Omnidirectional Drive Unit with Angled Grooved Rollers
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Solution Overview
Problem
Omnidirectional vehicles face a decrease in gripping force when attempting to move laterally due to the design of the drive rollers, which affects their ability to transmit driving forces efficiently.
Innovation Solution
The drive unit incorporates a main wheel with annular members and driven rollers, featuring grooves on the outer peripheral faces angled to the circumferential direction, and first and second drive rollers held by holders, allowing for increased frictional force and gripping force by optimizing the contact angles and intervals between grooves and rollers.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If driven rollers rotate around the tangential direction axis to enable lateral movement of the main wheel, then omnidirectional mobility is achieved, but gripping force between the driven rollers and ground contact surface decreases
Solution Approach 1:
The invention applies local quality by forming grooves at specific angles on the outer peripheral faces of driven rollers. These grooves create localized high-friction zones that engage with the ground contact surface during lateral movement, providing enhanced gripping force precisely where needed without affecting the overall omnidirectional mobility capability of the main wheel assembly.
Solution Approach 2:
The invention introduces a new dimensional feature by adding grooves with specific angular orientation (θ1 and θ2) on the cylindrical surface of driven rollers. This angular dimension complements the rotational movement around the tangential axis, creating a two-dimensional engagement mechanism that simultaneously enables lateral movement and maintains gripping force through the angled groove surfaces.
2Force
If grooves are formed at an angle to the circumferential direction of driven rollers, then frictional force increases, but manufacturing complexity increases
Solution Approach 1:
The invention applies parameter changes by specifying precise angular parameters (θ1 and θ2) for the groove orientation relative to the circumferential direction of driven rollers. These defined angular parameters optimize the frictional force generation during lateral movement while providing clear manufacturing specifications that simplify the groove formation process through standardized angular measurements.
3Force
If the interval between adjacent grooves is narrower than intervals between drive rollers, then gripping force is maximized, but manufacturing precision requirements increase
Solution Approach 1:
The invention applies local quality by creating multiple narrow-spaced grooves on the outer peripheral face of each driven roller. These closely spaced grooves generate multiple localized friction points that collectively maximize gripping force during lateral movement, with the narrow spacing between grooves being less than the spacing between adjacent drive rollers to ensure continuous ground engagement.
Solution Approach 2:
The invention applies segmentation by dividing the outer peripheral face of driven rollers into multiple grooved zones with narrow intervals. This segmentation creates numerous discrete friction-generating elements along the circumference of each driven roller, ensuring that at least some grooves are always in contact with the ground surface during rotation, thereby maximizing overall gripping force.
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 configuration enhances the gripping force between the main wheel and the ground surface, ensuring efficient transmission of driving forces when moving laterally, thereby improving the vehicle's omnidirectional mobility.
Implementation Method 1
By forming the grooves in the outer peripheral faces of the driven rollers at an angle to the circumferential direction thereof, it is possible to increase the frictional force between the driven rollers and the ground contact surface while the driven rollers rotate.
Data Source
AI summary
A drive unit includes a main wheel having an annular member, and a plurality of driven rollers that are rotatably attached to the annular member, a plurality of first drive rollers and a plurality of second drive rollers, which are provided with the annular member between them and arranged such that they make contact with the outer peripheral faces of the driven rollers, a first holder and a second holder, which are arranged with the annular shaft between them and respectively hold the plurality of first drive rollers and the plurality of second drive rollers while allowing them to rotate, and a first drive unit and a second drive unit that rotationally drive the first holder and the second holder respectively; grooves are formed in the outer peripheral faces of the driven rollers at an angle to the circumferential direction thereof.