Modular robot with energy sharing

Abstract

The invention discloses an energy sharing modular robot. The energy-sharing modular robot comprises a plurality of connecting rod modules and a plurality of energy-sharing modules, wherein at least two connecting media are arranged on each connecting rod module; the power interface or the communication interface of each node module is connected with the two connecting media on at least one connecting rod module; when the power interface of the node module is connected with the two connecting media on the connecting rod module, a charging loop is formed, and the node module and the connecting rod module carry out electric quantity transmission; when the communication interface of the node module is connected with the two connecting media on the connecting rod module, a communication path is formed, and the node module communicates with the connecting rod module. The invention aims to enable the energy sharing modular robot to enable the connecting rod module and the node module to perform energy transmission or communication under the condition of free connection.

Description

Technical Field

[0001] The invention relates to the field of robots, and in particular to an energy-sharing modular robot. Background Art

[0002] Power sharing is a technology widely used in modular robots, which can achieve sustainable operation of the system. The modular self-reconfigurable robot system consists of many robot modules, which can change the configuration autonomously according to the task requirements. This type of robot is not designed for a specific application, but can flexibly change its configuration according to different tasks and environments to cope with complex and changing environments and tasks. Modular self-reconfigurable robots have self-reconfiguration and self-repair functions, so they are highly adaptable and functionally scalable, while freely connected modular robots have better performance in system flexibility. Through power sharing, the power of robots with high power consumption can be replenished immediately, thus avoiding the situation where the power is exhausted and cannot work. The response speed of wired communication is much faster than wireless transmission, so in situations where there are requirements for communication speed, modular robots also need to have wired communication capabilities.

[0003] The traditional charging sharing solution for modular robots with discrete connection points uses fixed interfaces to allow the robot to transfer power at specific connection locations. However, due to the requirement for free connection, the traditional method cannot guarantee that energy can be shared throughout the robot's operation. Similarly, if a freely connected robot uses a fixed-position interface for communication, its movement will be restricted. Summary of the invention

[0004] The main purpose of the present invention is to propose an energy-sharing modular robot, aiming to enable the energy-sharing modular robot to transmit and communicate energy between the connecting rod module and the node module when they are freely connected.

[0005] To achieve the above objectives, the energy-sharing modular robot proposed in the present invention comprises:

[0006] A plurality of connecting rod modules, each of which is provided with at least two connecting media;

[0007] A plurality of node modules, wherein a power interface or a communication interface of each of the node modules is connected to two connection media on at least one of the connecting rod modules;

[0008] When the power interface of the node module is connected to the two connection media on the connecting rod module, a charging circuit is formed, and the node module and the connecting rod module transmit power;

[0009] When the communication interface of the node module is connected to the two connection media on the connecting rod module, a communication path is formed, and the node module communicates with the connecting rod module.

[0010] Optionally, the node module includes:

[0011] A first shell, wherein the first shell is formed with a containing cavity, a first printed circuit board is contained in the first shell, and the first shell is a spherical body;

[0012] A first communication circuit is provided on the first printed circuit board, and the first communication circuit is used to connect two connection media on the connecting rod module and communicate with the connecting rod module;

[0013] The first power supply circuit is arranged on the first printed circuit board and connected to the power supply end of the first communication circuit. The first power supply circuit is used to supply power to the first communication circuit. The first power supply circuit is also used to transmit power with the connecting rod module through the connecting medium.

[0014] Optionally, the first power supply circuit includes a power supply having a positive pole and a negative pole, the first communication circuit includes a communication terminal and a ground terminal, the surface of the first shell is divided into multiple positive pole areas and multiple negative pole areas, the multiple positive pole areas are respectively connected to the positive pole of the power supply and the communication terminal through wires, and the multiple negative pole areas are respectively connected to the negative pole of the power supply and the ground terminal through wires.

[0015] Optionally, the node module further includes:

[0016] A positive electrode interface, provided on the first housing, the positive electrode interface being connected to the positive electrode of the power supply;

[0017] A negative electrode interface, disposed on the first housing, the negative electrode interface being connected to the negative electrode of the power supply;

[0018] A plurality of first positive electrode connection lines, disposed on the first housing and connected to the positive electrode interface, each of the first positive electrode connection lines being used to connect two of the positive electrode regions;

[0019] A plurality of first negative electrode connection lines are arranged on the first shell and connected to the negative electrode interface, and each of the first negative electrode connection lines is used to connect two of the negative electrode areas.

[0020] Optionally, the connecting rod module further includes:

[0021] A charging matching detection circuit, wherein when it is detected that any one of the positive electrode regions is connected to one of the at least two connecting media, and any one of the negative electrode regions is connected to one of the at least two connecting media, the charging matching detection circuit controls the connecting medium to transmit power with the node module through the first power supply circuit.

[0022] Optionally, the connecting rod module further includes:

[0023] A communication matching detection circuit, wherein when it is detected that any one of the positive regions is connected to one of the at least two connection media, and any one of the negative regions is connected to one of the at least two connection media, the communication matching detection circuit controls the connection medium to communicate with the node module through the first communication circuit.

[0024] Optionally, the connecting rod module comprises:

[0025] A second shell, the second shell having an upper surface and a lower surface, at least two connecting media are arranged on the upper surface, and at least two connecting media are arranged on the lower surface;

[0026] The second housing is formed with a receiving cavity, a second printed circuit is contained in the second housing, and the connecting rod module further includes:

[0027] A second communication circuit is provided on the second printed circuit, the second communication circuit is used to connect to the node module through two connection media and communicate with the node module;

[0028] The second power supply circuit is arranged on the second printed circuit, the second power supply circuit is connected to the power supply end of the second communication circuit, the second power supply circuit is used to supply power to the second communication circuit, the positive power supply electrode and the negative power supply electrode of the second power supply circuit are respectively connected to at least two of the connection media, and a charging circuit is formed with the node module through the connection medium to transmit power.

[0029] Optionally, the second housing further comprises a first side surface, a plurality of through holes are formed on the first side surface, and the connecting rod module further comprises:

[0030] A plurality of second connection lines, wherein the plurality of second connection lines pass through a plurality of through holes correspondingly, one end of a second connection line is used to connect to the second power supply circuit, and the other end of a second connection line is used to connect to a connection medium.

[0031] Optionally, the connecting rod module further includes:

[0032] A moving assembly is arranged on the upper surface and the lower surface of the second shell, and the connecting rod module moves on the surface of the node module through the moving assembly;

[0033] Alternatively, the connecting rod module is also used to be moved by the moving assembly.

[0034] Optionally, the connecting rod module further includes:

[0035] The adsorption assembly is arranged on the upper surface and the lower surface of the second shell, and the connecting rod module is connected with the node module through the adsorption assembly.

[0036] The technical solution of the present invention constitutes an energy-sharing modular robot through multiple connecting rod modules and multiple node modules, wherein each connecting rod module is provided with at least two connecting media; the power interface or communication interface of each node module is connected to two connecting media on at least one connecting rod module; when the power interface of the node module is connected to the two connecting media on the connecting rod module, a charging circuit is formed, and the node module and the connecting rod module transmit electricity; when the communication interface of the node module is connected to the two connecting media on the connecting rod module, a communication path is formed, and the node module and the connecting rod module communicate. In this way, this solution enables the connecting rod module to be charged or wired when connected to any position of the node module as long as the connecting medium is connected to the power interface or communication interface of the node module, and the increase in the number of connecting media can improve the success rate of connecting to the power interface of the node module. Compared with the traditional solution using a fixed position interface, the present invention enables the energy-sharing modular robot to be freely connected, so that the connecting rod module and the node module can transmit energy or communicate at any place on the movable plane, without restricting the movement between modules, and will not force the energy-sharing modular robot to always be connected to a fixed position, thereby improving the flexibility of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] 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 the structures shown in these drawings without paying creative work.

[0038] Figure 1 A schematic diagram of functional modules of an energy-sharing modular robot according to an embodiment of the present invention;

[0039] Figure 2 A schematic diagram of functional modules of an embodiment of a node module in an energy-sharing modular robot of the present invention;

[0040] Figure 3 It is a functional module schematic diagram of an embodiment of a connecting rod module in an energy-sharing modular robot of the present invention;

[0041] Figure 4 It is a structural schematic diagram of an embodiment of a node module in an energy-sharing modular robot of the present invention;

[0042] Figure 5 It is a structural schematic diagram of another embodiment of a node module in an energy-sharing modular robot of the present invention;

[0043] Figure 6 It is a structural schematic diagram of an embodiment of a connecting rod module in an energy-sharing modular robot of the present invention;

[0044] Figure 7 It is a structural schematic diagram of another embodiment of the connecting rod module in the energy-sharing modular robot of the present invention;

[0045] Figure 8 It is a structural schematic diagram of another embodiment of a connecting rod module in an energy-sharing modular robot of the present invention;

[0046] Fig. 9 This is a schematic structural diagram of another embodiment of a connecting rod module in an energy-sharing modular robot of the present invention.

[0047] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0048] 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.

[0049] It should be noted that if the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0050] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or suggesting their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0051] Power sharing is a technology widely used in modular robots, which can achieve sustainable operation of the system. The modular self-reconfigurable robot system consists of many robot modules, which can change the configuration autonomously according to the task requirements. This type of robot is not designed for a specific application, but can flexibly change its configuration according to different tasks and environments to cope with complex and changing environments and tasks. Modular self-reconfigurable robots have self-reconfiguration and self-repair functions, so they are highly adaptable and functionally scalable, while freely connected modular robots have better performance in system flexibility. Through power sharing, the power of robots with high power consumption can be replenished immediately, thus avoiding the situation where the power is exhausted and cannot work. The response speed of wired communication is much faster than wireless transmission, so in situations where there are requirements for communication speed, modular robots also need to have wired communication capabilities.

[0052] The traditional charging sharing solution for modular robots with discrete connection points uses fixed interfaces to allow the robot to transfer power at specific connection locations. However, due to the requirement for free connection, the traditional method cannot guarantee that energy can be shared throughout the robot's operation. Similarly, if a freely connected robot uses a fixed-position interface for communication, its movement will be restricted.

[0053] To this end, the present invention proposes an energy-sharing modular robot.

[0054] Reference Figure 1 In one embodiment, the energy-sharing modular robot comprises:

[0055] A plurality of connecting rod modules 10, each of which is provided with at least two connecting media 30;

[0056] A plurality of node modules 20, wherein a power interface or a communication interface of each of the node modules 20 is connected to two connection media 30 on at least one of the connecting rod modules 10;

[0057] When the power interface of the node module 20 is connected to the two connection media 30 on the connecting rod module 10, a charging circuit is formed, and the node module and the connecting rod module transmit power;

[0058] When the communication interface of the node module 20 is connected to the two connection media 30 on the connecting rod module 10 , a communication path is formed, and each of the node modules 20 communicates with at least one of the connecting rod modules 10 .

[0059] In this embodiment, the node module 20 and the connecting rod module 10 of the energy-sharing modular robot are the basic units constituting the robot. Different designs and combinations of the node module 20 and the connecting rod module 10 determine the shape, movement ability and function of the robot. The connecting rod module 10 is a structural component that can connect one or two node modules 20, and the connecting rod module 10 can also reserve installation points or interfaces for connecting sensors or other accessories, which can be set according to actual conditions and user needs. The node module 20 can be composed of components such as sensors and controllers. The node modules 20 can be connected by connecting rod modules 10 to facilitate rapid assembly and disassembly of modules. By combining different numbers and types of nodes and connecting rod modules 10, modular robots with energy sharing in various forms and functions can be constructed, ranging from simple mobile robots to complex operating arms. The advantage of this modular design is that it is highly flexible and can quickly adjust and transform the robot according to specific needs.

[0060] In this solution, a plurality of connection media 30 are arranged on each connecting rod module 10, and the connecting rod module 10 can be connected to the node module 20 through any two connection media 30 to form a corresponding charging circuit or communication path. The connection medium 30 can be a brush, and the brush can make sliding contact with the node module 20 to form an electrical connection. The two brushes can be connected to the positive and negative electrodes of the power supply in the connecting rod module 10 respectively, and then connected to the positive and negative electrodes of the power supply in the node module 20 after sliding contact with the node module 20 to form an electrical connection, so that a charging circuit can be formed for energy transmission, and the power supply interface of the node module 20 can be an interface for connecting the positive and negative electrodes of the power supply circuit in the node module 20; if the power supply in the node module 20 has less power, the power supply in the connecting rod module 10 can be charged to the power supply in the node module 20; if the power supply in the connecting rod module 10 has less power, the power supply in the node module 20 can be charged to the power supply in the connecting rod module 10. In addition, the two brushes can also be connected to the communication end and the ground end of the communication circuit in the connecting rod module 10 respectively, and then connected to the communication interface in the node module 20 after sliding contact with the node module 20 to form a connection, so as to form a communication path for communication. The communication interface can be an interface connecting the communication end and the ground end of the communication circuit in the node module 20. It can be understood that the more brushes there are, the higher the success rate of the available charging circuit and the communication path that can be established on the node module 20. Because the distribution of all brushes on the node module 20 is detected, as long as there is a pair of one positive and one negative, the charging circuit or the communication path can be established, and the more the overall number of all brushes, the higher the success rate; but there will also be an increase in cost, so the number of brushes can be set according to actual needs, and the brushes are set to at least two. Specifically, whether to connect the power interface of the node module 20 with the two connecting media 30 on the connecting rod module 10 to form a charging circuit for energy transmission, or to connect the communication interface of the node module with the two connecting media on the connecting rod module to form a communication path for communication, can be set according to actual conditions and user needs. A button can be set on the robot to control the power interface or communication interface of the node module to be connected with the two connecting media on the connecting rod module by manually triggering the button, so that the robot can transmit energy or communicate. An automatic switching program can also be set in the robot. For example, when the power supply power is lower than a certain power level, the power interface of the node module will be automatically connected to the two connecting media on the connecting rod module for energy transmission.

[0061] Therefore, the energy-sharing modular robot in this solution is not limited to transmitting energy or communicating in one connection state. In different connection states of multiple link modules 10 and multiple node modules 20, two of the multiple connection media 30 can form a charging circuit to transmit energy and a communication path to communicate. In addition, an external power source can also charge the node module 20 or communicate through the connection medium 30.

[0062] The technical solution of the present invention forms an energy-sharing modular robot through multiple connecting rod modules 10 and multiple node modules 20, wherein each connecting rod module 10 is provided with at least two connecting media 30; the power interface or communication interface of each node module 20 is connected to the two connecting media 30 on at least one connecting rod module 10; when the power interface of the node module 20 is connected to the two connecting media 30 on the connecting rod module 10, a charging circuit is formed, and the node module 20 and the connecting rod module 10 transmit electricity; when the communication interface of the node module 20 is connected to the two connecting media 30 on the connecting rod module 10, a communication path is formed, and the node module 20 and the connecting rod module 10 communicate. In this way, the present solution enables the connecting rod module 10 to be charged or wired communicated as long as the connecting medium 30 is connected to the power interface or communication interface of the node module 20 at any position connected to the node module 20, and the increase in the number of connecting media 30 can improve the success rate of connecting with the power interface of the node module 20. Compared with the traditional solution of using fixed position interfaces, the present invention enables the energy-sharing modular robot to be freely connected, so that the connecting rod module 10 and the node module 20 can transmit energy or communicate at any place on the movable plane, without restricting the movement between modules or forcing the energy-sharing modular robot to always be connected in a fixed position, thereby improving the flexibility of the system.

[0063] Reference Figure 2 In one embodiment, the node module 20 includes:

[0064] A first shell 21, wherein the first shell 21 is formed with a receiving cavity, a first printed circuit board is received in the first shell 21, and the first shell 21 is a sphere;

[0065] A first communication circuit 22, which is disposed on the first printed circuit board, and is used to connect the two connection media 30 on the connecting rod module 10 and communicate with the connecting rod module 10;

[0066] The first power supply circuit 23 is arranged on the first printed circuit board and connected to the power supply end of the first communication circuit 22. The first power supply circuit 23 is used to supply power to the first communication circuit 22. The first power supply circuit 23 is also used to transmit power with the connecting rod module 10 through the connecting medium 30.

[0067] In this embodiment, the first shell 21 of the node module 20 can be used to fix the positional relationship of the first printed circuit board, ensure the safety and stability inside the accommodating cavity formed by the first shell 21, and when the node module 20 is working, the positional relationship of the first printed circuit board will not change, and external gas or objects cannot fall on the first printed circuit board to affect the circuit operation on the circuit board. The first shell 21 can be a conductive low-carbon steel spherical shell, which can provide magnetic force to ensure the stability of the connection with the connecting rod module 10. Magnets and other devices can be set on the connecting rod module 10 to adsorb to the first shell 21. In addition, the first shell 21 is set as a sphere, which can facilitate the energy-sharing modular robot to move, so that the connecting medium 30 on the connecting rod module 10 can contact any surface on the first shell 21; and the first shell 21 can be set as a divisible sphere, so that when the internal circuit or module fails, the sphere can also be opened to facilitate the inspection and maintenance of the internal circuit or module. The specific segmentation diagram can refer to Figure 4 . The first communication circuit 22 can be composed of devices such as communication chips, and can form a communication path by connecting the connecting rod module 10 through the connecting medium 30, so as to realize the communication between the node module 20 and the connecting rod module 10. The first power supply circuit 23 can be composed of a power supply and a DC-DC circuit, and the power supply can be a lithium battery or other batteries; the first power supply circuit 23 can supply power to the first communication circuit 22 and the peripheral circuits in the node module 20, and can also form a charging circuit with the connecting rod module 10 through the connecting medium 30 to transmit power.

[0068] In one embodiment, the first power supply circuit 23 includes a power supply having a positive pole and a negative pole, the first communication circuit 22 includes a communication terminal and a ground terminal, and the surface of the first shell 21 is divided into multiple positive electrode areas and multiple negative electrode areas, the multiple positive electrode areas are respectively connected to the positive pole of the power supply and the communication terminal through wires, and the multiple negative electrode areas are respectively connected to the negative pole of the power supply and the ground terminal through wires.

[0069] In this embodiment, the power source can be a lithium battery or other battery; multiple positive electrode areas and multiple negative electrode areas can be staggered on the surface of the first shell 21, and the specific distribution can be adjusted according to actual conditions and user needs, and is not limited here. The positive and negative electrodes of the power source can be connected to the positive and negative electrode areas on the surface of the first shell 21 through wires, and the connecting rod module 10 can also include a power circuit, and the brushes on the connecting rod module 10 can be respectively connected to the positive and negative electrodes of the power circuit in the connecting rod module 10; in this way, when the two brushes on the connecting rod module 10 that are respectively connected to the positive and negative electrodes contact a positive electrode area and a negative electrode area on the node module 20, respectively, a charging circuit can be formed between the connecting rod module 10 and the node module 20 to complete energy transmission. Similarly, the communication path is that a brush on the connecting rod module 10 is connected to the communication end of the first communication circuit 22 through a positive electrode area, and the other brush is connected to the ground end of the first communication circuit 22 through a negative electrode area, forming a communication path for single bus communication.

[0070] Refer to 4 to Figure 5 In one embodiment, the node module 20 further includes:

[0071] A positive electrode interface 1, which is disposed on the first housing 21 and is connected to the positive electrode of the power source;

[0072] A negative electrode interface 2, which is disposed on the first housing 21 and is connected to the negative electrode of the power supply;

[0073] A plurality of first positive electrode connection lines are arranged on the first housing 21 and connected to the positive electrode interface 1, and each of the first positive electrode connection lines is used to connect two of the positive electrode areas;

[0074] A plurality of first negative electrode connection lines are disposed on the first shell 21 and connected to the negative electrode interface 2 , and each of the first negative electrode connection lines is used to connect two of the negative electrode regions.

[0075] In this embodiment, a plurality of first positive electrode connection lines connect a plurality of positive electrode areas and then connect to the positive electrode interface 1, thereby realizing the connection between the plurality of positive electrode areas and the positive electrode of the power source; a plurality of first negative electrode connection lines connect a plurality of negative electrode areas and then connect to the negative electrode interface 2, thereby realizing the connection between the plurality of negative electrode areas and the negative electrode of the power source. And an external power source can also be connected to the power source through the positive electrode interface 1 and the negative electrode interface 2 to charge the power source in the node module 20. Similarly, an interface for communication connection can also be set on the node module 20. Figure 5 In the figure, the plurality of first positive electrode connection wires and the plurality of first negative electrode connection wires are both indicated by 3, which are wires used to connect regions with the same polarity. Figure 5 The reference numeral 4 in the figure represents an internal resin bracket for supporting the shell; Figure 5 Reference numeral 5 in the figure represents a low-carbon steel sheet constituting the positive electrode region and the negative electrode region on the first shell 21 .

[0076] In one embodiment, the connecting rod module 10 further includes:

[0077] A charging matching detection circuit, when detecting that any one of the positive electrode regions is connected to one of at least two of the connecting media 30, and any one of the negative electrode regions is connected to one of at least two of the connecting media 30, controls the connecting medium 30 to transmit power with the node module 20 through the first power supply circuit 23.

[0078] In this embodiment, the charging matching detection circuit can be composed of electronic components such as a controller, a switch tube, a resistor and a capacitor. The charging matching detection circuit can detect all possible brush combinations by controlling the switch, and detect a suitable combination, that is, a positive electrode area is connected to at least one of the two connecting media 30, and any negative electrode area is connected to at least one of the two connecting media 30. The specific detection and judgment criteria for whether the positive electrode area and the negative electrode area are connected to the connecting medium 30 can be adjusted and set according to user needs. When it is detected that there is no feasible brush combination, the node module 20 of the energy-sharing modular robot can be controlled to rotate, and then the detection is repeated, and this step is repeated until it is successfully detected that the two brushes on the connecting rod module 10 can match the positive electrode area and the negative electrode area on the node module 20 to form a charging circuit. It can be understood that the charging of the energy-sharing modular robot needs to be paused during movement to avoid short circuits.

[0079] In one embodiment, the connecting rod module 10 further includes:

[0080] A communication matching detection circuit, when detecting that any one of the positive regions is connected to one of at least two of the connection media 30, and any one of the negative regions is connected to one of at least two of the connection media 30, controls the connection medium 30 to communicate with the node module 20 through the first communication circuit 22.

[0081] In this embodiment, the specific principle of the communication matching detection circuit can refer to the charging matching detection circuit, which will not be repeated here. It should be noted that the communication between the node module 20 and the connecting rod module 10 does not need to be suspended during the movement of the modular robot. When the communication is short-circuited, the pin of the communication matching detection circuit will detect a timeout low-level signal, thereby re-detecting. In theory, the robot needs to be stationary during the detection process, but in fact the detection process is very short, usually about a few milliseconds. The impact of this detection time on movement can be ignored in practical applications.

[0082] Reference Figure 3 In one embodiment, the connecting rod module 10 comprises:

[0083] A second shell 11, the second shell 11 has an upper surface and a lower surface, at least two connecting media 30 are arranged on the upper surface, and at least two connecting media 30 are arranged on the lower surface;

[0084] The second housing 11 is formed with a receiving cavity, and a second printed circuit is contained in the second housing 11. The connecting rod module 10 further includes:

[0085] A second communication circuit 12, which is arranged on the second printed circuit, and the second communication circuit 12 is used to connect to the node module 20 through two connection media 30 and communicate with the node module 20;

[0086] The second power supply circuit 13 is arranged on the second printed circuit. The second power supply circuit 13 is connected to the power supply end of the second communication circuit 12. The second power supply circuit 13 is used to supply power to the second communication circuit 12. The positive power pole and the negative power pole of the second power supply circuit 13 are respectively connected to at least two of the connecting media 30, and a charging circuit is formed with the node module 20 through the connecting medium 30 to transmit power.

[0087] In this embodiment, the role of the second shell 11 of the connecting rod module 10 can refer to the role of the first shell 21 of the node module 20. The connecting rod module 10 can be connected to the node module 20 through the connecting medium 30 on the upper surface of the second shell 11, and can also be connected to the node module 20 through the connecting medium 30 on the lower surface of the second shell 11, so one connecting rod module 10 can be connected to two node modules 20; if necessary, the connecting rod module 10 can also be provided with multiple surfaces to connect multiple node modules 20. At least two connecting media 30 are provided on each surface to ensure that one surface can form a charging circuit or a communication path with the node module 20. The second communication circuit 12 can also be composed of devices such as communication chips, and the node module 20 is connected through the connecting medium 30 to form a communication path, thereby realizing communication between the node module 20 and the connecting rod module 10. The second power supply circuit 13 can also be composed of a power supply and a DC-DC circuit, and the power supply can be a lithium battery or other batteries; the second power supply circuit 13 can supply power to the second communication circuit 12 and the peripheral circuits in the connecting rod module 10, and can also form a charging circuit with the node module 20 through the connecting medium 30 to transmit power.

[0088] In one embodiment, the second housing 11 further has a first side surface, and a plurality of through holes are formed on the first side surface. The connecting rod module 10 further includes:

[0089] A plurality of second connection lines, wherein the plurality of second connection lines pass through a plurality of through holes correspondingly, one end of a second connection line is used to connect to the second power supply circuit 13 , and the other end of a second connection line is used to connect to a connection medium 30 .

[0090] In this embodiment, the second power circuit 13 is disposed in the accommodation cavity of the second housing 11, and the connection medium 30 is disposed on the upper surface and the lower surface of the second housing 11. The second connection line passes through the through hole provided on the first side surface, and the electrical connection between the second power circuit 13 and the connection medium 30 can be realized, so that the power supply in the node module 20 is connected to the second power circuit 13 in the connecting rod module 10 through the connection medium 30, forming a charging circuit. Similarly, the second connection line can also realize the connection between the second communication circuit 12 and the connection medium 30.

[0091] Reference Figures 6 to 9 In one embodiment, the connecting rod module 10 further includes:

[0092] A moving assembly 14 is disposed on the upper surface and the lower surface of the second housing 11, and the connecting rod module 10 moves on the surface of the node module 20 through the moving assembly 14;

[0093] Alternatively, the connecting rod module 10 is also configured to be moved by the moving assembly 14 .

[0094] In this embodiment, the moving assembly 14 can be a plurality of rollers, and the rollers are arranged on the upper and lower surfaces of the second housing 11, so as to facilitate the sliding of the connecting rod module 10 on the surface of the spherical node module 20. In other cases, the connecting rod module 10 can also be moved on the movable plane by the rollers.

[0095] Reference Figures 6 to 9 In one embodiment, the connecting rod module 10 further includes:

[0096] The adsorption assembly 15 is disposed on the upper surface and the lower surface of the second shell 11 , and the connecting rod module 10 is connected to the node module 20 via the adsorption assembly 15 .

[0097] In this embodiment, the adsorption component 15 can be a plurality of magnets, and a plurality of magnets are arranged on the upper surface and the lower surface of the second shell 11; the first shell 21 of the node module 20 is made of a conductive low-carbon steel spherical shell, so that the second shell 11 of the connecting rod module 10 and the first shell 21 of the node module 20 can be adsorbed and connected to ensure the stability of the robot.

[0098] In one embodiment, the surface of the first shell 21 of the node module 20 of the present invention can adopt a fixed distribution method of positive and negative regions, and then use the circuit inside the node module 20 to realize the independent control of the positive and negative electrodes of each region. In this way, the connecting rod module 10 only needs to install two brushes, and the positive and negative electrodes of the brushes can be adapted to the positive and negative electrodes of the brushes by changing the positive and negative electrodes of the regions. This solution can simplify the structure of the connecting rod module 10; however, this solution will increase the complexity of the circuit inside the node and may affect the weight of the node module 20. Therefore, users can choose according to actual needs. The structure of the connecting rod module 10 with two brushes can refer to Fig. 9 .

[0099] The above descriptions are only optional embodiments of the present invention, and are not intended to limit the patent scope of the present invention. All equivalent structural changes made using the contents of the present invention's specification and drawings under the technical concept of the present invention, or directly / indirectly applied in other related technical fields, are included in the patent protection scope of the present invention.

Claims

1. An energy-sharing modular robot, characterized in that: include: A plurality of connecting rod modules, each of which is provided with at least two connecting media; A plurality of node modules, wherein a power interface or a communication interface of each of the node modules is connected to two connection media on at least one of the connecting rod modules; When the power interface of the node module is connected to the two connection media on the connecting rod module, a charging circuit is formed, and the node module and the connecting rod module transmit power; When the communication interface of the node module is connected to the two connection media on the connecting rod module, a communication path is formed, and the node module communicates with the connecting rod module.

2. The energy-sharing modular robot according to claim 1, characterized in that: The node module includes: A first shell, wherein the first shell is formed with a containing cavity, a first printed circuit board is contained in the first shell, and the first shell is a spherical body; A first communication circuit is provided on the first printed circuit board, and the first communication circuit is used to connect two connection media on the connecting rod module and communicate with the connecting rod module; The first power supply circuit is arranged on the first printed circuit board and connected to the power supply end of the first communication circuit. The first power supply circuit is used to supply power to the first communication circuit. The first power supply circuit is also used to transmit power with the connecting rod module through the connecting medium.

3. The energy-sharing modular robot according to claim 2, characterized in that: The first power supply circuit includes a power supply having a positive pole and a negative pole. The first communication circuit includes a communication terminal and a ground terminal. The surface of the first shell is divided into multiple positive electrode areas and multiple negative electrode areas. The multiple positive electrode areas are respectively connected to the positive pole of the power supply and the communication terminal through wires, and the multiple negative electrode areas are respectively connected to the negative pole of the power supply and the ground terminal through wires.

4. The energy-sharing modular robot according to claim 3, characterized in that: The node module also includes: A positive electrode interface, provided on the first housing, the positive electrode interface being connected to the positive electrode of the power supply; A negative electrode interface, disposed on the first housing, the negative electrode interface being connected to the negative electrode of the power supply; A plurality of first positive electrode connection lines, disposed on the first housing and connected to the positive electrode interface, each of the first positive electrode connection lines being used to connect two of the positive electrode regions; A plurality of first negative electrode connection lines are arranged on the first shell and connected to the negative electrode interface, and each of the first negative electrode connection lines is used to connect two of the negative electrode areas.

5. The energy-sharing modular robot according to claim 3, characterized in that: The connecting rod module comprises: A charging matching detection circuit, wherein when it is detected that any one of the positive electrode regions is connected to one of the at least two connecting media, and any one of the negative electrode regions is connected to one of the at least two connecting media, the charging matching detection circuit controls the connecting medium to transmit power with the node module through the first power supply circuit.

6. The energy-sharing modular robot according to claim 3, characterized in that: The connecting rod module comprises: A communication matching detection circuit, wherein when it is detected that any one of the positive regions is connected to one of the at least two connection media, and any one of the negative regions is connected to one of the at least two connection media, the communication matching detection circuit controls the connection medium to communicate with the node module through the first communication circuit.

7. The energy-sharing modular robot according to claim 1, characterized in that: The connecting rod module comprises: A second shell, the second shell having an upper surface and a lower surface, at least two connecting media are arranged on the upper surface, and at least two connecting media are arranged on the lower surface; The second housing is formed with a receiving cavity, a second printed circuit is contained in the second housing, and the connecting rod module further includes: A second communication circuit is provided on the second printed circuit, the second communication circuit is used to connect to the node module through two connection media and communicate with the node module; The second power supply circuit is arranged on the second printed circuit, the second power supply circuit is connected to the power supply end of the second communication circuit, the second power supply circuit is used to supply power to the second communication circuit, the positive power supply electrode and the negative power supply electrode of the second power supply circuit are respectively connected to at least two of the connection media, and a charging circuit is formed with the node module through the connection medium to transmit power.

8. The energy-sharing modular robot according to claim 7, characterized in that: The second housing further comprises a first side surface, a plurality of through holes are formed on the first side surface, and the connecting rod module further comprises: A plurality of second connection lines, wherein the plurality of second connection lines pass through a plurality of through holes correspondingly, one end of a second connection line is used to connect to the second power supply circuit, and the other end of a second connection line is used to connect to a connection medium.

9. The energy-sharing modular robot according to claim 7, characterized in that: The connecting rod module also includes: A moving assembly is arranged on the upper surface and the lower surface of the second shell, and the connecting rod module moves on the surface of the node module through the moving assembly; Alternatively, the connecting rod module is also used to be moved by the moving assembly.

10. The energy-sharing modular robot according to claim 7, characterized in that: The connecting rod module also includes: The adsorption assembly is arranged on the upper surface and the lower surface of the second shell, and the connecting rod module is connected with the node module through the adsorption assembly.

Images