Robot Rear Joint Raising Mechanism for Stepped Terrain
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Solution Overview
Problem
Robots face challenges in navigating stepped terrain due to the inability to effectively manage the height difference between their wheels and the ground, leading to difficulties in climbing obstacles and maintaining stability.
Innovation Solution
A robot design featuring a rear joint motor and a front joint motor, with a supporter positioned between them, allows for a rear joint raising mode where the rear wheel is lifted off the ground, distributing the load and enabling the robot to climb steps. This design includes an encoder, inertial sensor, and vision sensor for control, and can utilize an elastic supporter to minimize impact.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the robot uses a fixed wheel structure, then the structure is simple, but the robot cannot effectively climb stepped terrain
Solution Approach 1:
The patent implements a dynamic wheel structure where the rear joint can be raised and lowered relative to the rear drive motor. The processor controls the rear joint motor to raise the rear joint when encountering steps, allowing the rear wheel to lift off the ground and clear obstacles. This dynamic adjustment enables the robot to adapt to stepped terrain while maintaining a relatively simple overall structure.
2Adaptability or versatility
If the robot raises the rear joint to climb steps, then the climbing ability improves, but the load distribution becomes unbalanced
Solution Approach 1:
The patent introduces a supporter positioned between the rear joint motor and the front joint motor that acts as an intermediary load-bearing element. When the rear joint is raised for climbing, the supporter provides additional support to maintain load distribution and prevent the robot from tipping forward. This intermediary structure enables the robot to maintain stability during the joint raising operation.
3Ease of manufacture
If the robot uses a rigid supporter, then the structure is simple, but the impact during climbing is increased
Solution Approach 1:
The patent changes the physical parameter of the supporter from rigid to elastic. The elastic supporter can deform under load and return to its original shape, providing shock absorption during the climbing process. This elastic property reduces the impact forces transmitted to the robot's body and motors when the rear wheel contacts steps or obstacles, while still maintaining structural simplicity.
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 robot can easily climb stepped terrain without avoiding obstacles, improving its driving ability and ensuring smooth travel, while the elastic supporter reduces the impact of climbing, enhancing the robot's navigation capabilities.
Implementation Method 1
Another example of the supporter may be an elastic member disposed on the bottom surface of the body. The supporter may be convex towards the ground.
Data Source
AI summary
According to an embodiment, a robot includes a supporter disposed in the lower portion of a body to be spaced apart from a rear joint and a front joint and having a length shorter than a length of the rear joint and a length of the front joint; and a processor configured to perform a rear joint raising mode when a moved distance of the body is within a set distance or the body is stationary during driving of a front drive motor, and the rear joint raising mode is a mode in which a rear joint motor raises the rear joint such that a rear wheel which is connected to the rear joint is spaced apart from the ground.