Robot module

Abstract

The invention relates to the technical field of robots, in particular to a robot module which comprises a shell and a working module, the shell is provided with a mechanical interface used for being connected with other robot modules, the working module is installed in the shell, and the shell comprises a plurality of branch shells capable of being combined into the shell. The mechanical interface comprises a plurality of branch interfaces capable of being combined into the mechanical interface, the branch interfaces are arranged on the branch shells respectively, during installation, the working module is located among the branch shells, the branch shells are combined into the shell, and the branch interfaces on the branch shells are combined into the mechanical interface. Other modules are mounted on the shell through mechanical interfaces; the shell and the mechanical interface adopt a split design, and the shell is disassembled into a plurality of sub-shells, so that the working module in the shell can be conveniently disassembled and assembled, the size of the working module is not limited by the size of the mechanical interface, and parts can be more freely integrated.

Description

Technical Field

[0001] This application relates to the field of robotics, and particularly to a robot module. Background Art

[0002] A modular robot is a system composed of multiple independent modules, and each module can perform specific functions or tasks. The modular robot consists of corresponding hardware interfaces and software systems. In the existing robot joint technology, the modular robot joints are usually integral and have fixed mechanical interfaces. The modular mechanical interface is a key feature for connecting other module joints. Since the mechanical interface occupies the effective space of the joint, the layout of internal components is restricted. Summary of the Invention

[0003] An object of the present invention is to overcome the deficiency that the spatial layout of the internal components of the robot module in the prior art is restricted by the mechanical interface, and to provide a robot module that can simply and conveniently disassemble and replace the internal components of the robot module, so that the internal components of the robot module are not restricted by the mechanical interface.

[0004] To solve the above technical problems, the technical solution adopted by the present invention is: Provide a robot module, including a housing and a working module. A mechanical interface for connecting other robot modules is provided on the housing. The working module is installed inside the housing. The housing includes several sub-housings that can be combined to form the housing. The mechanical interface includes several sub-interfaces that can be combined to form the mechanical interface. The several sub-interfaces are respectively arranged on the several sub-housings.

[0005] For the robot module of the present invention, during installation, the working module is located between several sub-housings, the several sub-housings are combined to form a housing, the sub-interfaces on the several sub-housings are combined to form a mechanical interface, and other modules are installed on the housing through the mechanical interface; the housing and the mechanical interface adopt a split design. By disassembling the housing into several sub-housings, the working module inside the housing can be conveniently disassembled and installed, so that the volume of the working module is not restricted by the size of the mechanical interface, and components can be integrated more freely.

[0006] Further, a first pin hole is provided on the joint surface between adjacent sub-housings, and a first pin is installed in the first pin hole. When combining adjacent sub-housings, precise positioning is achieved through the first pin, which is convenient for installation.

[0007] Further, there are two sub-housings, namely a first housing and a second housing. There are two sets of mechanical interfaces, namely a first interface and a second interface. The first interface is arranged on the first housing, and the second interface is arranged on the second housing. The joint surfaces between the first housing and the second housing are parallel to each other. There is a first mounting hole on the first housing and a second mounting hole on the second housing. The first mounting hole is a threaded hole, and the second mounting hole is a countersunk through hole. It further includes a first bolt. The first bolt is provided with an external thread that mates with the internal thread of the first mounting hole. The first bolt passes through the first mounting hole and the second mounting hole. Align and contact the joint surfaces of the first housing and the second housing, pass the bolt through the second mounting hole, and screw it into the first mounting hole. Tighten the bolt to complete the connection between the first housing and the second housing.

[0008] Further, it further includes a connection component for connecting the mechanical interfaces of other modules. The connection component is detachably installed on the mechanical interface. When other modules need to be installed on the robot module, one end of the connection component is installed on the mechanical interface, and the other end of the connection component is connected to other modules to complete the installation.

[0009] Further, the connection component includes a snap ring. The mechanical interface is a circular interface. There is a card slot on the outer side wall of the mechanical interface. There are two sets of card blocks on the inner side wall of the snap ring that cooperate with the card slots. The two sets of card blocks are respectively clamped with the card slots of the two mechanical interfaces to be connected. When connecting the robot modules, align the two mechanical interfaces, and respectively snap the two sets of card blocks on the snap ring into the card slots of the two mechanical interfaces to complete the connection.

[0010] Further, there is a first guiding surface for guiding the card block on the card slot. The first guiding surface is inclined relative to the annular surface of the mechanical interface. There is a second guiding surface on the card block that cooperates with the first guiding surface. When snapping the card block into the card slot, the first guiding surface contacts the second guiding surface to guide the card block, making the installation of the snap ring more convenient.

[0011] Further, it further includes a second bolt. There is a notch on the snap ring. There are a first boss and a second boss at both ends of the notch. There are a first through hole and a second through hole on the first boss and the second boss respectively. The first through hole and / or the second through hole is provided with an internal thread that mates with the external thread of the second bolt. When installing other modules on the robot module, pull apart the two ends of the notch of the snap ring to reduce the difficulty of installing the snap ring. Snap the two sets of card blocks of the snap ring into the card slots of the two mechanical interfaces respectively. Taking the case where the second through hole has a thread as an example, close the two ends of the notch, pass the second bolt through the first through hole and the second through hole in sequence and tighten it, thereby fixedly installing the snap ring on the mechanical interface to complete the installation of the module. The operation is simple and convenient.

[0012] Furthermore, the working module includes a controller, an antenna, and a power supply component. The controller is connected to the power supply component. The antenna is disposed on the housing and is connected to the controller. When controlling the robot to work, the power supply component is turned on, and an external control signal is sent to the antenna. The antenna strengthens the control signal and then transmits it to the controller. After parsing and processing the signal, the controller controls the robot to work according to the control signal, eliminating the constraint of the external wiring cable of the robot and expanding the working radius of the robot.

[0013] Furthermore, the controller is provided with a CAN communication interface. After receiving the external signal transmitted by the antenna, the controller outputs a CAN protocol frame to other modules through the CAN communication interface to control the work of other modules. The CAN bus adopts a differential transmission and error detection and correction mechanism, which can effectively reduce the error rate during data transmission and automatically correct errors when an error occurs, ensuring the integrity and accuracy of the data. At the same time, it has a low transmission delay and a fast data transmission rate, which can meet the high real-time requirements of robot data transmission. Controlling other modules through the CAN bus has high reliability and high real-time performance, and can be flexibly expanded according to needs.

[0014] Furthermore, the power supply component includes a battery pack, a power step-down board, a power switch, a charging interface, and a discharge interface for supplying power to other devices. The power switch is disposed on the housing and is connected to the battery pack. The charging interface is connected to the input end of the power supply component. The input end of the power step-down board is connected to the output end of the battery pack. The output end of the power step-down board is connected to the controller and the discharge interface. When the power switch is turned on, the battery pack discharges current. The power step-down board can output the current of the battery pack to the controller and the discharge interface at different voltages. The discharge interface can supply power to other devices such as other robot modules, meeting diverse power supply requirements.

[0015] Compared with the prior art, the beneficial effects of the present invention are as follows: The robot module of the present invention: 1. By disassembling the housing into several sub-housings, it is convenient to disassemble and install the working module inside the housing, so that the volume of the working module is not limited by the size of the mechanical interface, and components can be integrated more freely; 2. Precise positioning can be achieved between adjacent sub-housings through pins, facilitating installation; 3. By respectively clamping the two groups of clamping blocks on the snap ring into the card slots of the two mechanical interfaces, and passing a bolt through the first through hole and the second through hole of the snap ring and tightening it, the connection of the two robot modules can be completed, which is simple and convenient; 4. Signals can be remotely transmitted from the antenna to the controller, avoiding problems of cable dragging and winding. Description of the Drawings

[0016] Figure 1The first schematic structural diagram of the robot module of the present invention; Figure 2 The exploded schematic structural diagram of the robot module of the present invention; Figure 3 The second schematic structural diagram of the robot module of the present invention; Figure 4 The third schematic structural diagram of the robot module of the present invention; Figure 5 The schematic structural diagram of the first housing of the robot module of the present invention; Figure 6 The schematic structural diagram of the mechanical interface of the robot module of the present invention; Figure 7 The schematic structural diagram of the snap ring of the robot module of the present invention; Figure 8 The first schematic diagram of the connection between the robot module of the present invention and other modules; Figure 9 The second schematic diagram of the connection between the robot module of the present invention and other modules; Figure 10 The schematic diagram of the connection between the snap ring and the mechanical interface of the robot module of the present invention; Figure 11 The schematic structural diagram of the battery pack of the robot module of the present invention; Figure 12 The schematic structural diagram of the battery pack of the robot module of the present invention.

[0017] In the drawings: 1. Housing; 11. First housing; 111. First mounting hole; 112. Expansion port; 113. Air inlet; 114. Air outlet; 115. Charging hole; 116. Discharge hole; 117. Controller fixing hole; 118. Nylon stud; 12. Second housing; 121. Second mounting hole; 13. First bolt; 14. First pin; 2. Mechanical interface; 21. First interface; 22. Second interface; 23. Second pin hole; 24. Second pin; 25. Card slot; 251. First guiding surface; 3. Snap ring; 31. Clamping block; 311. Second guiding surface; 32. First boss; 33. Second boss; 34. Second bolt; 4. Working module; 41. Controller; 411. Adapter board; 42. Antenna; 43. Power supply assembly; 431. Battery pack; 432. Power supply step-down board; 433. Power switch; 434. Charging interface; 435. Discharge interface; 44. Heat dissipation assembly. Detailed implementation manners

[0018] The present invention will be further described below in conjunction with specific embodiments. Among them, the drawings are only for illustrative purposes, showing only schematic diagrams, not physical diagrams, and should not be construed as a limitation to this patent; in order to better illustrate the embodiments of the present invention, some components in the drawings will be omitted, enlarged or reduced, which do not represent the dimensions of the actual product; for those skilled in the art, it is understandable that some well-known structures and their descriptions in the drawings may be omitted.

[0019] In the drawings of the embodiments of the present invention, the same or similar reference numerals correspond to the same or similar components; in the description of the present invention, it should be understood that if there are terms such as "upper", "lower", "left", "right", etc. indicating the orientation or positional relationship, they are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, the terms describing the positional relationship in the drawings are only for illustrative purposes and should not be construed as a limitation to this patent. For those of ordinary skill in the art, the specific meanings of the above terms can be understood according to specific circumstances.

[0020] Embodiment 1 As Figures 1 to 12 shown in the first embodiment of the robot module of the present invention, a robot module is provided, which includes a housing 1 and a working module 4. A mechanical interface 2 for connecting other robot modules is provided on the housing 1. The working module 4 is installed inside the housing 1. The housing 1 includes several sub-housings that can be combined into the housing 1. The mechanical interface 2 includes several sub-interfaces that can be combined into the mechanical interface 2. Several of the sub-interfaces are respectively arranged on several of the sub-housings.

[0021] For the robot module of the present invention, during installation, the working module 4 is located between several sub-housings, several sub-housings are combined into the housing 1, the sub-interfaces on several sub-housings are combined into the mechanical interface 2, and other modules are installed on the housing 1 through the mechanical interface 2; the housing 1 and the mechanical interface 2 adopt a split design. By disassembling the housing 1 into several sub-housings, it is convenient to disassemble and install the working module 4 inside the housing 1, so that the volume of the working module 4 is not limited by the size of the mechanical interface 2, and components can be integrated more freely.

[0022] As Figure 2 and Figure 5 shown, a first pin hole is provided on the joint surface between adjacent sub-housings, and a first pin 14 is installed in the first pin hole. When combining adjacent sub-housings, precise positioning is achieved through the first pin 14, which is convenient for installation.

[0023] As Figure 2As shown in the figure, there are two sub-housings, namely the first housing 11 and the second housing 12. There are two sets of mechanical interfaces 2, namely the first interface 21 and the second interface 22. The first interface 21 is arranged on the first housing 11, and the second interface 22 is arranged on the second housing 12. The mating surfaces between the first housing 11 and the second housing 12 are parallel to each other. There is a first mounting hole 111 on the first housing 11, and a second mounting hole 121 on the second housing 12. The first mounting hole 111 is a threaded hole, and the second mounting hole 121 is a countersunk through hole. It further includes a first bolt 13. The first bolt 13 is provided with an external thread that mates with the internal thread of the first mounting hole 111. The first bolt 13 passes through the first mounting hole 111 and the second mounting hole 121. Align and contact the mating surfaces of the first housing 11 and the second housing 12, pass the bolt through the second mounting hole 121, and screw it into the first mounting hole 111. Tighten the bolt to complete the connection between the first housing 11 and the second housing 12.

[0024] In this embodiment, the housing 1 is a quasi-cylindrical structure, and mechanical interfaces 2 are provided at both ends of the housing 1.

[0025] The working principle of the robot module in this embodiment is as follows: During installation, install the working module 4 in the second housing 12, install the first pin 14 in the first pin hole of the second housing 12, move the first housing 11 to align the first pin holes of the first housing 11 and the second housing 12, move the first housing 11 to insert the first pin 14 into the first pin hole of the first housing 11 until the mating surfaces of the first housing 11 and the second housing 12 are in contact. The first interface 21 and the second interface 22 are combined into the mechanical interface 2. Pass the bolt through the second mounting hole 121 and screw it into the first mounting hole 111. Tighten the bolt to complete the connection between the first housing 11 and the second housing 12, complete the installation of the robot module, and install other robot modules on the housing 1 through the mechanical interface 2 to complete the installation of the robot.

[0026] Embodiment 2 This embodiment is the second embodiment of the robot module of the present invention. This embodiment is similar to Embodiment 1, but the difference is that it further includes a connection component for connecting the mechanical interfaces 2 of other modules. The connection component is detachably installed on the mechanical interface 2. When it is necessary to install other modules on the robot module, install one end of the connection component on the mechanical interface 2, and connect the other end of the connection component to other modules to complete the installation.

[0027] Such as Figure 6 、 Figure 7 and Figure 10As shown, the connecting component includes a snap ring 3. The mechanical interface 2 is a circular interface. A clamping groove 25 is provided on the outer side wall of the mechanical interface 2, and two groups of clamping blocks 31 that cooperate with the clamping groove 25 are provided on the inner side wall of the snap ring 3. The two groups of clamping blocks 31 are respectively clamped with the clamping grooves 25 of the two mechanical interfaces 2 to be connected. When connecting the robot modules, align the two mechanical interfaces 2, and respectively insert the two groups of clamping blocks 31 on the snap ring 3 into the clamping grooves 25 of the two mechanical interfaces 2 to complete the connection.

[0028] As shown in 6, Figure 7 and Figure 9 As shown, a first guiding surface 251 for guiding the clamping block 31 is provided on the clamping groove 25. The first guiding surface 251 is inclined relative to the annular surface of the mechanical interface 2, and a second guiding surface 311 that cooperates with the first guiding surface 251 is provided on the clamping block 31. When inserting the clamping block 31 into the clamping groove 25, the first guiding surface 251 contacts the second guiding surface 311 to guide the clamping block 31, making the installation of the snap ring 3 more convenient. In this embodiment, the clamping groove 25 is a trapezoidal groove, the first guiding surface 251 is a conical surface formed by the hypotenuse of the trapezoid, and the included angle between the first guiding surface 251 and the annular surface of the mechanical interface 2 is 55° - 60°; there are two clamping blocks 31 on the snap ring 3. The cross-section of the clamping block 31 perpendicular to the axis direction of the snap ring 3 is annular, and the cross-section perpendicular to the diameter direction is trapezoidal.

[0029] In this embodiment, as Figure 1 , Figure 2 and Figure 10 As shown, a second pin hole 23 is provided on the end surface of the mechanical interface 2, and a second pin 24 is installed in the second pin hole 23. When connecting the robot modules, align the second pin holes 23 of the mechanical interfaces 2 of the two robot modules, and insert the two ends of the second pin 24 into two coaxial second pin holes 23 respectively. While facilitating the positioning of the robot modules, it can also limit the rotation of the robot modules.

[0030] As Figure 7 and Figure 10 As shown, it further includes a second bolt 34. A notch is provided on the snap ring 3, and a first boss 32 and a second boss 33 are respectively provided at both ends of the notch. A first through hole and a second through hole are respectively provided on the first boss 32 and the second boss 33, and internal threads that cooperate with the external threads of the second bolt 34 are provided in the first through hole and / or the second through hole. When installing other modules on the robot module, pull apart both ends of the notch of the snap ring 3 to reduce the difficulty of installing the snap ring 3, and respectively insert the two groups of clamping blocks 31 of the snap ring 3 into the clamping grooves 25 of the two mechanical interfaces 2. In this embodiment, no thread is provided in the first through hole, and a thread is provided in the second through hole. Close both ends of the notch, and sequentially pass the second bolt 34 through the first through hole and the second through hole and tighten it, thereby fixedly installing the snap ring 3 on the mechanical interface 2 to complete the installation of the module, with simple and convenient operation.

[0031] The working principle of the robot module in this embodiment is as follows: During installation, the working module 4 is installed in the second housing 12, aligning and contacting the mating surfaces of the first housing 11 and the second housing 12. The first interface 21 and the second interface 22 are combined into the mechanical interface 2. A bolt is passed through the second mounting hole 121 and screwed into the first mounting hole 111. After tightening the bolt, the connection between the first housing 11 and the second housing 12 is completed, and the installation of the robot module is finished. The second pin 24 is installed into the second pin hole 23 on the end face of the mechanical interface 2. The other robot module to be connected is moved so that the second pin 24 is inserted into the second pin hole 23 of the robot module to be connected, completing the positioning. The robot module is continuously moved until the end faces of the two mechanical interfaces 2 come into contact. The two ends of the notch of the snap ring 3 are pulled apart, and the snap ring 3 is moved so that the mechanical interface 2 is located inside the snap ring 3. The two locking blocks 31 of the snap ring 3 are respectively snapped into the card slots 25 of the two mechanical interfaces 2. The two ends of the notch of the snap ring 3 are closed, and the second bolt 34 is successively passed through the first through hole and the second through hole and tightened, thereby fixedly installing the snap ring 3 on the mechanical interface 2 and completing the installation of the module.

[0032] Embodiment Three This embodiment is the third embodiment of the robot module of the present invention. This embodiment is similar to Embodiment Two, and the difference lies in that, as Figure 2 shown, the working module 4 includes a controller 41, an antenna 42, and a power supply assembly 43. The controller 41 is connected to the power supply assembly 43. The antenna 42 is disposed on the housing 1, and the antenna 42 is connected to the controller 41. When controlling the robot to work, the power supply assembly 43 is turned on, and an external control signal is sent to the antenna 42. The antenna 42 strengthens the control signal and transmits it to the controller 41. After parsing and processing the signal, the controller 41 controls the robot to work according to the control signal; the constraint of the external wiring cable of the robot is eliminated, and the working radius of the robot is expanded. In this embodiment, the controller 41 is an MCU, and the robot module is a control module. Third through holes are provided at the four corners of the controller 41. Controller fixing holes 117 are provided on the inner wall of the first housing 11. When installing the controller 41, four nylon studs 118 are respectively passed through the third through holes and then screwed into the controller fixing holes 117 to complete the installation of the controller 41.

[0033] The controller 41 is provided with a CAN communication interface. After receiving the external signal transmitted by the antenna 42, the controller 41 outputs the CAN protocol frame to other modules through the CAN communication interface to control the operation of other modules; the CAN bus adopts differential transmission and error detection and correction mechanism, which can effectively reduce the error rate in the data transmission process, and automatically correct when an error occurs, ensuring the integrity and accuracy of the data. At the same time, it has low transmission delay and fast data transmission rate, which can meet the high real-time requirements of robot data transmission. Other modules are controlled through the CAN bus, which has high reliability and high real-time performance, and can be flexibly expanded according to needs. An adapter board 411 is also provided in the housing 1, and the adapter board 411 is provided with an input interface and at least two output interfaces. The CAN communication interface is electrically connected to the input interface, and the output interface is electrically connected to other modules. The adapter board 411 expands the CAN signal into more than two channels, which can better meet the control requirements of other modules.

[0034] The power supply assembly 43 includes a battery pack 431, a power step-down board 432, a power switch 433, a charging interface 434, and a discharge interface 435 for supplying power to other devices. The power switch 433 is arranged on the housing 1, the power switch 433 is connected to the battery pack 431, the charging interface 434 is connected to the input end of the power supply assembly 43, the input end of the power step-down board 432 is connected to the output end of the battery pack 431, and the output end of the power step-down board 432 is connected to the controller 41 and the discharge interface 435. When the power switch 433 is turned on, the battery pack 431 discharges current, the power step-down board 432 can output the current of the battery pack 431 to the controller 41 and the discharge interface 435 at different voltages, and the discharge interface 435 can supply power to other devices such as robot modules to meet diverse power supply requirements.

[0035] In this embodiment, the power step-down board 432 is provided with a direct output circuit, a first step-down circuit and a second step-down circuit, the discharge interface 435 includes a first discharge interface 435 and a second discharge interface 435, the direct output circuit is connected to the first discharge interface 435, the first discharge interface 435 is connected to other modules, such as the drive motor of the joint module, the first step-down circuit is connected to the controller 41 and the second step-down circuit, and the second step-down circuit is connected to the second discharge interface 435; Figure 11 and Figure 12 As shown, the battery pack 431 is a lithium battery pack 431. The lithium battery pack 431 uses 21700 lithium batteries with a nominal voltage of 48V. It adopts a top-to-bottom stacking structure of thirteen in series and two in parallel. The cross-section of the lithium battery pack 431 is a polygon, which improves space utilization.

[0036] The output voltage of the direct output circuit is equal to the nominal voltage of the battery pack 431, which is 48V; the output voltage of the first buck circuit is 16V. The TPS5430DDAR buck converter is adopted, combined with inductance filtering and feedback voltage regulation, to achieve efficient and low-noise DC-DC conversion, and has functions of input filtering, output voltage regulation and working status indication; the output voltage of the second buck circuit is 12V, which steps down the 16V voltage output by the first buck circuit to 12V. The discharge interface 435 is connected to the output end of the second buck circuit to meet the power supply expansion requirements of this module.

[0037] As Figure 1 and Figure 2 shown, the first housing 11 is provided with a charging hole 115 and a discharge hole 116. The charging interface 434 is installed in the charging hole 115, and the second discharge interface 435 is installed in the discharge hole 116. The battery pack 431 can be charged through the charging interface 434 without disassembling the housing 1.

[0038] The power supply component 43 also includes a power management board running BMS. The BMS system on the power management board dynamically adjusts the current output according to the tasks of the robot, powers the controller 41 and the robot module, optimizes energy consumption, and extends the battery life.

[0039] As Figure 2 shown, the controller 41 is arranged on the top of the battery pack 431. The side of the controller 41 is provided with USB, RS485 and HDMI communication interfaces, which can realize the control and debugging of robots communicating based on other methods except CAN communication; the side of the housing 1 is provided with an expansion port 112, and the side of the controller 41 where the USB, RS485 and HDMI communication interfaces are located is opposite to the expansion port 112.

[0040] As Figure 2 and Figure 5As shown, it further includes a heat dissipation component 44. The heat dissipation component 44 is installed in the housing 1. The housing 1 is provided with an air inlet 113 and an air outlet 114. The heat dissipation component 44 includes a heat dissipation fan and a temperature sensor. Both the heat dissipation fan and the temperature sensor are connected to the controller 41. The heat dissipation fan is connected to the power supply component 43. The heat dissipation fan is arranged on the top of the controller 41, and the temperature sensor is arranged inside the controller 41. The air inlet 113 is arranged on the first housing 11 and is opposite to the heat dissipation fan. The air outlet 114 is arranged on the first housing 11 and is opposite to the side of the heat dissipation fan. When the temperature sensor detects that the temperature inside the housing 1 is higher than the set threshold, the controller 41 controls the heat dissipation fan to work to reduce the temperature inside the housing 1 and prevent the controller 41 and the battery pack 431 from overheating. When the heat dissipation fan works, air enters the housing 1 through the air inlet 113, cools the controller 41 and the battery pack 431, and then is discharged from the air outlet 114.

[0041] In the specific content of the above specific embodiments, each technical feature can be combined arbitrarily without contradiction. For the sake of concise description, not all possible combinations of the above technical features are described. However, as long as the combinations of these technical features do not exist in contradiction, they should all be considered as the scope described in this specification.

[0042] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, rather than limiting the implementation manners of the present invention. For those of ordinary skill in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to enumerate all the implementation manners here. Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present invention shall be included in the protection scope of the claims of the present invention.

Claims

1. A robot module, comprising a housing (1) and a working module (4), wherein the housing (1) is provided with a mechanical interface (2) for connecting to other robot modules, and the working module (4) is installed in the housing (1), characterized in that: The housing (1) comprises a plurality of sub-housings that can be combined into the housing (1); the mechanical interface (2) comprises a plurality of sub-interfaces that can be combined into the mechanical interface (2); and the plurality of sub-interfaces are respectively arranged on the plurality of sub-housings.

2. The robot module according to claim 1, characterized in that: A first pin hole is provided on the joint surface between the adjacent sub-housings, and a first pin (14) is installed in the first pin hole.

3. The robot module according to claim 1, characterized in that: The sub-housing is provided with two, namely a first housing (11) and a second housing (12); the mechanical interface (2) is provided with two groups, namely a first interface (21) and a second interface (22); the first interface (21) is arranged on the first housing (11), and the second interface (22) is arranged on the second housing (12); the joint surfaces of the first housing (11) and the second housing (12) are parallel to each other; the first housing (11) is provided with a first mounting hole (111), and the second housing (12) is provided with a second mounting hole (121); the first mounting hole (111) is a threaded hole, and the second mounting hole (121) is a countersunk through hole; and the first bolt (13) is provided with an external thread matched with the internal thread of the first mounting hole (111); the first bolt (13) passes through the first mounting hole (111) and the second mounting hole (121).

4. The robot module according to any one of claims 1 to 3, characterized in that: It also comprises a connection component for connecting the mechanical interface (2) of other modules, wherein the connection component is detachably mounted on the mechanical interface (2).

5. The robot module according to claim 4, characterized in that: The connection assembly comprises a clamping ring (3), the mechanical interface (2) is a circular ring interface, a clamping groove (25) is provided on the outer side wall of the mechanical interface (2), and two groups of clamping blocks (31) cooperating with the clamping groove (25) are provided on the inner side wall of the clamping ring (3), and the two groups of clamping blocks (31) are respectively clamped with the clamping grooves (25) of the two mechanical interfaces (2) to be connected.

6. The robot module according to claim 5, characterized in that: The card slot (25) is provided with a first guide surface (251) for guiding the card block (31), the first guide surface (251) is inclined relative to the annular surface of the mechanical interface (2), and the card block (31) is provided with a second guide surface (311) that cooperates with the first guide surface (251).

7. The robot module according to claim 5, characterized in that: The invention also comprises a second bolt (34), a notch is provided on the retaining ring (3), a first boss (32) and a second boss (33) are respectively provided at both ends of the notch, a first through hole and a second through hole are respectively provided on the first boss (32) and the second boss (33), and an internal thread matching the external thread of the second bolt (34) is provided in the first through hole and / or the second through hole.

8. The robot module according to any one of claims 1 to 3, characterized in that: The working module (4) comprises a controller (41), an antenna (42) and a power supply component (43); the controller (41) is connected to the power supply component (43); the antenna (42) is arranged on the housing (1); and the antenna (42) is connected to the controller (41).

9. The robot module according to claim 8, characterized in that: The controller (41) is provided with a CAN communication interface.

10. The robot module according to claim 8, characterized in that: The power supply assembly (43) comprises a battery pack (431), a power supply voltage reduction board (432), a power switch (433), a charging interface (434) and a discharge interface (435) for supplying power to other devices. The power switch (433) is arranged on the housing (1), the power switch (433) is connected to the battery pack (431), the charging interface (434) is connected to the input end of the power supply assembly (43), the input end of the power supply voltage reduction board (432) is connected to the output end of the battery pack (431), and the output end of the power supply voltage reduction board (432) is connected to the controller (41) and the discharge interface (435).

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