A freely connected self-reconfigurable robot

Abstract

The present invention discloses a freely connected self-reconfigurable robot, which includes a metal sphere, a protective cover, and at least two moving mechanisms arranged in the protective cover; the protective cover is provided with through holes corresponding to the moving mechanisms one by one; the moving mechanism includes a wheeled moving unit and a magnetic telescopic unit connected to each other; the magnetic telescopic unit can extend / retract along the through hole to adjust the magnetic attraction between it and the metal sphere; the wheeled moving unit partially extends from the through hole; when the magnetic telescopic unit is magnetically attracted to the metal sphere, the wheeled moving unit can contact the metal sphere and move along the metal sphere. Since the surface of the metal sphere is a spherical surface, the connection between the wheeled moving unit and the metal sphere is a magnetic connection, so that the wheeled moving unit can be connected to any position on the surface of the metal sphere and move freely along it without accurate docking.

Description

Technical Field

[0001] The present invention relates to the field of robot technology, and in particular to a freely connected self-reconfigurable robot. Background Art

[0002] The self-reconfigurable robot system is a multi-robot system composed of a large number of robot modules that can autonomously change the overall configuration according to task requirements. The self-reconfigurable robot is not designed for a specific application. After being connected and combined, it transforms into a suitable configuration so that it can complete different tasks according to different environments. Therefore, the self-reconfigurable robot can cope with various tasks in more complex and changeable environments. The self-reconfigurable robot has the functions of self-reconfiguration and self-repair, so it has the characteristics of strong adaptability and high functional scalability.

[0003] Most of the self-reconfigurable robots known so far have a limited and discrete number of connection points, and connection mechanisms with fixed shape structures are set at the connection points to achieve self-reconfiguration connections. This leads to harsh self-reconfiguration conditions for existing self-reconfigurable robots, which are heavily dependent on the precise docking of the connection mechanisms, resulting in weak connection strength, reduced system stability, limited system configuration, and difficulty in adapting to complex unstructured environments.

[0004] Therefore, the prior art still needs to be improved and developed. Summary of the invention

[0005] The technical problem to be solved by the present invention is that, in view of the above-mentioned defects of the prior art, a freely connected self-reconfigurable robot is provided, aiming to reduce the accuracy requirements for docking during the robot's self-reconfiguration and realize self-reconfiguration through the free connection of the robot.

[0006] The technical solution adopted by the present invention to solve the technical problem is as follows:

[0007] A freely connected self-reconfigurable robot comprises a metal sphere, a protective cover, and at least two moving mechanisms arranged in the protective cover; the protective cover is provided with through holes corresponding to the moving mechanisms one by one; the moving mechanism comprises a wheeled moving unit and a magnetic telescopic unit connected to each other; the magnetic telescopic unit can extend / retract along the through hole to adjust the magnetic attraction between it and the metal sphere; the wheeled moving unit partially extends from the through hole; when the magnetic telescopic unit is magnetically attracted to the metal sphere, the wheeled moving unit can contact the metal sphere and move along the metal sphere.

[0008] The freely connected self-reconfigurable robot, wherein the number of the moving mechanisms is two and they are coaxially arranged.

[0009] The freely connected self-reconfigurable robot, wherein the magnetic telescopic unit includes a bracket, a telescopic drive device and a screw rod arranged on the bracket, and a magnet assembly; the telescopic drive device is connected to the screw rod and drives the screw rod to rotate; the magnet assembly is connected to the screw rod and is close to the through hole.

[0010] The freely connected self-reconfigurable robot, wherein the telescopic drive device includes a drive motor, a driving gear and a driven gear; the drive shaft of the drive motor is connected to the driving gear; the driven gear is meshed with the driving gear; and the driven gear is coaxially connected to the screw.

[0011] The freely connected self-reconfigurable robot, wherein the bracket is provided with a guide rod, the guide rod is parallel to the screw rod; the magnet assembly is provided with a guide hole, the guide rod passes through the guide hole and is gap-matched with the guide hole.

[0012] The freely connected self-reconfigurable robot, wherein the wheeled mobile unit includes a chassis, at least two symmetrically arranged wheels, and a rolling drive device connected to the wheels in a one-to-one correspondence; the wheels and the rolling drive device are both arranged on the chassis; the chassis is connected to the bracket; a mounting hole is provided on the chassis, and the magnet assembly is located in the mounting hole; when the screw rotates, the magnet assembly moves in the mounting hole along the axial direction of the screw.

[0013] The freely connected self-reconfigurable robot, wherein the chassis is symmetrically provided with two universal wheels, the two universal wheels and the two wheels are arranged in a cross shape; when the wheels are in contact with the metal sphere, the universal wheels are in contact with the metal sphere.

[0014] The freely connected self-reconfigurable robot, wherein at least one slide groove is provided on the magnet assembly, and the extension direction of the slide groove is parallel to the axial direction of the screw; a first slider corresponding to the slide groove is provided on the bracket, and a second slider corresponding to the slide groove is provided on the chassis; the first slider and the second slider are both located in the slide groove and are in contact with the slide groove.

[0015] The freely connected self-reconfigurable robot, wherein the metal sphere includes an annular support frame, and a first metal hemisphere and a second metal hemisphere arranged symmetrically; the annular support frame is partially located in the first metal hemisphere and partially located in the second metal hemisphere, and the annular support frame, the first metal hemisphere and the second metal hemisphere are connected in pairs.

[0016] Beneficial effect: The freely connected self-reconfigurable robot of the present invention controls the magnetic attraction of the magnetic retractable unit to the metal sphere by adjusting the position of the magnetic retractable unit, thereby controlling the connection or disconnection of the wheeled mobile unit with the metal sphere. In addition, since the surface of the metal sphere is spherical, the connection between the wheeled mobile unit and the metal sphere is a magnetic connection, so that the wheeled mobile unit can be connected to any position on the surface of the metal sphere and move freely along the surface of the metal sphere without accurate docking; compared with the prior art, the present invention greatly reduces the accuracy requirements of the self-reconfigurable connection, realizes the free connection of the self-reconfigurable robot, improves the robustness of the self-reconfiguration function, and makes the freely connected self-reconfigurable robot easier to adapt to complex unstructured environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the exploded structure of the metal sphere described in the present invention;

[0018] Figure 2 is a schematic diagram of the overall structure of the connecting rod module of the present invention;

[0019] Figure 3 is a schematic diagram of the exploded structure of the connecting rod module of the present invention;

[0020] Figure 4 is a first view of the exploded structure of the mobile mechanism of the present invention;

[0021] Figure 5 is a second exploded structural view of the mobile mechanism of the present invention;

[0022] Figure 6 is a reference diagram of the freely connected self-reconfigurable robot of the present invention when it is self-reconfigured into a triangular configuration;

[0023] Figure 7 is a reference diagram of the use state of the freely connected self-reconfigurable robot of the present invention self-reconfiguring to transport an object;

[0024] Figure 8 is a functional principle block diagram of the freely connected self-reconfigurable robot of the present invention;

[0025] Fig. 9 It is a schematic diagram of the structure of the protective cover of the present invention;

[0026] Fig.10 It is a structural schematic diagram of the magnet assembly described in the present invention. DETAILED DESCRIPTION

[0027] In order to make the purpose, technical solution and advantages of the present invention clearer and more specific, the present invention is further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0028] The present invention provides a freely connected self-reconfigurable robot, such as Figure 1 and Figure 2 As shown, the freely connected self-reconfigurable robot comprises: a metal sphere 1 and a connecting rod module 2; the metal sphere 1 and the connecting rod module 2 are multiple, so as to self-reconfigure into multiple different configurations. Figure 3 As shown, the connecting rod module 2 includes: a protective cover 3, a main control circuit board 4 and at least two moving mechanisms 5; the main control circuit board 4 and the at least two moving mechanisms 5 are both arranged in the protective cover 3, and the moving mechanisms 5 are electrically connected to the main control circuit board 4. Figure 3 and Fig. 9 As shown, the protective cover 3 is provided with through holes 31 corresponding to the moving mechanism 5 one by one; the moving mechanism 5 includes a wheeled moving unit 6 and a magnetic telescopic unit 7, a part of the wheeled moving unit 6 extends out of the protective cover 3 from the through hole 31 so as to be able to contact the metal sphere 1, thereby docking with the metal sphere 1, or moving along the spherical surface of the metal sphere 1. The magnetic telescopic unit 7 is connected to the wheeled moving unit 6 and corresponds to the through hole 31.

[0029] The magnetic telescopic unit 7 can be telescopic relative to the wheeled mobile unit 6, and when the magnetic telescopic unit 7 is extended, it can move along the through hole 31 to extend the length extending out of the protective cover 3; when the magnetic telescopic unit 7 is retracted, it can move along the through hole 31 to reduce the length extending out of the protective cover 3. When the length of the magnetic telescopic unit 7 extending out of the protective cover 3 increases, the distance between the magnetic telescopic unit 7 and the metal sphere 1 decreases, and the magnetic attraction between the magnetic telescopic unit 7 and the metal sphere 1 increases, so that the connecting rod module 2 can be adsorbed on the metal sphere 1; when the length of the magnetic telescopic unit 7 extending out of the protective cover 3 decreases, the distance between the magnetic telescopic unit 7 and the metal sphere 1 increases, and the magnetic attraction between the magnetic telescopic unit 7 and the metal sphere decreases, so that the connecting rod module 2 can be detached from the metal sphere 1.

[0030] The magnetic telescopic unit 7 and the wheeled mobile unit 6 are both electrically connected to the main control circuit board 4; the present invention adjusts the magnetic telescopic unit 7 and the metal sphere 1 by adjusting the telescopic force of the magnetic telescopic unit 7 through the main control circuit board 4, thereby controlling the connecting rod module 2 to magnetically engage with the metal sphere 1 or disconnect from the metal sphere 1. When the main control circuit board 4 controls the magnetic telescopic unit 7 to extend so that a part of the magnetic telescopic unit 7 extends from the through hole 31 to the outside of the protective cover 3 and does not exceed the wheeled mobile unit 6, the connecting rod module 2 can be adsorbed on the metal sphere 1, and the wheeled mobile unit 6 contacts the metal sphere 1 and moves along the metal sphere 1.

[0031] The present invention controls the magnetic attraction of the magnetic telescopic unit 7 to the metal sphere 1 by adjusting the position of the magnetic telescopic unit 7, thereby controlling the connection or disconnection of the wheeled mobile unit 6 with the metal sphere 1. In addition, since the surface of the metal sphere 1 is a spherical surface, the connection between the wheeled mobile unit 6 and the metal sphere 1 is a magnetic connection, so that the wheeled mobile unit 6 can be connected to any position on the surface of the metal sphere 1 and move freely along the surface of the metal sphere 1 without accurate docking; compared with the prior art, the present invention greatly reduces the accuracy requirements of the self-reconfiguration connection, realizes the free connection of the self-reconfiguration robot, improves the robustness of the self-reconfiguration function, and makes the freely connected self-reconfiguration robot easier to adapt to complex unstructured environments.

[0032] Since a portion of the wheeled mobile unit 6 extends from the through hole 31 to the outside of the protective cover 3, and the portion of the wheeled mobile unit 6 located outside the protective cover 3 can move under the control of the main control circuit board 4, even if the connecting rod module 2 is not connected and combined with the metal sphere 1, the connecting rod module 2 can also move in an external environment other than the metal sphere 1, thereby making the functionality of the freely connected self-reconfigurable robot richer and better adaptable to unstructured environments.

[0033] There are more than one wheeled mobile unit 6 and magnetic telescopic unit 7 in the protective cover 3, so the connecting rod module 2 can absorb two metal spheres 1 at the same time, and disconnect from any one of the metal spheres 1 to move along the surface of the other metal sphere 1, so as to achieve the conversion of the spatial position of the connecting rod module 2. When multiple connecting rod modules 2 are absorbed on a metal sphere 1, and more than one metal sphere 1 is absorbed on a connecting rod module 2, the freely connected self-reconfigurable robot can form a system configuration similar to a truss structure through free connection, so that the freely connected self-reconfigurable robot has better structural stability and scalability.

[0034] In a specific embodiment of the present invention, there are two through holes 31, and the directions of the two through holes 31 are opposite; there are two moving mechanisms 5, and they are coaxially arranged; when the two moving mechanisms 5 are assembled in the protective cover 3, one of the moving mechanisms 5 is flipped 180° and then buckled on the other moving mechanism 5. When the connecting rod module 2 magnetically attracts two metal spheres 1 through the moving mechanism 5, the two metal spheres 1 and the two moving mechanisms 5 are coaxially arranged, so that the connecting rod module 2 can rotate between the two metal spheres 1, so as to improve the functionality of the freely connected self-reconfigurable robot.

[0035] Along the arrangement direction of the two moving mechanisms 5, the cross section of the protective cover 3 is hexagonal; along the arrangement direction perpendicular to the two moving mechanisms 5, the cross section of the protective cover 3 is circular, so that the three metal spheres 1 can be connected by three connecting rod modules 2, and no adverse interference will occur between two adjacent protective covers 3, thereby forming a triangular configuration, such as Figure 6 As shown, better structural stability is obtained; at the same time, when a plurality of connecting rod modules 2 are connected to a metal sphere 1, no adverse interference will occur between two adjacent protective covers 3, so that as many connecting rod modules 2 as possible can be connected to a metal sphere 1.

[0036] like Figure 4 and Figure 5 As shown, the magnetic telescopic unit 7 includes a bracket 71, a telescopic driving device 72, a screw 73 and a magnet assembly 74; the telescopic driving device 72 and the screw 73 are both arranged on the bracket 71, and the telescopic driving device 72 is connected to the screw 73 to drive the screw 73 to rotate; the telescopic driving device 72 is electrically connected to the main control circuit board 4. The magnet assembly 74 is connected to the screw 73 and is close to the through hole 31; when the screw 73 rotates, the magnet assembly 74 moves along the axial direction of the screw 73 to extend from the through hole 31 to the outside of the protective cover 3.

[0037] like Figure 5 As shown, the telescopic driving device 72 includes a driving motor 721, a driving gear 722 and a driven gear 723; the driving shaft of the driving motor 721 is connected to the driving gear 722; the driven gear 723 is meshed with the driving gear 722; the driven gear 723 is coaxial with the screw rod 73 and is fixedly connected. The driving motor 721 is electrically connected to the main control circuit board 4. When the main control circuit board 4 controls the driving motor 721 to start, the driving motor 721 drives the driven gear 723 to rotate through the driving gear 722, thereby realizing the rotation of the screw rod 73.

[0038] like Figure 4As shown, the bracket 71 is provided with an assembly hole and a bearing 75, and the center hole of the bearing 75 corresponds to the assembly hole; one end of the screw rod 73 is connected to the inner ring of the bearing 75, and the other end passes through the assembly hole and the driven gear 723 in sequence, and is connected to the magnet assembly 74. The diameter of the assembly hole is larger than the outer diameter of the screw rod 73 to prevent the screw rod 73 from damaging the bracket 71 when it rotates. Figure 4 As shown, the magnet assembly 74 is provided with a threaded sleeve 76, and the threaded sleeve 76 is sleeved on the screw rod 73, so as to realize the threaded connection between the magnet assembly 74 and the screw rod 73. A limiting member 77 is provided at one end of the screw rod 73 away from the magnet assembly 74, and the limiting member 77 is located outside the bearing 75 to limit the screw rod 73, so that the screw rod 73 can only rotate under the drive of the driven gear 723 without axial movement.

[0039] In the connecting rod module 2 , two screw rods 73 are coaxially arranged, and two stoppers 77 corresponding to the two screw rods 73 are in contact with each other to further stop the screw rods 73 and prevent the screw rods 73 from axial movement.

[0040] The telescopic driving device 72 is located on a side of the bracket 71 away from the chassis 61 and at one end of the bracket 71 in the length direction; Figure 3 and Figure 4 As shown, a mounting position 8 is provided at the other end of the bracket 71 in the length direction, and the mounting position 8 is used to avoid the telescopic driving device 72 of another moving mechanism 5 in the connecting rod module 2.

[0041] like Figure 4 As shown, the bracket 71 is provided with a guide rod 78, and the guide rod 78 is parallel to the screw rod 73; Fig.10 As shown, the magnet assembly 74 is provided with a guide hole 79, and the guide rod 78 passes through the guide hole 79 and is in clearance fit with the guide hole 79. When the screw 73 rotates and drives the magnet assembly 74 to move along the axial direction of the screw 73, the magnet assembly 74 moves relative to the guide rod 78, so that the movement of the magnet assembly 74 is guided by the guide rod 78, ensuring that the movement of the magnet assembly 74 is a linear movement, so that the through hole 31 is necessarily located on the moving path of the magnet assembly 74.

[0042] The wheeled mobile unit 6 includes a chassis 61, at least two symmetrically arranged wheels 62, and a rolling drive device 63 connected to the wheels 62 in a one-to-one correspondence; the wheels 62 and the rolling drive device 63 are both arranged on the chassis 61. The rolling drive device 63 is electrically connected to the main control circuit board 4; the chassis 61 is respectively connected to the bracket 71 and the protective cover 3.

[0043] like Figure 4 As shown, the chassis 61 is provided with a mounting hole 611. Figure 3 As shown, the magnet assembly 74 is located in the mounting hole 611 and is limited by the mounting hole 611, so that when the screw rod 73 rotates, the magnet assembly 74 cannot rotate synchronously with the screw rod 73 due to the limiting effect of the mounting hole 611, thereby achieving the axial movement of the magnet assembly 74 along the screw rod 73 in the mounting hole 611 when the screw rod 73 rotates.

[0044] Specifically, the wheel 62 is rotatably connected to the chassis 61, and a portion of the wheel 62 passes through the through hole 31 and extends outside the protective cover 3. Figure 2 As shown, initially, the magnet assembly 74 is partially placed outside the protective cover 3, and the portion of the wheel 62 extending outside the protective cover 3 exceeds the portion of the magnet assembly 74 extending outside the protective cover 3. When the connecting rod module 2 needs to be connected to the metal sphere 1, the telescopic driving device 72 drives the screw 73 to rotate, so as to drive the magnet assembly 74 to move away from the driven gear 723; the length of the magnet assembly 74 extending out of the protective cover 3 increases, and the magnetic attraction between the magnet assembly 74 and the metal sphere 1 increases, so that the metal sphere 1 is connected to the connecting rod module 2.

[0045] When the metal sphere 1 is connected to the connecting rod module 2 , the wheel 62 is in contact with the metal sphere 1 , and a gap is provided between the magnet assembly 74 and the metal sphere 1 to prevent the magnet assembly 74 from causing adverse interference to the movement of the wheel 62 .

[0046] When the magnet assembly 74 extends out of the protective cover 3 and moves to the end of the screw 73, the magnet assembly 74 exceeds the wheel 62, thereby increasing the overall height of the mobile mechanism 5. In a specific embodiment of the present invention, after the self-reconfiguration of the freely connected self-reconfigurable robot, an object (such as Figure 7As shown, the transported object is a table 100) for transport: first, five connecting rod modules 2 are attracted to two metal spheres 1, two connecting rod modules 2 are coaxially connected on one metal sphere 1, two connecting rod modules 2 are coaxially connected on another metal sphere 1, and one connecting rod module 2 is connected between the two metal spheres 1. Secondly, the two connecting rod modules 2 in contact with the ground are started and move along the ground to under the tabletop, all the magnet assemblies 74 in the two connecting rod modules opposite to the tabletop are extended, and all the magnet assemblies 74 in the two connecting rod modules opposite to the ground are also extended, so that the overall height of the freely connected self-reconfigurable robot increases and supports the tabletop, lifting the table off the ground. Again, the magnet assemblies 74 in the two connecting rod modules in contact with the ground are retracted until the wheels 62 contact the ground, and the connecting rod modules move along the ground to the target location. Then, the magnet assemblies 74 in the extended state are retracted, so that the overall height of the freely connected self-reconfigurable robot is reduced and is lower than the tabletop. Finally, the freely connected self-reconfigurable robot moves out from under the tabletop to complete the transport of the table. It should be noted that the number of connecting rod modules 2 and the number of metal spheres 1 required for self-reconfiguration are determined according to actual needs.

[0047] There are at least two wheels 62, and there may be four wheels 62. The specific number is determined by the size and capacity of the chassis 61. In a specific embodiment of the present invention, there are two wheels 62, and polyurethane wheels 62 are used; the rolling drive device 63 is a worm gear DC reduction motor. The rolling drive device 63 drives the wheel 62, so that when the connecting rod module 2 is connected to the metal sphere 1, the wheel 62 can move freely along the surface of the metal sphere 1; at the same time, because the worm gear DC reduction motor has a mechanical self-locking function, the moving mechanism 5 has no static energy loss to resist external tangential force and torque.

[0048] When the connecting rod module 2 is connected to any position on the metal sphere 1, the two rolling drive devices 63 respectively control the two wheels 62 to move at a differential speed or turn in the opposite direction, so that the connecting rod module 2 can turn forward or turn in place on the surface of the metal sphere 1. Since the two wheels 62 are differentially driven, the connecting rod module can obtain the maximum driving force when it moves in a straight line under differential drive.

[0049] like Figure 3 As shown, the chassis 61 is also symmetrically provided with two universal wheels 9, such as Figure 2 As shown, the two universal wheels 9 and the two wheels 62 are arranged in a cross shape; when the wheels 62 are in contact with the metal sphere 1, the universal wheels 9 are in contact with the metal sphere 1 to provide support for the moving mechanism 5 and reduce the friction between the moving mechanism 5 and the surface of the metal sphere 1, so that the moving mechanism 5 moves on the metal sphere 1 more smoothly.

[0050] like Figure 4 As shown, at least one slide groove 10 is provided on the magnet assembly 74, and the extension direction of the slide groove 10 is parallel to the axial direction of the screw rod 73; the bracket 71 is provided with a first slider 11 corresponding to the slide groove 10, and the chassis 61 is provided with a second slider 12 corresponding to the slide groove 10; the first slider 11 and the second slider 12 are both located in the slide groove 10 and are in contact with the slide groove 10. When the magnet assembly 74 moves along the axial direction of the screw rod 73, the slide groove 10 moves along the first slider 11 and the second slider 12, so that the movement of the magnet assembly 74 is guided by the cooperation of the first slider 11, the second slider 12 and the slide groove 10, so as to ensure that the magnet assembly 74 can always move along a straight line.

[0051] like Figure 4 and Fig.10 As shown, the magnet assembly 74 includes a mounting frame 741 and a plurality of magnets 742; the threaded sleeve 76 and the guide hole 79 are both arranged on the mounting frame 741; the mounting frame 741 is provided with a plurality of mounting slots, and a magnet 742 is correspondingly installed in each mounting slot. In a specific embodiment of the present invention, the mounting frame 741 is a rectangular mounting frame, and the magnet assembly 74 also includes four extension frames 13, which are respectively arranged at the four corners of the mounting frame 741 and arranged obliquely relative to the mounting frame 741. A magnet 742 is also correspondingly arranged on each extension frame 13. The present invention arranges the inclined extension frames 13 so that an avoidance space can be formed between two adjacent extension frames 13, thereby avoiding the wheel 62 and the second slider 12, while increasing the number of the magnets 742, thereby improving the stability of the connection between the moving mechanism 5 and the metal sphere 1.

[0052] like Figure 1 As shown, the metal sphere 1 includes an annular support frame 101, and a first metal hemisphere 102 and a second metal hemisphere 103 that are symmetrically arranged; the annular support frame 101 is partially located in the first metal hemisphere 102, and partially located in the second metal hemisphere 103, and the annular support frame 101, the first metal hemisphere 102 and the second metal hemisphere 103 are connected in pairs, so that the first metal hemisphere 102 is connected to the second metal hemisphere 103 through the annular support frame 101, and the annular support frame 101 can improve the overall strength of the metal sphere 1 to avoid the metal sphere 1 from being squeezed and deformed when the moving mechanism 5 moves on the surface of the metal sphere 1, or when the moving mechanism 5 drives the metal sphere 1 to be transported.

[0053] like Figure 1 As shown, a plurality of reinforcing ribs 104 are provided in the annular support frame 101, and the plurality of reinforcing ribs 104 are radially arranged in the annular support frame 101. The plurality of reinforcing ribs 104 are connected to each other from the center of the annular support frame 101, and each reinforcing rib 104 is connected to the annular support frame 101. The reinforcing ribs 104 are used to support the annular support frame 101 to ensure that the appearance of the annular support frame 101 is annular, and to prevent the annular support frame 101 from being squeezed and deformed.

[0054] The protective cover 3 is also provided with a battery 14. Figure 8 As shown, the battery 14 is electrically connected to the main control circuit board 4, so as to supply power to the main control circuit board 4. Fig. 9 As shown, the protective cover 3 is also provided with a plurality of heat dissipation holes 32, which are convenient for heat dissipation of the mobile mechanism 5 and can reduce the weight of the protective cover 3. The main control circuit board 4 is electrically connected to a wireless signal transmission device 15 to communicate with an external intelligent terminal device through the wireless signal transmission device 15. The main control circuit board 4 is used for electrical control of the movement, communication, etc. of the mobile mechanism 5.

[0055] In summary, the present invention provides a freely connected self-reconfigurable robot. The freely connected self-reconfigurable robot in the present invention controls the magnetic attraction of the magnetic retractable unit to the metal sphere by adjusting the position of the magnetic retractable unit, thereby controlling the connection or disconnection of the wheeled mobile unit with the metal sphere. In addition, since the surface of the metal sphere is a spherical surface, the connection between the wheeled mobile unit and the metal sphere is a magnetic connection, so that the wheeled mobile unit can be connected to any position on the surface of the metal sphere and move freely along the surface of the metal sphere without accurate docking; compared with the prior art, the present invention greatly reduces the accuracy requirements of the self-reconfigurable connection, realizes the free connection of the self-reconfigurable robot, improves the robustness of the self-reconfiguration function, and makes the freely connected self-reconfigurable robot easier to adapt to complex unstructured environments.

[0056] It should be understood that the application of the present invention is not limited to the above examples. For ordinary technicians in this field, improvements or changes can be made based on the above description. All these improvements and changes should fall within the scope of protection of the claims attached to the present invention.

Claims

1. A freely connected self-reconfigurable robot, characterized in that: It includes a metal sphere, a protective cover, and at least two moving mechanisms arranged in the protective cover; the protective cover is provided with through holes corresponding to the moving mechanisms one by one; the moving mechanism includes a wheeled moving unit and a magnetic telescopic unit connected to each other; the magnetic telescopic unit can extend / retract along the through hole to adjust the magnetic attraction between it and the metal sphere; the wheeled moving unit partially extends from the through hole; when the magnetic telescopic unit is magnetically attracted to the metal sphere, the wheeled moving unit can contact the metal sphere and move along the metal sphere.

2. The freely connectable self-reconfigurable robot according to claim 1, characterized in that: There are two moving mechanisms, which are coaxially arranged.

3. The freely connectable self-reconfigurable robot according to claim 1, characterized in that: The magnetic telescopic unit includes a bracket, a telescopic driving device and a screw rod arranged on the bracket, and a magnet assembly; the telescopic driving device is connected to the screw rod and drives the screw rod to rotate; the magnet assembly is connected to the screw rod and is close to the through hole.

4. The freely connectable self-reconfigurable robot according to claim 3, characterized in that: The telescopic driving device comprises a driving motor, a driving gear and a driven gear; the driving shaft of the driving motor is connected to the driving gear; the driven gear is meshed with the driving gear; and the driven gear is coaxially connected to the screw rod.

5. The freely connectable self-reconfigurable robot according to claim 3, characterized in that: The bracket is provided with a guide rod, and the guide rod is parallel to the screw rod; the magnet assembly is provided with a guide hole, and the guide rod passes through the guide hole and is in gap fit with the guide hole.

6. The freely connectable self-reconfigurable robot according to claim 3, characterized in that: The wheeled mobile unit comprises a chassis, at least two symmetrically arranged wheels, and a rolling drive device connected to the wheels in a one-to-one correspondence; The wheel and the rolling drive device are both arranged on the chassis; the chassis is connected to the bracket; a mounting hole is arranged on the chassis, and the magnet assembly is located in the mounting hole; when the screw rotates, the magnet assembly moves in the mounting hole along the axial direction of the screw.

7. The freely connectable self-reconfigurable robot according to claim 6, characterized in that: Two universal wheels are symmetrically arranged on the chassis, and the two universal wheels are arranged in a cross shape with the two wheels; when the wheels are in contact with the metal sphere, the universal wheels are in contact with the metal sphere.

8. The freely connectable self-reconfigurable robot according to claim 6, characterized in that: At least one slide groove is arranged on the magnet assembly, and the extension direction of the slide groove is parallel to the axial direction of the screw rod; a first slider corresponding to the slide groove is arranged on the bracket, and a second slider corresponding to the slide groove is arranged on the chassis; the first slider and the second slider are both located in the slide groove and are in contact with the slide groove.

9. The freely connectable self-reconfigurable robot according to claim 1, characterized in that: The metal sphere includes an annular support frame, and a first metal hemisphere and a second metal hemisphere that are symmetrically arranged; the annular support frame is partially located in the first metal hemisphere and partially located in the second metal hemisphere, and the annular support frame, the first metal hemisphere and the second metal hemisphere are connected in pairs.

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