Arc-shaped rod full-rotation pair octahedral moving mechanism

Abstract

The application discloses an arc-shaped rod full-rotation pair octahedron moving mechanism, which comprises first to sixth vertex assemblies and first to twelfth branch chains; four U-shaped supports on each vertex are respectively connected with one end of four branch chains through a rotating shaft to form a rotating pair; the four vertex assemblies are of the same structure and size; the twelve branch chains are of the same structure and size; the moving mechanism is connected as above, and the shape of the moving mechanism is a regular octahedron; the inside and outside turning of the branch chains is achieved by controlling the forward and reverse rotation of the steering engine, so that the deformation and movement of the octahedron moving robot are achieved; in addition, the design of the arc-shaped rod can reduce the contact impact with the ground during movement and protect the robot body. The application can be used for reconnaissance and carrying.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of mobile robots, and particularly relates to an arc-shaped rod full-rotation pair octahedron mobile mechanism for military reconnaissance. BACKGROUND

[0002] The octahedron mobile mechanism is derived from a polyhedral structure and has natural geometric symmetry. The introduction of the arc-shaped rod reduces the contact impact with the ground during movement and protects the body. Meanwhile, the full-rotation pair is used to realize the free rotation of each joint, so that the whole mechanism is easier to control and has good rigidity and stability. Compared with the existing polyhedral mobile mechanism, the octahedron mobile mechanism has certain flexibility and a wider movement range.

[0003] Chinese patent application CN202022590558.3 proposes a deformable amphibious robot which can change the flight trajectory by changing the attitude of the regular octahedron. The robot changes the center of gravity by controlling the extension amount between each extension arm, realizes the rolling and obstacle crossing in the target direction, and has good stability. On the ground, the robot can realize rolling or other ways of movement, and in the air, the robot can realize real-time tilting and smooth flight, and is less limited by space and terrain.

[0004] Chinese patent application CN201810286062.1 proposes a tetrahedron mobile robot which controls the forward and reverse rotation of the rudder to make the branch chain turn in or out, so that the tetrahedron deforms to achieve the purpose of movement and turning. However, due to its structural characteristics, the movement speed is slow, the rotation angle is relatively fixed, and because the branch chain is composed of straight rods, the contact impact with the ground during movement is large, which obviously damages the body.

[0005] Chinese patent application 202010078608.1 proposes a tetrahedron wheeled robot, in which the branch chain thin rods and branch chain wide rods of the first branch chain are in the shape of a fan, the center of the mounting hole at the two ends of the branch chain corresponds to the starting point of the arc on the rod, the distance between the two points is the radius, and the branch chain thin rods have an interference avoidance gap. SUMMARY

[0006] The technical problem to be solved by the present application is to solve the problems of limited movement ability of the existing polyhedral mobile mechanism and large contact impact with the ground during movement. Based on the octahedron geometric structure, the vertices and edges are mechanically designed to enable the octahedron to deform itself and realize the ground movement ability. The arc-shaped rods are used as the components of each branch chain to reduce the contact impact with the ground during movement and protect the body.

[0007] The technical scheme of the application: the octahedral mobile robot comprises a first vertex, a second vertex, a third vertex, a fourth vertex, a fifth vertex, a sixth vertex, a first branch chain, a second branch chain, a third branch chain, a fourth branch chain, a fifth branch chain, a sixth branch chain, a seventh branch chain, an eighth branch chain, a ninth branch chain, a tenth branch chain, an eleventh branch chain and a twelfth branch chain.

[0008] The first vertex is composed of a first vertex support disc, a first upper connecting piece, a first lower connecting piece, a first left connecting piece, a first right connecting piece, a first upper rotating shaft, a first lower rotating shaft, a first left rotating shaft and a first right rotating shaft, and the axes of the rotating shafts on the four connecting pieces of the vertex are coplanar with an included angle of 90°; the structures and sizes of the second vertex, the third vertex, the fourth vertex, the fifth vertex and the sixth vertex are completely same as those of the first vertex.

[0009] The first branch chain is composed of a first branch chain first rod, a first branch chain second rod, a first branch chain third rod and a first branch chain fourth rod; there are three rotating pairs, and the axes of the three rotating pairs are parallel to each other; the structures and sizes of the second branch chain, the third branch chain, the fourth branch chain, the fifth branch chain, the sixth branch chain, the seventh branch chain, the eighth branch chain, the ninth branch chain, the tenth branch chain, the eleventh branch chain and the twelfth branch chain are completely same as those of the first branch chain.

[0010] The connection relationship between the vertex and the branch chain is as follows: the first upper connecting piece upper through hole of the first upper connecting piece of the first vertex is connected with the branch chain first rod upper through hole of the first branch chain through the first upper rotating shaft to form a rotating pair, the first upper connecting piece lower through hole of the first upper connecting piece is connected with the branch chain second rod upper through hole of the first branch chain through the first upper rotating shaft to form a rotating pair, the first lower connecting piece upper through hole of the first lower connecting piece is connected with the branch chain second rod upper through hole of the third branch chain through the first lower rotating shaft to form a rotating pair, the first lower connecting piece lower through hole of the first lower connecting piece is connected with the branch chain first rod upper through hole of the third branch chain through the first lower rotating shaft to form a rotating pair, the first left connecting piece upper through hole of the first left connecting piece is connected with the branch chain first rod upper through hole of the fourth branch chain through the first left rotating shaft to form a rotating pair, the first left connecting piece lower through hole of the first left connecting piece is connected with the branch chain second rod upper through hole of the fourth branch chain through the first left rotating shaft to form a rotating pair, the first right connecting piece upper through hole of the first right connecting piece is connected with the branch chain first rod upper through hole of the second branch chain through the first right rotating shaft, and the first right connecting piece lower through hole of the first right connecting piece is connected with the branch chain second rod upper through hole of the second branch chain through the first right rotating shaft.

[0011] The second upper connecting piece upper through hole of the second upper connecting piece on the second vertex is connected with the branch third rod lower through hole of the first branch through a second upper rotating shaft to form a rotating pair, the second upper connecting piece lower through hole of the second upper connecting piece is connected with the branch fourth rod lower through hole of the first branch through a second upper rotating shaft to form a rotating pair, the second lower connecting piece upper through hole of the second lower connecting piece is connected with the branch third rod lower through hole of the tenth branch through a second lower rotating shaft to form a rotating pair, the second lower connecting piece lower through hole of the second lower connecting piece is connected with the branch third rod lower through hole of the tenth branch through a second lower rotating shaft to form a rotating pair, the second left connecting piece upper through hole of the second left connecting piece is connected with the branch second rod upper through hole of the fifth branch through a second left rotating shaft to form a rotating pair, the second left connecting piece lower through hole of the second left connecting piece is connected with the branch first rod upper through hole of the fifth branch through a second left rotating shaft to form a rotating pair, the second right connecting piece upper through hole of the second right connecting piece is connected with the branch first rod upper through hole of the sixth branch through a second right rotating shaft, and the second right connecting piece lower through hole of the second right connecting piece is connected with the branch second rod upper through hole of the sixth branch through a second right rotating shaft.

[0012] The third upper connecting piece upper through hole of the third upper connecting piece on the third vertex is connected with the branch first rod upper through hole of the second branch through a third upper rotating shaft to form a rotating pair, the third upper connecting piece lower through hole of the third upper connecting piece is connected with the branch second rod upper through hole of the second branch through a third upper rotating shaft to form a rotating pair, the third lower connecting piece upper through hole of the third lower connecting piece is connected with the branch fourth rod lower through hole of the eleventh branch through a third lower rotating shaft to form a rotating pair, the third lower connecting piece lower through hole of the third lower connecting piece is connected with the branch third rod lower through hole of the eleventh branch through a third lower rotating shaft to form a rotating pair, the third left connecting piece upper through hole of the third left connecting piece is connected with the branch third rod lower through hole of the seventh branch through a third left rotating shaft to form a rotating pair, the third left connecting piece lower through hole of the third left connecting piece is connected with the branch fourth rod lower through hole of the seventh branch through a third left rotating shaft to form a rotating pair, the third right connecting piece upper through hole of the third right connecting piece is connected with the branch third rod lower through hole of the sixth branch through a third right rotating shaft, and the third right connecting piece lower through hole of the third right connecting piece is connected with the branch fourth rod lower through hole of the sixth branch through a third right rotating shaft.

[0013] The fourth upper connecting piece upper through hole of the fourth upper connecting piece on the fourth vertex is connected with the third link first link upper through hole of the third branch through a fourth upper rotating shaft to form a rotating pair, the fourth upper connecting piece lower through hole of the fourth upper connecting piece is connected with the third link second link upper through hole of the third branch through a fourth upper rotating shaft to form a rotating pair, the fourth lower connecting piece upper through hole of the fourth lower connecting piece is connected with the twelfth branch fourth link lower through hole of the twelfth branch through a fourth lower rotating shaft to form a rotating pair, the fourth lower connecting piece lower through hole of the fourth lower connecting piece is connected with the twelfth branch third link lower through hole of the twelfth branch through a fourth lower rotating shaft to form a rotating pair, the fourth left connecting piece upper through hole of the fourth left connecting piece is connected with the eighth branch first link upper through hole of the eighth branch through a fourth left rotating shaft to form a rotating pair, the fourth left connecting piece lower through hole of the fourth left connecting piece is connected with the eighth branch second link upper through hole of the eighth branch through a fourth left rotating shaft to form a rotating pair, the fourth right connecting piece upper through hole of the fourth right connecting piece is connected with the seventh branch first link upper through hole of the seventh branch through a fourth right rotating shaft, and the fourth right connecting piece lower through hole of the fourth right connecting piece is connected with the seventh branch second link upper through hole of the seventh branch through a fourth right rotating shaft.

[0014] The fifth upper connecting piece upper through hole of the fifth upper connecting piece on the fifth vertex is connected with the fourth branch first link upper through hole of the fourth branch through a fifth upper rotating shaft to form a rotating pair, the fifth upper connecting piece lower through hole of the fifth upper connecting piece is connected with the fourth branch second link upper through hole of the fourth branch (A4) through a fifth upper rotating shaft to form a rotating pair, the fifth lower connecting piece upper through hole of the fifth lower connecting piece is connected with the ninth branch second link upper through hole of the ninth branch through a fifth lower rotating shaft to form a rotating pair, the fifth lower connecting piece lower through hole of the fifth lower connecting piece is connected with the ninth branch first link upper through hole of the ninth branch through a fifth lower rotating shaft to form a rotating pair, the fifth left connecting piece upper through hole of the fifth left connecting piece is connected with the eighth branch third link lower through hole of the eighth branch through a fifth left rotating shaft to form a rotating pair, the fifth left connecting piece lower through hole of the fifth left connecting piece is connected with the eighth branch fourth link lower through hole of the eighth branch through a fifth left rotating shaft to form a rotating pair, the fifth right connecting piece upper through hole of the fifth right connecting piece is connected with the fifth branch fourth link lower through hole of the fifth branch through a fifth right rotating shaft, and the fifth right connecting piece lower through hole of the fifth right connecting piece is connected with the fifth branch third link lower through hole of the fifth branch through a fifth right rotating shaft.

[0015] The sixth upper connecting piece upper through hole of the sixth upper connecting piece on the sixth vertex is connected with the branch second rod upper through hole of the tenth branch through a sixth upper rotating shaft to form a rotating pair connection, the sixth upper connecting piece lower through hole of the sixth upper connecting piece is connected with the branch first rod upper through hole of the tenth branch through a sixth upper rotating shaft to form a rotating pair connection, the sixth lower connecting piece upper through hole of the sixth lower connecting piece is connected with the branch first rod upper through hole of the twelfth branch through a sixth lower rotating shaft to form a rotating pair connection, the sixth lower connecting piece lower through hole of the sixth lower connecting piece is connected with the branch second rod upper through hole of the twelfth branch through a sixth lower rotating shaft to form a rotating pair connection, the sixth left connecting piece upper through hole of the sixth left connecting piece is connected with the branch third rod lower through hole of the ninth branch through a sixth left rotating shaft to form a rotating pair connection, the sixth left connecting piece lower through hole of the sixth left connecting piece is connected with the branch fourth rod lower through hole of the ninth branch through a sixth left rotating shaft to form a rotating pair connection, the sixth right connecting piece upper through hole of the sixth right connecting piece is connected with the branch fourth rod lower through hole of the eleventh branch through a sixth right rotating shaft, and the sixth right connecting piece lower through hole of the sixth right connecting piece is connected with the branch third rod lower through hole of the eleventh branch through a sixth right rotating shaft.

[0016] The first vertex comprises a first vertex support disc, a first upper connecting piece, a first lower connecting piece, a first left connecting piece, a first right connecting piece and a first upper rotating shaft, a first lower rotating shaft, a first left rotating shaft and a first right rotating shaft.

[0017] The first branch is composed of a first branch first rod, a first branch second rod, a first branch third rod and a first branch fourth rod.

[0018] The arc-shaped rod full-rotating-pair octahedral moving mechanism is an innovative moving mechanism combining the polyhedral geometric structure and the arc-shaped motion characteristics. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 Arc-shaped rod octahedral moving mechanism three-dimensional view

[0020] Figure 2 3D graph of the first vertex

[0021] Figure 3 First upper connecting bracket 3D diagram

[0022] Figure 4 3D diagram of the vertex support plate

[0023] Figure 5 3D diagram of the first branch

[0024] Figure 6 3D diagram of the first branch of the first branch.

[0025] Figure 7 3D diagram of the second branch of the first branch.

[0026] Figure 8 3D diagram of the third link of the first branch.

[0027] Figure 9 3D diagram of the fourth link of the first branch.

[0028] Figure 10 Overall movement diagram Detailed Implementation

[0029] The present invention will now be described in further detail with reference to the accompanying drawings.

[0030] An octahedral moving mechanism with an arc-shaped rod and a fully rotating joint, such as Figure 1 As shown, it includes the first vertex (Ⅰ), the second vertex (Ⅱ), the third vertex (Ⅲ), the fourth vertex (Ⅳ), the fifth vertex (Ⅴ), the sixth vertex (Ⅵ), the first branch (A1), the second branch (A2), the third branch (A3), the fourth branch (A4), the fifth branch (A5), the sixth branch (A6), the seventh branch (A7), the eighth branch (A8), the ninth branch (A9), the tenth branch (A10), the eleventh branch (A11), and the twelfth branch (A12).

[0031] The first vertex (Ⅰ) is composed of a first vertex support plate (Ⅰ-1), a first upper connector (Ⅰ-2), a first lower connector (Ⅰ-3), a first left connector (Ⅰ-4), a first right connector (Ⅰ-5), and a first upper pivot (Ⅰ-6), a first lower pivot (Ⅰ-7), a first left pivot (Ⅰ-8), and a first right pivot (Ⅰ-9). The axes of the four pivots (Ⅰ-6, Ⅰ-7, Ⅰ-8, Ⅰ-9) on the four connectors (Ⅰ-2, Ⅰ-3, Ⅰ-4, Ⅰ-5) of the vertex are coplanar with an included angle of 90°. The structure and dimensions of the second vertex (Ⅱ), the third vertex (Ⅲ), the fourth vertex (Ⅳ), the fifth vertex (Ⅴ), and the sixth vertex (Ⅵ) are exactly the same as those of the first vertex (Ⅰ).

[0032] The first branch chain (A1) is composed of a first branch chain first rod (A1-1), a first branch chain second rod (A1-2), a first branch chain third rod (A1-3), and a first branch chain fourth rod (A1-4); there are three rotary pairs, and the three rotary pair axes are parallel to each other.

[0033] The structures and sizes of the second branch chain (A2), the third branch chain (A3), the fourth branch chain (A4), the fifth branch chain (A5), the sixth branch chain (A6), the seventh branch chain (A7), the eighth branch chain (A8), the ninth branch chain (A9), the tenth branch chain (A10), the eleventh branch chain (A11), and the twelfth branch chain (A12) are completely the same as those of the first branch chain (A1).

[0034] The connection relationship of the vertexes and the branch chains is as follows: the first upper connecting piece upper through hole (I-2-1) of the first upper connecting piece (I-2) on the first vertex (I) is connected with the branch chain first rod upper through hole (A1-1-1) of the first branch chain (A1) through a first upper rotary shaft (I-6) to form a rotary pair connection, the first upper connecting piece lower through hole (I-2-2) of the first upper connecting piece (I-2) is connected with the branch chain second rod upper through hole (A1-2-1) of the first branch chain (A1) through the first upper rotary shaft (I-6) to form a rotary pair connection, the first lower connecting piece upper through hole (I-3-1) of the first lower connecting piece (I-3) is connected with the branch chain second rod upper through hole (A3-2-1) of the third branch chain (A3) through a first lower rotary shaft (I-7) to form a rotary pair connection, the first lower connecting piece lower through hole (I-3-2) of the first lower connecting piece (I-3) is connected with the branch chain first rod upper through hole (A3-2-1) of the third branch chain (A3) through the first lower rotary shaft (I-7) to form a rotary pair connection, the first left connecting piece upper through hole (I-4-1) of the first left connecting piece (I-4) is connected with the branch chain first rod upper through hole (A4-1-1) of the fourth branch chain (A4) through a first left rotary shaft (I-8) to form a rotary pair connection, the first left connecting piece lower through hole (I-4-2) of the first left connecting piece (I-4) is connected with the branch chain second rod upper through hole (A4-2-1) of the fourth branch chain (A4) through the first left rotary shaft (I-8) to form a rotary pair connection, the first right connecting piece upper through hole (I-5-1) of the first right connecting piece (I-5) is connected with the branch chain first rod upper through hole (A2-1-1) of the second branch chain (A2) through a first right rotary shaft (I-9), and the first right connecting piece lower through hole (I-5-2) of the first right connecting piece (I-5) is connected with the branch chain second rod upper through hole (A2-2-1) of the second branch chain (A2) through the first right rotary shaft (I-9).

[0035] The second upper connecting piece upper through hole (II-2-1) of the second upper connecting piece (II-2) at the second top (II) is connected with the third branch rod lower through hole (A1-3-2) of the first branch chain (A1) through a second upper rotating shaft (II-6) to form a rotating pair connection, the second upper connecting piece lower through hole (II-2-2) of the second upper connecting piece (II-2) is connected with the fourth branch rod lower through hole (A1-4-2) of the first branch chain (A1) through the second upper rotating shaft (II-6) to form a rotating pair connection, the second lower connecting piece upper through hole (II-3-1) of the second lower connecting piece (II-3) is connected with the third branch rod lower through hole (A10-3-2) of the tenth branch chain (A10) through a second lower rotating shaft (II-7) to form a rotating pair connection, the second lower connecting piece lower through hole (II-3-2) of the second lower connecting piece (II-3) is connected with the third branch rod lower through hole (A10-3-2) of the tenth branch chain (A10) through the second lower rotating shaft (II-7) to form a rotating pair connection, the second left connecting piece upper through hole (II-4-1) of the second left connecting piece (II-4) is connected with the second branch rod upper through hole (A5-2-1) of the fifth branch chain (A5) through a second left rotating shaft (II-8) to form a rotating pair connection, the second left connecting piece lower through hole (II-4-2) of the second left connecting piece (II-4) is connected with the first branch rod upper through hole (A5-1-1) of the fifth branch chain (A5) through the second left rotating shaft (II-8) to form a rotating pair connection, the second right connecting piece upper through hole (II-5-2) of the second right connecting piece (II-5) is connected with the first branch rod upper through hole (A6-1-1) of the sixth branch chain (A6) through a second right rotating shaft (II-9), the second right connecting piece lower through hole (II-5-2) of the second right connecting piece (II-5) is connected with the second branch rod upper through hole (A6-2-1) of the sixth branch chain (A6) through the second right rotating shaft (II-9);

[0036] The third upper connecting piece upper through hole (III-2-1) of the third upper connecting piece (III-2) on the third vertex (III) is connected with the branch first rod upper through hole (A2-1-1) of the second branch (A2) through a third upper rotating shaft (III-6) to form a rotating pair connection, the third upper connecting piece lower through hole (III-2-2) of the third upper connecting piece (III-3) is connected with the branch second rod upper through hole (A2-2-1) of the second branch (A2) through a third upper rotating shaft (III-6) to form a rotating pair connection, the third lower connecting piece upper through hole (III-3-1) of the third lower connecting piece (III-3) is connected with the branch fourth rod lower through hole (A11-4-2) of the eleventh branch (A11) through a third lower rotating shaft (III-7) to form a rotating pair connection, the third lower connecting piece lower through hole (III-3-2) of the third lower connecting piece (III-3) is connected with the branch third rod lower through hole (A11-3-2) of the eleventh branch (A11) through a third lower rotating shaft (III-7) to form a rotating pair connection, the third left connecting piece upper through hole (III-4-1) of the third left connecting piece (III-4) is connected with the branch third rod lower through hole (A7-3-2) of the seventh branch (A7) through a third left rotating shaft (III-8) to form a rotating pair connection, the third left connecting piece lower through hole (III-4-2) of the third left connecting piece (III-4) is connected with the branch fourth rod lower through hole (A7-4-2) of the seventh branch (A7) through a third left rotating shaft (III-8) to form a rotating pair connection, the third right connecting piece upper through hole (III-5-1) of the third right connecting piece (III-5) is connected with the branch third rod lower through hole (A6-3-2) of the sixth branch (A6) through a third right rotating shaft (III-9), the third right connecting piece lower through hole (III-5-2) of the third right connecting piece (III-5) is connected with the branch fourth rod lower through hole (A6-4-2) of the sixth branch (A6) through a third right rotating shaft (III-9);

[0037] The fourth upper connecting piece upper through hole (IV-2-1) of the fourth upper connecting piece (IV-2) on the fourth vertex (IV) is connected with the third branch third rod lower through hole (A3-3-2) of the third branch (A3) through a fourth upper rotating shaft (IV-6) to form a rotating pair connection, the fourth upper connecting piece lower through hole (IV-2-2) of the fourth upper connecting piece (IV-2) is connected with the third branch fourth rod lower through hole (A3-4-2) of the third branch (A3) through the fourth upper rotating shaft (IV-6) to form a rotating pair connection, the fourth lower connecting piece upper through hole (IV-3-1) of the fourth lower connecting piece (IV-3) is connected with the twelfth branch fourth rod lower through hole (A12-4-2) of the twelfth branch (A12) through a fourth lower rotating shaft (IV-7) to form a rotating pair connection, the fourth lower connecting piece lower through hole (IV-3-2) of the fourth lower connecting piece (IV-3) is connected with the twelfth branch third rod lower through hole (A12-3-2) of the twelfth branch (A12) through the fourth lower rotating shaft (IV-7) to form a rotating pair connection, the fourth left connecting piece upper through hole (IV-4-1) of the fourth left connecting piece (IV-4) is connected with the eighth branch first rod upper through hole (A8-1-1) of the eighth branch (A8) through a fourth left rotating shaft (IV-8) to form a rotating pair connection, the fourth left connecting piece lower through hole (IV-4-2) of the fourth left connecting piece (IV-4) is connected with the eighth branch second rod upper through hole (A8-2-1) of the eighth branch (A8) through the fourth left rotating shaft (IV-8) to form a rotating pair connection, the fourth right connecting piece upper through hole (IV-5-1) of the fourth right connecting piece (IV-5) is connected with the seventh branch first rod upper through hole (A7-1-1) of the seventh branch (A7) through a fourth right rotating shaft (IV-9), the fourth right connecting piece lower through hole (IV-5-2) of the fourth right connecting piece (IV-5) is connected with the seventh branch second rod upper through hole (A7-2-1) of the seventh branch (A7) through the fourth right rotating shaft (IV-9);

[0038] The fifth upper connecting piece upper through hole (V-2-1) of the fifth upper connecting piece (V-2) on the fifth vertex (V) is connected with the branch first rod upper through hole (A4-1-1) of the fourth branch (A4) through the fifth upper rotating shaft (V-6) to form a rotating pair connection, the fifth upper connecting piece lower through hole (V-2-2) of the fifth upper connecting piece (V-2) is connected with the branch second rod upper through hole (A4-2-1) of the fourth branch (A4) through the fifth upper rotating shaft (V-6) to form a rotating pair connection, the fifth lower connecting piece upper through hole (V-3-1) of the fifth lower connecting piece (V-3) is connected with the branch second rod upper through hole (A9-2-1) of the ninth branch (A9) through the fifth lower rotating shaft (V-7) to form a rotating pair connection, the fifth lower connecting piece lower through hole (V-3-2) of the fifth lower connecting piece (V-3) is connected with the branch first rod upper through hole (A9-1-1) of the ninth branch (A9) through the fifth lower rotating shaft (V-7) to form a rotating pair connection, the fifth left connecting piece upper through hole (V-4-1) of the fifth left connecting piece (V-4) is connected with the branch third rod lower through hole (A8-3-2) of the eighth branch (A8) through the fifth left rotating shaft (V-8) to form a rotating pair connection, the fifth left connecting piece lower through hole (V-4-2) of the fifth left connecting piece (V-4) is connected with the branch fourth rod lower through hole (A8-4-2) of the eighth branch (A8) through the fifth left rotating shaft (V-8) to form a rotating pair connection, the fifth right connecting piece upper through hole (V-5-1) of the fifth right connecting piece (V-5) is connected with the branch fourth rod lower through hole (A5-4-2) of the fifth branch (A5) through the fifth right rotating shaft (V-9), the fifth right connecting piece lower through hole (V-5-2) of the fifth right connecting piece (V-5) is connected with the branch third rod lower through hole (A5-3-2) of the fifth branch (A5) through the fifth right rotating shaft (V-9);

[0039] The sixth upper connecting piece upper through hole (Ⅵ-2-1) of the sixth upper connecting piece (Ⅵ-2) on the sixth vertex (Ⅵ) is connected with the branch second rod upper through hole (A10-2-1) of the tenth branch chain (A10) through the sixth upper rotating shaft (Ⅵ-6) to form a rotating pair connection, the sixth upper connecting piece lower through hole (Ⅵ-2-2) of the sixth upper connecting piece (Ⅵ-2) is connected with the branch first rod upper through hole (A10-1-1) of the tenth branch chain (A10) through the sixth upper rotating shaft (Ⅵ-6) to form a rotating pair connection, the sixth lower connecting piece upper through hole (Ⅵ-3-1) of the sixth lower connecting piece (Ⅵ-3) is connected with the branch first rod upper through hole (A12-1-1) of the twelfth branch chain (A12) through the sixth lower rotating shaft (Ⅵ-7) to form a rotating pair connection, the sixth lower connecting piece lower through hole (Ⅵ-3-2) of the sixth lower connecting piece (Ⅵ-3) is connected with the branch second rod upper through hole (A12-2-1) of the twelfth branch chain (A12) through the sixth lower rotating shaft (Ⅵ-7) to form a rotating pair connection, the sixth left connecting piece upper through hole (Ⅵ-4-1) of the sixth left connecting piece (Ⅵ-4) is connected with the branch third rod lower through hole (A9-3-2) of the ninth branch chain (A9) through the sixth left rotating shaft (Ⅵ-8) to form a rotating pair connection, the sixth left connecting piece lower through hole (Ⅵ-4-2) of the sixth left connecting piece (Ⅵ-4) is connected with the branch fourth rod lower through hole (A9-4-2) of the ninth branch chain (A9) through the sixth left rotating shaft (Ⅵ-8) to form a rotating pair connection, the sixth right connecting piece upper through hole (Ⅵ-5-1) of the sixth right connecting piece (Ⅵ-5) is connected with the branch fourth rod lower through hole (A11-4-2) of the eleventh branch chain (A11) through the sixth right rotating shaft (Ⅵ-9), and the sixth right connecting piece lower through hole (Ⅵ-5-2) of the sixth right connecting piece (Ⅵ-5) is connected with the branch third rod lower through hole (A11-3-2) of the eleventh branch chain (A11) through the sixth right rotating shaft (Ⅵ-9).

[0040] As shown in Figure 2 , the first vertex (I) comprises a first vertex support disc (I-1), a first upper connecting piece (I-2), a first lower connecting piece (I-3), a first left connecting piece (I-4), a first right connecting piece (I-5) and a first upper rotating shaft (I-6), a first lower rotating shaft (I-7), a first left rotating shaft (I-8), a first right rotating shaft (I-9); as shown in Figure 3 , both sides are provided with through holes (I-2-1, I-2-2) for connecting with the rotating shaft (I-6) to form a rotating pair; the bottom of the first upper connecting piece (I-2) is provided with a through hole (I-2-3) for being fixed with the vertex support disc (I-1) through a bolt; the vertex support disc is provided with four groups of through holes (I-1-1, I-1-2, I-1-3, I-1-4) as shown in Figure 4 ; through the above connection, the axes of the four connecting pieces are coplanar with an included angle of 90° and can be connected with the branch chain to rotate.

[0041] AsFigure 5 As shown, the first branch chain (A1) is composed of a first branch chain first rod (A1-1), a first branch chain second rod (A1-2), a first branch chain third rod (A1-3), and a first branch chain fourth rod (A1-4). The first branch chain first rod (A1-1) and the first branch chain second rod (A1-2) are fixedly connected by bolts and the body connection holes of the steering engine to form a structure; the first branch chain third rod (A1-3) and the first branch chain fourth rod (A1-4) are fixedly connected by bolts and the steering engine steering wheel connection holes to form a structure; through the above connection, the branch chain can flexibly rotate around the steering engine rotating shaft and can be rotationally connected with the vertex connecting piece.

[0042] The arc-shaped rod octahedron moving mechanism is in an initial state of a regular octahedron as shown in Figure 1 before starting to move. After starting to move, the steering engine is controlled to reverse to make the branch chain respectively turn in or turn out as shown in Figure 10 , so that the octahedron is deformed and then turned over to achieve the purpose of moving and turning.

Claims

1. An octahedral moving mechanism with an arc-shaped rod and a fully rotating joint, characterized in that: The octahedral moving mechanism comprises a first vertex (I), a second vertex (II), a third vertex (III), a fourth vertex (IV), a fifth vertex (V), a sixth vertex (VI), a first branch chain (A1), a second branch chain (A2), a third branch chain (A3), a fourth branch chain (A4), a fifth branch chain (A5), a sixth branch chain (A6), a seventh branch chain (A7), an eighth branch chain (A8), a ninth branch chain (A9), a tenth branch chain (A10), an eleventh branch chain (A11) and a twelfth branch chain (A12); The first vertex (I) is composed of a first vertex support disc (I-1), a first upper connecting piece (I-2), a first lower connecting piece (I-3), a first left connecting piece (I-4), a first right connecting piece (I-5), a first upper rotating shaft (I-6), a first lower rotating shaft (I-7), a first left rotating shaft (I-8) and a first right rotating shaft (I-9), the four rotating shafts (I-6, I-7, I-8 and I-9) on the four connecting pieces (I-2, I-3, I-4 and I-5) of the first vertex are coplanar with an included angle of 90°; the second vertex (II), the third vertex (III), the fourth vertex (IV), the fifth vertex (V) and the sixth vertex (VI) are completely same in structure and size with the first vertex (I); The first branch chain (A1) is composed of a first branch chain first rod (A1-1), a first branch chain second rod (A1-2), a first branch chain third rod (A1-3) and a first branch chain fourth rod (A1-4), and three rotating pairs are parallel to each other; the first branch chain (A1) is composed of the first branch chain first rod (A1-1), the first branch chain second rod (A1-2), the first branch chain third rod (A1-3) and the first branch chain fourth rod (A1-4); the first branch chain first rod (A1-1) and the first branch chain second rod (A1-2) are fixedly connected through bolt and connecting hole of the rudder body to form; the first branch chain third rod (A1-3) and the first branch chain fourth rod (A1-4) are fixedly connected through bolt and connecting hole of the rudder disc to form; the second branch chain (A2), the third branch chain (A3), the fourth branch chain (A4), the fifth branch chain (A5), the sixth branch chain (A6), the seventh branch chain (A7), the eighth branch chain (A8), the ninth branch chain (A9), the tenth branch chain (A10), the eleventh branch chain (A11) and the twelfth branch chain (A12) are completely same in structure and size with the first branch chain (A1); The connection relationship of the vertex and the branch chain is that the first upper connecting piece (I-2) on the first vertex (I) is connected with the first upper connecting piece upper through hole (I-2-1) and the branch chain first rod upper through hole (A1-1-1) of the first branch chain (A1) through the first upper rotating shaft (I-6) to form a rotating pair connection, the first upper connecting piece lower through hole (I-2-2) of the first upper connecting piece (I-2) is connected with the branch chain second rod upper through hole (A1-2-1) of the first branch chain (A1) through the first upper rotating shaft (I-6) to form a rotating pair connection, the first lower connecting piece upper through hole (I-3-1) of the first lower connecting piece (I-3) is connected with the branch chain second rod upper through hole (A3-2-1) of the third branch chain (A3) through the first lower rotating shaft (I-7) to form a rotating pair connection, the first lower connecting piece lower through hole (I-3-2) of the first lower connecting piece (I-3) is connected with the branch chain first rod upper through hole (A3-2-1) of the third branch chain (A3) through the first lower rotating shaft (I-7) to form a rotating pair connection, the first left connecting piece upper through hole (I-4-1) of the first left connecting piece (I-4) is connected with the branch chain first rod upper through hole (A4-1-1) of the fourth branch chain (A4) through the first left rotating shaft (I-8) to form a rotating pair connection, the first left connecting piece lower through hole (I-4-2) of the first left connecting piece (I-4) is connected with the branch chain second rod upper through hole (A4-2-1) of the fourth branch chain (A4) through the first left rotating shaft (I-8) to form a rotating pair connection, the first right connecting piece upper through hole (I-5-1) of the first right connecting piece (I-5) is connected with the branch chain first rod upper through hole (A2-1-1) of the second branch chain (A2) through the first right rotating shaft (I-9), and the first right connecting piece lower through hole (I-5-2) of the first right connecting piece (I-5) is connected with the branch chain second rod upper through hole (A2-2-1) of the second branch chain (A2) through the first right rotating shaft (I-9). The second upper connecting piece upper through hole (II-2-1) of the second upper connecting piece (II-2) at the second top (II) is connected with the third branch rod lower through hole (A1-3-2) of the first branch chain (A1) through a second upper rotating shaft (II-6) to form a rotating pair connection, the second upper connecting piece lower through hole (II-2-2) of the second upper connecting piece (II-2) is connected with the fourth branch rod lower through hole (A1-4-2) of the first branch chain (A1) through a second upper rotating shaft (II-6) to form a rotating pair connection, the second lower connecting piece upper through hole (II-3-1) of the second lower connecting piece (II-3) is connected with the third branch rod lower through hole (A10-3-2) of the tenth branch chain (A10) through a second lower rotating shaft (II-7) to form a rotating pair connection, the second lower connecting piece lower through hole (II-3-2) of the second lower connecting piece (II-3) is connected with the third branch rod lower through hole (A10-3-2) of the tenth branch chain (A10) through a second lower rotating shaft (II-7) to form a rotating pair connection, the second left connecting piece upper through hole (II-4-1) of the second left connecting piece (II-4) is connected with the second branch rod upper through hole (A5-2-1) of the fifth branch chain (A5) through a second left rotating shaft (II-8) to form a rotating pair connection, the second left connecting piece lower through hole (II-4-2) of the second left connecting piece (II-4) is connected with the first branch rod upper through hole (A5-1-1) of the fifth branch chain (A5) through a second left rotating shaft (II-8) to form a rotating pair connection, the second right connecting piece upper through hole (II-5-2) of the second right connecting piece (II-5) is connected with the first branch rod upper through hole (A6-1-1) of the sixth branch chain (A6) through a second right rotating shaft (II-9), and the second right connecting piece lower through hole (II-5-2) of the second right connecting piece (II-5) is connected with the second branch rod upper through hole (A6-2-1) of the sixth branch chain (A6) through a second right rotating shaft (II-9); The third upper connecting piece upper through hole (III-2-1) of the third upper connecting piece (III-2) on the third vertex (III) is connected with the branch first rod upper through hole (A2-1-1) of the second branch (A2) through a third upper rotating shaft (III-6) to form a rotating pair connection, the third upper connecting piece lower through hole (III-2-2) of the third upper connecting piece (III-2) is connected with the branch second rod upper through hole (A2-2-1) of the second branch (A2) through a third upper rotating shaft (III-6) to form a rotating pair connection, the third lower connecting piece upper through hole (III-3-1) of the third lower connecting piece (III-3) is connected with the branch fourth rod lower through hole (A11-4-2) of the eleventh branch (A11) through a third lower rotating shaft (III-7) to form a rotating pair connection, the third lower connecting piece lower through hole (III-3-2) of the third lower connecting piece (III-3) is connected with the branch third rod lower through hole (A11-3-2) of the eleventh branch (A11) through a third lower rotating shaft (III-7) to form a rotating pair connection, the third left connecting piece upper through hole (III-4-1) of the third left connecting piece (III-4) is connected with the branch third rod lower through hole (A7-3-2) of the seventh branch (A7) through a third left rotating shaft (III-8) to form a rotating pair connection, the third left connecting piece lower through hole (III-4-2) of the third left connecting piece (III-4) is connected with the branch fourth rod lower through hole (A7-4-2) of the seventh branch (A7) through a third left rotating shaft (III-8) to form a rotating pair connection, the third right connecting piece upper through hole (III-5-1) of the third right connecting piece (III-5) is connected with the branch third rod lower through hole (A6-3-2) of the sixth branch (A6) through a third right rotating shaft (III-9), and the third right connecting piece lower through hole (III-5-2) of the third right connecting piece (III-5) is connected with the branch fourth rod lower through hole (A6-4-2) of the sixth branch (A6) through a third right rotating shaft (III-9); The fourth upper connecting piece upper through hole (IV-2-1) of the fourth upper connecting piece (IV-2) on the fourth vertex (IV) is connected with the third branch third rod lower through hole (A3-3-2) of the third branch (A3) through the fourth upper rotating shaft (IV-6) to form a rotating pair connection, the fourth upper connecting piece lower through hole (IV-2-2) of the fourth upper connecting piece (IV-2) is connected with the third branch fourth rod lower through hole (A3-4-2) of the third branch (A3) through the fourth upper rotating shaft (IV-6) to form a rotating pair connection, the fourth lower connecting piece upper through hole (IV-3-1) of the fourth lower connecting piece (IV-3) is connected with the twelfth branch fourth rod lower through hole (A12-4-2) of the twelfth branch (A12) through the fourth lower rotating shaft (IV-7) to form a rotating pair connection, the fourth lower connecting piece lower through hole (IV-3-2) of the fourth lower connecting piece (IV-3) is connected with the twelfth branch third rod lower through hole (A12-3-2) of the twelfth branch (A12) through the fourth lower rotating shaft (IV-7) to form a rotating pair connection, the fourth left connecting piece upper through hole (IV-4-1) of the fourth left connecting piece (IV-4) is connected with the eighth branch first rod upper through hole (A8-1-1) of the eighth branch (A8) through the fourth left rotating shaft (IV-8) to form a rotating pair connection, the fourth left connecting piece lower through hole (IV-4-2) of the fourth left connecting piece (IV-4) is connected with the eighth branch second rod upper through hole (A8-2-1) of the eighth branch (A8) through the fourth left rotating shaft (IV-8) to form a rotating pair connection, the fourth right connecting piece upper through hole (IV-5-1) of the fourth right connecting piece (IV-5) is connected with the seventh branch first rod upper through hole (A7-1-1) of the seventh branch (A7) through the fourth right rotating shaft (IV-9), and the fourth right connecting piece lower through hole (IV-5-2) of the fourth right connecting piece (IV-5) is connected with the seventh branch second rod upper through hole (A7-2-1) of the seventh branch (A7) through the fourth right rotating shaft (IV-9); The fifth upper connecting piece upper through hole (V-2-1) of the fifth upper connecting piece (V-2) on the fifth vertex (V) and the branch first rod upper through hole (A4-1-1) of the fourth branch chain (A4) are connected through the fifth upper rotating shaft (V-6) to form a rotating pair, the fifth upper connecting piece lower through hole (V-2-2) of the fifth upper connecting piece (V-2) and the branch second rod upper through hole (A4-2-1) of the fourth branch chain (A4) are connected through the fifth upper rotating shaft (V-6) to form a rotating pair, the fifth lower connecting piece upper through hole (V-3-1) of the fifth lower connecting piece (V-3) and the branch second rod upper through hole (A9-2-1) of the ninth branch chain (A9) are connected through the fifth lower rotating shaft (V-7) to form a rotating pair, the fifth lower connecting piece lower through hole (V-3-2) of the fifth lower connecting piece (V-3) and the branch first rod upper through hole (A9-1-1) of the ninth branch chain (A9) are connected through the fifth lower rotating shaft (V-7) to form a rotating pair, the fifth left connecting piece upper through hole (V-4-1) of the fifth left connecting piece (V-4) and the branch third rod lower through hole (A8-3-2) of the eighth branch chain (A8) are connected through the fifth left rotating shaft (V-8) to form a rotating pair, the fifth left connecting piece lower through hole (V-4-2) of the fifth left connecting piece (V-4) and the branch fourth rod lower through hole (A8-4-2) of the eighth branch chain (A8) are connected through the fifth left rotating shaft (V-8) to form a rotating pair, the fifth right connecting piece upper through hole (V-5-1) of the fifth right connecting piece (V-5) and the branch fourth rod lower through hole (A5-4-2) of the fifth branch chain (A5) are connected through the fifth right rotating shaft (V-9), and the fifth right connecting piece lower through hole (V-5-2) of the fifth right connecting piece (V-5) and the branch third rod lower through hole (A5-3-2) of the fifth branch chain (A5) are connected through the fifth right rotating shaft (V-9). The sixth upper connecting piece upper through hole (Ⅵ-2-1) of the sixth upper connecting piece (Ⅵ-2) at the sixth vertex (Ⅵ) is connected with the branch second rod upper through hole (A10-2-1) of the tenth branch chain (A10) through the sixth upper rotating shaft (Ⅵ-6) to form a rotating pair connection, the sixth upper connecting piece lower through hole (Ⅵ-2-2) of the sixth upper connecting piece (Ⅵ-2) is connected with the branch first rod upper through hole (A10-1-1) of the tenth branch chain (A10) through the sixth upper rotating shaft (Ⅵ-6) to form a rotating pair connection, the sixth lower connecting piece upper through hole (Ⅵ-3-1) of the sixth lower connecting piece (Ⅵ-3) is connected with the branch first rod upper through hole (A12-1-1) of the twelfth branch chain (A12) through the sixth lower rotating shaft (Ⅵ-7) to form a rotating pair connection, the sixth lower connecting piece lower through hole (Ⅵ-3-2) of the sixth lower connecting piece (Ⅵ-3) is connected with the branch second rod upper through hole (A12-2-1) of the twelfth branch chain (A12) through the sixth lower rotating shaft (Ⅵ-7) to form a rotating pair connection, the sixth left connecting piece upper through hole (Ⅵ-4-1) of the sixth left connecting piece (Ⅵ-4) is connected with the branch third rod lower through hole (A9-3-2) of the ninth branch chain (A9) through the sixth left rotating shaft (Ⅵ-8) to form a rotating pair connection, the sixth left connecting piece lower through hole (Ⅵ-4-2) of the sixth left connecting piece (Ⅵ-4) is connected with the branch fourth rod lower through hole (A9-4-2) of the ninth branch chain (A9) through the sixth left rotating shaft (Ⅵ-8) to form a rotating pair connection, the sixth right connecting piece upper through hole (Ⅵ-5-1) of the sixth right connecting piece (Ⅵ-5) is connected with the branch fourth rod lower through hole (A11-4-2) of the eleventh branch chain (A11) through the sixth right rotating shaft (Ⅵ-9), and the sixth right connecting piece lower through hole (Ⅵ-5-2) of the sixth right connecting piece (Ⅵ-5) is connected with the branch third rod lower through hole (A11-3-2) of the eleventh branch chain (A11) through the sixth right rotating shaft (Ⅵ-9).

2. The full-rotational pair octahedral moving mechanism according to claim 1, characterized in that: The first vertex (I) comprises a first vertex support disc (I-1), a first upper connecting piece (I-2), a first lower connecting piece (I-3), a first left connecting piece (I-4), a first right connecting piece (I-5), and a first upper rotating shaft (I-6), a first lower rotating shaft (I-7), a first left rotating shaft (I-8), and a first right rotating shaft (I-9); the first upper connecting piece (I-2) is provided with through holes (I-2-1, I-2-2) on both sides for connecting with the first upper rotating shaft (I-6) to form a rotating pair; the bottom of the first upper connecting piece (I-2) is provided with a through hole (I-2-3) for being fixed with the first vertex support disc (I-1) through a bolt; the first vertex support disc is provided with four groups of through holes (I-1-1, I-1-2, I-1-3, I-1-4); through the above connection, the four connecting piece axes of the first vertex are coplanar with an included angle of 90°.

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