CN109571451B - A connection unit of a chute-type spatial self-reconfigurable cellular robot - Google Patents

Abstract

The invention relates to a connecting unit of a chute type space self-reconfigurable cell robot, which is characterized in that: the appearance of linkage unit is regular hexahedron, including six connection faces, two sets of initiative connection pads, connecting block, four groups of passive connection pads at random, guide rail support frame and initiative coupling mechanism, wherein: the two groups of active connecting discs are respectively arranged on one group of opposite connecting surfaces of the six connecting surfaces and are respectively and fixedly connected through four groups of cuboid connecting blocks which are uniformly distributed along the circumference by virtue of screws; the four groups of random passive connecting discs are arranged on four connecting surfaces except for one group of opposite connecting surfaces occupied by the active connecting disc and are fixedly connected or detached by screws according to the connecting requirements; the invention has two active connection functions in opposite directions, does not influence each other in the connection process, enhances the functional adaptability of the connection unit, has high connection strength of the active connection mechanism, and saves self-reconfiguration time because the interface separation is the inverse motion of the interface connection.

Description

A connection unit of a chute-type spatial self-reconfigurable cellular robot

technical field

The invention belongs to the technical field of robots, and relates to a self-reconfiguration mechanical structure, in particular to a connection unit of a chute-type space self-reconfiguration cell robot.

Background technique

The space self-reconfigurable robot is also a space cell robot, which is the product of applying the principles of cell division, differentiation and combination to robotics. After different levels of reconstruction such as cells, tissues, organs and robots, robots can automatically change their shape, size and function to adapt to changes in tasks and environmental situations. This feature of the space self-reconfigurable robot is realized through the interoperation and movement of a large number of modules by relying on the connectivity and interchangeability between the robot modules, as well as the surrounding environment information sensed by the module sensors. Space self-reconfigurable robots have the advantages of adaptability, diversity, reliability, scalability, and economy, and can fully adapt to the trend of large-scale, complex, and non-cooperative operating objects in future space missions.

Compared with traditional robots, space self-reconfigurable robots are no longer limited by specific structures, functions and motion forms. Each module can have different functions and structures, but has a unified mechanical and electrical interface. A single module with limited functions can pass the number of The accumulation of the robot greatly expands the tasks and environmental adaptability of the robot; compared with the modular reconfigurable robot, its module selection and configuration construction do not require manual participation, and the configuration and function can be changed autonomously, so that astronauts can avoid being in dangerous space. Environment.

The performance of the self-reconfigurable cellular robot's connecting mechanism largely affects the working performance of the entire robot. For example, the strength of the connecting mechanism will determine the maximum number of modules, and the speed of connection and disengagement at the interface will affect the speed at which the robot self-reconfigures. Among the existing several connection mechanisms, the electromagnetic connection mechanism is connected by electromagnetic force, which has fast docking speed and good neutrality, but the joint strength is limited, the separation process is complicated and time-consuming, and the connection modules are prone to interference; static; The electric connection mechanism relies on the attractive connection of positive and negative charges, and also has the disadvantages of low joint strength and slow separation process; the mechanical connection mechanism includes pin-hole type, hook type and Velcro type, etc. , the connection and disengagement process is rapid, but the structure design is complex, the space is large, and the neutrality is not good.

SUMMARY OF THE INVENTION

The purpose of the present invention is to solve the above-mentioned deficiencies of the prior art, and to provide a connecting unit of a chute-type spatial self-reconstructing cell robot with reliable connection, energy saving, good neutrality, and rapid connection and disconnection process.

The technical scheme adopted by the present invention to solve the above-mentioned deficiencies of the prior art is:

A connection unit of a chute-type space self-reconstructing cellular robot is characterized in that: the shape of the connection unit is a regular hexahedron, including six connection surfaces, two groups of active connection disks, a connection block, and four groups of random passive connection disks , a guide rail support frame and an active connection mechanism, wherein: the two groups of active connection disks are respectively arranged on one of the opposite connection surfaces of the six connection surfaces, and are respectively supported by four groups of cuboid connection blocks evenly arranged along the circumference. Screw-fixed connection; the four groups of random passive connection plates are arranged on the four connection surfaces except a group of opposite connection surfaces occupied by the active connection plate, and are fixed or removed with screws according to the connection needs; the active connection mechanism is arranged on the The central position of the connecting unit is supported by the connecting surface and the guide rail support frame.

The two groups of active connection plates described in the present invention respectively include: a front plate, an isolation column and a rear plate, wherein: the front plate is a circular thin plate with four groups of radial sliding grooves evenly opened along the circumferential direction, and the center All positions are hollowed out; the rear plate is a circular thin plate with the same diameter as the front plate, and four sets of radial chutes are evenly opened along the circumferential direction, and the center position is not hollowed out; the isolation column is a short cylinder, arranged on the front plate Between the rear plate and the front plate, a plurality of isolation columns are fixedly connected to the front plate and the rear plate by means of bolts.

The four groups of random passive connection plates described in the present invention respectively comprise: an inner plate and an outer shell, wherein: the structure of the inner plate is exactly the same as that of the front plate of the active connection plate; The plate and the connecting surface of the connecting unit are respectively fixed by bolts.

The active connection mechanism described in the present invention includes: a servo motor, a motor support, a driving shaft, an incomplete bevel gear, two groups of conjugated cams, a bearing support, a roller assembly, two groups of cross guide rail assemblies, and two driven cones Gear, driven bevel gear shaft and slider assembly, wherein: the servo motor is connected and fixed on a motor bracket; the motor bracket is connected to the inner side of the connection surface of the connection unit; the driving shaft is connected to the servo motor through a coupling The motor output shaft is connected; the two sets of conjugate cams are sleeved on one end of the driving shaft close to the servo motor, symmetrical to the center position of the connecting unit, axial positioning is achieved through the shoulder and sleeve, and the circumferential direction is achieved through the flat key Positioning; the incomplete bevel gear is sleeved on the end of the driving shaft away from the servo motor, and the axial positioning is realized through the sleeve and the circumferential positioning is realized through the flat key; the end of the driving shaft is sleeved with a deep groove ball bearing, and the bearing supports The seat supports the deep groove ball bearing and is fixedly connected with the inner side of the connecting surface of the connecting unit; the roller assembly includes a bearing roller and a roller support frame, and the bearing roller is installed on the roller through the connecting rod and the shaft end round nut. One end of the sub-support frame is embedded in a groove with a specific track on one side of the conjugate cam to form a roller follower disc cam; the cross guide rail assembly includes two guide rails and two connecting rods, two guide rails The cross is fixedly connected, and the two connecting rods are installed at both ends of the cross guide rail assembly; the roller support frame of the roller assembly is fixedly connected to the central position of the connecting rod of the cross guide rail assembly; the side surface of the driven bevel gear Four groups of grooves are evenly opened along the circumferential direction in accordance with the law of sinusoidal acceleration. The inner side of the hub is embedded with a deep groove ball bearing. The deep groove ball bearing is sleeved on the driven bevel gear shaft. Axial positioning, so that the driven bevel gear is in a position where it can mesh with the incomplete bevel gear correctly; one end of the driven bevel gear shaft supports the driven bevel gear, and the other end is embedded in the spline groove of the connecting surface by means of a spline, and passes through the shaft. The shaft end round nut and the shaft shoulder realize axial fixation; the slider assembly includes a slider, a connecting rod and a clamping block, and the sliding block and the clamping block are fixedly connected through a cylindrical connecting rod; the sliding block is respectively connected to the cross The four sections of guide rails divided by the guide rail assembly are partially fitted, so each group of cross guide rail assemblies corresponds to four groups of slider assemblies; the connecting rod is tangent to the groove on the driven bevel gear that conforms to the law of sinusoidal acceleration, and is connected to the connecting unit. The hollow grooves on the connection surface are tangent; the clamping block has a dumbbell structure with wide ends at both ends and a narrow middle, and an inner end of the clamping block is fitted with the groove on the rear plate of the active connection plate.

In the present invention, the four groups of radial sliding grooves of the front plate of the active connecting plate and the four groups of radial sliding grooves of the rear plate of the active connecting plate are aligned with each other after the assembly of the active connecting plate is completed, and the rear plate of the active connecting plate is connected by a cuboid The block is fixed on the connecting surface, and the direction of the four groups of chutes is along the diagonal direction of the connecting surface of the connecting unit.

The directions of the four groups of chutes of the inner plate of the random passive connection plate described in the present invention are along the diagonal direction of the connection surface of the connection unit after the random passive connection plate is connected.

The width of the grooves on both sides of the conjugate cam described in the present invention is the same as the diameter of the bearing rollers in the roller assembly, and the grooves on both sides are equidistant from the outer contour of the cam on the same side respectively, and the two groups of conjugate cams are closely connected. The cam on one side of the center of the unit and the groove on the side are exactly the same, and are embedded in a pair of roller assemblies with the same structure at the same time. Another pair of roller assemblies with the same structure.

The incomplete bevel tooth path described in the present invention and the keyways of the two groups of conjugate cams on the driving shaft corresponding to the positions of the shaft segments are located on the same generatrix.

When the present invention works, the left flange-type active connection plate of one connection unit is embedded in the groove-type random passive connection plate of the other connection unit, so that the front plate of the active connection plate and the inner plate of the random passive connection plate are closely attached, and at the same time, the The four groups of radial sliding grooves on the front plate of the active connection plate are aligned with the four groups of radial sliding grooves on the inner plate of the random passive connection plate. In this initial position, the slider assembly inside the connection unit is located inside the front plate of the active connection plate. When connecting, the servo motor drives the driving shaft to rotate, and the driving shaft drives the two sets of conjugate cams and the incomplete bevel gear to rotate 170° in the counterclockwise direction at the same time through the flat key. The contour trajectory of the cam on one side of the center of the unit is: first go through a near rest state of 5°, then through a 60° thrust stage, and finally through a far rest state of 105°; the toothed area of the incomplete bevel gear occupies 90% of the circumference of the bevel gear. °, when the driving shaft turns 70°, the incomplete bevel gear starts to mesh with the left driven bevel gear, and when the driving shaft turns 160°, the incomplete bevel gear disengages from the left driven bevel gear; the two groups are conjugated The cam on one side of the cams close to the center of the connecting unit is always in a near rest state. Specifically, the cam on the side of the two groups of conjugate cams that is far from the center of the connecting unit first completes the push phase, and the cam push pushes the roller assembly forward. , the roller assembly pushes the cross guide assembly to move forward, the cross guide assembly pushes the slider assembly to move forward, so that the dumbbell-shaped block in the slider assembly protrudes from the front plate of the active connection plate, and the middle of the block is slotted. It can just cover the thickness of the two connecting plates, and then the incomplete bevel gear starts to mesh with the left driven bevel gear, and the driven bevel gear rotates and passes through the four sets of sinusoidal acceleration regular grooves to limit the connecting rod of the slider assembly and The restricting effect of the guide rail on the slider makes the slider assembly slide outward along the four groups of chutes of the active connecting plate. When the bevel gears mesh with each other, the cam on the side away from the center of the connecting unit is in a far rest state. At the end position, the connection process of the left interface is completed under the self-locking action of the sinusoidal acceleration law groove on the driven bevel gear on the connecting rod of the slider assembly, and the motor stops at this time.

During the connection process of the above-mentioned left interface, the cam on one side of the two groups of conjugate cams close to the center of the connecting unit is always in a near rest state, the incomplete bevel gear is not meshed with the right driven bevel gear, and the right active connection mechanism does not effect. In order to connect the right interface, the servo motor continues to rotate on the basis of the connection of the left interface, the motor drives the driving shaft to rotate, and the driving shaft drives two sets of conjugate cams and incomplete bevel gears through the flat key to continue in the counterclockwise direction at the same time. It rotates 170° at a constant speed. During the rotation process, the contour trajectory of the cam on the side of the two groups of conjugate cams close to the center of the connecting unit is: first go through the near rest state of 15°, then go through the 60° push stage, and finally go through 95 ° in the far rest state; the toothed area of the incomplete bevel gear occupies 90° of the circumference of the bevel gear. When the driving shaft continues to rotate through 80°, the incomplete bevel gear and the right driven bevel gear begin to mesh. When the driving shaft continues to rotate At 170°, the incomplete bevel gear is disengaged from the right driven bevel gear; the cam on the side of the two sets of conjugate cams that is far from the center of the connecting unit is always in a far rest state. Specifically, the two sets of conjugate cams are close to the connecting unit. The cam on one side of the center first completes the push stage, the cam push pushes the roller assembly to move forward, the roller assembly pushes the cross guide assembly to move forward, and the cross guide assembly pushes the slider assembly to move forward, so that the The dumbbell-shaped clamping block protrudes from the front plate of the active connecting plate, and the slot in the middle of the clamping block can just cover the thickness of the two connecting plates, and then the incomplete bevel gear starts to mesh with the driven bevel gear on the right side, and the driven bevel gear starts to mesh. The gear rotates and the slider assembly slides outward along the four groups of chute grooves of the active connecting plate through the restricting effect of the four groups of sinusoidal acceleration regular grooves on the connecting rod of the slider assembly and the restricting effect of the guide rail on the slider. When the bevel gears mesh with each other The cam on the side close to the center of the connecting unit is in a far rest state. When the slider moves to the end position of the chute, it is completed under the self-locking action of the groove of the sinusoidal acceleration law on the driven bevel gear on the connecting rod of the slider assembly. The connection process of the right interface, the motor stops at this time.

Each connection unit described in the present invention has two active connection functions in opposite directions, and does not affect each other during the connection process, including one active connection surface acting alone and two active connection surfaces acting simultaneously. The functional adaptability of the connection unit is improved, and at the same time, the connection strength of the active connection mechanism is large, and the interface disengagement is the inverse motion of the interface connection, which saves the self-reconfiguration time.

Description of drawings

Figure 1 is a schematic structural diagram of the present invention.

FIG. 2 is a schematic structural diagram of an active connection plate in the present invention.

FIG. 3 is a schematic structural diagram of a random passive connection pad in the present invention.

4 and 5 are schematic structural diagrams of the active connection mechanism in the present invention.

6 and 7 are schematic diagrams of the structure of the conjugated cam in the present invention.

FIG. 8 is a schematic view of the structure of the driven bevel gear in the present invention.

FIG. 9 is a schematic diagram of the supporting structure of the driven bevel gear in the present invention.

Figure 10 is a schematic diagram of the connection between the present invention and other units.

Reference signs: connection surface 1, active connection plate 2, front plate 2-1, isolation column 2-2, rear plate 2-3, connection block 3, guide rail support frame 4, random passive connection plate 5, inner plate 5- 1. Shell 5-2, active connection mechanism 6, servo motor 7, motor bracket 8, driving shaft 9, incomplete bevel gear 10, two sets of conjugate cams 11, bearing support 12, roller assembly 13, cross guide assembly 14. Driven bevel gear 15, driven bevel gear shaft 16, slider assembly 17.

Detailed ways

As shown in Figure 1, a connection unit of a chute-type spatial self-reconfigurable cellular robot includes six connection surfaces 1, two groups of active connection disks 2, connection blocks 3, four groups of random passive connection disks 5, and a guide rail support frame 4 and the active connection mechanism 6; the two groups of active connection disks 2 are respectively arranged on one of the opposite connection surfaces of the six connection surfaces 1, and respectively rely on screws through four groups of cuboid connection blocks 3 evenly arranged along the circumference Fixed connection; the four groups of random passive connection plates 5 are arranged on the four connection surfaces except a group of relative connection surfaces occupied by the active connection plate 2, and are fixed or removed with screws according to the connection needs; the active connection mechanism 6 It is arranged at the center of the connecting unit and is supported by the connecting surface 1 and the guide rail support frame 4 .

As shown in Figures 2 and 3, the two groups of active connection plates 2 respectively include a front plate 2-1, an isolation column 2-2 and a rear plate 2-3; the front plate 2-1 is a circular thin plate, Four groups of radial chutes are evenly opened along the circumferential direction, and the center positions are all hollowed out; the rear plate 2-3 is a circular thin plate with the same diameter as the front plate 2-1, and four groups of diameters are evenly opened along the circumferential direction. The center position is not hollowed out to the chute; the isolation column 2-2 is a short cylinder, which is arranged between the front plate 2-1 and the rear plate 2-3, and a plurality of isolation columns 2-2 are connected to the front plate by means of bolts. 2-1 and the rear plate 2-3; the four groups of random passive connection plates 5 respectively include an inner plate 5-1 and an outer shell 5-2, wherein: the structure of the inner plate 5-1 is the same as that of the active connection plate 2. The structure of the front plate 2-1 is exactly the same; the outer shell 5-2 is a groove-type structure, and is respectively fixed with the inner plate 5-1 and the connecting surface 1 of the connecting unit by bolts.

As shown in Figures 4-10, the active connection mechanism 6 includes: a servo motor 7, a motor bracket 8, a driving shaft 9, an incomplete bevel gear 10, two sets of conjugated cams 11, a bearing support 12, and a roller assembly 13. Two sets of cross guide rail assemblies 14, two driven bevel gears 15, a driven bevel gear shaft 16 and a slider assembly 17; the servo motor 7 is connected and fixed on the motor bracket 8; the motor bracket 8 is connected to the The inner side of the connecting surface 1 of the connecting unit is connected; the driving shaft 9 is connected with the output shaft of the servo motor 7 through a coupling; The central position of the connecting unit is axially positioned through the shaft shoulder and the sleeve, and the circumferential positioning is realized through the flat key; the incomplete bevel gear 10 is sleeved on the drive shaft 9 at one end away from the servo motor 7, and is realized through the sleeve. Axial positioning, circumferential positioning is achieved by flat keys; a deep groove ball bearing is sleeved at the end of the driving shaft 9, the bearing support 12 supports the deep groove ball bearing, and is fixedly connected with the inner side of the connecting surface 1 of the connecting unit ; The roller assembly 13 includes bearing rollers and a roller support frame, the bearing rollers are installed on one end of the roller support frame through the connecting rod and the shaft end round nut, and are embedded in the side of the conjugate cam 11 with a specific track. In the groove, a roller follower disc cam is formed; the cross guide rail assembly 14 includes two guide rails and two connecting rods, the two guide rails are cross-fixed and connected, and the two connecting rods are installed on two sides of the cross guide rail assembly 14. The roller support frame of the roller assembly 13 is fixedly connected to the central position of the connecting rod of the cross guide assembly 14; the side surface of the driven bevel gear 15 is uniformly opened with four groups of sine accelerations along the circumferential direction. The groove, the inner side of the hub is embedded with a deep groove ball bearing, which is sleeved on the driven bevel gear shaft 16, and relies on the shaft end round nut and the shaft shoulder to achieve axial positioning, so that the driven bevel gear 15 can be positioned The position where it is correctly meshed with the incomplete bevel gear 10; one end of the driven bevel gear shaft 16 supports the driven bevel gear 15, and the other end is embedded in the spline groove of the connecting surface 1 by means of splines, and passes through the shaft end round nut and the shaft shoulder. Axial fixation is realized; the slider assembly 17 includes a slider, a connecting rod and a clamping block, and the sliding block and the clamping block are fixedly connected through a cylindrical connecting rod; The segment guide rails are partially fitted, so each set of cross guide rail assemblies 14 corresponds to four sets of slider assemblies 17; the connecting rod is tangent to the groove on the driven bevel gear 15 that conforms to the law of sinusoidal acceleration, and is connected to the connecting surface of the connecting unit The hollow grooves on 1 are tangent; the clamping block has a dumbbell structure with wide ends at both ends and a narrow middle.

When the present invention works, the left flange-type active connection plate of one connection unit is embedded in the groove-type random passive connection plate of the other connection unit, so that the front plate of the active connection plate and the inner plate of the random passive connection plate are closely attached, and at the same time, the The four groups of radial sliding grooves on the front plate of the active connection plate are aligned with the four groups of radial sliding grooves on the inner plate of the random passive connection plate. In this initial position, the slider assembly inside the connection unit is located inside the front plate of the active connection plate. When connecting, the servo motor drives the driving shaft to rotate, and the driving shaft drives the two sets of conjugate cams and the incomplete bevel gear to rotate 170° in the counterclockwise direction at the same time through the flat key. The contour trajectory of the cam on one side of the center of the unit is: first go through a near rest state of 5°, then through a 60° thrust stage, and finally through a far rest state of 105°; the toothed area of the incomplete bevel gear occupies 90% of the circumference of the bevel gear. °, when the driving shaft turns 70°, the incomplete bevel gear starts to mesh with the left driven bevel gear, and when the driving shaft turns 160°, the incomplete bevel gear disengages from the left driven bevel gear; the two groups are conjugated The cam on one side of the cams close to the center of the connecting unit is always in a near rest state. Specifically, the cam on the side of the two groups of conjugate cams that is far from the center of the connecting unit first completes the push phase, and the cam push pushes the roller assembly forward. , the roller assembly pushes the cross guide assembly to move forward, the cross guide assembly pushes the slider assembly to move forward, so that the dumbbell-shaped block in the slider assembly protrudes from the front plate of the active connection plate, and the middle of the block is slotted. It can just cover the thickness of the two connecting plates, and then the incomplete bevel gear starts to mesh with the left driven bevel gear, and the driven bevel gear rotates and passes through the four sets of sinusoidal acceleration regular grooves to limit the connecting rod of the slider assembly and The restricting effect of the guide rail on the slider makes the slider assembly slide outward along the four groups of chutes of the active connecting plate. When the bevel gears mesh with each other, the cam on the side away from the center of the connecting unit is in a far rest state. At the end position, the connection process of the left interface is completed under the self-locking action of the sinusoidal acceleration law groove on the driven bevel gear on the connecting rod of the slider assembly, and the motor stops at this time.

During the connection process of the above-mentioned left interface, the cam on one side of the two groups of conjugate cams close to the center of the connecting unit is always in a near rest state, the incomplete bevel gear is not meshed with the right driven bevel gear, and the right active connection mechanism does not effect. In order to connect the right interface, the servo motor continues to rotate on the basis of the connection of the left interface, the motor drives the driving shaft to rotate, and the driving shaft drives two sets of conjugate cams and incomplete bevel gears through the flat key to continue in the counterclockwise direction at the same time. It rotates 170° at a constant speed. During the rotation process, the contour trajectory of the cam on the side of the two groups of conjugate cams close to the center of the connecting unit is: first go through the near rest state of 15°, then go through the 60° push stage, and finally go through 95 ° in the far rest state; the toothed area of the incomplete bevel gear occupies 90° of the circumference of the bevel gear. When the driving shaft continues to rotate through 80°, the incomplete bevel gear and the right driven bevel gear begin to mesh. When the driving shaft continues to rotate At 170°, the incomplete bevel gear is disengaged from the right driven bevel gear; the cam on the side of the two sets of conjugate cams that is far from the center of the connecting unit is always in a far rest state. Specifically, the two sets of conjugate cams are close to the connecting unit. The cam on one side of the center first completes the push stage, the cam push pushes the roller assembly to move forward, the roller assembly pushes the cross guide assembly to move forward, and the cross guide assembly pushes the slider assembly to move forward, so that the The dumbbell-shaped clamping block protrudes from the front plate of the active connecting plate, and the slot in the middle of the clamping block can just cover the thickness of the two connecting plates, and then the incomplete bevel gear starts to mesh with the driven bevel gear on the right side, and the driven bevel gear starts to mesh. The gear rotates and the slider assembly slides outward along the four groups of chute grooves of the active connecting plate through the restricting effect of the four groups of sinusoidal acceleration regular grooves on the connecting rod of the slider assembly and the restricting effect of the guide rail on the slider. When the bevel gears mesh with each other The cam on the side close to the center of the connecting unit is in a far-rest state. When the slider moves to the end position of the chute, it is completed under the self-locking action of the groove of the sinusoidal acceleration law on the driven bevel gear on the connecting rod of the slider assembly. The connection process of the right interface, the motor stops at this time, and each connection unit has the active connection function in two opposite directions, and does not affect each other during the connection process, including one active connection surface acting alone and two active connections The surface acts in two forms of action at the same time.

Claims (5)

1. The utility model provides a connecting element of slotted space self-reconstruction cell robot which characterized in that: the appearance of linkage unit is regular hexahedron, including six connection faces, two sets of initiative connection pads, cuboid connecting block, four groups of random passive connection pads, guide rail support frame and initiative coupling mechanism, wherein: the two groups of active connecting discs are respectively arranged on one group of opposite connecting surfaces of the six connecting surfaces and are respectively fixedly connected by four groups of cuboid connecting blocks uniformly distributed along the circumference of the active connecting discs by virtue of screws; the four groups of random passive connecting discs are arranged on four connecting surfaces except for one group of opposite connecting surfaces occupied by the active connecting disc and are fixedly connected through screws;

the two groups of active connecting discs respectively comprise: a front plate, an isolation column, and a back plate, wherein: the front plate is a circular thin plate, four groups of radial sliding grooves are uniformly formed in the circumferential direction, and the center of the front plate is completely hollowed out; the rear plate is a circular thin plate with the same diameter as the front plate, four groups of radial sliding grooves are uniformly formed in the circumferential direction, and the center of the rear plate is not hollowed; the isolation columns are short cylinders and are arranged between the front plate and the rear plate, and the isolation columns are fixedly connected with the front plate and the rear plate by bolts;

the four groups of random passive connecting discs respectively comprise: an inner plate and an outer shell, wherein: the structure of the inner plate is completely the same as that of the front plate; the shell is of a groove type structure and is fixedly connected with the inner plate and the connecting surface of the connecting unit through bolts;

the active connection mechanism comprises: servo motor, motor support, driving shaft, incomplete bevel gear, two sets of conjugate cams, bearing, roller assembly, two sets of cross guide rail assemblies, two driven bevel gears, driven bevel gear axle and slider assembly, wherein: the servo motor is connected and fixed on the motor bracket; the motor bracket is connected with the inner side of the connecting surface of the connecting unit; the driving shaft is connected with an output shaft of the servo motor through a coupler; the two groups of conjugate cams are sleeved at one end of the driving shaft close to the servo motor, are symmetrical to the central position of the connecting unit, realize axial positioning through a shaft shoulder and a sleeve, and realize circumferential positioning through a flat key; the incomplete bevel gear is sleeved at one end, far away from the servo motor, of the driving shaft, axial positioning is achieved through the sleeve, and circumferential positioning is achieved through the flat key; the tail end of the driving shaft is sleeved with a deep groove ball bearing, and the bearing support supports the deep groove ball bearing and is fixedly connected with the inner side of the connecting surface of the connecting unit; the roller assembly comprises a bearing roller and a roller supporting frame, wherein the bearing roller is arranged at one end of the roller supporting frame through a connecting rod and a shaft end round nut and is embedded into a groove with a specific track on one side of a conjugate cam to form a roller follower disc cam; the cross guide rail assembly comprises two guide rails and two connecting rods, the two guide rails are fixedly connected in a cross mode, and the two connecting rods are arranged at two ends of the cross guide rail assembly; the roller support frame of the roller assembly is fixedly connected to the center of the connecting rod of the cross guide rail assembly; four groups of grooves which accord with the sine acceleration law are uniformly formed in the side face of the driven bevel gear along the circumferential direction, deep groove ball bearings are embedded in the inner sides of the hubs and are sleeved on the driven bevel gear shaft, and axial positioning is realized by means of shaft end round nuts and shaft shoulders, so that the driven bevel gear is positioned at a position which can be correctly meshed with an incomplete bevel gear; one end of the driven bevel gear shaft supports the driven bevel gear, the other end of the driven bevel gear shaft is embedded into a spline groove of the connecting surface by means of a spline, and axial fixation is achieved through a shaft end round nut and a shaft shoulder; the sliding block assembly comprises a sliding block, a connecting rod and a clamping block, and the sliding block is fixedly connected with the clamping block through the cylindrical connecting rod; the sliding blocks are respectively embedded with four sections of guide rail parts divided by the cross guide rail assembly, so that each group of cross guide rail assembly corresponds to four groups of sliding block assemblies; the connecting rod is tangent to a groove which is in accordance with the sine acceleration rule on the driven bevel gear and is tangent to a hollow groove on the connecting surface of the connecting unit; the clamping block is of a dumbbell-shaped structure with two wide ends and a narrow middle part, and one end inside the clamping block is embedded with the groove in the rear plate.

2. The connection unit of a sliding-groove type spatial self-reconfigurable cell robot according to claim 1, wherein: four groups of radial chutes of the front plate and four groups of radial chutes of the rear plate are aligned with each other after the assembly of the active connecting disc is completed, the rear plate of the active connecting disc is fixedly connected on the connecting face through the cuboid connecting block, and the directions of the four groups of chutes are along the diagonal direction of the connecting face of the connecting unit.

3. The connection unit of the sliding-groove type spatial self-reconfigurable cell robot according to claim 2, wherein: and the directions of the four groups of sliding grooves of the inner plate are along the diagonal direction of the connecting surface of the connecting unit after the random passive connecting discs are connected.

4. The connection unit of the sliding-groove type spatial self-reconfigurable cell robot according to claim 3, wherein: the width of the grooves on two sides of the conjugate cams is the same as the diameter of the bearing rollers in the roller assemblies, the grooves on the two sides are respectively equidistant to the contour lines of the cams on the same side, the cams on one side of the two groups of conjugate cams close to the center of the connecting unit are completely the same as the grooves on the side, the two groups of conjugate cams are embedded into a pair of roller assemblies with the same structure, and the cams on one side of the two groups of conjugate cams far away from the center of the connecting unit are completely the same as the grooves on the side, and the other pair of roller assemblies with the same structure are embedded into the two groups of conjugate cams.

5. The connection unit of the sliding-groove type spatial self-reconfigurable cell robot according to claim 3, wherein: the incomplete bevel gear and the key grooves of the two groups of conjugate cams on the driving shaft corresponding to the shaft section are positioned on the same bus.

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