A multimodal motion robot based on Sarrus-derived mechanisms and octahedral integration

Abstract

A multimodal motion robot based on a Sarrus-derived mechanism combined with an octahedron comprises: an upper active wheel system (1), a lower active wheel system (6), a first branch (2), a second branch (3), a third branch (4), and a fourth branch (5). In terms of gait control, the robot achieves a wheeled mode driven by the active wheels by controlling the rotation of the active wheel motors in the upper and lower active wheel systems. Through the folding angle control of the upper and lower active wheel systems and the side branches, the octahedron can be unfolded and folded in two dimensions, forming various rolling motion modes. Simultaneously, the synchronous foldability of the upper and lower active wheel systems adds a folding dimension to the octahedron, achieving deterministic tumbling. This multimodal motion greatly enhances its own mobility and adaptability to complex environments, enabling it to cope with various harsh terrains such as ravines, narrow spaces, vertical spaces, and sandy areas. It has broad application prospects in military, space exploration, outdoor environmental reconnaissance, and disaster relief fields.

Description

Technical Field

[0001] This invention relates to a multi-mode motion robot based on a Sarrus-derived mechanism combined with an octahedron, specifically a Sarrus-derived 2-DOF mechanism. By adding a degree of freedom to the active wheel train plane and controlling the branch angle deformation servo motors to fold the four branches, the original octahedral structure is transformed from one-dimensional to two-dimensional folding. This transforms the probabilistic rolling motion in all directions into controllable deterministic rolling during rolling motion. The forward and reverse rotation of the active wheel motors further enables wheeled and hybrid modes. This ensures the realization of various gait modes of the traditional single-DOF Sarrus mechanism while reducing the motion limitations caused by probabilistic tumbling. Simultaneously, the base shell design without the active wheel train allows the active wheels to directly contact the ground, enabling wheeled steering and omnidirectional movement; significantly improving the mobility of wheeled, rolling, and hybrid modes. Background Technology

[0002] Due to the foldability of the Sarrus mechanism, the multi-mode rolling robot based on the Sarrus mechanism possesses deformability. Furthermore, the high rigidity of this structure allows for good adaptability to various complex environments. The robot exhibits overall rolling mode, wheeled movement mode, and hybrid mode; a multi-mode motion robot is designed.

[0003] Chinese patent CN 111976856A discloses "a single-powered crawling robot based on the Sarrus mechanism". The robot is based on a spatial six-bar linkage and achieves straight-line movement and turning by driving the forward and reverse rotation of the motor.

[0004] Chinese patent CN 113998022B discloses "A Multi-Mode Rolling Robot Based on a Sarrus Mechanism," which is based on a spatial six-bar Sarrus mechanism. By controlling the forward and reverse rotation of the deformable motor to achieve the folding and unfolding of the branches, and controlling the rotation of the active motor to drive the rotation of the active wheel, the robot has an overall rolling mode, a wheeled movement mode, and a peristaltic mode. Summary of the Invention

[0005] The technical problem this invention aims to solve is that the traditional single-degree-of-freedom Sarrus mechanism uses probabilistic rolling when realizing the robot's lateral roll, which restricts some rolling motions and causes some gait mode transitions to involve probabilistic changes; the design of the active wheel system's base shell and other components makes it difficult for all four active wheels to touch the ground simultaneously, making it impossible to directly use the active wheels for lateral turning and omnidirectional movement, resulting in low motion efficiency.

[0006] The structural components that make up a robot:

[0007] The aforementioned upper drive wheel system consists of four drive wheels, three identical sets of connecting parts I and II around the drive wheels, and a folding control device. The folding control device comprises a servo motor mounting component, a dual-axis servo motor, and a rotating component. Each drive wheel consists of a geared motor as its central body, a motor tail cover, an outer rotating wheel, a motor housing, a coupling, a bearing mounting component, a bearing, and a rotating housing. The two rotating housings have identical external dimensions.

[0008] The lower drive gear train and the upper drive gear train have the same external dimensions.

[0009] The first branch chain consists of two driven wheels with identical structural dimensions, a bus-driven dual-axis servo motor, an upper branch chain rod, and a lower branch chain rod. The upper branch chain rod consists of two upper outer connecting rods with identical structural dimensions, an inner servo motor connecting rod, an outer servo motor connecting rod, an upper short connecting piece, and four upper long connecting pieces with identical structural dimensions. The lower branch chain rod consists of two lower outer connecting rods with identical structural dimensions, two lower inner connecting rods with identical structural dimensions, two inner connecting pieces with identical structural dimensions, a lower short connecting piece, and four lower long connecting pieces with identical structural dimensions.

[0010] The second branch has the same structural dimensions as the first branch.

[0011] The third branch has the same structural dimensions as the first branch.

[0012] The fourth branch has the same structural dimensions as the first branch.

[0013] The connection method of the parts that make up the robot:

[0014] In the robot's upper active wheel system, connectors I and II are fitted with a clearance pin. Connector I has a pre-drilled center hole on one side that fits with the motor tail cover (1-1-1) with a clearance fit, and is then connected by a through screw. Connector II has a pre-drilled center hole on the other side that fits with the two rotating housings with a clearance fit, and is then connected by a through screw. The servo motor mounting component is screwed to the upper and lower sides of the dual-axis servo motor, and its other side has a pre-drilled center hole that fits with the motor tail cover with a clearance fit, and is then connected by a through screw. The upper part of one side of the rotating component is connected to the active shaft of the dual-axis servo motor via flange screws, and the lower part is directly screwed to the driven shaft of the dual-axis servo motor for limit positioning. Meanwhile, the other side of the rotating component has a pre-drilled center hole that fits with the two rotating housings with a clearance fit, and is then connected by screws. The geared motor in the drive wheel, as the central body, passes through the motor housing and is connected to the front of the motor housing through the front screw hole. The motor tail cover is connected to the motor housing through a slot and then through orthogonal screws. The geared motor rotor and the coupling are interference-fitted and orthogonally connected to the geared motor rotor through screws on the side of the coupling. The motor tail cover, motor housing, geared motor, and coupling are integrated and pass through from the rear of the outer rotating wheel. At the same time, the front shaft of the coupling is interference-fitted with the pre-drilled center hole on the front surface of the outer rotating wheel and is connected through four screw holes. The coupling is coaxially connected to the bearing fixing component and is fixed in the middle by screws. The bearing is coaxially connected to the two rotating housings, and the two rotating housings are connected through pre-drilled screw holes.

[0015] The robot's first branch chain's upper and lower branch chains achieve angle folding changes through connection to the servo motor body and shaft of the bus dual-axis servo motor. In the upper branch chain, the servo motor's inner and outer connecting rods are fixedly connected to the servo motor body below the upper short connecting piece with screws; the two upper outer connecting rods are connected to the servo motor's inner and outer connecting rods by four upper long connecting pieces with screws. In the lower branch chain, the two lower inner connecting rods are connected to the lower outer connecting rods by screws through four lower long connecting pieces; the two lower inner connecting rods are fixedly connected to the upper servo motor shaft by screws through a lower short connecting piece; the two inner connecting pieces are connected to the lower inner connecting rods by screws; the two driven wheels are connected through coaxial screws in the reserved spaces between the two inner connecting pieces and the two lower outer connecting rods.

[0016] The two outer connecting rods of the upper and lower branches of the first branch are equidistant. In the upper drive gear train, the distance between connector II and the two rotating housings is equal to the distance between connector I and the motor tail cover, and also equal to the thickness of the upper and lower outer connecting rods. The circular design at the ends of the two outer rods allows for coaxial connection with both sides of the drive wheel, fixing them within the space reserved between the drive wheel and the connector. The upper and lower drive gear trains are connected to the branches in the same way, but the folding control devices for the upper and lower drive gear trains are located on opposite sides.

[0017] The multi-mode motion robot based on the Sarrus derivative mechanism and the combination of an octahedron is characterized by adding a degree of freedom to the single-degree-of-freedom Sarrus mechanism, thereby enabling more modes of motion.

[0018] The multi-mode motion robot based on the Sarrus derivative mechanism and the combination of an octahedron is characterized by the following: by adding a degree of freedom on the active wheel system plane, the octahedron structure can be unfolded and folded in a higher dimension, thus transforming the probabilistic rolling motion of the traditional Sarrus single-degree-of-freedom mechanism into a deterministic rolling motion that is controllable by humans.

[0019] The aforementioned multi-mode motion robot based on the Sarrus derivative mechanism and the combination of an octahedron has a base shell design that does not retain the active wheel system, which allows the robot to directly contact the ground through the active wheels, thereby achieving wheeled steering and omnidirectional movement.

[0020] The beneficial effects of this invention: The multi-mode motion robot based on a Sarrus derivative mechanism combined with an octahedron, as described in this invention, drives the rotation of the active wheel by controlling the rotation of the geared motor. By controlling the dual-axis servo motors of the active wheel system and branches, the octahedron structure can be folded in two dimensions. This enables the robot to have an overall rolling mode, a wheeled movement mode, and a hybrid motion mode. This mechanism design adds one degree of freedom to the traditional Sarrus mechanism and treats the active wheel system as a baseless shell, enhancing the original overall rolling mode, wheeled movement mode, and hybrid motion mode, giving it stronger mobility. It has broad application prospects in fields such as space exploration, outdoor environmental reconnaissance, and disaster relief. Attached Figure Description

[0021] Figure 1 Multimodal motion robot based on Sarrus derivative mechanism and octahedron combination

[0022] Figure 2 First branch structure diagram

[0023] Figure 3 First chain link

[0024] Figure 4 First branch lower branch rod

[0025] Figure 5 Active gear train structure diagram

[0026] Figure 6 Exploded view of drive wheel assembly

[0027] Figure 7 A multi-mode motion robot based on Sarrus derivative mechanism and octahedral combination with dual-wheel drive movement mode

[0028] Figure 8 A multi-mode motion robot based on a Sarrus derivative mechanism and an octahedron exhibits a deterministic forward rolling motion mode supported by a single active wheel.

[0029] Figure 9 A multi-mode motion robot based on a Sarrus derivative mechanism and an octahedron exhibits a deterministic lateral rolling motion mode supported by a single active wheel.

[0030] Figure 10 A multi-mode motion robot based on a Sarrus derivative mechanism and an octahedron exhibits a deterministic lateral rolling motion mode supported by dual active wheels.

[0031] Figure 11 A multi-modal motion robot based on Sarrus derivative mechanism and octahedral combination, featuring wheeled omnidirectional movement.

[0032] Figure 12 Multi-mode motion robot peristaltic mode based on Sarrus derivative mechanism and octahedron combination

[0033] Figure 13 A multi-mode motion robot based on Sarrus derivative mechanism and octahedral combination with single-wheel movement mode Detailed Implementation

[0034] The present invention will now be described in further detail with reference to the accompanying drawings.

[0035] like Figure 1 As shown, the multi-mode motion robot based on the Sarrus derivative mechanism and the combination of octahedron includes an upper active wheel system (1) and a lower active wheel system (6); the side branches include a first branch (2), a second branch (3), a third branch (4), and a fourth branch (5);

[0036] The structural components that make up a robot:

[0037] like Figure 2 As shown, the first branch (2) consists of two driven wheels (2-3) with identical structural dimensions, a bus dual-axis servo motor (2-4), an upper branch rod (2-1) of the first branch, and a lower branch rod (2-2) of the first branch. The other three branches have the same structural dimensions as the first branch (2).

[0038] like Figure 3 As shown, the first branch link (2-1) consists of two upper outer connecting rods (2-1-1) with identical structural dimensions, an inner connecting rod of the servo motor (2-1-2), an outer connecting rod of the servo motor (2-1-5), an upper short connecting piece (2-1-4), and four upper long connecting pieces (2-1-3) with identical structural dimensions.

[0039] like Figure 4 As shown, the first branch lower branch rod (2-2) consists of two lower outer connecting rods (2-2-1) with identical structural dimensions, two lower inner connecting rods (2-2-2) with identical structural dimensions, two inner connecting parts (2-2-3) with identical structural dimensions, a lower short connecting part (2-2-5), and four lower long connecting parts (2-2-4) with identical structural dimensions.

[0040] like Figure 5 As shown, the upper drive gear train (1) consists of four drive wheels (1-1), three identical sets of connecting parts I (1-5) and connecting parts II (1-6) around the drive wheels, and a set of folding control devices. The folding control devices consist of a servo fixing part (1-2), a bus dual-axis servo (1-4), and a rotating part (1-3). The lower drive gear train (6) has the same structural dimensions as the upper drive gear train (1).

[0041] like Figure 6 As shown, the drive wheel (1-1) consists of a geared motor (1-1-4) as the central body, a motor tail cover (1-1-1), an outer rotating wheel (1-1-2), a motor housing (1-1-3), a coupling (1-1-5), a bearing fixing part (1-1-6), a bearing (1-1-7), and a rotating housing (1-1-8). The two rotating housings (1-1-8) have the same external dimensions.

[0042] The connection method of the parts that make up the robot:

[0043] like Figure 1 As shown, the upper and lower sections of the first branch (2) are partially connected to the reserved portions of the upper drive gear train (1) and the lower drive gear train (6), respectively. The connection methods of the second branch (3), the third branch (4), and the fourth branch (5) are exactly the same as those of the first branch (2). The positions of the bus dual-axis servo motors of the drive gear train (1) and the lower drive gear train (6) are diagonally distributed.

[0044] like Figure 2 As shown, the upper branch rod (2-1) and lower branch rod (2-2) of the first branch (2) are connected to the servo body and shaft of the bus dual-axis servo motor (2-4) to achieve folding changes in angle. The two driven wheels (2-3) are fixed by being connected to the reserved position of the lower branch rod (2-2) of the first branch.

[0045] like Figure 3As shown, in the first branch link (2-1), the inner servo link (2-1-2) and the outer servo link (2-1-5) are fixedly connected to the servo body below the upper short connector (2-1-4) by screws; the two upper outer links (2-1-1) are connected to the inner servo link (2-1-2) and the outer servo link (2-1-5) by screws through four upper long connectors (2-1-3).

[0046] like Figure 4 As shown, in the first branch lower branch rod (2-2), the two lower inner connecting rods (2-2-2) are connected to the lower outer connecting rod (2-2-1) by screws through four lower long connecting pieces (2-2-4); the two lower inner connecting rods (2-2-2) are fixedly connected to the upper servo shaft by screws through the lower short connecting piece (2-2-5); the two inner connecting pieces (2-2-3) are connected to the lower inner connecting rod (2-2-2) by screws;

[0047] like Figure 5 , Figure 6As shown, in the upper drive gear train (1), connector I (1-5) and connector II (1-6) are fitted with the pin shaft with clearance; the other side of connector I (1-5) has a reserved center hole that fits with the motor tail cover (1-1-1) with clearance and is then connected by screws; the other side of connector II (1-6) has a reserved center hole that fits with the two rotating housings (1-1-8) with clearance and is then connected by screws; the servo mounting part (1-2) is screwed to all the screw holes on the upper and lower sides of the bus dual-axis servo (1-4), and the other side has a reserved center hole that fits with the motor tail cover (1-1-1) with clearance and is then connected by screws; the upper part of one side of the rotating part (1-3) is connected to the drive shaft of the bus dual-axis servo (1-4) by flange screws, and the lower part is directly screwed to the driven shaft of the bus dual-axis servo (1-4) for limit positioning, and the other side of the rotating part (1-3) has a reserved center hole that fits with the two rotating housings (1-1-8) with clearance and is then connected by screws. 1-8) After clearance fit, screws are used for through connection; the geared motor (1-1-4) in the drive wheel (1-1) is inserted into the motor housing (1-1-3) as the central body and connected to the front of the motor housing (1-1-3) through the front screw hole; the motor tail cover (1-1-1) and the motor housing (1-1-3) are connected by a slot and then connected by orthogonal screws; the rotor of the geared motor (1-1-4) and the coupling (1-1-5) are interference fit and orthogonally connected to the rotor of the geared motor through the side screw of the coupling (1-1-5); the motor tail cover (1-1-1), the motor housing (1-1-3), the geared motor (1-1-4), and the coupling (1-1-5) are inserted into the outer rotating wheel (1-1-2) as a whole, and the front shaft of the coupling (1-1-5) is interference fit with the center hole reserved on the front surface of the outer rotating wheel (1-1-2) and connected through four screw holes. The coupling (1-1-5) is coaxially connected to the bearing fixing part (1-1-6) and passes through it with screws, fixing the bearing (1-1-7) in the middle of the two; the bearing (1-1-7) is coaxially connected to the two rotating housings (1-1-8), and the two rotating housings (1-1-8) are connected at the same time through the reserved screw holes.

[0048] Specific usage instructions:

[0049] like Figure 7 As shown, this is the dual-wheel movement mode of a multi-mode motion robot based on a Sarrus-derived mechanism and an octahedron. The dual-axis servo motors of the active wheel system control adjacent active wheels to be orthogonal to each other. The dual-axis servo motors of the four branches control the upper and lower branch links to be collinear. At this time, the two active wheels and the middle driven wheel simultaneously contact the ground. The two active wheels control the robot's forward and backward movement by controlling their forward and reverse rotation, thus achieving the wheeled mode.

[0050] like Figure 8As shown, this is a deterministic rolling forward mode supported by a single active wheel of a multi-mode motion robot based on a Sarrus-derived mechanism and an octahedron. Figure 8 Under the conditions shown in diagram a, one chain touches the ground, forming a rectangular support area. The robot's center of mass is above this rectangular support area, maintaining a stable state. As the chain opens, controlled by a dual-axis servo motor, the center of mass gradually moves to the right. Upon reaching a certain position, the dual-axis servo motor stops. At this point, the center of mass possesses a certain velocity and inertia, causing the robot to tilt and roll to the right. Figure 8 As shown in b.

[0051] like Figure 9 As shown, this is the deterministic lateral rolling motion mode of a multi-mode motion robot based on a Sarrus-derived mechanism and an octahedron. Figure 9 The conditions shown in a are Figure 8 Under the same conditions as shown in diagram a, one chain touches the ground, forming a rectangular support area. The robot's center of mass is above this rectangular support area, maintaining a stable state. The process is as follows: Figure 9 As shown in b, the dual-axis servo motors of the active wheel system control the angular changes between the active wheels to shift the center of mass. Upon reaching a certain position, due to the large mass of the active wheels, the robot can achieve a lateral roll, thus achieving... Figure 9 The state shown in c; the direction and degree of tumbling during this process can be determined by the rotation angle, direction and magnitude, speed, etc. of the bus dual-axis servo motor.

[0052] As shown in Figure 10, this is a deterministic lateral rolling motion mode supported by dual active wheels for a multi-mode motion robot based on a Sarrus-derived mechanism and an octahedron. In this mode, the bus dual-axis servo motors of the four branches control the upper and lower branch links to be collinear. Figure 10 As shown in b, the dual-axis servo motors of the drive gear train control the relative angle changes of the drive wheels to achieve a shift in the center of gravity, thereby achieving a roll to one side. Figure 10 As shown in state c, this process can be carried out quickly and continuously to achieve continuous lateral tumbling.

[0053] like Figure 11 As shown, this is the wheeled omnidirectional movement mode of a multi-mode motion robot based on a Sarrus derivative mechanism combined with an octahedron. By continuously increasing the folding angle of the control chain, the center of mass is gradually moved closer to the parallelogram where the active wheel system is located. After the folding reaches a certain degree, since the mass is mainly concentrated on the active wheel systems on both sides, the plane of the active wheel system on one side tilts and reaches a state parallel to the ground, as shown. Figure 11As shown. In this mode, all four drive wheels of the drive wheel system are fully on the ground. The current folding angle of the support chain keeps the robot's overall height low to ensure stability and prevent tipping during subsequent movements. Once a stable equilibrium is achieved, the robot can be controlled to move arbitrarily in two orthogonal directions by controlling the forward and reverse rotation or stationary position of the two sets of mutually orthogonal reduction motors, thus achieving omnidirectional movement.

[0054] like Figure 12 As shown, this illustrates the creeping mode of a multi-mode motion robot based on a Sarrus-derived mechanism combined with an octahedron. When the robot's body deforms to a singular position, the dual-axis servo motor on the side branch touching the ground activates, folding the ground-touching branch inward, thus entering creeping mode. When the ground-touching branch and its opposite branch reach their maximum folding angle, as shown... Figure 12 As shown in b. At this time, the rear ground-contact drive wheel remains locked, the front ground-contact drive wheel continues to rotate clockwise, and the degree of chain folding decreases, achieving the desired effect. Figure 12 At position c, the front ground-contact drive wheel remains locked, while the rear ground-contact drive wheel rotates clockwise. The dual-axis servo motors on the bus cooperate in rotating, increasing the degree of chain folding, achieving... Figure 12 Figure d shows the end of one creeping cycle. During creeping motion, the direction and speed of the dual-axis servo motors on the branch line should be coupled with the direction and speed of the drive wheel. Derivation has shown that in a sandy environment, the traction force on the robot in creeping mode is greater than the traction force obtained from the rotation of the drive wheel, thus overcoming the deficiency of insufficient friction due to the fluidity of sand. Therefore, creeping motion mode is more suitable for movement in sandy conditions.

[0055] like Figure 13 As shown, this is the single-wheel movement mode of a multi-mode motion robot based on a Sarrus-derived mechanism combined with an octahedron. In this mode, the driving and driven wheels of one side of the chain contact the ground, forming a rectangular support area. The dual-axis servo motors of the chain ensure that the chain folds at approximately 90 degrees and locks, ensuring that the center of gravity is basically located above the center of the rectangular support area, thus ensuring the stability of the robot's movement. After reaching a stable state, the driving wheel in contact with the ground controls the robot's forward and backward movement by controlling its forward and reverse rotation, while the driven wheel rotates in coordination with the driving wheel to provide stability.

Claims

1. A multimodal motion robot based on a Sarrus-derived mechanism combined with an octahedron, characterized in that: An additional degree of freedom is added to the single-degree-of-freedom Sarrus mechanism to enable multi-mode motion; including: a drive gear train and four sets of side chains; the drive gear train includes an upper drive gear train (1) and a lower drive gear train (6); the side chains include a first chain (2), a second chain (3), a third chain (4), and a fourth chain (5). The structural components of a robot: The upper drive wheel system (1) consists of four drive wheels (1-1), three sets of identical connecting parts I (1-5), connecting parts II (1-6) around the drive wheels, and a set of folding control devices; wherein the folding control devices consist of a servo motor fixing part (1-2), a bus dual-axis servo motor I (1-4), and a rotating part (1-3); the drive wheel (1-1) consists of a geared motor (1-1-4) as the central body, a motor tail cover (1-1-1), an outer rotating wheel (1-1-2), a motor housing (1-1-3), a coupling (1-1-5), a bearing fixing part (1-1-6), a bearing (1-1-7), and a rotating housing (1-1-8), wherein the two rotating housings (1-1-8) have the same structural dimensions; The lower drive gear train (6) and the upper drive gear train (1) have the same structural dimensions; The first branch (2) consists of two driven wheels (2-3) with identical structural dimensions, a bus dual-axis servo motor (2-4), an upper branch rod (2-1) of the first branch, and a lower branch rod (2-2) of the first branch; the upper branch rod (2-1) of the first branch consists of two upper outer connecting rods (2-1-1) with identical structural dimensions, an inner connecting rod (2-1-2) of the servo motor, an outer connecting rod (2-1-5) of the servo motor, an upper short connecting piece (2-1-4), and four upper long connecting pieces (2-1-3) with identical structural dimensions; the lower branch rod (2-2) of the first branch consists of two lower outer connecting rods (2-2-1) with identical structural dimensions, two lower inner connecting rods (2-2-2) with identical structural dimensions, two inner connecting pieces (2-2-3) with identical structural dimensions, a lower short connecting piece (2-2-5), and four lower long connecting pieces (2-2-4) with identical structural dimensions; The second branch (3) has the same structural dimensions as the first branch (2); The third branch (4) has the same structural dimensions as the first branch (2); The fourth branch (5) has the same structural dimensions as the first branch (2); The connection method of the parts that make up the robot: In the upper active wheel system (1) of the robot, connectors I (1-5) and II (1-6) are fitted with a pin with clearance; the other side of connector I (1-5) has a reserved center hole that fits with the motor tail cover (1-1-1) with clearance and is then connected by a screw; the other side of connector II (1-6) has a reserved center hole that fits with the two rotating housings (1-1-8) with clearance and is then connected by a screw; the servo motor fixing part (1-2) is connected to all the screw holes on the upper and lower sides of the bus dual-axis servo motor (1-4) with screws, while the other side has a reserved center hole that fits with the motor tail cover (1-1-1) with clearance and is then connected by a screw. After a clearance fit between the center hole and the motor tail cover (1-1-1), a through screw is used for connection; the upper part of one side of the rotating part (1-3) is connected to the drive shaft of the bus dual-axis servo motor (1-4) via flange screws, and the lower part is directly screwed to the driven shaft of the bus dual-axis servo motor (1-4) for limit positioning. At the same time, the center hole reserved on the other side of the rotating part (1-3) is used to connect with the two rotating housings (1-1-8) via a through screw after a clearance fit; the geared motor (1-1-4) in the drive wheel (1-1) is inserted into the motor body as the central body. The housing (1-1-3) is connected to the front of the motor housing (1-1-3) via front screw holes; the motor tail cover (1-1-1) is connected to the motor housing (1-1-3) via a slot and then through a through screw; the rotor of the geared motor (1-1-4) and the coupling (1-1-5) are interference-fitted and orthogonally connected to the motor rotor via side screws on the coupling (1-1-5); the motor tail cover (1-1-1), motor housing (1-1-3), geared motor (1-1-4), and coupling (1-1-5) are connected. The coupling (1-1-5) is inserted from the rear of the outer rotating wheel (1-1-2) as a whole. At the same time, the front shaft of the coupling (1-1-5) is interference-fitted with the center hole reserved on the front surface of the outer rotating wheel (1-1-2) and connected through four screw holes. The coupling (1-1-5) is coaxially connected with the bearing fixing part (1-1-6) and is fixed in the middle of the two by screws. The bearing (1-1-7) is coaxially connected with the two rotating housings (1-1-8), and the two rotating housings (1-1-8) are connected through the reserved screw holes. The first branch (2) of the robot's first branch, the upper branch rod (2-1) and the lower branch rod (2-2) of the first branch, achieve folding changes in angle by connecting with the servo body and rotating shaft of the bus dual-axis servo motor 2 (2-4); the inner connecting rod (2-1-2) and the outer connecting rod (2-1-5) of the servo motor in the upper branch rod (2-1) of the first branch are fixedly connected to the servo body below the upper short connecting piece (2-1-4) by screws; the two upper outer connecting rods (2-1-1) are connected to the inner connecting rod (2-1-2) and the outer connecting rod (2-1-5) of the servo motor by four upper long connecting pieces (2-1-3) and screws. Connect the two lower inner connecting rods (2-2-2) of the first branch chain (2-2) to the lower outer connecting rod (2-2-1) via four lower long connecting pieces (2-2-4) and screws; the two lower inner connecting rods (2-2-2) are fixedly connected to the upper servo shaft via a lower short connecting piece (2-2-5) and screws; the two inner connecting pieces (2-2-3) are connected to the lower inner connecting rod (2-2-2) via screws; the two driven wheels (2-3) are coaxially connected via screws through the reserved space between the two inner connecting pieces (2-2-3) and the two lower outer connecting rods (2-2-1); The first branch (2) has two outer connecting rods of the upper and lower branches at equal distances. After the connecting part II (1-6) in the upper drive wheel system (1) is connected to the two rotating shells (1-1-8), the reserved distance is equal to the reserved distance after the connecting part I (1-5) is connected to the motor tail cover (1-1-1), and is also equal to the thickness of the upper outer connecting rod (2-1-1) and the lower outer connecting rod (2-2-1). The circular design at the ends of the two outer rods is coaxially connected to both sides of the drive wheel (1-1) and fixed within the reserved space between the drive wheel (1-1) and the connecting part. The upper and lower drive wheel systems are connected to the branch in the same way, but the folding control devices of the upper and lower drive wheel systems are distributed at diagonal positions.

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