Mobile Robot Chassis Payload Handling via Self-Service Alignment
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Solution Overview
Problem
Existing mobile robot devices face challenges in simplifying the process of picking up and setting down payload modules while ensuring structural integrity and reliability, particularly in harsh environments like space or planetary surfaces.
Innovation Solution
A mobile robotic device with a U-shaped chassis and linear guide system that allows for precise positioning and alignment in six degrees of freedom, enabling the chassis to lift and set down payload modules using a locking mechanism and standardized interfaces for secure attachment and detachment.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a mobile robot device uses a complex picking mechanism to lift and set down payload modules, then the reliability of payload handling is improved, but the device complexity increases
Solution Approach 1:
The payload module performs self-service by using its own weight and the gravitational field to enable automatic engagement with the chassis receptacle. The linear guide features and locking mechanisms are designed so that the payload module self-aligns and self-locks when the chassis moves into position, eliminating the need for complex active picking mechanisms.
Solution Approach 2:
The design creates an equipotential state where the payload module and chassis receptacle are positioned such that gravitational force naturally guides the engagement process. The linear guide features ensure that when the chassis and payload are in the correct relative position, the locking mechanism engages automatically without requiring additional actuation forces.
2Ease of manufacture
If the chassis structure is simplified to reduce device complexity, then the manufacturing ease is improved, but the stability during payload lifting may deteriorate
Solution Approach 1:
The chassis is segmented into functional regions: a U-shaped receptacle structure for receiving the payload, linear guide features for alignment, and a locking mechanism for secure attachment. This segmentation allows each component to be manufactured independently using standard fabrication processes while maintaining overall structural stability during payload operations.
3Productivity
If the picking process is simplified to reduce operation complexity, then the productivity is improved, but the manufacturing precision requirements may worsen
Solution Approach 1:
The linear guide features are pre-configured on both the chassis and payload module during manufacturing to establish precise alignment relationships. This preliminary action ensures that when the chassis and payload are brought together during operation, the alignment is already predetermined, allowing for quick engagement without requiring high-precision real-time adjustment.
4Adaptability or versatility
If standardized interfaces are used to improve adaptability across projects, then the ease of manufacture is improved, but the measurement precision for custom applications may deteriorate
Solution Approach 1:
The chassis receptacle with its U-shaped structure, linear guide features, and locking mechanism is designed as a universal interface that can accommodate multiple standardized payload module types. This multi-functional design allows the same chassis structure to perform payload handling across different projects and applications, while the standardized nature of the interface simplifies manufacturing and assembly processes.
Data Source
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AI summary
The device e.g. rover (100), has legs (104, 106, 108, 110) for movement of a chassis (102). A payload module is received and/or set by the chassis. The chassis for receiving and/or setting the payload module is moved by the legs. The chassis is moved related to an orthogonal three-dimensional coordinate system in six degrees of freedom. The chassis is positioned and/or aligned and the payload module is received and/or set by a linear motion of the chassis, where the chassis comprises a linear guide for retaining the payload module.