Planet wheel type obstacle crossing robot

A technology of robots and planetary wheel sets, applied to wheels, motor vehicles, wheels that can support multiple tires, etc., can solve the problems of poor turning characteristics and wear of obstacle-crossing robots, so as to improve obstacle-crossing performance, reduce wear, reduce vibration effect

Active Publication Date: 2021-08-20
HUAZHONG UNIV OF SCI & TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] Aiming at the defects of the prior art, the object of the present invention is to provide a planetary wheel type obstacle-surmounting robot, aiming to solve the problems of poor turning characteristics and serious wear of existing obstacle-overriding robots

Method used

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  • Planet wheel type obstacle crossing robot
  • Planet wheel type obstacle crossing robot
  • Planet wheel type obstacle crossing robot

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Embodiment Construction

[0047] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

[0048] In view of the above defects or improvement needs of the prior art, the present invention proposes a planetary wheel obstacle-surmounting robot based on the working characteristics of the planetary wheel obstacle-surmounting robot, which has better turning characteristics. The problem of poor turning characteristics of the planetary gear mechanism is solved by perfectly combining the obstacle-crossing performance of the planetary wheel and the turning characteristic of the rudder wheel, and the wear of the planetary wheel is effectively reduced. In addition, the planetary wheel type obstacle...

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Abstract

The invention provides a planet wheel type obstacle crossing robot. The planet wheel type obstacle crossing robot comprises a frame, a front driving set and a rear driving set. a front driving group and the rear driving group are respectively connected with the front end and the rear end of the frame, and the front driving group comprises a dual-drive steering wheel structure; a dual-drive steering wheel structure comprises two driving wheels and two first driving devices, and different rotating speeds are output to the two driving wheels through the two first driving devices correspondingly, so that the dual-drive steering wheel structure steers; a rear driving set comprises two planet wheel sets, two second driving devices and a planet wheel set suspension structure, and each planet wheel set is driven independently; each planet wheel set comprises a front wheel, a rear wheel and an upper wheel, the three wheels of each planet wheel set climb over obstacles in a matched mode under the action of the driving torque output by the second driving devices, the two second driving devices control the rotating speeds of the two planet wheel sets respectively, steering of the two planet wheel sets is achieved, and the two planet wheel sets are driven to rotate. The obstacle crossing robot is driven by the front driving set and the rear driving set to cross obstacles and steer.

Description

technical field [0001] The invention belongs to the technical field of obstacle-surmounting robots, and more specifically, relates to a planetary-wheel type obstacle-surmounting robot. Background technique [0002] Obstacle-crossing robots have a wide range of applications. The current structures of obstacle-crossing robots are mainly wheeled, tracked and footed. Existing obstacle-crossing robots also have their own advantages and disadvantages. Among them, the footed obstacle-crossing robot has flexible movement and strong terrain adaptability, but its structure and control are very complicated, and its application is not widely used. The crawler-type obstacle-surmounting robot has a strong ability to overcome obstacles. The crawler-type mechanism has a large support area, small sag, strong terrain adaptability, and stable operation. However, the crawler-type mechanism is large in size, relatively heavy, and has poor turning characteristics. Large damage; the wheeled obsta...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D57/02B60B19/00
CPCB62D57/02B60B19/00B62D57/024B62B5/026B60B19/12B60B11/02B62D57/022B62D57/028
Inventor 韩斌鲁亮闫泽峰陈学东
Owner HUAZHONG UNIV OF SCI & TECH
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