Modular robot for extraterrestrial ground base construction

Abstract

The application discloses a modular robot in the technical field of modular robots, which is used for extraterrestrial planet ground base construction, and aims to solve the problem that the existing modular robots are inconvenient to be spliced and disassembled, and a single module of the robot is difficult to complete basic movement. The modular robot comprises a box body, the box body comprises a bottom plate, a plurality of housings with the same size are arranged on the top of the bottom plate, a roller mechanism is arranged on the bottom of the bottom plate, and a connecting mechanism is arranged on one side of the outer wall of the housing. The connecting mechanism comprises two clamping mechanisms arranged on the outer wall of the housing, and the two clamping mechanisms are centrally symmetric about the center point on one side of the outer wall of the housing. The application is suitable for robot disassembly, the clamping mechanisms on the two box bodies are placed and approached correspondingly, the convex block moves to the inside of the corresponding groove, then the lock tongue moves to the inside of the corresponding limiting groove, and the positions of the two box bodies are fixed, so that the splicing and disassembly work between the multiple box bodies is simplified, and the box body has the roller mechanism and can complete basic movement automatically.

Description

TECHNICAL FIELD

[0001] The present application relates to a modular robot for extraterrestrial planet ground base construction, and belongs to the technical field of modular robots. BACKGROUND

[0002] Modular robots are composed of standard independent manufacturing modules, each module has a driving part, a power source, etc. Different modules are combined together and controlled by an information control system to form a robot with special functions. The introduction of the modular concept into robot design injects new vitality into flexible processing systems. Selecting appropriate modular robot topological relationships and standard modules can quickly form modular robots, which is an effective way to shorten the robot design cycle and reduce production costs. Modular robots will become one of the most important devices in future flexible processing systems. Existing modular robots for extraterrestrial planet ground base construction need to install different functional heterogeneous modules for specific tasks to meet task requirements.

[0003] The existing modular robot usually uses bolts, buckles and other methods to connect when combining multiple robot single modules. The disassembly process is relatively cumbersome, and there are active and passive docking surfaces, which is not convenient for quickly combining and disassembling multiple robot single modules according to actual work requirements. It cannot complete the connection between any two surfaces, and each robot single module cannot complete the basic movement, affecting the working effect of the device. At the same time, the unified docking device can reduce the cost of mass production of robots and provide docking interfaces for further increasing accessories. SUMMARY

[0004] The purpose of the present application is to overcome the shortcomings of the prior art and provide a modular robot for extraterrestrial planet ground base construction, which solves the problem that the existing modular robot is not convenient for combining and disassembling multiple robot single modules according to actual work requirements, and each robot single module cannot complete the basic movement.

[0005] To solve the above technical problems, the present application is realized by using the following technical scheme:

[0006] The present application provides a modular robot for extraterrestrial planet ground base construction, comprising a box body, the box body comprises a bottom plate, the bottom plate is provided with a plurality of shells of the same size on the top, the bottom plate and the plurality of shells form a cavity for placing modules, the bottom plate is provided with a roller mechanism at the bottom, and the outer wall of the shell is provided with a connecting mechanism on one side.

[0007] The connecting mechanism comprises two clamping mechanisms arranged on one side of the outer wall of the shell, and the two clamping mechanisms are centrally symmetric about the center point on one side of the outer wall of the shell.

[0008] The clamping mechanism comprises a protrusion arranged on the outer wall of the shell, a groove matched with the protrusion is arranged on one side of the protrusion, a limiting mechanism is arranged on one side of the inner wall of the groove, the limiting mechanism comprises a lock tongue in sliding connection with the groove, the lock tongue can move to the inside of the groove, and the outer wall of the protrusion is provided with a limiting groove matched with the lock tongue.

[0009] Further, the top of each of the plurality of shells is provided with a same top cover, the top cover is used for sealing the cavity, and the number of the shells is four.

[0010] Further, the number of the connecting mechanisms is four, the four connecting mechanisms are arranged in an annular array, and are arranged on the outer walls of the four shells respectively.

[0011] Further, the limiting mechanism further comprises a baffle arranged on the inner wall of the shell, the baffle is elastically connected with the lock tongue through a spring, a guide groove is formed in the lock tongue, a cylinder is movably connected in the guide groove, and a driving mechanism is arranged on the inner wall of the shell.

[0012] Further, the driving mechanism comprises a steering engine arranged on the inner wall of the shell, a disc is arranged at the output end of the steering engine, a connecting rod is rotatably connected to the outer wall of the disc, one end of the connecting rod is fixedly connected with the cylinder, and when the disc rotates, the connecting rod can be swung to drive the cylinder to move along the guide groove.

[0013] Further, the outer wall of the lock tongue is provided with a guide rod near one side of the baffle, and the guide rod is in sliding connection with the baffle.

[0014] Further, the roller mechanism comprises a plurality of foldable machine legs, the foldable machine legs are detachably connected with the bottom of the bottom plate, a movable wheel is mounted on the side of the foldable machine leg away from the bottom plate, the foldable machine leg comprises a first swing arm and a second swing arm, one end of the first swing arm is rotatably connected with the bottom plate through a first motor, the other end of the first swing arm is rotatably connected with the second swing arm through a second motor, and the movable wheel is mounted on one end of the second swing arm.

[0015] Further, the inner wall of the groove is provided with a limiting mechanism near one side of the two protrusions, the number of the driving structures is two, the two driving structures are respectively located on one side of the two protrusions, and the driving mechanism is fixedly connected with the adjacent two limiting mechanisms.

[0016] Further, the convex block and the groove are all prisms, one inclined surface of the convex block and one inclined surface of the groove adjacent to the one inclined surface of the convex block are in the same plane.

[0017] Further, the shell is square, the maximum length of the convex block is half of the length of the shell, and the maximum width of the convex block is half of the width of the shell.

[0018] Compared with the prior art, the present application has the following beneficial effects:

[0019] 1. The modular robot for the construction of the ground base of the extraterrestrial planet ground is matched by the convex block, the groove, the locking tongue and the limiting groove, since the two clamping mechanisms on one shell are centrally symmetrical about the center point of the shell, when the clamping mechanisms on the two boxes are placed correspondingly, the convex blocks are located on one side of the corresponding grooves, when the two boxes are close to each other, the convex blocks move to the inside of the corresponding grooves, and then the locking tongues move to the inside of the corresponding limiting grooves, so that the positions of the two boxes are fixed, thereby simplifying the splicing and disassembly work between the multiple boxes, ensuring the working efficiency of the device, and the single box has a roller mechanism, which can complete the basic movement independently, so that the device can work independently, and the working effect of the device is ensured; the docking of two devices on any surface can be realized, the docking can be more smooth in the process of completing the task, and the device can be combined and disassembled in this way, a plurality of topological structures can be formed for different task requirements, and the working efficiency is improved.

[0020] 2. The device is matched by the disc, the connecting rod, the locking tongue and the spring, the disc drives the connecting rod to swing, so that the cylinder moves, the cylinder is located on the inside of the guide groove, when the cylinder moves, the spring pushes the cylinder to abut against one end of the baffle close to the guide groove, so that the locking tongue moves, when the locking tongue moves to the inside of the groove, the position of the convex block and the groove can be fixed through the compression of the spring; when the cylinder pulls the locking tongue to move to the outside of the groove, the convex block and the groove can be separated, so that the flexibility of the two boxes during disassembly is ensured.

[0021] 3. The shell of the present application adopts the design of a specific angle inclined surface, and the number of inclined surfaces is increased, so that the accuracy of the docking position is ensured, and the precision requirement in the docking process when the two boxes are spliced is reduced.

[0022] 4. The present application can complete the splicing work between two robots through the two clamping mechanisms 3 centrally symmetrical on one side of the outer wall, the clamping mechanism 3 simultaneously undertakes the functions of the active splicing surface and the passive splicing surface, so that the shapes of the robots are completely the same, and different splicing surfaces are not required, the robots in the present application can be produced synchronously in batches, and the practicability of the device is ensured. BRIEF DESCRIPTION OF DRAWINGS

[0023] Figure 1 is a three-dimensional structural schematic view of a modular robot for extraterrestrial planet ground base construction according to an embodiment of the present application;

[0024] Figure 2 is a side view structural schematic view of a modular robot for extraterrestrial planet ground base construction according to an embodiment of the present application;

[0025] Figure 3 is Figure 2 is a cross-sectional view in A-A direction;

[0026] Figure 4 is a front view structural schematic view of a driving mechanism according to an embodiment of the present application;

[0027] Figure 5 is a front view structural schematic view of a limiting mechanism according to an embodiment of the present application;

[0028] Figure 6 is a three-dimensional structural schematic view of a shell according to an embodiment of the present application.

[0029] In the figure: 1, box body; 2, roller mechanism; 21, foldable robot leg; 22, movable wheel; 3, clamping mechanism; 31, protrusion; 32, groove; 33, locking tongue; 34, limiting groove; 4, baffle; 5, spring; 6, guide groove; 7, cylinder; 8, rudder; 9, disc; 10, connecting rod; 11, bottom plate; 12, top cover; 13, shell; 14, guide rod. DETAILED DESCRIPTION

[0030] The application will be further described below in conjunction with the drawings. The following examples are only used to more clearly illustrate the technical solutions of the present application, and cannot be used to limit the protection scope of the present application.

[0031] In the description of the present application, it should be understood that the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first", "second" and the like are only for description purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features limited by "first", "second" and the like can explicitly or implicitly include one or more features. In the description of the present application, unless otherwise specified, the meaning of "a plurality of" is two or more.

[0032] In the description of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connection" should be understood in a broad sense, for example, can be fixedly connected, can be detachably connected, or integrally connected; can be mechanically connected, can be electrically connected; can be directly connected, can be indirectly connected through an intermediate medium, can be internal communication of two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0033] As shown in Figures 1-3 and Figure 6 The present application provides a modular robot for the construction of ground base on extraterrestrial planet, comprising a box body 1, the box body 1 comprises a bottom plate 11, the top of the bottom plate 11 is provided with a plurality of shells 13 with the same size, the bottom plate 11 and a plurality of shells 13 form a cavity for placing modules, the bottom of the bottom plate 11 is provided with a roller mechanism 2, one side of the outer wall of the shell 13 is provided with a connecting mechanism; the connecting mechanism comprises two clamping mechanisms 3 provided on one side of the outer wall of the shell 13, the two clamping mechanisms 3 are centrally symmetric about the center point on one side of the outer wall of the shell 13; the clamping mechanism 3 comprises a lug 31 provided on the outer wall of the shell 13, the outer wall of the shell 13 is provided with a groove 32 matched with the lug 31 on one side of the lug 31, the inner wall of the groove 32 is provided with a limiting mechanism, the limiting mechanism comprises a lock tongue 33 in sliding connection with the groove 32, the lock tongue 33 can move to the inside of the groove 32, the outer wall of the lug 31 is provided with a limiting groove 34 matched with the lock tongue 33.

[0034] Specifically, before work, according to actual work needs, different modules are placed in the interiors of different boxes 1, so that each box 1 can realize different functions; when two boxes 1 need to be spliced during work, according to work needs, one connecting mechanism is selected on each of the two boxes 1, the positions of the two connecting mechanisms are aligned, then the two boxes 1 are pushed close to each other, so that the four clamping mechanisms 3 are driven to move close to each other, so that the protrusion 31 on one box 1 moves to the inside of the corresponding recess 32 on the other box 1, so that the two connecting mechanisms are tightly fitted; when the protrusion 31 is fitted with the corresponding recess 32, the locking tongue 33 is located on one side of the limiting groove 34, the locking tongue 33 moves towards the inside of the limiting groove 34, and then moves to the inside of the limiting groove 34, the locking tongue 33 cooperates with the limiting groove 34 to fix the position of the protrusion 31 and the corresponding recess 32, so as to fix the positions of the two connecting mechanisms, so as to fix the two boxes 1, complete the splicing work of the box 1, and the splicing work between multiple boxes 1 can be completed according to actual work needs; when the spliced two boxes 1 need to be disassembled, the locking tongue 33 moves away from the recess 32, so that the locking tongue 33 moves to the outside of the limiting groove 34, at this time the protrusion 31 loses the limiting of the recess 32, the two connecting mechanisms can be moved away from each other, so as to complete the disassembly work of the box 1; when the box 1 does not participate in splicing, the basic movement can be completed through the roller mechanism 2, so that the box 1 is an independent individual, and the working effect of the device is ensured; the modular robot in the prior art usually sets an active splicing surface on one robot and a passive splicing surface on the other robot to splice the two robots, and the two robots can be spliced through the two clamping mechanisms 3 symmetrically arranged on one side of the outer wall, that is, the clamping mechanism 3 can complete the splicing work between the two robots, and the clamping mechanism 3 simultaneously assumes the functions of the active splicing surface and the passive splicing surface, so that the shapes of the robots are completely the same, without the need to set different splicing surfaces, the robots in the application can be produced synchronously in batches, and the practicality of the device is ensured.

[0035] The application is fixed by the cooperation of the protrusions 31, the grooves 32, the locking tongues 33 and the limiting grooves 34, since the two clamping mechanisms 3 on one shell 13 are centrally symmetrical about the center point of the shell 13, when the clamping mechanisms 3 on the two boxes 1 are placed correspondingly, the protrusions 31 are located on one side of the corresponding grooves 32, when the two boxes 1 are close to each other, the protrusions 31 move to the inside of the corresponding grooves 32, and then the locking tongues 33 move to the inside of the corresponding limiting grooves 34, so as to fix the positions of the two boxes 1, thereby simplifying the splicing and disassembling work between the multiple boxes 1, ensuring the working efficiency of the device, and the single box 1 has the roller mechanism 2, which can complete the basic movement independently, so that it can work independently, thereby ensuring the working effect of the device; the application can realize the docking of two devices on any surface, and the docking can be more smooth during the task completion process, and the device can be combined and disassembled in this way, and various topological structures can be formed according to different task requirements, thereby improving the working efficiency.

[0036] As shown in Figures 1-3 , one embodiment, the top of the plurality of shells 13 is provided with the same top cover 12, the top cover 12 is used for sealing the cavity, and the number of the shells 13 is four; the number of the connecting mechanisms is four, the four connecting mechanisms are arranged in a ring array, and are respectively arranged on the outer walls of the four shells 13; according to actual working requirements, the same box 1 can be spliced with multiple boxes 1 through the connecting mechanisms on each shell 13 at the same time, so that one box 1 can be spliced with multiple boxes 1 at the same time, thereby ensuring the flexibility and practicality of the device.

[0037] As shown in Figures 4-5 , one embodiment, the limiting mechanism further comprises a baffle 4 arranged on the inner wall of the shell 13, the baffle 4 is elastically connected with the locking tongue 33 through a spring 5, a guide groove 6 is formed in the locking tongue 33, a cylindrical 7 is movably connected in the guide groove 6, a driving mechanism is arranged on the inner wall of the shell 13, and the driving mechanism is used for driving the cylindrical 7 to move along the guide groove 6; the driving mechanism comprises a steering engine 8 arranged on the inner wall of the shell 13, a disc 9 is arranged on the output end of the steering engine 8, a connecting rod 10 is rotatably connected to the outer wall of the disc 9, and one end of the connecting rod 10 is fixedly connected with the cylindrical 7; when the disc 9 rotates, the connecting rod 10 can be swung to drive the cylindrical 7 to move along the guide groove 6; a guide rod 14 is arranged on the side of the outer wall of the locking tongue 33 close to the baffle 4, and the guide rod 14 is slidably connected with the baffle 4.

[0038] Specifically, when the lock tongue 33 needs to be driven to move to the inside of the groove 32, the steering wheel 8 starts to work, drives the disc 9 to rotate, drives the connecting rod 10 to swing, and one end of the disc 9 drives the cylinder 7 to move away from the baffle 4 along the guide groove 6; when the cylinder 7 moves, the spring 5 pushes the lock tongue 33 to move towards the inside of the groove 32, so that the cylinder 7 is always in contact with one end of the guide groove 6 close to the spring 5; when the disc 9 stops moving, part of the lock tongue 33 moves to the inside of the groove 32, and at this time the cylinder 7 is still in contact with one end of the guide groove 6; when the two connecting mechanisms on the two boxes 1 move close to each other, the corresponding protrusion 31 and the groove 32 move close to each other; when the protrusion 31 moves to the inside of the groove 32, the protrusion 31 is in contact with the inclined surface of the lock tongue 33, and then pushes the lock tongue 33 out of the inside of the groove 32; at this time, the spring 5 is compressed, the cylinder 7 slides relative to the guide groove 6, and when the protrusion 31 completely moves to the inside of the groove 32, the limiting groove 34 is located on one side of the lock tongue 33, the protrusion 31 no longer blocks the lock tongue 33, the spring 5 pushes the lock tongue 33 to return to the original position, so that the lock tongue 33 moves to the inside of the limiting groove 34, and the limiting of the protrusion 31 and the groove 32 is completed, so that the fixing of the two boxes 1 is completed; when the two boxes 1 need to be disassembled, the steering wheel 8 drives the disc 9 to rotate in the opposite direction, so that the cylinder 7 moves close to the baffle 4, the cylinder 7 is in contact with one end of the guide groove 6 close to the baffle 4, so that the lock tongue 33 moves close to the baffle 4, and the spring 5 is further compressed; when the lock tongue 33 moves to the outside of the groove 32, the steering wheel 8 stops working, at this time the lock tongue 33 moves to the outside of the limiting groove 34, and the limiting between the protrusion 31 and the groove 32 is cancelled, so that the two boxes 1 can be disassembled; the disc 9, the connecting rod 10, the lock tongue 33 and the spring 5 cooperate, the disc 9 drives the connecting rod 10 to swing, so that the cylinder 7 moves, the cylinder 7 is located in the inside of the guide groove 6, when the cylinder 7 moves, the spring 5 pushes the cylinder 7 to be attached to one end of the guide groove 6 close to the baffle 4, so that the lock tongue 33 moves, when the lock tongue 33 moves to the inside of the groove 32, the position of the protrusion 31 and the groove 32 can be fixed through the compression of the spring 5, when the cylinder 7 pulls the lock tongue 33 to move to the outside of the groove 32, the protrusion 31 can be separated from the groove 32, so that the flexibility of the disassembly of the two boxes 1 is ensured; optionally, when the lock tongue 33 moves close to or away from the groove 32, the guide rod 14 moves with the lock tongue 33, the guide rod 14 slides relative to the baffle 4, so that the movement of the lock tongue 33 is guided, and the stability of the device during work is ensured; optionally, the distance between the steering wheel 8 and the connecting point of the connecting rod 10 and the length of the connecting rod 10 have a certain proportional relationship, so that the steering wheel 8 does not have a dead point position in the range that needs to be rotated.

[0039] As Figures 1-2As shown in one embodiment, the roller mechanism 2 comprises a plurality of foldable machine legs 21, which are detachably connected to the bottom of the bottom plate 11, and movable wheels 22 are mounted on the side of the foldable machine legs 21 away from the bottom plate 11. The foldable machine legs 21 comprise a first swing arm and a second swing arm. One end of the first swing arm is rotatably connected to the bottom plate 11 through a first motor, and the other end of the first swing arm is rotatably connected to the second swing arm through a second motor. The movable wheel 22 is mounted on one end of the second swing arm. When facing rugged terrain, the foldable machine legs 21 are folded and expanded to keep the device in a stable state. The angle of the foldable machine legs 21 can also be actively controlled to cross obstacles. When encountering rugged terrain, the foldable machine legs 21 are folded and expanded, the first motor works to drive the bottom plate 11 to rotate relative to the first swing arm, and the second motor drives the first swing arm to rotate relative to the second swing arm, thereby adjusting the distance between the movable wheel 22 and the bottom plate 11, so that the box body 1 can remain balanced and ensure the stability of the device during operation. When encountering obstacles, the distance between each movable wheel 22 and the bottom plate 11 can be adjusted according to actual working requirements, so that the box body 1 can cross the obstacles, ensuring the practicality of the device.

[0040] As Figures 1-3 shown in one embodiment, the inner wall of the groove 32 near one side of the two protrusions 31 is provided with a limiting mechanism. The number of drive structures is two, and two drive structures are located on one side of the two protrusions 31. The drive mechanism is fixedly connected with the adjacent two limiting mechanisms.

[0041] When the protrusion 31 moves to the inside of the groove 32, the position of the protrusion 31 and the groove 32 is fixed by the cooperation of the two locking tongues 33 and the two limiting grooves 34, thereby further ensuring the stability of the device during fixation. One drive mechanism drives two limiting mechanisms to rotate, i.e., a disc 9 is rotatably connected with two connecting rods 10. One end of each connecting rod 10 is fixedly connected with a cylindrical 7 in the two limiting mechanisms, so that the disc 9 can drive two locking tongues 33 to move simultaneously when the disc 9 rotates, reducing the occupied volume of the rudder 8 and ensuring the practicality of the device.

[0042] As Figures 1-4 shown in one embodiment, the protrusion 31 and the groove 32 are both prismatic, one of the inclined surfaces of the protrusion 31 and one of the inclined surfaces of the groove 32 adjacent thereto are in the same plane, the shell 13 is square, the maximum length of the protrusion 31 is half the length of the shell 13, and the maximum width of the protrusion 31 is half the width of the shell 13.

[0043] In use, the shell 13 is square, the maximum length and width of the protrusion 31 and the groove 32 are half of the shell 13, that is, the maximum occupied area of the protrusion 31 and the groove 32 is one fourth of the shell 13, one protrusion 31 and one groove 32 are contained in each of the two clamping mechanisms 3, that is, the shell 13 is formed by two protrusions 31 and two grooves 32, and the protrusion 31 and the groove 32 are both prismatic, that is, one of the inclined surfaces of the protrusion 31 and one of the inclined surfaces of the groove 32 adjacent to the protrusion 31 are in the same plane, the lock tongue 33 and the limiting groove 34 are both located on the inclined surface, so that the shell 13 adopts a specific angle of inclined surface design, and by increasing the number of inclined surfaces, the accuracy of the docking position is ensured, and the precision requirement in the docking process when the two box bodies 1 are spliced is reduced.

[0044] The above is only the preferred embodiment of the present application, and it should be noted that those skilled in the art can make several improvements and modifications without departing from the technical principles of the present application, and these improvements and modifications should also be considered as the protection scope of the present application.

Claims

1. A modular robot for extraterrestrial ground base construction, characterized by, Including box (1), the box (1) includes bottom plate (11), the bottom plate (11) top is equipped with a plurality of identical size shell (13), the bottom plate (11) and a plurality of shell (13) form the cavity for placing module, the bottom plate (11) bottom is equipped with a roller mechanism (2), the shell (13) outer wall one side is equipped with a connecting mechanism; The connecting mechanism includes two clamping mechanisms (3) provided on one side of the outer wall of the shell (13), and the two clamping mechanisms (3) are centrally symmetric about the center point on one side of the outer wall of the shell (13). The clamping mechanism (3) includes a protrusion (31) provided on the outer wall of the shell (13), a groove (32) matched with the protrusion (31) is provided on one side of the outer wall of the shell (13) on the side of the protrusion (31), a limiting mechanism is provided on one side of the inner wall of the groove (32), the limiting mechanism includes a locking tongue (33) in sliding connection with the groove (32), the locking tongue (33) can move to the inside of the groove (32), and the outer wall of the protrusion (31) is provided with a limiting groove (34) matched with the locking tongue (33). The limiting mechanism further includes a baffle (4) provided on the inner wall of the shell (13), the baffle (4) is elastically connected with the locking tongue (33) through a spring (5), a guide groove (6) is formed in the locking tongue (33), a cylinder (7) is movably connected in the guide groove (6), and a driving mechanism is provided on the inner wall of the shell (13), the driving mechanism is used to drive the cylinder (7) to move along the guide groove (6).

2. The modular robot of claim 1, wherein, The top of a plurality of shell (13) is provided with a same top cover (12), the top cover (12) is used for sealing the cavity, and the number of shell (13) is four.

3. The modular robot of claim 2, wherein, The number of connecting mechanisms is four, and the four connecting mechanisms are arranged in an annular array and are respectively arranged on the outer walls of the four shells (13).

4. The modular robot for extraterrestrial ground base construction of claim 1, the driving mechanism includes a servo (8) provided on the inner wall of the shell (13), the output end of the servo (8) is provided with a disc (9), the outer wall of the disc (9) is rotatably connected with a connecting rod (10), one end of the connecting rod (10) is fixedly connected with the cylinder (7), when the disc (9) rotates, the connecting rod (10) can be swung to drive the cylinder (7) to move along the guide groove (6).

5. The modular robot of claim 1, wherein, The outer wall of the locking tongue (33) is provided with a guide rod (14) close to one side of the baffle (4), and the guide rod (14) is in sliding connection with the baffle (4).

6. The modular robot of claim 1, wherein, The rolling wheel mechanism (2) comprises a plurality of foldable machine legs (21) which are detachably connected to the bottom of the bottom plate (11), and a movable wheel (22) is installed on the side of the foldable machine leg (21) away from the bottom plate (11), the foldable machine leg (21) comprises a first swing arm and a second swing arm, one end of the first swing arm is rotatably connected to the bottom plate (11) through a first motor, the other end of the first swing arm is rotatably connected to the second swing arm through a second motor, and the movable wheel (22) is installed at one end of the second swing arm.

7. The modular robot of claim 1, wherein, The inner wall of the groove (32) is provided with a limiting mechanism near one side of the two protrusions (31), the number of the driving mechanisms is two, and the two driving mechanisms are located on one side of the two protrusions (31), respectively, and the driving mechanisms are fixedly connected with the adjacent two limiting mechanisms.

8. The modular robot of claim 1, wherein, The protrusion (31) and the groove (32) are both prismatic, one inclined surface of the protrusion (31) and one inclined surface of the groove (32) adjacent to the protrusion (31) are in the same plane.

9. The modular robot of claim 8, wherein, The shell (13) is square, the maximum length of the protrusion (31) is half of the length of the shell (13), and the maximum width of the protrusion (31) is half of the width of the shell (13).

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