A robot and its splicing method, and robot splicing system

Abstract

The embodiment of the present invention provides a robot and a splicing method thereof, and a robot splicing system, which relates to the field of intelligent technology and can solve the problem that robots cannot be spliced ​​in the prior art. The robot includes a main body and a moving part arranged at the bottom of the main body, and also includes: a plurality of connecting mechanisms arranged on different sides of the main body; the connecting mechanism is composed of a first connecting mechanism and a second connecting mechanism, the first connecting mechanism is used to cooperate with the second connecting mechanism of another robot, and the second connecting mechanism is used to cooperate with the first connecting mechanism of another robot.

Description

Technical Field

[0001] The present invention relates to the field of intelligent technology, and in particular to a robot and a splicing method thereof, and a robot splicing system. Background Art

[0002] Smart warehousing is a part of the logistics process. The application of smart warehousing ensures the speed and accuracy of data input in each link of goods warehouse management, ensures that enterprises can grasp the real data of inventory in a timely and accurate manner, and reasonably maintain and control the enterprise inventory. Through scientific coding, it is also convenient to manage the batches and shelf life of inventory goods.

[0003] The existing robots have a uniform appearance, and the specifications of the shelves are basically uniform, and the specifications of the robots and shelves correspond to each other. As a result, during use, if the specifications of the goods are significantly smaller than the specifications of the shelves used to place the goods, the high-power robots will carry small objects, resulting in a waste of resources; if the specifications of the goods are significantly larger than the specifications of the shelves used to place the goods, the robots will not be able to carry larger-sized goods, resulting in a limited scope of application of the robots. Summary of the invention

[0004] The embodiments of the present invention provide a robot and a splicing method thereof, and a robot splicing system, which can solve the problem in the prior art that robots cannot be spliced ​​together.

[0005] To achieve the above object, the embodiments of the present invention adopt the following technical solutions:

[0006] In the first aspect, a robot is provided, comprising a main body and a movable part arranged at the bottom of the main body, and also comprising: a plurality of connecting mechanisms arranged on different sides of the main body; the connecting mechanisms are composed of a first connecting mechanism and a second connecting mechanism, the first connecting mechanism is used to cooperate and connect with the second connecting mechanism of another robot, and the second connecting mechanism is used to cooperate and connect with the first connecting mechanism of another robot.

[0007] Preferably, the first connecting mechanism includes a first connecting component, and the second connecting mechanism includes a second connecting component; the first connecting component is used to be snap-fitted and connected with the second connecting component of another robot, and the second connecting component is used to be snap-fitted and connected with the first connecting component of another robot.

[0008] Preferably, the first connecting component includes: a first rotating shaft, and a first snap-fitting groove fixedly connected to the first rotating shaft; the second connecting component includes: a second rotating shaft, and a second snap-fitting groove fixedly connected to the second rotating shaft; the first snap-fitting groove and the second snap-fitting groove of the other robot can be rotated to a connected state, and the connected state is that the front side wall of the first snap-fitting groove and the front side wall of the second snap-fitting groove of the other robot respectively extend into each other's groove, so that the first snap-fitting groove and the second snap-fitting groove of the other robot are pulled together.

[0009] Preferably, the first snap-fitting through slot and the second snap-fitting through slot can be rotated to a retracted state, wherein the retracted state is that the opening of the first snap-fitting through slot faces away from the main body, and the opening of the second snap-fitting through slot faces toward the main body.

[0010] Preferably, a first elastic member is disposed on the inner side of the front side wall of the first buckling slot; and / or a second elastic member is disposed on the inner side of the front side wall of the second buckling slot.

[0011] Preferably, the first connection mechanism further includes a locking component; the locking component is used to lock the first snap-fitting through slot in the connected state and the second snap-fitting through slot of the other robot.

[0012] Preferably, the locking component includes a first driving member having a third rotating shaft, a first gear, a fourth rotating shaft arranged along the central axis of the first gear and capable of driving the first gear to rotate, a synchronous belt respectively sleeved on the third rotating shaft and the fourth rotating shaft at both ends, and a rack meshing with the first gear; the front end of the rack is used to resist the front side wall of the second snap-fitting groove connected to the first snap-fitting groove in a connected state.

[0013] Preferably, a blocking member is provided at the front end of the rack, and a third elastic member is provided at the front end of the blocking member.

[0014] Preferably, the rack is a double-sided rack, and teeth are provided on two opposite surfaces of the rack; the locking structure also includes a second gear, and the second gear and the first gear are respectively meshed with the teeth on the two surfaces of the rack.

[0015] Preferably, the first connecting component further includes a second driving component for driving the first rotating shaft to rotate, and the second connecting component further includes a third driving component for driving the second rotating shaft to rotate.

[0016] Preferably, the robot further comprises a distance sensor; the distance sensor is arranged on the side where the first connecting mechanism is located; and / or, on the side where the second connecting mechanism is located.

[0017] Preferably, the robot also includes a photoelectric sensor, which includes a transmitter and a receiver; the transmitter and the receiver are respectively arranged on the side where the first connecting mechanism is located and the side where the second connecting mechanism is located, and when the robot is connected to another robot, the transmitter and the receiver on the side where the first connecting mechanism is located and the side where the second connecting mechanism is located are aligned with each other.

[0018] Preferably, the transmitter and the receiver are provided on both the side where the first connecting mechanism is located and the side where the second connecting mechanism is located. When the robot is connected to another robot, the transmitter on the side where the first connecting mechanism and the second connecting mechanism that are cooperatively connected to each other are aligned with the receiver on the opposite side, and the receiver on the side where the two are located are aligned with the transmitter on the opposite side.

[0019] Preferably, the robot also includes a posture information acquisition module arranged at the bottom of the main body, and a first processing module connected to the posture information acquisition module; the posture information acquisition module is used to collect information of a posture label, and the information of the posture label is used to characterize the orientation of each side of the robot; the first processing module is used to match the information collected by the posture information acquisition module with the information of the posture label, and in case of mismatch, control the robot to adjust its posture until the information collected by the posture information acquisition module completely matches the information of the posture label.

[0020] Preferably, the robot also includes a position information acquisition module arranged at the bottom of the main body, and a second processing module connected to the position information acquisition module; the position information acquisition module is used to collect position tag information, and the position tag information is used to characterize the position of the robot; the second processing module is used to match the information collected by the position information acquisition module with the position tag information, and in case of mismatch, control the robot to adjust its position until the information collected by the position information acquisition module matches the position tag information.

[0021] In a second aspect, a robot splicing system is provided, comprising a plurality of robots as described in the first aspect; and an integration area, wherein the integration area comprises a plurality of sub-areas, wherein position labels and posture labels are arranged in the sub-areas; and one robot corresponds to one sub-area.

[0022] In a third aspect, a method for splicing the robots described in the first aspect is provided, the method comprising: moving a first robot to a preset position of a first sub-area of ​​an integration area and adjusting it to a preset posture, moving a second robot to a preset position of a second sub-area of ​​the integration area and adjusting it to a preset posture, the first sub-area and the second sub-area being adjacent to each other; fixing the first robot, moving the second robot in a direction close to the first robot, and connecting the first robot and the second robot via a first connecting mechanism and a second connecting mechanism.

[0023] Preferably, the step of moving the robot to a preset position of a sub-area in the integrated area includes: moving the robot to the sub-area of ​​the integrated area; collecting position tag information in the sub-area; matching the information collected by the position information collection module with the position tag information, and in case of mismatch, controlling the robot to adjust its position until the information collected by the position information collection module matches the position tag information.

[0024] Preferably, the step of adjusting the robot to a preset posture includes: collecting posture label information in the sub-area; matching the information collected by the posture information collection module with the information of the posture label, and in the case of mismatch, controlling the robot to adjust the posture until the information collected by the posture information collection module completely matches the information of the posture label.

[0025] Preferably, the integrated area includes a position tag and a posture tag, and the posture tag is parallel to one side of the robot; the step of adjusting the robot to a preset posture also includes: collecting position tag information in the sub-area; when the collected information does not match the position tag information, controlling the robot to rotate 180° within the sub-area.

[0026] Preferably, the first connecting component includes a first snap-fitting groove, and the second connecting component includes a second snap-fitting groove. The steps of connecting the first connecting mechanism and the second connecting mechanism include: fixing the first robot, controlling the second robot to move toward the first robot until the two are a first preset distance apart; adjusting the second robot until the transmitter and the receiver on the side where the first connecting component is located and the side where the second connecting component is located are aligned; controlling the first snap-fitting groove and the second snap-fitting groove to rotate to a connected state; controlling the second robot to move a second preset distance away from the first robot; moving the locking component to tighten the first snap-fitting groove and the second snap-fitting groove after connection; and the splicing of the first robot and the second robot is completed.

[0027] The robot and its splicing method, as well as the robot splicing system provided by the embodiments of the present invention, by setting a connection mechanism on the side of the robot, when the robot needs to carry an object that is larger than the robot can bear, multiple robots can be connected to each other through a first connection mechanism and a second connection mechanism to complete the handling work. In this way, the robot can be set relatively small to avoid the situation where a high-power robot carries small objects, resulting in a waste of resources. When it is necessary to carry larger-sized objects, the handling work can be completed by splicing between robots, thereby expanding the scope of application of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0029] Figure 1 A schematic diagram of a robot structure provided by an embodiment of the present invention Figure 1 ;

[0030] Figure 2 A schematic diagram of a robot structure provided by an embodiment of the present invention Figure 2 ;

[0031] Figure 3 A schematic diagram of a structure in which a first connecting component and a second connecting component are connected to each other according to an embodiment of the present invention Figure 1 ;

[0032] Figure 4 A schematic diagram of a robot structure provided by an embodiment of the present invention Figure 3 ;

[0033] Figure 5 A schematic diagram of a structure in which a first connecting component and a second connecting component are connected to each other according to an embodiment of the present invention Figure 2 ;

[0034] Figure 6 A schematic structural diagram of a first connecting mechanism provided by an embodiment of the present invention;

[0035] Figure 7 A schematic diagram of a first connecting mechanism and a second connecting mechanism provided in an embodiment of the present invention Figure 1 ;

[0036] Figure 8 A schematic diagram of a first connecting mechanism and a second connecting mechanism provided in an embodiment of the present invention Figure 2 ;

[0037] Fig. 9 A schematic diagram of a first connecting mechanism and a second connecting mechanism provided in an embodiment of the present invention Figure 3 ;

[0038] Fig.10 A schematic diagram of a robot structure provided by an embodiment of the present invention Figure 4 ;

[0039] Fig.11 A schematic diagram of a photoelectric sensor provided in an embodiment of the present invention Figure 1 ;

[0040] Fig.12 A schematic diagram of a photoelectric sensor provided in an embodiment of the present invention Figure 2 ;

[0041] Fig.13 A schematic diagram of a structure of an integrated area provided in an embodiment of the present invention Figure 1 ;

[0042] Fig.14 A schematic diagram of the corresponding situation of each side of a robot after splicing provided by an embodiment of the present invention Figure 1 ;

[0043] Fig.15 A schematic diagram of the corresponding situation of each side of a robot after splicing provided by an embodiment of the present invention Figure 2 ;

[0044] Fig.16 A schematic diagram of a structure of an integrated area provided in an embodiment of the present invention Figure 2 ;

[0045] Fig.17 A process of a robot splicing method provided by an embodiment of the present invention Figure 1 ;

[0046] Fig.18 A process of a robot splicing method provided by an embodiment of the present invention Figure 2 ;

[0047] Fig.19 A schematic diagram of the structure of two robots that have been assembled according to an embodiment of the present invention;

[0048] Fig. 20 A schematic diagram of a robot trajectory when adjusting the robot to a preset posture provided by an embodiment of the present invention.

[0049] Reference numerals

[0050] 10-main body; 20-moving member; 31-first connecting mechanism; 311-first connecting part; 3111-first rotating shaft; 3112-first snap-fitting groove; 3113-first elastic member; 312-locking member; 3121-third rotating shaft; 3122-first driving member; 3123-first gear; 3124-fourth rotating shaft; 3125-synchronous belt; 3126-rack; 3127-blocking member; 3128-third elastic member; 3129-second gear; 32-second connecting mechanism; 321-second connecting part; 3211-second rotating shaft; 3212-second snap-fitting groove; 3213-second elastic member; 40-distance sensor; 50-photoelectric sensor; 51-transmitter; 52-receiver; 100-integration area; 101-sub-area; 102-position tag; 103-posture tag. DETAILED DESCRIPTION

[0051] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0052] An embodiment of the present invention provides a robot, such as Figure 1 As shown, it includes a main body 10, and a moving part 20 arranged at the bottom of the main body 10, and also includes a plurality of connecting mechanisms arranged on different sides of the main body 10; the connecting mechanism is composed of a first connecting mechanism 31 and a second connecting mechanism 32 arranged on different sides of the main body 10, the first connecting mechanism 31 is used to cooperate and connect with the second connecting mechanism 32 of another robot, and the second connecting mechanism 32 is used to cooperate and connect with the first connecting mechanism 31 of another robot.

[0053] It should be noted that, first, the multiple connecting mechanisms are composed of a first connecting mechanism 31 and a second connecting mechanism 32 arranged on different sides of the main body 10, that is, the connecting mechanism arranged on the robot is either the first connecting mechanism 31 or the second connecting mechanism 32, and includes at least one first connecting mechanism 31 and one second connecting mechanism 32, and each connecting mechanism is arranged on different sides of the main body 10.

[0054] The robot includes a plurality of connection mechanisms disposed on different sides of the main body 10 , and it is not limited that a connection mechanism is disposed on each side of the main body. A connection mechanism may be disposed on several sides of the plurality of sides, or may be disposed on each side.

[0055] Taking the example that the main body 10 has four sides, the connecting mechanism provided on the robot may include a first connecting mechanism 31 and a second connecting mechanism 32; or, include two first connecting mechanisms 31 and two second connecting mechanisms 32; or, include a first connecting mechanism 31 and two second connecting mechanisms 32; or, include two first connecting mechanisms 31 and one second connecting mechanism 32; or, one first connecting mechanism 31 and three second connecting mechanisms 32; or, one second connecting mechanism 32 and three first connecting mechanisms 31, and so on.

[0056] Second, the first connecting mechanism 31 and the second connecting mechanism 32 arranged on the robot correspond to each other in structure. A single first connecting mechanism 31 and a single second connecting mechanism 32 can be connected together. However, since the first connecting mechanism 31 and the second connecting mechanism 32 are arranged on different sides of the main body 10, the connecting mechanisms on the same robot cannot be directly connected, but can be used to connect with corresponding connecting mechanisms on other robots respectively.

[0057] That is, the first connecting mechanism 31 is used for connecting with the second connecting mechanism 32 of another robot, and the second connecting mechanism 32 is used for connecting with the first connecting mechanism 31 of another robot.

[0058] Third, the first connecting mechanism 31 and the second connecting mechanism 32 on different robots can be mechanically connected or magnetically connected. Of course, they can also be connected in any other way. The embodiment of the present invention does not limit the specific structure of the first connecting mechanism 31 and the second connecting mechanism 32. Figure 1 The structure and setting position of the connecting mechanism are for illustration only and are not intended to be limiting.

[0059] Fourth, the moving part 20 at the bottom of the main body 10 is used to drive the robot to move, and can be, for example but not limited to, a universal wheel.

[0060] The top of the main body 10 is used to place the items to be transported. The top can be set as a plane as needed, or a corresponding blocking structure can be set on the top to prevent the items from moving or sliding.

[0061] The robot provided by the embodiment of the present invention has a connection mechanism arranged on the side of the robot, so that when the robot needs to carry an object larger than the robot can bear, multiple robots can be connected to each other through the first connection mechanism 31 and the second connection mechanism 32 to complete the carrying work. In this way, the robot can be set relatively small to avoid the situation where a high-power robot carries small objects, resulting in a waste of resources. When it is necessary to carry larger items, the carrying work can be completed by splicing the robots, thereby expanding the scope of application of the robot.

[0062] Preferably, the first connecting mechanism 31 includes a first connecting component, and the second connecting mechanism 32 includes a second connecting component; the first connecting component is used to be snap-fitted and connected with the second connecting component of another robot, and the second connecting component is used to be snap-fitted and connected with the first connecting component of another robot.

[0063] That is, the two robots are connected together by the first connection member in the first connection mechanism 31 and the second connection member in the second connection mechanism 32 .

[0064] The embodiment of the present invention mechanically connects the first connecting component and the second connecting component in a buckling manner, so the structure is simple, easy to implement, and the connection is reliable.

[0065] Further preferably, Figure 2 As shown, the first connecting member 311 includes: a first rotating shaft 3111, and a first buckling slot 3112 fixedly connected to the first rotating shaft 3111; the second connecting member 321 includes: a second rotating shaft 3211, and a second buckling slot 3212 fixedly connected to the second rotating shaft 3211; Figure 3 As shown, the first snap-fitting slot 3211 and the second snap-fitting slot 3212 of the other robot can be rotated to a connection state, in which the front side wall of the first snap-fitting slot 3112 and the front side wall of the second snap-fitting slot 3212 of the other robot respectively extend into each other's slots, so that the first snap-fitting slot 3112 and the second snap-fitting slot 3212 of the other robot are pulled together.

[0066] When two robots need to be spliced, the first rotating shaft 3111 is used to drive the first snap-fitting slot 3112 to rotate, and the second rotating shaft 3211 is used to drive the second snap-fitting slot 3212 to rotate, so that the first snap-fitting slot 3112 and the second snap-fitting slot 3212 used to connect the two robots are pulled together.

[0067] In addition, the front side wall of the first snap-fitting slot 3112 refers to the side wall of the first snap-fitting slot 3112 close to the second snap-fitting slot 3212 when the two robots are connected; similarly, the front side wall of the second snap-fitting slot 3212 refers to the side wall of the second snap-fitting slot 3212 close to the first snap-fitting slot 3112 when the two robots are connected.

[0068] Furthermore, after the first snap-fitting groove 3112 and the second snap-fitting groove 3212 of another robot are pulled together, Figure 5 As shown, the front side walls of both do not extend into the bottom of the groove of the other party, but can certainly contact the bottom of the groove.

[0069] In the embodiment of the present invention, the first connecting member 311 includes a first rotating shaft 3111 and a first buckling slot 3112 fixedly connected to the first rotating shaft 3111; the second connecting member 321 includes a second rotating shaft 3211 and a second buckling slot 3212 fixedly connected to the second rotating shaft 3211. The first buckling slot 3112 and the second buckling slot 3212 can be rotated to a connected state and a retracted state by the first rotating shaft 3111 and the second rotating shaft 3211, respectively. When connection is required, the two are connected, and when connection is not required, the two are retracted, thereby avoiding damage.

[0070] Preferably, Figure 4 As shown, the first snap-fitting slot 3112 and the second snap-fitting slot 3212 can be rotated to a retracted state, in which the opening of the first snap-fitting slot 3112 faces away from the main body 10 and the opening of the second snap-fitting slot 3212 faces the main body 10 .

[0071] In the embodiment of the present invention, the opening of the first snap-fitting slot 3112 in the folded state is away from the main body 10, and the opening of the second snap-fitting slot 3212 is toward the main body 10. When connecting, the first snap-fitting slot 3112 and the second snap-fitting slot 3212 are respectively rotated by a certain angle, for example, 90° to connect the two, and the structure is simple.

[0072] Optional, such as Figure 5 As shown, a first elastic member 3113 is disposed on the inner side of the front side wall of the first buckling slot 3112 , and a second elastic member 3213 is disposed on the inner side of the front side wall of the second buckling slot 3212 .

[0073] The first elastic member 3113 and the second elastic member 3213 may be, for example, silicone, spring or other similar structures having elastic contraction function.

[0074] In addition, the inner side of the front side wall of the first snap-fitting slot 3112 refers to the side of the front side wall of the first snap-fitting slot 3112 close to the groove, and the inner side of the front side wall of the second snap-fitting slot 3212 refers to the side of the front side wall of the second snap-fitting slot 3212 close to the groove.

[0075] Optionally, a first elastic member 3113 is disposed on the inner side of the front side wall of the first buckling slot 3112 .

[0076] Optionally, a second elastic member 3213 is disposed on the inner side of the front side wall of the second buckling slot 3212 .

[0077] In the embodiment of the present invention, by disposing a first elastic member 3113 on the inner side of the front side wall of the first snap-fitting slot 3112, and / or disposing a second elastic member 3213 on the inner side of the front side wall of the second snap-fitting slot 3212, the first snap-fitting slot 3112 and the second snap-fitting slot 3212 can be more tightly connected.

[0078] In order to further improve the connection effect of the first buckling groove 3112 and the second buckling groove 3212, the embodiment of the present invention is preferably as follows Figure 4 As shown, the first connection mechanism 31 further includes a locking component 312; the locking component 312 is used to lock the first buckling slot 3112 and the second buckling slot 3212 of the other robot in the connected state.

[0079] That is, after the first buckling groove 3112 and the second buckling groove 3212 are connected, the locking component 312 locks the two in the connected state to prevent the two from loosening.

[0080] Of course, the second connecting mechanism 32 may also include a locking component.

[0081] Further preferably, Figure 6 and Figure 7 As shown, the locking component 312 includes a first driving member 3122 having a third rotating shaft 3121, a first gear 3123, a fourth rotating shaft 3124 arranged along the central axis of the first gear 3123 and capable of driving the first gear 3123 to rotate, a synchronous belt 3125 whose two ends are respectively sleeved on the third rotating shaft 3121 and the fourth rotating shaft 3124, and a rack 3126 meshing with the first gear 3123; the front end of the rack 3126 is used to resist the front side wall of the second snap-fitting groove 3212 connected to the first snap-fitting groove 3112 in the connected state.

[0082] An elastic member may also be provided at the front end of the rack 3126. Here, the front end of the rack 3126 refers to an end where the rack 3126 and the front side wall of the second buckling through groove 3212 are subjected to force.

[0083] Here, the principle of the movement of the rack 3126 is: the first driving member 3122 drives the third rotating shaft 3121 to rotate, so as to drive the synchronous belt 3125 to rotate, and the synchronous belt 3125 drives the fourth rotating shaft 3124 to rotate, so as to drive the first gear 3123 to rotate, so that the first gear 3123 drives the rack 3126 meshing with it to rotate.

[0084] In the embodiment of the present invention, the first driving member 3122 and the synchronous belt 3125 are provided to drive the first gear 3123 to rotate, thereby driving the rack 3126 to move, which can facilitate a more reasonable layout of the components on the robot.

[0085] In order to further improve the locking effect of the rack 3126 on the first buckling groove 3112 and the second buckling groove 3212, the embodiment of the present invention is further preferably as follows Figure 8 As shown, a blocking member 3127 is disposed at the front end of the rack 3126 , and a third elastic member 3128 is disposed at the front end of the blocking member 3127 .

[0086] Preferably, Figure 6 and Fig. 9 As shown, the rack 3126 is a double-sided rack, and teeth are provided on two opposite surfaces of the rack 3126; the locking structure 312 also includes a second gear 3129, and the second gear 3129 and the first gear 3123 are respectively engaged with the teeth on the two surfaces of the rack 3126.

[0087] in, Figure 6 The locking component 312 includes two groups of racks 3126 and related transmission components. The racks 3126 and related transmission components can be only one group or multiple groups.

[0088] In the embodiment of the present invention, the locking structure 312 includes a first gear 3123 and a second gear 3129 , thereby ensuring that the rack 3126 moves horizontally.

[0089] In order to realize the intelligent rotation of the first rotating shaft 3111 and the second rotating shaft 3211, in an embodiment of the present invention, preferably, the first connecting component 311 also includes a second driving component for driving the first rotating shaft 3111 to rotate, and the second connecting component 321 also includes a third driving component for driving the second rotating shaft 3211 to rotate.

[0090] Here, it should be noted that the first driving member 3122 , the second driving member, and the third driving member may be, for example but not limited to, driving motors.

[0091] In order to prevent the connection mechanism from being damaged due to collision, the embodiment of the present invention is preferably as follows: Figure 4 As shown, the first connecting mechanism 31 and the second connecting mechanism 32 are both arranged in the recessed portion on the side of the main body 10 .

[0092] Optional, such as Fig.10 As shown, the robot further includes a distance sensor 40 ; the distance sensor 40 is arranged on the side where the first connecting mechanism 31 is located and the side where the second connecting mechanism 32 is located.

[0093] Optionally, the robot further includes a distance sensor 40 ; the distance sensor 40 is arranged on the side where the first connecting mechanism 31 is located.

[0094] Optionally, the robot further includes a distance sensor 40 ; the distance sensor 40 is arranged on the side where the second connecting mechanism 32 is located.

[0095] The embodiment of the present invention can enable the robot to intelligently move a predetermined distance by arranging a distance sensor 40 on the robot, thereby further making the robot intelligent.

[0096] Optional, such as Figure 4As shown, the robot further includes a photoelectric sensor 50, and the photoelectric sensor 50 includes a transmitter 51 and a receiver 52; Fig.11 As shown, a transmitter 51 and a receiver 52 are respectively provided on the side where the first connecting mechanism 31 is located and the side where the second connecting mechanism 32 is located. When the robot is connected to another robot, the transmitter 51 and the receiver 52 on the side where the first connecting mechanism 31 and the side where the second connecting mechanism 32 are located are aligned with each other.

[0097] That is, the transmitter 51 disposed on the side of the first connection mechanism 31 is aligned with the receiver 52 disposed on the side of the second connection mechanism 32. Alternatively, the transmitter 51 disposed on the side of the second connection mechanism 32 is aligned with the receiver 52 disposed on the side of the first connection mechanism 31.

[0098] Among them, a large circle and a small circle are respectively provided on the transmitter 51 and the receiver 52. The large circle emits a large light spot for coarse adjustment, and the small circle emits a small light spot for fine adjustment. Specifically: during the adjustment process, the robot is first adjusted so that the large circle on the receiver 52 can completely receive the light spot emitted by the large circle on the transmitter 51, and then the robot is further adjusted so that the small circle on the receiver 52 can completely receive the light spot emitted by the small circle on the transmitter 51. Of course, it is not limited to a circle, and any other closed shape can be used.

[0099] In the embodiment of the present invention, by arranging the photoelectric sensor 50 on the robot, two robots connected to each other can be adjusted to an alignment state through the photoelectric sensor 50 .

[0100] Optional, such as Figure 4 As shown, the robot further includes a photoelectric sensor 50, and the photoelectric sensor 50 includes a transmitter 51 and a receiver 52; Fig.12 As shown, a transmitter 51 and a receiver 52 are provided on both the side where the first connecting mechanism 31 and the side where the second connecting mechanism 32 are located. When the robot is connected to the other robot, the transmitters 51 on the sides where the first connecting mechanism 31 and the second connecting mechanism 32 that are connected to each other are aligned with the receiver 52 on the opposite side, and the receivers 52 on the sides where the two are located are aligned with the transmitter 51 on the opposite side.

[0101] That is, both the transmitter 51 and the receiver 52 are arranged on the side where the first connecting mechanism 31 and the side where the second connecting mechanism 32 are arranged. The transmitter 51 arranged on the side where the first connecting mechanism 31 is arranged is aligned with the receiver 52 arranged on the side where the second connecting mechanism 32 is arranged, and the receiver 52 arranged on the side where the first connecting mechanism 31 is arranged is aligned with the transmitter 51 arranged on the side where the second connecting mechanism 32 is arranged.

[0102] Preferably, the robot also includes a posture information acquisition module arranged at the bottom of the main body 10, and a first processing module connected to the posture information acquisition module; the posture information acquisition module is used to collect information of the posture label, and the information of the posture label is used to characterize the orientation of each side of the robot; the first processing module is used to match the information collected by the posture information acquisition module with the information of the posture label, and in the case of mismatch, control the robot to adjust the posture until the information collected by the posture information acquisition module completely matches the information of the posture label.

[0103] Taking the first connecting mechanism 31 and the second connecting mechanism 32 as an example, when two robots are spliced, Fig.13 As shown, the information reflected by the posture label 103 is used to characterize the orientation of each side of the robot. If the side where the posture label 103 is located represents the side where the first connecting mechanism 31 of the robot is located, then the opposite side of the side where the posture label 103 is located represents the side where the second connecting mechanism 32 is located. Only when the information collected by the posture information acquisition module at the bottom of the robot is completely consistent with the information of the posture label 103, the two robots can be adjusted to the preset posture (that is, the side where the first connecting mechanism 31 of one robot is located is adjacent to the side where the second connecting mechanism 32 of the other robot is located), so as to be accurately spliced ​​through the first connecting mechanism 31 and the second connecting mechanism 32.

[0104] The information of the collected posture tags completely matches the information of the preset posture tags, that is, the posture information collection module collects the complete posture tags.

[0105] The posture information acquisition module may be, for example, a receiver of a camera or a photoelectric sensor, and the posture tag may correspond to a pattern or a transmitter of a photoelectric sensor.

[0106] Preferably, the robot also includes a position information acquisition module arranged at the bottom of the main body 10, and a second processing module connected to the position information acquisition module; the position information acquisition module is used to collect position tag information, and the position tag information is used to characterize the position of the robot; the second processing module is used to match the information collected by the position information acquisition module with the position tag information, and in case of mismatch, control the robot to adjust its position until the information collected by the position information acquisition module matches the position tag information.

[0107] That is, the second processing module determines whether the robot moves to the preset area by determining whether the position information collection module collects the information of the position tag.

[0108] The information collection module may be, for example, a radio frequency receiver, and the location tag may be a radio frequency electronic tag.

[0109] Here, the first processing module and the second processing module may be integrated into one processor.

[0110] The embodiment of the present invention can realize full intelligent splicing of the robot by arranging a position information acquisition module and a posture information acquisition module and a corresponding processing module at the bottom of the robot.

[0111] Based on the above, in a preferred embodiment of the present invention, the moving member 20 is a Mecanum wheel.

[0112] Further preferably, Fig.14 and Fig.15 As shown, the main body 10 is a cube, and the robot includes two first connection mechanisms 31 and two second connection mechanisms 32 respectively arranged on four sides of the main body 10 .

[0113] The two first connection mechanisms 31 may be disposed on two opposite sides of the main body 10 , or may be disposed on two adjacent sides of the main body 10 .

[0114] In the embodiment of the present invention, two first connection mechanisms 31 and two second connection mechanisms 32 are arranged on four sides of the cube body, so that the robot can be spliced ​​to an infinite size.

[0115] The embodiment of the present invention also provides a robot splicing system, such as Fig.14 and Fig.15 The robot shown includes the above robot, such as Fig.16 As shown, it also includes an integrated area 100, and the integrated area 100 includes a plurality of sub-areas 101, and the sub-areas 101 are provided with position tags 102 and posture tags 103; one robot corresponds to one sub-area 101.

[0116] Here, Fig.14 1, 2, 3, and 4 represent four sides of the robot body 10. Fig.14 Each robot in the embodiment includes two first connection mechanisms 31 located at adjacent sides (1, 2) and two second connection mechanisms 32 located at adjacent sides (3, 4). When multiple robots are spliced, they can be spliced ​​into various shapes, but the direction of each robot is the same, that is, side 1 is connected to side 3, and side 2 is connected to side 4. In this way, during the splicing process, the splicing of any two robots is to connect the first connection mechanism 31 of one robot with the second connection mechanism 32 of the adjacent robot.

[0117] Fig.15 1, 2, 3, and 4 represent four sides of the robot body 10. Fig.15Each robot in the embodiment includes two first connection mechanisms 31 located at opposite sides (1, 3) and two second connection mechanisms 32 located at opposite sides (2, 4). When multiple robots are spliced, they can be spliced ​​into various shapes. According to the position of the posture label setting, each robot can be adjusted to a preset posture so that side 1 is connected to side 4, and side 2 is connected to side 3. In this way, in the splicing process, the splicing of any two robots is to connect the first connection mechanism 31 of one robot with the second connection mechanism 32 of the adjacent robot.

[0118] certainly, Fig.14 and Fig.15 This is only a specific illustration and does not constitute any limitation. Other structures that can connect multiple robots through the first connecting mechanism 31 and the second connecting mechanism 32 all fall within the scope of protection of the present invention.

[0119] Among them, the robot locates the posture tag 103 in the sub-area 101 through the posture information acquisition module and the first processing module, and locates the position tag 102 in the sub-area 101 through the position information acquisition module and the second processing module. When the robot completes the splicing in the robot splicing system, the first connecting mechanism 31 of one robot is connected to the second connecting mechanism 32 of the robot adjacent to it.

[0120] In addition, in order to facilitate the robot to adjust to a preset posture and a preset position in the sub-area 101, the embodiment of the present invention preferably has an area of ​​each sub-area 101 larger than the area occupied by the robot.

[0121] The splicing system provided by the embodiment of the present invention has the same beneficial effects as the robot, which will not be described in detail here.

[0122] An embodiment of the present invention further provides a method for assembling the above-mentioned robot, the method comprising:

[0123] S10, moving the first robot to a preset position of the first sub-area of ​​the integration area 100 and adjusting it to a preset posture, moving the second robot to a preset position of the second sub-area of ​​the integration area 100 and adjusting it to a preset posture, the first sub-area and the second sub-area are adjacent.

[0124] S20 , fixing the first robot, moving the second robot toward the first robot, and connecting the first robot and the second robot through the first connecting mechanism 31 and the second connecting mechanism 32 .

[0125] The robot splicing method provided by the embodiment of the present invention has the same beneficial effects as the robot, which will not be described in detail here.

[0126] The robot splicing method provided by the present invention is described below through specific embodiments:

[0127] Embodiment 1

[0128] A method for splicing the above robot is provided, such as Fig.17 As shown, the method includes:

[0129] S100: A dispatch command is issued.

[0130] S110 , determining the robot closest to the integration area 100 as the robot to be spliced.

[0131] That is, the first robot and the second robot to be spliced ​​are determined.

[0132] S120 , using navigation or path planning to make the robot to be assembled go to the target integration area 100 .

[0133] That is, a laser radar may be installed in the robot, or program commands may be edited in advance so that the robot moves to the integration area 100 along a predetermined path.

[0134] S130 , each robot reaches a preset position by identifying the position tag 102 .

[0135] S140 , each robot adjusts to a preset posture by identifying the posture tag 103 .

[0136] S150, determining a reference robot as the first robot, and moving other robots to be spliced ​​so that two adjacent robots begin to dock.

[0137] S160, splicing is completed.

[0138] Embodiment 2

[0139] A method for splicing the above-mentioned robots is provided, taking the splicing of two robots as an example, such as Fig.18 As shown, the method includes:

[0140] S200 , moving the robot to the sub-area 101 of the integration area 100 .

[0141] S210, collecting information of the location tag 102 in the sub-area.

[0142] S220, matching the information collected by the position information collection module with the position tag information, and in case of mismatch, controlling the robot to adjust the position until the information collected by the position information collection module matches the position tag information.

[0143] That is, it is determined whether the position information acquisition module detects the position tag 102. If so, step S230 is performed; if not, the robot is controlled to adjust the position, and then step S220 is repeated.

[0144] S230, collecting posture tag 103 information in the sub-area.

[0145] S240, matching the information collected by the posture information collection module with the information of the posture tag, and in case of mismatch, controlling the robot to adjust the posture until the information collected by the posture information collection module completely matches the information of the posture tag.

[0146] That is, it is determined whether the information collection module detects the entire posture tag 103. If so, proceed to step S250; if not, control the robot to adjust the posture, and then repeat step S240.

[0147] Here, the step of detecting the entire posture tag 103 can be divided into two steps. The first step is to preliminarily detect whether the posture tag 103 is detected. If so, the robot is rotated to determine whether the entire posture tag 103 is detected.

[0148] When the integrated area 100 includes the position tag 102 and the posture tag 103, and the posture tag 103 is parallel to one side of the robot, between steps S240 and S250, the following is further included:

[0149] S241 , collecting information of the location tag 102 in the sub-area 101 .

[0150] S242: When the collected information does not match the information of the location tag 102, the robot is controlled to rotate 180° in the sub-area 101.

[0151] This can prevent the robot from deviating from its original position when adjusting its posture.

[0152] S250, fixing the first robot, and controlling the second robot to move toward the first robot until the two are separated by a first preset distance.

[0153] In order to facilitate the connection between the first buckling groove 3112 and the second buckling groove 3212 , before executing step S250 , the second buckling groove 3212 may be lifted until the opening of the second buckling groove 3212 is away from the main body 10 .

[0154] S260 , adjusting the second robot until the transmitter 51 and the receiver 52 on the side where the first connecting component 311 is located and the side where the second connecting component 321 is located are aligned.

[0155] At this time, if the first robot and the second robot are far apart, the second robot can be controlled to move toward the first robot until the two are separated by a third preset distance, and then step S270 is executed.

[0156] S270, controlling the first buckling slot 3112 and the second buckling slot 3212 to rotate to a connection state.

[0157] For example, the first buckling slot 3112 and the second buckling slot 3212 can be rotated to be horizontal respectively, and the slots are opposite to each other.

[0158] S280: Control the second robot to move a second preset distance away from the first robot.

[0159] That is, the first buckling groove 3112 and the second buckling groove 3212 are tightened.

[0160] S290, moving the locking component 312 to fasten the connected first buckling groove 3112 and the second buckling groove 3212.

[0161] S2100, such as Fig.19 As shown, the first robot and the second robot are assembled together.

[0162] The step of adjusting the robot to be able to detect the posture tag 103 includes:

[0163] like Fig. 20 As shown, the robot is controlled to move a fifth preset distance in the first direction.

[0164] The collected information of the posture tag is matched with the preset information of the posture tag. If there is a mismatch, the robot is controlled to move a sixth preset distance in the second direction.

[0165] The collected information of the posture tag is matched with the preset information of the posture tag. If there is a mismatch, the robot is controlled to move a seventh preset distance in the third direction.

[0166] The collected information of the posture tag is matched with the preset information of the posture tag. If there is a mismatch, the robot is controlled to move an eighth preset distance in the second direction.

[0167] The collected information of the posture tag is matched with the preset information of the posture tag. If there is no match, the above steps are repeated M times.

[0168] The collected information of the posture tag is matched with the preset information of the posture tag. If there is a mismatch, the robot is controlled to move a ninth preset distance in the fourth direction.

[0169] The collected information of the posture tag is matched with the preset information of the posture tag. If there is a mismatch, the robot is controlled to move a tenth preset distance in the first direction.

[0170] The collected information of the posture tag is matched with the preset information of the posture tag. If there is a mismatch, the robot is controlled to move an eleventh preset distance in the fourth direction.

[0171] The collected information of the posture tag is matched with the preset information of the posture tag. If there is a mismatch, the robot is controlled to move a twelfth preset distance in the third direction.

[0172] The collected information of the posture tag is matched with the preset information of the posture tag. If there is no match, the above steps are repeated N times.

[0173] The first direction and the third direction are respectively perpendicular to the second direction and the fourth direction, the first direction is opposite to the third direction, the second direction is opposite to the fourth direction, and the first direction is parallel to a side of the robot.

[0174] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A robot, comprising a main body and a moving part arranged at the bottom of the main body, characterized in that: It also includes a plurality of connection mechanisms arranged on different sides of the main body; the connection mechanism is composed of a first connection mechanism and a second connection mechanism, the first connection mechanism is used to cooperate and connect with the second connection mechanism of another robot, and the second connection mechanism is used to cooperate and connect with the first connection mechanism of another robot; The first connecting mechanism includes a first connecting component; the first connecting component includes: a first rotating shaft, and a first buckling through groove fixedly connected to the first rotating shaft; The second connecting mechanism includes a second connecting component; the second connecting component includes: a second rotating shaft, and a second buckling through groove fixedly connected to the second rotating shaft; The first snap-fitting slot and the second snap-fitting slot of the other robot can be rotated to a connection state, and the connection state is that the front side wall of the first snap-fitting slot and the front side wall of the second snap-fitting slot of the other robot respectively extend into each other's slot, so that the first snap-fitting slot and the second snap-fitting slot of the other robot are pulled together.

2. The robot according to claim 1, characterized in that: The first connecting component is used for buckling and connecting with the second connecting component of another robot, and the second connecting component is used for buckling and connecting with the first connecting component of another robot.

3. The robot according to claim 1, characterized in that: The first buckling through slot and the second buckling through slot can be rotated to a retracted state, wherein the retracted state is that the opening of the first buckling through slot is away from the main body, and the opening of the second buckling through slot is toward the main body.

4. The robot according to claim 1, characterized in that: A first elastic member is disposed on the inner side of the front side wall of the first buckling slot; and / or a second elastic member is disposed on the inner side of the front side wall of the second buckling slot.

5. The robot according to claim 1, characterized in that: The first connection mechanism further includes a locking component; The locking component is used to lock the first buckling through slot in a connected state and the second buckling through slot of the other robot.

6. The robot according to claim 5, characterized in that: The locking component includes a first driving member having a third rotating shaft, a first gear, a fourth rotating shaft arranged along the central axis of the first gear and capable of driving the first gear to rotate, a synchronous belt with two ends respectively sleeved on the third rotating shaft and the fourth rotating shaft, and a rack meshing with the first gear; The front end of the rack is used to abut against the front side wall of the second buckling through slot connected to the first buckling through slot in the connected state.

7. The robot according to claim 6, characterized in that: A blocking member is disposed at the front end of the rack, and a third elastic member is disposed at the front end of the blocking member.

8. The robot according to claim 6, characterized in that: The rack is a double-sided rack, and teeth are arranged on two opposite surfaces of the rack; The locking structure also includes a second gear, and the second gear and the first gear are respectively meshed with teeth on two surfaces of the rack.

9. The robot according to claim 1, characterized in that: The first connecting component further includes a second driving component for driving the first rotating shaft to rotate, and the second connecting component further includes a third driving component for driving the second rotating shaft to rotate.

10. The robot according to claim 1, characterized in that: Also includes distance sensors; The distance sensor is arranged on the side where the first connecting mechanism is located; and / or, on the side where the second connecting mechanism is located.

11. The robot according to claim 1, characterized in that: Also included is a photoelectric sensor, the photoelectric sensor including a transmitter and a receiver; The transmitter and the receiver are respectively arranged on the side where the first connecting mechanism is located and the side where the second connecting mechanism is located, and when the robot is connected to another robot, the transmitter and the receiver on the side where the first connecting mechanism is located and the side where the second connecting mechanism is located are aligned with each other; or, The transmitter and the receiver are both provided on the side where the first connecting mechanism is located and on the side where the second connecting mechanism is located. When the robot is connected to another robot, the transmitters on the sides where the first connecting mechanism and the second connecting mechanism that are mutually connected are aligned with the receivers on the opposite side, and the receivers on the sides where the two are located are aligned with the transmitters on the opposite side.

12. The robot according to claim 1, characterized in that: It also includes a posture information acquisition module disposed at the bottom of the main body, and a first processing module connected to the posture information acquisition module; The posture information acquisition module is used to collect information of posture tags, and the information of the posture tags is used to characterize the orientation of each side of the robot; The first processing module is used to match the information collected by the posture information collection module with the information of the posture tag. If there is a mismatch, the robot is controlled to adjust its posture until the information collected by the posture information collection module completely matches the information of the posture tag.

13. The robot according to claim 1, characterized in that: It also includes a position information acquisition module disposed at the bottom of the main body, and a second processing module connected to the position information acquisition module; The position information acquisition module is used to acquire information of the position tag, and the information of the position tag is used to represent the position of the robot; The second processing module is used to match the information collected by the position information collection module with the information of the position tag. If there is a mismatch, the robot is controlled to adjust its position until the information collected by the position information collection module matches the information of the position tag.

14. A robot splicing system, characterized in that: A robot comprising a plurality of robots according to any one of claims 1 to 13; It also includes an integrated area, which includes a plurality of sub-areas, wherein position tags and posture tags are arranged in the sub-areas; and one robot corresponds to one sub-area.

15. A method for assembling the robot according to any one of claims 1 to 13, characterized in that: The method comprises: The first robot is moved to a preset position of a first sub-area of ​​the integration area and adjusted to a preset posture, and the second robot is moved to a preset position of a second sub-area of ​​the integration area and adjusted to a preset posture, wherein the first sub-area and the second sub-area are adjacent to each other; The first robot is fixed, the second robot is moved toward the direction close to the first robot, and the first robot and the second robot are connected through a first connection mechanism and a second connection mechanism.

16. The method according to claim 15, characterized in that The steps of moving the robot to a preset position in a sub-area of ​​the integration area include: Move the robot to a sub-area of ​​the integration area; Collect location tag information in the sub-area; The information collected by the position information collection module is matched with the position tag information. If there is a mismatch, the robot is controlled to adjust its position until the information collected by the position information collection module matches the position tag information.

17. The method according to claim 15, characterized in that The steps to adjust the robot to a preset posture include: Collecting posture tag information in the sub-area; The information collected by the posture information collection module is matched with the information of the posture tag. If there is a mismatch, the robot is controlled to adjust its posture until the information collected by the posture information collection module is completely matched with the information of the posture tag.

18. The method according to claim 17, characterized in that The integration region includes a position tag and a posture tag, wherein the posture tag is parallel to an edge of the robot; The steps of adjusting the robot to a preset posture also include: Collect location tag information in the sub-area; When the collected information does not match the location tag information, the robot is controlled to rotate 180° in the sub-area.

19. The method according to claim 15, characterized in that The first connecting component includes a first buckling through groove, and the second connecting component includes a second buckling through groove. The step of connecting the first connecting mechanism and the second connecting mechanism includes: Fixing the first robot, and controlling the second robot to move toward the first robot until the two are separated by a first preset distance; adjusting the second robot until the transmitter and the receiver on the side where the first connecting component is located and the side where the second connecting component is located are aligned; Controlling the first buckling through slot and the second buckling through slot to rotate to a connection state; Controlling the second robot to move a second preset distance in a direction away from the first robot; Moving the locking component to fasten the first buckling through groove and the second buckling through groove after being connected; The first robot and the second robot are assembled together.

Images