Interlocking Robot Wheel Module for Consistent Drive Grip
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Robots with drive wheels and casters face issues where differences in the heights of the front and rear casters can cause the drive wheel to lose grip force, leading to instability and potential inability to drive effectively on varying terrain.
Innovation Solution
A modular wheel system where the front caster, drive wheel, and rear caster interlock to ensure uniform contact with the ground, using a link motor arm and guide pin mechanism to maintain grip force regardless of the robot's weight or shape, allowing for stable operation on different terrains.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the front caster and rear caster are positioned independently without interlocking mechanism, then the robot can have simpler structure, but the drive wheel loses grip force when caster heights differ on varying terrain
Solution Approach 1:
The patent combines the front caster, drive wheel, and rear caster into a single interlocking wheel module. The link motor arm connects the front caster and drive wheel, while the link back arm connects the drive wheel and rear caster, forming an integrated mechanism that moves together to maintain grip force on varying terrain.
Solution Approach 2:
The wheel module employs dynamic linkages (link motor arm and link back arm) that allow the relative positions of the front caster, drive wheel, and rear caster to adjust automatically in response to terrain variations, maintaining optimal contact and grip force without fixed rigid connections.
2Adaptability or versatility
If the robot uses a fixed wheel configuration, then the structure is simpler, but the robot cannot adapt to different terrains where ground height varies
Solution Approach 1:
The wheel module employs dynamic linkages (link motor arm and link back arm) that allow the relative positions of the front caster, drive wheel, and rear caster to adjust automatically in response to terrain variations, maintaining optimal contact and grip force without fixed rigid connections.
Solution Approach 2:
The interlocking wheel module design serves multiple functions: it maintains grip force on flat terrain, adapts to elevated or lowered ground, and provides stability across various robot configurations. This universal mechanism replaces the need for separate suspension or adjustment systems.
3Adaptability or versatility
If the casters are positioned at different heights to accommodate terrain, then the robot can navigate obstacles, but the drive wheel loses contact and grip force
Solution Approach 1:
The patent combines the front caster, drive wheel, and rear caster into a single interlocking wheel module. The link motor arm connects the front caster and drive wheel, while the link back arm connects the drive wheel and rear caster, forming an integrated mechanism that moves together to maintain grip force on varying terrain.
Solution Approach 2:
The wheel module employs dynamic linkages (link motor arm and link back arm) that allow the relative positions of the front caster, drive wheel, and rear caster to adjust automatically in response to terrain variations, maintaining optimal contact and grip force without fixed rigid connections.
4Adaptability or versatility
If the robot uses a non-modular wheel system, then the design is simpler, but the wheel system is restricted by specific robot weight and shape
Solution Approach 1:
The patent divides the wheel system into a modular wheel module that can be independently designed and configured. This module can be applied to different robot platforms with varying weights and shapes, as it functions as a self-contained unit with adjustable characteristics.
Solution Approach 2:
The interlocking wheel module design serves multiple functions: it maintains grip force on flat terrain, adapts to elevated or lowered ground, and provides stability across various robot configurations. This universal mechanism replaces the need for separate suspension or adjustment systems.
Data Source
AI summary
A robot includes a robot frame having a bottom plate; and at least one wheel module mounted to the bottom plate. The wheel module includes a front hinge mounted to the bottom plate; a rear hinge mounted to the bottom plate and having a pin guide formed therein; a link motor arm rotatably connected to the front hinge by a first hinge shaft; a front caster provided in the link motor arm; an in-wheel motor including a motor connected to the link motor arm and a driving wheel rotated by the motor; a link back arm rotatably connected to the link motor arm by a second hinge shaft; a guide pin provided in the link back arm and slidingly guided along the pin guide; and a rear caster provided in the link back arm.