Deformable Robot Wheel Structure for Obstacle Vibration Reduction
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Solution Overview
Problem
Mobile robots using conventional wheels or non-pneumatic tires face issues with excessive vibration of the center of gravity when passing obstacles, while caterpillar tracks are inefficient on flat surfaces and structural deformation is slow.
Innovation Solution
A wheel device with a deformable tire structure featuring a deforming device that moves spoke members between positions to minimize vibration by adjusting tire deformation based on obstacle presence, using a cam mechanism and motors to control tire deformation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Object-affected harmful factors
If a mobile robot uses a non-pneumatic tire to enable easier tire deformation when passing obstacles, then the vibration of the center of gravity is reduced, but the tire is unintentionally deformed by its own weight resulting in inefficient driving on flat surfaces
Solution Approach 1:
The support members are made movable between a first position (in grooves) and a second position (closer to central axis) to dynamically adjust tire deformation characteristics. This allows the tire to be sufficiently deformed when passing obstacles (reducing vibration) while maintaining proper shape on flat surfaces (ensuring driving efficiency), resolving the contradiction between vibration reduction and driving efficiency.
2Adaptability or versatility
If a mobile robot uses a deformable structure to switch between wheels on flat surface and tracks when passing obstacles, then adaptability is improved, but structural deformation takes a long time
Solution Approach 1:
The wheel device is segmented into movable support members that can independently adjust their positions. This segmentation allows for rapid, localized adjustments to tire deformation without requiring time-consuming full structural transformation, enabling quick adaptation between flat surface and obstacle conditions.
Solution Approach 2:
The support members are pre-positioned in grooves during normal operation. When obstacle detection occurs, they can be quickly moved to the second position. This preliminary positioning arrangement enables rapid response to terrain changes without requiring complex real-time structural deformation.
3Productivity
If the support members are disposed closer to the central axis of the tire, then the tire deformation is limited for efficient flat surface driving, but the tire cannot sufficiently deform when passing obstacles causing excessive vibration
Solution Approach 1:
The support members dynamically change position between first position (in grooves for obstacle passage with sufficient deformation) and second position (closer to central axis for flat surface efficiency). This dynamic reconfiguration allows the system to optimize tire deformation characteristics for the current operating condition, resolving the contradiction between limited deformation for efficiency and sufficient deformation for vibration reduction.
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 stable driving by minimizing center of gravity vibration when passing obstacles and optimizing tire deformation for efficient movement on both flat surfaces and uneven terrain.
Implementation Method 1
a cam member configured to rotate about the central axis of the tire, the cam member comprising a plurality of slits, each of the plurality of slits having a spiral shape
Implementation Method 2
a deforming device configured to move the plurality of spoke members in a radial direction of the tire
Data Source
AI summary
A wheel device includes: a wheel member; a tire disposed on the outside of the wheel member, the tire comprising an inner layer, an outer layer, and a plurality of hollow pipes disposed between the inner layer and the outer layer, wherein an inner circumferential surface of the inner layer comprises grooves; a plurality of support members each having a circular arc shape; and a plurality of spoke members respectively connecting the wheel member to the plurality of support members. The plurality of spoke members are configured to move the plurality of support members between a first position and a second position. In the first position, each of the support members are disposed in the grooves. In the second position, each of the support members are disposed closer to a central axis of the tire than when the support members are in the first position.