A robot module

Abstract

This utility model relates to the field of robot technology, and in particular to a robot module, including a shell and a working module. The shell is provided with a mechanical interface for connecting other robot modules. The working module is installed inside the shell. The shell includes several sub-shells that can be combined to form the shell. The mechanical interface includes several sub-interfaces that can be combined to form the mechanical interface. The sub-interfaces are respectively disposed on the several sub-shells. During installation, the working module is positioned between the several sub-shells, the several sub-shells are combined to form the shell, and the sub-interfaces on the several sub-shells are combined to form the mechanical interface. Other modules are installed on the shell through the mechanical interface. The shell and the mechanical interface adopt a split design. By disassembling the shell into several sub-shells, the working module inside the shell can be easily disassembled and installed. The size of the working module is not limited by the size of the mechanical interface, and components can be integrated more freely.

Description

Technical Field

[0001] This application relates to the field of robotics, and in particular to a robot module. Background Technology

[0002] A modular robot is a system composed of multiple independent modules, each capable of performing a specific function or task. Modular robots consist of corresponding hardware interfaces and software systems. In existing robot joint technology, modular robot joints are typically monolithic with fixed mechanical interfaces. These modular mechanical interfaces are a key feature for connecting other modular joints. Because these interfaces occupy valuable space within the joint, the layout of internal components is constrained. Utility Model Content

[0003] The purpose of this invention is to overcome the shortcomings of existing robot modules where the spatial layout of internal components is limited by mechanical interfaces, and to provide a robot module that allows for simple and convenient disassembly, assembly, and replacement of internal components, so that the internal components of the robot module are not limited by mechanical interfaces.

[0004] To solve the above-mentioned technical problems, the technical solution adopted by this utility model is as follows:

[0005] A robot module is provided, including a housing and a working module. The housing is provided with a mechanical interface for connecting other robot modules. The working module is installed inside the housing. The housing includes a plurality of sub-housing shells that can be assembled into the housing. The mechanical interface includes a plurality of sub-interfaces that can be assembled into the mechanical interface. The plurality of sub-interfaces are respectively disposed on the plurality of sub-housing shells.

[0006] The robot module of this utility model is installed by placing the working module between several sub-shells, assembling the sub-shells into a shell, and combining the sub-interfaces on the sub-shells into a mechanical interface. Other modules are then installed on the shell through the mechanical interface. The shell and mechanical interface adopt a split design. By disassembling the shell into several sub-shells, the working module inside the shell can be easily disassembled and installed. This allows the size of the working module to be unrestricted by the size of the mechanical interface, enabling more flexible integration of components.

[0007] Furthermore, a first pin hole is provided on the mating surface between adjacent sub-shells, and a first pin is installed in the first pin hole. When assembling adjacent sub-shells, precise positioning is achieved through the first pin, facilitating installation.

[0008] Furthermore, the outer shell comprises two parts, namely a first outer shell and a second outer shell. The mechanical interface comprises two sets, namely a first interface and a second interface. The first interface is disposed on the first outer shell, and the second interface is disposed on the second outer shell. The mating surfaces of the first and second outer shells are parallel to each other. The first outer shell has a first mounting hole, and the second outer shell has a second mounting hole. The first mounting hole is a threaded hole, and the second mounting hole is a countersunk through hole. A first bolt is also included, with an external thread that mates with the internal thread of the first mounting hole. The first bolt passes through both the first and second mounting holes. The mating surfaces of the first and second outer shells are aligned and brought into contact. The bolt is passed through the second mounting hole and screwed into the first mounting hole. Tightening the bolt completes the connection between the first and second outer shells.

[0009] Furthermore, it also includes a connection component for connecting other modules to a mechanical interface, the connection component being detachably mounted on the mechanical interface. When it is necessary to install other modules on the robot module, one end of the connection component is mounted on the mechanical interface, and the other end of the connection component is connected to the other module to complete the installation.

[0010] Furthermore, the connecting component includes a retaining ring, the mechanical interface is a ring-shaped interface, the outer wall of the mechanical interface has a retaining groove, and the inner wall of the retaining ring has two sets of retaining blocks that mate with the retaining groove. The two sets of retaining blocks respectively engage with the retaining grooves of the two mechanical interfaces that need to be connected. When connecting the robot module, align the two mechanical interfaces, and then insert the two sets of retaining blocks on the retaining ring into the retaining grooves of the two mechanical interfaces to complete the connection.

[0011] Furthermore, the slot is provided with a first guide surface for guiding the card block. The first guide surface is inclined relative to the annular surface of the mechanical interface, and the card block is provided with a second guide surface that mates with the first guide surface. When the card block is inserted into the slot, the first guide surface contacts the second guide surface, guiding the card block and making the installation of the retaining ring more convenient.

[0012] Furthermore, it also includes a second bolt. The retaining ring has a notch, and the two ends of the notch have a first boss and a second boss, respectively. The first boss and the second boss have a first through hole and a second through hole, respectively. The first through hole and / or the second through hole have an internal thread that mates with the external thread of the second bolt. When installing other modules on the robot module, the two ends of the notch of the retaining ring are pulled apart to reduce the difficulty of installing the retaining ring. The two sets of retaining blocks of the retaining ring are respectively inserted into the slots of the two mechanical interfaces. Taking the second through hole having a thread as an example, the two ends of the notch are closed, and the second bolt is passed through the first through hole and the second through hole in sequence and tightened, thereby fixing the retaining ring on the mechanical interface and completing the module installation. The operation is simple and convenient.

[0013] Furthermore, the working module includes a controller, an antenna, and a power supply assembly. The controller is connected to the power supply assembly, and the antenna is mounted on the housing and connected to the controller. When controlling the robot to work, the power supply assembly is turned on, sending external control signals to the antenna. The antenna amplifies the control signals and transmits them to the controller. After analyzing and processing the signals, the controller controls the robot to work according to the control signals; this eliminates the constraints of external cables for the robot and expands the robot's working radius.

[0014] Furthermore, the controller is equipped with a CAN communication interface. After receiving external signals transmitted by the antenna, the controller outputs CAN protocol frames 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 mechanisms, which can effectively reduce the error rate during data transmission and automatically correct errors when they occur, ensuring data integrity and accuracy. At the same time, it has low transmission latency and 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.

[0015] Furthermore, the power supply assembly includes a battery pack, a power step-down board, a power switch, a charging interface, and a discharging interface for supplying power to other devices. The power switch is mounted on the housing and is connected to the battery pack. The charging interface is connected to the input terminal of the power supply assembly. The input terminal of the power step-down board is connected to the output terminal of the battery pack, and the output terminal of the power step-down board is connected to the controller and the discharging interface. When the power switch is turned on, the battery pack discharges current. The power step-down board can output the current from the battery pack to the controller and the discharging interface at different voltages. The discharging interface can supply power to other robot modules and other devices, meeting diverse power supply needs.

[0016] Compared with the prior art, the beneficial effects of this utility model are:

[0017] The robot module of this utility model has the following advantages: 1. By disassembling the outer shell into several sub-shells, the working modules inside the outer shell can be easily disassembled and installed, so that the size of the working modules is not limited by the size of the mechanical interfaces, and components can be integrated more freely; 2. Adjacent sub-shells can be precisely positioned by using pins, which facilitates installation; 3. By inserting the two sets of locking blocks on the locking ring into the slots of the two mechanical interfaces respectively, and by passing the bolt through the first and second through holes of the locking ring and tightening it, the connection of the two robot modules can be completed, which is simple and convenient; 4. By transmitting signals to the controller remotely through the antenna, the problems of cable dragging and tangling can be avoided. Attached Figure Description

[0018] Figure 1 This is a first structural schematic diagram of the robot module of this utility model;

[0019] Figure 2 This is an exploded view of the robot module of this utility model;

[0020] Figure 3 This is a schematic diagram of the second structure of the robot module of this utility model;

[0021] Figure 4 This is a schematic diagram of the third structure of the robot module of this utility model;

[0022] Figure 5 This is a schematic diagram of the structure of the first outer shell of the robot module of this utility model;

[0023] Figure 6 This is a schematic diagram of the mechanical interface of the robot module of this utility model;

[0024] Figure 7 This is a schematic diagram of the retaining ring structure of the robot module of this utility model;

[0025] Figure 8 This is a first schematic diagram showing the connection between the robot module of this utility model and other modules;

[0026] Figure 9 This is a second schematic diagram showing the connection between the robot module of this utility model and other modules;

[0027] Figure 10 This is a schematic diagram showing the connection between the retaining ring and the mechanical interface of the robot module of this utility model;

[0028] Figure 11 This is a schematic diagram of the battery pack structure of the robot module of this utility model;

[0029] Figure 12 This is a schematic diagram of the battery pack structure of the robot module of this utility model.

[0030] In the attached diagram: 1. Outer shell; 11. First outer shell; 111. First mounting hole; 112. Expansion port; 113. Air inlet; 114. Air outlet; 115. Charging port; 116. Discharge port; 117. Controller mounting hole; 118. Nylon stud; 12. Second outer shell; 121. Second mounting hole; 13. First bolt; 14. First pin; 2. Mechanical interface; 21. First interface; 22. Second interface; 23. Second pin hole; 24. 1. Second pin; 25. Slot; 251. First guide surface; 3. Snap ring; 31. Snap block; 311. Second guide 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 step-down board; 433. Power switch; 434. Charging interface; 435. Discharging interface; 44. Heat dissipation assembly. Detailed Implementation

[0031] The present invention will be further described below with reference to specific embodiments. The accompanying drawings are for illustrative purposes only, representing schematic diagrams rather than actual physical objects, and should not be construed as limiting the scope of this patent. To better illustrate the embodiments of the present invention, some components in the drawings may be omitted, enlarged, or reduced, and do not represent the actual dimensions of the product. It is understandable to those skilled in the art that some well-known structures and their descriptions may be omitted in the drawings.

[0032] In the accompanying drawings of this utility model, the same or similar reference numerals correspond to the same or similar components. In the description of this utility model, it should be understood that if terms such as "upper," "lower," "left," and "right" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, they are only for the convenience of describing this utility model and simplifying the description, and 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. Therefore, the terms used to describe positional relationships in the drawings are only for illustrative purposes and should not be construed as limiting this patent. For those skilled in the art, the specific meaning of the above terms can be understood according to the specific circumstances.

[0033] Example 1

[0034] like Figures 1 to 12 The first embodiment of the robot module of this utility model is shown. A robot module is provided, including a shell 1 and a working module 4. The shell 1 is provided with a mechanical interface 2 for connecting other robot modules. The working module 4 is installed inside the shell 1. The shell 1 includes a plurality of sub-shells that can be combined to form the shell 1. The mechanical interface 2 includes a plurality of sub-interfaces that can be combined to form the mechanical interface 2. The plurality of sub-interfaces are respectively disposed on the plurality of sub-shells.

[0035] During installation, the working module 4 of this utility model is positioned between several sub-shells. The sub-shells are combined to form a shell 1, and the interfaces on the sub-shells are combined to form a mechanical interface 2. Other modules are installed on the shell 1 through the mechanical interface 2. The shell 1 and the mechanical interface 2 adopt a split design. By disassembling the shell 1 into several sub-shells, the working module 4 inside the shell 1 can be easily disassembled and installed. The size of the working module 4 is not limited by the size of the mechanical interface 2, and components can be integrated more freely.

[0036] like Figure 2 and Figure 5 As shown, a first pin hole is provided on the mating surface between adjacent sub-shells, and a first pin 14 is installed in the first pin hole. When assembling adjacent sub-shells, the first pin 14 achieves precise positioning and facilitates installation.

[0037] like Figure 2 As shown, the device has two outer shells: a first outer shell 11 and a second outer shell 12. The mechanical interface 2 has two sets: a first interface 21 and a second interface 22. The first interface 21 is located on the first outer shell 11, and the second interface 22 is located on the second outer shell 12. The mating surfaces of the first outer shell 11 and the second outer shell 12 are parallel to each other. The first outer shell 11 has a first mounting hole 111, and the second outer shell 12 has 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. The device also includes a first bolt 13, which has an external thread that mates with the internal thread of the first mounting hole 111. The first bolt 13 passes through both the first mounting hole 111 and the second mounting hole 121. By aligning and contacting the mating surfaces of the first outer shell 11 and the second outer shell 12, the bolt is passed through the second mounting hole 121 and screwed into the first mounting hole 111. Tightening the bolt completes the connection between the first outer shell 11 and the second outer shell 12.

[0038] In this embodiment, the outer shell 1 has a cylindrical structure, and mechanical interfaces 2 are provided at both ends of the outer shell 1.

[0039] 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, and the first pin 14 is installed in the first pin hole of the second housing 12. The first housing 11 is moved to align the first pin holes of the first housing 11 and the second housing 12. The first housing 11 is moved 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 to form the mechanical interface 2. The bolt is passed through the second mounting hole 121 and screwed into the first mounting hole 111. The bolt is tightened to complete the connection between the first housing 11 and the second housing 12, thus completing the installation of the robot module. Other robot modules are installed on the housing 1 through the mechanical interface 2 to complete the installation of the robot.

[0040] Example 2

[0041] This embodiment is the second embodiment of the robot module of this utility model. This embodiment is similar to the first embodiment, except that it also includes a connecting component for connecting other modules via a mechanical interface 2. The connecting component is detachably mounted on the mechanical interface 2. When other modules need to be installed on the robot module, one end of the connecting component is mounted on the mechanical interface 2, and the other end of the connecting component is connected to the other module to complete the installation.

[0042] like Figure 6 , Figure 7 and Figure 10 As shown, the connecting assembly includes a retaining ring 3 and a circular mechanical interface 2. The outer wall of the mechanical interface 2 has a slot 25, and the inner wall of the retaining ring 3 has two sets of locking blocks 31 that mate with the slot 25. The two sets of locking blocks 31 respectively engage with the slots 25 of the two mechanical interfaces 2 that need to be connected. When connecting the robot module, align the two mechanical interfaces 2, and then insert the two sets of locking blocks 31 on the retaining ring 3 into the slots 25 of the two mechanical interfaces 2 to complete the connection.

[0043] For example, 6. Figure 7 and Figure 9 As shown, the slot 25 is provided with a first guide surface 251 for guiding the locking block 31. The first guide surface 251 is inclined relative to the annular surface of the mechanical interface 2. The locking block 31 is provided with a second guide surface 311 that cooperates with the first guide surface 251. When the locking block 31 is inserted into the slot 25, the first guide surface 251 contacts the second guide surface 311, guiding the locking block 31 and making the installation of the retaining ring 3 more convenient. In this embodiment, the slot 25 is a trapezoidal slot, the first guide surface 251 is a conical surface formed by the hypotenuse of the trapezoid, and the included angle between the first guide surface 251 and the annular surface of the mechanical interface 2 is 55°-60°. The retaining ring 3 is provided with two locking blocks 31. The cross-section of the locking block 31 perpendicular to the axis of the retaining ring 3 is annular, and the cross-section perpendicular to the diameter is trapezoidal.

[0044] In this embodiment, as Figure 1 , Figure 2 and Figure 10 As shown, the end face of the mechanical interface 2 is provided with a second pin hole 23, and a second pin 24 is installed in the second pin hole 23. When connecting the robot modules, the second pin holes 23 of the mechanical interfaces 2 of the two robot modules are aligned so that the two ends of the second pin 24 are respectively inserted into the two coaxial second pin holes 23. This facilitates the positioning of the robot modules and also restricts the rotation of the robot modules.

[0045] like Figure 7 and Figure 10 As shown, it also includes a second bolt 34. The retaining ring 3 has a notch, and the two ends of the notch are respectively provided with a first boss 32 and a second boss 33. The first boss 32 and the second boss 33 are respectively provided with a first through hole and a second through hole. The first through hole and / or the second through hole are provided with internal threads that mate with the external threads of the second bolt 34. When installing other modules on the robot module, the two ends of the notch of the retaining ring 3 are pulled apart to reduce the difficulty of installing the retaining ring 3. The two sets of retaining blocks 31 of the retaining ring 3 are respectively inserted into the slots 25 of the two mechanical interfaces 2. In this embodiment, the first through hole is not provided with threads, while the second through hole is provided with threads. The two ends of the notch are closed, and the second bolt 34 is passed through the first through hole and the second through hole in sequence and tightened, thereby fixing the retaining ring 3 on the mechanical interface 2 and completing the module installation. The operation is simple and convenient.

[0046] The working principle of the robot module in this embodiment is as follows: During installation, the working module 4 is installed in the second outer shell 12, so that the mating surfaces of the first outer shell 11 and the second outer shell 12 are aligned and in contact. The first interface 21 and the second interface 22 are combined to form the mechanical interface 2. The bolt is passed through the second mounting hole 121 and screwed into the first mounting hole 111. The bolt is tightened to complete the connection between the first outer shell 11 and the second outer shell 12, thus completing the installation of the robot module. The second pin 24 is installed into the second pin hole 23 on the end face of the mechanical interface 2, and other machines that need to be connected are moved. The robot module is positioned by inserting the second pin 24 into the second pin hole 23 of the robot module to be connected. The robot module is then moved until the end faces of the two mechanical interfaces 2 are in contact. The two ends of the notch of the retaining ring 3 are pulled apart, and the retaining ring 3 is moved so that the mechanical interface 2 is located inside the retaining ring 3. The two retaining blocks 31 of the retaining ring 3 are respectively inserted into the retaining grooves 25 of the two mechanical interfaces 2. The two ends of the notch of the retaining ring 3 are closed, and the second bolt 34 is passed through the first through hole and the second through hole in sequence and tightened, thereby fixing the retaining ring 3 on the mechanical interface 2 and completing the installation of the module.

[0047] Example 3

[0048] This embodiment is the third embodiment of the robot module of this utility model. This embodiment is similar to embodiment two, except that, as Figure 2 As shown, the working module 4 includes a controller 41, an antenna 42, and a power supply component 43. The controller 41 is connected to the power supply component 43, and the antenna 42 is mounted on the outer shell 1 and connected to the controller 41. When controlling the robot to work, the power supply component 43 is turned on, and external control signals are sent to the antenna 42. The antenna 42 amplifies the control signals and transmits them to the controller 41. After the signals are analyzed and processed, the controller 41 controls the robot to work according to the control signals; this eliminates the constraints of external cables for the robot and expands the robot's working radius. In this embodiment, the controller 41 is an MCU, and the robot module is a control module. The controller 41 has three through holes at its four corners, and the inner wall of the first outer shell 11 has four controller fixing holes 117. When installing the controller 41, four nylon studs 118 are passed through the three through holes and screwed into the controller fixing holes 117 to complete the installation of the controller 41.

[0049] The controller 41 is equipped with a CAN communication interface. After receiving external signals transmitted by the antenna 42, the controller 41 outputs CAN protocol frames 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 mechanisms, which can effectively reduce the error rate during data transmission and automatically correct errors to ensure data integrity and accuracy. It also features low transmission latency and a fast data transmission rate, meeting the high real-time requirements of robot data transmission. Controlling other modules via the CAN bus offers high reliability and real-time performance, and can be flexibly expanded as needed. An adapter board 411 is also provided inside the housing 1. The adapter board 411 has an input interface and at least two output interfaces. The CAN communication interface is electrically connected to the input interface, and the output interfaces are electrically connected to other modules. The adapter board 411 expands the CAN signal into two or more channels, better meeting the control needs of other modules.

[0050] 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 discharging interface 435 for supplying power to other devices. The power switch 433 is mounted on the housing 1 and is connected to the battery pack 431. The charging interface 434 is connected to the input terminal of the power supply assembly 43. The input terminal of the power step-down board 432 is connected to the output terminal of the battery pack 431, and the output terminal of the power step-down board 432 is connected to the controller 41 and the discharging 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 from the battery pack 431 to the controller 41 and the discharging interface 435 at different voltages. The discharging interface 435 can supply power to other robot modules and other devices, meeting diverse power supply needs.

[0051] In this embodiment, the power supply 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. The second step-down circuit is connected to the second discharge interface 435. Figure 11 and Figure 12 As shown, 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 stacked structure of thirteen series and two parallel batteries. The cross-section of the lithium battery pack 431 is polygonal, which improves the space utilization rate.

[0052] 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, using a TPS5430DDAR buck converter, combined with inductor filtering and feedback regulation to achieve efficient and low-noise DC-DC conversion, and has input filtering, output regulation and working status indication functions. The output voltage of the second buck circuit is 12V, which steps down the 16V output voltage of the first buck circuit to 12V. This circuit uses an EG1192L buck regulator chip, combined with inductor filtering, feedback regulation and filter capacitors, etc. The discharge interface 435 is connected to the output terminal of the second buck circuit to meet the power supply needs of this module.

[0053] like Figure 1 and Figure 2 As shown, the first outer casing 11 is provided with a charging hole 115 and a discharging hole 116. The charging interface 434 is installed in the charging hole 115, and the second discharging interface 435 is installed in the discharging hole 116. The battery pack 431 can be charged through the charging interface 434 without disassembling the outer casing 1.

[0054] The power supply assembly 43 also includes a power management board running a BMS. The BMS system on the power management board dynamically adjusts the current output according to the robot's task to power the controller 41 and the robot module, optimize energy consumption, and extend the battery life.

[0055] like Figure 2 As shown, the controller 41 is located 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 robot control and debugging based on communication methods other than 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 directly opposite the expansion port 112.

[0056] like Figure 2 and Figure 5 As shown, it also includes a heat dissipation assembly 44, which is installed inside the housing 1. The housing 1 has an air inlet 113 and an air outlet 114. The heat dissipation assembly 44 includes a cooling fan and a temperature sensor. Both the cooling fan and the temperature sensor are connected to the controller 41. The cooling fan is connected to the power supply assembly 43. The cooling fan is located on the top of the controller 41, and the temperature sensor is located inside the controller 41. The air inlet 113 is located on the first housing 11 and opposite to the cooling fan. The air outlet 114 is located on the first housing 11 and opposite to the side of the cooling fan. When the temperature sensor detects that the temperature inside the housing 1 is higher than a set threshold, the controller 41 controls the cooling fan to work, reducing the temperature inside the housing 1 and preventing the controller 41 and the battery pack 431 from overheating. When the cooling fan is working, air enters the housing 1 through the air inlet 113, cools the controller 41 and the battery pack 431, and is then discharged from the air outlet 114.

[0057] In the specific implementation of the above embodiments, the technical features can be combined in any non-contradictory way. For the sake of brevity, not all possible combinations of the above technical features are described. However, as long as the combination of these technical features is not contradictory, it should be considered to be within the scope of this specification.

[0058] Obviously, the above embodiments of this utility model are merely examples for clearly illustrating this utility model, and are not intended to limit the implementation of this utility model. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this utility model should be included within the protection scope of the claims of this utility model.

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 other robot modules, and the working module (4) is installed inside the housing (1), characterized in that, The outer shell (1) includes a plurality of sub-shells that can be assembled into the outer shell (1), and the mechanical interface (2) includes a plurality of sub-interfaces that can be assembled into the mechanical interface (2), and the plurality of sub-interfaces are respectively disposed on the plurality of sub-shells.

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

3. The robot module according to claim 1, characterized in that, The outer shell is provided in two parts, namely a first outer shell (11) and a second outer shell (12). The mechanical interface (2) is provided in two sets, namely a first interface (21) and a second interface (22). The first interface (21) is provided on the first outer shell (11), and the second interface (22) is provided on the second outer shell (12). The mating surfaces of the first outer shell (11) and the second outer shell (12) are parallel to each other. The first outer shell (11) is provided with a first mounting hole (111), and the second outer shell (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. The machine also 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).

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

5. The robot module according to claim 4, characterized in that, The connecting assembly includes a retaining ring (3), the mechanical interface (2) is a circular interface, the outer side wall of the mechanical interface (2) is provided with a slot (25), the inner side wall of the retaining ring (3) is provided with two sets of locking blocks (31) that cooperate with the slot (25), and the two sets of locking blocks (31) respectively engage with the slots (25) of the two mechanical interfaces (2) that need to be connected.

6. The robot module according to claim 5, characterized in that, The 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). 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, It also includes a second bolt (34), the retaining ring (3) is provided with a notch, and the two ends of the notch are respectively provided with a first boss (32) and a second boss (33). The first boss (32) and the second boss (33) are respectively provided with a first through hole and a second through hole, and the first through hole and / or the second through hole are provided with an internal thread that mates with the external thread of the second bolt (34).

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

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

10. The robot module according to claim 8, characterized in that, 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 discharging interface (435) for supplying power to other devices. The power switch (433) is disposed on the housing (1) and is connected to the battery pack (431). The charging interface (434) is connected to the input terminal of the power supply assembly (43). The input terminal of the power step-down board (432) is connected to the output terminal of the battery pack (431), and the output terminal of the power step-down board (432) is connected to the controller (41) and the discharging interface (435).

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