Mobile Robot Obstacle Traversal via Tilting Lever Mechanism
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Solution Overview
Problem
Existing mobile robots lack the capability to autonomously traverse vertical obstacles such as curbstones and uneven terrain without significant tilting or vibration, which can lead to reduced traction and increased wear on wheels.
Innovation Solution
A mobile robot design featuring a frame structure with front, middle, and back wheels, where the middle and back wheels are connected by tilting levers that can rotate to apply downward or upward forces, assisted by motors to facilitate traversal of vertical obstacles, and equipped with sensing devices to trigger these forces for optimal traction and stability.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the robot uses a fixed wheel configuration to traverse obstacles, then the structure is simple, but the robot cannot effectively climb vertical obstacles without severe tilting and vibration
Solution Approach 1:
The patent applies the dynamics principle by making the middle wheel assembly movable relative to the robot body through a lifting mechanism. The middle wheels can be raised and lowered dynamically during obstacle traversal, allowing the robot to adapt its wheel configuration to different terrain conditions. This dynamic adjustment enables effective climbing of vertical obstacles while maintaining structural simplicity.
Solution Approach 2:
The patent segments the wheel system into three distinct groups: front wheels, middle wheels, and back wheels, with the middle wheels being independently controllable. This segmentation allows each wheel group to perform specific functions during obstacle traversal, with the middle wheels providing additional support and traction when needed, thereby improving reliability without significantly increasing overall complexity.
2Reliability
If the robot applies downward force on middle wheels to increase traction, then obstacle climbing improves, but wheel wear increases
Solution Approach 1:
The patent implements periodic action by applying downward force on the middle wheels only during specific phases of obstacle traversal when additional traction is needed. The lifting mechanism raises and lowers the middle wheels in a periodic manner synchronized with the climbing action, providing enhanced traction temporarily during critical moments while allowing the wheels to rest during normal rolling, thereby reducing overall wear and extending wheel service life.
3Productivity
If the robot operates autonomously to traverse obstacles, then productivity increases, but control precision during climbing decreases
Solution Approach 1:
The patent applies feedback by incorporating sensors that detect obstacle characteristics and robot state during traversal. This feedback information is used by the control system to dynamically adjust the lifting mechanism and wheel actuation, enabling autonomous operation with maintained control precision. The feedback loop allows the robot to sense and respond to changing conditions during obstacle climbing, ensuring precise control without requiring manual intervention.
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 effectively climb obstacles up to 20 cm in height with increased traction and reduced vibration, maintaining stability and minimizing wear on wheels, while allowing for autonomous or semi-autonomous operation.
Implementation Method 1
at least one middle wheel and at least one back wheel are connected by a tilting lever that can be turned around a lever bearing
Implementation Method 2
actuating the one or more middle and/or back wheels with one or more motors to provide a forward momentum of the robot and thereby increase friction between the one or more front wheels and the vertical obstacle
Data Source
AI summary
Disclosed is a mobile robot adapted to traverse vertical obstacles. The robot comprises a frame and at least one wheel positioned in a front section of the robot, at least two middle wheels and at least two rear wheels. The at least one middle wheel and at least one rear wheel are connected by a tilting lever that is arranged on each of the opposing sides of or to the frame, forming a pair of wheels. Each tilting lever can be turned around a lever bearing located between the respective axial centers of rotation of each pair of wheels.