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, a universal wheel module, two main wheel modules and an outer extension part, the universal wheel module and the main wheel module are arranged on the moving main body; the universal wheel module is located at the front end of the moving body in the first direction, the two main wheel modules and the universal wheel module are arranged at intervals in the first direction, and the two main wheel modules are arranged at intervals in the second direction perpendicular to the first direction; 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 folding state, the outer extending part is contained in the containing bin and is completely located in the orthographic projection range of the moving body. When being unfolded, the outer extension part can partially extend out of the orthographic projection range of the mobile main body; when the outer extending part is in a folded state or an unfolded state, the gravity center of the whole mobile robot falls in an orthographic projection area of a triangular area defined by the universal wheel module and the two main wheel modules on the horizontal plane.

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 hands, to achieve specific tasks, such as grasping and moving objects. In related technologies, the changes in the posture and weight of these extensions during storage, deployment, and post-deployment adjustments can affect the entire mobile robot, causing vibration, tilting, and even tipping. This can impact the robot's operational stability and reliability, posing a safety hazard. 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 having better operating stability and reliability.

[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, a universal wheel module, two main wheel modules and an external extension component; the mobile body is provided with a storage bin, the storage bin is provided with a bin door, and the bin door is configured to open or close the bin opening of the storage bin; the universal wheel module and the main wheel module are arranged on the mobile body; the universal wheel module is located at the front end of the mobile body in the first direction, the two main wheel modules and the universal wheel module are spaced apart along the first direction, and the two main wheel modules are arranged perpendicular to the first direction The outer extension components are arranged at intervals in the second direction of the direction; the outer extension components are provided on the mobile body and can be converted between a folded state and an unfolded state; in the folded state, the outer extension components are accommodated in the accommodating bin, and all of the outer extension components are located within the positive projection range of the mobile body; when the outer extension components are unfolded, they can partially extend outside the positive projection range of the mobile body; when the outer extension components are in the folded state or the unfolded state, the center of gravity of the entire mobile robot falls in the positive projection area of ​​the triangular area defined by the universal wheel module and the two main wheel modules on the horizontal plane.

[0006] According to one embodiment of the present disclosure, at least a portion of the orthographic projection of the outer extension member in the folded state is located in the orthographic projection area.

[0007] 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, in the unfolded state, at least part of the folding arm mechanism extends out of the front side of the mobile body in the first direction, so that the actuator can perform the target action.

[0008] According to one embodiment of the present disclosure, the corresponding triangle of the triangular area is an isosceles triangle, and the center line of the isosceles triangle extends along the first direction; 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 moves on the center line.

[0009] 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 second direction, and in the unfolded state, the rotating seat rotates to make the orthographic projection of the arm extend along the first direction.

[0010] 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 first direction; wherein the rotating seat is arranged on the center line.

[0011] According to one embodiment of the present disclosure, the mobile robot is a sweeping robot, and the functional components of the sweeping robot are respectively arranged in four areas of the mobile body, which are the first area, the second area, the third area and the fourth area arranged along the first direction; the universal wheel module is arranged in the first area, and the main wheel module and the outer extension component are respectively arranged in the third area; wherein, the functional components arranged in the second area include a battery, a circuit board, and a side brush module; the functional components arranged in the third area also include a main brush module and a dust collection box; the functional components arranged in the fourth area include a fan system and a mop.

[0012] According to one embodiment of the present disclosure, the main brush module, the dust box and the fan system are arranged along the first direction, the dust box is located between the main brush module and the fan system, and the fan system is connected to the air duct of the dust box.

[0013] According to one embodiment of the present disclosure, two mops are arranged in the fourth area, and the two mops are respectively located on both sides of the fan system in the second direction.

[0014] According to one embodiment of the present disclosure, along the height direction, the circuit board is arranged above the battery, and a portion of the side brush module is arranged above the battery.

[0015] According to one embodiment of the present disclosure, the universal wheel module and the battery are arranged along the first direction, and along the height direction, a portion of the circuit board extends above the universal wheel module.

[0016] According to one embodiment of the present disclosure, the second area is arranged with at least two circuit boards stacked up and down; wherein the functional component further includes a cooling fan, which is arranged in the second area for dissipating heat from the circuit boards.

[0017] According to one embodiment of the present disclosure, the main brush module includes a main brush and a main brush lifting mechanism. The main brush lifting mechanism can drive the main brush to rise and fall. Along the height direction, the main brush lifting mechanism is arranged above the main brush.

[0018] From the above technical solutions, it can be seen that the advantages and positive effects of the mobile robot proposed in this disclosure are:

[0019] The mobile robot disclosed herein comprises a mobile body, a universal wheel module, two main wheel modules, and an external extension component. When the external extension component is in a folded or unfolded state, the center of gravity of the mobile robot falls within the orthographic projection of the triangular area defined by the universal wheel module and the two main wheel modules on a horizontal plane. Through the above-described design, the present disclosure ensures that the center of gravity of the mobile robot always lies within the orthographic projection of the triangular area defined by the universal wheel module and the two main wheel modules on a horizontal plane during the process of stowing, unfolding, and adjusting the external extension component after unfolding. This prevents shaking and tilting caused by the center of gravity of the mobile robot being outside of this orthographic projection area, thereby ensuring the operational stability and reliability of the mobile robot.

[0020] 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.

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

[0022] 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.

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

[0024] The robot system proposed in the present disclosure, by adopting the mobile robot proposed in the present disclosure, can avoid shaking and tilting caused by the center of gravity of the entire machine being located outside the positive projection area of ​​the triangular area on the horizontal plane, thereby ensuring the operational stability and reliability of the mobile robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] 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.

[0026] Figure 1 is a perspective schematic diagram showing a mobile robot in a state according to an exemplary embodiment;

[0027] Figure 2 and Figure 3 They are Figure 1 The three-dimensional schematic diagram of the mobile robot in another state is shown in two different perspectives;

[0028] Figure 3 yes Figure 1 A bottom view of the mobile robot is shown;

[0029] Figure 4 This 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;

[0030] Figure 5 is a side view of the mobile robot when the external extension member is in the deployed state;

[0031] Figure 6 It is a three-dimensional schematic diagram of the robotic arm in the folded state;

[0032] Figure 7 It is a three-dimensional schematic diagram of the robotic arm in the unfolded state;

[0033] Figure 8 and Figure 9 They are schematic diagrams of the planar layout of multiple functional components of the mobile robot from two different perspectives;

[0034] Figure 10 and Figure 11 They are three-dimensional schematic diagrams of some functional components of the mobile robot from two different perspectives;

[0035] Figure 12It is a three-dimensional schematic diagram of another functional component of the mobile robot.

[0036] The following are the descriptions of the reference numerals:

[0037] 100. Mobile body; 322. Driving wheel;

[0038] 110. Storage compartment; 410. Battery;

[0039] 111. Warehouse door; 420. Circuit board;

[0040] 200. Robotic arm; 430. Side brush module;

[0041] 210. Baseboard; 510. Main brush module;

[0042] 220. Folding arm mechanism; 511. Main brush;

[0043] 221. First arm; 512. Main brush lifting mechanism;

[0044] 222. Second arm; 520. Dust box;

[0045] 223. Third arm; 610. Fan system;

[0046] 230. Clamping mechanism; 620. Mop;

[0047] 240. Rotating seat; D1. First direction;

[0048] 310. Universal wheel module; D2. Second direction;

[0049] 311. First wheel frame; O. Center line;

[0050] 312. Universal wheel; S0. Orthographic projection area;

[0051] 313. Universal wheel lifting mechanism; S1. First area;

[0052] 320. Main wheel module; S2. Second area;

[0053] 321. Second wheel frame; S3. Third area;

[0054] S4. The fourth area. DETAILED DESCRIPTION

[0055] 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.

[0056] 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.

[0057] 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.

[0058] like Figure 1 As shown, in one embodiment of the present disclosure, the mobile robot proposed in the present disclosure includes a mobile body 100, a universal wheel module 310, two main wheel modules 320 and an external extension component. Figures 2 to 12 , Figure 2 and Figure 3 2 and 3 representatively show two perspective schematic diagrams of the mobile robot in another state from different perspectives, wherein the state when the outer extension member is deployed is specifically shown; Figure 4 : 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 5 7 represents a side view of the mobile robot when the outer extension member is in the deployed state; Figure 6 , which is a representative perspective view of the robotic arm in a folded state;

[0059] Figure 7 , which is a representative perspective view of the robotic arm in the unfolded state; Figure 8 and Figure 9 Schematic diagrams of the planar layout of multiple functional components at two different viewing angles are representatively shown; Figure 10 and Figure 113D schematic diagrams of some functional components at two different viewing angles are representatively shown, wherein the combined structure of the universal wheel module 310, the battery 410, the circuit board 420 and the side brush module 430 is specifically shown; Figure 12 , a three-dimensional schematic diagram of another functional component of the mobile robot is representatively shown, in which the three-dimensional structure of the main brush module 510 is specifically shown. The following, in conjunction with the above-mentioned figures, describes in detail the structure, connection method and functional relationship of the main components of the mobile robot proposed in this disclosure.

[0060] like Figures 1 to 7As shown, in one embodiment of the present disclosure, the mobile body 100 is provided with a storage compartment 110, and the storage compartment 110 is provided with a compartment door 111, and the compartment door 111 can open or close the compartment opening of the storage compartment 110. The universal wheel module 310 and the main wheel module 320 are provided on the mobile body 100, and the universal wheel module 310 and the main wheel module 320 respectively partially extend out of the bottom of the mobile body 100. The universal wheel module 310 can realize the steering function of the mobile robot, and the main wheel module 320 serves as the driving component of the mobile robot. Among them, the universal wheel module 310 is located at the front end of the mobile body 100 in a first direction D1, and the first direction D1 can be the front and rear direction of the mobile robot. The two main wheel modules 320 are arranged at intervals from the universal wheel module 310 along the first direction D1, and the two main wheel modules 320 are arranged at intervals along a second direction D2 perpendicular to the first direction D1. The first direction D1 can be the front-to-back direction of the mobile robot, and the second direction D2 can be the left-to-right direction of the mobile robot. Accordingly, the universal wheel module 310 and the two main wheel modules 320 together define a triangular area, and the three wheel assemblies correspond to the three vertex positions of the triangular area, respectively. The external extension component is disposed 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 stored in the storage compartment 110, and the entire external extension component is located within the orthographic projection range of the mobile body 100, that is, on the above-mentioned reference plane, the entire orthographic projection of the external extension component is located within the orthographic projection range of the mobile body 100. When the external extension component is unfolded, that is, in some postures of the external extension component in the unfolded state, the external extension component can partially extend outside the orthographic projection range of the mobile body 100, that is, on the above-mentioned reference plane, the orthographic projection of the external extension component is located outside the orthographic projection range of the mobile body 100. When the external extension components are in the folded or unfolded state, the center of gravity of the entire mobile robot falls within the orthographic projection area S0 of the triangular area defined by the universal wheel module 310 and the two main wheel modules 320 on the horizontal plane. Through the above design, the present disclosure ensures that the center of gravity of the entire robot is always located within the orthographic projection area S0 of the triangular area defined by the universal wheel module 310 and the main wheel module 320 on the horizontal plane during the process of storing, unfolding, and adjusting the external extension components after unfolding. This prevents shaking and tilting caused by the center of gravity of the entire robot being located outside of the orthographic projection area S0, thereby ensuring the operational stability and reliability of the mobile robot. Specifically, since the external extension components are usually relatively heavy functional modules, they need to be distributed within this area. The distribution of the center of gravity is even more important when the mobile robot is on sloping ground or climbing over obstacles.In addition, the outer extension part has a variety of working postures when unfolded, especially when the outer extension part of the robotic arm 200 extends beyond the range of the mobile body 100 to clamp an object, or when the robotic arm 200 retracts into the projection space of the mobile body 100 after clamping an object. At this time, the center of gravity position of the entire machine will produce a large change. Accordingly, the present disclosure places the center of gravity of the entire machine between the above-mentioned three wheel groups, which is more stable and prevents the mobile robot from tipping over.

[0061] like Figure 4 and Figure 11 As shown, in one embodiment of the present disclosure, the universal wheel module 310 may include a first wheel frame 311 and a universal wheel 312. The first wheel frame 311 is rotatably mounted on the mobile body 100, and the rotation axis of the first wheel frame 311 extends in the height direction. The universal wheel 312 is mounted on the first wheel frame 311, and the rotation axis of the universal wheel 312 is perpendicular to the rotation axis of the first wheel frame 311. The main wheel module 320 may include a second wheel frame 321 and a driving wheel 322. The second wheel frame 321 is rotatably mounted on the mobile body 100, and the rotation axis of the second wheel frame 321 is parallel to the second direction D2. The driving wheel 322 is mounted on the second wheel frame 321, and the rotation axis of the driving wheel 322 is parallel to the second direction D2. On this basis, the three vertices of the above-mentioned triangular area are respectively located at the rotation axis of the universal wheel 312 and the rotation axis of the two driving wheels 322, for example, they can be preferably arranged at the wheel center of the universal wheel 312 and the wheel center of the two driving wheels 322.

[0062] like Figure 4 As shown, in one embodiment of the present disclosure, at least a portion of the orthographic projection of the folded external extension member is located within the aforementioned orthographic projection area S0. This design facilitates the placement of the external extension member within the mobile body 100, ensuring that the center of gravity of the entire device remains within the aforementioned orthographic projection area S0 regardless of the external extension member's position.

[0063] like Figures 4 to 7As 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 220. Specifically, the base plate 210 is mounted on the mobile body 100. The folding arm mechanism 220 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. In certain postures of the unfolded state, the folding arm mechanism 220 can partially extend beyond the front side of the mobile body 100 in the first direction D1, 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 the folding arm mechanism 220 including multiple arms to achieve further adjustment of the robotic arm 200 in the unfolded state, thereby achieving flexible gripping of objects in different positions.

[0064] like Figures 4 to 7 As shown, based on the design of the robotic arm 200 including a base plate 210 and a folding arm mechanism 220, in one embodiment of the present disclosure, the folding arm mechanism 220 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 pivotally connected to the base plate 210, one end of the second arm 222 is pivotally connected to the other end of the first arm 221, and one end of the third arm 223 is pivotally connected to the other end of the second arm 222. Furthermore, the gripper mechanism 230 may be disposed 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 220, which can achieve greater flexibility in adjusting the gripping posture of the robotic arm 200 while avoiding the problem of excessive number of arms in the folding arm mechanism 220 resulting in increased structural complexity and space occupation. In some embodiments, when the robotic arm 200 includes the folding arm mechanism 220, the folding arm mechanism 220 may also include two, four, or more arms, and is not limited to this embodiment.

[0065] like Figure 4As shown, based on the design of the robotic arm 200 including the folding arm mechanism 220, in one embodiment of the present disclosure, the corresponding triangle of the above-mentioned triangular area is an isosceles triangle, and the centerline O of the isosceles triangle extends along the first direction D1. 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 this axis as the axis of symmetry. Accordingly, the triangular area defined by these three wheel groups is an isosceles triangle, and the centerline 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 220 rotate relative to each other, the center of gravity of the mobile robot remains and moves along this centerline O. Through the above design, on the basis of ensuring that the center of gravity of the entire machine is always located in the orthographic projection area S0, the present disclosure can further reduce the jitter caused by the folding arm mechanism 220 adjusting different postures, further improving the stability and reliability of the entire machine.

[0066] like Figures 4 to 7 As shown, based on the design of the robotic arm 200 including a base plate 210 and a folding arm mechanism 220, 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 220 (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 220 as a whole relative to the base plate 210, thereby adjusting the horizontal orientation of the folding arm mechanism 220. On this basis, in the folded state, the orthographic projection of the arm extends along the second direction D2, and in the unfolded state, the rotating base 240 rotates so that the orthographic projection of the arm extends along the first direction D1. Specifically, in the folded state, the extension direction of each arm of the folding arm mechanism 220 can be the left and right direction of the sweeping robot. In other words, the robot arm 200 can be folded in the receiving groove in a "horizontal" form. The so-called "left and right direction" can be understood as the relative arrangement direction of the two main driving wheels 322 of the sweeping robot. On this basis, the maximum rotation angle of the rotating seat 240 on the base plate 210 can be 90°, so that the folding arm mechanism 220 extends out in front of the mobile body 100 (for example, Figure 1 、 Figure 2 、 Figure 8 and Figure 9The 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 220 and the rotational deployment between the folding arm mechanism 220 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 sweeping robot 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 sweeping robot.

[0067] 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 first direction D1. On this basis, the rotating base 240 can be arranged on the center line O.

[0068] like Figure 1 、 Figure 2 and Figure 4 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.

[0069] like Figure 1 and Figure 2 As 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.

[0070] like Figure 8 and Figure 9As shown, in one embodiment of the present disclosure, the mobile robot is a sweeping robot, and the functional components of the sweeping robot are respectively arranged in four areas of the mobile body 100, namely the first area S1, the second area S2, the third area S3, and the fourth area S4 arranged along the first direction D1. On this basis, the universal wheel module 310 is arranged in the first area S1, and the main wheel module 320 and the external extension component are respectively arranged in the third area S3. Among them, the functional components arranged in the second area S2 may include a battery 410, a circuit board 420, and a side brush module 430. The functional components arranged in the third area S3 may also include a main brush module 510 and a dust box 520. The functional components arranged in the fourth area S4 may include a fan system 610 and a mop 620. Through the above design, the present disclosure realizes the multi-row arrangement of the functional components of the sweeping robot along the first direction D1, thereby fully utilizing the internal space of the sweeping robot. The external extension component (i.e., the robotic arm 200) is arranged in the above-mentioned triangular area, so that the center of gravity of the whole machine is distributed in the positive projection area S0 of the triangular area on the horizontal plane, making the sweeping robot more stable when walking or performing tasks. In addition, the present disclosure can also realize the thin design of the whole machine, making the sweeping robot more suitable for use in low spaces and having a wider range of applications.

[0071] like Figure 8 and Figure 9 As shown, based on the design of multi-row arrangement of the functional components of the sweeping robot, in one embodiment of the present disclosure, the main brush module 510, the dust box 520 and the fan system 610 can be arranged along the first direction D1, and the dust box 520 is located between the main brush module 510 and the fan system 610, and the fan system 610 is connected to the air duct of the dust box 520.

[0072] like Figure 8 and Figure 9 As shown, based on the design of multi-row arrangement of the functional components of the sweeping robot, in one embodiment of the present disclosure, two mops 620 can be arranged in the fourth area S4, and the two mops 620 are respectively located on both sides of the fan system 610 in the second direction D2, namely the left mop and the right mop.

[0073] like Figure 10 and Figure 11 As shown, in one embodiment of the present disclosure, the circuit board 420 can be arranged above the battery 410 in the height direction, and a portion of the side brush module 430 is arranged above the battery 410. Accordingly, the present disclosure implements a partially staggered layout of the circuit board 420, battery 410, and side brush module 430, which can fully utilize the space in the height direction. On the basis of reducing the height of the entire device, it further reduces the space occupied by some functional components on the plane, which is conducive to miniaturization design.

[0074] like Figure 10 and Figure 11 As shown, based on the design of placing the circuit board 420 above the battery 410, in one embodiment of the present disclosure, the universal wheel module 310 and the battery 410 are arranged along a first direction D1. In the height direction, a portion of the circuit board 420 extends above the universal wheel module 310. Specifically, the universal wheel module 310 includes a first wheel frame 311, a universal wheel 312, and a universal wheel lifting mechanism 313. The universal wheel 312 is mounted on the first wheel frame 311. The first wheel frame 311 is rotatably disposed at the bottom of the universal wheel lifting mechanism 313. The rotation axis of the first wheel frame 311 extends in the vertical direction. The universal wheel lifting mechanism 313 is capable of driving the first wheel frame 311 to rise and fall. Furthermore, a portion of the circuit board 420 extends above the universal wheel lifting mechanism 313. Through this design, the present disclosure can utilize the space above the universal wheel module 310 to arrange the circuit board 420, further achieving full utilization of the space in the height direction.

[0075] like Figure 10 and Figure 11 As shown, based on the design that the circuit board 420 is arranged above the battery 410 and the universal wheel module 310, in one embodiment of the present disclosure, the second area S2 is arranged with at least two circuit boards 420 stacked up and down. On this basis, the functional component can also include a cooling fan, which is arranged in the second area S2, and the cooling fan is used to dissipate heat from the circuit board 420. Since the circuit board 420 is arranged above the universal wheel module 310 and the battery 410 in a partially staggered layout, compared to the design in which the circuit board 420, the universal wheel module 310 and the battery 410 are staggered on the plane, the partially staggered design adopted in this embodiment needs to reduce the gap between the upper and lower adjacent circuit boards 420 if it wants to maintain a smaller space occupancy in the height direction of this position, thereby causing more heat concentration. In this regard, the present disclosure arranges a cooling fan in the second area S2, which can effectively alleviate the concentrated heat generation at the multi-layer circuit board 420 and ensure the heat dissipation effect.

[0076] like Figure 12 As shown, in one embodiment of the present disclosure, the main brush module 510 includes a main brush 511 and a main brush lifting mechanism 512. The main brush lifting mechanism 512 can drive the main brush 511 to rise and fall. In the height direction, the main brush lifting mechanism 512 can be arranged above the main brush 511. Accordingly, the present disclosure implements a partially overlapping layout at the main brush 511 and the main brush lifting mechanism 512, which can fully utilize the space in the height direction. On the basis of reducing the height dimension of the entire machine, it further reduces the space occupied by some functional components on the plane, which is conducive to miniaturization design.

[0077] 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.

[0078] In summary, the mobile robot proposed in the present disclosure includes a mobile body 100, a universal wheel module 310, two main wheel modules 320, and an external extension component. When the external extension component is in a folded or unfolded state, the center of gravity of the mobile robot falls within the orthographic projection area S0 of the triangular area defined by the universal wheel module 310 and the two main wheel modules 320 on a horizontal plane. Through the above design, the present disclosure ensures that the center of gravity of the mobile robot always lies within the orthographic projection area S0 of the triangular area defined by the universal wheel module 310 and the main wheel module 320 on a horizontal plane during the process of folding, unfolding, and adjusting the external extension component after unfolding. This prevents shaking and tilting caused by the center of gravity of the mobile robot being outside of the orthographic projection area S0, thereby ensuring the operational stability and reliability of the mobile robot.

[0079] 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.

[0080] 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.

[0081] 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 detail or any component of the robotic systems shown in the drawings or described in this specification.

[0082] To sum up, the robot system proposed in the present disclosure, by adopting the mobile robot proposed in the present disclosure, can avoid shaking and tilting caused by the center of gravity of the whole machine being located outside the positive projection area of ​​the triangular area on the horizontal plane, thereby ensuring the operation stability and reliability of the mobile robot.

[0083] 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.

[0084] 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, a universal wheel module, two main wheel modules and an external extension component; The mobile body is provided with a storage bin, and the storage bin is provided with a bin door, and the bin door is configured to open or close the bin opening of the storage bin; The universal wheel module and the main wheel module are arranged on the mobile body; The universal wheel module is located at the front end of the mobile body in the first direction, the two main wheel modules are spaced apart from the universal wheel module along the first direction, and the two main wheel modules are spaced apart along a second direction perpendicular to the first direction; 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 member is stored in the accommodating compartment, and the entire outer extension member is located within the orthographic projection range of the mobile body; when the outer extension member is unfolded, it can partially extend outside the orthographic projection range of the mobile body; When the outer extension component is in a folded state or an unfolded state, the entire center of gravity of the mobile robot falls within the orthographic projection area of ​​the triangular area defined by the universal wheel module and the two main wheel modules on the horizontal plane.

2. The mobile robot according to claim 1, characterized in that At least a portion of the orthographic projection of the outer extension member in the folded state is located within the orthographic projection area.

3. The mobile robot according to claim 2, 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, in the unfolded state, at least part of the folding arm mechanism extends out of the front side of the mobile body in the first direction, so that the actuator can perform the target action.

4. The mobile robot according to claim 3, 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 first direction; 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 moves on the center line.

5. The mobile robot according to claim 3, 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 second direction, and in the unfolded state, the rotating seat rotates to make the orthographic projection of the arm extend along the first direction.

6. The mobile robot according to claim 5, 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 first direction; wherein the rotating seat is arranged on the center line.

7. The mobile robot according to any one of claims 1 to 6, characterized in that: The mobile robot is a sweeping robot, and the functional components of the sweeping robot are respectively arranged in four areas of the mobile body, which are the first area, the second area, the third area and the fourth area arranged along the first direction; the universal wheel module is arranged in the first area, and the main wheel module and the external extension component are respectively arranged in the third area; wherein, the functional components arranged in the second area include batteries, circuit boards, and side brush modules; the functional components arranged in the third area also include a main brush module and a dust collection box; the functional components arranged in the fourth area include a fan system and a mop.

8. The mobile robot according to claim 7, characterized in that: The main brush module, the dust box and the fan system are arranged along the first direction, the dust box is located between the main brush module and the fan system, and the fan system is connected to the air duct of the dust box.

9. The mobile robot according to claim 7, characterized in that: Two mops are arranged in the fourth area, and the two mops are respectively located on both sides of the fan system in the second direction.

10. The mobile robot according to claim 7, characterized in that: Along the height direction, the circuit board is arranged above the battery, and a portion of the side brush module is arranged above the battery.

11. The mobile robot according to claim 10, characterized in that: The universal wheel module and the battery are arranged along the first direction, and along the height direction, a portion of the circuit board extends above the universal wheel module.

12. The mobile robot according to claim 10, characterized in that: The second area is provided with at least two circuit boards stacked one above the other; wherein the functional component further includes a heat dissipation fan, which is arranged in the second area and is used to dissipate heat from the circuit boards.

13. The mobile robot according to claim 7, characterized in that: The main brush module includes a main brush and a main brush lifting mechanism. The main brush lifting mechanism can drive the main brush to rise and fall. Along the height direction, the main brush lifting mechanism is arranged above the main brush.

14. A robot system, characterized in that: It comprises a base station and the mobile robot according to any one of claims 1 to 13.

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