CN110997251A

CN110997251A - Detachable robot

Info

Publication number: CN110997251A
Application number: CN201980003108.7A
Authority: CN
Inventors: 严绍军; 王振旭; 李亮; 李博文
Original assignee: SZ DJI Technology Co Ltd
Current assignee: SZ DJI Technology Co Ltd; Shenzhen Dajiang Innovations Technology Co Ltd
Priority date: 2019-05-16
Filing date: 2019-05-16
Publication date: 2020-04-10
Also published as: WO2020228028A1

Abstract

A removable and attachable robot (100), comprising: a body (10) and a plurality of assembly modules detachably connected to the body (10); the plurality of assembling modules comprise a main control module (20), a driving module (30) and a battery module (40), and the driving module (30) and the battery module (40) are connected with the main control module (20); the main body (10) is provided with a first accommodating cavity (11) for installing the main control module (20) and a second accommodating cavity (12) for installing the battery module (40), and the second accommodating cavity (12) is overlapped with the first accommodating cavity (11). The detachable robot is convenient to disassemble and assemble, and the internal space of the robot body is reasonably utilized.

Description

Detachable robot

Technical Field

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

Background

The teaching robot has the advantages of playing middle school and playing positive role in cultivating and improving scientific literacy of students. If the robot teaching system is popularized in a plurality of schools of primary and secondary schools, the teaching robot can walk into the schools, and becomes a tendency of high fever like the popularization of computers in the schools, and the robot teaching can also become a new course in the field of primary and secondary school education.

Generally, the existing robot mostly appears in the form of a finished product of a suit, is mainly played, and lacks a reasonable, simple and feasible education concept. And the structure is usually complicated, and a user cannot grasp the mechanical development design of the robot, so that the enthusiasm of the user for developing the robot is difficult to arouse.

Disclosure of Invention

The invention provides a detachable robot which is convenient to disassemble and assemble.

Specifically, the invention is realized by the following technical scheme:

the present invention provides a detachable robot, including: a body and a plurality of assembly modules detachably connected to the body; the plurality of assembling modules comprise a main control module, a driving module and a battery module, and the driving module and the battery module are connected with the main control module;

the main control module is arranged in the main body, and the main control module is arranged in the main body.

According to the technical scheme provided by the embodiment of the invention, the detachable robot in the embodiment of the invention is in a modularized design, the assembly modules are detachably connected to the machine body, the disassembly and the assembly are convenient, the detachable robot can be assembled into a whole robot, also can be disassembled into parts and is convenient to carry, the functions of the modules are clear, the position layout is reasonable, and the detachable robot is beneficial to learning and fast understanding of the structure of the robot. Simultaneously, through the first holding chamber of superpose and second holding chamber, can accomodate main control module and battery module in a space direction inside the fuselage, the rational utilization of the inner space of fuselage self is favorable to the rational overall arrangement of dismantled and assembled robot's structure.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive labor.

Fig. 1 is a perspective view of a detachable robot according to an embodiment of the present invention.

FIG. 2 is a top view of a removable and attachable robot in one embodiment of the present invention.

Fig. 3 is an exploded view of a detachable robot in an embodiment of the present invention.

FIG. 4 is a bottom view of a removable robotic disarmoring module in an embodiment of the present invention.

FIG. 5 is an exploded view of a disassemblable robotic disassemblable module in an embodiment of the present invention.

Fig. 6 is a partially exploded schematic view of the body of the detachable robot in one embodiment of the present invention.

Fig. 7 is a partial perspective view of the body of the detachable robot in one embodiment of the present invention.

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.

The invention provides a detachable robot which is convenient to disassemble and assemble. The following describes the detachable robot according to the present invention in detail with reference to the accompanying drawings. The features of the following examples and embodiments may be combined with each other without conflict.

Referring to fig. 1 to 5, an embodiment of the present invention provides a detachable robot 100, such as a ground robot (robot racing), an aerial robot, or a water robot, for educational development of robots, enhancing the development of hands-on ability and thinking ability through a modular detachable design and a self-programming design. The embodiments of the present invention are illustrated with a ground based robot, such as a remotely controllable vehicle. Of course, the detachable robot 100 in the embodiment of the present invention may also be used for competition with other robots, and the like.

The detachable robot 100 includes: a body 10 and a plurality of assembly modules detachably connected to the body 10. The plurality of assembly modules comprise a main control module 20, a driving module 30 and a battery module 40, wherein the driving module 30 and the battery module 40 are connected with the main control module 20. The battery module 40 is used for supplying power to the main control module 20 and other corresponding assembly modules, the main control module 20 is used for controlling the driving module 30 and other corresponding assembly modules to perform corresponding operations, and the driving module 30 is used for driving the body 10 to move. In this embodiment, the main control module 20 may include a microprocessor, such as a single chip microcomputer, and the main control module 20 may perform self-programming, that is, a programming design for implementing different controls on the detachable robot 100.

Wherein, fuselage 10 and a plurality of equipment module all can be the modularized design, and different equipment module detachably connects on fuselage 10, realizes modular dismouting effect. The assembly modules can be mutually independent, so that the robot can be conveniently disassembled and assembled, and each assembly module has the characteristic function, so that the robot can be integrally assembled, different functional modules can be replaced, and the function replacement or additional holding of the robot can be realized.

The main body 10 is provided with a first accommodating cavity 11 for accommodating the main control module 20 and a second accommodating cavity 12 for accommodating the battery module 40, and the second accommodating cavity 12 and the first accommodating cavity 11 are overlapped. It can be understood that the second accommodating chamber 12 and the first accommodating chamber 11 are overlapped, which may mean that the second accommodating chamber 12 and the first accommodating chamber 11 are overlapped along the height direction of the machine body 10, or may mean that they are overlapped along the length direction of the machine body 10.

According to the technical scheme, the detachable robot 100 is in a modularized design, the assembly modules are detachably connected to the machine body 10, the detachable robot is convenient to disassemble and assemble, can be assembled into a whole robot, can also be disassembled into parts and is convenient to carry, playability and education are improved, functions of all the modules are clear, the position layout is reasonable, learning interest of students on engineering machinery and modularized programming capacity can be stimulated, and comprehensive capacity of the students can be improved and cultivated. Meanwhile, the main control module 20 and the battery module 40 can be stored in the machine body 10 in one space direction by overlapping the first accommodating cavity 11 and the second accommodating cavity 12, the internal space of the machine body 10 is reasonably utilized, the overall structure of the robot and the reasonable layout of the structure are favorably reduced, and the cost is saved.

In an alternative embodiment, the main body 10 includes a front portion 101 and a rear portion 102, which are opposite to each other, and the first accommodating chamber 11 and the second accommodating chamber 12 are both disposed at the rear portion 102 of the main body 10. With reference to the forward direction of the robot, the front part 101 refers to a portion located at the front end of the body 10 in the forward direction, and the rear part 102 refers to a portion located at the rear end of the body 10 in the forward direction. In this embodiment, the first accommodating cavity 11 is located above the second accommodating cavity 12, that is, the second accommodating cavity 12 and the first accommodating cavity 11 are overlapped along the height direction of the main body 10, so that the main control module 20 and the battery module 40 are installed in the main body 10, and the battery module 40 is located below the main control module 20. This can reduce the lateral space (i.e., the space in the longitudinal direction) of the main control module 20 and the battery module 40 occupied by the main body 10, to shorten the width dimension of the detachable robot 100, thereby beautifying the appearance of the detachable robot 100, and to optimize the driving performance of the driving module 30 by facilitating the design of the relative position between the gravity center position of the detachable robot 100 and the driving module 30. Of course, in other examples, the positions of the first accommodating cavity 11 and the second accommodating cavity 12 may also be adjusted according to actual needs, and the present invention is not limited thereto.

Referring to fig. 6 and 7, in an alternative embodiment, the middle part 103 of the main body 10 includes a middle seat and a middle upper cover that are butted, the rear part 102 of the main body 10 includes a rear seat and a rear upper cover that are butted, the middle seat and the rear seat are formed into an integrally formed middle frame 106, the middle upper cover and the rear upper cover are formed into an integrally formed middle frame cover 107, that is, the main body 10 includes a middle frame 106 and a middle frame cover 107 that is detachably disposed above the middle frame 106, the second receiving cavity 12 is formed in the middle frame 106, the first receiving cavity 11 is formed in the middle frame cover 107, and the front part 101 can be connected with the middle frame 106 and the middle frame cover 107. The middle frame 106 and the middle frame cover 107 may be made of plastic, so as to reduce the overall weight of the robot. In addition, the middle frame cover 107 may be made of aluminum alloy, so that the user may replace the middle frame cover according to personal preference.

In an alternative embodiment, the installation direction of the main control module 20 in the first receiving cavity 11 is substantially perpendicular to the installation direction of the battery module 40 in the second receiving cavity 12. The main control module 20 and the battery module 40 are mounted to the body 10 from two different directions, so that the main control module 20 and the battery module 40 can be independently mounted and dismounted without mutual interference. Optionally, the top surface of the main control module 20 may be provided with a plurality of interfaces 21 for connecting with each assembly module, and a plurality of the interfaces 21 are linearly distributed. Each assembly module is connected with one interface 21 in a one-to-one correspondence manner through a connecting wire, and the main control module 20 can be installed from top to bottom in the installation direction of the first accommodating cavity 11, so that each assembly module can be conveniently connected to the main control module 20 through the connecting wire. Every equipment module all can dismantle at any time, can not influence the line of connecting wire and arrange yet. Further, the battery module 40 may be disposed in the installation direction of the second receiving chamber 12 from the rear portion 102 toward the front portion 101 of the body 10 so as to avoid the first receiving chamber 11. Alternatively, each assembly module may be electrically connected to the main control module 20. It can be understood that the connection between the assembly module and the main control module 20 may also include a communication connection, and the communication connection between some assembly modules and the main control module 20 may be a wireless connection, and the wireless connection may include a bluetooth connection, a wifi connection, and the like, which is not limited in this invention.

In this embodiment, the installation direction of the main control module 20 in the first receiving cavity 11 is perpendicular to the installation direction of the battery module 40 in the second receiving cavity 12. Specifically, the first receiving cavity 11 and the second receiving cavity 12 both have an opening, and the opening of the first receiving cavity 11 is opened at the top of the main body 10, so that the main control module 20 can be installed in the first receiving cavity 11 from the opening of the first receiving cavity 11 along the height direction of the main body 10. An opening of the second receiving chamber 12 is opened at a rear end portion of the body 10, so that the battery module 40 can be mounted to the second receiving chamber 12 from the opening of the second receiving chamber 12 along a length direction of the body 10. Of course, in other examples, the opening directions of the first accommodating cavity 11 and the second accommodating cavity 12 may also be adjusted according to actual needs, and the present invention is not limited thereto.

Further, an accommodating space 15 is formed between the first accommodating cavity 11 and the second accommodating cavity 12 in a clamping manner, and an ejecting mechanism for ejecting the battery module 40 out of the second accommodating cavity 12 is arranged in the accommodating space 15. Specifically, the pop-up mechanism includes a trigger 161 and an elastic component 162 in transmission connection with the trigger 161, where the trigger 161 is disposed on an outer wall of the body 10 and may be disposed on a rear side wall of the middle frame 106. The elastic component 162 is used for driving the battery module 40 to pop out of the second accommodating cavity 12 under the driving of the trigger 161. Specifically, but the user presses the trigger 161, the trigger 161 can drive the elastic component 162 to move in a direction away from the front 101, and then drive the battery module 40 to move in a direction away from the front 101, so as to eject the battery module 40 out of the second receiving cavity 12.

In an optional embodiment, the detachable robot 100 further includes a cover 13 connected to the main body 10 in a flip manner, and when the cover 13 is flipped to a first position relative to the main body 10, the opening of the first accommodating cavity 11 is in an open state. When the cover 13 is turned over to a second position relative to the body 10, the opening of the first accommodating cavity 11 is in a closed state. In this embodiment, the cover 13 is connected to the rear portion 102 of the body 10 in an inverted manner, and the cover 13 can cover and hide the main control module 20 in the body 10, so that the main control module 20 is not exposed in appearance, which not only has an overall aesthetic effect, but also can protect the main control module 20 to a certain extent. Alternatively, the turning axis of the cover 13 may be arranged along the width direction of the body 10, similar to the turning manner of the trunk of the automobile, and is in accordance with the use habit of the user, and is easily implemented in terms of structure and technology.

Further, the opening of the first accommodating cavity 11 is opened at the top of the machine body 10, one side end of the cover 13 is connected to the top of the rear portion 102 of the machine body 10 in an inverted manner, and when the cover 13 is inverted to the second position relative to the machine body 10, the other side end of the cover 13 completely covers the opening of the first accommodating cavity 11, so as to cover the main control module 20. In the present embodiment, the opening of the first accommodating cavity 11 is opened at the top of the bezel 107. One side end of the cover 13 is connected to the top of the middle frame cover 107 of the main body 10 in an inverted manner, and when the cover 13 is inverted to the second position relative to the middle frame cover 107 of the main body 10, the other side end of the cover 13 completely covers the opening of the first accommodating cavity 11, so as to cover the main control module 20.

In an alternative embodiment, each assembly module may be connected to the main control module 20 by a connection line. The fuselage 10 further comprises a middle part 103 arranged between the front part 101 and the rear part 102, wherein an inner cavity 104 is arranged in the middle part 103, and connecting lines of partial assembly modules are distributed in the inner cavity 104. The connection lines of the assembly modules located at the front 101 and middle 103 of the main body 10 may be connected to the main control module 20 through the inner cavity 104, and the assembly modules located at the rear 102 of the main body 10 may be directly connected to the main control module 20.

Further, a through slot is provided between the middle part 103 and the rear part 102 to guide a connecting line extending from the front part 101, the middle part 103 and/or the rear part 102 to the main control module 20, so as to maintain the connection between the main control module 20 and each assembly module. That is, the through groove is used to communicate the inner cavity 104 and the first accommodating cavity 11, when the middle portion 103 and the rear portion 102 are integrally designed, the first accommodating cavity 11 is adjacent to the inner cavity 104, and a partition is arranged between the first accommodating cavity 11 and the inner cavity 104, the through groove is arranged on the partition, and the partition can be a side wall of the first accommodating cavity 11 or a side wall of the inner cavity 104.

In an alternative embodiment, the middle part 103 is used for detachably connecting an expansion module, which can add corresponding functions to the robot. The space of the middle part 103 of the robot body is reasonably utilized, and the robot body is matched with the expansion module for use, so that the playability, the competitive performance and the educational performance of the robot can be improved.

In this embodiment, the plurality of assembly modules includes the expansion module, and the expansion module may include, but is not limited to, at least one of a cradle head, a gripping device (e.g., a mechanical gripper, etc.), a firing device (e.g., a water-bullet gun, etc.). For example, when the expansion module is a cloud platform, any load can be loaded on the cloud platform, so that the robot has corresponding functions of the cloud platform (such as stability augmentation and angle adjustment functions) and the load (such as a camera shooting function). When the expansion module adopts the clamping device, the robot can have a grabbing function. When the expansion module adopts a shooting device, the robot can have a shooting function.

In an alternative embodiment, the top of the inner cavity 104 is provided with a top opening 105, and the top opening 105 is used for guiding the connection wires of the expansion module of the detachable robot 100 from the inner cavity 104 to the main control module 20. The bottom of the inner cavity 104 is provided with a bottom opening, the top of the inner cavity 104 needs to play a role of bearing the expansion module, the top opening 105 is smaller than the size of the bottom opening, and meanwhile, the top of the inner cavity 104 can isolate the connecting line and the expansion module in the inner cavity 104, so that interference between the connecting line and the expansion module is avoided, and the problem that the connecting line may appear from the bottom of the inner cavity 104 is also solved.

In an alternative embodiment, the opening direction of the bottom opening of the inner cavity 104 is opposite to the opening direction of the first accommodating cavity 11, and a detachably connected cover plate is disposed at the bottom opening, and the cover plate is formed as a bottom cover of the middle portion 103 to isolate and protect the outside. In this embodiment, the bottom opening of the inner cavity 104 may be opened at the bottom of the middle frame 106, and the cover plate is detachably connected to the bottom opening to form a bottom cover of the middle frame 106, so as to be isolated from the outside and protect the middle frame.

In an alternative embodiment, the middle portion 103 is removably rotatably coupled to the front portion 101. In this embodiment, the front part 101 of the body 10 may include a front axle mechanism, which may function to adjust the balance of the robot.

In an alternative embodiment, an end of the middle portion 103 away from the rear portion 102 is provided with a receiving slot 1031, the middle portion 103 of the receiving slot 1031 is provided with a rotating shaft 1032, the front portion 101 is pivotally connected to the rotating shaft 1032, and the front portion 101 is partially located in the receiving slot 1031. The rotating shaft 1032 protrudes from the front portion 101, and after the front portion 101 is mounted on the rotating shaft 1032, a shaft fixing cover 1033 may be disposed on the portion of the rotating shaft 1032 protruding from the front portion 101, and the shaft fixing cover 1033 is fixedly connected to the receiving slot 1031, so that the position of the front portion 101 relative to the middle portion 103 along the length direction of the main body 10 is fixed, and the front portion 101 may still rotate relative to the middle portion 103 via the rotating shaft 1032.

Specifically, the receiving groove 1031 includes an upper end plate 1034 and a lower end plate 1035 which are oppositely arranged, the front portion 101 includes a receiving groove, the upper end plate 1034 of the receiving groove 1031 can be at least partially received in the receiving groove, a rotating shaft hole is formed at the bottom of the receiving groove, and the rotating shaft 1032 can pass through the rotating shaft hole to be rotatably connected with the front portion 101. A gap may be formed between the upper end plate 1034 of the receiving slot 1031 and the top and bottom of the receiving slot, and a corresponding opening is formed at an end of the inner cavity 104 close to the front portion 101, so as to facilitate a connecting wire of an assembly module located at the front portion 101 of the machine body 10 to enter the inner cavity 104 from the gap. In this embodiment, the receiving slot 1031 is formed by the middle frame 106 and the middle frame cover 107, and is disposed at the end of the middle frame 106 close to the front portion 101, and the front wall of the middle frame 106 between the upper end plate 1034 and the lower end plate 1035 is provided with a shaft fixing member 1036 for fixing the rotation shaft 1032.

In an alternative embodiment, the receiving groove 1031 is provided with side openings at two opposite sides along the radial direction of the rotating shaft 1032, the side openings may be formed by the above-described upper end plate 1034 and lower end plate 1035, two opposite ends of the front portion 101 (i.e., two ends of the receiving groove corresponding to the opening direction of the side opening) respectively extend from the side openings to the outside of the receiving groove 1031, a gap is provided between the side openings and the front portion 101, the gap is used for limiting the rotational freedom degree of the front portion 101 relative to the middle portion 103, that is, a gap may be provided between the upper end plate 1034 of the receiving groove 1031 and the top and bottom of the receiving groove, and a gap may be provided between the bottom of the receiving groove and the upper end plate 1034 and the lower end plate 1035 of the receiving groove 1031. In this embodiment, the gap between the side opening and the front part 101 may allow the front part 101 to rotate within ± 15 ° relative to the middle part 103, and when the front part 101 rotates relative to the middle part 103, the front part may rotate within the angle range of the gap, so as to ensure the balance of the robot body when the robot passes through a bumpy road.

In an alternative embodiment, the bottom of the body 10 is provided with a detachable bottom plate. In this embodiment, the bottom plate is disposed below the second accommodating cavity 12, and the bottom plate is provided with a charging interface for matching with an external power supply. When the battery module 40 is low in power, the battery module 40 can be charged by connecting the charging interface with an external power supply. The bottom plate can regard as to fill electric pile module and use, also can replace for ordinary decoration. It should be noted that the battery module 40 may be connected to an external power source through a charging interface to realize charging, or the battery module 40 may be taken out from the second receiving cavity 12 of the body 10 to be charged separately.

In an alternative embodiment, a third receiving cavity 14 for receiving the driving module 30 is formed at a side portion of the body 10, and the driving module 30 is partially received in the third receiving cavity 14. In the present embodiment, the third accommodating chamber 14 is disposed in the middle 103 of the body 10. It is understood that the side portions of the fuselage 10 may be regions around the fuselage 10, and may specifically include the front side and the left and right sides of the front portion 101, the left and right sides of the middle portion 103, and the rear side and the left and right sides of the rear portion 102.

In an optional embodiment, the driving module 30 includes a driving component connected to the main control module 20 and a moving member 31 in transmission connection with the driving component, and the moving member 31 drives the body 10 to move under the driving of the driving component. Wherein, the driving component is at least partially installed in the third accommodating cavity 14.

In this embodiment, the driving assembly includes a driving motor and a motor mounting seat 33, the motor mounting seat 33 is installed in the third accommodating cavity 14, the driving motor is installed in the motor mounting seat 33, and the moving member 31 is in transmission connection with the driving motor. The driving motor may be a brush motor 34 or a brushless motor 32. Specifically, when driving motor is for having brush motor 34, drive assembly can also be adjusted 35 including the gear motor electricity of independent setting, gear motor electricity is adjusted 35 and can is located the fuselage, for example install in inner chamber 104, and is optional, gear motor electricity is adjusted 35 quantity and is one, and a gear motor electricity is adjusted 35 and can be connected with a plurality of brush motor 34 that have, thereby realize that a gear motor electricity is adjusted 35 and is a plurality of control that have brush motor 34, and it is connected with host system 20 to be adjusted 35 by gear motor electricity, and realize each and have being connected of brush motor 34 and host system 20, be favorable to reducing host system 20's interface quantity, the quantity of connecting wire has been reduced, winding and mixed and disorderly overall arrangement between the different connecting wires has been avoided. When the driving motor is the brushless motor 32, optionally, the speed reduction motor electric regulator 35 may not be disposed in the inner cavity 104, and respective electric regulators may be integrally designed in each brushless motor 32, and connection lines are respectively led out from each brushless motor 32 to be connected with the main control module 20.

Further, the driving motor 32 is provided with a first mounting interface, the moving member 31 is mounted on the first mounting interface, and the first mounting interface is compatible with at least two types of moving members 31, so that different functional modules can be replaced. In the present embodiment, the moving member 31 includes a mecanum wheel, a rubber wheel, and a track wheel. The motor mounting seat 33 is provided with a second mounting interface, the driving motor 32 is mounted on the second mounting interface, and the second mounting interface is compatible with at least two types of motors and can replace different functional modules. In the present embodiment, the types of the driving motor 32 include a brush motor and a brushless motor.

In an alternative embodiment, the number of the driving modules 30 is four, and the driving modules are symmetrically arranged on two sides of the body 10. The front part 101 of the body 10 is in transmission connection with the moving member 31 of two of the driving modules 30. In this embodiment, the front part 101 of the body 10 includes a front axle mechanism, which can adjust the balance of the body 10 according to the position of the transmission members of the two driving modules 30, so as to ensure that the robot can land on the ground in four wheels when passing through a bumpy road surface.

In an alternative embodiment, the plurality of assembly modules further comprises an armor module connected to the main control module 20 and configured to form at least a partial enclosure of the fuselage 10. Further, the armor module comprises an armor cover and a detection module, wherein the detection module is arranged on the inner side of the armor cover and is used for detecting the external impact on the armor plate, and the armor cover is used for forming at least part of the shell of the fuselage 10. The detection module can be electrically connected with the main control module 20 through a connecting wire, when the detection module detects that the armor module is impacted by the outside world, a signal can be sent to the main control module 20 to remind a user that the armor module at a corresponding position is impacted, and the armor module can be replaced in time so as to prevent the body 10 from being damaged.

In this embodiment, the armor module includes the first armor module detachably mounted on the front portion 101 of the body 10, the second armor module detachably mounted on the rear portion 102 of the body 10, and the third armor module detachably mounted on both sides of the body 10, so as to protect the body 10 in all directions. Specifically, third armor modules are mounted to both sides of the middle portion 103 of fuselage 10.

The first armor module comprises a first armor cover 51 and a first detection module 52, the first detection module 52 is arranged on the inner side of the first armor cover 51, and the first armor cover 51 is used for forming a front part 101 shell of the fuselage 10. The second armor module comprises a second armor cover 53 and a second detection module 54, the second detection module 54 is arranged on the inner side of the second armor cover 53, and the second armor cover 53 is used for forming a rear part 102 shell of the fuselage 10. The third armor module comprises a third armor cover 55 and a third detection module 56, the third detection module 56 is arranged at the inner side of the third armor cover 55, and the third armor cover 55 is used for forming a side shell of the fuselage 10.

Further, the front part 101 of the first armor cover 51 is provided with a detachable buffer structure 57, which can further protect the fuselage 10 when the fuselage 10 is impacted by the outside. Optionally, the buffer structure 57 is provided with a sliding groove, and a detachable car light structure 58 is arranged in the sliding groove, so that the playability and functionality of the robot are improved. Alternatively, the buffer structure 57 may be disposed at the front of the first armor cover 51 with respect to the advancing direction of the robot, and may protect the body 10 of the robot during the traveling of the robot. Alternatively, at least the buffer structure 57 may be made of an elastic material.

In an alternative embodiment, the second armor cover 53 is positioned on the open side of the second receiving chamber 12 and covers the second receiving chamber 12. One end of the second armor cover 53 is connected with the fuselage 10 in an overturning manner, when the second armor cover 53 is overturned to a third position relative to the fuselage 10, the opening of the second accommodating cavity 12 is in an open state, and when the second armor cover 53 is overturned to a fourth position relative to the fuselage 10, the opening of the second accommodating cavity 12 is in a closed state. The second armored cover 53 can cover and hide the battery module 40 in the body 10, so that the battery module 40 is not exposed from the appearance, thereby achieving the overall aesthetic effect and protecting the battery module 40 to a certain extent. Alternatively, the turning axis of the second armor cover 53 may be set along the width direction of the body 10, similar to the turning manner of the trunk of the automobile, in conformity with the use habit of the user, and is easily implemented in both structure and technology.

In this embodiment, the opening of the second accommodating chamber 12 is opened at the rear end of the body 10, one side end of the second armor cover 53 is connected to the rear end of the body 10 in an inverted manner, and when the second armor cover 53 is inverted to the fourth position relative to the body 10, the other side end of the second armor cover 53 completely covers the opening of the second accommodating chamber 12, thereby covering the battery module 40. Thus, the second armored cover 53 can be used as a partial shell of the robot, and can also be used as a cover body for covering the second accommodating cavity 12, so that the appearance of the robot is beautified while resources are reasonably utilized. Therefore, the position and the opening direction of the second accommodating cavity 12 can be combined with an armor module, so that the structural optimization and reasonable layout of the robot are achieved. In the present embodiment, the opening of the second accommodating cavity 12 is opened at the rear side wall of the bezel 107. One side end of the second armor cover 53 is connected to the middle frame cover 107 of the body 10 in an inverted manner, and when the second armor cover 53 is turned to a fourth position relative to the middle frame cover 107 of the body 10, the other side end of the second armor cover 53 completely covers the opening of the second accommodating cavity 12, thereby covering the battery module 40.

When the detachable robot 100 of the present invention is used as a racing robot in a race, the driving module 30 may drive the body 10 to move, the battery module 40 may provide electric energy to the main control module 20 and other electric components of the robot, the armor module may protect the body 10, the expansion module may be additionally disposed according to actual functional requirements, the main control module 20 may perform information interaction with different assembly modules to implement a user instruction, and the main control module 20 may also perform information interaction with a control terminal to perform transmission of a user instruction, information acquisition of each assembly module, and feedback of an operation result through the control terminal. Different assembly modules are detachably connected to the machine body 10, so that a modularized dismounting effect is achieved. The assembling modules are mutually independent, so that the robot can be conveniently assembled and disassembled, and each assembling module has the characteristic function, so that the robot can be integrally assembled, different functional modules can be replaced, and the function replacement or the additional holding of the robot can be realized.

The driving modules 30 are installed on two sides of the front portion 101 and the rear portion 102 of the machine body 10, the first armor module is installed on the front portion 101 of the machine body 10, the second armor module is installed on the rear portion 102 of the machine body 10, the third armor module is installed in the middle portion 103 of the machine body 10, the front portion 101 of the machine body 10 is rotatably connected with the middle portion 103, the middle portion 103 is provided with the expansion module, and the rear portion 102 is provided with the battery module 40 and the main control module 20 so as to meet the reasonability of position distribution of all the assembly modules.

Further, structurally through the first holding chamber 11 of superpose and second holding chamber 12, can accomodate main control module 20 and battery module 40 in a space direction inside fuselage 10, the rational utilization of the inner space of fuselage 10 self is favorable to reducing the overall structure of robot and the rational overall arrangement of structure, practices thrift the cost.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. The terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

The holder handle and the holder having the holder handle provided by the embodiment of the present invention are described in detail above, and the principle and the embodiment of the present invention are explained in detail herein by applying specific examples, and the description of the above embodiments is only used to help understanding the method and the core idea of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.

Claims

1. A removable and attachable robot, comprising: a body and a plurality of assembly modules detachably connected to the body; the plurality of assembling modules comprise a main control module, a driving module and a battery module, and the driving module and the battery module are connected with the main control module;

2. The removable and attachable robot of claim 1 wherein the body includes a front portion and a rear portion disposed opposite each other, the first and second receiving cavities being disposed in the rear portion.

3. The detachable robot according to claim 2, wherein the first receiving cavity is located above the second receiving cavity, so that the battery module is located below the main control module when the main control module and the battery module are mounted on the main body.

4. The removable and attachable robot of claim 3, wherein a mounting direction of the main control module in the first receiving cavity is substantially perpendicular to a mounting direction of the battery module in the second receiving cavity.

5. The removable and attachable robot of claim 3 further comprising a cover connected to the body in a flip-up configuration, wherein the opening of the first receiving cavity is open when the cover is flipped to a first position relative to the body and closed when the cover is flipped to a second position relative to the body.

6. The removable and attachable robot of claim 2 wherein the body further includes a middle section disposed between the front section and the rear section, the middle section configured to removably attach an expansion module.

7. The removable and attachable robot of claim 6 wherein the plurality of assembly modules includes the expansion module, the expansion module including at least one of a pan head, a gripping device, and a firing device.

8. The removable and attachable robot of claim 2 wherein the body further includes a middle portion disposed between the front portion and the rear portion, a through slot being disposed between the middle portion and the rear portion to guide a connection line extending from the front portion, the middle portion, and/or the rear portion to the master control module.

9. The removable and attachable robot as recited in claim 8, wherein the central portion defines an interior cavity, and wherein at least some of the connecting wires are disposed within the interior cavity.

10. The removable and attachable robot as recited in claim 9, wherein the bottom of the interior cavity has a bottom opening and the bottom opening has a removably attachable cover plate that forms a bottom cover of the middle section.

11. The removable and attachable robot of claim 9 wherein the top of the internal cavity has a top opening for guiding connection lines of the expansion module of the removable and attachable robot from the internal cavity to the master control module.

12. The removable and attachable robot of claim 2 wherein the body further includes a middle portion disposed between the front portion and the rear portion, the middle portion being removably and rotatably coupled to the front portion.

13. The removable robot as set forth in claim 12, wherein a receiving groove is formed at an end of the middle portion away from the rear portion, a rotation shaft is formed at a middle portion of the receiving groove, the front portion is pivotally connected to the rotation shaft, and the front portion is partially disposed in the receiving groove.

14. The detachable robot according to claim 13, wherein the receiving groove is provided with side openings at opposite sides thereof in a radial direction of the rotation shaft, opposite ends of the front portion extend from the side openings to an outside of the receiving groove, respectively, and a gap is provided between the side openings and the front portion, the gap defining a rotational degree of freedom of the front portion with respect to the middle portion.

15. The detachable robot according to claim 1, wherein a detachable bottom plate is disposed at a bottom of the main body, and the bottom plate is disposed below the second accommodating cavity and provided with a charging interface for matching with an external power source.

16. The removable robot as set forth in claim 1, wherein a third receiving chamber is formed at a side portion of the main body for receiving the driving module, and the driving module is partially received in the third receiving chamber.

17. The detachable robot according to claim 16, wherein the driving module includes a driving component connected to the main control module and a moving component in transmission connection with the driving component, and the moving component drives the main body to move under the driving of the driving component; wherein, the drive assembly is at least partially arranged in the third accommodating cavity.

18. The removable robot according to claim 17, wherein the driving assembly includes a driving motor and a motor mounting base, the motor mounting base is mounted in the third receiving cavity, the driving motor is mounted in the motor mounting base, and the moving member is in transmission connection with the driving motor.

19. The removable and attachable robot of claim 18, wherein the drive motor is provided with a first mounting interface, and the moving member is mounted to the first mounting interface; the first mounting interface is for compatibility with at least two types of moving members.

20. The removable and attachable robot of claim 19 wherein the types of movers include mecanum wheels, rubber wheels, and track wheels.

21. The removable and attachable robot as recited in claim 18, wherein the motor mount has a second mounting interface, the drive motor being mounted to the second mounting interface; the second mounting interface is for compatibility with at least two types of motors.

22. The removable and attachable robot of claim 21 wherein the types of drive motors include a brushed motor and a brushless motor;

the drive motor does when having the brush motor, the quantity that has the brush motor is a plurality of, drive assembly still includes that a gear motor electricity is transferred, gear motor electricity is transferred and is located the fuselage, and with a plurality of there is the brush motor to connect respectively.

23. The detachable robot according to claim 17, wherein the number of the driving modules is four, and the driving modules are symmetrically arranged on both sides of the main body; the front part of the machine body is in transmission connection with the moving parts in two of the driving modules.

24. The removable and attachable robot of claim 1 wherein the plurality of assembly modules further comprises an armor module coupled to the master control module and configured to form at least a partial enclosure of the fuselage.

25. The removable and attachable robot of claim 24, wherein the armor module includes an armor cover and a detection module, the detection module being disposed inside the armor cover and configured to detect an external impact to the armor plate, the armor cover configured to form at least a partial enclosure of the fuselage.

26. The removable and attachable robot of claim 25, wherein the armor module comprises a first armor module removably attachable to the front portion of the fuselage, the first armor module comprising a first armor cover and a first detection module, the first detection module being disposed inside the first armor cover, the first armor cover being configured to form a front enclosure of the fuselage.

27. The removable and attachable robot of claim 26 wherein the front of the first armor cover is provided with a removable bumper structure.

28. The removable and attachable robot as recited in claim 27, wherein the bumper structure includes a slot, and wherein a removable light structure is disposed within the slot.

29. The removable and attachable robot of claim 25, wherein the armor module comprises a second armor module removably attachable to the rear portion of the fuselage, the second armor module comprising a second armor cover and a second detection module, the second detection module being disposed inside the second armor cover, the second armor cover being configured to form a rear enclosure of the fuselage.

30. The removable and attachable robot of claim 29, wherein the second armored cover is positioned on an open side of the second receiving cavity and covers the second receiving cavity.

31. The removable and attachable robot of claim 30, wherein the second armored cover is pivotally connected to the body at one end, and wherein the opening of the second receiving chamber is open when the second armored cover is pivoted to a third position relative to the body and closed when the second armored cover is pivoted to a fourth position relative to the body.

32. The removable and attachable robot of claim 25, wherein the armor module includes a third armor module removably attachable to both sides of the fuselage, the third armor module including a third armor cover and a third detection module, the third detection module being disposed inside the third armor cover, the third armor cover being configured to form a side enclosure for the fuselage.

33. The detachable robot according to claim 1, wherein the main body includes a center frame and a center bezel cover detachably disposed on the center frame, the second accommodation chamber is formed in the center frame, and the first accommodation chamber is formed in the center bezel cover.

34. The detachable robot according to claim 33, wherein an accommodating space is formed between the first accommodating chamber and the second accommodating chamber, and an ejecting mechanism for ejecting the battery module from the second accommodating chamber is provided in the accommodating space.

35. The removable and attachable robot as claimed in claim 34, wherein the ejecting mechanism includes a trigger and an elastic component in transmission connection with the trigger, the trigger is disposed on an outer wall of the main body, and the elastic component is configured to drive the battery module to eject out of the second accommodating cavity under the driving of the trigger.