A spatial 6r multiple metamorphic mechanism

Abstract

A spatial 6R multiple metamorphic mechanism, comprising two connecting rods and two kinematic chains for connecting the front and rear ends of the two connecting rods. The two kinematic chains are respectively two triangular rods connected by revolute pairs B and E; the front kinematic chain is connected to the front ends of the two connecting rods by revolute pairs D and F; and the rear kinematic chain is connected to the rear ends of the two connecting rods by revolute pairs A and C. The two sides of the revolute pairs B, E, D and F are provided with mechanical limiters. When the mechanism is in the extension and retraction movement and the mechanical limiters on the two sides of the revolute pairs B, E and D are in contact, the mechanism is in the first position bifurcation point, at which time the mechanism has both extension and retraction and translation movement tendencies. When the driving θ is counterclockwise, the mechanism will enter the translation movement mode; until the revolute pair A is counterclockwise rotated to θ=180°, at which time the mechanism has both translation and rotation movement tendencies. Thus, the mechanism can realize three different movement modes of extension, translation and rotation and mode switching.

Description

Technical Field

[0001] This invention belongs to the field of mechanical technology and relates to a spatial 6R multi-variable cell mechanism. Background Technology

[0002] Variable-cell mechanisms can achieve different motion modes through structural reconfiguration without changing their constituent components, thus enabling multi-functionality. Compared to traditional mechanisms with single, fixed operating modes, variable-cell mechanisms, due to their variable motion characteristics, have significant advantages in application scenarios with varying operating environments and limited number of constituent components. Therefore, research on reconfigurable mechanisms and reconfigurable robot technology, with variable-cell mechanisms as the main research content, has gradually become a hot topic in mechanism and robotics research. Compared to general variable-cell mechanisms, multi-variable-cell mechanisms can achieve multiple structural reconfigurations, realizing three or more different motion modes with a single mechanism. Therefore, they have a richer motion switching capability than general variable-cell mechanisms. Compared to traditional variable-cell mechanisms that can only achieve single structural and kinematic mode switching, multi-variable-cell mechanisms, due to their ability to achieve multiple structural reconfigurations and motion mode switching, can be applied to more complex working environments with more varied tasks, making them a very promising research branch within variable-cell mechanisms. Summary of the Invention

[0003] To enable multi-mode operation of mechanical equipment in complex and variable environments, this invention proposes a spatial 6R multi-variable cell mechanism, which can realize three different motion modes: extension and retraction, translation, and rotation.

[0004] The present invention provides a spatial 6R multi-variable cell mechanism, including link A, link B, and four branch links;

[0005] The connecting rod A has a front connector A and a rear connector A at its front and rear ends, respectively. Both connectors have coaxial connecting holes, and their axes are parallel and perpendicular to the axis of the connecting rod A. A rectangular limiting protrusion is designed on the front side wall of the front connector A, and a limiting mating surface is designed on the limiting protrusion.

[0006] The rear end of the connecting rod B is designed with a rear connector B, and the front end is designed with a front connector B; the axes of the two cylindrical connectors are parallel and perpendicular to the axis of the connecting rod B; a rectangular limiting boss is designed on the side of the front connector B, and the limiting boss has a limiting mating surface.

[0007] Of the four branch links, the rear end face of branch link A is designed with a cylindrical connector A, and a connecting hole is coaxially opened on the cylindrical connector A, with the axis of the connecting hole perpendicular to the axis of branch link A; the front end face of branch link A is designed with a cylindrical connector B, and a connecting hole is opened on the cylindrical connector B, with an angle of 60° between the axis of the connecting hole and the axis of the cylindrical connector A; the front end face of the aforementioned branch link A serves as a limiting mating surface.

[0008] The rear end face of the branch link B is designed with a cylindrical joint C, and a connecting hole is coaxially opened on the cylindrical joint C. The axis of the connecting hole is perpendicular to the axis of the branch link B. The front end face of the branch link B is designed with a cylindrical joint D. A connecting hole is opened on the cylindrical joint D, and the angle between the axis of the connecting hole and the axis of the cylindrical joint C is 60°. The front end face of the branch link B serves as a limiting mating surface.

[0009] The rear end of the branch link C is designed with a cylindrical joint E, and a connecting hole is coaxially opened on the cylindrical joint E. The axis of the connecting hole is perpendicular to the axis of the branch link C. The rear end face of the branch link C is designed with a cylindrical joint F. A connecting hole is opened on the cylindrical joint F, and the included angle between the axis of the connecting hole and the axis of the cylindrical joint E is 60°. Both the rear end face and the front end face of the branch link C serve as limiting mating surfaces.

[0010] The front end face of the branch link D is designed with a cylindrical connector F, and a connecting hole is opened on the axis of the cylindrical connector F, with the axis of the connecting hole perpendicular to the branch link D; a limit member is designed on the rear side of the branch link D, and a connecting hole is opened on the limit member, with an angle of 60° between the axis of the connecting hole and the axis of the cylindrical connector F; the front end face of the branch link D serves as a limit mating surface; at the same time, a flat surface is designed on the circular boss as a limit mating surface.

[0011] The cylindrical connecting rod A and the branch connecting rod A are hinged together by a pin to form a revolute joint A; the branch connecting rod A and the branch connecting rod B are hinged together by a pin to form a revolute joint B; the branch connecting rod B4 and the cylindrical connecting rod B are hinged together by a pin to form a revolute joint C; thus completing the connection of the left moving branch of the cylindrical connecting rod A and the cylindrical connecting rod B; the circular connecting rod A and the branch connecting rod C are hinged together by a pin to form a revolute joint D; the branch connecting rod C and the branch connecting rod D are hinged together by a pin to form a revolute joint E; the branch connecting rod D and the cylindrical connecting rod B are hinged together by a pin to form a revolute joint F; thus completing the connection of the right moving branch of the cylindrical connecting rod A and the cylindrical connecting rod B.

[0012] The lengths of the aforementioned branch links A, B, C, and D are all equal, the lengths of cylindrical links A and B are equal, and the length of the cylindrical link is twice the length of the branch link.

[0013] The above scheme yields three motion modes: expansion and contraction, translation, and rotation. Specifically:

[0014] In the retractable motion mode, the axes of each revolute joint satisfy the following: the axes of motion of revolute joint A and revolute joint C intersect at O1, the axes of motion of revolute joint B and revolute joint E intersect, and the axes of motion of revolute joint D and revolute joint F intersect; revolute joint A serves as the motion input, and its included angle is θ. When the driving angle θ rotates counterclockwise, the mechanism gradually unfolds from the retractable configuration.

[0015] When the driving angle θ rotates counterclockwise to θ = 90°, the overall mechanism unfolds into a square outline. At this time, the axes of the kinematic pairs satisfy the following: the axes of revolute pairs A, C, D, and F are all parallel to each other; the limiting mating surfaces on both sides of revolute pairs B, E, and D are all in contact. At this time, the mechanism moves to the first bifurcation position and has both unfolding and translational motion tendencies. When the driving angle θ continues to rotate counterclockwise, the mechanism enters the translational motion mode.

[0016] When the rotating joint A is driven to make θ > 90°, the mechanism still performs translational motion. During the translational motion, the axes of rotating joints A, C, D and F are all parallel to each other. The limiting mating surfaces on both sides of rotating joints B and E always remain in contact. The cylindrical connecting rod B always remains parallel to the cylindrical connecting rod A. The mechanism performs translational motion with a single degree of freedom.

[0017] When the rotating joint A is driven to rotate counterclockwise to θ = 180°, the geometric relationships of each kinematic joint are satisfied: the axes of rotating joints A, C, D, and F are all parallel to each other; the limiting mating surfaces on both sides of rotating joints B and C are in contact; and the axes of motion of rotating joints A and F coincide. At this time, the mechanism moves to the second configuration bifurcation configuration, and has both translational and rotational motion tendencies. When the rotating joint A is driven to rotate counterclockwise to make θ > 180°, the circular connecting rod B will rotate counterclockwise around the common straight line of rotating joints A and F. When the rotating joint A is driven to rotate counterclockwise, the axes of motion of rotating joints A and F remain coincident throughout the rotation of the cylindrical connecting rod B2.

[0018] In the above manner, a spatial 6R mechanism is finally formed by six connecting rods hinged through six revolute joints AF. The lengths of the triangular rods A, B, C and D are all equal, the lengths of the cylindrical connecting rods A and B are equal, and the length of the cylindrical connecting rod is twice the length of the triangular rod. The overall mechanism has three different motion modes: extension and retraction, translation, and rotation.

[0019] The advantages of this invention are:

[0020] 1. The spatial 6R multi-variable cell mechanism of the present invention has three different motion modes: expansion and contraction, translation and rotation. Multiple different motion modes and their mutual conversion can be achieved through a single mechanism.

[0021] 2. The three different motion modes of the spatial 6R multi-variable cell mechanism of the present invention can be driven and switched by only a single drive input in conjunction with joint limit, without redundant drive, with simple and compact structure and high drive efficiency. Attached Figure Description

[0022] Figure 1 This is an overall structural diagram of a spatial 6R multi-variable cell mechanism according to the present invention.

[0023] Figure 2 This is a schematic diagram of the circular connecting rod A of a spatial 6R multi-variable cell mechanism according to the present invention.

[0024] Figure 3 This is a schematic diagram of the circular connecting rod B of a spatial 6R multi-variable cell mechanism according to the present invention.

[0025] Figure 4 This is a diagram illustrating the configuration of a triangular rod A in a spatial 6R multi-variable cell mechanism according to the present invention.

[0026] Figure 5 This is a diagram illustrating the configuration of the triangular rod B in a spatial 6R multi-variable cell mechanism according to the present invention.

[0027] Figure 6 This is a diagram of the triangular rod C of a spatial 6R multi-variable cell mechanism according to the present invention.

[0028] Figure 7 This is a diagram of the triangular rod D of a spatial 6R multi-variable cell mechanism according to the present invention.

[0029] Figure 8 This is a diagram of the fully collapsed state of a spatial 6R multi-variable cell mechanism according to the present invention.

[0030] Figure 9 This is a diagram showing the initial deployment state of a spatial 6R multi-variable cell mechanism according to the present invention.

[0031] Figure 10 This is a diagram showing the unfolded motion state of a spatial 6R multi-variable cell mechanism according to the present invention.

[0032] Figure 11 This is a first bifurcation configuration diagram of a spatial 6R multi-variable cell mechanism according to the present invention.

[0033] Figure 12 This is a translational motion diagram of a spatial 6R multi-variable cell mechanism according to the present invention.

[0034] Figure 13 This is a second bifurcation configuration diagram of a spatial 6R multi-variable cell mechanism according to the present invention.

[0035] Figure 14 This is a diagram showing the rotational motion state of a spatial 6R multi-variable cell mechanism according to the present invention.

[0036] In the picture:

[0037] 1-Cylindrical connecting rod A 2-Cylindrical connecting rod B 3-Triangular rod A

[0038] 4-Triangle rod B 5-Triangle rod C 6-Triangle rod D

[0039] 101-Front cylindrical connector A 102-Rear cylindrical connector A 103-Rectangular protrusion A

[0040] 201-Front cylindrical connector B 202-Rear cylindrical connector B 203-Rectangular protrusion B

[0041] 301-Triangular Cylindrical Connector A; 302-Triangular Cylindrical Connector B; 401-Triangular Cylindrical Connector C

[0042] 402-Triangular rod cylindrical connector D 501-Triangular rod cylindrical connector E 502-Triangular rod cylindrical connector F

[0043] 601-Triangular rod cylindrical joint F 602-Circular boss Detailed Implementation

[0044] The present invention will now be described in further detail with reference to the accompanying drawings.

[0045] like Figure 1 As shown, the spatial 6R multi-variable cell mechanism of the present invention is composed of six kinematic links hinged together, including cylindrical link A1, cylindrical link B2, and four triangular links, namely triangular link A3, triangular link B4, triangular link C5 and triangular link D6. Triangular link A3 and triangular link B4 form the rear branch, and triangular link C5 and triangular link D6 form the front branch, respectively realizing the connection between the rear end and the front end of cylindrical link A1 and cylindrical link B2.

[0046] like Figure 2 As shown, the cylindrical connecting rod A1 has a front cylindrical joint A101 and a rear cylindrical joint A102 at its front and rear ends, respectively. Both cylindrical joints have coaxial connecting holes, with their axes parallel and perpendicular to the axis of the cylindrical connecting rod A1, and coplanar with the axis of the cylindrical connecting rod A1 at plane A. The front cylindrical joint A101 has a rectangular protrusion A103 on its front sidewall for joint positioning; one side of this rectangular protrusion A103 is located within plane A, serving as a positioning mating surface.

[0047] like Figure 3 As shown, the cylindrical connecting rod B2 has a rear cylindrical joint B202 at its rear end and a front cylindrical joint B201 at its front end. The axes of the two cylindrical joints are parallel and perpendicular to the axis of the cylindrical connecting rod B2, and are coplanar with the axis of the cylindrical connecting rod B2. A rectangular protrusion B203 is designed on the side of the front cylindrical joint B201 for joint limiting; one side of the rectangular protrusion B203 is perpendicular to the axis of the cylindrical connecting rod B2 and passes through the axis of the front cylindrical joint B201, serving as a limiting mating surface.

[0048] The structural forms of the triangular rods A3, B4, C5, and D6 are respectively as follows: Figures 4-7As shown. All four triangular rods have equilateral triangular cross-sections. The specific structure of the four triangular rods is as follows:

[0049] like Figure 4 As shown, a cylindrical connector A301 is designed on one edge of the rear face of the triangular rod A3, and this edge coincides with the axis of the cylindrical connector A301; a connecting hole is coaxially opened on the cylindrical connector A301. A cylindrical connector B302 is designed on one edge of the front face of the triangular rod A3, and the axis of the cylindrical connector B302 coincides with this edge, and the included angle between the cylindrical connector B302 and the axis of the cylindrical connector A301 is 60°; a connecting hole is coaxially opened on the cylindrical connector B302. In the above structure, the front end face of the triangular rod A3 serves as a limiting mating surface and is parallel to the cross-section of the triangular rod A3.

[0050] like Figure 5 As shown, the rear end face of the triangular rod B4 is designed with a cylindrical connector C401, the axis of which coincides with one edge of the rear end face of the triangular rod B4; a connecting hole is coaxially opened on the cylindrical connector C401. The front end face of the triangular rod B4 is designed with a cylindrical connector D402; the axis of the cylindrical connector D402 coincides with one edge of the front end face of the triangular rod B4; and the included angle between the axes of the cylindrical connector D402 and the cylindrical connector C401 is 60°; a connecting hole is coaxially opened on the cylindrical connector D402. The front end face of the triangular rod B4 serves as a limiting mating surface and is parallel to the cross-section of the triangular rod B4.

[0051] like Figure 6 As shown, the rear end of the triangular rod C5 is designed with a cylindrical connector E501, the axis of which coincides with one edge of the rear end face of the triangular rod C5; a connecting hole is coaxially opened on the cylindrical connector E501. The front end face of the triangular rod C5 is designed with a cylindrical connector F502; the axis of the cylindrical connector F502 coincides with one edge of the front end face of the triangular rod C5; and the included angle between the axes of the cylindrical connector F502 and the cylindrical connector E501 is 60°; a connecting hole is coaxially opened on the cylindrical connector F502. Both the rear end face and the front end face of the triangular rod C5 serve as limiting mating surfaces and are parallel to the cross-section of the triangular rod C5.

[0052] like Figure 7As shown, the front end face of the triangular rod D6 is designed with a cylindrical connector G601, the axis of which coincides with one edge of the front end face of the triangular rod D6; a connecting hole is coaxially formed on the cylindrical connector G601. A circular boss 602 is designed on the rear end side of the triangular rod D6, one side of which connects to the triangular rod D6; a connecting hole is formed axially on the circular boss 602, so that the connecting hole is located outside the front end face of the triangular rod D6, and the axis of the connecting hole is parallel to one edge of the rear end face of the triangular rod D6, with an angle of 60° between it and the axis of the cylindrical connector G601. The front end face of the triangular rod D6 serves as a limiting mating surface; simultaneously, a flat surface is designed on the circular boss 602 as a limiting mating surface; both limiting mating surfaces are parallel to the cross-section of the triangular rod D6.

[0053] The aforementioned cylindrical connecting rod A1, cylindrical connecting rod B2, and four triangular rods are interconnected to form the spatial 6R multi-variable cell mechanism of this invention. The specific connection method is as follows:

[0054] The rear connecting hole of cylindrical connecting rod A1 and the rear connecting hole of triangular rod A3 are hinged together by a pin to form a revolute joint A; the front connecting hole 302 of triangular rod A3 and the front connecting hole of triangular rod B4 are hinged together by a pin to form a revolute joint B, and the rotation of revolute joint B is restricted by the limiting mating surfaces at the front ends of the two. The rear connecting hole of triangular rod B4 and the rear connecting hole of cylindrical connecting rod B2 are hinged together to form a revolute joint C; thus, the connection between cylindrical connecting rod A1 and cylindrical connecting rod B2 and the rear kinematic chain is completed. The front connecting hole of circular connecting rod A1 and the rear connecting hole of triangular rod C5 are hinged together by a pin to form a revolute joint D. The rotation of revolute joint D is restricted by the fit between the rear end of triangular rod C5 and the front end of circular connecting rod A1. The front connecting hole of triangular rod C5 and the front connecting hole of triangular rod D6 are hinged together by a pin to form a revolute joint E. The fit between the front ends of the two revolute joints is restricted by the fit between ... Therefore, the entire mechanism is a spatial 6R mechanism formed by six links hinged together by six revolute joints AF, and satisfies the following conditions: the lengths of the triangular links A3, B4, C5 and D6 are all equal, the lengths of the cylindrical links A1 and B2 are equal, and the length of the cylindrical link is twice the length of the triangular link.

[0055] The spatial 6R multi-variable cell mechanism described above has three different motion modes: expansion and contraction, translation, and rotation. The specific motion modes of each are as follows:

[0056] A. Expansion and recovery movement mode.

[0057] like Figure 8 The diagram shows the fully retracted state of the 6R multi-variable structure mechanism of this invention. At this state, the mechanism is fully retracted. As the mechanism gradually unfolds from its fully retracted state, the geometric relationships between the axes of the kinematic pairs within the mechanism are as follows: Figure 9 As shown. Here

[0058] In configuration, each rotation in the mechanism

[0059] The axes of the moving joints satisfy the following conditions: the axes of motion of revolute joints A and C intersect at O1; the axes of motion of revolute joints B and E intersect at O2; and the axes of motion of revolute joints D and F intersect at O3. Furthermore, since the lengths of each link satisfy the aforementioned relationships, the configuration of this spatial 6R multivariable structure is a plane-symmetric Bricard mechanism, exhibiting overall expansion and contraction characteristics. Kinematic joint A serves as the motion input to the mechanism; its included angle is θ, which is the angle between the axes of cylindrical link A1 and triangular link A3. When the driving angle θ rotates counterclockwise, the entire mechanism will... Figure 8 The contracted configuration shown gradually unfolds, as... Figure 10 As shown.

[0060] like Figure 11 As shown, when the driving angle θ rotates counterclockwise to θ = 90°, the entire mechanism unfolds into a square outline. At this time, the axes of the kinematic pairs in the mechanism satisfy the condition that the axes of revolute pairs A, C, D, and F are all parallel to each other, and the limiting mating surfaces on both sides of revolute pairs B, E, and D are all in contact. The mechanism will move to the first bifurcation point. Figure 11 As shown, when the mechanism is in this configuration, its instantaneous degree of freedom changes abruptly from a single-degree-of-freedom extension / retraction motion to two, at which point the mechanism simultaneously exhibits both extension / retraction and translational motion tendencies. Figure 11 In the configuration shown, since the limiting mating surfaces of triangular rod A3 and triangular rod B4 are in contact, the limiting mating surfaces of triangular rod C5 and triangular rod D6 are in contact, and the limiting mating surfaces of cylindrical connecting rod A1 and triangular rod C are in contact, when θ continues to rotate counterclockwise, due to the contact between the above mechanical limits, the mechanism cannot continue to maintain the Bricard configuration and will enter the translational motion mode.

[0061] like Figure 12As shown, when the revolute joint A is continued to be driven so that θ > 90°, the mechanism still performs translational motion. As shown in the figure, during the translational motion, the axes of revolute joints A, C, D, and F are all parallel to each other. The mechanical limiters on both sides of revolute joints B and E always remain in contact, that is, revolute joints B and E never rotate in this motion mode. Since the dimensions of the mechanism satisfy that the lengths of the triangular rod AD are all equal, the lengths of the cylindrical connecting rods A and B are equal, and the length of the cylindrical connecting rod is twice the length of the triangular rod, and the axes of the four revolute joints A, C, D, and F are all parallel to each other, the mechanism is equivalent to a planar screw mechanism with four rods of equal length. During the movement of the mechanism, the cylindrical connecting rod B2 will always remain parallel to the cylindrical connecting rod A1, and the mechanism performs a single-degree-of-freedom translational motion.

[0062] like Figure 13 As shown, when the revolute joint A continues to rotate counterclockwise to θ = 180°, the geometric relationships of the kinematic joints in the mechanism satisfy the following: the axes of revolute joints A, C, D, and F are all parallel to each other; the limiting mating surfaces on both sides of revolute joints B and C are in contact; and the motion axes of revolute joints A and F will coincide. At this point, the mechanism moves to the second configuration bifurcation point. The instantaneous degree of freedom of the mechanism abruptly changes from single-degree-of-freedom translational motion to 2, exhibiting both translational and rotational motion tendencies. Figure 13 In the second bifurcation configuration shown, when the revolute joint A continues to rotate counterclockwise until θ > 180°, the mechanism cannot continue to achieve translational motion because the limiting mating surfaces of the circular link B and the triangular link D come into contact. Therefore, the circular link B will rotate counterclockwise around the common straight line of revolute joints A and F. Figure 14 As shown, as the rotating joint A continues to rotate counterclockwise, the axes of motion of the rotating joint A and the rotating joint F remain coincident during the rotation of the cylindrical connecting rod B2.

[0063] The above process is for the aforementioned 6R multivariable cell mechanism from Figures 8 to 14 The process of moving from expansion and contraction to translation and then to rotation is achieved. When the opposite motion is required, that is, from... Figures 14 to 8 To achieve the mechanism's transition from rotational motion to translational motion and then to extension / retraction motion, it is only necessary to... Figure 14 As shown, the clockwise drive of the rotating joint 7 rotates, causing the mechanism to pass through sequentially. Figure 13 The second configuration bifurcation point and Figure 11 The first configuration bifurcation point. At both configuration bifurcation points, the rotating pair A is driven clockwise. Figure 13 The second bifurcation point in the mechanism utilizes the limiting mating surface on the cylindrical connecting rod B2 and the triangular rod F6 to achieve the transition from rotational motion to translational motion. Figure 11At the first bifurcation point, the transition from translational motion to expansion and contraction motion can be achieved by using the limiting mating surface on the cylindrical connecting rod A1 and the triangular rod E5.

Claims

1. A spatial 6R multi-variable cell mechanism, characterized in that: It includes cylindrical connecting rod A, cylindrical connecting rod B, and four branch connecting rods; The cylindrical connecting rod A is designed with a front cylindrical connector A and a rear cylindrical connector A at its front and rear ends, respectively; the two connectors have coaxial connecting holes, and their axes are parallel and perpendicular to the axis of the cylindrical connecting rod A; wherein, a rectangular limiting protrusion is designed on the front side wall of the front cylindrical connector A, and a limiting mating surface is designed on the limiting protrusion. The cylindrical connecting rod B has a rear cylindrical joint B at its rear end and a front cylindrical joint B at its front end; the axes of the two cylindrical joints are parallel and perpendicular to the axis of the cylindrical connecting rod B; a rectangular limiting boss is designed on the side of the front cylindrical joint B, and the limiting boss has a limiting mating surface. Of the four branch links, the rear end face of branch link A is designed with a cylindrical connector A, and a connecting hole is coaxially opened on the cylindrical connector A, with the axis of the connecting hole perpendicular to the axis of branch link A; the front end face of branch link A is designed with a cylindrical connector B, and a connecting hole is opened on the cylindrical connector B, with an angle of 60° between the axis of the connecting hole and the axis of the cylindrical connector A; the front end face of the aforementioned branch link A serves as a limiting mating surface; The rear end face of the branch link B is designed with a cylindrical joint C, and a connecting hole is coaxially opened on the cylindrical joint C. The axis of the connecting hole is perpendicular to the axis of the branch link B. The front end face of the branch link B is designed with a cylindrical joint D. A connecting hole is opened on the cylindrical joint D, and the angle between the axis of the connecting hole and the axis of the cylindrical joint C is 60°. The front end face of the branch link B serves as a limiting mating surface. The rear end of the branch link C is designed with a cylindrical connector E, on which a connecting hole is coaxially opened, and the axis of the connecting hole is perpendicular to the axis of the branch link C; the front end of the branch link C is designed with a cylindrical connector F; the cylindrical connector F is opened with a connecting hole, and the angle between the axis of the connecting hole and the axis of the cylindrical connector E is 60°; both the rear end face and the front end face of the branch link C serve as limiting mating surfaces; The front end face of the branch link D is designed with a cylindrical connector G, and a connecting hole is opened on the axis of the cylindrical connector G, with the axis of the connecting hole perpendicular to the branch link D; a limit member is designed on the rear side of the branch link D, and a connecting hole is opened on the limit member, with an angle of 60° between the axis of the connecting hole and the axis of the cylindrical connector E; the front end face of the branch link D serves as a limit mating surface; at the same time, a flat surface is designed on the limit member as a limit mating surface. The aforementioned cylindrical connecting rod A and the branch connecting rod A are hinged together by a pin to form a revolute joint A; the branch connecting rod A and the branch connecting rod B are hinged together by a pin to form a revolute joint B; the branch connecting rod B and the cylindrical connecting rod B are hinged together by a pin to form a revolute joint C; thus completing the connection of the left moving branch of cylindrical connecting rod A and cylindrical connecting rod B; the branch connecting rod A and the branch connecting rod C are hinged together by a pin to form a revolute joint D; the branch connecting rod C and the branch connecting rod D are hinged together by a pin to form a revolute joint E; the branch connecting rod D and the cylindrical connecting rod B are hinged together by a pin to form a revolute joint F; thus completing the connection of the right moving branch of cylindrical connecting rod A and cylindrical connecting rod B. The lengths of the aforementioned branch links A, B, C, and D are all equal, the lengths of cylindrical links A and B are equal, and the length of each link is twice the length of the branch link.

2. The spatial 6R multi-variable cell mechanism as described in claim 1, characterized in that: The cross-sections of the four branch links are all equilateral triangles; in branch link A, the axis of the cylindrical joint A coincides with one edge of the rear end face of the branch link; the axis of the cylindrical joint B coincides with one edge of the front end face of the branch link; the limiting mating surface is parallel to the cross-section of branch link A; In the branch link B, the axis of the cylindrical joint C coincides with one edge of the rear end face of the branch link B; the axis of the cylindrical joint D coincides with one edge of the front end face of the branch link; the limiting mating surface is parallel to the cross section of the branch link B. In the branch link C, the axis of the cylindrical joint E coincides with one edge of the rear end face of the branch link C; the axis of the cylindrical joint F coincides with one edge of the front end face of the branch link C; the limiting mating surface is parallel to the cross section of the branch link C; In the branch link D, the axis of the cylindrical joint G coincides with one edge of the front end face of the branch link D; the axis of the connecting hole on the limiting member is parallel to one edge of the rear end face of the branch link D; both limiting mating surfaces are parallel to the cross section of the branch link D.

3. The spatial 6R multi-variable cell mechanism as described in claim 1, characterized in that: It has three motion modes: expansion and contraction, translation, and rotation. In the expansion and contraction motion mode, the axes of each revolute joint satisfy the following: the axes of motion of revolute joint A and revolute joint C intersect at O1, and the axes of motion of revolute joint B... The axes of motion of the revolute joint E intersect, and the axes of motion of the revolute joint D and the revolute joint F intersect; the kinematic joint A serves as the motion input, and its included angle is θ. When the driving angle θ rotates counterclockwise, the mechanism gradually unfolds from the folded configuration. When the driving angle θ rotates counterclockwise to θ=90°, the overall mechanism unfolds into a square outline. At this time, the axes of the kinematic pairs satisfy the following: the axes of revolute pairs A, C, D, and F are all parallel to each other; the limiting mating surfaces on both sides of revolute pairs B, E, and D are all in contact. At this time, the mechanism moves to the first bifurcation position and has both unfolding and translational motion tendencies. When the driving angle θ continues to rotate counterclockwise, the mechanism enters the translational motion mode. When the rotating joint A is driven to make θ > 90°, the mechanism still performs translational motion. During the translational motion, the axes of rotating joints A, C, D and F are all parallel to each other. The limiting mating surfaces on both sides of rotating joints B and E always remain in contact. The cylindrical connecting rod B always remains parallel to the cylindrical connecting rod A. The mechanism performs translational motion with a single degree of freedom. When the rotating joint A is driven to rotate counterclockwise to θ = 180°, the geometric relationships of each kinematic joint satisfy the following: the axes of rotating joints A, C, D, and F are all parallel to each other; the limiting mating surfaces on both sides of rotating joints B and E are in contact; and the axes of motion of rotating joints A and F coincide. At this point, the mechanism moves to the second bifurcation position and has both translational and rotational motion tendencies. When the rotating joint A is driven to rotate counterclockwise until θ > 180°, the cylindrical connecting rod B will rotate counterclockwise around the common straight line of rotating joints A and F. When the rotating joint A is driven to rotate counterclockwise, the axes of motion of rotating joints A and F remain coincident throughout the rotation of the cylindrical connecting rod B.

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