CN100579731C - Double L-shaped cubic modularized self-reconstruction robot based on rotary hook hole - Google Patents
Double L-shaped cubic modularized self-reconstruction robot based on rotary hook hole Download PDFInfo
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- CN100579731C CN100579731C CN200810064087A CN200810064087A CN100579731C CN 100579731 C CN100579731 C CN 100579731C CN 200810064087 A CN200810064087 A CN 200810064087A CN 200810064087 A CN200810064087 A CN 200810064087A CN 100579731 C CN100579731 C CN 100579731C
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Abstract
The invention provides a double L-shaped cubic modularized self-reconstructing robot based on rotational hook hole connection, which relates to a robot. The present invention aims at solving the problems that the existing array-typed robot is not flexible enough in motion and the robot after being assembled can not efficiently move, as well as the problems of large volume, heavy weight and large heat productivity, and the like, in an electromagnetic connecting mechanism. The present invention is characterized in that a first drive connecting module is fixedly connected with a second drive connecting module; a third drive connecting module is fixedly connected with a fourth drive connecting module; a first driven connecting module is fixedly connected with a second driven connecting module; a third driven connecting module is fixedly connected with a fourth driven connecting module. The present invention has the self-reconstructing function of local modules of the array-typed system and the motional function of integrated configuration of a tandem-typed system. The load/deadweight rate of the module is 4.5:1 and the drive module or the driven module can be exchanged automatically. The mechanism does not need to maintain the energy in the connecting state and the disconnecting state, thus saving the energy.
Description
Technical field
The present invention relates to a kind of robot.
Background technology
Modularized self-reorganization robot is also referred to as automatic transformable robot (self-metamorphic robot), is a new branch of science of rising in the robotics research field in recent ten years, is focus and difficult point during current robot is studied.Be meant connectivity and the interchangeability utilized between the robot module, and the ambient condition information that perceives of module sensors, change whole configuration, extension movement form, realize different motion gaits, finish corresponding motion and operation task by the mutual operation between a large amount of modules.Have following characteristics: one, from the reconstruct function: robot can be according to the variation of environment and task, select corresponding configuration by the artificial intelligence computing technique, the autonomous control module target configuration of recombinating conforms and task, therefore is specially adapted to circumstances not known or destructuring environment.Two, self-repair function: robot is made up of many robot modules, when a certain functions of modules inefficacy is broken down, the module identical with the failed module function can independently be selected by robot, by the module that lost efficacy being picked out from the reconstruct function, the intact module of the function of selecting is assembled into the also alternative failed module in failed module position continues to finish the work, thereby have self-repair function.Three, functional expansionary: the function expansion of robot can realize by increase and decrease number of modules or type, for example can increase sensor assembly and give the new perceptional function of robot etc. by increasing space or the operating space that rotating module quantity changes robot.Four, adaptivity: determined the robot good adaptive from reconstruct function and self-repair function, can adapt to destructuring environment or circumstances not known by changing self shape.Five, high reliability: module has interchangeability, by self-repair function self is repaired when local fault takes place, and has guaranteed reliably carrying out of task.Six, good and economic: the modular structure of forming robot is fairly simple, and structure is similar, is fit to the large-scale processing manufacturing, thereby reduces the manufacturing cost of individual module.
Unit module is the basic element that makes up the self-reorganization robot system, the locomitivity of module, number of degrees of freedom, and quality, can directly influence topology conversion, Total tune motion and the job space ability of self-reorganization robot system, therefore rationally arrange the function of design module most important; The bindiny mechanism of module is the key that influences the robot reconfiguration of reliability, that design connects is reliable, action fast, separate easily, save the energy, compact conformation, bindiny mechanism that quality is little also is one of key technology of self-reorganization robot.
1) functions of modules design analysis
The function of module comprises the motor function and the combination function of other module after combination of module self, the motor function of module self is meant the free degree number (free degree that does not comprise bindiny mechanism) that individual module has, and the combination function of module is meant that a plurality of modules are making up the compound mode of each module of back in assembly mutually.
Aspect the motor function of module self, present self-reorganization robot is just towards two diametrically opposite developing direction development, a research direction is to make individual module have the ability of strong as far as possible change self-position, each module can be regarded an independently robot as like this, as in the CONRO system, individual machine people module has two frees degree, the deflection free degree and the pitching free degree, and individual module just can be used as a mobile robot; In the MTRAN system, each module has two parallel rotational freedoms, and individual module can change self-position by tumbling motion on the surface that other modules form; Another research direction is to make module not have the ability that changes self-position, can only carry out the change of self-position by cooperatively interacting with other module, as the 3D-Unit system, though individual module has 6 frees degree, but individual module can't change self-position, only can change module self direction, change self-position by cooperating with adjacent block.
In two research directions of module displacement function, each module is relatively independent in the former robot, the motion coupling of intermodule is looser, individual module can be selected to disconnect with whole robot or be connected according to the task needs in restructuring procedure, and restructing algorithm can be used for reference existing multirobot technology; Each module has stronger motion coupled relation in the robot in one research direction of back, it is directly related that the ability of the change self-position of module is adjacent the orientation of module, and individual module can not disconnect with robot is whole in restructuring procedure, the restructing algorithm complexity, but aspect structural design, the free degree that the former generally needs is many, complex structure, the individual module volume is bigger, quality is bigger, load/less relatively from anharmonic ratio, limited robot integrated operation and the locomitivity after the module combinations, the general free degree of the latter is less even can not have the free degree, and is simple in structure, and the module sole mass is to the operation of the robot after making up, the locomitivity influence is less.
From the module combinations function, the array robot generally has the geometric shape of rule, as cube, regular dodecahedron, tetrahedrons etc., the geometric shape of this rule make each module under the situation that does not need external energy, only rely on the characteristic of the mechanical material of self can form stable robot architecture, but existing array robot motion's flexibility deficiency can not be moved behind the composition robot efficiently; The tandem robot does not require the geometric shape of rule, more lays particular emphasis on to form certain chain structure, as snake-shaped robot, caterpillar type robot, perhaps contains the robot of some chain structure, as multi-foot robot; The module that needs such robot contains one or more cradle heads more, rely on the holding torque of cradle head to support robot body, rotation by cradle head realizes robot Total tune motion efficiently, but seems unable to do what one wishes when certain interstitital texture of the pattern of wants is finished the work.
2) module bindiny mechanism design analysis
Self-reorganization robot is different from other robot part and is that it can independently change self configuration and come complete operation or task, bindiny mechanism participates in the robot configuration directly and changes process, the connection of bindiny mechanism disconnects the success or not that performance has directly determined the self-reorganization robot distortion, therefore bindiny mechanism is one of most significant problems in the reconstruct modular design, must guarantee that robot module's room machine is electrically connected reliably, separates easily, wants cube little, energy-conservation simultaneously.Existing array robot module's bindiny mechanism has mostly adopted the structure of pin-and-hole formula, electromagnetic type or magneto.Though the bindiny mechanism of pin-and-hole formula connects reliable, lock out operation needs extra separated space, has limited the ability from reconstruct.The bindiny mechanism of electromagnetic type can reduce the complexity of mechanism design, but has problems such as volume is big, weight is big, caloric value is big.It is big that the bindiny mechanism of magneto has a bonding strength, advantage such as volume, weight are little, a little less than its subject matter was that joint face shear-stable ability, if speed planning is unreasonable, it was unreliable to cause connecting when having relative motion trend between two link blocks in robot mass motion process.
Summary of the invention
The objective of the invention is to move efficiently behind the composition robot for solving existing array robot motion's flexibility deficiency; Existing array robot module's bindiny mechanism has mostly adopted the structure of pin-and-hole formula, electromagnetic type or magneto, but lock out operation needs extra separated space, has limited the ability from reconstruct.There are problems such as volume is big, weight is big, caloric value is big in the bindiny mechanism of electromagnetic type.A little less than its subject matter of the bindiny mechanism of magneto is that joint face shear-stable ability, in robot mass motion process,, cause connecting insecure problem when having relative motion trend between two link blocks if speed planning is unreasonable.A kind of two L shaped regular cube modularized self-reorganization robot that connects based on the rotation dog hole is provided.The present invention comprises initiatively module and passive module, initiatively module comprises the first active link block A, the second active link block B, the 3rd active link block C, the 4th active link block D, first bracing frame 31, second bracing frame 32, the first servo steering wheel 33, first battery 34, clutch shaft bearing 37, the back shaft 38 of the first servo steering wheel, the torque output shaft 40 of second bearing 39 and the first servo steering wheel, the end of the first active link block A is fixedlyed connected with the end of the second active link block B, the end of the 3rd active link block C is fixedlyed connected with the end of the 4th active link block D, one end of first bracing frame 31 being fixedlyed connected with the inboard of the first active link block A, one end of second bracing frame 32 being fixedlyed connected with the inboard of the 3rd active link block C, clutch shaft bearing 37 is located on the other end of first bracing frame 31, second bearing 39 is located on the other end of second bracing frame 32, one end of the first servo steering wheel 33 is provided with the back shaft 38 of the first servo steering wheel, the other end of the first servo steering wheel 33 is the torque output shaft 40 of the first servo steering wheel, the back shaft 38 of the first servo steering wheel is located in the clutch shaft bearing 37, the torque output shaft 40 of the first servo steering wheel is located in second bearing 39, and first battery 34 is fixed on the first servo steering wheel 33; The first active link block A, the second active link block B, the 3rd active link block C and the 4th active link block D are respectively by DC speed-reducing 1, four bearing pins 2, four connecting rods 3, four rotary hooks 4, four slide blocks 6, four fixed axis 7, four pairs of supports 8, driving-disc 9, panel 10, four shifting axles 11, transmission rope 13 and transmission rope bogie 16 are formed, have four through holes 5 on each panel 10, have four sliding-rail grooves 22 that are used to retrain slide block 6 sliding traces on each panel 10, DC speed-reducing 1 is fixed on the uper side surface of panel 10, driving-disc 9 is arranged on the center of the uper side surface of panel 10, transmission rope bogie 16 is fixed on the uper side surface of the panel 10 between DC speed-reducing 1 and the driving-disc 9, transmission rope 13 is in transmission connection by transmission rope bogie 16 and DC speed-reducing 1 and driving-disc 9, four pairs of supports 8 are separately fixed on the uper side surface of panel 10, the corresponding through hole 5 in the outside of every pair of support 8, be fixed with a fixed axis 7 on every pair of support 8, between every pair of support 8, be provided with a described slide block 6, slide block 6 is in the sliding-rail groove 22, transverse slipway 18 on the slide block 6 is slidingly connected with fixed axis 7, one end of each connecting rod 3 is hinged with corresponding slide block 6, the other end of each connecting rod 3 is hinged by corresponding bearing pin 2 and driving-disc 9, be respectively equipped with a rotary hook 4 in each slide block 6, first axis hole 20 on the rotary hook 4 is rotationally connected with fixed axis 7, be provided with a shifting axle 11 in second axis hole 21 on the rotary hook 4, vertical slideway 19 on the two ends of shifting axle 11 and the slide block 6 is slidingly connected, the center of driving-disc 9 is provided with through hole 29, the outer end of the back shaft 38 of the first servo steering wheel pass the 4th initiatively the through hole 29 of the driving-disc 9 on the link block D fixedly connected with panel 10, the through hole 29 that the driving-disc 9 on the second active link block B is passed in the outer end of the torque output shaft 40 of the first servo steering wheel is fixedlyed connected with panel 10; (during steering wheel output torque, back shaft does not rotate, only playing the effect of support and connection) passive module comprises the first passive link block E, the second passive link block F, the 3rd passive link block G, the 4th passive link block H, the 3rd bracing frame 41, the 4th bracing frame 42, the second servo steering wheel 43, second battery 44, the 3rd bearing 47, the back shaft 48 of the second servo steering wheel, the torque output shaft 50 of the 4th bearing 49 and the second servo steering wheel, the end of the first passive link block E is fixedlyed connected with the end of the second passive link block F, the end of the 3rd passive link block G is fixedlyed connected with the end of the 4th passive link block H, one end of the 3rd bracing frame 41 is fixedlyed connected with the inboard of the first passive link block E, one end of the 4th bracing frame 42 is fixedlyed connected with the inboard of the 3rd passive link block G, the 3rd bearing 47 is located on the other end of the 3rd bracing frame 41, the 4th bearing 49 is located on the other end of the 4th bracing frame 42, one end of the second servo steering wheel 43 is provided with the back shaft 48 of the second servo steering wheel, the other end of the second servo steering wheel 43 is the torque output shaft 50 of the second servo steering wheel, the back shaft 48 of the second servo steering wheel is located in the 3rd bearing 47, the torque output shaft 50 of the second servo steering wheel is located in the 4th bearing 49, fixedly connected with the 4th passive link block H in the outer end of the back shaft 48 of the second servo steering wheel, fixedly connected with the second passive link block F in the outer end of the torque output shaft 50 of the second servo steering wheel, second battery 44 is fixed on the second servo steering wheel 43, the first passive link block E, the second passive link block F, all have four trapezoidal holes 15 on the 3rd passive link block G and the 4th passive link block H, four trapezoidal holes 15 on each passive link block respectively with the first link block A initiatively, the second active link block B, four through holes 5 on the panel 10 of the 3rd active link block C or the 4th active link block D are corresponding one by one also to be connected with rotary hook 4 respectively.
The present invention has following beneficial effect: though one have only a rotational freedom, make the motion of module not possess spatial symmetry completely, but utilize the aggregate motion of a plurality of different azimuth modules, can overcome the influence that asymmetry is brought, guarantee the kinematic dexterity of robot; Two, module not only possessed the array system local module from the reconstruct function, and possessed the motor function of the whole configuration of series system; Three, the load of module/from anharmonic ratio is 4.5: 1, and promptly individual module can carry the object that is equivalent to self 4.5 times of weight and be rotated motion; Though four the present invention are class homogeneous self-reorganization robot system, promptly module has the branch of active module and passive module, and initiatively module or passive module self can be exchanged; Five, can change the composition scale of robot system by the number of increase and decrease module, the expanding system function; Six, based on the energy-conservation bindiny mechanism of DC speed-reducing and rotation dog hole when being in connection status and off-state, do not need energy to keep, saved energy, this mechanism is an effort-saving mechanism, connects reliable; Seven, module self has power supply, can provide energy for direct current generator and steering wheel work, and module controls adopts controlled in wireless simultaneously, thus avoid moving and restructuring procedure in the generation of cable wrapping phenomena; Eight, be fit to make, simplified inspection and maintenance process in batches, reduced cost.
Description of drawings
Fig. 1 is the initiatively overall structure front view of module of the present invention, Fig. 2 is the initiatively 3-D solid structure schematic diagram of module of the present invention, Fig. 3 is the overall structure front view of the passive module of the present invention, Fig. 4 is the 3-D solid structure schematic diagram of the passive module of the present invention, Fig. 5 is the syndeton schematic diagram of active link block and passive link block, Fig. 6 be rotary hook 4 respectively with the connection status schematic diagram of active link block and passive link block, Fig. 7 be rotary hook 4 respectively with the off-state schematic diagram of active link block and passive link block.
The specific embodiment
The specific embodiment one: (referring to Fig. 1～Fig. 7) present embodiment is made up of active module and passive module, initiatively module is by the first active link block A, the second active link block B, the 3rd active link block C, the 4th active link block D, first bracing frame 31, second bracing frame 32, the first servo steering wheel 33, first battery 34, clutch shaft bearing 37, the back shaft 38 of the first servo steering wheel, the torque output shaft 40 of second bearing 39 and the first servo steering wheel is formed, the end of the first active link block A is fixedlyed connected with the end of the second active link block B, the end of the 3rd active link block C is fixedlyed connected with the end of the 4th active link block D, one end of first bracing frame 31 being fixedlyed connected with the inboard of the first active link block A, one end of second bracing frame 32 being fixedlyed connected with the inboard of the 3rd active link block C, clutch shaft bearing 37 is located on the other end of first bracing frame 31, second bearing 39 is located on the other end of second bracing frame 32, one end of the first servo steering wheel 33 is provided with the back shaft 38 of the first servo steering wheel, the other end of the first servo steering wheel 33 is the torque output shaft 40 of the first servo steering wheel, the back shaft 38 of the first servo steering wheel is located in the clutch shaft bearing 37, the torque output shaft 40 of the first servo steering wheel is located in second bearing 39, and first battery 34 is fixed on the first servo steering wheel 33; The first active link block A, the second active link block B, the 3rd active link block C and the 4th active link block D are respectively by DC speed-reducing 1, four bearing pins 2, four connecting rods 3, four rotary hooks 4, four slide blocks 6, four fixed axis 7, four pairs of supports 8, driving-disc 9, panel 10, four shifting axles 11, transmission rope 13 and transmission rope bogie 16 are formed, have four through holes 5 on each panel 10, have four sliding-rail grooves 22 that are used to retrain slide block 6 sliding traces on each panel 10, DC speed-reducing 1 is fixed on the uper side surface of panel 10, driving-disc 9 is arranged on the center of the uper side surface of panel 10, transmission rope bogie 16 is fixed on the uper side surface of the panel 10 between DC speed-reducing 1 and the driving-disc 9, transmission rope 13 is in transmission connection by transmission rope bogie 16 and DC speed-reducing 1 and driving-disc 9, four pairs of supports 8 are separately fixed on the uper side surface of panel 10, the corresponding through hole 5 in the outside of every pair of support 8, be fixed with a fixed axis 7 on every pair of support 8, between every pair of support 8, be provided with a described slide block 6, slide block 6 is in the sliding-rail groove 22, transverse slipway 18 on the slide block 6 is slidingly connected with fixed axis 7, one end of each connecting rod 3 is hinged with corresponding slide block 6, the other end of each connecting rod 3 is hinged by corresponding bearing pin 2 and driving-disc 9, be respectively equipped with a rotary hook 4 in each slide block 6, first axis hole 20 on the rotary hook 4 is rotationally connected with fixed axis 7, be provided with a shifting axle 11 in second axis hole 21 on the rotary hook 4, vertical slideway 19 on the two ends of shifting axle 11 and the slide block 6 is slidingly connected, the center of driving-disc 9 is provided with through hole 29, the outer end of the back shaft 38 of the first servo steering wheel pass the 4th initiatively the through hole 29 of the driving-disc 9 on the link block D fixedly connected with panel 10, the through hole 29 that the driving-disc 9 on the second active link block B is passed in the outer end of the torque output shaft 40 of the first servo steering wheel is fixedlyed connected with panel 10; (during steering wheel output torque, back shaft does not rotate, only playing the effect of support and connection) passive module is by the first passive link block E, the second passive link block F, the 3rd passive link block G, the 4th passive link block H, the 3rd bracing frame 41, the 4th bracing frame 42, the second servo steering wheel 43, second battery 44, the 3rd bearing 47, the back shaft 48 of the second servo steering wheel, the torque output shaft 50 of the 4th bearing 49 and the second servo steering wheel is formed, the end of the first passive link block E is fixedlyed connected with the end of the second passive link block F, the end of the 3rd passive link block G is fixedlyed connected with the end of the 4th passive link block H, one end of the 3rd bracing frame 41 is fixedlyed connected with the inboard of the first passive link block E, one end of the 4th bracing frame 42 is fixedlyed connected with the inboard of the 3rd passive link block G, the 3rd bearing 47 is located on the other end of the 3rd bracing frame 41, the 4th bearing 49 is located on the other end of the 4th bracing frame 42, one end of the second servo steering wheel 43 is provided with the back shaft 48 of the second servo steering wheel, the other end of the second servo steering wheel 43 is the torque output shaft 50 of the second servo steering wheel, the back shaft 48 of the second servo steering wheel is located in the 3rd bearing 47, the torque output shaft 50 of the second servo steering wheel is located in the 4th bearing 49, fixedly connected with the 4th passive link block H in the outer end of the back shaft 48 of the second servo steering wheel, fixedly connected with the second passive link block F in the outer end of the torque output shaft 50 of the second servo steering wheel, second battery 44 is fixed on the second servo steering wheel 43, the first passive link block E, the second passive link block F, all have four trapezoidal holes 15 on the 3rd passive link block G and the 4th passive link block H, four trapezoidal holes 15 on each passive link block respectively with the first link block A initiatively, the second active link block B, four through holes 5 on the panel 10 of the 3rd active link block C or the 4th active link block D are corresponding one by one also to be connected with rotary hook 4 respectively.
The specific embodiment two: (referring to Fig. 2, Fig. 4 and Fig. 5) difference of present embodiment and the specific embodiment one is, it has increased by four passive link block permanent magnets 17 and two active link block permanent magnets 24, the first passive link block E, the second passive link block F, all have four bellmouths 14 of omnidirectional distribution on the 3rd passive link block G and the 4th passive link block H, fix a described passive link block permanent magnet 17 in each bellmouth 14, have two bellmouths 23 on each panel 10, fix an initiatively link block permanent magnet 24 in each bellmouth 23, on each panel 10 two initiatively link block permanent magnets 24 respectively with the first passive link block E, the second passive link block F, the passive link block permanent magnet of two of diagonal angle on the 3rd passive link block G or the 4th passive link block H 17 is corresponding.Other composition is identical with the specific embodiment one with annexation.In order to reduce the error that do not line up between active link block and the passive link block, two permanent magnets are installed on the active link block, four permanent magnets are installed on the passive link block, and what rely on permanent magnet eliminates big gap when connecting to neutrality, has improved to connect into power.
The specific embodiment three: the difference of (referring to Fig. 1) present embodiment and the specific embodiment two is, it has increased by first rib 35 and second rib 36, second rib 36 is fixed on the inwall at the first active link block A and the second active link block B angle of cut place, and first rib 35 is fixed on the inwall at the 3rd active link block C and the 4th active link block D angle of cut place.Other is identical with the specific embodiment two.First rib 35 that increases and the second rib 36 pairs first actives link block A and the second active link block B and the 3rd active link block C and the 4th initiatively link block D have played the stay bolt effect.
The specific embodiment four: the difference of (referring to Fig. 3) present embodiment and the specific embodiment three is, it has increased the 3rd rib 45 and the 4th rib 46, the 4th rib 46 is fixed on the inwall at the first passive link block E and the second passive link block F angle of cut place, and the 3rd rib 45 is fixed on the inwall at the 3rd passive link block G and the 4th passive link block H angle of cut place.Other is identical with the specific embodiment three.The 3rd rib 45 that increases and 46 couples first passive link block E of the 4th rib and the second passive link block F and the 3rd passive link block G and the 4th passive link block H have played the stay bolt effect.
The driving mechanism of module comprises self rotary freedom driving and bindiny mechanism's driving mechanism, adopts the driving element of direct current deceleration micro machine as bindiny mechanism, and DC speed-reducing control is easy, the speed that has improved the module connection simultaneously or separated; Module self rotary freedom drives main 2 requirements of satisfying: enough load capacity and less appearance and size, be that driving mechanism has higher power/weight ratio, for this reason, select Hitec HSR5995TG as driving steering wheel, it is integrated DC servo motor, driver, position detecting element, reducing gear etc., volume is little, output torque is big, control interface is simple, adopts pulse width modulation directly to carry out Position Control, has reduced the requirement to the module controls system.
Claims (4)
1, a kind of two L shaped regular cube modularized self-reorganization robot that connects based on the rotation dog hole, it comprises initiatively module and passive module, it is characterized in that initiatively module comprises the first active link block (A), the second active link block (B), the 3rd active link block (C), the 4th active link block (D), first bracing frame (31), second bracing frame (32), the first servo steering wheel (33), first battery (34), clutch shaft bearing (37), the back shaft of the first servo steering wheel (38), the torque output shaft (40) of second bearing (39) and the first servo steering wheel, one end of the first active link block (A) is fixedlyed connected with an end of the second active link block (B), one end of the 3rd active link block (C) is fixedlyed connected with an end of the 4th active link block (D), one end of first bracing frame (31) is fixedlyed connected with the inboard of the first active link block (A), one end of second bracing frame (32) is fixedlyed connected with the inboard of the 3rd active link block (C), clutch shaft bearing (37) is located on the other end of first bracing frame (31), second bearing (39) is located on the other end of second bracing frame (32), one end of the first servo steering wheel (33) is provided with the back shaft (38) of the first servo steering wheel, the other end of the first servo steering wheel (33) is the torque output shaft (40) of the first servo steering wheel, the back shaft of the first servo steering wheel (38) is located in the clutch shaft bearing (37), the torque output shaft (40) of the first servo steering wheel is located in second bearing (39), and first battery (34) is fixed on the first servo steering wheel (33); The first active link block (A), the second active link block (B), the 3rd active link block (C) and the 4th active link block (D) are respectively by DC speed-reducing (1), four bearing pins (2), four connecting rods (3), four rotary hooks (4), four slide blocks (6), four fixed axis (7), four pairs of supports (8), driving-disc (9), panel (10), four shifting axles (11), transmission rope (13) and transmission rope bogie (16) are formed, have four through holes (5) on each panel (10), have four sliding-rail grooves (22) that are used to retrain slide block (6) sliding trace on each panel (10), DC speed-reducing (1) is fixed on the uper side surface of panel (10), driving-disc (9) is arranged on the center of the uper side surface of panel (10), transmission rope bogie (16) is fixed on the uper side surface of the panel (10) between DC speed-reducing (1) and the driving-disc (9), transmission rope (13) is in transmission connection by transmission rope bogie (16) and DC speed-reducing (1) and driving-disc (9), four pairs of supports (8) are separately fixed on the uper side surface of panel (10), the corresponding through hole (5) in the outside of every pair of support (8), be fixed with a fixed axis (7) on every pair of support (8), between every pair of support (8), be provided with a described slide block (6), slide block (6) is in the sliding-rail groove (22), transverse slipway (18) on the slide block (6) is slidingly connected with fixed axis (7), one end of each connecting rod (3) is hinged with corresponding slide block (6), the other end of each connecting rod (3) is hinged by corresponding bearing pin (2) and driving-disc (9), be respectively equipped with a rotary hook (4) in each slide block (6), first axis hole (20) on the rotary hook (4) is rotationally connected with fixed axis (7), be provided with a shifting axle (11) in second axis hole (21) on the rotary hook (4), vertical slideway (19) on the two ends of shifting axle (11) and the slide block (6) is slidingly connected, the center of driving-disc (9) is provided with through hole (29), the outer end of the back shaft of the first servo steering wheel (38) pass the 4th initiatively the through hole (29) of the driving-disc (9) on the link block (D) fixedly connected with panel (10), the through hole (29) that the driving-disc (9) on the second active link block (B) is passed in the outer end of the torque output shaft (40) of the first servo steering wheel is fixedlyed connected with panel (10); Passive module comprises the first passive link block (E), the second passive link block (F), the 3rd passive link block (G), the 4th passive link block (H), the 3rd bracing frame (41), the 4th bracing frame (42), the second servo steering wheel (43), second battery (44), the 3rd bearing (47), the back shaft of the second servo steering wheel (48), the torque output shaft (50) of the 4th bearing (49) and the second servo steering wheel, one end of the first passive link block (E) is fixedlyed connected with an end of the second passive link block (F), one end of the 3rd passive link block (G) is fixedlyed connected with an end of the 4th passive link block (H), one end of the 3rd bracing frame (41) is fixedlyed connected with the inboard of the first passive link block (E), one end of the 4th bracing frame (42) is fixedlyed connected with the inboard of the 3rd passive link block (G), the 3rd bearing (47) is located on the other end of the 3rd bracing frame (41), the 4th bearing (49) is located on the other end of the 4th bracing frame (42), one end of the second servo steering wheel (43) is provided with the back shaft (48) of the second servo steering wheel, the other end of the second servo steering wheel (43) is the torque output shaft (50) of the second servo steering wheel, the back shaft of the second servo steering wheel (48) is located in the 3rd bearing (47), the torque output shaft (50) of the second servo steering wheel is located in the 4th bearing (49), fixedly connected with the 4th passive link block (H) in the outer end of the back shaft of the second servo steering wheel (48), fixedly connected with the second passive link block (F) in the outer end of the torque output shaft (50) of the second servo steering wheel, second battery (44) is fixed on the second servo steering wheel (43), the first passive link block (E), the second passive link block (F), all have four trapezoidal holes (15) on the 3rd passive link block (G) and the 4th passive link block (H), four trapezoidal holes (15) on each passive link block respectively with first link block (A) initiatively, the second active link block (B), four through holes (5) on the panel (10) of the 3rd active link block (C) or the 4th active link block (D) are corresponding one by one also to be connected with rotary hook (4) respectively.
2, the two L shaped regular cube modularized self-reorganization robot that connects based on the rotation dog hole according to claim 1, it is characterized in that it also comprises four passive link block permanent magnets (17) and two active link block permanent magnets (24), the first passive link block (E), the second passive link block (F), all have four bellmouths (14) of omnidirectional distribution on the 3rd passive link block (G) and the 4th passive link block (H), fix a described passive link block permanent magnet (17) in each bellmouth (14), have two bellmouths (23) on each panel (10), fix an initiatively link block permanent magnet (24) in each bellmouth (23), on each panel (10) two initiatively link block permanent magnets (24) respectively with the first passive link block (E), the second passive link block (F), two passive link block permanent magnets (17) at the diagonal angle on the 3rd passive link block (G) or the 4th passive link block (H) are corresponding.
3, the two L shaped regular cube modularized self-reorganization robot that connects based on the rotation dog hole according to claim 2, it is characterized in that it also comprises first rib (35) and second rib (36), second rib (36) is fixed on the inwall at the first active link block (A) and second active link block (B) angle of cut place, and first rib (35) is fixed on the inwall at the 3rd active link block (C) and the 4th active link block (D) angle of cut place.
4, the two L shaped regular cube modularized self-reorganization robot that connects based on the rotation dog hole according to claim 3, it is characterized in that it also comprises the 3rd rib (45) and the 4th rib (46), the 4th rib (46) is fixed on the inwall at the first passive link block (E) and second passive link block (F) angle of cut place, and the 3rd rib (45) is fixed on the inwall at the 3rd passive link block (G) and the 4th passive link block (H) angle of cut place.
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