Robot Chassis with Rotating Base Plates for Curved Surface Navigation
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Solution Overview
Problem
Existing robot chassis designs for driving on surfaces like glass facades and metal walls are inflexible, prone to faults, and have limited ability to navigate curved surfaces, with high dead weight and low driving speed due to rigid constructions and uniform suction cup strokes.
Innovation Solution
A chassis with a two-part base construction featuring motor-driven, rotatable base plates and individually controllable adhesive modules with lifting and travel drives, allowing for linear and pivoting movements, and enabling variable groupings of adhesive modules for enhanced flexibility and continuous operation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a rigid construction with uniformly defined suction cup stroke and fixed suction cup spacing is used, then the chassis structure is simple and stable, but the chassis cannot navigate curved surfaces and has limited adaptability
Solution Approach 1:
The chassis is divided into multiple independent suction cup units that can move and adjust their positions independently along the runway. Each suction cup unit is a separate module with its own drive mechanism, allowing the chassis to adapt to curved surfaces by distributing suction force across multiple adjustable contact points rather than using a rigid uniform structure.
Solution Approach 2:
The suction cup units are made dynamically movable along the runway through individual drive mechanisms. This dynamic capability allows the suction cups to adjust their positions in real-time to match the curvature of the surface, transforming the chassis from a static rigid structure to a dynamic adaptive system that can conform to various surface geometries.
2Reliability
If continuous pneumatic control is used for uniform suction cup stroke, then the suction cups maintain stable adhesion, but the dead weight increases and driving speed decreases
Solution Approach 1:
Instead of continuous pneumatic control, the system uses periodic actuation of suction cup units. The suction cups are activated in sequences or groups rather than all simultaneously and continuously, allowing the chassis to move forward in discrete steps. This periodic action reduces the continuous pneumatic load and associated dead weight while maintaining reliable adhesion during each suction phase.
Solution Approach 2:
The continuous pneumatic control system is segmented into multiple independent suction cup units that can be controlled separately. This segmentation allows selective activation of only the necessary suction cups at any given time, reducing the overall pneumatic load and dead weight compared to a system where all suction cups must be continuously controlled for uniform stroke.
3Device complexity
If all suction units are moved simultaneously by a single central drive, then the construction is simple with one drive, but the chassis tilts and jams on curved surfaces
Solution Approach 1:
The single central drive is segmented into multiple independent drive mechanisms, one for each suction cup unit or group of units. This segmentation allows each suction cup unit to be positioned and moved independently, providing the flexibility needed to navigate curved surfaces without causing the chassis to tilt or jam, while maintaining reasonable construction complexity through modular design.
Solution Approach 2:
Instead of a uniform single central drive, each suction cup unit or region has its own localized drive mechanism. This allows local adjustment and independent control of each suction cup unit's position and movement, enabling the chassis to adapt to local surface curvatures while maintaining overall structural simplicity through standardized modular components.
4Device complexity
If adhesive modules are arranged immovably on the frame construction, then the structure is rigid and simple, but the chassis cannot achieve flexible and continuous movement
Solution Approach 1:
The adhesive modules are transformed from fixed immovable components to dynamically movable units that can travel along the runway independently. Each adhesive module is mounted on a movable carrier with its own drive mechanism, allowing it to adjust its position along the runway to maintain optimal adhesion contact while the chassis moves, achieving flexible continuous movement without complicating the overall frame construction.
Solution Approach 2:
The frame construction is segmented to allow independent movement of adhesive module carriers along the runway. Rather than a completely rigid frame with fixed adhesive modules, the system uses a modular structure where adhesive modules can be repositioned independently, maintaining frame simplicity while enabling flexible movement through the segmented movable components.
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 results in a lightweight, fault-resistant chassis with excellent steering and driving capabilities, capable of overcoming obstacles and maintaining continuous movement on various surfaces, with improved adhesion and positional security.
Implementation Method 1
a chassis for a robot for driving over surfaces suitable for vacuum or magnetic adhesion modules
Implementation Method 2
The liftable and mobile adhesive modules are moved along the linear track with the aid of linear drives in the form of spindles which are driven by electric motors
Implementation Method 3
an electric motor for the gear rim, 10 electric motors for the spindles
Data Source
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AI summary
The aim of the invention is to achieve a chassis for a robot, which has a low mass, is less susceptible to faults, allows for a continuous drive and an excellent steering capability, and which can overcome small obstacles and negative and positive bumps as well as develop an acceptable travel speed. The invention relates to a chassis (1) for a robot, a manipulator, a driving surface cleaning appliance and/or monitoring devices for navigating on surfaces which are suitable for adhesive modules (4) that can be subjected to a vacuum or electromagnetic force, said adhesive modules having adhesive feet (5) which are constantly facing the driving surface and can be lifted and lowered relative to the driving surface, wherein the adhesive modules (4) are arranged on an at least two-part base structure (1) and wherein a linear movement and a pivoting movement relative to the driving surface are possible. According to the invention, the base structure (1) is composed of at least two base plates (2, 3), wherein the base plates (2, 3) are designed so as to be motor-driven and rotatable relative to each other, and the adhesive modules (4) are arranged on the base plates (2, 3), the individual adhesive modules (4) each having dedicated controllable drives (8) and/or lifting drives (16).