Robot

Abstract

The invention provides a robot. The robot comprises N motion modules and M auxiliary modules, N is a positive integer not smaller than 2, M is a positive integer not smaller than 1, each motion module comprises a machine body and a moving foot body which is connected with the machine body and drives the machine body to move, a first mounting part and a second mounting part are arranged on the machine body, and each auxiliary module comprises a shell. The shell is provided with a first installation matching part and a second installation matching part, each movement module is provided with an installation station and a separation station relative to the auxiliary module, and the movement module at the installation station, the first installation part is connected with the first installation matching part or the second installation part is connected with the second installation matching part; the auxiliary module can move under the driving of the movement module; and in the movement module in the separation station, the first mounting part is separated from the first mounting matching part, and the second mounting part is separated from the second mounting matching part. And the robot can better meet different use requirements, and the application range is wider.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular, to a robot. Background Art

[0002] With the development of science and technology, robots are being increasingly used in many fields such as scientific research and industry.

[0003] A robot usually includes a body and multiple wheels connected to the body. The wheels move under the drive of the driver and drive the body to move together. However, when performing work, robots need to face various usage scenarios such as complex terrain and space. The current robots are too simple in composition and have limited usage scenarios. Summary of the invention

[0004] In order to at least partially solve the problems existing in the prior art, according to one aspect of the present invention, a robot is provided. The robot includes N motion modules and M auxiliary modules, N is a positive integer not less than 2, M is a positive integer not less than 1, each motion module includes a body and a mobile foot connected to the body and driving the body to move, the body is provided with a first mounting portion and a second mounting portion, the auxiliary module includes a shell, the shell is provided with a first mounting matching portion and a second mounting matching portion, wherein each motion module has an installation position and a separation position relative to the auxiliary module, the motion module in the installation position, the first mounting portion is connected to the first mounting matching portion or the second mounting portion is connected to the second mounting matching portion, and the auxiliary module is movable under the drive of the motion module; the motion module in the separation position, the first mounting portion is separated from the first mounting matching portion, and the second mounting portion is separated from the second mounting matching portion.

[0005] The robot provided by the present application can be connected into corresponding connection forms through different disassembly and assembly methods when facing different usage requirements. For example, two motion modules are connected to an auxiliary module, and the robot in a four-legged form can have better motion stability. Three motion modules are connected to two auxiliary modules, and the six-legged robot can have better load-bearing capacity and can be used to transport heavier items. When it is necessary to move in a relatively small space, a motion module and an auxiliary module can be connected, and the size of the two-legged robot is smaller and can have better agility. In this way, by disassembling and assembling the motion module and the auxiliary module, robots with different connection forms can be formed, which can better meet different usage requirements and have a wider range of applications.

[0006] Exemplarily, a power supply component is disposed in the housing, and when the motion module is in the installation position, the power supply component is electrically connected to the motion module to supply power to the motion module.

[0007] Exemplarily, a control component is disposed in the housing, and when the motion module is in the installation position, the control component is electrically connected to the motion module to control the motion module.

[0008] Exemplarily, one of the first mounting portion and the second mounting portion includes a first mounting protrusion and the other includes a first mounting groove, and one of the first mounting matching portion and the second mounting matching portion includes a second mounting groove adapted to the first mounting protrusion and the other includes a second mounting protrusion adapted to the first mounting groove.

[0009] Exemplarily, the first mounting protrusion is connected to a first locking motor, and the first locking motor is used to drive the first mounting protrusion to rotate so as to be installed, locked or disengaged with the second mounting groove.

[0010] Exemplarily, the second mounting protrusion is connected to a second locking motor, and the second locking motor is used to drive the second mounting protrusion to rotate so as to be installed, locked or disengaged with the first mounting groove.

[0011] Exemplarily, a first distance measuring member is also provided on the fuselage, and the first distance measuring member and the first mounting protrusion are located on the same side wall of the fuselage to detect the distance between the first mounting protrusion and the second mounting groove, and the first distance measuring member is electrically connected to the first locking motor.

[0012] Exemplarily, a first boss is provided on the outer periphery of the first mounting protrusion and the first mounting protrusion protrudes from the first boss, and a first limit platform is provided on the inner wall of the second mounting groove. When the first mounting portion is connected to the first mounting matching portion, the first mounting protrusion is inserted into the inner side of the first limit platform, and the first boss is abutted against the first limit platform.

[0013] Exemplarily, a second boss is provided on the outer periphery of the second mounting protrusion and the second mounting protrusion protrudes from the second boss, a second limit platform is provided on the inner wall of the first mounting groove, and when the second mounting portion is connected to the second mounting matching portion, the second mounting protrusion is inserted into the inner side of the second limit platform, and the second boss is abutted against the second limit platform.

[0014] Exemplarily, the fuselage has a first side wall, a second side wall, a third side wall and a fourth side wall, the first side wall and the second side wall are opposite to each other, the third side wall and the fourth side wall are connected between the first side wall and the second side wall and are opposite to each other, the first mounting portion is arranged on the first side wall, the second mounting portion is arranged on the second side wall, and the movable foot body includes a first foot body arranged on the third side wall and a second foot body arranged on the fourth side wall.

[0015] Exemplarily, the auxiliary module includes a first sub-auxiliary module and a second sub-auxiliary module, the first installation fitting portion is located on the first sub-auxiliary module, the second installation fitting portion is located on the second sub-auxiliary module, a third installation fitting portion is provided on a side of the first sub-auxiliary module away from the first installation fitting portion, and a third installation fitting portion adapted to the third installation portion is provided on a side of the second sub-auxiliary module away from the second installation fitting portion.

[0016] Exemplarily, the first sub-auxiliary module includes a first power supply and a main control component, and the second sub-auxiliary module includes a second power supply and a secondary control component.

[0017] Exemplarily, the mobile foot of at least one of the N motion modules is rotatable toward an adjacent motion module, and the rotation angle is not less than 270°.

[0018] A series of simplified concepts are introduced in the summary of the invention, which will be further described in detail in the detailed description. The summary of the invention is not intended to limit the key features and essential technical features of the claimed technical solution, nor is it intended to determine the scope of protection of the claimed technical solution.

[0019] The advantages and features of the present invention are described in detail below with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The following drawings of the present invention are used as part of the present invention for understanding the present invention. The drawings show the embodiments of the present invention and their descriptions, and are used to explain the principles of the present invention. In the drawings,

[0021] Figure 1 is a perspective view of a robot according to an exemplary embodiment of the present invention;

[0022] Figure 2 is a perspective view of a robot according to an exemplary embodiment of the present invention;

[0023] Figure 3 is a perspective view of a robot according to an exemplary embodiment of the present invention;

[0024] Figure 4 is a perspective view of a robot according to an exemplary embodiment of the present invention;

[0025] Figure 5 is a perspective view of a motion module according to an exemplary embodiment of the present invention;

[0026] Figure 6 is a perspective view of a fuselage according to an exemplary embodiment of the present invention;

[0027] Figure 7 is a perspective view of a fuselage according to an exemplary embodiment of the present invention;

[0028] Figure 8 is a perspective view of a fuselage according to an exemplary embodiment of the present invention;

[0029] Fig. 9 is a perspective view of an auxiliary module according to an exemplary embodiment of the present invention;

[0030] Fig.10 is a perspective view of an auxiliary module according to an exemplary embodiment of the present invention;

[0031] Fig.11 is a perspective view of an auxiliary module according to an exemplary embodiment of the present invention.

[0032] The above drawings include the following reference numerals:

[0033] 10. robot; 110. motion module; 1110. body; 1111. first mounting portion; 11111. first mounting protrusion; 11112. first locking motor; 11113. first protrusion; 1112. second mounting portion; 11121. first mounting groove; 11122. second position limiting platform; 1113. first distance measuring member; 1114. first side wall; 1115. second side wall; 1116. third side wall; 1120. mobile foot; 1121, first foot; 1122, second foot; 1130, radar; 120, auxiliary module; 1210, shell; 1211, first mounting fitting portion; 12111, second mounting groove; 12112, first limit platform; 1212, second mounting fitting portion; 12121, second mounting protrusion; 12122, second locking motor; 12123, second protrusion; 1220, first sub-auxiliary module; 1230, second sub-auxiliary module. DETAILED DESCRIPTION

[0034] In the following description, a large amount of details are provided so that the present invention can be thoroughly understood. However, it will be appreciated by those skilled in the art that the following description only exemplarily illustrates a preferred embodiment of the present invention, and the present invention can be implemented without one or more such details. In addition, in order to avoid confusion with the present invention, some technical features well known in the art are not described in detail.

[0035] In order to fully understand the embodiments of the present invention, detailed structures will be presented in the following description. Obviously, the implementation of the embodiments of the present invention is not limited to the specific details familiar to those skilled in the art. The preferred embodiments of the present invention are described in detail below, but in addition to these detailed descriptions, the present invention may also have other embodiments.

[0036] In an embodiment of the present invention, a robot is provided. Figure 1-Figure 4The robot 10 includes N motion modules 110 and M auxiliary modules 120, where N is a positive integer not less than 2 and M is a positive integer not less than 1. There are many possible relationships between N and M. N can be greater than M. For example, N can be equal to M+1. Figure 1 , Figure 2 and Figure 3 Alternatively, N can be equal to M, as Figure 4 Of course, in some embodiments, N may be smaller than M.

[0037] Combined with reference Figure 1 , Figure 5 , Figure 7 , Fig. 9 and Fig.10 Each motion module 110 may include a body 1110 and a mobile foot 1120 connected to the body 1110 and driving the body 1110 to move. The mobile foot 1120 can move in any working plane such as the ground, and the body 1110 moves with the mobile foot 1120. The motion module 110 may include a power supply device and a processing unit, and the motion module 110 can achieve autonomous movement. The body 1110 may be provided with a first mounting portion 1111 and a second mounting portion 1112. The auxiliary module 120 may include a shell 1210. The shell 1210 may be provided with a first mounting matching portion 1211 and a second mounting matching portion 1212. The first mounting portion 1111 and the first mounting matching portion 1211 may be connected in a matching manner. The second mounting portion 1112 and the second mounting matching portion 1212 may be connected in a matching manner.

[0038] Each motion module 110 may have an installation position and a disengagement position relative to the auxiliary module 120. Exemplarily, the movement between the installation position and the disengagement position may be achieved by the movement of the motion module 110. For the motion module 110 at the installation position, the first installation portion 1111 is connected to the first installation matching portion 1211 or the second installation portion 1112 is connected to the second installation matching portion 1212, and the auxiliary module 120 is movable under the drive of the motion module 110. That is to say, for each motion module 110 at the installation position, at least one of the first installation portion 1111 and the second installation portion 1112 is connected to the auxiliary module 120. At this time, the motion module 110 and the auxiliary module 120 are installed and connected as a whole and can move. For the motion module 110 at the disengagement position, the first installation portion 1111 and the first installation matching portion 1211 are separated from each other, and the second installation portion 1112 and the second installation matching portion 1212 are separated from each other. At this time, the motion module 110 and the auxiliary module 120 are relatively independent of each other.

[0039] The robot 10 provided in the present application can be connected into corresponding connection forms through different disassembly and assembly methods when facing different usage requirements. Figure 1 and Figure 2 , two motion modules 110 are connected to an auxiliary module 120, and the quadruped robot 10 can have better motion stability. Figure 3 , three motion modules 110 and two auxiliary modules 120 are connected, and the hexapod robot 10 can have a good load-bearing capacity and can be used to transport heavier objects. When it is necessary to move in a relatively small space, one motion module 110 and one auxiliary module 120 can be connected, and the volume of the bipedal robot 10 is smaller and it can have better agility. In this way, by disassembling and assembling the motion module 110 and the auxiliary module 120, the robot 10 with different connection forms can be formed, which can better meet different usage requirements and has a wider range of applications.

[0040] Exemplarily, a power supply component (not shown in the figure) may be provided in the housing 1210, and when the motion module 110 is in the installation station, the power supply component may be electrically connected to the motion module 110 to supply power to the motion module 110. That is to say, the auxiliary module 120 may supply power to the motion module 110 so that the operation time of the robot 10 may be longer. It is understandable that structural parts such as driving parts may be provided in the motion module 110, and the internal space thereof is limited, and the capacity of the power supply device therein is also limited. The auxiliary module 120 may be equivalent to an external battery of the motion module 110, and when a longer endurance time is required, it may be achieved through the auxiliary module 120. Exemplarily, a first through hole may be provided on the fuselage 1110, and the interface of the power supply device of the motion module 110 is exposed to the first through hole, and the plug of the power supply component may be inserted into the first through hole and electrically connected to the power supply device.

[0041] Exemplarily, a control component (not shown in the figure) may be provided in the housing 1210, and when the motion module 110 is in the installation station, the control component may be electrically connected to the motion module 110 to control the motion module 110. It is understandable that the space in the motion module 110 is limited, the volume of the processing unit inside it is relatively limited, the corresponding processing power is relatively weak, and the computing power, that is, the intelligence level is relatively low. The control component of the auxiliary module 120 can provide stronger operation and control capabilities, improve the intelligence level of the robot 10, and enable the robot 10 to have the ability of autonomous environmental perception and intelligent motion solving, and complete highly intelligent operations. Exemplarily, a second through hole may be provided on the fuselage 1110, the processing unit of the motion module 110 has a communication terminal and the communication terminal is exposed to the second through hole, and the control component can be inserted into the second through hole and electrically connected to the communication terminal.

[0042] For example, in conjunction with reference Figure 6 , Figure 7 , Fig. 9 and Fig.10, one of the first mounting portion 1111 and the second mounting portion 1112 may include a first mounting protrusion 11111 and the other includes a first mounting groove 11121, one of the first mounting matching portion 1211 and the second mounting matching portion 1212 may include a second mounting groove 12111 adapted to the first mounting protrusion 11111 and the other may include a second mounting protrusion 12121 adapted to the first mounting groove 11121. It can be understood that the mounting portion and the mounting matching portion are realized by the mounting protrusion and the mounting groove adapted to the mounting protrusion. When the motion module 110 is in the installation position, the first mounting protrusion 11111 is inserted into the second mounting groove 12111 or the second mounting protrusion 12121 is inserted into the first mounting groove 11121 to realize the installation connection of the motion module 110 and the auxiliary module 120. In the embodiment where there are two motion modules 110 and one auxiliary module 120, the first mounting protrusion 11111 of one motion module 110 is inserted into the second mounting groove 12111, and the second mounting protrusion 12121 of the auxiliary module 120 is inserted into the first mounting groove 11121 of the other motion module 110. In this way, the connection between the motion module 110 and the auxiliary module 120 is realized by plugging, which is simpler and more efficient.

[0043] For example, in conjunction with reference Figure 5-Figure 8 , the first mounting protrusion 11111 can be connected to a first locking motor 11112, and the first locking motor 11112 can be used to drive the first mounting protrusion 11111 to rotate so as to be installed, locked or disengaged with the second mounting groove 12111. The first locking motor 11112 is located on the inner side of the housing 1210, and the first mounting protrusion 11111 is connected to the first locking motor 11112 and one end extends out of the housing 1210. There can be multiple first mounting protrusions 11111, and each first mounting protrusion 11111 can be connected to a corresponding first locking motor 11112. In this way, the first locking motor 11112 makes the disassembly and assembly process between the motion module 110 and the auxiliary module 120 simpler, more efficient, and more automated.

[0044] For example, in conjunction with reference Figure 9-11, the second mounting protrusion 12121 can be connected to a second locking motor 12122, and the second locking motor 12122 can be used to drive the second mounting protrusion 12121 to rotate so as to be installed, locked or disengaged with the first mounting groove 11121. The second locking motor 12122 is located on the inner side of the housing 1210, and the second mounting protrusion 12121 is connected to the second locking motor 12122 and both ends extend out of the housing 1210. There can be multiple second mounting protrusions 12121, and each second mounting protrusion 12121 can be connected to a corresponding second locking motor 12122. In this way, the second locking motor 12122 makes the disassembly and assembly process between the motion module 110 and the auxiliary module 120 simpler, more efficient, and more automated.

[0045] For example, in conjunction with reference Figure 1 , Figure 5 and Fig.10 , a first distance measuring member 1113 may also be provided on the fuselage 1110, and the first distance measuring member 1113 and the first mounting protrusion 11111 may be located on the same side wall of the fuselage 1110 to detect the distance between the first mounting protrusion 11111 and the second mounting groove 12111, and the first distance measuring member 1113 is electrically connected to the first locking motor 11112. The connection between the first distance measuring member 1113 and the first locking motor 11112 may be a direct connection or an indirect connection. The first distance measuring member 1113 detects the distance between the first mounting protrusion 11111 and the second mounting groove 12111, and when the distance is less than a predetermined value, the first locking motor 11112 works to lock and fix the first mounting protrusion 11111 and the second mounting groove 12111, thereby installing and fixing the auxiliary module 120 and the motion module 110. In an embodiment where there are multiple first mounting protrusions 11111, the first distance measuring member 1113 may be located between the multiple first mounting protrusions 11111. For example, there may be four first mounting protrusions 11111 and they are respectively located at the four corners of a quadrilateral, and the first ranging member 1113 may be located at the center of the quadrilateral. Alternatively, in some embodiments, the first ranging member 1113 may be located on the top wall of the body 1110 and protrude from the top wall. Exemplarily, the first ranging member 1113 may be a depth camera.

[0046] Exemplarily, a second distance measuring member may also be provided on the housing 1210, and the second distance measuring member and the second mounting protrusion 12121 may be located on the same side wall of the housing 1210 to detect the distance between the second mounting protrusion 12121 and the first mounting groove 11121, and the second distance measuring member is electrically connected to the second locking motor 12122. The connection between the second distance measuring member and the second locking motor 12122 may be a direct connection or an indirect connection. The second distance measuring member detects the distance between the second mounting protrusion 12121 and the first mounting groove 11121, and when the distance is less than a predetermined value, the second locking motor 12122 works to lock and fix the second mounting protrusion 12121 and the first mounting groove 11121, thereby installing and fixing the auxiliary module 120 and the motion module 110. In an embodiment where there are multiple second mounting protrusions 12121, the second distance measuring member may be located between the multiple second mounting protrusions 12121. For example, there may be four second mounting protrusions 12121, which are respectively located at the four corners of a quadrilateral, and the second distance measuring member may be located at the center of the quadrilateral. Alternatively, in some embodiments, the second distance measuring member may be located on the top wall of the housing 1210 and protrude from the top wall. For example, the second distance measuring member may be a depth camera.

[0047] For example, in conjunction with reference Figure 6 and Fig.10 The outer periphery of the first mounting protrusion 11111 may be provided with a first boss 11113 and the first mounting protrusion 11111 protrudes from the first boss 11113. The inner wall of the second mounting groove 12111 is provided with a first limiting platform 12112. When the first mounting portion 1111 is connected to the first mounting matching portion 1211, the first mounting protrusion 11111 may be inserted into the inner side of the first limiting platform 12112, and the first boss 11113 may abut against the first limiting platform 12112. The first boss 11113 is located at the outer periphery of the first mounting protrusion. During installation, the outer periphery of the first boss 11113 abuts against the inner wall of the second mounting groove 12111, and the top of the first boss 11113 abuts against the first limiting platform 12112. In this way, the first boss 11113 cooperates with the second mounting groove 12111 and the first limiting platform 12112 to limit the movement module 110 and the auxiliary module 120 in different directions, and the disassembly and assembly accuracy of the movement module 110 and the auxiliary module 120 is higher. For example, the first boss 11113 can be annular or polygonal, for example, the first boss 11113 can be a quadrilateral.

[0048] For example, in conjunction with reference Figure 7 and Fig. 9The outer periphery of the second mounting protrusion 12121 may be provided with a second boss 12123 and the second mounting protrusion 12121 may protrude from the second boss 12123. The inner wall of the first mounting groove 11121 may be provided with a second limiting platform 11122. When the second mounting portion 1112 is connected to the second mounting matching portion 1212, the second mounting protrusion 12121 may be inserted into the inner side of the second limiting platform 11122, and the second boss 12123 may abut against the second limiting platform 11122. The second boss 12123 is located at the outer periphery of the second mounting protrusion. During installation, the outer periphery of the second boss 12123 abuts against the inner wall of the first mounting groove 11121, and the top of the second boss 12123 abuts against the second limiting platform 11122. In this way, the second boss 12123 cooperates with the first mounting groove 11121 and the second limiting platform 11122 to limit the movement module 110 and the auxiliary module 120 in different directions, and the disassembly and assembly accuracy of the movement module 110 and the auxiliary module 120 is higher. For example, the second boss 12123 can be annular or polygonal, for example, the second boss 12123 can be a quadrilateral.

[0049] For example, in conjunction with reference Figure 1 , Figure 5 and Figure 6 The fuselage 1110 has a first side wall 1114, a second side wall 1115, a third side wall 1116 and a fourth side wall. The first side wall 1114 and the second side wall 1115 are opposite to each other. The third side wall 1116 and the fourth side wall are connected between the first side wall 1114 and the second side wall 1115 and are opposite to each other. The first mounting portion 1111 is disposed on the first side wall 1114, and the second mounting portion 1112 is disposed on the second side wall 1115. The movable foot 1120 includes a first foot 1121 disposed on the third side wall 1116 and a second foot 1122 disposed on the fourth side wall. Figure 5 Taking the direction shown as an example, the first side wall 1114 and the second side wall 1115 are respectively located at the front and rear sides of the fuselage 1110, and the third side wall 1116 and the fourth side wall are respectively located at the left and right sides of the fuselage 1110, that is, the first foot 1121 and the second foot 1122 are respectively located at the left and right sides of the fuselage 1110. In this way, the first mounting portion 1111 and the second mounting portion 1112 are respectively located at opposite sides of the fuselage 1110, and are both located on different sides of the first foot 1121 and the second foot 1122. The movement of the first foot 1121 and the second foot 1122 drives the first mounting portion 1111 and the second mounting portion 1112 to move accordingly, avoiding interference when the first foot 1121 and the second foot 1122 move, thereby making the connection process with the auxiliary module 120 more convenient and efficient.

[0050] For example, in conjunction with reference Figure 4 , Figure 6 , Figure 7 , Fig. 9and Fig.10 , the auxiliary module 120 may include a first sub-auxiliary module 1220 and a second sub-auxiliary module 1230, the first mounting matching portion 1211 may be located on the first sub-auxiliary module 1220, the second matching mounting portion may be located on the second sub-auxiliary module 1230, the first sub-auxiliary module 1220 is provided with a third mounting portion on a side away from the first mounting matching portion 1211, and the second sub-auxiliary module 1230 is provided with a third mounting matching portion adapted to the third mounting portion on a side away from the second mounting matching portion 1212. It can be understood that the first sub-auxiliary module 1220 and the second sub-auxiliary module 1230 are connected, and after the connection, they are formed as a whole, and the two sides of the whole are respectively connected to the motion module 110. The first sub-auxiliary module 1220 and the second sub-auxiliary module 1230 can provide more resources. For example, more energy can be provided. In this way, the endurance of the robot 10 can be improved, and the working time can be longer.

[0051] Exemplarily, the first sub-auxiliary module 1220 may include a first power supply and a main control component, and the second sub-auxiliary module 1230 may include a second power supply and a secondary control component. The two sub-auxiliary modules 120 may have a focus. The first sub-auxiliary module 1220 may be mainly responsible for control calculations, the volume occupied by the secondary control component in the second sub-auxiliary module 1230 may be smaller than the volume of the main control component, and its second power supply may be larger. The second sub-auxiliary module 1230 may be mainly responsible for battery life. In actual use, there may be multiple second sub-auxiliary modules 1230, and the second sub-auxiliary modules 1230 may be replaced multiple times.

[0052] For example, in conjunction with reference Figure 1 and Figure 2 , at least one of the N motion modules 110 has a mobile foot 1120 that can rotate toward an adjacent motion module 110, and the rotation angle is not less than 270°. The robot 10 can have a front elbow back elbow mode (such as Figure 1 ), good mobility, easy to control, and can be applied to conventional tasks. In some usage scenarios, the robot 10 can be made to have a front elbow and back knee morphology (such as Figure 2 ). In this way, it can be used in scenarios with heavy loads.

[0053] In addition, the robot 10 may also have any existing or future possible structures such as a radar 1130, which does not constitute a limitation on the protection scope of the present application.

[0054] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by directional words such as "front", "back", "up", "down", "left", "right", "lateral", "vertical", "vertical", "horizontal", "top", "bottom", etc. is usually based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the scope of protection of the present invention; the directional words "inside" and "outside" refer to the inside and outside relative to the contour of each component itself.

[0055] For ease of description, regional relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the regional positional relationship between one or more components or features shown in the figure and other components or features. It should be understood that regional relative terms include not only the orientation of the components as described in the figure, but also different orientations in use or operation. For example, if the components in the accompanying drawings are inverted as a whole, the components "above other components or features" or "above other components or features" will include the situation where the components are "below other components or structures" or "below other components or structures". Therefore, the exemplary term "above" may include both "above" and "below". In addition, these components or features may also be positioned at other different angles (e.g., rotated 90 degrees or other angles), and this article is intended to include all of these situations.

[0056] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, parts, components and / or combinations thereof.

[0057] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein.

[0058] The present invention has been described by the above embodiments, but it should be understood that the above embodiments are only for the purpose of example and description, and are not intended to limit the present invention to the scope of the described embodiments. In addition, it can be understood by those skilled in the art that the present invention is not limited to the above embodiments, and more variations and modifications can be made according to the teachings of the present invention, and these variations and modifications all fall within the scope of the protection claimed by the present invention. The protection scope of the present invention is defined by the attached claims and their equivalents.

Claims

1. A robot, characterized in that: The invention comprises N motion modules (110) and M auxiliary modules (120), wherein N is a positive integer not less than 2, and M is a positive integer not less than 1, wherein each of the motion modules (110) comprises a body (1110) and a moving foot (1120) connected to the body (1110) and driving the body (1110) to move, wherein the body (1110) is provided with a first mounting portion (1111) and a second mounting portion (1112), and wherein the auxiliary module (120) comprises a shell (1210), wherein the shell (1210) is provided with a first mounting matching portion (1211) and a second mounting matching portion (1212), wherein each of the motion modules (110) has an installation position and a detachment position relative to the auxiliary module (120), The motion module (110) is located at the installation station, the first installation portion (1111) is connected to the first installation matching portion (1211) or the second installation portion (1112) is connected to the second installation matching portion (1212), and the auxiliary module (120) is movable under the drive of the motion module (110); The motion module (110) is in the disengagement position, the first mounting portion (1111) and the first mounting matching portion (1211) are separated from each other, and the second mounting portion (1112) and the second mounting matching portion (1212) are separated from each other.

2. The robot according to claim 1, characterized in that: A power supply component is disposed in the housing (1210); when the motion module (110) is in the installation position, the power supply component is electrically connected to the motion module (110) to supply power to the motion module (110); and / or, A control component is disposed in the housing (1210); when the motion module (110) is in the installation position, the control component is electrically connected to the motion module (110) to control the motion module (110).

3. The robot according to claim 1, characterized in that: One of the first mounting portion (1111) and the second mounting portion (1112) includes a first mounting protrusion (11111) and the other includes a first mounting groove (11121), and one of the first mounting matching portion (1211) and the second mounting matching portion (1212) includes a second mounting groove (12111) adapted to the first mounting protrusion (11111) and the other includes a second mounting protrusion (12121) adapted to the first mounting groove (11121).

4. The robot according to claim 3, characterized in that: The first mounting protrusion (11111) is connected to a first locking motor (11112), and the first locking motor (11112) is used to drive the first mounting protrusion (11111) to rotate so as to be installed, locked or disengaged with the second mounting groove (12111); and / or The second mounting protrusion (12121) is connected to a second locking motor (12122), and the second locking motor (12122) is used to drive the second mounting protrusion (12121) to rotate so as to be mounted, locked or disengaged with the first mounting groove (11121).

5. The robot according to claim 4, characterized in that: A first distance measuring component (1113) is also provided on the body (1110); the first distance measuring component (1113) and the first mounting protrusion (11111) are located on the same side wall of the body (1110) to detect the distance between the first mounting protrusion (11111) and the second mounting groove (12111); and the first distance measuring component (1113) is electrically connected to the first locking motor (11112).

6. The robot according to claim 3, characterized in that: A first boss (11113) is arranged on the outer periphery of the first mounting protrusion (11111) and the first mounting protrusion (11111) protrudes from the first boss (11113), a first limiting platform (12112) is arranged on the inner wall of the second mounting groove (12111), and when the first mounting portion (1111) is connected to the first mounting matching portion (1211), the first mounting protrusion (11111) is inserted into the inner side of the first limiting platform (12112), and the first boss (11113) abuts against the first limiting platform (12112); and / or A second boss (12123) is arranged on the outer periphery of the second mounting protrusion (12121) and the second mounting protrusion (12121) protrudes from the second boss (12123); a second limiting platform (11122) is arranged on the inner wall of the first mounting groove (11121); when the second mounting portion (1112) is connected to the second mounting matching portion (1212), the second mounting protrusion (12121) is inserted into the inner side of the second limiting platform (11122), and the second boss (12123) abuts against the second limiting platform (11122).

7. The robot according to claim 1, characterized in that: The fuselage (1110) has a first side wall (1114), a second side wall (1115), a third side wall (1116) and a fourth side wall, the first side wall (1114) and the second side wall (1115) are opposite to each other, the third side wall (1116) and the fourth side wall are connected between the first side wall (1114) and the second side wall (1115) and are opposite to each other, the first mounting portion (1111) is arranged on the first side wall (1114), the second mounting portion (1112) is arranged on the second side wall (1115), and the movable foot (1120) includes a first foot (1121) arranged on the third side wall (1116) and a second foot (1122) arranged on the fourth side wall.

8. The robot according to claim 1, characterized in that: The auxiliary module (120) includes a first sub-auxiliary module (1220) and a second sub-auxiliary module (1230), the first mounting fitting portion (1211) is located on the first sub-auxiliary module (1220), the second mounting fitting portion (1212) is located on the second sub-auxiliary module (1230), a third mounting portion is provided on a side of the first sub-auxiliary module (1220) away from the first mounting fitting portion (1211), and a third mounting fitting portion adapted to the third mounting portion is provided on a side of the second sub-auxiliary module (1230) away from the second mounting fitting portion (1212).

9. The robot according to claim 8, characterized in that: The first sub-auxiliary module (1220) includes a first power supply and a main control component, and the second sub-auxiliary module (1230) includes a second power supply and a secondary control component.

10. The robot according to claim 1, characterized in that: The mobile foot (1120) of at least one of the N motion modules (110) is rotatable toward the adjacent motion module (110), and the rotation angle is not less than 270°.

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