Spring-Centered Caster Wheel Alignment for Sensor Clearance
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Solution Overview
Problem
Autonomous delivery vehicles face challenges in maintaining the orientation of swivel casters relative to the vehicle, which can interfere with the field of view of short-range sensors and cause unpredictable movement, affecting obstacle and surface detection.
Innovation Solution
A centering mechanism using a spring actuator and swashshaft system to maintain the rotational position of caster wheels relative to the vehicle's centerline, applying a restoring force to align the caster frames with the power base, minimizing pivoting and interference with sensor fields of view.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the swivel caster is lifted off the ground, then the caster can pivot freely to align with direction of travel, but the caster moves within the field of view of sensors and interferes with obstacle detection
Solution Approach 1:
The spring actuator applies a preliminary centering force to the caster wheel assembly that counteracts the tendency of the caster to pivot freely. This anti-action force keeps the caster centered and prevents it from moving into the sensor field of view, while still allowing controlled pivoting when needed for navigation
2Stability of the object's composition
If the spring actuator applies strong centering force, then the caster is held stable in design position, but the caster cannot pivot sufficiently to align with direction of travel
Solution Approach 1:
The spring actuator provides a dynamic centering force that adapts to the operational needs of the caster. The spring mechanism allows the caster to pivot when external forces (such as ground contact or actuated movement) apply sufficient torque, while maintaining stable centering when the caster is at rest or in normal operation
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 effectively maintains caster wheel orientation, reducing interference with sensors and ensuring stable navigation by aligning the wheels with the vehicle's centerline, enhancing obstacle detection and navigation accuracy.
Implementation Method 1
The spring actuator includes a compression spring oriented along the castor pivot axis
Implementation Method 2
The spring actuator that applies a force on the second part that increases with an angular difference between the rotational position and the design position
Implementation Method 3
The swashshaft includes a bearing surface characterized by swashshaft axis that intersects the caster pivot axis at an acute angle
Data Source
AI summary
An autonomous delivery vehicle having one or more caster wheels that may be held off the ground for a portion of the time that the autonomous delivery vehicle travels. Each caster wheel is mounted in a pivot with a centering mechanism to hold the caster wheels in a design orientation. The caster wheel in the design orientation maximizes the view of forward-looking sensors on the autonomous delivery vehicle. The centering mechanism uses a compression spring that drives a follower and swashshaft to apply a rotation force on the caster wheels. The rotational force urges the casters frame and wheels to return to a design position. The rotational force increases with the rotational difference between the caster rotational position and the design position.