Mobile Robot Wheel Assembly for Stable Obstacle Crossing
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Solution Overview
Problem
Existing autonomous mobile robots have limited obstacle crossing capabilities due to a weak driving force provided by their floating obstacle crossing structures, which results in reduced friction and increased likelihood of jamming or slipping when encountering obstacles.
Innovation Solution
An autonomous mobile robot with a driving wheel assembly and an obstacle crossing assembly that applies a controlled force to the driving wheel, maintaining a change amplitude of positive pressure between the driving wheel and the traveling surface within a set threshold, thereby increasing friction and improving obstacle crossing capabilities.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a floating obstacle crossing structure is used to allow the driving wheel to move relative to the machine body, then the robot can adapt to ground condition changes, but the driving force provided to the driving wheel becomes weak resulting in limited obstacle crossing capability
Solution Approach 1:
The patent applies dynamics by making the obstacle crossing assembly movable relative to the machine body through a rotating shaft, allowing the structure to dynamically adjust its position in response to ground conditions while maintaining effective force transmission to the driving wheel during obstacle crossing
Solution Approach 2:
The obstacle crossing assembly serves as an intermediary mechanism between the machine body and the driving wheel, transmitting and amplifying the driving force while allowing relative movement to adapt to different ground conditions
2Adaptability or versatility
If the driving wheel is allowed to float relative to the machine body during obstacle crossing, then the robot can clear obstacles, but the positive pressure change between the driving wheel and traveling surface becomes too large causing jamming or slipping
Solution Approach 1:
The patent implements feedback through the mechanical linkage of the obstacle crossing assembly, which automatically responds to changes in ground contact conditions and adjusts the driving wheel's position and pressure to maintain stable friction without external control systems
Solution Approach 2:
The obstacle crossing assembly controls the parameters of the driving system by regulating the positive pressure between the driving wheel and traveling surface, keeping the pressure change within a specific range to prevent jamming or slipping while maintaining reliable friction
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 enhances the robot's ability to traverse obstacles by maintaining stable friction forces, reducing the likelihood of jamming and slipping, and improving overall obstacle crossing performance.
Implementation Method 1
The force application portion is included in an elastic body. Along a deformation direction, one end of the elastic body is fixed to the machine body, and a roller assembly is arranged at the other end
Data Source
AI summary
Embodiments of the present disclosure provide an autonomous mobile robot and a walking method thereof. The autonomous mobile robot includes a machine body, a driving wheel assembly and an obstacle crossing assembly. The driving wheel assembly is rotatably arranged on the machine body through a first rotating shaft. The driving wheel assembly includes a driving wheel. When the driving wheel moves from a first position to a second position relative to the machine body, the obstacle crossing assembly applies a force to the driving wheel assembly to make a change amplitude of positive pressure between the driving wheel and a traveling surface less than or equal to a set threshold value.