Bionic Robot Wheeled Leg Suspension for Obstacle Crossing
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Solution Overview
Problem
Current all-terrain robots face challenges such as poor obstacle-crossing ability, stability, and adaptability due to their design, with wheeled robots struggling on complex terrains, legged robots having complex structures and low efficiency, tracked robots experiencing frictional resistance and abrasion, and bionic robots having motion instability and low loading capacity.
Innovation Solution
A bionic robot design featuring wheeled leg devices with a suspension system, including electric cylinders, telescopic rods, dampers, and elastic members, allowing leg assemblies to lift and lower for obstacle crossing and providing shock absorption, along with a motor-driven transmission system and sensors for environmental adaptation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of manufacture
If wheeled robots are used for all-terrain movement, then the structure is simple and manufacturing is easy, but the obstacle-crossing ability and adaptability to complex terrains are poor
Solution Approach 1:
The robot body is divided into multiple independent modules (head module, body module, tail module) that can move relative to each other. Each module has its own drive system and suspension, allowing independent adjustment to navigate complex terrains while maintaining overall structural simplicity
Solution Approach 2:
The robot employs dynamic suspension systems with dampers and elastic members that automatically adjust to terrain variations. The leg assemblies can dynamically lift and lower to cross obstacles, transforming a simple wheeled structure into an adaptive all-terrain vehicle
2Adaptability or versatility
If legged robots are used to improve obstacle-crossing ability, then the adaptability to complex terrains is enhanced, but the structure becomes complex and control difficulty increases
Solution Approach 1:
The robot combines wheeled and legged functions in a single unified structure. The leg assemblies serve dual purposes: supporting the body when on flat terrain and lifting to cross obstacles when needed, eliminating the need for separate specialized mechanisms
Solution Approach 2:
The patent merges the simple wheeled structure with leg-like suspension components into an integrated system. The dampers and elastic members are combined with the drive mechanisms, creating a compact multi-functional assembly that reduces overall structural complexity
3Adaptability or versatility
If tracked robots are used for all-terrain capability, then the obstacle-crossing ability is improved, but the frictional resistance and energy loss increase
Solution Approach 1:
Instead of using continuous tracks that create high friction across the entire contact area, the robot employs discrete leg assemblies with wheeled components that contact the ground only at specific points. This localized contact reduces frictional resistance while maintaining terrain adaptability through selective engagement of different legs
4Adaptability or versatility
If bionic robots are used to improve adaptability, then the obstacle-crossing ability is enhanced, but the motion stability and loading capacity deteriorate
Solution Approach 1:
The robot employs a suspension system with dampers and elastic members that act as counterbalancing elements. These components absorb shocks and stabilize the body during leg movements, preventing excessive oscillation and maintaining motion stability even when legs are actively lifting to cross obstacles
Solution Approach 2:
The suspension system with dampers and elastic members is pre-configured to cushion impacts before they reach the main body. This beforehand cushioning protects the robot's stability during obstacle-crossing operations by absorbing shock loads before they can cause destabilizing effects
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
Enhances obstacle-crossing ability, motion stability, and adaptability to complex terrains by enabling the robot to lift legs over obstacles and absorb shocks, ensuring smooth operation and robust performance across varied environments.
Implementation Method 1
an electric cylinder and a telescopic rod arranged on the electric cylinder, the electric cylinder being configured to drive the telescopic rod to extend or retract
Implementation Method 2
a damper connected between the body and the leg assembly
Implementation Method 3
an elastic member fitted over the damper
Data Source
AI summary
A bionic robot is provided, which includes a body; a plurality of sets of wheeled leg devices arranged at intervals in a front-rear direction, each comprising two wheeled leg devices arranged symmetrically in a left-right direction, each comprising a leg assembly and a travel wheel, and a power output shaft connected to the travel wheel; and a suspension device disposed in the body and connected to at least two sets from the plurality of sets of wheeled leg devices. The at least two sets of wheeled leg devices are located at the foremost end and the backmost end respectively. The suspension device comprises a plurality of drive assemblies, each connected to a corresponding leg assembly, which each comprise: an electric cylinder being configured to drive a telescopic rod to extend or retract; a damper connected between the body and the leg assembly; and an elastic member fitted over the damper.