Variable torso robot based on sarrus mechanism

Abstract

A variable torso robot based on Sarrus mechanism is a single closed chain mechanism, which is composed of left front platform rod (1), right front platform rod (2), left rear platform rod (3), right rear platform rod (4), left front branch chain rod (5), right front branch chain rod (6), left rear branch chain rod (7), right rear branch chain rod (8), left front wheel support (9), right front wheel support (10), left rear wheel support (11), right rear wheel support (12), left front wheel (13), right front wheel (14), left rear wheel (15), right rear wheel (16). The steering control mechanism is used to complete the deformation of the torso under different conditions, so as to pass through the complex terrain and obstacles. The mechanism also has the characteristics of over-constraint, so that the rigidity of the mechanism is high, thereby improving the carrying capacity of the mechanism. Through the analysis of the motion characteristics and mechanical characteristics of the mechanism, the stability and accuracy of the motion of the mechanism are realized. It can be well applied in logistics, military and other fields.

Description

Technical Field

[0001] The present invention relates to a variable trunk robot based on a Sarrus mechanism, and in particular to a wheeled mobile robot based on a spatial single closed-chain link mechanism Sarrus mechanism, which uses a deformable servo to drive the trunk to deform. Background Art

[0002] The Sarrus-based variable trunk mechanism has unique design parameters and layout, which determine its exceptional kinematic and mechanical properties. It also exhibits overconstraint, resulting in high stiffness and improved load-bearing capacity. Furthermore, its excellent deformation properties, as a body, help the robot better navigate obstacles.

[0003] Chinese patent CN202111561149.3 discloses "a multi-mode rolling robot based on the Sarrus mechanism". The robot is based on a spatial six-bar Sarrus mechanism. By controlling the forward and reverse rotation of the deformation motor, the robot's branches are folded, the robot's wheeled movement mode is changed, and the robot is driven to move straight and turn in multiple modes. Summary of the Invention

[0004] Problems to be solved by the present invention:

[0005] Common wheeled mobile robots have low obstacle crossing height and poor terrain adaptability, and cannot pass smoothly when faced with complex terrain. This application provides a variable torso robot with multiple movement modes based on the Sarrus mechanism, and achieves stability and accuracy of the mechanism's movement by analyzing the mechanism's motion characteristics and mechanical characteristics.

[0006] A variable trunk robot based on a Sarrus mechanism is characterized in that: the variable trunk robot based on the Sarrus mechanism is a single closed chain mechanism, and its components include a left front platform rod (1), a right front platform rod (2), a left rear platform rod (3), a right rear platform rod (4), a left front branch chain rod (5), a right front branch chain rod (6), a left rear branch chain rod (7), a right rear branch chain rod (8), a left front wheel bracket (9), a right front wheel bracket (10), a left rear wheel bracket (11), a right rear wheel bracket (12), a left front wheel (13), a right front wheel (14), a left rear wheel (15), and a right rear wheel (16).

[0007] The structure of the parts that make up the mechanism:

[0008] The left front platform rod (1) is a hollow straight rod having a large end (1-1) and a small end (1-2). A mounting groove (1-3) is provided in the middle of both ends. A driving motor and a left front wheel bracket (9) can be installed on the large end (1-1) side of the mounting groove (1-3). A rotating joint (1-4) is provided at the small end (1-2) for cooperating with the mounting groove (1-3) to install a steering gear. The axis of the rotating joint (1-4) is perpendicular to the left front platform rod (1) and is hinged to the left rear platform rod (3). A rotating joint (2) is provided at the large end (1-1) to form a rotating hinge with the rotating joint (5-4) of the left front branch chain rod (5) through an axis. The axis of the rotating joint (2) (1-5) is collinear with the left front platform rod (1).

[0009] The right front platform rod (2) is a hollow straight rod having a large end (2-1) and a small end (2-2). A mounting groove (2-3) is provided in the middle of both ends. A driving motor and a right front wheel bracket (10) can be installed on the small end (2-2) side of the mounting groove (2-3). A rotating joint (2-4) is provided at the large end (2-1) to cooperate with the mounting groove (2-3) to install a steering gear. The axis of the rotating joint (2-4) is perpendicular to the right front platform rod (2) and is hinged to the right rear platform rod (4). A rotating joint (2-5) is provided at the small end (2-2) to form a rotating hinge with the rotating joint (6-4) of the right front branch chain rod (6) through an axis. The axis of the rotating joint (2-5) is collinear with the right front platform rod (2).

[0010] The left rear platform rod (3) is a hollow straight rod having a large end (3-1) and a small end (3-2). A mounting groove (3-3) is provided in the middle of both ends. A driving motor and a left rear wheel bracket (11) can be installed on the side of the small end (3-2) of the mounting groove (3-3). A rotating joint (3-4) is provided at the large end (3-1) for cooperating with the mounting groove (3-3) to install a steering gear. The axis of the rotating joint (3-4) is perpendicular to the left rear platform rod (3) and is hinged to the left front platform rod (1). A rotating joint (3-5) is provided at the small end (3-2) to form a rotating hinge with the rotating joint (7-4) of the left rear branch chain rod (7) through an axis. The axis of the rotating joint (3-5) is collinear with the left rear platform rod (3).

[0011] The right rear platform rod (4) is a hollow straight rod having a large end (4-1) and a small end (4-2). A mounting groove (4-3) is provided in the middle of both ends. A driving motor and a rear wheel bracket (12) can be installed on the large end (4-1) side of the mounting groove (4-3). A rotating joint (4-4) is provided at the small end (4-2) for cooperating with the mounting groove (4-3) to install a steering gear. The axis of the rotating joint (4-4) is perpendicular to the right rear platform rod (4) and is hinged to the right front platform rod (2). A rotating joint (4-5) is provided at the large end (4-1) to form a rotating hinge with the rotating joint (8-4) of the right rear branch chain rod (8) through an axis. The axis of the rotating joint (4-5) is collinear with the right rear platform rod (4).

[0012] The left front platform rod (1), the right front platform rod (2), the left rear platform rod (3) and the right rear platform rod (4) have the same appearance and structure;

[0013] The left front branch link (5) is a hollow straight rod having a large end (5-1) and a small end (5-2). A mounting groove (5-3) is provided at the small end section. A rotating joint (5-4) is provided at the small end (5-2) for cooperating with the mounting groove (5-3) to install the steering gear and articulate the left front platform rod (1). A rotating joint (5-5) is provided at the large end (5-1) for articulating the right front branch link (6). The axes of the rotating joint (5-4) and the rotating joint (5-5) are parallel to each other and perpendicular to the left front branch link (5).

[0014] The right front branch link (6) is a hollow straight rod having a large end (6-1) and a small end (6-2). A mounting groove (6-3) is provided at the large end section. A rotating joint (6-4) is provided at the large end (6-1) for cooperating with the mounting groove (6-3) to mount the steering gear and articulate the right front platform rod (2). A rotating joint (6-5) is provided at the small end (6-2) for articulating the left front branch link (5). The axes of the rotating joint (6-4) and the rotating joint (6-5) are parallel to each other and perpendicular to the right front branch link (6).

[0015] The left rear support link (7) is a hollow straight rod having a large end (7-1) and a small end (7-2). A mounting groove (7-3) is provided at the small end section. A rotating joint 1 (7-4) is provided at the large end (7-1) for hingedly connecting the left rear platform link (3). A rotating joint 2 (7-5) is provided at the small end (7-2) for cooperating with the mounting groove (7-3) to install the steering gear and hingedly connect the right rear support link (8). The axes of the rotating joint 1 (7-4) and the rotating joint 2 (7-5) are parallel to each other and perpendicular to the left rear support link (7).

[0016] The right rear branch chain rod (8) is a hollow straight rod having a large end (8-1) and a small end (8-2). A mounting groove (8-3) is provided at the large end section. A rotating joint (8-4) is provided at the small end (8-2) for hingedly connecting the right rear platform rod (4). A rotating joint (8-5) is provided at the large end (8-1) for cooperating with the mounting groove (7-3) to install the steering gear and hingedly connect the left rear branch chain rod (7). The axes of the rotating joint (8-4) and the rotating joint (8-5) are parallel to each other and perpendicular to the right rear branch chain rod (8).

[0017] The left front branch chain rod (5), the right front branch chain rod (6), the left rear branch chain rod (7) and the right rear branch chain rod (8) have completely the same external appearance and structure.

[0018] The left front wheel bracket (9) is provided with a mounting groove (9-1) in the middle thereof, which cooperates with the mounting groove (1-3) of the left front platform rod to fix the bracket, and a rotating joint (9-2) is provided below the mounting groove, which is hinged to the left front wheel (13) via the motor shaft;

[0019] The middle part of the right front wheel bracket (10) is provided with a mounting groove (10-1) which cooperates with the mounting groove (2-3) of the right front platform rod to fix the bracket, and a rotating joint (10-2) is provided below the mounting groove and is hinged to the right front wheel (14) through the motor shaft;

[0020] The left rear wheel bracket (11) is provided with a mounting groove (11-1) in the middle thereof, which cooperates with the mounting groove (3-3) of the left rear platform rod to fix the bracket, and a rotating joint (11-2) is provided below the mounting groove, which is hinged to the left rear wheel (15) via the motor shaft;

[0021] The middle of the right rear wheel bracket (12) is provided with a mounting groove (12-1) which cooperates with the mounting groove (4-3) of the right rear platform rod to fix the bracket, and a rotating joint (12-2) is provided below the mounting groove and is hinged to the left rear wheel (16) through the motor shaft.

[0022] Specific connection method:

[0023] The left front platform rod rotation joint 2 (1-5) is connected to the left front support rod rotation joint 1 (5-4) through a hinge, the left front support rod rotation joint 2 (5-5) is connected to the right front support rod rotation joint 1 (6-4) through a hinge, the right front support rod is connected to the right front platform rod rotation joint 1 (2-4) through a hinge through the rotation joint 2 (6-5), the right front platform rod rotation joint 2 (2-5) is connected to the right rear platform rod rotation joint 1 (4-4) through a hinge, the right rear platform rod rotation joint 2 (2-5) is connected to the right rear platform rod rotation joint 1 (4-4) through a hinge, the right rear platform rod rotation joint 2 (5-5) is connected to the left front support rod rotation joint 1 (6-4) through a hinge, the right front platform rod rotation joint 2 (6-5) is connected to the right front platform rod rotation joint 1 (2-4) through a hinge, the right rear platform rod rotation joint 2 (2-5) is connected to the right rear platform rod rotation joint 1 (4-4) through a hinge, the right front platform rod rotation joint 2 (5-5) is connected to the left front support rod rotation joint 1 (6-4) through a hinge, the right front platform rod rotation joint 2 (6-5) is connected to the right front platform rod rotation joint 1 (4 ...6-4) through a hinge, the right front platform rod rotation joint 2 (2-5) is connected to the right front platform rod rotation joint 1 (4-4) through a hinge, the right front platform rod rotation joint 2 (5-5) is connected to the left front support rod rotation joint 1 (6-4) through a hinge, the right front platform rod rotation joint 2 (5-5) is connected to the right front Joint 2 (4-5) is connected to the rotating joint 1 (8-4) of the right rear support rod through a hinge, the right rear support rod is connected to the rotating joint 1 (7-4) of the left rear support rod through the rotating joint 2 (8-5) by a hinge, the rotating joint 2 (7-5) of the left rear support rod is connected to the rotating joint 1 (3-4) of the left rear platform rod through a hinge, the rotating joint 2 (3-5) of the left rear platform rod is connected to the rotating joint 1 (1-4) of the left front platform rod through a hinge, and the eight rods form a complete closed chain mechanism.

[0024] A variable-trunk robot based on a Sarrus mechanism, characterized in that all platform rods and branch rods are perpendicular to each other. The rods are of equal length, but their lengths can be increased or decreased simultaneously. The rods are not limited to square shapes, and can also be shaped like circles or diamonds.

[0025] A variable trunk robot based on the Sarrus mechanism is characterized in that the driving motor used should adopt a D-shaped output shaft motor and be connected to the wheel through a sleeve.

[0026] A variable trunk robot based on a Sarrus mechanism is characterized in that when the left front wheel (13), the right front wheel (14), the left rear wheel (15), and the right rear wheel (16) are not perpendicular to the ground, they can be adjusted by a steering gear installed on the left front branch rod (5) and the right front branch rod (6).

[0027] A robot with a variable trunk based on a Sarrus mechanism is characterized in that when encountering narrow terrain that is impossible to pass through, the angle formed by the left rear branch rod (7) and the right rear branch rod (8) can be adjusted by a steering gear installed on the left rear branch rod (7), thereby changing the shape of the robot's trunk to enable the robot to pass through.

[0028] A variable trunk robot based on a Sarrus mechanism is characterized in that: when encountering a step terrain that is impossible to pass through, the angle between the robot's left front platform rod (1) and the left rear platform rod (3) can be changed by a servo installed on the left front platform rod (1), and the angle between the right front platform rod (2) and the right rear platform rod (4) can be changed by a servo installed on the right rear platform rod (4), thereby changing the shape of the robot's trunk to enable the robot to cross the step.

[0029] Beneficial Effects of the Invention: The Sarrus-based variable-torso robot described herein offers the advantages of strong stability, high motion precision, simple structure, high reliability, strong adaptability, and the ability to achieve multiple motion modes. The use of a deformable body enables the wheeled robot to switch between multiple motion modes, significantly improving the robot's adaptability and providing new ideas for the construction of wheeled robots. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 3D image of a variable-torso robot based on the Sarrus mechanism

[0031] Figure 2 3D image of the left front platform rod

[0032] Figure 3 3D image of the left rear platform rod

[0033] Figure 4 3D diagram of the left front support link

[0034] Figure 5 3D image of left front wheel bracket

[0035] Figure 6 Folding function diagram

[0036] Figure 7 Schematic diagram of step terrain function DETAILED DESCRIPTION

[0037] The present invention will be described in further detail below with reference to the accompanying drawings.

[0038] like Figure 1 As shown, a variable trunk robot based on the Sarrus mechanism is a single closed chain mechanism, comprising a left front platform rod (1), a right front platform rod (2), a left rear platform rod (3), a right rear platform rod (4), a left front branch chain rod (5), a right front branch chain rod (6), a left rear branch chain rod (7), a right rear branch chain rod (8), a left front wheel bracket (9), a right front wheel bracket (10), a left rear wheel bracket (11), a right rear wheel bracket (12), a left front wheel (13), a right front wheel (14), a left rear wheel (15), and a right rear wheel (16).

[0039] like Figure 2As shown, the left front platform rod (1) is a hollow straight rod having a large end (1-1) and a small end (1-2). A mounting groove (1-3) is provided in the middle of both ends. A driving motor and a left front wheel bracket (9) can be installed on the large end (1-1) side of the mounting groove (1-3). A rotating joint (1-4) is provided at the small end (1-2) for cooperating with the mounting groove (1-3) to install a steering gear. The axis of the rotating joint (1-4) is perpendicular to the left front platform rod (1) and is hinged to the left rear platform rod (3). A rotating joint (2) (1-5) is provided at the large end (1-1) to form a rotating hinge with the rotating joint (5-4) of the left front branch chain rod (5) through an axis. The axis of the rotating joint (1-5) is collinear with the left front platform rod (1).

[0040] like Figure 3 As shown, the left rear platform rod (3) is a hollow straight rod having a large end (3-1) and a small end (3-2). A mounting groove (3-3) is provided in the middle of both ends. A driving motor and a left rear wheel bracket (11) can be installed on the side of the small end (3-2) of the mounting groove (3-3). A rotating joint (3-4) is provided at the large end (3-1) to cooperate with the mounting groove (3-3) to install a steering gear. The axis of the rotating joint (3-4) is perpendicular to the left rear platform rod (3) and is hinged to the left front platform rod (1). A rotating joint (3-5) is provided at the small end (3-2) to form a rotating hinge with the rotating joint (7-4) of the left rear branch chain rod (7) through an axis. The axis of the rotating joint (3-5) is collinear with the left rear platform rod (3).

[0041] like Figure 4 As shown, the left front branch link (5) is a hollow straight rod having a large end (5-1) and a small end (5-2). A mounting groove (5-3) is provided at the small end section. A rotating joint (5-4) is provided at the small end (5-2) for matching the mounting groove (5-3) to install the steering gear and articulate the left front platform rod (1). A rotating joint (5-5) is provided at the large end (5-1) for articulating the right front branch link (6). The axes of the rotating joint (5-4) and the rotating joint (5-5) are parallel to each other and perpendicular to the left front branch link (5).

[0042] like Figure 5 As shown, a mounting groove (9-1) is provided in the middle of the left front wheel bracket (9) and cooperates with the mounting groove (1-3) of the left front platform rod to fix the bracket, and a rotating joint (9-2) is provided below the mounting groove and is hinged to the left front wheel (13) through the motor shaft.

[0043] Specific connection method:

[0044] The left front platform rod rotation joint 2 (1-5) is connected to the left front support rod rotation joint 1 (5-4) through a hinge, the left front support rod rotation joint 2 (5-5) is connected to the right front support rod rotation joint 1 (6-4) through a hinge, the right front support rod is connected to the right front platform rod rotation joint 1 (2-4) through a hinge through the rotation joint 2 (6-5), the right front platform rod rotation joint 2 (2-5) is connected to the right rear platform rod rotation joint 1 (4-4) through a hinge, the right rear platform rod rotation joint 2 (2-5) is connected to the right rear platform rod rotation joint 1 (4-4) through a hinge, the right rear platform rod rotation joint 2 (5-5) is connected to the left front support rod rotation joint 1 (6-4) through a hinge, the right front platform rod rotation joint 2 (6-5) is connected to the right front platform rod rotation joint 1 (2-4) through a hinge, the right rear platform rod rotation joint 2 (2-5) is connected to the right rear platform rod rotation joint 1 (4-4) through a hinge, the right front platform rod rotation joint 2 (5-5) is connected to the left front support rod rotation joint 1 (6-4) through a hinge, the right front platform rod rotation joint 2 (6-5) is connected to the right front platform rod rotation joint 1 (4 ...6-4) through a hinge, the right front platform rod rotation joint 2 (2-5) is connected to the right front platform rod rotation joint 1 (4-4) through a hinge, the right front platform rod rotation joint 2 (5-5) is connected to the left front support rod rotation joint 1 (6-4) through a hinge, the right front platform rod rotation joint 2 (5-5) is connected to the right front Joint 2 (4-5) is connected to the rotating joint 1 (8-4) of the right rear support rod through a hinge, the right rear support rod is connected to the rotating joint 1 (7-4) of the left rear support rod through the rotating joint 2 (8-5) by a hinge, the rotating joint 2 (7-5) of the left rear support rod is connected to the rotating joint 1 (3-4) of the left rear platform rod through a hinge, the rotating joint 2 (3-5) of the left rear platform rod is connected to the rotating joint 1 (1-4) of the left front platform rod through a hinge, and the eight rods form a complete closed chain mechanism.

[0045] A variable-trunk robot based on a Sarrus mechanism, characterized in that all platform rods and branch rods are perpendicular to each other. The rods are of equal length, but their lengths can be increased or decreased simultaneously. The rods are not limited to square shapes, and can also be shaped like circles or diamonds.

[0046] A variable trunk robot based on the Sarrus mechanism is characterized in that the driving motor used should adopt a D-shaped output shaft motor and be connected to the wheel through a sleeve.

[0047] Specific usage:

[0048] The variable-torso robot based on the Sarrus mechanism can adapt to complex terrain by driving deformation.

[0049] like Figure 6 (a)-(b) are schematic diagrams of the folding deformation of the mechanism. When encountering a narrow terrain that is impossible to pass through, the angle between the left rear branch rod (7) and the right rear branch rod (8) can be adjusted by the servo installed on the left rear branch rod (7), thereby changing the shape of the robot's torso to allow the robot to pass through.

[0050] like Figure 7 (a)-(c) are schematic diagrams of the mechanism's function of passing through step terrain. When encountering a step terrain that cannot be passed, the angle between the robot's left front platform rod (1) and the left rear platform rod (3) can be changed by the servo installed on the left front platform rod (1), and the angle between the right front platform rod (2) and the right rear platform rod (4) can be changed by the servo installed on the right rear platform rod (4), thereby changing the shape of the robot's torso and allowing the robot to pass over the step.

Claims

1. A variable-torso robot based on a Sarrus mechanism, characterized by: A variable trunk robot based on a Sarrus mechanism is a single closed chain mechanism, comprising a left front platform rod (1), a right front platform rod (2), a left rear platform rod (3), a right rear platform rod (4), a left front branch chain rod (5), a right front branch chain rod (6), a left rear branch chain rod (7), a right rear branch chain rod (8), a left front wheel bracket (9), a right front wheel bracket (10), a left rear wheel bracket (11), a right rear wheel bracket (12), a left front wheel (13), a right front wheel (14), a left rear wheel (15), and a right rear wheel (16); The left front platform rod (1) is a hollow straight rod having a connecting end (1-1) and a connecting end (1-2). A mounting groove (1-3) is provided in the middle of both ends. A driving motor and a left front wheel bracket (9) can be installed on the connecting end (1-1) side of the mounting groove (1-3). A rotating joint (1-4) is provided at the connecting end (1-2) to cooperate with the mounting groove (1-3) to install a steering gear. The axis of the rotating joint (1-4) is perpendicular to the left front platform rod (1) and is hinged to the left rear platform rod (3). A rotating joint (1-5) is provided at the connecting end (1-1) to form a rotating hinge with the rotating joint (5-4) of the left front branch chain rod (5) through an axis. The axis of the rotating joint (1-5) is collinear with the left front platform rod (1). The right front platform rod (2) is a hollow straight rod having a connecting end 1 (2-1) and a connecting end 2 (2-2). A mounting groove (2-3) is provided in the middle of both ends. A driving motor and a right front wheel bracket (10) can be installed on the side of the connecting end 2 (2-2) of the mounting groove (2-3). A rotating joint 1 (2-4) is provided at the connecting end 1 (2-1) to cooperate with the mounting groove (2-3) to install a steering gear. The axis of the rotating joint 1 (2-4) is perpendicular to the right front platform rod (2) and is hinged to the right rear platform rod (4). A rotating joint 2 (2-5) is provided at the connecting end 2 (2-2) to form a rotating hinge with the rotating joint 1 (6-4) of the right front branch chain rod (6) through an axis. The axis of the rotating joint 2 (2-5) is collinear with the right front platform rod (2). The left rear platform rod (3) is a hollow straight rod having a connecting end 1 (3-1) and a connecting end 2 (3-2). A mounting groove (3-3) is provided in the middle of both ends. A driving motor and a left rear wheel bracket (11) can be installed on the side of the connecting end 2 (3-2) of the mounting groove (3-3). A rotating joint 1 (3-4) is provided at the connecting end 1 (3-1) for cooperating with the mounting groove (3-3) to install a steering gear. The axis of the rotating joint 1 (3-4) is perpendicular to the left rear platform rod (3) and is hinged to the left front platform rod (1). A rotating joint 2 (3-5) is provided at the connecting end 2 (3-2) to form a rotating hinge with the rotating joint 1 (7-4) of the left rear branch chain rod (7) through an axis. The axis of the rotating joint 2 (3-5) is collinear with the left rear platform rod (3). The right rear platform rod (4) is a hollow straight rod having a connecting end (4-1) and a connecting end (4-2). A mounting groove (4-3) is provided in the middle of both ends. A driving motor and a rear wheel bracket (12) can be installed on the connecting end (4-1) side of the mounting groove (4-3). A rotating joint (4-4) is provided at the connecting end (4-2) to cooperate with the mounting groove (4-3) to install a steering gear. The axis of the rotating joint (4-4) is perpendicular to the right rear platform rod (4) and is hinged to the right front platform rod (2). A rotating joint (4-5) is provided at the connecting end (4-1) to form a rotating hinge with the rotating joint (8-4) of the right rear branch chain rod (8) through an axis. The axis of the rotating joint (4-5) is collinear with the right rear platform rod (4). The left front platform rod (1) and the right rear platform rod (4) have the same external structure, and the left rear platform rod (3) and the right front platform rod (2) have the same external structure; The left front branch link (5) is a hollow straight rod having a first connecting end (5-1) and a second connecting end (5-2). A mounting groove (5-3) is provided at the second connecting end. A first rotating joint (5-4) is provided at the second connecting end (5-2) for cooperating with the mounting groove (5-3) to mount the steering gear and articulate the left front platform link (1). A second rotating joint (5-5) is provided at the first connecting end (5-1) for articulating the right front branch link (6). The axes of the first rotating joint (5-4) and the second rotating joint (5-5) are parallel to each other and perpendicular to the left front branch link (5). The right front branch link (6) is a hollow straight rod having a first connecting end (6-1) and a second connecting end (6-2). A mounting groove (6-3) is provided at one connecting end. A first rotating joint (6-4) is provided at the first connecting end (6-1) to match the mounting groove (6-3) to install the steering gear and articulate the right front platform rod (2). A second rotating joint (6-5) is provided at the second connecting end (6-2) to articulate the left front branch link (5). The axes of the first rotating joint (6-4) and the second rotating joint (6-5) are parallel to each other and perpendicular to the right front branch link (6). The left rear support link (7) is a hollow straight rod having a first connection end (7-1) and a second connection end (7-2). A mounting groove (7-3) is provided at the second connection end. A rotating joint (7-4) is provided at the first connection end (7-1) for hingedly connecting the left rear platform link (3). A rotating joint (7-5) is provided at the second connection end (7-2) for cooperating with the mounting groove (7-3) to install the steering gear and hingedly connect the right rear support link (8). The axes of the rotating joint (7-4) and the rotating joint (7-5) are parallel to each other and perpendicular to the left rear support link (7). The right rear branch chain rod (8) is a hollow straight rod having a first connecting end (8-1) and a second connecting end (8-2). A mounting groove (8-3) is provided at one connecting end. A rotating joint (8-4) is provided at the second connecting end (8-2) for hingedly connecting the right rear platform rod (4). A rotating joint (8-5) is provided at the first connecting end (8-1) for cooperating with the mounting groove (8-3) to install the steering gear and hingedly connect the left rear branch chain rod (7). The axes of the rotating joint (8-4) and the rotating joint (8-5) are parallel to each other and perpendicular to the right rear branch chain rod (8). The left front branch chain rod (5), the right front branch chain rod (6), the left rear branch chain rod (7) and the right rear branch chain rod (8) have the same appearance and structure; The left front wheel bracket (9) is provided with a mounting groove (9-1) in the middle thereof, which cooperates with the mounting groove (1-3) of the left front platform rod to fix the bracket, and a rotating joint (9-2) is provided below the mounting groove, which is hinged to the left front wheel (13) via the motor shaft; The middle part of the right front wheel bracket (10) is provided with a mounting groove (10-1) which cooperates with the mounting groove (2-3) of the right front platform rod to fix the bracket, and a rotating joint (10-2) is provided below the mounting groove and is hinged to the right front wheel (14) through the motor shaft; The left rear wheel bracket (11) is provided with a mounting groove (11-1) in the middle thereof, which cooperates with the mounting groove (3-3) of the left rear platform rod to fix the bracket, and a rotating joint (11-2) is provided below the mounting groove, which is hinged to the left rear wheel (15) via the motor shaft; The middle part of the right rear wheel bracket (12) is provided with a mounting groove (12-1) which cooperates with the mounting groove (4-3) of the right rear platform rod to fix the bracket, and a rotating joint (12-2) is provided below the mounting groove and is hinged to the left rear wheel (16) through the motor shaft; The left front wheel bracket (9), the right front wheel bracket (10), the left rear wheel bracket (11), and the right rear wheel bracket (12) have the same appearance and structure; The left front platform rod rotating joint 2 (1-5) is connected to the rotating joint 1 (5-4) of the left front support rod through a hinge, the left front support rod rotating joint 2 (5-5) is connected to the rotating joint 2 (6-5) of the right front support rod through a hinge, the right front support rod is connected to the rotating joint 2 (2-5) of the right front platform rod through a rotating joint 1 (6-4) through a hinge, the rotating joint 1 (2-4) of the right front platform rod is connected to the rotating joint 1 (4-4) of the right rear platform rod through a hinge, and the rotating joint of the right rear platform rod is connected to the rotating joint 1 (4-4) of the right rear platform rod. Joint 2 (4-5) is connected to the rotating joint 1 (8-4) of the right rear support rod through a hinge. The right rear support rod is connected to the rotating joint 2 (7-5) of the left rear support rod through a hinge. The rotating joint 1 (7-4) of the left rear support rod is connected to the rotating joint 2 (3-5) of the left rear platform rod through a hinge. The rotating joint 1 (3-4) of the left rear platform rod is connected to the rotating joint 1 (1-4) of the left front platform rod through a hinge. The eight rods form a complete closed chain mechanism.

2. The Sarrus-mechanism-based variable-torso robot according to claim 1, wherein: All the platform rods and the branch chain rods are perpendicular to each other.

3. The Sarrus-mechanism-based variable-torso robot according to claim 1, wherein: The drive motor used should be a D-shaped output shaft motor, and connected to the wheel through a sleeve.

4. The Sarrus-mechanism-based variable-torso robot according to claim 1, wherein: When the left front wheel (13), the right front wheel (14), the left rear wheel (15) and the right rear wheel (16) are not perpendicular to the ground, they can be adjusted by the steering gear installed on the left front branch chain rod (5) and the right front branch chain rod (6).

5. The Sarrus-mechanism-based variable-torso robot according to claim 1, wherein: When encountering narrow terrain that is impossible to pass through, the angle formed by the left rear branch rod (7) and the right rear branch rod (8) can be adjusted by the steering gear installed on the left rear branch rod (7), thereby changing the shape of the robot body to enable the robot to pass through.

6. The Sarrus-mechanism-based variable-torso robot according to claim 1, wherein: When encountering a step terrain that is impossible to pass through, the angle between the robot's left front platform rod (1) and the left rear platform rod (3) can be changed by using a servo installed on the left front platform rod (1), and the angle between the right front platform rod (2) and the right rear platform rod (4) can be changed by using a servo installed on the right rear platform rod (4), thereby changing the shape of the robot's trunk and allowing the robot to cross the step.

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