Self-adaptive mechanism and adjustable mobile robot device

Abstract

The utility model discloses a self-adaptive mechanism and an adjustable mobile robot device, and relates to the field of robots, and the self-adaptive mechanism comprises a stabilizing unit which comprises a rotating assembly and an auxiliary assembly; the moving unit comprises a stretching assembly and a driving assembly. By arranging the moving unit, the robot moves, when an uneven road section is met, the robot body can be kept relatively balanced through the stabilizing unit, and the problem that an existing Mecanum wheel moving robot is insufficient in terrain adaptability and cannot adapt to the uneven road section is solved. Meanwhile, the main body is arranged, the requirement of standing on the robot can be changed by replacing or disassembling the front foot board and the rear foot board, the bearing frame can be matched with different vehicle types of bodies in white by arranging the assembling assembly and the control assembly, the assembling efficiency and precision of the robot and the different vehicle bodies in white are improved, and the practicability is high. And meanwhile, the safety and reliability of the robot are improved.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to an adaptive mechanism and an adjustable mobile robot device. Background Art

[0002] With the rapid development of automation and artificial intelligence technology, mobile robots have been widely used in many fields. In complex and unknown environments, mobile robots need to have high flexibility and adaptability so that they can adapt to various terrains and mission requirements. In existing mobile robot technology, the flexibility and adaptability of mobile robots are improved by using Mecanum wheels as driving wheels.

[0003] Existing Mecanum wheel drive wheels often have some problems, such as the poor adaptability of non-suspension Mecanum wheel robots to terrain, the complex structure of vertical suspension Mecanum wheels, and the difficulty of manufacturing and assembly, which limits the adaptability and efficiency of mobile robots. At the same time, the inability of mobile robots to change wheelbase and length makes it difficult to change the needs of standing people, which limits the scope of use and application effect of mobile robots. In addition, existing charging devices are often not flexible and convenient enough, and cannot achieve automatic charging and fast charging, which also limits the efficiency and convenience of mobile robots. Utility Model Content

[0004] The purpose of this section is to summarize some aspects of the embodiments of the utility model and briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this section and the specification abstract and utility model name of this application to avoid blurring the purpose of this section, specification abstract and utility model name, and such simplifications or omissions cannot be used to limit the scope of the utility model.

[0005] In view of the problem that the mobile robot in the prior art has insufficient adaptability to terrain and cannot adapt to uneven roads, the present utility model is proposed.

[0006] Therefore, the technical problem to be solved by the utility model is that the existing Mecanum wheel mobile robot has insufficient adaptability to terrain and cannot adapt to uneven roads.

[0007] In order to solve the above technical problems, the utility model provides the following technical solutions: an adaptive mechanism, which includes a stabilizing unit, the stabilizing unit includes a rotating component and an auxiliary component arranged on one side of the rotating component; and,

[0008] The moving unit is arranged at one end of the rotating component, and comprises an extension component and a driving component connected to one side of the auxiliary component.

[0009] As a preferred solution of the adaptive mechanism of the utility model, wherein: the rotating component includes a connecting shaft and a rotating member connected to one side of the auxiliary component; the rotating member includes a fastening block arranged at one end of the connecting shaft and a balancing wheel installed on one side of the connecting shaft.

[0010] As a preferred solution of the adaptive mechanism of the utility model, the auxiliary component includes a support and a connecting member connected to one side of the balance wheel; the connecting member is arranged on one side of the support, including a connecting frame and an extension plate installed on one side of the connecting frame.

[0011] As a preferred solution of the adaptive mechanism described in the utility model, the extension component includes a swing frame arranged at one end of the connecting shaft and a limiting groove installed on one side of the swing frame, the swing frame is shaped as an inverted V shape, and the limiting groove is connected to the driving component.

[0012] As a preferred solution of the adaptive mechanism of the utility model, the driving assembly includes a moving wheel and a driving block arranged at one end of the moving wheel, and a fixing plate is installed at one side of the moving wheel.

[0013] Beneficial effects of the utility model: the utility model enables the robot to move by setting a mobile unit. When encountering an uneven road section, the robot body can be kept relatively balanced by the stabilizing unit, thereby solving the problem that the existing Mecanum wheel mobile robot is insufficiently adaptable to the terrain and cannot adapt to the uneven road surface.

[0014] In actual use, the existing mobile robots are not modular enough and the charging methods are not flexible enough.

[0015] In order to solve the above technical problems, the utility model also provides the following technical solutions: an adjustable mobile robot device, comprising a main body, the main body comprising a mounting frame, a body, and a stepping platform, the body is connected to the mounting frame, the stepping platform is arranged on one side of the mounting frame, the mounting frame is provided with a first mounting frame and a second mounting frame, and the stepping platform is provided with a first stepping platform and a second stepping platform; and,

[0016] An assembly component, the assembly component comprising a plug-in component, an adjusting component, and a receiving frame, the adjusting component is arranged on one side of the plug-in component, and the plug-in component is installed on one end of the receiving frame;

[0017] A control component, the control component includes a two-dimensional code reader, a photoelectric sensor, and a starter, the two-dimensional code reader is installed on one side of the body, and the photoelectric sensor is arranged at one end of the receiving frame;

[0018] The control component also includes a supplementary component and a display component. The supplementary component is arranged on one side of the machine body and on the ground, and the display component is installed on both sides of the main body.

[0019] As a preferred solution of the adjustable mobile robot device of the utility model, the connector includes a positioning pin, a cushion block box installed at one end of the receiving frame, and a mounting hole connected to the positioning pin.

[0020] As a preferred solution of the adjustable mobile robot device of the utility model, wherein: the adjusting member includes a connecting plate, one side of the connecting plate is connected to the photoelectric sensor, and the connecting plate is provided with an arc groove.

[0021] As a preferred solution of the adjustable mobile robot device of the utility model, the starting member includes a laser radar, a switch and a touch edge, the laser radar and the touch edge are installed on one side of the platform, and the switch is connected to the laser radar through a signal.

[0022] As a preferred solution of the adjustable mobile robot device described in the utility model, the supplementary parts include a charging brush plate and a charging electrode plate, the charging brush plate is installed on the ground, and the charging brush plate is connected to the charging electrode plate, and the charging electrode plate is installed at one end of the body.

[0023] The beneficial effects of the utility model are as follows: a main body is set up, and the demand for people standing on the robot can be changed by replacing or disassembling the front step and the rear step; assembly components and control components are set up, so that the receiving frame can be adapted to the white bodies of different models, thereby improving the efficiency and accuracy of assembling the robot with different white bodies, and at the same time also improving the safety and reliability of the robot; in addition, the function of flexible charging is realized through the control component. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions of the embodiments of the present utility model, the following briefly introduces the drawings required for the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. Among them:

[0025] Figure 1 It is a partial structural diagram of the utility model.

[0026] Figure 2 It is a partial structural diagram of the utility model.

[0027] Figure 3 It is a partial diagram of the utility model.

[0028] Figure 4It is the overall structure diagram of the utility model.

[0029] Figure 5 It is a partial structural diagram of the utility model.

[0030] Figure 6 for Figure 4 Structural diagram of area A in the middle.

[0031] Figure 7 for Figure 4 Structural diagram of area B in the middle. DETAILED DESCRIPTION

[0032] In order to make the above-mentioned purposes, features and advantages of the present invention more understandable, the specific implementation methods of the present invention are described in detail below in conjunction with the accompanying drawings.

[0033] In the following description, many specific details are set forth to facilitate a full understanding of the present invention, but the present invention may also be implemented in other ways different from those described herein, and those skilled in the art may make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0034] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure or characteristic that may be included in at least one implementation of the present invention. The term "in one embodiment" that appears in different places in this specification does not necessarily refer to the same embodiment, nor is it a separate or selective embodiment that is mutually exclusive with other embodiments.

[0035] Example 1

[0036] Reference Figure 1 to Figure 3 , which is the first embodiment of the utility model, and provides an adaptive mechanism, which solves the problem that the existing Mecanum wheel mobile robot has insufficient adaptability to terrain and cannot adapt to uneven roads, and includes a stabilizing unit 100 and a mobile unit 200.

[0037] Specifically, the stabilizing unit 100 includes a rotating assembly 101 and an auxiliary assembly 102 disposed outside the rotating assembly 101 . The rotating assembly 101 is in contact with and connected to the inner side of the auxiliary assembly 102 , so that the rotating assembly 101 is relatively fixed by the auxiliary assembly 102 .

[0038] Furthermore, the moving unit 200 is arranged at one end of the rotating component 101, including an extension component 201 fixedly connected to the outside of the auxiliary component 102 and a driving component 202, and the driving component 202 is arranged on the outside of the extension component 201, that is, the auxiliary component 102 and the driving component 202 are installed on the extension component 201.

[0039] During use, when the driving component 202 starts to run, it drives the extension component 201 to move. Since the outer side of the extension component 201 is also fixedly connected to the auxiliary component 102, the auxiliary component 102 moves synchronously. When the robot touches an uneven road surface, the driving component 202 tilts, causing the extension component 201 to tilt as well. Since the auxiliary component 102 is fixedly connected thereto, the auxiliary component 102 rotates a corresponding angle, and the rotating component 101 is in contact with the auxiliary component 102. Therefore, the rotating component 101 is relatively still, does not rotate, and maintains balance, so that the robot chassis can adapt to the uneven road surface.

[0040] In summary, the mobile unit 200 is provided to enable the robot to move, and when encountering an uneven road section, the stabilizing unit 100 can be used to keep the robot body relatively balanced, thereby solving the problem that the existing Mecanum wheel mobile robot is insufficiently adaptable to the terrain and cannot adapt to the uneven road surface.

[0041] Example 2

[0042] Reference Figure 1 to Figure 3 , which is the second embodiment of the utility model, and this embodiment is based on the previous embodiment,

[0043] Specifically, the rotating component 101 includes a connecting shaft 101a and a rotating member 101b which is in contact with and connected to the inner side of the auxiliary component 102, and the rotating member 101b is arranged on the outer side of the connecting shaft 101a; the rotating member 101b includes a fastening block 101b-1 arranged on the top of the connecting shaft 101a and a balancing wheel 101b-2 installed on the outer side of the connecting shaft 101a, and the balancing wheel 101b-2 is interference fit with the connecting shaft 101a, that is, when the connecting shaft 101a rotates, the inner wall of the balancing wheel 101b-2 is driven to rotate, and the fastening block 101b-1 is fixedly arranged on the top of the connecting shaft 101a to prevent the balancing wheel 101b-2 from being displaced.

[0044] Preferably, the balance wheel 101b - 2 is configured as a bearing. When the inner ring of the balance wheel 101b - 2 rotates, the outer ring is in contact with the auxiliary component 102, so that the outer ring of the balance wheel 101b - 2 is relatively stationary.

[0045] Furthermore, the auxiliary component 102 includes a support 102a and a connecting member 102b which are in contact with and connected to the outside of the balance wheel 101b-2; the connecting member 102b is arranged on the outside of the support 102a, including a connecting frame 102b-1 and an extension plate 102b-2 installed on the outside of the connecting frame 102b-1, and the extension plate 102b-2 is fastened to the outside of the support 102a by nuts and screws, that is, the support 102a is fixedly installed on the connecting frame 102b-1.

[0046] Furthermore, the extension assembly 201 includes a swing frame 201a disposed at the bottom end of the connecting shaft 101a and a limiting groove 201b installed on the outside of the swing frame 201a, and the swing frame 201a is configured to be in an inverted V shape, and the inverted V-shaped swing frame 201a maintains stability when tilted. The limiting groove 201b is movably connected to the driving assembly 202. That is, the driving assembly 202 can drive the swing frame 201a to move and tilt, etc.

[0047] Furthermore, the driving assembly 202 includes a moving wheel 202a and a driving block 202b disposed at the bottom of the moving wheel 202a. When the driving block 202b starts to work, the moving wheel 202a also rotates. A fixing plate 202a-1 is installed on one side of the moving wheel 202a. The fixing plate 202a-1 ensures the connection between the moving wheel 202a and the swing frame 201a. No matter how the moving wheel 202a moves, the swing frame 201a is still movably connected to the moving wheel 202a.

[0048] During use, when the driving block 202b starts to work, the moving wheel 202a also rotates accordingly. Since the moving wheel 202a is movably connected to the swing frame 201a through the limiting groove 201b, the swing frame 201a moves.

[0049] When the robot touches an uneven road surface during its movement, the corresponding moving wheel 202a will tilt, causing the swing frame 201a to be tilted. At this time, the connecting shaft 101a fixedly connected to the swing frame 201a rotates around the central axis. When the connecting shaft 101a rotates, it will drive the inner wall of the balance wheel 101b-2 to rotate. Since the outer ring is in contact with the auxiliary component 102, the outer ring of the balance wheel 101b-2 is relatively still and does not rotate, maintaining balance, so that the robot chassis can adapt to the uneven road surface.

[0050] When the robot returns to the flat road, the tilted swing frame 201a returns to the normal position, and the outer ring of the balance wheel 101b-2 remains relatively still and does not rotate, so that the robot chassis can be relatively stable.

[0051] As a preferred solution, the connecting frame 102b-1 is provided with a cleaning brush, which can clean foreign objects on the ground during movement to prevent foreign objects from getting stuck in the gap between the Mecanum wheel rollers, thereby reducing the possibility of malfunctions of the robot caused by foreign objects getting stuck.

[0052] As a preferred solution, the moving wheel 202a can be a Mecanum wheel module or a steering wheel module, and different wheel end modules can be installed according to different needs.

[0053] Example 3

[0054] Reference Figure 1 to Figure 7, which is the third embodiment of the utility model. Different from the previous embodiment, this embodiment provides an adjustable mobile robot device, which solves the problems of insufficient modularity and insufficient charging method of existing mobile robots. It includes a main body 300, an assembly component 400, and a control component 500.

[0055] Specifically, the main body 300 includes a mounting frame 301, a machine body 302, and a step 303. The machine body 302 is movably connected to the mounting frame 301, and each component can be replaced or disassembled to meet different needs. The step 303 is arranged at one end of the outer side of the mounting frame 301. The mounting frame 301 is provided with a first mounting frame 301a and a second mounting frame 301b, and the step 303 is provided with a first step 303a and a second step 303b. The first mounting frame 301a corresponds to the first step 303a, and the second mounting frame 301b corresponds to the second step 303b; and,

[0056] The assembly component 400 includes a plug-in component 401, an adjusting component 402, and a receiving frame 403. The adjusting component 402 is disposed at one end of the plug-in component 401, and the plug-in component 401 is mounted on the upper side of the receiving frame 403. By changing the installation position of the plug-in component 401, the receiving frame 403 can adapt to the body of different models.

[0057] The control assembly 500 includes a two-dimensional code reader 501, a photoelectric sensor 502, and a starter 503. The two-dimensional code reader 501 is installed at the center of the bottom of the outer side of the body 302, and the photoelectric sensor 502 is arranged at the top of the receiving frame 403, located outside the plug-in component 401;

[0058] The control assembly 500 further includes a supplementary component 504 and a display component 505 . The supplementary component 504 is disposed on the outer bottom of the body 302 and on the ground, and the display component 505 is installed at both ends of the outer side of the main body 300 .

[0059] Furthermore, the connector 401 includes a positioning pin 401a, a pad box 401b installed on the top of the supporting frame 403, and a mounting hole 401c in contact with the positioning pin 401a. A rubber block is placed in the pad box 401b. By changing the installation position of the positioning pin 401a and using rubber blocks of different thicknesses, the supporting frame 403 can be adapted to the bodies of different models.

[0060] Furthermore, the adjusting member 402 includes a connecting plate 402a, the outer side of the connecting plate 402a is threadedly connected with the photoelectric sensor 502, and an arc groove 402a-1 is penetrated through the connecting plate 402a.

[0061] Furthermore, the starter 503 includes a laser radar 503a, a switch 503b and a touch edge 503c. The laser radar 503a and the touch edge 503c are installed on the outside of the platform 303, and the switch 503b receives information from the laser radar 503a through signal transmission.

[0062] Furthermore, the supplementary component 504 includes a charging brush plate 504a and a charging electrode plate 504b. The charging brush plate 504a is installed on the ground, and the charging brush plate 504a is in contact with the charging electrode plate 504b. A spring structure is provided on the inner side of the charging electrode plate 504b, and the charging electrode plate 504b is installed at the bottom center of the body 302.

[0063] When it is necessary to allow a person to stand on the robot, the wheelbase of the mobile robot can be changed by assembling the first platform 303a, the second platform 303b or the first mounting frame 301a, the first platform 303a and the body 302, so that the requirement of a person standing on the robot can be met. The robot can be disassembled when not in use, and different needs can be met through modular combination.

[0064] When the user needs the device to adapt to different vehicle models, the installation position of the connector 401 on the receiving frame 403 is adjusted, and the positioning pin 401a is inserted into the mounting hole 401c. According to the body of different vehicle models, the installation position of the positioning pin 401a is changed and rubber blocks of different thicknesses are used to achieve this effect.

[0065] When the user needs to realize the effect of assembling the robot and the body in white, the QR code reader 501 is set at the center of the robot body 302. By scanning the QR code on the ground, the robot starter 503 can be provided with the relative coordinates of the robot relative to the earth. The photoelectric sensor 502 is installed in front of the installation position of the positioning pin 401a on the receiving frame 403 and installed on the outside of the connecting plate 402a. The installation angle of the photoelectric sensor 502 is adjusted by adjusting the bolts and nuts installed on the arc groove 402a-1 to adapt to different vehicle models.

[0066] When the body-in-white needs to be assembled, the robot runs to the specified position through the ground QR code belt, detects the QR code at this position, and the machine stops. The bottom of the body-in-white is roughly aligned with the positioning pin 401a on the receiving frame 403. At this time, the photoelectric sensor 502 detects obstacles by emitting light signals. If an obstacle is detected, it means that the light signal has not been emitted into the corresponding positioning hole, which means that the positioning pin 401a is not aligned with the pin hole. If no obstacle is detected, it means that the light signal has been emitted into the corresponding positioning hole, and the body-in-white positioning holes corresponding to the positioning pin 401a are aligned. At this time, the robot positioning pin 401a can be accurately inserted into the positioning hole at the bottom of the body-in-white, thereby realizing the precise assembly of the body-in-white and the mobile robot.

[0067] At the same time, installation positions for laser radar 503a are set at the left front and right rear of the robot. The laser radar 503a can identify obstacles and send signals to the robot switch 503b. Safety touch edges 503c are set in front and behind the robot. When the touch edges 503c collide with obstacles, they will send signals to the robot switch 503b. The combination of the laser radar 503a and the touch edges 503c can realize the robot's obstacle avoidance and stopping functions.

[0068] In addition, a device for charging the robot is also provided. The charging brush plate 504a is installed on the ground and slightly above the ground. A spring structure is arranged inside the charging plate 504b. The charging plate 504b is installed at the lower part of the body 302 and slightly below the highest height of the charging brush plate 504a. When the robot control module detects that the body power is low, the robot automatically runs to the position of the charging brush plate 504a. When the charging plate 504b begins to contact the charging brush plate 504a, the spring inside the charging plate 504b begins to compress, so that the lower surface of the charging plate 504b overlaps and contacts with the upper surface of the charging brush plate 504a. At this time, the robot stops running and starts charging.

[0069] As a preferred solution, two light bars are provided at the front and rear of the mobile robot, and the long side of the light bar is parallel to the Y direction of the robot. The different colors of the light bar and the combination of the light bar being always on, always off and flashing are used to display the running status of the robot:

[0070] 1. When the light bar is green, it means the robot is in normal operation. In this state: ① The four light bars are always on, and the robot is moving straight; ② The left front and left rear light bars flash, and the robot is turning left; ③ The right front and right rear light bars flash, and the robot is turning right; ④ The front and rear light bars flow to the left, and the robot moves to the left; ⑤ The front and rear light bars flow to the right, and the robot moves to the right; ⑥ The four light bars flow clockwise, and the robot rotates clockwise; ⑦ The four light bars flow counterclockwise, and the robot rotates counterclockwise;

[0071] 2. When the light bar is red and flashing, it means that the laser radar 503a or the touch edge 503c detects an obstacle;

[0072] 3. When the light bar is white and flashing, it means that the robot has deviated from the preset running trajectory;

[0073] 4. When the light bar is yellow and flashing, it means the robot is low on power;

[0074] 5. When the light bar is purple: ① The light bar is always on, indicating that the robot motor is abnormal; ② The light bar flashes, indicating that the robot's emergency stop switch has been pressed.

[0075] It should be noted that the above embodiments are only used to illustrate the technical solution of the utility model rather than to limit it. Although the utility model is described in detail with reference to the preferred embodiments, ordinary technicians in the field should understand that the technical solution of the utility model can be modified or replaced by equivalents without departing from the spirit and scope of the technical solution of the utility model, which should be included in the scope of the claims of the utility model.

Claims

1. An adaptive mechanism, characterized in that: include, A stabilizing unit (100), the stabilizing unit (100) comprising a rotating component (101) and an auxiliary component (102) arranged on one side of the rotating component (101); and, A moving unit (200) is arranged at one end of the rotating component (101), and comprises a stretching component (201) connected to one side of the auxiliary component (102) and a driving component (202).

2. The adaptive mechanism according to claim 1, characterized in that: The rotating component (101) comprises a connecting shaft (101a) and a rotating member (101b) connected to one side of the auxiliary component (102); The rotating member (101b) comprises a fastening block (101b-1) arranged at one end of the connecting shaft (101a) and a balancing wheel (101b-2) installed at one side of the connecting shaft (101a).

3. The adaptive mechanism according to claim 2, characterized in that: The auxiliary component (102) comprises a support (102a) and a connecting member (102b) connected to one side of the balance wheel (101b-2); The connecting member (102b) is arranged on one side of the support (102a), and comprises a connecting frame (102b-1) and an extension plate (102b-2) installed on one side of the connecting frame (102b-1).

4. The adaptive mechanism according to claim 3, characterized in that: The extension component (201) comprises a swing frame (201a) arranged at one end of the connecting shaft (101a) and a limiting groove (201b) installed on one side of the swing frame (201a); the swing frame (201a) is arranged in an inverted V shape, and the limiting groove (201b) is connected to the driving component (202).

5. The adaptive mechanism according to claim 4, characterized in that: The driving assembly (202) comprises a moving wheel (202a) and a driving block (202b) arranged at one end of the moving wheel (202a); a fixing plate (202a-1) is installed on one side of the moving wheel (202a).

6. An adjustable mobile robot device, characterized in that: comprising the adaptive mechanism according to any one of claims 1 to 5; and A main body (300), the main body (300) comprising a mounting frame (301), a machine body (302), and a stepping platform (303), the machine body (302) being connected to the mounting frame (301), the stepping platform (303) being arranged on one side of the mounting frame (301), the mounting frame (301) being provided with a first mounting frame (301a) and a second mounting frame (301b), and the stepping platform (303) being provided with a first stepping platform (303a) and a second stepping platform (303b); and, An assembly component (400), the assembly component (400) comprising a plug-in component (401), an adjusting component (402), and a receiving frame (403), the adjusting component (402) being arranged on one side of the plug-in component (401), and the plug-in component (401) being installed on one end of the receiving frame (403); A control component (500), the control component (500) comprising a two-dimensional code reader (501), a photoelectric sensor (502), and a starter (503), the two-dimensional code reader (501) being installed on one side of the machine body (302), and the photoelectric sensor (502) being arranged on one end of the receiving frame (403); The control component (500) further comprises a supplementary component (504) and a display component (505), wherein the supplementary component (504) is arranged on one side of the machine body (302) and on the ground, and the display component (505) is installed on both sides of the main body (300).

7. The adjustable mobile robotic device of claim 6, wherein: The plug-in connector (401) comprises a positioning pin (401a), a cushion block box (401b) installed at one end of a supporting frame (403), and a mounting hole (401c) connected to the positioning pin (401a).

8. The adjustable mobile robotic device of claim 7, wherein: The adjusting member (402) comprises a connecting plate (402a), one side of the connecting plate (402a) is connected to the photoelectric sensor (502), and an arc groove (402a-1) is provided on the connecting plate (402a).

9. The adjustable mobile robotic device of claim 8, wherein: The starting element (503) includes a laser radar (503a), a switch (503b) and a touch edge (503c); the laser radar (503a) and the touch edge (503c) are installed on one side of the platform (303); and the switch (503b) is connected to the laser radar (503a) through a signal.

10. The adjustable mobile robotic device of claim 9, wherein: The supplementary component (504) includes a charging brush plate (504a) and a charging electrode plate (504b). The charging brush plate (504a) is installed on the ground and connected to the charging electrode plate (504b). The charging electrode plate (504b) is installed on one end of the machine body (302).

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