Robotic Cleaning Head Articulated Actuator Motion Control
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Solution Overview
Problem
Manual cleaning of unsanitary domestic elements like toilet bowls, bathtubs, and sinks is undesirable and inefficient, as it requires manual interaction with dirty surfaces.
Innovation Solution
A robotic cleaning apparatus with an articulated body and cleaning head that can be mounted on dirty objects, featuring actuators to move the cleaning head relative to the object's surfaces along multiple axes, allowing for effective cleaning of complex surfaces like toilet bowls and basins.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If manual cleaning methods are used, then direct control and simplicity are maintained, but cleaning efficiency and thoroughness deteriorate due to manual limitations
Solution Approach 1:
The cleaning apparatus employs multiple actuators that enable dynamic movement of the cleaning head along multiple axes (x, y, z) and rotation about multiple axes (pitch, roll, yaw). This dynamic positioning system allows the cleaning head to adapt its position and orientation in real-time to effectively clean complex surfaces like toilet bowls, achieving high productivity through automated multi-degree-of-freedom motion control.
2Adaptability or versatility
If simple cleaning tools are used, then ease of operation is maintained, but ability to clean hard-to-reach areas deteriorates
Solution Approach 1:
The cleaning apparatus transitions from two-dimensional surface cleaning to three-dimensional cleaning by enabling the cleaning head to move along x, y, and z axes and rotate about pitch, roll, and yaw axes. This multi-dimensional capability allows the cleaning head to access and clean hard-to-reach areas within toilet bowls and other complex geometries that simple linear cleaning tools cannot reach.
3Productivity
If automated robotic cleaning is implemented, then cleaning thoroughness and efficiency are improved, but system complexity increases
Solution Approach 1:
The robotic cleaning apparatus integrates multiple actuators (first actuator for x-axis movement, second actuator for y-axis movement, third actuator for z-axis movement, fourth actuator for pitch rotation, fifth actuator for roll rotation, and sixth actuator for yaw rotation) into a single coordinated system. This multi-functional actuator system enables the cleaning head to perform various cleaning tasks on different surfaces and geometries, achieving high cleaning speed and thoroughness despite the increased complexity through unified control.
Data Source
AI summary
A robotic cleaning apparatus for cleaning a dirty object includes a cleaning head and an articulated body. The articulated body is coupled to the cleaning head and mountable to the dirty object. The body has one or more actuators that collectively move the cleaning head into contact with surfaces of the dirty object. The one or more actuators, when activated, collectively rotate the cleaning head relative to the dirty object about first and second axes, and translate the cleaning head relative to the dirty object along an extension axis. A method of robotically cleaning is also disclosed.