Crawler Drive Wheel Braking for Reliable Stops on Slopes
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing crawler traveling bodies face challenges in reliably stopping on uneven road surfaces due to variations in external forces, such as slopes or rough roads, when controlled solely by in-wheel motors.
Innovation Solution
Incorporating a brake unit that actively restricts the rotation of the in-wheel motor, combined with a tensioner to maintain proper tension in the crawler, ensuring accurate and reliable stopping regardless of road conditions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If stop control is achieved solely by in-wheel motor control, then the device complexity is reduced, but the reliability of stopping on uneven road surfaces deteriorates due to variations in external forces
Solution Approach 1:
The stop control function is segmented into two independent subsystems: the in-wheel motor control system and the brake unit system. The brake unit is further divided into a brake mechanism and a urging mechanism. This segmentation allows each subsystem to handle specific aspects of stopping, with the brake unit providing reliable mechanical stopping force independent of motor control variations, thereby improving stopping reliability without significantly increasing overall system complexity.
Solution Approach 2:
The urging mechanism acts as an intermediary between the brake mechanism and the crawler. It continuously applies a predetermined urging force to the brake mechanism, ensuring that the brake pads maintain consistent contact with the brake disc regardless of external forces from uneven road surfaces. This intermediary mechanism bridges the gap between simple motor control and complex active brake control, providing reliable stopping without requiring complex real-time control systems.
2Measurement precision
If a brake unit is added to improve stopping accuracy, then the reliability of stop control is improved, but the device complexity increases
Solution Approach 1:
The brake unit is designed to be self-actuating through the urging mechanism that automatically maintains brake pad contact with the brake disc. The urging mechanism continuously applies force without requiring active control signals, and the brake mechanism automatically engages when stopping is needed. This self-service design achieves accurate stop control while minimizing control system complexity, as the brake unit autonomously maintains optimal braking conditions.
Solution Approach 2:
The urging mechanism preliminarily applies a predetermined urging force to the brake mechanism before stopping is actually required. This preliminary action ensures that the brake pads are already in contact with the brake disc and positioned correctly, so when stopping is commanded, the brake unit can immediately provide accurate stopping force without delay or adjustment, thereby improving stop control accuracy while using a simple structure.
3Device complexity
If the in-wheel motor alone controls the crawler, then the device complexity is minimized, but the ability to stop on slopes deteriorates due to variations in external forces
Solution Approach 1:
The traveling body's motion control is segmented into two independent systems: the in-wheel motor for driving and the brake unit for stopping. The brake unit is further divided into a brake mechanism and an urging mechanism. This segmentation allows the brake unit to specifically handle stopping functions on various terrains, including slopes, without complicating the driving control system. The brake unit's mechanical stopping force is independent of motor control, providing reliable stopping adaptability across different terrain conditions.
Solution Approach 2:
The urging mechanism continuously applies a predetermined urging force to the brake mechanism, creating a counterbalancing force that opposes external forces from uneven road surfaces and slopes. This preliminary urging force ensures that when stopping is required, the brake pads are already positioned to effectively counteract gravitational and inertial forces, improving the traveling body's ability to stop on slopes and varied terrain without requiring complex active control.
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
The solution enhances the accuracy of stop control for crawler traveling bodies, allowing them to stop reliably on various terrain, including slopes, without increasing the size or complexity of the traveling apparatus.
Implementation Method 1
a tensioner to press the drive wheel against the crawler wound around the drive wheel and the wheels, to apply tension to the crawler
Implementation Method 2
a brake unit to restrict the driving force to stop rotation of the crawler
Data Source
AI summary
A crawler traveling body includes a crawler; an in-wheel motor to apply a driving force to the crawler, having a rotation shaft; a drive wheel in which the in-wheel motor is built; two wheels disposed below the drive wheel; and a tensioner that presses the drive wheel against the crawler wound around the drive wheel and the two wheels, to apply tension to the crawler. The crawler traveling body further includes a brake unit to restrict the driving force to stop rotation of the crawler.