Mobile robot and robot system

Abstract

The utility model provides a mobile robot and a robot system. The mobile robot comprises a mobile main body, two main wheel modules and an outer extension part, the two main wheel modules are arranged in a spaced mode in the first direction; the main wheel module comprises a first wheel frame, a driving wheel and a driving assembly; the first wheel frame is arranged on the moving main body, and the first wheel frame is provided with a first surface facing the other main wheel module; the driving wheel is rotatably arranged on the first wheel carrier; the driving assembly is arranged on the first face and used for driving the driving wheel. The outer extending part is arranged on the moving main body and can be switched between a folded state and an unfolded state; in the folded state, the outer extending part is arranged between the two driving assemblies in the first direction. By means of the design, the space reserved between the two main wheel modules is used for arranging the outer extending part, the space occupied by the outer extending part in the height direction is reduced, and meanwhile the distance between the two main wheel modules does not need to be increased.

Description

Technical Field

[0001] The present disclosure relates to the field of robotics, and in particular to a mobile robot and a robot system. Background Art

[0002] Existing mobile robots utilize external extensions such as robotic arms and manipulators to achieve specific tasks, such as grasping and moving objects. For example, when a robotic arm module is incorporated into cleaning equipment such as a sweeper, due to the limited internal space of the sweeper itself, the inclusion of the robotic arm module increases the overall size of the sweeper, thus failing to meet the demand for a lightweight and slim design suitable for use in low-profile spaces. Utility Model Content

[0003] A main purpose of the present disclosure is to overcome at least one of the above-mentioned defects of the prior art and to provide a mobile robot provided with an external extension component and capable of taking into account the design requirements of a lightweight design and low space usage.

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

[0005] According to one aspect of the present disclosure, a mobile robot is provided, wherein: the mobile robot includes 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; the main wheel module includes a first wheel frame, a driving wheel and a driving assembly; the first wheel frame is arranged on the mobile body, and the first wheel frame has a first surface facing the other main wheel module; the driving wheel is rotatably arranged on the first wheel frame; the driving assembly is arranged on the first surface and is 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 driving assemblies in the first direction.

[0006] According to one embodiment of the present disclosure, the outer extension component is at least partially sunk to the height position of the main wheel module in the height direction.

[0007] According to one embodiment of the present disclosure, the drive assembly includes a brushless motor.

[0008] According to one embodiment of the present disclosure, the brushless motor has a drive shaft, which is connected to the drive wheel via a transmission assembly; wherein the transmission assembly is arranged 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.

[0009] According to one embodiment of the present disclosure, the driving wheel is arranged on the first surface of the first wheel frame, and the driving wheel has an axle. The axle passes through the first wheel frame along the first direction and extends to the second surface. The axle is transmission-connected to the transmission assembly.

[0010] According to one embodiment of the present disclosure, the first surface of the first wheel frame is provided with a receiving groove, and the driving wheel is partially received in the receiving groove.

[0011] According to one embodiment of the present disclosure, a mounting seat is provided on the first surface of the first wheel frame, and the driving assembly is installed on the mounting seat.

[0012] According to one embodiment of the present disclosure, the mobile robot includes a universal wheel module, which is arranged 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 is perpendicular to the first direction, and the two main wheel modules and the universal wheel module are arranged at intervals along the second direction; wherein, when the external extension component is in a folded state or an unfolded state, the center of gravity of the entire mobile robot falls within the positive projection area of ​​the triangular area defined by the universal wheel module and the two main wheel modules on the horizontal plane.

[0013] According to one embodiment of the present disclosure, the external extension component is a robotic arm, which includes a base plate and a folding arm mechanism; the base plate is arranged on the mobile body; the folding arm mechanism includes at least two arms, each of which is rotatably connected in sequence, one of the arms is rotatably connected to the base plate, the rotation axis between the two connected arms and the rotation axis between the arm and the base plate are parallel, and the rotation axis is perpendicular to the extension direction of the arm and parallel to the base plate; one of the arms at the end is provided with an actuator; wherein, when the folding arm mechanism is unfolded, at least a portion can extend beyond the front side of the mobile body in the second direction, so that the actuator can perform the target action.

[0014] According to one embodiment of the present disclosure, the robotic arm also includes a rotating seat; the rotating seat is rotatably arranged on the substrate, and the rotation axis between the rotating seat and the substrate is perpendicular to the substrate; one of the arms of the folding arm mechanism is rotatably connected to the rotating seat; in the folded state, the orthographic projection of the arm extends along the first direction, and in the unfolded state, the rotating seat rotates to make the orthographic projection of the arm extend along the second direction.

[0015] According to one embodiment of the present disclosure, the corresponding triangle in the triangular area 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.

[0016] According to one embodiment of the present disclosure, the two ends of the first wheel frame in the second direction are respectively a first end and a second end, the first end is provided with a rotating shaft, and is rotatably connected to the mobile body via the rotating shaft, the second direction is perpendicular to the first direction, and the rotating shaft extends parallel to the first direction; the main wheel module also includes a steering gear, which is connected to the first wheel frame via a pull rope, and the steering gear can rotate the first wheel frame around the rotating shaft by pulling back or releasing the pull rope, when the pull rope is pulled back, the second end swings downward to lift the whole machine, and when the pull rope is released, the second end swings upward to lower the whole machine; wherein, the pulling rope direction of the servo is the same as the rotation direction of the rotating shaft when the whole machine is lifted.

[0017] According to one embodiment of the present disclosure, along the height direction, the steering gear and the first end portion are arranged at the same height position, and along the second direction, the steering gear is arranged close to the second end portion.

[0018] According to one embodiment of the present disclosure, the servo and the first wheel frame are arranged along the first direction; the movable body is provided with a guide tube, the guide tube is a bent structure, the pull rope is passed through the guide tube, and both ends of the pull rope extend out from the two end pipe openings of the guide tube respectively, and extend parallel to the second direction respectively.

[0019] According to one embodiment of the present disclosure, the driving wheel is disposed at the second end portion, and the driving assembly is disposed between the driving wheel and the first end portion.

[0020] From the above technical solutions, it can be seen that the advantages and positive effects of the mobile robot proposed in this disclosure are:

[0021] The mobile robot proposed in the present disclosure includes a mobile body, two main wheel modules and an external extension component; the two main wheel modules are arranged at intervals along a first direction; the main wheel module includes a first wheel frame, a drive wheel and a drive assembly; the first wheel frame is provided on the mobile body, and the first wheel frame has a first surface facing the other main wheel module; the drive assembly is provided on the first surface and is used to drive the drive wheel; the external extension component is provided on the mobile body and can be converted between a folded state and an unfolded state; in the folded state, the external extension component is arranged between the two drive assemblies in the first direction. Through the above design, the present disclosure utilizes the space between the two main wheel modules to arrange the external extension component, reducing the space occupied by the external extension component in the height direction. At the same time, there is no need to increase the distance between the two main wheel modules, avoiding an increase in the width of the entire mobile robot, and can take into account the design needs of a lightweight design and low space use.

[0022] Another main purpose of the present disclosure is to overcome at least one of the above-mentioned defects of the prior art and provide a robot system using the above-mentioned mobile robot.

[0023] To achieve the above objectives, the present disclosure adopts the following technical solutions:

[0024] According to another aspect of the present disclosure, a robot system is provided, which includes a base station and the mobile robot proposed in the present disclosure and described in the above embodiments.

[0025] As can be seen from the above technical solutions, the advantages and positive effects of the robot system proposed in this disclosure are:

[0026] The robot system proposed in the present disclosure, by adopting the mobile robot proposed in the present disclosure, can utilize the space between the two main wheel modules to arrange the external extension components, thereby 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, thereby avoiding the increase in the width of the entire mobile robot, and can take into account the design needs of lightweight design and low space use. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The various objects, features, and advantages of the present disclosure will become more apparent upon consideration of the following detailed description of preferred embodiments of the present disclosure in conjunction with the accompanying drawings. The accompanying drawings are merely illustrative illustrations of the present disclosure and are not necessarily drawn to scale. In the drawings, like reference numerals refer to the same or similar parts throughout.

[0028] Figure 1 is a perspective schematic diagram showing a mobile robot in a state according to an exemplary embodiment;

[0029] Figure 2 yes Figure 1 A three-dimensional schematic diagram of the mobile robot in another state is shown;

[0030] Figure 3 yes Figure 1 A top view of the planar layout of some functional components of the mobile robot is shown;

[0031] Figure 4 and Figure 5 They are Figure 1 A schematic perspective view of two main wheel modules and an outer extension member of the mobile robot is shown;

[0032] Figure 6 yes Figure 4 A top view of

[0033] Figure 7 It is a three-dimensional schematic diagram of the main wheel module;

[0034] Figure 8This is a schematic diagram of the planar layout of the universal wheel module, two main wheel modules and external extension components of the mobile robot;

[0035] Figure 9 is a side view of the mobile robot when the external extension member is in the deployed state;

[0036] Figure 10 It is a three-dimensional schematic diagram of the robotic arm in the folded state;

[0037] Figure 11 It is a three-dimensional schematic diagram of the robotic arm in the unfolded state.

[0038] The following are the descriptions of the reference numerals:

[0039] 100. Moving subject;

[0040] 110. Storage room;

[0041] 111. Warehouse door;

[0042] 200. Robotic arm;

[0043] 210.Substrate;

[0044] 221. First Arm;

[0045] 222. Second arm;

[0046] 223. Third Arm;

[0047] 230. Gripping mechanism;

[0048] 240. Rotating seat;

[0049] 310. Universal wheel module;

[0050] 320. Main wheel module;

[0051] 321. First wheel frame;

[0052] 3211. Accommodating tank;

[0053] 3212. Mounting seat;

[0054] 3213. First end;

[0055] 3214. Second end;

[0056] 3215. Rotating shaft;

[0057] 322. Driving wheel;

[0058] 323. Brushless motor;

[0059] 324. Transmission components;

[0060] 325. Steering gear;

[0061] 3251. Pull rope;

[0062] 3252. Guide tube;

[0063] D1. First direction;

[0064] D2. Second direction;

[0065] F1. Rope pulling direction;

[0066] F2. Rotation direction;

[0067] O. Centerline;

[0068] S0. Orthographic projection area. DETAILED DESCRIPTION

[0069] Typical embodiments that embody the features and advantages of the present disclosure will be described in detail in the following description. It should be understood that the present disclosure can have various variations in different embodiments without departing from the scope of the present disclosure, and the description and drawings therein are essentially for illustrative purposes rather than for limiting the present disclosure.

[0070] In the following description of different exemplary embodiments of the present disclosure, reference is made to the accompanying drawings, which form a part of this disclosure and in which are shown by way of example different exemplary structures, systems and steps that may implement aspects of the present disclosure. It should be understood that other specific schemes of components, structures, exemplary devices, systems and steps may be used, and structural and functional modifications may be made without departing from the scope of the present disclosure. Moreover, although the terms "above", "between", "within", etc. may be used in this specification to describe different exemplary features and elements of the present disclosure, these terms are used herein for convenience only, for example, according to the directions of the examples depicted in the accompanying drawings. Nothing in this specification should be construed as requiring a specific three-dimensional orientation of a structure to fall within the scope of the present disclosure.

[0071] See Figure 1 , which representatively shows a three-dimensional schematic diagram of the mobile robot proposed in the present disclosure in a state, specifically showing the state when the outer extension member is folded and the compartment door 111 is closed. In this exemplary embodiment, the mobile robot proposed in the present disclosure is described by taking a sweeping robot as an example. It is easy for those skilled in the art to understand that in order to apply the relevant designs of the present disclosure to other types of robots, various modifications, additions, substitutions, deletions or other changes are made to the specific embodiments described below, and these changes are still within the scope of the principles of the mobile robot proposed in the present disclosure.

[0072] like Figure 1As shown, in one embodiment of the present disclosure, the mobile robot proposed in the present disclosure includes a mobile body 100, two main wheel modules 320 and an external extension component. Figures 2 to 11 , Figure 2 7 is a perspective view of the mobile robot in another state, specifically showing the state when the outer extension member is deployed; Figure 3 : A top view of the planar layout of some functional components of the mobile robot is representatively shown; Figure 4 and Figure 5 3D schematic diagrams of two main wheel modules 320 and outer extension components are representatively shown, wherein two rotation states of the main wheel module 320 are shown respectively. Figure 4 For example, in the lifting state, Figure 5 For example, in the descending state; Figure 6 Representatively shown in Figure 4 A top view of Figure 7 A three-dimensional schematic diagram of a main wheel module 320 is representatively shown in FIG. Figure 8 : FIG representatively shows a planar layout diagram of the universal wheel module 310, the two main wheel modules 320 and the outer extension component; Figure 9 7 represents a side view of the mobile robot when the outer extension member is in the deployed state; Figure 10 , which is a representative perspective view of the robotic arm in a folded state;

[0073] Figure 11 The following is a representative three-dimensional schematic diagram of the robot arm in the unfolded state. In conjunction with the above drawings, the structure, connection mode and functional relationship of the main components of the mobile robot proposed in this disclosure will be described in detail.

[0074] like Figures 1 to 7As shown, in one embodiment of the present disclosure, two main wheel modules 320 are spaced apart along a first direction D1. The first direction D1 can be any direction that separates the two main wheel modules 320. For example, the first direction D1 can be the left-right direction of the mobile robot. The main wheel module 320 includes a first wheel frame 321, a drive wheel 322, and a drive assembly. The first wheel frame 321 is mounted on the mobile body 100 and has a first surface facing the other main wheel module 320. The drive wheel 322 is rotatably mounted on the first wheel frame 321. The drive assembly is mounted on the first surface of the first wheel frame 321 and is configured to drive the drive wheel 322. The external extension member is mounted on the mobile body 100 and can be switched between a folded state and an extended state. For example, in the folded state, the entire external extension member is located within the orthographic projection of the mobile body 100. That is, on the reference plane, the entire orthographic projection of the external extension member is located within the orthographic projection of the mobile body 100. In the deployed state, the outer extension component partially extends beyond the orthographic projection of the mobile body 100. That is, on the aforementioned reference plane, the orthographic projection of the outer extension component lies outside the orthographic projection of the mobile body 100. In the collapsed state, the outer extension component is positioned between the two brushless motors 323 in the first direction D1. This design utilizes the space between the two main wheel modules 320 to accommodate the outer extension component, reducing the height space occupied by the outer extension component. This eliminates the need to increase the spacing between the two main wheel modules 320, thus avoiding an increase in the overall width of the mobile robot. This balances the requirements of a lightweight design and low-profile use.

[0075] like Figure 4 and Figure 5 As shown, in one embodiment of the present disclosure, the outer extension component can be at least partially sunk to the height position of the main wheel module 320 in the height direction. Specifically, taking a plane parallel to the first direction D1 and parallel to the second direction D2 as a reference plane (such as a horizontal plane), the orthographic projection of the outer extension component is located between the orthographic projections of the two main wheel modules 320. Furthermore, taking another plane perpendicular to the first direction D1 and parallel to the second direction D2 as a reference plane (such as a vertical plane), the orthographic projection of the outer extension part and the orthographic projection of the main wheel module 320 at least partially overlap. In this way, the present disclosure enables the outer extension component to make full use of the space between the main wheel modules 320 for setting, thereby achieving a light, thin and compact whole machine.

[0076] In one embodiment of the present disclosure, the drive assembly may include a brushless motor 323. Accordingly, the present disclosure utilizes the characteristics of the brushless motor 323 with a simple structure and small space occupation, and can leave more space between the two main wheel modules 320 to arrange the external extension components.

[0077] In one embodiment of the present disclosure, the brushless motor 323 has a drive shaft that is connected to the drive wheel 322 via a transmission assembly 324. The transmission assembly 324 can be, for example, a transmission gear set or a transmission belt. Furthermore, the transmission assembly 324 can be positioned on the second side of the first wheel frame 321, facing away from the other main wheel module 320. The drive shaft extends along the first direction D1 through the first wheel frame 321 and onto the second side. This design avoids the space occupied between the two main wheel modules 320 that would otherwise be caused by positioning the transmission assembly 324 on the first side of the first wheel frame 321.

[0078] like Figure 7 As shown, in one embodiment of the present disclosure, the driving wheel 322 can be arranged on the first surface of the first wheel frame 321, that is, the driving wheel 322 and the brushless motor 323 can be arranged on the same side surface of the first wheel frame 321. The driving wheel 322 has an axle, which passes through the first wheel frame 321 along the first direction D1 and extends to the second surface. The axle is connected to the transmission assembly 324. Through the above design, since the driving wheel 322 has a certain thickness (along the first direction D1), arranging the driving wheel 322 on the second surface of the first wheel frame 321 will further increase the width of the entire machine. The present disclosure can avoid such problems. At the same time, since the driving 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 also be simplified.

[0079] like Figure 7 As shown, based on the design in which the drive wheel 322 is disposed on the first surface of the first wheel frame 321, in one embodiment of the present 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 received. The portion of the drive wheel 322 not received in the receiving groove 3211 may include the portion in contact with the ground, thereby enabling the driving wheel 322 to move. Through this design, the present 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 them.

[0080] like Figure 7 As shown, in one embodiment of the present disclosure, a mounting seat 3212 may be provided on the first surface of the first wheel frame 321 , and the brushless motor 323 may be mounted on the mounting seat 3212 .

[0081] like Figure 8 and Figure 9As shown, in one embodiment of the present disclosure, the mobile robot proposed in the present disclosure also includes a universal wheel module 310, which is arranged on the mobile body 100. The universal wheel module 310 can realize the steering function of the mobile robot. The universal wheel module 310 is located at the front end of the mobile body 100 in the second direction D2. The second direction D2 is perpendicular to the first direction D1, that is, the second direction D2 can be the front and back 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 area S0, and the above three wheel groups correspond to the three vertex positions of the triangular area S0 respectively. When the external extension component is in the folded state or the unfolded state, the center of gravity of the entire mobile robot falls in the orthographic projection area S0 of the above triangular area defined by the universal wheel module 310 and the two main wheel modules 320 on the horizontal plane. Through the above design, during the process of storage, deployment and adjustment of the external extension components disclosed in the present invention, the center of gravity of the entire machine is ensured to always be 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, thereby avoiding shaking and tilting caused by the center of gravity of the entire machine being located outside the orthographic projection area S0, thereby ensuring the operational stability and reliability of the mobile robot.

[0082] In one embodiment of the present disclosure, the universal wheel module 310 may include a second wheel frame and a universal wheel. The second wheel frame is rotatably mounted on the mobile body 100, with the second wheel frame's rotation axis extending in the height direction. The universal wheel is mounted on the second wheel frame, with the rotation axis of the universal wheel perpendicular to the rotation axis of the second wheel frame. Based on this, the three vertices of the aforementioned triangular area are located at the rotation axis of the universal wheel and the rotation axis of the two drive wheels 322, respectively.

[0083] like Figures 9 to 11As shown, in one embodiment of the present disclosure, the external extension component can be a robotic arm 200, which can include a base plate 210 and a folding arm mechanism. Specifically, the base plate 210 is mounted on the mobile body 100. The folding arm mechanism includes at least two arms, each of which is rotatably connected in sequence. One of the arms (i.e., the first arm 221 described below) is rotatably connected to the base plate 210 (specifically, the rotating base 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. One of the arms at the end (e.g., the third arm 223 described below) is provided with an actuator. When the folding arm mechanism is deployed, that is, in certain postures of the folding arm mechanism in the deployed state, the folding arm mechanism can partially extend forward of the mobile body 100 in the second direction D2, allowing the actuator to perform a target action. For example, the actuator can be a gripper mechanism 230, which is capable of gripping an object. Through the above design, the present disclosure can utilize a folding arm mechanism comprising multiple arms to achieve further adjustment of the robotic arm 200 in the unfolded state, thereby achieving flexible gripping of items in different positions.

[0084] It should be noted that Figures 9 to 11 In the illustrated embodiment, the folding arm mechanism and the base plate 210 have two rotational degrees of freedom: one of the rotational degrees of freedom corresponds to a rotation axis that is perpendicular to the arm's extension direction and parallel to the base plate 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 base 240 described below, thereby enabling the entire folding arm mechanism to rotate relative to the base plate 210 (i.e., the mobile body 100) in a vertical plane; the other of the rotational degrees of freedom corresponds to a rotation axis that extends perpendicular to the base plate 210. This rotation axis can specifically be the rotation axis between the rotating base 240 and the base plate 210, thereby enabling the entire folding arm mechanism to rotate relative to the base plate 210 (i.e., the mobile body 100) in a horizontal plane. It should be understood that in the above exemplary summary, the content regarding "one of the arms is rotatably connected to the base plate 210, and the rotation axis between the two connected arms is perpendicular to the arm's extension direction and parallel to the base plate 210" refers to the aforementioned "relative rotation of the folding arm mechanism relative to the base plate 210 in a vertical plane." In other words, in other embodiments consistent with the design concept of the present disclosure, the folding arm mechanism and the base plate 210 may only have relative rotation in the vertical plane, but not relative rotation in the horizontal plane. For example, the folding arm mechanism can be directly rotatably connected to the base plate 210 via an arm without the need to provide a rotating seat 240, and is not limited to the above embodiments.

[0085] like Figures 9 to 11As shown, based on the design of the robot arm 200 including a base plate 210 and a folding arm mechanism, in one embodiment of the present disclosure, the folding arm mechanism may, for example, include three arms, namely 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, and one end of the third arm 223 is rotatably connected to the other end of the second arm 222. In addition, the gripper mechanism 230 may be provided at the other end of the third arm 223. Through the above design, the present disclosure adopts a three-fold design for the folding arm mechanism, which can achieve better adjustment flexibility of the gripping posture of the robot arm 200 while avoiding the problem of excessive number of arms in the folding arm mechanism causing higher structural complexity and larger space occupation. In some embodiments, when the robot 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.

[0086] like Figures 9 to 11 As shown, based on the design that the robotic arm 200 includes a folding arm mechanism, in one embodiment of the present disclosure, the corresponding triangle of the above-mentioned triangular area 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-to-back direction of the mobile body 100, and the two main wheel modules 320 are symmetrically arranged with the axis as the symmetry axis, thereby making the triangular area defined by these three wheel groups an isosceles triangle, and the above-mentioned center line O of the isosceles triangle is the axis extending in the front-to-back direction of the mobile body 100. On this basis, 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 entire mobile robot remains and moves on the center line O. Through the above design, on the basis of ensuring that the center of gravity of the entire machine is always located in the positive projection area S0, the present disclosure can further reduce the jitter caused by the folding arm mechanism when adjusting different postures, and further improve the stability and reliability of the entire machine.

[0087] like Figure 4 and Figure 10As shown, based on the design that the robotic arm 200 includes a base plate 210 and a folding arm mechanism, in one embodiment of the present 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 rotation axis between the rotating base 240 and the base plate 210 is perpendicular to the base plate 210, for example, in a vertical direction. One of the arms of the folding arm mechanism (for example, the first arm 221) is rotatably connected to the rotating base 240, and the rotation axis 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, the present disclosure can achieve horizontal rotation of the folding arm mechanism as a whole relative to the base plate 210, thereby adjusting the orientation of the folding arm mechanism in the horizontal direction. On this basis, in the folded state, the orthographic projection of the arm extends along the first direction D1, and 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 and right direction of the sweeping robot. In other words, the robot arm 200 can be arranged in a "horizontal" form between the two main wheel modules 320. On this basis, the maximum rotation angle of the rotating base 240 on the base plate 210 can be 90 degrees, so that the folding arm mechanism can extend in front of the mobile body 100 (for example, in the unfolded state). Figures 1 to 3 The direction indicated by the hollow arrow in the figure indicates the front of the mobile body 100. Specifically, when the robotic arm 200 is deployed, in addition to the rotational deployment of the arms of the folding arm mechanism and the rotational deployment between the folding arm mechanism and the rotating base 240, the rotating base 240 can also rotate relative to the base 210. This allows the robotic arm 200, which is horizontally positioned when folded, to be positioned toward the front of the robot vacuum after deployment. This allows a portion of the robotic arm 200 to extend in front of the mobile body 100, allowing the gripper mechanism 230 to grip objects located in front of the robot vacuum.

[0088] Based on the design of the robot arm 200 including the rotating base 240, in one embodiment of the present disclosure, the corresponding triangle of the triangular area is an isosceles triangle, and the center line O of the isosceles triangle extends along the second direction D2. On this basis, the rotating base 240 can be arranged on the center line O.

[0089] like Figures 4 to 7As shown, in one embodiment of the present disclosure, the two ends of the first wheel frame 321 in the second direction D2 are respectively a first end 3213 and a second end 3214. The first end 3213 is provided with a rotating shaft 3215, and is rotatably connected to the mobile body 100 via the rotating shaft 3215, and the rotating shaft 3215 extends parallel to the first direction D1. In addition, the main wheel module 320 also includes a steering gear 325, which is connected to the first wheel frame 321 via a pull rope 3251. The steering gear 325 can rotate the first wheel frame 321 around the rotating shaft 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 rotating shaft 3215 to swing the second end 3214 downward, thereby achieving the lifting of the entire machine, as shown in FIG. Figure 5 As shown, when the pull rope 3251 is released, the first wheel frame 321 rotates in the opposite direction around the shaft 3215, causing the second end 3214 to swing upward, thereby achieving the lowering of the entire machine. Among them, the pull rope direction F1 of the servo 325 is the same as the rotation direction F2 of the shaft 3215 when the entire machine is lifted. For example, Figure 4 Taking the drawings as an example, the servo 325 drives the pull rope 3251 to the left (e.g., pull rope direction F1 shown in the drawings), and the first wheel frame 321 rotates counterclockwise around the rotation axis 3215 (e.g., rotation direction F2 shown in the drawings). Because the connection between the pull rope 3251 and the first wheel frame 321 is located above the rotation axis 3215, the top component of the motion in the rotation direction F2 is toward the left, which is the aforementioned "pull rope direction F1 and rotation direction F2 are the same." Through this design, the present disclosure can reduce the lifting force required when the servo 325 drives the main wheel module 320 to rotate, reducing the strength requirements of the servo 325 and the pull rope 3251.

[0090] like Figure 4 and Figure 6 As shown, based on the design of the main wheel module 320 including the steering gear 325, in one embodiment of the present disclosure, along the height direction, the steering gear 325 and the first end 3213 of the first wheel frame 321 are arranged at the same height position. Along the second direction D2, the steering gear 325 is arranged closer to the second end 3214. Through this design, the present disclosure can ensure that most of the pull rope 3251 does not tilt, reducing the component of force in the height direction, further reducing the required lifting force, and further lowering the strength requirement.

[0091] like Figure 4 and Figure 6As shown, based on the design that the main wheel module 320 includes a steering gear 325, in one embodiment of the present disclosure, the steering gear 325 and the first wheel frame 321 are arranged along the first direction D1. On this basis, the mobile body 100 can be provided with a guide tube 3252, which is a bent structure. The pull rope 3251 is passed through the guide tube 3252. The two ends of the pull rope 3251 extend from the two end openings of the guide tube 3252 and extend parallel to the second direction D2. Specifically, since the steering gear 325 may be partially staggered in the first direction D1, at least a portion of the pull rope 3251 (for example, Figure 4 The portion of the pull rope 3251 located between the guide tube 3252 and the servo 325 actually extends approximately along the second direction D2, i.e., at a certain angle to the second direction D2. Through the above design, the present disclosure staggers the servo 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). Furthermore, the present disclosure utilizes the curved guide tube 3252 to ensure that the majority of the pull rope 3251 does not tilt, thereby reducing the force component in the first direction D1, further reducing the required lifting force, and lowering the strength requirement.

[0092] like Figure 7 As shown, in one embodiment of the present 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, the present disclosure arranges the drive wheel 322 at the second end 3214, which can increase the swing amplitude of the drive wheel 322 when the main wheel module 320 rotates about the rotation axis 3215, thereby saving energy consumption of the steering gear 325.

[0093] like Figure 1 and Figure 2 As shown, in one embodiment of the present disclosure, the mobile body 100 may be provided with a storage compartment 110, which opens to the top surface of the mobile body 100. For example, the external extension component of the robotic arm 200 is disposed in the storage compartment 110 and can extend out of the storage compartment 110 when deployed. Through the above design, the present disclosure arranges the external extension component within the mobile body 100, so that the external extension component is at least partially contained in the storage compartment 110 when folded, resulting in a mobile robot having a shorter height when the external extension component is folded. Accordingly, the present disclosure can, while utilizing the external extension component to achieve the extension function, be more suitable for use in low spaces and has a wider range of applications.

[0094] like Figure 1 and Figure 2As shown, based on the design of the mobile body 100 being provided with a storage chamber 110, in one embodiment of the present disclosure, an openable and closable chamber door 111 can be provided at the chamber opening of the storage chamber 110. Through the above design, when, for example, the external extension component of the robotic arm 200 is in the folded state, the present disclosure can use the chamber door 111 to close the chamber opening of the storage chamber 110, preventing dust, moisture, and debris from falling into the storage chamber 110, thereby extending the service life of the external extension component and preventing it from affecting other functional components within the mobile body 100.

[0095] It should be noted that the mobile robots shown in the drawings and described in this specification are only a few examples of the many types of mobile robots that can employ the principles of the present disclosure. It should be clearly understood that the principles of the present disclosure are in no way limited to any details or any components of the mobile robots shown in the drawings or described in this specification.

[0096] In summary, the mobile robot proposed in the present disclosure 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; the main wheel modules 320 include a first wheel frame 321, a drive wheel 322, and a drive assembly; the first wheel frame 321 is provided on the mobile body 100, and the first wheel frame 321 has a first surface facing the other main wheel module 320; the drive assembly is provided on the first surface and is used to drive the drive wheel 322; the external extension component is provided on the mobile body 100 and can be converted between a folded state and an unfolded state; in the folded state, the external extension component is arranged between the two drive assemblies in the first direction D1. Through the above design, the present disclosure utilizes the space between the two main wheel modules 320 to arrange the external extension component, thereby reducing the space occupied by the external extension component in the height direction. At the same time, there is no need to increase the distance between the two main wheel modules 320, thereby avoiding an increase in the width of the entire mobile robot, and can take into account the design needs of a lightweight design and low space use.

[0097] Based on the above detailed description of several exemplary embodiments of the mobile robot proposed in the present disclosure, an exemplary embodiment of the robot system proposed in the present disclosure will be described below.

[0098] In one embodiment of the present disclosure, the robot system proposed in the present disclosure includes a base station and the mobile robot proposed in the present disclosure and described in detail in the above embodiments.

[0099] It should be noted that the robotic systems shown in the drawings and described in this specification are only a few examples of the many robotic systems that can employ the principles of the present disclosure. It should be clearly understood that the principles of the present disclosure are in no way limited to any details or any components of the robotic systems shown in the drawings or described in this specification.

[0100] To sum up, the robot system proposed in the present disclosure, by adopting the mobile robot proposed in the present disclosure, can utilize the 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, there is no need to increase the spacing between the two main wheel modules, thereby avoiding an increase in the width of the entire mobile robot, and can take into account the design needs of lightweight design and low space use.

[0101] The exemplary embodiments of the mobile robot and robot system proposed in the present disclosure are described and / or illustrated in detail above. However, the embodiments of the present disclosure are not limited to the specific embodiments described herein. On the contrary, the components and / or steps of each embodiment can be used independently and separately from the other components and / or steps described herein. Each component and / or each step of an embodiment can also be used in combination with other components and / or steps of other embodiments. When introducing the elements / components / etc. described and / or illustrated herein, the terms "one", "an" and "above" are used to indicate the presence of one or more elements / components / etc. The terms "comprising", "including" and "having" are used to express an open-ended inclusion and mean that in addition to the listed elements / components / etc., there may be additional elements / components / etc. In addition, the terms "first" and "second" in the claims and the specification are used only as marks and are not numerical limitations on their objects.

[0102] While the mobile robots and robotic systems presented in the present disclosure have been described in terms of various specific embodiments, those skilled in the art will recognize that the disclosure can be implemented with modification within the spirit and scope of the claims.

Claims

1. A mobile robot, characterized in that: The mobile robot comprises a mobile body, two main wheel modules and an external extension component; The two main wheel modules are spaced apart along a first direction; the main wheel module comprises a first wheel frame, a driving wheel and a driving assembly; the first wheel frame is provided on the mobile body, and the first wheel frame has a first surface facing the other main wheel module; The driving wheel is rotatably disposed on the first wheel frame; the driving assembly is disposed on the first surface and is used to drive the driving wheel; The outer extension member is provided on the mobile body and can be switched between a folded state and an unfolded state; In the folded state, the outer extension component is arranged between the two driving assemblies in the first direction.

2. The mobile robot according to claim 1, characterized in that The outer extension component is at least partially sunk to the height position of the main wheel module in the height direction.

3. The mobile robot according to claim 1, characterized in that The drive assembly includes a brushless motor.

4. The mobile robot according to claim 3, characterized in that: The brushless motor has a drive shaft, which is connected to the drive wheel via a transmission assembly; wherein the transmission assembly is arranged 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.

5. The mobile robot according to claim 4, characterized in that: The driving wheel is arranged on the first surface of the first wheel frame. The driving wheel has an axle. The axle passes through the first wheel frame along the first direction and extends to the second surface. The axle is transmission-connected to the transmission assembly.

6. The mobile robot according to claim 5, characterized in that: A receiving groove is provided on the first surface of the first wheel frame, and the driving wheel is partially received in the receiving groove.

7. The mobile robot according to claim 1, characterized in that: A mounting seat is provided on the first surface of the first wheel frame, and the driving assembly is mounted on the mounting seat.

8. The mobile robot according to claim 1, characterized in that: The mobile robot includes a universal wheel module, which is arranged 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 is perpendicular to the first direction, and the two main wheel modules and the universal wheel module are arranged at intervals along the second direction; wherein, when the external extension component is in a folded state or an unfolded state, the center of gravity of the entire mobile robot falls within the positive projection area of ​​the triangular area defined by the universal wheel module and the two main wheel modules on the horizontal plane.

9. The mobile robot according to claim 8, characterized in that: The external extension component is a robotic arm, which includes a base plate and a folding arm mechanism; the base plate is arranged on the mobile body; the folding arm mechanism includes at least two arms, each of which is rotatably connected in sequence, one of the arms is rotatably connected to the base plate, the rotation axis between the two connected arms and the rotation axis between the arm and the base plate are parallel, and the rotation axis is perpendicular to the extension direction of the arm and parallel to the base plate; one of the arms at the end is provided with an actuator; wherein, when the folding arm mechanism is unfolded, it can partially extend out of the front side of the mobile body in the second direction, so that the actuator can perform the target action.

10. The mobile robot according to claim 9, characterized in that: The robotic arm also includes a rotating seat; the rotating seat is rotatably arranged on the substrate, and the rotation axis between the rotating seat and the substrate is perpendicular to the substrate; one of the arms of the folding arm mechanism is rotatably connected to the rotating seat; in the folded state, the orthographic projection of the arm extends along the first direction, and in the unfolded state, the rotating seat rotates to make the orthographic projection of the arm extend along the second direction.

11. The mobile robot according to claim 10, characterized in that: The corresponding triangle of the triangular area 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.

12. The mobile robot according to claim 1, characterized in that: The two ends of the first wheel frame in the second direction are respectively a first end and a second end, the first end is provided with a rotating shaft, and is rotatably connected to the mobile body via the rotating shaft, the second direction is perpendicular to the first direction, and the rotating shaft extends parallel to the first direction; the main wheel module also includes a steering gear, which is connected to the first wheel frame via a pull rope, and the steering gear can rotate the first wheel frame around the rotating shaft by pulling back or releasing the pull rope, when the pull rope is pulled back, the second end swings downward to lift the whole machine, and when the pull rope is released, the second end swings upward to lower the whole machine; wherein, the pulling rope direction of the servo is the same as the rotation direction of the rotating shaft when the whole machine is lifted.

13. The mobile robot according to claim 12, characterized in that: Along the height direction, the steering gear is arranged at the same height position as the first end portion, and along the second direction, the steering gear is arranged close to the second end portion.

14. The mobile robot according to claim 13, characterized in that: The servo and the first wheel frame are arranged along the first direction; the movable body is provided with a guide tube, the guide tube is a bent structure, the pull rope is passed through the guide tube, and both ends of the pull rope extend out from the two end pipe openings of the guide tube respectively and extend parallel to the second direction respectively.

15. The mobile robot according to claim 12, characterized in that: The driving wheel is disposed at the second end portion, and the driving assembly is disposed between the driving wheel and the first end portion.

16. A robot system, characterized in that: It comprises a base station and the mobile robot according to any one of claims 1 to 15.

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