MODULAR ROBOT

摘要

A coverage robot (100) including a chassis (202), multiple drive wheel assemblies (110a-b) disposed on the chassis, and a cleaning assembly (112,102) carried by the chassis. Each drive wheel assembly includes a drive wheel assembly housing (324a-b), a wheel (326a-b) rotatably coupled to the housing, and a wheel drive motor (328a-b) carried by the drive wheel assembly housing and operable to drive the wheel. The cleaning assembly (112,102) includes a cleaning assembly housing (332,338) , a cleaning head (334,340) rotatably coupled to the cleaning assembly housing, and a cleaning drive motor (336,342) carried by cleaning assembly housing and operable to drive the cleaning head. The wheel assemblies (110a-b) and the cleaning assembly (112,102) are each separately and independently removable from respective receptacles (304,306,308,310) of the chassis as complete units.