Rubber Ballast Stabilizer for Two-Wheeled Robot Fall Protection
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Solution Overview
Problem
Existing two-wheeled mobile robots face challenges in stabilizing their mechanism during falls while maintaining mobility on uneven surfaces, as traditional stabilizers either protect the robot but hinder movement or allow movement but fail to provide adequate protection.
Innovation Solution
A two-wheeled mobile robot stabilizer composed of symmetrically positioned rubber ballasts with radial cuts attached to the frame and a rotatable rubber roller, which reduces friction and noise, provides flexibility and protection, and prevents axis rotation, using rubber components for durability and simplicity.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a support with weight is used to stabilize the robot during falls, then the robot mechanism is protected from damage, but the movement of the robot on uneven ground is hindered
Solution Approach 1:
The stabilizer uses a rotatable roller that can dynamically adapt its position and orientation during robot movement and falls. The roller rotates on a shaft embedded in the ballast, allowing it to adjust to different terrain conditions and fall orientations, providing both protection and mobility
Solution Approach 2:
The rubber material properties are utilized to change the stabilizer's behavior under different conditions. The rubber ballasts and roller provide flexibility and damping during normal operation, then transform to provide structural protection during falls, effectively changing the physical parameters of the stabilizer system
2Stability of the object's composition
If a rigid stabilizer is used to prevent robot rotation during falls, then stability is improved, but the robot cannot move forward effectively
Solution Approach 1:
The rotatable roller on the shaft allows the stabilizer to dynamically adjust during movement. When the robot moves forward, the roller can rotate freely, preventing it from interfering with wheel rotation. During falls, the roller's position stabilizes, providing the needed rotational prevention
Solution Approach 2:
The stabilizer configuration with asymmetric roller placement and radial cuts in the ballasts creates different functional behaviors for different motion types, allowing forward movement while preventing unwanted rotation during falls
3Reliability
If metal stabilizers with steel cords are used to achieve sensitivity, then stabilizing performance is improved, but durability and simplicity are reduced
Solution Approach 1:
The patent uses rubber ballasts with embedded steel shafts and rubber rollers, combining the flexibility and damping of rubber with the structural integrity of metal components. This composite approach achieves the needed sensitivity and durability while maintaining construction simplicity
Solution Approach 2:
The rubber ballasts and roller provide flexible, dampening structures that absorb impact and provide stable contact with the ground. The rubber material's inherent flexibility replaces the need for complex steel cord constructions while maintaining or improving stabilizing performance
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 stabilizer effectively protects the robot during falls, enhances mobility on uneven surfaces, and allows for flexible movement directions while maintaining camera observation angles, with increased durability and reduced noise and friction.
Implementation Method 1
During movement of the robot the rubber roller (2) rolls on the surface on which the robot moves, what can significantly reduce friction and noise generated by the robot
Implementation Method 2
The rubber stabilizer has also the additional role of protecting a central part of the robot frame from being damaged as a result of a fall on an edge or on other obstacle, which fall cannot be cushioned by the robot wheels
Implementation Method 3
The stabilizer of the invention provides great flexibility and amortization in case of fall of the robot from a great height
Implementation Method 4
Roller (2) and shaft (3) are also counterweight to the robot when it moves backwards
Data Source
Figure 1~2
AI summary
Stabilizer of two-wheeled mobile robot is composed of two rubber ballasts (1) connected to robot frame (6) disposed symmetrically in relation to an orthogonal axis to robot wheel axis (7) and rubber roller (2) set rotatable on the roller (3) embedded in holes at the ends of ballast (1). Each ballast (1) has radial cuts (4) designed for attachment to robot frame (6). Fig.1