Omni-Wheel Chassis Layout for Compact Traveling Bodies
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing traveling bodies with omni wheels face challenges in accommodating auxiliary devices without increasing their size, as the central space is not utilized efficiently, leading to a larger drive mechanism and potential movement inaccuracies due to slip errors.
Innovation Solution
Incorporating an installation space at the central portion of the chassis for auxiliary components like driven wheels and rotary encoders, and using a pulley transmission system to facilitate the installation of motors parallel to omni wheels, allowing for more compact design and accurate movement control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of manufacture
If a hole is formed at the central portion of the chassis to accommodate the space surrounded by vehicle wheel motors, then the drive mechanism can be assembled, but the traveling body becomes larger and no auxiliary device can be installed
Solution Approach 1:
The patent merges the auxiliary device installation space with the central space surrounded by vehicle wheel motors. By placing the auxiliary device (such as a battery or control unit) within this central space and forming a through-hole in the chassis cover for access, the invention combines two previously separate spatial requirements into one, thereby reducing the overall vehicle size while maintaining both drive mechanism assembly and auxiliary device installation capabilities
Solution Approach 2:
The patent utilizes the vertical dimension by forming a through-hole in the chassis cover, allowing the auxiliary device to be accessed and installed from above rather than requiring lateral space. This dimensional approach enables compact horizontal arrangement of components while maintaining accessibility to the auxiliary device
2Device complexity
If the motor shaft and omni wheel shaft are disposed parallel to each other, then the drive module structure is simplified, but the motor cannot directly drive the omni wheel requiring additional transmission components
Solution Approach 1:
The patent introduces a belt as an intermediary transmission element between the motor shaft and omni wheel shaft. The belt transmission system effectively transfers rotational force from the motor to the omni wheel while accommodating the parallel shaft arrangement, thus maintaining structural simplicity while ensuring efficient power transmission through the intermediate belt mechanism
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
This solution enables the compact integration of auxiliary components without increasing the size of the traveling body, improving movement accuracy by detecting and feedbacking actual movement, and enabling versatile tasks with end effectors like a racket or arm.
Implementation Method 1
a first pulley provided at the shaft of the omni wheel, a second pulley provided at the shaft of the respective motor, and a transmission body that transmits rotation between the first pulley and the second pulley
Data Source
Figure 1
Figure 2
Figure 3
AI summary
A table tennis robot (traveling body) includes a chassis and at least three drive modules, each of which includes an omni wheel driven by a respective motor and each of which is installed at the chassis, and includes an installation space provided at a central portion of the chassis and configured to be installed with an auxiliary device.