Driving unit and cleaning robot comprising same
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Solution Overview
Problem
Cleaning robots often become undriveable due to obstacles such as steps, inclined surfaces, and furniture, leading to stuck states where the driving wheels are lifted or caught in narrow gaps, preventing normal operation.
Innovation Solution
The implementation of a driving unit with a wheel frame and driving wheel system that can adjust its position to escape stuck states by controlling the downward movement of the driving wheel, utilizing a combination of elastic members and motors to manage traction and rotation, allowing the robot to navigate through various obstacles.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the cleaning robot has a low body height to navigate under furniture, then it can access narrow spaces, but it becomes stuck when entering narrow gaps under obstacles or when climbing onto obstacles
Solution Approach 1:
The driving wheel is designed with variable height capability through a driving unit that can adjust the wheel's position relative to the body. This dynamic adjustment allows the robot to change its effective height based on terrain conditions, enabling it to both navigate under low furniture and overcome obstacles without becoming stuck
Solution Approach 2:
The system changes the physical parameter of the driving wheel height by controlling the driving unit to lower or raise the wheel. When encountering obstacles, the wheel can be lowered to increase downward force and escape from stuck states, while maintaining the low body height design for normal navigation
2Reliability
If the driving wheel maintains fixed contact with the ground for stable operation, then normal cleaning function is ensured, but the robot cannot escape from undriveable states when encountering obstacles
Solution Approach 1:
The driving wheel transitions from a fixed position to a dynamically adjustable position through the driving unit. The wheel can be lowered to apply additional downward force when stuck on obstacles, then returned to normal position for standard cleaning operations, providing both stability and adaptability
3Ease of manufacture
If the cleaning robot body remains at fixed height for structural simplicity, then manufacturing is easier, but the robot cannot adjust to different terrain conditions
Solution Approach 1:
The driving system is segmented into separate components: the main body remains at fixed height for simplicity, while the driving wheel is mounted on an independent driving unit that can adjust its height. This segmentation allows the complex adjustment mechanism to be isolated to only the necessary component without complicating the entire robot structure
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enables the cleaning robot to escape undriveable states by adjusting wheel positions, ensuring continued operation and effective cleaning performance even when encountering obstacles like steps, inclined surfaces, and narrow gaps.
Implementation Method 1
a wheel frame that supports the driving wheel to be rotatable, an elastic member that pressurizes the wheel frame
Data Source
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AI summary
Disclosed herein is a cleaning robot including an improved driving unit to escape from an undriveable state occurring under various driving conditions. The cleaning robot includes a body, and a driving unit that drives the body. The driving unit includes a first driving motor and a second driving motor that generate driving power; a driving wheel that rotates when the driving power is delivered to the driving wheel from the first driving motor; and a wheel frame that supports the driving wheel to be rotatable and rotates between a first position and a second position with respect to a motor shaft of the first driving motor. The wheel frame rotates in at least one section between the first position and the second position when the driving power is delivered to the wheel frame from the second driving motor.