Integrated Steering Wheel Structure for Low-Height Omnidirectional Robots
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Traditional omnidirectional wheels in small robots face issues with inconsistent wheel rotation, insufficient friction force, high overall height, cramped space, low integration, and cumbersome installation, limiting their performance and maintenance.
Innovation Solution
A steering wheel structure for an omnidirectional mobile robot chassis with a wheel assembly, support plate, wiring assembly, rudder assembly, and suspension assembly, featuring a zero position sensor for calibration, integrated design, and internal meshing gears to reduce height and facilitate rapid installation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If traditional orthogonal omnidirectional wheels or Mecanum wheels are used, then omnidirectional movement is achieved, but the contact area between rollers and ground is small resulting in insufficient friction force and smaller maximum acceleration
Solution Approach 1:
The wheel assembly is segmented into multiple independent rollers (typically 3-4 rollers) arranged around the wheel circumference, each capable of independent rotation. This segmentation allows the wheel to generate omnidirectional motion through coordinated rotation of individual rollers while maintaining larger contact area with the ground compared to traditional single-roller designs, thereby improving both friction force and maximum acceleration
Solution Approach 2:
The steering wheel structure implements dynamic control where the rotation speed and direction of each roller are independently adjustable. By dynamically varying the rotation velocities of different rollers, the system can optimize the contact force and friction distribution between rollers and ground, achieving higher maximum acceleration while maintaining reliable omnidirectional movement capability
2Volume of moving object
If the overall height of the steering wheel is increased, then more space is available for functional mechanisms, but it occupies more upper space of the robot resulting in cramped space and limiting the layout of functional mechanisms
Solution Approach 1:
The steering wheel structure transitions from a traditional vertical stacking arrangement to a horizontal planar layout. The wheel assembly, support plate, wiring assembly, and rudder assembly are arranged in a distributed horizontal configuration rather than vertically stacked, effectively moving components from the vertical dimension to the horizontal dimension. This reduces the overall height while providing sufficient space for all functional mechanisms through optimized horizontal spacing
3Ease of manufacture
If the steering wheel structure is designed with high integration, then installation is simplified, but the complexity of integrating multiple assemblies (wheel assembly, support plate, wiring assembly, rudder assembly, suspension assembly) increases
Solution Approach 1:
The patent merges five separate assemblies (wheel assembly, support plate, wiring assembly, rudder assembly, and suspension assembly) into a single integrated steering wheel structure. The support plate serves as a common mounting platform that structurally connects all assemblies, while the wiring assembly integrates electrical connections for all motors and sensors. This merging reduces the number of separate installation steps and simplifies the overall assembly process
Solution Approach 2:
The support plate performs multiple functions simultaneously: it provides structural support for the wheel assembly, serves as a mounting platform for the rudder and suspension assemblies, acts as a wiring conduit, and provides the rotation axis for the rudder mechanism. This multi-functionality reduces the need for separate components and simplifies the overall structure while maintaining ease of installation
Data Source
AI summary
A steering wheel structure for an omnidirectional mobile robot chassis is provided. The steering wheel structure can realize two degrees of freedom: the rudder rotation of the steering wheel rotation and the full free movement realized in the horizontal plane, it has the characteristics of a small size and a lower height. The wheel assembly realizes the movement of the steering wheel when it moves forward; the rudder assembly realizes the movement of the steering wheel when the steering wheel rotates, initializes the steering direction, and calibrates the rotation through the zero position sensor; the suspension assembly realizes the damping and buffering of the longitudinal motion of the steering wheel; the wiring assembly constrains the movement of various wires when the rudder rotates; the support plate is used for the connection and support of the wheel assembly and the wiring assembly with the rudder assembly.