阅读说明：本技术 模块化机器人 (Modular robot ) 是由 刘维 蔡宾 王江洋 陈斌 向贤宝 陈云鹏 于 2021-09-15 设计创作，主要内容包括：本发明公开一种模块化机器人,包括底盘模块、容置模块以及消毒模块,所述底盘模块包括底板和设于所述底板下端面的行走轮组；所述容置模块包括可拆卸安装至所述底板上端面的安装壳体,所述安装壳体内具有一容纳腔,所述安装壳体的上端还设有一连通所述容纳腔的过孔；所述消毒模块包括用于对环境进行杀菌消毒的消毒结构,所述消毒结构具有收纳至所述容纳腔内的收纳位置、以及自所述过孔伸出于所述容纳腔的工作位置。在加工时各模块先单独加工,然后组装得到机器人整体,减少装配时的零件数量,降低安装难度,在维护过程中,可以针对单独的模块进行分别拆装维护,降低维护成本,提升安装效率。(The invention discloses a modular robot which comprises a chassis module, an accommodating module and a disinfection module, wherein the chassis module comprises a bottom plate and a travelling wheel group arranged on the lower end surface of the bottom plate; the accommodating module comprises an installation shell which is detachably installed on the upper end surface of the bottom plate, an accommodating cavity is formed in the installation shell, and a through hole communicated with the accommodating cavity is formed in the upper end of the installation shell; the disinfection module is including being used for disinfecting sterile disinfection structure to the environment, disinfection structure have accomodate to hold the intracavity accomodate the position and certainly the via hole stretch out in hold the operating position in chamber. When processing, each module is processed alone earlier, then the equipment obtains the robot wholly, reduces the part quantity when the assembly, reduces the installation degree of difficulty, and in the maintenance process, can carry out dismouting maintenance respectively to solitary module, reduces the maintenance cost, promotes the installation effectiveness.)

1. A modular robot, comprising:

the chassis module comprises a bottom plate and a travelling wheel group arranged on the lower end surface of the bottom plate;

the accommodating module comprises an installing shell which is detachably installed on the upper end surface of the bottom plate, an accommodating cavity is formed in the installing shell, and a through hole communicated with the accommodating cavity is formed in the upper end of the installing shell; and the number of the first and second groups,

the disinfection module, the disinfection module is including being used for disinfecting sterile disinfection structure to the environment, the disinfection structure have accomodate to hold the intracavity accomodate the position and certainly the via hole stretch out in hold the operating position in chamber.

2. The modular robot of claim 1, wherein the sanitizing structure comprises:

the support is movably arranged in the accommodating cavity along the vertical direction from the via hole; and the number of the first and second groups,

the ultraviolet lamp tubes are fixedly arranged on the outer side face of the support, the ultraviolet lamp tubes are arranged along the circumferential direction of the support at intervals, and the ultraviolet lamp tubes are used for emitting ultraviolet rays to the surrounding to sterilize and disinfect the external environment.

3. The modular robot as claimed in claim 2, wherein the sterilizing module further comprises a screw structure, the screw structure is located in the accommodating cavity, a screw of the screw structure extends in the up-and-down direction and is disposed corresponding to the through hole, and a nut of the screw structure is fixedly connected with the support.

4. The modular robot of claim 2, wherein the sanitizing structure further comprises an end cap fixedly mounted to an upper end of the seat to block the aperture when the sanitizing structure is in the stowed position.

5. The modular robot as claimed in claim 1, wherein the traveling wheel set includes two in-wheel motors, the two in-wheel motors being disposed opposite to each other in a width direction of the base plate, the two in-wheel motors having a connecting shaft extending in the width direction of the base plate and a rim rotatably mounted on an outer surface of the connecting shaft in a length direction of the connecting shaft, an end of the connecting shaft being connected to the base plate.

6. The modular robot of claim 5, wherein the chassis module further comprises two suspension structures, each suspension structure comprising:

the mounting seat comprises a supporting plate and a supporting frame connected with the supporting plate, the supporting frame is fixedly mounted on the lower end face of the bottom plate, the supporting plate and the supporting frame jointly enclose to form a mounting cavity, and the middle part of the supporting plate is connected with the corresponding connecting shaft;

the two guide rods are positioned in the mounting cavity, extend along the vertical direction, are fixedly connected with the inner walls corresponding to the supporting plate and the supporting frame at two ends respectively, and are positioned on two sides of the connecting shaft along the length direction of the bottom plate respectively;

the two linear bearings are movably sleeved on the outer surfaces of the two guide rods; and the number of the first and second groups,

and the two springs are sleeved on the outer surfaces of the two guide rods, one ends of the two springs are respectively abutted against the corresponding linear bearings, and the other ends of the two springs are abutted against the corresponding inner wall surfaces of the support frame.

7. The modular robot as claimed in claim 6, wherein the supporting plate is provided at an upper end thereof with a fixing block, and the fixing block is depressed at a middle portion of the upper end thereof to form an arc-shaped groove;

the end part of the connecting shaft extends into the arc-shaped groove.

8. The modular robot of claim 1, wherein the chassis module further comprises a plurality of universal wheels spaced circumferentially along the floor.

9. The modular robot of claim 1, wherein the receiving module further comprises a controller and a display screen, the display screen is disposed on the upper end surface of the mounting housing and spaced apart from the through hole, the controller is disposed in the receiving cavity, and the controller is electrically connected to the display screen, the disinfection structure, and the traveling wheel set.

10. The modular robot as claimed in claim 1, further comprising a housing module, wherein the housing module comprises a plurality of shell plates, and the plurality of shell plates are spliced with each other to form a containing space;

the accommodating module is at least partially arranged in the accommodating space;

the chassis module is at least partially arranged in the accommodating space.

Technical Field

The invention relates to the technical field of robots, in particular to a modular robot.

Background

The robot that kills is used for places such as intensive market of personnel, supermarket, workshop, cinema, can move in a flexible way and carry out the environment and disinfect, need not artifical the disinfecting, has ensured personnel's safety, and in order to realize its function, the inner structure of the robot that kills often is comparatively complicated, designs the equipment of a plurality of spare parts, and the connection cooperation relation between the spare part is inseparable, and the dismouting consumes time long, is unfavorable for later maintenance.

Disclosure of Invention

The invention mainly aims to provide a modular robot, and aims to divide an internal structure of the robot into modules and reduce installation difficulty and maintenance cost, so that the problems that the existing robot is long in time consumption for disassembly and assembly and is not beneficial to later maintenance are solved.

To achieve the above object, the present invention provides a modular robot, comprising:

the chassis module comprises a bottom plate and a travelling wheel group arranged on the lower end surface of the bottom plate;

the accommodating module comprises an installing shell which is detachably installed on the upper end surface of the bottom plate, an accommodating cavity is formed in the installing shell, and a through hole communicated with the accommodating cavity is formed in the upper end of the installing shell; and the number of the first and second groups,

the disinfection module, the disinfection module is including being used for disinfecting sterile disinfection structure to the environment, the disinfection structure have accomodate to hold the intracavity accomodate the position and certainly the via hole stretch out in hold the operating position in chamber.

Optionally, the disinfecting structure comprises:

the support is movably arranged in the accommodating cavity along the vertical direction from the via hole; and the number of the first and second groups,

the ultraviolet lamp tubes are fixedly arranged on the outer side face of the support, the ultraviolet lamp tubes are arranged along the circumferential direction of the support at intervals, and the ultraviolet lamp tubes are used for emitting ultraviolet rays to the surrounding to sterilize and disinfect the external environment.

Optionally, the disinfection module further comprises a screw structure, the screw structure is located in the containing cavity, a screw rod of the screw structure extends along the vertical direction and corresponds to the via hole, and a nut of the screw structure is fixedly connected with the support.

Optionally, the disinfection structure further comprises an end cap, the end cap is fixedly mounted to the upper end of the support to shield the via hole when the disinfection structure is in the storage position.

Optionally, walking wheel group includes two in-wheel motor, two in-wheel motor follows the width direction of bottom plate sets up relatively, two in-wheel motor has the edge the connecting axle that bottom plate width direction extends and follow the length direction of connecting axle rotates to be installed the rim of connecting axle surface, the tip of connecting axle with the bottom plate is connected.

Optionally, the chassis module further comprises two suspension arrangements, each suspension arrangement comprising:

the mounting seat comprises a supporting plate and a supporting frame connected with the supporting plate, the supporting frame is fixedly mounted on the lower end face of the bottom plate, the supporting plate and the supporting frame jointly enclose to form a mounting cavity, and the middle part of the supporting plate is connected with the corresponding connecting shaft;

the two guide rods are positioned in the mounting cavity, extend along the vertical direction, are fixedly connected with the inner walls corresponding to the supporting plate and the supporting frame at two ends respectively, and are positioned on two sides of the connecting shaft along the length direction of the bottom plate respectively;

the two linear bearings are movably sleeved on the outer surfaces of the two guide rods; and the number of the first and second groups,

and the two springs are sleeved on the outer surfaces of the two guide rods, one ends of the two springs are respectively abutted against the corresponding linear bearings, and the other ends of the two springs are abutted against the corresponding inner wall surfaces of the support frame.

Optionally, a fixed block is arranged on the supporting plate, and the middle of the upper end face of the fixed block is recessed to form an arc-shaped groove;

the end part of the connecting shaft extends into the arc-shaped groove.

Optionally, the chassis module further includes a plurality of universal wheels, and the plurality of universal wheels are arranged along the circumferential direction of the bottom plate at intervals.

Optionally, the holding module still includes controller and display screen, the display screen be located the up end of installation casing, and with the via hole interval sets up, the controller is located hold the intracavity, the controller with the display screen the disinfection structure the even electricity of walking wheelset is connected.

Optionally, the modular robot further comprises a housing module, the housing module comprises a plurality of shell plates, and the shell plates are spliced with each other to enclose an accommodating space;

the accommodating module is at least partially arranged in the accommodating space;

the chassis module is at least partially arranged in the accommodating space.

According to the technical scheme, the sterilization structure is used for sterilizing and disinfecting the external environment when located at the working position, the sterilization structure is retracted downwards into the containing cavity after working is completed, the chassis module, the containing module and the sterilization module are respectively an integral body, each module is processed independently during processing and then assembled to obtain a robot integral body, the number of parts during assembly is reduced, the installation difficulty is reduced, the independent modules can be respectively disassembled and assembled for maintenance during maintenance, the maintenance cost is reduced, and the installation efficiency is improved.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.

FIG. 1 is a schematic perspective view of a modular robot according to an embodiment of the present invention;

FIG. 2 is an exploded perspective view of the modular robot of FIG. 1;

FIG. 3 is a perspective view of the hub motor and suspension arrangement of FIG. 1;

fig. 4 is an exploded perspective view of the hub motor and the suspension structure of fig. 3.

The reference numbers illustrate:

the implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that, if directional indication is involved in the embodiment of the present invention, the directional indication is only used for explaining the relative positional relationship, the motion situation, and the like between the components in a certain posture, and if the certain posture is changed, the directional indication is changed accordingly.

In addition, if there is a description of "first", "second", etc. in an embodiment of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.

The robot that kills is used for places such as intensive market of personnel, supermarket, workshop, cinema, can move in a flexible way and carry out the environment and disinfect, need not artifical the disinfecting, has ensured personnel's safety, and in order to realize its function, the inner structure of the robot that kills often is comparatively complicated, designs the equipment of a plurality of spare parts, and the connection cooperation relation between the spare part is inseparable, and the dismouting consumes time long, is unfavorable for later maintenance.

In view of this, the invention provides a modular robot, which is designed by the internal structure modules of the robot, so that the modules are integrated and can be detached from each other, thereby reducing the installation difficulty and the maintenance cost. Fig. 1 to 4 illustrate an embodiment of a modular robot according to the present invention.

Referring to fig. 1 to 2, a modular robot 100 includes a chassis module 1, an accommodating module, and a sterilizing module, where the chassis module 1 includes a bottom plate 11 and a road wheel set disposed on a lower end surface of the bottom plate 11; the accommodating module comprises an installing shell 21 which is detachably installed on the upper end surface of the bottom plate 11, an accommodating cavity 211 is formed in the installing shell 21, and a through hole communicated with the accommodating cavity 211 is further formed in the upper end of the installing shell 21; the disinfection module is including being used for disinfecting sterile disinfection structure 31 to the environment, disinfection structure 31 have accomodate to accomodate the position in holding the chamber 211 and certainly the via hole stretches out in hold the operating position of chamber 211.

In the technical scheme of the invention, the sterilization structure 31 is used for sterilizing and disinfecting the external environment when located at the working position, the sterilization structure 31 is retracted downwards into the accommodating cavity 211 after the work is finished, the chassis module 1, the accommodating module and the sterilization module are respectively an integral body, and are separately machined and molded during machining and then assembled to obtain a robot integral body, so that the number of parts during assembly is reduced, the assembly difficulty is reduced, the individual modules can be respectively disassembled and assembled for maintenance during maintenance, the maintenance cost is reduced, and the installation efficiency is improved.

Further, the present invention is not limited to the specific form of the disinfecting structure 31, in an embodiment, the disinfecting structure 31 is a spraying device, and a liquid storage barrel and a spraying head are arranged to spray a disinfecting liquid to the surrounding environment, so as to achieve the purpose of sterilization and disinfection, in this embodiment, the disinfecting structure 31 includes a support 311 and a plurality of ultraviolet lamps 312, and the support 311 is movably installed in the accommodating cavity 211 from the through hole in the up-down direction; the plurality of ultraviolet lamps 312 are fixedly installed on the outer side surface of the support 311, the plurality of ultraviolet lamps 312 are arranged at intervals along the circumferential direction of the support 311, and the plurality of ultraviolet lamps 312 are used for emitting ultraviolet rays to the surroundings so as to sterilize and disinfect the external environment. The plurality of ultraviolet lamps 312 are arranged in a surrounding manner, so that ultraviolet light emitted by the plurality of ultraviolet lamps 312 can cover all the peripheral areas of the robot, and the ultraviolet lamps 312 are low in cost and convenient to install. The up-and-down movement of the support 311 drives the plurality of ultraviolet lamps 312 to protrude out of the via holes or to be accommodated in the accommodating cavity 211.

It should be noted that, the ultraviolet lamps 312 are connected in parallel to connect with the same power source, which is convenient for maintenance and replacement of the lamps, and the ultraviolet lamps 312 may also be connected with their batteries respectively.

The invention does not limit the implementation manner of the up-and-down movement of the support 311, referring to fig. 2, in this embodiment, the disinfection module further includes a screw structure 32, the screw structure 32 is located in the accommodating cavity 211, a screw rod of the screw structure 32 extends up and down and is arranged corresponding to the through hole, and a nut of the screw structure 32 is fixedly connected with the support 311. Lead screw structure 32 has simple structure, sets up convenient advantage, through reasonable setting the length of lead screw just can be to different strokes. In other embodiments, the support 311 may move up and down by a cylinder, an electric push rod, or the like, which will not be described in detail herein.

The accommodating module further comprises a bearing frame positioned in the accommodating cavity 211, and the bearing frame is used for abutting against the lower end surface of the support 311 when the disinfection structure 31 is located at the accommodating position so as to be matched with the lead screw structure 32 for bearing, so that the nut in the lead screw structure 32 is prevented from being cracked due to long-time use.

Based on the above embodiment, the disinfection structure 31 further comprises an end cap 313, wherein the end cap 313 is fixedly mounted to the upper end of the support 311 to shield the through hole when the disinfection structure 31 is in the storage position. When the end cap 313 is in the working position of the disinfection structure 31, the light irradiation of the ultraviolet lamp tubes 312 is not affected, and when the end cap is in the storage position, the via holes are completely shielded, so that dust can be prevented from entering the through holes.

It should be noted that, in order to ensure the overall aesthetic appearance of the modular robot 100, when the disinfecting structure 31 is in the storage position, the end cap 313 is flush with the end face of the mounting housing 21 where the through hole is provided.

Moreover, an annular mounting groove is formed in the outer side surface of the support 311, the ultraviolet lamps 312 are located in the annular mounting groove, and the outer surface of each ultraviolet lamp 312 cannot protrude out of the annular groove, so that the ultraviolet lamps 312 are protected, and the ultraviolet lamps 312 are prevented from being damaged by being damaged in the process that the support 311 moves up and down.

Furthermore, in the embodiment of the present invention, the traveling wheel set includes two in-wheel motors 12, the two in-wheel motors 12 are disposed opposite to each other in the width direction of the bottom plate 11, each of the two in-wheel motors 12 has a connecting shaft 121 extending in the width direction of the bottom plate 11, and a rim rotatably mounted on an outer surface of the connecting shaft 121 in the length direction of the connecting shaft 121, and an end of the connecting shaft 121 is connected to the bottom plate 11. When the robot works, the chassis control module receives a walking instruction and then sends a corresponding rotating speed instruction to the motor driver of the hub motor 12, and tires outside the rim can rotate according to the speed instruction sent by the chassis control module, so that the robot walks and turns.

Based on the above embodiment, two suspension structures 13 are provided for two hub motors 12 to cope with uneven road conditions, specifically, referring to fig. 3 to 4, each suspension structure 13 includes an installation seat 131, two guide rods 132, two linear bearings 133133 and two springs 134, the installation seat 131 includes a support plate 1311 and a support frame 1312 connected to the support plate 1311, the support frame 1312 is fixedly installed on the lower end surface of the bottom plate 11, the support plate 1311 and the support frame 1312 together enclose to form an installation cavity, and the middle of the support plate 1311 is connected to the corresponding connecting shaft 121; the two guide rods 132 are located in the installation cavity, the two guide rods 132 both extend vertically, two ends of the two guide rods 132 are respectively fixedly connected with the corresponding inner walls of the support plate 1311 and the support frame 1312, and the two guide rods 132 are respectively located at two sides of the connecting shaft 121 along the length direction of the bottom plate 11; the two linear bearings 133133 are movably sleeved on the outer surfaces of the two guide rods 132; the two springs 134 are sleeved on the outer surfaces of the two guide rods 132, one end of each of the two springs 134 abuts against the corresponding linear bearing 133133, and the other end abuts against the corresponding inner wall surface of the support frame 1312. The two suspension structures 13 form independent suspensions on the corresponding in-wheel motors 12, when the road surface is uneven in the movement process of the modular robot 100, the external tires of the two in-wheel motors 12 are on different planes, at this time, the two springs 134 in the suspension structures 13 corresponding to the two in-wheel motors 12 are subjected to external forces of different degrees, the connecting shaft 121 of the in-wheel motor 12 is lifted to drive the two linear bearings 133133 to compress the two springs 134, under the action of the springs 134, the external tires of the two in-wheel motors 12 can be always guaranteed to be in contact with the ground, the arrangement of the guide rods 132 guarantees that the external tires are linearly buffered in the vertical direction, and meanwhile, the suspension structures 12 can absorb the vibration caused by part of the road surface, play the roles of shock absorption and buffering, and avoid the upper part of the chassis module 1 from being impacted by the external forces, the two guide rods 132 ensure a balanced force distribution on both sides.

Further, the connecting shaft 121 is a cylindrical shaft rod, which is easy to move in a bumping process, and therefore, in an embodiment of the present invention, a fixing block 13111 is disposed on the supporting plate 1311, and a middle portion of an upper end surface of the fixing block 13111 is recessed to form an arc-shaped groove; the end of the connecting shaft 121 extends into the arc-shaped groove. The arc-shaped groove is matched with the shape of the connecting shaft 121, so that the position of the connecting shaft 121 is fixed.

Furthermore, the chassis module 1 further includes a plurality of universal wheels 14, and the plurality of universal wheels 14 are arranged at intervals along the circumferential direction of the bottom plate 11. The universal wheels 14 play a role in stably supporting, so that the two in-wheel motors 12 are prevented from easily toppling over, and moreover, when a road is bumpy, parts of the universal wheels 14 may be separated from the road, but the remaining universal wheels 14 in contact with the ground can still be matched with the two in-wheel motors 12 to form a stable supporting structure, so that the stability of the robot in the traveling process is improved.

In addition, in an embodiment of the present invention, the accommodating module further includes a controller and a display screen 22, the display screen 22 is located on the upper end surface of the mounting housing 21 and is spaced apart from the via hole, the controller is located in the accommodating cavity 211, and the controller is electrically connected to the display screen 22, the disinfecting structure 31, and the traveling wheel set. An operation interface is displayed on the display screen 22, and an operator performs corresponding operation on the display screen 22 to give instructions such as advancing, disinfecting and the like to the corresponding module of the robot.

In order to ensure the overall appearance of the robot after the modules are assembled, please refer to fig. 2 again, the modular robot 100 further includes a housing module 4, the housing module 4 includes a plurality of shell plates 41, and the plurality of shell plates 41 are assembled to form an accommodating space; the accommodating module is at least partially arranged in the accommodating space; the chassis module 1 is at least partially arranged in the accommodating space. The arrangement is more attractive, and meanwhile, when the modules are maintained, only the shell plates 41 of the corresponding parts need to be detached, so that the maintenance is more concise and convenient.

The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.