecting rod (7) through a rotating pair through the seventh connecting rod parallel rotating pair (2-2), the third connecting rod (3) is connected with the third connecting rod mounting hole (7-5) of the seventh connecting rod (7) through a rotating pair through the seventh connecting rod mounting hole (3-1), the fourth connecting rod (4) is connected with the fourth connecting rod mounting hole (3-3) of the third connecting rod (3) through a rotating pair through the third connecting rod mounting hole (4-3), the fifth connecting rod (5) is connected with the fifth connecting rod mounting hole (4-1) of the fourth connecting rod (4) through a rotating pair through the fourth connecting rod mounting hole (5-2), the sixth connecting rod (6) is connected with the sixth connecting rod mounting hole (5-4) of the fifth connecting rod (5) through a rotating pair through the fifth connecting rod mounting hole (6-1), the seventh connecting rod (7) is connected with the seventh connecting rod mounting hole (8-1) of the eighth connecting rod (8) through a rotating pair through the eighth connecting rod mounting hole (7-2), the eighth connecting rod (8) is connected with the eighth connecting rod parallel rotating pair (13-4) of the thirteenth connecting rod (13) through a rotating pair through the thirteenth connecting rod parallel rotating pair (8-3), the ninth connecting rod (9) is connected with the ninth connecting rod mounting hole (13-5) of the thirteenth connecting rod (13) through a rotating pair through the thirteenth connecting rod mounting hole (9-1), the tenth connecting rod (10) is connected with the tenth connecting rod mounting hole (9-3) of the ninth connecting rod (9) through a rotating pair through the ninth connecting rod mounting hole (10-3), the eleventh connecting rod (11) is connected with the eleventh connecting rod mounting hole (10-1) of the tenth connecting rod (10) through a rotating pair through the tenth connecting rod mounting hole (11-2), the twelfth connecting rod (12) is connected with the twelfth connecting rod mounting hole (11-4) of the eleventh connecting rod (11) through a rotating pair through the eleventh connecting rod mounting hole (12-3), the thirteenth connecting rod (13) is connected with the thirteenth connecting rod mounting hole (14-1) of the fourteenth connecting rod (14) through a rotating pair through the fourteenth connecting rod mounting hole (13-2), the fourteenth connecting rod (14) is connected with the fourteenth connecting rod parallel rotating pair (1-2) of the first connecting rod (1) through a rotating pair through the first connecting rod parallel rotating pair (14-3), the fifteenth connecting rod (15) is connected with the fifteenth connecting rod mounting hole (1-1) of the first connecting rod (1) through a rotating pair through the first connecting rod mounting hole (15-1), the sixteenth connecting rod (16) is connected with the sixteenth connecting rod mounting hole (15-3) of the fifteenth connecting rod (15) through a rotating pair through the fifteenth connecting rod mounting hole (16-3), the seventeenth connecting rod (17) is connected with the seventeenth connecting rod mounting hole (16-1) of the sixteenth connecting rod (16) through a rotating pair through the sixteenth connecting rod mounting hole (17-2), the eighteenth connecting rod (18) is connected with the eighteenth connecting rod mounting hole (17-4) of the seventeenth connecting rod (17) through a rotating pair through the seventeenth connecting rod mounting hole (18-3).The eighteenth link (18) is connected with the eighteenth link mounting hole (14-4) of the fourteenth link (14) through the fourteenth link mounting hole (18-1) by a revolute pair.

2. A tri-loop single-driven rolling robot based on a triple-symmetric Bricard mechanism according to claim 1, characterized in that: By controlling a single driving steering wheel, the robot can have moving and steering motion capabilities.

3. A tri-loop single-driven rolling robot based on a triple-symmetric Bricard mechanism according to claim 1, characterized in that: By controlling the rotating direction and speed of the steering wheel, the movement and steering of the robot can be changed, so that the robot is switched to a single-drive free motion mode with moving and steering, by controlling the rotating direction of the steering wheel, the robot can be folded and unfolded, so that the robot is switched to a flip motion mode moving to a positioning target point, a self-rotation motion mode without changing position only changing steering, a continuous self-rotation motion mode, a small-amplitude in-place peristaltic self-rotation mode and a completely folded mode for storage and transportation.

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