Robot Vacuum Cleaner Sub-Wheel System for Constrained-State Escape
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Solution Overview
Problem
Robot cleaners often get stuck in constrained states due to insufficient grip force and interference between wheels and obstacles, making it difficult to escape.
Innovation Solution
The robot cleaner incorporates a sub-wheel system with a sub-frame that rotates independently of the main wheel, using a main motor and sub-motor to provide additional grip and maneuverability in constrained states.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Force
If the robot cleaner uses elastic force to ground the wheel in constrained state, then the wheel can be grounded, but sufficient grip force cannot be obtained
Solution Approach 1:
The wheel system is segmented into a main wheel and a sub-wheel that can operate independently. The sub-wheel is rotatably coupled to the main wheel through a rotation shaft, allowing it to be selectively grounded to provide additional grip force when the main wheel encounters constrained states. This segmentation enables the system to distribute the gripping function across multiple components.
Solution Approach 2:
The sub-wheel assembly is designed to be dynamically adjustable relative to the main wheel. The rotation shaft allows the sub-wheel to rotate and change its position dynamically, enabling it to make contact with the ground only when needed (in constrained states) while remaining elevated during normal operation. This dynamic configuration optimizes both normal driving and constrained state performance.
2Adaptability or versatility
If the robot cleaner includes sub-frame rotating independently, then maneuverability in constrained state improves, but device complexity increases
Solution Approach 1:
The sub-wheel assembly is merged with the main wheel structure through the rotation shaft coupling. The sub-frame that supports the sub-wheel is integrated into the overall wheel assembly, allowing the sub-frame to rotate independently while maintaining structural coherence. This merging approach enables enhanced maneuverability without completely separate independent systems.
Solution Approach 2:
The sub-wheel assembly serves multiple functions: it provides additional grip force in constrained states, enables the robot to climb obstacles, and improves overall maneuverability. The same structural components (rotation shaft, sub-frame) that enable independent rotation also provide structural support and constraint, reducing the need for separate dedicated mechanisms for each function.
Data Source
AI summary
The present invention relates to a robot vacuum cleaner comprising sub-wheels having variable rotational positions, the robot vacuum cleaner comprising subframes rotatably attached to main frames to ground the sub-wheels when in a constrained state.