Supporting and adjusting assembly, functional assembly and robot

Abstract

The supporting and adjusting assembly is suitable for being installed on a robot, the supporting and adjusting assembly comprises a base, a bearing part, a first driving device and a second driving device, the bearing part and the base are oppositely arranged, the bearing part is provided with a first connecting part, and the first connecting part is used for being detachably connected with a functional assembly; the first driving device is used for driving the bearing part to get close to or away from the base. The second driving device is used for driving the bearing part to pitch relative to the base. In the using process, the first connecting part can be connected with various types of functional assemblies, and then function expansion is achieved. By means of the first driving device and the second driving device, the bearing part can be relatively close to or away from the base or pitch relative to the base, and the functional assembly can achieve corresponding expansion functions. In addition, the embodiment of the invention further provides a functional assembly and a robot.

Description

Technical Field

[0001] The present application relates to the field of robotics technology, and in particular to a support and adjustment component, a functional component and a robot. Background Art

[0002] At present, various types of robots that can walk or move on their own are developing rapidly, especially in home environments, where sweeping robots and floor-washing robots have been widely used. Such robots can usually only perform a single function, for example, sweeping robots can usually only perform sweeping operations, and floor-washing robots can usually only perform floor-washing operations, which limits the use of robots. Users need to purchase multiple robots to achieve multi-purpose use, which is a waste of financial resources and increases the space occupied in the home, which is not conducive to the promotion and use of robots. Summary of the invention

[0003] The embodiments of the present application provide a support and adjustment component, a functional component and a robot to at least partially improve the above-mentioned technical problems.

[0004] In the first aspect, the embodiment of the present application provides a support adjustment assembly suitable for installation on a robot, the support adjustment assembly includes a base, a bearing part, a first driving device and a second driving device, the bearing part is arranged opposite to the base, the bearing part is provided with a first connecting part, the first connecting part is used to be detachably connected to the functional component, the first driving device is used to drive the bearing part to approach or move away from the base, and the second driving device is used to drive the bearing part to pitch relative to the base.

[0005] In a second aspect, an embodiment of the present application further provides a functional component suitable for installation on a robot, wherein the functional component comprises a main body and a second connecting portion arranged on the main body, wherein the second connecting portion is used for detachably connecting to the first connecting portion of the support and adjustment component.

[0006] In a third aspect, an embodiment of the present application further provides a robot, comprising a robot body and the above-mentioned support adjustment component, wherein the support adjustment component is arranged on the robot body.

[0007] The support adjustment assembly provided in the embodiment of the present application can be installed on a robot. During use, the first connecting portion can be connected to various types of functional components to achieve functional expansion. Using the first drive device and the second drive device, the bearing portion can be relatively close to or away from the base, or pitch relative to the base, and the functional component can achieve the corresponding extended function. The functional component provided in the embodiment of the present application can be detachably connected to the support adjustment assembly installed on the robot, and then through the movement of the robot, the support adjustment assembly can achieve multiple degrees of freedom of movement and perform the corresponding function.

[0008] The robot provided in the embodiment of the present application, in addition to realizing its own functions, can also connect a variety of different functional components through the support adjustment components on the robot body, thereby expanding the functions of the robot and improving the versatility of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] In order to more clearly illustrate the technical solution of the application, the drawings required for use in the implementation will be briefly introduced below. Obviously, the drawings described below are only some implementation methods of the application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0010] Figure 1 It is a schematic diagram of the structure of a robot shown in an embodiment of the present application.

[0011] Figure 2 It is a schematic diagram of the cross-sectional structure of a robot shown in an embodiment of the present application.

[0012] Figure 3 It is a structural schematic diagram of a support adjustment component proposed in an embodiment of the present application at a first viewing angle.

[0013] Figure 4 It is a structural schematic diagram of a support adjustment component proposed in an embodiment of the present application under a second viewing angle.

[0014] Figure 5 It is a schematic diagram of the split structure of a support and adjustment component proposed in an embodiment of the present application.

[0015] Figure 6 It is a schematic diagram of the structure of another robot provided in an embodiment of the present application.

[0016] Figure 7 It is a structural diagram of a functional component provided in an embodiment of the present application.

[0017] Figure 8 This is a cross-sectional structural diagram of a functional component provided in an embodiment of the present application.

[0018] Fig. 9 yes Figure 8 Enlarged view of point A in the middle.

[0019] Fig.10 It is a schematic diagram of the cross-sectional structure of a support and adjustment component and a functional component in an assembled state provided in this embodiment.

[0020] Fig.11 It is a schematic cross-sectional structure diagram of another support adjustment component and a functional component in an assembled state provided in this embodiment. DETAILED DESCRIPTION

[0021] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0022] At present, in the field of mobile robots, the most widely developed are wheeled mobile robots. In the field of wheeled mobile robots, the most mature applications on the market are sweeping robots and mobile platforms used in factories. Mobile robots usually have basic positioning, mapping and mobility capabilities, while sweeping robots usually have a single function. For example, the main function of sweeping robots is to clean the floor at home, so their mapping and mobility capabilities are not fully utilized, resulting in a waste of resources. It also limits the use of robots. Users need to purchase multiple robots to achieve multi-purpose use, which not only wastes financial resources, but also increases the space occupied in the home, which is not conducive to the promotion and use of robots.

[0023] Based on the above technical problems, the inventor of the present application proposes a robot to diversify the use of the robot. The "robot" used in the embodiments of the present application includes, but is not limited to, a multi-legged robot, a sweeping robot, a wheeled robot, a wheel-legged robot, etc.

[0024] See also Figure 1 , this embodiment provides a robot 10, the robot 10 includes a robot body 100 and a support adjustment component 200, wherein the robot body 100 includes a main body and a traveling device 101, the traveling device 101 can be a walking foot or a traveling wheel, which is not limited in this embodiment. Various types of components can be provided in the main body to perform predetermined functions. For example: the main body can be provided with a camera and / or a radar so that the robot 10 has visual perception capabilities. The support adjustment component 200 is provided in the robot body 100. In this embodiment, the robot body 100 is taken as an example of a sweeping robot 10, and the robot body 100 is provided with a water tank (not shown), a dust box (not shown), a roller 102, a rag (not shown) and other structures, which are not elaborated in this embodiment, and those skilled in the art can refer to the sweeping robot structure in the relevant technology. In addition, the main body is also provided with a suspension system 103, and the roller 102 is installed on the suspension system 103, so that the robot body 100 can travel in various different environments.

[0025] The robot body 100 may further include a proximity sensor (not shown), which is used to sense the change in the distance between the robot body 100 and the road surface. As a more specific implementation, the proximity sensor may be provided at the head of the robot body 100 in the direction of travel, and is used to obtain the distance between the robot body 100 and the wall or obstacle.

[0026] The robot body 100 may also include an inertial measurement unit (not shown). The inertial measurement unit (IMU) may include a gyroscope. The gyroscope may be used to obtain angular velocity, wherein the gyroscope may be, for example, a 4-axis, 6-axis, or other structure, which is not limited here. The inertial measurement unit may be disposed at any part of the robot body 100, and the inertial measurement unit may be one or more, which is not limited here. The robot body 100 may perform yaw calibration on the angular velocity data obtained by the gyroscope. The robot body 100 may also include a magnetometer. The parameters obtained by the magnetometer may be used to correct the angular velocity data, thereby improving the accuracy of the travel trajectory of the robot body 100.

[0027] See also Figure 2 The support and adjustment assembly 200 includes a base 210, a bearing portion 230, a first driving device 250, and a second driving device 270, wherein the base 210 can be installed on the robot body 100. In one embodiment, the base 210 can be fixed to the robot body 100 in a detachable manner, for example, the base 210 can be fixed to the robot body 100 by bolts, or by snaps. In other embodiments, the base 210 can also directly form an integral structure with the robot body 100, or be fixedly connected by welding, etc., which is not limited in this embodiment.

[0028] The base 210 can be fixed at any position of the robot 10. In this embodiment, the base 210 is installed on the top surface of the robot body 100. This arrangement will not affect the movement of the robot body 100 or the operation of the robot body 100. On the other hand, it will not increase the space occupied by the robot body 100 in the plane direction. Of course, it is understandable that in some other embodiments, the base 210 can also be connected to other positions of the robot body 100, such as the tail of the robot body 100.

[0029] The base 210 and the bearing part 230 are arranged relative to each other, that is, there is a gap between the base 210 and the bearing part 230, and the bearing part 230 can be configured into any structure, which is not limited in this embodiment. In this embodiment, the bearing part 230 is configured as a roughly plate-like structure, and the bearing part 230 includes two opposite surfaces, namely a first surface and a second surface, wherein the first surface is close to the base 210, and the second surface is far away from the base 210. The base 210 and the bearing part 230 can be close to each other or far away from each other, that is, the bearing part 230 has the degree of freedom to approach or move away from the base 210. At the same time, the bearing part 230 can pitch relative to the base 210, that is, the bearing part 230 has the degree of freedom of pitch. Among them, the pitch degree of freedom refers to the degree of freedom of the bearing part 230 to rotate relative to the robot body 100 and the base 210 around the axis direction located in the horizontal plane. Among them, the direction in which the bearing part 230 pitches relative to the base 210 can be any direction, which is not limited in this embodiment. In a more specific embodiment, the axial direction of the bearing portion 230 relative to the pitch axis of the base 210 may be perpendicular to the travel direction of the robot body 100. In another more specific embodiment, the axial direction of the bearing portion 230 relative to the pitch axis of the base 210 may be parallel to the travel direction of the robot body 100.

[0030] The carrier 230 can be used to support the functional component 300 ( Figure 6 Therefore, in order to better cooperate with the functional component 300, the second surface of the bearing portion 230 can be configured to be adapted to the functional component 300, so that the second surface can better fit the functional component 300, increase the contact area, and disperse the torque. In one embodiment, the second surface can be configured as a plane. Of course, in other embodiments, the second surface can also be in other forms, which is not limited in this embodiment.

[0031] The first driving device 250 is used to drive the bearing part 230 to move closer to or away from the base 210, that is, the first driving device 250 provides a driving force for the bearing part 230 to drive the bearing part 230 to move closer to or away from the base 210. In one embodiment, the first driving device 250 can be, for example, a telescopic cylinder, a hydraulic cylinder, etc. This embodiment is not limited to this. The first driving device 250 can be disposed on the base 210 and directly connected to the bearing part 230 to drive the bearing part 230 to move.

[0032] In order to improve the stability of the bearing portion 230 during the movement, in this embodiment, please refer to Figure 3 , Figure 4 as well as Figure 5The support adjustment assembly 200 also includes a telescopic assembly 260 , which includes at least two groups of connecting rod assemblies 261 and a first connecting shaft 262 . The at least two groups of connecting rod assemblies 261 are arranged side by side, and the first connecting shaft 262 connects at least two connecting rod assemblies 261 . Specifically, in this embodiment, the telescopic assembly 260 includes two groups of connecting rod assemblies 261 and a first connecting shaft 262. The two connecting rod assemblies 261 are arranged side by side and spaced apart. Each connecting rod assembly 261 includes a first connecting rod 263 and a second connecting rod 264. One end of the first connecting rod 263 is rotatably connected to the base 210, and the other end is rotatably connected to one end of the second connecting rod 264. The end of the second connecting rod 264 away from the first connecting rod 263 is rotatably connected to the bearing part 230. When the first connecting rod 263 rotates toward the base 210, it drives the second connecting rod 264 to rotate, driving the bearing part 230 to approach the base 210. When the first connecting rod 263 rotates toward the direction away from the base 210, it drives the second connecting rod 264 to rotate, driving the bearing part 230 away from the base 210.

[0033] In this embodiment, the base 210 is provided with a mounting seat 211, and the surface (i.e., the first surface) of the bearing portion 230 facing the base 210 is also provided with a mounting seat, and one end of the first connecting rod 263 away from the second connecting rod 264 is pivotally connected to the mounting seat 211 of the base 210, and one end of the second connecting rod 264 away from the first connecting rod 263 is pivotally connected to the mounting seat 211 of the bearing portion 230. One end of the first connecting rod 263 away from the base 210 is pivotally connected to one end of the second connecting rod 264 away from the bearing portion 230.

[0034] The first connecting shaft 262 is connected between the two connecting rod assemblies 261. Specifically, the first connecting shaft 262 can be connected between the first connecting rods 263 of the two connecting rod assemblies 261, or between the second connecting rods 264 of the two connecting rod assemblies 261. One end of the first connecting shaft 262 can also be connected to the first connecting rod 263 of one connecting rod assembly 261, and the other end can be connected to the second connecting rod 264 of the other connecting rod assembly 261. In this embodiment, the axial direction of the first connecting shaft 262 is substantially parallel to the first surface, and the first connecting shaft 262 is connected between the first connecting rods 263 of the two connecting rod assemblies 261, so that the distance between the first connecting shaft 262 and the base 210 is smaller, which is convenient for the subsequent setting of the first driving device 250.

[0035] In this embodiment, there are two groups of telescopic assemblies 260, and the two groups of telescopic assemblies 260 are arranged at intervals. The number of connecting rod assemblies 261 of the two groups of telescopic assemblies 260 is the same, and they are arranged one by one, which helps to improve the stability of the telescopic assemblies 260 when working. More specifically, the area surrounded by the four connection points of the two groups of telescopic assemblies 260 and the base 210 is roughly rectangular. Similarly, the area surrounded by the four connection points of the two groups of telescopic assemblies 260 and the bearing part 230 is roughly rectangular, and the four connection points of the two groups of telescopic assemblies 260 and the base 210 correspond to the four connection points of the two groups of telescopic assemblies 260 and the bearing part 230. In this arrangement, since the gravity of the bearing part 230 and the functional assembly 300 subsequently assembled on the bearing part 230 can be vertically transmitted to the base 210 through the four connection points, the structural stability is higher, avoiding the stability problem of the robot 10 in subsequent work.

[0036] The first connecting shafts 262 of the two telescopic assemblies 260 can be located at the same level, that is, the distances between the first connecting shafts 262 of the two telescopic assemblies 260 and the first surface can be equal. This facilitates the subsequent arrangement of the first driving device 250, keeps the two telescopic assemblies 260 driven synchronously, and makes the bearing portion 230 more stable during movement.

[0037] In this embodiment, please continue to refer to Figure 4 and Figure 5 , the first driving device 250 is connected to the first connecting shaft 262, and is used to drive the connecting rod assembly 261 to extend and retract. Specifically, the first driving device 250 is configured as a telescopic cylinder, a hydraulic cylinder, etc. The first driving device 250 is disposed on the base 210, and the piston rod of the first driving device 250 is connected to the first connecting shaft 262. When the first driving device 250 extends outward, it drives the first connecting shaft 262 to move in a direction away from the base 210, the first connecting shaft 262 drives the first connecting rod 263 to rotate relative to the base 210, drives the second connecting rod 264 to rotate relative to the bearing part 230, and then drives the bearing part 230 to move in a direction away from the base 210. When the first driving device 250 contracts inward, it drives the first connecting shaft 262 to move in a direction close to the base 210, the first connecting shaft 262 drives the first connecting rod 263 to rotate relative to the base 210, drives the second connecting rod 264 to rotate relative to the bearing part 230, and then drives the bearing part 230 to move in a direction close to the base 210.

[0038] Among them, the first driving device 250 can drive multiple groups of telescopic components 260 to move at the same time, so that the multiple groups of telescopic components 260 can be driven synchronously, so that the bearing part 230 can maintain a stable state when moving relative to the base 210. In this embodiment, there can be multiple first driving devices 250, and the multiple first driving devices 250 and the telescopic components 260 are the same in number and are arranged one by one. Each first driving device 250 is connected to a first connecting shaft 262 of a telescopic component 260 to drive the telescopic component 260 to achieve telescoping. It can be understood that when there are multiple first driving devices 250, the multiple first driving devices 250 can be configured to move synchronously, so that the multiple groups of telescopic components 260 can be kept synchronous when performing telescopic movement, and the stability of the bearing part 230 can be ensured.

[0039] It should be noted that the structure of the telescopic assembly 260 is not limited to the above-mentioned connecting rod assembly 261. For example, the telescopic assembly 260 can also be set as a scissor fork structure, or a spring structure, etc., which is not limited in this embodiment. In this embodiment, by setting the telescopic assembly 260, the motion range of the bearing part 230 can be expanded, so that the first driving device 250 does not need to be set too large, and can also meet the requirements of the running track of the bearing part 230. While reducing costs, the weight carried by the bearing part 230 can be evenly distributed to various points of the base 210 through the telescopic assembly 260, thereby increasing the structural strength.

[0040] It is understandable that in some other embodiments, the telescopic assembly 260 may not be provided, and the first driving device 250 may be used to directly drive the bearing part 230 to move closer to or away from the base 210. For example, the first driving device 250 may be provided as a telescopic cylinder, a hydraulic cylinder, etc., and the bearing part 230 may be directly connected to the piston rod of the telescopic cylinder or the hydraulic cylinder. Similarly, the first driving device 250 may be provided in plurality, and the plurality of first driving devices 250 may be configured to act synchronously.

[0041] Please continue reading Figure 3 , Figure 4 as well as Figure 5The second driving device 270 is used to drive the bearing part 230 to pitch relative to the base 210. The second driving device 270 can be arranged on the base 210 and connected to the bearing part 230 in a transmission manner. The second driving device 270 can also be arranged on the surface of the bearing part 230 facing the base 210 and connected to the base 210 in a transmission manner. In one embodiment, the second driving device 270 can be one, and the second driving device 270 is arranged on the base 210 and connected to one end of the bearing part 230. When the second driving device 270 drives the bearing part 230 to move, one end of the bearing part 230 is subjected to force, so that the bearing part 230 can achieve pitch. Since the bearing part 230 and the second connecting rod 264 can rotate relative to each other, the telescopic assembly 260 does not move during the pitching process of the bearing part 230.

[0042] The second driving device 270 may be a telescopic cylinder, a hydraulic cylinder or other structures, which are not limited in this embodiment. In this embodiment, the support and adjustment assembly 200 may also include a second connecting shaft 271, which is connected to at least two connecting rod assemblies 261 of one group of telescopic assemblies 260. The second driving device 270 is arranged on the base 210, and is connected to the second connecting shaft 271 by transmission, and is used to drive the second connecting shaft 271, drive the telescopic assembly 260 to telescope and then drive the bearing part 230 to pitch. The axial direction of the second connecting shaft 271 may be roughly parallel to the axial direction of the first connecting shaft 262. The second connecting shaft 271 may be connected to the second connecting rod 264 of the two connecting rod assemblies 261 of a group of telescopic assemblies 260, that is, the second connecting shaft 271 is located on the side of the first connecting shaft 262 close to the bearing part 230. With this arrangement, when the second driving device 270 drives the second connecting shaft 271, the position of the first connecting shaft 262 will not be affected, the first connecting rod 263 remains fixed, and only the second connecting rod 264 connected to the second connecting shaft 271 rotates, so that the motion control of the supporting part 230 during pitching action can be more precise.

[0043] In this embodiment, the second driving device 270 is connected to the telescopic assembly 260, which can expand the pitch movement range of the bearing part 230. In this way, the second driving device 270 does not need to be set too large, and can also meet the requirements of the pitch operation trajectory of the bearing part 230. While reducing costs, the telescopic assembly 260 can evenly distribute the weight borne by the bearing part 230 to various points on the base 210, thereby increasing the structural strength.

[0044] The bearing portion 230 is provided with a first connecting portion 280, and the first connecting portion 280 is used to be detachably connected to the functional component 300, so that the robot body 100 can autonomously assemble and replace the functional component 300. Figure 6The robot 10 may also include one or more functional components 300, wherein the functional component 300 refers to a component that has a specific function. For example, the functional component 300 may be a disinfection device for spraying disinfectant in the room. The functional component 300 may also be a wall cleaning device for cleaning the wall. The functional component 300 may also be a glass cleaning device for cleaning the glass. The functional component 300 may also be any other device component. This embodiment does not limit the specific functions implemented by the functional component 300. Figure 7 The functional component 300 includes a body 320 and a second connecting portion 310 . The second connecting portion 310 is disposed on the body 320 . The second connecting portion 310 cooperates with the first connecting portion 280 and can be detachably connected to the first connecting portion 280 .

[0045] The first connection portion 280 can be disposed, for example, on the second surface of the bearing portion 230, that is, on the surface of the bearing portion 230 away from the base 210. This embodiment can facilitate the connection between the first connection portion 280 and the functional component 300, and the bearing portion 230 can also have more carrying space to carry the functional component 300. The first connection portion 280 can be configured in a variety of forms, preferably to facilitate detachable connection with the functional component 300.

[0046] In one embodiment, the first connection portion 280 may be configured to be detachably connected to the second connection portion 310 by snapping. Figure 3 , Figure 4 as well as Figure 5 The first connection part 280 includes a rotating buckle 281 and a third driving device 284. The third driving device 284 is disposed on the bearing part 230 and is used to drive the rotating buckle 281 to rotate. The rotating buckle 281 is used to be detachably connected to the second connection part 310 of the functional component 300. The third driving device 284 can be a motor. The rotating buckle 281 rotates along the axis direction of the output shaft of the second driving device 270. The axis direction of the output shaft of the second driving device 270 can be perpendicular to the second surface of the bearing part 230.

[0047] Specifically, the rotating buckle 281 includes a rotating seat 282 and a plurality of latch teeth 283. The rotating seat 282 is connected to the second driving device 270 so that the rotating seat 282 rotates under the drive of the second driving device 270. The plurality of latch teeth 283 are arranged at intervals and connected to the outer wall of the rotating seat 282, and the arrangement position of the latch teeth 283 is located on the side of the bearing part 230 away from the base 210. A gap 285 is formed between each latch tooth 283 and the bearing part 230. Under the drive of the third driving device 284, the rotating seat 282 can rotate. During the rotation of the rotating seat 282, the latch teeth 283 will also rotate. For matching, please refer to Figure 8and Fig. 9 A card slot 301 is provided on the surface of the body 320 of the functional component 300, and the rotating buckle 281 can extend into the inside of the card slot 301. The size of the card slot 301 matches the size of the rotating buckle 281. The body includes a bottom wall 302 and a side wall 303 surrounding the card slot 301. The second connecting portion 310 includes a plurality of card blocks 311. The plurality of card blocks 311 are arranged at intervals in the card slot 301 and connected to the side wall 303. There is a space 304 between the card blocks 311 and the bottom wall 302. The thickness of the space 304 can be greater than or equal to the thickness of the tooth 283. The number of the card blocks 311 can be the same as the number of the tooth 283, and the shape of the card blocks 311 roughly matches the shape of the tooth 283.

[0048] In this embodiment, the bearing portion 230 is provided with a through hole, the rotating buckle 281 is located on the side of the bearing portion 230 away from the base 210, the third driving device 284 is provided on the surface of the bearing portion 230 facing the base 210, and the output shaft of the third driving device 284 passes through the through hole and is connected with the rotating buckle 281. In this arrangement, the third driving device 284 can be arranged between the bearing portion 230 and the base 210, which is conducive to protecting the second driving device 270. At the same time, the rotating buckle 281 is adjacent to the second surface of the bearing portion 230. When connecting with the functional component 300, the space required for the connection is small, and the functional component 300 can be directly carried on the bearing portion 230, which is conducive to structural stability.

[0049] When the robot 10 needs to use the functional component 300, the robot body 100 moves to the vicinity of the functional component 300 so that the first connection portion 280 is aligned with the second connection portion 310, and the first driving device 250 of the support adjustment component 200 is controlled to move in a direction away from the base 210. In this process, Fig.10 As shown, the third driving device 284 rotates so that the latch teeth 283 and the block 311 are offset, and after the rotating buckle 281 of the first connecting portion 280 extends into the slot 301, the third driving device 284 continues to rotate so that the latch teeth 283 and the block 311 are arranged one by one, and at this time, the functional component 300 is connected and fixed to the support and adjustment component 200. When the functional component 300 needs to be removed, the third driving device 284 rotates so that the latch teeth 283 and the block 311 are offset, and the first driving device 250 of the support and adjustment component 200 is controlled to move toward the direction close to the base 210, so that the rotating buckle 281 exits the slot 301.

[0050] In order to facilitate the docking of the support adjustment component 200 on the robot body 100 and the functional component 300, in a preferred embodiment, the support adjustment component 200 can be arranged on the top of the robot body 100, and the corresponding second connection part 310 is arranged at the bottom of the functional component 300. In this way, when the robot body 100 is connected with the functional component 300, it is only necessary to position the robot body 100 to the position of the functional component 300 so that the first connection part 280 and the second connection part 310 are aligned, and the accuracy is higher. The structure of the first connection part 280 and the second connection part 310 provided in the above embodiment has the characteristics of convenient connection and strong applicability, and can be suitable for connection with various types of functional components 300.

[0051] In another embodiment, see Fig.11 The first connection part 280 can be an electromagnet and can be magnetically connected to the second connection part 310 arranged on the functional component 300 to achieve a detachable connection between the two. The second connection part 310 is a magnetic part 312 for magnetic connection with the first connection part 280, wherein the magnetic part 312 can be a magnet or a metal material that can be magnetically attracted to the electromagnet, and this embodiment does not limit this.

[0052] Specifically, in one embodiment, the first connection portion 280 can be arranged on the second surface of the bearing portion 230. For example, the second surface is provided with a mounting groove 231, and the first connection portion 280 is embedded in the mounting groove 231 and can be substantially flush with the second surface. When the first connection portion 280 is energized, magnetism is generated and it can be magnetically connected to the second connection portion 310. The second connection portion 310 can be arranged on the bottom surface of the functional component 300 and correspond to the first connection portion 280. In another embodiment, the first connection portion 280 can be directly arranged on the second surface and protrude from the second surface. Please combine Figure 8 A card slot 301 may also be provided on the bottom surface of the functional component 300, and the card slot 301 may be provided for the first connecting portion 280 to be embedded therein. The second connecting portion 310 is disposed in the card slot 301. When it is necessary to connect to the functional component 300, the first connecting portion 280 may be embedded in the card slot 301, and then powered on to connect to the second connecting portion 310.

[0053] When the robot 10 needs to use the functional component 300, the robot body 100 moves to the vicinity of the functional component 300, so that the first connection part 280 is aligned with the second connection part 310, and the first drive device 250 of the support and adjustment component 200 is controlled to move in a direction away from the base 210. During this process, the first connection part 280 approaches the second connection part 310, and the first connection part 280 generates magnetism and connects with the second connection part 310 after being powered on. At this time, the functional component 300 and the support and adjustment component 200 are connected and fixed. When the functional component 300 needs to be removed, the first connection part 280 is powered off and separated from the second connection part 310, and the first drive device 250 of the support and adjustment component 200 is controlled to move in a direction close to the base 210.

[0054] The structures of the first connection part 280 and the second connection part 310 provided in the above embodiment have the characteristics of convenient connection and strong applicability, and can be suitable for connection with various types of functional components 300. It can be understood that in some other embodiments, the first connection part 280 and the second connection part 310 can also be detachably connected in other ways, for example, the first connection part 280 and the second connection part 310 can be detachably connected in the way of elastic locks.

[0055] The robot body 100500 may also include a processor 502 and a memory 504, and the processor 502 may include one or more processing cores. The processor 502 uses various interfaces and lines to connect various parts of the entire electronic device 500, and executes various functions and processes data of the electronic device 500 by running or executing instructions, programs, code sets or instruction sets stored in the memory 504, and calling data stored in the memory 504. Optionally, the processor 502 can be implemented in at least one hardware form of digital signal processing (Digital Signal Processing, DSP), field programmable gate array (Field-ProgrammableGate Array, FPGA), and programmable logic array (Programmable Logic Array, PLA). The processor 502 can integrate one or a combination of a central processing unit (Central Processing Unit, CPU), a graphics processing unit (Graphics Processing Unit, GPU), and a modem. Among them, the CPU mainly processes the operating system, user interface, and application programs; the GPU is responsible for rendering and drawing display content; and the modem is used to process wireless communications. It is understandable that the above-mentioned modem may not be integrated into the processor 502, but may be implemented by a communication chip alone. The processor may be electrically connected to the first drive device 250, the second drive device 270, and the third drive device 284, and control the start or shut down of the first drive device 250, the second drive device 270, and the third drive device 284, thereby realizing a detachable connection with the functional component 300 and controlling the functional component 300 to work.

[0056] The memory 504 may include a random access memory (RAM) or a read-only memory (ROM). The memory 504 may be used to store instructions, programs, codes, code sets or instruction sets. The memory 504 may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for implementing at least one function (such as a touch function, a sound playback function, an image playback function, etc.), instructions for implementing the following various method embodiments, etc. The data storage area may also store data (such as a phone book, audio and video data, chat record data) created by the robot 10 during use.

[0057] The robot body 100 may also be provided with a communication device for communicating with the functional component 300. The communication device may be, for example, Bluetooth, ZiGBee, hotspot, or a network through a gateway device, which is not limited here. The robot body 100 may then send a control instruction to the functional component 300 to control the functional component 300 to work.

[0058] After being connected with the functional component 300, the robot body 100 can use its movable nature to drive the functional component 300 to move to its working area, and drive the functional component 300 to perform its function by controlling the first drive device 250, the second drive device 270 and the third drive device 284. As an example only, taking the functional component 300 as a disinfection device as an example, when the support adjustment component 200 is connected to the disinfection device, the robot body 100 can move to the area where the disinfection operation needs to be performed, and then send a control instruction to the disinfection device to start spraying disinfectant water. At this time, the robot body 100 recommends controlling the first drive device 250 and the second drive device 270 to drive the disinfection device to move vertically and pitch to complete the disinfection operation. Then the robot body 100 moves to the storage position of the functional component 300 and removes the functional component 300.

[0059] The robot 10 provided in the embodiment of the present application, in addition to realizing its own functions, can also be connected to a variety of different functional components 300 through the support adjustment component 200 on the robot body 100, thereby expanding the functions of the robot 10 and improving the versatility of the robot 10.

[0060] In this specification, the specific features or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, unless they contradict each other. Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them; although the present application is described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they may still modify the technical solutions described in the aforementioned embodiments, or replace some of the technical features therein by equivalents; and these modifications or replacements do not drive the essence of the corresponding technical solutions away from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A support adjustment assembly, characterized in that: Suitable for installation on a robot, the support adjustment assembly comprises: Base; A bearing portion, the bearing portion is arranged opposite to the base, the bearing portion is provided with a first connecting portion, and the first connecting portion is used for detachably connecting with the functional component; A first driving device, the first driving device is used to drive the bearing part to move closer to or away from the base; and A second driving device, wherein the second driving device is used to drive the bearing portion to pitch relative to the base.

2. The support adjustment assembly according to claim 1, characterized in that: The first connecting portion includes a rotating buckle and a third driving device. The third driving device is disposed on the bearing portion and is used to drive the rotating buckle to rotate. The rotating buckle is used to be detachably connected to the functional component.

3. The support adjustment assembly according to claim 2, characterized in that: The bearing part is provided with a through hole, the rotating buckle is located on a side of the bearing part away from the base, the third driving device is arranged on a surface of the bearing part facing the base, and the output shaft of the third driving device passes through the through hole and is connected to the rotating buckle.

4. The support adjustment assembly according to claim 2, characterized in that: The rotating buckle includes a rotating seat and a plurality of latch teeth. The rotating seat is connected to the second driving device. The plurality of latch teeth are arranged at intervals and connected to the outer wall of the rotating seat. A gap is formed between each of the latch teeth and the bearing portion.

5. The support adjustment assembly according to claim 1, characterized in that: The first connecting part is an electromagnet.

6. The support adjustment assembly according to claim 1, characterized in that: The support adjustment assembly also includes a telescopic assembly, which includes at least two groups of connecting rod assemblies and a first connecting shaft. The at least two groups of connecting rod assemblies are arranged side by side. The first connecting shaft connects the at least two connecting rod assemblies. Each of the connecting rod assemblies includes a first connecting rod and a second connecting rod. One end of the first connecting rod is rotatably connected to the base, and the other end is rotatably connected to one end of the second connecting rod. The end of the second connecting rod away from the first connecting rod is rotatably connected to the bearing part. The first driving device is connected to the first connecting shaft and is used to drive the connecting rod assembly to extend and retract.

7. The support adjustment assembly according to claim 6, characterized in that: There are multiple groups of telescopic components, which are arranged at intervals. There are multiple first driving devices, which are connected to the first connecting shafts of the telescopic components one by one and are used to drive the connecting rod assembly to telescope.

8. The support adjustment assembly according to claim 7, characterized in that: The support adjustment assembly also includes a second connecting shaft, which is connected to at least two of the connecting rod assemblies of one group of the telescopic assemblies. The second driving device is connected to the second connecting shaft and is used to drive the second connecting shaft and drive the bearing part to pitch.

9. A functional component, characterized in that: Suitable for installation on a robot, the functional components include: ontology; A second connection portion is provided on the body, and the second connection portion is used for detachably connecting with the first connection portion of the support adjustment assembly.

10. The functional component according to claim 9, characterized in that A card slot is provided on the surface of the body, and the body includes a bottom wall and side walls surrounding the card slot. The second connecting portion includes a plurality of card blocks, and the plurality of card blocks are spaced apart in the card slot and connected to the side walls, and there is a space between the card blocks and the bottom wall.

11. The functional component according to claim 9, characterized in that The second connecting portion is a magnetic member for magnetically connecting to the first connecting portion.

12. The functional component according to any one of claims 9 to 11, characterized in that: The second connecting portion is disposed on the bottom surface of the body.

13. A robot, characterized in that: include: Robot body; as well as The support adjustment assembly according to any one of claims 1 to 8, wherein the support adjustment assembly is arranged on the robot body.

14. The robot according to claim 13, characterized in that: The base of the support and adjustment assembly is arranged on the top surface of the robot body.

15. The robot according to claim 13, characterized in that: The robot further comprises one or more functional components as described in any one of claims 9-12.

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