Wheel Floating Mechanism With Switchable Rigid-Float Support
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Solution Overview
Problem
Industrial robots equipped with mobile bases face issues of slipping and shaking on uneven ground, leading to instability and reduced grasping accuracy due to conventional floating devices causing vibrations during depalletizing or selection tasks.
Innovation Solution
A wheel floating mechanism with a suspension guide seat, ball lead screw assembly, braking mechanism, and compression spring system that provides rigid support or floating buffering based on power states to ensure stable wheel contact with the ground, enhancing stability and grasping accuracy.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Stability of the object's composition
If a conventional floating device is directly installed on the mobile base, then the wheel can float to adapt to uneven ground, but vibration is produced during industrial robot operations, affecting grasping accuracy
Solution Approach 1:
The patent applies dynamics by making the floating device controllable rather than always active. The braking mechanism allows the system to switch between two states: floating mode (when braking is released) to adapt to uneven ground, and rigid mode (when braking is applied) to eliminate vibration during precision operations. This dynamic control resolves the contradiction by adapting the wheel's coupling state to the operational requirements.
Solution Approach 2:
The patent changes the parameter of wheel-ground coupling rigidity from fixed to variable. By using the braking mechanism to control the ball screw assembly, the system can adjust the coupling stiffness between the wheel and mobile base. When braking is applied, the coupling becomes rigid; when released, it becomes flexible with floating capability. This parameter change allows the system to optimize for either stability or precision depending on operational needs.
2Reliability
If the mobile robot moves on uneven ground, then the driving wheel may not touch the ground, causing slipping and shaking, but using a floating device causes vibration during operation
Solution Approach 1:
The patent resolves this contradiction by making the floating device dynamically controllable through a braking mechanism. During mobile operations on uneven ground, the braking mechanism is released to enable floating and maintain reliable wheel-ground contact. During industrial robot operations, the braking mechanism is applied to eliminate vibration. This dynamic control allows the system to switch between floating and rigid states based on operational requirements.
3Manufacturing precision
If the wheel is rigidly fixed to the mobile base, then grasping accuracy is maintained, but the wheel cannot adapt to uneven ground causing slipping
Solution Approach 1:
The patent applies dynamics by making the wheel connection controllable. The braking mechanism enables the system to switch between rigid connection (for precision operations) and floating connection (for adapting to uneven ground). This resolves the contradiction by allowing the wheel to have both rigid and flexible coupling capabilities depending on operational needs.
Solution Approach 2:
The patent changes the coupling rigidity parameter from fixed to variable. By controlling the braking mechanism, the system can adjust the stiffness of the connection between wheel and mobile base. This parameter change allows optimization for either precision or adaptability based on operational requirements.
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 mechanism ensures stable operation on uneven terrain by maintaining consistent ground contact and reducing robotic arm swing, thereby improving grasping precision and stability during mobile tasks.
Implementation Method 1
a compression spring sleeved on the outer side of the ball screw with the lower end thereof connected to the suspension connection plate and the upper end thereof connected to the upper end cover
Implementation Method 2
a ball lead screw assembly that comprises a screw and a screw nut, wherein the upper end of the ball screw is connected to the upper end cover through a first bearing, the lower end thereof is connected to the lower end cover through the second bearing, and the screw nut is rotatably connected to the ball screw
Implementation Method 3
a braking mechanism used for braking the ball screw after receiving a wheel control signal
Data Source
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AI summary
A wheel-floating mechanism for a mobile robot includes a suspension guide seat with a guide plate and upper and lower end covers. A lead-screw assembly, consisting of a ball screw and nut, is supported between the covers by bearings. A suspension connection plate, driven by the screw nut, mounts the wheel. A braking mechanism locks the ball screw in response to wheel-control signals. A compression spring encircles the ball screw, connecting the suspension plate to the upper end cover. This design maintains stable manipulator posture during motion and ensures all four wheels remain in contact with the ground, improving traction and reducing robot sway.