Expandable Wheel Structure for Robot Vacuum Obstacle Clearance
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Solution Overview
Problem
Robotic floor cleaning devices face challenges in selecting wheel size, as larger wheels enhance mobility but may compromise cleaning efficacy by increasing distance from the work surface, while smaller wheels improve navigation through tight spaces but hinder obstacle clearance.
Innovation Solution
The implementation of expandable wheels with rollers mounted on spokes that can be adjusted radially via an inner shaft, allowing the wheel circumference to be adjusted between contracted and expanded positions, enabling the device to navigate both tight spaces and obstacles effectively.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Force
If larger wheels are used, then the device can drive over obstacles more effectively, but the distance from the work surface increases which reduces cleaning efficacy
Solution Approach 1:
The wheel circumference is made dynamically adjustable through an expandable structure. The wheel can expand to a larger circumference when obstacle clearance is needed, and contract to a smaller circumference when navigating tight spaces or maintaining optimal cleaning distance. This dynamic adaptability resolves the contradiction by allowing the wheel size to change based on operational requirements rather than being fixed.
Solution Approach 2:
The physical parameter of wheel circumference is changed between two states (expanded and contracted). The expandable wheel mechanism allows the circumference parameter to be adjusted, enabling the device to optimize for either obstacle clearance or cleaning efficacy depending on the situation.
2Ease of operation
If smaller wheels are used, then the device can navigate through tight spaces more effectively, but the ability to drive over obstacles is reduced
Solution Approach 1:
The wheel circumference is made dynamically adjustable to switch between small and large configurations. When navigating tight spaces, the wheel contracts to a smaller circumference for easier maneuverability. When obstacle clearance is required, the wheel expands to a larger circumference, providing the necessary mechanical advantage.
3Device complexity
If a fixed wheel size is used, then the device structure is simpler, but the device cannot adapt to different cleaning environments
Solution Approach 1:
The wheel incorporates an expandable mechanism that allows it to change its circumference dynamically. This dynamic feature enables the single wheel structure to adapt to various cleaning environments - whether tight spaces requiring smaller wheels or areas with obstacles requiring larger wheels - without needing multiple different wheel sets.
Solution Approach 2:
The expandable wheel serves multiple functions: it can operate in tight spaces with a contracted circumference and clear obstacles with an expanded circumference. This multi-functionality allows a single wheel design to replace what would traditionally require multiple specialized wheels, enhancing versatility while managing complexity.
Data Source
AI summary
A mobile robotic floor-cleaning device with wheels that may be expanded or contracted to suit various needs by rotating an inner shaft within the main housing of each wheel relative to the main housing. A series of rollers form the circumference of the wheels, and are connected to the inner shaft via a set of spokes. Rotation of the inner shaft relative to the main housing causes the spokes to pull the rollers in or push them out, changing the diameter and circumference of the wheel.