Assistive Robot Conveyor Assemblies for Stable Step Traversal

Resolve Bottlenecks,
Find Innovative SolutionsGenerate Solutions

Solution Overview

Problem

Conventional assistive robots are unable to traverse relatively high obstacles such as curbs or steps and often struggle to maintain a stable orientation when encountering obstacles, limiting their ability to assist users effectively.

Innovation Solution

The implementation of conveyor assemblies with extendable toes and wheel assemblies that allow the robot to move upward onto and downward from obstacles, maintaining a stable and level orientation by coordinating the movement of wheels and conveyor assemblies.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Adaptability or versatility

If conventional robots use wheels or tracks for mobility, then they can traverse flat surfaces effectively, but they cannot traverse obstacles such as curbs, steps, or thresholds

Engineering Contradiction:

Improveability to traverse obstaclesVSAvoidrobot structure

Core Design Contradiction:

Adaptability or versatilityVSDevice complexity

Solution Approach 1:

The robot employs dynamically adjustable conveyor assemblies that can extend and retract toes to engage with obstacles. The conveyors can move between different positions and configurations to adapt to varying obstacle heights and types, transforming a static wheeled platform into a dynamic obstacle-overcoming system

Inventive Principle:

Principle #15Dynamics

Solution Approach 2:

The robot divides the obstacle traversal function into separate modular components: front conveyor assembly with toe, rear conveyor assembly with toe, and wheel assembly. Each component can be independently controlled and positioned, allowing the robot to tackle obstacles through coordinated segmental action rather than requiring a completely different mobility system

Inventive Principle:

Principle #1Segmentation

2Adaptability or versatility

If conventional robots attempt to traverse obstacles, then they may overcome the obstacle, but they rotate around the obstacle and fail to maintain stable orientation

Engineering Contradiction:

Improveability to traverse obstaclesVSAvoidrobot orientation stability

Core Design Contradiction:

Adaptability or versatilityVSStability of the object's composition

Solution Approach 1:

The robot uses dynamic coordination between the conveyor assemblies and wheel assembly to maintain stable orientation during obstacle traversal. The system continuously adjusts the position and motion of each component in real-time, allowing the robot to move upward onto obstacles and downward from them while keeping the base level and preventing rotation

Inventive Principle:

Principle #15Dynamics

Solution Approach 2:

The controller monitors the robot's orientation and position during obstacle traversal and adjusts the conveyor and wheel operations accordingly. This feedback control ensures the robot maintains stable orientation by coordinating the movement of wheels and conveyors based on real-time conditions

Inventive Principle:

Principle #23Feedback

Data Source

PatentUS11148696B2Assistive robots including assemblies for accommodating obstacles and methods for using the same

Publication Date: 2021.10.19 TOYOTA JIDOSHA KK

AI summary

An assistive robot includes a manipulator, a base coupled to the manipulator, the base defining a front end and a rear end positioned opposite the front end, the base including a chassis body, a front conveyor assembly positioned at the front end of the base, the front conveyor assembly including a front conveyor defining a conveyor pathway that extends at least partially within the chassis body and a front toe extending outward from the front conveyor, and a rear conveyor assembly positioned at the rear end of the base, the rear conveyor assembly including a rear conveyor defining a conveyor pathway that extends at least partially within the chassis body and a rear toe extending outward from the rear conveyor.