Angled Wheel-Shaft Robot Layout for Obstacle Clearance

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Solution Overview

Problem

Robots face interference between traveling members and the body due to increased wheel height, and foreign substances splashing onto the body during rotation, which affects performance and stability.

Innovation Solution

The robot features vertically inclined rotating shafts and inclined legs, with a sum of rotating shaft and leg inclinations less than or equal to 90°, and a power transmission system with bevel gears and switching gears to efficiently transmit power and prevent interference and splashing.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Speed

If the wheel radius is increased to overcome obstacles, then the robot can traverse higher obstacles, but the wheel height increases causing interference with the body

Engineering Contradiction:

Improveobstacle traversal capabilityVSAvoidbody structural design restriction

Core Design Contradiction:

SpeedVSDevice complexity

Solution Approach 1:

The rotating shaft is positioned at an asymmetric angle relative to the vertical axis, specifically inclined at 45 degrees. This asymmetric positioning allows the wheel to achieve greater obstacle clearance while the wheel housing and body structure are designed to accommodate this angled configuration, preventing interference between the rotating wheel and the body

Inventive Principle:

Principle #4Asymmetry

2Speed

If the wheel height is increased to overcome obstacles, then the robot can traverse higher obstacles, but foreign substances are splashed toward the body during rotation

Engineering Contradiction:

Improveobstacle traversal capabilityVSAvoidforeign substance splashing

Core Design Contradiction:

SpeedVSObject-affected harmful factors

Solution Approach 1:

A wheel housing is introduced as an intermediary structure that encloses the rotating wheel. The housing is positioned and oriented to contain the wheel during rotation, preventing foreign substances from being splashed outward. The housing includes an opening facing the rotation direction to allow necessary exposure while maintaining containment of debris

Inventive Principle:

Principle #24Intermediary (Mediator)

3Speed

If the wheel height is increased to overcome obstacles, then the robot can traverse higher obstacles, but the structural design of the body is restricted

Engineering Contradiction:

Improveobstacle traversal capabilityVSAvoidbody structural design flexibility

Core Design Contradiction:

SpeedVSAdaptability or versatility

Solution Approach 1:

The rotating shaft is positioned at an angle of 45 degrees relative to the vertical axis, utilizing angular/directional dimension rather than simply increasing vertical height. This angular positioning allows the wheel to achieve obstacle traversal capability while the body structure maintains design flexibility, as the wheel housing is oriented to accommodate the angled rotation without restricting body configuration

Inventive Principle:

Principle #17Another dimension (Dimensionality change)

Data Source

PatentUS20230227116A1Robot

Publication Date: 2023.07.20 INDUSTRY UNIVERSITY COOPERATION FOUNDATION HANYANG UNIVERSITY

AI summary

The present invention relates to a robot. A robot according to one embodiment of the present invention comprises a body having a set volume, and traveling members provided in the left area and right area of the body and rotatably connected to the body through rotating shafts, wherein the rotating shafts are positioned to be vertically inclined at the incline of the rotating shafts so that same gradually face outward from the top to the bottom thereof.