Track-Type Robot Pivoting Mechanism for Slope Navigation
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Solution Overview
Problem
Existing track-type robots are limited in their application range due to their inability to perform uphill and downhill movements and are restricted in turning angles, leading to potential disengagement from the track.
Innovation Solution
A track-type robot design that includes a running mechanism connected to the body via a pivoting element, a driving device with a power source and drive wheel, a support restoring device, a braking mechanism, positioning wheels, and a locator with sensing elements, enabling smooth operation on varying terrain and during turns.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the track-type robot uses a fixed running mechanism on a horizontal track, then the structure is simple, but the robot cannot perform uphill and downhill movements
Solution Approach 1:
The running mechanism is designed with a pivoting element that allows dynamic adjustment of the running mechanism's orientation. This enables the robot to adapt to inclined tracks by pivoting the running mechanism to maintain proper contact angles, thereby achieving uphill and downhill capabilities without fundamentally changing the overall structure.
Solution Approach 2:
The running mechanism is divided into separable components including the pivoting element, drive wheels, and positioning wheels. This segmentation allows each component to be optimized independently for specific functions while maintaining overall system simplicity.
2Adaptability or versatility
If the track-type robot makes a sharp turn, then the turning angle is large, but the wheels offset due to centrifugal factors causing the robot to fail to corner or disengage from the track
Solution Approach 1:
The positioning wheels are designed to be adjustable and adaptable during turning operations. They can dynamically adjust their position and pressure on the track to counteract centrifugal forces during sharp turns, maintaining reliable track engagement while enabling large turning angles.
Solution Approach 2:
The positioning wheels apply preliminary counteracting forces before the robot fully enters a turn. By positioning these wheels to press against the track in advance during turning maneuvers, the system prevents wheel offset and maintains stable track engagement throughout the turning process.
3Ease of operation
If the track-type robot adds a pivoting element and support restoring device, then the robot can go uphill and downhill smoothly, but the device complexity increases
Solution Approach 1:
The pivoting element provides dynamic adaptation to track inclines, automatically adjusting the running mechanism's orientation to maintain smooth operation on uphill and downhill sections. This single dynamic component achieves the desired operational smoothness without requiring multiple complex mechanisms.
Solution Approach 2:
The support restoring device functions as a counterbalancing mechanism that compensates for the effects of gravity on inclined tracks. By providing restoring forces that counteract gravitational influence, the device enables smooth operation on slopes while maintaining a relatively simple structure.
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 design allows the track-type robot to maintain smooth operation while going uphill, downhill, and making turns, thereby expanding its application range and ensuring reliable performance in handling goods or inspecting environments.
Implementation Method 1
when the track-type robot makes a turn, because wheels are prone to offset due to centrifugal factors
Implementation Method 2
The driving device comprises at least a power source for driving the running mechanism to travel
Data Source
AI summary
The present invention relates to a track-type robot, wherein at least one drive wheel is driven by a driving device disposed on a body to drive a running mechanism to travel on a track, so as to drive the track-type robot forward; when the track-type robot goes uphill or downhill, the running mechanism and the body perform relative deflection motions in forward and reverse directions through a pivoting element connecting the running mechanism with the body, in the forward and reverse axial rotating directions thereof, so the running mechanism and the drive wheel keep contact with the track when the track-type robot goes uphill and downhill. When the track-type robot makes a turn, positioning wheels disposed on side edges of the track are pushed by the holding mechanisms to counteract a centrifugal offset force generated, so that the track-type robot provided by the present invention is avoided from the situation of left and right swinging; and at the same time, a braking device located on at least one side of the drive wheel interferes in traveling of the drive wheel in the operation process of the track-type robot, so as to achieve the purpose of temporary braking.