CN114987639B - Multi-configuration reversible rolling mechanism - Google Patents
Multi-configuration reversible rolling mechanism Download PDFInfo
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- CN114987639B CN114987639B CN202210463096.XA CN202210463096A CN114987639B CN 114987639 B CN114987639 B CN 114987639B CN 202210463096 A CN202210463096 A CN 202210463096A CN 114987639 B CN114987639 B CN 114987639B
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- 230000007246 mechanism Effects 0.000 title claims abstract description 84
- 238000005096 rolling process Methods 0.000 title claims abstract description 37
- 230000002441 reversible effect Effects 0.000 title claims abstract description 26
- 230000008901 benefit Effects 0.000 abstract description 3
- 230000008859 change Effects 0.000 description 7
- 241000209140 Triticum Species 0.000 description 6
- 235000021307 Triticum Nutrition 0.000 description 6
- 230000001154 acute effect Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 4
- 230000005021 gait Effects 0.000 description 4
- 230000009193 crawling Effects 0.000 description 3
- 238000006243 chemical reaction Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000000452 restraining effect Effects 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0072—Programme-controlled manipulators having parallel kinematics of the hybrid type, i.e. having different kinematics chains
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B19/00—Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group
- B60B19/12—Roller-type wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
Abstract
The invention relates to a multi-configuration reversible rolling mechanism, which comprises an upper platform (1), a lower platform (2), a constraint branched chain (3) and four movable branched chains (4), wherein the upper platform (1) and the lower platform (2) are in an X shape and are symmetrically arranged, the four movable branched chains (4) are symmetrically and uniformly arranged on four sides of the upper platform (1) and the lower platform (2), and the constraint branched chains (3) are arranged between the movable branched chains (4). Compared with the prior art, the invention has the advantages of stable movement on flat road surfaces and rugged road surfaces, can be arbitrarily commutated and has good application prospect.
Description
Technical Field
The invention relates to the technical field of mechanical design, in particular to a multi-configuration reversible rolling mechanism.
Background
The moving mechanism has various movement modes, such as: walking, crawling, rolling, creeping, etc. Among them, scrolling is considered as an efficient way of moving. Spherical mechanisms are a typical type of rolling mechanism in their unique geometric shape. The mechanism is spherical, can realize the function of flexibly changing the direction through motor driving, and has good rigidity and bearing capacity.
In addition, the spherical shape can be changed into a quadrilateral shape, the situation that the structural shape of the quadrilateral mechanism is unstable can be utilized, the change of the shape can be realized more easily, and the moving function of linear advancing and flexible direction changing can be obtained through the connecting piece and the structural design. The spherical structure is characterized by comprising: the single-point grounding is small in friction force and low in power consumption; the steering is convenient, and the maneuverability is high; no loss phenomenon exists; and the internal equipment of the sphere and the like are easy to protect.
Disclosure of Invention
The invention aims to provide a multi-configuration reversible rolling mechanism which has good rigidity and bearing capacity and is convenient to change.
The aim of the invention can be achieved by the following technical scheme: the multi-configuration reversing rolling mechanism comprises an upper platform, a lower platform, a constraint branched chain and four movable branched chains, wherein the upper platform and the lower platform are in an X shape and are symmetrically arranged, the four movable branched chains are symmetrically and uniformly arranged on four sides of the upper platform and four sides of the lower platform, and the constraint branched chains are arranged between the movable branched chains.
Preferably, the four movable branched chains have the same structure and comprise a first upper rod, a second upper rod, a first lower rod and a second lower rod; the upper platform and the second upper rod are connected respectively to first upper rod both ends, and lower platform and second lower rod are connected respectively to first lower rod both ends, and the second upper rod is connected through the revolute pair with the second lower rod.
Further preferably, the constraining branch is located between the second upper stem and the second lower stem.
Further preferably, the first upper rod is connected with the upper platform through a revolute pair I, the second upper rod is connected with the second upper rod through a revolute pair II, the second upper rod is connected with the connecting piece through a revolute pair III, the connecting piece is connected with the second lower rod through a revolute pair IV, the second lower rod is connected with the first lower rod through a revolute pair V, and the first lower rod is connected with the lower platform through a revolute pair VI.
Still more preferably, the revolute pair I is a hook joint, the revolute pairs II to V are positioning pins, and the revolute pair VI is a hook joint.
Preferably, the first upper rod and the second upper rod and the first lower rod and the second lower rod are connected through a locating pin, and a Mecanum wheel is arranged between the first upper rod and the second upper rod and between the first lower rod and the second lower rod.
Further preferably, the revolute pair I, the revolute pair II, the revolute pair III, the revolute pair IV, the revolute pair V and the mecanum wheel are all driven by independent driving parts.
Preferably, the constraint branched chain is composed of four groups of components with the same structure, and each group of components comprises a first connecting rod, a second connecting rod and a third connecting rod; the first connecting rod is connected with the movable branched chain, one end of the first connecting rod is connected with the second connecting rod, and the other end of the first connecting rod is connected with a third connecting rod of another group of components adjacent to the first connecting rod.
Further preferably, the first connecting rod and the connecting piece of the movable branched chain are mutually intersected and fixed through a pin.
Further preferably, the second connecting rod and the third connecting rod are connected through a hook hinge.
Further preferably, one end of the first connecting rod is connected with the second connecting rod through a locating pin, and the other end is connected with a third connecting rod of another group of components adjacent to the first connecting rod through a locating pin.
Preferably, the rolling mechanism comprises a spherical configuration, a prismatic configuration for constraining the extension of the branched chain, a prismatic configuration for constraining the inward folding of the branched chain, a butterfly configuration for constraining the inward folding of the branched chain and a planetary configuration for constraining the inward folding of the branched chain.
The mechanism component can realize various movement modes through the cooperation between the revolute pairs:
scrolling mode: the multi-configuration reversing rolling mechanism connecting rods in the mode are in an unfolding state, the mechanism is in a spherical shape, and certain angles are formed between the connecting rods, so that the rolling reversing function can be realized;
crawling mode: at the moment, the upper rod and the lower rod of the mechanism are folded, the upper platform and the lower platform are contracted inwards until contacting, the mechanism is in a planetary shape, and gait walking can be carried out by means of the folded rod piece;
sliding mode: when the lower platform is close to the upper platform, the upper and lower rods are folded, and the wheat wheel appears. The multi-configuration reversible rolling mechanism described in this state can achieve sliding on flat road surfaces.
Compared with the prior art, the invention has the following advantages:
1. the invention provides a multi-configuration reversible rolling mechanism which is completely symmetrical in space structure and can adapt to various terrains;
2. the mechanism has good rigidity and bearing capacity, is convenient to change, can realize the change of machine configuration, can adapt to various road condition movements, and has convenient steering and high maneuverability when the mechanism configuration is spherical; when the mechanism is in a prismatic shape, the mechanism can move by using a smaller drive;
3. the special configuration of the mechanism and the connection mode between the rod pieces enable the mechanism to easily realize the rolling reversing requirement, and the mechanism configuration conversion can be realized by utilizing the deformation instability mechanism of the parallelogram mechanism;
4. the mechanism component can drive the revolute pair to realize the conversion of the mechanism from a spherical configuration to a straight prism configuration through the rotary motor;
5. the spherical structure can realize the functions of linear travel and flexible direction change in a simpler control mode, and has good rigidity and bearing capacity;
6. the mechanism configuration of the invention can be divided into eight spaces with identical structures according to the installation arrangement of the components, has the advantage of stable movement on flat road surfaces and rugged road surfaces, can be arbitrarily commutated, and has good application prospect.
Drawings
FIG. 1 is an overall assembly view of the multi-configuration reversible rolling mechanism of the present invention of FIG. 1;
FIG. 2 is a schematic diagram showing the connection of the upper and lower platforms with the first upper and lower bars of the multi-configuration reversible rolling mechanism of the present invention;
FIG. 3 is a schematic diagram of the connection of the second upper rod and the second lower rod of the multi-configuration reversible rolling mechanism and the constraint branched chain;
FIG. 4 is a schematic diagram showing the connection of the second link and the third link of the multi-configuration reversible rolling mechanism according to the present invention;
FIG. 5 is a schematic view of a Mecanum wheel assembly of a multi-configuration reversible rolling mechanism of the present invention;
FIG. 6 is a schematic diagram of a constrained branched-chain abduction mode prism of a multi-configuration reversible rolling mechanism of the present invention;
FIG. 7 is a schematic view of a constrained branched inward fold mode prism of a multi-configuration reversible rolling mechanism of the present invention;
FIG. 8 is a schematic view of a multi-configuration reversible rolling mechanism of the present invention with the constraining arms folded inwardly in a butterfly-like sliding motion;
FIG. 9 is a schematic drawing showing the sliding of the multi-configuration reversible rolling mechanism with the constraining branches folded inwardly in a planetary configuration;
in the figure: 1-upper platform, 2-lower platform, 3-constraint branched chain, 301-first connecting rod, 302-second connecting rod, 303-third connecting rod, 4-movable branched chain, 401-first upper rod, 402-second upper rod, 403-first lower rod, 404-second lower rod, 405-connecting piece, 5-Mecanum wheel, 6-first hook joint and 7-second hook joint.
Detailed Description
The invention will now be described in detail with reference to the drawings and specific examples. The following examples are given by way of illustration of detailed embodiments and specific procedures based on the technical scheme of the present invention, but the scope of the present invention is not limited to the following examples.
Example 1
A multi-configuration reversible rolling mechanism comprises an upper platform 1, a lower platform 2, a constraint branched chain 3 and four movable branched chains 4; the upper platform and the lower platform are symmetrically arranged, and the platforms are in a vertical X shape; the two ends of the four movable branched chains 4 are respectively connected with the upper platform and the lower platform through Hooke hinges; the four movable branched chains 4 are symmetrically and uniformly arranged at four corners of the upper platform and the lower platform; the movable branched chain 4 comprises a first upper rod 401, a second upper rod 402, a first lower rod 403 and a second lower rod 404; the first upper bar 401 and the second upper bar 402, and the first lower bar 403 and the second lower bar 404 are connected by a revolute pair (a locating pin), and a Mecanum wheel 5 is arranged between the first upper bar and the second upper bar; the constraint branched chain 3 comprises four groups of components with the same structure, each group of components comprises three connecting rods (a first connecting rod 301, a second connecting rod 302 and a third connecting rod 303) with different structures, wherein the second connecting rod 302 and the third connecting rod 303 are connected through a first hook hinge 6; the constraining branch 3 is located between the second upper bar 402 and the second lower bar 404; the rod pieces of the movable branched chain 4 and the constraint branched chain 3 are connected through a revolute pair (a locating pin).
Example 2
The multi-structure reversible rolling mechanism has all rods connected via rotation pair and can realize various forms of the moving mechanism via the relative rotation between the rods. As shown in fig. 1, the state of the mechanism is spherical, and in the state, all the rod pieces connected with each other have a certain angle, and after the rod pieces are locked, the mechanism can roll forward and can realize any reversing. The constraining branches 3 are composed of four identical sets of components, each set having three further structures: the first link 301, the second link 302 and the third link 303, when the constraint branch 3 moves to the second link 302 of the four groups of components, the third link 303 is orthogonal to each other, and the movement of the constraint branch 3 drives the movement of the first upper rod 401, the second upper rod 402, the first lower rod 403 and the second lower rod 404 of each moving branch 4.
The upper platform 1 is connected with the first upper rods 401 of the four movable branched chains 4 through the second hook hinges 7, so that four-direction reversing can be realized, and the upper and lower platforms are connected with the connected rod pieces in the same way due to the symmetry of the mechanism, and the specific connection mode is shown in figure 2; the connection between adjacent bars of the intermediate overconstrained branches 3 has two different connection modes, one is shown in fig. 3, and the two connection bars are adopted by the first connecting rod 301 being connected with each other, since the connection between the first connecting rod and the movable branch 4 is also adopted here: the first link 301 and the connecting member 405, the first link 301 and the connecting member 405 cross each other, and are connected by a pin. The first connecting rod 301 is connected with the second connecting rod 302, the first connecting rod 301 is connected with the adjacent third connecting rod 303, the connecting piece 405 is connected with the second upper rod 402 and the second lower rod 404 through shaft pins, so that free rotation can be realized, and the transition of the structural form can be performed in time;
another connection is shown in fig. 4, where the directly connected rods (the second link 302 and the third link 303) are connected by a first hook 6. The wheat wheel (Mecanum wheel 5) is arranged between the first rod (the first upper rod 401 or the first lower rod 403) and the second rod (the second upper rod 402 or the second lower rod 404), so that smaller driving can be realized on smooth ground, the design requirement is met better, and the specific connection mode is shown in fig. 5.
Most of the adjacent rods of the mechanism are connected by Hooke's hinges, so the mechanism can change various forms, the upper platform 1 and the lower platform 2 move to the upper platform 1 and the connected four first upper rods 401, and when the lower platform 2 is coplanar with the connected four first lower rods 403 and the first connecting rods 301 and the second connecting rods 302 in each group of components of the constraint branched chain 3 are coplanar, the mechanism state is shown in fig. 6 and is a prism for constraining the branched chain to abduct. When the constraint branched chain 3 moves reversely, the mechanism can be changed into a state of fig. 7 from a prism which is outwards expanded by the constraint branched chain, in this state, the mechanism can be divided into two spaces according to the structure, the dividing surface can be integrally seen as an X shape with two orthogonal sides, the uppermost layer is an upper platform 1 and four first upper rods 401 to form a prism top surface, the middle layer is formed by the constraint branched chain 3, and the prism bottom surface is formed by a lower platform 2 and four first lower rods 403.
As shown in fig. 8, the upper platform 1 and the lower platform 2 of the mechanism continue to shrink inwards, the included angle between the first upper rod 401 and the second upper rod 402 is an acute angle, and the included angle between the first lower rod 403 and the second lower rod 404 is the same angle due to the symmetry of the structure, at this time, the shape of the mechanism is similar to a butterfly, and the sliding on a flat ground can be realized through a wheat wheel.
The mechanism shown in fig. 9 is in a planetary configuration to constrain the abduction of the branches, in which case the mechanism may achieve gait walking on rough roads. In the illustrated state, the bottom surface of the upper platform 1 and the top surface of the lower platform 2 are in contact, and at this time, the included angle between the first upper rod 401 and the second upper rod 402, and the included angle between the first lower rod 403 and the second lower rod 404 are acute angles smaller than 30 °. The second link 302 of each set of components in the constraining branch 3 is at an acute angle to the third link 303.
The multi-configuration reversible rolling mechanism comprises a spherical configuration, a prismatic configuration for constraining the extension of a branched chain, a prismatic configuration for constraining the inward folding of the branched chain, a butterfly configuration for constraining the inward folding of the branched chain and a planet configuration for constraining the inward folding of the branched chain, and all the configurations can be divided into eight spaces with completely consistent space structures according to the structural specificity of a rod piece;
spherical conformation: in this state, there is certain angle between the member bars, and the mechanism can roll forward and the ball structure is easy to change.
Prismatic configuration constraining branched chain abduction: the second connecting rod and the third connecting rod, the upper rod and the lower rod in the constraint branched chain are orthogonal to each other, and the whole structure of the mechanism is a straight hexagonal prism.
Constraining prismatic conformation of the branched-chain inner stack: the mechanism is in a structure state that the constraint branched chains are orthogonal in pairs, the plane of the upper platform, the plane of the constraint branched chains and the plane of the lower platform are parallel in pairs, rod pieces connected between the upper rod and rod pieces connected between the lower rod and the lower rod are perpendicular to each other, and the whole structure of the mechanism is a regular hexagonal prism.
Constraint of butterfly conformation of branched chain inner stack: the constraint branched chains are folded inwards, the adjacent rod pieces are orthogonal to each other, the upper platform and the lower platform are kept to shrink inwards in parallel, and the included angles between the upper rod and between the lower rod and the lower rod are acute angles, so that the shape of the constraint branched chains is similar to that of a butterfly.
Constraint of the planetary configuration of the branched inner stack: the constraint branched chain is abducted, the form of the constraint branched chain is planetary, the included angle between the second connecting rod and the third connecting rod is an acute angle, the bottom surface of the upper platform is contacted with the top surface of the lower platform, and the included angle between the upper rod and between the lower rod and the lower rod is an acute angle.
Example 3
A multi-configuration reversible rolling mechanism comprises an upper platform 1, a lower platform 2, four movable branched chains 4 and a constraint branched chain 3. The mechanism is spherical in shape and can be divided into eight identical spaces according to the structure of the mechanism.
The upper platform 1 and the lower platform 2 are of an X-shaped structure and are symmetrically arranged. The four movable branched chains 4 have the same structure and are composed of a first upper rod 401, a second upper rod 402, a first lower rod 403 and a second lower rod 404, wherein the structures and the combination modes of the first upper rod 401 and the first lower rod 403 as well as the second upper rod 402 and the second lower rod 404 are the same. The first upper bar 401 is connected to a corner of the upper platform 1X by a revolute pair I, and similarly the first lower bar 403 is connected to the lower platform 2 by a revolute pair VI. The second upper rod 402 is connected with the first upper rod 401, the second lower rod 404 is connected with the first lower rod 403 through revolute pairs II and V respectively, a wheat wheel (Mecanum wheel 5) is arranged between the first rod and the second rod, and the upper rod and the lower rod are connected with a connecting piece 405 through revolute pairs III and IV. The over-constrained branched chain 3 is formed by staggered arrangement of three rods with different structures, wherein the revolute pairs I, VI are connected by hook hinges, the revolute pairs II, III, IV, V are all pin-connected, and the connected rods can relatively rotate.
When the rod piece rotates, the angles among the constraint branched chain rod piece, the movable branched chain rod piece, the upper and lower rods of the movable branched chain and the upper and lower platforms are 90-180 degrees, the mechanism is in a spherical shape, and in this state, the rolling forward and any reversing of the mechanism can be realized.
When the upper rod piece and the lower rod piece are orthogonal, the upper (lower) platform is coplanar with the first upper (lower) rod piece, the first connecting rod 301 is coplanar with the second connecting rod 302 connected with the upper (lower) rod piece, and the connecting piece 405 is coplanar with the second rod piece, the mechanism is a prism mechanism for restraining the branched chain abduction, and is one of the mechanism configuration states; under other conditions, the first link 301 is orthogonal to the second link 302 to which it is connected, and the mechanism is a prismatic mechanism that constrains the adduction of the branches, another configuration of the mechanism.
When the upper platform and the lower platform start to shrink inwards to a certain extent, the wheat wheel between the first two rod pieces starts to act, and the movement form of the mechanism is changed from rolling to sliding. At this time, the overconstrained branched chain rods are orthogonal in pairs.
When the constraint branched chain abducts, the upper platform and the lower platform can move to be in contact with each other, the mechanism is in a planetary shape, the movement mode is not in a single sliding mode any more, and when the road surface is rugged, the sliding can be converted into gait walking when the friction force is large.
As a preferable technical scheme:
preferably, the multi-configuration reversible rolling mechanism is completely symmetrical in structure, and all components are connected in a rotating way.
The mechanism can be divided into the following movement modes according to different forms:
scrolling mode: the multi-configuration reversing rolling mechanism connecting rods in the mode are in an unfolding state, and a certain angle is formed between the connecting rods, so that the reversing requirement can be met;
crawling mode: at the moment, the upper rod and the lower rod of the mechanism are folded, the upper platform and the lower platform are contracted inwards until contacting, the mechanism is in a planetary shape, and gait walking can be carried out by means of the folded rod piece;
sliding mode: when the lower platform is close to the upper platform, the upper and lower rods are folded, and the wheat wheel appears. The multi-configuration reversible rolling mechanism described in this state can achieve sliding on flat road surfaces.
In the present invention, it should be noted that the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
The previous description of the embodiments is provided to facilitate a person of ordinary skill in the art in order to make and use the present invention. It will be apparent to those skilled in the art that various modifications can be readily made to these embodiments and the generic principles described herein may be applied to other embodiments without the use of the inventive faculty. Therefore, the present invention is not limited to the above-described embodiments, and those skilled in the art, based on the present disclosure, should make improvements and modifications without departing from the scope of the present invention.
Claims (4)
1. The multi-configuration reversible rolling mechanism is characterized by comprising an upper platform (1), a lower platform (2), a constraint branched chain (3) and four movable branched chains (4), wherein the upper platform (1) and the lower platform (2) are in an X shape and are symmetrically arranged, the four movable branched chains (4) are symmetrically and uniformly arranged on four sides of the upper platform (1) and the lower platform (2), and the constraint branched chains (3) are arranged between the movable branched chains (4);
the four movable branched chains (4) have the same structure and comprise a first upper rod (401), a second upper rod (402), a first lower rod (403) and a second lower rod (404); two ends of a first upper rod (401) are respectively connected with an upper platform (1) and a second upper rod (402), two ends of a first lower rod (403) are respectively connected with a lower platform (2) and a second lower rod (404), and the second upper rod (402) is connected with the second lower rod (404) through a rotating pair;
the first upper rod (401) is connected with the upper platform (1) through a revolute pair I, the second upper rod (402) is connected with the connecting piece (405) through a revolute pair III, the connecting piece (405) is connected with the second lower rod (404) through a revolute pair IV, the second lower rod (404) is connected with the first lower rod (403) through a revolute pair V, and the first lower rod (403) is connected with the lower platform (2) through a revolute pair VI;
the revolute pair I is a Hooke joint, the revolute pairs II-V are positioning pins, and the revolute pair VI is a Hooke joint;
the first upper rod (401) and the second upper rod (402) and the first lower rod (403) and the second lower rod (404) are connected through a positioning pin, and a Mecanum wheel (5) is arranged between the first upper rod and the second upper rod;
the revolute pair I, the revolute pair II, the revolute pair III, the revolute pair IV, the revolute pair V and the Mecanum wheel (5) are all driven by independent driving parts;
the constraint branched chain (3) is composed of four groups of components with the same structure, and each group of components comprises a first connecting rod (301), a second connecting rod (302) and a third connecting rod (303); the first connecting rod (301) is connected with the movable branched chain (4), one end of the first connecting rod is connected with the second connecting rod (302), and the other end of the first connecting rod is connected with a third connecting rod (303) of another group of components adjacent to the first connecting rod;
the first connecting rod (301) and the connecting piece (405) are mutually intersected and connected through a pin.
2. The multi-configuration reversible rolling mechanism according to claim 1, wherein the second link (302) and the third link (303) are connected by a hook joint.
3. The multi-configuration reversible rolling mechanism according to claim 1, wherein one end of the first link (301) is connected to the second link (302) by a positioning pin, and the other end is connected to a third link (303) of another set of components adjacent thereto by a positioning pin.
4. A multi-configuration reversible rolling mechanism according to any one of claims 1 to 3, wherein the rolling mechanism comprises a spherical configuration, a prismatic configuration constraining the extension of a branched chain, a prismatic configuration constraining the inward folding of a branched chain, a butterfly configuration constraining the inward folding of a branched chain, and a planetary configuration constraining the inward folding of a branched chain.
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