External Crawler Motor Segmentation for Robot Weight Reduction
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Solution Overview
Problem
Existing traveling apparatuses with crawler devices face issues of increased weight and dimensions due to internal motor placement, leading to higher maintenance needs and reduced load-bearing capabilities, especially when navigating narrow passages or uneven terrain.
Innovation Solution
The apparatus features a design where the crawler motor is positioned outside the crawler unit, with a rolling motor also external, and a torque transmitting mechanism inside, reducing weight and dimensions while enhancing load-bearing capacity through a reinforced rolling driving member and bevel gear system.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If the crawler motor is disposed inside the crawler unit, then the crawler unit can be compactly arranged, but the weight of the crawler unit is increased and dimensions are increased
Solution Approach 1:
The crawler device is divided into two independent parts: the crawler unit (containing only the torque transmitting mechanism) and the crawler motor (disposed outside). This segmentation separates the heavy motor from the crawler unit, reducing the crawler unit's weight and dimensions while maintaining functional integration through the torque transmitting mechanism that connects them.
2Stability of the object's composition
If the crawler motor is disposed inside the crawler unit, then the structure is more integrated, but the loads on the crawler motor and rolling motor are increased making the crawler motor easier to be damaged
Solution Approach 1:
By separating the crawler motor from the crawler unit, the patent reduces the load concentration on the motor. The motor is now supported independently on the body rather than being contained within the crawler unit, distributing mechanical stresses more favorably and reducing the risk of motor damage while maintaining functional integration through the drive shaft and torque transmitting mechanism.
3Device complexity
If the crawler motor is disposed inside the crawler unit, then the structure is more compact, but dimensions of the crawler unit are increased more than necessary
Solution Approach 1:
The patent segments the crawler system so that the motor is disposed outside the crawler unit on the body. This allows the crawler unit to be optimized for its specific function (transmitting torque to crawler parts) without accommodating the motor, thereby minimizing the crawler unit's dimensions while the overall system remains compact through the external motor placement.
4Adaptability or versatility
If the robot makes a pivot turn on uneven ground, then direction can be changed, but the resistance of the ground interferes with the rotational driving of the crawler devices
Solution Approach 1:
The patent enables dynamic movement modes by allowing the crawler unit to rotate about the first rotational axis (perpendicular to the spacing direction). This rotational capability allows the robot to transition between crawler moving mode and moving by rolling mode, providing adaptability for navigating uneven terrain and changing directions without being constrained by ground resistance during pivot turns.
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
This configuration reduces the risk of motor failure, decreases maintenance requirements, and allows for efficient direction changes without pivot turning, improving the apparatus's ability to navigate complex environments.
Implementation Method 1
a rolling motor disposed outside of the crawler unit, the rolling motor rotationally driving the crawler unit about the first rotational axis by rotationally driving the rolling driving member
Implementation Method 2
a torque transmitting mechanism disposed inside the crawler unit, the torque transmitting mechanism transmitting rotary torque of the crawler drive shaft to the pair of crawler parts to rotationally drive the pair of crawler parts at a same time in a same direction
Implementation Method 3
a crawler motor disposed outside of the crawler unit, the crawler motor rotationally driving the crawler drive shaft
Data Source
AI summary
A robot R includes a pair of crawler devices 2 supported by a body 1. Each of the crawler devices 2 includes a crawler unit 3 supported by the body 1 such that the crawler unit 3 is rotatable about a first rotational axis L. The crawler unit 3 includes a support 10 extending along the first rotational axis L1 and a pair of crawler parts 20A, 20B mounted on the support 10. Each of the crawler device 2 includes a rolling driving member 46 connected to the support 10 of the crawler unit 3, a rolling motor 60 that rotationally drives the rolling driving member 46, a crawler drive shaft 41 extending along the first rotational axis L1 through a gap between the pair of crawler parts 20A, 20B, a crawler motor 50 that rotationally drives the crawler drive shaft 41 and a torque transmitting mechanism 42 that transmits rotary torque of the crawler drive shaft 41 to the pair of crawler parts 20A, 20B, The crawler motor 50, as well as the rolling motor 60, is disposed outside of the crawler unit 3.