Adjustable Wheel Chassis for Robot Obstacle Navigation
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Solution Overview
Problem
Current wheeled robot chassis designs are inadequate for navigating rough terrains due to the limitations of universal wheels, which result in instability and poor obstacle-surmounting capabilities, especially in indoor environments with varied surfaces.
Innovation Solution
A chassis design featuring a front guiding wheel with a larger diameter and a closed loop speed control system, combined with a hanging unit that allows for adjustable driving wheels and a suspension mechanism, enabling active adjustment of the front guiding wheel's rotational angle and improved obstacle navigation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If universal wheels are used in the front and rear of the chassis, then the robot can move on flat floors, but the robot cannot surmount obstacles effectively due to small wheel diameter and limited capability
Solution Approach 1:
The patent applies the dynamics principle by making the wheel diameter adjustable rather than fixed. The driving wheels can change their diameter dynamically to adapt to different terrain conditions - using smaller diameter for flat floors and larger diameter for obstacle surmounting, thus resolving the contradiction between adaptability and wheel shape
Solution Approach 2:
The patent implements parameter changes by allowing the wheel diameter to vary as a controllable parameter. The system can adjust the diameter parameter of the driving wheels based on terrain requirements, enabling the robot to overcome obstacles effectively while maintaining compatibility with flat floor operations
2Speed
If the robot brakes hard, then the robot can stop quickly, but the robot nods violently due to the chassis structure
Solution Approach 1:
The patent applies dynamics by making the wheel positioning adjustable during operation. The hanging units allow the driving wheels to move dynamically to compensate for vibrations and nodding during braking, maintaining chassis stability while enabling quick stopping
Solution Approach 2:
The patent implements parameter changes by allowing the position parameters of the driving wheels to be adjusted in real-time. The hanging units enable positional parameter changes that counteract the violent nodding during hard braking, thus maintaining stability while achieving rapid deceleration
3Ease of operation
If the robot turns, then the robot can navigate, but the robot wiggles in a certain angle due to the universal wheel structure
Solution Approach 1:
The patent applies dynamics by enabling the driving wheels to adjust their positions dynamically during turning operations. The hanging units allow positional adjustments that compensate for the wiggling effect of universal wheels, maintaining stability while preserving turning capability
Solution Approach 2:
The patent implements parameter changes by allowing the position parameters of the driving wheels to be modified during turning. This enables the system to counteract the wiggling motion inherent in universal wheel structures, achieving stable navigation while maintaining ease of operation
Data Source
AI summary
The present disclosure provides a chassis comprising a frame, two hanging units symmetrically provided at both sides of the frame, and a front guiding wheel and a rear universal wheel provided below the frame, wherein each of the hanging units comprises a mounting rack fixedly connected to the frame, a hanging rack slidably connected to the mounting rack, and a driving wheel rotatably connected to the hanging rack, and the front guiding wheel is provided with a first driving motor, and the driving wheel of each hanging unit is driven by a second driving motor, and wherein a closed loop speed control system is formed between the first driving motor and both second driving motors, such that a rotational angle of the front guiding wheel is adjustable via the first driving motor when revolving speeds of both second driving motors are changed.