robot

Abstract

This invention provides a robot. The robot comprises N motion modules and M auxiliary modules, where N is a positive integer not less than 2 and M is a positive integer not less than 1. Each motion module includes a body and a movable leg connected to and driving the body. The body has a first mounting part and a second mounting part. The auxiliary modules include a shell with a first mounting mating part and a second mounting mating part. Each motion module has an installation position and a disengagement position relative to the auxiliary modules. In the installation position, the first mounting part is connected to the first mounting mating part, or the second mounting part is connected to the second mounting mating part, allowing the auxiliary module to move under the influence of the motion modules. In the disengagement position, the first mounting part and the first mounting mating part are separated, and the second mounting part and the second mounting mating part are also separated. This robot can better adapt to different usage needs and has a wider range of applications.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more specifically, to a robot. Background Technology

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

[0003] A robot typically consists of a body and multiple wheels connected to it. The wheels move under the drive of a actuator, propelling the body along with it. However, when performing tasks, robots need to navigate various complex terrains and spatial environments. Current robots have overly simplistic compositions, limiting their application scenarios. Summary of the Invention

[0004] To at least partially address 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, where N is a positive integer not less than 2 and M is a positive integer not less than 1. Each motion module includes a body and a movable leg connected to the body and driving the body to move. The body is provided with a first mounting part and a second mounting part. The auxiliary module includes a housing, on which a first mounting mating part and a second mounting mating part are provided. Each motion module has an installation station and a disengagement station relative to the auxiliary modules. For a motion module in the installation station, the first mounting part is connected to the first mounting mating part or the second mounting part is connected to the second mounting mating part, and the auxiliary module is movable under the drive of the motion module. For a motion module in the disengagement station, the first mounting part is separated from the first mounting mating part, and the second mounting part is separated from the second mounting mating part.

[0005] The robot provided in this application can be connected in different ways to meet various usage needs. For example, connecting two motion modules with one auxiliary module results in a quadruped robot with good motion stability. Connecting three motion modules with two auxiliary modules results in a hexapod robot with good load-bearing capacity, suitable for transporting heavier items. When movement in confined spaces is required, connecting one motion module with one auxiliary module results in a bipedal robot that is smaller and more agile. Thus, by assembling and disassembling the motion modules and auxiliary modules, different connection configurations can be created, better adapting to diverse usage needs and broadening the range of applications.

[0006] For example, a power supply component is provided inside the housing. 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] For example, a control component is provided inside the housing. 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] For example, one of the first mounting portion and the second mounting portion includes a first mounting protrusion and the other includes a first mounting groove; one of the first mounting mating portion and the second mounting mating 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] For example, the first mounting protrusion is connected to a first locking motor, which drives the first mounting protrusion to rotate to engage or disengage from the second mounting groove.

[0010] For example, the second mounting protrusion is connected to a second locking motor, which drives the second mounting protrusion to rotate to engage or disengage from the first mounting groove.

[0011] For example, the machine body is also provided with a first ranging element, which is located on the same side wall of the machine body as the first mounting protrusion to detect the distance between the first mounting protrusion and the second mounting groove. The first ranging element is electrically connected to the first locking motor.

[0012] For example, the outer periphery of the first mounting protrusion is provided with a first boss and the first mounting protrusion protrudes from the first boss, the inner wall of the second mounting groove is provided with a first limiting platform, when the first mounting part is connected to the first mounting mating part, the first mounting protrusion is inserted into the inner side of the first limiting platform, and the first boss abuts against the first limiting platform.

[0013] For example, the outer periphery of the second mounting protrusion is provided with a second boss and the second mounting protrusion protrudes from the second boss. The inner wall of the first mounting groove is provided with a second limiting platform. When the second mounting part is connected to the second mounting mating part, the second mounting protrusion is inserted into the inner side of the second limiting platform, and the second boss abuts against the second limiting platform.

[0014] For example, the body has a first sidewall, a second sidewall, a third sidewall and a fourth sidewall. The first sidewall and the second sidewall are opposite to each other. The third sidewall and the fourth sidewall are both connected between the first sidewall and the second sidewall and are opposite to each other. A first mounting part is disposed on the first sidewall and a second mounting part is disposed on the second sidewall. The movable foot body includes a first foot body disposed on the third sidewall and a second foot body disposed on the fourth sidewall.

[0015] For example, the auxiliary module includes a first sub-auxiliary module and a second sub-auxiliary module. A first mounting mating part is located on the first sub-auxiliary module, and a second mounting mating part is located on the second sub-auxiliary module. A third mounting part is provided on the side of the first sub-auxiliary module away from the first mounting mating part, and a third mounting mating part adapted to the third mounting part is provided on the side of the second sub-auxiliary module away from the second mounting mating part.

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

[0017] For example, at least one of the N motion modules has a movable foot that can rotate toward an adjacent motion module, and the rotation angle is not less than 270°.

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

[0019] The advantages and features of the present invention will be described in detail below with reference to the accompanying drawings. Attached Figure Description

[0020] The following figures are included as part of this invention for understanding its principles. The figures illustrate embodiments of the invention and their descriptions, serving to explain the principles of the invention. In the figures,

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

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

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

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

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

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

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

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

[0029] Figure 9 A perspective view of an auxiliary module according to an exemplary embodiment of the present invention;

[0030] Figure 10 A perspective view of an auxiliary module according to an exemplary embodiment of the present invention;

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

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

[0033] 10. Robot; 110. Motion module; 1110. Body; 1111. First mounting part; 11111. First mounting protrusion; 11112. First locking motor; 11113. First boss; 1112. Second mounting part; 11121. First mounting groove; 11122. Second limiting platform; 1113. First ranging component; 1114. First sidewall; 1115. Second sidewall; 1116. Third sidewall; 1120. Moving leg; 1121, First foot body; 1122, Second foot body; 1130, Radar; 120, Auxiliary module; 1210, Housing; 1211, First mounting mating part; 12111, Second mounting groove; 12112, First limiting platform; 1212, Second mounting mating part; 12121, Second mounting protrusion; 12122, Second locking motor; 12123, Second boss; 1220, First sub-auxiliary module; 1230, Second sub-auxiliary module. Detailed Implementation

[0034] In the following description, numerous details are provided to enable a thorough understanding of the invention. However, those skilled in the art will appreciate that the following description merely illustrates preferred embodiments of the invention, and that the invention can be practiced without one or more of these details. Furthermore, to avoid obscuring the invention, some technical features well-known in the art have not been described in detail.

[0035] 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. Preferred embodiments of the present invention are described in detail below; however, in addition to these detailed descriptions, the present invention may have other embodiments.

[0036] This invention provides a robot in its embodiments. Referring to reference... Figures 1-4Robot 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. The relationship between N and M can be varied; 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 equal M, such as... Figure 4 Of course, in some embodiments, N can be less than M.

[0037] Combined with reference Figure 1 , Figure 5 , Figure 7 , Figure 9 and Figure 10 Each motion module 110 may include a body 1110 and a movable foot 1120 connected to and driving the body 1110 to move. The movable foot 1120 can move on any working surface such as the ground, and the body 1110 moves together with the movable 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 part 1111 and a second mounting part 1112. The auxiliary module 120 may include a housing 1210, and the housing 1210 may be provided with a first mounting mating part 1211 and a second mounting mating part 1212. The first mounting part 1111 and the first mounting mating part 1211 can be connected. The second mounting part 1112 and the second mounting mating part 1212 can be connected.

[0038] Each motion module 110 can have an installation station and a disengagement station relative to the auxiliary module 120. For example, movement between the installation station and the disengagement station can be achieved through the movement of the motion module 110. When the motion module 110 is in the installation station, its first mounting part 1111 is connected to its first mounting mating part 1211, or its second mounting part 1112 is connected to its second mounting mating part 1212. The auxiliary module 120 is movable under the action of the motion module 110. That is, for each motion module 110 in the installation station, at least one of its first mounting part 1111 and second mounting part 1112 is connected to the auxiliary module 120. At this time, the motion module 110 and the auxiliary module 120 are integrally connected and movable. When the motion module 110 is in the disengagement station, its first mounting part 1111 is separated from its first mounting mating part 1211, and its second mounting part 1112 is separated from its second mounting mating part 1212. At this time, the motion module 110 and the auxiliary module 120 are relatively independent of each other.

[0039] The robot 10 provided in this application can be connected into corresponding configurations through different assembly and disassembly methods to meet different usage requirements. For example, as Figure 1 and Figure 2 Two motion modules 110 are connected to an auxiliary module 120, enabling the quadruped robot 10 to exhibit good motion stability. For example... Figure 3 The hexapod robot 10, with three motion modules 110 and two auxiliary modules 120 connected together, has good load-bearing capacity and can be used to transport heavier items. When movement is required in confined spaces, one motion module 110 and one auxiliary module 120 can be connected, resulting in a bipedal robot 10 that is smaller and more agile. Thus, by assembling and detaching the motion modules 110 and auxiliary modules 120, different connection configurations of the robot 10 can be formed, better adapting to different usage needs and broadening its application range.

[0040] For example, a power supply component (not shown in the figure) may be provided inside the housing 1210. When the motion module 110 is in the installation position, the power supply component can be electrically connected to the motion module 110 to supply power to the motion module 110. That is, the auxiliary module 120 can supply power to the motion module 110, so that the robot 10 can run for a longer time. It is understood that the motion module 110 contains structural components such as drive components, and its internal space is limited, and the capacity of its internal power supply device is also limited. The auxiliary module 120 can be equivalent to an external battery for the motion module 110. When a longer battery life is required, it can be achieved through the auxiliary module 120. For example, a first through hole may be provided on the body 1110, and the interface of the power supply device of the motion module 110 is exposed in the first through hole. The plug of the power supply component can be inserted into the first through hole and electrically connected to the power supply device.

[0041] For example, a control component (not shown in the figure) may be provided inside the housing 1210. When the motion module 110 is in the installation position, the control component can be electrically connected to the motion module 110 to control the motion module 110. It is understood that the space inside the motion module 110 is limited, and the volume of its internal processing unit is relatively limited, resulting in weaker processing power and lower computing power, i.e., lower intelligence. The control component of the auxiliary module 120 can provide stronger motion control capabilities, improve the intelligence of the robot 10, and enable the robot 10 to have the ability to autonomously perceive the environment and intelligently calculate motion, thus completing highly intelligent operations. For example, a second through hole may be provided on the body 1110. The processing unit of the motion module 110 has a communication terminal, and the communication terminal is exposed in the second through hole. 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 , Figure 9 and Figure 10One 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 mating portion 1211 and the second mounting mating 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 mating portion are implemented through the mounting protrusion and the mounting groove adapted to the mounting protrusion. When the motion module 110 is in the mounting position, the motion module 110 and the auxiliary module 120 are connected by inserting the first mounting protrusion 11111 into the second mounting groove 12111 or by inserting the second mounting protrusion 12121 into the first mounting groove 11121. In an 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 slot 12111, and the second mounting protrusion 12121 of the auxiliary module 120 is inserted into the first mounting slot 11121 of the other motion module 110. This plug-in connection between the motion module 110 and the auxiliary module 120 is simpler and more efficient.

[0043] For example, in conjunction with reference Figures 5-8 The first mounting protrusion 11111 can be connected to a first locking motor 11112. The first locking motor 11112 can drive the first mounting protrusion 11111 to rotate so as to lock or disengage from the second mounting groove 12111. The first locking motor 11112 is located inside the housing 1210, and the first mounting protrusion 11111 is connected to the first locking motor 11112 with one end extending outside 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 Figures 9-11The second mounting protrusion 12121 can be connected to a second locking motor 12122. The second locking motor 12122 can drive the second mounting protrusion 12121 to rotate so as to lock or disengage from the first mounting groove 11121. The second locking motor 12122 is located inside the housing 1210, and the second mounting protrusion 12121 is connected to the second locking motor 12122 with both ends extending outside 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 Figure 10 The body 1110 may also be equipped with a first ranging element 1113. The first ranging element 1113 and the first mounting protrusion 11111 may be 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. The first ranging element 1113 is electrically connected to the first locking motor 11112. The connection between the first ranging element 1113 and the first locking motor 11112 can be direct or indirect. The first ranging element 1113 detects the distance between the first mounting protrusion 11111 and the second mounting groove 12111. When the distance is less than a predetermined value, the first locking motor 11112 operates 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 embodiments where there are multiple first mounting protrusions 11111, the first ranging element 1113 may be located among multiple first mounting protrusions 11111. For example, there may be four first mounting protrusions 11111, each located at one of the four corners of a quadrilateral, and the first rangefinder 1113 may be located at the center of the quadrilateral. Alternatively, in some embodiments, the first rangefinder 1113 may be located on the top wall of the body 1110 and protrude from the top wall. Exemplarily, the first rangefinder 1113 may be a depth camera.

[0046] Exemplarily, a second ranging element may also be provided on the housing 1210. The second ranging element and the second mounting protrusion 12121 may be located on the same sidewall of the housing 1210 to detect the distance between the second mounting protrusion 12121 and the first mounting groove 11121. The second ranging element is electrically connected to the second locking motor 12122. The connection between the second ranging element and the second locking motor 12122 may be direct or indirect. The second ranging element detects the distance between the second mounting protrusion 12121 and the first mounting groove 11121. When the distance is less than a predetermined value, the second locking motor 12122 operates 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 embodiments where there are multiple second mounting protrusions 12121, the second ranging element may be located among multiple second mounting protrusions 12121. For example, there may be four second mounting protrusions 12121, each located at one of the four corners of a quadrilateral, and the second rangefinder may be located at the center of the quadrilateral. Alternatively, in some embodiments, the second rangefinder may be located on the top wall of the housing 1210 and protrude from the top wall. Exemplarily, the second rangefinder may be a depth camera.

[0047] For example, in conjunction with reference Figure 6 and Figure 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 part 1111 is connected to the first mounting mating part 1211, the first mounting protrusion 11111 can be inserted into the inner side of the first limiting platform 12112, and the first boss 11113 can abut against the first limiting platform 12112. The first boss 11113 is located on 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 movement in different directions, thus improving the accuracy of assembling and disassembling the motion module 110 and the auxiliary module 120. For example, the first boss 11113 can be annular or polygonal; for instance, the first boss 11113 can be quadrilateral.

[0048] For example, in conjunction with reference Figure 7 and Figure 9The outer periphery of the second mounting protrusion 12121 may be provided with a second boss 12123, and the second mounting protrusion 12121 protrudes from the second boss 12123. The inner wall of the first mounting groove 11121 is provided with a second limiting platform 11122. When the second mounting part 1112 is connected to the second mounting mating part 1212, the second mounting protrusion 12121 can be inserted into the inner side of the second limiting platform 11122, and the second boss 12123 can abut against the second limiting platform 11122. The second boss 12123 is located on 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 movement in different directions, thus improving the accuracy of assembling and disassembling the motion module 110 and the auxiliary module 120. For example, the second boss 12123 can be annular or polygonal; for instance, the second boss 12123 can be quadrilateral.

[0049] For example, in conjunction with reference Figure 1 , Figure 5 and Figure 6 The fuselage 1110 has a first sidewall 1114, a second sidewall 1115, a third sidewall 1116, and a fourth sidewall. The first sidewall 1114 and the second sidewall 1115 are opposite to each other. The third sidewall 1116 and the fourth sidewall are both connected between the first sidewall 1114 and the second sidewall 1115 and are opposite to each other. A first mounting part 1111 is disposed on the first sidewall 1114, and a second mounting part 1112 is disposed on the second sidewall 1115. The movable foot 1120 includes a first foot 1121 disposed on the third sidewall 1116 and a second foot 1122 disposed on the fourth sidewall. Figure 5 Taking the indicated direction as an example, the first sidewall 1114 and the second sidewall 1115 are located on the front and rear sides of the fuselage 1110, respectively, and the third sidewall 1116 and the fourth sidewall are located on the left and right sides of the fuselage 1110, respectively. That is, the first foot 1121 and the second foot 1122 are located on the left and right sides of the fuselage 1110, respectively. With this arrangement, the first mounting part 1111 and the second mounting part 1112 are located on 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 causes the first mounting part 1111 and the second mounting part 1112 to move accordingly, avoiding interference when the first foot 1121 and the second foot 1122 move, thus 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 , Figure 9and Figure 10 The auxiliary module 120 may include a first sub-auxiliary module 1220 and a second sub-auxiliary module 1230. A first mounting mating part 1211 may be located on the first sub-auxiliary module 1220, and a second mounting mating part may be located on the second sub-auxiliary module 1230. A third mounting part is provided on the side of the first sub-auxiliary module 1220 away from the first mounting mating part 1211, and a third mounting mating part adapted to the third mounting part is provided on the side of the second sub-auxiliary module 1230 away from the second mounting mating part 1212. It can be understood that the first sub-auxiliary module 1220 and the second sub-auxiliary module 1230 are connected, forming a whole, with the motion module 110 connected to both sides of this whole. The first sub-auxiliary module 1220 and the second sub-auxiliary module 1230 can provide more resources, such as more energy. This can improve the battery life of the robot 10, allowing for a longer working time.

[0051] For example, the first sub-auxiliary module 1220 may include a first power supply component and a main control component, and the second sub-auxiliary module 1230 may include a second power supply component and a secondary control component. The two sub-auxiliary modules 120 may have different focuses. The first sub-auxiliary module 1220 may primarily handle control calculations, while the secondary control component in the second sub-auxiliary module 1230 may occupy a smaller volume relative to the main control component, and its second power supply component may be larger. The second sub-auxiliary module 1230 may primarily handle battery life. In practical use, multiple second sub-auxiliary modules 1230 may be used, 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 movable foot 1120 that is rotatable toward an adjacent motion module 110, with a rotation angle of not less than 270°. The robot 10 may have a front-elbow and rear-elbow configuration (e.g.,...). Figure 1 It has good mobility and is easy to control, making it suitable for routine tasks. In some application scenarios, the robot 10 can be given a forward elbow and hind knee configuration by rotating its feet 1120 degrees. Figure 2 This makes it suitable for use in scenarios with heavy loads.

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

[0054] In the description of this invention, it should be understood that the orientation or positional relationship indicated by directional terms such as "front", "rear", "up", "down", "left", "right", "horizontal", "vertical", "horizontal", "top", and "bottom" is generally based on the orientation or positional relationship shown in the accompanying drawings and is only for the convenience of describing this invention and simplifying the description. Unless otherwise stated, these directional terms 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 should not be construed as a limitation on the scope of protection of this invention; the directional terms "inner" and "outer" refer to the inner and outer contours relative to the outline of each component itself.

[0055] For ease of description, relative terms such as "above," "over," "on the upper surface of," and "above" are used here to describe the regional positional relationship of one or more components or features shown in the figures to other components or features. It should be understood that relative terms include not only the orientation of the component as depicted in the figure but also different orientations during use or operation. For example, if the components in the figures are inverted as a whole, "above" or "above other components or features" will include cases where the component is "below" or "under" other components or features. Thus, the exemplary term "above" can include both "above" and "below." Furthermore, these components or features may also be positioned at other different angles (e.g., rotated 90 degrees or other angles), and this document intends to include all such cases.

[0056] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, parts, components, and / or combinations thereof.

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

[0058] The present invention has been described through the above embodiments. However, it should be understood that the above embodiments are for illustrative purposes only and are not intended to limit the invention to the scope of the described embodiments. Furthermore, those skilled in the art will understand that the present invention is not limited to the above embodiments, and many more variations and modifications can be made based on the teachings of the present invention, all of which fall within the scope of protection claimed by the present invention. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. A robot, characterized in that, The system 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. Each motion module (110) includes a body (1110) and a moving leg (1120) connected to and driving the body (1110) to move. The body (1110) is provided with a first mounting part (1111) and a second mounting part (1112). Each auxiliary module (120) includes a housing (1210), which is provided with a first mounting mating part (1211) and a second mounting mating part (1212). Each motion module (110) has an installation station and a disengagement station relative to the auxiliary module (120). The motion module (110) located at the installation station has its first mounting part (1111) connected to the first mounting mating part (1211) or its second mounting part (1112) connected to the second mounting mating part (1212). The auxiliary module (120) is movable under the drive of the motion module (110). In the motion module (110) at the detached workstation, the first mounting part (1111) and the first mounting mating part (1211) are separated from each other, and the second mounting part (1112) and the second mounting mating part (1212) are separated from each other. A power supply component is provided inside 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). The auxiliary module (120) serves as an external battery to supply power to the motion module (110) when a longer battery life is required.

2. The robot according to claim 1, characterized in that, A control component is provided inside 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). One of the first mounting mating portion (1211) and the second mounting mating 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), which is used to drive the first mounting protrusion (11111) to rotate so as to lock or disengage from the second mounting groove (12111); and / or The second mounting protrusion (12121) is connected to a second locking motor (12122), which is used to drive the second mounting protrusion (12121) to rotate so as to lock or disengage from the first mounting groove (11121).

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

6. The robot according to claim 3, characterized in that, The first mounting protrusion (11111) has a first boss (11113) on its outer periphery, and the first mounting protrusion (11111) protrudes from the first boss (11113). The inner wall of the second mounting groove (12111) has a first limiting platform (12112). When the first mounting part (1111) is connected to the first mounting mating part (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 The second mounting protrusion (12121) has a second boss (12123) on its outer periphery and the second mounting protrusion (12121) protrudes from the second boss (12123). The inner wall of the first mounting groove (11121) has a second limiting platform (11122). When the second mounting part (1112) is connected to the second mounting mating part (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 sidewall (1114), a second sidewall (1115), a third sidewall (1116), and a fourth sidewall. The first sidewall (1114) and the second sidewall (1115) are opposite to each other. The third sidewall (1116) and the fourth sidewall are both connected between the first sidewall (1114) and the second sidewall (1115) and are opposite to each other. The first mounting part (1111) is disposed on the first sidewall (1114), and the second mounting part (1112) is disposed on the second sidewall (1115). The movable foot (1120) includes a first foot (1121) disposed on the third sidewall (1116) and a second foot (1122) disposed on the fourth sidewall.

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 mating part (1211) is located on the first sub-auxiliary module (1220), and the second mounting mating part (1212) is located on the second sub-auxiliary module (1230). A third mounting part is provided on the side of the first sub-auxiliary module (1220) away from the first mounting mating part (1211), and a third mounting mating part adapted to the third mounting part is provided on the side of the second sub-auxiliary module (1230) away from the second mounting mating part (1212).

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

10. The robot according to claim 1, characterized in that, The movable 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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