Electromagnetically-driven self-reconfiguration space cell robot module

Abstract

The invention discloses an electromagnetically-driven self-reconfiguration space cell robot module, which belongs to the field of robots, and comprises a square frame, an electromagnetic driving mechanism, a butt joint-rotating mechanism, a sealing mechanism, a gear box and the like, and all the mechanisms are matched with one another to complete the work of overturning, butt joint, rotating and the like between cell robot modules. The mechanism is applied to a space weightless environment, adopts an electromagnetic driving mode, ensures the butt joint precision between modules, reduces the number of mechanisms through a mode of combining rotation and butt joint mechanisms, and is reliable in mechanism, high in flexibility, uniform in structure, high in functionality and high in reliability. Under the space weightless environment, the electromagnetically-driven self-reconfiguration space cell robot module with different forms is formed by self weight, and the reconfigured robot can be applied to different working environments to complete various space operation tasks.

Description

Technical Field

[0001] The present invention belongs to the field of aerospace robots, and specifically relates to an electromagnetically driven self-reconfigurable space cell robot module in the space field. Background Art

[0002] With the development of aerospace industry, human exploration in the field of space has ushered in new tasks and challenges. The unknown and uncontrollable nature of tasks in the space environment has put forward higher requirements for robots that can work in space. The on-orbit operating mechanism of the space station is generally a space manipulator, but the space manipulator can only complete special tasks in specific places. Its own structure has certain limitations. At the same time, the influence of the base severely limits its operating range, resulting in a single function and inability to complete various space tasks.

[0003] In this situation, many organizations began to seek a multifunctional robot that can be freely reconfigured to replace its work, and proposed the concept of cellular robot, which is a kind of modular robot composed of multiple complex cellular module units. The cellular robot can change into various forms to adapt to various work tasks in different environments.

[0004] In the space field, because the structure is not affected by the gravity field and is in a weightless state, the movement and docking of cell robots cannot be guaranteed, and driving methods other than gravity have become an important research direction for many researchers. In addition, in order to ensure that the cell robot modules have different shapes after reconstruction, and the reconstructed robots can normally complete related tasks such as movement, handling, maintenance, and detection, there are also great requirements for the connection mechanism when the modules are connected to each other. At the same time, it is also necessary to consider the setting of the corresponding rotation mechanism in order to realize the rotation between the modules. Summary of the invention

[0005] The purpose of the present invention is to be applied to the weightless environment of space, adopt an electromagnetic drive method, and at the same time ensure the docking accuracy between modules. By combining the rotation and docking mechanisms, the number of mechanisms is reduced to provide an electromagnetically driven self-reconfigurable space cell robot module with reliable mechanism, high flexibility, unified structure and strong functionality, which can self-reconstruct into different forms in the weightless environment of space.

[0006] In order to solve the above technical problems: the present invention adopts the following technical solutions:

[0007] The present invention discloses an electromagnetically driven self-reconfigurable space cell robot module, comprising: a square frame, an electromagnetic driving mechanism, a docking-rotation mechanism, a sealing mechanism, a gear box, a power supply, and a circuit board, wherein the electromagnetic driving mechanism, the docking-rotation mechanism, and the sealing mechanism are all distributed as a set on the six outer walls of the shell and have a consistent distribution form, the electromagnetic driving mechanism comprises: a magnetic hinge I, a magnetic hinge II, a soft magnetic bar, and a coil; the docking-rotation mechanism comprises: a conical telescopic block, a spherical buckle, a spring, a telescopic rod, a wedge block, a gear I, a connecting key I, a motor I, an internal meshing gear sleeve, a bearing I, a screw I, a screw II, and a docking-locking mechanism shell; the sealing mechanism comprises: a front cover plate, Rear cover plate, bolt Ⅰ, bolt Ⅱ, bolt Ⅲ, bolt Ⅳ, gear Ⅱ, motor Ⅱ, connecting key Ⅱ, connecting rod Ⅰ, connecting rod Ⅱ, connecting rod Ⅲ, connecting rod Ⅳ, connecting rod Ⅴ, bearing Ⅱ, bearing Ⅲ, bearing Ⅳ, bearing Ⅴ, bearing Ⅵ, blade Ⅰ, blade Ⅱ, blade Ⅲ, blade Ⅳ, blade Ⅴ, blade disk, gear disk; gear box mechanism includes: gear box cover plate Ⅰ, gear box cover plate Ⅱ, gear Ⅲ, gear Ⅳ, gear Ⅴ, gear VI, gear VII, gear box screw, gear box nut, connecting key Ⅲ, motor Ⅲ, motor Ⅳ, gear box bearing Ⅰ, gear box bearing Ⅱ, gear box bearing Ⅲ, gear box gasket Ⅰ, gear box gasket Ⅱ, gear box gasket Ⅲ, gear box gasket Ⅳ, gear box gasket Ⅴ;

[0008] The electromagnetic drive mechanism comprises magnetic hinge I, magnetic hinge II, soft magnet rod and coil; the electromagnetic drive mechanism is arranged in a rectangular groove at the central position of the outer wall of the square frame, and the semicircular surface of the magnetic hinge I on one side of the electromagnetic drive mechanism is tangent to the two inner walls of the rectangular groove, so as to ensure that the two contacting cell robot modules can rotate at the corresponding semicircle during the docking process, and then the magnetic hinge I and magnetic hinge II are embedded in the relative inner side of the square frame through bolts along the axis position of the soft magnet; when the direction of the current in the coil changes, the direction of the magnetic pole of the magnetic hinge changes accordingly, and then the electromagnetic drive mechanism between the two cell robot modules will generate electromagnetic forces of repulsion or attraction, driving the two cell robot modules to realize flipping action; the above-mentioned electromagnetic drive device is uniformly controlled by a circuit board, and the circuit board is powered by a power supply.

[0009] Furthermore, the docking-rotation mechanism is connected to the slide rail of the rear cover plate of the sealing mechanism through the outer surface slide groove of the docking-locking mechanism shell to complete the positioning; the conical telescopic block serves as the main body of the docking part of the docking-rotation mechanism, connects one end of the spring, and the other end of the spring is connected to the spherical buckle through the hole at the end of the spherical buckle; the telescopic rod is placed in the groove inside the conical telescopic block, and telescopes forward and backward in the groove; the conical telescopic block is connected to the docking-locking mechanism shell through bearing I; the bearing I is positioned through the conical telescopic block shoulder and the internal meshing gear sleeve; the internal meshing gear sleeve is machined with two positioning holes and fixed to the conical telescopic block by screws I and screws II; the gear I is connected to the motor placed at the rear cover plate of the sealing mechanism through a connecting key, and meshes with the internal meshing gear sleeve. During the docking process of the two cell robot modules, the motor drives gear I to rotate, gear I drives the internal gear sleeve to rotate, and the internal gear sleeve drives the conical telescopic block to rotate to the specified position; the above movement is connected to the docking-locking mechanism housing through bearing I and rotates around it.

[0010] Furthermore, the sealing mechanism is placed at the center of the outer surface of the square frame; the front cover is fixed to the outer wall of the square frame by bolts Ⅰ, bolts Ⅱ, bolts Ⅲ, and bolts Ⅳ; one end of the blade disk is embedded in the groove reserved in the front cover, and the other end is connected to the blade through a bearing; the gear Ⅱ is connected to the blade through a connecting rod; the gear plate is connected to the motor Ⅱ at the inner wall of the rear cover through a connecting key Ⅱ, and meshes with the gear Ⅱ. When two cell robot modules need to be docked, the motor Ⅱ drives the gear plate to rotate clockwise, the gear Ⅱ meshes with the gear plate to drive the gear Ⅱ to rotate counterclockwise, the connecting rod pulls the blade outward, and the sealing device opens. When the docking-locking mechanism of the cell robot module completes the retraction action, the motor Ⅱ drives the gear plate to rotate counterclockwise, the gear Ⅱ meshes with the gear plate to drive the gear Ⅱ to rotate clockwise, the connecting rod pushes the blade inward, and the sealing device is closed.

[0011] Further, the sealing mechanism is opened, and at the same time, the docking-rotation mechanism is engaged with gears III, IV, and V in the gear box through the docking-locking mechanism housing; the gears III, IV, and V are engaged with gears VI and VII; the gear VII is connected to the motor III through the connecting key III; the motor III drives the gear VII to rotate, the gear VII drives the gears III, IV, V, and VI to rotate, and the gears III, IV, and V drive the docking-locking mechanism to move, thereby completing the telescopic action.

[0012] Furthermore, the docking-rotation mechanism of the two cell robot modules is extended to a specified position, and the two spherical buckles interact with each other to complete the rotation action; the rotation action is from a certain angle with the plane of the conical telescopic block to coincide with the plane of the conical telescopic block, and then to a certain angle with the plane of the conical telescopic block, completing the locking action.

[0013] Furthermore, after the docking-rotation mechanism completes the rotation, docking and locking processes, the cell robot module I and the cell robot module II are connected and locked; when the two cell robot modules need to rotate relative to each other, the cell robot module I is the active part and the cell robot module II is the driven part; the end of the telescopic rod of the docking-locking mechanism of the cell robot module II is connected to the wedge block and extends out, blocking the gear I from making circular motion around the center of the internal meshing gear sleeve; the motor I of the cell robot module II stops rotating, and the docking-locking mechanism of the cell robot module II is fixed in relative position to the docking-locking mechanism of the cell robot module I, acting as a connecting rod to connect the motor I of the cell robot module I with the rear cover plate of the sealing mechanism of the cell robot module II, and rotate around the conical telescopic block through the bearing I; the rear cover plate of the sealing mechanism is connected to the square frame, driving the entire cell robot module II to complete the rotation action.

[0014] Furthermore, when the cell robot module I and the cell robot module II need to be separated, the spherical buckle is pushed by the telescopic rod to coincide with the plane of the conical telescopic block; the telescopic rod of the docking-locking mechanism of the cell robot module II drives the wedge block to retract, and the gear I continues to make a circular motion around the center of the inner meshing gear sleeve; the motor III drives the gear VII to rotate, and the gear VII drives the gear III, gear IV, gear V, and gear VI to rotate, and the gear III, gear IV, and gear V drive the docking-locking mechanism to move and rotate toward the inside of the sealing mechanism to complete the contraction movement. When the docking-locking mechanism of the cell robot module completes the contraction action, the motor II drives the gear plate to rotate counterclockwise, and the gear II engages with the gear plate to drive the gear II to rotate clockwise, and the connecting rod pushes the blade inward, and the sealing device is closed.

[0015] Compared with the existing technology, the present invention has achieved the following technical effects:

[0016] 1. The electromagnetic drive can realize the flipping movement between cell robot modules in any free space in the weightless environment of space.

[0017] 2. The docking-rotation mechanism can ensure the connection strength between the two cell robot modules and improve the stability of the connection between the cell robot modules.

[0018] 3. The combination of the rotating mechanism and the docking mechanism can reduce the number of mechanisms, simplify the structure, and increase the performance of the cell robot module. After the docking is completed, the two cell robot modules can rotate with each other, and any module can achieve a precise rotation of -180° to +180°, which can improve the degree of freedom of the reconstructed robot and ensure the flexibility of the robot.

[0019] 4. Use the sealing mechanism to prevent foreign objects in an unknown environment from interfering with the internal parts of the cell robot module, while ensuring that the process of docking the cell robot module proceeds smoothly.

[0020] 5. The cell robot module has 6 completely identical docking surfaces, and the structure of each docking surface is completely consistent, which can ensure the versatility of the cell robot module and the arbitrariness of the docking process, so that the cell robot module can freely change its shape in the face of different spatial tasks.

[0021] 6. The square frame of the cell robot module and the front cover of the sealing mechanism can be equipped with visual, tactile and other sensors to ensure the docking accuracy of the docking process, increase the number of functions of the reconstructed cell robot, and make the application scenarios of the cell robot wider. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the design scheme and technical method of the present invention, a brief introduction to the drawings required for use is given.

[0023] Figure 1 It is the overall schematic diagram of the electromagnetically driven self-reconfigurable space cell robot module;

[0024] Figure 2 This is a front view of the electromagnetically driven self-reconfigurable space cell robot module;

[0025] Figure 3 It is a schematic diagram of the internal structure of the electromagnetically driven self-reconfigurable space cell robot module;

[0026] Figure 4 It is a schematic diagram of the internal structure of the docking and locking mechanism of the electromagnetically driven self-reconfigurable space cell robot module;

[0027] Figure 5 It is a schematic diagram of the docking and locking mechanism structure of the electromagnetically driven self-reconfigurable space cell robot module;

[0028] Figure 6 It is an overall schematic diagram of the sealing mechanism of the electromagnetically driven self-reconfigurable space cell robot module;

[0029] Figure 7 It is a schematic diagram of the internal structure of the sealing mechanism of the electromagnetically driven self-reconfigurable space cell robot module;

[0030] Figure 8 This is a front view of the internal gear of the sealing mechanism of the electromagnetically driven self-reconfigurable space cell robot module;

[0031] Fig. 9 It is a schematic diagram of the internal structure of the gear box of the electromagnetically driven self-reconfigurable space cell robot module;

[0032] Fig.10 It is a schematic diagram of the gear box gear distribution of the electromagnetically driven self-reconfigurable space cell robot module;

[0033] Fig.11 It is a schematic diagram of a four-degree-of-freedom robot composed of five electromagnetically driven self-reconfigurable space cell robot modules;

[0034] Markings in the figure: 1 is a square frame, 2 is an electromagnetic drive mechanism, 3 is a docking-rotation mechanism, 4 is a sealing mechanism, 5 is a magnetic hinge I, 5 is a magnetic hinge I, 6 is a bolt I, 7 is a soft magnetic rod, 8 is a bolt II, 9 is a bolt III, 10 is a coil, 11 is a front cover, 12 is a bolt IV, 13 is a magnetic hinge II, 14 is a gear box, 15 is a power supply, 16 is a circuit board, 17 is a conical telescopic block, 18 is a ball buckle, 19 is a spring, 20 is a telescopic rod, 21 is a wedge block, 22 is an internal meshing gear sleeve, 23 is a docking-locking mechanism housing, 24 is a bearing I, 25 is a gear I, 26 is a motor II, 27 is a motor I, 28 is a gear box cover I, 29 is a gear box nut, 30 is a gear box cover II, 31 is a rear cover, 32 is a gear II, 33 is a gear II, 34 is a gear II, 35 is a gear II, 36 is a gear II, 37 is a gear II, 38 is a gear II, 39 is a gear II, 40 is a gear II, 41 is a gear II, 42 is a gear II, 43 is a gear II, 44 is a gear II, 45 is a gear II, 46 is a gear II, 47 is a gear II, 48 is a gear II, 49 is a gear II, 50 is a gear II, 51 is a gear II, 52 is a gear II, 53 is a gear II, 54 is a gear II, 55 is a gear II, 56 is a gear II, 57 is a gear II, 58 is a gear II, 59 is a gear II, 60 is a gear II 3 is blade Ⅰ, 34 is connecting rod Ⅰ, 35 is bearing Ⅱ, 36 is blade disk, 37 is blade Ⅱ, 38 is bearing Ⅲ, 39 is connecting rod Ⅱ, 40 is gear box screw, 41 is blade Ⅲ, 42 is connecting rod Ⅲ, 43 is bearing Ⅳ, 44 is blade Ⅳ, 45 is bearing Ⅴ, 46 is connecting rod Ⅳ, 47 is blade Ⅴ, 48 is bearing Ⅵ, 49 is connecting rod Ⅴ, 50 is gear disk, 51 is gear box bearing Ⅰ, 52 is gear box gasket Ⅰ, 53 is gear box bearing Ⅱ, 54 is gear box gasket Ⅱ, 55 is gear box bearing Ⅲ, 56 is gear box gasket Ⅳ, 57 is gear box gasket Ⅴ, 58 is motor Ⅲ, 59 is gear box gasket Ⅴ, 60 is spare motor, 61 is gear Ⅲ, 62 is gear Ⅳ, 63 is gear Ⅴ, 64 is gear Ⅶ, 65 is gear Ⅵ. DETAILED DESCRIPTION

[0035] The present invention will be described in detail below in conjunction with the accompanying drawings.

[0036] The present invention and its implementation methods are described below, which are not restrictive and the actual implementation methods are not limited thereto. In short, if ordinary technicians in the field are inspired by it and design structural methods and embodiments similar to the technical solution without creativity without departing from the purpose of the invention, they should all fall within the protection scope of the present invention.

[0037] The purpose of the present invention is to provide an electromagnetically driven self-reconfigurable space cell robot module, which can be assembled into a target robot in any free space in a weightless environment and complete the mutual rotation between the robot cell modules.

[0038] The working method of the invention is as follows:

[0039] See Figure 1 The present invention discloses an electromagnetically driven self-reconfigurable space cell robot module, comprising: a square frame 1, an electromagnetic driving mechanism 2, a docking-rotation mechanism 3, and a sealing mechanism 4.

[0040] The driving mechanism comprises a magnetic hinge Ⅰ5, a magnetic hinge Ⅱ13, a soft magnetic rod 7 and a coil, which constitute an electromagnetic driving mechanism 2; the electromagnetic driving mechanism 2 is arranged in a rectangular groove at the central position of the outer wall of the square frame, and each electromagnetic driving mechanism 2: a semicircular surface on one side of the magnetic hinge Ⅰ5 is tangent to the two inner walls of the rectangular groove, so as to ensure that the two contacting cell robot modules can rotate at the corresponding semicircle during the docking process, and then the magnetic hinge Ⅰ5 and the magnetic hinge Ⅱ13 are embedded in the relative inner side of the square frame 1 through bolts along the axis position of the soft magnetic rod 7; the current direction in the coil changes, the magnetic pole direction of the magnetic hinge changes, and then the electromagnetic driving mechanism between the two cell robot modules will generate electromagnetic forces of repulsion or attraction, driving the two cell robot modules to realize flipping action; the above-mentioned electromagnetic driving device is uniformly controlled by a circuit board 16, and the circuit board 16 is powered by a power supply 15.

[0041] Furthermore, the docking-rotation mechanism 3 is connected to the slide rail of the rear cover plate 31 of the sealing mechanism 4 through the outer surface slide groove of the docking-locking mechanism housing 23 to complete the positioning; the conical telescopic block 17 is used as the main body of the docking part of the docking-rotation mechanism, connected to one end of the spring 19, and the other end of the spring 19 is connected to the spherical buckle 18 through the hole at the end of the spherical buckle 18; the telescopic rod 20 is placed in the groove inside the conical telescopic block 17, and telescopes forward and backward in the groove; the conical telescopic block 17 is connected to the docking-locking mechanism housing 23 through the bearing I 24; the bearing I 24 is positioned by the shoulder of the conical telescopic block 17 and the internal meshing gear sleeve 22; the internal meshing gear sleeve 22 is processed with two positioning holes, and is fixed to the conical telescopic block 17 by screws I and II; the gear I 25 is connected to the motor I 27 placed at the rear cover plate 31 of the sealing mechanism 4 through a connecting key, and meshes with the internal meshing gear sleeve 22. During the docking process of the two cell robot modules, the motor Ⅰ27 drives the gear Ⅰ25 to rotate, the gear Ⅰ25 drives the internal gear sleeve 22 to rotate, and the internal gear sleeve 22 drives the conical telescopic block 17 to rotate to the specified position; the above movement is connected to the docking-locking mechanism housing 23 through the bearing Ⅰ24 and rotates around it.

[0042] Furthermore, the sealing mechanism 4 is placed at the center of the outer surface of the square frame 1; the front cover plate 11 is fixed to the outer wall of the square frame 1 by bolts Ⅰ6, bolts Ⅱ8, bolts Ⅲ9, and bolts Ⅳ12; one end of the leaf disk 36 is embedded in the groove reserved in the front cover plate 11, and the other end is connected to the blade through a bearing; the gear Ⅱ32 is connected to the blade through a connecting rod; the gear plate 50 is connected to the motor Ⅱ26 on the inner wall of the rear cover plate 31 through a connecting key Ⅱ, and meshes with the gear Ⅱ32. When two cell robot modules need to be docked, the motor Ⅱ26 with the gear plate 50 rotates clockwise, the gear Ⅱ32 meshes with the gear plate 50 to drive the gear Ⅱ32 to rotate counterclockwise, the connecting rod pulls the blade outward, and the sealing device opens. When the docking-locking mechanism 3 of the cell robot module completes the retraction action, the motor II 26 drives the gear plate 50 to rotate counterclockwise, the gear II 32 engages with the gear plate 50 to drive the gear II 32 to rotate clockwise, the connecting rod pushes the blades inward, and the sealing device 4 is closed.

[0043] Further, the sealing mechanism 4 is opened, and at the same time, the docking-rotation mechanism 3 is meshed with the gear III61, gear IV62, and gear V63 in the gear box 14 through the docking-locking mechanism housing 23; the gears III61, gear IV62, gear V63 are meshed with gear VI65 and gear VII64; the gear VII64 is connected to the motor III58 through the connecting key III; the gear VII64 of the motor III58 rotates, and the gear VII64 drives the gears III61, gear IV62, gear V63, and gear VI65 to rotate, and the gears III61, gear IV62, gear V63 drive the docking-locking mechanism 3 to move, completing the telescopic action.

[0044] Furthermore, the docking-rotation mechanism 3 of the two cell robot modules is extended to the specified position, and the two spherical buckles 18 interact with each other to complete the rotation action; the rotation action is from a certain angle with the plane of the conical telescopic block 17 to coincide with the plane of the conical telescopic block 17, and then to a certain angle with the plane of the conical telescopic block 17, completing the locking action.

[0045] Furthermore, after the docking-rotation mechanism 3 completes the rotation, docking and locking process, the cell robot module I and the cell robot module II are connected and locked; when the two cell robot modules need to rotate relative to each other, the cell robot module I is the active part and the cell robot module II is the driven part; the end of the telescopic rod 20 of the docking-locking mechanism 3 of the cell robot module II is connected to the wedge block 21 and extends out, blocking the gear I25 from making circular motion around the center of the internal meshing gear sleeve 22; the motor I27 of the cell robot module II stops rotating, and the docking-locking mechanism 3 of the cell robot module II is fixed in relative position with the docking-locking mechanism 3 of the cell robot module I, acting as a connecting rod to connect the motor I of the cell robot module I with the rear cover plate 31 of the sealing mechanism 4 of the cell robot module II, and rotate around the conical telescopic block 17 through the bearing I24; the rear cover plate 31 of the sealing mechanism is connected to the square frame 1, driving the entire cell robot module II to complete the rotation action.

[0046] Further, when the cell robot module I and the cell robot module II need to be separated, the spherical buckle 18 is pushed by the telescopic rod 20 to coincide with the plane of the conical telescopic block 17; the telescopic rod 20 of the docking-locking mechanism of the cell robot module II drives the wedge block 21 to retract, and the gear I25 continues to make a circular motion around the center of the inner meshing gear sleeve 22; the motor III58 drives the gear VII64 to rotate, and the gear VII64 drives the gear III61, gear IV62, gear V63, and gear VI65 to rotate, and the gear III61, gear IV62, and gear V63 drive the docking-locking mechanism 3 to move and rotate toward the inside of the sealing mechanism 4 to complete the contraction movement. When the docking-locking mechanism 3 of the cell robot module completes the contraction action, the motor II26 drives the gear plate 50 to rotate counterclockwise, the gear II32 engages with the gear plate 50 to drive the gear II32 to rotate clockwise, and the connecting rod pushes the blade inward, and the sealing device 4 is closed.

[0047] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A reconfigurable cell robot module based on electromagnetic drive, characterized in that: include: A square frame, an electromagnetic drive mechanism, a docking-rotation mechanism, a sealing mechanism, a gear box, a power supply, and a circuit board, wherein the electromagnetic drive mechanism, the docking-rotation mechanism, and the sealing mechanism are all distributed as a set on the six outer walls of the shell and have the same distribution pattern, and the electromagnetic drive mechanism includes: magnetic hinge I, magnetic hinge II, soft magnetic rod, and coil; the docking-rotation mechanism includes: conical telescopic block, spherical buckle, spring, telescopic rod, wedge block, gear I, connecting key I, motor I, internal meshing gear sleeve, bearing I, screw I, screw II, and docking-locking mechanism shell; the sealing mechanism includes: front cover plate, rear cover plate, bolt I, bolt II, bolt Ⅲ, bolt Ⅳ, gear Ⅱ, motor Ⅱ, connecting key Ⅱ, connecting rod Ⅰ, connecting rod Ⅱ, connecting rod Ⅲ, connecting rod Ⅳ, connecting rod Ⅴ, bearing Ⅱ, bearing Ⅲ, bearing Ⅳ, bearing Ⅴ, bearing Ⅵ, blade Ⅰ, blade Ⅱ, blade Ⅲ, blade Ⅳ, blade Ⅴ, blade disk, gear disk; the gear box mechanism includes: gear box cover plate Ⅰ, gear box cover plate Ⅱ, gear Ⅲ, gear Ⅳ, gear Ⅴ, gear Ⅵ, gear Ⅶ, gear box screw, gear box nut, connecting key Ⅲ, motor Ⅲ, motor Ⅳ, gear box bearing Ⅰ, gear box bearing Ⅱ, gear box bearing Ⅲ, gear box gasket Ⅰ, gear box gasket Ⅱ, gear box gasket Ⅲ, gear box gasket Ⅳ, gear box gasket Ⅴ; The electromagnetic drive mechanism comprises magnetic hinge I, magnetic hinge II, soft magnet rod and coil; the electromagnetic drive mechanism is arranged in a rectangular groove at the central position of the outer wall of the square frame, and the semicircular surface of the magnetic hinge I on one side of the electromagnetic drive mechanism is tangent to the two inner walls of the rectangular groove, so as to ensure that the two contacting cell robot modules can rotate at the corresponding semicircle during the docking process, and then the magnetic hinge I and magnetic hinge II are embedded in the relative inner side of the square frame through bolts along the axis position of the soft magnet; when the direction of the current in the coil changes, the direction of the magnetic pole of the magnetic hinge changes accordingly, and then the electromagnetic drive mechanism between the two cell robot modules will generate electromagnetic forces of repulsion or attraction, driving the two cell robot modules to realize flipping action; the above-mentioned electromagnetic drive device is uniformly controlled by a circuit board, and the circuit board is powered by a power supply.

2. According to claim 1, a reconfigurable cell robot module based on electromagnetic drive is characterized in that: The sealing mechanism is placed at the center of the outer surface of the square frame; the front cover is fixed to the outer wall of the square frame by bolts Ⅰ, bolts Ⅱ, bolts Ⅲ, and bolts Ⅳ; one end of the leaf disk is embedded in the groove reserved in the front cover, and the other end is connected to the blade through a bearing; the gear Ⅱ is connected to the blade through a connecting rod; the gear plate is connected to the motor Ⅱ at the inner wall of the rear cover through a connecting key Ⅱ, and meshes with the gear Ⅱ. When two cell robot modules need to be docked, the motor Ⅱ drives the gear plate to rotate clockwise, the gear Ⅱ meshes with the gear plate to drive the gear Ⅱ to rotate counterclockwise, the connecting rod pulls the blade outward, and the sealing device opens. When the docking-locking mechanism of the cell robot module completes the retraction action, the motor Ⅱ drives the gear plate to rotate counterclockwise, the gear Ⅱ meshes with the gear plate to drive the gear Ⅱ to rotate clockwise, the connecting rod pushes the blade inward, and the sealing device is closed.

3. The reconfigurable cell robot module based on electromagnetic drive according to claim 1 is characterized in that: The docking-rotation mechanism is connected to the slide rail of the rear cover plate of the sealing mechanism through the outer surface slide groove of the docking-locking mechanism shell to complete the positioning; the conical telescopic block is the main body of the docking part of the docking-rotation mechanism, connected to one end of the spring, and the other end of the spring is connected to the spherical buckle through the hole at the end of the spherical buckle; the telescopic rod is placed in the groove inside the conical telescopic block, and telescopes forward and backward in the groove; the conical telescopic block is connected to the docking-locking mechanism shell through bearing I; the bearing I is positioned through the conical telescopic block shoulder and the internal meshing gear sleeve; the internal meshing gear sleeve is processed with two positioning holes and fixed with the conical telescopic block by screws I and II; the gear I is connected to the motor placed at the rear cover plate of the sealing mechanism through a connecting key and meshes with the internal meshing gear sleeve. During the docking process of the two cell robot modules, the motor drives the gear I to rotate, the gear I drives the internal meshing gear sleeve to rotate, and the internal meshing gear sleeve drives the conical telescopic block to rotate to the specified position; the above movement is connected to the docking-locking mechanism shell through bearing I and rotates around it.

4. A reconfigurable cell robot module based on electromagnetic drive according to claim 1, 2 or 3, characterized in that: The sealing mechanism is opened, and at the same time, the docking-rotation mechanism is meshed with gears III, IV, and V in the gear box through the docking-locking mechanism housing; the gears III, IV, and V are meshed with gears VI and VII; the gear VII is connected to the motor III through the connecting key III; the motor III drives the gear VII to rotate, the gear VII drives the gears III, IV, V, and VI to rotate, and the gears III, IV, and V drive the docking-locking mechanism to move, thereby completing the telescopic action.

5. The reconfigurable cell robot module based on electromagnetic drive according to claim 3 is characterized in that: The docking-rotation mechanism of the two cell robot modules is extended and retracted to the specified position, and the two spherical buckles interact with each other to complete the rotation action; the rotation action is from a certain angle with the plane of the conical telescopic block to coincide with the plane of the conical telescopic block, and then to a certain angle with the plane of the conical telescopic block to complete the locking action.

6. A reconfigurable cell robot module based on electromagnetic drive according to claim 3 or 5, characterized in that: After the docking-rotation mechanism completes the rotation, docking and locking processes, the cell robot module I and the cell robot module II are connected and locked; when the two cell robot modules need to rotate relative to each other, the cell robot module I is the active part and the cell robot module II is the driven part; the end of the telescopic rod of the docking-locking mechanism of the cell robot module II is connected to the wedge block and extends out, blocking the gear I from making circular motion around the center of the internal meshing gear sleeve; the motor I of the cell robot module II stops rotating, and the docking-locking mechanism of the cell robot module II is fixed in relative position to the docking-locking mechanism of the cell robot module I, acting as a connecting rod to connect the motor I of the cell robot module I with the rear cover plate of the sealing mechanism of the cell robot module II, and rotate around the conical telescopic block through the bearing I; the rear cover plate of the sealing mechanism is connected to the square frame, driving the entire cell robot module II to complete the rotation action.

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