Mobile Robot Suspension Beam Layout to Prevent Wheel Slip
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Solution Overview
Problem
Existing mobile robots face issues with driving wheel slip due to constant spring force, limited carrying capacity, and instability during heavy loads and uneven terrain, as well as bulky and costly jacking mechanisms that complicate electrical control and require high processing precision.
Innovation Solution
A suspension system with evenly stressed shafts, comprising left and right suspension mechanisms with supporting beams, driving and driven wheels, and a connecting member in an inverted 'U' shape, along with a compact lifting mechanism using ball screw nuts and pulleys for efficient load handling.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a spring is used to support the driving wheel to ensure contact with the ground, then the driving wheel maintains sufficient touch ground pressure, but the spring force becomes constant causing wheel slip under large load
Solution Approach 1:
The patent replaces the static spring support with a dynamic suspension mechanism that can adapt its characteristics. The mechanism includes a supporting beam with driving and driven wheels connected by a connecting member, allowing the system to dynamically adjust to varying loads and terrain conditions, eliminating the constant spring force problem while maintaining reliable wheel contact.
2Force
If the spring force is designed to accommodate large load, then the spring can handle heavy loads, but the spring becomes large in size and may lift the robot when unloaded
Solution Approach 1:
The suspension mechanism dynamically adjusts its effective stiffness and force characteristics based on the load condition. When loaded, the mechanism provides sufficient support force; when unloaded, it maintains appropriate contact pressure without excessive force that would cause the robot to lift, eliminating the need for oversized springs.
3Adaptability or versatility
If the front driven wheel is elevated for climbing, then the robot can cross barriers, but the intermediate driving wheel's spring elongates or shortens reducing touch ground pressure
Solution Approach 1:
The suspension mechanism allows the supporting beam and connecting member to dynamically adjust their positions and orientations during climbing and barrier crossing. This dynamic adjustment maintains optimal touch ground pressure on all driving wheels throughout the maneuver, preventing spring elongation or shortening issues and ensuring continuous reliable friction force.
4Force
If a rotary jacking mechanism is used to improve bearing capacity, then the robot can handle heavy loads, but the mechanism becomes bulky and occupies more installation space
Solution Approach 1:
The patent segments the load-bearing function into the suspension mechanism with supporting beams and connecting members distributed across the robot chassis. This segmentation provides the necessary bearing capacity while maintaining a compact overall structure, avoiding the need for a single bulky rotary jacking mechanism.
5Force
If a large-diameter ball screw mechanism is used for jacking motion, then the lifting capacity is improved, but the processing precision requirement and cost increase
Solution Approach 1:
The suspension mechanism provides dynamic load support through the supporting beam and connecting member arrangement, eliminating the need for high-precision ball screw mechanisms. The system achieves lifting and load-bearing capabilities through geometric relationships and force distribution rather than precision screw mechanisms, significantly reducing manufacturing precision requirements and cost.
6Force
If differential movement of vehicle body is used for jacking, then the lifting function is achieved, but the electrical control becomes complicated
Solution Approach 1:
The suspension mechanism achieves lifting and load-adjustment functions through passive dynamic mechanisms - the supporting beams and connecting members automatically adjust positions based on load conditions and terrain. This eliminates the need for complex electrical control systems that would be required to coordinate differential vehicle body movement for jacking.
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 provides stable and even stress distribution, preventing wheel slip, enhancing carrying capacity, and achieving smooth operation with reduced noise and increased load handling efficiency while minimizing space and cost.
Implementation Method 1
The lifting mechanism comprises a ball screw and a ball nut sleeved on the ball screw and matched with the ball screw
Implementation Method 2
a transmission system for transmitting a driving force of the first driving system to the lifting member, the transmission system comprises a plurality of follower pulleys
Implementation Method 3
a first sliding bearing is disposed between the first vertical connecting portion and the rotating shaft
Data Source
AI summary
A carrying mobile robot includes a frame, a suspension system disposed at the bottom of the frame, and a lifting mechanism disposed on the frame. The suspension system includes two suspension mechanisms disposed on the left and right sides, each of which includes a supporting beam, a driving wheel, a connecting member and a first driven wheel. The first driven wheel and the driving wheel respectively support the front and rear ends of the supporting beam, and the connecting member is connected to the supporting beam and located between the driving wheel and the first driven wheels. The lifting mechanism includes a plurality of lifting members, a first driving system for driving the lifting member and a transmission system for transmitting the driving force of the first drive system to the lifting members.