Driving unit and robot cleaner having the same
First Claim
1. A robot cleaner comprising:
- a main body; and
a driving unit including;
a driving wheel to drive the main body;
a housing;
a driving motor which generates a rotational force for driving the driving wheel to drive the main body;
a driving arm which rotates about a rotation point so that the driving wheel is supported to protrude downward from the main body; and
an elastic member supported between a first support point provided at one side of the driving arm and a second support point provided at the housing,wherein an angle (θ
) formed between a line passing through the first support point and the rotation point and a line passing through the second support point and the first support point is maintained at an acute angle while the driving arm is rotating.
1 Assignment
0 Petitions
Accused Products
Abstract
Disclosed herein are a driving unit and a robot cleaner having the same. The robot cleaner has a configuration in which an elastic member is supported so that an angle formed between the elastic member and a rotation shaft of the driving unit is provided in a predetermined range to offset a decrease in an elastic force generated while the robot cleaner is driving on a surface having steps and a driving wheel protrudes downward from the robot cleaner. Accordingly, there is the effect where a traction force is maintained at a predetermined level for maintaining the driving performance of the robot cleaner even while the robot cleaner is driving and the driving wheel is lowered to decrease the elastic force of the elastic member.
9 Citations
21 Claims
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1. A robot cleaner comprising:
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a main body; and a driving unit including; a driving wheel to drive the main body; a housing; a driving motor which generates a rotational force for driving the driving wheel to drive the main body; a driving arm which rotates about a rotation point so that the driving wheel is supported to protrude downward from the main body; and an elastic member supported between a first support point provided at one side of the driving arm and a second support point provided at the housing, wherein an angle (θ
) formed between a line passing through the first support point and the rotation point and a line passing through the second support point and the first support point is maintained at an acute angle while the driving arm is rotating. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. A robot cleaner comprising:
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a main body; and a driving unit including; a driving wheel to drive the main body; a driving motor which generates a rotational force for driving the driving wheel to drive the main body; a driving arm which rotates about a rotation point so that the driving wheel is supported to protrude downward from the main body; and an elastic member supported between a first support point which is provided at one side of the driving arm and moves in conjunction with the driving arm and a second support point which is fixed, and wherein; with respect to a first straight line which connects the first support point to the second support point, and a second straight line which passes through the rotation point and intersects at a right angle with the first straight line, a length of the second straight line between the rotation point and an intersecting point with the first straight line is greater when the driving wheel protrudes downward from the main body than when the driving wheel is seated in the main body. - View Dependent Claims (13, 14, 15, 16, 17, 18, 19, 20)
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21. A robot cleaner comprising:
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a main body; and a driving unit including; a driving wheel to drive the main body on a surface; a driving motor to generate a rotational force for driving the driving wheel to drive the main body; a driving arm coupled to the driving wheel and rotatable about a rotation point with respect to the main body to press the driving wheel to protrude downward from the main body, the driving arm including a first support point on a side of the driving arm; a housing including a second support point forming an angle (θ
) between a line passing through the first support point and the rotation point and a line passing through the second support point and the first support point, the angle being maintained as an acute angle while the driving arm is rotating; andan elastic member coupled to the first support point and the second support point to press the driving wheel against the surface using an elastic force of the elastic member according to the formed angle, thereby transferring the elastic force of the elastic member to the driving wheel to generate a traction force according to the formed angle.
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Specification