Tooling Arm Scoop Assembly for Mobile Robot Sampling
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Solution Overview
Problem
Current mobile robots face challenges such as high friction and vibration in endless tracks, rotational slippage, and instability in uneven terrains, which can render them inoperable in hazardous situations, especially when operating remotely or navigating obstacles.
Innovation Solution
A modular mobile robot design with interchangeable components, including a tooling arm featuring a scoop assembly and a novel endless track with chamfered cleats and dual v-guides, and a flexible tail for enhanced traction and stability, allowing adaptation to different missions and environments.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Force
If endless tracks are used for mobile robot locomotion, then traction capability is improved, but friction and vibration increase
Solution Approach 1:
The patent applies local quality by providing different surface treatments to different parts of the track cleats. Specifically, the forward-facing surfaces of cleats have a first coefficient of friction while the rearward-facing surfaces have a second coefficient of friction. This local differentiation reduces overall friction and vibration while maintaining necessary traction, directly resolving the contradiction between improved traction and reduced energy loss.
2Force
If endless tracks are used for mobile robot locomotion, then traction capability is improved, but rotational slippage occurs
Solution Approach 1:
The patent implements local quality through differentiated friction surfaces on track cleats. The forward surfaces have one coefficient of friction optimized for propulsion, while rearward surfaces have another coefficient optimized for preventing slippage. This local variation in friction properties prevents rotational slippage between the track and drive wheel while maintaining the high traction capability needed for mobile operation.
3Adaptability or versatility
If mobile robot operates on uneven terrains, then adaptability is improved, but stability deteriorates
Solution Approach 1:
The patent applies dynamics by making the mobile robot modular and reconfigurable. Different module configurations can be deployed depending on terrain conditions, allowing the robot to adapt its stability characteristics dynamically. The tooling arm with scoop assembly can also be dynamically positioned or retracted based on terrain stability, enabling the robot to maintain stability while operating on uneven terrains.
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 modular design enhances the robot's versatility and reliability by reducing friction and vibration, improving traction, and providing stability on uneven terrains, enabling effective operation in diverse environments and missions.
Implementation Method 1
A lead screw and nut assembly is operably connected to the drive system such that rotation of the nut drives the lead screw upwardly and downwardly relative to the housing
Implementation Method 2
An endless track with chamfered cleats and dual v-guides... reducing friction and vibration
Implementation Method 3
An endless track with chamfered cleats and dual v-guides
Data Source
AI summary
A tooling arm includes a housing, a drive system, a lead screw and nut assembly, and a scoop assembly. The lead screw and nut assembly is operably connected to the drive system such that rotation of the nut drives the lead screw upwardly and downwardly relative to the housing. The scoop assembly is operably connected to the lead screw. The scoop assembly has an open position and a closed position and movement of the lead screw downwardly responsively moves the scoop assembly from the open position to the closed position.