Robot

Abstract

A robot. The robot comprises a head and a body, and the head is detachably connected to the body.

Description

robot

[0001] Priority information

[0002] This application claims priority and benefits of patent application No. 202310724634.0 filed with the State Intellectual Property Office of China on June 16, 2023, and the entire text of which is incorporated herein by reference.

[0003] This application claims priority and benefits of patent application No. 202321560825X filed with the State Intellectual Property Office of China on June 16, 2023, and the entire text of which is incorporated herein by reference.

[0004] This application claims priority and benefits of patent application No. 202310731574.5 filed with the State Intellectual Property Office of China on June 19, 2023, and the entire text of which is incorporated herein by reference.

[0005] This application claims priority and benefits of patent application No. 202321576749.1 filed with the State Intellectual Property Office of China on June 19, 2023, and the entire text of which is incorporated herein by reference. Technical Field

[0006] The present application relates to the field of artificial intelligence, and in particular to a robot. Background Art

[0007] The robot consists of two parts: the head and the body. The robot needs to use different heads for different working scenarios, but the head is fixed to the body and cannot be installed or disassembled, which cannot meet the user's diverse selection needs.

[0008] Summary of the Invention

[0009] In view of this, the purpose of the embodiments of the present application is to provide a robot in order to overcome the deficiencies in the prior art.

[0010] An embodiment of the present application provides a robot, which includes a head and a body, and the head and the body are detachably connected.

[0011] The embodiments of the present application provide a multifunctional robot, which is the robot provided in the above embodiments. The multifunctional robot includes a functional unit and a traveling unit. The functional unit is at least a portion of the robot head and is capable of performing functions including, but not limited to, clearing snow, removing weeds, sowing seeds, and / or cleaning surfaces. The traveling unit is at least a portion of the robot body and is capable of traveling independently of the functional unit under control of a user and / or a computer program. In which, the running part has a first connecting part, which is at least a part of the first connecting component, and the functional part has a second connecting part, which is at least a part of the second connecting component. The running part and the functional part are manually disassembled and connected through the first connecting part and the second connecting part, and the manual disassembly and connection meet all of the following conditions at the same time: the user does not need to use additional tools, and can complete the manual disassembly and connection using only his own limbs; the manual disassembly and connection can be completed without operating the running part or changing the direction of the running part; when performing manual disassembly and connection, the functional part only needs to move in one direction relative to the running part; during manual disassembly and connection and / or after the connection, there is no mechanical transmission between the functional part and the running part.

[0012] The embodiments of the present application have the following advantages: the head and body of the robot proposed in the present application are detachably connected, realizing the disassembly and assembly of the head and body, and the user can replace different heads according to the working scenario, meeting the user's diversified selection needs.

[0013] In order to make the above-mentioned purposes, features and advantages of the embodiments of the present application more obvious and easy to understand, some embodiments are specifically listed below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments. It should be understood that the following drawings only illustrate certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying any creative work.

[0015] FIG1 is a schematic diagram of a machine head; FIG2 is a schematic diagram of a machine body; FIG2a is a partial enlarged view of point A in FIG2; FIG3 is a schematic diagram of a back plate; FIG3a is a partial enlarged view of point B in FIG3; FIG4 is a schematic diagram of the first connecting member and the second connecting member in Example 1; FIG5 is a schematic diagram of a first connecting member in Example 2; FIG6 is a schematic diagram of a second connecting member in Example 2; FIG7 is a structural schematic diagram of a robot provided in an embodiment of the present application; FIG8 is a first structural schematic diagram of the machine head of the robot in FIG7; FIG9 is a second structural schematic diagram of the machine head of the robot in FIG7; FIG10 is a first structural schematic diagram of the locking hook assembly of the robot in FIG7 FIG11 is a schematic diagram of the third structure of the head of the robot in FIG10 ; FIG12 is a partial enlarged view of the C area in FIG10 ; FIG13 is a schematic diagram of the second structure of the lock hook assembly of the lock hook assembly of the robot in FIG10 ; FIG14 is a schematic diagram of the structure of the lock hook of the head of the robot in FIG10 ; FIG15 is a schematic diagram of the structure of the rotating part of the head of the robot in FIG10 ; FIG16 is a schematic diagram of the third structure of the lock hook assembly of the robot in FIG10 ; FIG17 is a schematic diagram of the fourth structure of the head of the robot in FIG10 ; FIG18 is a schematic diagram of the fourth structure of the lock hook assembly of the robot in FIG10 ; FIG19 is a schematic diagram of the first structure of the execution device of the robot in FIG10 ; FIG20 is a partial enlarged view of the D area in FIG10 ; FIG21 is a schematic diagram of the execution device of the robot in FIG10 FIG22 is a partial enlarged view of the E area in FIG21 ; FIG23 is a third structural schematic diagram of the execution device of the robot in FIG7 ; FIG24 is a partial enlarged view of the F area in FIG23 ; FIG25 is a fourth structural schematic diagram of the execution device of the robot in FIG7 ; FIG26 is a partial enlarged view of the G area in FIG25 ; FIG27 is a fifth structural schematic diagram of the execution device of the robot in FIG7 ; FIG28 is a partial enlarged view of the H area in FIG27 ; FIG29 is a structural schematic diagram of the driving member of the execution device of the robot in FIG7 ; FIG30 is a schematic diagram showing a functional part and a walking part of a multifunctional robot in a disassembled state; FIG31 is a schematic diagram showing a functional part; FIG32 is a schematic diagram showing a walking part Schematic diagram; Figure 33 shows a first schematic diagram of the position adjustment device of the multifunctional robot in Figure 30; Figure 34 shows a second schematic diagram of the position adjustment device of the multifunctional robot in Figure 30; Figure 34a shows a partial enlarged view of the I direction in Figure 34; Figure 34b shows a partial enlarged view of the J direction in Figure 34; Figure 35 shows a third schematic diagram of the position adjustment device of the multifunctional robot in Figure 30; Figure 36 shows a schematic diagram of a component; Figure 36a shows a partial enlarged view of the K direction in Figure 36; Figure 37 shows a schematic diagram of another embodiment of the position adjustment device of the multifunctional robot in Figure 30; Figure 38 shows a schematic diagram of yet another embodiment of the position adjustment device of the multifunctional robot in Figure 30. DETAILED DESCRIPTION

[0016] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making creative efforts shall fall within the scope of protection of the present invention.

[0017] The technical solutions in the embodiments of the present invention will be described clearly and completely below with reference to the accompanying drawings in the embodiments of the present invention.

[0018] 1, 2, and 7, an embodiment of the present application provides a robot 2000, which includes a head 10 and a body 20, wherein the head 10 and the body 20 are detachably connected. The detachable connection between the head 10 and the body 20 allows for easy assembly and disassembly, allowing users to replace different heads 10 according to different work scenarios, thereby satisfying users' diverse selection needs.

[0019] Referring to Figures 1 and 2, in some embodiments, a robot 2000 includes a connecting structure 1000 for the robot 2000, through which a head 10 and a body 20 are detachably connected. The connecting structure 1000 for the robot 2000 includes a first connecting component 100 and a second connecting component 200. The first connecting component 100 and the second connecting component 2000 cooperate to connect the two components of the robot 2000. The following description uses the head 10 and the body 20 of the robot 2000 as an example.

[0020] Of the first connecting component 100 and the second connecting component 200, one is provided on the head 10 of the robot 2000, and the other is provided on the body 20 of the robot 2000. The first connecting component 100 is used to be inserted into the second connecting component 200 so that the first connecting component 100 and the second connecting component 200 are detachably connected.

[0021] When assembling the head 10 and the body 20, the first connecting member 100 is inserted into the second connecting member 200 to connect the first connecting member 100 and the second connecting member 200, thereby completing the assembly of the head 10 and the body 20. The connecting structure 1000 for the robot 2000 is simple to operate and can be used to assemble the head 10 and the body 20 without the use of tools. The connecting structure 1000 for the robot 2000 reduces the difficulty of assembly and improves the efficiency of assembly.

[0022] Among them, the first connecting component 100 and the second connecting component 200 can be set as needed: the first connecting component 100 is set on the head 10, and the second connecting component 200 is set on the fuselage 20; or, the first connecting component 100 is set on the fuselage 20, and the second connecting component 200 is set on the head 10.

[0023] For ease of description, the following description will be made with the example that the first connecting component 100 is disposed on the body 20 and the second connecting component 200 is disposed on the head 10. As shown in Figures 2 and 2a, the first connecting component 100 includes a plug rod 110, on which a first coupling portion 120 is disposed.

[0024] As shown in Figures 1 and 3, the head 10 includes a back plate 17, and the second connecting component 200 includes a guide portion 230 having a plug hole 210 and a second connecting portion 220. In other words, the second connecting component 200 includes a guide portion 230 and a second connecting portion 220. The guide portion 230 has a plug hole 210, and the plug hole 210 can be set on the back plate 17. Among them, the plug rod 110 can pass through the plug hole 210 to connect the second connecting portion 220 to the first connecting portion 120.

[0025] As shown in FIG. 3 a , a mounting base 18 may be mounted on the back plate 17 , wherein the plug hole 210 is disposed through the mounting base 18 .

[0026] In some embodiments, the first coupling portion 120 is a slot 1201 disposed on the plug rod 110, and the second coupling portion 220 is a rotatable buckle 2201, wherein the buckle 2201 is used to engage with the slot 1201. The buckle 2201 can be rotatably connected to the head 10 via a structure such as a rotating shaft.

[0027] As shown in FIG3 a , the buckle 2201 is disposed adjacent to the outlet side of the insertion hole 210. The insertion hole 210 includes an inlet side and an outlet side disposed at two ends, wherein the insertion rod 110 enters the insertion hole 210 through the inlet side and extends out of the insertion hole 210 through the outlet side, thereby allowing the insertion rod 110 to pass through the insertion hole 210.

[0028] In order for the slot 1201 on the plug-in rod 110 to be connected to the buckle 2201 , the length of the plug-in rod 110 needs to be greater than the depth of the plug-in hole 210 .

[0029] 4 , the connection between the first connecting component 100 and the second connecting component 200 may refer to the following process:

[0030] Align the plug-in rod 110 with the plug-in hole 210; move the first connecting component 100 or the second connecting component 200 so that the plug-in rod 110 is inserted into the plug-in hole 210 through the entrance side of the plug-in hole 210; drive the plug-in rod 110 toward the exit side of the plug-in hole 210, and make the groove body on the plug-in rod 110 extend out of the plug-in hole 210; the buckle 2201 is snapped into the groove body 1201, thereby realizing the connection between the first connecting component 100 and the second connecting component 200.

[0031] Since the first connecting component 100 is provided on the body 20 and the second connecting component 200 is provided on the head 10 , when the first connecting component 100 is connected to the second connecting component 200 , the assembly between the body 20 and the head 10 is completed.

[0032] Referring to Figure 4 , the buckle 2201 is rotatably mounted on the handpiece 10 and is connected to a tension spring 19. Once the buckle 2201 is engaged with the slot 1201, the elastic force provided by the tension spring 19 maintains the engagement between the buckle 2201 and the slot 1201. To disengage the buckle 2201 from the slot 1201, an external force can be applied to rotate the buckle 2201, separating the two. The connecting rod 110 can then be removed from the connecting hole 210, allowing the handpiece 10 to be disassembled from the body 20. The buckle 2201 can be connected to a component such as a push rod, and external force acting on the push rod can cause the buckle 2201 to rotate.

[0033] To ensure the stability and reliability of the assembly between the head 10 and the body 20, multiple first connecting components 100 and the same number of second connecting components 200 can be provided, wherein the first connecting components 100 correspond to the second connecting components 200 one by one. The number of first connecting components 100 and second connecting components 200 can be set as needed, for example, there can be four or five first connecting components 100 and second connecting components 200, etc.

[0034] 1 and 3 , for connection reliability, the first connecting components 100 are distributed in a rectangular array, wherein the second connecting components 200 are distributed in the same manner as the first connecting components 100. In other embodiments, the first connecting components 100 may also be distributed in a circular array, and correspondingly, the second connecting components 200 may also be distributed in a circular array.

[0035] 5 , in some embodiments, the first coupling portion 120 is a groove 1202 disposed on the plug rod 110 , and the groove 1202 can be disposed near the head of the plug rod 110 . The plug rod 110 can be inserted into the plug hole 210 to connect the second coupling portion 220 to the first coupling portion 120 .

[0036] 6 , in some embodiments, the second coupling portion 220 is a slidable protrusion 2202, wherein the protrusion 2202 is configured to be embedded in the groove 1202. The groove 1202 is disposed around the circumference of the connecting rod 110, thereby facilitating the connection between the protrusion 2202 and the groove 1202.

[0037] The protrusion 2202 is disposed within the insertion hole 210, wherein the protrusion 2202 is slidably connected to the hole wall of the insertion hole 210. A pull rod 231 is disposed on the protrusion 2202, which passes through the hole wall of the insertion hole 210 and is slidably connected to the hole wall. A receiving groove 211 for accommodating the protrusion 2202 is disposed on the inner wall of the insertion hole 210, wherein the protrusion 2202 can be moved into the receiving groove 211 by pulling the pull rod 231. A spring 232 is sleeved on the pull rod 231, and the two ends of the spring 232 respectively abut against the end faces of the protrusion 2202 and the receiving groove 211, thereby causing the protrusion 2202 to protrude outside the receiving groove 211.

[0038] The pull rod 231 is provided with a collar 233, which acts on the pull rod 231 to prevent the pull rod 231 from being separated from the hole wall of the insertion hole 210, while ensuring that both ends of the spring 232 are always in contact. The collar 233 and the pull rod 231 can be connected by a threaded connection.

[0039] 5 and 6 , the connection between the first connecting component 100 and the second connecting component 200 may refer to the following process:

[0040] Align the head of the plug rod 110 with the plug hole 210; by moving the first connecting component 100 or the second connecting component 200, the plug rod 110 is inserted into the plug hole 210 through the entrance side of the plug hole 210; after the head of the plug rod 110 contacts the protrusion 2202, the plug rod 110 continues to be driven to move toward the exit side of the plug hole 210. As the plug rod 110 moves, the head of the plug rod 110 acts on the protrusion 2202 and moves the protrusion 2202 to the accommodating groove 211; the plug rod 110 continues to move, and when the groove 1202 is opposite to the protrusion 2202, the protrusion 2202 is embedded in the groove 1202 under the action of the spring 232, thereby realizing the connection between the first connecting component 100 and the second connecting component 200.

[0041] Since the first connecting component 100 is provided on the body 20 and the second connecting component 200 is provided on the head 10 , when the first connecting component 100 is connected to the second connecting component 200 , the assembly between the body 20 and the head 10 is completed.

[0042] Referring to Figure 6, the protrusion 2202 is slidingly connected to the wall of the plug-in hole 210. When the protrusion 2202 is embedded in the groove 1202, the elastic force provided by the spring 232 can keep the protrusion 2202 in the embedded state; when the protrusion 2202 and the groove 1202 need to be separated, the pull rod 231 can be pulled by external force to move the protrusion 2202 to the accommodating groove 211, thereby realizing the separation between the protrusion 2202 and the groove 1202. Afterwards, the plug-in rod 110 is moved out of the plug-in hole 210 to complete the separation between the head 10 and the body 20.

[0043] The robot 2000 of the related technology needs to use different heads 10 for different working scenarios, but the connection structure between the head 10 and the body 20 is complex, and requires professionals to use special tools for disassembly and assembly, which is time-consuming and cannot be quickly installed and disassembled, and cannot meet the user's diversified selection needs.

[0044] As shown in Figures 7 to 18, the handpiece 10 is detachably connected to the body 20 via a locking hook assembly 12. This configuration of the handpiece 10 allows for rapid locking and unlocking of the handpiece 10 and the body 20 via the locking hook assembly 12, enabling rapid assembly and disassembly of the handpiece 10 and the body 20. Users can quickly replace different handpieces 10 according to their operational needs, satisfying their diverse selection needs.

[0045] In some embodiments, as shown in Figures 7 to 18, the head 10 can quickly lock and unlock the head 10 and the external device through the locking hook assembly 12, thereby realizing rapid disassembly and assembly of the head 10 and the external device. The user can quickly replace different heads 10 according to the working scenario, meeting the user's diversified selection needs.

[0046] As shown in Figures 8, 9 and 10, the head 10 of the embodiment of the present application includes a shell 11 and at least one group of locking hook assemblies 12 arranged on the shell 11, and the locking hook assembly 12 includes a locking hook 124 rotatably arranged on the shell 11, wherein the locking hook 124 has a locking position connected to the external device and an unlocking position separated from the external device when rotating.

[0047] In this way, the locking hook assembly 12 can quickly lock and unlock the head 10 and the external device, thereby realizing rapid disassembly and assembly of the head 10 and the external device. The user can quickly replace different heads 10 according to the working scenario, meeting the user's diversified selection needs.

[0048] As shown in Figures 8, 9, and 10, in some embodiments, the hook assembly 12 further includes a transmission member 121 movably disposed on the housing 11. The transmission member 121 is in transmission connection with the hook via a connector 122, so as to drive the hook 124 to rotate under the action of an external force. This configuration of the hook assembly 12 has a simple structure and low production cost.

[0049] In some embodiments, the shell 11 forms an inner cavity 111, and the shell 11 includes a partition 13; the transmission member 121 is located on the outer side 131 of the partition, the locking hook 124 is located on the inner side 132 of the partition (that is, the locking hook 124 is located in the inner cavity 111), and the connecting member 122 is movably arranged on the partition 13.

[0050] In some embodiments, as shown in Figures 7 to 18, a connecting portion 21 is provided on the body 20. The connecting portion 21 is at least a portion of the plug-in rod 110. The connecting portion 21 enters the inner cavity 111 and connects with the locking hook 124. This arrangement positions the connection structure between the body 20 and the head 10 within the inner cavity 111, preventing the connection structure between the body 20 and the head 10 from being disturbed by external factors and improving the stability of the connection between the body 20 and the head 10.

[0051] In the embodiment of the present application, the locking hook assembly 12 is arranged on both sides of the partition 13, thereby avoiding interference between the locking hook assembly 12 and other components located in the inner cavity 111, ensuring that the locking hook assembly 12 is in a stable operating state, improving the stability of the head 10 when connected to external equipment, and overcoming the defects of some robots 2000 in that the connection structure between the head 10 and the body 20 is poor in stability and the locking or unlocking failure of the head 10 and the body 20 often occurs.

[0052] In the embodiments of the present application, the locking hook 124 is driven to rotate by the transmission member 121 and the connecting member 122 to complete the process of unlocking the external device. In this arrangement, the number of parts used to drive the locking hook 124 to rotate is small, the structure is simple, the production cost is low, and the connection between the parts is highly stable. In some embodiments, the connecting member 122 is a rotating shaft.

[0053] As shown in Figures 11 and 12, in some embodiments, a movable groove 134 is provided on the partition 13. The movable groove 134 extends through the partition 13, and the connecting member 122 is located in the movable groove 134. The connecting member 122 is used to move within the movable groove 134 under the drive of the transmission member 121. This configuration limits the range of movement of the connecting member 122, and thus limits the rotation range of the transmission member 121, thereby preventing the locking hook 124 from rotating too much due to excessive rotation of the transmission member 121. In some embodiments, the movable groove 134 is an arc-shaped movable groove.

[0054] As shown in Figures 8, 10, 11 and 13, in some embodiments, the upper end 1211 of the transmission member is disposed adjacent to the top 118 of the housing. This arrangement facilitates the user to better apply external force to the transmission member 121.

[0055] In some embodiments, the lock hook assembly 12 further includes a toggle member 126 having an operating end 1261 and a connecting end 1262. The operating end 1261 is exposed from the housing 11, and the connecting end 1262 is in driving connection with the upper end 1211 of the transmission member. The toggle member 126 is configured to drive the transmission member 121 to move under the action of an external force, thereby driving the lock hook 124 to rotate. This configuration facilitates better user control of the lock hook 124 and enhances the user experience.

[0056] As shown in FIG10 , in some embodiments, the locking hook assembly 12 further includes an elastic member 125 . One end of the elastic member 125 is mounted on the partition 13 , and the other end is connected to the connecting member 122 or the transmission member 121 . The elastic member 125 is configured to lock the locking hook 124 in a locked position. When the transmission member 121 drives the connecting member 122 and the locking hook 124 to rotate under an external force, the elastic member 125 deforms. When the external force disappears, the elastic member 125 returns to its original position and drives the transmission member 121 , the connecting member 122 , the rotating member 123 , and the locking hook 124 to rotate back to the locked position. This configuration provides the locking hook 124 with an elastic function, ensuring that the locking hook 124 remains in the locked position when no external force is applied.

[0057] In some embodiments, the end of the elastic member 125 is wound around the outer circumference of the connecting member 122. In some embodiments, the elastic member 125 is a spring.

[0058] As shown in Figures 14 and 15, in some embodiments, the connecting member 122 is connected to the locking hook 124 through a rotating member 123. The locking hook 124 includes a locking hook body 1241 and a hook portion 1242 that are connected to each other. The locking hook body 1241 has a first side wall 1243 and a second side wall 1244 that are connected to each other. The first side wall 1243 is connected to the rotating member 123, and the second side wall 1244 is in contact with the top surface 1239 of the rotating member or the bottom surface 1240 of the rotating member.

[0059] The surface of the rotating member 123 away from the ground is the rotating member's top surface 1239, and the surface of the rotating member 123 close to the ground is the rotating member's bottom surface 1240. This arrangement increases the contact area between the rotating member 123 and the locking hook 124, improves the stability of the connection between the rotating member 123 and the locking hook 124, and thereby increases the stability of the locking hook assembly 12.

[0060] In some embodiments, the second side wall 1244 contacts the top surface 1239 of the rotating member, and the opening of the hook 1242 faces away from the ground. The transmission member 121 rotates away from the ground under the action of external force, and drives the connecting member 122, the rotating member 123 and the locking hook 124 to rotate.

[0061] In some embodiments, the second side wall 1244 contacts the bottom surface 1240 of the rotating member, and the opening of the hook portion 1242 faces toward the ground. Under the action of external force, the transmission member 121 rotates toward the ground and drives the connecting member 122, the rotating member 123 and the locking hook 124 to rotate.

[0062] As shown in Figures 14 and 15, in some embodiments, a connecting post 1245 is provided between one of the first sidewall 1243 and the rotating member 123, and a connecting hole 1236 is provided between the other of the first sidewall 1243 and the rotating member 123. The connecting post 1245 is located in the connecting hole 1236. This arrangement connects the rotating member 123 and the locking hook 124 via the connecting post 1245 and the connecting hole 1236, thereby improving the stability of the connection between the rotating member 123 and the locking hook 124.

[0063] In some embodiments, a connecting column 1245 is provided on the first side wall 1243 , and the connecting column 1245 is integrally connected to the first side wall 1243 .

[0064] As shown in Figures 10, 14, and 15, in some embodiments, the rotating member 123 has a fixed end 1231 and a free end 1232. The fixed end 1231 is disposed on the partition 13, and the free end 1232 is rotatable relative to the fixed end 1231. The free end 1232 is connected to the rotating member 122, the first side wall 1243 is connected to the free end 1232, and the second side wall 1244 contacts the top surface 1233 or the bottom surface 1234 of the free end. Compared to a solution in which the middle portion of the rotating member 123 is disposed on the partition 13, this arrangement increases the rotation radius of the free end 1232, increases the contact area between the rotating member 123 and the locking hook 124, improves the stability of the connection between the rotating member 123 and the locking hook 124, and thereby increases the stability of the locking hook assembly 12.

[0065] As shown in Figures 11 and 12, in some embodiments, the locking hook 124 is rotatably mounted on the housing 11. A limiting slot 1235 is provided between the housing 11 and the locking hook 124. The limiting slot 1235 extends along the rotation direction of the locking hook 124. A limiting member 133 is provided between the housing 11 and the locking hook 124. The limiting member 133 is slidably disposed within the limiting slot 1235 along the length of the limiting slot 1235. This arrangement limits the rotation angle of the locking hook 124, preventing the locking hook 124 from rotating too much and being unable to return to the locked position.

[0066] In some embodiments, the locking hook 124 is rotatably mounted on the partition 13 via a rotating member 123. A limiting slot 1235 is provided between one of the partition 13 and the free end 1232 of the rotating member, and a limiting member 133 is provided between the other of the partition 13 and the free end 1232 of the rotating member. The limiting member 133 is located within the limiting slot 1235. The limiting member 133 cooperates with the limiting slot 1235 to ensure that the rotating member 123 can rotate only within a predetermined range. This arrangement prevents the rotating member 123 from rotating too much, which in turn causes the locking hook 124 to rotate too much.

[0067] In some embodiments, the limiting groove 1235 is an arc-shaped limiting groove.

[0068] As shown in FIG16 , in some embodiments, the locking hook assembly 12 further includes a first linkage 127. The locking hooks 124 are provided with two, including a first locking hook 1246 and a second locking hook 1247. The first linkage 127 is connected to the first locking hook 1246 and the second locking hook 1247, respectively. The transmission member 121 is transmission-connected to the first linkage 127. The first linkage 127 is configured to drive the first locking hook 1246 and the second locking hook 1247 to move synchronously under the drive of the transmission member 121. This arrangement increases the number of locking hooks 124 and improves the stability of the connection between the handpiece 10 and the external device.

[0069] In some embodiments, the first locking hook 1246 is correspondingly configured with the first rotating member 1237, the second locking hook 1247 is correspondingly configured with the second rotating member 1238, the first linkage member 127 is located on the inner side 132 of the partition, and the first linkage member 127 includes a first linkage member body 1271 and two first linkage member ends 1272. The connecting member 122 is connected to the first linkage member body 1271, and the two first linkage member ends 1272 are respectively connected to the first rotating member 1237 and the second rotating member 1238. This arrangement increases the number of locking hooks 124 and improves the stability of the connection between the head 10 and the external device.

[0070] As shown in Figures 12 and 13, in some embodiments, the housing 1 is provided with a communication hole 1131. The communication hole 1131 is located on a side of the housing 1 close to the external device. The communication hole 1131 is connected to the inner cavity 111. The locking hook 124 is located in the inner cavity 111 and faces the communication hole 1131. The communication hole 1131 is used to allow at least a portion of the external device to enter the inner cavity 111 and connect with the locking hook 124 to achieve locking between the external device and the handpiece 10. This arrangement allows the locking hook 124 to be located inside the housing 1, preventing the locking hook 124 from being exposed and causing collision, wear, or oxidation, thereby extending the life of the locking hook 124.

[0071] As shown in Figures 17 and 18, in some embodiments, the number of partitions 13 is at least two, including a first partition 135 and a second partition 136. The first partition 135 and the second partition 136 are arranged side by side, and an inner cavity 111 is formed between the first partition 135 and the second partition 136.

[0072] At least one group of locking hook assemblies 12 includes a first locking hook assembly 128 and a second locking hook assembly 129, the connecting member 1281 of the first locking hook assembly is set on the first partition 135, and the connecting member 1291 of the second locking hook assembly is set on the second partition 136, and the connecting member 1281 of the first locking hook assembly and the connecting member 1291 of the second locking hook assembly are connected through the second linkage member 130.

[0073] This arrangement increases the number of locking hooks 124, improving the stability of the connection between the handpiece 10 and the external device. Furthermore, the first and second locking hook assemblies 128, 129 rotate synchronously via the second linkage 130. The user only needs to apply external force to the transmission member of the first or second locking hook assembly 128, 129 to achieve rotation of the first and second locking hook assemblies 128, 129, making operation convenient.

[0074] As shown in Figures 7 and 19 to 29, the robot 2000 includes a robot body 2 and an actuator 3 assembled on the robot body 2. The robot body 2 drives the actuator 3 to operate within a predetermined area. The robot body 2 is at least a part of the fuselage 20, and the actuator 3 is at least a part of the head 10.

[0075] The robot body 2 and the execution device 3 of the robot 2000 of the related technology can be quickly disassembled, but the unlocking device for unlocking the robot body 2 and the execution device 3 has not yet been found in a suitable position for installation, which is inconvenient for users to operate.

[0076] The actuator 3 provided in the embodiment of the present application can be applied to the robot 2000. When the robot body 2 and the actuator 3 need to be unlocked, the robot body 2 and the actuator 3 can be quickly unlocked by applying external force to the driving member 16. The unlocking process is simple and takes a short time.

[0077] As shown in Figures 7 and 19 to 29, in some embodiments, the execution device 3 includes a working part 4, which can realize one or more functions of clearing snow, removing weeds, sowing, and cleaning the surface. The execution device 3 also includes a shell 11, an adapter 15 and a driving member 16. The adapter 15 is provided in the shell 11, and the adapter 15 is configured to be connected to or separated from an external device; the driving member 16 is configured to drive the adapter 15 to be connected to or separated from the external device under the action of an external force or under the control of a computer program, and the driving member 16 is provided in the shell 11.

[0078] In some embodiments, the adapter 15 is movably mounted on the housing 11, and the actuator 3 is connected to the robot body 2 via the adapter 15. The adapter 15 has a locked position and an unlocked position when it is movable. The adapter 15 is configured to lock with the external device when in the locked position and to be separated from the external device when in the unlocked position. The external device is an external device.

[0079] Specifically, as shown in FIG. 23 and FIG. 24 , the adapter 15 is in the locked position at this time; as shown in FIG. 23 and FIG. 26 , the adapter 15 rotates from the locked position to the unlocked position at this time.

[0080] When the robot 2000 needs to unlock the robot body 2 and the actuator 3, an external force is applied through the driving member 16 to quickly unlock the robot body 2 and the actuator 3. By applying an external force to the driving member 16, the robot body 2 and the actuator 3 are quickly unlocked. The unlocking process is simple and takes a short time.

[0081] As shown in FIG19 , in some embodiments, the driving member 16 is disposed on the top 118 of the housing, or the driving member 16 is adjacent to the top 118 of the housing. This arrangement allows the user to quickly find the driving member 16 and apply external force to it, thereby quickly unlocking the actuator 3 from the external device, thereby reducing the time the user spends searching for the driving member 16.

[0082] As shown in Figures 19, 20, 21 and 22, in some embodiments, the shell 11 has a receiving hole 14, and at least part of the driving member 16 is received in the receiving hole 14 and exposed through the receiving hole 14. This arrangement reduces the time spent by the user in finding the driving member 16.

[0083] As shown in Figures 19, 20, 22, 23 and 24, in some embodiments, the shell 11 is formed with an inner cavity 111, and the shell 11 has adjacent first and second surfaces 113 and 114, and the accommodating hole 14 is located on the first surface 113 and the second surface 114 of the shell, and is connected to the inner cavity 111.

[0084] The driver 16 comprises a transmission portion 162 and an operating portion 161, which are connected. The transmission portion 162 is located within the inner cavity 111, and the operating portion 161 is received in the receiving hole 14 and forms a flush surface with at least one of the first surface 113 and the second surface 114 of the housing. This arrangement allows the operating portion 161 of the driver 16 to form a flush surface with at least one of the housing surfaces 112. Compared to an arrangement in which the operating portion 161 protrudes from the housing surface 112, this arrangement facilitates installation of the driver 16, reduces the probability of damage to the driver 16 due to external forces, prolongs the service life of the driver 16, and enhances its aesthetics.

[0085] In some embodiments, the operating portion 161 forms flush surfaces with the first surface 113 and the second surface 114 of the housing, respectively.

[0086] As shown in Figure 20, in some embodiments, the operating portion 161 forms a flush surface with the first surface 113 of the housing, and the operating portion 161 protrudes from the second surface 114 of the housing. This arrangement increases the friction when the user moves the operating portion 161, making it easier for the user to move the operating portion 161, increasing the user's tactile sense, and improving the user's experience.

[0087] As shown in Figures 20 and 29, in some embodiments, the operating portion 161 has a fixed portion 1311 and a free portion 1312; the fixed portion 1311 is disposed on the housing 11, and the free portion 1312 is rotatable relative to the housing 11 via the fixed portion 1311; the fixed portion 1311 forms a flush surface with the first surface 113 of the housing, and the free portion 1312 forms a flush surface with the first surface 113 of the housing, and the free portion 1312 protrudes from the second surface 114 of the housing. This arrangement is structurally simple, and the user can rotate the free portion 1312 relative to the housing 11 and drive the adapter 15 to rotate by moving the free portion 1312. The overall structure of the actuator 3 is aesthetically pleasing, and the probability of the driver 16 being damaged by other external forces due to protruding from the housing surface 112 is reduced, thereby extending the service life of the driver 16.

[0088] As shown in Figures 20 and 29, in some embodiments, at least a portion of the projection of the free portion 1312 onto the first surface 113 of the housing is arc-shaped, and the arc-shaped portion of the free portion 1312 protrudes from the second surface 114 of the housing. This configuration increases the friction when the user moves the operating portion 161, making it easier for the user to move the operating portion 161, increasing the user's tactile sense, and improving the user's experience.

[0089] As shown in FIG. 22 , in some embodiments, the projection of the accommodating hole 14 on the first surface 113 of the shell is in a strip shape. This arrangement increases the torque of the operating portion 161 , making it easier for the user to move the operating portion 161 .

[0090] As shown in Figures 21, 27, and 28, in some embodiments, the housing 11 includes a first housing 115 and a second housing 116 that are connected to each other. The first housing 115 has a first notch 1151 and a second notch 1152. The first notch 1151 and the second notch 1152 are distributed on two adjacent surfaces 112 of the first housing, and the first notch 1151 and the second notch 1152 are interconnected. The second housing 116 is engaged with the first housing 115 to form a receiving hole 14 at the first notch 1151 and the second notch 1152. This arrangement simplifies the production process of the receiving hole 14 and facilitates the assembly of the driving member 16 on the first housing 115.

[0091] As shown in FIG21 , in some embodiments, a connecting member 117 is provided between the first housing 115 and the second housing 116, and the first housing 115 and the second housing 116 are detachably connected via the connecting member 117. This arrangement facilitates installation and removal of the housing 11 and subsequent inspection and maintenance of the internal parts of the housing 11.

[0092] 30 , 31 and 32 , in some embodiments, a multifunctional robot 3000 is proposed. The multifunctional robot 3000 includes a functional part 600 and a running part 500 . The multifunctional robot 3000 is the robot 2000 provided in any one of the above-mentioned embodiments. The functional part 600 is at least a part of the head 10 , and the running part 500 is at least a part of the body 20 .

[0093] The functional unit 600 and the running unit 500 are connected by a connecting assembly along the length of the multifunctional robot 3000 or the direction of movement of the running unit 500. Figure 30 is only a schematic diagram of the functional unit 600 and the running unit 500 in a disassembled state. When reassembling the functional unit 600 and the running unit 500, the relative position between the functional unit 600 and the running unit 500 needs to be adjusted.

[0094] The functional part 600 is provided with an operating mechanism for operation, wherein the operating mechanism can realize functions including but not limited to: clearing snow, and / or removing weeds, and / or sowing, and / or cleaning surfaces, etc. The running part 500 can be controlled by a user and / or a computer program to move independently of the functional part 600. The running part 500 can be provided with tracks and a power module for driving the tracks. The power module can drive the tracks to move, thereby enabling the running part 500 to move along its own length direction. The length direction of the running part 500 is consistent with the length direction of the multifunctional robot 3000. In Figure 30, the length direction of the running part 500 is parallel to the direction indicated by the arrow.

[0095] In some embodiments, the functional unit 600 is detachably connected to the traveling unit 500, thereby facilitating maintenance and upkeep of the functional unit 600 and / or the traveling unit 500, as well as replacement of functional units with different functions. Furthermore, since the functional unit 600 is detachable from the traveling unit 500, the same traveling unit 500 can be adapted to accommodate functional units 600 with different operating mechanisms, thereby enabling the multifunctional robot 3000 to adapt to various usage scenarios.

[0096] In some embodiments, the connecting assembly includes a first connecting portion 310 and a second connecting portion 320. The first connecting portion 310 and the second connecting portion 320 are detachably connected. The first connecting portion 310 is at least a portion of the first connecting component 100, and the second connecting portion 320 is at least a portion of the second connecting component 200. The running unit 500 has the first connecting portion 310, and the functional unit 600 has the second connecting portion 320. The running unit 500 and the functional unit 600 are manually connected via the first connecting portion 310 and the second connecting portion 320. The manually connected connection satisfies all of the following conditions:

[0097] The user does not need to use additional tools, and can complete the manual disassembly and connection using only his or her own limbs; the manual disassembly and connection can be completed without operating the running section 500 or changing the direction of the running section 500; when performing manual disassembly and connection, the functional section 600 only needs to move in one direction relative to the running section 500; during manual disassembly and connection and / or after connection, there is no mechanical transmission between the functional section 600 and the running section 500.

[0098] Before assembly, the functional unit 600 and the running unit 500 are separated. During assembly, the position of the functional unit 600 and / or the running unit 500 is pre-adjusted so that the first connection portion 310 and the second connection portion 320 are aligned. The functional unit 600 or the running unit 500 is driven to move along the length of the multifunctional robot 3000 so that the first connection portion 310 and the second connection portion 320 approach each other. Since the running unit 500 is provided with a power module, the running unit 500 is activated to move along its length toward the functional unit 600. As the first connection portion 310 and the second connection portion 320 approach each other, the first connection portion 310 and the second connection portion 320 engage with each other, and the first connection portion 310 and the second connection portion 320 are connected, thereby achieving connection between the functional unit 600 and the running unit 500.

[0099] According to the above process, when the functional part 600 and the running part 500 are assembled, the connection between the functional part 600 and the running part 500 can be achieved without the aid of external tools, and the operation is simple, convenient and efficient.

[0100] As shown in Figures 32 to 35 , in some embodiments, the running unit 500 is provided with a position adjustment device 400, wherein the first connection portion 310 is provided on the position adjustment device 400. The position adjustment device 400 is configured to adjust the pitch angle and / or the height above the ground of the functional unit 600.

[0101] As shown in FIG. 31 , FIG. 36 and FIG. 36 a , the functional portion 600 includes a component 410 , and the second connecting portion 320 is disposed on the component 410 , and the component 410 is the back plate 17 .

[0102] As shown in FIG. 34 a , the first connection portion 310 includes a plug-in column 430 , which is a plug-in rod 110 . A slot 311 is provided on the plug-in column 430 , which is a slot body 1201 .

[0103] As shown in Figure 36a, the functional portion 600 includes a body having a plug-in hole 210, which is at least a portion of the handpiece 10. The second connecting portion 320 includes a buckle 2201 located in the body. The buckle 2201 is located near the outlet end of the plug-in hole 210. The plug-in post 430 can be inserted into the plug-in hole 210 to be snapped into the slot 311, thereby achieving snap-in engagement between the buckle 2201 and the slot 311. The wall of the plug-in hole 210 guides and positions the plug-in post 430. The plug-in hole 210 is provided on the component 410, and the buckle 2201 is rotatably connected to the functional portion 600.

[0104] In some embodiments, the buckle 2201 is rotatably mounted on the housing and has a locked position for engaging with the plug-in post 430 and an unlocked position for disengaging from the plug-in post 430. The housing may be provided with a manual mechanism that is transmission-connected to the buckle 2201 via a corresponding linkage mechanism. A user manually actuates the manual mechanism to rotate the buckle 2201 to the unlocked position. At this point, the plug-in post 430 is fully inserted into the plug-in hole 210, and the manual mechanism is subsequently released. Alternatively, the buckle 2201 may automatically rotate to the locked position under the action of an elastic member such as a tension spring, thereby completing the engagement between the buckle 2201 and the slot 311. When disassembly is required, the manual mechanism is manually actuated to rotate the buckle 2201 to the unlocked position, allowing the buckle 2201 to clear the plug-in post 430. The plug-in post 430 can then be removed.

[0105] In order to enhance the stability and reliability of the connection, a plurality of first connection parts 310 and a plurality of second connection parts 320 are provided, and the first connection parts 310 correspond to the second connection parts 320 one by one.

[0106] Before the functional portion 600 is assembled with the running portion 500 , the position of the plug-in post 430 is adjusted in advance by the position adjustment device 400 so that the plug-in post 430 is parallel to or coincides with the longitudinal direction of the running portion 500 .

[0107] When assembling the functional part 600 and the running part 500, first align the plug-in column 430 with the corresponding plug-in hole 210; then, by moving the running part 500, the plug-in column 430 is inserted into the plug-in hole 210 through the entrance end of the plug-in hole 210; as the fuselage 20 continues to move forward or backward, the plug-in column 430 moves toward the exit end of the plug-in hole 210; when the head of the plug-in column 430 extends out of the exit end of the plug-in hole 210 and contacts the buckle 2201, let the running part 500 continue to move a distance, and then, turn the buckle 2201 to the locking position, and the buckle 2201 will be locked into the slot 311 on the plug-in column 430. At this time, the connection between the first connecting part 310 and the second connecting part 320 is completed, and accordingly, the assembly work between the functional part 600 and the running part 500 is completed. The buckle 2201 can be connected to an elastic member such as a tension spring, so that the buckle 2201 and the slot 311 remain in a locked state, wherein the buckle 2201 can be separated from the slot 311 by rotating the buckle 2201 with an external force.

[0108] In order to enable the functional part 600 to move independently to overcome obstacles, in some embodiments, the position adjustment device 400 is arranged on the running part 500, wherein the position adjustment device 400 is used to act on the functional part 600 through the connecting component, thereby adjusting the pitch angle and / or height above the ground of the functional part 600, thereby achieving adjustment of the position of the functional part 600.

[0109] When the position adjustment device 400 is started, the plug-in column 430 will directly act on the plug-in hole 210 and apply a force to the inner wall of the plug-in hole 210. The force is transmitted to the functional part 600 through the plug-in hole 210, thereby realizing the control and adjustment of the pitch angle and / or height above the ground of the functional part 600, thereby changing the position of the functional part 600, so that the functional part 600 can overcome obstacles.

[0110] In some embodiments, the position adjustment device 400 includes a first drive module 411 and a crank-rocker mechanism 401. The first drive module 411 is connected to the crank-rocker mechanism 401 to drive the crank-rocker mechanism 401 to move. The crank-rocker mechanism 401 is configured to drive the functional portion 600 to adjust the pitch angle and / or ground clearance of the first connecting portion 310. The first connecting portion 310 is disposed on the crank-rocker mechanism 401.

[0111] As shown in Figure 35 , the crank-rocker mechanism 401 includes a crank 412, a rocker 413, and a connecting member 414. The tops of the crank 412 and rocker 413 are rotatably connected to the ends of the connecting member 414, respectively. The bottoms of the crank 412 and rocker 413 are rotatably connected to the running gear 500. The first connecting portion 310 is mounted on the rocker 413.

[0112] The first drive module 411 is in driving connection with the crank 412, wherein the functional unit 600 is mounted on the rocker 413 via a connecting assembly. When the first drive module 411 is activated, the rocker 413 swings, thereby driving the functional unit 600 to move, thereby adjusting the pitch angle of the functional unit 600.

[0113] The first driving module 411 includes a driving output portion 4111 for outputting linear motion. The driving output portion 4111 is rotationally connected to the top of the crank 412 .

[0114] As shown in FIG34 b , a rotation connection portion 4112 is provided on the first driving module 411 , wherein the first driving module 411 is rotationally connected to the running unit 500 via the rotation connection portion 4112 .

[0115] The rotational connection portion 4112 includes a first rotational member 415 and a second rotational member 416. The first rotational member 415 is disposed at the rear end of the first driving module 411, and the second rotational member 416 is fixed to the running unit 500 via screws or other means. A rotational shaft 417 passes through the first and second rotational members 415, 416, thereby achieving a rotational connection between the first and second rotational members 415, 416.

[0116] Since the first rotating member 415 is fixedly disposed on the first driving module 411 and the second rotating member 416 is fixedly disposed on the running unit 500 , the first driving module 411 can achieve a rotational connection with the running unit 500 through the cooperation of the first rotating member 415 and the second rotating member 416 .

[0117] In some embodiments, the first drive module 411 includes one of an electric push rod, a linear motor, a hydraulic cylinder, or a pneumatic cylinder. For an electric push rod, the drive output portion 4111 is the push rod; for a linear motor, the drive output portion 4111 is the output shaft; and for a hydraulic cylinder or a pneumatic cylinder, the drive output portion 4111 is the piston.

[0118] In addition, the first driving module 411 may also adopt other devices or mechanisms that can achieve linear motion.

[0119] In order to enable the multifunctional robot 3000 to quickly and readily overcome obstacles while moving, the multifunctional robot 3000 may be configured as follows.

[0120] In some embodiments, the multifunctional robot 3000 may further include:

[0121] A detection device for detecting the height of the functional unit 600 from the ground; and / or an identification device for identifying obstacles in front of the functional unit 600; a controller electrically connected to the identification device to control the position adjustment device 400 to operate according to the identification information of the identification device.

[0122] When the recognition device identifies an obstacle, the controller sends a control signal to the position adjustment device 400, which drives the functional unit 600 to move, thereby raising the functional unit 600. When the detection device detects that the functional unit 600 has been raised to a preset height, the position adjustment device 400 stops operating. The detection device can be a Hall effect sensor, etc. The recognition device can include a camera, etc.

[0123] The detection device can be selected based on the first drive module 411. For example, when the first drive module 411 uses an electric push rod, the push rod's motor is detected by a Hall sensor. The number of rotations of the motor output shaft can be used to determine the push rod's extension and retraction length, and thus the swing angle of the rocker 413. Because the functional unit 600 is mounted on the rocker 413 via a connecting assembly, the rotation angle of the rocker 413 is consistent with the pitch angle of the functional unit 600. Therefore, by controlling the rotation angle of the rocker 413, the pitch angle of the functional unit 600 can be controlled, thereby achieving adjustment of the position of the functional unit 600.

[0124] In some embodiments, the multifunctional robot 3000 may further include a storage module. The storage module contains a picture library containing pictures of obstacles of different shapes and types, wherein each picture in the picture library is associated with the height to which the functional unit 600 needs to be lifted when crossing the obstacle in the picture.

[0125] When the multifunctional robot 3000 encounters an obstacle during its movement, the multifunctional robot 3000 stops moving. At the same time, the recognition device starts and takes a picture of the obstacle; the taken picture is analyzed and compared with the pictures in the picture library; if there is a picture in the picture library that completely matches the outline of the obstacle, it is determined that the obstacle is recognized. At the same time, the lifting height associated with the picture is obtained, and the lifting height is set as the preset height for this obstacle crossing; the position adjustment device 400 drives the functional part 600 to move so that the functional part 600 is lifted to the preset height; the multifunctional robot 3000 continues to move, thereby achieving obstacle crossing.

[0126] During the recognition process of the captured photo, if no image that completely matches the outline of the obstacle is found in the image library, the image in the image library that is closest to the outline of the obstacle is set as the target image, and the lifting height associated with the target image is obtained and set as the pre-adjusted height; the position adjustment device 400 drives the functional part 600 to move so that the functional part 600 is lifted to the pre-adjusted height. Then, the multifunctional robot 3000 continues to move:

[0127] In step S1, if the multifunctional robot 3000 passes the obstacle, the obstacle is successfully surmounted. In step S2, if the multifunctional robot 3000 fails to pass the obstacle, the position adjustment device 400 controls the functional unit 600 to continue raising the obstacle to a set height based on the current elevation height, and then controls the multifunctional robot 3000 to move forward. In step S3, if the multifunctional robot 3000 still fails to pass the obstacle, step S2 is repeated until the obstacle is successfully surmounted. The set height can be set as needed, for example, 1 cm, 2 cm, etc.

[0128] As shown in FIG37 , the position adjustment device 400 includes a second driving module 421 and a guide rod mechanism 420. The second driving module 421 is used to drive the guide rod mechanism 420 to move. The guide rod mechanism 420 is configured to adjust the pitch angle and / or ground clearance of the functional portion 600, thereby changing and adjusting the position of the functional portion 600. The first connecting portion 310 is disposed on the guide rod mechanism 420.

[0129] In some embodiments, the guide rod mechanism 420 includes a slider 422, a linear guide rail 423, a transmission member 424, and a swing member 425. The slider 422 is slidably disposed on the linear guide rail 423. The linear guide rail 423 is fixed to the running part 500 and is horizontally disposed.

[0130] One end of the transmission member 424 is rotatably connected to the slider 422, and the other end is rotatably connected to the top of the swing member 425. The bottom of the swing member 425 is rotatably connected to the running unit 500. Because the linear guide 423 is fixed to the running unit 500, the bottom of the swing member 425 can also be rotatably mounted on the linear guide 423.

[0131] The second drive module 421 is in transmission connection with the slider 422, and the functional unit 600 is mounted on the swing member 425 via a connecting assembly. When the second drive module 421 is activated, the swing member 425 swings, thereby driving the functional unit 600 to move, thereby adjusting the pitch angle and / or height above the ground of the functional unit 600, thereby changing the position of the functional unit 600. As shown in Figure 37, the first connecting portion 310 is disposed on the swing member 425.

[0132] The second driving module 421 includes a motion output portion 4211 for outputting linear motion. The motion output portion 4211 is fixedly connected to the slider 422 , and the motion output portion 4211 is parallel to the linear guide rail 423 .

[0133] In some embodiments, the second drive module 421 includes one of an electric push rod, a linear motor, a hydraulic cylinder, or a pneumatic cylinder. For an electric push rod, the motion output portion 4211 is the push rod; for a linear motor, the motion output portion 4211 is the output shaft; and for a hydraulic cylinder or a pneumatic cylinder, the motion output portion 4211 is the piston.

[0134] In addition, the second driving module 421 may also adopt other devices or mechanisms that can achieve linear motion.

[0135] In some embodiments, the position adjustment device 400 is configured to adjust the height of the functional part 600 from the ground.

[0136] As shown in FIG38 , the position adjustment device 400 includes a third driving module 431 and an installation component 432 . The third driving module 431 is used to drive the installation component 432 to rise and fall, wherein the installation component 432 is used to drive the functional part 600 to move to change the height of the functional part 600 from the ground.

[0137] The first connecting portion 310 is mounted on the mounting member 432. The third driving module 431 is connected to the mounting member 432 in a transmission manner to drive the mounting member 432 up and down. When the third driving module 431 is activated, it drives the mounting member 432 up and down. Because the functional unit 600 is mounted on the mounting member 432 via a connecting assembly, the height of the functional unit 600 above the ground changes with the height of the mounting member 432, thereby achieving adjustable height of the functional unit 600 above the ground.

[0138] The third driving module 431 includes a linear lifting mechanism. The linear lifting mechanism can be a worm gear lifting mechanism, a screw thread lifting mechanism, etc. The third driving module 431 is described using a screw nut lifting mechanism as an example.

[0139] 38 , the third driving module 431 includes a nut 433 and a screw rod 434. The nut 433 is fixedly connected to the mounting component 432, and the nut 433 is also threadedly connected to the screw rod 434. The nut 433 is also slidably connected to a vertically arranged linear slide rail 435.

[0140] The screw rod 434 is vertically arranged, and both ends of the screw rod 434 can be rotatably connected to the running part 500 through bearings, wherein the screw rod 434 can be connected to a driving motor through gear transmission or the like, and the driving motor can drive the screw rod 434 to rotate.

[0141] After starting the drive motor, the screw rod 434 will rotate, and under the action of the thread and the linear slide rail 435, the nut 433 will move in the vertical direction, thereby driving the installation component 432 to rise and fall. Among them, as the height position of the installation component 432 changes, under the action of the connecting component, the height of the functional part 600 from the ground will also change accordingly, thereby realizing the adjustment of the height of the functional part 600 from the ground.

[0142] In the embodiments of the present invention, unless otherwise specified or limited, terms such as "mounted" and "connected" should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, integral connections, or transmission connections; they can be direct connections or indirect connections through an intermediary. Those skilled in the art will understand the specific meanings of these terms in the present invention based on the specific circumstances.

[0143] In addition, the terms "first", "second", etc. are only used to distinguish the description and cannot be understood as a specific reference or special structure. The description of the term "some embodiments" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in the embodiments or examples of the present invention. In the present invention, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in an appropriate manner in any one or more embodiments or examples. In addition, those skilled in the art can combine and combine the different embodiments or examples described in the present invention and the features of the different embodiments or examples, unless they are contradictory.

[0144] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention, and should all be included in the scope of protection of the present invention.

Claims

1. A robot, characterized in that: include: Nose; as well as The fuselage is connected to the fuselage in a detachable manner.

2. The robot according to claim 1, characterized in that: The robot further comprises a connection structure for the robot 2000, the head and the body are detachably connected via the connection structure for the robot 2000, and the connection structure for the robot comprises a first connection component and a second connection component; The first connecting component comprises a plug-in rod, and the plug-in rod is provided with a first combining portion; The second connecting component includes a guide portion having an inserting hole and a second combining portion, wherein the inserting rod can be inserted into the inserting hole to connect the second combining portion with the first combining portion.

3. The robot according to claim 2, characterized in that: The first combining portion comprises a slot body arranged on the plug-in rod, and the second combining portion comprises a rotatable buckle, wherein the buckle is used to be buckled with the slot body.

4. The robot according to claim 3, characterized in that: The buckle is arranged adjacent to the outlet side of the plug hole.

5. The robot according to claim 4, characterized in that: The length of the plug-in rod is greater than the depth of the plug-in hole.

6. The robot according to claim 2, characterized in that: The first combining portion comprises a groove arranged on the plug-in rod, and the second combining portion comprises a slidable protrusion, wherein the protrusion is used to be embedded in the groove.

7. The robot according to claim 6, characterized in that: The protrusion is arranged inside the plug hole.

8. The robot according to claim 6, characterized in that: The groove is arranged around the circumference of the plug rod.

9. The robot according to claim 2, characterized in that: The first connecting component and the second connecting component are both provided in plurality and the number is the same, and the first connecting component corresponds to the second connecting component one by one.

10. The robot according to claim 9, characterized in that: The first connecting components are distributed in a rectangular array or a circular array, and the distribution mode of the second connecting components is consistent with that of the first connecting components.

11. The robot according to claim 1, characterized in that: The machine head comprises: case; At least one set of locking hook components disposed on the housing, the locking hook components comprising a locking hook rotatably disposed on the housing, the locking hook being at least a part of the buckle, and the locking hook components being configured to rotate the locking hook under the action of an external force; When the lock hook rotates, it has a locking position connected to the external device and an unlocking position separated from the external device.

12. The robot according to claim 11, characterized in that: The lock hook assembly also includes a transmission member movably arranged on the housing, and the transmission member is transmission-connected to the lock hook through a connecting member so as to drive the lock hook to rotate under the action of an external force.

13. The robot according to claim 12, characterized in that: The housing is formed with an inner cavity, and the housing includes a partition; The transmission member is located on the outer side of the partition, the at least one locking hook is located on the inner side of the partition, and the connecting member is movably arranged on the partition.

14. The robot according to claim 12 or 13, characterized in that: The locking hook assembly further comprises an elastic member, one end of which is arranged on the partition plate and the other end of which is connected to the connecting member or the transmission member, and the elastic member is configured to place the locking hook in the locking position.

15. The robot according to claim 14, characterized in that: The connecting member is connected to the locking hook through a rotating member, and the locking hook includes a locking hook body and a hook portion connected to each other. The locking hook body has a first side wall and a second side wall connected to each other, the first side wall is connected to the rotating member, and the second side wall contacts the top surface of the rotating member or the bottom surface of the rotating member.

16. The robot according to claim 15, characterized in that: One of the first side wall and the rotating member is provided with a connecting column, and the other of the first side wall and the rotating member is provided with a connecting hole, and the connecting column is located in the connecting hole.

17. The robot according to claim 15, characterized in that: The rotating member has a fixed end and a free end, the fixed end is arranged on the shell, the free end can rotate relative to the fixed end, the free end is connected to the rotating member, the first side wall is connected to the free end, and the second side wall is in contact with the top surface of the free end or the bottom surface of the free end.

18. The robot according to claim 11, characterized in that: The lock hook is rotatably mounted on the shell, one of the shell and the lock hook is provided with a limiting groove, the limiting groove extends along the rotation direction of the lock hook, and the other between the shell and the lock hook is provided with a limiting member, the limiting member can be slidably arranged in the limiting groove along the length direction of the limiting groove.

19. The robot according to claim 12, characterized in that: The locking hook assembly further comprises a first linkage member, and the locking hook is provided with two; The first linkage member is connected to the two locking hooks respectively, the transmission member is transmission-connected to the first linkage member, and the first linkage member is configured to drive the two locking hooks to move synchronously under the drive of the transmission member.

20. The robot according to claim 13, characterized in that: The partition is provided with a movable groove, the movable groove passes through the partition, and the connecting piece is located in the movable groove.

21. The robot according to claim 12, characterized in that: The upper end of the transmission member is arranged adjacent to the top of the housing.

22. The robot according to claim 21, characterized in that The lock hook assembly also includes a toggle member, which has an operating end and a connecting end, the operating end is exposed from the shell, and the connecting end is transmission-connected to the upper end of the transmission member, and the toggle member is configured to drive the transmission member to move under the action of an external force, so as to drive the lock hook to rotate.

23. The robot according to claim 15, characterized in that The shell is provided with a connecting hole, which is a plug-in hole and is connected to the inner cavity. The locking hook is adjacent to the connecting hole, and the connecting hole is configured so that at least a part of the external device can enter the inner cavity through the connecting hole and connect with the locking hook.

24. The robot according to claim 13, characterized in that The number of the partitions is at least two, including a first partition and a second partition arranged opposite to each other, and the inner cavity is formed between the first partition and the second partition; The at least one group of locking hook assemblies includes a first locking hook assembly and a second locking hook assembly, the connecting piece of the first locking hook assembly is arranged on the first partition plate, the connecting piece of the second locking hook assembly is arranged on the second partition plate, and the connecting piece of the first locking hook assembly and the connecting piece of the second locking hook assembly are connected by a second linkage piece.

25. The robot according to claim 1, characterized in that The robot includes an execution device, which includes a working part, and the working part can realize one or more functions of clearing snow, removing weeds, sowing, and cleaning the surface. The execution device is at least a part of the head, and the execution device also includes: case; A transfer element, the transfer element being disposed on the housing and configured to be connected to or separated from an external device; and A driving member, wherein the driving member is configured to drive the adapter to connect with or separate from an external device under the action of an external force or under the control of a computer program, the driving member is arranged on the housing, and the external device is an external equipment.

26. The robot according to claim 25, characterized in that The driving member is disposed on the top of the shell, or the driving member is adjacent to the top of the shell.

27. The robot according to claim 25 or 26, characterized in that: The housing has a receiving hole, and at least a portion of the driving member is received in the receiving hole and exposed through the receiving hole.

28. The robot according to claim 27, characterized in that The shell is formed with an inner cavity, and the shell has a first surface and a second surface adjacent to each other, and the receiving hole is located on the first surface of the shell and the second surface of the shell, and is communicated with the inner cavity; The driving member comprises a transmission part and an operating part which are connected to each other. The transmission part is located in the inner cavity. The operating part is accommodated in the accommodation hole and forms a flush surface with at least one of the first surface of the shell and the second surface of the shell.

29. The robot according to claim 28, characterized in that The operating portion forms a flush surface with the first surface of the housing, and the operating portion protrudes from the second surface of the housing.

30. The robot according to claim 29, characterized in that The operating portion has a fixed portion and a free portion; The fixing portion is arranged on the housing, and the free portion can rotate relative to the housing through the fixing portion; The fixed portion forms a flush surface with the first surface of the shell, the free portion forms a flush surface with the first surface of the shell, and the free portion protrudes from the second surface of the shell.

31. The robot according to claim 27, characterized in that The housing comprises a first housing and a second housing connected to each other; The first shell has a first notch and a second notch, the first notch and the second notch are distributed on two adjacent surfaces of the first shell, and the first notch and the second notch are connected to each other, and the second shell is buckled with the first shell to form the accommodating hole at the first notch and the second notch.

32. The robot according to claim 30, characterized in that At least a portion of a projection of the free portion on the first surface of the housing is arc-shaped.

33. The robot according to claim 28, characterized in that The projection of the accommodating hole on the first surface of the housing is in a strip shape.

34. A multifunctional robot, the multifunctional robot being the robot according to claim 1, characterized in that: The multifunctional robot comprises: Functional part, which is at least a part of the head, can realize functions including but not limited to the following: Clearing snow, and / or removing weeds, and / or sowing seeds, and / or cleaning surfaces; A running unit, which is at least a part of the body and can run independently of the functional unit under the control of a user and / or a computer program; The running part has a first connection part, which is at least a part of a first connection component, and the functional part has a second connection part, which is at least a part of a second connection component. The running part and the functional part are manually detachably connected through the first connection part and the second connection part, and the manual detachable connection satisfies all of the following conditions at the same time: The user can complete the manual disassembly and assembly connection using only his own limbs without using any additional tools; The manual disassembly and connection can be completed without operating the running part or changing the direction of the running part; When performing the manual disassembly and connection, the functional part only needs to move in one direction relative to the running part; During the manual disassembly and connection and / or after the connection, there is no mechanical transmission between the functional part and the running part.

35. The multifunctional robot according to claim 34, characterized in that: The running part is provided with a position adjustment device, the first connecting part is arranged on the position adjustment device, and the position adjustment device is configured to adjust the pitch angle and / or the height from the ground of the functional part.

36. The multifunctional robot according to claim 35, characterized in that: The position adjustment device includes a first driving module and a crank-rocker mechanism, wherein the first driving module is transmission-connected to the crank-rocker mechanism to drive the crank-rocker mechanism to move, and the crank-rocker mechanism is configured to drive the functional part to move during movement to adjust the pitch angle and / or ground clearance of the first connection part.

37. The multifunctional robot according to claim 36, characterized in that: The crank-rocker mechanism comprises a crank, a rocking member and a connecting member; The tops of the crank and the rocking member are rotatably connected to the two ends of the linking member respectively; the bottoms of the crank and the rocking member are rotatably connected to the running part; Wherein, the first connecting portion is installed on the shaking member.

38. The multifunctional robot according to claim 37, characterized in that: The first driving module includes a driving output part for outputting linear motion, and the driving output part is rotationally connected to the top of the crank.

39. The multifunctional robot according to claim 38, characterized in that: A rotation connection portion is provided on the first driving module, wherein the first driving module is rotationally connected to the running portion through the rotation connection portion.

40. The multifunctional robot according to claim 38, characterized in that: The first driving module includes one of an electric push rod, a linear motor, a hydraulic cylinder or a pneumatic cylinder.

41. The multifunctional robot according to claim 35, characterized in that: The position adjustment device comprises a second driving module and a guide rod mechanism, wherein the second driving module is used to drive the guide rod mechanism to move, wherein the guide rod mechanism is configured to adjust the pitch angle and / or the height from the ground of the functional part; Wherein, the first connecting portion is arranged on the guide rod mechanism.

42. The multifunctional robot according to claim 41, characterized in that: The guide rod mechanism includes a slider, a linear guide rail, a transmission member and a swing member; The slider is slidably disposed on the linear guide rail; One end of the transmission member is rotationally connected to the slider, and the other end is rotationally connected to the top of the swing member; The bottom of the swinging member is rotationally connected to the running part; Wherein, the second driving module is transmission connected to the slider.

43. The multifunctional robot according to claim 42, characterized in that: The second driving module includes a motion output part for outputting linear motion, wherein the motion output part is connected to the slider and is parallel to the linear guide rail.

44. The multifunctional robot according to claim 43, characterized in that: The second driving module includes one of an electric push rod, a linear motor, a hydraulic cylinder or a pneumatic cylinder.

45. The multifunctional robot according to claim 35, characterized in that: The position adjustment device is configured to adjust the height of the functional part from the ground. The position adjustment device includes a third driving module and a mounting component. The first connecting part is arranged on the mounting component. The third driving module is transmission-connected to the mounting component to drive the mounting component to rise and fall.

46. ​​The multifunctional robot according to claim 45, characterized in that: The third driving module includes a linear lifting mechanism.

47. The multifunctional robot according to any one of claims 35 to 46, characterized in that: The multifunctional robot also includes: Recognition means for recognizing obstacles in front of the functional part; and The controller is electrically connected to the identification device to control the position adjustment device to work according to the identification information of the identification device.

Images