EP2912982B1 - Ensemble de roue d'entraînement - Google Patents

Ensemble de roue d'entraînement Download PDF

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Publication number
EP2912982B1
EP2912982B1 EP15160798.3A EP15160798A EP2912982B1 EP 2912982 B1 EP2912982 B1 EP 2912982B1 EP 15160798 A EP15160798 A EP 15160798A EP 2912982 B1 EP2912982 B1 EP 2912982B1
Authority
EP
European Patent Office
Prior art keywords
unit
driving wheel
wheel assembly
driving
coil spring
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP15160798.3A
Other languages
German (de)
English (en)
Other versions
EP2912982A1 (fr
Inventor
Byoung In Lee
Hwi Chan Jang
Hyun Soo Jung
Dong Won Kim
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Samsung Electronics Co Ltd
Original Assignee
Samsung Electronics Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Samsung Electronics Co Ltd filed Critical Samsung Electronics Co Ltd
Priority claimed from EP12180884.4A external-priority patent/EP2570064B1/fr
Publication of EP2912982A1 publication Critical patent/EP2912982A1/fr
Application granted granted Critical
Publication of EP2912982B1 publication Critical patent/EP2912982B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/009—Carrying-vehicles; Arrangements of trollies or wheels; Means for avoiding mechanical obstacles
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning

Definitions

  • the following description relates to a driving wheel assembly which drives a robot cleaner.
  • a robot cleaner is an apparatus which intakes foreign substances, such as dust, from a floor surface to clean a region to be cleaned while autonomously travelling about the region to be cleaned without manipulation by a user.
  • Such a robot cleaner includes driving wheels to drive a robot cleaner main body, and the driving wheels drive the robot cleaner main body using frictional force generated between the driving wheels and the floor surface contacting the driving wheels.
  • a tension coil spring is used to apply pressure to the driving wheel in the direction towards the floor surface.
  • the tension coil spring may cause a wide range of applied pressure to the driving wheel according to a displacement of the driving wheel.
  • the length of the tension coil spring is increased. Consequently, an installation space for installing the tension coil spring is increased.
  • FR-A-2856622 discloses a robot cleaner with drive wheel assemblies comprising an upper housing part, a driving motor and also first and second units connected to the housing to be rotated around the rotation shaft of the driving motor.
  • a driving wheel is rotatably connected to the first unit and is held between first and second lower cover parts.
  • a compression coil spring is part of a damper and is disposed in a particular position with respect to the driving wheel. The compression coil spring is used for applying pressure to the second unit during a process of rotating the first unit.
  • the driving wheel assembly having an improved structure which stably travels regardless of the state and condition of a floor surface, and a robot cleaner having the same.
  • the driving wheel assembly includes a structure where a change in length of a compression coil spring is smaller than a corresponding displacement of a driving wheel. Therefore, a compact-sized robot cleaner with improved mobility on various types of floor surfaces may be designed.
  • a driving wheel assembly mounted on a main body of a robot cleaner to drive the robot cleaner includes the features of claim 1.
  • FIG. 1 is a perspective view illustrating the configuration of a robot cleaner in accordance with one embodiment.
  • the robot cleaner 1 includes a main body 10 forming the external appearance of the robot cleaner 1, a cover 20 covering the upper portion of the main body 10, a brush unit 30 sweeping or scattering dust off a space to be cleaned, a power unit 40 supplying driving power to drive the main body 10, and driving wheel assemblies 100a and 100b driving the main body 10.
  • the main body 10 forms the external appearance of the robot cleaner 1 and supports various parts installed within the main body 10.
  • the cover 20 includes a transmitting window 25 transmitting light generated from an upper camera unit (not shown) to photograph an upper image perpendicular to the traveling direction of the main body 10.
  • the brush unit 30 includes a main brush 35 mounted at an inlet (not shown) formed at the lower portion of the main body 10, a main brush motor (not shown) rotating the main brush 35, and a dust case 38 collecting foreign substances, such as dust gathered by the main brush 35.
  • the main brush 35 sweeps or scatters dust off a floor surface under the main body 10, thereby improving dust suction efficiency.
  • a main brush 35 has a drum shape, and includes a roller and brush.
  • the brush unit 30 may further include side brushes (not shown) disposed at both sides of the main brush 35 to sweep dust off a region which the main brush 35 may not approach to improve cleaning efficiency.
  • the power unit 40 includes driving motors 130 rotating driving wheels 120, and a battery 42 electrically connected to the main brush motor (not shown) rotating the main brush 35 and respective driving units driving the main body 10 and supplying driving power.
  • the battery 42 is a second battery which may be rechargeable, and may be charged with power supplied from a docking station (not shown) if the main body 10 completes a cleaning process and is then connected to the docking station (not shown).
  • the driving wheel assemblies 100a and 100b are respectively provided at both sides of the center of the main body 10, and allow the main body 10 to execute moving operations, such as forward movement, backward movement, or rotation, for example, during the cleaning process of the main body.
  • moving operations such as forward movement, backward movement, or rotation, for example, during the cleaning process of the main body.
  • the driving wheel assembly 100a located at the right side in the forward movement direction of the main body 10 will be exemplarily described, and the following description may be applied to the driving wheel assembly 100b located at the left side in the forward movement direction of the main body 10 unless mentioned otherwise.
  • FIG. 2 is a perspective view illustrating a driving wheel assembly in accordance with the embodiment extracted from FIG. 1
  • FIG. 3 is an exploded perspective view of the driving wheel assembly shown in FIG. 2
  • FIG. 4 is a perspective view illustrating a sensing body and a sensed body extracted from the driving wheel assembly shown in FIG. 2 .
  • the driving wheel assembly 100a includes a housing 110, the driving wheel 120 driving the main body 10, a driving motor 130 connected to one side of the housing 110 and rotating the driving wheel 120, a rotary member 101 connected to the housing 110 to be rotatable around a rotation shaft 132 of the driving motor 130, and a sensing unit 150 detecting displacement of the driving wheel 120.
  • the housing 110 includes an accommodation part 112 accommodating the driving wheel 120 and the rotary member 101, a first connection hole 114 to which the driving motor 130 is connected, a first connection protrusion 116 connected to the rotary member 101, and a support rib 118 supporting one end of a compression coil spring 170.
  • the lower portion of the accommodation part 112 is opened such that the rotary member 101 connected to the housing 110 and the driving wheel 120 connected to the rotary member 101 may move upwards and downwards according to the kind and state of a floor surface of the space to be cleaned.
  • the first connection hole 114 is formed on one side surface 110b of the housing 110, and allows the rotation shaft 132 of the driving motor 130 to be connected to the rotary member 101 within the housing 110.
  • the first connection protrusion 116 protrudes from the inner plane of the other side surface 110a opposite the side surface 110b of the housing 110, to which the driving motor 130 is connected, to the inside of the housing 110 by a designated length.
  • An accommodation hole 116a rotatably accommodating a second connection protrusion 146 of the rotary member 101 to allow the rotary member 101 to be rotated around the first connection protrusion 116 is provided at the center of the first connection protrusion 116.
  • the first connection protrusion 116 may be disposed coaxially with the first connection hole 114 and the rotation shaft 132 of the driving motor 130 passing through the first connection hole 114.
  • the support rib 118 protrudes from the inner plane of the side surface 110b of the housing 110, to which the driving motor 130 is connected, to the inside of the housing 110 by a designated length, and supports one end of the compression coil spring 170 applying pressure to a first unit 140 of the rotary member 101.
  • the driving wheel 120 includes a wheel part 122 directly contacting the floor surface of the space to be cleaned to execute traveling of the main body 10, and a driving shaft 124 connected to the first unit 140 of the rotary member 101 under the condition that the driving shaft 124 is fixed to the wheel part 122 to rotate the wheel part 122.
  • the driving motor 130 is connected to the outer plane of the side surface 110b of the housing 110 provided with the first connection hole 114, and the rotation shaft 132 of the driving motor 130 passes through the first connection hole 114 and is connected to the first unit 140 within the housing 110. Driving force of the driving motor 130 is transmitted to the driving shaft 124 through the rotation shaft 132 and power transmission gears 144 connected to the rotation shaft 132, thus rotating the driving wheel 120.
  • the first unit 140 includes a female case 142, the power transmission gears 144 engaged with each other and rotatably disposed within the female case 142, and the second connection protrusion 146 connecting the first unit 140 to the housing 110.
  • the female case 142 rotatably supports the power transmission gears 144 disposed therein.
  • the power transmission gears 144 are rotatably supported by the female case 142 under the condition that they are engaged with each other, and connect the rotation shaft 132 of the driving motor 130 and the driving shaft 124 of the driving wheel 120 to transmit driving force of the driving motor 130 to the driving shaft 124.
  • the rotation shaft 132 may pass through a second connection hole 141 formed on one side surface 142b of the female case 142 and be connected to one of the power transmission gears 144, and the driving shaft 124 may pass through a third connection hole 147 formed on the other side surface 142a of the female case 142 and be connected to one of the remaining power transmission gears 44 which are not connected to the rotation shaft 132.
  • the second connection protrusion 146 protrudes from the side surface 142a of the female case 142 in a direction towards the first connection protrusion 116 by a designated length, and is rotatably connected to the accommodation hole 116a formed on the first connection protrusion 116.
  • a second unit 160 rotated around the rotation shaft 132 of the driving motor 130 together with the first unit 140 is provided at one side of the female case 142.
  • the second unit 160 may be formed integrally with the first unit 140.
  • the first unit 140 is rotatably connected to the housing 110 through the second connection protrusion 146, and is elastically supported by the housing 110 by the second unit 160 and the compression coil spring 170.
  • the sensing unit 150 detecting displacement of the driving wheel 120 includes a sensed body 152 provided on the first unit 140, a sensing body 154 sensing the sensed body 152, and a bracket 156 fixing the sensing body 154 to the housing 110.
  • the sensed body 152 includes a protruding rib 152a protruding from the side surface 142b of the female case 142 in a direction towards the side surface 110b of the housing 110, and a magnet 152b connected to one end of the protruding rib 152a.
  • a driving motor accommodation part 111 accommodating the driving motor 130 is provided at one side of the housing 110, and the bracket 156 supporting and fixing the sensing body 156 is connected to the driving motor accommodation part 111.
  • the sensing body 154 is fixed to one side of the bracket 156, senses a separation distance with the sensed body 152 through magnetic interaction with the magnet 152b moving together with the first unit 140 within the driving motor accommodation part 111, and converts the sensed separation distance with the sensed body 152 into a standardized parameter, such as voltage, to detect displacement of the driving wheel 120.
  • FIGS. 5A and 5B are views illustrating operating states of the driving wheel according to a change of a floor surface.
  • FIG. 5A illustrates the operating state of the driving wheel when the robot cleaner main body travels about a hard floor surface
  • FIG. 5B illustrates the operating state of the driving wheel when the robot cleaner main body travels about a soft floor surface, such as a carpet, for example.
  • the compression coil spring 170 is accommodated in an accommodation part 182 formed by the first unit 140, the second unit 160 and the support rib 118, and applies pressure to the second unit 160.
  • the compression coil spring 170 includes a fixed terminal 172 which is fixed by contact with a first support surface 118a provided on the support rib 118, and a pressing terminal 174 which presses the second unit 160 by contact with a second support surface 160a of the second unit 160.
  • a fixed point P2 is formed on the first support surface 118a contacting the fixed terminal 172, and a pressing point P1 is formed on the second support surface 160a contacting the pressing terminal 174.
  • the compression coil spring 170 in a compressed state is accommodated in the accommodation part 182 and applies pressure to the second unit 160 in the tangential direction of a trajectory T formed by the rotation shaft 132 of the driving motor 130 and the pressing point P1 during the rotating process of the second unit 160, and pressure applied to the second unit 160 by the compression coil spring 170 is transmitted to the driving wheel 120 contacting the floor surface through the first unit 140.
  • the compression coil spring 170 is disposed at a position opposite to the driving wheel 120 with respect to a first straight line L1 extending from the floor surface which the driving wheel 120 contacts in the vertical direction and passing through the rotation shaft 132 of the driving motor 130. Further, the compression coil spring 170 is disposed at a position opposite to the driving wheel 120 with respect to a third straight line L3 perpendicular to a second straight line L2 connecting a first rotation point C1 around which the first unit 140 is rotated and a second rotation point C2 around which the driving wheel 120 rotatably connected to the first unit 140 is rotated, and is disposed at a position closer to the rotation shaft 132 of the driving motor 130 than the driving wheel 120.
  • the second unit 160 protrudes from one side of the first unit 140 where a fourth straight line L4 connecting the first rotation point C1 and the pressing point P1 and the first unit 140 meet, in the radial direction of the trajectory T formed during the rotating process of the pressing point P1, and includes the second support surface 160a contacting the pressing terminal 174 of the compression coil spring 170.
  • the pressing point P1 is formed on the second support surface 160a contacting the pressing terminal 174, as described above, and the distance between the pressing point P1 and the first rotation point C1 is shorter than the distance between the first rotation point C1 and the second rotation point C2.
  • the support rib 118 protruding from the inner plane of the side surface 110b of the housing 110 adjacent to the first rotation point C1 to the inside of the housing 110, and includes the first support surface 118a contacting the fixed terminal 172 of the compression coil spring 170.
  • the fixed point P2 is formed on the first support surface 118a contacting the fixed terminal 172.
  • the second unit 160 and the support rib 118 are disposed in a direction opposite to the driving wheel 120 and the second rotation point C2 with respect to the first straight line L1 and the third straight line L3.
  • a length change D2 of the compression coil spring 170 is smaller than a displacement D1 of the driving wheel 120 according to the material or state of the floor surface. Because a change of pressure applied to the driving wheel 120 according to the displacement of the driving wheel 120 is as small as the length change of the compression coil spring 170, the main body 10 of the robot cleaner 1 may stably travel.
  • a robot cleaner 1 having a compact size may be designed.
  • a driving wheel assembly and a robot cleaner having the same stably apply pressure to a driving wheel regardless of displacement of the driving wheel generated according to various states and conditions of floor surfaces, and thus traveling performance of the robot cleaner may be improved.
  • a space within a robot cleaner main body occupied by a structure to apply pressure to the driving wheel is reduced, and thus the robot cleaner having a compact size may be designed.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Electric Vacuum Cleaner (AREA)
  • Electric Suction Cleaners (AREA)

Claims (8)

  1. Ensemble roue d'entraînement (100a, b) monté sur un corps principal (10) d'un robot de nettoyage (1) pour entraîner le robot de nettoyage, l'ensemble roue d'entraînement comprenant :
    un boîtier (110) ;
    un moteur d'entraînement (130) raccordé à un côté du boîtier (110) ;
    une première unité (140) raccordée au boîtier (110) à faire tourner autour d'un arbre de rotation (132) du moteur d'entraînement (130), et une seconde unité (160) faisant saillie depuis un côté de la première unité (140) ;
    une roue d'entraînement (120) raccordée à la première unité (140) de manière à pouvoir tourner; et
    un ressort de bobine de compression (170) disposé au niveau d'une position permettant d'appliquer une pression à la seconde unité (160), caractérisé en ce que
    ledit ressort de bobine de compression est disposé à une position opposée à la roue d'entraînement (120) par rapport à une première ligne droite (L1) s'étendant depuis une surface formant plancher que la roue d'entraînement (120) contacte dans le sens vertical et passe à travers l'arbre de rotation (132) du moteur d'entraînement (130) et applique ladite pression à la seconde unité (160) dans un sens tangentiel d'une trajectoire formée par l'arbre de rotation (132) du moteur d'entraînement et la seconde unité (160) durant un procédé de rotation de la première unité (140).
  2. Ensemble roue d'entraînement selon la revendication 1, le ressort de bobine de compression (170) étant disposé entre une nervure de support (118) faisant saillie depuis un côté du boîtier (110) adjacent à l'arbre de rotation (132) du moteur d'entraînement vers l'intérieur du boîtier et la seconde unité (160), et applique la pression à la seconde unité (160) dans le sens tangentiel d'une trajectoire formée par l'arbre de rotation (132) du moteur d'entraînement et la seconde unité (160) durant un processus de rotation d'un élément rotatif (101), comprenant lesdites première et seconde unités (140, 160).
  3. Ensemble roue d'entraînement selon la revendication 1, le ressort de bobine de compression (170) étant disposé plus près de l'arbre de rotation (132) du moteur d'entraînement (130) que de la roue d'entraînement (120).
  4. Ensemble roue d'entraînement selon la revendication 2, le ressort de bobine de compression (170) comprenant :
    une borne fixe (172) entrant en contact avec la nervure de support (118) ; et
    une borne de compression (174) entrant en contact avec la seconde unité (160) et appliquant une pression à la seconde unité (160).
  5. Ensemble roue d'entraînement selon la revendication 4, la nervure de support (118) comprenant une première surface de support (118a) supportant la borne fixe (172), et la seconde unité (160) comprenant une seconde surface formant support (160a) supportant la borne de compression (174).
  6. Ensemble roue d'entraînement selon la revendication 3, le ressort de bobine de compression (170) étant disposé à une position opposée à la roue d'entraînement (120) par rapport à une troisième ligne droite (L3) passant à travers un premier point de rotation (C1) autour duquel la première unité (140) tourne et perpendiculaire à une seconde ligne droite (L2) raccordant le premier point de rotation (C1) autour duquel la première unité (140) tourne et un second point de rotation (C2) autour duquel la roue d'entraînement (120) tourne.
  7. Ensemble roue d'entraînement selon la revendication 4 :
    un point de compression (P1) étant formé à une position où la borne de compression (174) et la seconde unité (160) entrent en contact ; et
    la seconde unité (160) faisant saillie depuis un côté de la première unité (140) où une troisième ligne droite (L3) raccordant un premier point de rotation (C1) autour duquel la première unité (140) tourne et le point de compression (P1) et la première unité (140) se rencontrent, dans le sens radial d'une trajectoire formée durant un processus de rotation du point de compression.
  8. Ensemble roue d'entraînement selon la revendication 7, la première unité (140) comprenant des engrenages de transmission d'énergie (144) transmettant la force de rotation du moteur d'entraînement (130) à la roue d'entraînement (120).
EP15160798.3A 2011-09-01 2012-08-17 Ensemble de roue d'entraînement Active EP2912982B1 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201161530019P 2011-09-01 2011-09-01
KR1020110101418A KR101778542B1 (ko) 2011-09-01 2011-10-05 구동바퀴조립체 및 이를 구비하는 로봇청소기
EP12180884.4A EP2570064B1 (fr) 2011-09-01 2012-08-17 Ensemble de roues motrices et robot nettoyeur l'utilisant

Related Parent Applications (1)

Application Number Title Priority Date Filing Date
EP12180884.4A Division EP2570064B1 (fr) 2011-09-01 2012-08-17 Ensemble de roues motrices et robot nettoyeur l'utilisant

Publications (2)

Publication Number Publication Date
EP2912982A1 EP2912982A1 (fr) 2015-09-02
EP2912982B1 true EP2912982B1 (fr) 2017-06-28

Family

ID=48177046

Family Applications (1)

Application Number Title Priority Date Filing Date
EP15160798.3A Active EP2912982B1 (fr) 2011-09-01 2012-08-17 Ensemble de roue d'entraînement

Country Status (2)

Country Link
EP (1) EP2912982B1 (fr)
KR (2) KR101880089B1 (fr)

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KR101556177B1 (ko) 2014-05-07 2015-09-30 엘지전자 주식회사 진공 청소기
KR102155002B1 (ko) 2014-05-23 2020-09-21 엘지전자 주식회사 로봇청소기
KR101689133B1 (ko) * 2014-06-02 2016-12-26 에브리봇 주식회사 로봇 청소기 및 그의 제어 방법
KR102320199B1 (ko) * 2015-04-13 2021-11-02 삼성전자주식회사 구동유닛 및 이를 구비하는 로봇청소기
KR20190054517A (ko) 2017-11-13 2019-05-22 삼성전자주식회사 청소기
CN109480704B (zh) * 2018-11-02 2020-07-17 李齐 一种新型的社会实践公共卫生清扫装置
KR20200080913A (ko) * 2018-12-27 2020-07-07 서울과학기술대학교 산학협력단 자기상관계수를 이용한 심층신경망 기반 신호처리 방법 및 장치
US11559182B2 (en) 2019-04-25 2023-01-24 Bissell Inc. Autonomous floor cleaner with drive wheel assembly
KR20210069466A (ko) 2019-12-03 2021-06-11 삼성전자주식회사 오염원을 판단하는 로봇 청소기 및 그 동작 방법
KR102441146B1 (ko) * 2021-01-19 2022-09-07 고등기술연구원연구조합 수중에 잠겨있는 표면의 오염물질을 제거하는 수중 청소로봇의 이물질 제거 효율을 높이기 위한 장치
KR20240070293A (ko) * 2022-11-14 2024-05-21 삼성전자주식회사 청소 장치

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JP2005211365A (ja) 2004-01-30 2005-08-11 Funai Electric Co Ltd 自律走行ロボットクリーナー
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EP2260750A3 (fr) 2009-06-12 2014-04-23 Samsung Electronics Co., Ltd. Robot de nettoyage et méthode de contrôle de course

Also Published As

Publication number Publication date
KR20130025309A (ko) 2013-03-11
KR101778542B1 (ko) 2017-09-18
EP2912982A1 (fr) 2015-09-02
KR20130025310A (ko) 2013-03-11
KR101880089B1 (ko) 2018-07-23

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