Mobile robot and robot system

Abstract

The present disclosure provides a mobile robot and a robot system. The mobile robot comprises a mobile body, two main wheel modules and an outer extension component. The two main wheel modules are arranged at intervals along a first direction. Each main wheel module comprises a first wheel frame, a driving wheel and a brushless motor. The first wheel frame is arranged on the mobile body and has a first surface facing the other main wheel module. The driving wheel is rotatably arranged on the first wheel frame. The brushless motor is arranged on the first surface and used to drive the driving wheel. The outer extension component is arranged on the mobile body and can be converted between a folded state and an unfolded state. In the folded state, the outer extension component is arranged between the two brushless motors in the first direction and at least partially sunken to the height position of the main wheel module in the height direction. Through the above design, the present disclosure leaves a larger space between the two main wheel modules to arrange the outer extension component, reduces the space occupation of the outer extension component in the height direction, and at the same time does not need to increase the interval of the two main wheel modules.

Description

Technical Field

[0001] This disclosure relates to the field of robotics, and more particularly to a mobile robot and a robot system. Background Technology

[0002] Existing mobile robots employ designs with external extensions such as robotic arms and hands to achieve specific target tasks, such as grasping and moving objects. For example, when incorporating a robotic arm module into cleaning equipment like a robotic vacuum cleaner, the limited internal space of the vacuum cleaner itself leads to an increase in the overall size of the vacuum cleaner. This makes it impossible to meet the requirements of related fields for slimmer and lighter designs suitable for use in low-ceilinged spaces. Summary of the Invention

[0003] A primary objective of this disclosure is to overcome at least one of the deficiencies of the prior art described above, and to provide a mobile robot with an external extension component that can accommodate both a slim and lightweight design and low-profile use.

[0004] To achieve the above objectives, the present disclosure adopts the following technical solution:

[0005] According to one aspect of this disclosure, a mobile robot is provided, wherein: the mobile robot includes a mobile body, two main wheel modules, and an external extension component; the two main wheel modules are arranged at a distance along a first direction; each main wheel module includes a first wheel frame, a drive wheel, and a brushless motor; the first wheel frame is disposed on the mobile body and has a first surface facing the other main wheel module; the drive wheel is rotatably disposed on the first wheel frame; the brushless motor is disposed on the first surface and is used to drive the drive wheel; the external extension component is disposed on the mobile body and is convertible between a folded state and an unfolded state; in the folded state, the external extension component is arranged between the two brushless motors in the first direction and at least partially sunk to the height position of the main wheel modules in the height direction.

[0006] According to one embodiment of this disclosure, the brushless motor has a drive shaft that is driveably connected to the drive wheel via a transmission assembly; wherein the transmission assembly is disposed on a second side of the first wheel frame facing away from the other main wheel module, and the drive shaft passes through the first wheel frame along the first direction and extends to the second side.

[0007] According to one embodiment of the present disclosure, the drive wheel is disposed on a first surface of the first wheel frame, the drive wheel has an axle that passes through the first wheel frame along the first direction and extends to the second surface, and the axle is drively connected to the transmission assembly.

[0008] According to one embodiment of this disclosure, a receiving groove is provided on a first surface of the first wheel frame, and the drive wheel portion is received in the receiving groove.

[0009] According to one embodiment of this disclosure, a mounting base is provided on the first side of the first wheel frame, and the brushless motor is mounted on the mounting base.

[0010] According to one embodiment of this disclosure, the mobile robot includes a universal wheel module disposed on the mobile body; the universal wheel module is located at the front end of the mobile body in a second direction, the second direction being perpendicular to the first direction, and two main wheel modules are arranged at intervals with the universal wheel module along the second direction; wherein, when the outer extension component is in a folded or unfolded state, the center of gravity of the mobile robot falls on the orthographic projection area of ​​the triangular region defined by the universal wheel module and the two main wheel modules on the horizontal plane.

[0011] According to one embodiment of this disclosure, the outer extension component is a robotic arm, which includes a base plate and a folding arm mechanism; the base plate is disposed on the moving body; the folding arm mechanism includes at least two arms, each arm being rotatably connected in sequence, one of the arms being rotatably connected to the base plate, the rotation axis between the two connected arms being parallel to the rotation axis between the arm and the base plate, and the rotation axis being perpendicular to the extension direction of the arm and parallel to the base plate; one of the distal arms is provided with an actuator; wherein, when the folding arm mechanism is unfolded, at least a portion can extend out of the front side of the moving body in the second direction, so that the actuator can perform a target action.

[0012] According to one embodiment of this disclosure, the robotic arm further includes a rotating base; the rotating base is rotatably disposed on the substrate, and the axis of rotation between the rotating base and the substrate is perpendicular to the substrate; one of the arms of the folding arm mechanism is rotatably connected to the rotating base; in the folded state, the orthographic projection of the arm extends along the first direction, and in the unfolded state, the rotating base rotates to cause the orthographic projection of the arm to extend along the second direction.

[0013] According to one embodiment of this disclosure, the corresponding triangle of the triangular region is an isosceles triangle, and the center line of the isosceles triangle extends along the second direction; wherein the rotating seat is arranged on the center line.

[0014] According to one embodiment of this disclosure, the first wheel frame has a first end and a second end at its two ends in the second direction, respectively. The first end is provided with a pivot and is rotatably connected to the moving body via the pivot. The second direction is perpendicular to the first direction, and the pivot extends parallel to the first direction. The main wheel module also includes a servo motor, which is connected to the first wheel frame via a pull rope. The servo motor can rotate the first wheel frame around the pivot by pulling back or releasing the pull rope. When the pull rope is pulled back, the second end swings downward to raise the entire machine. When the pull rope is released, the second end swings upward to lower the entire machine. The pull rope direction of the servo motor is the same as the rotation direction of the pivot when the entire machine is raised.

[0015] According to one embodiment of this disclosure, along the height direction, the servo is arranged at the same height position as the first end, and along the second direction, the servo is arranged close to the second end.

[0016] According to one embodiment of this disclosure, the servo motor and the first wheel frame are arranged along the first direction; the moving body is provided with a guide tube, the guide tube has a bent structure, the pull rope is passed through the guide tube, and the two ends of the pull rope extend from the two ends of the guide tube and extend parallel to the second direction.

[0017] According to one embodiment of this disclosure, the drive wheel is disposed at the second end, and the brushless motor is disposed between the drive wheel and the first end.

[0018] As can be seen from the above technical solution, the advantages and positive effects of the mobile robot proposed in this disclosure are as follows:

[0019] The mobile robot disclosed herein includes a mobile body, two main wheel modules, and an external extension component. The two main wheel modules are arranged at a distance along a first direction. Each main wheel module includes a first wheel frame, a drive wheel, and a brushless motor. The first wheel frame is disposed on the mobile body and has a first surface facing the other main wheel module. The brushless motor is disposed on the first surface and is used to drive the drive wheel. The external extension component is disposed on the mobile body and can switch between a folded state and an unfolded state. In the folded state, the external extension component is arranged between the two brushless motors in the first direction and is at least partially recessed to the height of the main wheel modules in the height direction. Through the above design, this disclosure utilizes brushless motors as drive motors for the main wheel modules. Taking advantage of the simple structure and small space occupation of brushless motors, a larger space is left between the two main wheel modules to arrange the external extension component, reducing the space occupation of the external extension component in the height direction. At the same time, it is not necessary to increase the distance between the two main wheel modules, avoiding an increase in the overall width of the mobile robot, and can meet the design requirements of thin and light design and low-profile use.

[0020] Another primary objective of this disclosure is to overcome at least one of the deficiencies of the prior art described above and to provide a robot system employing the aforementioned mobile robot.

[0021] To achieve the above objectives, the present disclosure adopts the following technical solution:

[0022] According to another aspect of this disclosure, a robot system is provided, comprising a base station and a mobile robot as proposed in this disclosure and described in the above embodiments.

[0023] As can be seen from the above technical solution, the advantages and positive effects of the robot system proposed in this disclosure are as follows:

[0024] The robot system proposed in this disclosure, by adopting the mobile robot proposed in this disclosure, can leave a large space between the two main wheel modules to arrange the external extension components, reduce the space occupied by the external extension components in the height direction, and at the same time, it does not need to increase the distance between the two main wheel modules, thus avoiding the increase in the overall width of the mobile robot. It can take into account the design requirements of lightweight and thin design and low-profile use. Attached Figure Description

[0025] The various objectives, features, and advantages of this disclosure will become more apparent from the following detailed description of preferred embodiments of the disclosure taken in conjunction with the accompanying drawings. The drawings are merely illustrative illustrations of the disclosure and are not necessarily drawn to scale. In the drawings, the same reference numerals always denote the same or similar parts. Wherein:

[0026] Figure 1 This is a three-dimensional schematic diagram of a mobile robot in one state, according to an exemplary embodiment;

[0027] Figure 2 yes Figure 1 A three-dimensional schematic diagram of the mobile robot in another state is shown;

[0028] Figure 3 yes Figure 1 A top view showing the planar arrangement of some functional components of a mobile robot;

[0029] Figure 4 and Figure 5 They are Figure 1 A three-dimensional schematic diagram of the two main wheel modules and the external extension components of the mobile robot is shown.

[0030] Figure 6 yes Figure 4 Top view;

[0031] Figure 7 This is a 3D schematic diagram of a main wheel module;

[0032] Figure 8 This is a schematic diagram of the planar layout of the omnidirectional wheel module, two main wheel modules, and external extension components of the mobile robot.

[0033] Figure 9 This is a side view of the mobile robot with its external extension components in the deployed state.

[0034] Figure 10 This is a 3D schematic diagram of the robotic arm in its folded state;

[0035] Figure 11 This is a 3D schematic diagram of the robotic arm in its extended state.

[0036] The annotations in the attached figures are explained as follows:

[0037] 100. Moving subject;

[0038] 110. Storage container;

[0039] 111. Warehouse door;

[0040] 200. Robotic arm;

[0041] 210.Substrate;

[0042] 221. First Arm;

[0043] 222. Second arm;

[0044] 223. The third arm;

[0045] 230. Gripper mechanism;

[0046] 240. Rotary seat;

[0047] 310. Universal wheel module;

[0048] 320. Main wheel module;

[0049] 321. First wheel frame;

[0050] 3211. Receiving tank;

[0051] 3212. Mounting bracket;

[0052] 3213. First end;

[0053] 3214. Second end;

[0054] 3215. Shaft;

[0055] 322. Drive wheel;

[0056] 323. Brushless motor;

[0057] 324. Transmission components;

[0058] 325. Servo motor;

[0059] 3251. Pull rope;

[0060] 3252. Guide tube;

[0061] D1. First direction;

[0062] D2. Second direction;

[0063] F1. Direction of the pull rope;

[0064] F2. Direction of rotation;

[0065] O. Centerline;

[0066] S0. Orthographic projection area. Detailed Implementation

[0067] Typical embodiments embodying the features and advantages of this disclosure will be described in detail in the following description. It should be understood that this disclosure can have various variations in different embodiments without departing from the scope of this disclosure, and the descriptions and drawings therein are illustrative in nature and not intended to limit this disclosure.

[0068] In the following description of various exemplary embodiments of this disclosure, reference is made to the accompanying drawings, which form part of this disclosure, and which illustrate by way of example different exemplary structures, systems, and steps that can implement various aspects of this disclosure. It should be understood that other specific embodiments of the components, structures, exemplary devices, systems, and steps may be used, and structural and functional modifications may be made without departing from the scope of this disclosure. Furthermore, while the terms “above,” “between,” “within,” etc., may be used in this specification to describe different exemplary features and elements of this disclosure, these terms are used herein only for convenience, such as the orientation according to the examples described in the accompanying drawings. Nothing in this specification should be construed as requiring a specific three-dimensional orientation of the structure to fall within the scope of this disclosure.

[0069] See Figure 1 The illustration shows a representative perspective view of the mobile robot proposed in this disclosure in one state, specifically showing the state when the outer extension component is folded and the compartment door 111 is closed. In this exemplary embodiment, the mobile robot proposed in this disclosure is illustrated using a robotic vacuum cleaner as an example. It will be readily understood by those skilled in the art that various modifications, additions, substitutions, deletions, or other changes may be made to the specific embodiments described below in order to apply the relevant designs of this disclosure to other types of robots, and these changes are still within the scope of the principles of the mobile robot proposed in this disclosure.

[0070] like Figure 1 As shown, in one embodiment of this disclosure, the mobile robot proposed in this disclosure includes a mobile body 100, two main wheel modules 320, and external extension components. (See also...) Figures 2 to 11 , Figure 2 The diagram shows a representative three-dimensional representation of the mobile robot in another state, specifically showing the state when the external extension components are deployed; Figure 3 The image shows a top view of the planar layout of some functional components of a mobile robot. Figure 4 and Figure 5 The diagram shows representative perspective views of two main wheel modules 320 and the outer extension component, illustrating two rotational states of the main wheel module 320. Figure 4 For example, in a rising state. Figure 5 For example, it is in a downward state; Figure 6 China representatively shows Figure 4 Top view; Figure 7 A three-dimensional schematic diagram of a main wheel module 320 is shown in the figure. Figure 8 The diagram shows a representative planar arrangement of the caster module 310, the two main wheel modules 320, and the external extension components. Figure 9 The image shows a representative side view of the mobile robot with its external extension in the deployed state; Figure 10 The diagram shows a representative three-dimensional representation of the robotic arm in its folded state.

[0071] Figure 11 The figure shows a representative three-dimensional schematic diagram of the robotic arm in its deployed state. The structure, connection methods, and functional relationships of the main components of the mobile robot proposed in this disclosure will be described in detail below with reference to the aforementioned figures.

[0072] like Figures 1 to 7As shown, in one embodiment of this disclosure, two main wheel modules 320 are arranged at a distance along a first direction D1. The first direction D1 can be any direction, as long as it separates the two main wheel modules 320 and allows them to be arranged at intervals. For example, the first direction D1 can specifically be the left-right direction of the mobile robot. Each main wheel module 320 includes a first wheel frame 321, a drive wheel 322, and a brushless motor 323. The first wheel frame 321 is disposed on the mobile body 100 and has a first surface facing the other main wheel module 320. The drive wheel 322 is rotatably disposed on the first wheel frame 321. The brushless motor 323 is disposed on the first surface of the first wheel frame 321 and is used to drive the drive wheel 322. An external extension member is disposed on the mobile body 100 and can switch between a folded state and an unfolded state. For example, in the folded state, the entire outer extension component is within the orthographic projection range of the moving body 100; that is, on the aforementioned reference plane, the entire orthographic projection of the outer extension component is within the orthographic projection range of the moving body 100. In the unfolded state, a portion of the outer extension component extends beyond the orthographic projection range of the moving body 100; that is, on the aforementioned reference plane, a portion of the orthographic projection of the outer extension component is outside the orthographic projection range of the moving body 100. Specifically, in the folded state, the outer extension component is arranged between the two brushless motors 323 in the first direction D1, and the outer extension component is at least partially lowered in the height direction to the height position of the main wheel module 320. Through the above design, this disclosure utilizes a brushless motor 323 as the drive motor for the main wheel module 320. Taking advantage of the brushless motor 323's simple structure and small space occupation, a larger space is left between the two main wheel modules 320 to arrange the external extension component, reducing the space occupied by the external extension component in the height direction. Simultaneously, it avoids increasing the distance between the two main wheel modules 320, preventing an increase in the overall width of the mobile robot, thus balancing the design requirements of a slim and lightweight design and low-profile operation. Specifically, using a plane parallel to the first direction D1 and parallel to the second direction D2 as a reference plane (e.g., a horizontal plane), the orthographic projection of the external extension component lies between the orthographic projections of the two main wheel modules 320. Furthermore, using another plane perpendicular to the first direction D1 and parallel to the second direction D2 as a reference plane (e.g., a vertical plane), the orthographic projection of the external extension component at least partially overlaps with the orthographic projection of the main wheel module 320. In this way, this disclosure allows the external extension component to fully utilize the space between the main wheel modules 320, thereby achieving a slim and compact overall design.

[0073] In one embodiment of this disclosure, the brushless motor 323 has a drive shaft that is connected to the drive wheel 322 via a transmission assembly 324, which may be, for example, a transmission gear set or a transmission belt. Furthermore, the transmission assembly 324 can be disposed on the second side of the first wheel frame 321 facing away from the other main wheel module 320, and the drive shaft passes through the first wheel frame 321 along a first direction D1 and extends to the second side. Through this design, this disclosure avoids the space occupancy problem between the two main wheel modules 320 caused by the transmission assembly 324 being disposed on the first side of the first wheel frame 321.

[0074] like Figure 7 As shown, in one embodiment of this disclosure, the drive wheel 322 can be disposed on the first surface of the first wheel frame 321, that is, the drive wheel 322 and the brushless motor 323 can be disposed on the same side surface of the first wheel frame 321. The drive wheel 322 has an axle that passes through the first wheel frame 321 along a first direction D1 and extends to the second surface, and the axle is drive-connected to the transmission assembly 324. With the above design, since the drive wheel 322 has a certain thickness (along the first direction D1), arranging the drive wheel 322 on the second surface of the first wheel frame 321 would further increase the overall width of the device. This disclosure avoids this problem. Furthermore, since the drive wheel 322 and the brushless motor 323 are located on the same side of the first wheel frame 321, the structural complexity of the first wheel frame 321 can be simplified.

[0075] like Figure 7 As shown, based on the design of the drive wheel 322 being disposed on the first surface of the first wheel frame 321, in one embodiment of this disclosure, the first surface of the first wheel frame 321 may be provided with a receiving groove 3211, in which the drive wheel 322 may be partially accommodated. The portion of the drive wheel 322 not accommodated in the receiving groove 3211 may include the portion in contact with the ground, thereby enabling the drive wheel 322 to perform its walking function. Through the above design, this disclosure can utilize the receiving groove 3211 to accommodate the drive wheel 322, providing protection for the drive wheel 322 and preventing the drive wheel 322 from contacting other components and causing damage to those components.

[0076] like Figure 7 As shown, in one embodiment of this disclosure, a mounting base 3212 may be provided on the first side of the first wheel frame 321, and the brushless motor 323 may be mounted on the mounting base 3212.

[0077] like Figure 8 and Figure 9As shown, in one embodiment of this disclosure, the mobile robot further includes a universal wheel module 310, which is disposed on the mobile body 100 and enables the mobile robot to turn. The universal wheel module 310 is located at the front end of the mobile body 100 in a second direction D2, which is perpendicular to the first direction D1, i.e., the second direction D2 can be the forward and backward direction of the mobile robot. Accordingly, on a reference plane parallel to the bottom surface of the mobile body 100, the universal wheel module 310 and the two main wheel modules 320 jointly define a triangular region S0, and the three wheel sets correspond to the three vertices of the triangular region S0. When the extended component is in a folded or unfolded state, the center of gravity of the mobile robot falls within the orthographic projection region S0 on the horizontal plane of the triangular region defined by the universal wheel module 310 and the two main wheel modules 320. Through the above design, the present disclosure ensures that the center of gravity of the whole machine is always located in the orthographic projection area S0 of the triangular area defined by the universal wheel module 310 and the main wheel module 320 on the horizontal plane during the storage, unfolding and adjustment of the external extension component. This avoids shaking and tilting when the center of gravity of the whole machine is located outside the orthographic projection area S0, thus ensuring the operational stability and reliability of the mobile robot.

[0078] In one embodiment of this disclosure, the caster wheel module 310 may include a second wheel frame and a caster wheel. The second wheel frame is rotatably mounted on the movable body 100, and the axis of rotation of the second wheel frame extends along the height direction. The caster wheel is mounted on the second wheel frame, and the axis of rotation of the caster wheel is perpendicular to the axis of rotation of the second wheel frame. Based on this, the three vertices of the aforementioned triangular region are located at the axis of rotation of the caster wheel and the axes of rotation of the two drive wheels 322, respectively.

[0079] like Figures 9 to 11As shown, in one embodiment of this disclosure, the outer extension component can be a robotic arm 200, which may include a base plate 210 and a folding arm mechanism. Specifically, the base plate 210 is disposed on the moving body 100. The folding arm mechanism includes at least two arms, which are rotatably connected in sequence. One arm (i.e., the first arm 221 described below) is rotatably connected to the base plate 210 (specifically, the rotating seat 240 described below). The rotation axis between the two connected arms is parallel to the rotation axis between the arm and the base plate 210, and the rotation axis is specifically perpendicular to the extension direction of the arm and parallel to the base plate 210. An actuating mechanism is provided on the end arm (e.g., the third arm 223 described below). When the folding arm mechanism is unfolded, i.e., in some postures of the unfolded state, the folding arm mechanism can partially extend out of the front side of the moving body 100 in the second direction D2, so that the actuating mechanism can perform the target action. For example, the actuating mechanism can be a gripper mechanism 230, which can grip an item. Through the above design, this disclosure can utilize a folding arm mechanism including multiple arms to further adjust the robotic arm 200 in the unfolded state, thereby enabling flexible gripping of items in different positions.

[0080] It should be noted that, Figures 9 to 11 In the illustrated embodiment, the folding arm mechanism and the substrate 210 have two rotational degrees of freedom: one rotational degree of freedom corresponds to a rotation axis perpendicular to the extension direction of the arm and parallel to the substrate 210. This rotation axis can specifically be the rotation axis between one arm of the folding arm mechanism (i.e., the first arm 221 described below) and the rotating seat 240 described below, thereby realizing the relative rotation of the entire folding arm mechanism relative to the substrate 210 (i.e., the moving body 100) in the vertical plane; the other rotational degree of freedom corresponds to a rotation axis perpendicular to the extension of the substrate 210. This rotation axis can specifically be the rotation axis between the rotating seat 240 and the substrate 210, thereby realizing the relative rotation of the entire folding arm mechanism relative to the substrate 210 (i.e., the moving body 100) in the horizontal plane. It should be understood that in the above exemplary summary description, the content regarding "one arm is rotatably connected to the substrate 210, and the rotation axis between the two connected arms is perpendicular to the extension direction of the arm and parallel to the substrate 210" refers to the aforementioned "relative rotation of the folding arm mechanism relative to the substrate 210 in the vertical plane". In other words, in other embodiments that conform to the design concept of this disclosure, the folding arm mechanism and the substrate 210 may only have relative rotation in the vertical plane, but not relative rotation in the horizontal plane. For example, the folding arm mechanism may be directly rotatably connected to the substrate 210 via an arm without the need to provide a rotating seat 240, and is not limited to the above embodiments.

[0081] like Figures 9 to 11As shown, based on the design of the robotic arm 200 including a base plate 210 and a folding arm mechanism, in one embodiment of this disclosure, the folding arm mechanism may include, for example, three arms: a first arm 221, a second arm 222, and a third arm 223. Specifically, one end of the first arm 221 is rotatably connected to the base plate 210, one end of the second arm 222 is rotatably connected to the other end of the first arm 221, one end of the third arm 223 is rotatably connected to the other end of the second arm 222, and a gripper mechanism 230 may be disposed at the other end of the third arm 223. Through the above design, this disclosure adopts a three-fold design for the folding arm mechanism, which can achieve better adjustment flexibility of the gripping posture of the robotic arm 200, while avoiding the problems of high structural complexity and large space occupation caused by too many arms in the folding arm mechanism. In some embodiments, when the robotic arm 200 includes a folding arm mechanism, the folding arm mechanism may also include two, four, or more arms, and is not limited to this embodiment.

[0082] like Figures 9 to 11 As shown, based on the design of the robotic arm 200 including a folding arm mechanism, in one embodiment of this disclosure, the corresponding triangle of the aforementioned triangular region is an isosceles triangle, and the center line O of the isosceles triangle extends along the second direction D2. For example, the universal wheel module 310 can be arranged on the axis extending in the front-rear direction of the moving body 100, and the two main wheel modules 320 are symmetrically arranged about this axis as the axis of symmetry, thereby making the triangular region defined by these three wheel sets an isosceles triangle, and the aforementioned center line O of the isosceles triangle is the axis extending in the front-rear direction of the moving body 100. Based on this, in the unfolded state, when at least two arms of the folding arm mechanism rotate relative to each other, the center of gravity of the mobile robot remains on the center line O. Through the above design, while ensuring that the center of gravity of the entire machine is always located in the orthographic projection area S0, this disclosure can further reduce the shaking caused by the folding arm mechanism adjusting different postures, and further improve the stability and reliability of the entire machine.

[0083] like Figure 4 and Figure 10As shown, based on the design of the robotic arm 200 including a base plate 210 and a folding arm mechanism, in one embodiment of this disclosure, the robotic arm 200 may further include a rotating base 240. Specifically, the rotating base 240 is rotatably disposed on the base plate 210, and the axis of rotation between the rotating base 240 and the base plate 210 is perpendicular to the base plate 210, for example, in a vertical direction. One arm of the folding arm mechanism (e.g., the first arm 221) is rotatably connected to the rotating base 240, and the axis of rotation between the first arm 221 and the rotating base 240 is specifically perpendicular to the extension direction of the first arm 221 and parallel to the base plate 210. Through the above design, this disclosure can realize the horizontal rotation of the entire folding arm mechanism relative to the base plate 210, thereby adjusting the orientation of the folding arm mechanism in the horizontal direction. Based on this, in the folded state, the orthographic projection of the arm extends along the first direction D1; in the unfolded state, the rotating base 240 rotates so that the orthographic projection of the arm extends along the second direction D2. Specifically, in the folded state, the extension direction of each arm of the folding arm mechanism can be the left-right direction of the sweeping robot. In other words, the robotic arm 200 can be arranged in a "horizontal" manner between the two main wheel modules 320. Based on this, the maximum rotation angle of the rotating base 240 on the base plate 210 can be 90°, so that the folding arm mechanism extends in front of the moving body 100 in the unfolded state (e.g., ...). Figures 1 to 3 The hollow arrow in the diagram indicates the direction in front of the moving body 100. Specifically, when the robotic arm 200 is unfolded, in addition to the rotation and unfolding of each arm of the folding arm mechanism and the rotation and unfolding between the folding arm mechanism and the rotating base 240, the rotating base 240 can also rotate relative to the base plate 210, so that the horizontally positioned robotic arm 200 when folded can be arranged in front of the sweeping robot after unfolding, so that a part of the robotic arm 200 can extend in front of the moving body 100, so that the gripper mechanism 230 can grip the items located in front of the sweeping robot.

[0084] Based on the design of the robotic arm 200 including the rotary seat 240, in one embodiment of this disclosure, the corresponding triangle of the aforementioned triangular region is an isosceles triangle, and the center line O of the isosceles triangle extends along the second direction D2. Therefore, the rotary seat 240 can be arranged on the center line O.

[0085] like Figures 4 to 7As shown, in one embodiment of this disclosure, the first wheel frame 321 has a first end 3213 and a second end 3214 at its two ends in the second direction D2. The first end 3213 is provided with a pivot 3215, which is rotatably connected to the moving body 100. The pivot 3215 extends parallel to the first direction D1. Furthermore, the main wheel module 320 also includes a servo motor 325, which is connected to the first wheel frame 321 via a pull rope 3251. The servo motor 325 can rotate the first wheel frame 321 around the pivot 3215 by pulling back or releasing the pull rope 3251. Specifically, as... Figure 4 As shown, when the pull rope 3251 is pulled back, the first wheel frame 321 rotates around the pivot 3215, causing the second end 3214 to swing downwards, thereby lifting the entire machine. Figure 5 As shown, when the pull rope 3251 is released, the first wheel frame 321 rotates in the opposite direction around the pivot 3215, causing the second end 3214 to swing upward, thereby lowering the entire machine. The pull rope direction F1 of the servo motor 325 is the same as the rotation direction F2 of the pivot 3215 when the entire machine is raised. For example, with... Figure 4 Taking the drawing as an example, the servo motor 325 drives the pull cable 3251 to the left (e.g., pull cable direction F1 shown in the attached drawing), and the first wheel frame 321 rotates counterclockwise around the shaft 3215 (e.g., rotation direction F2 shown in the attached drawing). Since the connection point between the pull cable 3251 and the first wheel frame 321 is located above the shaft 3215, the motion component at the top of the rotation direction F2 is towards the left, that is, the aforementioned "pull cable direction F1 and rotation direction F2 are the same". Through the above design, this disclosure enables the servo motor 325 to drive the main wheel module 320 to rotate with less lifting force, and reduces the strength requirements of the servo motor 325 and the pull cable 3251.

[0086] like Figure 4 and Figure 6 As shown, based on the design of the main wheel module 320 including a servo motor 325, in one embodiment of this disclosure, along the height direction, the servo motor 325 and the first end 3213 of the first wheel frame 321 are arranged at the same height position, and along the second direction D2, the servo motor 325 is arranged close to the second end 3214. Through the above design, this disclosure can ensure that most of the pull rope 3251 does not tilt, reduce the component force in the height direction, further reduce the required lifting force, and further reduce the strength requirements.

[0087] like Figure 4 and Figure 6As shown, based on the design of the main wheel module 320 including a servo motor 325, in one embodiment of this disclosure, the servo motor 325 and the first wheel frame 321 are arranged along a first direction D1. Based on this, the moving body 100 may be provided with a guide tube 3252, which has a bent structure. A pull rope 3251 passes through the guide tube 3252, with both ends of the pull rope 3251 extending from the two ends of the guide tube 3252 and extending parallel to the second direction D2. Specifically, since the servo motor 325 may be partially staggered in the first direction D1, at least a portion of the pull rope 3251 (e.g., Figure 4 The portion of the pull rope 3251 located between the guide tube 3252 and the servo motor 325 actually extends approximately along the second direction D2, i.e., at a certain angle to the second direction D2. Through the above design, this disclosure offsets the servo motor 325 and the first wheel frame 321 in the first direction D1 to avoid the first wheel frame 321 (e.g., the second end 3214). Based on this, this disclosure utilizes the bending of the guide tube 3252 to guide the movement, thereby ensuring that most of the pull rope 3251 does not tilt, reducing the component force in the first direction D1, further reducing the required lifting force, and further reducing the strength requirements.

[0088] like Figure 7 As shown, in one embodiment of this disclosure, the drive wheel 322 can be disposed at the second end 3214 of the first wheel frame 321, and the brushless motor 323 can be disposed between the drive wheel 322 and the first end 3213. Through the above design, by arranging the drive wheel 322 at the second end 3214, this disclosure can increase the swing amplitude of the drive wheel 322 when the main wheel module 320 rotates around the shaft 3215, which is beneficial for saving energy consumption of the servo motor 325.

[0089] like Figure 1 and Figure 2 As shown, in one embodiment of this disclosure, the mobile body 100 may be provided with a receiving compartment 110, which opens onto the top surface of the mobile body 100. For example, an extension component of the robotic arm 200 is disposed in the receiving compartment 110 and can extend out of the receiving compartment 110 when unfolded. Through the above design, this disclosure arranges the extension component within the mobile body 100, such that the extension component is at least partially housed in the receiving compartment 110 in the folded state, resulting in a smaller height for the mobile robot when the extension component is folded. Accordingly, this disclosure, while utilizing the extension component to achieve an extension function, is more suitable for use in low-ceiling spaces and has a wider range of applications.

[0090] like Figure 1 and Figure 2As shown, based on the design of the mobile body 100 having a receiving compartment 110, in one embodiment of this disclosure, the receiving compartment 110 may be provided with an openable and closable door 111 at its opening. With this design, when, for example, the outer extension component of the robotic arm 200 is in a folded state, this disclosure can use the door 111 to close the opening of the receiving compartment 110, preventing dust, moisture, and debris from falling into the receiving compartment 110, extending the service life of the outer extension component, and simultaneously preventing any impact on other functional components within the mobile body 100.

[0091] It should be noted that the mobile robots shown in the accompanying drawings and described in this specification are merely a few examples among many mobile robots capable of employing the principles of this disclosure. It should be clearly understood that the principles of this disclosure are by no means limited to any detail or component of the mobile robots shown in the accompanying drawings or described in this specification.

[0092] In summary, the mobile robot disclosed herein includes a mobile body 100, two main wheel modules 320, and an external extension component; the two main wheel modules 320 are arranged at intervals along a first direction D1; each main wheel module 320 includes a first wheel frame 321, a drive wheel 322, and a brushless motor 323; the first wheel frame 321 is disposed on the mobile body 100 and has a first surface facing the other main wheel module 320; the brushless motor 323 is disposed on the first surface and is used to drive the drive wheel 322; the external extension component is disposed on the mobile body 100 and can switch between a folded state and an unfolded state; in the folded state, the external extension component is arranged between the two brushless motors 323 in the first direction D1 and at least partially sinks to the height position of the main wheel module 320 in the height direction. Through the above design, this disclosure utilizes a brushless motor 323 as the drive motor for the main wheel module 320. Taking advantage of the simple structure and small space occupied by the brushless motor 323, a larger space is left between the two main wheel modules 320 to arrange the external extension components, reducing the space occupied by the external extension components in the height direction. At the same time, there is no need to increase the distance between the two main wheel modules 320, avoiding the increase in the overall width of the mobile robot. This design can take into account the design requirements of thin and light design and low-profile use.

[0093] Based on the detailed description of several exemplary embodiments of the mobile robot proposed in this disclosure above, an exemplary embodiment of the robot system proposed in this disclosure will be described below.

[0094] In one embodiment of this disclosure, the robot system proposed in this disclosure includes a base station and a mobile robot proposed in this disclosure and described in detail in the above embodiments.

[0095] It should be noted that the robot systems shown in the accompanying drawings and described in this specification are merely a few examples of many robot systems capable of employing the principles of this disclosure. It should be clearly understood that the principles of this disclosure are by no means limited to any detail or component of the robot systems shown in the accompanying drawings or described in this specification.

[0096] In summary, the robot system proposed in this disclosure, by adopting the mobile robot proposed in this disclosure, can leave a large space between the two main wheel modules to arrange the external extension components, reduce the space occupied by the external extension components in the height direction, and at the same time, it does not need to increase the distance between the two main wheel modules, thus avoiding the increase in the overall width of the mobile robot. It can take into account the design requirements of lightweight and thin design and low-profile use.

[0097] The exemplary embodiments of the mobile robots and robot systems disclosed herein have been described and / or illustrated in detail above. However, the embodiments of this disclosure are not limited to the specific embodiments described herein; rather, components and / or steps of each embodiment may be used independently and separately from other components and / or steps described herein. Each component and / or step of one embodiment may also be used in combination with other components and / or steps of other embodiments. In describing the elements / components / etc. described and / or illustrated herein, the terms “a,” “an,” and “the above” are used to indicate the presence of one or more elements / components / etc. The terms “comprising,” “including,” and “having” are used to indicate an open-ended inclusion and mean that additional elements / components / etc. may exist in addition to the listed elements / components / etc. Furthermore, the terms “first” and “second” in the claims and description are used only as illustrative marks and are not intended to limit the numerical scope of the subject matter.

[0098] Although the mobile robots and robot systems disclosed herein have been described with respect to various specific embodiments, those skilled in the art will recognize that modifications may be made to the implementation of this disclosure within the spirit and scope of the claims.

Claims

1. A mobile robot, characterized in that: The mobile robot includes a mobile body, two main wheel modules, and external extension components; Two main wheel modules are arranged at a distance along a first direction; each main wheel module includes a first wheel frame, a drive wheel, and a brushless motor; the first wheel frame is disposed on the mobile body and has a first surface facing the other main wheel module. The drive wheel is rotatably mounted on the first wheel frame; the brushless motor is mounted on the first surface and is used to drive the drive wheel. The outer extension component is disposed on the moving body and can switch between a folded state and an unfolded state; in the folded state, the outer extension component is arranged between the two brushless motors in the first direction and at least partially sunk in the height direction to the height position of the main wheel module; The first wheel frame has a first end and a second end at its two ends in the second direction. The first end is provided with a pivot and is rotatably connected to the moving body via the pivot. The second direction is perpendicular to the first direction, and the pivot extends parallel to the first direction. The main wheel module also includes a servo motor, which is connected to the first wheel frame via a pull cable. The servo motor can rotate the first wheel frame around the pivot by pulling back or releasing the pull cable. When the pull cable is pulled back, the second end swings downward to raise the entire machine. When the pull cable is released, the second end swings upward to lower the entire machine. The pull cable direction of the servo motor is the same as the rotation direction of the pivot when the entire machine is raised. In the vertical direction, the servo motor is arranged at the same height as the first end, and in the second direction, the servo motor is arranged closer to the second end.

2. The mobile robot according to claim 1, characterized in that, The brushless motor has a drive shaft that is connected to the drive wheel via a transmission assembly; wherein the transmission assembly is disposed on the second side of the first wheel frame facing away from the other main wheel module, and the drive shaft passes through the first wheel frame along the first direction and extends to the second side.

3. The mobile robot according to claim 2, characterized in that, The drive wheel is disposed on the first surface of the first wheel frame, the drive wheel has an axle, the axle passes through the first wheel frame along the first direction and extends to the second surface, and the axle is drively connected to the transmission assembly.

4. The mobile robot according to claim 3, characterized in that, The first wheel frame has a receiving groove on its first surface, and the drive wheel portion is received in the receiving groove.

5. The mobile robot according to claim 1, characterized in that, A mounting base is provided on the first side of the first wheel frame, and the brushless motor is mounted on the mounting base.

6. The mobile robot according to claim 1, characterized in that, The mobile robot includes a universal wheel module disposed on the mobile body; the universal wheel module is located at the front end of the mobile body in a second direction, which is perpendicular to the first direction, and the two main wheel modules are arranged at intervals with the universal wheel module along the second direction; wherein, when the outer extension component is in a folded or unfolded state, the center of gravity of the mobile robot falls on the orthographic projection area of ​​the triangular region defined by the universal wheel module and the two main wheel modules on the horizontal plane.

7. The mobile robot according to claim 6, characterized in that, The extended component is a robotic arm, which includes a base plate and a folding arm mechanism. The base plate is disposed on the moving body. The folding arm mechanism includes at least two arms, which are rotatably connected in sequence. One of the arms is rotatably connected to the base plate. The rotation axis between the two connected arms is parallel to the rotation axis between the arm and the base plate, and the rotation axis is perpendicular to the extension direction of the arm and parallel to the base plate. An actuator is provided at the end of one of the arms. When the folding arm mechanism is unfolded, it can partially extend out of the front side of the moving body in the second direction, so that the actuator can perform the target action.

8. The mobile robot according to claim 7, characterized in that, The robotic arm also includes a rotating base; the rotating base is rotatably disposed on the substrate, and the rotation axis between the rotating base and the substrate is perpendicular to the substrate; one of the arms of the folding arm mechanism is rotatably connected to the rotating base; in the folded state, the orthographic projection of the arm extends along the first direction, and in the unfolded state, the rotating base rotates so that the orthographic projection of the arm extends along the second direction.

9. The mobile robot according to claim 8, characterized in that, The corresponding triangle of the triangular region is an isosceles triangle, and the center line of the isosceles triangle extends along the second direction; wherein, the rotating seat is arranged on the center line.

10. The mobile robot according to claim 1, characterized in that, The servo motor and the first wheel frame are arranged along the first direction; the moving body is provided with a guide tube, the guide tube has a bent structure, the pull rope is passed through the guide tube, and the two ends of the pull rope extend from the two ends of the guide tube and extend parallel to the second direction.

11. The mobile robot according to claim 1, characterized in that, The drive wheel is located at the second end, and the brushless motor is located between the drive wheel and the first end.

12. A robot system, characterized in that, This includes base stations and the mobile robot described in any one of claims 1 to 11.

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