An electromagnetically driven self-reconfigurable space cell robot module

Abstract

This invention discloses an electromagnetically driven self-reconfigurable space cellular robot module, belonging to the field of robotics. It includes a square frame, an electromagnetic drive mechanism, a docking-rotation mechanism, a sealing mechanism, a gearbox, etc. These mechanisms cooperate to complete tasks such as flipping, docking, and rotating between cellular robot modules. This invention is applied to a weightless space environment, employing an electromagnetic drive method while ensuring docking accuracy between modules. By combining rotation and docking mechanisms, the number of mechanisms is reduced, providing a reliable, highly flexible, structurally unified, and highly functional electromagnetically driven self-reconfigurable space cellular robot module that can form different shapes under its own weight in a weightless space environment. The reconfigured robot can be applied to different working environments to complete various space operation tasks.

Description

Technical Field

[0001] This invention belongs to the field of aerospace robotics, specifically an electromagnetically driven self-reconfigurable space cell robot module for the space domain. Background Technology

[0002] With the development of the aerospace industry, human exploration in space has ushered in new tasks and challenges. The unknown and uncontrollable nature of missions in the space environment has placed higher demands on robots capable of working in space. On-orbit operating mechanisms on space stations are generally space robotic arms. However, space robotic arms can only perform specific tasks in specific locations, their own structure has certain limitations, and the influence of the base severely restricts their operating range, resulting in limited functionality and an inability to complete various space missions.

[0003] In this context, many organizations have begun to seek a versatile robot that can be freely reconfigured to replace its work, and have proposed the concept of cellular robots. Cellular robots are a type of modular robot composed of multiple complex cellular module units. Cellular robots can change into various forms to adapt to various work tasks in different environments.

[0004] In the space domain, because structures are unaffected by gravity and exist in a weightless state, the movement and docking of cellular robots cannot be guaranteed. Driven by methods other than gravity has become an important research direction for many researchers. Furthermore, to ensure that the reconstructed cellular robot modules can have diverse shapes and that the reconstructed robots can perform tasks such as movement, transport, maintenance, and exploration, the connection mechanisms between modules place significant demands on them. Additionally, the design of corresponding rotational mechanisms to enable rotation between modules also needs to be considered. Summary of the Invention

[0005] The purpose of this invention is to apply it to the weightless environment of space, using an electromagnetic drive method while ensuring the docking accuracy between modules. By combining rotation and docking mechanisms, the number of mechanisms is reduced, providing an electromagnetically driven self-reconfigurable space cell robot module that is reliable, highly flexible, structurally unified, and highly functional. In the weightless environment of space, it can form different shapes by its own weight.

[0006] To solve the above-mentioned technical problems, the present invention adopts the following technical solution:

[0007] This invention discloses an electromagnetically driven self-reconfigurable spatial cellular robot module, comprising: a square frame, an electromagnetic drive mechanism, a docking-rotation mechanism, a sealing mechanism, a gear box, a power supply, and a circuit board. The electromagnetic drive mechanism, docking-rotation mechanism, and sealing mechanism are all distributed in sets on the six outer walls of the outer shell with a consistent distribution pattern. The electromagnetic drive mechanism includes: magnetic hinge I, magnetic hinge II, a soft magnetic rod, and a coil; the docking-rotation mechanism includes: a conical telescopic block, a spherical buckle, a spring, a telescopic rod, a wedge block, gear I, a connecting key I, a motor I, an internal meshing gear sleeve, a bearing I, screw I, screw II, and a docking-locking mechanism housing; the sealing mechanism includes: 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, impeller, 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, a soft magnet rod, and a coil. The electromagnetic drive mechanism is located within a cuboid groove at the center of the outer wall of a square frame. One semicircular surface of magnetic hinge I is tangent to the two inner walls of the cuboid groove, ensuring that the two contacting cellular robot modules can rotate at their corresponding semicircular positions during docking. Magnetic hinges I and II are then bolted to the opposite inner surfaces of the square frame along the axis of the soft magnet. When the current direction in the coil changes, the magnetic pole direction of the magnetic hinges changes accordingly, generating a repulsive or attractive electromagnetic force between the two cellular robot modules, driving them to flip. The entire electromagnetic drive device is controlled by a circuit board powered by a power source.

[0009] Furthermore, the docking-rotation mechanism is connected to the slide rail of the rear cover plate of the sealing mechanism via the outer surface groove of the docking-locking mechanism housing to complete the positioning; the conical telescopic block, 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 ball buckle through the hole at the end of the ball buckle; the telescopic rod is placed in the groove inside the conical telescopic block and extends and retracts in the groove; the conical telescopic block is connected to the docking-locking mechanism housing via bearing I; bearing I is positioned via the shoulder of the conical telescopic block and the internal meshing gear sleeve; the internal meshing gear sleeve has two positioning holes and is fixed to the conical telescopic block using screws I and II; gear I is connected to the motor placed at the rear cover plate of the sealing mechanism via a connecting key and meshes with the internal meshing gear sleeve. During the docking process of the two cellular robot modules, the motor drives gear I to rotate, 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 designated position; the above motion is transmitted through the bearing I, which is connected to the docking-locking mechanism housing and rotates around it.

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

[0011] Furthermore, the sealing mechanism opens, and simultaneously the docking-rotation mechanism meshes with gears III, IV, and V inside the gearbox through the docking-locking mechanism housing; gears III, IV, and V mesh with gears VI and VII; gear VII is connected to motor III through connecting key III; motor III drives gear VII to rotate, gear VII drives gears III, IV, V, and VI to rotate, and gears III, IV, and V drive the docking-locking mechanism to move, completing the extension and retraction action.

[0012] Furthermore, the docking-rotation mechanism of the two cell robot modules extends and retracts to a designated position, and the two spherical buckles interact to complete the rotation action; the rotation action is from a certain angle with the plane of the conical telescopic block to coinciding with the plane of the conical telescopic block, and then to a certain angle with the plane of the conical telescopic block, thus completing the locking action.

[0013] Furthermore, after completing the rotation, docking, and locking processes, the docking-rotation mechanism connects and locks cell robot module I and cell robot module II. When the two cell robot modules need to rotate relative to each other, cell robot module I acts as the driving member and cell robot module II acts as the driven member. The end of the telescopic rod of the docking-locking mechanism of cell robot module II is connected to and extends from the wedge block, and the blocking gear I makes a circular motion around the center of the internal meshing gear sleeve. The motor I of cell robot module II stops rotating, and the relative position of the docking-locking mechanism of cell robot module II and the docking-locking mechanism of cell robot module I is fixed, acting as a connecting rod to connect the motor I of cell robot module I to the rear cover plate of the sealing mechanism of cell robot module II, and rotates 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 cell robot module I and 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 cell robot module II drives the wedge block to retract, and gear I continues to perform circular motion around the center of the inner meshing gear sleeve; motor III drives gear VII to rotate, gear VII drives gears III, IV, V, and VI to rotate, and gears III, IV, and V drive the docking-locking mechanism to move and rotate inward into the sealing mechanism, completing the contraction movement. After the docking-locking mechanism of the cell robot module completes the contraction action, motor II drives the gear disk to rotate counterclockwise, gear II meshes with the gear disk and drives gear II to rotate clockwise, the connecting rod pushes the blade inward, and the sealing device closes.

[0015] Compared with the prior art, the present invention achieves the following technical effects:

[0016] 1. Using electromagnetic drive, it is possible to achieve flipping motion between cellular robot modules in any free space under weightless conditions.

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

[0018] 3. By combining a rotation mechanism with a docking mechanism, the number of mechanisms can be reduced, the structure simplified, and the performance of the cellular robot modules increased. After docking, the two cellular robot modules can rotate relative to each other, with either module capable of precise rotation from -180° to +180°. This improves the degrees of freedom of the reconstructed robot and ensures its flexibility.

[0019] 4. A sealing mechanism is used to prevent foreign objects in the unknown environment from interfering with the internal parts of the cell robot module, while ensuring the smooth docking process of the cell robot module.

[0020] 5. The cellular robot module has 6 completely identical docking surfaces, and the mechanism of each docking surface is completely identical, which can ensure the versatility of the cellular robot module and the arbitrariness of the docking process, enabling the cellular robot module to freely change its form 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 vision, touch and other sensors to ensure the docking accuracy during the docking process, increase the number of functions of the reconstructed cell robot, and make the application scenarios of the cell robot wider. Attached Figure Description

[0022] To more clearly illustrate the design scheme and technical method of the present invention, the accompanying drawings used are briefly introduced.

[0023] Figure 1 This is an overall schematic diagram of an electromagnetically driven self-reconfigurable space cell robot module.

[0024] Figure 2 This is a front view of an electromagnetically driven, self-reconfigurable spatial cellular robot module.

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

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

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

[0028] Figure 6 This is a schematic diagram of the sealing mechanism of an electromagnetically driven self-reconfigurable space cell robot module.

[0029] Figure 7 This is a schematic diagram of the internal structure of the sealing mechanism of an 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 an electromagnetically driven self-reconfigurable spatial cell robot module.

[0031] Figure 9 This is a schematic diagram of the internal structure of the gearbox of an electromagnetically driven self-reconfigurable spatial cell robot module.

[0032] Figure 10 This is a schematic diagram of the gearbox gear distribution of an electromagnetically driven self-reconfigurable spatial cell robot module.

[0033] Figure 11 This is a schematic diagram of a four-degree-of-freedom robot composed of five electromagnetically driven, self-reconfigurable spatial cellular robot modules.

[0034] The markings in the diagram are as follows: 1 is a square frame, 2 is an electromagnetic drive mechanism, 3 is a docking-rotation mechanism, 4 is a sealing mechanism, 5 is magnetic hinge I, 6 is bolt I, 7 is a soft magnetic rod, 8 is bolt II, 9 is bolt III, 10 is a coil, 11 is a front cover plate, 12 is bolt IV, 13 is 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 the docking-locking mechanism housing, 24 is bearing I, 25 is gear I, 26 is motor II, 27 is motor I, 28 is gear box cover I, 29 is a gear box nut, 30 is gear box cover II, 31 is a rear cover plate, 32 is gear II, 3 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, and 65 is gear VI. Detailed Implementation

[0035] The present invention will now be described in detail with reference to the accompanying drawings.

[0036] The present invention and its embodiments are described below. This description is not restrictive, and actual embodiments are not limited thereto. In short, if those skilled in the art are inspired by this description and, without departing from the spirit of the invention, design similar structures and embodiments to this technical solution, such designs should fall within the protection scope of the present invention.

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

[0038] The working method for implementing 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 drive mechanism 2, a docking-rotation mechanism 3, and a sealing mechanism 4.

[0040] The electromagnetic drive mechanism 2 consists of magnetic hinge I5, magnetic hinge II13, soft magnetic rod 7, and coil. The electromagnetic drive mechanism 2 is located within a cuboid groove at the center of the outer wall of the square frame. In each electromagnetic drive mechanism 2, one semicircular surface of magnetic hinge I5 is tangent to the two inner walls of the cuboid groove, ensuring that the two contacting cellular robot modules can rotate at their corresponding semicircular positions during docking. Then, magnetic hinge I5 and magnetic hinge II13 are bolted to the opposite inner surfaces of the square frame 1 along the axis of the soft magnetic rod 7. When the current direction in the coil changes, the magnetic pole direction of the magnetic hinge changes, generating a repulsive or attractive electromagnetic force between the two cellular robot modules, driving them to flip. The entire electromagnetic drive mechanism is controlled by circuit board 16, which is powered by 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 via the outer surface groove of the docking-locking mechanism housing 23 to complete the positioning; the conical telescopic block 17 serves as the main body of the docking part of the docking-rotation mechanism, connecting one end of the spring 19, and the other end of the spring 19 is connected to the ball buckle 18 via the hole at the end of the ball buckle 18; the telescopic rod 20 is placed in the groove inside the conical telescopic block 17 and extends and retracts in the groove; the conical telescopic block 17 is connected to the docking-locking mechanism housing 23 via bearing I 24; the bearing I 24 is positioned via the shoulder of the conical telescopic block 17 and the internal meshing gear sleeve 22; the internal meshing gear sleeve 22 has two positioning holes machined and is fixed to the conical telescopic block 17 using 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 via a connecting key and meshes with the internal meshing gear sleeve 22. During the docking process of the two cellular robot modules, motor I27 drives gear I25 to rotate, gear I25 drives the internal meshing gear sleeve 22 to rotate, and the internal meshing gear sleeve 22 drives the conical telescopic block 17 to rotate to the designated position; the above movement is transmitted through the bearing I24, which is connected to the docking-locking mechanism housing 23 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, II8, III9, and IV12; one end of the blade 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 II 32 is connected to the blade through a connecting rod; the gear disk 50 is connected to the motor II 26 on the inner wall of the rear cover plate 31 through the connecting key II, and meshes with the gear II 32. When the two cell robot modules need to dock, the motor II 26 drives the gear disk 50 to rotate clockwise, the gear II 32 meshes with the gear disk 50 and drives the gear II 32 to rotate counterclockwise, the connecting rod pulls the blade outward, and the sealing device opens. After the docking-locking mechanism 3 of the cell robot module completes its retraction action, motor II 26 drives gear disk 50 to rotate counterclockwise, gear II 32 meshes with gear disk 50 and drives gear II 32 to rotate clockwise, the connecting rod pushes the blade inward, and the sealing device 4 closes.

[0043] Furthermore, the sealing mechanism 4 opens, and simultaneously the docking-rotation mechanism 3 meshes with gears III 61, IV 62, and V 63 inside the gear box 14 through the docking-locking mechanism housing 23; gears III 61, IV 62, and V 63 mesh with gears VI 65 and VII 64; gear VII 64 is connected to motor III 58 through connecting key III; when motor III 58 and gear VII 64 rotate, gear VII 64 drives gears III 61, IV 62, V 63, and VI 65 to rotate, and gears III 61, IV 62, and V 63 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 extends and retracts to the designated position, and the two spherical buckles 18 interact to complete the rotation action; the rotation action is from a certain angle with the plane of the conical telescopic block 17 to coinciding with the plane of the conical telescopic block 17, and then to a certain angle with the plane of the conical telescopic block 17, thus completing the locking action.

[0045] Furthermore, after completing the rotation, docking, and locking processes, the docking-rotation mechanism 3 connects and locks cell robot module I and cell robot module II. When the two cell robot modules need to rotate relative to each other, cell robot module I is the driving member and cell robot module II is the driven member. The end of the telescopic rod 20 of the docking-locking mechanism 3 of cell robot module II is connected to the wedge block 21 and extends out, and the blocking gear I 25 makes a circular motion around the center of the inner meshing gear sleeve 22. The motor I 27 of cell robot module II stops rotating, and the docking-locking mechanism 3 of cell robot module II and the docking-locking mechanism 3 of cell robot module I are fixed in relative position, acting as a connecting rod to connect the motor I of cell robot module I to the rear cover plate 31 of the sealing mechanism 4 of cell robot module II, and rotate around the conical telescopic block 17 through the bearing I 24. 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] Furthermore, when cell robot module I and 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 cell robot module II drives the wedge block 21 to retract, and gear I 25 continues to rotate around the center of the inner meshing gear sleeve 22; the motor III 58 drives gear VII 64 to rotate, gear VII 64 drives gear III 61, gear IV 62, gear V 63, and gear VI 65 to rotate, and gear III 61, gear IV 62, and gear V 63 drive the docking-locking mechanism 3 to move and rotate inward into the sealing mechanism 4, completing the contraction movement. After the docking-locking mechanism 3 of the cell robot module completes the contraction action, the motor II 26 drives the gear disk 50 to rotate counterclockwise, gear II 32 meshes with the gear disk 50 and drives gear II 32 to rotate clockwise, the connecting rod pushes the blade inward, and the sealing device 4 closes.

[0047] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A reconfigurable cellular robot module based on electromagnetic drive, characterized in that, include: The system comprises a square frame, an electromagnetic drive mechanism, a docking-rotation mechanism, a sealing mechanism, a gear box, a power supply, and a circuit board. The electromagnetic drive mechanism, docking-rotation mechanism, and sealing mechanism are all distributed in sets on the six outer walls of the cell robot module shell and have a consistent distribution pattern. The electromagnetic drive mechanism includes: magnetic hinge I, magnetic hinge II, a soft magnetic rod, and a coil. The electromagnetic drive mechanism comprises magnetic hinge I, magnetic hinge II, a soft magnet rod, and a coil. The electromagnetic drive mechanism is located within a cuboid groove at the center of the outer wall of a square frame. One semicircular surface of magnetic hinge I is tangent to the two inner walls of the cuboid groove, ensuring that the two contacting cellular robot modules can rotate at their corresponding semicircular positions during docking. Magnetic hinges I and II are then bolted to the opposite inner surfaces of the square frame along the axis of the soft magnet. When the current direction in the coil changes, the magnetic pole direction of the magnetic hinges changes accordingly, generating a repulsive or attractive electromagnetic force between the two cellular robot modules, driving them to flip. The entire electromagnetic drive device is controlled by a circuit board powered by a power supply. The sealing mechanism is positioned at the center of the outer surface of the square frame. The front cover plate is fixed to the outer wall of the square frame by bolts I, II, III, and IV. One end of the impeller is embedded in the groove reserved in the front cover plate, and the other end is connected to the blade via a bearing. Gear II is connected to the blade via a connecting rod. The gear disk is connected to the motor II on the inner wall of the rear cover plate via a connecting key II and meshes with gear II. When two cell robot modules need to dock, motor II drives the gear disk to rotate clockwise, and gear II meshes with the gear disk to rotate counterclockwise. The connecting rod pulls the blade outward, and the sealing device opens. After the docking-locking mechanism of the cell robot module completes its retraction action, motor II drives the gear disk to rotate counterclockwise, and gear II meshes with the gear disk to rotate clockwise. The connecting rod pushes the blade inward, and the sealing device closes. The docking-rotation mechanism is connected to the slide rail of the rear cover plate of the sealing mechanism via a groove on the outer surface of the docking-locking mechanism housing, thus completing the positioning. The conical telescopic block, as the main body of the docking part of the docking-rotation mechanism, connects to one end of a spring, and the other end of the spring is connected to a spherical buckle through a hole at the end of the spherical buckle. The conical telescopic block is connected to the docking-locking mechanism housing via bearing I. Bearing I is positioned via the shoulder of the conical telescopic block and an internal meshing gear sleeve. The internal meshing gear sleeve has two positioning holes and is fixed to the conical telescopic block using screws I and II. Gear I is connected to a motor placed on the rear cover plate of the sealing mechanism via 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 meshing gear sleeve to rotate, and the internal meshing gear sleeve drives the conical telescopic block to rotate to a designated position. The above movements are transmitted through bearing I, which is connected to and rotates around the docking-locking mechanism housing. The sealing mechanism opens, and simultaneously the docking-rotation mechanism meshes with gears III, IV, and V inside the gearbox through the docking-locking mechanism housing; gears III, IV, and V mesh with gears VI and VII; gear VII is connected to motor III through connecting key III; motor III drives gear VII to rotate, gear VII drives gears III, IV, V, and VI to rotate, and gears III, IV, and V drive the docking-locking mechanism to move, completing the extension and retraction action; The docking-rotation mechanism of the two cell robot modules extends and retracts to the designated position, and the two spherical buckles interact to complete the rotation action; the rotation action is from a certain angle with the plane of the conical telescopic block to coinciding 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.

2. The reconfigurable cellular robot module based on electromagnetic drive according to claim 1, characterized in that, After completing the rotation, docking, and locking processes, the docking-rotation mechanism connects and locks cell robot module I and cell robot module II. The telescopic rod is placed in the groove inside the conical telescopic block and extends and retracts within the groove in both directions. When the two cell robot modules need to rotate relative to each other, cell robot module I acts as the driving member and cell robot module II as the driven member. The end of the telescopic rod of the docking-locking mechanism of cell robot module II connects to and extends from the wedge block, causing the blocking gear I to rotate around the center of the inner meshing gear sleeve. The motor I of cell robot module II stops rotating, and the docking-locking mechanism of cell robot module II is fixed in relative position to the docking-locking mechanism of cell robot module I, acting as a connecting rod to connect the motor I of cell robot module I to the rear cover plate of the sealing mechanism of cell robot module II, and rotates around the conical telescopic block via bearing I. The rear cover plate of the sealing mechanism connects to the square frame, driving the entire cell robot module II to complete the rotation.

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