CN212213652U

CN212213652U - Mobile robot

Info

Publication number: CN212213652U
Application number: CN202020081750.7U
Authority: CN
Inventors: 唐明勇; 鲁白; 张展鹏; 江俊杰; 成慧
Original assignee: Beijing Sensetime Technology Development Co Ltd
Current assignee: Beijing Sensetime Technology Development Co Ltd
Priority date: 2020-01-14
Filing date: 2020-01-14
Publication date: 2020-12-25
Anticipated expiration: 2030-01-14
Also published as: TW202126249A; WO2021142984A1; JP2022520515A; KR20210093955A

Abstract

The utility model discloses a mobile robot, mobile robot includes: the robot comprises a robot body and a mechanical arm. One end of the mechanical arm is connected with the robot body, the other end of the mechanical arm is a clamping part, and the clamping part is used for clamping an object; the robot body is provided with a groove for accommodating the mechanical arm, wherein the mechanical arm arranged in the groove is bent or folded. Through the mode, the mobile robot can conveniently pass through a low space or work in the low space.

Description

Mobile robot

Technical Field

The present application relates to the field of robots, and in particular, to a mobile robot.

Background

With the development of science and technology and the advancement of society, various robots are now present in human life, including robots with mechanical arms and robots without mechanical arms. Generally, no matter what state the robot is, the mechanical arm of the robot is outside the robot, so that the robot occupies a large space. For example, if the robot arm of the floor sweeping robot is always outside the robot, the robot cannot work in a low space such as under a sofa, and the action is very limited.

SUMMERY OF THE UTILITY MODEL

The present application generally provides a mobile robot.

The technical scheme adopted by the application is as follows: provided is a mobile robot including: a robot body; one end of the mechanical arm is connected with the robot body, the other end of the mechanical arm is a clamping part, and the clamping part is used for clamping an object; the robot body is provided with a groove for accommodating the mechanical arm, wherein the mechanical arm arranged in the groove is bent or folded.

Therefore, the groove for accommodating the mechanical arm is formed in the robot body, the mechanical arm is placed in the groove after being bent or folded, and the mechanical arm is placed in the groove, so that the mobile robot can conveniently pass through a low space or work in the low space.

The groove is far away from the center of the robot body, is close to the periphery of the robot body and is arranged along the contour of the periphery of the robot body.

Therefore, the groove is arranged on the peripheral side of the robot body, other important parts of the mobile robot can be arranged at the position close to the middle of the robot body, and therefore the edge space of the robot body is used for placing the mechanical arm, and the effective action range of the robot body is utilized fully.

The groove width and the groove depth of the groove are not smaller than the maximum diameter of the mechanical arm, and the length of the groove is not smaller than the length of the mechanical arm, so that the mechanical arm is arranged in the groove and does not protrude out of the top surface of the mobile robot.

Therefore, when the mechanical arm is completely placed in the groove, the mechanical arm does not occupy the external space of the mobile robot, so that the working space of the mobile robot is not influenced by the mechanical arm part, and the mobile robot can pass through or enter a narrow and low space to work.

Wherein, mobile robot includes:

the steering engine is fixedly connected to one end of the groove;

wherein, the one end and the steering wheel of arm are connected, and the steering wheel is used for driving the arm and rotates to place the arm in rotating the recess, or with the arm from the recess internal rotation outside to the robot body.

Therefore, the steering engine drives the mechanical arm to rotate into the groove for placing, so that the mobile robot can pass through or enter a narrow and low space to work, or the mechanical arm is rotated out of the robot body, and the mechanical arm starts to put into work.

Wherein, the arm includes at least first arm spare and the second arm spare that is located between steering wheel and the clamping part according to preface swivelling joint.

Therefore, the first arm piece and the second arm piece which are connected in sequence between the steering engine and the clamping part can enable the mechanical arm to rotate more flexibly, and the working range of the mechanical arm is wider.

Wherein, mobile robot includes:

the sensor is arranged on the robot body or the mechanical arm and used for sensing the obstacles in the traveling direction of the mobile robot, and when the obstacles meet the preset conditions, the mechanical arm rotates into the groove to be placed or extend out of the groove.

Consequently, carry out the perception to the ascending barrier of removal robot advancing direction through the sensor, thereby judge whether the barrier satisfies the preset condition and rotate the arm to place in the recess or stretch out outside the recess, need not place in the manual arm that will rotate back the recess when passing low region, also need not be when waiting to press from both sides the thing in the face, outside the manual arm that will rotate out the recess of people, consequently, direct perception through the sensor to the barrier just can rotate the arm to the recess in or stretch out outside the recess automatically, it is very convenient to operate.

The sensor is a vision sensor, the vision sensor is used for shooting obstacles in the advancing direction of the mobile robot to obtain pictures, and when the analysis result of the pictures shows that the characteristics of the obstacles meet the preset characteristics, the mechanical arm rotates into the groove or extends out of the groove.

Therefore, the obstacle in the advancing direction of the mobile robot is shot through the vision sensor to obtain a picture, whether the obstacle meets the preset characteristics or not is judged more accurately, and the obtained effect is better.

The robot body is divided into a front end and a rear end along the advancing direction of the mobile robot, the vision sensor is arranged at the front end of the robot body, and the groove is formed in the rear end of the robot body.

Therefore, when the visual sensor is arranged at the front end of the robot body, the barrier characteristics in the advancing direction of the mobile robot can be better sensed, so that the problem that when the mechanical arm is in a working state, namely the mechanical arm is positioned outside the robot body, the mechanical arm directly collides with the barrier because the previous barrier is not found in time, and certain damage is caused to the mechanical arm can be well reduced or avoided.

Wherein, this internal monitor that is provided with of robot, monitor are used for monitoring mobile robot state of locating, and when monitoring mobile robot and be in when presetting the state, the arm rotated to and places in the recess.

Therefore, the mechanical arm is rotated into the groove after the monitor monitors that the mobile robot is in a preset state, and the occupied space of the mobile robot can be reduced.

The mobile robot comprises at least two mechanical arms, and each two mechanical arms are arranged in succession, oppositely, in parallel or back to back.

Therefore, the mobile robot can be provided with a plurality of mechanical arms to realize the function of better clamping the object.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative efforts, wherein:

FIG. 1 is a first schematic structural diagram of an embodiment of a mobile robot according to the present application;

FIG. 2 is a schematic structural diagram of an embodiment of a mobile robot according to the present application;

FIG. 3 is a schematic diagram of a mobile robot illustrating two robotic arms according to an embodiment of the present application;

fig. 4 is a schematic structural diagram of a mobile robot according to the third embodiment of the present invention.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

Referring to fig. 1 and fig. 2, fig. 1 is a first schematic structural diagram of an embodiment of a mobile robot of the present application, and fig. 2 is a second schematic structural diagram of the embodiment of the mobile robot of the present application. The mobile robot 1 described in the embodiments of the mobile robot of the present application may include: a robot body 10 and a robot arm 20.

One end of the mechanical arm 20 is connected to the robot body 10, and the other end is a clamping part 23, and the clamping part 23 is used for clamping an object. The robot body 10 is provided with a groove 11 for accommodating the mechanical arm 20, wherein the mechanical arm 20 placed in the groove 11 is bent or folded. The angle of bending or the angle of folding can be set as desired. The mobile robot 1 may be a sweeping robot, the robot arm 20 is installed on the mobile robot 1, and when the mobile robot 1 needs to grip an object with a larger size, the object can be gripped by the gripping part 23 of the robot arm 20, so that the object can be gripped more widely, and the function is more complete compared with the mobile robot 1 without the robot arm 20. Meanwhile, by providing the groove 11 on the robot body 10, the robot arm 20 may be placed in the groove 11 after being bent or folded, so that the mobile robot 1 may conveniently perform work through or in a low space.

For example, when the mobile robot 1 is a sweeping robot, an object having a large size can be gripped by the gripping part 23 of the robot arm 20, and the gripped object can be placed at a preset position. The preset position can be a cleaning part which is specially used for placing garbage for the sweeping robot, and can also be a garbage can placed on the ground. When the sweeping robot clamps an object, the object is moved to a position close to the position of the garbage can according to the stored position information of the garbage can, and the clamped object is placed in the garbage can; also can be through the characteristic that sets up the garbage bin in the robot of sweeping the floor, when the robot of sweeping the floor detects that the place ahead object satisfies the characteristic of garbage bin, then place the object of getting with the clamp in the garbage bin. The garbage can is characterized by comprising different pictures of the garbage can in multiple directions, namely the pictures of the garbage can are uploaded to a storage of the sweeping robot, and when the sweeping robot senses that an object in front is consistent with one of the pictures of the garbage can, the object which is clamped and taken is placed in the garbage can.

Further, the groove 11 is provided away from the center of the robot body 10 and adjacent to the circumferential side of the robot body 10, along the circumferential side contour of the robot body 10. For example, when the robot body 10 is a cylinder, the groove 11 is provided along the contour of the robot body 10 away from the axis of the robot body 10. Specifically, in a groove 11 setting example, a first side wall surface 111 of the groove 11 and second and third

side wall surfaces

112 and 113 adjacent to the first side wall surface 111 are outer wall surfaces of the robot body 10. Since the groove 11 is provided along the contour of the robot body 10, the first side wall surface 111 is a circular arc surface, but the second side wall surface 112 and the third side wall surface 113 may be flat surfaces or curved surfaces. Of course, in other embodiments, the recess 11 may have other shapes, and is not limited herein. In general, the peripheral space of the robot body 10 is not well utilized, and the mobile robot 1 described in the embodiment of the mobile robot can dispose other important parts of the mobile robot 1 near the middle of the robot body 10 by disposing the grooves 11 on the peripheral side of the robot body 10, so that the edge space of the robot body 10 is used for placing the robot arm 20, thereby making full use of the effective action range of the robot body 10. Of course, in other embodiments, the specific location of the groove 11 may be set as desired.

The groove width and the groove depth of the groove 11 are not less than the maximum diameter of the mechanical arm 20. The groove width refers to a linear distance between a pair of side walls in the width direction of the groove 11. If the side wall surface of the groove 11 is the outer wall surface of the robot body 10, that is, the first side wall surface 111, the second side wall surface 112, and the third side wall surface 113 are the outer wall surface of the robot body 10, the groove width is the width of the fourth outer wall surface 114 of the groove 11. The groove depth is the minimum distance between the bottom of the groove 11 to the top of the groove 11, and is typically the height of the side walls of the groove 11. When the number of the robot arms 20 is 1, the groove width and the groove depth of the groove 11 are not less than the maximum diameter of the robot arms 20. In other embodiments, the mobile robot 1 comprises at least two robot arms 20, and each two robot arms 20 are arranged in succession, opposite, side-by-side or back-to-back. At this time, if two robot arms 20 are juxtaposed in the same groove 11, the groove width should be the sum of the maximum diameters of the two robot arms 20. The juxtaposition here means that one robot arm 20 is placed closer to the center of the robot body 10 than the other robot arm 20 in the same recess 11. The function of the mobile robot 1 to better grip an object can be realized by providing a plurality of robot arms 20. The maximum diameter range of the robot arm 20 includes the arm diameter of the robot arm 20 and also includes the diameter of the grip portion 23, and the larger of the two may be used as the maximum diameter of the robot arm 20. The length of the groove 11 is not less than the length of the robot arm 20. Specifically, when the first side wall surface 111 of the groove 11 is a plane, the length of the groove 11 is the length of the first side wall surface 111 of the groove 11. At this time, the length of the first side wall surface 111 is not less than the length of the robot arm 20, and the entire robot arm 20 including the clamping portion 23 is placed in the groove 11, so that when the robot arm 20 is placed in the groove 11, the robot arm 20 does not protrude from the top surface of the mobile robot 1; when the first sidewall surface 111 of the groove 11 is a circular arc surface, the length of the groove 11 is equal to the arc length of the first sidewall surface 111. Thus, the length here is not simply the linear distance between the two ends of the recess 11, but the maximum length of the object that can be accommodated by the recess 11. When two opposite, consecutive or opposing robot arms 20 are required to be placed in one groove 11, the length of the groove 11 is not less than the length of the two robot arms 20. The successive placement means that the grip portion 23 of one robot arm 20 is placed adjacent to the other end portion of the other robot arm 20. The relative placement means that the clamping parts 23 of the two arms 20 are adjacently placed in the groove 11, and the ends of the two arms 20 connected with the robot body 10 are far away from each other. The opposite placement means that the two arms 20 are placed adjacent to the end connected to the robot body 10, and the holding portions 23 of the two arms 20 are placed away from each other in the groove 11. When the robot arm 20 is completely placed in the groove 11, the robot arm 20 does not occupy the external space of the mobile robot 1, so that the working space of the mobile robot 1 is not affected by the portion of the robot arm 20, and the mobile robot 1 can traverse or enter a narrow and low space to work. Especially, when the mobile robot 1 is a sweeping robot, the sweeping robot needs to use the mechanical arm 20 to clamp a large object or garbage, but needs to move to a low area to work, for example, to sweep the garbage on the ground under a sofa, and at this time, if the mechanical arm 20 is placed outside the robot body 10, the sweeping robot may not enter under the sofa or the mechanical arm 20 may hit the sofa during entering under the sofa, thereby damaging the mechanical arm 20. Therefore, it is necessary to provide such a recess 11 for the robotic arm 20 to be positioned so that the sweeping robot can freely traverse or work in low areas.

The robot body 10 is divided into a front end 101 and a rear end 102 in the traveling direction of the mobile robot 1, and the groove 11 is formed in the rear end 102 of the robot body 10. As shown in fig. 1, the traveling direction in which the mobile robot 1 operates is indicated by arrows in the figure, that is, one end of the robot body 10 pointed by the arrows is referred to as a front end 101, and one end of the robot body 10 opposite to the front end 101 is referred to as a rear end 102. Of course, in other embodiments, the groove 11 may be disposed at other positions of the robot body 10, and is not limited herein. Of course, the number of the grooves 11 may be more than one, and may also be multiple, and the number of the grooves 11 is mainly determined by the number of the robot arms 20 and the inner space of the robot body 10. Referring to fig. 3, fig. 3 is a schematic structural diagram of two robot arms of the mobile robot according to the embodiment of the present disclosure. Both grooves 11 are provided at the rear end of the robot body 10, where the rear end is identical to the rear end 102 of the robot body 10 with only one groove 11. Wherein, when two mechanical arms 20 are simultaneously placed in the groove 11, the clamping parts 23 of the two mechanical arms 20 are oppositely placed. In other embodiments, the two robot arms 20 may be placed in the same groove 11 in succession, back to back, or side by side, or two grooves 11 may be formed in the robot body 10, and it is only necessary to place all the robot arms 20 in the grooves 11 no matter how many grooves 11 are formed.

By dividing the robot body 10 into the front end 101 and the rear end 102 along the traveling direction of the mobile robot 1, the groove 11 is formed in the rear end 102 of the robot body 10, so that the loss of the mechanical arm 20 due to collision with an obstacle during the traveling of the mobile robot 1 can be reduced or avoided.

The robot arm 20 includes at least a first arm 21, a clamping portion 23, and a second arm 22 rotatably connected between the first arm 21 and the clamping portion 23. Of course, the number of the second arm members 22 rotatably connected between the first arm member 21 and the holding portion 23 may be more than one. The greater the number of second arms 22, the more flexible the robot arm 20 can be rotated. It is also possible to provide only one second arm 22, if only the case where the robot arm 20 can grip an object is considered. Here, the number of the robot arms 20 is not limited to one or two, and a plurality of robot arms 20 may be present at the same time. The second arm 22 is disposed between the clamping portion 23 and the first arm 21, so that the robot arm 20 can rotate more flexibly, and the application range is wider.

In this application embodiment, mobile robot 1 includes steering wheel 30, steering wheel 30 fixed connection is in the one end of recess 11. Wherein, the one end and the steering wheel 30 of arm 20 are connected, and steering wheel 30 is used for driving arm 20 and rotates to place in the recess 11 with arm 20 from the outside of robot body 10, perhaps rotates arm 20 outside robot body 10 from recess 11. Specifically, one end of the groove 11 may be provided with a notch 115, the steering engine 30 is installed in the notch 115, and the mechanical arm 20 is connected to the steering engine 30 through the first arm 21. When the steering engine 30 drives one end of the first arm member 21 to rotate, the other end of the first arm member 21 drives the second arm member 22 to rotate, and the second arm member 22 can drive the clamping portion 23 to rotate, so that the steering engine 30 can drive the mechanical arm 20 to rotate into the groove 11 to be placed or the mechanical arm 20 to rotate out of the robot body 10, and the mechanical arm 20 starts to work.

In another embodiment, other steering engines are also disposed between the first arm member 21 and the second arm member 22 of the mechanical arm 20 and between the second arm member 22 and the clamping portion 23, and are used for controlling the rotation of the mechanical arm 20, and the steering engines cooperate with each other to better implement the storage of the mechanical arm 20 or start working after extending out of the groove 11.

The mobile robot 1 comprises a sensor 40, wherein the sensor 40 is arranged on the robot body 10 or the mechanical arm 20 and is used for sensing an obstacle in the traveling direction of the mobile robot 1, and when the obstacle meets a preset condition, the mechanical arm 20 rotates to be placed in the groove 11 or extend out of the groove 11. Carry out the perception to the ascending barrier of mobile robot 1 advancing direction through sensor 40, thereby judge whether the barrier satisfies the preset condition and rotate arm 20 to place in recess 11 or stretch out outside recess 11, need not place in the manual arm 20 that turns back recess 11 of people when passing low region promptly, also need not be when waiting to press from both sides the thing in the face, the manual arm 20 that rotates out outside recess 11 of people, consequently, direct perception to the barrier through sensor 40 just can rotate arm 20 to the recess 11 in or stretch out outside recess 11 automatically, it is very convenient to operate.

The preset conditions include preset placing conditions and preset extending conditions, wherein the preset placing conditions and the preset extending conditions are mainly set through the working environment of the mobile robot 1, and the preset extending conditions and the preset placing conditions of different mobile robots 1 may have certain differences. For example, when the mobile robot 1 is a sweeping robot, the preset placing condition may be that the obstacle satisfies a certain height and is predicted to pass through the bottom of the obstacle after retracting the mechanical arm 20, and the preset extending condition may be that the obstacle satisfies a characteristic of the object to be gripped, for example, the obstacle is large-sized garbage.

When the sensor 40 senses that the obstacle in the traveling direction of the mobile robot 1 meets the preset placing condition, namely the obstacle may be a low area needing to pass through or needing to work, at the moment, the steering engine 30 drives the mechanical arm 20 to rotate to the groove 11 for placing; when the sensor 40 perceives that the obstacle in the traveling direction of the mobile robot 1 meets the preset stretching condition, namely the obstacle may be an object to be clamped, at the moment, the steering engine 30 drives the mechanical arm 20 to stretch out of the groove 11 to clamp the obstacle.

Specifically, in one possible implementation, the sensor 40 is a vision sensor, the vision sensor is used for shooting an obstacle in the traveling direction of the mobile robot 1 to obtain a picture, and when the obstacle feature satisfies a preset feature as a result of the picture analysis, the mechanical arm 20 rotates into the groove 11 or extends out of the groove 11. The preset features are similar to the preset conditions, and when the sensor 40 is a visual sensor, the preset features include a preset placing feature and a preset extending feature. The setting of these features is the same as the setting of the preset conditions, and may be set by the user or may select the preset features of the mobile robot 1. For example, the preset feature is a preset placing feature, since the mechanical arm 20 is outside the robot body 10, the height of the mobile robot 1 is increased, so that the mobile robot 1 cannot pass through the bottom of the obstacle, and the preset placing feature may be that the height of the mobile robot 1 is greater than the height of the bottom of the obstacle; alternatively, the predetermined feature is a predetermined extension feature, such as an obstacle belonging to a sweep. When the barrier satisfies the former preset characteristic, when presetting the characteristic for predetermineeing the characteristic promptly, steering wheel 30 drives arm 20 and rotates arm 20 and place in rotating arm 20 to recess 11, so this barrier can be passed because of the height reduction to mobile robot 1 this moment. When the obstacle characteristic meets the latter preset characteristic, that is, the preset characteristic is a preset extension characteristic, the steering engine 30 drives the mechanical arm 20 to rotate out of the groove 11, the clamping part 23 of the mechanical arm 20 clamps the obstacle, and places the obstacle at a specified position, for example, a garbage part (not shown) of the mobile robot 1. The obstacle in the traveling direction of the mobile robot 1 is shot through the vision sensor to obtain a picture, whether the obstacle meets the preset characteristics or not is judged, and the obtained effect is better.

When the groove 11 is arranged at the rear end 102 of the robot body 10, the sensor 40 or the visual sensor is arranged at the front end 101 of the robot body 10, and when the sensor 40 or the visual sensor is arranged at the front end 101 of the robot body 10, the obstacle feature in the traveling direction of the mobile robot 1 can be better sensed, so that when the mechanical arm 20 is in a working state, namely when the mechanical arm 20 is outside the robot body 10, the mechanical arm 20 directly collides with the obstacle due to the fact that the previous obstacle is not found in time, and certain damage is caused to the mechanical arm 20.

Of course, in other embodiments, the sensor 40 may also be another sensor, such as a distance sensor, or a distance sensor and a vision sensor are matched with each other, no matter what kind of sensor 40 is, as long as it can distinguish what preset condition is satisfied by an obstacle encountered in the traveling direction of the mobile robot 1, and therefore, the sensor 40 is not specifically limited in this application.

Referring to fig. 4, fig. 4 is a schematic structural diagram of a mobile robot according to the third embodiment of the present application. A monitor 50 is arranged in the robot body 10, the monitor 50 is used for detecting the state of the mobile robot 1, and when the mobile robot 1 is detected to be in a preset state, the mechanical arm 20 rotates to the groove 11 to be placed. The preset state can be that the mobile robot 1 is in a sleep state or a charging state, and when the monitor 50 monitors that the mobile robot 1 is in the sleep state or the charging state, it indicates that the mobile robot 1 does not need to work at this time, so the steering engine 30 drives the mechanical arm 20 to rotate until the mechanical arm 20 is completely rotated into the groove 11, and the rotation is stopped. When the mobile robot 1 is in a sleep state or a charging state, the mobile robot 1 stops at a place, if the mechanical arm 20 is not placed in the groove 11, the mechanical arm 20 occupies an indoor space, and the monitor 50 monitors that the mobile robot 1 is in a preset state and then rotates the mechanical arm 20 into the groove 11, so that the occupied space of the mobile robot 1 can be reduced.

The mobile robot 1 includes a traveling assembly 60, and the traveling assembly 60 is used for movement of the mobile robot 1. Wherein, the walking assembly 60 is arranged at the bottom of the robot body 10. When the walking assembly 60 is in the working state, the mobile robot 1 can be driven to move. Specifically, the traveling assembly 60 may further include a driving mechanism (not shown) and a rolling wheel mechanism (not shown), wherein the driving mechanism is configured to drive the rolling mechanism to rotate, so as to drive the mobile robot 1 to move on the working surface. The drive mechanism may be a drive motor.

In a possible implementation manner, the mobile robot 1 includes a cleaning assembly 70, and the cleaning assembly 70 may include a rolling brush (not shown), and a motor (not shown) connected to the rolling brush, the motor being used for driving the rolling brush to roll, the rolling brush being in contact with a working surface of the mobile robot 1, for example, a ground surface, and cleaning the ground surface is achieved through rolling. Specifically, the mobile robot 1 further comprises a dust suction assembly (not shown), wherein the cleaning assembly 70 and the dust suction assembly cooperate with each other. For example, the dust suction port of the dust suction assembly is disposed adjacent to the roller brush of the cleaning assembly 70, so that the dust or dirt cleaned by the rotation of the roller brush can be sucked into a dust box (not shown) of the dust suction assembly, thereby cleaning the floor.

The above description is only an example of the present application and is not intended to limit the scope of the present application, and all modifications of equivalent structures and equivalent processes, which are made by the contents of the specification and the drawings, or which are directly or indirectly applied to other related technical fields, are intended to be included within the scope of the present application.

Claims

1. A mobile robot, comprising:

a robot body;

one end of the mechanical arm is connected with the robot body, the other end of the mechanical arm is a clamping part, and the clamping part is used for clamping an object;

the robot body is provided with a groove for accommodating the mechanical arm, wherein the mechanical arm arranged in the groove is bent or folded;

the robot is characterized in that a monitor is arranged in the robot body and used for monitoring the state of the mobile robot, and when the mobile robot is monitored to be in a preset state, the mechanical arm rotates to the inside of the groove to be placed.

2. The mobile robot of claim 1,

the groove is far away from the center of the robot body and is adjacent to the periphery of the robot body, and is arranged along the contour of the periphery of the robot body.

3. The mobile robot of claim 2,

the groove width and the groove depth of the groove are not smaller than the maximum diameter of the mechanical arm, and the length of the groove is not smaller than the length of the mechanical arm, so that the mechanical arm is not protruded out of the top surface of the mobile robot after being placed in the groove.

4. The mobile robot of claim 1, wherein the mobile robot comprises:

the steering engine is fixedly connected to one end of the groove;

one end of the mechanical arm is connected with the steering engine, and the steering engine is used for driving the mechanical arm to rotate so that the mechanical arm can be rotated into the groove to be placed in the groove, or the mechanical arm can be rotated into the groove to be out of the robot body.

5. The mobile robot of claim 4,

the mechanical arm at least comprises a first arm piece and a second arm piece which are positioned between the steering engine and the clamping part and are sequentially connected in a rotating mode.

6. The mobile robot of claim 1, wherein the mobile robot comprises:

the sensor is arranged on the robot body or the mechanical arm and used for sensing the obstacle in the traveling direction of the mobile robot, and when the obstacle meets a preset condition, the mechanical arm rotates to place in the groove or stretch out of the groove.

7. The mobile robot of claim 6,

the sensor is a vision sensor, the vision sensor is used for shooting the obstacle in the advancing direction of the mobile robot to obtain a picture, and when the analysis result of the picture is that the obstacle characteristic meets the preset characteristic, the mechanical arm rotates into the groove or extends out of the groove.

8. The mobile robot of claim 7,

the robot body is divided into a front end and a rear end along the traveling direction of the mobile robot, the vision sensor is arranged at the front end of the robot body, and the groove is formed in the rear end of the robot body.

9. The mobile robot of any of claims 1-8, wherein the mobile robot comprises at least two of the robot arms, each two of the robot arms being positioned in succession, opposite, side-by-side, or opposite.