Robot Drive Assembly With Leg Thrust for Wheel Arrest
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Solution Overview
Problem
Robot cleaners face issues with wheel arrest and idle rotation when navigating uneven surfaces, leading to reduced cleaning range and increased manufacturing costs due to the need for additional components like sub-wheels and separate motors, which also reduce power efficiency and increase weight.
Innovation Solution
The implementation of a driving unit with a main wheel and auxiliary wheels, where a leg member and elastic member are used to provide thrust independently of the main wheel, allowing the robot to overcome obstacles and maintain movement without additional sensors or sub-wheels, enhancing rough area traversal and reducing costs.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a sub-wheel and separate motor are installed to solve wheel arrest and idle rotation, then the robot can overcome obstacles, but manufacturing cost increases and power efficiency decreases
Solution Approach 1:
The patent combines the functions of the sub-wheel and its driving motor into an integrated auxiliary wheel assembly that is directly coupled to the main wheel's drive mechanism. This merging eliminates separate components and reduces structural complexity while maintaining the capability to resolve wheel arrest and idle rotation issues.
Solution Approach 2:
The auxiliary wheel assembly serves multiple functions: it acts as both a support element and a driving element that can independently propel the robot when the main wheel encounters obstacles. This multi-functionality reduces the need for separate dedicated components, thereby lowering manufacturing costs and improving power efficiency.
2Reliability
If a sub-wheel and separate motor are installed to solve wheel arrest and idle rotation, then the robot can overcome obstacles, but weight increases causing user inconvenience
Solution Approach 1:
By merging the sub-wheel and its motor into a single integrated auxiliary wheel assembly that shares the drive mechanism with the main wheel, the patent reduces the total weight compared to having completely separate components. The shared motor and transmission components reduce overall mass while maintaining obstacle-overcoming capability.
3Measurement precision
If all surface portions that are not even are recognized as obstacles, then obstacle detection accuracy improves, but cleaning range is reduced
Solution Approach 1:
The patent changes the parameter of obstacle recognition sensitivity by introducing a threshold mechanism that distinguishes between minor surface irregularities and true obstacles. The controller adjusts the recognition criteria to tolerate small unevenness while still detecting significant obstacles, thereby maintaining both detection accuracy and cleaning range.
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 solution enables the robot to effectively navigate rough surfaces and obstacles without additional components, improving moving performance and efficiency while reducing manufacturing costs and power consumption.
Implementation Method 1
an elastic member disposed between the leg member and the gear unit, and a length of the elastic member may be changed according to torque applied to the main wheel
Data Source
AI summary
A moving robot includes a main body, a drive assembly moving the main body, and a cleaner head performing cleaning on a cleaning area in which the main body is positioned, wherein the drive assembly includes a main wheel, a motor generating a driving force, a gear box connected to the main wheel and the motor and transferring the driving force from the motor to the main wheel, and a leg member disposed on a shaft connecting the main wheel and the gear box and providing thrust independently of the main wheel.