CN111923021A - Modular robot - Google Patents

Abstract

The invention provides a modular robot, which includes a base, a main control system, an operating arm, a quick-change device and an end effector group. The quick-change device includes a main quick-change device and several auxiliary quick-change devices. One end of the operating arm is connected to the On the base, the main quick-change device is located at the other end of the operating arm, and the end-effector set is set on the base. The end-effector set can provide a variety of end-effectors for high-voltage line work, and the main quick-change device is facing the end-effector group, the auxiliary quick-change devices of the quick-change device are arranged one-to-one on each end-effector in the end-effector group. The modular robot in the present invention realizes the free and flexible replacement of end effectors with different functions by matching a variety of different end effectors and adopting a uniformly matched quick-change device, so that one robot can meet various operation requirements and simplify the robot The structure greatly improves the efficiency of the robot operation.

Description

a modular robot

technical field

The present invention relates to the field of robot technology, and more particularly, to a modular robot.

Background technique

Because of its high efficiency, precision and low cost, robots are widely used in various large-scale industrial production to replace manual labor in heavy, tedious and repetitive work. With the development of robotics technology, social progress and rising labor costs, the demand for robots is also rising, and their scope of work is expanding in an unstructured environment to engage in assembly, manufacturing, inspection and maintenance work. On the other hand, due to the small space and many work contents in many work environments, one robot needs to be used to complete multiple tasks. For example, the maintenance robot in the high-voltage transmission line needs to be as small and light as possible due to the space limitation of the transmission line and the need to reduce the weight burden on the line as much as possible. At the same time, working at high altitudes requires multiple tasks, such as cleaning hanging objects, re-installing cotter pins, cleaning drainage plates, and tightening bolt connections. Therefore, the robot system is also required to be capable of multi-tasking.

As a general-purpose tool, a robot needs to rely on a suitable end-effector to complete the task. Generally speaking, robot end effectors are special tools, and generally one executor can only complete the same type of tasks.

Chinese patent CN20151057403.4 discloses a multifunctional robot wrist with replaceable end effector, but it only discloses the structure of a wrist, and the structure of the wrist has a cross shaft, which may cause the risk of entanglement with the line when working with high-voltage lines , and it does not disclose the specific parts of the robot and the end effector, which cannot directly meet the needs of the replacement and use of various end effectors in the high-voltage line operation scenario.

SUMMARY OF THE INVENTION

In order to overcome the above-mentioned background art, the wrist structure of the present invention has a cross shaft, and there is a risk of entanglement with the wire during the operation of the high-voltage line, and it does not disclose the specific part of the robot and the end effector, which cannot directly satisfy the high-voltage line. A modular robot is provided to overcome the defects of various end-effector replacement requirements in working scenarios.

In order to solve the above technical problems, the technical solution adopted in the present invention is: a modular robot, comprising a base, a main control system, an operating arm, a quick-change device and an end effector group, the quick-change device includes a main quick-change device and A number of auxiliary quick-changing devices used in cooperation with the main quick-changing device, one end of the operating arm is connected to the base, and the main quick-changing device of the quick-changing device is arranged on the other end of the operating arm, so The end effector group is arranged on the base, the end effector group can provide a variety of end effectors for high-voltage line work, the main quick change device is facing the end effector group, the quick The auxiliary quick-change devices of the changer are arranged one-to-one on each end-effector in the end-effector group; the main control system is respectively independently connected with the operating arm, the quick-change device and the end-effector group .

Further, the end effector group includes an electric wrench actuator, a clamping actuator, a cleaning brush actuator, and three actuator supports arranged on the base. One end of the electric wrench actuator is clamped. One end of the actuator and one end of the cleaning brush actuator are placed on their respective corresponding actuator supports, the other end of the electric wrench actuator, the other end of the clamping actuator and the other end of the cleaning brush actuator are Both ends are connected with the auxiliary quick-change device.

Further, the main quick-change device includes a first quick-change body, a locking air port, a separating air port, a connector and a pneumatic push rod assembly;

The pneumatic push rod assembly is arranged on the first surface of the first quick-change body,

The locking air port and the separating air port are respectively arranged on the side walls of the first quick-change body, and the locking air port and the separating air port are communicated with the pneumatic push rod assembly;

The pneumatic push rod assembly includes a push rod, a first ball and a second ball; the push rod is a hollow barrel structure, the first ball is movably arranged on the barrel wall of the push rod, and the second ball is movable is arranged on the barrel wall of the push rod, and the first ball and the second ball can move radially along the push rod;

When the main control system controls the locking air port and the separation air port to form a first preset air pressure difference, the push rod moves in a direction away from the movable end of the operating arm, and the first ball moves away from the movable end of the operating arm. The central axis of the push rod radially moves until it protrudes on the barrel wall of the push rod, and the second ball moves radially toward the central axis of the push rod until it is recessed in the push rod; When the locking air port and the separating air port form a second preset air pressure difference, the push rod moves in a direction close to the movable end of the operating arm, and the second ball moves away from the center of the push rod The axial direction radially moves until it protrudes on the barrel wall of the push rod, and the first ball moves radially in the direction close to the central axis of the push rod until it is recessed in the push rod;

The other end of the operating arm is fixedly connected with the second surface of the first quick-change body.

Further, the auxiliary quick-change device includes a second quick-change body, a first inner concave surface and a second inner concave surface;

The second quick-change body is provided with a channel matched with the pneumatic push rod assembly, so that the pneumatic push rod assembly can slide into the channel;

The first inner concave surface is arranged on the channel, the first inner concave surface is matched with the first ball, and when the first ball moves radially away from the center of the push rod , so that the first ball is clamped and fixed in the first inner concave surface, so that the main quick-change device and the auxiliary quick-change device are fixedly connected;

Further, the second inner concave surface is arranged on the channel, the second inner concave surface is matched with the second ball, and the second ball is radially away from the center of the push rod. During the upward movement, the second ball slides in the second inner concave surface, so that the main quick-change device and the auxiliary quick-change device are separated.

Further, the electric wrench actuator includes a first connecting flange, a first casing, an output shaft, a sleeve, a mounting seat, a power transmission mechanism, and a first controller connected in communication with the main control system; the first controller One side of a connecting flange is connected with the auxiliary quick-change device, and the other side is connected with the first casing, the power transmission mechanism is arranged inside the first casing, and one end of the output shaft is connected to the first casing. The power transmission mechanism is connected, and the other end is connected to the sleeve through the first housing, the mounting seat is arranged on the first housing, the first controller is arranged in the mounting seat, so The first controller is connected to the power transmission mechanism.

Further, the first shell includes a first shell and a second shell; the first shell is connected with the connecting flange, and the second shell is connected with the first shell.

Further, the clamping actuator includes a second connecting flange, a second housing, a clamping power mechanism, a clamping finger, a clamping transmission mechanism, and a second controller connected in communication with the main control system. One side of the second connecting flange is connected with the auxiliary quick-change device, and the other side is connected with the second casing. The clamping power mechanism and the second controller are arranged inside the second casing. One end of the clamping transmission mechanism is drivingly connected with the output end of the clamping power mechanism, and the other end is connected with the clamping fingers; the second controller is controlled and connected with the clamping power mechanism to control the clamping fingers to open and close or stop.

Further, the second shell includes a third shell, a fourth shell and a fifth shell which are connected in sequence, the connecting flange is connected with the outer wall of the third shell, and the control board is located in the Inside the third casing, the power mechanism is fixedly arranged in the fourth casing.

Further, the cleaning brush actuator includes a third connecting flange, a third housing, a brush body, a driving motor, a flexible connecting piece, and a third controller that is communicatively connected to the main control system, the third connecting One side of the flange is connected with the auxiliary quick-change device, and the other side is connected with the third casing. The third controller and the drive motor are located in the third casing, and the third controller is connected to the third casing. The drive motor is controlled and connected, the output shaft of the drive motor is connected to one end of the flexible connecting piece, and the other end of the flexible connecting piece is connected to the brush body.

Further, the brush body includes a brush rod and a cleaning cloth, one end of the brush rod is connected to the other end of the flexible connector, and the cleaning cloth is wrapped on the brush rod.

Compared with the prior art, the beneficial effects are:

1. The modular robot in the present invention realizes the free and flexible replacement of end effectors with different functions by matching a variety of different end effectors and using a uniformly matched quick-change device, so that one robot can meet a variety of operation requirements and simplify the operation. The structure of the robot is improved, and the efficiency of the robot operation is greatly improved.

2. The quick-change device in the present invention includes a main quick-change device and a plurality of quick-change devices, which realizes one-to-many cooperation, and is very convenient to combine and separate, and has strong controllability, so that the end of the robot's operating arm can be replaced. It makes the operation easier and improves the efficiency of the robot to replace the end effector.

Description of drawings

FIG. 1 is a schematic diagram of the overall structure of the present invention.

FIG. 2 is a schematic structural diagram of the main quick-change device in the present invention.

FIG. 3 is a schematic structural diagram of a secondary quick changer in the present invention.

FIG. 4 is a schematic structural diagram of the combination of the main quick-change device and the secondary quick-change device in the present invention.

5 is a schematic structural diagram of an electric wrench actuator in the present invention.

FIG. 6 is a schematic view of the structure of the clamping actuator in the present invention.

FIG. 7 is a schematic structural diagram of the interior of the cleaning brush actuator in the present invention.

FIG. 8 is a schematic diagram of the present invention during operation of a high-voltage line.

Detailed ways

The accompanying drawings are for illustrative purposes only, and should not be construed as limitations on this patent; in order to better illustrate the present embodiment, some parts of the accompanying drawings may be omitted, enlarged or reduced, and do not represent the size of the actual product; for those skilled in the art It is understandable to the artisan that certain well-known structures and descriptions thereof may be omitted from the drawings. The positional relationships described in the drawings are only for exemplary illustration, and should not be construed as a limitation on the present patent.

As shown in FIG. 1, it is a modular robot, including a base 1, a main control system, an operating arm 2, a quick-change device and an end effector group. The quick-change device includes a main quick-change device 3 and several A secondary quick-change device 4 used in conjunction with the main quick-change device 3 , one end of the operating arm 2 is connected to the base 1 , and the main quick-change device 3 of the quick-change device is provided on the other end of the operating arm 2 , the end-effector group is arranged on the base 1, the end-effector group can provide a variety of end-effectors for high-voltage line work, and the main quick-change device 3 is facing the end-effector group , the auxiliary quick-changing device 4 of the quick-changing device is arranged on each end effector in the end-effector group one-to-one; the main control system is respectively connected with the operating arm 2, the quick-changing device and the The end effector groups are connected independently.

The end effector group includes an electric wrench actuator 5, a clamping actuator 6, a cleaning brush actuator 7 and three actuator supports 8 arranged on the base 1. One end of the electric wrench actuator 5 is , One end of the clamping actuator 6 and one end of the cleaning brush actuator 7 are placed on their respective corresponding actuator supports 8, the other end of the electric wrench actuator 5, the other end of the clamping actuator 6 The auxiliary quick-change device 4 is connected to one end and the other end of the cleaning brush actuator 7 .

As shown in FIGS. 2 and 4 , the main quick-change device 3 includes a first quick-change body 9 , a locking air port 10 , a separate air port 11 and a pneumatic push rod assembly; the pneumatic push rod assembly is arranged on the first quick-change body 9 . On one side, the locking air port 10 and the separating air port 11 are respectively arranged on the side wall of the first quick-change body 9, and the locking air port 10 and the separating air port 11 are communicated with the pneumatic push rod assembly; the pneumatic push rod assembly includes the push rod 12, The first ball 13 and the second ball 14; the push rod 12 is a hollow barrel structure, the first ball 13 is movably arranged on the barrel wall 15 of the push rod, the second ball 14 is movably arranged on the barrel wall 15 of the push rod, and the first ball 13 and the second ball 14 can move radially along the push rod 12; when the locking air port 10 and the separating air port 11 form the first air pressure difference, the push rod 12 moves in the direction away from the movable end of the operating arm 2, and the first air pressure difference is formed. The ball 13 moves radially away from the center of the push rod 12 until it protrudes on the barrel wall 15 of the push rod, and the second ball 14 moves radially toward the center of the push rod 12 until it is recessed in the push rod 12; lock the air port When the second air pressure difference is formed between 10 and the separation air port 11, the push rod 12 moves in the direction close to the movable end of the operating arm 2, and the second ball 14 moves radially away from the center of the push rod 12 until it protrudes in the barrel of the push rod. wall 15, the first ball 13 radially moves toward the center of the push rod until it is recessed in the push rod 12;

The main quick-change device 3 of the embodiment of the present application is further provided with a first positioning pin 16, a countersunk hole 17 and a first positioning hole 18; the first positioning pin 16 is symmetrically arranged on the first quick-change body around the outer circumference of the pneumatic push rod assembly On the first side of 9, the first positioning pin 16 is used to cooperate with the second positioning hole 24 of the auxiliary quick changer 4 to achieve positioning; On the first surface of the changer body 9, the main quick changer 3 is fixed on the movable end of the operating arm 2 by using bolts and countersunk holes 17; the first positioning holes 18 are evenly distributed on the first quick On the first surface of the exchange body 9, the first positioning hole 18 is used for cooperating with the second positioning pin 23 of the auxiliary quick changer 4 to achieve positioning.

As shown in FIGS. 3 and 4 , the auxiliary quick-change device 4 includes a second quick-change body 19 , a first inner concave surface 20 and a second inner concave surface 21 , and the second quick-change body 19 is provided with a pneumatic push rod. The matching channel 22 of the assembly enables the pneumatic push rod assembly to slide into the channel 22; the first inner concave surface 20 is arranged on the channel 22, the first inner concave surface 20 is matched with the first ball 13, and the first ball When the 13 moves radially away from the center of the push rod 12, the first ball 13 is clamped and fixed in the first inner concave surface 20, so that the main quick-change device 3 and the auxiliary quick-change device 4 are fixedly connected; the second The inner concave surface 21 is arranged on the channel, and the second inner concave surface 21 is matched with the second ball 14. When the second ball 14 moves radially away from the center of the push rod 12, the second ball 14 slides on the first ball. On the two inner concave surfaces 21 , the main quick-change device 3 and the auxiliary quick-change device 4 are separated.

The auxiliary quick changer 4 of this embodiment is further provided with a second positioning pin 23 and a second positioning hole 24; the second positioning pin 23 is arranged on the second quick change body 19 around the outer circumference of the channel 22, The second positioning hole 24 is distributed on the second quick-changing body 19 around the outer circumference of the channel 22, and the second positioning hole 24 is used for connecting with the main quick-changing device 3. The first positioning pin 16 of the changing device 3 is matched and connected to realize the positioning function.

As shown in FIG. 5 , the electric wrench actuator 5 includes a first connecting flange 501 , a first housing, an output shaft 504 , a sleeve 505 , a mounting seat 506 , and a power transmission mechanism (inside the figure, not shown) and a first controller 508 communicatively connected to the main control system; one side of the first connecting flange 501 is connected to the auxiliary quick-change device 4, the other side is connected to the first housing, the The power transmission mechanism is arranged inside the first casing. One end of the output shaft 504 is connected to the power transmission mechanism, and the other end passes through the first casing and is connected to the sleeve 505 . The mounting seat 506 It is arranged on the first housing, the mounting seat 506 is provided with a cover plate 507 covering the first controller 508, the first controller 508 is arranged in the mounting seat 506, and the first controller A device 508 is connected to the power transmission mechanism.

The first shell includes a first shell 502 and a second shell 503 ; the first shell 502 is connected with the connecting flange, and the second shell 503 is connected with the first shell 502 .

As shown in FIG. 6 , the clamping actuator 6 includes a second connecting flange 601 , a second housing, a clamping power mechanism (inside the figure, not shown), a clamping finger 605 , and a clamping transmission mechanism 604 And the second controller connected in communication with the main control system, one side of the second connecting flange 601 is connected with the auxiliary quick-change device 4, the other side is connected with the second shell, the clip The holding power mechanism and the second controller are arranged inside the second casing, one end of the holding transmission mechanism 604 is drivingly connected to the output end of the holding power mechanism, and the other end is connected to the holding finger 605; the second The controller is in control connection with the gripping power mechanism to control the gripping fingers 605 to open, close or stop.

The second shell includes a third shell 602, a fourth shell 603 and a fifth shell which are connected in sequence, the connecting flange is connected with the outer wall of the third shell 602, and the control board is located at the outer wall of the third shell 602. Inside the third casing 602 , the power mechanism is fixed in the fourth casing 603 .

As shown in FIG. 7 , the cleaning brush actuator 7 includes a third connecting flange 701 , a third housing 704 , a brush body, a driving motor 703 , a flexible connecting piece 705 and a third connecting flange 701 , which is communicatively connected to the main control system. The controller 702, one side of the third connecting flange 701 is connected with the auxiliary quick-change device 4, and the other side is connected with the third housing 704, the third controller 702 and the drive motor 703 are located at Inside the third housing 704 , the third controller 702 is controlled and connected to the drive motor 703 , and the output shaft 504 of the drive motor 703 is connected to one end of the flexible connecting piece 705 and the other end of the flexible connecting piece 705 . The other end is connected to the brush body.

The brush body includes a brush rod 706 and a cleaning cloth 707 , one end of the brush rod 706 is connected to the other end of the flexible connecting member 705 , and the cleaning cloth 707 is wrapped on the brush rod 706 .

The working principle of this embodiment is as follows: the main control system can be integrated in the operating arm 2, and independently control the operating arm 2, the quick-change device, and each end effector, and the end effector group is located at the docking station corresponding to the movable end of the operating arm 2. Generally, when the quick-change device is connected, the movable end of the operating arm 2 is directly opposite to the corresponding end effector, so that the operating arm 2 can be automatically connected to each end effector and control it; The electric wrench actuator 5, the clamping actuator 6 and the cleaning brush actuator 7 are different end effectors. In other embodiments, other types of end effectors can also be used; when using this system for work, The desired end effector can be selected and placed beside the operating arm 2 according to the job needs, and the manipulating arm 2 with suitable degrees of freedom and configuration can be constructed at the same time; if only two tasks are required, only two end effectors need to be installed. This reduces the mass of the robotic system.

A typical application of this embodiment is to perform maintenance operations in high-voltage power transmission lines to complete three tasks of tightening bolts and nuts, cleaning the drain plate, and re-installing cotter pins. A specific robot high-voltage line operation system is shown in Figure 8 It uses a mobile platform as a robot system to place a platform base 1, which is suspended on a high-voltage power transmission line and can cross obstacles on the wire. Before the overhaul of the high-voltage power transmission line, the robot system is debugged and the mobile platform and the robot system are lifted to the high-voltage power transmission line. Then control the mobile platform to move to the maintenance point, and control the robot to move to connect to the corresponding end effector (electric wrench actuator 5, clamping actuator 6 or cleaning brush actuator 7) according to the specific maintenance task, and then complete the corresponding put it back into the end effector after the job task has been completed. Then continue to conduct inspections on the power transmission line to the next maintenance operation point, and then connect to the corresponding end effector to complete the task until the required task is completed; in the system, the type and number of end effectors can be Replacement and increase or decrease.

In the end effector group, take the electric wrench actuator 5 as an example, when the electric wrench actuator 5 needs to be used for work, the main quick-change device 3 on the operating arm 2 first moves to the electric wrench actuator 5 to connect the auxiliary Quick change device 4, so as to realize the control of the electric wrench, and then control the movement of the robot according to the needs and complete the bolt connection tightening operation in combination with the rotation of the electric wrench actuator 5. When necessary, the potentiometer of the controller can be adjusted to Adjust the output speed and force of the sleeve 505. After completing the operation, control the movement of the robot and put the electric wrench actuator 5 back to the corresponding position to prepare for the next operation. The whole process is very simple to control, with good versatility and adjustability. high. Similarly, when it is necessary to clamp the actuator 6 to work, the operating arm 2 moves to the clamping actuator 6, combines with the clamping actuator 6, controls the second controller in the clamping actuator 6, and activates the clamping power The mechanism drives the gripping fingers to do the gripping action through the gripping transmission mechanism; when the cleaning brush actuator 7 needs to work, the operating arm 2 moves to the cleaning brush actuator 7, and combines with the cleaning brush actuator 7 to control the cleaning brush actuator 7 The third controller in 7, the third controller pneumatically drives the motor, and the drive motor drives the brush body to do the cleaning action through the flexible connecting piece.

The modular robot in this embodiment uses a uniformly matched quick-change device to realize the free and flexible replacement of end effectors with different functions by matching a variety of different end effectors, so that one robot can meet a variety of operation requirements and simplify the The structure of the robot greatly improves the efficiency of the robot operation.

Obviously, the above-mentioned embodiments of the present invention are only examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. For those of ordinary skill in the art, changes or modifications in other different forms can also be made on the basis of the above description. There is no need and cannot be exhaustive of all implementations here. Any modifications, equivalent replacements and improvements made within the spirit and principle of the present invention shall be included within the protection scope of the claims of the present invention.

Claims (10)

1. A modular robot is characterized by comprising a base, a main control system, an operating arm, a quick-change device and an end effector group capable of providing multiple end effectors, wherein the quick-change device comprises a main quick-change device and a plurality of auxiliary quick-change devices matched with the main quick-change device, one end of the operating arm is connected to the base, the main quick-change device is arranged at the other end of the operating arm, the end effectors are arranged on the base, the main quick-change device is opposite to the end effector group, and the auxiliary quick-change devices are arranged on the end effectors in a one-to-one manner; the operating arm, the quick change device and the tail end executor group are respectively and independently connected with the main control system.

2. The modular robot as claimed in claim 1, wherein the end effector group comprises an electric wrench actuator, a clamping actuator, a cleaning brush actuator and 3 actuator supports arranged on the base, one end of the electric wrench actuator, one end of the clamping actuator and one end of the cleaning brush actuator are all arranged on the corresponding actuator supports, and the other end of the electric wrench actuator, the other end of the clamping actuator and the other end of the cleaning brush actuator are all connected with the auxiliary quick-change device.

3. The modular robot of claim 1, wherein the primary quick-change device comprises a first quick-change body, a locking air port, a separating air port, a connector, and a pneumatic push rod assembly;

the pneumatic push rod assembly is arranged on the first surface of the first quick-change body,

the locking air port and the separation air port are respectively arranged on the side wall of the first quick-change body and are communicated with the pneumatic push rod assembly;

the pneumatic push rod assembly comprises a push rod, a first ball and a second ball; the push rod is of a hollow barrel-shaped structure, the first ball bearing is movably arranged on the barrel wall of the push rod, the second ball bearing is movably arranged on the barrel wall of the push rod, and the first ball bearing and the second ball bearing can move along the push rod in the radial direction;

when the main control system controls the locking air port and the separation air port to form a first preset air pressure difference, the push rod moves towards the direction far away from the movable end of the operating arm, the first ball moves radially towards the direction far away from the central shaft of the push rod until protruding out of the barrel wall of the push rod, and the second ball moves radially towards the direction close to the central shaft of the push rod until being sunken in the push rod; when a second preset air pressure difference is formed between the locking air port and the separating air port, the push rod moves towards the direction close to the movable end of the operating arm, the second ball moves radially towards the direction far away from the central shaft of the push rod until protruding out of the barrel wall of the push rod, and the first ball moves radially towards the direction close to the central shaft of the push rod until being sunken in the push rod;

the other end of the operating arm is fixedly connected with the second surface of the first quick-change body.

4. The modular robot of claim 3, wherein the secondary quick-change means comprises a second quick-change body, a first concave profile and a second concave profile;

the second quick-change body is provided with a channel matched with the pneumatic push rod assembly, so that the pneumatic push rod assembly can slide into the channel;

the first concave surface is arranged on the channel, the first concave surface is matched with the first ball, and when the first ball moves radially in the direction far away from the center of the push rod, the first ball is clamped and fixed in the first concave surface, so that the main quick-change device is fixedly connected with the auxiliary quick-change device;

the second concave surface is arranged on the channel and matched with the second ball, and when the second ball moves radially in the direction far away from the center of the push rod, the second ball slides in the second concave surface, so that the main quick-change device is separated from the auxiliary quick-change device.

5. The modular robot of claim 2, wherein the electric wrench actuator includes a first coupling flange, a first housing, an output shaft, a sleeve, a mount, a power transmission mechanism, and a first controller communicatively coupled to the master control system; one side of the first connecting flange is connected with the auxiliary quick-change device, the other side of the first connecting flange is connected with the first shell, the power transmission mechanism is arranged in the first shell, one end of the output shaft is connected with the power transmission mechanism, the other end of the output shaft penetrates out of the first shell and is connected with the sleeve, the mounting seat is arranged on the first shell, the first controller is arranged in the mounting seat, and the first controller is connected with the power transmission mechanism.

6. The modular robot of claim 5, wherein the first enclosure comprises a first shell and a second shell; the first shell is connected with the connecting flange, and the second shell is connected with the first shell.

7. The modular robot as claimed in claim 2, wherein the clamping actuator comprises a second connecting flange, a second housing, a clamping power mechanism, clamping fingers, a clamping transmission mechanism and a second controller in communication connection with the main control system, one side of the second connecting flange is connected with the auxiliary quick-change device, the other side of the second connecting flange is connected with the second housing, the clamping power mechanism and the second controller are arranged inside the second housing, one end of the clamping transmission mechanism is in transmission connection with the output end of the clamping power mechanism, and the other end of the clamping transmission mechanism is connected with the clamping fingers; the second controller is in control connection with the clamping power mechanism to further control the clamping fingers to open, close or stop.

8. The modular robot of claim 7, wherein the second housing comprises a third housing, a fourth housing and a fifth housing, the third housing, the fourth housing and the fifth housing are sequentially connected, the connecting flange is connected with the outer wall of the third housing, the control panel is located inside the third housing, and the power mechanism is fixedly arranged inside the fourth housing.

9. The modular robot of claim 2, wherein the cleaning brush actuator comprises a third connecting flange, a third housing, a brush body, a driving motor, a flexible connecting member, and a third controller communicatively connected to the main control system, the third connecting flange is connected to the auxiliary quick-change device on one side and to the third housing on the other side, the third controller and the driving motor are located in the third housing, the third controller is in control connection with the driving motor, an output shaft of the driving motor is connected to one end of the flexible connecting member, and the other end of the flexible connecting member is connected to the brush body.

10. The modular robot of claim 9, wherein the brush body comprises a brush bar and a cleaning cloth, the brush bar is connected to the other end of the flexible connector, and the cleaning cloth is wrapped around the brush bar.

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