A scaled tetrahedral rolling mechanism

Abstract

The application discloses a zoom tetrahedron rolling mechanism, which comprises first to fourth vertices and first to sixth branches. The first vertex is connected with the fourth branch, the fifth branch and the sixth branch; the second vertex is connected with the second branch, the third branch and the fifth branch; the third vertex is connected with the first branch, the second branch and the fourth branch; and the fourth vertex is connected with the first branch, the third branch and the sixth branch. The robot presents a regular tetrahedron combined shape after the above connection. The zoom tetrahedron rolling mechanism can change the size and the posture by changing the phase difference, so that the zoom tetrahedron rolling mechanism can adapt to complex terrains. The application can be applied to the fields of reconnaissance and detection.

Description

TECHNICAL FIELD

[0001] The application designs a scaling tetrahedron rolling mechanism, which is designed and arranged by rod members and vertices of the tetrahedron, so that the robot has the ability to change the size in a large scale, thereby having strong ground omnidirectional movement and terrain adaptation ability. The application can be used in the fields of reconnaissance, detection, carrying, etc. BACKGROUND

[0002] The scaling tetrahedron rolling mechanism of the design can realize the change of size across the scale, and the size can be changed randomly in a certain range only by one drive. Another set of drive can make it roll on the ground, and has strong practicability.

[0003] Chinese patent CN 105835972A discloses a "double tetrahedron telescopic mobile robot", which is composed of nine telescopic units connected by five hooke joint vertices. The robot realizes overall rolling by the elongation and shortening of the telescopic units to generate self deformation. The structure is simple and has certain movement ability, but the movement of the mechanism depends on the telescopic units with large telescopic ratio, and the performance requirement of the telescopic units is high.

[0004] Chinese patent CN 108860353A discloses a "full rotary pair tetrahedron mobile robot", which is composed of four vertices and six branch chains containing three rotary pairs with parallel axis. The robot moves on the ground by controlling the inverting and outverting of the branch chains driven by the reversing of the rudder, but the robot is subjected to large ground impact and increases the destructive and inaccurate movement of the structure due to the requirement of rolling gait and the constantly improved center of mass position in the rolling process. SUMMARY

[0005] The application solves the problems that the existing tetrahedron mobile robot cannot adapt to complex terrain and the size is not variable, and provides a design method of tetrahedron vertex and branch chain to enhance the ability of tetrahedron robot to adapt to complex terrain.

[0006] The technical scheme of the application is that the scaling tetrahedron rolling mechanism comprises a first vertex, a second vertex, a third vertex, a fourth vertex, a first branch chain, a second branch chain, a third branch chain, a fourth branch chain, a fifth branch chain and a sixth branch chain.

[0007] The first vertex is composed of a first vertex static platform, a first vertex dynamic platform and a first vertex circumscribed ball. The center line of the circle of each hole on the outer side of the first vertex static platform and the first vertex dynamic platform and the center of symmetry of the platform forms an angle of 120°. The structure and size of the second vertex, the third vertex and the fourth vertex are the same as those of the first vertex.

[0008] The first branch chain is composed of an upper scissor mechanism, a lower scissor mechanism and a first branch chain driving unit; the upper scissor mechanism and the lower scissor mechanism are the same in structure and size.

[0009] The second branch chain, the third branch chain, the fourth branch chain and the fifth branch chain are the same in structure and size as the first branch chain.

[0010] The connection relationship of the vertexes and the branch chains is as follows:

[0011] Three pairs of holes with similar horizontal distance of the outer through hole axis of the static platform and the dynamic platform on the first vertex are respectively connected with any one end of the fourth branch chain, the fifth branch chain and the sixth branch chain through a rotary pair.

[0012] Three pairs of holes with similar horizontal distance of the outer through hole axis of the static platform and the dynamic platform on the second vertex are respectively connected with any one end of the second branch chain, the third branch chain and the fifth branch chain through a rotary pair.

[0013] Three pairs of holes with similar horizontal distance of the outer through hole axis of the static platform and the dynamic platform on the third vertex are respectively connected with any one end of the first branch chain, the second branch chain and the fourth branch chain through a rotary pair.

[0014] Three pairs of holes with similar horizontal distance of the outer through hole axis of the static platform and the dynamic platform on the fourth vertex are respectively connected with any one end of the first branch chain, the third branch chain and the sixth branch chain through a rotary pair.

[0015] The first vertex includes a first vertex dynamic platform, a first vertex static platform and a first vertex circumscribed ball; the first vertex static platform is provided with a first static platform outer through hole on the outer side of the platform, the center line of each through hole and the center of symmetry of the platform forms an angle of 120°, which is used for rotary pair connection with the first branch chain, the first vertex static platform is provided with a first static platform rectangular through hole in the middle part, which is used for interference fit connection with the rudder, and the first vertex static platform is provided with a first static platform inner through hole around the first static platform rectangular through hole, which is used for bolt connection with the vertex circumscribed ball.

[0016] The first vertex dynamic platform is provided with a first dynamic platform outer through hole on the outer side of the platform, the center line of each through hole and the center of symmetry of the platform forms an angle of 120°, which is used for rotary pair connection with the first branch chain, the first vertex dynamic platform is provided with four first dynamic platform small through holes around the center, which are used for screw fixation with the output shaft of the rudder, and the first vertex dynamic platform is provided with a first dynamic platform inner through hole in the central part, which is used for screw connection with the rudder.

[0017] The first vertex circumscribed ball center part is provided with a first circumscribed ball rectangular through hole for connecting with the rudder through a gap, and a first circumscribed ball small through hole is arranged around the first circumscribed ball rectangular through hole in the middle of the first vertex circumscribed ball for connecting with the first vertex moving platform through a bolt, and the axes of all hole positions on the first vertex are parallel.

[0018] The first branch chain is composed of a first branch chain upper scissor mechanism, a first branch chain driving unit and a first branch chain lower scissor mechanism, and the first branch chain lower scissor mechanism has the same shape and structure as the first branch chain upper scissor mechanism.

[0019] The first branch chain upper scissor mechanism is composed of a first branch chain upper scissor mechanism first rod, a first branch chain upper scissor mechanism second rod, a first branch chain upper scissor mechanism third rod, a first branch chain upper scissor mechanism fourth rod, a first branch chain upper scissor mechanism short reversing rod and a first branch chain upper scissor mechanism long reversing rod.

[0020] The first branch chain upper scissor mechanism first rod is provided with a first rod upper through hole, a first rod middle through hole and a first rod lower through hole, the first rod upper through hole is used for being hinged with the first branch chain driving unit through a revolute pair to drive a reversing member, the first rod middle through hole is used for being hinged with the first branch chain upper scissor mechanism second rod through a revolute pair, and the first rod lower through hole is used for being hinged with the first branch chain upper scissor mechanism third rod through a revolute pair.

[0021] The first branch chain upper scissor mechanism second rod is provided with a second rod upper through hole, a second rod middle through hole and a second rod lower through hole, the second rod upper through hole is used for being hinged with the first branch chain driving unit through a revolute pair to drive a reversing member, the second rod middle through hole is used for being hinged with the first branch chain upper scissor mechanism first rod through a revolute pair, and the second rod lower through hole is used for being hinged with the first branch chain upper scissor mechanism fourth rod through a revolute pair.

[0022] The first branch chain upper scissor mechanism third rod is provided with a third rod upper through hole, a third rod middle through hole and a third rod lower through hole, the third rod upper through hole is used for being hinged with the first branch chain upper scissor mechanism first rod through a revolute pair, the third rod middle through hole is used for being hinged with the first branch chain upper scissor mechanism fourth rod through a revolute pair, and the third rod lower through hole is used for being hinged with the first branch chain upper scissor mechanism short reversing rod through a revolute pair.

[0023] The first branch chain upper scissor mechanism fourth rod is provided with a fourth rod upper through hole, a fourth rod middle through hole and a fourth rod lower through hole, the fourth rod upper through hole is used for being hinged with the first branch chain upper scissor mechanism second rod through a revolute pair, the fourth rod middle through hole is used for being hinged with the first branch chain upper scissor mechanism third rod through a revolute pair, and the fourth rod lower through hole is used for being hinged with the first branch chain upper scissor mechanism short reversing rod through a revolute pair.

[0024] The first short reversing rod of the upper scissor mechanism of the first branch is provided with a first short reversing rod left through hole and a first short reversing rod right through hole, the first short reversing rod left through hole is used for being hinged with the first long reversing rod of the upper scissor mechanism of the first branch through a rotary pair, and the first short reversing rod right through hole is used for being hinged with the fourth rod of the upper scissor mechanism of the first branch through a rotary pair, the axes of the two through holes are coplanar and the included angle is 90°;

[0025] The first long reversing rod of the upper scissor mechanism of the first branch is provided with a first long reversing rod right through hole and a first long reversing rod left through hole, the first long reversing rod right through hole is used for being hinged with the first short reversing rod of the upper scissor mechanism of the first branch through a rotary pair, and the first long reversing rod left through hole is used for being hinged with the first vertex (I) through a rotary pair, the axes of the two through holes are coplanar and the included angle is 90°;

[0026] The rotation range of the upper scissor mechanism of the first branch is 10° to 70°;

[0027] The upper scissor mechanism of the first branch and the lower scissor mechanism of the first branch are symmetrically arranged about the center of the first branch driving unit.

[0028] The first branch driving unit is composed of a first branch driving unit direct driving reversing member, a first branch driving unit four-hole embedded steering engine reversing member, a first branch driving unit three-hole embedded steering engine reversing member, a first branch driving unit push rod, a first branch driving unit threaded connection fixing part and a first branch driving unit non-threaded connection fixing part;

[0029] The first branch driving unit direct driving reversing member is provided with a first driving unit reversing member right through hole, a first driving unit reversing member left through hole and a first driving unit reversing member small through hole, the first driving unit reversing member right through hole is used for being hinged with the first rod and the second rod of the upper scissor mechanism of the first branch through a rotary pair, the first driving unit reversing member left through hole is used for being connected with the steering engine output shaft through interference fit, and the first driving unit reversing member small through hole is used for being connected with the steering engine output shaft through a screw;

[0030] The reversing member of the first branch chain driving unit four-hole chimeric rudder engine is provided with a first driving unit four-hole chimeric rudder engine reversing member upper through hole, a first driving unit four-hole chimeric rudder engine reversing member middle through hole, a first driving unit four-hole chimeric rudder engine reversing member lower through hole and a first driving unit four-hole chimeric rudder engine reversing member small through hole, the first driving unit four-hole chimeric rudder engine reversing member upper through hole is used for being hinged with the first branch chain lower scissor mechanism through a rotary pair, the first driving unit four-hole chimeric rudder engine reversing member middle through hole is used for being connected with the first branch chain driving unit non-threaded connection fixing piece through a screw, the first driving unit four-hole chimeric rudder engine reversing member lower through hole is used for being connected with the first branch chain driving unit non-threaded connection fixing piece through a screw, and the first driving unit four-hole chimeric rudder engine reversing member small through hole is used for being connected with the rudder through a screw.

[0031] The reversing member of the first branch chain driving unit three-hole chimeric rudder engine is provided with a first driving unit three-hole chimeric rudder engine reversing member large through hole, a first driving unit three-hole chimeric rudder engine reversing member middle through hole and a first driving unit three-hole chimeric rudder engine reversing member small through hole, the first driving unit three-hole chimeric rudder engine reversing member large through hole is used for being hinged with the first branch chain lower scissor mechanism through a rotary pair, the first driving unit three-hole chimeric rudder engine reversing member middle through hole is used for being connected with the first branch chain driving unit threaded connection fixing piece through a screw, and the first driving unit three-hole chimeric rudder engine reversing member small through hole is used for being connected with the rudder through a screw.

[0032] The first branch chain driving unit threaded connection fixing piece is provided with a first threaded connection fixing piece upper through hole, a first threaded connection fixing piece middle through hole and a first threaded connection fixing piece lower through hole, the first threaded connection fixing piece upper through hole is used for being connected with the reversing member of the first branch chain driving unit three-hole chimeric rudder engine through a screw, the first threaded connection fixing piece middle through hole is used for being connected with the first branch chain driving unit push rod through a screw, and the first threaded connection fixing piece lower through hole is used for being connected with the reversing member of the first branch chain driving unit three-hole chimeric rudder engine through a screw.

[0033] The first branch chain driving unit non-threaded connection fixing piece is provided with a first non-threaded connection fixing piece left through hole, a first non-threaded connection fixing piece middle through hole and a first non-threaded connection fixing piece right through hole, the first non-threaded connection fixing piece left through hole is used for being connected with the reversing member of the first branch chain driving unit four-hole chimeric rudder engine through a screw, the first non-threaded connection fixing piece middle through hole is used for being connected with the sleeve through interference fit, and the first non-threaded connection fixing piece right through hole is used for being connected with the reversing member of the first branch chain driving unit four-hole chimeric rudder engine through a screw.

[0034] The first branch driving unit push rod is composed of a first branch driving unit sleeve and a first branch driving unit threaded optical shaft, the first branch driving unit sleeve and the first branch driving unit optical shaft are connected through clearance fit, and the threaded end of the first branch driving unit optical shaft is connected with the first branch driving unit threaded connecting fixing piece through thread connection.

[0035] The rotation angle of the first branch driving unit is 0° to 270°.

[0036] The beneficial effects of the present application are:

[0037] The rolling mechanism in the prior art cannot change the size during the movement due to the structural problem, and only has one size mode. Even if the size can be changed, there is a problem of large scaling error and scaling action affecting the movement performance. It has strong practicability. Only two groups of driving are needed to realize scaling and rolling. BRIEF DESCRIPTION OF DRAWINGS

[0038] Figure 1 Overall three-dimensional view of the scaling tetrahedron rolling mechanism

[0039] Figure 2 Three-dimensional view of the first vertex of the scaling tetrahedron rolling mechanism

[0040] Figure 3 Three-dimensional view of the static platform of the first vertex of the scaling tetrahedron rolling mechanism

[0041] Figure 4 Three-dimensional view of the dynamic platform of the first vertex of the scaling tetrahedron rolling mechanism

[0042] Figure 5 Three-dimensional view of the circumscribed sphere of the first vertex of the scaling tetrahedron rolling mechanism

[0043] Figure 6 Three-dimensional view of the first branch of the scaling tetrahedron rolling mechanism

[0044] Figure 7 Three-dimensional view of the scissor mechanism of the first branch of the scaling tetrahedron rolling mechanism

[0045] Figure 8 Three-dimensional view of the first to fourth rods of the scissor mechanism of the first branch of the scaling tetrahedron rolling mechanism

[0046] Figure 9 Three-dimensional view of the short reversing rod of the scissor mechanism of the first branch of the scaling tetrahedron rolling mechanism

[0047] Figure 10 Three-dimensional view of the long reversing rod of the scissor mechanism of the first branch of the scaling tetrahedron rolling mechanism

[0048] Figure 11 Three-dimensional view of the first branch driving unit of the scaling tetrahedron rolling mechanism

[0049] Figure 12 3D diagram of the first branch drive unit of the scaling tetrahedral rolling mechanism directly driving the reversing component

[0050] Figure 13 3D diagram of the reversing component of the first branch drive unit of the scaling tetrahedral rolling mechanism and the four types of hole fitting servo motor.

[0051] Figure 14 3D diagram of the reversing component of the first branch drive unit of the scaling tetrahedral rolling mechanism and the three-hole fitting servo motor.

[0052] Figure 15 3D diagram of the first branch drive unit of the scaling tetrahedral rolling mechanism with threaded connection fixing component

[0053] Figure 16 3D diagram of the first branch drive unit of the scaling tetrahedral rolling mechanism with threadless connection fixing component

[0054] Figure 17 3D diagram of the first branch drive unit push rod of the scaling tetrahedral rolling mechanism

[0055] Figure 18 Scaling and expanding the 3D model of the tetrahedral rolling mechanism Detailed Implementation

[0056] The present invention will now be described in further detail with reference to the accompanying drawings.

[0057] A scaling tetrahedral rolling mechanism for completing complex terrain movement tasks, wherein the scaling tetrahedral rolling mechanism, such as... Figure 1 As shown, it includes the first vertex (Ⅰ), the second vertex (Ⅱ), the third vertex (Ⅲ), the fourth vertex (Ⅳ), the first branch (A1), the second branch (A2), the third branch (A3), the fourth branch (A4), the fifth branch (A5), and the sixth branch (A6).

[0058] The first vertex (Ⅰ) consists of a first vertex static platform (Ⅰ-1), a first vertex moving platform (Ⅰ-2), and a first vertex circumscribed sphere (Ⅰ-3); the line connecting the center of each hole on the outer side of the first vertex static platform (Ⅰ-1) and the first vertex moving platform (Ⅰ-2) to the center of symmetry of the platform forms a 120° angle; the structure and dimensions of the second vertex (Ⅱ), the third vertex (Ⅲ), and the fourth vertex (Ⅳ) are the same as those of the first vertex (Ⅰ);

[0059] The first branch chain (A1) is composed of an upper scissor mechanism (A1-1), a lower scissor mechanism (A1-3) and a first branch chain driving unit (A1-2); the upper scissor mechanism (A1-1) and the lower scissor mechanism (A1-3) are the same in structure and size; the rotary pair of the first vertex (I) is coaxial with the first branch chain driving unit (A1-2);

[0060] The second branch chain (A2), the third branch chain (A3), the fourth branch chain (A4), the fifth branch chain (A5) and the sixth branch chain (A6) are the same in structure and size as the first branch chain (A1);

[0061] The connection relationship between the vertices and the branch chains is as follows:

[0062] The three pairs of holes with similar horizontal distance between the outer hole axes of the static platform (I-1) and the dynamic platform (I-2) of the first vertex (I) are respectively connected with any one end of the fourth branch chain (A4), the fifth branch chain (A5) and the sixth branch chain (A6) through rotary pairs;

[0063] The three pairs of holes with similar horizontal distance between the outer hole axes of the static platform (II-1) and the dynamic platform (II-2) of the second vertex (II) are respectively connected with any one end of the second branch chain (A2), the third branch chain (A3) and the fifth branch chain (A5) through rotary pairs;

[0064] The three pairs of holes with similar horizontal distance between the outer hole axes of the static platform (III-1) and the dynamic platform (III-2) of the third vertex (III) are respectively connected with any one end of the first branch chain (A1), the second branch chain (A2) and the fourth branch chain (A4) through rotary pairs;

[0065] The three pairs of holes with similar horizontal distance between the outer hole axes of the static platform (IV-1) and the dynamic platform (IV-2) of the fourth vertex (IV) are respectively connected with any one end of the first branch chain (A1), the third branch chain (A3) and the sixth branch chain (A6) through rotary pairs;

[0066] The first vertex, as shown in the figure, includes a first vertex static platform (I-1), a first vertex dynamic platform (I-2) and a first vertex circumscribed ball (I-3). Figure 2

[0067] The first vertex dynamic platform (I-2), as shown in the figure, includes a first vertex dynamic platform static platform (I-2-1) and a first vertex dynamic platform dynamic platform (I-2-2). Figure 3 ​As shown in the first vertex dynamic platform (I-2) is provided with a first dynamic platform outside the hole (I-2-1) in the outside of the platform, the center of each hole and the line of symmetry of the platform center 120 ° angle, for the first branch (A1) rotating pair of hinged, the first vertex dynamic platform (I-2) in the center of the four first dynamic platform small hole (I-2-2) is provided with, for the output shaft through the screw fixed with the first vertex dynamic platform (I-2) center part is provided with a first dynamic platform inside the hole (I-2-3), for the rudder through the screw connection.

[0068] The first vertex static platform (I-1), as shown in Figure 4 As shown in the first vertex static platform (I-1) platform outside the hole (I-1-1) is provided with, each hole center and the line of symmetry of the platform center 120 ° angle, for the first branch (A1) rotating pair of hinged, the first vertex static platform (I-1) in the middle part is provided with a first static platform rectangular hole (I-1-2), for the rudder through the interference fit connection, the first vertex static platform (I-1) in the first static platform rectangular hole (I-1-2) around the first static platform inside the hole (I-1-3) is provided with, for the vertex outside the ball (I-3) through the bolt connection.

[0069] The first vertex outside the ball (I-3), as shown in Figure 5 As shown in the first vertex outside the ball (I-3) center part is provided with a first outside the ball rectangular hole (I-3-1), for the rudder through the gap fit connection, the first vertex outside the ball (I-3) in the middle of the first outside the ball rectangular hole (I-3-1) around the first outside the ball small hole (I-3-2) is provided with, for the first vertex dynamic platform (I-2) through the bolt connection, the first vertex (I) on all hole axis are parallel.

[0070] The first branch (A1), as shown in Figure 6 As shown in the first branch (A1) is composed of the first branch of the upper scissors mechanism (A1-1), the first branch drive unit (A1-2) and the first branch of the lower scissors mechanism (A1-3), the first branch of the lower scissors mechanism (A1-3) and the first branch of the upper scissors mechanism (A1-1) shape and structure are the same.

[0071] The first branch of the upper scissors mechanism (A1-1), as shown in Figure 7 As shown in the first branch of the upper scissors mechanism is composed of the first branch of the upper scissors mechanism first rod (A1-1-1), the first branch of the upper scissors mechanism second rod (A1-1-2), the first branch of the upper scissors mechanism third rod (A1-1-3), the first branch of the upper scissors mechanism fourth rod (A1-1-4), the first branch of the upper scissors mechanism short reversing rod (A1-1-5) and the first branch of the upper scissors mechanism long reversing rod (A1-1-6).

[0072] The first link (A1-1-1) of the scissor mechanism on the first branch chain, as described above. Figure 8 As shown, the first rod (A1-1-1) of the scissor mechanism on the first branch has an upper through hole (A1-1-1-1), a middle through hole (A1-1-1-2), and a lower through hole (A1-1-1-3). The upper through hole (A1-1-1-1) is hinged to the direct drive reversing component (A1-2-1) of the first branch drive unit via a revolute joint. The middle through hole (A1-1-1-2) is hinged to the second rod (A1-1-2) of the scissor mechanism on the first branch via a revolute joint. The lower through hole (A1-1-1-3) is hinged to the third rod (A1-1-3) of the scissor mechanism on the first branch via a revolute joint. The second rod (A1-1-2) of the scissor lift mechanism on the first branch chain is provided with an upper through hole (A1-1-2-1), a middle through hole (A1-1-2-2), and a lower through hole (A1-1-2-3). The upper through hole (A1-1-2-1) is used to be hinged to the direct drive reversing component (A1-2-1) of the first branch chain drive unit via a revolute joint. The middle through hole (A1-1-2-2) is used to be hinged to the first rod (A1-1-1) of the scissor lift mechanism on the first branch chain via a revolute joint. The lower through hole (A1-1-2-3) is used to be hinged to the fourth rod (A1-1-4) of the scissor lift mechanism on the first branch chain via a revolute joint. The first branch scissor mechanism's third rod (A1-1-3) is hinged; it has an upper through hole (A1-1-3-1), a middle through hole (A1-1-3-2), and a lower through hole (A1-1-3-3). The upper through hole (A1-1-3-1) is hinged to the first rod (A1-1-1) via a revolute joint. The middle through hole (A1-1-3-2) is hinged to the fourth rod (A1-1-4) via a revolute joint. The lower through hole (A1-1-3-3) is hinged to the short reversing rod (A1-1-5) via a revolute joint. The fourth rod (A1-1-4) of the first branch chain scissor mechanism is provided with an upper through hole (A1-1-4-1), a middle through hole (A1-1-4-2), and a lower through hole (A1-1-4-3). The upper through hole (A1-1-4-1) is used to be hinged to the second rod (A1-1-2) of the first branch chain scissor mechanism through a revolute joint. The middle through hole (A1-1-4-2) is used to be hinged to the third rod (A1-1-3) of the first branch chain scissor mechanism through a revolute joint. The lower through hole (A1-1-4-3) is used to be hinged to the short reversing rod (A1-1-5) of the first branch chain scissor mechanism through a revolute joint.

[0073] The short reversing lever (A1-1-5) of the scissor mechanism on the first branch chain, as follows: Figure 9As shown, the short reversing rod (A1-1-5) of the scissor mechanism on the first branch chain is provided with a left through hole (A1-1-5-1) and a right through hole (A1-1-5-2). The left through hole (A1-1-5-1) is used to be hinged to the long reversing rod (A1-1-6) of the scissor mechanism on the first branch chain through a revolute joint. The right through hole (A1-1-5-2) is used to be hinged to the fourth rod (A1-1-4) of the scissor mechanism on the first branch chain through a revolute joint. The axes of the two through holes are coplanar and the included angle is 90°.

[0074] The first branch chain scissor mechanism long reversing rod (A1-1-6), as follows: Figure 10 As shown, the long reversing rod (A1-1-6) of the scissor mechanism on the first branch chain is provided with a right through hole (A1-1-6-1) and a left through hole (A1-1-6-2). The right through hole (A1-1-6-1) is used to be hinged to the short reversing rod (A1-1-5) of the scissor mechanism on the first branch chain through a revolute joint, and the left through hole (A1-1-6-2) is used to be hinged to the first vertex (Ⅰ) through a revolute joint. The axes of the two through holes are coplanar and the included angle is 90°.

[0075] The first branch drive unit (A1-2), as described above Figure 11 As shown, the first branch drive unit (A1-2) consists of the first branch drive unit direct drive reversing component (A1-2-1), the first branch drive unit four-hole fitting servo reversing component (A1-2-2), the first branch drive unit three-hole fitting servo reversing component (A1-2-3), the first branch drive unit push rod (A1-2-6), the first branch drive unit threaded connection fastener (A1-2-4), and the first branch drive unit unthreaded connection fastener (A1-2-5).

[0076] The first branch drive unit directly drives the commutation component (A1-2-1) as follows: Figure 12 As shown, the first branch drive unit directly drives the reversing component (A1-2-1) with a right through hole (A1-2-1-1), a left through hole (A1-2-1-2), and a small through hole (A1-2-1-3). The right through hole (A1-2-1-1) is used to hinge with the first rod (A1-1-1) and the second rod (A1-1-2) of the scissor mechanism on the first branch through a revolute joint. The left through hole (A1-2-1-2) is used to connect with the servo output shaft through an interference fit. The small through hole (A1-2-1-3) is used to connect with the servo output shaft through a screw.

[0077] The first branch drive unit's four-hole fitting servo motor's reversing component (A1-2-2), as described above... Figure 13 As shown, the commutation component (A1-2-2) of the four-hole mating servo of the first branch drive unit is provided with an upper through hole (A1-2-2-1), a middle through hole (A1-2-2-2), a lower through hole (A1-2-2-3), and a small through hole (A1-2-2-4). The upper through hole (A1-2-2-1) of the commutation component of the four-hole mating servo of the first drive unit is used to connect with the first... The lower scissor mechanism (A1-3) of the branch chain is hinged through a rotating joint. The through hole (A1-2-2-2) in the fourth type of interlocking servo reversing component of the first drive unit is used to connect with the threadless connection fastener (A1-2-5) of the first branch chain drive unit through screws. The lower through hole (A1-2-2-3) in the fourth type of interlocking servo reversing component of the first drive unit is used to connect with the threadless connection fastener (A1-2-5) of the first branch chain drive unit through screws. The small through hole (A1-2-2-4) in the fourth type of interlocking servo reversing component of the first drive unit is used to connect with the servo through screws.

[0078] The reversing component (A1-2-3) of the three-hole fitting servo motor of the first branch drive unit, as described above. Figure 14 As shown, the reversing component (A1-2-3) of the three-hole mating servo of the first branch drive unit is provided with a large through hole (A1-2-3-1), a medium through hole (A1-2-3-2), and a small through hole (A1-2-3-3). The large through hole (A1-2-3-1) of the reversing component is used to be hinged to the lower scissor mechanism (A1-3) of the first branch through a rotating joint. The medium through hole (A1-2-3-2) of the reversing component is used to be connected to the threaded fastener (A1-2-4) of the first branch drive unit through screws. The small through hole (A1-2-3-3) of the reversing component is used to be connected to the servo through screws.

[0079] The first branch drive unit has a threaded connection fastener (A1-2-4), such as Figure 15As shown, the first branch drive unit with threaded connection fastener (A1-2-4) has an upper through hole (A1-2-4-1), a middle through hole (A1-2-4-2), and a lower through hole (A1-2-4-3). The upper through hole (A1-2-4-1) is used to connect with the reversing component (A1-2-3) of the servo motor of the first branch drive unit through screws. The middle through hole (A1-2-4-2) is used to connect with the push rod (A1-2-6) of the first branch drive unit through threads. The lower through hole (A1-2-4-3) is used to connect with the reversing component (A1-2-3) of the servo motor of the first branch drive unit through screws.

[0080] The first branch drive unit has a threadless connection fastener (A1-2-5), such as Figure 16 As shown, the first branch drive unit's unthreaded connection fastener (A1-2-5) has a left through hole (A1-2-5-1), a middle through hole (A1-2-5-2), and a right through hole (A1-2-5-3). The left through hole (A1-2-5-1) is used to connect with the reversing component (A1-2-2) of the servo motor of the first branch drive unit via screws. The middle through hole (A1-2-5-2) is used to connect with the sleeve via an interference fit. The right through hole (A1-2-5-3) is used to connect with the reversing component (A1-2-2) of the servo motor of the first branch drive unit via screws.

[0081] The first branch drive unit push rod (A1-2-6), as described above. Figure 17 As shown, the first branch drive unit push rod (A1-2-6) is composed of a first branch drive unit sleeve (A1-2-6-1) and a first branch drive unit optical shaft (A1-2-6-2) with a thread at one end. The first branch drive unit sleeve (A1-2-6-1) and the first branch drive unit optical shaft (A1-2-6-2) are connected by a clearance fit. The first branch drive unit optical shaft (A1-2-6-2) with a thread at one end is connected to the first branch drive unit threaded connecting fastener (A1-2-4) by a thread.

[0082] The scaling tetrahedral rolling mechanism described above scales and expands as a whole, such as... Figure 18The working process is shown, the driving unit directly drives the reversing component (A1-2-1) in an angle control mode, the rotation angle of the first branch chain driving unit (A1-2) is 0° to 270°, the first branch chain driving unit push rod (A1-2-6) is in a distance control mode, and the driving module is composed, the directly driving reversing component (A1-2-1) rolls through the rotation driving configuration, the first branch chain driving unit push rod (A1-2-6) is located between the two steering wheels, and the overall scaling is achieved by changing the distance between the two steering wheels; the first vertex movable platform (I-2) can be driven cooperatively with the first branch chain driving unit (A1-2), so that the mechanism is overall scaled.

[0083] The specific embodiments of the present application are described above, but those skilled in the art should understand that these are only illustrative, and the protection scope of the present application is defined by the appended claims. Those skilled in the art can make various changes or modifications to the embodiments without departing from the principles and essence of the present application, and the changes and modifications all fall within the protection scope of the present application.

Claims

1. A scaling tetrahedral rolling mechanism, characterized in that: The scaling tetrahedral rolling mechanism includes a first vertex (Ⅰ), a second vertex (Ⅱ), a third vertex (Ⅲ), a fourth vertex (Ⅳ), a first branch (A1), a second branch (A2), a third branch (A3), a fourth branch (A4), a fifth branch (A5), and a sixth branch (A6). The first vertex (Ⅰ) consists of a first vertex static platform (Ⅰ-1), a first vertex moving platform (Ⅰ-2), and a first vertex circumscribed sphere (Ⅰ-3); the line connecting the center of each hole on the outer side of the first vertex static platform (Ⅰ-1) and the first vertex moving platform (Ⅰ-2) to the center of symmetry of the platform forms a 120° angle; the structure and dimensions of the second vertex (Ⅱ), the third vertex (Ⅲ), and the fourth vertex (Ⅳ) are the same as those of the first vertex (Ⅰ); The first branch (A1) consists of a first branch upper scissor mechanism (A1-1), a first branch lower scissor mechanism (A1-3), and a first branch drive unit (A1-2); the first branch upper scissor mechanism (A1-1) and the first branch lower scissor mechanism (A1-3) have the same structure and size; The structure and dimensions of the second branch (A2), third branch (A3), fourth branch (A4), fifth branch (A5), and sixth branch (A6) are exactly the same as those of the first branch (A1); The connection relationship between vertices and branches is as follows: The three pairs of holes on the outer through holes of the static platform (Ⅰ-1) and the moving platform (Ⅰ-2) on the first vertex (Ⅰ) are horizontally close to each other and are respectively connected to any one end of the fourth branch (A4), the fifth branch (A5), and the sixth branch (A6) through a revolute joint. The three pairs of holes on the outer through holes of the static platform (Ⅱ-1) and the moving platform (Ⅱ-2) on the second vertex (Ⅱ) are horizontally close to each other and are respectively connected to any one end of the second branch (A2), the third branch (A3), and the fifth branch (A5) through a rotating joint. The three pairs of holes on the outer through holes of the static platform (Ⅲ-1) and the moving platform (Ⅲ-2) on the third vertex (Ⅲ) are horizontally close to each other and are respectively connected to any one end of the first branch (A1), the second branch (A2), and the fourth branch (A4) through a rotating joint. The three pairs of holes on the outer through holes of the static platform (Ⅳ-1) and the moving platform (Ⅳ-2) on the fourth vertex (Ⅳ) are horizontally close to each other and are respectively hinged to any one end of the first branch (A1), the third branch (A3), and the sixth branch (A6) through a rotating pair. The first vertex (Ⅰ) includes a first vertex static platform (Ⅰ-1), a first vertex moving platform (Ⅰ-2), and a first vertex circumscribed sphere (Ⅰ-3); The first apex static platform (Ⅰ-1) has an outer through hole (Ⅰ-1-1) on its outer side. The center of each through hole forms a 120° angle with the line connecting the center of symmetry of the platform. This hole is used to hinge with the first branch (A1) as a rotating joint. The first apex static platform (Ⅰ-1) has a rectangular through hole (Ⅰ-1-2) in the middle part. This hole is used to connect with the servo motor through an interference fit. The first apex static platform (Ⅰ-1) has an inner through hole (Ⅰ-1-3) around the rectangular through hole (Ⅰ-1-2). This hole is used to connect with the apex outer ball (Ⅰ-3) through bolts. The first vertex moving platform (Ⅰ-2) has an outer through hole (Ⅰ-2-1) on the outside of the platform. The center of each through hole forms a 120° angle with the line connecting the center of symmetry of the platform. It is used to hinge with the first branch (A1) as a rotating joint. The first vertex moving platform (Ⅰ-2) has four small through holes (Ⅰ-2-2) around the center. They are used to fix the first moving platform to the servo output shaft by screws. The first vertex moving platform (Ⅰ-2) has an inner through hole (Ⅰ-2-3) in the center. It is used to connect to the servo by screws. The first vertex outer ball (Ⅰ-3) has a first outer ball rectangular through hole (Ⅰ-3-1) at its center, which is used to connect with the servo motor through clearance fit. The first vertex outer ball (Ⅰ-3) has a first outer ball small through hole (Ⅰ-3-2) around the first outer ball rectangular through hole (Ⅰ-3-1) in the middle, which is used to connect with the first vertex moving platform (Ⅰ-2) through bolts. All hole axes on the first vertex (Ⅰ) are parallel. The first branch (A1) consists of a first branch upper scissor mechanism (A1-1), a first branch drive unit (A1-2), and a first branch lower scissor mechanism (A1-3). The first branch lower scissor mechanism (A1-3) has the same shape and structure as the first branch upper scissor mechanism (A1-1). The first scissor lift mechanism on the first branch chain consists of the first scissor lift mechanism first link (A1-1-1), the second scissor lift mechanism second link (A1-1-2), the third scissor lift mechanism third link (A1-1-3), the fourth scissor lift mechanism fourth link (A1-1-4), the short reversing link of the first scissor lift mechanism (A1-1-5), and the long reversing link of the first scissor lift mechanism (A1-1-6). The first rod (A1-1-1) of the first branch scissor mechanism is provided with an upper through hole (A1-1-1-1), a middle through hole (A1-1-1-2), and a lower through hole (A1-1-1-3). The upper through hole (A1-1-1-1) is used to be hinged to the direct drive reversing component (A1-2-1) of the first branch drive unit through a revolute joint. The middle through hole (A1-1-1-2) is used to be hinged to the second rod (A1-1-2) of the first branch scissor mechanism through a revolute joint. The lower through hole (A1-1-1-3) is used to be hinged to the third rod (A1-1-3) of the first branch scissor mechanism through a revolute joint. The second rod (A1-1-2) of the first branch scissor mechanism is provided with an upper through hole (A1-1-2-1), a middle through hole (A1-1-2-2), and a lower through hole (A1-1-2-3). The upper through hole (A1-1-2-1) is used to be hinged to the direct drive reversing component (A1-2-1) of the first branch drive unit through a revolute joint. The middle through hole (A1-1-2-2) is used to be hinged to the first rod (A1-1-1) of the first branch scissor mechanism through a revolute joint. The lower through hole (A1-1-2-3) is used to be hinged to the fourth rod (A1-1-4) of the first branch scissor mechanism through a revolute joint. The third rod (A1-1-3) of the scissor lift mechanism on the first branch chain is provided with an upper through hole (A1-1-3-1), a middle through hole (A1-1-3-2), and a lower through hole (A1-1-3-3). The upper through hole (A1-1-3-1) is used to hinge with the first rod (A1-1-1) of the scissor lift mechanism on the first branch chain through a revolute joint. The middle through hole (A1-1-3-2) is used to hinge with the fourth rod (A1-1-4) of the scissor lift mechanism on the first branch chain through a revolute joint. The lower through hole (A1-1-3-3) is used to hinge with the short reversing rod (A1-1-5) of the scissor lift mechanism on the first branch chain through a revolute joint. The fourth rod (A1-1-4) of the first branch scissor mechanism is provided with an upper through hole (A1-1-4-1), a middle through hole (A1-1-4-2), and a lower through hole (A1-1-4-3). The upper through hole (A1-1-4-1) is used to hinge with the second rod (A1-1-2) of the first branch scissor mechanism through a revolute joint. The middle through hole (A1-1-4-2) is used to hinge with the third rod (A1-1-3) of the first branch scissor mechanism through a revolute joint. The lower through hole (A1-1-4-3) is used to hinge with the short reversing rod (A1-1-5) of the first branch scissor mechanism through a revolute joint. The first branch chain scissor mechanism short reversing rod (A1-1-5) is provided with a first short reversing rod left through hole (A1-1-5-1) and a first short reversing rod right through hole (A1-1-5-2). The first short reversing rod left through hole (A1-1-5-1) is used to be hinged to the first branch chain scissor mechanism long reversing rod (A1-1-6) through a revolute joint. The first short reversing rod right through hole (A1-1-5-2) is used to be hinged to the first branch chain scissor mechanism fourth rod (A1-1-4) through a revolute joint. The axes of the two through holes are coplanar and the included angle is 90°. The first branch chain scissor mechanism long reversing rod (A1-1-6) is provided with a first long reversing rod right through hole (A1-1-6-1) and a first long reversing rod left through hole (A1-1-6-2). The first long reversing rod right through hole (A1-1-6-1) is used to be hinged to the first branch chain scissor mechanism short reversing rod (A1-1-5) through a revolute joint. The first long reversing rod left through hole (A1-1-6-2) is used to be hinged to the first vertex (Ⅰ) through a revolute joint. The axes of the two through holes are coplanar and the included angle is 90°. The rotation range of the first scissor mechanism (A1-1) on the chain is 10° to 70°; The first branch lower scissor mechanism (A1-3) and the first branch upper scissor mechanism (A1-1) are arranged symmetrically about the center of the first branch drive unit (A1-2); The first branch drive unit (A1-2) consists of a direct drive reversing component (A1-2-1), a reversing component for a four-hole fitting servo (A1-2-2), a reversing component for a three-hole fitting servo (A1-2-3), a push rod (A1-2-6), a threaded connection fastener (A1-2-4), and a threadless connection fastener (A1-2-5). The first branch drive unit directly drives the reversing component (A1-2-1), which is provided with a right through hole (A1-2-1-1), a left through hole (A1-2-1-2), and a small through hole (A1-2-1-3). The right through hole (A1-2-1-1) is used to be hinged to the first rod (A1-1-1) and the second rod (A1-1-2) of the scissor mechanism on the first branch through a revolute joint. The left through hole (A1-2-1-2) is used to be connected to the servo output shaft through an interference fit. The small through hole (A1-2-1-3) is used to be connected to the servo output shaft through a screw. The commutation component (A1-2-2) of the first branch drive unit's four-type-hole interlocking servo is provided with an upper through hole (A1-2-2-1), a middle through hole (A1-2-2-2), a lower through hole (A1-2-2-3), and a small through hole (A1-2-2-4). The upper through hole (A1-2-2-1) of the first branch drive unit's four-type-hole interlocking servo is used to connect with the first... The lower scissor mechanism (A1-3) of the branch chain is hinged through a rotating joint. The through hole (A1-2-2-2) in the fourth type of interlocking servo reversing component of the first drive unit is used to connect with the threadless connection fastener (A1-2-5) of the first branch chain drive unit through screws. The lower through hole (A1-2-2-3) in the fourth type of interlocking servo reversing component of the first drive unit is used to connect with the threadless connection fastener (A1-2-5) of the first branch chain drive unit through screws. The small through hole (A1-2-2-4) in the fourth type of interlocking servo reversing component of the first drive unit is used to connect with the servo through screws. The reversing component (A1-2-3) of the first branch drive unit three-hole fitting servo is provided with a large through hole (A1-2-3-1), a medium through hole (A1-2-3-2), and a small through hole (A1-2-3-3). The large through hole (A1-2-3-1) is used to be hinged to the first branch lower scissor mechanism (A1-3) through a rotating joint. The medium through hole (A1-2-3-2) is used to be connected to the threaded fastener (A1-2-4) of the first branch drive unit through screws. The small through hole (A1-2-3-3) is used to be connected to the servo through screws. The first branch drive unit with threaded connection fastener (A1-2-4) has an upper through hole (A1-2-4-1), a middle through hole (A1-2-4-2), and a lower through hole (A1-2-4-3). The upper through hole (A1-2-4-1) is used to connect with the reversing component (A1-2-3) of the servo motor of the first branch drive unit through screws. The middle through hole (A1-2-4-2) is used to connect with the push rod (A1-2-6) of the first branch drive unit through threads. The lower through hole (A1-2-4-3) is used to connect with the reversing component (A1-2-3) of the servo motor of the first branch drive unit through screws. The first branch drive unit unthreaded connection fastener (A1-2-5) is provided with a left through hole (A1-2-5-1), a middle through hole (A1-2-5-2), and a right through hole (A1-2-5-3). The left through hole (A1-2-5-1) is used to connect with the reversing component (A1-2-2) of the servo motor of the first branch drive unit through a screw. The middle through hole (A1-2-5-2) is used to connect with the sleeve through an interference fit. The right through hole (A1-2-5-3) is used to connect with the reversing component (A1-2-2) of the servo motor of the first branch drive unit through a screw. The first branch drive unit push rod (A1-2-6) consists of a first branch drive unit sleeve (A1-2-6-1) and a first branch drive unit optical shaft (A1-2-6-2) with a thread at one end. The first branch drive unit sleeve (A1-2-6-1) and the first branch drive unit optical shaft (A1-2-6-2) are connected by a clearance fit. The first branch drive unit optical shaft (A1-2-6-2) with a thread at one end is connected to the first branch drive unit threaded connecting fastener (A1-2-4) by a thread. The rotation angle of the first branch drive unit (A1-2) is from 0° to 270°.

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