US 11,945,527 B2
Planetary wheel type obstacle crossing robot
Bin Han, Hubei (CN); and Xuedong Chen, Hubei (CN)
Assigned to HUAZHONG UNIVERSITY OF SCIENCE AND TECHNOLOGY, Hubei (CN)
Filed by HUAZHONG UNIVERSITY OF SCIENCE AND TECHNOLOGY, Hubei (CN)
Filed on Jun. 28, 2021, as Appl. No. 17/359,671.
Claims priority of application No. 202110668430.0 (CN), filed on Jun. 16, 2021.
Prior Publication US 2022/0402567 A1, Dec. 22, 2022
Int. Cl. B62D 57/028 (2006.01); B62D 57/02 (2006.01)
CPC B62D 57/028 (2013.01) [B62D 57/022 (2013.01)] 11 Claims
OG exemplary drawing
 
1. A planetary wheel type obstacle crossing robot, comprising:
a frame, a front drive set, and a rear drive set, wherein
the front drive set is connected to a front end of the frame, and the front drive set comprises a dual-drive steering wheel structure; the dual-drive steering wheel structure comprises two drive wheels and two first drive devices, the two first drive devices respectively output different rotational speeds to the two drive wheels, so that the dual-drive steering wheel structure is steered to drive the frame and the rear drive set to steer;
the rear drive set is connected to a rear end of the frame, and the rear drive set comprises two planetary wheel sets, two second drive devices, and a planetary wheel set suspension structure, and each planetary wheel set is individually driven;
each planetary wheel set comprises a front wheel, a rear wheel, and an upper wheel, the three wheels of each planetary wheel set cooperate to climb over an obstacle under an action of a driving torque output by the second drive device, and the two second drive devices respectively control rotational speeds of the two planetary wheel sets to implement steering of the two planetary wheel sets; the two planetary wheel sets are connected through the planetary wheel set suspension structure, the planetary wheel set suspension structure is a retractable parallelogram structure, two vertical sides of the parallelogram structure are perpendicular to a ground, other two sides are parallel to the ground, the other two sides adapt to a terrain to retract, and the two planetary wheel sets are symmetrically connected to the two vertical sides of the parallelogram structure, so that the two planetary wheel sets always remain in a vertical state and adapt to a non-planar terrain; and
the obstacle crossing robot is driven by the front drive set and the rear drive set to cross the obstacle and steers,
wherein the rear drive set further comprises a drive support plate;
the two planetary wheel sets are respectively connected to one side of the two second drive devices;
other sides of the two second drive devices are respectively connected to two sides of the planetary wheel set suspension structure;
an upper end of the planetary wheel set suspension structure is connected to a lower end of the drive support plate; and
an upper end of the drive support plate is connected to the rear end of the frame.