Driving unit and robot cleaner having the same
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Solution Overview
Problem
Conventional robot cleaners face challenges in maintaining a constant traction force for their driving wheels, especially when navigating surfaces with steps or varying conditions, due to the elastic force changes in conventional elastic members used to press the wheels against the floor.
Innovation Solution
The driving unit incorporates a housing, a driving motor, a rotating driving arm, and an elastic member supported between a first and second support point, where the angle between these points is maintained at an acute angle, ensuring a consistent traction force by adjusting the displacement of the elastic member as the driving wheel protrudes or retracts.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Force
If conventional elastic members (tension coil spring) are used to press driving wheels toward the floor surface, then the driving wheels can generate frictional force for traction, but the elastic force changes significantly with displacement, causing unstable traction force on varying floor surfaces
Solution Approach 1:
The patent changes the geometric parameters of the elastic member support system. Specifically, it positions the first support point on the driving arm and the second support point on the housing such that the angle between them remains acute during driving arm rotation. This parameter configuration ensures that the elastic force component acting on the driving wheel remains relatively constant despite changes in elastic member length, thereby maintaining stable traction force on varying floor surfaces including steps and slopes.
2Adaptability or versatility
If the driving wheel protrudes outward to navigate steps and uneven surfaces, then the robot cleaner can maintain mobility on various floor conditions, but the displacement of the driving wheel causes significant change in elastic force, affecting traction consistency
Solution Approach 1:
The patent implements a dynamic support system where the first support point is attached to the driving arm rather than being fixed to the housing. As the driving arm rotates to allow the driving wheel to protrude or retract, the first support point moves accordingly, maintaining the acute angle relationship with the second support point. This dynamic configuration allows the robot to adapt to various floor conditions while keeping the elastic force component relatively constant, ensuring consistent traction force throughout the motion range.
3Ease of operation
If the elastic member displacement is allowed to vary freely with driving arm rotation, then the driving unit can accommodate large movements, but the traction force becomes unstable due to elastic force changes
Solution Approach 1:
The patent optimizes the geometric parameters of the elastic member support system by positioning the first and second support points such that the angle between them remains acute during the full range of driving arm rotation. This parameter configuration ensures that the component of elastic force acting perpendicular to the driving arm remains relatively constant throughout the motion range, allowing large movements while maintaining stable driving performance and consistent traction force.
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
This configuration maintains a constant traction force for the driving wheel across different positions, ensuring stable driving performance on various floor conditions, including steps and uneven surfaces, by effectively managing the elastic force and displacement of the elastic member.
Implementation Method 1
an elastic member supported between a first support point provided at one side of the driving arm and a second support point provided at the housing
Implementation Method 2
the driving wheels drive a robot cleaner body using a frictional force generated between the driving wheels and a floor surface being in contact therewith
Data Source
AI summary
Disclosed herein are a driving unit and a robot cleaner having the same. The robot cleaner has a configuration in which an elastic member is supported so that an angle formed between the elastic member and a rotation shaft of the driving unit is provided in a predetermined range to offset a decrease in an elastic force generated while the robot cleaner is driving on a surface having steps and a driving wheel protrudes downward from the robot cleaner. Accordingly, there is the effect where a traction force is maintained at a predetermined level for maintaining the driving performance of the robot cleaner even while the robot cleaner is driving and the driving wheel is lowered to decrease the elastic force of the elastic member.