Wheeled Robot Auxiliary Wheel Torque Assist
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Solution Overview
Problem
Wheeled moving robots face difficulties starting to move from a still state due to high static friction forces, which require large actuators with high power consumption, and existing methods to compensate for static friction are inadequate when the actuator's torque cannot exceed the friction force.
Innovation Solution
A wheeled moving robot apparatus with auxiliary wheels and push-pull type solenoids that detect movement and apply compensation torque to assist the main wheels in overcoming static friction by pushing against the floor, allowing the robot to start moving without increasing the actuator's size or power consumption.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a large sized actuator is used to generate large torque to overcome static friction, then the robot can move regardless of floor materials, but the electricity power consumption increases
Solution Approach 1:
The patent divides the torque generation function into two segments: the main actuator provides baseline torque, while a separate auxiliary actuator provides additional torque specifically when needed to overcome static friction. This segmentation allows the system to achieve high starting torque capability without requiring the main actuator to be oversized, thus reducing overall power consumption while maintaining reliability on various floor surfaces.
Solution Approach 2:
The patent implements a dynamic control system that adjusts the auxiliary actuator's operation based on real-time detection of movement status. The auxiliary actuator is activated only when the detector determines the robot is not moving despite main actuator operation, providing torque supplementation dynamically rather than continuously. This dynamic approach ensures reliability when needed while minimizing energy consumption during normal operation.
2Use of energy by moving object
If a small sized robot with low power consumption is designed, then energy efficiency is improved, but the actuator cannot generate sufficient torque to overcome static friction
Solution Approach 1:
The patent applies preliminary action by having the auxiliary actuator engage before the main actuator attempts to rotate the wheels. The detector monitors the state before movement occurs, and when static friction is detected, the auxiliary actuator pre-applies torque to the wheel shaft to help overcome the static friction threshold. This preliminary torque assistance enables the small robot to start movement reliably without requiring a larger main actuator, thus maintaining low power consumption while ensuring movement capability.
3Speed
If dither compensation torque is added to the actuator to prevent rotation delay, then response performance is improved, but the shaft still cannot rotate when actuator torque is insufficient to exceed static friction force
Solution Approach 1:
The patent applies the counterweight principle by introducing an auxiliary actuator that provides counterbalancing torque to offset the static friction force. Rather than relying solely on dither compensation which only improves response speed, the auxiliary actuator directly counteracts the friction force through a dedicated push-pull mechanism that applies force to the wheel shaft. This counter-torque approach ensures the shaft can rotate even when the main actuator's torque is insufficient to exceed static friction, thereby improving both response performance and reliability.
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
Enables the robot to initiate movement even with insufficient torque from the actuator, reducing the need for large actuators and minimizing energy consumption by using auxiliary wheels for both support and torque assistance, thus enabling a smaller, more energy-efficient design.
Implementation Method 1
a push-pull type solenoid that pushes the auxiliary wheel against the floor
Implementation Method 2
pushes an auxiliary wheel in front or rear of the main body towards a floor... pushing the auxiliary wheel against the floor
Data Source
AI summary
A wheeled moving robot including a main body; wheels provided at least at opposite sides of the main body and configured to move the main body; an actuator configured to generate torque which rotates the wheels; a detector configured to detect whether the main body moves when the wheels rotates by the actuator; and a compensation unit configured to perform an auxiliary movement which pushes an auxiliary wheel in front or rear of the main body toward a floor based as a detection result of the detector.