Spherical robot capable of being folded, unfolded and deformed and rapidly moving on complex ground

Abstract

The invention relates to the technical field of mobile robots, in particular to a bimodal spherical mobile robot based on a connecting rod folding and unfolding mechanism, which comprises a first spherical shell module, a second spherical shell module and a driving module, the first spherical shell module comprises a first connecting shell, a second connecting shell, a third connecting shell, a fourth connecting shell, a fifth connecting shell, a sixth connecting shell, a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod, a fifth connecting rod, a sixth connecting rod and a circular shell; the second spherical shell module comprises a first connecting shell, a second connecting shell, a third connecting shell, a fourth connecting shell, a fifth connecting shell, a sixth connecting shell, a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod, a fifth connecting rod, a sixth connecting rod and a circular shell; the control module comprises a first gear motor, a second gear motor, an electric push rod, a double-shaft steering engine, a first sleeve, a second sleeve, a first bearing connecting piece, a second bearing connecting piece, a first bearing, a second bearing, a steering engine connecting piece and a weight. By changing the spherical and folding structures of the mechanism structure, optimization and improvement of the moving stability, the narrow terrain passing efficiency and the environment adaptability of the robot are synchronously achieved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of mobile robots, in particular to a fast mobile robot with three degrees of freedom, capable of switching between spherical mode and folding mode through the opening and closing of the spherical shell, especially suitable for omnidirectional rolling on complex terrain and traversing narrow spaces. BACKGROUND

[0002] Spherical robots have significant advantages in omnidirectional movement and impact resistance due to their closed spherical shell structure, but are limited by point contact characteristics, with core defects of poor motion stability and weak obstacle crossing ability. Existing improvement schemes such as leg structures, although initially achieve crawling or climbing functions, are difficult to maintain stability in complex terrain, while wheeled transformation mechanisms sacrifice the omnidirectionality and sealing of the spherical structure when improving obstacle crossing performance. In addition, multi-modal spherical robots generally face technical bottlenecks such as complex mechanical design, difficult transformation control, and fragile shell structure, and an innovative design that can coordinate omnidirectional rolling, efficient obstacle crossing, and mechanical strength is urgently needed. SUMMARY

[0003] The present application provides a foldable and deformable fast mobile spherical robot on complex terrain, which realizes spherical full-closed rolling and folding obstacle crossing dual-mode switching through two groups of axially symmetric telescopic linkage mechanisms driven by electric push rods to connect the spherical shell. In spherical mode, the spherical shell is closed to form an impact-resistant structure, and omnidirectional rolling is achieved by driving two side motors. In folding mode, the spherical shell is unfolded to cross specific obstacles through two mode switching, and the mass center is stabilized by the built-in steering gear carrying heavy objects, while the turning function is achieved by driving two left and right motors together, to coordinate the technical contradictions of omnidirectionality, obstacle crossing ability, and structural strength with a single transformation mechanism.

[0004] The technical scheme of the present application is: a kind of complex ground fast moving spherical robot of foldable deformation is designed, the mechanism includes first spherical shell module, second spherical shell module, drive module, the first spherical shell module includes first connecting shell, second connecting shell, third connecting shell, fourth connecting shell, fifth connecting shell, sixth connecting shell, first connecting rod, second connecting rod, third connecting rod, fourth connecting rod, fifth connecting rod, sixth connecting rod, circular shell, the second spherical shell module includes first connecting shell, second connecting shell, third connecting shell, fourth connecting shell, fifth connecting shell, sixth connecting shell, first connecting rod, second connecting rod, third connecting rod, fourth connecting rod, fifth connecting rod, sixth connecting rod, circular shell, control module includes first speed reducer motor, second speed reducer motor, electric push rod, double shaft rudder, first sleeve, second sleeve, first connecting piece, second connecting piece, first bearing, second bearing, double shaft rudder connecting piece, weight;First spherical shell module and control module are connected by first spherical shell module first connecting rod, first spherical shell module second connecting rod, first spherical shell module third connecting rod, first spherical shell module fourth connecting rod, first spherical shell module fifth connecting rod, first spherical shell module sixth connecting rod and control module first connecting piece through pin shaft, second spherical shell module and control module are connected by second spherical shell module first connecting rod, second spherical shell module second connecting rod, second spherical shell module third connecting rod, second spherical shell module fourth connecting rod, second spherical shell module fifth connecting rod, second spherical shell module sixth connecting rod and control module second connecting piece through pin shaft.

[0005] In the first spherical shell module, first connecting rod and first connecting shell are connected by pin shaft, second connecting rod and second connecting shell are connected by pin shaft, third connecting rod and third connecting shell are connected by pin shaft, fourth connecting rod and fourth connecting shell are connected by pin shaft, fifth connecting rod and fifth connecting shell are connected by pin shaft, sixth connecting rod and sixth connecting shell are connected by pin shaft, first connecting shell, second connecting shell, third connecting shell, fourth connecting shell, fifth connecting shell, sixth connecting shell and circular shell are connected by pin shaft.

[0006] The second spherical module is same as the first spherical module in structure and size;

[0007] The control module, the first reduction motor and the first sleeve are fixedly connected through bolts, the second reduction motor and the second sleeve are fixedly connected through bolts, the electric push rod and the first sleeve and the electric push rod and the second sleeve are connected through interference fit, the first sleeve and the second sleeve are nested to form a moving pair, the double-shaft rudder and the double-shaft rudder connecting piece are connected through interference fit, the double-shaft rudder and the weight are fixedly connected through bolts, the double-shaft rudder connecting piece and the first sleeve and the double-shaft rudder connecting piece and the second sleeve are connected through pin shafts, the first connecting piece and the first bearing are connected through interference fit, the second connecting piece and the second bearing are connected through interference fit, the first bearing and the second sleeve are connected through interference fit, and the second bearing and the first sleeve are connected through interference fit.

[0008] The circular cover is a circular truncated cone spherical shell structure, a hole required for connecting a motor rotor is arranged at an axis center of the circular cover, six double lug structures are extended from an end portion of the circular cover and through holes are formed in the six double lug structures and connected with the first connecting shell, the second connecting shell, the third connecting shell, the fourth connecting shell, the fifth connecting shell and the sixth connecting shell.

[0009] The first connecting shell has an irregular shape in cross section, a single lug structure is extended from a shorter end portion of the first connecting shell and a through hole is formed in the single lug structure and connected with the circular cover, and a double lug structure is extended from a center of the first connecting shell and connected with the first connecting rod.

[0010] The second connecting shell has the same structure and size as the first connecting shell.

[0011] The third connecting shell has the same structure and size as the second connecting shell.

[0012] The fourth connecting shell has the same structure and size as the third connecting shell.

[0013] The fifth connecting shell has the same structure and size as the fourth connecting shell.

[0014] The sixth connecting shell has the same structure and size as the fifth connecting shell.

[0015] The first connecting rod is a long connecting rod with a through hole arranged on each of two sides, one end of the first connecting rod is connected with the double lug structure at the center of the first connecting shell through a pin shaft, and the other end of the first connecting rod is connected with the first connecting piece of the control module through a pin shaft.

[0016] The second connecting rod has the same structure and size as the first connecting rod.

[0017] The third connecting shell has the same structure and size as the second connecting shell.

[0018] The fourth connecting shell has the same structure and size as the third connecting shell.

[0019] The fifth connecting shell has the same structure and size as the fourth connecting shell.

[0020] The sixth connecting shell has the same structure and external dimensions as the fifth connecting shell;

[0021] The first sleeve consists of two connected irregular hollow cylindrical structures. Six through holes are evenly distributed on the outer side of the smaller diameter cylinder to connect with the first reduction motor. The other side is provided with a groove for fixing to the smaller port of the electric push rod.

[0022] The second sleeve consists of two connected irregular hollow cylindrical structures. Six through holes are evenly distributed on the outer side of the smaller diameter cylinder to connect with the second reduction motor, and a groove is provided on the other side to fix the larger end of the electric push rod.

[0023] The first sleeve and the second sleeve are nested to form a sliding pair;

[0024] The first connector is connected to the first bearing by an interference fit, and has six double-ear structures evenly distributed on the outside, which are fixedly connected to the first connecting rod, the second connecting rod, the third connecting rod, the fourth connecting rod, the fifth connecting rod, and the sixth connecting rod of the first spherical shell module by pins respectively.

[0025] The second connector has the same structure and external dimensions as the first connector;

[0026] The dual-axis servo motor connector has symmetrically distributed connecting rods on both sides, which are respectively connected to the first sleeve and the second sleeve by pins. The internal groove is fixed to the dual-axis servo motor by interference fit.

[0027] The weight is provided with triangular lugs on both sides, which are fixed to the dual-axis servo motor by bolts;

[0028] The control system can control the mechanism to achieve deformation and movement of both spherical and folded structures. In the initial deformation state of the spherical mechanism, the gap surfaces of the corresponding connecting shells of the first and second spherical shell modules are in contact with the ground for support. The electric actuator is pushed to its longest position, and the first, second, third, fourth, fifth, and sixth connecting rods of the first spherical shell module all form the maximum included angle with the second sleeve. The first, second, and sixth connecting rods of the second spherical shell module... The third connecting rod, the fourth connecting rod of the second spherical shell module, the fifth connecting rod of the second spherical shell module, and the sixth connecting rod of the second spherical shell module all form the maximum included angle with the first sleeve. The first and second geared motors drive the spherical robot to move forward and backward. The steering is adjusted by differential speed, and the center of gravity is adjusted by adjusting the dual-axis servo motor to ensure balance. When the electric push rod retracts inward, the first sleeve drives the second spherical shell module, and the second sleeve drives the first spherical shell module to tighten inward. At this time, it is in a folded state. At this time, the dual-axis servo motor maintains the horizontal position of the pendulum. The robot can move in narrow spaces by adjusting the front and rear positions through the first and second geared motors.

[0029] The beneficial effects of this invention are as follows: This invention utilizes a dual-modal deformable mechanism design to enable the robot to simultaneously possess two core motion capabilities: omnidirectional spherical rolling capability and the ability to move in confined spaces in a folded mode. Specifically, when the robot is in spherical mode, the spherical shell is closed, thus creating a structure with impact resistance, achieving low energy consumption and flexible omnidirectional movement. When switching to folded mode, the spherical shell unfolds, and the gap between the two shells contracts, significantly enhancing the robot's ability to navigate narrow terrain. Furthermore, the two motion modes can be controlled via electric actuators, achieving rapid and uninterrupted mode switching. This design, with its compact overall structure, simultaneously optimizes and improves the robot's movement stability, efficiency in navigating narrow terrain, and environmental adaptability. Attached Figure Description

[0030] Figure 1 3D model of a complex, foldable, deformable, fast-moving spherical robot on the ground

[0031] Figure 2 First spherical shell module structural diagram

[0032] Figure 3 Second spherical shell module structure diagram

[0033] Figure 4 Control module structure diagram

[0034] Figure 5 Circular shell structure diagram

[0035] Figure 6 First connecting shell structure diagram

[0036] Figure 7 First connecting rod structure diagram

[0037] Figure 8 First sleeve structure diagram

[0038] Figure 9 Second sleeve structure diagram

[0039] Figure 10 First connecting component structure diagram

[0040] Figure 11 Dual-axis servo motor connector structure diagram

[0041] Figure 12 Heavy object structure diagram

[0042] Figure 13 Three-dimensional diagrams of spherical and folding structures are shown, where (a) is a three-dimensional diagram of the spherical structure and (b) is a three-dimensional diagram of the folding structure. Detailed Implementation

[0043] The present invention will now be described in further detail with reference to the accompanying drawings.

[0044] like Figure 1 As shown, a dual-modal spherical mobile robot based on a linkage folding mechanism is designed. The mobile mechanism includes a first spherical shell module (A), a second spherical shell module (B), and a drive module (C).

[0045] like Figure 2 As shown, the first spherical shell module (A) includes a first connecting shell (A-1), a second connecting shell (A-2), a third connecting shell (A-3), a fourth connecting shell (A-4), a fifth connecting shell (A-5), a sixth connecting shell (A-6), a first connecting rod (A-7), a second connecting rod (A-8), a third connecting rod (A-9), a fourth connecting rod (A-10), a fifth connecting rod (A-11), a sixth connecting rod (A-12), and a circular shell (A-13).

[0046] like Figure 3 As shown, the second spherical shell module (B) includes a first connecting shell (B-1), a second connecting shell (B-2), a third connecting shell (B-3), a fourth connecting shell (B-4), a fifth connecting shell (B-5), a sixth connecting shell (B-6), a first connecting rod (B-7), a second connecting rod (B-8), a third connecting rod (B-9), a fourth connecting rod (B-10), a fifth connecting rod (B-11), a sixth connecting rod (B-12), and a circular shell (B-13).

[0047] like Figure 4As shown, the control module (C) includes a first geared motor (C-1), a second geared motor (C-2), an electric actuator (C-3), a dual-axis servo motor (C-4), a first sleeve (C-5), a second sleeve (C-6), a first connector (C-7), a second connector (C-8), a first bearing (C-9), a second bearing (C-10), a dual-axis servo motor connector (C-11), and a weight (C-12).

[0048] Connection methods of the constituent mechanisms:

[0049] The first spherical shell module (A) and the control module (C) are connected by a first connecting rod (A-7), a second connecting rod (A-8), a third connecting rod (A-9), a fourth connecting rod (A-10), a fifth connecting rod (A-11), and a sixth connecting rod (A-12) of the first spherical shell module, and the first connecting piece (C-7) of the control module via a pin. The second spherical shell module (B) and the control module (C) are connected by a second connecting rod (B-7), a second connecting rod (B-8), a third connecting rod (B-9), a fourth connecting rod (B-10), a fifth connecting rod (B-11), and a sixth connecting rod (B-12) of the second spherical shell module, and the second connecting piece (C-8) of the control module via a pin.

[0050] In the first spherical shell module (A), the first connecting rod (A-7) is connected to the first connecting shell (A-1) by a pin, the second connecting rod (A-8) is connected to the second connecting shell (A-2) by a pin, the third connecting rod (A-9) is connected to the third connecting shell (A-3) by a pin, the fourth connecting rod (A-10) is connected to the fourth connecting shell (A-4) by a pin, the fifth connecting rod (A-11) is connected to the fifth connecting shell (A-5) by a pin, the sixth connecting rod (A-12) is connected to the sixth connecting shell (A-6) by a pin, and the first connecting shell (A-1), the second connecting shell (A-2), the third connecting shell (A-3), the fourth connecting shell (A-4), the fifth connecting shell (A-5), the sixth connecting shell (A-6) are connected to the circular shell (A-13) by a pin.

[0051] The second spherical module (B) has the same structure and external dimensions as the first spherical module (A);

[0052] In the control module (C), the first geared motor (C-1) and the first sleeve (C-5) are fixedly connected by bolts, the second geared motor (C-2) and the second sleeve (C-6) are fixedly connected by bolts, the electric actuator (C-3) and the first sleeve (C-5), and the electric actuator (C-3) and the second sleeve (C-6) are all connected by interference fit. The first sleeve (C-5) and the second sleeve (C-6) are nested to form a sliding pair. The dual-axis servo motor (C-4) and the dual-axis servo motor connector (C-11) are connected by interference fit. The dual-axis servo motor connector (C-11) is fixedly connected to the heavy object (C-12) by bolts. The dual-axis servo motor connector (C-11) is connected to the first sleeve (C-5), and the dual-axis servo motor connector (C-11) is connected to the second sleeve (C-6) by pins. The first connector (C-7) is connected to the first bearing (C-9) by an interference fit. The second connector (C-8) is connected to the second bearing (C-10) by an interference fit. The first bearing (C-9) is connected to the second sleeve (C-6) by an interference fit. The second bearing (C-10) is connected to the first sleeve (C-5) by an interference fit.

[0053] The structure of the components that make up the mechanism:

[0054] like Figure 5 As shown, the circular cover (A-13) is a frustum-shaped spherical shell structure. It has a hole (A-13-1) at its axis for connecting the motor rotor. Six double-ear structures (A-13-2) extend from its ends and have through holes for connecting to the first connecting shell (A-1), the second connecting shell (A-2), the third connecting shell (A-3), the fourth connecting shell (A-4), the fifth connecting shell (A-5), and the sixth connecting shell (A-6), respectively.

[0055] like Figure 6 As shown, the first connecting shell (A-1) has an irregular cross-sectional shape. A single ear structure (A-1-1) extends from the shorter end and is connected to the circular cover (A-13) through a through hole. A double ear structure (A-1-2) extends from the center and is connected to the first connecting rod (A-7).

[0056] The second connecting shell (A-2) has the same structure and external dimensions as the first connecting shell (A-1);

[0057] The third connecting shell (A-3) has the same structure and external dimensions as the second connecting shell (A-2);

[0058] The fourth connecting shell (A-4) has the same structure and external dimensions as the third connecting shell (A-3);

[0059] The fifth connecting shell (A-5) has the same structure and external dimensions as the fourth connecting shell (A-4);

[0060] The sixth connecting shell (A-6) has the same structure and external dimensions as the fifth connecting shell (A-5);

[0061] like Figure 7 As shown, the first connecting rod (A-7) is a long connecting rod (A-7-1) with a through hole on each side. One end is connected to the double-ear structure (A-1-1) at the center of the first connecting shell by a pin, and the other end is connected to the first connecting piece (C-7) of the control module by a pin.

[0062] The second connecting rod (A-8) has the same structure and external dimensions as the first connecting rod (A-7);

[0063] The third connecting rod (A-9) has the same structure and external dimensions as the second connecting rod (A-8);

[0064] The fourth connecting rod (A-10) has the same structure and external dimensions as the third connecting rod (A-9);

[0065] The fifth connecting rod (A-11) has the same structure and external dimensions as the fourth connecting rod (A-10);

[0066] The sixth connecting rod (A-12) has the same structure and external dimensions as the fifth connecting rod (A-11);

[0067] like Figure 8 As shown, the first sleeve (C-5) consists of two connected irregular hollow cylindrical structures. The outer side of the smaller cylinder has six through holes (C-5-1) evenly distributed to connect with the first geared motor (C-1). The other side has a groove (C-5-2) for fixing to the smaller port (C-3) of the electric push rod. The outer side of the larger cylinder has a double-ear structure (C-5-3) for connecting with the dual-axis servo motor connector (C-11).

[0068] like Figure 9 As shown, the second sleeve (C-6) consists of two connected irregular hollow cylindrical structures. Six through holes (C-6-1) are evenly distributed on the outer side of the smaller cylinder to connect with the second geared motor (C-2). The other side is provided with a fixing groove (C-6-2) for the larger port (C-3) of the electric push rod. The outer side of the larger cylinder is provided with a double ear structure (C-6-3) to connect with the dual-axis servo motor connector (C-11).

[0069] like Figure 10As shown, the first connector (C-7) is connected to the first bearing (C-9) by an interference fit. Six double-ear structures (C-7-1) are evenly distributed on the outside, which are respectively fixedly connected to the first connecting rod (A-7), the second connecting rod (A-8), the third connecting rod (A-9), the fourth connecting rod (A-10), the fifth connecting rod (A-11), and the sixth connecting rod (A-12) of the first spherical shell module by pins.

[0070] The second connector (C-8) has the same structure and external dimensions as the first connector (C-7);

[0071] like Figure 11 As shown, the dual-axis servo connector (C-11) has symmetrically distributed connecting rods (C-11-1) on both sides, which are connected to the first sleeve (C-5) and the second sleeve (C-6) respectively by pins. The internal groove (C-11-2) is fixed to the dual-axis servo (C-4) by interference fit.

[0072] like Figure 12 As shown, the weight (C-12) has triangular lugs (C-12-1) on both sides, which are fixed to the dual-axis servo motor (C-4) by bolts;

[0073] The control system can control the mechanism to achieve deformation and movement of both spherical and folded structures, such as... Figure 13 As shown, in the initial state of the spherical mechanism deformation, the gap surface (D) of the corresponding connecting shells of the first and second spherical shell modules is in contact with the ground for support. The electric actuator (C-3) is pushed to its longest state, and the first connecting rod (A-7) of the first spherical shell module and the second sleeve (C-6) form the maximum included angle. The first geared motor (C-1) and the second geared motor (C-2) drive the spherical robot to move forward and backward. The steering is adjusted by differential speed, and the center of gravity is adjusted by adjusting the dual-axis servo motor (C-4) to ensure balance. When the electric actuator (C-3) retracts inward, the first sleeve (C-5) drives the second spherical shell module (B), and the second sleeve (C-6) drives the first spherical shell module (A) to tighten inward. At this time, it is in a folded state. At this time, the dual-axis servo motor (C-4) maintains the horizontal position of the pendulum. The front and rear positions are adjusted by the first geared motor (C-1) and the second geared motor (C-2) to enable the robot to walk in narrow spaces.

Claims

1. A dual-modal spherical mobile robot based on a linkage unfolding mechanism, characterized in that: The moving mechanism includes a first spherical shell module (A), a second spherical shell module (B), and a drive module (C); The first spherical shell module (A) includes a first connecting shell (A-1), a second connecting shell (A-2), a third connecting shell (A-3), a fourth connecting shell (A-4), a fifth connecting shell (A-5), a sixth connecting shell (A-6), a first connecting rod (A-7), a second connecting rod (A-8), a third connecting rod (A-9), a fourth connecting rod (A-10), a fifth connecting rod (A-11), a sixth connecting rod (A-12), and a circular shell (A-13). The second spherical shell module (B) includes a first connecting shell (B-1), a second connecting shell (B-2), a third connecting shell (B-3), a fourth connecting shell (B-4), a fifth connecting shell (B-5), a sixth connecting shell (B-6), a first connecting rod (B-7), a second connecting rod (B-8), a third connecting rod (B-9), a fourth connecting rod (B-10), a fifth connecting rod (B-11), a sixth connecting rod (B-12), and a circular shell (B-13). The control module (C) includes a first geared motor (C-1), a second geared motor (C-2), an electric actuator (C-3), a dual-axis servo motor (C-4), a first sleeve (C-5), a second sleeve (C-6), a first connector (C-7), a second connector (C-8), a first bearing (C-9), a second bearing (C-10), a dual-axis servo motor connector (C-11), and a weight (C-12). The first spherical shell module (A) and the control module (C) are connected by a first connecting rod (A-7), a second connecting rod (A-8), a third connecting rod (A-9), a fourth connecting rod (A-10), a fifth connecting rod (A-11), and a sixth connecting rod (A-12) of the first spherical shell module, and the first connecting piece (C-7) of the control module via a pin. The second spherical shell module (B) and the control module (C) are connected by a second connecting rod (B-7), a second connecting rod (B-8), a third connecting rod (B-9), a fourth connecting rod (B-10), a fifth connecting rod (B-11), and a sixth connecting rod (B-12) of the second spherical shell module, and the second connecting piece (C-8) of the control module via a pin. In the first spherical shell module (A), the first connecting rod (A-7) is connected to the first connecting shell (A-1) by a pin, the second connecting rod (A-8) is connected to the second connecting shell (A-2) by a pin, the third connecting rod (A-9) is connected to the third connecting shell (A-3) by a pin, the fourth connecting rod (A-10) is connected to the fourth connecting shell (A-4) by a pin, the fifth connecting rod (A-11) is connected to the fifth connecting shell (A-5) by a pin, the sixth connecting rod (A-12) is connected to the sixth connecting shell (A-6) by a pin, and the first connecting shell (A-1), the second connecting shell (A-2), the third connecting shell (A-3), the fourth connecting shell (A-4), the fifth connecting shell (A-5), the sixth connecting shell (A-6) are connected to the circular shell (A-13) by a pin. The second spherical module (B) has the same structure and external dimensions as the first spherical module (A); In the control module (C), the first geared motor (C-1) and the first sleeve (C-5) are fixedly connected by bolts, the second geared motor (C-2) and the second sleeve (C-6) are fixedly connected by bolts, the electric actuator (C-3) and the first sleeve (C-5), and the electric actuator (C-3) and the second sleeve (C-6) are all connected by interference fit. The first sleeve (C-5) and the second sleeve (C-6) are nested to form a sliding pair. The dual-axis servo motor (C-4) and the dual-axis servo motor connector (C-11) are connected by interference fit. The dual-axis servo motor connector (C-11) is fixedly connected to the heavy object (C-12) by bolts. The dual-axis servo motor connector (C-11) is connected to the first sleeve (C-5), and the dual-axis servo motor connector (C-11) is connected to the second sleeve (C-6) by pins. The first connector (C-7) is connected to the first bearing (C-9) by an interference fit. The second connector (C-8) is connected to the second bearing (C-10) by an interference fit. The first bearing (C-9) is connected to the second sleeve (C-6) by an interference fit. The second bearing (C-10) is connected to the first sleeve (C-5) by an interference fit.

2. The dual-modal spherical mobile robot based on a linkage folding mechanism as described in claim 1, characterized in that: The first spherical outer shell module includes a single-axis connecting shell (2-1), a double-axis connecting shell (2-2), and a first double-axis servo linkage (2-3). The single-axis connecting shell (2-1) and the double-axis connecting shell (2-2) are respectively fixedly connected to the first double-axis servo linkage (2-3) by bolts. The circular cover (A-13) is a frustum-shaped spherical shell structure. It has a hole (A-13-1) at its axis for connecting the motor rotor. Six double-ear structure (A-13-2) extend from the end and have through holes for connecting to the first connecting shell (A-1), the second connecting shell (A-2), the third connecting shell (A-3), the fourth connecting shell (A-4), the fifth connecting shell (A-5), and the sixth connecting shell (A-6), respectively. The first connecting shell (A-1) has an irregular cross-sectional shape. The shorter end extends into a single ear structure (A-1-1) and has a through hole to connect with the circular cover (A-13). The center extends into a double ear structure (A-1-2) and connects with the first support rod (A-7). The second connecting shell (A-2) has the same structure and external dimensions as the first connecting shell (A-1); The third connecting shell (A-3) has the same structure and external dimensions as the second connecting shell (A-2); The fourth connecting shell (A-4) has the same structure and external dimensions as the third connecting shell (A-3); The fifth connecting shell (A-5) has the same structure and external dimensions as the fourth connecting shell (A-4); The sixth connecting shell (A-6) has the same structure and external dimensions as the fifth connecting shell (A-5); The first connecting rod (A-7) is a long connecting rod (A-7-1) with a through hole on each side. One end is connected to the double-ear structure (A-1-1) at the center of the first connecting shell by a pin, and the other end is connected to the first connecting piece (C-7) of the control module by a pin. The second connecting rod (A-8) has the same structure and external dimensions as the first connecting rod (A-7); The third connecting rod (A-9) has the same structure and external dimensions as the second connecting rod (A-8); The fourth connecting rod (A-10) has the same structure and external dimensions as the third connecting rod (A-9); The fifth connecting rod (A-11) has the same structure and external dimensions as the fourth connecting rod (A-10); The sixth connecting rod (A-12) has the same structure and external dimensions as the fifth connecting rod (A-11); The first sleeve (C-5) consists of two connected irregular hollow cylindrical structures. The outer side of the smaller cylinder has six through holes (C-5-1) evenly distributed to connect with the first geared motor (C-1). The other side has a fixing groove (C-5-2) for the smaller port (C-3) of the electric push rod. The outer side of the larger cylinder has a double-ear structure (C-5-3) to connect with the dual-axis servo motor connector (C-11). The second sleeve (C-6) consists of two connected irregular hollow cylindrical structures. The outer side of the smaller cylinder has six through holes (C-6-1) evenly distributed to connect with the second reduction motor (C-2). The other side has a fixing groove (C-6-2) for the larger port (C-3) of the electric push rod. The outer side of the larger cylinder has a double ear structure (C-6-3) to connect with the dual-axis servo motor connector (C-11). The first connector (C-7) is connected to the first bearing (C-9) by an interference fit. Six double-ear structures (C-7-1) are evenly distributed on the outside, which are respectively fixedly connected to the first connecting rod (A-7), the second connecting rod (A-8), the third connecting rod (A-9), the fourth connecting rod (A-10), the fifth connecting rod (A-11), and the sixth connecting rod (A-12) of the first spherical shell module by pins. The second connector (C-8) has the same structure and external dimensions as the first connector (C-7); The dual-axis servo connector (C-11) has symmetrically distributed connecting rods (C-11-1) on both sides, which are connected to the first sleeve (C-5) and the second sleeve (C-6) respectively by pins. The internal groove (C-11-2) is fixed to the dual-axis servo (C-4) by interference fit. The weight (C-12) has triangular lugs (C-12-1) on both sides, which are fixed to the dual-axis servo motor (C-4) by bolts.

3. A dual-modal spherical mobile robot based on a linkage unfolding mechanism as described in claim 1, characterized in that: The control system can control the mechanism to achieve deformation and movement of both spherical and folded structures. In the initial state of deformation of the spherical mechanism, the gap surface (D) of the corresponding connecting shell of the first and second spherical shell modules is in contact with the ground for support. The electric push rod (C-3) is pushed to its longest state, and the first connecting rod (A-7) of the first spherical shell module and the second sleeve (C-6) form the maximum included angle. The first geared motor (C-1) and the second geared motor (C-2) drive the spherical robot to move forward and backward. The steering is adjusted by differential speed, and the center of gravity is adjusted by adjusting the dual-axis servo motor (C-4) to ensure balance. When the electric push rod (C-3) retracts inward, the first sleeve (C-5) drives the second spherical shell module (B), and the second sleeve (C-6) drives the first spherical shell module (A) to tighten inward. At this time, it is in the folded state. At this time, the dual-axis servo motor (C-4) maintains the horizontal position of the swing. The front and rear positions are adjusted by the first geared motor (C-1) and the second geared motor (C-2) to enable the robot to walk in narrow spaces.

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