Six-Wheel Bionic Chassis Suspension for Obstacle Crossing Stability
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Solution Overview
Problem
Conventional suspension damping devices for mobile robots and vehicles are bulky, expensive, and have a short lifespan due to high processing accuracy requirements, and they struggle with obstacle crossing and directional control, especially for multi-wheeled vehicles like buses or tanks.
Innovation Solution
A suspension damping device with a vehicle frame, controlling arm set, and steering device that allows wheel sets to move up and down, maintaining contact with the ground, and a six-wheel bionic chassis with adjustable front, middle, and rear wheel suspension assemblies to enhance stability and mobility on uneven surfaces.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a linear-bearing suspension system is used, then the suspension damping device can maintain stability, but the structure becomes bulky and the dedicated space increases
Solution Approach 1:
The patent combines the suspension damping function with the steering device into an integrated assembly. The controlling arm set serves dual purposes: it controls both the suspension movement and the steering operation, eliminating the need for separate linear-bearing suspension components and reducing overall space occupation while maintaining stability
2Reliability
If a linear-bearing suspension system is used, then the suspension damping device can function properly, but the cost increases
Solution Approach 1:
The controlling arm set is designed as a multi-functional component that performs both suspension damping and steering control functions. This universal design eliminates the need for expensive dedicated linear-bearing suspension systems, reducing manufacturing costs while maintaining the required damping functionality through the spring and damper mechanisms integrated into the arm set
Solution Approach 2:
The suspension system uses passive mechanical elements (springs and dampers) that self-regulate without requiring active control systems or expensive sensors. The controlling arm set automatically absorbs shocks and maintains steering control through its mechanical design, eliminating the need for costly electronic control systems
3Reliability
If a linear-bearing suspension system is installed, then the suspension damping device can operate, but higher processing accuracy is needed on the installing surface which decreases life span
Solution Approach 1:
The controlling arm set is designed with inherent mechanical flexibility and tolerance compensation through its linkage geometry. The system dynamically adapts to variations in installing surface accuracy through the natural movement range of the arm set, eliminating the need for high-precision mounting surfaces while maintaining reliable operation
Solution Approach 2:
The patent changes the operational parameters of the suspension system by using a linkage-based controlling arm mechanism instead of rigid linear bearings. This allows the system to accommodate a wider range of installing surface tolerances through the mechanical play and adjustment range built into the arm set configuration
4Device complexity
If a single-linkage type steering device is used, then the steering control is simple, but it cannot apply to multi-wheeled vehicles with complex turning requirements
Solution Approach 1:
The steering control is segmented into multiple independent controlling arms, each capable of individual adjustment and control. This allows different wheels on multi-wheeled vehicles to be controlled independently or in coordinated groups, enabling complex turning patterns while maintaining relatively simple individual arm structures
Solution Approach 2:
The patent adds a spatial dimension to steering control by arranging controlling arms in a multi-level configuration rather than a single plane. This three-dimensional arrangement of controlling arms enables the system to handle the complex geometric requirements of multi-wheeled vehicle turning while keeping each individual arm structure relatively simple
5Device complexity
If passive suspension device with fixed elasticity constant and damping coefficient is used, then the device structure is simple, but it cannot accommodate different road environments
Solution Approach 1:
The controlling arm set incorporates dynamic adjustment capabilities that allow the suspension characteristics to change based on road conditions. The arm set can be reconfigured or adjusted to modify the effective spring rate and damping characteristics, enabling adaptation to different road environments while maintaining a relatively simple base structure
Solution Approach 2:
The patent enables parameter changes in the suspension system by allowing adjustment of the controlling arm geometry, linkage ratios, or component positioning. This modifies the effective elasticity constant and damping coefficient based on road conditions without requiring a completely different device structure, achieving adaptability through parameter variation
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enables smooth obstacle crossing and improved stability on uneven terrain by maintaining wheel contact and adjusting suspension toughness, enhancing the mobility and load capacity of mobile robots and vehicles.
Implementation Method 1
The suspension device is composed of a spring and a damping cylinder, so the suspension device is viewed as a damping device
Implementation Method 2
The suspension damping device can decrease oscillations occurred during a movement of the mobile robot
Data Source
AI summary
A suspension damping device installed at a chassis of a mobile robot comprises a vehicle frame, a controlling arm set and a damping device. The vehicle frame is fixed to the chassis and arranged on the ground. One end of the controlling arm set is hinged to the vehicle frame, and the other end of the controlling arm set is hinged to a steering device, so the controlling arm set controls the motion stability of the steering device. One end of the damping device opposite to the ground is hinged to the vehicle frame, and the other end of the damping device faced to the ground is hinged to the steering device. A six-wheeled bionic chassis which comprises a chassis frame, a controller, a sensor, front wheel suspension assemblies, middle wheel suspension assemblies and rear wheel suspension assemblies is also disclosed in the present invention.