Rhombic octahedron mobile robot

Abstract

The invention discloses a rhombohedral octahedron mobile robot which comprises first to sixth vertex units and first to twelfth driving units, the first to sixth vertex units are connected through the driving units, in an initial state, each unit is in a square shape, and the whole robot is in a rhombohedral octahedron shape. A surface center driving deformation mode is adopted, deformation of each single-degree-of-freedom quadrilateral unit is achieved by controlling the rotating angle of a steering engine, then overall deformation is achieved, a triangular surface composed of quadrilateral connecting rod units or rod pieces can serve as a support to conduct rolling movement, rich deformation movement modes can be achieved, and the robot can move rapidly through the sphere-like appearance; the gridding structure enables the robot to have high rigidity and environment adaptability, and the robot can be used for unmanned detection tasks in the field environment.

Description

Technical Field

[0001] The present application belongs to the technical field of mobile robots, and in particular, relates to a rhombohedral octahedron mobile robot for unmanned detection tasks in outdoor environments. Background Art

[0002] The rhombohedron mobile robot is a linkage-type polyhedron mobile robot constructed based on the geometric shape of the rhombohedron. The rhombohedron is composed of regular triangular faces and square faces, and has a highly symmetrical feature, and has rich deformation and movement capabilities and omnidirectional movement capabilities. Compared with the existing polyhedron mobile robots that mostly use the triangular faces composed of vertices and connecting rods as the support plane, the present invention mainly uses the plane formed by the quadrilateral connecting rod unit as the support plane, and can also achieve similar triangular faces as the support plane, with richer movement modes. Different from the previous deformation method of polyhedron robots through branch chain extension or bending, the present invention adopts a deformation method driven by the center of the face, and the overall shape of the rhombohedron robot is changed through the deformation of the quadrilateral connecting rod unit, and can achieve rolling movement through deformation, and the highly symmetrical spherical shape enables the robot to move quickly.

[0003] Chinese patent CN 216883982U proposes a deformable land and air amphibious robot. The transmission module of the robot is connected to the output shaft and the telescopic arm through a coupling in the center, the telescopic arm is connected to the rotor module, the rotor module is fixed inside the U-shaped module, the U-shaped module and the telescopic module form a regular octahedron shape, and the center position of the robot is changed by controlling the telescopic amount of the telescopic arm, so that rolling and obstacle-crossing movement can be achieved on the ground.

[0004] Chinese patent CN 117208106A proposes a full R-joint three-order tetrahedron mobile robot. The robot consists of four vertex modules and six branch chain modules. The vertices and branches are connected to make the robot present a regular tetrahedron combination shape. It is a connecting rod type polyhedron mobile robot with a tetrahedron geometric shape. The robot is deformed by driving the branches to flip inside and outside through the steering gear, and then the tumbling movement is achieved by the center of mass offset. Summary of the invention

[0005] The technical problem to be solved by the present invention is to solve the problem that the existing polyhedral mobile robots have a single moving mode, limited deformation ability, and low moving speed. The present invention designs a linkage-type polyhedral mobile robot with a rhombohedral geometric shape. The highly symmetrical mechanism shape enables the robot to have similar deformation movement strategies in different postures, has omnidirectional movement ability, can use the triangular surface composed of quadrilateral connecting rod units or rods as support for rolling movement, can realize a variety of deformation movement modes, adopts the deformation method driven by the center of the quadrilateral connecting rod unit surface, and realizes deformation movement of the robot through the deformation of the quadrilateral connecting rod unit. The spherical shape enables the robot to move quickly.

[0006] The technical solution of the present invention: The rhombohedral octahedron mobile robot includes a first vertex unit, a second vertex unit, a third vertex unit, a fourth vertex unit, a fifth vertex unit, a sixth vertex unit, a first drive unit, a second drive unit, a third drive unit, a fourth drive unit, a fifth drive unit, a sixth drive unit, a seventh drive unit, an eighth drive unit, a ninth drive unit, a tenth drive unit, an eleventh drive unit, and a twelfth drive unit.

[0007] The first vertex unit includes a first vertex unit front connecting rod, a first vertex unit rear connecting rod, a first vertex unit left connecting rod, and a first vertex unit right connecting rod; the second vertex unit, the third vertex unit, the fourth vertex unit, the fifth vertex unit, and the sixth vertex unit have the same structural dimensions as the first vertex unit.

[0008] The first drive unit includes a first drive unit front connecting rod, a first drive unit rear connecting rod, a first drive unit left connecting rod, a first drive unit right connecting rod, a first drive unit center outer connecting rod, a first drive unit center inner connecting rod, and a first steering gear; the second drive unit, the third drive unit, the fourth drive unit, the fifth drive unit, the sixth drive unit, the seventh drive unit, the eighth drive unit, the ninth drive unit, the tenth drive unit, the eleventh drive unit, and the twelfth drive unit have the same structural dimensions as the first drive unit.

[0009] The connection relationship between the vertex unit and the driver unit is:

[0010] The front through hole of the left connecting rod of the first vertex unit and the front through hole of the right connecting rod of the first driving unit are connected to each other through bolts to form a revolving pair, the front through hole of the front connecting rod of the first vertex unit and the front through hole of the right connecting rod of the eighth driving unit are connected to each other through bolts to form a revolving pair, the front through hole of the right connecting rod of the first vertex unit and the front through hole of the left connecting rod of the fourth driving unit are connected to each other through bolts to form a revolving pair, and the front through hole of the rear connecting rod of the first vertex unit and the front through hole of the left connecting rod of the fifth driving unit are connected to each other through bolts to form a revolving pair;

[0011] The front through hole of the left connecting rod of the second vertex unit and the front through hole of the right connecting rod of the second driving unit are connected to each other through bolts to form a revolute pair, the front through hole of the front connecting rod of the second vertex unit and the front through hole of the left connecting rod of the ninth driving unit are connected to each other through bolts to form a revolute pair, the front through hole of the right connecting rod of the second vertex unit and the front through hole of the left connecting rod of the first driving unit are connected to each other through bolts to form a revolute pair, and the front through hole of the rear connecting rod of the second vertex unit and the front through hole of the right connecting rod of the twelfth driving unit are connected to each other through bolts to form a revolute pair;

[0012] The front through hole of the left connecting rod of the third vertex unit and the front through hole of the right connecting rod of the third driving unit are connected to each other through bolts to form a revolute pair, the front through hole of the front connecting rod of the third vertex unit and the front through hole of the right connecting rod of the seventh driving unit are connected to each other through bolts to form a revolute pair, the front through hole of the right connecting rod of the third vertex unit and the front through hole of the left connecting rod of the second driving unit are connected to each other through bolts to form a revolute pair, and the front through hole of the rear connecting rod of the third vertex unit and the front through hole of the left connecting rod of the seventh driving unit are connected to each other through bolts to form a revolute pair;

[0013] The front through hole of the left connecting rod of the fourth vertex unit and the front through hole of the right connecting rod of the fourth driving unit are connected to each other through bolts to form a revolute pair. The front through hole of the front connecting rod of the fourth vertex unit and the front through hole of the left connecting rod of the eleventh driving unit are connected to each other through bolts to form a revolute pair. The front through hole of the right connecting rod of the fourth vertex unit and the front through hole of the left connecting rod of the third driving unit are connected to each other through bolts to form a revolute pair. The front through hole of the rear connecting rod of the fourth vertex unit and the front through hole of the right connecting rod of the tenth driving unit are connected to each other through bolts to form a revolute pair.

[0014] The front through hole of the fifth vertex unit left connecting rod and the front through hole of the tenth driving unit left connecting rod of the tenth driving unit are connected by bolts to form a revolute pair, the front through hole of the fifth vertex unit front connecting rod and the front through hole of the eighth driving unit left connecting rod of the eighth driving unit are connected by bolts to form a revolute pair, the front through hole of the fifth vertex unit right connecting rod and the front through hole of the ninth driving unit right connecting rod of the ninth driving unit are connected by bolts to form a revolute pair, and the front through hole of the fifth vertex unit rear connecting rod and the front through hole of the seventh driving unit right connecting rod of the seventh driving unit are connected by bolts to form a revolute pair;

[0015] The front through hole of the left connecting rod of the sixth vertex unit and the front through hole of the right connecting rod of the eleventh driving unit are connected to each other through bolts to form a rotating pair, the front through hole of the front connecting rod of the sixth vertex unit and the front through hole of the left connecting rod of the sixth driving unit are connected to each other through bolts to form a rotating pair, the front through hole of the right connecting rod of the sixth vertex unit and the front through hole of the left connecting rod of the twelfth driving unit are connected to each other through bolts to form a rotating pair, and the front through hole of the rear connecting rod of the sixth vertex unit and the front through hole of the right connecting rod of the fifth driving unit are connected to each other through bolts to form a rotating pair.

[0016] The first vertex unit comprises a first vertex unit front connecting rod, a first vertex unit rear connecting rod, a first vertex unit left connecting rod and a first vertex unit right connecting rod. In an initial state, the rods connected to the first vertex unit are perpendicular to each other and present a regular quadrilateral shape.

[0017] The first vertex unit front link is provided with a first vertex unit front link left through hole, a first vertex unit front link right through hole, and a first vertex unit front link front through hole, wherein the first vertex unit front link left through hole is parallel to the axis of the first vertex unit front link right through hole, and the axis of the first vertex unit front through hole is perpendicular thereto, and the first vertex unit rear link is exactly the same in structure and size as the first vertex unit front link.

[0018] The left connecting rod of the first vertex unit is provided with a left through hole of the left connecting rod of the first vertex unit, a right through hole of the left connecting rod of the first vertex unit, and a front through hole of the left connecting rod of the first vertex unit, wherein the left through hole of the left connecting rod of the first vertex unit is parallel to the axis of the right through hole of the left connecting rod of the first vertex unit, and the axis of the front through hole of the left connecting rod of the first vertex unit is perpendicular thereto, and the structural dimensions of the right connecting rod of the first vertex unit and the left connecting rod of the first vertex unit are exactly the same.

[0019] The connection method of the first vertex unit bar is:

[0020] The left through hole of the first apex unit front link of the first apex unit front link is fixedly connected to the right through hole of the first apex unit left link by bolts, and the right through hole of the first apex unit front link is fixedly connected to the left through hole of the first apex unit right link by bolts;

[0021] The left through hole of the first apex unit rear link and the right through hole of the first apex unit right link are fixedly connected by bolts, and the right through hole of the first apex unit rear link and the left through hole of the first apex unit left link are fixedly connected by bolts.

[0022] The first drive unit includes a first drive unit front connecting rod, a first drive unit rear connecting rod, a first drive unit left connecting rod, a first drive unit right connecting rod, a first drive unit center outer connecting rod, a first drive unit center inner connecting rod, and a first steering gear. In an initial state, the connected rods of the first drive unit are perpendicular to each other and are in the shape of a regular quadrilateral.

[0023] The first drive unit front connecting rod is provided with a first drive unit front connecting rod left through hole, a first drive unit front connecting rod right through hole, and a first drive unit front connecting rod middle through hole, the axes of the through holes are parallel, and the first drive unit rear connecting rod has exactly the same structural dimensions as the first drive unit front connecting rod.

[0024] The left connecting rod of the first driving unit is provided with a left through hole of the left connecting rod of the first driving unit, a right through hole of the left connecting rod of the first driving unit, a front through hole of the left connecting rod of the first driving unit, and a rear through hole of the left connecting rod of the first driving unit, wherein the left through hole of the left connecting rod of the first driving unit is parallel to the axis of the right through hole of the left connecting rod of the first driving unit, the front through hole of the left connecting rod of the first driving unit and the rear through hole of the left connecting rod of the first driving unit are perpendicular thereto, and the structural dimensions of the right connecting rod of the first driving unit are exactly the same as those of the left connecting rod of the first driving unit.

[0025] The first drive unit outer connecting rod is provided with a first drive unit outer connecting rod left through hole, a first drive unit outer connecting rod right through hole, and a first drive unit outer connecting rod middle through hole, and the axes of the through holes are parallel.

[0026] The first drive unit inner connecting rod is provided with a first drive unit inner connecting rod left through hole, a first drive unit inner connecting rod right through hole, and a first drive unit inner connecting rod middle through hole, and the axes of the through holes are parallel.

[0027] The connection method of the first driving unit rod is:

[0028] The left through hole of the first driving unit front connecting rod of the first driving unit is fixedly connected to the right through hole of the first driving unit left connecting rod by bolts, and the right through hole of the first driving unit front connecting rod is fixedly connected to the left through hole of the first driving unit right connecting rod by bolts;

[0029] The left through hole of the first drive unit rear connecting rod of the first drive unit rear connecting rod is fixedly connected to the right through hole of the first drive unit right connecting rod by bolts, and the right through hole of the first drive unit rear connecting rod is fixedly connected to the left through hole of the first drive unit left connecting rod by bolts;

[0030] The left through hole of the first drive unit outer connecting rod of the first drive unit is connected to the middle through hole of the first drive unit front connecting rod by bolts to form a revolute pair, the right through hole of the first drive unit outer connecting rod is connected to the middle through hole of the first drive unit rear connecting rod by bolts to form a revolute pair, and the middle through hole of the first drive unit outer connecting rod is fixedly connected to the steering gear by bolts;

[0031] The left through hole of the first drive unit inner connecting rod and the rear through hole of the first drive unit left connecting rod are connected to each other through bolts to form a rotating pair, the right through hole of the first drive unit inner connecting rod and the rear through hole of the first drive unit right connecting rod are connected to each other through bolts to form a rotating pair, and the middle through hole of the first drive unit inner connecting rod is fixedly connected to the steering gear through bolts.

[0032] Beneficial effects of the present invention:

[0033] The rhombohedron mobile robot described in the present invention is based on the rhombohedron geometric shape, has rich deformation and movement capabilities and omnidirectional movement capabilities, adopts a face center-driven deformation method, and changes the overall shape of the rhombohedron robot through the deformation of the quadrilateral connecting rod unit, and can achieve rolling movement through deformation. The highly symmetrical spherical shape enables the robot to move quickly, and the grid structure gives the robot higher rigidity and environmental adaptability, so it can be used for unmanned detection tasks in field environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 The overall three-dimensional image of the rhombohedral mobile robot

[0035] Figure 2 First vertex unit 3D graph

[0036] Figure 3 3D image of the first drive unit

[0037] Figure 4 3D diagram of the front link of the first vertex unit

[0038] Figure 5 3D diagram of the left link of the first vertex unit

[0039] Figure 6 3D image of the front link of the first drive unit

[0040] Figure 7 3D diagram of the left connecting rod of the first drive unit

[0041] Figure 8 3D image of the outer connecting rod of the first drive unit

[0042] Fig. 9 3D diagram of the inner connecting rod of the first drive unit DETAILED DESCRIPTION

[0043] The following is a further detailed description with reference to the accompanying drawings.

[0044] A rhombohedral mobile robot Figure 1As shown, it includes a first vertex unit (A), a second vertex unit (B), a third vertex unit (C), a fourth vertex unit (D), a fifth vertex unit (E), a sixth vertex unit (F), a first driving unit (1), a second driving unit (2), a third driving unit (3), a fourth driving unit (4), a fifth driving unit (5), a sixth driving unit (6), a seventh driving unit (7), an eighth driving unit (8), a ninth driving unit (9), a tenth driving unit (10), an eleventh driving unit (11), and a twelfth driving unit (12).

[0045] The first vertex unit (A) is as follows Figure 2 As shown, it includes a first vertex unit front link (A-1), a first vertex unit rear link (A-2), a first vertex unit left link (A-3), and a first vertex unit right link (A-4); the second vertex unit (B), the third vertex unit (C), the fourth vertex unit (D), the fifth vertex unit (E), and the sixth vertex unit (F) have exactly the same structural dimensions as the first vertex unit (A).

[0046] The first driving unit (1) is as follows Figure 3 As shown, it comprises a first drive unit front connecting rod (1-1), a first drive unit rear connecting rod (1-2), a first drive unit left connecting rod (1-3), a first drive unit right connecting rod (1-4), a first drive unit center outer connecting rod (1-5), a first drive unit center inner connecting rod (1-6), and a first steering gear (1-7); the second drive unit (2), the third drive unit (3), the fourth drive unit (4), the fifth drive unit (5), the sixth drive unit (6), the seventh drive unit (7), the eighth drive unit (8), the ninth drive unit (9), the tenth drive unit (10), the eleventh drive unit (11), and the twelfth drive unit (12) have the same structural dimensions as the first drive unit (1).

[0047] The connection relationship between the vertex unit and the driver unit is:

[0048] The first vertex unit left connecting rod front through hole (A-3-3) of the first vertex unit (A) and the first drive unit right connecting rod front through hole (1-4-3) of the first drive unit (1) are connected to each other through bolts to form a rotational pair; the first vertex unit front connecting rod front through hole (A-1-3) and the eighth drive unit right connecting rod front through hole (8-4-3) of the eighth drive unit (8) are connected to each other through bolts to form a rotational pair; the first vertex unit right connecting rod front through hole (A-4-3) and the fourth drive unit left connecting rod front through hole (4-3-3) of the fourth drive unit (4) are connected to each other through bolts to form a rotational pair; the first vertex unit rear connecting rod front through hole (A-2-3) and the fifth drive unit left connecting rod front through hole (5-3-3) of the fifth drive unit (5) are connected to each other through bolts to form a rotational pair;

[0049] The second vertex unit left connecting rod front through hole (B-3-3) of the second vertex unit (B) and the second drive unit right connecting rod front through hole (2-4-3) of the second drive unit (2) are connected by bolts to form a rotational pair, the second vertex unit front connecting rod front through hole (B-1-3) and the ninth drive unit left connecting rod front through hole (9-3-3) of the ninth drive unit (9) are connected by bolts to form a rotational pair, the second vertex unit right connecting rod front through hole (B-4-3) and the first drive unit left connecting rod front through hole (1-3-3) of the first drive unit (1) are connected by bolts to form a rotational pair, and the second vertex unit rear connecting rod front through hole (B-2-3) and the twelfth drive unit right connecting rod front through hole (12-4-3) of the twelfth drive unit (12) are connected by bolts to form a rotational pair;

[0050] The third vertex unit left connecting rod front through hole (C-3-3) of the third vertex unit (C) and the third drive unit right connecting rod front through hole (3-4-3) of the third drive unit (3) are connected by bolts to form a rotational pair, the third vertex unit front connecting rod front through hole (C-1-3) and the seventh drive unit right connecting rod front through hole (7-4-3) of the seventh drive unit (7) are connected by bolts to form a rotational pair, the third vertex unit right connecting rod front through hole (C-4-3) and the second drive unit left connecting rod front through hole (2-3-3) of the second drive unit (2) are connected by bolts to form a rotational pair, and the third vertex unit rear connecting rod front through hole (C-2-3) and the sixth drive unit left connecting rod front through hole (6-3-3) of the sixth drive unit (6) are connected by bolts to form a rotational pair;

[0051] The fourth vertex unit left connecting rod front through hole (D-3-3) of the fourth vertex unit (D) and the fourth drive unit right connecting rod front through hole (4-4-3) of the fourth drive unit (4) are connected to each other through bolts to form a rotational pair; the fourth vertex unit front connecting rod front through hole (D-1-3) and the eleventh drive unit left connecting rod front through hole (11-3-3) of the eleventh drive unit (11) are connected to each other through bolts to form a rotational pair; the fourth vertex unit right connecting rod front through hole (D-4-3) and the third drive unit left connecting rod front through hole (3-3-3) of the third drive unit (3) are connected to each other through bolts to form a rotational pair; the fourth vertex unit rear connecting rod front through hole (D-2-3) and the tenth drive unit right connecting rod front through hole of the tenth drive unit are connected to each other through bolts to form a rotational pair;

[0052] The fifth vertex unit left connecting rod front through hole (E-3-3) of the fifth vertex unit (E-3-3) and the tenth drive unit left connecting rod front through hole (10-3-3) of the tenth drive unit (10) are connected by bolts to form a rotational pair, the fifth vertex unit front connecting rod front through hole (E-1-3) and the eighth drive unit left connecting rod front through hole (8-3-3) of the eighth drive unit (8) are connected by bolts to form a rotational pair, the fifth vertex unit right connecting rod front through hole (E-4-3) and the ninth drive unit right connecting rod front through hole (9-4-3) of the ninth drive unit (9) are connected by bolts to form a rotational pair, and the fifth vertex unit rear connecting rod front through hole (E-2-3) and the seventh drive unit right connecting rod front through hole (7-4-3) of the seventh drive unit (7) are connected by bolts to form a rotational pair;

[0053] The sixth vertex unit left connecting rod front through hole (F-3-3) of the sixth vertex unit (F) and the eleventh drive unit right connecting rod front through hole (11-4-3) of the eleventh drive unit (11) are connected to each other through bolts to form a rotational pair; the sixth vertex unit front connecting rod front through hole (F-1-3) and the sixth drive unit left connecting rod front through hole (6-3-3) of the sixth drive unit (6) are connected to each other through bolts to form a rotational pair; the sixth vertex unit right connecting rod front through hole (F-4-3) and the twelfth drive unit left connecting rod front through hole (12-3-3) of the twelfth drive unit (12) are connected to each other through bolts to form a rotational pair; the sixth vertex unit rear connecting rod front through hole (F-2-3) and the fifth drive unit right connecting rod front through hole (5-4-3) of the fifth drive unit (5) are connected to each other through bolts to form a rotational pair.

[0054] The first vertex unit (A) comprises a first vertex unit front link (A-1), a first vertex unit rear link (A-2), a first vertex unit left link (A-3), and a first vertex unit right link (A-4). In an initial state, the rods connected to the first vertex unit (A) are perpendicular to each other and present a regular quadrilateral shape.

[0055] The first vertex unit front link (A-1) is as follows Figure 4 As shown, there are provided a left through hole (A-1-1) of the first vertex unit front link, a right through hole (A-1-2) of the first vertex unit front link, and a front through hole (A-1-3) of the first vertex unit front link, wherein the axes of the left through hole (A-1-1) of the first vertex unit front link are parallel to the axes of the right through hole (A-1-2) of the first vertex unit front link, and the axes of the front through hole (A-1-3) of the first vertex unit front link are perpendicular thereto, and the structural dimensions of the first vertex unit rear link (A-2) and the first vertex unit front link (A-1) are exactly the same.

[0056] The first vertex unit left link (A-3) is as follows Figure 5As shown, there are provided a left through hole (A-3-1) of the left connecting rod of the first vertex unit, a right through hole (A-3-2) of the left connecting rod of the first vertex unit, and a front through hole (A-3-3) of the left connecting rod of the first vertex unit, wherein the left through hole (A-3-1) of the left connecting rod of the first vertex unit is parallel to the axis of the right through hole (A-3-2) of the left connecting rod of the first vertex unit, and the axis of the front through hole of the left connecting rod of the first vertex unit is perpendicular thereto, and the structural dimensions of the right connecting rod (A-4) of the first vertex unit and the left connecting rod (A-3) of the first vertex unit are exactly the same.

[0057] The connection method of the first vertex unit (A) is:

[0058] The left through hole (A-1-1) of the first vertex unit front link (A-1) and the right through hole (A-3-2) of the first vertex unit left link are fixedly connected by bolts, and the right through hole (A-1-2) of the first vertex unit front link and the left through hole (A-4-1) of the first vertex unit right link are fixedly connected by bolts;

[0059] The left through hole (A-2-1) of the first vertex unit rear link (A-2) and the right through hole (A-4-2) of the first vertex unit right link are fixedly connected by bolts, and the right through hole (A-2-2) of the first vertex unit rear link and the left through hole (A-3-1) of the first vertex unit left link are fixedly connected by bolts.

[0060] The first drive unit (1) comprises a first drive unit front connecting rod (1-1), a first drive unit rear connecting rod (1-2), a first drive unit left connecting rod (1-3), a first drive unit right connecting rod (1-4), a first drive unit central outer connecting rod (1-5), a first drive unit central inner connecting rod (1-6), and a first steering gear (1-7). In an initial state, the rods connected to the first drive unit (1) are perpendicular to each other and present a regular quadrilateral shape.

[0061] The first driving unit front link (1-1) is as follows Figure 6 As shown, a left through hole (1-1-1) of the front connecting rod of the first driving unit, a right through hole (1-1-2) of the front connecting rod of the first driving unit, and a middle through hole (1-1-3) of the front connecting rod of the first driving unit are provided, and the axes of the through holes are parallel. The structural dimensions of the rear connecting rod (1-2) of the first driving unit are completely the same as those of the front connecting rod of the first driving unit (1-1).

[0062] The first drive unit left connecting rod (1-3) is as follows Figure 7As shown, a left through hole (1-3-1) of a left connecting rod of a first driving unit, a right through hole (1-3-2) of a left connecting rod of a first driving unit, a front through hole (1-3-3) of a left connecting rod of a first driving unit, and a rear through hole (1-3-4) of a left connecting rod of a first driving unit are provided, wherein the axes of the left through hole (1-3-1) of the left connecting rod of the first driving unit and the right through hole (1-3-2) of the left connecting rod of the first driving unit are parallel, the axes of the front through hole (1-3-3) of the left connecting rod of the first driving unit and the rear through hole (1-3-4) of the left connecting rod of the first driving unit are perpendicular thereto, and the structural dimensions of the right connecting rod (1-4) of the first driving unit and the left connecting rod (1-3) of the first driving unit are completely the same.

[0063] The first drive unit outer connecting rod (1-5) is as follows Figure 8 As shown, a left through hole (1-5-1) of the first drive unit outer connecting rod, a right through hole (1-5-2) of the first drive unit outer connecting rod, and a middle through hole (1-5-3) of the first drive unit outer connecting rod are provided, and the axes of the through holes are parallel.

[0064] The inner connecting rod (1-6) of the first driving unit is as follows Fig. 9 As shown, a left through hole (1-6-1) of the inner connecting rod of the first driving unit, a right through hole (1-6-2) of the inner connecting rod of the first driving unit, and a middle through hole (1-6-3) of the inner connecting rod of the first driving unit are provided, and the axes of the through holes are parallel.

[0065] The connection method of the rod of the first driving unit (1) is as follows:

[0066] The left through hole (1-1-1) of the first drive unit front link (1-1) and the right through hole (1-3-2) of the first drive unit left link are fixedly connected by bolts, and the right through hole (1-1-2) of the first drive unit front link and the left through hole (1-4-1) of the first drive unit right link are fixedly connected by bolts;

[0067] The left through hole (1-2-1) of the first drive unit rear connecting rod (1-2) and the right through hole (1-4-2) of the first drive unit right connecting rod are fixedly connected by bolts, and the right through hole (1-2-2) of the first drive unit rear connecting rod and the left through hole (1-3-1) of the first drive unit left connecting rod are fixedly connected by bolts;

[0068] The left through hole (1-5-1) of the first drive unit outer connecting rod (1-5) and the middle through hole (1-1-3) of the first drive unit front connecting rod are connected by bolts to form a rotation pair, the right through hole (1-5-2) of the first drive unit outer connecting rod and the middle through hole (1-2-3) of the first drive unit rear connecting rod are connected by bolts to form a rotation pair, and the middle through hole (1-5-3) of the first drive unit outer connecting rod and the steering gear (1-7) are fixedly connected by bolts;

[0069] The left through hole (1-6-1) of the first drive unit inner connecting rod (1-6) and the rear through hole (1-3-4) of the first drive unit left connecting rod are connected by bolts to form a rotation pair, the right through hole (1-6-2) of the first drive unit inner connecting rod and the rear through hole (1-4-4) of the first drive unit right connecting rod are connected by bolts to form a rotation pair, and the middle through hole (1-6-3) of the first drive unit inner connecting rod and the steering gear (1-7) are fixedly connected by bolts.

Claims

1. A rhombohedral mobile robot, characterized in that: It comprises a first vertex unit (A), a second vertex unit (B), a third vertex unit (C), a fourth vertex unit (D), a fifth vertex unit (E), a sixth vertex unit (F), a first driving unit (1), a second driving unit (2), a third driving unit (3), a fourth driving unit (4), a fifth driving unit (5), a sixth driving unit (6), a seventh driving unit (7), an eighth driving unit (8), a ninth driving unit (9), a tenth driving unit (10), an eleventh driving unit (11), and a twelfth driving unit (12); The first vertex unit (A) comprises a first vertex unit front link (A-1), a first vertex unit rear link (A-2), a first vertex unit left link (A-3), and a first vertex unit right link (A-4); the second vertex unit (B), the third vertex unit (C), the fourth vertex unit (D), the fifth vertex unit (E), and the sixth vertex unit (F) have the same structural dimensions as the first vertex unit (A); The first drive unit (1) comprises a first drive unit front connecting rod (1-1), a first drive unit rear connecting rod (1-2), a first drive unit left connecting rod (1-3), a first drive unit right connecting rod (1-4), a first drive unit central outer connecting rod (1-5), a first drive unit central inner connecting rod (1-6), and a first steering gear (1-7); the second drive unit (2), the third drive unit (3), the fourth drive unit (4), the fifth drive unit (5), the sixth drive unit (6), the seventh drive unit (7), the eighth drive unit (8), the ninth drive unit (9), the tenth drive unit (10), the eleventh drive unit (11), and the twelfth drive unit (12) have the same structural dimensions as the first drive unit (1); The connection relationship between the vertex unit and the driver unit is: The first vertex unit left connecting rod front through hole (A-3-3) of the first vertex unit (A) and the first drive unit right connecting rod front through hole (1-4-3) of the first drive unit (1) are connected to each other through bolts to form a rotational pair; the first vertex unit front connecting rod front through hole (A-1-3) and the eighth drive unit right connecting rod front through hole (8-4-3) of the eighth drive unit (8) are connected to each other through bolts to form a rotational pair; the first vertex unit right connecting rod front through hole (A-4-3) and the fourth drive unit left connecting rod front through hole (4-3-3) of the fourth drive unit (4) are connected to each other through bolts to form a rotational pair; the first vertex unit rear connecting rod front through hole (A-2-3) and the fifth drive unit left connecting rod front through hole (5-3-3) of the fifth drive unit (5) are connected to each other through bolts to form a rotational pair; The second vertex unit left connecting rod front through hole (B-3-3) of the second vertex unit (B) and the second drive unit right connecting rod front through hole (2-4-3) of the second drive unit (2) are connected by bolts to form a rotational pair, the second vertex unit front connecting rod front through hole (B-1-3) and the ninth drive unit left connecting rod front through hole (9-3-3) of the ninth drive unit (9) are connected by bolts to form a rotational pair, the second vertex unit right connecting rod front through hole (B-4-3) and the first drive unit left connecting rod front through hole (1-3-3) of the first drive unit (1) are connected by bolts to form a rotational pair, and the second vertex unit rear connecting rod front through hole (B-2-3) and the twelfth drive unit right connecting rod front through hole (12-4-3) of the twelfth drive unit (12) are connected by bolts to form a rotational pair; The third vertex unit left connecting rod front through hole (C-3-3) of the third vertex unit (C) and the third drive unit right connecting rod front through hole (3-4-3) of the third drive unit (3) are connected by bolts to form a rotational pair, the third vertex unit front connecting rod front through hole (C-1-3) and the seventh drive unit right connecting rod front through hole (7-4-3) of the seventh drive unit (7) are connected by bolts to form a rotational pair, the third vertex unit right connecting rod front through hole (C-4-3) and the second drive unit left connecting rod front through hole (2-3-3) of the second drive unit (2) are connected by bolts to form a rotational pair, and the third vertex unit rear connecting rod front through hole (C-2-3) and the sixth drive unit left connecting rod front through hole (6-3-3) of the sixth drive unit (6) are connected by bolts to form a rotational pair; The fourth vertex unit left connecting rod front through hole (D-3-3) of the fourth vertex unit (D) and the fourth drive unit right connecting rod front through hole (4-4-3) of the fourth drive unit (4) are connected to each other through bolts to form a rotational pair; the fourth vertex unit front connecting rod front through hole (D-1-3) and the eleventh drive unit left connecting rod front through hole (11-3-3) of the eleventh drive unit (11) are connected to each other through bolts to form a rotational pair; the fourth vertex unit right connecting rod front through hole (D-4-3) and the third drive unit left connecting rod front through hole (3-3-3) of the third drive unit (3) are connected to each other through bolts to form a rotational pair; the fourth vertex unit rear connecting rod front through hole (D-2-3) and the tenth drive unit right connecting rod front through hole of the tenth drive unit are connected to each other through bolts to form a rotational pair; The fifth vertex unit left connecting rod front through hole (E-3-3) of the fifth vertex unit (E-3-3) and the tenth drive unit left connecting rod front through hole (10-3-3) of the tenth drive unit (10) are connected by bolts to form a rotational pair, the fifth vertex unit front connecting rod front through hole (E-1-3) and the eighth drive unit left connecting rod front through hole (8-3-3) of the eighth drive unit (8) are connected by bolts to form a rotational pair, the fifth vertex unit right connecting rod front through hole (E-4-3) and the ninth drive unit right connecting rod front through hole (9-4-3) of the ninth drive unit (9) are connected by bolts to form a rotational pair, and the fifth vertex unit rear connecting rod front through hole (E-2-3) and the seventh drive unit right connecting rod front through hole (7-4-3) of the seventh drive unit (7) are connected by bolts to form a rotational pair; The sixth vertex unit left connecting rod front through hole (F-3-3) of the sixth vertex unit (F) and the eleventh drive unit right connecting rod front through hole (11-4-3) of the eleventh drive unit (11) are connected to each other through bolts to form a rotational pair; the sixth vertex unit front connecting rod front through hole (F-1-3) and the sixth drive unit left connecting rod front through hole (6-3-3) of the sixth drive unit (6) are connected to each other through bolts to form a rotational pair; the sixth vertex unit right connecting rod front through hole (F-4-3) and the twelfth drive unit left connecting rod front through hole (12-3-3) of the twelfth drive unit (12) are connected to each other through bolts to form a rotational pair; the sixth vertex unit rear connecting rod front through hole (F-2-3) and the fifth drive unit right connecting rod front through hole (5-4-3) of the fifth drive unit (5) are connected to each other through bolts to form a rotational pair.

2. A foldable double triangular prism mobile robot according to claim 1, characterized in that: The first vertex unit (A) comprises a first vertex unit front link (A-1), a first vertex unit rear link (A-2), a first vertex unit left link (A-3), and a first vertex unit right link (A-4). In the initial state, the rods connected to the first vertex unit (A) are perpendicular to each other and present a regular quadrilateral shape. The first vertex unit front link (A-1) is provided with a first vertex unit front link left through hole (A-1-1), a first vertex unit front link right through hole (A-1-2), and a first vertex unit front link front through hole (A-1-3), wherein the axes of the first vertex unit front link left through hole (A-1-1) and the first vertex unit front link right through hole (A-1-2) are parallel, and the axis of the first vertex unit front link front through hole (A-1-3) is perpendicular thereto, and the first vertex unit rear link (A-2) and the first vertex unit front link (A-1) have exactly the same structural dimensions; The first vertex unit left connecting rod (A-3) is provided with a first vertex unit left connecting rod left through hole (A-3-1), a first vertex unit left connecting rod right through hole (A-3-2), and a first vertex unit left connecting rod front through hole (A-3-3), wherein the first vertex unit left connecting rod left through hole (A-3-1) is parallel to the axis of the first vertex unit left connecting rod right through hole (A-3-2), and the axis of the first vertex unit left connecting rod front through hole is perpendicular thereto, and the first vertex unit right connecting rod (A-4) and the first vertex unit left connecting rod (A-3) have exactly the same structural dimensions; The connection method of the first vertex unit (A) is: The left through hole (A-1-1) of the first vertex unit front link (A-1) and the right through hole (A-3-2) of the first vertex unit left link are fixedly connected by bolts, and the right through hole (A-1-2) of the first vertex unit front link and the left through hole (A-4-1) of the first vertex unit right link are fixedly connected by bolts; The left through hole (A-2-1) of the first vertex unit rear link (A-2) and the right through hole (A-4-2) of the first vertex unit right link are fixedly connected by bolts, and the right through hole (A-2-2) of the first vertex unit rear link and the left through hole (A-3-1) of the first vertex unit left link are fixedly connected by bolts.

3. The foldable double triangular prism mobile robot according to claim 1, characterized in that: The first drive unit (1) comprises a first drive unit front connecting rod (1-1), a first drive unit rear connecting rod (1-2), a first drive unit left connecting rod (1-3), a first drive unit right connecting rod (1-4), a first drive unit central outer connecting rod (1-5), a first drive unit central inner connecting rod (1-6), and a first steering gear (1-7); in an initial state, the rods connected to the first drive unit (1) are perpendicular to each other and present a regular quadrilateral shape; The first drive unit front connecting rod (1-1) is provided with a first drive unit front connecting rod left through hole (1-1-1), a first drive unit front connecting rod right through hole (1-1-2), and a first drive unit front connecting rod middle through hole (1-1-3), the axes of the through holes are parallel, and the first drive unit rear connecting rod (1-2) and the first drive unit (1-1) front connecting rod have completely the same structural dimensions; The first drive unit left connecting rod (1-3) is provided with a first drive unit left connecting rod left through hole (1-3-1), a first drive unit left connecting rod right through hole (1-3-2), a first drive unit left connecting rod front through hole (1-3-3), and a first drive unit left connecting rod rear through hole (1-3-4), wherein the first drive unit left connecting rod left through hole (1-3-1) and the first drive unit left connecting rod right through hole (1-3-2) are parallel in axis, the first drive unit left connecting rod front through hole (1-3-3) and the first drive unit left connecting rod rear through hole (1-3-4) are perpendicular thereto, and the first drive unit right connecting rod (1-4) and the first drive unit left connecting rod (1-3) have completely the same structural dimensions; The first drive unit outer connecting rod (1-5) is provided with a first drive unit outer connecting rod left through hole (1-5-1), a first drive unit outer connecting rod right through hole (1-5-2), and a first drive unit outer connecting rod middle through hole (1-5-3), and the axes of the through holes are parallel; The first drive unit inner connecting rod (1-6) is provided with a first drive unit inner connecting rod left through hole (1-6-1), a first drive unit inner connecting rod right through hole (1-6-2), and a first drive unit inner connecting rod middle through hole (1-6-3), and the axes of the through holes are parallel; The connection method of the rod of the first driving unit (1) is as follows: The left through hole (1-1-1) of the first drive unit front link (1-1) and the right through hole (1-3-2) of the first drive unit left link are fixedly connected by bolts, and the right through hole (1-1-2) of the first drive unit front link and the left through hole (1-4-1) of the first drive unit right link are fixedly connected by bolts; The left through hole (1-2-1) of the first drive unit rear connecting rod (1-2) and the right through hole (1-4-2) of the first drive unit right connecting rod are fixedly connected by bolts, and the right through hole (1-2-2) of the first drive unit rear connecting rod and the left through hole (1-3-1) of the first drive unit left connecting rod are fixedly connected by bolts; The left through hole (1-5-1) of the first drive unit outer connecting rod (1-5) and the middle through hole (1-1-3) of the first drive unit front connecting rod are connected by bolts to form a rotation pair, the right through hole (1-5-2) of the first drive unit outer connecting rod and the middle through hole (1-2-3) of the first drive unit rear connecting rod are connected by bolts to form a rotation pair, and the middle through hole (1-5-3) of the first drive unit outer connecting rod and the steering gear (1-7) are fixedly connected by bolts; The left through hole (1-6-1) of the first drive unit inner connecting rod (1-6) and the rear through hole (1-3-4) of the first drive unit left connecting rod are connected by bolts to form a rotation pair, the right through hole (1-6-2) of the first drive unit inner connecting rod and the rear through hole (1-4-4) of the first drive unit right connecting rod are connected by bolts to form a rotation pair, and the middle through hole (1-6-3) of the first drive unit inner connecting rod and the steering gear (1-7) are fixedly connected by bolts.

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