追觅全球首创机械手，扫地机器人迈向究极进化？|u2|扫地机器人|机械手|电机|马达

一：全球首创「仿生机械手」

在2025年CES展会上，追觅科技带来了全球首创的搭载「机械手」技术的扫地机器人产品，使得扫地机器人在仿生机械臂、仿生机械足之外，通过机械结构发展出了一条全新的技术路径，彻底打破扫地机器人清洁属性，向更具潜力的服务机器人领域进军。

二：何谓「机械手」

为什么要做机械手

相信很多人在看到追觅的机械手技术之后，脑海中产生的第一个想法是“为什么要做这个？”

根据资料显示，追觅的机械手技术是从2023年的4月开启研发立项，彼时的追觅刚刚发布了配备全球首创仿生外扩型拖布贴边技术的追觅X20系列扫地机器人，正式将「机械臂」技术带到了扫地机器人产品上，也让市场见到了机械结构在扫地机器人产品上的应用形态。

自此之后，机械臂技术成为了扫地机器人领域扩展的新方向，我们也看到了包括拖布升降/外扩、边刷升降/外扩、主刷升降，甚至是LDS激光雷达升降在内的更多元、更全面的机械结构应用，极大地拓展了家居地面的清洁覆盖率，也让扫地机器人拥有了更强的地面清洁适应能力。

此时时间已经来到了2024年的年中，扫地机器人的机械臂技术竞争已经“告一段落”，9月时，追觅又一次以仿生机械足技术，通过「双节摆臂系统」+「轮毂电机系统」共同组成的新驱动结构，彻底解决了家居地面门槛带来的“空间物理隔绝”，让扫地机器人拥有跨越障碍的能力。

就在仿生机械足技术还没有品牌追赶的情况下，追觅的机械手技术则让扫地机器人有了能够像人类的手臂一样抓取和摆动的能力，不仅能将眼前的障碍物或物体进行挪开、归类，还能清洁一些极难清洁的狭小缝隙。

从0到1的突破

前面我们说到，追觅的机械手技术在2023年4月立项，直到发布时已经经历了三次完整的方案重构，从最初纯遥控式，仅能平面移动且伸出距离仅有5cm、夹取重量、高度都可以忽略不计的螃蟹形态；到第二次支持3自由度调节、伸出距离15cm左右、能够夹取100g以内重量物体的初具雏形。

再到目前没有牺牲任何扫地机原本功能的前提下，摆臂关节支持5自由度调节、伸出距离30cm、抓取物体直径6cm以内、重量400g以内的亮相方案。追觅将扫地机器人配备机械手这件事，从0变成了1。

具体来看，追觅机械手的结构组成可以理解为人类的手臂结构，也就是肩、肘、手腕、手指这四个核心关节，通过关节之间的相互运动完成最远30cm的距离伸展，再通过前端的夹手来实现物体的抓取。

这些技术听起来简单，但追觅要做的是将这些结构安排进扫地机器人之中且尽可能的不增加厚度以及不影响扫地机器人原本的吸力、机械臂等功能，还要做到400g以内的重量夹取，光是这一项指标就需要电机组件能够满足6Nm的扭矩。但市面上能够做到这一数值的成品电机最小直径都要26mm，再加上外壳等一系列结构，无法满足追觅对于扫地机器人不增加厚度、不影响原本功能的预期。

唯一的解决方案只有轻薄化、小型化。

在探寻市面上没有符合需求尺寸的电机之后，追觅决心自研电机，最终做出了厚度仅有18mm的追觅电机，成功应用在机械手关节结构中。

就在追觅机械手发布的同时，我们也看到了市场上有相似形态的产品出现。只不过其是将机械手放进机器人机身内，挤压了尘盒、滚刷等核心元器件的空间，一定程度上会损失扫地机器人本身的清洁性能。

并且为了整体造型美观化考量，追觅还在机械手舱参考敞篷跑车的设计理念，做出了类似的流线型敞篷开盖设计。当机械手工作时舱盖就会优雅地打开，收纳后也能保持整机的视觉美感和科技感。

除此之外，追觅还考虑到了狭窄缝隙这一长期清洁难区。所以追觅为搭载机械手的扫地机器人单独配置了一套配件仓，里边包含各类清洁配件。机器人会在清洁完整体区域后，会驱动前往配件仓，夹取并安装对应的清洁配件，再返回对缝隙区域进行单独的清洁。这样一来，如橱柜之间等无法触及的缝隙区域也可以实现清理。

无论是物品整理还是狭窄缝隙清洁，都对场景和物品识别提出了更高的要求。所以除了主机的双目系统外，追觅机械手还在抓手端单独配备了RGBD摄像头，与双目系统协同运作，来识别视野内的所有物体，完成全方位点云重建。

而这，也就关系到了追觅机械手核心的「具身智能大模型系统」。

三：「具身智能」改写大众认知

在谈论「具身智能」之前，我们也应该来聊一聊追觅对于机械手技术的场景期许。

对于家居地面来说，灰尘、污渍固然是扫地机器人清扫的关键。但除此之外，地面还有很多“多余”的障碍物，像是小孩子的玩具、不小心被宠物打翻的水杯、不知道从哪里被叼来的衣服、袜子等等，更不要提现有扫机器人难以清洁到的家居缝隙。

以往的扫地机器人会在检测到这些场景时选择绕开，去清扫其他相对“空旷”的区域，这些凌乱的场景就会留给用户回家后手动清理，体验难以称得上优秀。

而追觅的仿生多关节机械手就可以通过环境、障碍物检测，判定前方障碍物的种类，再找到最合适的、最稳定的抓取点、通过夹取的方式“挪开”障碍物。最终，通过算法判定所夹取的障碍物应该放置的位置。例如小孩子的玩具应该在专门的玩具区、垃圾应该在垃圾桶里或垃圾桶旁…

判定这一切的核心就是追觅的具身智能大模型系统。

具身智能大模型由感知模型和决策模型共同组成，感知模型基于视觉和大模型能力去感知清洁过程中的障碍物，目前已经可以识别20个品类的常见家庭地面障碍物。当识别到这些障碍物时，决策模型就可以通过内嵌的技能和状态指令，驱动扫地机器人去完成对应的障碍物整理或缝隙清洁任务。

对于消费者来说，只需要在第一次扫地机器人建图后，对不同房间的归类进行确认就可以了，剩下的垃圾收集、障碍归类等操作，则可以完全交给具身智能大模型去处理。

以往我们对于“机械手”的理解都是在人形机器人上，通过模拟人类肢体形态以及手臂逻辑，赋予人形机器人宛如人手一般的仿生能力，去进行一些“仿生”的操作。而具身智能大模型以及硬件能力的组合，让机械手拥有了关节“仿生”能力，以及效仿人类所拥有的学习、判定、执行能力。

更关键的是，这些能力是在一款扫地机器人上实现的，让人形机器人不再是具身智能的唯一解决方案，开拓了服务机器人形态上的新可能。

四：不被定义的追觅

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