Dual Wheel Suspension for Robot Obstacle Contact Stability
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Solution Overview
Problem
Robotic vacuums with static wheel systems struggle to maintain contact with uneven surfaces and obstacles, leading to instability and potential stalling, as they require excessive torque to overcome such challenges.
Innovation Solution
A double suspension system comprising a first long-travel pivoting suspension system with a rotating arm and an extension spring, and a second short-travel linearly actuated suspension system with vertically positioned extension springs and dampers, ensuring continuous wheel contact with the surface by providing vertical movement and stability across various floor types and obstacles.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a static wheel system is used, then the structure is simple, but the robot cannot maintain wheel contact with uneven surfaces leading to instability and stalling
Solution Approach 1:
The patent applies dynamics by replacing the static wheel system with a dynamic suspension system that allows continuous movement and adjustment. The rotating arms and wheels can dynamically adapt to uneven surfaces through pivotal movement, ensuring continuous contact while maintaining operational reliability across varying terrain conditions.
Solution Approach 2:
The suspension system is segmented into multiple independent components including rotating arms, wheels, and springs that can move independently. This segmentation allows each wheel assembly to individually respond to surface variations without affecting the entire robot structure, resolving the contradiction between reliability and complexity.
2Adaptability or versatility
If large torque is supplied to overcome obstacles, then the robot can overcome transitions, but the system becomes ineffective and may stall
Solution Approach 1:
The dynamic suspension system eliminates the need for high torque by allowing the wheels and rotating arms to naturally adapt to obstacles through movement. Instead of forcing the wheels to overcome transitions through torque, the system dynamically conforms to the terrain, significantly reducing power requirements while maintaining adaptability.
Solution Approach 2:
The spring mechanisms act as counterbalancing elements that offset the weight and forces encountered during obstacle traversal. The springs absorb and release energy to assist the motor in overcoming transitions, reducing the peak torque requirements while maintaining the robot's ability to handle various obstacles.
3Stability of the object's composition
If a double suspension system is implemented, then control and stability are improved, but the device complexity increases
Solution Approach 1:
The double suspension system is divided into two distinct but coordinated subsystems: the rotating arm suspension and the linear suspension. Each subsystem handles specific aspects of terrain adaptation, allowing the robot to achieve enhanced stability through modular, segmented design rather than a monolithic complex system.
Solution Approach 2:
The suspension components are designed to perform multiple functions simultaneously. The rotating arms provide both structural support and terrain adaptation, while the springs serve both as structural elements and as the active suspension mechanism. This multi-functionality reduces the number of separate components needed, mitigating the complexity increase.
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 double suspension system enhances the robotic device's control and stability by maintaining continuous contact with the driving surface, improving ride quality and handling capabilities across diverse indoor environments.
Implementation Method 1
an extension spring coupled with the rotating arm on a third end and the frame on a fourth end, where the extension spring is extended when the wheel is retracted
Implementation Method 2
the extension spring of the first suspension system applies a force to the rotating arm as the extension spring compresses
Implementation Method 3
a number of vertically positioned extension springs coupled with the frame on a fifth end and the base on a sixth end
Implementation Method 4
the number of extension springs of the second suspension system apply a force to the frame and base, pulling the two components together as the extension springs compress
Implementation Method 5
the second suspension system further includes a number of dampers positioned along each axis of each of the number of extension springs
Data Source
AI summary
Robotic devices are presented including: a body; an electronic computing device housed within the body; and at least two wheeled suspension systems coupled with the body, each wheeled suspension system including, a first suspension system including: a frame, a rotating arm pivotally coupled to the frame on a first end and coupled to a wheel on a second end, and an extension spring coupled with the rotating arm on a third end and the frame on a fourth end, where the extension spring is extended when the wheel is retracted, a second suspension system including: a base slidingly coupled with the frame, and a number of vertically positioned extension springs coupled with the frame on a fifth end and the base on a sixth end.