ROV Wheel Displacement Linkage With Stable Self-Locking Motion
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Solution Overview
Problem
The prior art displacement mechanism for remotely operated vehicles is unstable due to loose fitting slots and requires excessive space, and its locking mechanism is unreliable and complex.
Innovation Solution
A displacement mechanism featuring a motor-driven four-bar linkage system with a rocker slider mechanism, including a drive crank, coupler link, lift rocker, displacement link, and displacement plate, which provides stability and a simpler locking mechanism by transferring rotational drive into linear movement and gearing, allowing reliable wheel raising and lowering.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If a prior art displacement mechanism with loose fitting slots is used, then the vehicle can be simpler in structure, but the mechanism becomes unstable and requires excessive space
Solution Approach 1:
The displacement mechanism is divided into distinct functional components: a four-bar linkage system (comprising drive crank, coupler link, and rocker) and a rocker slider mechanism. This segmentation allows each component to perform its specific function with precise geometric relationships, eliminating the need for loose fitting slots while maintaining stability through controlled kinematic chains rather than relying on tight tolerances throughout the entire structure.
Solution Approach 2:
The mechanism employs curved slot geometries in the rocker slider mechanism that are precisely shaped to guide the displacement plate's movement. These curved paths provide stable guidance without requiring loose fitting slots, as the curvature itself defines the motion trajectory. The curved geometry transforms the stabilization function from a tolerance-based solution to a geometry-based solution, reducing space requirements while maintaining stability.
2Device complexity
If a prior art locking mechanism is used, then the device can be simpler, but the locking mechanism becomes unreliable and complex
Solution Approach 1:
The rocker slider mechanism inherently provides self-locking through its geometric configuration. When the displacement plate reaches the end of its travel, the curved slot geometry and the rocker's pivot points create a mechanical interlock that automatically locks the mechanism in position without requiring additional locking components. The mechanism's own structural elements work together to provide reliable locking, eliminating the need for separate, complex locking devices.
Solution Approach 2:
The four-bar linkage system is designed with specific link lengths and pivot point positions that create mechanically advantageous positions at the extremes of travel. These positions represent potential energy minima where the mechanism naturally tends to remain locked without additional components. The geometric design ensures that the locked positions are structurally inherent to the mechanism's configuration rather than requiring external locking devices.
3Stability of the object's composition
If excessive space is allocated for the displacement mechanism, then stability can be improved, but the vehicle's space efficiency decreases
Solution Approach 1:
The four-bar linkage system and the rocker slider mechanism are integrated into a compact arrangement where components share space and functional responsibilities. The drive crank, coupler link, and rocker are positioned to work in close proximity, with the curved slots of the rocker mechanism providing both guidance and structural support. This merging of functions and compact spatial arrangement achieves stability without requiring excessive space, as the mechanisms support each other structurally rather than requiring separate, space-consuming stabilization systems.
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 mechanism enhances stability and reliability by reducing the force required for wheel movement and providing a secure locking system, ensuring smooth operation and reduced space usage.
Implementation Method 1
a motor for providing rotational drive
Implementation Method 2
a drive crank coupled to the motor to transmit rotational drive from the motor; a coupler link pivotally coupled to the drive crank; a lift rocker pivotally coupled to the coupler link, the coupler link coupling rotational drive from the drive crank to the lift rocker
Implementation Method 3
the lift rocker, displacement link and displacement plate act as a rocker slider mechanism that raises and lowers the displacement plate, and hence the wheels
Data Source
AI summary
A displacement mechanism for a remotely operated vehicle includes a motor configured to actuate a drive crank, a coupler link connected to the drive crank on a first side, and a lift rocker on a second side, a displacement link connected to the lift rocker, and a displacement plate connected to the displacement link and having a plurality of wheels provided thereon. The drive crank, the coupler link, the lift rocker, the displacement link, and the displacement plate are each respectively connected with pivot connections such that actuation of the motor actuates the displacement plate between a raised position and a lowered position. The lift rocker is configured with a pivot point arranged in a body of the lift rocker such that the lift rocker, the pivot connection between the displacement link and the lift rocker, and the pivot connection between the lift rocker and the coupler link each rotate around the pivot point when the motor is actuated.