阅读说明：本技术 一种具有伸缩及自重构功能的综合式空间模块机器人 (Comprehensive space module robot with stretching and self-reconstruction functions ) 是由 管恩广 王尧 于 2021-09-07 设计创作，主要内容包括：一种具有伸缩及自重构功能的综合式空间模块机器人,属于机器人技术领域,其构造是由内向外依次包括有椎体组件、三自由度的机械臂组件及一自由度的连接器组件,四个机械臂组件分别与椎体组件的四个椎体面板相联接且四个椎体面板在空间几何上呈正四面体分布,四个连接器组件分别与四个机械臂组件的俯仰关节相联接且在空间运动形式上构成四面体单元。本发明具有结构规则、连接灵活、对准要求低、易于分布式控制、运动精度及可靠性高等特点,其伸缩、旋转及俯仰三个关节兼顾了系统构建的形变特征设计,可实现空间多角度连接与满足系统内故障空位穿行的自修复策略,保证大规模拓扑结构系统的活跃度与鲁棒性,从而提升了群体同构机器人系统自重构效率。(The utility model provides a comprehensive formula space module robot with flexible and self-reconfigurable function, belongs to the robot technical field, and its structure is from inside to outside in proper order including centrum subassembly, three degree of freedom's arm subassembly and a degree of freedom's connector assembly, and four arm subassemblies link respectively with four centrum panels of centrum subassembly and four centrum panels are regular tetrahedron distribution on the space geometry, and four connector assemblies link respectively with the every single move joint of four arm subassemblies and constitute the tetrahedron unit on the form of space motion. The three joints of the telescopic, rotary and pitching joints are designed according to the deformation characteristics of system construction, space multi-angle connection can be realized, the self-repairing strategy of fault vacancy crossing in the system can be met, the liveness and robustness of a large-scale topological structure system are ensured, and the self-reconstruction efficiency of a group isomorphic robot system is improved.)

1. A comprehensive space module robot with stretching and self-reconfiguration functions is characterized by sequentially comprising a vertebral body component (I), a three-degree-of-freedom mechanical arm component (II) and a one-degree-of-freedom connector component (III) from inside to outside, wherein the four mechanical arm components (II) are respectively connected with four vertebral body panels (1) of the vertebral body component (I), the four vertebral body panels (1) are distributed in a regular tetrahedron shape on space geometry, and the four connector components (III) are respectively connected with pitching joints (iii) of the four mechanical arm components (II) and form a tetrahedron unit in a space motion form;

the structure of the vertebral body component (I) is that four vertebral body panels (1) are positioned and assembled through four connecting blocks (2), and are connected and fixed through a plurality of cross recessed pan head screws (4) via vertebral body panel countersunk holes (a) and connecting block threaded holes (a'); circuit board mounting threaded holes (b, b 'and b') distributed in a regular triangle are formed in any vertebral body panel (1) and are connected with screws of copper columns (5, 5 'and 5'); circuit board mounting holes (c, c 'and c') distributed correspondingly to the regular triangle are formed in the circuit board (3), and the circuit board (3) is fixedly connected and mounted on the copper column bodies (5, 5 'and 5') through bolts; a guide rail plate mounting threaded hole (d, d') and a rectangular hole (e) are formed in any vertebral body panel (1) and fixedly connected and assembled with a mechanical arm assembly (II);

the mechanical arm assembly (II) comprises a telescopic joint (i), a rotary joint (ii) and a pitching joint (iii), wherein the telescopic joint (i) has a translational degree of freedom and comprises a guide rail mounting plate (6), a linear steering engine mounting seat (7), a linear steering engine mounting cover (8), a linear steering engine (9), a linear guide rail (10) and a guide rail sliding block (11), and the telescopic stroke is determined by the linear steering engine (9); the rotary joint (ii) has a rotational degree of freedom and comprises a lower mounting plate (13), an upper mounting plate (14), a rotary steering engine (15-A) and a rotary component (16), and the rotation angle is 0-360 degrees; the pitching joint (iii) has a rotational degree of freedom and comprises a pitching steering engine (15-B), a rear connecting piece (17) and a front connecting piece (18), wherein the rear connecting piece (17) and the front connecting piece (18) jointly form a pitching component, and the pitching angle can reach +/-115 degrees; the connection sequence is as follows: firstly, a guide rail sliding block (11) is arranged on a linear guide rail (10) to form a friction pair, the linear guide rail (10) is fixedly connected in a guide groove on a guide rail mounting plate (6) through a plurality of cross countersunk head screws (12), a linear steering engine mounting seat (7) is fixedly connected to the guide rail mounting plate (6) through a plurality of cross recessed pan head screws (4), the front end of a linear steering engine (9) is connected with a linear steering engine mounting threaded hole (f) in the front of a lower mounting plate (13) through the cross recessed pan head screws (4), the lower mounting plate (13) is connected with the guide rail sliding block (11) through the plurality of cross countersunk head screws (12), meanwhile, the linear steering engine (9) is arranged in a clamping groove of the linear steering engine mounting seat (7) and is fixed through a linear steering engine mounting cover (8) through the plurality of cross recessed pan head screws (4); secondly, the rotating component (16) is connected with a rotating steering engine (15-A) through a plurality of cross recessed pan head screws (4), and is fixedly connected in a clamping groove of an upper mounting plate (14) through a plurality of cross recessed pan head screws (12), and is connected with a lower mounting plate (13) through a plurality of cross recessed pan head screws (4); then, a pitching steering engine (15-B) is fixedly connected to the front end of a rotating component (16) through a plurality of cross recessed pan head screws (4), a rear connecting piece (17) and a front connecting piece (18) are connected through bolts to form a pitching component, the pitching component is fixedly connected to the pitching steering engine (15-B) through a plurality of cross recessed pan head screws (4), and meanwhile, a protective cover (21) needs to be hung in advance to assemble a connector component (III); finally, a guide rail mounting plate (6) is arranged in a rectangular hole (e) on any centrum panel (1), the rear end of a linear steering engine (9) extends into a corresponding trapezoidal hole, and the guide rail mounting plate (6) and the centrum panel (1) are fixed through a plurality of cross recessed pan head screws (4) through guide rail plate mounting threaded holes (d, d');

the connector assembly (III) comprises a screwing steering engine (15-C), an insulating butt joint panel (19), a screwing chuck (20), a protective cover (21), spring plungers (22 and 22'), contact blocks (23 and 23'), a wiring terminal (24) and a hexagonal thin nut (25), wherein symmetrical wiring holes (t) are formed in the insulating butt joint panel (19), the screwing steering engine (15-C) and the screwing chuck (20) form a rotation degree of freedom, and the connector assembly is driven to be mechanically locked after butt joint action is completed; the connection sequence is as follows: firstly, connecting and fixing a screwing chuck (20) with a screwing steering engine (15-C) through a central through hole (o) of an insulating butt joint panel (19) by a plurality of cross-slot pan head screws (4), wherein the central through hole (o) is in clearance fit with the screwing chuck (20), and the clearance is 0.1mm-0.2 mm; the spring plungers (22, 22') and the contact blocks (23, 23') are respectively connected to the corresponding positions of the spring plunger mounting stepped threaded holes (n, n ') and the contact block mounting threaded holes (m, m') of the insulation butt joint panel (19), then a plurality of wiring terminals (24) are sleeved on the cylinder surfaces of the spring plungers (22, 22') and the contact blocks (23, 23'), and are contacted and screwed with the inner surface of the insulation butt joint panel (19) through a plurality of hexagonal thin nuts (25), and the electrodes of the spring plungers (22, 22') and the contact blocks (23, 23') are opposite; secondly, fixedly connecting a screwing steering engine (15-C) to a front connecting piece (18) of the pitching joint (iii) through a plurality of cross recessed pan head screws (4), and connecting and fixing the front connecting piece (18) and a plurality of front connecting piece mounting threaded holes (k) formed in an insulating butt joint panel (19) through a plurality of cross recessed pan head screws (4); and finally, the sleeved and hung protective cover (21) is arranged on the outer side of the circumference of the insulating butt joint panel (19), and the protective cover (21) is fixed through a plurality of cross-shaped pan head screws (4) through protective cover mounting holes (h, h ') on the protective cover (21) and protective cover mounting threaded holes (g, g') on two sides of the rear connecting piece (17).

Technical Field

The invention belongs to the technical field of robots, and particularly relates to a comprehensive space module robot with stretching and self-reconstruction functions.

Background

The robot technology is a high-tech technology formed by cross convergence of multiple disciplines such as system engineering, robotics, mechanics, bionics, computers, information sensing technologies, cybernetics, artificial intelligence and the like, is a field which is very active and increasingly widely applied in recent years, and the application state of the robot technology marks the development level of national industrial automation. With the continuous improvement of the intelligent level of science and technology and modern industry, in order to adapt to different working environments and working tasks, a group isomorphic robot system or a module robot system which is formed by connecting a plurality of same module units through a connector of the system appears, and the same module units in the system are called as module robots.

The group isomorphic robot system has two remarkable characteristics, namely a regular system structure and a diversified system form. On one hand, the isomorphism of the modular robots in the system and the regularity of the connection mode enable the system configuration to present high regular consistency, which is beneficial to analyzing the system configuration change by means of the topological theory and changing the system scale by adding and deleting the connection relation; on the other hand, by changing the connection relation and the distribution state of the modular robots in the system, the system can present various configurations, and the configuration transformation can be a two-dimensional plane or a three-dimensional space. The robot system has the potential of replacing human beings to finish complex working conditions and multiple tasks under extreme, unknown and dangerous conditions, has wide application prospects in various fields of military affairs, unknown environment survey, emergency rescue and relief, chemical engineering, radioactive equipment maintenance and the like, receives wide attention of more and more domestic and foreign researchers and engineering technicians, and is a leading-edge research hotspot in recent years.

Through the literature search of the prior art, the following findings are found: the modular robot can be divided into three categories according to the structure and system deformation mode: lattice format, chain and synthesis. Most of the structures of the lattice-form modular robot have regular geometric characteristics, such as square, triangle, sphere and the like, and the geometric topological structure of the system has strict regularity; the chain type module robot has fewer connectors than the crystal format module robot, but the self freedom degree configuration is more flexible; the integrated module robot has the characteristics of both a crystal format system and a chain system, and has a regular structural appearance, sufficient connector configuration and flexible motion capability. Several typical modular robots, such as the Molecubes Crystal Format modular robot designed by VictorZykov et al, Connell university, in Evoluved modular systems of stable-reproduction; ModRED chain-type modular robot designed by America university of Nebraska, Omaha, Jos BeBaca et al in ModRED, Hardwere design and design planning for a high performance modular self-repeatable robot for extra-technical implementation; a Cross-ball integrated modular robot designed by YanMeng et al, Stitvens science, USA, in Cross-ball, anewmorphetic self-rechargeable modular robot; and so on. The modular robotics in the united states has been leading internationally, second in japan and europe. Although some stage achievements are obtained in domestic research on self-reconstruction of the modular robot and the system thereof, the modular robot starts later, and a certain gap is left in comparison.

Further, the public literature is searched to find that: from the perspective of solving the actual engineering problem, no matter what kind of configuration the modular robot system is composed of, maintaining the system robustness is an important guarantee factor and prerequisite for achieving the objective task; in other words, meeting the requirement of self-repair of faults to improve the self-reconfiguration capability is a key and difficulty in designing and applying a modular robot system and moving to practicality.

Further, according to the interconnection relationship of the modular robots, the system self-reconstruction research idea can be mainly divided into a relationship-variable idea and a relationship-invariable idea. The former is that the modular robots in the system continuously move to enable all modular robots outside the target configuration to enter the target configuration to realize the self-reconfiguration of the system, the method needs to judge the affiliated relationship between the positions of the modular robots and the target configuration by means of global information, and needs to carry out movement sequence planning to avoid interference and collision, most of the methods are centralized control, and when the scale of the system is increased, the self-reconfiguration efficiency is low and is difficult to adapt to the random fault distribution condition; the latter is to keep the connection relationship of the modular robots in the system unchanged, and to perform the overall motion of the system by changing the way of mutual cooperation to realize the self-reconfiguration of the system, which limits the working space range, and because the individual load of the modular robot is limited, the mode of driving the overall motion of the system by the deformation of the modular robot itself is difficult to apply to a large-scale system. Therefore, how to achieve the target configuration of a large-scale topological structure system in the most effective way is self-reconfigurable as the key point of modular robot design and optimization.

Disclosure of Invention

Aiming at the defects and shortcomings in the prior art, the invention aims to provide a comprehensive space module robot with stretching and self-reconstruction functions, the design of the robot gives consideration to the deformation characteristics and the structure simplification requirements of system construction, the robot comprises three degrees of freedom of stretching, rotating and pitching and one degree of freedom of screwing and locking, the connection mode is flexible, the alignment requirement is low, the robot is easy to control in a distributed mode, the reliability is high, the spatial multi-angle connection can be realized, the self-repairing strategy of fault vacancy crossing in the system is met, the activeness and the robustness of a large-scale topological structure system are ensured, and the self-reconstruction efficiency of a group isomorphic robot system is improved.

The invention is realized by the following steps: the structure of the connector assembly is characterized by comprising a vertebral body assembly (I), a three-degree-of-freedom mechanical arm assembly (II) and a one-degree-of-freedom connector assembly (III) from inside to outside in sequence, wherein the four mechanical arm assemblies (II) are respectively connected with four vertebral body panels (1) of the vertebral body assembly (I), the four vertebral body panels (1) are distributed in a regular tetrahedron shape in space geometry, and the four connector assemblies (III) are respectively connected with pitching joints (iii) of the four mechanical arm assemblies (II) and form a tetrahedron unit in a space motion form.

The structure of the vertebral body component (I) is as shown in figure 2, four vertebral body panels (1) are positioned and assembled through four connecting blocks (2), and are connected and fixed through a plurality of cross recessed pan head screws (4) via a vertebral body panel countersunk hole (a) and a connecting block threaded hole (a'); circuit board mounting threaded holes (b, b 'and b') distributed in a regular triangle are formed in any vertebral body panel (1) and are connected with screws of copper columns (5, 5 'and 5'); circuit board mounting holes (c, c 'and c') distributed correspondingly to the regular triangle are formed in the circuit board (3), and the circuit board (3) is fixedly connected and mounted on the copper column bodies (5, 5 'and 5') through bolts; any centrum panel (1) is provided with guide rail plate mounting threaded holes (d, d') and a rectangular hole (e) which are fixedly connected and assembled with a mechanical arm component (II).

The structure of the mechanical arm assembly (II) is shown in fig. 3 and 4, and comprises a telescopic joint (i), a rotary joint (ii) and a pitching joint (iii), wherein the telescopic joint (i) has a translational degree of freedom and comprises a guide rail mounting plate (6), a linear steering engine mounting seat (7), a linear steering engine mounting cover (8), a linear steering engine (9), a linear guide rail (10) and a guide rail sliding block (11), and the telescopic stroke is determined by the linear steering engine (9); the rotary joint (ii) has a rotational degree of freedom and comprises a lower mounting plate (13), an upper mounting plate (14), a rotary steering engine (15-A) and a rotary component (16), and the rotation angle is 0-360 degrees; the pitching joint (iii) has a rotational degree of freedom and comprises a pitching steering engine (15-B), a rear connecting piece (17) and a front connecting piece (18), wherein the rear connecting piece (17) and the front connecting piece (18) jointly form a pitching component, and the pitching angle can reach +/-115 degrees.

The mechanical arm assembly (II) is connected in sequence as follows: firstly, a guide rail sliding block (11) is arranged on a linear guide rail (10) to form a friction pair, the linear guide rail (10) is fixedly connected in a guide groove on a guide rail mounting plate (6) through a plurality of cross countersunk head screws (12), a linear steering engine mounting seat (7) is fixedly connected to the guide rail mounting plate (6) through a plurality of cross recessed pan head screws (4), the front end of a linear steering engine (9) is connected with a linear steering engine mounting threaded hole (f) in the front of a lower mounting plate (13) through the cross recessed pan head screws (4), the lower mounting plate (13) is connected with the guide rail sliding block (11) through the plurality of cross countersunk head screws (12), meanwhile, the linear steering engine (9) is arranged in a clamping groove of the linear steering engine mounting seat (7) and is fixed through a linear steering engine mounting cover (8) through the plurality of cross recessed pan head screws (4); secondly, the rotating component (16) is connected with a rotating steering engine (15-A) through a plurality of cross recessed pan head screws (4), and is fixedly connected in a clamping groove of an upper mounting plate (14) through a plurality of cross recessed pan head screws (12), and is connected with a lower mounting plate (13) through a plurality of cross recessed pan head screws (4); then, a pitching steering engine (15-B) is fixedly connected to the front end of a rotating component (16) through a plurality of cross recessed pan head screws (4), a rear connecting piece (17) and a front connecting piece (18) are connected through bolts to form a pitching component, the pitching component is fixedly connected to the pitching steering engine (15-B) through a plurality of cross recessed pan head screws (4), and meanwhile, a protective cover (21) needs to be hung in advance to assemble a connector component (III); and finally, arranging the guide rail mounting plate (6) in a rectangular hole (e) on any centrum panel (1), simultaneously extending the rear end of the linear steering engine (9) into a corresponding trapezoidal hole, and fixing the guide rail mounting plate (6) and the centrum panel (1) through a plurality of cross-shaped pan head screws (4) through guide rail plate mounting threaded holes (d, d').

The connector assembly (III) is as shown in fig. 5 and 6, and comprises a screwing steering engine (15-C), an insulating butt joint panel (19), a screwing chuck (20), a protective cover (21), spring plungers (22, 22'), contact blocks (23, 23'), a wiring terminal (24) and a hexagonal thin nut (25), wherein symmetrical wiring holes (t) are formed in the insulating butt joint panel (19) and used as any power external connection of the group isomorphic robot system in the initial state, the screwing steering engine (15-C) and the screwing chuck (20) form a rotation degree of freedom, and the connector assembly is driven to be mechanically locked after the butt joint action is completed;

the connection sequence of the connector assembly (III) is as follows in sequence: firstly, connecting and fixing a screwing chuck (20) with a screwing steering engine (15-C) through a central through hole (o) of an insulating butt joint panel (19) by a plurality of cross-slot pan head screws (4), wherein the central through hole (o) is in clearance fit with the screwing chuck (20), and the clearance is 0.1mm-0.2 mm; the spring plungers (22, 22') and the contact blocks (23, 23') are respectively connected to the corresponding positions of the spring plunger mounting stepped threaded holes (n, n ') and the contact block mounting threaded holes (m, m') of the insulation butt joint panel (19), then a plurality of wiring terminals (24) are sleeved on the cylinder surfaces of the spring plungers (22, 22') and the contact blocks (23, 23'), and are contacted and screwed with the inner surface of the insulation butt joint panel (19) through a plurality of hexagonal thin nuts (25), and the electrodes of the spring plungers (22, 22') and the contact blocks (23, 23') are opposite; secondly, fixedly connecting a screwing steering engine (15-C) to a front connecting piece (18) of the pitching joint (iii) through a plurality of cross recessed pan head screws (4), and connecting and fixing the front connecting piece (18) and a plurality of front connecting piece mounting threaded holes (k) formed in an insulating butt joint panel (19) through a plurality of cross recessed pan head screws (4); and finally, the sleeved and hung protective cover (21) is arranged on the outer side of the circumference of the insulating butt joint panel (19), and the protective cover (21) is fixed through a plurality of cross-shaped pan head screws (4) through protective cover mounting holes (h, h ') on the protective cover (21) and protective cover mounting threaded holes (g, g') on two sides of the rear connecting piece (17).

The invention has the advantages and positive effects that:

in the structure, each part has simple structure, low processing and manufacturing difficulty, low cost and convenient installation, the whole space structure is regular, the connection mode is flexible, the universal combination is strong, and the degree of freedom and the motion execution mode are flexibly configured according to the topological characteristics of the system structure, so that the group isomorphic robot systems with different scales and quantities are constructed to adapt to different working environments and working tasks.

In the structure, each mechanical arm assembly is provided with three joints of expansion, rotation and pitching, distributed control is easy to adopt, space multi-angle connection can be realized, a self-repairing strategy for fault vacancy crossing in the system can be met, the liveness and robustness of a large-scale topological structure system are ensured, and the self-reconstruction efficiency of a group isomorphic robot system is improved.

Furthermore, in the connector assembly designed by the invention, the electrodes connected with the spring plunger and the contact block are opposite, so that the power transmission of the group isomorphic robot system in the current configuration can be ensured, and in the reconstruction process of the target configuration, when the butt joint distance is close, the two butted connector assemblies can be absolutely matched under the action of electromagnetic force, the irregular dislocation of the butt joint action is ensured, and the alignment requirement is reduced.

Furthermore, the connector assembly designed by the invention also has a screwing freedom degree, and can be mechanically locked after the butt joint action is finished, so that the system rigidity and the butt joint reliability are improved.

Drawings

Other features, objects and advantages of the present invention will become more apparent upon reading of the following detailed description of non-limiting embodiments thereof with reference to the accompanying drawings;

FIG. 1 is a schematic view of a three-dimensional monolithic structural assembly of the present invention;

FIG. 2 is an exploded view of the vertebral body assembly (I) of the present invention;

FIG. 3 is an exploded view of the robot arm assembly (II) of the present invention;

FIG. 4 is a schematic view of an assembly of the robot arm assembly (II) of the present invention;

FIG. 5 is an exploded view of the connector assembly (III) of the present invention;

FIG. 6 is a schematic view of an assembly of the connector assembly (III) of the present invention;

FIG. 7 is a schematic view of a single space module robot structure model according to the present invention;

FIG. 8 is a schematic view of a topology of a 15 space module robot according to the present invention;

FIG. 9 is a schematic diagram of a topological structure of a 25 space module robot according to the present invention;

reference numbers in the figures: i-a cone assembly, II-a mechanical arm assembly, III-a connector assembly, i-a telescopic joint, ii-a rotary joint, iii-a pitch joint, 1-a cone panel, 2-a connecting block, 3-a circuit board, 4-a cross pan head screw, 5' -a copper column, 6-a guide rail mounting plate, 7-a linear steering engine mounting seat, 8-a linear steering engine mounting cover, 9-a linear steering engine, 10-a linear guide rail, 11-a guide rail slider, 12-a cross countersunk head screw, 13-a lower mounting plate, 14-an upper mounting plate, 15-A-a pitch steering engine, 15-C-twist steering engine, 16-a rotary member, 17-a rear connecting member, 18-a front connecting member, 19-insulating butt joint panel, 20-screwing chuck, 21-protective cover, 22' -spring plunger, 23' -contact block, 24-wiring terminal, 25-hexagonal thin nut, a-cone panel countersunk hole, a ' -connecting block threaded hole, b ' -circuit board mounting threaded hole, c ', c '-circuit board mounting holes, d and d' -guide rail plate mounting threaded holes, e-rectangular holes, f-linear steering engine mounting threaded holes, g and g '-protective cover mounting threaded holes, h and h' -protective cover mounting holes, k-front connecting piece mounting threaded holes, m and m '-contact block mounting threaded holes, n and n' -spring plunger mounting stepped threaded holes, o-center through holes and t-wiring holes.

Detailed Description

The present invention will be described in detail below with reference to the accompanying drawings in the embodiments of the present invention. The following examples will assist the engineer skilled in the art to further understand the present invention, but are not intended to limit the invention in any way. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention.

Referring to fig. 1, the schematic diagram of the overall structural arrangement of the integrated space modular robot with the functions of telescoping and self-reconfiguration in an embodiment of the present invention is shown, the integrated space modular robot sequentially includes a vertebral body component i, a three-degree-of-freedom mechanical arm component ii and a one-degree-of-freedom connector component iii from inside to outside, the four mechanical arm components ii are respectively connected with four vertebral body panels 1 of the vertebral body component i, the four vertebral body panels 1 are distributed in a regular tetrahedron shape in space geometry, the four connector components iii are respectively connected with pitching joints iii of the four mechanical arm components ii, and form a tetrahedron unit in a space motion form, so that spatial multi-angle connection can be achieved, a self-repairing strategy for a fault vacancy crossing in a system can be satisfied, and self-reconfiguration efficiency is high.

Specifically, a comprehensive space module robot with flexible and from reconfiguration function, its structural configuration is in proper order:

referring to fig. 2, the vertebral body assembly i comprises four vertebral body panels 1, four connecting blocks 2, a circuit board 3, copper columns 5, 5', 5 ″ and a plurality of cross recessed pan head screws 4;

referring to fig. 3 and 4, the mechanical arm assembly ii comprises a telescopic joint i, a rotary joint ii, a pitching joint iii, a plurality of cross recessed pan head screws 4 and a plurality of cross recessed pan head screws 12, wherein the telescopic joint i has a translational degree of freedom and comprises a guide rail mounting plate 6, a linear steering engine mounting seat 7, a linear steering engine mounting cover 8, a linear steering engine 9, a linear guide rail 10 and a guide rail slider 11, and the telescopic stroke is determined by the linear steering engine 9; the rotary joint ii is a rotational degree of freedom and comprises a lower mounting plate 13, an upper mounting plate 14, a rotary steering engine 15-A and a rotary component 16, and the rotation angle is 0-360 degrees; the pitching joint iii has a rotational degree of freedom and comprises a pitching steering engine 15-B, a rear connecting piece 17 and a front connecting piece 18, wherein the rear connecting piece 17 and the front connecting piece 18 jointly form a pitching component, and the pitching angle can reach +/-115 degrees;

referring to fig. 5 and 6, the connector assembly iii includes a screwing steering engine 15-C, an insulating butt joint panel 19, a screwing chuck 20, a protective cover 21, spring plungers 22 and 22', contact blocks 23 and 23', a connection terminal 24, a hexagonal thin nut 25, and a plurality of cross-slot pan head screws 4, wherein symmetrical wire routing holes t are formed in the insulating butt joint panel 19 and used for externally connecting any power in an initial state of the group isomorphic robot system, the screwing steering engine 15-C and the screwing chuck 20 form a rotational degree of freedom, and the connector assembly iii is driven to be mechanically locked after the butt joint action is completed.

The specific overall assembly steps and sequence are as follows:

firstly, the sub-assembly process of the vertebral body assembly I: a plurality of cross recessed pan head screws 4 connect and fix the four cone panels 1 and the four connecting blocks 2 through cone panel countersunk holes a and connecting block threaded holes a'; circuit board mounting threaded holes b, b 'and b' distributed in a regular triangle are formed in any centrum panel 1 and are connected with the screw rods of the copper columns 5, 5 'and 5'; circuit board mounting holes c, c 'and c' which are distributed correspondingly to regular triangles are formed in the circuit board 3, and the circuit board 3 is fixedly connected and mounted on the copper columns 5, 5 'and 5' through bolts; and a guide rail plate arranged on any vertebral body panel 1 is provided with threaded holes d, d' and a rectangular hole e, and is subsequently fixedly connected and assembled with the mechanical arm assembly II.

Secondly, the sub-assembly process of the mechanical arm assembly II comprises the following steps: the guide rail sliding block 11 is arranged on the linear guide rail 10 to form a friction pair, the linear guide rail 10 is fixedly connected in a guide groove on the guide rail mounting plate 6 through a plurality of cross countersunk head screws 12, the linear steering engine mounting seat 7 is fixedly connected to the guide rail mounting plate 6 through a plurality of cross recessed pan head screws 4, the front end of the linear steering engine 9 is connected with a linear steering engine mounting threaded hole f at the front part of the lower mounting plate 13 through the cross recessed pan head screws 4, the lower mounting plate 13 is connected with the guide rail sliding block 11 through a plurality of cross countersunk head screws 12, meanwhile, the linear steering engine 9 is arranged in a clamping groove of the linear steering engine mounting seat 7 and is fixed through a linear steering engine mounting cover 8 through a plurality of cross recessed pan head screws 4; a rotary component 16 is connected with a rotary steering engine 15-A through a plurality of cross recessed pan head screws 4, is fixedly connected in a clamping groove of an upper mounting plate 14 through a plurality of cross recessed pan head screws 12, and is connected with a lower mounting plate 13 through a plurality of cross recessed pan head screws 4; then, a pitching steering engine 15-B is fixedly connected to the front end of a rotating component 16 through a plurality of cross recessed pan head screws 4, a rear connecting piece 17 and a front connecting piece 18 are connected through bolts to form a pitching component, the pitching component is fixedly connected to the pitching steering engine 15-B through a plurality of cross recessed pan head screws 4, and meanwhile, a protective cover 21 needs to be hung in advance to assemble a subsequent connector component III; arranging a guide rail mounting plate 6 in a rectangular hole e on any centrum panel 1, simultaneously extending the rear end of a linear steering engine 9 into a corresponding trapezoidal hole, and fixing the guide rail mounting plate 6 and the centrum panel (1) through a plurality of cross recessed pan head screws 4 through guide rail plate mounting threaded holes d and d'; this operation is repeated to complete the sub-assembly of the remaining three manipulator arm assemblies ii.

Finally, the sub-assembly process of the connector assembly iii: the screwing chuck 20 is connected and fixed with the screwing steering engine 15-C through a central through hole o of an insulating butt joint panel 19 by a plurality of cross-slot pan head screws 4, the central through hole o is in clearance fit with the screwing chuck 20, and the clearance is 0.1mm-0.2 mm; the spring plungers 22, 22 'and the contact blocks 23, 23' are respectively connected to the corresponding positions of the spring plunger mounting stepped threaded holes n, n 'of the insulating docking panel 19 and the contact block mounting threaded holes m, m', then a plurality of connecting terminals 24 are sleeved on the cylinder surfaces of the spring plungers 22, 22 'and the contact blocks 23, 23' and are contacted and screwed with the inner surface of the insulating docking panel 19 through a plurality of hexagonal thin nuts 25, and the electrodes of the spring plungers 22, 22 'connected with the contact blocks 23, 23' are opposite; fixedly connecting a screwing steering engine 15-C to a front connecting piece 18 of the pitching joint iii through a plurality of cross recessed pan head screws 4, and connecting and fixing the front connecting piece 18 and a plurality of front connecting piece mounting threaded holes k formed in an insulating butt joint panel 19 through a plurality of cross recessed pan head screws 4; the hung protective cover 21 is arranged on the outer side of the circumference of the insulating butt joint panel 19, and the protective cover 21 is fixed through a plurality of cross recessed pan head screws 4 through protective cover mounting holes h and h 'on the protective cover 21 and protective cover mounting threaded holes g and g' on two sides of the rear connecting piece 17; this operation is repeated to complete the sub-assembly of the remaining three connector assemblies iii.

Referring to a structural model diagram of a single space module robot shown in fig. 7, a functional decomposition and implementation design method based on system deformation characteristics can construct group isomorphic robot systems with different scales and quantities by determining a topological structure of the module robot and flexibly configuring the degree of freedom and a motion execution mode so as to adapt to different working environments and working tasks. As different preferred embodiments, fig. 8 is a schematic diagram showing a topological structure of a 15 space module robot of the present invention, and fig. 9 is a schematic diagram showing a topological structure of a 25 space module robot of the present invention.

Supplementary explanation:

all the structure sizes, the telescopic stroke and the like in the invention can be adjusted according to the actual space parameter limit, the specific application scene and the like, and the same self-reconfiguration function is realized.

The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by those skilled in the art within the scope of the appended claims without departing from the spirit of the invention.