A robot capable of omni-directional movement
Patent Information
- Application Number
- CN202610656266.4
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2026-05-12
- Publication Date
- 2026-08-07
AI Technical Summary
当贴靠池壁3进行清洁时，泳池机器人只能前进或后退，以使得泳池机器人沿池壁移动，但由于行走履带的阻隔，清洁滚刷无法贴紧池壁，由此便导致池底面靠近池壁的区域（即图1中虚线与池壁之间的区域）不能得到清洁
[0034]本申请提出的可全向移动的机器人包括主体，主体上设置有第一履带行走装置、第二履带行走装置、第三履带行走装置和第四履带行走装置，其中，通过控制第一履带行走装置、第二履带行走装置、第三履带行走装置和第四履带行走装置的履带朝向对应的方向转动，从而调整主体的移动方向，使得主体可向前移动、向后移动、向左移动或向右移动，如此，机器人便可以实现对现有技术中所存在的清洁盲区的清洁。
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Figure CN122518889A_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of robotics technology, specifically to an omnidirectional robot. Background Technology
[0002] A pool robot is an automated device that can perform underwater cleaning of the bottom of a swimming pool.
[0003] Current pool robots include a drive unit, which comprises two walking tracks 1 (each track is positioned on one side of the machine's width), and a cleaning roller 2 is positioned between the two tracks. Under the action of the drive unit, the pool robot can achieve linear motion, including forward and backward movement. When moving forward or backward, the direction of movement of the pool robot is parallel to its own length direction.
[0004] Reference Figure 1 Existing pool cleaning robots have blind spots: during cleaning, both of the robot's tracks are positioned on the pool bottom. When cleaning against the pool wall 3, the robot can only move forward or backward to follow the wall, but due to the obstruction of the tracks, the cleaning brush cannot maintain close contact with the wall, resulting in blind spots on the pool bottom near the wall (i.e.,...). Figure 1 The area between the dashed line and the pool wall cannot be cleaned.
[0005] Reference Figure 2 If the pool robot can move laterally (i.e., move in a straight line parallel to its own width, parallel to...) Figure 2 If the cleaning roller moves vertically (in the vertical direction), it can adhere closely to the pool wall and clean the aforementioned blind spots. However, how to achieve lateral movement of the pool robot is a problem that urgently needs to be solved. Summary of the Invention
[0006] The purpose of this application is to overcome the shortcomings of the prior art and provide an omnidirectional robot to solve the problems in the prior art.
[0007] To address the aforementioned issues, this application provides an omnidirectional robot, comprising a main body, on which a first tracked walking device, a second tracked walking device, a third tracked walking device, and a fourth tracked walking device are mounted.
[0008] The first tracked traveling device and the third tracked traveling device are respectively installed on the left front side and the left rear side of the main body, and are arranged sequentially along the forward direction parallel to the main body; the second tracked traveling device and the fourth tracked traveling device are respectively installed on the right front side and the right rear side of the main body, and are arranged sequentially along the forward direction parallel to the main body.
[0009] Specifically, by driving the tracks of the first tracked walking device, the second tracked walking device, the third tracked walking device, and the fourth tracked walking device to rotate in their respective directions, the movement direction of the main body is adjusted, allowing the main body to move forward, backward, left, or right.
[0010] In one possible implementation, the omnidirectionally movable robot has a forward mode, a backward mode, a left-moving mode, and a right-moving mode:
[0011] When in the forward mode, the tracks of the first tracked walking device, the second tracked walking device, the third tracked walking device, and the fourth tracked walking device all rotate in the first rotation direction, so that the main body moves forward.
[0012] When in the backward mode, the tracks of the first tracked walking device, the second tracked walking device, the third tracked walking device, and the fourth tracked walking device all rotate in the second rotation direction, so that the main body moves backward.
[0013] When in the left-moving mode, the rotation direction of the tracks of both the first tracked walking device and the fourth tracked walking device is the first rotation direction, and the rotation direction of the tracks of both the second tracked walking device and the third tracked walking device is the second rotation direction, so that the main body moves to the left.
[0014] When in the right-moving mode, the rotation direction of the tracks of both the first tracked walking device and the fourth tracked walking device is the second rotation direction, and the rotation direction of the tracks of both the second tracked walking device and the third tracked walking device is the first rotation direction, so that the main body moves to the right.
[0015] Wherein, the first rotation direction is opposite to the second rotation direction.
[0016] In one possible implementation, both the first tracked walking device and the fourth tracked walking device have first type tracks, and a plurality of first ridges are evenly distributed on the outer circumferential surface of the first type tracks; the first ridges are inclined relative to the traveling direction of the main body; wherein, on the first type tracks, a first water passage groove is formed between two adjacent first ridges.
[0017] Both the second tracked walking device and the third tracked walking device have second type tracks, and multiple second ridges are evenly distributed on the outer circumference of the second type track; the second ridges are inclined relative to the traveling direction of the main body; wherein, on the second type track, a second water passage groove is formed between two adjacent second ridges;
[0018] The first convex strip and the second convex strip have opposite inclination directions.
[0019] In one possible implementation, the first tracked walking device is drivenly connected to a first roller brush, and the rotation direction of the first roller brush and the track of the first tracked walking device are synchronized.
[0020] The second tracked walking device is connected to a second roller brush, and the rotation direction of the second roller brush and the track of the second tracked walking device are synchronized.
[0021] The third tracked walking device is connected to a third roller brush, and the rotation direction of the third roller brush and the track of the third tracked walking device are synchronized.
[0022] The fourth tracked walking device is connected to a fourth roller brush, and the rotation direction of the fourth roller brush and the track of the fourth tracked walking device are synchronized.
[0023] In one possible implementation, the first roller brush and the fourth roller brush are first type roller brushes, and the second roller brush and the third roller brush are second type roller brushes;
[0024] The first type of roller brush includes a first cleaning module; the first cleaning module includes a plurality of first brush teeth arranged sequentially along the circumference of the first type of roller brush; the first brush teeth are inclined and the inclination direction is the same as that of the first protrusion; wherein, a first drainage groove is formed between two adjacent first brush teeth of the first cleaning module.
[0025] The second type of roller brush includes a second cleaning module; the second cleaning module includes a plurality of second brush teeth arranged sequentially along the circumference of the second type of roller brush; the second brush teeth are inclined and the inclination direction is the same as that of the second protrusion; wherein, a second drainage groove is formed between two adjacent second brush teeth of the second cleaning module.
[0026] In one possible implementation, the first type of roller brush includes a plurality of first cleaning modules, wherein the plurality of first cleaning modules are arranged sequentially along the width direction of the first type of roller brush.
[0027] The second type of roller brush includes a plurality of second cleaning modules, wherein the plurality of second cleaning modules are arranged sequentially along the width direction of the second type of roller brush.
[0028] In one possible implementation, the first roller brush and the second roller brush are coaxially arranged, and both the first roller brush and the second roller brush are located between the tracks of the first tracked walking device and the second tracked walking device.
[0029] The third roller brush and the fourth roller brush are coaxially arranged, and both the third roller brush and the fourth roller brush are located between the tracks of the third tracked traveling device and the fourth tracked traveling device.
[0030] In one possible implementation, the first tracked traveling device, the second tracked traveling device, the third tracked traveling device, and the fourth tracked traveling device all include a drive device.
[0031] In one possible implementation, a suction port is provided at the bottom of the main body, a suction device is provided inside the main body, the suction device includes a water pump, the water inlet of the water pump is connected to the suction port, and the water outlet of the water pump is provided at the top of the main body.
[0032] In one possible implementation, the water pump inlet and the sludge suction port are connected through a filter device.
[0033] The beneficial effects of this application include at least the following:
[0034] The omnidirectional robot proposed in this application includes a main body, on which a first tracked walking device, a second tracked walking device, a third tracked walking device, and a fourth tracked walking device are provided. By controlling the tracks of the first, second, third, and fourth tracked walking devices to rotate in the corresponding directions, the movement direction of the main body can be adjusted, allowing the main body to move forward, backward, left, or right. In this way, the robot can clean the blind spots that exist in the prior art. Attached Figure Description
[0035] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.
[0036] Figure 1 A schematic diagram showing the existing pool robot in a first position relative to the pool wall is shown;
[0037] Figure 2 A schematic diagram showing the second positional relationship between an existing pool robot and the pool wall is shown;
[0038] Figure 3 A schematic diagram of a robot capable of omnidirectional movement is shown;
[0039] Figure 4 A bottom view of a robot capable of omnidirectional movement is shown;
[0040] Figure 5 A schematic diagram of the force analysis of an omnidirectional robot is shown.
[0041] Figure 6 It shows Figure 4 Left schematic diagram of the first and third tracks;
[0042] Figure 7 A schematic diagram of the force analysis of an omnidirectional robot in forward mode is shown.
[0043] Figure 8 A schematic diagram of the force analysis of an omnidirectional robot in backward mode is shown.
[0044] Figure 9 A schematic diagram of the force analysis of a robot capable of omnidirectional movement in leftward shift mode is shown.
[0045] Figure 10 A schematic diagram of the force analysis of a robot capable of omnidirectional movement in right-moving mode is shown.
[0046] Figure 11 A schematic diagram of a first type of track is shown;
[0047] Figure 12 A schematic diagram of a second type of track is shown;
[0048] Figure 13 A schematic diagram of a first-type roller brush is shown;
[0049] Figure 14 A schematic diagram of a second type of roller brush is shown.
[0050] Explanation of key component symbols:
[0051] 1-Traveling track, 2-Cleaning roller brush, 3-Pool wall, 10-Main body, 11-First side, 12-Second side, 100-First track traveling device, 110-First track, 120-First roller brush, 200-Second track traveling device, 210-Second track, 220-Second roller brush, 300-Third track traveling device, 310-Third track, 320-Third roller brush, 400-Fourth track traveling device, 410-Fourth track, 420-Fourth roller brush, 510-First convex strip, 520-First water passage, 610-Second convex strip, 620-Second water passage, 710-First brush tooth, 720-First drainage channel, 810-Second brush tooth, 820-Second drainage channel, 910-Suction port, 920-Drain port. Detailed Implementation
[0052] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the technical solutions of this application will be described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that the described embodiments are merely some embodiments of this application, not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.
[0053] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.
[0054] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.
[0055] In the description of this application, the serial numbers assigned to components, such as "first," "second," etc., are only used to distinguish the described objects and have no sequential or technical meaning. Furthermore, unless otherwise specified, the terms "connection" and "linkage" used in this application include both direct and indirect connections (linkages).
[0056] See Figure 3 and Figure 4 In this embodiment, an omnidirectional robot is proposed, including a main body 10, on which a first tracked walking device 100, a second tracked walking device 200, a third tracked walking device 300 and a fourth tracked walking device 400 are provided.
[0057] The first tracked traveling device 100 and the third tracked traveling device 300 are respectively installed on the left front side and the left rear side of the main body 10, and are arranged sequentially along the forward direction parallel to the main body 10. The second tracked traveling device 200 and the fourth tracked traveling device 400 are respectively installed on the right front side and the right rear side of the main body 10, and are arranged sequentially along the forward direction parallel to the main body 10.
[0058] Reference Figure 7 The forward direction of the main body 10 is as shown by arrow P in the diagram. Specifically, the forward direction of the main body 10 is the same as the direction in which the main body moves forward.
[0059] In this embodiment, when moving forward and backward, the movement directions of the main body are opposite and both are parallel to the length direction of the main body 10; when moving left and right, the movement directions of the main body 10 are opposite and both are parallel to the width direction of the main body 10. (Refer to...) Figure 4 The vertical direction is parallel to the length direction of the main body 10, and the horizontal direction is parallel to the width direction of the main body 10.
[0060] Specifically, by driving the tracks of the first tracked walking device 100, the second tracked walking device 200, the third tracked walking device 300, and the fourth tracked walking device 400 to rotate in their respective directions, the moving direction of the main body 10 is adjusted, so that the main body 10 (while keeping its orientation unchanged) can move forward, backward, left, or right.
[0061] For ease of description, the tracks of the first tracked traveling device 100, the second tracked traveling device 200, the third tracked traveling device 300, and the fourth tracked traveling device 400 are respectively referred to as the first track 110, the second track 210, the third track 310, and the fourth track 410.
[0062] Reference Figure 5 and Figure 6 When an omnidirectional robot moves, the overall force distribution is broken down as follows:
[0063] Fx: The resultant force of ground friction on the robot along its own length;
[0064] Fy: The resultant force of ground friction on the robot along its width.
[0065] Fz: The resultant force exerted by the water on all tracks and all rollers;
[0066] Fx1: In the upward view, a component force generated by the ground friction on the first track 110 and the first roller brush 120, the direction of which is parallel to the length direction of the main body 10;
[0067] Fy1: In the upward view, the first track 110 and the first roller brush 120 are subjected to a component force generated by the ground friction, and the direction of this component force is parallel to the width direction of the main body 10.
[0068] Fz1: The force exerted by the water on the first track 110 and the first roller brush 120 when viewed from below (the direction of the force is generally circumferential to the first track 110 and the first roller brush 120).
[0069] Fx2: In the upward view, a component force generated by the ground friction on the second track 210 and the second roller brush 220, the direction of which is parallel to the length direction of the main body 10;
[0070] Fy2: In the upward view, the second track 210 and the second roller brush 220 are subjected to a component force generated by the ground friction, and the direction of this component force is parallel to the width direction of the main body 10.
[0071] Fz2: The force exerted by the water on the second track 210 and the second roller brush 220 when viewed from below (the direction of the force is generally circumferential to the second track 210 and the second roller brush 220).
[0072] Fx3: In the upward view, a component force generated by the ground friction on the third track 310 and the third roller brush 320, the direction of which is parallel to the length direction of the main body 10;
[0073] Fy3: In the upward view, the third track 310 and the third roller brush 320 are subjected to a component force generated by the ground friction, and the direction of this component force is parallel to the width direction of the main body 10.
[0074] Fz3: The force exerted by the water on the third track 310 and the third roller brush 320 when viewed from below (the direction of the force is generally circumferential to the third track 310 and the third roller brush 320).
[0075] Fx4: In the upward view, a component force generated by the ground friction on the fourth track 410 and the fourth roller brush 420, the direction of which is parallel to the length direction of the main body 10;
[0076] Fy4: In the upward view, the fourth track 410 and the fourth roller brush 420 are subjected to a component force generated by the ground friction, and the direction of this component force is parallel to the width direction of the main body 10.
[0077] Fz4: The force exerted by the water on the fourth track 410 and the fourth roller brush 420 when viewed from below (the direction of the force is generally circumferential to the fourth track 410 and the fourth roller brush 420).
[0078] The ground mentioned in this application includes the bottom of the swimming pool.
[0079] It is important to note that Figure 5 The arrow directions shown are for illustrative purposes only. In other embodiments, the arrow directions corresponding to each force may be in the same or opposite directions as shown in the illustration. For example, when the rotation direction of the track of each track-walking device changes accordingly, the direction of Fx is vertically upward or vertically downward (as shown in the illustration).
[0080] Reference Figure 6 The right side of the first track 110 and the third track 310 is the side in contact with the ground.
[0081] Reference Figures 7-10 The omnidirectional robot has forward, backward, leftward, and rightward movement modes. Figure 7 and Figure 10 All are bottom views of the robot.
[0082] In forward mode, the tracks of the first tracked walking device 100, the second tracked walking device 200, the third tracked walking device 300, and the fourth tracked walking device 400 all rotate in the first rotation direction, so that the main body 10 moves forward ( Figure 7 Moving in the direction indicated by the middle arrow p) enables the robot to move forward;
[0083] In reverse mode, the tracks of the first tracked traveling device 100, the second tracked traveling device 200, the third tracked traveling device 300, and the fourth tracked traveling device 400 all rotate in the second rotation direction, so that the main body 10 moves backward. Figure 8 Moving in the direction indicated by the middle arrow p) enabled the robot to move backward;
[0084] In the left-shifting mode, the tracks of both the first tracked traveling device 100 and the fourth tracked traveling device 400 rotate in the first rotation direction, and the tracks of both the second tracked traveling device 200 and the third tracked traveling device 300 rotate in the second rotation direction, so that the main body 10 moves to the left ( Figure 9 The robot moved in the direction indicated by the middle arrow p, thus moving to the left. Figure 9 (View shown)
[0085] In the right-shift mode, the tracks of both the first tracked traveling device 100 and the fourth tracked traveling device 400 rotate in the second rotation direction, while the tracks of both the second tracked traveling device 200 and the third tracked traveling device 300 rotate in the first rotation direction, so that the main body 10 moves to the right ( Figure 10 The robot moved to the right by moving in the direction indicated by the middle arrow p. Figure 10 (The view shown).
[0086] In this embodiment, the frictional force generated when the tracks rotate and contact the ground is decomposed into longitudinal and lateral components. Specifically, by independently controlling the rotational speed and direction of the four tracks on both sides, the component forces generated by each track are vector-synthesized to obtain a resultant force in any direction, enabling the robot to move in all directions.
[0087] The first rotation direction is opposite to the second rotation direction. (Refer to...) Figure 6 The first rotation direction is clockwise, and the second rotation direction is counterclockwise. Figure 6 In the diagram, the dashed arrow inside the first track 110 indicates that the first track 110 rotates in a first rotation direction; the dashed arrow inside the third track 310 indicates that the third track 310 rotates in a second rotation direction.
[0088] In forward mode, Fx = Fx1 + Fx2 + Fx3 + Fx4 ≠ 0, Fz = Fz1 + Fz2 + Fz3 + Fz4 = 0, and Fy = Fy1 = Fy2 = Fy3 = Fy4 = 0. At this time, the combined traction force is directed in the forward direction, and the robot moves forward. Fz1 and Fz2 are of the same magnitude but opposite in direction, and Fz3 and Fz4 are of the same magnitude but opposite in direction.
[0089] In backward mode, Fx = Fx1 + Fx2 + Fx3 + Fx4 ≠ 0, Fz = Fz1 + Fz2 + Fz3 + Fz4 = 0, and Fy = Fy1 = Fy2 = Fy3 = Fy4 = 0. At this time, the combined traction force is directed in the backward direction, causing the robot to move backward. Fz1 and Fz2 are of the same magnitude but opposite in direction, and Fz3 and Fz4 are of the same magnitude but opposite in direction.
[0090] When in left-moving mode, Fx=Fx1+Fx2+Fx3+Fx4=0, Fz=Fz1+Fz2+Fz3+Fz4≠0, Fy=Fy1+Fy2+Fy3+Fy4≠0. At this time, by controlling the speed of each drive motor, the resultant force of Fz and Fy is greater than 0 and the direction of the resultant force is towards the left-moving direction. Then the overall traction force is towards the left-moving direction, and the robot moves to the left.
[0091] When in right-moving mode, Fx=Fx1+Fx2+Fx3+Fx4=0, Fz=Fz1+Fz2+Fz3+Fz4≠0, Fy=Fy1+Fy2+Fy3+Fy4≠0. At this time, by controlling the speed of each drive motor, the resultant force of Fz and Fy is greater than 0 and the direction of the resultant force is towards the right-moving direction. Then the overall traction force is towards the right-moving direction, and the robot moves to the right.
[0092] Based on one or more of the above embodiments, as a preferred implementation, the tracks of the first tracked walking device 100 and the second tracked walking device 200 are mirror-symmetrical (the first protrusion 510 on the first tracked walking device 100 and the second protrusion 610 on the second tracked walking device 200 are also mirror-symmetrical), and are respectively placed on both sides of the width direction of the main body 10; the tracks of the third tracked walking device 300 and the fourth tracked walking device 400 are mirror-symmetrical (the second protrusion 610 on the third tracked walking device 300 and the first protrusion 510 on the fourth tracked walking device 400 are also mirror-symmetrical), and are respectively placed on both sides of the width direction of the main body 10.
[0093] Both the first tracked walking device 100 and the fourth tracked walking device 400 use first-type tracks.
[0094] like Figure 11 As shown, a plurality of first protrusions 510 are evenly distributed on the outer circumferential surface of the first type of track. The first protrusions 510 are inclined relative to the traveling direction of the main body 10, and the width direction of the first protrusions 510 is not parallel to that of the main body 10. A first water passage 520 is formed between two adjacent first protrusions 510 on the first type of track. When the robot is running underwater, water flows within the first water passage 520 during the operation of the first type of track. The flowing water interacts with the first protrusions 510, thereby generating a corresponding thrust on the first type of track.
[0095] Both the second tracked walking device 200 and the third tracked walking device 300 use second-type tracks.
[0096] like Figure 12 As shown, multiple second protrusions 610 are evenly distributed on the outer circumferential surface of the second type of track. The second protrusions 610 are inclined relative to the traveling direction of the main body 10, and the width direction of the second protrusions 610 is not parallel to that of the main body 10. A second water channel 620 is formed between adjacent second protrusions 610 on the second type of track. When the robot is operating underwater, water flows within the second water channel 620 during the operation of the second type of track. The flowing water interacts with the second protrusions 610, thereby generating a corresponding thrust on the first type of track.
[0097] The first protrusion 510 and the corresponding second protrusion 610 are mirror images of each other and have opposite inclination directions.
[0098] Based on one or more of the above embodiments, as a preferred implementation, the first tracked walking device 100 is drivenly connected to a first roller brush 120, and the rotation direction of the first roller brush 120 and the track of the first tracked walking device 100 is synchronized. Specifically, the first roller brush 120 and the first track 110 also operate synchronously.
[0099] The second tracked traveling device 200 is connected to a second roller brush 220, and the rotation direction of the second roller brush 220 and the track of the second tracked traveling device 200 is synchronized. Specifically, the second roller brush 220 and the second track 210 also operate synchronously.
[0100] The third tracked traveling device 300 is connected to a third roller brush 320, and the rotation direction of the third roller brush 320 and the track of the third tracked traveling device 300 is synchronized. Specifically, the third roller brush 320 and the third track 310 also operate synchronously.
[0101] The fourth tracked traveling device 400 is connected to a fourth roller brush 420, and the rotation direction of the fourth roller brush 420 and the track of the fourth tracked traveling device 400 is synchronized. Specifically, the fourth roller brush 420 and the fourth track 410 also operate synchronously.
[0102] Based on one or more of the above embodiments, as a preferred implementation, the first roller brush 120 and the fourth roller brush 420 are first type roller brushes, and the second roller brush 220 and the third roller brush 320 are second type roller brushes.
[0103] like Figure 13 As shown, the first type of roller brush includes a first cleaning module, wherein the first brush teeth 710 located in the same column belong to the same first cleaning module.
[0104] The first cleaning module includes a plurality of first brush teeth 710 arranged sequentially along the circumference of a first type of roller brush. The first brush teeth 710 are inclined, and the inclination direction is the same as that of the first protrusion 510. A first drainage groove 720 is formed between two adjacent first brush teeth 710 of the first cleaning module. When the robot is running underwater, during the operation of the first type of roller brush, water flows in the first drainage groove 720, and the flowing water generates an interaction force with the first brush teeth 710, thereby generating a corresponding thrust on the first type of roller brush.
[0105] like Figure 14 As shown, the second type of roller brush includes a second cleaning module, wherein the second brush teeth 810 located in the same column belong to the same second cleaning module.
[0106] The second cleaning module includes multiple second brush teeth 810 arranged sequentially along the circumference of the second type of roller brush. The second brush teeth 810 are inclined, and the inclination direction is the same as that of the second protrusion 610. A second drainage groove 820 is formed between adjacent second brush teeth 810 of the second cleaning module. When the robot is operating underwater, water flows within the second drainage groove 820 during the operation of the second type of roller brush. The flowing water interacts with the second brush teeth 810, thereby generating a corresponding thrust on the second type of roller brush.
[0107] Based on one or more of the above embodiments, as a preferred implementation, the first type of roller brush includes a plurality of first cleaning modules, wherein the plurality of first cleaning modules are arranged along the width direction of the first type of roller brush ( Figure 13 Set them sequentially in the horizontal direction.
[0108] The second type of roller brush includes multiple second cleaning modules, wherein the multiple second cleaning modules are arranged along the width direction of the second type of roller brush. Figure 14 Set them sequentially in the horizontal direction.
[0109] The width direction of both the first type of roller brush and the second type of roller brush is consistent with the width direction of the main body 10.
[0110] Based on one or more of the above embodiments, as a preferred implementation, the first roller brush 120 and the second roller brush 220 are coaxially arranged, and both the first roller brush 120 and the second roller brush 220 are located between the tracks of the first tracked walking device 100 and the second tracked walking device 200.
[0111] The third roller brush 320 and the fourth roller brush 420 are coaxially arranged, and both the third roller brush 320 and the fourth roller brush 420 are located between the tracks of the third track traveling device 300 and the fourth track traveling device 400.
[0112] Based on one or more of the above embodiments, as a preferred implementation, the first tracked traveling device 100, the second tracked traveling device 200, the third tracked traveling device 300, and the fourth tracked traveling device 400 each include an independent drive unit. Each drive unit operates independently.
[0113] Based on one or more of the above embodiments, as a preferred implementation, the driving device includes a drive motor.
[0114] The bottom of the main body 10 is provided with a suction port 910, and a suction device is provided inside the main body 10. The suction device includes a water pump, the water inlet of the water pump is connected to the suction port 910, and the water outlet 920 of the water pump is provided at the top of the main body 10.
[0115] The water pump inlet and the sewage suction port 910 are connected through a filter device, which can filter and collect the sucked-in sewage.
[0116] The suction port 910 is located in the center area of the bottom of the main body 10, and the drain port 920 is located in the center area of the top of the main body 10, thereby ensuring that the friction between each track and the roller brush and the ground is consistent (the same or approximately the same).
[0117] The omnidirectional robot proposed in this application has the following advantages:
[0118] 1. While keeping the orientation of the main body 10 unchanged, it can move in all directions and clean all parts of the ground, solving the problem of blind spots in cleaning of existing robots;
[0119] 2. It employs multiple tracked walking devices working in coordination, giving it excellent obstacle-crossing and traction capabilities;
[0120] 3. By setting up water channels and drainage channels, the robot can make full use of the thrust provided by the water during operation and assist the robot in moving.
[0121] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.
[0122] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.
Claims
1. A robot capable of omnidirectional movement, characterized in that, It includes a main body, on which a first tracked traveling device, a second tracked traveling device, a third tracked traveling device, and a fourth tracked traveling device are provided; The first tracked traveling device and the third tracked traveling device are respectively installed on the left front side and the left rear side of the main body, and are arranged sequentially along the forward direction parallel to the main body; the second tracked traveling device and the fourth tracked traveling device are respectively installed on the right front side and the right rear side of the main body, and are arranged sequentially along the forward direction parallel to the main body. Specifically, by driving the tracks of the first tracked walking device, the second tracked walking device, the third tracked walking device, and the fourth tracked walking device to rotate in their respective directions, the movement direction of the main body is adjusted, allowing the main body to move forward, backward, left, or right.
2. The omnidirectional robot according to claim 1, characterized in that, The omnidirectional robot has forward, backward, left, and right movement modes: When in the forward mode, the tracks of the first tracked walking device, the second tracked walking device, the third tracked walking device, and the fourth tracked walking device all rotate in the first rotation direction, so that the main body moves forward. When in the backward mode, the tracks of the first tracked walking device, the second tracked walking device, the third tracked walking device, and the fourth tracked walking device all rotate in the second rotation direction, so that the main body moves backward. When in the left-moving mode, the rotation direction of the tracks of both the first tracked walking device and the fourth tracked walking device is the first rotation direction, and the rotation direction of the tracks of both the second tracked walking device and the third tracked walking device is the second rotation direction, so that the main body moves to the left. When in the right-moving mode, the rotation direction of the tracks of both the first tracked walking device and the fourth tracked walking device is the second rotation direction, and the rotation direction of the tracks of both the second tracked walking device and the third tracked walking device is the first rotation direction, so that the main body moves to the right. Wherein, the first rotation direction is opposite to the second rotation direction.
3. The omnidirectional robot according to claim 2, characterized in that, Both the first tracked walking device and the fourth tracked walking device have first type tracks, and multiple first ridges are evenly distributed on the outer circumference of the first type track; the first ridges are inclined relative to the traveling direction of the main body; wherein, on the first type track, a first water passage groove is formed between two adjacent first ridges. Both the second tracked walking device and the third tracked walking device have second type tracks, and multiple second ridges are evenly distributed on the outer circumference of the second type track; the second ridges are inclined relative to the traveling direction of the main body; wherein, on the second type track, a second water passage groove is formed between two adjacent second ridges; The first convex strip and the second convex strip have opposite inclination directions.
4. The omnidirectionally movable robot according to claim 3, characterized in that, The first tracked walking device is connected to a first roller brush, and the rotation direction of the first roller brush and the track of the first tracked walking device are synchronized. The second tracked walking device is connected to a second roller brush, and the rotation direction of the second roller brush and the track of the second tracked walking device are synchronized. The third tracked walking device is connected to a third roller brush, and the rotation direction of the third roller brush and the track of the third tracked walking device are synchronized. The fourth tracked walking device is connected to a fourth roller brush, and the rotation direction of the fourth roller brush and the track of the fourth tracked walking device are synchronized.
5. The omnidirectional robot according to claim 4, characterized in that, The first roller brush and the fourth roller brush are of the first type of roller brush, and the second roller brush and the third roller brush are of the second type of roller brush; The first type of roller brush includes a first cleaning module; the first cleaning module includes a plurality of first brush teeth arranged sequentially along the circumference of the first type of roller brush; the first brush teeth are inclined and the inclination direction is the same as that of the first protrusion; wherein, a first drainage groove is formed between two adjacent first brush teeth of the first cleaning module. The second type of roller brush includes a second cleaning module; the second cleaning module includes a plurality of second brush teeth arranged sequentially along the circumference of the second type of roller brush; the second brush teeth are inclined and the inclination direction is the same as that of the second protrusion; wherein, a second drainage groove is formed between two adjacent second brush teeth of the second cleaning module.
6. The omnidirectional robot according to claim 5, characterized in that, The first type of roller brush includes a plurality of first cleaning modules, wherein the plurality of first cleaning modules are arranged sequentially along the width direction of the first type of roller brush; The second type of roller brush includes a plurality of second cleaning modules, wherein the plurality of second cleaning modules are arranged sequentially along the width direction of the second type of roller brush.
7. The omnidirectional robot according to claim 4, characterized in that, The first roller brush and the second roller brush are coaxially arranged, and both the first roller brush and the second roller brush are located between the tracks of the first track traveling device and the second track traveling device. The third roller brush and the fourth roller brush are coaxially arranged, and both the third roller brush and the fourth roller brush are located between the tracks of the third tracked traveling device and the fourth tracked traveling device.
8. The omnidirectional robot according to claim 1, characterized in that, The first tracked traveling device, the second tracked traveling device, the third tracked traveling device, and the fourth tracked traveling device all include a drive device.
9. The omnidirectional robot according to claim 1, characterized in that, The bottom of the main body is provided with a suction port, and a suction device is provided inside the main body. The suction device includes a water pump, the water inlet of which is connected to the suction port, and the water outlet of which is located at the top of the main body.
10. The omnidirectional robot according to claim 9, characterized in that, The water pump inlet and the sewage suction port are connected through a filter device.