Three-degree-of-freedom spiral motion robot mechanism based on Resch triangular inlay

Abstract

A three-degree-of-freedom spiral motion robot mechanism based on Resh triangular inlaying is composed of a lower platform (1), a first rod piece (2), a first ball pair (3), a second rod piece (4), a first connecting piece (5), an upper platform (6), a second connecting piece (7), a fourth rod piece (8), a second ball pair (9), a third connecting piece (10), a sixth rod piece (11), a third ball pair (12), a third rod piece (13) and a fifth rod piece (14). Spiral motion can be achieved by controlling three different drives, multi-degree-of-freedom motion and autonomous controllable hovering can be achieved in space, and the robot can be well applied to the fields of industry, military affairs, education, entertainment and the like.

Description

Technical Field

[0001] The present invention relates to parallel robot mechanism technology, and in particular to a three-degree-of-freedom spiral motion robot mechanism based on Resch triangle mosaic, which realizes parallel motion and spiral motion of upper and lower platforms, free motion in three-dimensional space, and autonomous and controllable hovering through the deformation of its own structure. Background Art

[0002] Parallel robots have a stable structure, high rigidity, can carry large loads without deformation, have better operational accuracy and repeatability, require a smaller workspace, and are suitable for operation in space-constrained environments. Their multi-free design allows them to move flexibly in space. These advantages have made parallel robots a research hotspot in fields such as industrial automation, medical equipment, and aerospace.

[0003] The unique parametric design and layout of the three-degree-of-freedom mechanism based on the Resch triangle mosaic determine its exceptional motion capabilities. The parallel connection of the three chains provides high rigidity, thereby enhancing its load-bearing capacity. Furthermore, it possesses excellent deformation capabilities, enabling multi-degree-of-freedom motion and autonomous, controllable hovering in three-dimensional space. This promises promising applications in industry, military, education, entertainment, and other fields. Summary of the Invention

[0004] The technical problems to be solved by this invention are: Current serial robots have poor load-bearing capacity and difficulty ensuring motion accuracy, while parallel robots have a single motion mode and often require multiple servos to achieve complex motion, resulting in structural and performance waste. This application provides a three-degree-of-freedom helical motion robot mechanism based on Resch triangle tessellations. By analyzing the mechanism's kinematic characteristics and mechanics, the application aims to achieve stability and accuracy in the mechanism's motion.

[0005] A three-degree-of-freedom spiral motion robot mechanism based on Resch triangle mosaic, characterized in that: the three-degree-of-freedom spiral motion robot mechanism based on Resch triangle mosaic comprises a lower platform, a first rod, a first ball pair, a second rod, a first connecting member, an upper platform, a second connecting member, a fourth rod, a second ball pair, a third connecting member, a sixth rod, a third ball pair, a third rod, and a fifth rod;

[0006] The lower platform (1) is a robot base, which is fixedly connected to the first steering gear (1-8) through the first steering gear bracket (1-9), fixedly connected to the second steering gear (1-3) through the second steering gear bracket (1-1), fixedly connected to the third steering gear (1-3) through the third steering gear bracket (1-1), rotatably connected to the connecting end 1 (2-1) of the first rod (2) through the first steering disc (1-7), rotatably connected to the connecting end 1 (13-1) of the third rod (13) through the second steering disc (1-4), and rotatably connected to the connecting end 1 (14-1) of the fifth rod (14) through the third steering disc (1-1);

[0007] The first rod (2) is an irregularly shaped connecting rod having a first connecting end (2-1) and a second connecting end (2-2); a bolt hole is provided at the first connecting end (2-1) to form a rotational connection with the first steering plate (1-7) of the lower platform (1); and a bolt hole is provided at the second connecting end (2-2) to form a fixed connection with the bolt hole (3-2) of the first ball pair (3);

[0008] The first ball pair (3) is an irregularly shaped rod having a first connecting end (3-1) and a second connecting end (3-2). The first connecting end (3-1) is provided with a thread for forming a fixed connection with a thread (4-1) of the second rod (4), and the second connecting end (3-2) is provided with a bolt hole for forming a fixed connection with a bolt hole (2-2) of the first rod (2).

[0009] The second rod (4) is an irregularly shaped connecting rod having a first connecting end (4-1) and a second connecting end (4-2). A thread is provided at the first connecting end (4-1) to form a fixed connection with the first connecting end (3-1) of the first ball pair (3). A rotating joint is provided at the second connecting end (4-2) to form a rotating hinge with the rotating joint (5-2) of the first connecting member (5) through an axis.

[0010] The first connecting member (5) has a first connecting end (5-1) and a second connecting end (5-2); a bolt hole is provided at the first connecting end (5-1) to form a fixed connection with the first connecting end (6-1) of the upper platform (6) through a bolt; and a rotating joint is provided at the second connecting end (5-2) to form a rotating hinge with the second connecting end (4-2) of the second rod (4) through an axis;

[0011] The upper platform (6) has a connection end 1 (6-1), a through hole (6-2), a connection end 2 (6-3), and a connection end 3 (6-4). A bolt hole is provided at the connection end 1 (6-1) to form a fixed connection with the connection end 1 (5-1) of the first connecting member (5), a bolt hole is provided at the connection end 2 (6-3) to form a fixed connection with the connection end 1 (7-1) of the second connecting member (7), and a bolt hole is provided at the connection end 3 (6-4) to form a fixed connection with the connection end 1 (10-1) of the third connecting member (10).

[0012] The second connecting member (7) has a connecting end 1 (7-1) and a connecting end 2 (7-2). A bolt hole is provided at the connecting end 1 (7-1) to form a fixed connection with the connecting end 1 (6-2) of the upper platform (6) through a bolt. A rotating joint is provided at the connecting end 2 (7-2) to form a rotating hinge with the connecting end 2 (8-2) of the fourth rod (8) through an axis.

[0013] The fourth rod (8) is an irregularly shaped connecting rod having a first connecting end (8-1) and a second connecting end (8-2). A thread is provided at the first connecting end (8-1) to form a fixed connection with the first connecting end (9-1) of the second ball pair (9). A rotating joint is provided at the second connecting end (8-2) to form a rotating hinge with the rotating joint (7-2) of the second connecting member (7) through an axis.

[0014] The second ball pair (9) is an irregularly shaped rod having a first connecting end (9-1) and a second connecting end (9-2). A thread is provided at the first connecting end (9-1) to form a fixed connection with a thread (8-1) of the fourth rod (8), and a bolt hole is provided at the second connecting end (9-2) to form a fixed connection with a bolt hole (13-2) of the third rod (13).

[0015] The third connecting member (10) has a first connecting end (10-1) and a second connecting end (10-2). A bolt hole is provided at the first connecting end (10-1) to form a fixed connection with the third connecting end (6-3) of the upper platform (6) through a bolt. A rotating joint is provided at the second connecting end (10-2) to form a rotating hinge with the second connecting end (11-2) of the sixth rod (11) through an axis.

[0016] The sixth rod (11) is an irregularly shaped connecting rod having a first connecting end (11-1) and a second connecting end (11-2). A thread is provided at the first connecting end (11-1) to form a fixed connection with the first connecting end (12-1) of the third ball pair (12). A rotation joint is provided at the second connecting end (11-2) to form a rotational hinge with the rotation joint (10-2) of the third connecting member (10) through an axis.

[0017] The third ball pair (12) is an irregularly shaped rod having a first connecting end (12-1) and a second connecting end (12-2). A thread is provided at the first connecting end (12-1) to form a fixed connection with a thread (11-1) of the sixth rod (11), and a bolt hole is provided at the second connecting end (12-2) to form a fixed connection with a bolt hole (14-2) of the fifth rod (14).

[0018] The third rod (13) is an irregularly shaped connecting rod having a first connecting end (13-1) and a second connecting end (13-2). A bolt hole is provided at the first connecting end (13-1) to form a fixed connection with the second steering plate (1-4) of the lower platform (1), and a bolt hole is provided at the second connecting end (13-2) to form a fixed connection with the bolt hole (9-2) of the second ball pair (9).

[0019] The fifth rod (14) is an irregularly shaped connecting rod having a first connecting end (14-1) and a second connecting end (14-2). A bolt hole is provided at the first connecting end (14-1) to form a fixed connection with the third steering plate (1-1) of the lower platform (1), and a bolt hole is provided at the second connecting end (14-2) to form a fixed connection with the bolt hole (12-2) of the third ball pair (12).

[0020] The second connecting member (7) has the same structure and external dimensions as the first connecting member (5);

[0021] The fourth rod (8) has the same structure and external dimensions as the second rod (4);

[0022] The second ball pair (9) has the same structure and dimensions as the first ball pair (3);

[0023] The third connecting member (10) has the same structure and external dimensions as the first connecting member (5);

[0024] The sixth rod (11) has the same structure and external dimensions as the second rod (4);

[0025] The third ball pair (12) has the same structure and dimensions as the first ball pair (3);

[0026] The third rod (13) has the same structure and dimensions as the first rod (2);

[0027] The fifth rod (14) has the same structure and dimensions as the first rod (2);

[0028] The lower platform is fixedly connected to the first steering gear bracket by bolts, the first steering gear is rotatably connected to the first rod member through the first steering wheel, the first rod member is fixedly connected to the first rod member mounting hole of the first ball member by bolts through the first ball pair mounting hole, the first ball pair is fixedly connected to the first ball pair mounting hole of the second rod member by threads through the second rod member mounting hole, the second rod member is connected to the second rod member mounting hole of the first connecting member by a rotating pair through the first connecting member mounting hole, the first connecting member is fixedly connected to the first connecting member mounting hole of the upper platform by bolts through the upper platform mounting hole, the upper platform is fixedly connected to the upper platform mounting hole of the second connecting member by bolts through the second connecting member mounting hole, the second connecting member is connected to the second connecting member mounting hole of the fourth rod member by a rotating pair through the fourth rod member mounting hole, and the fourth rod member is connected to the fourth rod member of the second ball pair mounting hole through the second ball pair mounting hole. The mounting hole of the third rod is fixedly connected by a thread, the second ball pair is fixedly connected to the second ball pair mounting hole of the third rod through the third rod mounting hole by a bolt, the third rod is rotatably connected to the second steering gear through the second steering wheel, the second steering gear is fixedly connected to the lower platform through the second steering gear bracket, the lower platform is fixedly connected to the third steering gear through the third steering gear bracket by a bolt, the third steering gear is rotatably connected to the fifth rod through the third steering wheel, the fifth rod is fixedly connected to the fifth rod mounting hole of the third ball pair through the third ball pair mounting hole by a bolt, the third ball pair is fixedly connected to the third ball pair mounting hole of the sixth rod through the sixth rod mounting hole by a thread, the sixth rod is connected to the sixth rod mounting hole of the third connecting member through the third connecting member mounting hole by a rotating pair, and the third connecting member is fixedly connected to the third connecting member mounting hole of the upper platform through the upper platform mounting hole by a bolt.

[0029] By controlling the rotation direction and speed of the driving servo, the spiral motion of the robot platform can be achieved, which can realize multiple degrees of freedom movement and autonomous and controllable hovering in space, and can be expanded to serve as a modular unit to form a robotic arm.

[0030] The beneficial effects of the present invention are as follows: The three-degree-of-freedom spiral motion robot based on Resch triangle tessellations has a simple structure and is easy to manufacture and process. In the civilian field, it provides elementary and middle school students with an opportunity to learn about parallel robots and can be used to make toys and teaching aids. In the industrial field, it can also be further designed and transformed into an industrial robot arm to achieve unmanned factory operations. In the military field, it can also be further designed and transformed into a detection robot fuselage, and through structural deformation, it can perform detection tasks in closed and confined spaces. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 The structure diagram of the three-degree-of-freedom spiral motion robot based on Resch triangle mosaic

[0032] Figure 2 Lower platform structure diagram

[0033] Figure 3 First rod structure diagram

[0034] Figure 4 First ball pair structure diagram

[0035] Figure 5 Structural diagram of the second rod

[0036] Figure 6 Structural diagram of the first connecting piece

[0037] Figure 7 Upper platform structure diagram

[0038] Figure 8 Structural diagram of the second connecting piece

[0039] Figure 9 Structural diagram of the fourth member

[0040] Figure 10 Second ball pair structure diagram

[0041] Figure 11 Structural diagram of the third connecting piece

[0042] Figure 12 Structural diagram of the sixth member

[0043] Figure 13 The third ball pair structure diagram

[0044] Figure 14 Structural diagram of the third member

[0045] Figure 15 Structural diagram of the fifth member

[0046] Figure 16 Diagram of spiral motion process of robot mechanism

[0047] Figure 16 (a) Initial state diagram of the robot's spiral motion

[0048] Figure 16 (b) Driving the servo and rotating the robot 30° forward simultaneously

[0049] Figure 16 (c) Driving the servo to rotate 60° forward simultaneously

[0050] Figure 16 (d) Driving the servo to rotate 90° forward simultaneously

[0051] Figure 16 (e) Driving the servo to rotate 120° forward simultaneously

[0052] Figure 17 Diagram of the robot mechanism's fixed-point motion and hovering process

[0053] Figure 17 (a) Initial state diagram of the robot mechanism

[0054] Figure 17 (b) The robot position diagram when the servo is driven to rotate 15°, 60°, and 15° respectively

[0055] Figure 17 (c) The robot position diagram when the servo is driven to rotate 30°, 60°, and 60° respectively

[0056] Figure 17 (d) The robot position diagram when the servo is driven to rotate 60°, 15°, and 15° respectively

[0057] Figure 17 (e) The robot position diagram when the servo is driven to rotate 60°, 30°, and 60° respectively

[0058] Figure 17 (f) The robot position diagram when the servo is driven to rotate 60°, 60°, and 30° respectively DETAILED DESCRIPTION

[0059] The present invention will be described in further detail below with reference to the accompanying drawings.

[0060] like Figure 1 As shown, a three-degree-of-freedom spiral motion robot mechanism based on Resch triangle mosaic comprises a lower platform (1), a first rod (2), a first ball pair (3), a second rod (4), a first connecting member (5), an upper platform (6), a second connecting member (7), a fourth rod (8), a second ball pair (9), a third connecting member (10), a sixth rod (11), a third ball pair (12), a third rod (13), and a fifth rod (14).

[0061] like Figure 2 As shown, the lower platform (1) comprises a second steering wheel (1-1), a second steering gear bracket (1-2), a second steering gear (1-3), a third steering wheel (1-4), a third steering gear (1-5), a third steering gear bracket (1-6), a first steering wheel (1-7), a first steering gear (1-8), a first steering gear bracket (1-9) and a wiring hole (1-10); the lower platform (1) is fixedly connected to the first steering gear (1-8) via the first steering gear bracket (1-9); the lower platform (1) is fixedly connected to the second steering gear (1-3) via the second steering gear bracket (1-1); the lower platform (1) is fixedly connected to the third steering gear (1-3); the lower platform (1) is rotationally connected to the first rod member via the first steering wheel (1-7); the lower platform (1) is rotationally connected to the third rod member via the second steering wheel (1-4); and the lower platform (1-1) is rotationally connected to the fifth rod member via the third steering wheel (1-1);

[0062] like Figure 3As shown, the first rod (2) is an irregularly shaped connecting rod having a first connecting end (2-1) and a second connecting end (2-2). A bolt hole is provided at the first connecting end (2-1) to form a rotational connection with the first steering plate (1-7) of the lower platform (1), and a bolt hole is provided at the second connecting end (2-2) to form a fixed connection with the bolt hole (3-2) of the first ball pair (3).

[0063] like Figure 4 As shown, the first ball pair (3) is an irregularly shaped rod having a first connecting end (3-1) and a second connecting end (3-2). A thread is provided at the first connecting end (3-1) to form a fixed connection with a thread (4-1) of the second rod (4), and a bolt hole is provided at the second connecting end (3-2) to form a fixed connection with a bolt hole (2-2) of the first rod (2).

[0064] like Figure 5 As shown, the second rod (4) is an irregularly shaped connecting rod having a first connecting end (4-1) and a second connecting end (4-2). A thread is provided at the first connecting end (4-1) to form a fixed connection with the first connecting end (3-1) of the first ball pair (3). A rotation joint is provided at the second connecting end (4-2) to form a rotational hinge with the rotation joint (5-2) of the first connecting member (5) through an axis.

[0065] like Figure 6 As shown, the first connecting member (5) has a connecting end 1 (5-1) and a connecting end 2 (5-2), a bolt hole is provided at the connecting end 1 (5-1) to form a fixed connection with the connecting end 1 (6-1) of the upper platform (6) through a bolt, and a rotating joint is provided at the connecting end 2 (5-2) to form a rotating hinge with the connecting end 2 (4-2) of the second rod (4) through an axis;

[0066] like Figure 7 As shown, the upper platform (6) has a connection end 1 (6-1), a through hole (6-2), a connection end 2 (6-3), and a connection end 3 (6-4); a bolt hole is provided at the connection end 1 (6-1) to form a fixed connection with the connection end 1 (5-1) of the first connecting member (5); a bolt hole is provided at the connection end 2 (6-3) to form a fixed connection with the connection end 1 (7-1) of the second connecting member (7); and a bolt hole is provided at the connection end 3 (6-4) to form a fixed connection with the connection end 1 (10-1) of the third connecting member (10);

[0067] like Figure 8 As shown, the second connecting member (7) has the same structure and external dimensions as the first connecting member (5);

[0068] like Figure 9 As shown, the fourth rod (8) has the same structure and external dimensions as the second rod (4);

[0069] like Figure 10As shown, the second ball pair (9) has the same structure and dimensions as the first ball pair (3);

[0070] like Figure 11 As shown, the third connecting member (10) has the same structure and external dimensions as the first connecting member (5);

[0071] like Figure 12 As shown, the sixth rod (11) has the same structure and external dimensions as the second rod (4);

[0072] like Figure 13 As shown, the third ball pair (12) has the same structure and dimensions as the first ball pair (3);

[0073] like Figure 14 As shown, the third rod (13) has the same structure and external dimensions as the first rod (2);

[0074] like Figure 15 As shown, the fifth rod (14) has the same structure and external dimensions as the first rod (2);

[0075] like Figure 1As shown, the lower platform (1) is fixedly connected to the first steering gear (1-8) through the first steering gear bracket (11-9) by bolts, the first steering gear (1-8) is rotatably connected to the first steering plate mounting hole (1-1) of the first rod (2) through the first steering plate (1-7), the first rod (2) is fixedly connected to the first rod mounting hole (3-2) of the first ball pair (3) through the first ball pair mounting hole (2-2) by bolts, the first ball pair (3) is fixedly connected to the first ball pair mounting hole (4-1) of the second rod (4) through the second rod mounting hole (3-1) by threads, and the second rod (4) is fixedly connected to the first connecting member mounting hole (4-2) through the first connecting member mounting hole (4-2). The second rod mounting hole (5-1) of the first connecting member (5) is connected via a rotation pair. The first connecting member (5) is fixedly connected to the first connecting member mounting hole (6-1) of the upper platform (6) via a bolt through the upper platform mounting hole (5-2). The upper platform (6) is fixedly connected to the upper platform mounting hole (7-2) of the second connecting member (7) via a bolt through the second connecting member mounting hole (6-3). The second connecting member (7) is connected to the second connecting member mounting hole (8-2) of the fourth rod (8) via a rotation pair via the fourth rod mounting hole (7-1). The fourth rod (8) is connected to the fourth rod mounting hole (8-1) of the second ball pair (9). The mounting hole (9-2) is fixedly connected by a thread, the second ball pair (9) is fixedly connected to the second ball pair (13-2) mounting hole of the third rod (13) by a bolt through the third rod mounting hole (9-1), the third rod (13) is rotationally connected to the second steering gear (1-5) through the second steering disc (1-4), the second steering gear (1-5) is fixedly connected to the lower platform (1) through the second steering gear bracket (1-6), the lower platform (1) is fixedly connected to the third steering gear (1-3) through the third steering gear bracket (1-2), the third steering gear (1-3) is rotationally connected to the fifth rod (14) through the third steering disc (1-1), and the third steering gear (1-3) is rotationally connected to the fifth rod (14) through the third steering disc (1-1). The fifth rod (14) is fixedly connected to the fifth rod mounting hole (12-2) of the third ball pair (12) through the third ball pair mounting hole (14-2) by means of bolts; the third ball pair (12) is fixedly connected to the third ball pair mounting hole (11-1) of the sixth rod (11) through the sixth rod mounting hole (12-1) by means of threads; the sixth rod (11) is connected to the sixth rod mounting hole (10-1) of the third connecting member (10) through the third connecting member mounting hole (11-2) by means of a rotation pair; and the third connecting member (10) is fixedly connected to the third connecting member mounting hole (6-4) of the upper platform (6) through the upper platform mounting hole (10-2) by means of bolts.

[0076] Specific usage:

[0077] The three-degree-of-freedom spiral motion robot mechanism based on Resch triangle mosaic can realize parallel motion and spiral motion of the upper and lower platforms. Figure 16 As shown, Figure 16 (a) is the initial state of the mechanism. The first servo (1-8), the second servo (1-5), and the third servo (1-3) on the lower platform are all locked. The lower platform (1) and the upper platform (6) are in a parallel state. At this time, the distance between the lower platform (1) and the upper platform (6) is the shortest. The first servo (1-8), the second servo (1-5), and the third servo (1-3) rotate forward at the same speed and reach the Figure 16 (b) and Figure 16 (c) Status, such as Figure 16 (c), at this time, the first rod (2), the third rod (13), the fifth rod (14), the first ball pair (3), the second ball pair (9), the third ball pair (12), the second rod (4), the fourth rod (8) and the sixth rod are all in a vertical state, the distance between the lower platform (1) and the upper platform (6) reaches the farthest, the first steering gear (1-8), the second steering gear (1-5) and the third steering gear (1-3) continue to rotate forward at the same speed, and reach Figure 16 (d) and Figure 16 (e) The distance between the lower platform (1) and the upper platform (6) gradually decreases, and the mechanism Figure 16 (a) Movement to Figure 16 During the process (e), the mechanism produces a spiral motion.

[0078] The three-degree-of-freedom spiral motion robot mechanism based on Resch triangle mosaic can realize free motion and autonomous and controllable hovering in three-dimensional space. Figure 17 As shown, Figure 17 (a) is the initial state of the mechanism, at which time the first rod (2), the third rod (13), the fifth rod (14), the first ball pair (3), the second ball pair (9), the third ball pair (12), the second rod (4), the fourth rod (8) and the sixth rod are all in a vertical state, the lower platform (1) is farthest from the upper platform (6), the first servo (1-8) and the second servo (1-5) on the lower platform rotate at the same speed, and the third servo (1-3) rotates at a higher speed, reaching Figure 17 (b) shows the state where the lower platform (1) and the upper platform (6) are no longer parallel and a certain angle is formed. When the first servo (1-8), the second servo (1-5) and the third servo (1-3) on the lower platform rotate at different speeds, the mechanism will produce different movements and reach different positions in space, such as Figure 17 As shown in (a)-(f), when the first servo (1-8), the second servo (1-5) and the third servo (1-3) are locked, the upper platform (6) can achieve hovering.

Claims

1. A three-degree-of-freedom spiral motion robot mechanism based on Resch triangle tessellation, characterized by: A three-degree-of-freedom spiral motion robot mechanism based on Resch triangle mosaic is a parallel mechanism, comprising a lower platform (1), a first rod (2), a first ball pair (3), a second rod (4), a first connecting member (5), an upper platform (6), a second connecting member (7), a fourth rod (8), a second ball pair (9), a third connecting member (10), a sixth rod (11), a third ball pair (12), a third rod (13), and a fifth rod (14); The lower platform (1) and the upper platform (6) are connected via three branch chains, wherein the first branch chain comprises a first rod (2), a first ball pair (3), a second rod (4), and a first connecting member (5); the second branch chain comprises a third rod (13), a second ball pair (9), a fourth rod (8), and a second connecting member (7); and the third branch chain comprises a fifth rod (14), a third ball pair (12), a sixth rod (11), and a third connecting member (10); The lower platform (1) is a robot base, which is fixedly connected to the first steering gear (1-8) through the first steering gear bracket (1-9), fixedly connected to the second steering gear (1-3) through the second steering gear bracket (1-1), fixedly connected to the third steering gear (1-3) through the third steering gear bracket (1-1), rotatably connected to the connecting end 1 (2-1) of the first rod (2) through the first steering disc (1-7), rotatably connected to the connecting end 1 (13-1) of the third rod (13) through the second steering disc (1-4), and rotatably connected to the connecting end 1 (14-1) of the fifth rod (14) through the third steering disc (1-1); The first rod (2) is an irregularly shaped connecting rod having a first connecting end (2-1) and a second connecting end (2-2); a bolt hole is provided at the first connecting end (2-1) to form a rotational connection with the first steering plate (1-7) of the lower platform (1); and a bolt hole is provided at the second connecting end (2-2) to form a fixed connection with the bolt hole (3-2) of the first ball pair (3); The first ball pair (3) is an irregularly shaped rod having a first connecting end (3-1) and a second connecting end (3-2). The first connecting end (3-1) is provided with a thread for forming a fixed connection with a thread (4-1) of the second rod (4), and the second connecting end (3-2) is provided with a bolt hole for forming a fixed connection with a bolt hole (2-2) of the first rod (2). The second rod (4) is an irregularly shaped connecting rod having a first connecting end (4-1) and a second connecting end (4-2). A thread is provided at the first connecting end (4-1) to form a fixed connection with the first connecting end (3-1) of the first ball pair (3). A rotating joint is provided at the second connecting end (4-2) to form a rotating hinge with the rotating joint (5-2) of the first connecting member (5) through an axis. The first connecting member (5) has a first connecting end (5-1) and a second connecting end (5-2); a bolt hole is provided at the first connecting end (5-1) to form a fixed connection with the first connecting end (6-1) of the upper platform (6) through a bolt; and a rotating joint is provided at the second connecting end (5-2) to form a rotating hinge with the second connecting end (4-2) of the second rod (4) through an axis; The upper platform (6) has a connection end 1 (6-1), a through hole (6-2), a connection end 2 (6-3), and a connection end 3 (6-4). A bolt hole is provided at the connection end 1 (6-1) to form a fixed connection with the connection end 1 (5-1) of the first connecting member (5), a bolt hole is provided at the connection end 2 (6-3) to form a fixed connection with the connection end 1 (7-1) of the second connecting member (7), and a bolt hole is provided at the connection end 3 (6-4) to form a fixed connection with the connection end 1 (10-1) of the third connecting member (10). The second connecting member (7) has a connecting end 1 (7-1) and a connecting end 2 (7-2). A bolt hole is provided at the connecting end 1 (7-1) to form a fixed connection with the connecting end 1 (6-2) of the upper platform (6) through a bolt. A rotating joint is provided at the connecting end 2 (7-2) to form a rotating hinge with the connecting end 2 (8-2) of the fourth rod (8) through an axis. The fourth rod (8) is an irregularly shaped connecting rod having a first connecting end (8-1) and a second connecting end (8-2). A thread is provided at the first connecting end (8-1) to form a fixed connection with the first connecting end (9-1) of the second ball pair (9). A rotating joint is provided at the second connecting end (8-2) to form a rotating hinge with the rotating joint (7-2) of the second connecting member (7) through an axis. The second ball pair (9) is an irregularly shaped rod having a first connecting end (9-1) and a second connecting end (9-2). A thread is provided at the first connecting end (9-1) to form a fixed connection with a thread (8-1) of the fourth rod (8), and a bolt hole is provided at the second connecting end (9-2) to form a fixed connection with a bolt hole (13-2) of the third rod (13). The third connecting member (10) has a first connecting end (10-1) and a second connecting end (10-2). A bolt hole is provided at the first connecting end (10-1) to form a fixed connection with the third connecting end (6-3) of the upper platform (6) through a bolt. A rotating joint is provided at the second connecting end (10-2) to form a rotating hinge with the second connecting end (11-2) of the sixth rod (11) through an axis. The sixth rod (11) is an irregularly shaped connecting rod having a first connecting end (11-1) and a second connecting end (11-2). A thread is provided at the first connecting end (11-1) to form a fixed connection with the first connecting end (12-1) of the third ball pair (12). A rotation joint is provided at the second connecting end (11-2) to form a rotational hinge with the rotation joint (10-2) of the third connecting member (10) through an axis. The third ball pair (12) is an irregularly shaped rod having a first connecting end (12-1) and a second connecting end (12-2). A thread is provided at the first connecting end (12-1) to form a fixed connection with a thread (11-1) of the sixth rod (11), and a bolt hole is provided at the second connecting end (12-2) to form a fixed connection with a bolt hole (14-2) of the fifth rod (14). The third rod (13) is an irregularly shaped connecting rod having a first connecting end (13-1) and a second connecting end (13-2). A bolt hole is provided at the first connecting end (13-1) to form a fixed connection with the second steering plate (1-4) of the lower platform (1), and a bolt hole is provided at the second connecting end (13-2) to form a fixed connection with the bolt hole (9-2) of the second ball pair (9). The fifth rod (14) is an irregularly shaped connecting rod having a first connecting end (14-1) and a second connecting end (14-2). A bolt hole is provided at the first connecting end (14-1) to form a fixed connection with the third steering plate (1-1) of the lower platform (1), and a bolt hole is provided at the second connecting end (14-2) to form a fixed connection with the bolt hole (12-2) of the third ball pair (12). The second connecting member (7) has the same structure and external dimensions as the first connecting member (5); The fourth rod (8) has the same structure and external dimensions as the second rod (4); The second ball pair (9) has the same structure and dimensions as the first ball pair (3); The third connecting member (10) has the same structure and external dimensions as the first connecting member (5); The sixth rod (11) has the same structure and external dimensions as the second rod (4); The third ball pair (12) has the same structure and dimensions as the first ball pair (3); The third rod (13) has the same structure and dimensions as the first rod (2); The fifth rod (14) has the same structure and dimensions as the first rod (2); The lower platform (1) is fixedly connected to the first steering gear (1-8) through a first steering gear bracket (11-9) by means of bolts. The first steering gear (1-8) is rotatably connected to the first steering plate mounting hole (1-1) of the first rod (2) through a first steering plate (1-7). The first rod (2) is fixedly connected to the first rod mounting hole (3-2) of the first ball pair (3) through a first ball pair mounting hole (2-2). The first ball pair (3) is fixedly connected to the first ball pair mounting hole (4-1) of the second rod (4) through a second rod mounting hole (3-1) by means of threads. The second rod (4) is fixedly connected to the first connecting member mounting hole (4-2) through a first connecting member mounting hole (4-2). The second rod mounting hole (5-1) of the connecting member (5) is connected via a rotation pair, the first connecting member (5) is fixedly connected to the first connecting member mounting hole (6-1) of the upper platform (6) via a bolt through the upper platform mounting hole (5-2), the upper platform (6) is fixedly connected to the upper platform mounting hole (7-2) of the second connecting member (7) via a bolt through the second connecting member mounting hole (6-3), the second connecting member (7) is connected to the second connecting member mounting hole (8-2) of the fourth rod (8) via a rotation pair via the fourth rod mounting hole (7-1), the fourth rod (8) is connected to the fourth rod mounting hole of the second ball pair (9) via the second ball pair mounting hole (8-1), (9-2) is fixedly connected by threads, the second ball pair (9) is fixedly connected to the second ball pair (13-2) mounting hole of the third rod (13) by bolts through the third rod mounting hole (9-1), the third rod (13) is rotationally connected to the second steering gear (1-5) through the second steering disc (1-4), the second steering gear (1-5) is fixedly connected to the lower platform (1) through the second steering gear bracket (1-6), the lower platform (1) is fixedly connected to the third steering gear (1-3) through bolts through the third steering gear bracket (1-2), the third steering gear (1-3) is rotationally connected to the fifth rod (14) through the third steering disc (1-1), and the fifth The rod member (14) is fixedly connected to the fifth rod member mounting hole (12-2) of the third ball member (12) through the third ball member mounting hole (14-2) by means of bolts; the third ball member (12) is fixedly connected to the third ball member mounting hole (11-1) of the sixth rod member (11) through the sixth rod member mounting hole (12-1) by means of threads; the sixth rod member (11) is connected to the sixth rod member mounting hole (10-1) of the third connecting member (10) through the third connecting member mounting hole (11-2) by means of a rotation pair; and the third connecting member (10) is fixedly connected to the third connecting member mounting hole (6-4) of the upper platform (6) through the upper platform mounting hole (10-2) by means of bolts.

2. A three-degree-of-freedom spiral motion robot mechanism based on Resch triangle tessellation as claimed in claim 1, characterized in that: The first steering gear (1-8), the second steering gear (1-5), and the third steering gear (1-3) are all single-output shaft steering gears.

3. The three-degree-of-freedom spiral motion robot mechanism based on Resch triangle tessellation according to claim 1, characterized in that: When the first steering engine (1-8), the second steering engine (1-5) and the third steering engine (1-3) rotate in the same direction and speed, the upper platform and the lower platform remain parallel.

4. The three-degree-of-freedom spiral motion robot mechanism based on Resch triangle tessellation according to claim 1, characterized in that: When the first steering gear (1-8), the second steering gear (1-5) and the third steering gear (1-3) rotate in the same direction and speed, the upper platform will generate spiral motion.

5. The three-degree-of-freedom spiral motion robot mechanism based on Resch triangle tessellation according to claim 1, characterized in that: When the first steering engine (1-8), the second steering engine (1-5) and the third steering engine (1-3) rotate in different directions and speeds, the robot can achieve free movement and autonomous and controllable hovering in a three-dimensional space.

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