Segmented Omni-Wheel Structure for Rough Terrain and Stairs
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Solution Overview
Problem
Conventional mobile robots struggle to navigate rough terrain and overcome obstacles like stairs and unpaved roads due to their complex structure and inefficiencies in high-speed driving and maintenance.
Innovation Solution
A wheel device for mobile robots featuring omni wheels, middle wheels, and suspensions that allow for independent rotation and tilting, enabling efficient traversal of rough terrain and obstacles by distributing weight and absorbing impact.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a caterpillar method is used to overcome obstacles, then the robot can traverse rough terrain, but the structure becomes complicated and maintenance becomes inefficient
Solution Approach 1:
The wheel is divided into multiple independent segments that can rotate relative to each other. Each segment can independently adjust its orientation to conform to the terrain profile, allowing the wheel to maintain contact with the ground on rough surfaces while keeping the overall structure simpler than a caterpillar system.
Solution Approach 2:
The wheel segments are designed to be dynamically adjustable, allowing them to change their configuration in real-time based on terrain conditions. This dynamic adaptation enables the wheel to handle various rough terrain conditions without requiring a completely different mechanism for each scenario.
2Adaptability or versatility
If a caterpillar method is used to overcome obstacles, then the robot can traverse rough terrain, but high-speed driving becomes difficult
Solution Approach 1:
The segmented wheel design allows each segment to independently optimize its position for both speed and terrain adaptation. At high speeds, segments can align smoothly to minimize resistance, while still maintaining the ability to conform to rough surfaces when needed.
3Device complexity
If conventional caster wheels are used, then the robot structure is simple, but space utilization inside the robot is poor
Solution Approach 1:
The omni-wheel design incorporates multiple functional elements within a compact structure. The wheel segments can be nested or folded when not in use, and the entire wheel assembly can be reconfigured to maximize the use of available space within the robot chassis.
Solution Approach 2:
The omni-wheel serves multiple functions: it provides propulsion, steering, and obstacle negotiation capabilities in a single integrated component. This multi-functionality eliminates the need for separate mechanisms, thereby improving space utilization while maintaining structural efficiency.
4Volume of moving object
If omni wheels are used, then space utilization improves, but the wheel structure becomes more complex
Solution Approach 1:
The omni-wheel is divided into segments that can independently rotate around a central axis. This segmentation allows the wheel to achieve complex motion patterns (omni-directional movement) while keeping each individual segment relatively simple in structure.
Solution Approach 2:
The omni-wheel combines steering and propulsion functions into a single wheel structure. By integrating these functions that would traditionally require separate mechanisms, the overall system complexity is reduced while achieving superior space utilization.
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 mobile robots to efficiently travel on unpaved roads, hills, and outdoor terrain while overcoming obstacles like stairs, improving space utilization and maintaining efficient delivery capabilities.
Implementation Method 1
a first suspension 140 connected between the mobile robot 100 and the wheel links 130; and a second suspension 150 connected between the mobile robot 100 and the wheel links 130
Implementation Method 2
the first omni wheel 200a and the second omni wheel 200b may have five to ten omni wheel segments 210 which are arranged in a circumferential direction
Data Source
AI summary
An omni-wheel device is capable of driving on both flat and stepped terrains. The omni-wheel device may include an omni-wheel segment of which an area in contact with the ground includes a portion of an omni-wheel, an actuator capable of moving the omni-wheel segment in the radial direction, and a wheel drum to which one end of the actuator is fixed and in which a rotation shaft is assembled at the center thereof.