Mobile robot and robot system
Patent Information
- Authority / Receiving Office
- WO · WO
- Patent Type
- Applications
- Current Assignee / Owner
- Filing Date
- 2025-11-05
- Publication Date
- 2026-08-13
Smart Images
Figure CN2025132645_13082026_PF_FP_ABST
Abstract
Description
Mobile robots and robot systems Cross-reference to related applications
[0001] This disclosure claims priority to application No. 202411700994.8, filed on November 25, 2024, entitled "Mobile Robot and Robot System", and to application No. 202422882315.5, also filed on November 25, 2024, entitled "Mobile Robot and Robot System", the entire contents of which are incorporated herein by reference. Technical Field
[0002] This disclosure relates to the field of robotics, and more particularly to a mobile robot and a robot system. Background Technology
[0003] Conventional mobile robots employ external extensions such as robotic arms and hands to achieve specific tasks, such as grasping and moving objects. However, in these technologies, the posture changes and weight of these extensions during retraction, deployment, and adjustment can affect the overall mobile robot, causing vibrations, tilting, or even tipping over. This impacts the robot's operational stability and reliability, posing safety hazards.
[0004] It should be noted that the information disclosed in the background section above is only used to enhance the understanding of the background of this disclosure, and therefore may include information that does not constitute prior art known to those skilled in the art. Summary of the Invention
[0005] A primary objective of this disclosure is to overcome at least one of the deficiencies of the prior art described above, and to provide a mobile robot with external extension components and better operational stability and reliability.
[0006] To achieve the above objectives, the present disclosure adopts the following technical solution:
[0007] According to one aspect of this 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 universal wheel module and the main wheel modules are disposed on the mobile body; the universal wheel module is located at the front end of the mobile body in a 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 external extension component is disposed on the mobile body and can switch between a folded state and an unfolded state; in the folded state, the entire external extension component is located within the orthographic projection range of the mobile body; when the external extension component is unfolded, it can partially extend beyond the orthographic projection range of the mobile body; when the external extension component is in the folded or unfolded state, the center of gravity of the mobile robot falls within the orthographic projection area of the triangular region defined by the universal wheel module and the two main wheel modules on the horizontal plane.
[0008] According to one embodiment of this disclosure, at least a portion of the orthographic projection of the outer extension member in its folded state is located in the orthographic projection region.
[0009] According to one embodiment of this disclosure, the extended component is a robotic arm, which includes a base plate and a folding arm mechanism; the base plate is disposed on the moving body; the folding arm mechanism includes at least two arms, each arm being rotatably connected in sequence, one of the arms being rotatably connected to the base plate, the rotation axis between the two connected arms being parallel to the rotation axis between the arm and the base plate, and the rotation axis being perpendicular to the extension direction of the arm and parallel to the base plate; one of the end arms is provided with an actuator; wherein, in the unfolded state, at least a portion of the folding arm mechanism extends out of the front side of the moving body in the first direction, so that the actuator can perform a target action.
[0010] According to one embodiment of this disclosure, the corresponding triangle of the triangular region is an isosceles triangle, and the center line of the isosceles triangle extends along the first direction; in the unfolded state, when at least two of the arms of the folding arm mechanism rotate relative to each other, the center of gravity of the mobile robot moves along the center line.
[0011] According to one embodiment of this disclosure, the robotic arm further includes a rotating base; the rotating base is rotatably disposed on the substrate, and the axis of rotation between the rotating base and the substrate is perpendicular to the substrate; one of the arms of the folding arm mechanism is rotatably connected to the rotating base; in the folded state, the orthographic projection of the arm extends along the second direction, and in the unfolded state, the rotating base rotates to cause the orthographic projection of the arm to extend along the first direction.
[0012] According to one embodiment of this disclosure, the corresponding triangle of the triangular region is an isosceles triangle, and the center line of the isosceles triangle extends along the first direction; wherein the rotating seat is arranged on the center line.
[0013] According to one embodiment of this 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. The four areas are a first area, a second area, a third area, and a fourth area arranged along the first direction. The omnidirectional 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. 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.
[0014] According to one embodiment of this disclosure, the main brush module, the dust collection box, and the fan system are arranged along the first direction, the dust collection 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 collection box.
[0015] According to one embodiment of this disclosure, the fourth region is provided with two of the mops, which are respectively located on both sides of the fan system in the second direction.
[0016] According to one embodiment of this disclosure, the circuit board is arranged above the battery along the height direction, and a portion of the side brush module is arranged above the battery.
[0017] According to one embodiment of this disclosure, the caster module and the battery are arranged along the first direction, and a portion of the circuit board extends above the caster module in the height direction.
[0018] According to one embodiment of this disclosure, at least two circuit boards are arranged in a stacked manner in the second region; wherein, the functional component further includes a cooling fan, which is arranged in the second region for dissipating heat from the circuit boards.
[0019] According to one embodiment of this 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 lift and adjust. Along the height direction, the main brush lifting mechanism is arranged above the main brush.
[0020] As can be seen from the above technical solution, the advantages and positive effects of the mobile robot proposed in this disclosure are as follows:
[0021] The mobile robot disclosed herein includes 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 area of the triangular region defined by the universal wheel module and the two main wheel modules on a horizontal plane. Through this design, the present disclosure ensures that the center of gravity of the entire robot remains within the orthographic projection area of the triangular region defined by the universal wheel module and the main wheel modules on a horizontal plane during the folding, unfolding, and adjustment processes of the external extension component. This prevents shaking and tilting caused by the center of gravity being outside this orthographic projection area, thus ensuring the operational stability and reliability of the mobile robot.
[0022] Another primary objective of this disclosure is to overcome at least one of the deficiencies of the prior art described above and to provide a robot system employing the aforementioned mobile robot.
[0023] To achieve the above objectives, the present disclosure adopts the following technical solution:
[0024] According to another aspect of this disclosure, a robot system is provided, comprising a base station and a mobile robot as proposed in this disclosure and described in the above embodiments. Attached Figure Description
[0025] The various objectives, features, and advantages of this disclosure will become more apparent from the following detailed description of preferred embodiments of the disclosure taken in conjunction with the accompanying drawings. The drawings are merely illustrative of the present disclosure and are not necessarily drawn to scale. In the drawings, the same reference numerals always denote the same or similar parts. Wherein:
[0026] Figure 1 is a perspective view of a mobile robot in a state according to an exemplary embodiment;
[0027] Figures 2 and 3 are two different perspectives of the mobile robot shown in Figure 1 in another state.
[0028] Figure 3 is a bottom view of the mobile robot shown in Figure 1;
[0029] Figure 4 is a schematic diagram of the planar layout of the omnidirectional wheel module, two main wheel modules and external extension components of the mobile robot;
[0030] Figure 5 is a side view of the mobile robot when its external extension components are in the deployed state.
[0031] Figure 6 is a three-dimensional schematic diagram of the robotic arm in its folded state;
[0032] Figure 7 is a three-dimensional schematic diagram of the robotic arm in its extended state;
[0033] Figures 8 and 9 are schematic diagrams of the planar arrangement of multiple functional components of a mobile robot from two different perspectives.
[0034] Figures 10 and 11 are three-dimensional schematic diagrams of some functional components of the mobile robot from two different perspectives;
[0035] Figure 12 is a three-dimensional schematic diagram of another functional component of the mobile robot. The reference numerals in the attached drawings are explained as follows: 100. Moving main body; 322. Drive wheel; 110. Storage compartment; 410. Battery; 111. Door; 420. Circuit board; 200. Robotic arm; 430. Side brush module; 210. Base plate; 510. Main brush module; 220. Folding arm mechanism; 511. Main brush; 221. First arm; 512. Main brush lifting mechanism; 222. Second arm; 520. Dust collection box; 223. Third arm; 610. Fan system; 230. Gripper mechanism; 620. Mop; 240. Rotating seat; D1. First direction; 310. Universal wheel module; D2. Second direction; 311. First wheel frame; O. Center line; 312. Universal wheel; S0. Orthographic projection area; 313. Universal wheel lifting mechanism; S1. First area; 320. Main wheel module; S2. Second area; 321. Second wheel frame; S3. Third area; S4. Fourth area. Detailed Implementation
[0036] Typical embodiments embodying the features and advantages of this disclosure will be described in detail in the following description. It should be understood that this disclosure can have various variations in different embodiments without departing from the scope of this disclosure, and the descriptions and drawings therein are illustrative in nature and not intended to limit this disclosure.
[0037] In the following description of various exemplary embodiments of this disclosure, reference is made to the accompanying drawings, which form part of this disclosure, and which illustrate by way of example different exemplary structures, systems, and steps that can implement various aspects of this disclosure. It should be understood that other specific embodiments of the components, structures, exemplary devices, systems, and steps may be used, and structural and functional modifications may be made without departing from the scope of this disclosure. Furthermore, while the terms “above,” “between,” “within,” etc., may be used in this specification to describe different exemplary features and elements of this disclosure, these terms are used herein only for convenience, such as the orientation according to the examples described in the accompanying drawings. Nothing in this specification should be construed as requiring a specific three-dimensional orientation of the structure to fall within the scope of this disclosure.
[0038] Referring to Figure 1, a perspective view of the mobile robot proposed in this disclosure in one state is shown, specifically illustrating the state when the outer extension component is folded and the compartment door 111 is closed. In this exemplary embodiment, the mobile robot proposed in this disclosure is illustrated using a robotic vacuum cleaner as an example. It will be readily understood by those skilled in the art that various modifications, additions, substitutions, deletions, or other changes may be made to the specific embodiments described below in order to apply the relevant designs of this disclosure to other types of robots, and these changes are still within the scope of the principles of the mobile robot proposed in this disclosure.
[0039] As shown in Figure 1, in one embodiment of this disclosure, the mobile robot proposed in this disclosure includes a mobile body 100, a universal wheel module 310, two main wheel modules 320, and an external extension component. Referring to Figures 2 through 12, Figures 2 and 3 respectively show representative three-dimensional schematic diagrams of the mobile robot from two different perspectives in another state, specifically showing the state when the outer extension component is deployed; Figure 4 respectively shows a planar layout schematic diagram of the omnidirectional wheel module 310, the two main wheel modules 320, and the outer extension component; Figure 5 respectively shows a side view of the mobile robot when the outer extension component is deployed; Figure 6 respectively shows a three-dimensional schematic diagram of the robotic arm in the folded state; Figure 7 respectively shows a three-dimensional schematic diagram of the robotic arm in the deployed state; Figures 8 and 9 respectively show representative planar layout schematic diagrams of multiple functional components from two different perspectives; Figures 10 and 11 respectively show representative three-dimensional schematic diagrams of a portion of the functional components from two different perspectives, specifically showing the combined structure of the omnidirectional wheel module 310, battery 410, circuit board 420, and side brush module 430; Figure 12 respectively shows a three-dimensional schematic diagram of another portion of the mobile robot's functional components, specifically showing the three-dimensional structure of the main brush module 510. The structure, connection method, and functional relationship of the main components of the mobile robot proposed in this disclosure will be described in detail below with reference to the above-mentioned figures.
[0040] As shown in Figures 1 to 7, in one embodiment of this disclosure, the omnidirectional wheel module 310 and the main wheel module 320 are disposed on the mobile body 100, and the omnidirectional wheel module 310 and the main wheel module 320 respectively partially extend out of the bottom of the mobile body 100. The omnidirectional wheel module 310 enables the mobile robot to turn, while the main wheel module 320 serves as the driving component of the mobile robot. The omnidirectional wheel module 310 is located at the front end of the mobile body 100 in a first direction D1, which can be the forward / backward direction of the mobile robot. The two main wheel modules 320 are spaced apart from the omnidirectional wheel module 310 along the first direction D1, and the two main wheel modules 320 are also spaced apart along a second direction D2 perpendicular to the first direction D1. The first direction D1 can be the forward / backward direction of the mobile robot, and the second direction D2 can be the left / right direction of the mobile robot. Accordingly, the omnidirectional wheel module 310 and the two main wheel modules 320 jointly define a triangular region, with the three wheel sets corresponding to the three vertices of the triangular region. The extended component is disposed on the mobile body 100 and can switch between a folded state and an extended state. In the folded state, the entire extended component lies within the orthographic projection range of the mobile body 100; that is, on the aforementioned reference plane, the entire orthographic projection of the extended component lies within the orthographic projection range of the mobile body 100. When the extended component is extended, i.e., in some postures of the extended component in the extended state, the extended component can partially extend beyond the orthographic projection range of the mobile body 100; that is, on the aforementioned reference plane, a portion of the orthographic projection of the extended component lies outside the orthographic projection range of the mobile body 100. When the extended component is in either the folded or extended state, the center of gravity of the mobile robot falls within the orthographic projection region S0 on the horizontal plane of the triangular region defined by the omnidirectional wheel module 310 and the two main wheel modules 320. Through the above design, this disclosure ensures that the center of gravity of the entire robot remains within the orthographic projection area S0 of the triangular region defined by the omnidirectional wheel module 310 and the main wheel module 320 on the horizontal plane during the storage, unfolding, and adjustment of the extended components. This prevents shaking and tilting caused by the center of gravity being outside this orthographic projection area S0, thus ensuring the operational stability and reliability of the mobile robot. Specifically, since the extended 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 an inclined surface or overcoming obstacles. In addition, the extended components have various working postures when unfolded. For example, when the extended components of the robotic arm 200 extend beyond the range of the mobile body 100 to pick up an item, or when the robotic arm 200 picks up an item and retracts into the projection space of the mobile body 100, the position of the center of gravity of the entire robot will change significantly. Accordingly, this disclosure places the center of gravity of the entire robot between the three wheel sets, making it more stable and preventing the mobile robot from tipping over.
[0041] As shown in Figures 4 and 11, in one embodiment of this disclosure, the caster wheel module 310 may include a first wheel frame 311 and a caster wheel 312. The first wheel frame 311 is rotatably mounted on the moving body 100, and the axis of rotation of the first wheel frame 311 extends along the height direction. The caster wheel 312 is mounted on the first wheel frame 311, and the axis of rotation of the caster wheel 312 is perpendicular to the axis of rotation of the first wheel frame 311. The main wheel module 320 may include a second wheel frame 321 and a drive wheel 322. The second wheel frame 321 is rotatably mounted on the moving body 100, and the axis of rotation of the second wheel frame 321 is parallel to the second direction D2. The drive wheel 322 is mounted on the second wheel frame 321, and the axis of rotation of the drive wheel 322 is parallel to the second direction D2. Based on this, the three vertices of the aforementioned triangular region are located on the rotation axis of the universal wheel 312 and the rotation axis of the two drive wheels 322, respectively. For example, they can preferably be arranged at the center of the wheel body of the universal wheel 312 and the center of the wheel body of the two drive wheels 322.
[0042] As shown in Figure 4, in one embodiment of this disclosure, at least a portion of the orthographic projection of the outer extension member in the folded state is located within the aforementioned orthographic projection region S0. Through this design, this disclosure facilitates the arrangement of the outer extension member within the moving body 100, and ensures that the center of gravity of the entire machine always falls within the aforementioned orthographic projection region S0 when the outer extension member is in different postures.
[0043] As shown in Figures 4 to 7, in one embodiment of this disclosure, the outer extension component can be a robotic arm 200, which may include a base plate 210 and a folding arm mechanism 220. Specifically, the base plate 210 is disposed on the moving body 100. The folding arm mechanism 220 includes at least two arms, which are rotatably connected in sequence. One arm (i.e., the first arm 221 described below) is rotatably connected to the base plate 210 (specifically, the rotating seat 240 described below). The rotation axis between the two connected arms is parallel to the rotation axis between the arm and the base plate 210, and the rotation axis is specifically perpendicular to the extension direction of the arm and parallel to the base plate 210. An actuation mechanism is provided on the end arm (e.g., the third arm 223 described below). In some postures of the unfolded state, part of the folding arm mechanism 220 can extend out of the front side of the moving body 100 in the first direction D1, so that the actuation mechanism can perform a target action. For example, the actuation mechanism can be a gripper mechanism 230, which can grip an item. Through the above design, this disclosure can utilize a folding arm mechanism 220 including multiple arms to further adjust the robotic arm 200 in the unfolded state, thereby enabling flexible gripping of items in different positions.
[0044] As shown in Figures 4 to 7, based on the design of the robotic arm 200 including a base plate 210 and a folding arm mechanism 220, in one embodiment of this disclosure, the folding arm mechanism 220 may include, for example, three arms: a first arm 221, a second arm 222, and a third arm 223. Specifically, one end of the first arm 221 is rotatably connected to the base plate 210, one end of the second arm 222 is rotatably connected to the other end of the first arm 221, one end of the third arm 223 is rotatably connected to the other end of the second arm 222, and a gripper mechanism 230 may be disposed at the other end of the third arm 223. Through the above design, this disclosure adopts a three-fold design for the folding arm mechanism 220, which can achieve better adjustment flexibility of the gripping posture of the robotic arm 200, while avoiding the problems of high structural complexity and large space occupation caused by too many arms in the folding arm mechanism 220. 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.
[0045] As shown in Figure 4, based on the design of the robotic arm 200 including the folding arm mechanism 220, in one embodiment of this disclosure, the corresponding triangle of the aforementioned triangular region is an isosceles triangle, and the center line O of the isosceles triangle extends along the first direction D1. For example, the universal wheel module 310 can be arranged on the axis extending in the front-rear direction of the moving body 100, and the two main wheel modules 320 are symmetrically arranged about this axis as the axis of symmetry, thereby making the triangular region defined by these three wheel sets an isosceles triangle, and the aforementioned center line O of the isosceles triangle is the axis extending in the front-rear direction of the moving body 100. Based on this, in the unfolded state, when at least two arms of the folding arm mechanism 220 rotate relative to each other, the center of gravity of the mobile robot remains on the center line O. Through the above design, while ensuring that the center of gravity of the entire robot is always located in the orthographic projection area S0, this disclosure can further reduce the shaking caused by the folding arm mechanism 220 adjusting different postures, and further improve the stability and reliability of the entire robot.
[0046] As shown in Figures 4 to 7, based on the design of the robotic arm 200 including a base plate 210 and a folding arm mechanism 220, in one embodiment of this disclosure, the robotic arm 200 may further include a rotating base 240. Specifically, the rotating base 240 is rotatably disposed on the base plate 210, and the axis of rotation between the rotating base 240 and the base plate 210 is perpendicular to the base plate 210, for example, in a vertical direction. One arm of the folding arm mechanism 220 (e.g., the first arm 221) is rotatably connected to the rotating base 240, and the axis of rotation between the first arm 221 and the rotating base 240 is specifically perpendicular to the extension direction of the first arm 221 and parallel to the base plate 210. Through the above design, this disclosure can realize the horizontal rotation of the folding arm mechanism 220 as a whole relative to the base plate 210, thereby adjusting the orientation of the folding arm mechanism 220 in the horizontal direction. Based on this, in the folded state, the orthographic projection of the arm extends along the second direction D2; 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-right direction of the sweeping robot. In other words, the robotic arm 200 can be folded in the receiving slot in a "horizontal" manner. The "left-right direction" can be understood as the relative arrangement direction of the two main drive wheels 322 of the sweeping robot. Based on this, the maximum rotation angle of the rotating base 240 on the base plate 210 can be 90°, so that the folding arm mechanism 220 extends in front of the moving body 100 in the unfolded state (for example, the direction indicated by the hollow arrows in Figures 1, 2, 8 and 9 indicates the front of the moving body 100). Specifically, when the robotic arm 200 is unfolded, in addition to the rotation and unfolding of each arm of the folding arm mechanism 220 and the rotation and unfolding between the folding arm mechanism 220 and the rotating seat 240, the rotating seat 240 can also rotate relative to the base plate 210, so that the horizontally placed robotic arm 200 when folded can be arranged in front of the sweeping robot after unfolding, so that a part of the robotic arm 200 can extend in front of the moving body 100, so that the gripper mechanism 230 can grip the items located in front of the sweeping robot.
[0047] Based on the design of the robotic arm 200 including the rotary seat 240, in one embodiment of this disclosure, the corresponding triangle of the aforementioned triangular region is an isosceles triangle, and the center line O of the isosceles triangle extends along the first direction D1. Therefore, the rotary seat 240 can be arranged on the center line O.
[0048] As shown in Figures 1, 2, and 4, in one embodiment of this disclosure, the mobile body 100 may be provided with a receiving compartment 110, which opens onto the top surface of the mobile body 100. For example, an extension component of the robotic arm 200 is disposed in the receiving compartment 110 and can extend out of the receiving compartment 110 when unfolded. Through the above design, this disclosure arranges the extension component within the mobile body 100, such that the extension component is at least partially housed in the receiving compartment 110 in the folded state, resulting in a smaller height for the mobile robot when the extension component is folded. Accordingly, this disclosure, while utilizing the extension component to achieve an extension function, is more suitable for use in low-ceilinged spaces and has a wider range of applications.
[0049] As shown in Figures 1 and 2, based on the design of the mobile body 100 with a receiving compartment 110, in one embodiment of this disclosure, the receiving compartment 110 may be provided with an openable and closable door 111 at its opening. Through this design, when, for example, the outer extension component of the robotic arm 200 is in a folded state, this disclosure can use the door 111 to close the opening of the receiving compartment 110, preventing dust, moisture, and debris from falling into the receiving compartment 110, extending the service life of the outer extension component, and simultaneously preventing any impact on other functional components within the mobile body 100.
[0050] As shown in Figures 8 and 9, in one embodiment of this disclosure, the mobile robot is a sweeping robot. The functional components of the sweeping robot are arranged in four areas of the mobile body 100, namely, a first area S1, a second area S2, a third area S3, and a fourth area S4 arranged along a first direction D1. Based on this, a universal wheel module 310 is arranged in the first area S1, and a main wheel module 320 and an external extension component are arranged in the third area S3. 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 collection 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, this disclosure realizes the multi-row arrangement of the various functional components of the sweeping robot along the first direction D1, thereby making full use of the internal space of the sweeping robot. The external extension component (i.e., the robotic arm 200) is set in the above-mentioned triangular area, so that the center of gravity of the whole machine is distributed in the orthographic projection area S0 of the triangular area on the horizontal plane, making the sweeping robot more stable when walking or performing tasks. In addition, this 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.
[0051] As shown in Figures 8 and 9, based on the design of the various functional components of the sweeping robot adopting a multi-row arrangement, in one embodiment of this disclosure, the main brush module 510, the dust collection box 520 and the fan system 610 can be arranged along the first direction D1, and the dust collection 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 collection box 520.
[0052] As shown in Figures 8 and 9, based on the multi-row arrangement of the functional components of the sweeping robot, in one embodiment of this disclosure, the fourth region S4 can be arranged with two mops 620. These two mops 620 are located on both sides of the fan system 610 in the second direction D2, namely the left mop and the right mop.
[0053] As shown in Figures 10 and 11, in one embodiment of this disclosure, the circuit board 420 can be arranged above the battery 410 along the height direction, and a portion of the side brush module 430 is arranged above the battery 410. Accordingly, this disclosure achieves a partially staggered layout of the circuit board 420, battery 410, and side brush module 430, which can make full use of the space in the height direction, reduce the overall height of the device, and further reduce the space occupied by some functional components on the plane, which is beneficial for miniaturization design.
[0054] As shown in Figures 10 and 11, based on the design of the circuit board 420 arranged above the battery 410, in one embodiment of this disclosure, the caster module 310 and the battery 410 are arranged along a first direction D1, and a portion of the circuit board 420 extends above the caster module 310 along the height direction. Specifically, the caster module 310 includes a first wheel frame 311, casters 312, and a caster lifting mechanism 313. The casters 312 are mounted on the first wheel frame 311, and the first wheel frame 311 is rotatably disposed at the bottom of the caster lifting mechanism 313. The rotation axis of the first wheel frame 311 extends vertically, and the caster lifting mechanism 313 can drive the first wheel frame 311 to rise and fall. Based on this, a portion of the circuit board 420 extends above the caster lifting mechanism 313. Through the above design, this disclosure can utilize the space above the caster module 310 to arrange the circuit board 420, further realizing full utilization of space in the height direction.
[0055] As shown in Figures 10 and 11, based on the design of the circuit board 420 arranged above the battery 410 and the caster module 310, in one embodiment of this disclosure, at least two circuit boards 420 arranged in a vertically stacked manner are arranged in the second region S2. Furthermore, the functional component may also include a cooling fan arranged in the second region S2 for cooling the circuit boards 420. Since the circuit boards 420 are arranged in a partially staggered layout above the caster module 310 and the battery 410, compared to a design where the circuit boards 420 and the caster module 310 and battery 410 are staggered on the plane, the partially staggered design in this embodiment requires reducing the gap between adjacent circuit boards 420 to maintain a smaller space occupation in the height direction, resulting in more heat concentration. Therefore, this disclosure arranges a cooling fan in the second region S2, which can effectively alleviate the concentrated heat generation at the multi-layer circuit boards 420 and ensure heat dissipation.
[0056] As shown in Figure 12, in one embodiment of this 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 adjust its height. Along the height direction, the main brush lifting mechanism 512 can be arranged above the main brush 511. Accordingly, this disclosure achieves a partially staggered layout at the main brush 511 and the main brush lifting mechanism 512, which can make full use of the space in the height direction. While reducing the overall height of the machine, it further reduces the space occupied by some functional components on the plane, which is beneficial for miniaturization design.
[0057] It should be noted that the mobile robots shown in the accompanying drawings and described in this specification are merely a few examples among many mobile robots capable of employing the principles of this disclosure. It should be clearly understood that the principles of this disclosure are by no means limited to any detail or component of the mobile robots shown in the accompanying drawings or described in this specification.
[0058] In summary, the mobile robot proposed in this 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 on the horizontal plane of the triangular area defined by the universal wheel module 310 and the two main wheel modules 320. Through the above design, this disclosure ensures that the center of gravity of the robot is always located within the orthographic projection area S0 on the horizontal plane of the triangular area defined by the universal wheel module 310 and the main wheel modules 320 during the folding, unfolding, and adjustment processes of the external extension component. This avoids shaking and tilting when the center of gravity is outside this orthographic projection area S0, thus ensuring the operational stability and reliability of the mobile robot.
[0059] Based on the detailed description of several exemplary embodiments of the mobile robot proposed in this disclosure above, an exemplary embodiment of the robot system proposed in this disclosure will be described below.
[0060] In one embodiment of this disclosure, the robot system proposed in this disclosure includes a base station and a mobile robot proposed in this disclosure and described in detail in the above embodiments.
[0061] It should be noted that the robot systems shown in the accompanying drawings and described in this specification are merely a few examples of many robot systems capable of employing the principles of this disclosure. It should be clearly understood that the principles of this disclosure are by no means limited to any detail or component of the robot systems shown in the accompanying drawings or described in this specification.
[0062] In summary, the robot system proposed in this disclosure, by employing the mobile robot proposed in this disclosure, can avoid shaking and tilting caused when the center of gravity of the entire machine is located outside the orthographic projection area of the triangular region on the horizontal plane, thus ensuring the operational stability and reliability of the mobile robot.
[0063] As can be seen from the above technical solution, the advantages and positive effects of the robot system proposed in this disclosure are as follows:
[0064] The robot system proposed in this disclosure, by adopting the mobile robot proposed in this disclosure, can avoid shaking and tilting when the center of gravity of the whole machine is located outside the orthogonal projection area of the triangular region on the horizontal plane, thus ensuring the operational stability and reliability of the mobile robot.
[0065] The exemplary embodiments of the mobile robots and robot systems disclosed herein have been described and / or illustrated in detail above. However, the embodiments of this disclosure are not limited to the specific embodiments described herein; rather, components and / or steps of each embodiment may be used independently and separately from other components and / or steps described herein. Each component and / or step of one embodiment may also be used in combination with other components and / or steps of other embodiments. In describing the elements / components / etc. described and / or illustrated herein, the terms “a,” “an,” and “the above” are used to indicate the presence of one or more elements / components / etc. The terms “comprising,” “including,” and “having” are used to indicate an open-ended inclusion and mean that additional elements / components / etc. may exist in addition to the listed elements / components / etc. Furthermore, the terms “first” and “second” in the claims and description are used only as illustrative marks and are not intended to limit the numerical scope of the subject matter.
[0066] Although the mobile robots and robot systems disclosed herein have been described with respect to various specific embodiments, those skilled in the art will recognize that modifications may be made to the implementation of this disclosure within the spirit and scope of the claims.
Claims
1. A mobile robot, characterized in that: The mobile robot includes a mobile body, a universal wheel module, two main wheel modules, and external extension components; The omnidirectional wheel module and the main wheel module are disposed on the moving body; the omnidirectional wheel module is located at the front end of the moving body in a first direction, the two main wheel modules are arranged at intervals with the omnidirectional wheel module along the first direction, and the two main wheel modules are arranged at intervals along a second direction perpendicular to the first direction; The outer extension component is disposed on the movable body and can switch between a folded state and an unfolded state; In the folded state, the entire outer extension component is located within the orthographic projection range of the moving main body; when the outer extension component is unfolded, it can partially extend beyond the orthographic projection range of the moving main body. When the extended component is in a folded or unfolded state, the center of gravity of the mobile robot falls on the orthographic projection area of the triangular region defined by the omnidirectional 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 its folded state lies within the orthographic projection region.
3. The mobile robot according to claim 2, characterized in that, The extended component is a robotic arm, which includes a base plate and a folding arm mechanism. The base plate is disposed on the moving body. The folding arm mechanism includes at least two arms, which are rotatably connected in sequence. One of the arms is rotatably connected to the base plate. The rotation axis between the two connected arms is parallel to the rotation axis between the arm and the base plate, and the rotation axis is perpendicular to the extension direction of the arm and parallel to the base plate. One of the arms at the end is provided with an actuator. In the unfolded state, at least a portion of the folding arm mechanism extends out of the front side of the moving 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 region 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 of the arms of the folding arm mechanism rotate relative to each other, the center of gravity of the mobile robot moves along the center line.
5. The mobile robot according to claim 3, characterized in that, The robotic arm also includes a rotating base; the rotating base is rotatably disposed on the substrate, and the rotation axis between the rotating base and the substrate is perpendicular to the substrate; one of the arms of the folding arm mechanism is rotatably connected to the rotating base; in the folded state, the orthographic projection of the arm extends along the second direction, and in the unfolded state, the rotating base rotates to cause the orthographic projection of the arm to extend along the first direction.
6. The mobile robot according to claim 5, characterized in that, The corresponding triangle of the triangular region is an isosceles triangle, and the center line of the isosceles triangle extends along the 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 its functional components are respectively arranged in four areas of the mobile body. The four areas are a first area, a second area, a third area, and a fourth area arranged along the first direction. The omnidirectional 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. 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.
8. The mobile robot according to claim 7, characterized in that, The main brush module, the dust collection box, and the fan system are arranged along the first direction. The dust collection 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 collection box.
9. The mobile robot according to claim 7, characterized in that, The fourth area is provided with two mops, which are 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 omnidirectional 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 omnidirectional wheel module.
12. The mobile robot according to claim 10, characterized in that, The second region is provided with at least two circuit boards arranged in a stacked manner; wherein, the functional component further includes a cooling fan, which is arranged in the second region for dissipating 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 lift and adjust. Along the height direction, the main brush lifting mechanism is arranged above the main brush.
14. A robot system, characterized in that, This includes base stations and the mobile robot described in any one of claims 1 to 13.