Foldable double-triangular prism mobile robot

Abstract

The application discloses a foldable double-triangular-prism mobile robot, which comprises first to third platforms and first to sixth telescopic support chains, the first to third telescopic support chains are connected with the first platform and the second platform respectively, the fourth to sixth telescopic support chains are connected with the second platform and the third platform respectively, and a 3-RRS parallel platform is formed; the platform adopts a central rotation driving zoom mechanism and presents a regular triangle shape, the zoom of the platform can be realized by controlling the rotation angle of a steering wheel, the support chain can be folded inward and stretched outward, the support chain connecting rods can be completely overlapped, the whole machine can be folded, the occupied space is small, storage and transportation are facilitated, only rotation driving is adopted for the whole machine, large-scale deformation of the whole machine can be realized, and the mobile robot has good deformation and moving capacity; and the mobile robot can be used for reconnaissance and surveying in unknown environments.

Description

Technical Field

[0001] This application belongs to the field of mobile robot technology, and in particular relates to a foldable double triangular prism mobile robot for unmanned reconnaissance and detection. Background Technology

[0002] The triangular prism robot is a non-regular polyhedral, link-type polyhedral robot with rich deformation and linear movement capabilities. Compared to existing link-type polyhedral mobile robots, this invention does not simply achieve movement by changing its center of mass; instead, it utilizes its own extensibility and deformation capabilities, mimicking the movement of a worm. Compared to existing double triangular prism mobile robots, the branches of this invention can fold inward and extend outward, and the link links can completely overlap, enabling the entire robot to be foldable. The platform uses a central rotation-driven scaling mechanism, allowing for large-scale deformation of the entire robot and providing excellent deformable movement capabilities.

[0003] Chinese patent CN 114589717A proposes a fully R-joint triangular prism mobile robot. The robot's overall shape is a triangular prism, composed of six vertices and nine branches. All kinematic joints are R-joints. By changing the dimensions of three sets of branches, the robot can present a triangular prism or triangular frustum structure. The robot uses servo motors to drive the branches to rotate inwards and outwards to achieve robot deformation, and uses a center-of-gravity shift to achieve rolling movement.

[0004] Chinese patent CN 106863283A discloses a double triangular prism mobile robot. The robot is shaped like a double triangular prism, with platforms connected by branches driven by telescopic rods. The platforms achieve scaling by simultaneously extending and retracting three telescopic rods. The robot uses telescopic rods as its drive mechanism; however, the extension-retraction ratio of the rods is small, resulting in a limited deformation range, and the branches can only perform extension and retraction movements and small deflections. Summary of the Invention

[0005] The technical problem this invention aims to solve is the limitations of existing double triangular prism mobile robots, which suffer from small scaling ratios, limited deformation ranges, low movement speeds, poor obstacle-crossing capabilities, inability to achieve overall folding, and large space occupation. This invention designs a centrally rotated scaling platform, using only rotary joints for the entire robot's drive. This results in a large deformation range, and the branch design allows for complete overlap of the branch links, enabling the robot to be foldable, occupying less space, and possessing excellent deformable movement capabilities.

[0006] The technical solution of the present invention: The foldable double triangular prism mobile robot includes a first platform, a second platform, a third platform, a first telescopic branch, a second telescopic branch, a third telescopic branch, a fourth telescopic branch, a fifth telescopic branch, and a sixth telescopic branch.

[0007] The first platform includes a first triangular vertex, a second triangular vertex, a third triangular vertex, a first slide rail, a second slide rail, a third slide rail, a first front tripod, a first rear tripod, and a first platform servo motor; the second and third platforms have the same structural dimensions as the first platform.

[0008] The first telescopic branch includes a first rotating joint connector, a first left connecting rod, a first branch servo motor, a first right connecting rod, a first ball joint ball, and a first ball joint connector; the second, third, fourth, fifth, and sixth telescopic branches have the same structural dimensions as the first telescopic branch.

[0009] The connection between the platform and the sidechain is as follows: The through hole at the first vertex of the first triangle of the first platform is fixedly connected to the left through hole of the first rotating joint connector of the first rotating joint connector of the first telescopic branch by bolts; the through hole at the second vertex of the second triangle is fixedly connected to the left through hole of the second rotating joint connector of the second telescopic branch by bolts; and the through hole at the third vertex of the third triangle is fixedly connected to the left through hole of the third rotating joint connector of the third telescopic branch by bolts. The through hole at the fourth vertex of the fourth triangle of the second platform is fixedly connected to the through hole of the first ball joint connector of the first telescopic branch and the through hole of the fourth ball joint connector of the fourth telescopic branch by bolts. The through hole at the fifth vertex of the fifth triangle of the second platform is fixedly connected to the through hole of the second ball joint connector of the second telescopic branch and the through hole of the fifth ball joint connector of the fifth telescopic branch by bolts. The through hole at the sixth vertex of the sixth triangle of the second platform is fixedly connected to the through hole of the third ball joint connector of the third telescopic branch and the through hole of the sixth ball joint connector of the sixth telescopic branch by bolts. The through hole at the seventh vertex of the seventh triangle of the third platform is fixedly connected to the left through hole of the fourth rotating joint connector of the fourth telescopic branch by bolts. The through hole at the eighth vertex of the eighth triangle is fixedly connected to the left through hole of the fifth rotating joint connector of the fifth telescopic branch by bolts. The through hole at the ninth vertex of the ninth triangle is fixedly connected to the left through hole of the sixth rotating joint connector of the sixth telescopic branch by bolts.

[0010] The first platform includes a first triangular vertex, a second triangular vertex, a third triangular vertex, a first slide rail, a second slide rail, a third slide rail, a first front tripod, a first rear tripod, and a first platform servo motor.

[0011] The first triangular vertex is triangular in shape and has a left through hole, a right through hole, a left groove, and a right groove arranged at a 60° angle. A top through hole is provided at the top. The second and third triangular vertices have the same structural dimensions as the first triangular vertex.

[0012] The first slide rail includes a first slide groove, a first guide rail, a first left slider, and a first right slider; the second and third slide rails have the same structural dimensions as the first slide rail.

[0013] The connection method between the vertex and the slide rail is as follows: The right end of the first slide rail is inserted into the left groove of the first vertex of the first triangle, and the through hole of the first slide rail is fixedly connected to the left through hole of the first vertex of the first triangle by bolts. The left end of the first guide rail of the first slide rail is inserted into the right groove of the second vertex of the second triangle, and the through hole of the first guide rail is fixedly connected to the right through hole of the second vertex of the second triangle by bolts. The right end of the second slide rail is inserted into the left groove of the second vertex of the second triangle. The through hole of the second slide rail and the left through hole of the second vertex of the second triangle are fixedly connected by bolts. The left end of the second guide rail of the second slide rail is inserted into the right groove of the third vertex of the third triangle. The through hole of the second guide rail and the right through hole of the third vertex of the third triangle are fixedly connected by bolts. The right end of the third slide rail is inserted into the left groove of the third vertex of the third triangle. The through hole of the third slide rail and the left through hole of the third vertex of the third triangle are fixedly connected by bolts. The left end of the third guide rail of the third slide rail is inserted into the right groove of the first vertex of the first triangle. The through hole of the third guide rail and the right through hole (A-1-5) of the first vertex of the first triangle are fixedly connected by bolts.

[0014] The first slide rail includes a first slide groove, a first guide rail, a first left slider, and a first right slider; the first left slider and the first right slider have the same structural dimensions.

[0015] The first slide groove is provided with a first guide rail slide groove and a first left slider slide groove, and a first slide groove through hole is provided at one end; the first guide rail is provided with a first right slider slide groove, and the first guide rail track of the first guide rail is installed in the first guide rail slide groove of the first slide groove to form a sliding pair; the first left slider is installed in the first left slider slide groove of the first slide groove to form a sliding pair; the first right slider is installed in the first right slider slide groove of the first guide rail to form a sliding pair.

[0016] The first front three-pronged rod through hole and the first left slider through hole of the first left slider are connected by bolts to form a rotating joint. The second front three-pronged rod through hole and the second left slider through hole of the second left slider are connected by bolts to form a rotating joint. The third front three-pronged rod through hole and the third left slider through hole of the third left slider are connected by bolts to form a rotating joint. The left through hole of the first front three-pronged rod and the first platform servo disk mounting hole of the first platform servo are fixedly connected by bolts. The right through hole of the first front three-pronged rod and the first platform servo right mounting hole of the first platform servo are connected by bolts to form a rotating joint.

[0017] The first rear three-pronged rod through hole and the first right slider through hole of the first right slider are connected by bolts to form a rotating joint; the second rear three-pronged rod through hole and the second right slider through hole of the second right slider are connected by bolts to form a rotating joint; the third rear three-pronged rod through hole and the third right slider through hole of the third right slider are connected by bolts to form a rotating joint; the first platform servo is installed in the first rear three-pronged rod groove of the first rear three-pronged rod, and the lower mounting hole of the first platform servo is fixedly connected to the first rear three-pronged rod mounting hole of the first rear three-pronged rod by bolts.

[0018] The first telescopic branch includes a first rotating joint connector, a first left connecting rod, a first branch servo motor, a first right connecting rod, a first ball joint ball, and a first ball joint connector. The first branch servo motor has the same structural dimensions as the first platform servo motor.

[0019] The right through hole of the first rotating joint connector and the left through hole of the first left connecting rod are connected by bolts to form a rotating joint connection; the right rear through hole of the first left connecting rod and the servo disk mounting hole of the first branch servo are fixedly connected by bolts; the right front through hole of the first left connecting rod and the right mounting hole of the first branch servo are connected by bolts to form a rotating joint connection; the lower mounting hole of the first branch servo and the left through hole of the first right connecting rod are fixedly connected by bolts; one end of the ball of the first ball joint is inserted into the groove of the first right connecting rod; the through hole of the ball of the first ball joint and the right through hole of the first right connecting rod are fixedly connected by bolts; the spherical surface of the ball of the first ball joint is installed in the spherical groove of the first ball joint connector.

[0020] The beneficial effects of this invention are: This invention discloses a foldable double triangular prism robot with a centrally rotated scaling platform and symmetrically arranged 3-RRS branches. The entire robot is driven only by revolute joints, resulting in a large deformation range. The special design of the branches allows for complete overlap of the link rods, enabling the robot to be foldable, occupying little space, facilitating storage and transportation, and possessing a large scaling ratio and excellent deformable movement capabilities. It can be used for reconnaissance and surveying in unknown environments. Attached Figure Description

[0021] Figure 1 Overall 3D model of the foldable double triangular prism mobile robot Figure 2 3D diagram of the first platform Figure 3 Three-dimensional diagram of the first telescopic branch Figure 4 Platform scaling diagram Figure 5 3D diagram of the first triangle vertex Figure 6 3D diagram of the first slide rail Figure 7 Three-dimensional diagram of the first slideway Figure 8 3D diagram of the first guide rail Figure 9 3D diagram of the first left slider Figure 10 3D diagram of the first front three-way bar Figure 11 3D diagram of the first rear three-way bar Figure 12 3D diagram of the first platform's servo motor Figure 13 3D diagram of the first rotating joint connector Figure 14 3D diagram of the first left connecting rod Figure 15 3D diagram of the first right connecting rod Figure 16 Three-dimensional diagram of the first ball joint sphere Figure 17 3D drawing of the first ball joint connector Figure 18 Overall limit size posture and folding posture diagram Figure 19 Overall movement diagram Detailed Implementation The following is a more detailed explanation with reference to the accompanying drawings.

[0022] A foldable double triangular prism mobile robot, such as Figure 1 As shown, it includes a first platform (A), a second platform (B), a third platform (C), a first telescopic branch (1), a second telescopic branch (2), a third telescopic branch (3), a fourth telescopic branch (4), a fifth telescopic branch (5), and a sixth telescopic branch (6).

[0023] The first platform (A) is as follows Figure 2As shown, it includes a first triangular vertex (A-1), a second triangular vertex (A-2), a third triangular vertex (A-3), a first slide rail (A-4), a second slide rail (A-5), a third slide rail (A-6), a first front triangular fork (A-7), a first rear triangular fork (A-8), and a first platform servo (A-9); the second platform (B) and the third platform (C) have the same structural dimensions as the first platform (A).

[0024] The first telescopic branch (1) is as follows Figure 3 As shown, it includes a first rotating joint connector (1-1), a first left connecting rod (1-2), a first branch servo motor (1-3), a first right connecting rod (1-4), a first ball joint ball (1-5), and a first ball joint connector (1-6); the second telescopic branch (2), the third telescopic branch (3), the fourth telescopic branch (4), the fifth telescopic branch (5), and the sixth telescopic branch (6) have the same structural dimensions as the first telescopic branch (1).

[0025] like Figure 4 As shown, the platform's servo drives two triangular links to rotate relative to each other, enabling the platform to scale.

[0026] The connection between the platform and the sidechain is as follows: The first through hole (A-1-1) of the first triangle vertex (A-1) of the first platform (A) is fixedly connected to the left through hole (1-1-1) of the first rotating joint connector (1-1) of the first telescopic branch (1) by bolts; the second through hole (A-2-1) of the second triangle vertex (A-2) is fixedly connected to the left through hole (2-1-1) of the second rotating joint connector (2-1) of the second telescopic branch (2) by bolts; the third through hole (A-3-1) of the third triangle vertex (A-3) is fixedly connected to the left through hole (3-1-1) of the third rotating joint connector (3-1) of the third telescopic branch (3) by bolts. The through hole (B-1-1) at the fourth vertex of the fourth triangle vertex (B-1) of the second platform (B) is fixedly connected to the through hole (1-6-1) of the first ball joint connector (1-6) of the first telescopic branch (1) and the through hole (4-6-1) of the fourth ball joint connector (4-6) of the fourth telescopic branch (4) by bolts. The through hole (B-2-1) at the fifth vertex of the fifth triangle vertex (B-2) is fixedly connected to the second ball joint connector (2-6) of the second telescopic branch (2) by bolts. The connecting through hole (2-6-1) and the fifth ball joint connecting through hole (5-6-1) of the fifth ball joint connecting piece (5-6) of the fifth telescopic branch (5) are fixedly connected by bolts. The through hole (B-3-1) of the sixth vertex of the sixth triangle vertex (B-3) is fixedly connected by bolts to the through hole (3-6-1) of the third ball joint connecting piece (3-6) of the third telescopic branch (3) and the through hole (6-6-1) of the sixth ball joint connecting piece (6-6) of the sixth telescopic branch (6). The seventh vertex of the seventh triangle vertex (C-1) of the third platform (C) is fixedly connected to the fourth rotating joint connector of the fourth telescopic branch (4) by bolts through the upper hole (C-1-1) of the seventh vertex of the third platform (C-1). The eighth vertex of the eighth triangle vertex (C-2) is fixedly connected to the fifth rotating joint connector of the fifth telescopic branch (5) by bolts through the upper hole (C-2-1) of the eighth vertex of the eighth platform (C-2). The fifth rotating joint connector of the fifth telescopic branch (5) is fixedly connected to the fifth rotating joint connector of the fifth telescopic branch (5) by bolts through the upper hole (C-3-1) of the ninth vertex of the ninth platform (C-3). The sixth rotating joint connector of the sixth telescopic branch (6) is fixedly connected to the sixth rotating joint connector of the sixth telescopic branch (6) by bolts through the upper hole (C-3-1) of the ninth vertex of the ninth platform (C-3).

[0027] The first platform (A) includes a first triangular vertex (A-1), a second triangular vertex (A-2), a third triangular vertex (A-3), a first slide rail (A-4), a second slide rail (A-5), a third slide rail (A-6), a first front triangular link (A-7), a first rear triangular link (A-8), and a first platform servo (A-9).

[0028] The first triangle vertex (A-1) is as follows Figure 5 As shown, the shape is triangular, with a first vertex left through hole (A-1-4), a first vertex right through hole (A-1-5), a first vertex left groove (A-1-2), and a first vertex right groove (A-1-3) arranged at a 60° included angle, and a first vertex upper through hole (A-1-1) at the top; the second triangular vertex (A-2) and the third triangular vertex (A-3) have the same structural dimensions as the first triangular vertex (A-1).

[0029] The first slide rail (A-4) is as follows Figure 6 As shown, it includes a first slide rail (A-4-1), a first guide rail (A-4-2), a first left slider (A-4-3), and a first right slider (A-4-4); the second slide rail (A-5) and the third slide rail (A-6) have the same structural dimensions as the first slide rail (A-4).

[0030] The connection method between the vertex and the slide rail is as follows: The right end (A-4-1-1) of the first groove of the first slide rail (A-4) is inserted into the left groove (A-1-2) of the first vertex of the first triangle (A-1). The through hole (A-4-1-2) of the first groove and the left through hole (A-1-4) of the first vertex of the first triangle (A-1) are fixedly connected by bolts. The left end (A-4-2-1) of the first guide rail of the first slide rail (A-4) is inserted into the right groove (A-2-3) of the second vertex of the second triangle (A-2). The through hole (A-4-2-2) of the first guide rail and the right through hole (A-2-5) of the second vertex of the second triangle (A-2) are fixedly connected by bolts. The right end (A-5-1-1) of the second slide rail (A-5) is inserted into the left groove (A-2-2) of the second vertex of the second triangle vertex (A-2). The through hole (A-5-1-2) of the second slide rail and the left through hole (A-2-4) of the second vertex of the second triangle vertex (A-2) are fixedly connected by bolts. The left end (A-5-2-1) of the second guide rail of the second slide rail (A-5) is inserted into the right groove (A-3-3) of the third vertex of the third triangle vertex (A-3). The through hole (A-5-2-2) of the second guide rail and the right through hole (A-3-5) of the third vertex of the third triangle vertex (A-3) are fixedly connected by bolts. The right end (A-6-1-1) of the third slide rail (A-6) is inserted into the left groove (A-3-2) of the third vertex of the third triangle (A-3). The through hole (A-6-1-2) of the third slide rail and the left through hole (A-3-4) of the third vertex of the third triangle (A-3) are fixedly connected by bolts. The left end (A-6-2-1) of the third guide rail of the third slide rail (A-6) is inserted into the right groove (A-1-3) of the first vertex of the first triangle (A-1). The through hole (A-6-2-2) of the third guide rail and the right through hole (A-1-5) of the first vertex of the first triangle (A-1) are fixedly connected by bolts.

[0031] The first slide rail (A-4) includes a first slide groove (A-4-1), a first guide rail (A-4-2), a first left slider (A-4-3), and a first right slider (A-4-4); the first left slider (A-4-3) and the first right slider (A-4-4) have the same structural dimensions.

[0032] The first groove (A-4-1) is as follows Figure 7As shown, a first guide rail groove (A-4-1-4) and a first left slider groove (A-4-1-3) are provided, with a first groove through hole (A-4-1-2) at one end; the first guide rail (A-4-2) is as follows Figure 8 As shown, a first right slider groove (A-4-2-4) is provided, and the first guide rail track (A-4-2-3) of the first guide rail (A-4-2) is installed in the first guide rail groove (A-4-1-4) of the first slider groove (A-4-1) to form a sliding pair; the first left slider (A-4-3) is as follows Figure 9 As shown, the first left slider groove (A-4-1-3) installed in the first groove (A-4-1) forms a sliding pair; the first right slider (A-4-4) installed in the first right slider groove (A-4-2-4) of the first guide rail (A-4-2) forms a sliding pair.

[0033] The first front tripod (A-7) is as follows Figure 10 As shown, the first front three-pronged rod through hole (A-7-1) and the first left slider through hole (A-4-3-1) of the first left slider (A-4-3) are connected by bolts to form a rotating joint. The second front three-pronged rod through hole (A-7-2) and the second left slider through hole (A-5-3-1) of the second left slider (A-5-3) are connected by bolts to form a rotating joint. The third front three-pronged rod through hole (A-7-3) and the third left slider through hole (A-6-3-1) of the third left slider (A-6-3) are connected by bolts to form a rotating joint. The first front three-pronged rod left through hole (A-7-4) and the first platform servo disk mounting hole (A-9-1) of the first platform servo (A-9) are fixedly connected by bolts. The first front three-pronged rod right through hole (A-7-5) and the first platform servo right mounting hole (A-9-3) of the first platform servo (A-9) are connected by bolts to form a rotating joint.

[0034] The first rear tripod (A-8) is as follows Figure 11 As shown, the first rear tripod through hole (A-8-1) and the first right slider through hole (A-4-4-1) of the first right slider (A-4-4) are connected by bolts to form a rotating joint; the second rear tripod through hole (A-8-2) and the second right slider through hole (A-5-4-1) of the second right slider (A-5-4) are connected by bolts to form a rotating joint; the third rear tripod through hole (A-8-3) and the third right slider through hole (A-6-4-1) of the third right slider (A-6-4) are connected by bolts to form a rotating joint; the first platform servo (A-9) is as follows... Figure 12 As shown, the first rear three-way bracket groove (A-8-4) installed on the first rear three-way bracket (A-8), the first platform servo lower mounting hole (A-9-2) and the first rear three-way bracket mounting hole (A-8-5) of the first rear three-way bracket (A-8) are fixedly connected by bolts.

[0035] The first telescopic branch (1) includes a first rotating joint connector (1-1), a first left connecting rod (1-2), a first branch servo motor (1-3), a first right connecting rod (1-4), a first ball joint ball (1-5), and a first ball joint connector (1-6). The first branch servo motor (1-3) has the same structural dimensions as the first platform servo motor (A-9).

[0036] The first rotating joint connector (1-1) is as follows Figure 13 As shown, the right through hole (1-1-2) of the first rotating joint connector and the left through hole (1-2-1) of the first left connecting rod (1-2) are connected by bolts to form a rotating joint; the first left connecting rod (1-2) is as follows Figure 14 As shown, the right rear through hole (1-2-2) of the first left connecting rod and the first branch servo disk mounting hole (1-3-1) of the first branch servo (1-3) are fixedly connected by bolts; the right front through hole (1-2-3) of the first left connecting rod and the first branch servo right mounting hole (1-3-3) of the first branch servo (1-3) are connected by bolts to form a rotating joint; the first right connecting rod (1-4) is as follows Figure 15 As shown, the first branch servo motor (1-3) has a first branch servo motor lower mounting hole (1-3-2) and the first right connecting rod left through hole (1-4-1) of the first right connecting rod (1-4) are fixedly connected by bolts; the first ball joint ball (1-5) is as shown Figure 16 As shown, one end is inserted into the first right link groove (1-4-3) of the first right link (1-4). The first ball joint ball through hole (1-5-1) and the first right link right through hole (1-4-2) of the first right link (1-4) are fixedly connected by bolts. The spherical surface (1-5-2) of the first ball joint ball is installed in the first ball joint connector spherical surface groove (1-6-2) of the first ball joint connector (1-6). Figure 17 As shown.

[0037] like Figure 18 The diagram shows the extreme size and folded posture of the foldable double triangular prism mobile robot. The robot's deformation and movement can be achieved by controlling the rotation angle of the platform servo motor and the branch servo motor.

[0038] like Figure 19 The image shows a schematic diagram of a linear movement gait of a foldable double triangular prism mobile robot.

[0039] The mobile robot moves by extending and deforming its overall shape. First, the rear platform retracts, and the branches retract, causing the rear platform to move forward. Next, the rear platform extends, and the middle platform retracts, at which point the rear and front platforms are simultaneously grounded, while the middle platform is suspended. Then, the branches deform, causing the middle platform to move forward, followed by its extension and grounding. Next, the front platform retracts, and the branches retract, causing the front platform to move forward. Finally, the front platform fully extends and grounds, similar to the wriggling motion of annelids, achieving forward movement. The robot can also turn by controlling the servo motor's rotation angle. The robot can overcome obstacles by lifting one end.

Claims

1. A foldable double triangular prism mobile robot, characterized in that: Including the first platform (A), the second platform (B), the third platform (C), the first telescopic branch (1), the second telescopic branch (2), the third telescopic branch (3), the fourth telescopic branch (4), the fifth telescopic branch (5), and the sixth telescopic branch (6); The first platform (A) includes a first triangular vertex (A-1), a second triangular vertex (A-2), a third triangular vertex (A-3), a first slide rail (A-4), a second slide rail (A-5), a third slide rail (A-6), a first front tripod (A-7), a first rear tripod (A-8), and a first platform servo (A-9); the second platform (B) and the third platform (C) have the same structural dimensions as the first platform (A). The first telescopic branch (1) includes a first rotating joint connector (1-1), a first left connecting rod (1-2), a first branch servo motor (1-3), a first right connecting rod (1-4), a first ball joint ball (1-5), and a first ball joint connector (1-6); the second telescopic branch (2), the third telescopic branch (3), the fourth telescopic branch (4), the fifth telescopic branch (5), and the sixth telescopic branch (6) have the same structural dimensions as the first telescopic branch (1); The connection between the platform and the sidechain is as follows: The first through hole (A-1-1) of the first triangle vertex (A-1) of the first platform (A) is fixedly connected to the left through hole (1-1-1) of the first rotating joint connector (1-1) of the first telescopic branch (1) by bolts; the second through hole (A-2-1) of the second triangle vertex (A-2) is fixedly connected to the left through hole (2-1-1) of the second rotating joint connector (2-1) of the second telescopic branch (2) by bolts; the third through hole (A-3-1) of the third triangle vertex (A-3) is fixedly connected to the left through hole (3-1-1) of the third rotating joint connector (3-1) of the third telescopic branch (3) by bolts. The through hole (B-1-1) at the fourth vertex of the fourth triangle vertex (B-1) of the second platform (B) is fixedly connected to the through hole (1-6-1) of the first ball joint connector (1-6) of the first telescopic branch (1) and the through hole (4-6-1) of the fourth ball joint connector (4-6) of the fourth telescopic branch (4) by bolts. The through hole (B-2-1) at the fifth vertex of the fifth triangle vertex (B-2) is fixedly connected to the second ball joint connector (2-6) of the second telescopic branch (2) by bolts. The connecting through hole (2-6-1) and the fifth ball joint connecting through hole (5-6-1) of the fifth ball joint connecting piece (5-6) of the fifth telescopic branch (5) are fixedly connected by bolts. The through hole (B-3-1) of the sixth vertex of the sixth triangle vertex (B-3) is fixedly connected by bolts to the through hole (3-6-1) of the third ball joint connecting piece (3-6) of the third telescopic branch (3) and the through hole (6-6-1) of the sixth ball joint connecting piece (6-6) of the sixth telescopic branch (6). The seventh vertex of the seventh triangle vertex (C-1) of the third platform (C) is fixedly connected to the fourth rotating joint connector of the fourth telescopic branch (4) by bolts through the upper hole (C-1-1) of the seventh vertex of the third platform (C-1), and the fourth rotating joint connector of the fourth telescopic branch (4) is fixedly connected to the left hole (4-1-1) of the fifth rotating joint connector of the fifth telescopic branch (5) by bolts through the upper hole (C-2-1) of the eighth vertex of the eighth triangle vertex (C-2), and the fifth rotating joint connector of the fifth telescopic branch (5) is fixedly connected to the left hole (5-1-1) of the fifth rotating joint connector of the fifth telescopic branch (5) by bolts through the upper hole (C-3-1) of the ninth vertex of the ninth triangle vertex (C-3), and the sixth rotating joint connector of the sixth telescopic branch (6) is fixedly connected to the left hole (6-1-1) of the sixth rotating joint connector of the sixth telescopic branch (6) by bolts through the upper hole (C-3-1) of the ninth vertex of the ninth triangle vertex (C-3). The platform's servo motor drives two triangular links to rotate relative to each other, enabling the platform to scale.

2. The foldable double triangular prism mobile robot according to claim 1, characterized in that: The first platform (A) includes a first triangular vertex (A-1), a second triangular vertex (A-2), a third triangular vertex (A-3), a first slide rail (A-4), a second slide rail (A-5), a third slide rail (A-6), a first front triangular lever (A-7), a first rear triangular lever (A-8), and a first platform servo motor (A-9). The first triangular vertex (A-1) is triangular in shape and has a left through hole (A-1-4), a right through hole (A-1-5), a left groove (A-1-2), and a right groove (A-1-3) arranged at a 60° angle. It also has an upper through hole (A-1-1) at the top. The second triangular vertex (A-2) and the third triangular vertex (A-3) have the same structural dimensions as the first triangular vertex (A-1). The first slide rail (A-4) includes a first slide groove (A-4-1), a first guide rail (A-4-2), a first left slider (A-4-3), and a first right slider (A-4-4); the second slide rail (A-5) and the third slide rail (A-6) have the same structural dimensions as the first slide rail (A-4); The connection method between the vertex and the slide rail is as follows: The right end (A-4-1-1) of the first groove of the first slide rail (A-4) is inserted into the left groove (A-1-2) of the first vertex of the first triangle (A-1). The through hole (A-4-1-2) of the first groove and the left through hole (A-1-4) of the first vertex of the first triangle (A-1) are fixedly connected by bolts. The left end (A-4-2-1) of the first guide rail of the first slide rail (A-4) is inserted into the right groove (A-2-3) of the second vertex of the second triangle (A-2). The through hole (A-4-2-2) of the first guide rail and the right through hole (A-2-5) of the second vertex of the second triangle (A-2) are fixedly connected by bolts. The right end (A-5-1-1) of the second slide rail (A-5) is inserted into the left groove (A-2-2) of the second vertex of the second triangle vertex (A-2). The through hole (A-5-1-2) of the second slide rail and the left through hole (A-2-4) of the second vertex of the second triangle vertex (A-2) are fixedly connected by bolts. The left end (A-5-2-1) of the second guide rail of the second slide rail (A-5) is inserted into the right groove (A-3-3) of the third vertex of the third triangle vertex (A-3). The through hole (A-5-2-2) of the second guide rail and the right through hole (A-3-5) of the third vertex of the third triangle vertex (A-3) are fixedly connected by bolts. The right end (A-6-1-1) of the third slide rail (A-6) is inserted into the left groove (A-3-2) of the third vertex of the third triangle (A-3). The through hole (A-6-1-2) of the third slide rail and the left through hole (A-3-4) of the third vertex of the third triangle (A-3) are fixedly connected by bolts. The left end (A-6-2-1) of the third guide rail of the third slide rail (A-6) is inserted into the right groove (A-1-3) of the first vertex of the first triangle (A-1). The through hole (A-6-2-2) of the third guide rail and the right through hole (A-1-5) of the first vertex of the first triangle (A-1) are fixedly connected by bolts. The first slide rail (A-4) includes a first slide groove (A-4-1), a first guide rail (A-4-2), a first left slider (A-4-3), and a first right slider (A-4-4); the first left slider (A-4-3) and the first right slider (A-4-4) have the same structural dimensions. The first slide groove (A-4-1) is provided with a first guide rail slide groove (A-4-1-4) and a first left slider slide groove (A-4-1-3), and a first slide groove through hole (A-4-1-2) is provided at one end; the first guide rail (A-4-2) is provided with a first right slider slide groove (A-4-2-4), and the first guide rail track (A-4-2-3) of the first guide rail (A-4-2) is installed in the first guide rail slide groove (A-4-1-4) of the first slide groove (A-4-1) to form a sliding pair; the first left slider (A-4-3) is installed in the first left slider slide groove (A-4-1-3) of the first slide groove (A-4-1) to form a sliding pair; the first right slider (A-4-4) is installed in the first right slider slide groove (A-4-2-4) of the first guide rail (A-4-2) to form a sliding pair; The first front three-pronged rod (A-7-1) and the first left slider through hole (A-4-3-1) of the first left slider (A-4-3) are connected by bolts to form a rotating joint. The second front three-pronged rod through hole (A-7-2) and the second left slider through hole (A-5-3-1) of the second left slider (A-5-3) are connected by bolts to form a rotating joint. The third front three-pronged rod through hole (A-7-3) and the third left slider through hole (A-6-3-1) of the third left slider (A-6-3) are connected by bolts to form a rotating joint. The left through hole (A-7-4) of the first front three-pronged rod and the first platform servo disk mounting hole (A-9-1) of the first platform servo (A-9) are fixedly connected by bolts. The right through hole (A-7-5) of the first front three-pronged rod and the first platform servo right mounting hole (A-9-3) of the first platform servo (A-9) are connected by bolts to form a rotating joint. The first rear three-pronged rod (A-8-1) and the first right slider through hole (A-4-4-1) of the first right slider (A-4-4) are connected by bolts to form a rotating joint. The second rear three-pronged rod through hole (A-8-2) and the second right slider through hole (A-5-4-1) of the second right slider (A-5-4) are connected by bolts to form a rotating joint. The third rear three-pronged rod through hole (A-8-3) and the third right slider through hole (A-6-4-1) of the third right slider (A-6-4) are connected by bolts to form a rotating joint. The first platform servo (A-9) is installed in the first rear three-pronged rod groove (A-8-4) of the first rear three-pronged rod (A-8). The lower mounting hole (A-9-2) of the first platform servo and the first rear three-pronged rod mounting hole (A-8-5) of the first rear three-pronged rod (A-8) are fixedly connected by bolts.

3. The foldable double triangular prism mobile robot according to claim 1, characterized in that: The first telescopic branch (1) includes a first rotating joint connector (1-1), a first left connecting rod (1-2), a first branch servo motor (1-3), a first right connecting rod (1-4), a first ball joint ball (1-5), and a first ball joint connector (1-6). The first branch servo motor (1-3) has the same structural dimensions as the first platform servo motor (A-9). The right through hole (1-1-2) of the first rotating joint connector (1-1) and the left through hole (1-2-1) of the first left connecting rod (1-2) are connected by bolts to form a rotating joint; the right rear through hole (1-2-2) of the first left connecting rod and the first branch servo disk mounting hole (1-3-1) of the first branch servo (1-3) are fixedly connected by bolts; the right front through hole (1-2-3) of the first left connecting rod and the right mounting hole (1-3-3) of the first branch servo (1-3) are connected by bolts to form a rotating joint; the first branch servo (1-3) The first branch servo motor lower mounting hole (1-3-2) and the first right link left through hole (1-4-1) of the first right link (1-4) are fixedly connected by bolts; one end of the first ball joint ball (1-5) is inserted into the first right link groove (1-4-3) of the first right link (1-4), the first ball joint ball through hole (1-5-1) and the first right link right through hole (1-4-2) of the first right link (1-4) are fixedly connected by bolts, and the first ball joint ball surface (1-5-2) is installed in the first ball joint connector spherical groove (1-6-2) of the first ball joint connector (1-6).

4. The foldable double triangular prism mobile robot according to claim 1, characterized in that: The mobile robot can transform and move by controlling the rotation angle of the platform servo motor and the branch servo motor. The mobile robot moves by extending and deforming its overall shape. First, the rear platform retracts, and the branches retract, causing the rear platform to move forward. Next, the rear platform extends, and the middle platform retracts, at which point the rear and front platforms are simultaneously grounded, while the middle platform is suspended. Then, the branches deform, causing the middle platform to move forward, followed by its extension and grounding. Next, the front platform retracts, and the branches retract, causing the front platform to move forward. Finally, the front platform fully extends and grounds, similar to the wriggling motion of annelids, achieving forward movement. The robot can also turn by controlling the servo motor's rotation angle. The robot can overcome obstacles by lifting one end.

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