CN110103212B - A Modular and Multi-variable Robot Based on Cart - Google Patents

Abstract

The invention relates to a modular multi-variable robot based on a trolley. The two sides of the trolley module are driving trolleys, and the inner side is two rotating trolleys. The trolley and the rotating trolley are set as mirror images of each other. The front connecting piece is fixed between the second crawlers of the rotating trolley, and the rear connecting piece is fixed between the second fixed plates of the rotating trolley. The driving trolley and the rotating trolley are parallel to each other, and the height of the driving trolley is greater than Turn the height of the dolly, and the positions of the front-end connector and the rear-end connector are mutually staggered. The invention has various combination modes, large load, many degrees of freedom of movement and wide application.

Description

A Modular and Multi-variable Robot Based on Cart

technical field

The invention relates to the technical field of robot equipment, in particular to a car-based modular multi-variable robot with various combination modes, large load, multiple degrees of freedom of movement and wide application.

Background technique

Modular robots have superior dynamic performance, strong load and environmental adaptability, and flexible movement in multiple directions. More and more researchers have studied them in recent years. At present, the known combined robot is a linear robot, such as a snake-shaped robot. Its mobile platform is composed of modular joints through connecting devices. other forms of exercise. However, it will inevitably be exposed to dangerous environments. Damage to one section may lead to the paralysis of the entire system. The speed is limited when moving sideways and turning, which increases the exposure time and is easy to be found and damaged.

Application number 201810572052.4, application publication number CN108909877A, invention name "a modular combined robot platform", provides a modular combined robot platform, including a number of wheeled trolleys, and the wheeled trolleys are connected in series and parallel through connecting devices Two sets of drive systems are set on the wheeled trolley, the walking mechanism and the turning mechanism; the connecting device includes the front and rear connecting devices and the left and right connecting devices, the running mechanism includes wheels, hub motors, brake pads, wheel support shafts and wheel brackets, and the turning mechanism It includes a sprocket connected to the wheel bracket, a tensioning sprocket connected to the trolley body through a support shaft, and a drive sprocket connected to the stepping motor through a motor drive shaft.

Application number 201710081752.9, application publication number CN106625632A, invention name "a modular robot system", including a main control module, an ultrasonic input module, a first motor module, a second motor module and a universal wheel module, wherein the universal wheel module has two The surfaces are respectively connected with the main control module and the ultrasonic input module, and the two opposite surfaces of the main control module are respectively connected with the first motor module and the second motor module.

The prior art proposes a modular robot based on a trolley, but the combination mode of the modular trolley is limited and the movement direction is single. There is a need for a car-based modular multi-variable robot with various combination modes, large load, many degrees of freedom of movement, and wide application.

Contents of the invention

The purpose of the present invention is to provide a car-based modular multi-variable robot with various combination modes, large load, many degrees of freedom of movement and wide application.

A car-based modular multi-variable robot, including:

The trolley module, the two sides of the trolley module are driving trolleys, and the inner side is two rotating trolleys, which are connected and fixed through the first connecting shaft, the second connecting shaft and the third connecting shaft in turn, and the driving trolley and the rotating trolley are mirror images of each other Set, the front connecting piece is fixed between the second crawlers of the rotating trolley, the rear connecting piece is fixed between the second fixed plates of the rotating trolley, the driving trolley and the rotating trolley are parallel to each other, the height of the driving trolley Greater than the height of the rotating trolley, the positions of the front-end connector and the rear-end connector are staggered from each other;

The first pulley, the second pulley, the third pulley, the fourth pulley, the fifth pulley and the sixth pulley of the driving trolley are fixed on the first fixing plate, and are respectively sleeved on the first track Inside, a first swing cylinder is set on the third pulley, and a second swing cylinder is set on the fourth pulley;

The seventh pulley, the eighth pulley, the ninth pulley, the tenth pulley, the eleventh pulley and the twelfth pulley of the rotating trolley are fixed on the second fixing plate, and are respectively sleeved on the second On the inner side of the track, a third swing cylinder is arranged on the ninth pulley, and a fourth swing cylinder is arranged on the tenth pulley.

The outer surface of the first crawler belt is provided with an inner groove, and the first fixing plate and the second fixing plate are parallel to each other and arranged close to each other.

The first swing cylinder is inflated to drive the third pulley to rotate, and the second swing cylinder is inflated to drive the fourth pulley to rotate. The first pulley, the second pulley, the fifth pulley and the sixth pulley are The wheels form four corners of a rectangle, and the third pulley and the fourth pulley are located on the same side of the straight line where the second pulley and the fifth pulley are located.

The third swing cylinder is inflated to drive the ninth pulley, the fourth swing cylinder is inflated to drive the tenth pulley, the seventh pulley, the eighth pulley, the eleventh pulley and the twelfth belt The wheels form four corners of a rectangle, and the ninth pulley and the tenth pulley are located on the same side of the straight line where the eighth pulley and the eleventh pulley are located.

There are multiple trolley modules, the rear connector on the front rotating trolley and the front connector on the rear rotating trolley are fixed to form an X-direction outrigger and a Y-direction outrigger, and the two sides of the Y-direction outrigger are set Multiple X-direction outriggers, the front-end connectors or rear-end connectors of the X-direction outriggers are fixed on the first fixing plate of the Y-direction outriggers, the X-direction outriggers and the Y-direction outriggers are strips respectively shape.

There are multiple trolley modules, the rear connector on the front rotating trolley and the front connecting piece on the rear rotating trolley are fixed to form the outriggers of the rotating trolley, and the first fixing plates on both sides of the trolley module respectively fix the rotating trolley outriggers.

There are multiple trolley modules, and the rear connector on the front rotating trolley and the front connector on the rear rotating trolley are fixed to form Y-direction outriggers and Z-direction outriggers, and the two sides of the Y-direction outriggers are set A plurality of Z-direction legs, the front-end connectors or rear-end connectors of the Z-direction legs are fixed on the first fixing plate of the Y-direction legs, the Y-direction legs are strip-shaped, and the Z-direction The legs are L-shaped.

There are multiple trolley modules, the rear connector on the front rotating trolley and the front connector on the rear rotating trolley are fixed to form the Y-direction outrigger and the X-direction rotating wheel, and the front-end connector of the X-direction rotating wheel Or the rear end connecting piece is fixed on the first fixing plate of the outrigger in the Y direction to form a ring.

There are multiple trolley modules, the rear connector on the front rotating trolley and the front connector on the rear rotating trolley are fixed to form a Y-direction rotating wheel, and the front-end connector or rear-end connector of the Y-direction rotating wheel , fixed on the first fixing plate of the trolley module to form a ring.

There are multiple trolley modules, the rear connector on the front rotating trolley and the front connector on the rear rotating trolley are fixed to form a closed Z-direction rotating wheel and X-direction legs, and the Z-direction rotating wheels are arranged at intervals The X-direction leg, the front-end connector or the rear-end connector of the X-direction leg is fixed on the first fixing plate of the Z-direction rotating wheel, and is located on both sides of the Z-direction rotating wheel.

The two sides of the trolley module of the present invention are driving trolleys, and the inner side is two rotating trolleys, which are connected and fixed through the first connecting shaft, the second connecting shaft and the third connecting shaft in turn, and the driving trolley and the rotating trolley are mirror images of each other. The front connecting piece is fixed between the second crawlers, the rear connecting piece is fixed between the second fixed plate of the rotating trolley, the driving trolley and the rotating trolley are parallel to each other, the height of the driving trolley is greater than the height of the rotating trolley, and the front connecting piece is connected to the rear end The positions of the parts are staggered from each other; the first pulley, the second pulley, the third pulley, the fourth pulley, the fifth pulley and the sixth pulley of the driving trolley are fixed on the first fixed plate, and respectively set On the inner side of the first track, the first swing cylinder is set on the third pulley, and the second swing cylinder is set on the fourth pulley; the seventh pulley, the eighth pulley, the ninth pulley, and the tenth pulley of the rotating trolley The eleventh pulley and the twelfth pulley are fixed on the second fixed plate, and are set on the inner side of the second crawler respectively. The third swing cylinder is set on the ninth pulley, and the fourth swing cylinder is set on the tenth pulley. Swing cylinder.

The swing cylinder is used to drive the movement of the driving trolley and the rotating trolley in the module trolley, which has the functions of deformation, obstacle surmounting, and complex terrain movement. The driving trolley and the rotating trolley are mainly composed of pulleys, swing cylinders, fixed plates, crawlers and other parts. The driving trolley is larger than the rotating trolley in the X direction, and the rotating trolley is larger than the driving trolley in the Y direction to ensure that the driving trolley acts as the power unit of the trolley module. The connecting piece and the back-end connecting piece ensure the connection between the trolley modules. The car-based modular multi-variable robot realizes multi-mode switching and multi-directional movement of plane, multi-legged, circular rotating wheels in X and Y directions. It has the characteristics of various combination modes, large load, many degrees of freedom of movement, and wide application. It can be used for obstacle crossing, complex terrain investigation, and teaching demonstration. The invention has various combination modes, large load, many degrees of freedom of movement and wide application.

The beneficial effects of the present invention are:

1. The present invention utilizes the driving dolly and the rotating dolly and the dimensional relationship between the two dollies in the X and Y directions to realize the driving dolly as the modular dolly, the power part of the whole robot, and the rotating dolly for realizing the variant combination of the modular dolly;

2. The present invention utilizes the modular trolley to combine multiple modes such as plane, quadruped, circular rotating wheels in X and Y directions, etc., and can adapt to the movement of various complex terrains.

Description of drawings

Fig. 1 is a schematic diagram of the three-dimensional structure of the trolley module in the left view direction of the present invention;

Fig. 2 is a schematic diagram of the three-dimensional structure of the trolley module in the right view of the present invention;

Fig. 3 is the structural representation of driving trolley of the present invention;

Fig. 4 is the structural representation of rotating trolley of the present invention;

Fig. 5 is a schematic structural view of the X-direction leg and the Y-direction leg of the present invention;

Fig. 6 is a structural schematic diagram of the rotating trolley legs and the trolley module of the present invention;

Fig. 7 is a schematic structural view of the Y-direction outrigger and the Z-direction outrigger of the present invention;

Fig. 8 is a structural schematic diagram of the Y-direction outrigger and the X-direction rotating wheel of the present invention;

Fig. 9 is a structural schematic diagram of the Y-direction rotating wheel and the trolley module of the present invention;

Fig. 10 is a structural schematic diagram of the X-direction outrigger and the Z-direction rotating wheel of the present invention;

In the figure: 100, trolley module, 200, driving trolley, 300, rotating trolley, 1, first pulley, 2, second pulley, 3, third pulley, 4, fourth pulley, 5, fifth Pulley, 6, the sixth pulley, 7, the first fixed plate, 8, the first swing cylinder, 9, the second swing cylinder, 10, the first track, 11, the seventh pulley, 12, the eighth pulley , 13, the ninth pulley, 14, the tenth pulley, 15, the eleventh pulley, 16, the twelfth pulley, 17, the second fixed plate, 18, the third swing cylinder, 19, the fourth swing Cylinder, 20, second track, 21, first connecting shaft, 22, second connecting shaft, 23, third connecting shaft, 24, front end connecting piece, 25, rear end connecting piece, 31, X direction support leg, 32 , Y direction supporting leg, 33, rotating dolly supporting leg, 34, Z direction supporting leg, 35, X direction rotating wheel, 36, Y direction rotating wheel, 37, Z direction rotating wheel.

Detailed ways

The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

Variant 1:

A modular multi-variable robot based on a trolley, comprising: a trolley module 100, the two sides of the trolley module 100 are driving trolleys 200, and the inner side is two rotating trolleys 300, passing through the first connecting shaft 21, the second connecting shaft 22 and The third connecting shaft 23 is connected and fixed, and the driving trolley 200 and the rotating trolley 300 are mirror images of each other. The front end connector 24 is fixed between the second crawler belts 20 of the rotating trolley 300, and the rear end is fixed between the second fixed plates 17 of the rotating trolley 300. The connecting piece 25, the driving trolley 200 and the rotating trolley 300 are parallel to each other, the height of the driving trolley 200 is greater than the height of the rotating trolley 300, and the positions of the front connecting piece 24 and the rear connecting piece 25 are mutually staggered;

The first pulley 1 of the driving trolley 200, the second pulley 2, the third pulley 3, the fourth pulley 4, the fifth pulley 5 and the sixth pulley 6 are fixed on the first fixed plate 7, and respectively Set on the inner side of the first crawler belt 10, the first swing cylinder 8 is set on the third pulley 3, and the second swing cylinder 9 is set on the fourth pulley 4; the seventh pulley 11 and the eighth pulley 12 of the rotating trolley 300 , the ninth pulley 13, the tenth pulley 14, the eleventh pulley 15 and the twelfth pulley 16 are fixed on the second fixed plate 17, and are respectively set on the inside of the second track 20, the ninth pulley The third swing cylinder 18 is set on the 13, and the fourth swing cylinder 19 is set on the tenth pulley 14. The outer surface of the first track 10 is provided with an inner groove, and the first fixing plate 7 and the second fixing plate 17 are parallel to each other and arranged close to each other. After the first swing cylinder 8 is inflated, it drives the third pulley 3 to rotate. After the second swing cylinder 9 is inflated, it drives the fourth pulley 4 to rotate. The first pulley 1, the second pulley 2, the fifth pulley 5 and the sixth pulley The pulleys 6 form the four corners of a rectangle, and the third pulley 3 and the fourth pulley 4 are located on the same side of the straight line where the second pulley 2 and the fifth pulley 5 are located. The third swing cylinder 18 is inflated to drive the ninth pulley 13, and the fourth swing cylinder 19 is inflated to drive the tenth pulley 14, the seventh pulley 11, the eighth pulley 12, the eleventh pulley 15 and the twelfth pulley. The pulleys 16 form four corners of a rectangle, and the ninth pulley 13 and the tenth pulley 14 are located on the same side of the straight line where the eighth pulley 12 and the eleventh pulley 15 are located.

There are multiple trolley modules 100, the rear connecting piece 24 on the front rotating trolley 300 and the front connecting piece 25 on the rear rotating trolley 300 are fixed to form the X-direction outrigger 31 and the Y-direction outrigger 32, and the Y-direction outrigger 32 A plurality of X-direction legs 31 are arranged on both sides of the X-direction leg 31, and the front-end connector 24 or the rear-end connector 25 of the X-direction leg 31 is fixed on the first fixing plate 7 of the Y-direction leg 32, and the X-direction leg 31 and The legs 32 in the Y direction are respectively strip-shaped.

The movement of the drive trolley 200 and the rotation trolley 300 in the module trolley is driven by the swing cylinder, and has the functions of deformation, obstacle surmounting, and complex terrain movement. The driving trolley 200 and the rotating trolley 300 are mainly composed of belt wheels, swing cylinders, fixed plates, crawlers and other parts. The driving trolley 200 is larger than the rotating trolley 300 in the X direction, and the rotating trolley 300 is larger than the driving trolley 200 in the Y direction to ensure that the driving trolley 200 is the power unit of the trolley module 100. In the variant combination of the modules 100, the front-end connector and the rear-end connector ensure the connection between the trolley modules 100.

The cylinder bodies of the first swing cylinder 8 and the second swing cylinder 9 are fixedly connected with the first fixed plate 7, and the rotating shafts of the first swing cylinder 8 and the second swing cylinder 9 are connected with the third pulley 3 and the fourth pulley 4 respectively. Fixedly connected, the first pulley 1, the second pulley 2, the fifth pulley 5, and the sixth pulley 6 are all rotatably connected with the first fixed plate 7, and the first pulley 1, the second pulley 2, the second pulley The three pulleys 3, the fourth pulley 4, the fifth pulley 5, and the sixth pulley 6 are all meshed with the first crawler belt 10, and the first swing cylinder 8 and the second swing cylinder 9 drive the third pulley 3 and the fourth pulley. The pulley 4 rotates to further drive the first crawler belt 10 to rotate, and the first pulley 1, the second pulley 2, the fifth pulley 5, and the sixth pulley 6 play a supporting role. Similarly, the cylinder bodies of the third swing cylinder 18 and the fourth swing cylinder 19 are fixed on the second fixed plate 17, and the rotating shaft drives the second crawler belt 20 to rotate through the ninth pulley 13 and the tenth pulley 14 respectively. Wheel 11, the eighth pulley 12, the eleventh pulley 15, and the twelfth pulley 16 are support pulleys. In order to ensure the contact between the driving car and the ground, the height of the driving car in the X direction is greater than that of the rotating car; in order to avoid mechanical interference, the length of the rotating car in the Y direction is greater than that of the driving car.

The first connection shaft 21, the second connection shaft 22, and the third connection shaft 23 ensure that the left end drive dolly 200, the left end rotation dolly 300, the right end rotation dolly 300, and the right end drive dolly 200 are fixedly connected in sequence from left to right; The second crawler belt 20 of the left end rotating trolley 300 and the right end rotating trolley 300 is fixedly connected, when the second crawler belt 20 of the left end rotating trolley 300 and the right end rotating trolley 300 rotates, the front connecting part 24 rotates with the second crawler belt 20, and the rear connecting part 25 is fixedly connected with the second fixed plate 17 of the left end rotating dolly 300 and the right end rotating dolly 300 simultaneously.

X-direction outrigger one, X-direction outrigger two, X-direction outrigger three, X-direction outrigger four, X-direction outrigger five, X-direction outrigger six, X-direction outrigger seven, X-direction outrigger eight can drive one A car-based modular multi-variable robot system moves forward or backward in the X direction. Except for the module car with 32 legs in the Y direction, the X direction outrigger 1, the X direction outrigger 4, the X direction outrigger 5, and the X direction outrigger 8 contain 7 module cars, the X direction outrigger 2 and the X direction outrigger 3 , X-direction outrigger six, X-direction outrigger seven contain 6 module trolleys, which can ensure that the X-direction outrigger one, X-direction outrigger two, X-direction outrigger three, X-direction outrigger four, X-direction outrigger Five, X-direction outriggers six, X-direction outriggers seven, X-direction outriggers eight, and Y-direction outriggers. When the car-based planar modular multi-variable robot is transformed into a multi-legged robot, the Y-direction outriggers are 32 two The height of the outriggers on the side is the same, mainly supported by the first outrigger in the X direction, the fourth outrigger in the X direction, the fifth outrigger in the X direction, and the eighth outrigger in the X direction.

Variant 2:

There are multiple trolley modules 100, the rear end connector 24 on the front rotating trolley 300 and the front end connector 25 of the rear rotating trolley 300 are fixed to form the rotating trolley outrigger 33, and the first fixed plates 7 on both sides of the trolley module 100 Fix and rotate the dolly supporting legs 33 respectively.

Based on the connection of the outriggers in the X direction of the modular multi-variable robot of the car, the front-end connector 24 and the rear-end connector 25 of the first module car, the second module car, the third module car, the fourth module car, the fifth module car, and the sixth module car Fixedly connected, the front section connector 24 of the module car seven is fixedly connected with the first fixed plate 7 of the left end drive car 200 in the module car eight, and the rear end connector 25 of the module car seven is connected with the first part of the right end drive car 200 in the module car eight. The fixed plate 7 is fixedly connected, and the front section connector 24 of the module dolly nine, the module dolly ten, the module dolly eleven, the module dolly twelve, the module dolly thirteen, and the module dolly fourteen are fixedly connected with the rear end connector 25 successively.

Variant 3:

There are multiple trolley modules 100, the rear connecting piece 24 on the front rotating trolley 300 and the front connecting piece 25 on the rear rotating trolley 300 are fixed to form the Y-direction outrigger 32 and the Z-direction outrigger 34, and the Y-direction outrigger 32 A plurality of Z-direction legs 34 are arranged on both sides of the Z-direction leg 34, and the front-end connector 24 or the rear-end connector 25 of the Z-direction leg 34 is fixed on the first fixing plate 7 of the Y-direction leg 32, and the Y-direction leg 32 is Bar shape, Z-direction supporting leg 34 is L-shaped.

Variant 4:

There are multiple trolley modules 100, the rear end connector 24 on the front rotating trolley 300 and the front end connector 25 of the rear rotating trolley 300 are fixed to form the Y-direction leg 32 and the X-direction rotating wheel 35, and the X-direction rotating wheel 35 The front end connecting piece 24 or the rear end connecting piece 25 is fixed on the first fixing plate 7 of the Y-direction leg 32 to form a ring.

Variant 5:

There are multiple trolley modules 100, the rear end connector 24 on the front rotating trolley 300 and the front end connector 25 of the rear rotating trolley 300 are fixed to form a Y-direction rotating wheel 36, and the front-end connector 24 of the Y-direction rotating wheel 36 or The rear connecting piece 25 is fixed on the first fixing plate 7 of the trolley module 100 to form a ring.

Variant 6:

There are multiple trolley modules 100, the rear end connector 24 on the front rotating trolley 300 and the front end connector 25 of the rear rotating trolley 300 are fixed to form a closed Z-direction rotating wheel 37 and an X-direction leg 31, which can rotate in the Z direction The wheels 37 are provided with X-direction supporting legs 31 at intervals, and the front-end connectors 24 or rear-end connectors 25 of the X-direction supporting legs 31 are fixed on the first fixed plate 7 of the Z-direction rotating wheel 37, and are positioned on the side of the Z-direction rotating wheel 37. sides.

The car-based modular multi-variable robot realizes multi-mode switching and multi-directional movement of plane, multi-legged, circular rotating wheels in X and Y directions. It has the characteristics of various combination modes, large load, many degrees of freedom of movement, and wide application. It can be used for obstacle crossing, complex terrain investigation, and teaching demonstration.

By controlling the rotation of each swing cylinder, multiple variants and combined control of the modular multi-variable robot based on the car can be realized, complex terrain movement and obstacle surmounting in multiple directions can be realized, and precise trajectory control can be realized. The incomparable advantages of the modular multi-variable robot system.

The basic principles, main features and advantages of the present invention have been shown and described above. Those skilled in the industry should understand that the present invention is not limited by the above-mentioned embodiments, and that described in the above-mentioned embodiments and the description only illustrates the principles of the present invention, and the present invention also has various aspects without departing from the spirit and scope of the present invention. Variations and improvements all fall within the scope of the claimed invention. The protection scope of the present invention is defined by the appended claims and their equivalents.

Claims (10)

1. A modular polytropic robot based on a trolley, comprising:

The trolley comprises a trolley module (100), wherein two sides of the trolley module (100) are respectively provided with a driving trolley (200), the inner side of the trolley module is provided with two rotating trolleys (300), the driving trolleys (200) and the rotating trolleys (300) sequentially pass through a first connecting shaft (21), a second connecting shaft (22) and a third connecting shaft (23) are fixedly connected, the driving trolleys (200) and the rotating trolleys (300) are arranged in a mirror image mode, a front end connecting piece (24) is fixed between second tracks (20) of the rotating trolleys (300), a rear end connecting piece (25) is fixed between second fixing plates (17) of the rotating trolleys (300), the driving trolleys (200) and the rotating trolleys (300) are parallel to each other, the height of the driving trolleys (200) is greater than that of the rotating trolleys (300), and the positions of the front end connecting piece (24) and the;

a first belt wheel (1), a second belt wheel (2), a third belt wheel (3), a fourth belt wheel (4), a fifth belt wheel (5) and a sixth belt wheel (6) of the driving trolley (200) are fixed on a first fixing plate (7) and are respectively sleeved on the inner side of a first crawler belt (10), a first swing cylinder (8) is arranged on the third belt wheel (3), and a second swing cylinder (9) is arranged on the fourth belt wheel (4);

The novel crawler belt wheel is characterized in that a seventh belt wheel (11), an eighth belt wheel (12), a ninth belt wheel (13), a tenth belt wheel (14), an eleventh belt wheel (15) and a twelfth belt wheel (16) of the rotary trolley (300) are fixed on a second fixing plate (17) and are respectively sleeved on the inner side of a second crawler belt (20), a third swing cylinder (18) is arranged on the ninth belt wheel (13), and a fourth swing cylinder (19) is arranged on the tenth belt wheel (14).

2. The dolly-based modular polytropic robot according to claim 1, wherein the outer surface of the first endless track (10) is provided with inner grooves, and the first (7) and second (17) fastening plates are parallel to each other and arranged close together.

3. The trolley-based modular multivariable robot according to claim 1, wherein the first swing cylinder (8) is inflated to drive the third pulley (3) to rotate, the second swing cylinder (9) is inflated to drive the fourth pulley (4) to rotate, the first pulley (1), the second pulley (2), the fifth pulley (5) and the sixth pulley (6) form four rectangular corners, and the third pulley (3) and the fourth pulley (4) are located on the same side of a straight line where the second pulley (2) and the fifth pulley (5) are located.

4. the cart-based modular multivariable robot of claim 1, wherein the third swing cylinder (18) is inflated to drive a ninth pulley (13), the fourth swing cylinder (19) is inflated to drive a tenth pulley (14), the seventh pulley (11), the eighth pulley (12), the eleventh pulley (15) and the twelfth pulley (16) form four corners of a rectangle, and the ninth pulley (13) and the tenth pulley (14) are located on the same side of a straight line of the eighth pulley (12) and the eleventh pulley (15).

5. The modular multi-robot trolley-based according to claim 1, wherein the trolley module (100) has a plurality of rear connectors (25) on the front rotary trolley (300) and the front connectors (24) on the rear rotary trolley (300) to form X-direction legs (31) and Y-direction legs (32), a plurality of X-direction legs (31) are disposed on two sides of the Y-direction legs (32), the front connectors (24) or the rear connectors (25) of the X-direction legs (31) are fixed on the first fixing plates (7) of the Y-direction legs (32), and the X-direction legs (31) and the Y-direction legs (32) are respectively in a bar shape.

6. The modular multi-robot trolley-based according to claim 1, wherein the trolley module (100) has a plurality of front rotary trolleys (300) and rear rotary trolleys (300) with rear connectors (25) fixed thereon and front connectors (24) fixed thereon to form rotary trolley legs (33), and the first fixing plates (7) on two sides of the trolley module (100) respectively fix the rotary trolley legs (33).

7. The modular multi-robot trolley-based according to claim 1, wherein the trolley module (100) has a plurality of rear connectors (25) on the front rotary trolley (300) and the front connectors (24) on the rear rotary trolley (300) to form Y-direction legs (32) and Z-direction legs (34), a plurality of Z-direction legs (34) are disposed on two sides of the Y-direction legs (32), the front connectors (24) or the rear connectors (25) of the Z-direction legs (34) are fixed on the first fixing plates (7) of the Y-direction legs (32), the Y-direction legs (32) are bar-shaped, and the Z-direction legs (34) are L-shaped.

8. The modular multi-robot cart based on the claim 1, wherein the cart module (100) has a plurality of front rotary carts (300) with rear connectors (25) fixed to front connectors (24) of rear rotary carts (300) to form the Y-direction legs (32) and the X-direction rotary wheels (35), and the front connectors (24) or the rear connectors (25) of the X-direction rotary wheels (35) are fixed to the first fixing plates (7) of the Y-direction legs (32) to form a ring shape.

9. The modular multi-robot cart based on claim 1, wherein the cart module (100) has a plurality of front rotary carts (300) with rear connectors (25) fixed to the front connectors (24) of the rear rotary carts (300) to form a Y-direction rotary wheel (36), and the front connectors (24) or the rear connectors (25) of the Y-direction rotary wheel (36) are fixed to the first fixing plate (7) of the cart module (100) to form a ring shape.

10. The modular multi-robot trolley-based according to claim 1, wherein the trolley module (100) has a plurality of rear connectors (25) on the front rotary trolley (300) and front connectors (24) on the rear rotary trolley (300) to form a closed Z-direction rotary wheel (37) and X-direction legs (31), the Z-direction rotary wheel (37) is provided with the X-direction legs (31) at intervals, and the front connectors (24) or the rear connectors (25) of the X-direction legs (31) are fixed on the first fixing plate (7) of the Z-direction rotary wheel (37) and located on two sides of the Z-direction rotary wheel (37).