Modularized robot with self-reconfiguration wheel legs

The embodiment of the utility model discloses a modular robot with self-reconfiguration wheel legs. The robot comprises a four-connecting-rod leg mechanism, a butt joint mechanism and a cabin. The four-connecting-rod leg mechanisms are arranged on the left side and the right side of the cabin body respectively; the butt joint mechanism is composed of an active butt joint end and a passive butt joint end, and the active butt joint end and the passive butt joint end are arranged at the front end and the rear end of the cabin body respectively. The active butt joint end is a 3-RRR parallel mechanism, and the passive butt joint end is of a three-jaw chuck structure. A butt joint based on a 3-RRR platform is adopted by the robot, controllable multi-angle change of a butt joint device can be achieved, the butt joint range is enlarged, the butt joint robustness is improved, and the defects that an existing robot is tedious in butt joint and limited in range are overcome. 本实用新型实施例公开了一种自重构轮腿模块化机器人，机器人包括：四连杆腿部机构、对接机构、舱