CN113400282A

CN113400282A - Modularized multifunctional robot

Info

Publication number: CN113400282A
Application number: CN202110724342.8A
Authority: CN
Inventors: 张书恺; 卜王辉
Original assignee: Tongji University
Current assignee: Tongji University
Priority date: 2021-06-29
Filing date: 2021-06-29
Publication date: 2021-09-17
Anticipated expiration: 2041-06-29
Also published as: CN113400282B

Abstract

The invention relates to a modularized multifunctional robot, which comprises a robot body, wherein the robot body comprises a bottom basic function control module, a middle special function control module and an upper sensing and interaction module which are sequentially arranged from bottom to top, the bottom basic function control module comprises a first bottom shell, a first shell and a motion control assembly, the first shell and the motion control assembly are arranged on the first bottom shell, the middle special function control module comprises a second bottom shell arranged at the top of the first shell, a second shell arranged on the second bottom shell, a program controller and a plurality of functional components, and the upper sensing and interaction module comprises a third bottom shell arranged at the top of the second shell, a sealing cover, a third shell arranged between the third bottom shell and the sealing cover and a plurality of interaction components. Compared with the prior art, the robot has the advantages that the function of the robot is more flexibly exerted, the production universality of the robot is improved, the production cost and the research and development difficulty of a production enterprise are reduced conveniently, and the maintenance and replacement cost of a consumer is reduced conveniently.

Description

Modularized multifunctional robot

Technical Field

The invention belongs to the field of multifunctional robots, and particularly relates to a modular multifunctional robot.

Background

In today's society, robots have been increasingly applied to various fields to liberate manpower: related enterprises invent sweeping robots for realizing the room sweeping function; in order to realize irrigation of crops or greening facilities or pesticide spraying, related enterprises invent unmanned planes or AGV capable of realizing a spraying function; in order to realize food distribution in isolation wards during epidemic situations, related enterprises invent food delivery robots and the like. With the development of science and technology in the future, a guide robot capable of realizing a guide function and a patrol robot capable of realizing a search function or a patrol function will be further developed. Thus, there is a problem that robots designed to implement different functions are almost completely different, which results in that a certain robot can only be applied to a specific field without versatility. In the future, for some places with complex conditions, such as supermarkets and the like, in order to realize the tidiness of the environment and bring convenience to customers to carry goods, a plurality of different robots need to be configured, so that the acquisition cost and the management cost of the robots are increased; meanwhile, for a robot manufacturing enterprise, different robots need to be manufactured to realize different functions, which also causes resource waste and increases production cost.

Disclosure of Invention

The invention aims to provide a modularized multifunctional robot, which adopts a method of matching a robot body with an additional function part, realizes the functions of basic movement and the like by the robot body, realizes specific functions by the additional function part, so that the robot can realize different functions in the future, has certain universality, ensures that the functions of the robot are more flexibly exerted, promotes the unmanned performance in different fields, improves the universality of robot production, is convenient for production enterprises to reduce the production cost and the research and development difficulty, and is convenient for consumers to reduce the maintenance and replacement cost.

The purpose of the invention is realized by the following technical scheme:

the utility model provides a modularization multi-functional robot, the robot includes the robot body, the robot body includes bottom basic function control module, middle level special function control module and upper perception and interaction module that set gradually from bottom to top, bottom basic function control module includes a drain pan, sets up shell and motion control subassembly on a drain pan, No. one the cavity that is used for holding the motion control subassembly is enclosed to drain pan and shell, middle level special function control module includes No. two drain pans of locating a shell top, No. two shells of setting on No. two drain pans, realizes program controller and a plurality of functional component of control to whole functions of robot, No. two drain pans and No. two shells enclose No. two cavities that are used for holding program controller and a plurality of functional component, upper perception and interaction module are including No. three drain pans of locating No. two shell tops, The three-number bottom shell, the sealing cover and the three-number outer shell form a three-number cavity, and the plurality of interactive components are arranged on the outer wall of the three-number outer shell or on the top of the sealing cover or in the three-number cavity respectively.

The motion control subassembly includes mated drive wheel, universal joint, driving motor and the group battery of being connected with the driving motor electricity, driving motor locates the middle part of a cavity, and mated drive wheel is located driving motor's both sides and runs through a drain pan setting, be equipped with the universal joint between driving motor and the drive wheel and carry out the transmission and be connected. The driving wheel can play the drive effect to the robot motion, and the universal joint can all realize driving moment transmission under different angles, and driving motor can play the control effect to the driving wheel.

The motion control assembly further comprises a supporting assembly and a vibration reduction spring set, the supporting assembly comprises a separation frame, supporting grooves and supporting frames, the supporting grooves are formed in two sides of the separation frame in pairs, the supporting frames are formed in two sides of the supporting grooves in pairs, the separation frame is arranged around the driving motor, the supporting grooves are horizontally arranged, one end of each supporting groove is connected with the separation frame, the other end of each supporting groove is connected with the supporting frame, the vibration reduction spring set comprises an oblique spring and a horizontal spring which are connected with each other, the end portion of the oblique spring is connected with an output shaft of the driving motor, the horizontal spring is horizontally located in the supporting grooves, and the end portion of each horizontal spring is fixed on the inner wall of the supporting groove. Because the robot is different from the car, the size of its universal wheel and drive wheel is less to under some scenes such as parking area, the height of deceleration strip is equivalent to the size order of magnitude of wheel, consequently for guaranteeing that the structure is not too out of shape and guarantee the smooth realization of damping effect, set up damping spring group, damping spring group can play the cushioning effect to the vibration at the road surface is not at ordinary times, in order to guarantee sufficient degree of freedom.

The axle center department of drive wheel inwards levels is equipped with the connecting axle, universal joint one end is connected with the connecting axle, and the other end is connected with driving motor's output shaft.

The motion control subassembly still includes No. six mated universal wheels, No. six universal wheels are located driving motor's both sides and run through a drain pan setting, No. six universal wheels and drive wheel are the cross and distribute. The six-wheeled universal wheel can assist the movement.

The functional components comprise a second wire harness board used for wire harness connection between different layers, a positioning signal transmitter for sending self position signals of the robot and a message signal transmitter for information communication of other robots or surrounding equipment, the positioning signal transmitter and the message signal transmitter are arranged in the middle of the second chamber one above the other, the program controller is arranged on one side of the message signal transmitter, and the second wire harness board is arranged on one side of the program controller.

The plurality of functional components also comprise a fire extinguishing nozzle for spraying fire extinguishing substances and an air pressure regulating valve for smoothly spraying the fire extinguishing substances, a clapboard which divides the second chamber into a main accommodating chamber and a fire-extinguishing substance storage chamber is arranged on the second bottom shell, the second wire harness board, the program controller, the positioning signal transmitter and the message signal transmitter are all positioned in the main accommodating chamber, a fire extinguishing substance filling opening for filling the fire extinguishing substance storage chamber with the fire extinguishing substance is arranged on the second shell positioned outside the fire extinguishing substance storage chamber, the fire extinguishing substance storage chamber is internally provided with a fire extinguishing substance, the main body and the inlet of the fire extinguishing nozzle are positioned in the fire extinguishing substance storage chamber, the outlet of the fire extinguishing nozzle penetrates through the second shell to face the outside, the inlet of the air pressure regulating valve is communicated with outside air supply equipment, the main body of the air pressure regulating valve is positioned in the main accommodating chamber, and the outlet of the air pressure regulating valve penetrates through the partition plate and is opposite to the fire-extinguishing object storage chamber.

The plurality of interactive components comprise a display screen for information interaction with a user, an ultrasonic sensor for detecting the ambient environment, a temperature sensor for detecting the ambient environment temperature, a camera for detecting the ambient environment, a camera rotating motor for controlling the camera to rotate, a control gear set for performing power transmission between the camera and the camera rotating motor, and three wiring harness plates for performing wiring harness connection between different layers, wherein the display screen and the ultrasonic sensor are both arranged on the outer wall of the three shells, the temperature sensor and the camera are both positioned at the top of the sealing cover, and the camera rotating motor and the control gear set are both positioned in the three cavities.

The control gear train includes rotation axis, a gear and No. two gears, the rotation axis rotatably vertically is located the drain pan No. one, the top of rotation axis is equipped with the joint, it runs through the closing cap and the camera transmission is connected to connect, No. two gears and the coaxial setting of rotation axis, the vertical side of locating the camera rotating electrical machines of a gear and with the coaxial setting of camera rotating electrical machines's output shaft, gear and No. two gear engagement are connected.

The robot still includes at least one additional function part, is used for the pencil interface (is connected with No. two pencil boards) and mated main interface module of pencil connection, the pencil interface is located the junction of shell and No. two shells, main interface module includes main connecting rod and main interface box, be equipped with mated recess on the shell, main connecting rod is located the recess and articulates with a shell, the main part of main connecting rod is located main interface box, be equipped with vice interface module on the additional function part, vice interface module includes vice connecting rod and vice interface box, vice connecting rod is located vice interface box, can dismantle the connection between main interface box and the vice interface box. The additional function part, the wiring harness interface and the main interface component are added according to the requirement.

The main interface box comprises a main interface groove and a main groove cover which are detachably matched, and the auxiliary interface box comprises an auxiliary interface groove and an auxiliary groove cover which are detachably matched.

And a fixing bolt and a fixing nut are arranged between the main interface box and the auxiliary interface box, and the connecting function and the vertical adjustment function are realized.

The side of the auxiliary interface box is provided with a plurality of screw rod adjusting mechanisms, the position of the auxiliary connecting rod is adjusted, and the adjustment in the front-back direction and the left-right direction is realized.

The additional function part comprises a cleaning module, a pesticide spreading module, a carrying module, a water spraying module and a water storage module.

The cleaning module comprises a first supporting general plate, a first wire harness connector, a dust collection motor, a dust collection chamber and a first universal wheel, wherein the first wire harness connector is located at the top of the first supporting general plate and connected with a wire harness plug-in port, and the dust collection motor, the dust collection chamber and the first universal wheel are located at the bottom of the first supporting general plate.

The cleaning module is characterized by further comprising a first supporting rod arranged at the bottom of the first supporting general plate, and the first supporting rod is vertically arranged and is distributed in tandem with a first universal wheel.

Cleaning module is still including all locating adjusting spring, spliced pole and the supporting beam that a support was always listed as the board bottom, the spliced pole is improved level and is equipped with the brace table, adjusting spring is vertical to be located between brace table and the total board of a support, a supporting beam level sets up the bottom at the spliced pole. A first universal wheel also needs to be provided with a corresponding vibration reduction structure in the vertical direction, so that the robot can stably move when the ground is uneven. Other modules can also be installed with the vibration damping structure at the universal wheel part.

The pesticide scattering module comprises a second supporting total plate, a pesticide storage box, a spraying motor, a second wire harness connector and a second universal wheel, wherein the pesticide storage box, the spraying motor and the second wire harness connector are all located at the top of the second supporting total plate, a pesticide spraying opening and a pesticide filling opening are formed in the pesticide storage box, and the second universal wheel is located at the bottom of the second supporting total plate.

The pesticide sowing module further comprises a second supporting rod arranged at the bottom of the second supporting general plate, and the second supporting rod is vertically arranged and is distributed in tandem with the second universal wheel.

The transport module includes No. three supports total board, multilayer supporter and No. three universal wheels, the multilayer supporter is located the top of No. three supports total board, No. three universal wheels are located the bottom of No. three supports total board.

The carrying module is characterized by further comprising a third supporting rod arranged at the bottom of the third supporting general plate, and the third supporting rod is vertically arranged and is distributed in tandem with the third universal wheel.

The water spraying module is matched with the water storage module for use, the water spraying module comprises a fourth supporting general board, a water storage box, a water spraying motor, a third wiring harness connector and a fourth universal wheel, the first water storage box, the water spraying motor and the third wiring harness connector are all located at the top of the fourth supporting general board, a water spraying port and a water inlet are formed in the water storage box, the fourth universal wheel is located at the bottom of the fourth supporting general board, the water storage module comprises a fifth supporting general board, a water storage tank and a fifth universal wheel, the water storage tank is located at the top of the fifth supporting general board, a water filling port is formed in the top of the water storage tank, a water outlet is formed in the side portion of the water storage tank, a water pipe is arranged between the water outlet and the water inlet, and the fifth universal wheel is located at the bottom of the fifth supporting general board.

The water spray module is still including locating No. four bracing pieces that support total board bottom, No. four bracing pieces vertical set up and distribute with No. four universal wheels in the front and back, the water storage module is still including locating No. five bracing pieces that support total board bottom, No. five bracing pieces vertical set up and distribute with No. five universal wheels in the front and back, the lateral part of storage water tank is equipped with the water level observation screen. When the number of the additional function parts is more than one, the grooves can be positioned according to the spatial distribution, such as front-back distribution, left-right distribution, front-back distribution and left-right distribution.

The additional function part and the robot body are connected manually, mechanical connection is needed through the main interface assembly and the auxiliary interface assembly, and the additional function part and the robot body are also connected through the wiring harness, so that the robot body can supply power to the additional function part and transmit a control command.

Compared with the prior art, the invention has the following advantages:

(1) the functions are complete: the robot body can realize basic patrol, search and guide functions, and different additional function parts matched with the robot body can realize a series of functions such as cleaning, pesticide spraying, irrigating, mowing, shopping and loading, isolated meal delivery and the like, so that the robot can realize functions in more fields compared with the existing robot.

(2) The universality is strong: the robot body is used for realizing basic functions and is assisted by the additional function parts, so that the same robot body can be used in different fields, and only different additional function parts are needed to be connected, thereby reducing the production difficulty and the research and development difficulty.

(3) After the interface connection is finished, the robot can be controlled by the sensor and the processor to complete all actions, and intellectualization and unmanned operation are realized.

Drawings

Fig. 1 is an overall structural view of a robot body;

FIG. 2 is a schematic structural diagram of a bottom basic function control module of the robot body;

FIG. 3 is a schematic structural diagram of a basic function control module (excluding a first housing and a battery pack) of the bottom layer of the robot body;

FIG. 4 is a schematic view of a connection relationship between a damping spring set and a driving wheel in a bottom layer basic function control module;

FIG. 5 is a schematic structural diagram of a middle-layer special function control module of the robot body;

FIG. 6 is a schematic structural diagram of an upper sensing and interaction module of the robot body;

FIG. 7 is a schematic diagram of a connection relationship between a primary interface assembly and a secondary interface assembly on a robot body;

FIG. 8 is a schematic diagram of a main interface assembly and an auxiliary interface assembly for vertical fault tolerance with a fixing bolt;

FIGS. 9-10 are schematic structural views of a cleaning module;

FIG. 11 is a schematic view of a connection structure of the cleaning module and the robot body;

FIG. 12 is a schematic structural view of a pesticide spreading module;

FIG. 13 is a view showing a connection structure of the pesticide sowing module and the robot body;

FIG. 14 is a schematic structural view of a carrier module;

fig. 15 is a schematic view showing a connection structure of the carrier module and the robot body;

FIG. 16 is a schematic view of a water spraying module

FIG. 17 is a schematic view of a water storage module;

fig. 18 is a schematic view of a connection structure of the water spray module, the water storage module and the robot body.

In the figure: 1-a robot body;

11-a bottom layer basic function control module; 1111-a wiring harness interface; 1112-a main connecting rod; 1113-primary interface slot; 1114-main slot cover; 112-a motion control assembly; 1121-a battery pack; 1122-number six universal wheels; 1123-driving wheels; 11231-a connecting shaft; 1124-universal joint; 1125-set of damping springs; 11251-oblique spring; 11252-horizontal spring; 1126-drive motor; 1131-bottom shell; 1132-shell number one; 1133-separation frame; 1134, supporting the groove; 1135, a support frame; 1136-groove;

12-middle layer special function control module; 121-fire extinguishing sprinkler; 122-fire suppressant fill port; 123-air pressure regulating valve; 124-second wire harness board; 125-a program controller; 126-a locating signal transmitter; 127-a message signal transmitter; 1281-bottom shell No. two; 1282-second shell; 1283-spacer plate; 1291-a main containment chamber; 1292-a fire suppression product storage compartment;

13-upper layer perception and interaction module; 131-a display screen; 132-an ultrasonic sensor; 133-a temperature sensor; 134-camera; 135-camera rotating motor; 1361-axis of rotation; 1362-gear number one; 1363-gear No. two; 1364-linker; 137-third wire harness board; 1381-bottom shell No. three; 1382-sealing; 1383-shell No. three;

2-a secondary interface component; 21-a secondary connecting rod; 22-secondary interface slot; 23-auxiliary tank cover; 24-a fixing bolt; 25-a lead screw adjustment mechanism; 26-a fixing nut;

3-an additional functional moiety;

31-a cleaning module; 311-first support general plate; 312-harness connector number one; 313-a dust collection motor; 314-a dust chamber; 315-universal wheel number one; 316-support bar number one; 317-adjusting a spring; 318-connecting column; 3181-supporting table; 319-supporting beam;

32-a pesticide sowing module; 321-second support general plate; 322-a pesticide storage box; 3221-pesticide spraying port; 3222-a pesticide filling port; 323-universal wheel II; 324-support bar number two;

33-a handling module; 331-third support header; 332-multilayer shelf; 333-three universal wheels; 334-support bar III;

34-a water spray module; 341-four support Total plate; 342-a water storage box; 3421-water jet; 3422-water inlet; 343-four universal wheels; 344-support bar number four;

35-a water storage module; no. 351-five support general plate; 352-a water storage tank; 3521-water fill port; 3522-water outlet; 3523-water level observation screen; no. 353-five universal wheels; 354-support bar five.

Detailed Description

The invention is described in detail below with reference to the figures and specific embodiments.

The following embodiment proposes a modular multi-function robot including five parts of embodiment 1 (no external additional function part), embodiment 2 (front side access additional function part), embodiment 3 (front side access additional function part), embodiment 4 (rear side access additional function part), and embodiment 5 (both front and rear sides access additional function part).

Example 1

As shown in fig. 1, 2, 3, 4, 5, and 6, a modular multifunctional robot includes a robot body 1, wherein the robot body 1 is cylindrical, and includes a bottom basic function control module 11, a middle special function control module 12, and an upper sensing and interaction module 13, which are sequentially disposed from bottom to top.

As shown in fig. 1, 2, 3 and 4, the bottom layer basic function control module 11 includes a first bottom shell 1131, a first outer shell 1132 and a motion control assembly 112 disposed on the first bottom shell 1131, the first bottom shell 1131 and the first outer shell 1132 enclose a first chamber for accommodating the motion control assembly 112, the motion control assembly 112 includes a pair of driving wheels 1123, a universal joint 1124, a driving motor 1126, a battery pack 1121 electrically connected to the driving motor 1126, a support assembly, a damping spring set 1125 and a pair of sixth universal wheels 1122, the driving motor 1126 is disposed in the middle of the first chamber, the pair of driving wheels 1123 are disposed on two sides of the driving motor 1126 and penetrate through the first bottom shell 1131, the universal joint 1124 is disposed between the driving motor 1126 and the driving wheel 1123 for transmission connection, a connecting shaft 11231 is disposed horizontally inward at the axial center of the driving wheel 1123, one end of the universal joint 1124 is connected to the connecting shaft 31, and the other end is connected to an output shaft of the driving motor 1126, the support assembly comprises a separation frame 1133, support grooves 1134 arranged on two sides of the separation frame 1133 in pairs and support frames 1135 arranged on two sides of the support grooves 1134 in pairs, the separation frame 1133 is arranged around the driving motor 1126, the support grooves 1134 are horizontally arranged in a suspended manner, one end of each support frame is connected with the separation frame 1133 (the side surface of the separation frame 1133 extends upwards to form a side plate for supporting the support groove), the other end of each support frame is connected with the support frame 1135 (the support frame 1135 is in an inverted U shape), a damping spring group 1125 comprises an oblique spring 11251 and a horizontal spring 11252 which are connected with each other, the end of the oblique spring 11251 is connected with an output shaft of the driving motor 1126, the horizontal spring 11252 is horizontally arranged in the support groove 1134, the end of each horizontal spring is fixed on the inner wall of the support groove 1134, No. six universal wheels 1122 are arranged on two sides of the driving motor 1126 and penetrate through a bottom shell 1131, the No. six universal wheels and the driving wheels are distributed in a cross shape, and the No. 1122 is further provided with a protection frame, the protection frame is fixedly connected to the first housing 1132.

As shown in fig. 1 and 5, the middle special function control module 12 includes a second bottom shell 1281 disposed on the top of the first shell 1132, a second outer shell 1282 disposed on the second bottom shell 1281, a program controller 125 for controlling all functions of the robot, and a plurality of functional components, the second bottom shell 1281 and the second outer shell 1282 enclose a second chamber for accommodating the program controller 125 and the functional components, the functional components include a second wiring harness board 124, a positioning signal transmitter 126, a message signal transmitter 127, a fire extinguishing nozzle 121, and an air pressure regulating valve 123, a partition 1283 is disposed on the second bottom shell 1281 for dividing the second chamber into a main accommodating chamber 1291 and a fire extinguishing material storing chamber 1292, the partition 1283 is in an omega shape, the circular arc portion and the second outer shell 1283 are concentric circles, a connection line of two straight line portions exactly divides the second chamber into two, the positioning signal transmitter 126 and the message signal transmitter 127 are disposed at the middle of the whole second chamber, the positioning signal emitter 126 is provided with four antennas which extend outwards at 90 degrees and are respectively abutted against the side wall of the partition plate 1283 and the inner wall of the second-number outer shell 1282, the program controller 125 is positioned at one side of the message signal emitter 127, the second-number wiring board 124 is positioned at one side of the program controller 125 (the two are connected to control the realization of the functions of other modules), the second-number wiring board 124, the program controller 125, the positioning signal emitter 126 and the message signal emitter 127 are all positioned in the main accommodating chamber 1291, the second-number outer shell 1282 positioned outside the fire-extinguishing substance storing chamber 1292 is provided with a fire-extinguishing substance filling port 122 for filling fire-extinguishing substances into the fire-extinguishing substance storing chamber 1292, the fire-extinguishing substance storing chamber 1292 is provided with fire-extinguishing substances, the main body and the inlet of the fire-extinguishing nozzle 121 are positioned in the fire-extinguishing substance storing chamber 1292, the outlet of the fire-extinguishing nozzle 121 penetrates through the second-number outer shell 1282 to face the outside, the inlet of the air pressure regulating valve 123 is communicated with external air supply equipment, the main body of the air pressure regulating valve 123 is located in the main accommodating chamber 1291, and the outlet of the air pressure regulating valve 123 is opposite to the fire extinguishing material storing chamber 1292 through the partition 1283.

As shown in fig. 1 and 6, the upper sensing and interacting module 13 includes a third bottom shell 1381 disposed on the top of the second shell 1282, a sealing cover 1382, a third shell 1383 disposed between the third bottom shell 1381 and the sealing cover 1382, and a plurality of interacting members, the third bottom shell 1381, the sealing cover 1382 and the third shell 1383 form a third chamber, the plurality of interacting members are respectively disposed on the outer wall of the third shell 1383 or on the top of the sealing cover 1382 or in the third chamber, the plurality of interacting members include a display screen 131, an ultrasonic sensor 132, a temperature sensor 133, a camera 134, a camera rotating motor 135 for controlling the rotation of the camera 134, a control gear set for performing power transmission between the camera 134 and the camera rotating motor 135, and a third wiring harness board 137, the display screen 131 and the ultrasonic sensor 132 are both disposed on the outer wall of the third shell 1383, the temperature sensor 133 and the camera 134 are both disposed on the top of the sealing cover 1382, the camera rotating motor 135 and the control gear set are both located in the third chamber. The control gear set comprises a rotating shaft 1361, a first gear 1362 and a second gear 1363, the rotating shaft 1361 is rotatably and vertically positioned on the first bottom shell 1131, a joint 1364 is arranged at the top of the rotating shaft 1361, the joint 1364 penetrates through the cover 1382 and is in transmission connection with the camera 134, the second gear 1363 and the rotating shaft 1361 are coaxially arranged, the first gear 1362 is vertically arranged on the side surface of the camera rotating motor 135 and is coaxially arranged with the output shaft of the camera rotating motor 135, and the first gear 1362 and the second gear 1363 are in meshing connection.

The functions that the modularized multifunctional robot in this embodiment can realize are environmental perception, motion and fire extinguishing functions, and therefore the functions that can be realized are a guiding function (guiding in scenic spots, car searching in parking lots) and a patrol function. Due to different functions, a user needs to select a function to be realized on a display screen and store a scene map into the robot in advance so as to realize a specific function. For a scene with a user and robot interaction process, taking car finding in a parking lot as an example for explanation: the parking lot provides a two-dimensional code for a user when a vehicle parks, if the user needs to search the vehicle, the two-dimensional code is scanned to the robot through the display screen, and the robot can guide the user to a response position according to the information of the two-dimensional code and by combining a parking lot map. The welcome scene, etc. are exactly the same as described above.

Example 2

As shown in fig. 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, a modular multifunctional robot further includes a cleaning module 31, a harness socket 1111 (connected to the second harness board 124) for connecting a harness, and a pair of main interface components, the robot body 1 is configured as shown in embodiment 1, the harness socket 1111 is located at a connection position of a first shell 1132 and a second shell 1282, the main interface components include a main connecting rod 1112 and a main interface box, the first shell 1132 is provided with a pair of grooves 1136, the main connecting rod 1112 is located in the groove 1136 and is hinged to the first shell 1132, a main body of the main connecting rod 1112 is located in the main interface box, and the main interface box includes a main slot 1113 and a main slot cover 1114 that are detachably engaged.

The cleaning module 31 comprises a first support main plate 311, a first wire harness connector 312, a dust collection motor 313, a dust collection chamber 314, a first universal wheel 315, a first support rod 316, an adjusting spring 317, a connecting rod 318, a support beam 319 and a pair of auxiliary interface components 2, wherein the first wire harness connector 312 (connected with a wire harness insertion port 1111) is positioned at the top of the first support main plate 311 and connected with the wire harness insertion port 1111, the dust collection motor 313, the dust collection chamber 314, the first universal wheel 315, the first support rod 316, the adjusting spring 317, the connecting rod 318 and the support beam 319 are all positioned at the bottom of the first support main plate 311, a cover plate is arranged at the middle part of the first support main plate 311, the first wire harness connector 312 is positioned on the cover plate, meanwhile, the cover plate can be detached to facilitate the overhaul of the dust collection motor and the like, the first support rod 316 is vertically arranged and is distributed in front and back with the first universal wheel 315, the connecting rod is horizontally provided with a support table 3181, the adjusting spring 317 is vertically positioned between the supporting table 3181 and the first supporting main plate 311, the supporting beam 319 is horizontally arranged at the bottom of the connecting column 318, the end part of the first supporting main plate 311, which is adjacent to the robot body 1, is provided with a pair of placing grooves, the auxiliary interface component 2 comprises an auxiliary connecting rod 21 and an auxiliary interface box, the auxiliary connecting rod 21 is positioned in the auxiliary interface box, the auxiliary interface box comprises an auxiliary interface groove 22 and an auxiliary groove cover 23 which are detachably matched, the end part of the auxiliary interface groove 22, which is adjacent to the robot body 1, is provided with a side plate in a downward extending manner, the side surface of the end part of the auxiliary interface groove 22, which is away from the robot body 1, is provided with a lead screw adjusting mechanism 25 (the specific structure can be set by referring to the existing equipment) and is in transmission connection with the auxiliary connecting rod 21, the side surface of the side plate of the auxiliary interface groove 22 is provided with another lead screw adjusting, the two lead screw adjusting mechanisms 25 together complete the movement of the auxiliary connecting rod 21 in two directions, and a fixing bolt 24 and a fixing nut 26 are arranged between a main groove cover 1114 (the main groove cover 1114 is positioned at the front part of the robot body 1, the front part is based on the shooting direction of a camera, and the same is used below) and an auxiliary groove cover 23, so that the vertical fault-tolerant function can be realized.

The arrangement and structure of the cleaning motor 313, the dust collecting chamber 314 and other components in the embodiment can be arranged by referring to the existing sweeping robot.

Since the camera head shoots forward, the height of the additional function part accessed at the front side cannot be excessively high, and thus a cleaning function can be arranged. Since the motors are required to be driven to realize the functions, the auxiliary interface assembly and the robot body are not required to be mechanically connected, the additional function part and the robot body are required to be connected by a wire harness, and the connection process is manually carried out. Meanwhile, the function to be realized needs to be selected through the display screen so as to ensure that the program controller is suitable for controlling the corresponding motor. Fig. 11 is actually a modular multi-function robot to which a cleaning module capable of performing a cleaning function is attached.

Example 3

As shown in fig. 1, 2, 3, 4, 5, 6, 7, 8, 12, 13, a modular multifunctional robot further includes a pesticide spreading module 32, a harness insertion port 1111 (connected to the second harness board 124) for connecting a harness, and a pair of main interface components, the structure of the robot body 1 is as shown in embodiment 1, the harness insertion port 1111 is located at the connection position of the first shell 1132 and the second shell 1282, the main interface components include a main connecting rod 1112 and a main interface box, the first shell 1132 is provided with a pair of grooves 1136, the main connecting rod 1112 is located in the groove 1136 and hinged to the first shell 1132, the main body of the main connecting rod 1112 is located in the main interface box, and the main interface box includes a main groove 1113 and a main groove cover 1114 that are detachably matched.

The pesticide spreading module 32 comprises a second supporting main plate 321, a pesticide storage box 322, a spraying motor, a second wiring harness connector, a second universal wheel 323, a second supporting rod 324 and an auxiliary interface component 2, the pesticide storage box 322, the spraying motor and the second wiring harness connector (the spraying motor and the second wiring harness connector are omitted in the drawing, and the specific connection mode can refer to the existing equipment) are all located at the top of the second supporting main plate 321, a pesticide spraying opening 3221 (provided with a nozzle here) and a pesticide filling opening 3222 are arranged on the pesticide storage box 322, the second universal wheel 323 and the second supporting rod 324 are both located at the bottom of the second supporting main plate 321, and the second supporting rod 324 is vertically arranged and is distributed in front of and behind the second universal wheel 323. The end part of the second support main plate 321 adjacent to the robot body 1 is provided with paired placing grooves, the auxiliary interface assembly 2 comprises an auxiliary connecting rod 21 and an auxiliary interface box, the auxiliary connecting rod 21 is located in the auxiliary interface box, the auxiliary interface box comprises an auxiliary interface groove 22 and an auxiliary groove cover 23 which are detachably matched, the end part of the auxiliary interface groove 22 adjacent to the robot body 1 extends downwards to be provided with a side plate, the side part of the end part of the auxiliary interface groove 22 far away from the robot body 1 is provided with a lead screw adjusting mechanism 25 which is in transmission connection with the auxiliary connecting rod 21, the side surface of the side plate of the auxiliary interface groove 22 is provided with another lead screw adjusting mechanism 25 which is in transmission connection with the auxiliary connecting rod 21, the lead screw adjusting mechanism 25 further penetrates through the placing grooves, the two lead screw adjusting mechanisms 25 jointly complete the movement of the auxiliary connecting rod 21 in two directions, and a main groove cover 1114 (the main groove cover 1114 is located at the front part of the robot body 1, the front part is based on the direction shot by a camera head) and a fixing bolt 24 and a fixing nut 26 are arranged between the auxiliary groove cover 23 And the fault-tolerant function in the up-down direction can be realized.

Since the camera head shoots forward, the height of the additional function part 3 accessed at the front side cannot be excessively high, and thus the function (small amount) of spraying the agricultural chemicals can be arranged. Since the motors are required to be driven to realize the functions, the auxiliary interface assembly and the robot body are not required to be mechanically connected, the additional function part and the robot body are required to be connected by a wire harness, and the connection process is manually carried out. Meanwhile, the function to be realized needs to be selected through the display screen so as to ensure that the program controller is suitable for controlling the corresponding motor. Fig. 13 is a modularized multifunctional robot connected to a function of pesticide spreading.

According to actual requirements, modules with a weeding function, a snow shoveling function, a soil loosening function and the like can be added.

Example 4

As shown in fig. 1, 2, 3, 4, 5, 6, 7, 8, 14, 15, a modular multifunctional robot further includes a carrying module 33, a harness socket 1111 (connected to the second harness board 124) for connecting a harness, and a pair of main interface components, the structure of the robot body 1 is as shown in embodiment 1, the harness socket 1111 is located at the connection position of the first shell 1132 and the second shell 1282, the main interface components include a main connecting rod 1112 and a main interface box, the first shell 1132 is provided with a pair of grooves 1136, the main connecting rod 1112 is located in the groove 1136 and hinged to the first shell 1132, the main body of the main connecting rod 1112 is located in the main interface box, and the main interface box includes a main interface groove 1113 and a main groove cover 1114 that are detachably engaged.

The carrying module 33 comprises a third supporting general plate 331, a multilayer shelf 332, a third universal wheel 333, a third supporting rod 334 and a pair of auxiliary interface components 2, the multilayer shelf 332 is located at the top of the third supporting general plate 331, the third universal wheel 333 and the third supporting rod 334 are located at the bottom of the third supporting general plate 331, and the third supporting rod 334 is vertically arranged and is distributed in front of and behind the third universal wheel 333. The end part of the third support main plate 331 adjacent to the robot body 1 is provided with paired placing grooves, the auxiliary interface component 2 comprises an auxiliary connecting rod 21 and an auxiliary interface box, the auxiliary connecting rod 21 is positioned in the auxiliary interface box, the auxiliary interface box comprises an auxiliary interface groove 22 and an auxiliary groove cover 23 which are detachably matched, the end part of the auxiliary interface groove 22 adjacent to the robot body 1 extends downwards to be provided with a side plate, the side part of the end part of the auxiliary interface groove 22 far away from the robot body 1 is provided with a lead screw adjusting mechanism 25 which is in transmission connection with the auxiliary connecting rod 21, the side surface of the side plate of the auxiliary interface groove 22 is provided with another lead screw adjusting mechanism 25 which is in transmission connection with the auxiliary connecting rod 21, the lead screw adjusting mechanism 25 further penetrates through the placing grooves, the two lead screw adjusting mechanisms 25 jointly complete the movement of the auxiliary connecting rod 21 in two directions, and a main groove cover 1114 (the main groove cover 1114 is positioned at the rear part of the robot body 1, the rear part is relative to the front part based on the shooting direction of the camera head) and a fixing screw is arranged between the auxiliary groove cover 23 The bolt 24 and the fixing nut 26 can realize the fault-tolerant function in the up-down direction.

The additional function part 3 connected to the rear side has no height requirement, and some objects with a certain height, such as storage rack, etc., can be connected, so that the function realized by connecting the additional function part 3 to the rear side has a carrying function. When in use, the additional function part 3 still needs to be mechanically connected with the robot body by using the sub interface assembly, and since the carrying module has no motor, the wire harness connection is not needed. Fig. 15 shows a modular multi-function robot to which a carrying function is attached.

According to actual requirements, functions of supermarket shopping and goods loading, isolation ward meal delivery, small article transportation and the like can be added.

Example 5

As shown in fig. 1, 2, 3, 4, 5, 6, 7, 8, 16, 17, 18, a modular multifunctional robot further includes a water spray module 34 and a water storage module 35, a harness socket 1111 (connected to a second harness board 124) for connecting a harness, and two pairs of main interface components, the structure of the robot body 1 is as shown in embodiment 1, the harness socket 1111 is located at the connection position of a first shell 1132 and a second shell 1282, the main interface components include a main connecting rod 1112 and a main interface box, two pairs of grooves 1136 are formed in the first shell 1132 in tandem, the main connecting rod 1112 is located in the groove 1136 and hinged to the first shell 1132, the main body of the main connecting rod 1112 is located in the main interface box, and the main interface box includes a main interface groove 1113 and a main groove cover 1114 which are detachably matched.

The water spray module 34 includes No. four support total boards 341, a water storage box 342, a water spray motor, No. three harness connectors, No. four universal wheels 343, No. four bracing pieces 344 and a pair of vice interface assembly 2, No. one water storage box 342, a water spray motor and No. three harness connectors (water spray motor and No. three harness connectors are omitted in the figure, specific connection mode can refer to current equipment) all are located the top of No. four support total boards 341, be equipped with water jet 3421 (here is equipped with the shower nozzle) and water inlet 3422 on the water storage box 342, No. four universal wheels 343 and No. four bracing pieces 344 are located the bottom of No. four support total boards 341, No. four bracing pieces 344 vertical setting and with No. four universal wheels 343 distribute behind one after one. The end part of the fourth support main plate 341, which is adjacent to the robot body 1, is provided with a pair of placing grooves, the auxiliary interface component 2 comprises an auxiliary connecting rod 21 and an auxiliary interface box, the auxiliary connecting rod 21 is positioned in the auxiliary interface box, the auxiliary interface box comprises an auxiliary interface groove 22 and an auxiliary groove cover 23 which are detachably matched, the end part of the auxiliary interface groove 22, which is adjacent to the robot body 1, extends downwards to be provided with a side plate which is positioned in the placing grooves, the side surface of the end part of the auxiliary interface groove 22 far away from the robot body 1 is provided with a screw rod adjusting mechanism 25 which is in transmission connection with the auxiliary connecting rod 21, the side surface of the side plate of the auxiliary interface groove 22 is provided with another screw rod adjusting mechanism 25 which is in transmission connection with the auxiliary connecting rod 21, the screw rod adjusting mechanisms 25 further penetrate through the placing grooves, the two screw rod adjusting mechanisms 25 jointly complete the movement of the auxiliary connecting rod 21 in two directions, and the fixing bolt 24 and the fixing nut 26 are arranged between the main groove cover 1114 and the auxiliary groove cover 23, so that the vertical fault-tolerant function can be realized.

The water storage module 35 comprises a fifth support general plate 351, a water storage tank 352, a fifth universal wheel 353, a fifth support rod 354 and a pair of auxiliary interface components 2, the water storage tank 352 is located at the top of the fifth support general plate 351, a water filling opening 3521 is formed in the top of the water storage tank 352, a water outlet 3522 is formed in the side portion of the water storage tank 354, a water pipe is arranged between the water outlet 3522 and the water inlet 3422, the fifth universal wheel 353 and the fifth support rod 354 are located at the bottom of the fifth support general plate 351, the fifth support rod 354 is vertically arranged and is distributed in front of and behind the fifth universal wheel 353, and a water level observation screen 3523 is arranged on the side portion of the water storage tank 352. The end part of the fifth support rod 354 adjacent to the robot body 1 is provided with a pair of placing grooves, the auxiliary interface component 2 comprises an auxiliary connecting rod 21 and an auxiliary interface box, the auxiliary connecting rod 21 is positioned in the auxiliary interface box, the auxiliary interface box comprises an auxiliary interface groove 22 and an auxiliary groove cover 23 which are detachably matched, the end part of the auxiliary interface groove 22 adjacent to the robot body 1 extends downwards to be provided with a side plate which is positioned in the placing grooves, the side surface of the end part of the auxiliary interface groove 22 far away from the robot body 1 is provided with a screw rod adjusting mechanism 25 which is in transmission connection with the auxiliary connecting rod 21, the side surface of the side plate of the auxiliary interface groove 22 is provided with another screw rod adjusting mechanism 25 which is in transmission connection with the auxiliary connecting rod 21, the screw rod adjusting mechanisms 25 further penetrate through the placing grooves, the two screw rod adjusting mechanisms 25 jointly complete the movement of the auxiliary connecting rod 21 in two directions, and the fixing bolt 24 and the fixing nut 26 are arranged between the main groove cover 1114 and the auxiliary groove cover 23, so that the vertical fault-tolerant function can be realized.

For some functions, such as the water spraying function, it is obvious that a large amount of material (water) is required, which requires a storage tank of a sufficiently large size, so that the height of the additional part is not easily controlled, and at the same time, the water spraying function obviously requires a motor, a spray head, etc. Therefore, corresponding additional function structures are connected to the front and the rear of the robot body. In fig. 17, a water spraying module 34 which can realize a water spraying function and has a low height is connected to the front side of the robot body 1, and a water storage module 35 which is higher in height but does not need to be driven by a motor is connected to the rear side of the robot body 1, and the water spraying module 34 and the water storage module 35 are connected by a corresponding water pipe (the position to be connected is circled in fig. 18, but the water pipe itself is omitted).

The embodiments described above are described to facilitate an understanding and use of the invention by those skilled in the art. It will be readily apparent to those skilled in the art that various modifications to these embodiments may be made, and the generic principles described herein may be applied to other embodiments without the use of the inventive faculty. Therefore, the present invention is not limited to the above embodiments, and those skilled in the art should make improvements and modifications within the scope of the present invention based on the disclosure of the present invention.

Claims

1. The modularized multifunctional robot is characterized by comprising a robot body (1), wherein the robot body (1) comprises a bottom basic function control module (11), a middle special function control module (12) and an upper sensing and interaction module (13) which are sequentially arranged from bottom to top, the bottom basic function control module (11) comprises a first bottom shell (1131), a first shell (1132) and a motion control assembly (112) which are arranged on the first bottom shell (1131), the first bottom shell (1131) and the first shell (1132) enclose a first cavity for accommodating the motion control assembly (112), the middle special function control module (12) comprises a second bottom shell (1281) arranged at the top of the first shell (1132), a second shell (1282) arranged on the second bottom shell (1281), a program controller (125) for controlling all functions of the robot, and a plurality of functional components, no. two drain pan (1281) and No. two shell (1282) enclose No. two cavity that is used for holding program controller (125) and a plurality of functional component, upper perception and interactive module (13) including No. three drain pan (1381) of locating No. two shell (1282) top, closing cap (1382), locate No. three shell (1383) between No. three drain pan (1381) and closing cap (1382) and a plurality of interactive component, No. three drain pan (1381), closing cap (1382) and No. three shell (1383) between form No. three cavity, a plurality of interactive component are located respectively on No. three shell (1383)'s outer wall or closing cap (1382) top or No. three cavity.

2. The modular multifunctional robot as claimed in claim 1, wherein the motion control assembly (112) comprises a pair of driving wheels (1123), a universal joint (1124), a driving motor (1126) and a battery pack (1121) electrically connected with the driving motor (1126), the driving motor (1126) is arranged in the middle of the first chamber, the pair of driving wheels (1123) are arranged on two sides of the driving motor (1126) and penetrate through the first bottom shell (1131), and the universal joint (1124) is arranged between the driving motor (1126) and the driving wheel (1123) for transmission connection.

3. The modular multi-function robot of claim 2, wherein the motion control assembly (112) further comprises a support assembly and a set of dampening springs (1125), the support assembly comprises a separation frame (1133), support grooves (1134) which are arranged on two sides of the separation frame (1133) in pairs and support frames (1135) which are arranged on two sides of the support grooves (1134) in pairs, the separation frame (1133) is arranged around the driving motor (1126), the support groove (1134) is horizontally arranged, one end of the support groove is connected with the separation frame (1133), the other end of the support groove is connected with the support frame (1135), the damping spring group (1125) comprises an oblique spring (11251) and a horizontal spring (11252) which are connected with each other, the end part of the oblique spring (11251) is connected with the output shaft of the driving motor (1126), the horizontal spring (11252) is horizontally arranged in the support groove (1134), and the end part of the horizontal spring is fixed on the inner wall of the support groove (1134);

the motion control assembly (112) still includes No. six universal wheels (1122) in pairs, No. six universal wheels (1122) are located the both sides of driving motor (1126) and run through No. one drain pan (1131) setting, No. six universal wheels (1122) and drive wheel (1123) are the cross and distribute.

4. The modular multi-function robot of claim 1, wherein the plurality of functional components include a second number beam board (124), a positioning signal transmitter (126) and a message signal transmitter (127), the positioning signal transmitter (126) and the message signal transmitter (127) are located one above the other in the middle of the second number chamber, the program controller (125) is located on one side of the message signal transmitter (127), and the second number beam board (124) is located on one side of the program controller (125).

5. The modular multi-functional robot of claim 4, wherein the plurality of functional members further include a fire extinguishing nozzle (121) and an air pressure regulating valve (123), the second bottom housing (1281) is provided with a partition (1283) separating the second chamber into a main accommodating chamber (1291) and a fire extinguishing substance storing chamber (1292), the second wiring harness board (124), the program controller (125), the location signal transmitter (126) and the message signal transmitter (127) are all located in the main accommodating chamber (1291), the second housing (1282) located outside the fire extinguishing substance storing chamber (1292) is provided with a fire extinguishing substance filling port (122) for filling the fire extinguishing substance storing chamber (1292) with fire extinguishing substance, the fire extinguishing substance storing chamber (1292) is provided with fire extinguishing substance, a main body and an inlet of the fire extinguishing nozzle (121) are located in the fire extinguishing substance storing chamber (1292), an outlet of the fire extinguishing nozzle (121) passes through the second housing (1282) to face the outside, the main body of the air pressure regulating valve (123) is positioned in the main accommodating chamber (1291), and the outlet of the air pressure regulating valve (123) penetrates through the partition plate (1283) and faces the fire extinguishing object storage chamber (1292).

6. The modular multifunctional robot as claimed in claim 1, wherein the plurality of interactive components include a display screen (131), an ultrasonic sensor (132), a temperature sensor (133), a camera (134), a camera rotating motor (135) for controlling the rotation of the camera (134), a control gear set for power transmission between the camera (134) and the camera rotating motor (135), and a third wiring harness board (137), wherein the display screen (131) and the ultrasonic sensor (132) are both disposed on an outer wall of the third housing (1383), the temperature sensor (133) and the camera (134) are both located at the top of the cover (1382), and the camera rotating motor (135) and the control gear set are both located in the third chamber.

7. The modular multifunctional robot as claimed in claim 6, wherein the control gear set comprises a rotating shaft (1361), a first gear (1362) and a second gear (1363), the rotating shaft (1361) is rotatably and vertically located on the first bottom shell (1131), a joint (1364) is arranged at the top of the rotating shaft (1361), the joint (1364) penetrates through the cover (1382) and the camera (134) to be in transmission connection, the second gear (1363) and the rotating shaft (1361) are coaxially arranged, the first gear (1362) is vertically arranged at the side of the camera rotating motor (135) and is coaxially arranged with the output shaft of the camera rotating motor (135), and the first gear (1362) and the second gear (1363) are in meshing connection.

8. The modular multi-functional robot of claim 1, characterized in that the robot further comprises at least one additional function part (3), a harness interface (1111) for harness connection, and a pair of main interface components, the harness interface (1111) is located at the connection of the first shell (1132) and the second shell (1282), the main interface components comprise a main connecting rod (1112) and a main interface box, the first shell (1132) is provided with a pair of grooves (1136), the main connecting rod (1112) is located in the groove (1136) and hinged with the first shell (1132), the main body of the main connecting rod (1112) is located in the main interface box, the additional function part (3) is provided with a pair of sub interface components (2), the sub interface components (2) comprise a sub connecting rod (21) and a sub interface box, the sub connecting rod (21) is located in the sub interface box, the main interface box and the auxiliary interface box are detachably connected.

9. The modular multi-function robot according to claim 8, characterized in that the additional function part (3) comprises a cleaning module (31), a pesticide spreading module (32), a carrying module (33), a water spraying module (34) and a water storage module (35);

the cleaning module (31) comprises a first support general plate (311), a first wire harness connector (312), a dust collection motor (313), a dust collection chamber (314) and a first universal wheel (315), wherein the first wire harness connector (312) is positioned at the top of the first support general plate (311) and connected with a wire harness insertion port (1111), and the dust collection motor (313), the dust collection chamber (314) and the first universal wheel (315) are all positioned at the bottom of the first support general plate (311);

the pesticide spreading module (32) comprises a second supporting general plate (321), a pesticide storage box (322), a spraying motor, a second wire harness connector and a second universal wheel (323), wherein the pesticide storage box (322), the spraying motor and the second wire harness connector are all located at the top of the second supporting general plate (321), a pesticide spraying opening (3221) and a pesticide filling opening (3222) are formed in the pesticide storage box (322), and the second universal wheel (323) is located at the bottom of the second supporting general plate (321);

the carrying module (33) comprises a third supporting general plate (331), a multilayer shelf (332) and a third universal wheel (333), wherein the multilayer shelf (332) is positioned at the top of the third supporting general plate (331), and the third universal wheel (333) is positioned at the bottom of the third supporting general plate (331);

the water spraying module (34) comprises a fourth supporting general plate (341), a water storage box (342), a water spraying motor, a third wire harness connector and a fourth universal wheel (343), the first water storage box (342), the water spraying motor and the third wire harness connector are all positioned at the top of the fourth supporting general plate (341), the water storage box (342) is provided with a water spraying opening (3421) and a water inlet (3422), the fourth universal wheel (343) is positioned at the bottom of the fourth supporting general plate (341),

the water storage module (35) comprises a fifth supporting general plate (351), a water storage tank (352) and a fifth universal wheel (353), wherein the water storage tank (352) is located at the top of the fifth supporting general plate (351), a water filling opening (3521) is formed in the top of the water storage tank (352), a water outlet (3522) is formed in the side portion of the water storage tank, a water pipe is arranged between the water outlet (3522) and the water inlet (3422), and the fifth universal wheel (353) is located at the bottom of the fifth supporting general plate (351).

10. The modular multifunctional robot as claimed in claim 9, wherein the cleaning module (31) further comprises a first support rod (316), an adjusting spring (317), a connecting column (318) and a support beam (319), the first support rod (316), the adjusting spring (317), the connecting column (318) and the support beam (319) are all arranged at the bottom of the first support general plate (311), the first support rod (316) is vertically arranged and is distributed in tandem with the first universal wheel (315), a support table (3181) is horizontally arranged on the connecting column (318), the adjusting spring (317) is vertically arranged between the support table (3181) and the first support general plate (311), and the support beam (319) is horizontally arranged at the bottom of the connecting column (318);

the pesticide spreading module (32) further comprises a second supporting rod (324) arranged at the bottom of the second supporting general plate (321), and the second supporting rod (324) is vertically arranged and is distributed in tandem with the second universal wheel (323);

the carrying module (33) further comprises a third supporting rod (334) arranged at the bottom of the third supporting general plate (331), and the third supporting rod (334) is vertically arranged and is distributed in tandem with the third universal wheel (333);

the water spraying module (34) further comprises a fourth support rod (344) arranged at the bottom of the fourth support main plate (341), and the fourth support rod (344) is vertically arranged and is distributed in tandem with the fourth universal wheel (343);

the water storage module (35) further comprises a fifth support rod (354) arranged at the bottom of the fifth support general plate (351), the fifth support rod (354) is vertically arranged and is distributed in tandem with the fifth universal wheel (353), and a water level observation screen (3523) is arranged on the side of the water storage tank (352);

and a plurality of lead screw adjusting mechanisms (25) are arranged on the side surface of the auxiliary interface box.