Moving Body Height Control via Segmented Parallel Linkage
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Solution Overview
Problem
Existing moving bodies struggle to maintain load stability when traversing rough terrain, leading to positional displacement and potential liquid spills due to uncontrolled height variations of the loading table.
Innovation Solution
A moving body design featuring a frame supported by drive wheels, auxiliary wheels, parallel links, a height changing unit, and state detection units, which allows for controlled height adjustments and stable operation on uneven surfaces by actively managing the position of the frame relative to the parallel links.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the loading table position is fixed with respect to the casing, then the structure is simple, but the load position varies in the height direction when climbing bumps causing unstable conveyance
Solution Approach 1:
The loading table is separated from the casing by an independent height adjustment mechanism. The loading table can now be controlled to move vertically relative to the casing, allowing it to maintain a constant height position even when the casing moves over bumps. This segmentation enables independent control of the loading table's height position.
Solution Approach 2:
The loading table's height position is made dynamically adjustable through the height adjustment mechanism. Instead of being fixed, the loading table can now adapt its height in real-time to compensate for terrain variations, ensuring stable load conveyance while the casing traverses rough terrain.
2Reliability
If the loading table position is fixed with respect to the casing, then the structure is simple, but liquid spills due to variation of the loading table in upper and lower directions
Solution Approach 1:
The loading table is separated from the casing by an independent height adjustment mechanism. The loading table can now be controlled to move vertically relative to the casing, allowing it to maintain a constant height position even when the casing moves over bumps. This segmentation enables independent control of the loading table's height position.
Solution Approach 2:
The loading table's height position is made dynamically adjustable through the height adjustment mechanism. Instead of being fixed, the loading table can now adapt its height in real-time to compensate for terrain variations, ensuring stable load conveyance while the casing traverses rough terrain.
3Ease of operation
If the loading table position is fixed with respect to the casing, then the structure is simple, but positional displacement of the load occurs when wheels ascend bumps powerfully
Solution Approach 1:
The loading table is separated from the casing by an independent height adjustment mechanism. The loading table can now be controlled to move vertically relative to the casing, allowing it to maintain a constant height position even when the casing moves over bumps. This segmentation enables independent control of the loading table's height position.
Solution Approach 2:
The loading table's height position is made dynamically adjustable through the height adjustment mechanism. Instead of being fixed, the loading table can now adapt its height in real-time to compensate for terrain variations, ensuring stable load conveyance while the casing traverses rough terrain.
Data Source
AI summary
A moving body includes a frame, a pair of right and left first wheels, a pair of right and left second wheels, a pair of right and left first parallel links connecting the first wheels and the second wheels, and a second parallel link connecting the pair of right and left first parallel links. Furthermore, a height changing unit connects the second parallel link and the frame and changes a position of the frame in a height direction with respect to the second parallel link, and a controller controls the height changing unit so as to maintain a height of the frame from a road surface.