Modular Mobile Robot Wheel Units for Cleanroom Sealing
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Solution Overview
Problem
Existing mobile robots face challenges in modularity, cleanability, and compactness, particularly in pharmaceutical applications where high cleanliness standards and aggressive cleaning agents are required, with potential contamination risks from internal components and external particles.
Innovation Solution
A modular mobile robot design with a base module featuring a lower plate and motorized wheel units, where motors are integrated into the wheel units rather than the base, ensuring compactness and easy cleanability, and sealed connections between the base module and wheel units to prevent contamination.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Power
If motors are integrated into the base module, then the robot has higher power and driving capability, but the base module becomes larger and less compact
Solution Approach 1:
The robot system is divided into modular components: a compact base module and separate motorized wheel units. Each wheel unit contains its own motor, separating the power source from the base module. This segmentation allows the base module to remain compact while the distributed motors provide sufficient driving capability for the entire robot.
2Adaptability or versatility
If the robot has high modularity with interchangeable wheel units, then adaptability improves, but the complexity of connection and sealing increases
Solution Approach 1:
The base module is designed with universal attachment points that can accommodate different types of motorized wheel units. The standardized interface allows various wheel configurations (different diameters, steering capabilities, drive mechanisms) to be interchangeably mounted on the same base module, enabling the robot to adapt to different terrain and application requirements while maintaining a consistent connection protocol.
3Object-affected harmful factors
If the base module has a compact design with small horizontal surfaces, then contamination risk decreases, but the area for attaching components and sensors is reduced
Solution Approach 1:
The base module utilizes vertical space rather than horizontal expansion for component placement. Sensors, attachment points, and electronic components are arranged in the vertical dimension and on the sides of the compact base module. This allows the horizontal footprint to remain minimal (reducing contamination risk) while providing sufficient surface area through vertical arrangement for all necessary attachments and sensor placements.
4Object-affected harmful factors
If the robot is perfectly sealed to prevent contamination, then cleanliness is improved, but cleaning access to surfaces becomes more difficult
Solution Approach 1:
The robot is divided into separable modules (base module and wheel units) with standardized connection interfaces. These interfaces incorporate sealing mechanisms (such as gaskets or O-rings) that maintain cleanliness when connected. The segmentation allows the sealed modules to be easily detached for individual cleaning or replacement, combining contamination prevention during operation with ease of cleaning during maintenance through simple module separation.
Data Source
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AI summary
The mobile robot (10) comprises a base module (12) including a sensor system for analyzing the environment, and a control unit for driving the mobile robot (10) as a function of information from the sensor system. The base module (12) comprises a lower plate (22) facing the ground and comprising at least three attachment points (42), each attachment point (42) being designed to connect with a respective wheel unit (44), each wheel unit (44) comprising at least one wheel (46). At least one of the wheel units (44) is a motorized wheel unit, which comprises at least one motor. The motors are controlled by the control unit as a function of information from the sensor system.