CN113715011A

CN113715011A - Modular robot

Info

Publication number: CN113715011A
Application number: CN202010456039.XA
Authority: CN
Inventors: 孙猛杰
Original assignee: Hangzhou Hikrobot Technology Co Ltd
Current assignee: Hangzhou Hikrobot Technology Co Ltd
Priority date: 2020-05-26
Filing date: 2020-05-26
Publication date: 2021-11-30

Abstract

The invention discloses a modular robot, which comprises a mobile platform and a first function integration part, wherein the mobile platform comprises a rack assembly, a driving mechanism and a walking assembly, the driving mechanism is arranged on the rack assembly, and the driving mechanism is connected with the walking assembly so as to drive the walking assembly; the first function integration part is detachably mounted on the rack assembly. The problem that the dismouting that present robot exists is inconvenient, the maintenance is difficult can be solved to above-mentioned scheme.

Description

Modular robot

Technical Field

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

Background

With the rapid development of science and technology, the robot technology has made great progress and is widely applied to the fields of security, military industry, teaching, entertainment and the like. Based on the development trend of multifunctional robots, the structural design of the existing robot is more complex, and structures such as various functional modules, driving devices and the like are generally integrated on a chassis of the robot, so that the structural design on the chassis is disordered, cables are intertwined, and the structures are mutually covered and interfered, thereby further causing the disassembling and assembling work to be more complicated; meanwhile, the existing robot usually needs to be disassembled from outside to inside in maintenance, and the maintenance difficulty is very high.

Disclosure of Invention

The invention discloses a modular robot, which aims to solve the problems of inconvenience in disassembly and assembly and difficulty in maintenance of the conventional robot.

In order to solve the problems, the invention adopts the following technical scheme:

a modular robot comprises a mobile platform and a first function integration part, wherein the mobile platform comprises a rack assembly, a driving mechanism and a walking assembly, the driving mechanism is arranged on the rack assembly, and the driving mechanism is connected with the walking assembly so as to drive the walking assembly; the first function integration part is detachably mounted on the rack assembly.

The technical scheme adopted by the invention can achieve the following beneficial effects:

in the modular robot disclosed by the embodiment of the invention, a plurality of functional modules are integrated together by arranging the first functional integration part, so that the modular layout is realized; the first function integration part is detachably arranged on the rack assembly, the first function integration part can be conveniently detached from the rack assembly during maintenance, then the mobile platform and the first function integration part can be maintained respectively, the mobile platform and the first function integration part cannot interfere with each other, the fault reason can be found out more quickly, and the maintenance difficulty is reduced.

Meanwhile, because the first function integration part and the mobile platform have different purposes, when a fault occurs, whether the fault is caused by the first function integration part or the mobile platform can be judged in time, and the fault can be solved by replacing the new first function integration part or the new mobile platform; compared with the replacement of the whole machine, the cost is undoubtedly lower.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention and not to limit the invention. In the drawings:

fig. 1 and fig. 2 are schematic structural diagrams of a modular robot disclosed by an embodiment of the invention from different perspectives;

fig. 3 and fig. 4 are schematic structural diagrams (with the first function integration part hidden) of the modular robot disclosed by the embodiment of the invention from different perspectives;

FIG. 5 is a schematic structural diagram of a mobile platform according to an embodiment of the disclosure;

fig. 6 is an exploded view of the modular robot according to the embodiment of the present invention (with the first functional integration hidden);

description of reference numerals:

100-a mobile platform, 110-a rack component, 111-a first support plate, 112-a second support plate, 113-a third support plate, 114-a fourth support plate, 120-a driving unit, 130-a traveling wheel, 140-a battery module, 151-a power management module, 152-a main control module, 153-a charging brush plate, 161-a loudspeaker, 162-an auxiliary control module, 170-a contact edge collision prevention part, 180-a photoelectric distance measuring sensor,

200-a first function integration part, 210-a first installation base part, 211-a shell body, 212-an overhaul cover body, 221-a wireless communication module, 222-an emergency stop control module, 223-a status indicator lamp, 224-an external port, 225-an ultrasonic sensor, 226-a profile indicating lamp set, 227-a starting switch, a power supply and a power supply,

300-a second function integration part, 310-a second installation base part, 311-a substrate, 312-a support frame, 321-an image acquisition module, 322-a microphone and 323-a three-dimensional laser radar.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the specific embodiments of the present invention and the accompanying drawings. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. 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 technical solutions disclosed in the embodiments of the present invention are described in detail below with reference to the accompanying drawings.

Referring to fig. 1 to 6, an embodiment of the present invention discloses a modular robot, which includes a mobile platform 100 and a first function integration part 200. In the present embodiment, the mobile platform 100 and the first function integration part 200 are two separate modules.

Based on the mobile platform 100, the modular robot can move on a supporting surface, which may be the ground, or a computer desktop, etc. Specifically, mobile platform 100 includes a frame assembly 110, a drive mechanism, and a travel assembly.

The frame assembly 110 is a basic component of the mobile platform 100, and not only serves as a mounting support base for other components of the mobile platform 100, but also can protect components partially mounted on the frame assembly 100.

The traveling assembly is used in cooperation with a driving mechanism, the driving mechanism is arranged on the rack assembly 110, and the driving mechanism is connected with the traveling assembly to drive the traveling assembly to rotate. The driving mechanism is a power member of the mobile platform 100, and provides driving force for the walking assembly when the mobile platform moves, so as to drive the walking assembly to walk on the ground, thereby realizing the movement of the mobile platform.

The specific type of the walking assembly is not limited in this embodiment, and the walking assembly may be a walking wheel set, and the walking wheel set may include a plurality of walking wheels 130, or may be a multi-foot bionic walking structure.

Meanwhile, the first function integration portion 200 is detachably mounted to the rack assembly 110, that is, the first function integration portion 200 as a whole can be easily detached from the rack assembly 110. Typically, the first functional integration portion 200 is detachably mounted to the frame assembly 110 by threaded fasteners (e.g., screws, bolts, etc.).

With the current trend of multi-function robots, the robots need to include many function modules distributed, and in this embodiment, the function modules can be integrated into the first function integration part 200. With this arrangement, when the first function integration part 200 is detached from the rack assembly 110, the function modules are separated from the rack assembly 110.

Current prior art robot is usually with the great actuating mechanism isostructure integrated design of many function module and occupation space on the chassis of robot, often has the cover to interfere between each structure, and the cable is intertwined easily, and the dismouting operation is very loaded down with trivial details. If the robot breaks down, at first need demolish the robot shell, then demolish a large amount of functional module or actuating mechanism and a large amount of cables again, just can overhaul trouble structure, and not only work load is huge, receives the structure that influences moreover a lot of. The above problem is more serious in a robot having good sealing performance and waterproof performance.

In the modular robot disclosed in the embodiment of the present invention, the first function integrating part 200 is disposed at a distance from the driving structure. Under so setting up, actuating mechanism and first function integration portion 200 can not the mutual cover interference, and has also avoided the cable of the two to appear the intertwine problem, can optimize this modular robot's inner structure overall arrangement undoubtedly, and then promote dismouting efficiency. It should be noted that, the first function integrating part 200 integrates the function modules together, so that the cables of the function modules can be uniformly arranged, and the cables of different function modules can be effectively prevented from being intertwined. Further, in order to optimize the cable accommodating capacity inside the modular robot, in an optional scheme, a cable accommodating structure may be disposed on the rack assembly 110, and the cable accommodating structure may be, for example, a keel slot. So set up and to accept the cable in order, avoid the cable to lay in a mixed and disorderly and the entanglement condition appears.

As can be seen from the above description, the modular robot integrates a plurality of functional modules by providing the first functional integration part 200, thereby realizing a modular layout; the first function integration part 200 is detachably mounted on the rack assembly 110, and during maintenance, the first function integration part 200 can be conveniently detached from the rack assembly 110, and then the mobile platform 100 and the first function integration part 200 can be maintained respectively, and the mobile platform 100 and the first function integration part 200 do not interfere with each other, so that the fault reason can be found out more quickly, and the maintenance difficulty is reduced.

Meanwhile, since the first function integration part 200 has a purpose that is significantly different from that of the mobile platform 100, when a fault occurs, whether the fault is caused by the first function integration part 200 or the mobile platform 100 can be determined in time, and the fault can be solved by replacing the first function integration part 200 or the mobile platform 100 with a new one; compared with the replacement of the whole machine, the cost is undoubtedly lower.

Generally, the modular robot includes an independent battery module 140, and the battery module 140 provides power for the operation of the entire modular robot. In this embodiment, the battery module 140 is detachably mounted on the frame assembly 110, and the battery module 140 and the driving mechanism are spaced apart from each other.

It should be understood that in the robot of the related art, it is common to mix the functional module, the driving mechanism and the battery module 140 together, and also to arrange the battery module 140 deep in the frame assembly 110, so that it is very cumbersome to disassemble and assemble the battery module 140. In the modular robot disclosed in this embodiment, the battery module 140 and the driving mechanism are disposed at an interval, and the first function integrating part 200 integrates and combines a plurality of function modules, which is equivalent to that, in the modular robot, only three parts of the battery module 140, the driving mechanism and the first function integrating part 200 exist, and there is no much interference among the three parts.

Under such a situation, when the battery module 140 needs to be disassembled, since the battery module 140 and the driving mechanism are arranged at an interval, the driving mechanism will not interfere with the battery module 140, so that the battery module 140 can be disassembled only by disassembling the first functional integrated part 200 at most, thereby undoubtedly realizing the quick disassembling function of the battery module 140, and facilitating replacement or maintenance.

The specific connection relationship between the first function integration part 200 and the battery module 140 is not limited in this embodiment, and in one embodiment, the first function integration part 200 can be fixed on the battery module 140 in a pressing manner, so as to improve the installation stability of the first function integration part and the battery module 140.

As mentioned above, the walking mode of the modular robot is not limited in this embodiment, and the walking assembly is preferably a walking wheel set in the following description of this embodiment.

In this embodiment, the rack assembly 110 may include a first support plate 111 and a second support plate 112 disposed opposite to each other, and the driving mechanism includes a first driving module and a second driving module, the first driving module is mounted on the first support plate 111, and the second driving module is mounted on the second support plate 112; the walking assembly comprises a first sub wheel set and a second sub wheel set, the first driving module is connected with the first sub wheel set to drive the first sub wheel set to rotate, and the second driving module is connected with the second sub wheel set to drive the second sub wheel set.

It should be understood that the first driving module and the first supporting plate 111 form a module, and the second driving module and the second supporting plate 112 form a module, which can be integrally disassembled and assembled and are independent from the mobile platform 100, so as to improve the disassembling and assembling efficiency and reduce the maintenance difficulty of the modular robot. Of course, the above-mentioned modules may include corresponding sub-wheel sets.

In the actual working process, if a failure occurs in the driving mechanism, only the first supporting plate 111 (the second supporting plate 112) corresponding to the first driving module (the second driving module) needs to be detached from the rack assembly 110, and then the first driving module (the second driving module) needs to be overhauled, and the whole modular robot does not need to be detached.

The first driving module and the second driving module each include a driving unit 120, and the embodiment is not limited to a specific type of the driving unit 120, and may be a hydraulic power device, a pneumatic power device, or an electric power device. Typically, the driving unit 120 is a driving motor.

Further, the driving mechanism may further include a speed changing module, a damping module, etc., the speed changing module is used in cooperation with the driving unit 120 to further change the output torque and the rotation speed of the driving unit 120, and the speed changing module may be a planetary gear reducer; the shock attenuation module can cushion the impact that the running gear transmitted, and then makes modular robot have more excellent obstacle-surmounting ability and walking stability.

In this embodiment, the frame assembly 110 may further include a third support plate 113, and the third support plate 113 is provided with a first functional assembly, and the first functional assembly and the battery module 140 are arranged at an interval. It should be understood that the third supporting plate 113 and the first functional component form a module, which can be integrally disassembled and assembled and is independent from the mobile platform 100, so as to improve the disassembling and assembling efficiency and reduce the maintenance difficulty of the modular robot. Meanwhile, with this configuration, the first functional component does not cover and interfere with the battery module 140, and is not obstructed when the third support plate 113 is detached.

In a specific working process, when the first functional component fails, the third support plate 113 can be detached from the rack assembly 110, and then the first functional component is overhauled, so that the whole modularized robot is prevented from being detached.

The specific type of the first functional component is not limited in this embodiment, for example, the first functional component may include at least two of the power management module 151, the main control module 152 and the charging brush plate 153, that is, the first functional component may include any two or three of the power management module 151, the main control module 152 and the charging brush plate 153. Typically, the Power management module 151 may be selected as a PCU (Power Control Unit), and the main Control module 152 may be selected as a first TCU (Transmission Control Unit).

In this embodiment, the frame assembly 110 may further include a fourth supporting plate 114, and a second functional assembly is disposed on the fourth supporting plate 114 and spaced apart from the battery module 140. It should be understood that, like the third supporting plate 113 and the first functional component, the fourth supporting plate 114 and the second functional component form a module, which can be integrally disassembled and assembled and is independent from the mobile platform 100, so as to improve the disassembling and assembling efficiency and reduce the maintenance difficulty of the modular robot. Meanwhile, with this configuration, the second functional member does not cover and interfere with the battery module 140, and is not obstructed when the fourth supporting plate 114 is detached.

In a specific working process, when the second functional component fails, the fourth supporting plate 114 can be detached from the rack assembly 110, and then the second functional component is overhauled, so that the detachment of the whole modular robot is avoided.

The present embodiment does not limit the specific type of the second functional component, and the second functional component may include a speaker 161 and an auxiliary control module 162, for example. In general, the auxiliary Control module 162 may be a second TCU or RCU (Running Control Unit). The speaker 161 is used to play a preset recording or as a sound player for man-machine talk.

In this embodiment, the first function integration part 200 may include a first mounting base 210 and a third function component mounted to the first mounting base 210, and the first mounting base 210 may be detachably mounted to the frame component 110. As previously described, the third functional component is integrated on the first mounting base 210 to form a single independent module. In a specific working process, when the third functional component fails, the first mounting base 210 can be detached from the rack assembly 110, and then the third functional component is overhauled, so that the detachment of the whole modular robot is avoided.

The present embodiment is not limited to a specific type of the third functional module, for example, the third functional module may include at least two of the wireless communication module 221, the emergency stop control module 222, the status indicator light 223, the external connection port 224, the ultrasonic sensor 225, the clearance light 226 and the start switch 227, that is, the third functional module may include any combination of at least two of the wireless communication module 221, the emergency stop control module 222, the status indicator light 223, the external connection port 224, the ultrasonic sensor 225, the clearance light 226 and the start switch 227. Wherein, the set of contour lights 226 may include front and rear contour lights and side contour lights; the external port 224 may be selected as a USB interface or a universal charging interface.

Typically, the rack assembly 110 has an opening; in one embodiment, the frame assembly 110 may include a chassis, and the first support plate 111, the second support plate 112, the third support plate 113 and the fourth support plate 114 are disposed around the edge of the chassis to form the frame assembly 110 and form an opening at one side.

In this embodiment, the first mounting base 210 may be in a housing shape, and the first mounting base 210 is disposed at the opening and forms a sealed accommodating cavity with the frame assembly 110. In the embodiment where the first support plate 111, the second support plate 112, the third support plate 113 and the fourth support plate 114 are disposed around the edge of the chassis to form the frame assembly 110, the first mounting base 210 may be disposed to overlap the first support plate 111, the second support plate 112, the third support plate 113 and the fourth support plate 114 and cover the openings to form a sealed receiving cavity.

It should be understood that, with such an arrangement, the modular robot can have a sealed accommodating cavity, and further has better dustproof and waterproof performance. When the structure in the accommodating cavity fails, the first mounting base 210 can be detached to expose the accommodating cavity, so that the maintenance operation can be performed, and the detachment of the functional module included in the third functional component is avoided.

Furthermore, at present, in order to reduce the circumferential size of the robot, the functional module, the driving mechanism, the battery module 140, and the like are generally stacked, which significantly increases the height of the robot, so that the center of gravity of the robot is increased, and the walking stability of the robot is deteriorated. In this embodiment, the battery module 140 and the driving mechanism may be disposed in the accommodating cavity, and the first mounting base 210 is in a shell shape, that is, the first mounting base 210 is disposed around the battery module 140 and the driving mechanism, so that the height of the modular robot can be reduced, the center of gravity of the robot is lowered, and the walking stability of the modular robot is further optimized.

Of course, in the present embodiment, the shape of the first mounting base 210 may be various, and it may also be a rod, a ring, etc., and the present embodiment does not limit the specific shape of the first mounting base 210.

In order to further simplify the detachment process and reduce the maintenance difficulty, in an optional scheme, the first mounting base 210 may include a housing body 211 and an access cover 212, the housing body 211 is provided with a working window, and the access cover 212 is detachably mounted on the working window; the third functional component is disposed on the housing body 211. In combination with the above, when the structure in the accommodating cavity fails, the maintenance operation can be performed by opening the maintenance cover 212 and exposing the accommodating cavity through the working window; meanwhile, the shell body 211 can be prevented from being disassembled by the arrangement, and the use of the function module included by the third function component can not be influenced. A sealing rubber strip can be arranged between the shell body 211 and the maintenance cover body 212 to improve the waterproof performance.

In order to improve the safety performance of the modular robot, in an alternative scheme, the moving platform 100 may include a side impact prevention part 170 and a plurality of photoelectric distance measuring sensors 180, the side impact prevention part 170 is disposed on at least a portion of the outer side surface of the frame assembly 110, and the plurality of photoelectric distance measuring sensors 180 are disposed on the circumferential side of the frame assembly 110. More specifically, the mobile platform 100 may be an off-road mobile platform to enable the modular robot to be applied in multiple scenarios.

It should be understood that when the mobile platform 170 collides with an obstacle, the edge guard 170 may play a role of buffering to reduce the damage to the modular robot; the edge guard 170 may be generally selected to be an edge guard strip. The photoelectric distance measuring sensor 180 emits light waves to the peripheral side of the modular robot to form a green shadow region enveloping the projection surface of the modular robot, and the shadow region is a ditch protecting region, so that the modular robot can be effectively prevented from falling into a deep ditch or cliff in the region.

In a specific working process, if a deep groove or cliff is encountered in front of a running path of the modular robot, a certain point of the photoelectric distance measuring sensor 180 hits the bottom of the cliff or the deep groove, a feedback distance is changed, and if the main control module 152 or the auxiliary control module 162 analyzes data and finds abnormality, an instruction of emergency stop or adjustment of a walking direction is triggered to avoid the modular robot falling.

Photoelectric distance measuring sensor 180 can use with aforementioned ultrasonic sensor cooperation to make the modular robot possess comparatively comprehensive dropproof obstacle-surmounting ability. The ultrasonic sensor is based on ultrasonic feedback information, so that the application scene of the modular robot can be improved. In this embodiment, the type of the photoelectric distance measuring sensor may be various, for example, a photoelectric infrared distance measuring sensor or a photoelectric laser distance measuring sensor.

Of course, the specific number of the photoelectric distance measuring sensors 180 is not limited in this embodiment, and the number of the photoelectric distance measuring sensors 180 may be four, and the four photoelectric distance measuring sensors 180 are distributed at four corners of the rack assembly 110.

In this embodiment, the modular robot may further include a second function integration part 300, and the second function integration part 300 is mounted on the rack assembly 110 or the first function integration part 200. It should be understood that the second function integration part 300 may enable the modular robot to integrate more function modules based on the development trend of the multi-function robot. Meanwhile, the second function integration part 300 belongs to another independent module compared with the mobile platform 100 and the first function integration part 200, and when a function module on the second function integration part 300 fails, the function module on the second function integration part 300 can be maintained only by detaching the second function integration part 300 alone.

Further, the second function integration part 300 may include a second mounting base 310 and a fourth function component mounted to the second mounting base 310, the second mounting base 310 being mounted to the frame component 110 or the first function integration part 200. In a specific working process, when the fourth functional component fails, the second mounting base 310 may be detached from the rack assembly 110 or the first functional integrated portion 200, and then the fourth functional component may be repaired, so as to avoid detaching the whole modular robot.

The specific type of the fourth functional component is not limited in this embodiment, for example, when the second functional integration portion 300 is a pan-tilt system, the fourth functional component may include at least two of the image capturing module 321, the microphone 322, and the three-dimensional lidar 323, that is, the fourth functional component may include any two or three of the image capturing module 321, the microphone 322, and the three-dimensional lidar 323. The image capturing module 321 may include a visible light camera and a thermal imaging camera, the visible light camera may capture and record a visible light scene in a viewing range, and the thermal imaging camera may capture and record a thermodynamic diagram in the viewing range. The three-dimensional laser radar 323 can establish a three-dimensional map in a scene, scan the environment in the scene, and compare the environment characteristic values through a background algorithm for navigation and obstacle avoidance of the modular robot.

The embodiment is not limited to a specific type of the second mounting base 310, and in a specific implementation, the second mounting base 310 may include a substrate 311 and a supporting frame 312 disposed on the substrate 311, the three-dimensional lidar 323 is disposed on the substrate 311, the microphone 322 is disposed on the supporting frame 312, and an end of the supporting frame 312 away from the substrate 311 is supported by the image capturing module 321. Specifically, the second mounting base 310 may be mounted to the rack assembly 110 or the first function integrating part 200 through the substrate 311 to improve mounting stability. The supporting frame 312 can provide a certain mounting height for the image capturing module 321, so that the image capturing module 321 can obtain a better view.

Typically, the support frame 312 is surrounded by a housing, which may have an access opening to facilitate access to structures (e.g., the microphone 322) inside the support frame 312. The microphone 322 is used for collecting sound in a scene, transmitting the collected sound to a background analysis system, judging whether equipment abnormality exists in the scene or predicting the damage period of the equipment, and can also be used for a sound collector for man-machine intercommunication.

In summary, the modular robot disclosed in the embodiments of the present invention enables designers, users, and maintainers to recognize the structure of the robot more conveniently. From the perspective of a designer, the design of a single module can be completed more quickly without considering too many comprehensive problems, and the design idea is reasonably planned; from the perspective of a user, the operation mode and the use attention point can be known by the sub-modules more conveniently; most importantly, from the perspective of a maintainer, a single damaged module can be replaced more smoothly without interfering other assemblies too much, and the maintenance cost is saved.

In the above embodiments of the present invention, the difference between the embodiments is mainly described, and different optimization features between the embodiments can be combined to form a better embodiment as long as they are not contradictory, and further description is omitted here in view of brevity of the text.

The above description is only an example of the present invention, and is not intended to limit the present invention. Various modifications and alterations to this invention will become apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.

Claims

1. A modular robot is characterized by comprising a mobile platform (100) and a first function integration part (200), wherein the mobile platform (100) comprises a rack assembly (110), a driving mechanism and a walking assembly, the driving mechanism is arranged on the rack assembly (110), and the driving mechanism is connected with the walking assembly so as to drive the walking assembly; the first function integration part (200) is detachably mounted on the rack assembly (110).

2. The modular robot as claimed in claim 1, wherein the modular robot comprises a battery module (140), the battery module (140) is detachably mounted on the frame assembly (110), and the battery module (140) is spaced apart from the driving mechanism.

3. The modular robot as claimed in claim 2, wherein the frame assembly (110) comprises a first support plate (111) and a second support plate (112) disposed opposite to each other, the driving mechanism comprises a first driving module and a second driving module, the first driving module is mounted on the first support plate (111), and the second driving module is mounted on the second support plate (112); the walking assembly comprises a first sub wheel set and a second sub wheel set, the first driving module is connected with the first sub wheel set to drive the first sub wheel set to rotate, and the second driving module is connected with the second sub wheel set to drive the second sub wheel set.

4. The modular robot as claimed in claim 3, wherein the frame assembly (110) further comprises a third support plate (113), the third support plate (113) is provided with a first functional assembly, and the first functional assembly is arranged at a distance from the battery module (140); the rack assembly (110) further comprises a fourth supporting plate (114), a second functional assembly is arranged on the fourth supporting plate (114), and the second functional assembly and the battery module (140) are arranged at intervals.

5. The modular robot according to any of claims 1 to 4, wherein the first functional integration part (200) comprises a first mounting base (210) and a third functional component mounted on the first mounting base (210), the first mounting base (210) being detachably mounted on the frame component (110).

6. The modular robot of claim 5, wherein the third functional components comprise at least two of a wireless communication module 221, an emergency stop control module 222, status indicators 223, an external port 224, an ultrasonic sensor 225, an outline marker light 226, and an activation switch 227.

7. The modular robot as claimed in claim 5, wherein the frame assembly (110) has an opening, the first mounting base (210) is in the form of a shell, the first mounting base (210) is disposed at the opening and forms a sealed receiving cavity with the frame assembly (110).

8. The modular robot as claimed in claim 7, wherein the first mounting base (210) comprises a housing body (211) and an access cover (212), the housing body (211) having a working window opened thereon, the access cover (212) being detachably mounted to the working window; the third functional component is arranged on the shell body (211).

9. Modular robot according to any of the claims 1-4, characterized in that it further comprises a second function integration part (300), the second function integration part (300) being mounted on the frame assembly (110) or the first function integration part (200).

10. The modular robot according to claim 9, wherein the second function integrating part (300) comprises a second mounting base (310) and a fourth function component mounted to the second mounting base (310), the second mounting base (310) being mounted to the frame component (110) or the first function integrating part (200).