Robotic device for providing vertical mobility
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Solution Overview
Problem
Robotic devices face challenges in maintaining mobility and a strong attachment to vertical surfaces while avoiding debris damage, as well as achieving a reliable vacuum seal on diverse surface types, including flat and curved surfaces with features like seams and ridges.
Innovation Solution
A robotic device with a vacuum chamber circumscribed by a flexible seal, using a foam ring inside a fabric pocket and rod and spring strips to apply downward force, ensuring adhesion and mobility across various surfaces, and a vacuum motor assembly with filters to prevent debris damage.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Strength
If vacuum is used to attach and move across a wall, then the device can maintain strong attachment to vertical surfaces, but mobility is compromised
Solution Approach 1:
The seal is designed to be dynamically adaptable, allowing it to conform to surface irregularities and maintain vacuum attachment while the device moves. The flexible seal material enables continuous adjustment during motion, resolving the contradiction between strong attachment and mobility.
Solution Approach 2:
A flexible seal comprising a foam ring inside a fabric pocket is used to create the vacuum chamber boundary. The flexibility of this seal allows it to maintain vacuum attachment strength while accommodating the dynamic movements required for mobility across vertical surfaces.
2Reliability
If a rigid seal is used to maintain vacuum, then a reliable seal can be achieved, but the device cannot adapt to curved surfaces or surface features
Solution Approach 1:
The flexible seal made of foam ring inside fabric pocket provides both reliability and adaptability. The flexible material maintains a reliable vacuum seal while conforming to curved surfaces and surface features, eliminating the need for rigid seal structures.
Solution Approach 2:
The seal's physical parameters (shape, position) are allowed to change dynamically to adapt to different surface geometries. The flexible material changes its configuration based on surface curvature and features while maintaining vacuum integrity, achieving both reliability and versatility.
3Speed
If the vacuum chamber is opened to allow payload contact with surface, then mobility across bumps is improved, but debris can enter and damage the vacuum motor
Solution Approach 1:
The harmful factor (debris) is extracted from the vacuum chamber environment by using a filter that separates debris from the air flow. The filter removes debris before it can reach the vacuum motor, allowing the chamber to remain open for payload mobility while protecting the motor from damage.
Solution Approach 2:
A filter is introduced as an intermediary component between the open vacuum chamber and the vacuum motor. This mediator allows air flow necessary for motor operation while blocking debris, enabling both mobility over bumps and protection from debris damage.
4Stability of the object's composition
If a fixed payload position is used, then the payload remains stable, but the device cannot cross over bumps effectively
Solution Approach 1:
The payload support system is made dynamic, allowing the payload to move vertically in response to surface bumps while maintaining lateral stability. The skid and latch mechanism provides controlled motion that adapts to surface variations, achieving both stability and bump crossing capability.
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 reliable vertical mobility and effective vacuum sealing on different surface types, including rough and curved surfaces, while protecting the vacuum motor from debris, allowing for efficient inspection and surveillance.
Implementation Method 1
actuation of the vacuum motor assembly creates a vacuum in the vacuum chamber that pulls the housing toward the surface
Implementation Method 2
actuation of the vacuum motor assembly creates a vacuum in the vacuum chamber that pulls the housing toward the surface such that the means for moving is pressed against the surface
Implementation Method 3
A plurality of rod and spring strips are configured to apply a downward force to the flexible seal to conform with surface curvatures
Implementation Method 4
A plurality of rod and spring strips are configured to apply a downward force to the flexible seal
Implementation Method 5
The air flows inside a manifold and passes through a filter to avoid debris from damaging the vacuum motor assembly
Data Source
AI summary
A robotic device for providing vertical mobility has a payload is disposed inside a central compartment and supported by a skid. The skid can move up and down through latch and hook pairs to keep intimate contact with the surface and cross over bumps. The apparatus uses a flexible seal to create a reliable vacuum chamber. The flexible seal comprises a foam ring inside fabric pocket. A plurality of rod and spring strips are configured to apply a downward force to the flexible seal to conform with surface curvatures. The fabric pocket fills in the gaps or seams to maintain a vacuum. The air flows inside a manifold and passes through a filter to avoid debris from damaging the vacuum motor assembly.