CN100579731C - Double L-shaped regular cube modular self-reconfigurable robot based on rotating hook-hole connection - Google Patents

Abstract

The invention discloses a double "L" shaped regular cube modular self-reconfigurable robot based on the connection of rotating hook holes, which relates to a robot. The purpose of the present invention is to solve the problems that the existing array robot has insufficient movement flexibility and cannot move efficiently after the robot is assembled; the electromagnetic connection mechanism has the problems of large volume, heavy weight and high heat generation. In the present invention, the first active connection module is fixedly connected to the second active connection module, the third active connection module is fixedly connected to the fourth active connection module, the first passive connection module is fixedly connected to the second passive connection module, and the third passive connection module is fixedly connected to the second passive connection module. The fourth passive connection module is fixedly connected. The present invention has the self-reconfiguration function of the local modules of the array system, and also has the movement function of the overall configuration of the series system; the load/weight ratio of the modules is 4.5:1, and the active modules or passive modules themselves can be interchanged; When the mechanism is in the connected state and the disconnected state, it does not need energy maintenance, which saves energy.

Description

Double L-shaped regular cube modular self-reconfigurable robot based on rotating hook-hole connection

technical field

The present invention relates to a robot.

Background technique

Modular self-reconfigurable robot, also known as self-metamorphic robot, is a new subject emerging in the field of robotics research in the past ten years, and it is a hot and difficult point in current robotics research. It refers to the use of the connectivity and interchangeability between robot modules, as well as the surrounding environment information sensed by the module sensors, through the interoperation between a large number of modules to change the overall configuration, expand the movement form, realize different movement gaits, complete Corresponding movement and manipulation tasks. It has the following characteristics: 1. Self-reconfiguration function: The robot can select the corresponding configuration through artificial intelligence computing technology according to the change of the environment and tasks, and the autonomous control module is reorganized to the target configuration to adapt to the environment and tasks, so it is especially suitable for unknown environment or unstructured environment. 2. Self-repair function: The robot is composed of many robot modules. When a module fails, the robot can independently select the module with the same function as the failed module, and remove the failed module through the self-reconfiguration function. The functionally sound module is assembled to the position of the failed module and replaces the failed module to continue to complete the task, so it has a self-repair function. 3. Functional scalability: The functional expansion of the robot can be achieved by increasing or decreasing the number or types of modules, for example, the movement space or operating space of the robot can be changed by increasing the number of rotating modules, and the addition of sensor modules can give the robot new perception functions. 4. Adaptability: The self-reconfiguration and self-repair functions determine the good adaptability of the robot, which can adapt to unstructured or unknown environments by changing its own shape. 5. High reliability: The modules are interchangeable, and when a partial failure occurs, the self-repair function can be used to repair itself, ensuring the reliable execution of tasks. 6. Good economy: the structure of the modules that make up the robot is relatively simple and similar in structure, which is suitable for large-scale processing and manufacturing, thereby reducing the manufacturing cost of a single module.

The unit module is the most basic element for building a self-reconfigurable robot system. The movement ability, degree of freedom and quality of the module will directly affect the topology transformation, overall coordinated movement and space operation ability of the self-reconfigurable robot system. Therefore, the rational arrangement of the design module Function is very important; the connection mechanism of the module is the key to the reliability of the robot's reconstruction. Designing a connection mechanism with reliable connection, fast action, easy separation, energy saving, compact structure, and low mass is also one of the key technologies for self-reconfigurable robots. .

1) Module function design analysis

The function of the module includes the movement function of the module itself and the combination function of other modules after combination. The movement function of the module itself refers to the number of degrees of freedom of a single module (excluding the degrees of freedom of the connecting mechanism), and the combination function of the module refers to the number of degrees of freedom. The combination of each module in the combination after the modules are combined with each other.

In terms of the movement function of the module itself, the current self-reconfigurable robot is developing in two diametrically opposite directions. One research direction is to make a single module have the ability to change its position as much as possible, so that each module can As an independent robot, for example, in the CONRO system, a single robot module has two degrees of freedom, yaw and pitch, and a single module can be used as a mobile robot; in the MTRAN system, each module has two Parallel rotation degrees of freedom, a single module can change its own position by tumbling on the surface formed by other modules; another research direction is to make the module not have the ability to change its own position, and can only adjust its own position by cooperating with other modules For example, in the 3D-Unit system, although a single module has 6 degrees of freedom, a single module cannot change its own position, but can only change the direction of the module itself, and change its position by cooperating with adjacent modules.

Among the two research directions of the module's own motion function, each module in the former robot is relatively independent, and the motion coupling between modules is relatively loose. During the reconstruction process, a single module can choose to disconnect or connect with the overall robot according to the task requirements. The existing multi-robot technology can be used for reference; in the latter research direction, each module in the robot has a strong kinematic coupling relationship, and the ability of a module to change its own position is directly related to the orientation of its adjacent modules, and a single module is It cannot be disconnected from the robot as a whole, and the reconstruction algorithm is complex, but in terms of structural design, the former generally requires many degrees of freedom, complex structure, large single module volume, large mass, and relatively small load/weight ratio, which limits The overall operation and movement ability of the robot after the module combination, the latter generally has fewer degrees of freedom or even no degree of freedom, the structure is simple, and the quality of the module itself has little influence on the operation and movement ability of the combined robot.

From the perspective of module combination functions, array robots generally have regular geometric shapes, such as cubes, dodecahedrons, tetrahedrons, etc. This regular geometric shape enables each module to rely on itself without external energy. The characteristics of mechanical materials can form a stable robot structure, but the existing array robot is not flexible enough to move efficiently after the robot is composed; the serial robot does not require a regular geometric shape, and focuses more on forming a certain chain. structure, such as snake robots, crawler robots, or robots with certain chain structures, such as multi-legged robots; this type of robot usually requires modules to contain one or more rotating joints, which are supported by the holding moment of the rotating joints The robot body realizes the efficient overall coordinated movement of the robot through the rotation of the rotating joints, but it seems powerless when it needs to form a filling structure to complete the task.

2) Design analysis of module connection mechanism

The difference between a self-reconfigurable robot and other robots is that it can autonomously change its own configuration to complete operations or tasks. The connection mechanism directly participates in the robot configuration change process, and the connection and disconnection performance of the connection mechanism directly determines the deformation of the self-reconfigurable robot. Whether it is successful or not, the connection mechanism is one of the most important issues in the design of self-reconfigurable modules. It is necessary to ensure that the mechanical and electrical connections between robot modules are reliable, easy to separate, and at the same time require small size and energy saving. Most of the connection mechanisms of existing array robot modules adopt pin-hole, electromagnetic or permanent magnet structures. Although the pin-hole connection mechanism is reliable, the separation operation requires additional separation space, which limits the ability of self-reconfiguration. The electromagnetic connection mechanism can reduce the complexity of mechanism design, but there are problems such as large volume, heavy weight, and large heat generation. The permanent magnet connection mechanism has the advantages of high connection strength, small volume, and weight. The main problem is that the connection surface has a weak shear resistance. If the speed planning is unreasonable during the overall movement of the robot, there will be a relative Unreliable connection due to motion trends.

Contents of the invention

The purpose of the present invention is to solve the lack of flexibility of the existing array robot movement, and the robot cannot move efficiently after forming the robot; most of the connecting mechanisms of the existing array robot modules adopt pin-hole type, electromagnetic type or permanent magnet type structure, but the separation operation requires additional separation space, limiting the ability of self-reconfiguration. The electromagnetic connection mechanism has problems such as large volume, heavy weight, and large heat generation. The main problem of the permanent magnet connection mechanism is that the connection surface has weak shear resistance. If the speed planning is unreasonable during the overall movement of the robot, there will be a relative movement trend between the two connection modules, resulting in unreliable connection. Provided is a double L-shaped regular cube modular self-reconfigurable robot based on a rotating hook-hole connection. The present invention includes an active module and a passive module, and the active module includes a first active connection module A, a second active connection module B, a third active connection module C, a fourth active connection module D, a first support frame 31, and a second support frame 32. The first servo steering gear 33, the first battery 34, the first bearing 37, the support shaft 38 of the first servo steering gear, the second bearing 39 and the torque output shaft 40 of the first servo steering gear, the first active connection One end of module A is fixedly connected to one end of the second active connection module B, one end of the third active connection module C is fixedly connected to one end of the fourth active connection module D, and one end of the first support frame 31 is connected to the first active connection module A The inner side of the second supporting frame 32 is fixedly connected to the inner side of the third active connection module C, the first bearing 37 is arranged on the other end of the first supporting frame 31, and the second bearing 39 is arranged on the second supporting frame On the other end of 32, one end of the first servo steering gear 33 is provided with the support shaft 38 of the first servo steering gear, and the other end of the first servo steering gear 33 is the torque output shaft 40 of the first servo steering gear, the first The support shaft 38 of the servo steering gear is located in the first bearing 37, the torque output shaft 40 of the first servo steering gear is located in the second bearing 39, and the first battery 34 is fixed on the first servo steering gear 33; The active connection module A, the second active connection module B, the third active connection module C and the fourth active connection module D are respectively composed of a DC gear motor 1, four pin shafts 2, four connecting rods 3, four rotating hooks 4, Four sliders 6, four fixed shafts 7, four pairs of brackets 8, a drive plate 9, a panel 10, four moving shafts 11, a transmission rope 13 and a transmission rope bogie 16, each panel 10 has four Through holes 5, four slide rail grooves 22 for constraining the sliding track of the slider 6 are opened on each panel 10, the DC geared motor 1 is fixed on the upper surface of the panel 10, and the driving disc 9 is arranged on the panel 10. At the center of the side surface, the transmission rope bogie 16 is fixed on the upper side surface of the panel 10 between the DC gear motor 1 and the drive disc 9, and the transmission rope 13 is connected to the DC gear motor 1 and the drive disc 9 through the transmission rope bogie 16 Transmission connection, four pairs of brackets 8 are respectively fixed on the upper side surface of the panel 10, the outside of each pair of brackets 8 corresponds to a through hole 5, each pair of brackets 8 is fixed with a fixed shaft 7, and each pair of brackets 8 is provided between each pair of brackets 8. There is a slide block 6, the slide block 6 is in the slide rail groove 22, the transverse slideway 18 on the slide block 6 is slidably connected with the fixed shaft 7, and one end of each connecting rod 3 is hinged with the corresponding slide block 6, each The other end of each connecting rod 3 is hinged with the drive plate 9 through the corresponding pin shaft 2, and a rotating hook 4 is respectively arranged in each slider 6, and the first shaft hole 20 on the rotating hook 4 is rotationally connected with the fixed shaft 7, A moving shaft 11 is provided in the second shaft hole 21 on the swivel hook 4, and the two ends of the moving shaft 11 are slidably connected with the vertical slideway 19 on the slider 6, and the center of the driving disc 9 is provided with a through hole 29, the second The outer end of the support shaft 38 of a servo steering gear passes through the through hole 29 of the drive plate 9 on the fourth active connection module D and is fixedly connected with the panel 10, and the torque output shaft 40 of the first servo steering gear The outer end passes through the through hole 29 of the drive plate 9 on the second active connection module B and is fixedly connected to the panel 10; (when the steering gear outputs torque, the support shaft does not rotate, and only plays the role of supporting connection) the passive module Including the first passive connection module E, the second passive connection module F, the third passive connection module G, the fourth passive connection module H, the third support frame 41, the fourth support frame 42, the second servo servo 43, the second The battery 44, the third bearing 47, the support shaft 48 of the second servo steering gear, the fourth bearing 49 and the torque output shaft 50 of the second servo steering gear, one end of the first passive connection module E and the second passive connection module F One end of the third passive connection module G is fixedly connected to one end of the fourth passive connection module H, one end of the third support frame 41 is fixedly connected to the inner side of the first passive connection module E, and the fourth support frame 42 One end is fixedly connected to the inner side of the third passive connection module G, the third bearing 47 is arranged on the other end of the third supporting frame 41, the fourth bearing 49 is arranged on the other end of the fourth supporting frame 42, and the second servo steering gear One end of 43 is provided with the supporting shaft 48 of the second servo steering gear, and the other end of the second servo steering gear 43 is the torque output shaft 50 of the second servo steering gear, and the supporting shaft 48 of the second servo steering gear is located at the third In the bearing 47, the torque output shaft 50 of the second servo steering gear is arranged in the fourth bearing 49, and the outer end of the support shaft 48 of the second servo steering gear is fixedly connected with the fourth passive connection module H, and the second servo steering gear The outer end of the torque output shaft 50 is fixedly connected with the second passive connection module F, the second battery 44 is fixed on the second servo steering gear 43, the first passive connection module E, the second passive connection module F, the third passive connection module There are four trapezoidal holes 15 on the connection module G and the fourth passive connection module H, and the four trapezoidal holes 15 on each passive connection module are respectively connected with the first active connection module A, the second active connection module B, the third active connection module The four through holes 5 on the panel 10 of the active connection module C or the fourth active connection module D correspond one-to-one and are respectively connected with the rotary hooks 4 .

The present invention has the following beneficial effects: 1. Although there is only one degree of freedom of rotation, the movement of the module does not have complete spatial symmetry, but the combined movement of multiple modules with different orientations can overcome the impact of asymmetry and ensure The movement flexibility of the robot; 2. The module not only has the self-reconfiguration function of the local modules of the array system, but also has the movement function of the overall configuration of the series system; 3. The load/weight ratio of the module is 4.5:1, That is, a single module can carry an object equivalent to 4.5 times its own weight for rotational motion; 4. Although the present invention is a homogeneous self-reconfigurable robot system, that is, the modules can be divided into active modules and passive modules, but the active module or the passive module itself can Interchange; 5. The composition scale of the robot system can be changed by increasing or decreasing the number of modules, and the system function can be expanded; 6. The energy-saving connection mechanism based on the DC geared motor and the rotating hook hole does not require energy when it is in the connected state and the disconnected state Maintain and save energy. The mechanism is a labor-saving mechanism and the connection is reliable; 7. The module itself has a power supply, which can provide energy for the DC motor and steering gear. At the same time, the module control adopts wireless control, so as to avoid movement and reconstruction process. Eighth, it is suitable for mass production, simplifies the inspection and maintenance process, and reduces the cost.

Description of drawings

Fig. 1 is a front view of the overall structure of the active module of the present invention, Fig. 2 is a schematic diagram of a three-dimensional structure of the active module of the present invention, Fig. 3 is a front view of the overall structure of the passive module of the present invention, and Fig. 4 is a three-dimensional structure of the passive module of the present invention Schematic diagram, Figure 5 is a schematic diagram of the connection structure of the active connection module and the passive connection module, Figure 6 is a schematic diagram of the connection state between the rotary hook 4 and the active connection module and the passive connection module respectively, Figure 7 is a schematic diagram of the connection state between the rotary hook 4 and the active connection module and the passive connection module respectively Schematic diagram of the disconnected state of a connected module.

Detailed ways

Specific implementation mode 1: (see Fig. 1 to Fig. 7) This embodiment mode is composed of an active module and a passive module, and the active module is composed of a first active connection module A, a second active connection module B, a third active connection module C, a fourth The active connection module D, the first support frame 31, the second support frame 32, the first servo steering gear 33, the first battery 34, the first bearing 37, the support shaft 38 of the first servo steering gear, the second bearing 39 and the first servo steering gear A torque output shaft 40 of a servo steering gear is composed, one end of the first active connection module A is fixedly connected to one end of the second active connection module B, one end of the third active connection module C is fixed to one end of the fourth active connection module D connection, one end of the first support frame 31 is fixedly connected to the inner side of the first active connection module A, one end of the second support frame 32 is fixedly connected to the inner side of the third active connection module C, and the first bearing 37 is arranged on the first support frame On the other end of 31, the second bearing 39 is located on the other end of the second support frame 32, and one end of the first servo steering gear 33 is provided with the supporting shaft 38 of the first servo steering gear, and the other end of the first servo steering gear 33 One end is the torque output shaft 40 of the first servo steering gear, the support shaft 38 of the first servo steering gear is arranged in the first bearing 37, and the torque output shaft 40 of the first servo steering gear is arranged in the second bearing 39, The first battery 34 is fixed on the first servo steering gear 33; the first active connection module A, the second active connection module B, the third active connection module C and the fourth active connection module D are respectively composed of DC reduction motors 1, four Pin shaft 2, four connecting rods 3, four rotating hooks 4, four slide blocks 6, four fixed shafts 7, four pairs of supports 8, drive disc 9, panel 10, four moving shafts 11, transmission rope 13 and The transmission rope bogie 16 is composed of four through holes 5 on each panel 10, and four slide rail grooves 22 for constraining the sliding track of the slider 6 are opened on each panel 10, and the DC gear motor 1 is fixed on the panel On the upper side surface of 10, the driving disc 9 is arranged at the center of the upper side surface of the panel 10, and the driving rope bogie 16 is fixed on the upper side surface of the panel 10 between the DC geared motor 1 and the driving disc 9, and the driving rope 13 is connected to the DC deceleration motor 1 and the drive plate 9 through the transmission rope bogie 16, and four pairs of brackets 8 are respectively fixed on the upper surface of the panel 10, and the outside of each pair of brackets 8 corresponds to a through hole 5, and each pair of brackets 8 A fixed shaft 7 is fixed on the top, and a slider 6 is arranged between each pair of brackets 8. The slider 6 is located in the slide rail groove 22, and the horizontal slideway 18 on the slider 6 is slidably connected with the fixed shaft 7. One end of each connecting rod 3 is hinged with the corresponding slide block 6, and the other end of each connecting rod 3 is hinged with the drive plate 9 through the corresponding pin shaft 2. Each slide block 6 is respectively provided with a rotating hook 4 to rotate The first shaft hole 20 on the hook 4 is rotatably connected with the fixed shaft 7, and a moving shaft 11 is arranged in the second shaft hole 21 on the rotating hook 4, and the two ends of the moving shaft 11 are connected with the vertical slideway on the slider 6 19 sliding connection, the center of the drive plate 9 is provided with a through hole 29, and the outer end of the support shaft 38 of the first servo steering gear passes through the through hole 29 of the drive plate 9 on the fourth active connection module D and the panel 10 is fixedly connected, and the outer end of the torque output shaft 40 of the first servo steering gear passes through the through hole 29 of the drive plate 9 on the second active connection module B and is fixedly connected with the panel 10; (when the steering gear outputs torque, support The shaft does not rotate, and only plays the role of supporting connection) The passive module consists of a first passive connection module E, a second passive connection module F, a third passive connection module G, a fourth passive connection module H, a third support frame 41, The fourth support frame 42, the second servo steering gear 43, the second battery 44, the third bearing 47, the support shaft 48 of the second servo steering gear, the fourth bearing 49 and the torque output shaft 50 of the second servo steering gear , one end of the first passive connection module E is fixedly connected to one end of the second passive connection module F, one end of the third passive connection module G is fixedly connected to one end of the fourth passive connection module H, and one end of the third support frame 41 is connected to the first The inner side of a passive connection module E is fixedly connected, one end of the fourth support frame 42 is fixedly connected with the inner side of the third passive connection module G, the third bearing 47 is arranged on the other end of the third support frame 41, and the fourth bearing 49 is set On the other end of the fourth support frame 42, one end of the second servo steering gear 43 is provided with a support shaft 48 of the second servo steering gear, and the other end of the second servo steering gear 43 is the torque output of the second servo steering gear Shaft 50, the support shaft 48 of the second servo steering gear is located in the third bearing 47, the torque output shaft 50 of the second servo steering gear is located in the fourth bearing 49, the outer support shaft 48 of the second servo steering gear end is fixedly connected with the fourth passive connection module H, the outer end of the torque output shaft 50 of the second servo steering gear is fixedly connected with the second passive connection module F, the second battery 44 is fixed on the second servo steering gear 43, the second servo steering gear There are four trapezoidal holes 15 on the first passive connection module E, the second passive connection module F, the third passive connection module G and the fourth passive connection module H, and the four trapezoidal holes 15 on each passive connection module are respectively connected with The four through holes 5 on the panel 10 of the first active connection module A, the second active connection module B, the third active connection module C or the fourth active connection module D correspond one-to-one and are respectively connected with the swivel hooks 4 .

Specific embodiment two: (see Fig. 2, Fig. 4 and Fig. 5) the difference between this embodiment and specific embodiment one is that it has increased four passive connection module permanent magnets 17 and two active connection module permanent magnets 24, The first passive connection module E, the second passive connection module F, the third passive connection module G and the fourth passive connection module H are all provided with four tapered holes 14 distributed orthogonally, and each tapered hole 14 is internally fixed One described passive connection module permanent magnet 17, has two tapered holes 23 on each panel 10, fixes an active connection module permanent magnet 24 in each tapered hole 23, two active connection modules on each panel 10 The module permanent magnets 24 correspond to the two passive connection module permanent magnets 17 on the diagonal of the first passive connection module E, the second passive connection module F, the third passive connection module G or the fourth passive connection module H respectively. Other compositions and connections are the same as in the first embodiment. In order to reduce the misalignment error between the active connection module and the passive connection module, two permanent magnets are installed on the active connection module, and four permanent magnets are installed on the passive connection module, relying on the neutrality of the permanent magnets to eliminate the connection When the larger gap, improve the connection success rate.

Specific embodiment three: (see Fig. 1) The difference between this embodiment and specific embodiment two is that it adds a first rib 35 and a second rib 36, and the second rib 36 is fixed on the first active connection module On the inner wall at the intersection of A and the second active connection module B, the first rib 35 is fixed on the inner wall at the intersection of the third active connection module C and the fourth active connection module D. Others are the same as in the second embodiment. The added first ribs 35 and second ribs 36 play a supporting role on the first active connection module A and the second active connection module B as well as the third active connection module C and the fourth active connection module D.

Embodiment 4: (see Fig. 3) The difference between this embodiment and Embodiment 3 is that it adds a third rib 45 and a fourth rib 46, and the fourth rib 46 is fixed on the first passive connection module On the inner wall at the intersection of E and the second passive connection module F, the third rib 45 is fixed on the inner wall at the intersection of the third passive connection module G and the fourth passive connection module H. Others are the same as in the third embodiment. The added third ribs 45 and fourth ribs 46 play a supporting role on the first passive connection module E and the second passive connection module F as well as the third passive connection module G and the fourth passive connection module H.

The drive mechanism of the module includes its own rotation degree of freedom drive and the drive mechanism of the connection mechanism. The DC deceleration micro-motor is used as the drive element of the connection mechanism. The DC deceleration motor is easy to control and at the same time improves the speed of module connection or separation; the module's own rotation degree of freedom drive It mainly meets two requirements: sufficient load capacity and small size, that is, the driving mechanism has a high power/weight ratio. For this reason, Hitec HSR5995TG is selected as the driving servo, which integrates DC servo motor, driver, position The detection element, deceleration mechanism, etc., are small in size, large in output torque, and simple in control interface. The pulse width modulation method is used to directly control the position, which reduces the requirements for the module control 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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