A planetary wheel type obstacle-surpassing 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: 2022-04-08
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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  • A planetary wheel type obstacle-surpassing robot
  • A planetary wheel type obstacle-surpassing robot
  • A planetary wheel type obstacle-surpassing 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 present invention provides a planetary wheel type obstacle-surmounting robot, comprising: a vehicle frame, a front drive group and a rear drive group; the front drive group and the rear drive group are respectively connected to the front end and the rear end of the vehicle frame, and the front drive group includes: The steering wheel structure; the double-drive steering wheel structure includes: two driving wheels and two first driving devices, and the two first driving devices respectively output different speeds to the two driving wheels, so that the double-driving steering wheel structure turns; the rear driving group includes : two planetary gear sets, two second driving devices and planetary gear set suspension structure, each planetary gear set is driven separately; each planetary gear set includes: front wheel, rear wheel and upper wheel, each planetary gear set Under the action of the driving torque output by the second driving device, the three wheels of the robot cooperate to overcome obstacles, and the two second driving devices respectively control the speeds of the two planetary gear sets to realize the steering of the two planetary gear sets. Driven by the front drive group and the rear drive group, it can overcome obstacles and turn.

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 Patents(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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