Stair-Climbing Driving Device Segmentation for Balance Stability
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Solution Overview
Problem
Conventional four-wheel driving devices with caterpillar tracks face difficulties in climbing stairs safely due to balance issues and the risk of slipping, limiting their use for the disabled and industrial robots.
Innovation Solution
A stair-climbing type driving device equipped with front and rear motor stands, in-wheel motors, stair-climbing supporters, and sensors that allow for a controlled climbing mode by converting the driving mode to climb stairs safely, using rotating supporters to step on the stairs like a person.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If caterpillar tracks are mounted on the four-wheel driving device to enable stair climbing, then the climbing capability is improved, but the balance stability deteriorates causing the device to stagger and slip
Solution Approach 1:
The driving device is segmented into four independent wheel units, each equipped with its own in-wheel motor and stair-climbing supporter. This segmentation allows each wheel to independently adjust and stabilize during stair climbing, preventing the overall instability caused by rigid caterpillar tracks while maintaining climbing capability through coordinated individual wheel actions.
Solution Approach 2:
The stair-climbing supporters are designed as dynamic components that can rotate and extend outward from each wheel assembly during stair climbing operations. This dynamic transformation allows the supporters to actively engage with stair surfaces, providing adaptive stabilization that maintains balance while enabling climbing of various stair configurations.
2Force
If caterpillar tracks are used for stair climbing, then the climbing force is improved, but the safety and reliability deteriorate due to slipping risks
Solution Approach 1:
The stair-climbing supporters act as intermediary components between the wheels and stair surfaces. These supporters extend from the wheel assemblies and make direct contact with stair treads, transferring climbing forces through controlled mechanical engagement rather than relying on friction alone, thereby preventing slips while maintaining climbing force.
Solution Approach 2:
The in-wheel motors enable independent control and adjustment of rotational speed and torque for each wheel. This parameter control allows the system to optimize climbing force application and maintain traction by dynamically adjusting motor outputs based on real-time sensor feedback, ensuring safety and preventing slips during stair climbing.
3Reliability
If sensors and control systems are added to enable safe stair climbing, then the climbing safety is improved, but the device complexity increases
Solution Approach 1:
The sensors mounted on the frame serve multiple functions: detecting stair presence, measuring stair geometry, and providing feedback for motor control. This multi-functionality allows the same sensing components to support various climbing operations and safety functions, improving climbing safety without proportionally increasing device complexity.
Solution Approach 2:
The control system automatically processes sensor data and adjusts motor operations without requiring external intervention. The system self-regulates climbing parameters, monitors stability, and makes real-time adjustments to maintain safety, reducing the need for additional complex control mechanisms while improving climbing safety through autonomous 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
Enables safe and stable climbing of stairs regardless of height and width, expanding the mobility range for the disabled and preventing slipping, while maintaining a stable posture for both wheelchairs and industrial robots.
Implementation Method 1
front wheels mounted at the front side of the first and second wheel mounting stands, wherein in-wheel motors are mounted in the front wheels; rear wheels mounted at the rear side of the first and second wheel mounting stands, wherein in-wheel motors are mounted in the rear wheels
Implementation Method 2
a front stair-climbing supporter mounted directly below the front motor mounting stand at the front between the first wheel mounting stand and the second wheel mounting stand; a rear stair-climbing supporter mounted directly below the rear motor mounting stand at the rear between the first wheel mounting stand and the second wheel mounting stand
Data Source
AI summary
Disclosed are a stair-climbing type driving device and a climbing driving method thereof. It is an object of the present invention to provide a stair-climbing type driving device, which can climb upstairs in safety regardless of height and width of the stairs when the disabled, common people who want to experience four-wheel driving devices, or robots for fire extinguishment or industrial use climb up the stairs, and a climbing driving method of the stair-climbing type driving device.