Planet wheel type obstacle-crossing robot suitable for rotating stair

Abstract

The invention belongs to the relevant technical field of obstacle-crossing robots and discloses a planet wheel type obstacle-crossing robot suitable for a rotating stair. The planet wheel type obstacle-crossing robot comprises a vehicle body, a front driving set, a rear driving set, a front hinging shaft structure and a rear hinging shaft structure. The front hinging shaft structure and the rear hinging shaft structure are connected to the reverse front end and the rear end of the vehicle body correspondingly. The front driving set and the rear driving set are connected to the front hinging shaft structure and the rear hinging shaft structure correspondingly. The rear hinging shaft structure comprises a vehicle body rear supporting seat, a horizontal hinging shaft, a hinging frame, a vertical hinging shaft and a rear driving set supporting seat. The vehicle body rear supporting seat is connected to the vehicle body. The rear driving set supporting seat is connected to the rear driving set. The two ends of the horizontal hinging shaft are hinged to the vehicle body rear supporting seat and the hinging frame correspondingly. The two ends of the vertical hinging shaft are hinged to the hinging frame and the rear driving set supporting seat correspondingly.

Description

technical field [0001] The invention belongs to the related technical field of obstacle-surmounting robots, and more specifically relates to a planetary-wheel type obstacle-surmounting robot suitable for rotating stairs. Background technique [0002] Obstacle-crossing robots have a wide range of uses. The current structure of obstacle-crossing robots is mainly wheeled, crawler-type and foot-based. Existing obstacle-crossing robots have their own advantages and disadvantages. Among them, the wheeled obstacle-crossing robot has a large structure and a high load-to-weight ratio, and can achieve balanced and fast movement when traveling on a flat road. However, the obstacle-breaking height of the wheeled robot is limited by the wheel diameter. When encountering obstacles or ravines When waiting for a special road surface, the robot may lose its support point and its center of gravity is unstable, which may cause the robot to overturn; crawler robots are widely used in stair clim...

AI Technical Summary

Problems solved by technology

Among them, the wheeled obstacle-crossing robot has a large structure and a high load-to-weight ratio, and can achieve balanced and fast movement when traveling on a flat road. However, the obstacle-breaking height of the wheeled robot is limited by the wheel diameter. When encountering obstacles or ravines When waiting for a special road surface, the robot may lose its support point and its center of gravity is unstable, which may cause the robot to overturn; crawler robots are widely used in stair climbing operations, and the crawler mechanism has a large support area, small sag, and adapts to the terrain. Strong ability and stable movement, but the crawler mechanism is large, heavy, and low in energy efficiency. The crawler robot is easy to cause wear on the step surface during the step obstacle surmounting process; the footed obstacle surmounting robot has flexible movement and strong terrain adaptability , the footed robot is more flexible among all motion mechanisms, has strong terrain adaptability, and can solve walking problems in most environments, but the structure and control system of the footed robot are complex

[0003] At present, those skilled in the art have done some research. For example, the patent application No. 201320133252.2 discloses a planetary wheel type robot trolley traveling mechanism. Two star wheels are respectively arranged on both sides of the frame, but the planetary wheel drive group The relative frame is fixed and has no degrees of freedom in the yaw direction

Another example is that the patent application No. 201510326330.4 discloses a structure of a planetary-wheel type obstacle-surmounting robot. The structure of the planetary-wheel type obstacle-surmounting robot includes a car body and three driving groups, and the three driving groups can be connected by a vertical hinge shaft. On the car body, but when climbing over a step with a turning arc, the planetary gear sets on the left and right sides of the rear drive unit cannot be turned over at the same time. The left planetary gear set and the right planetary gear set are respectively on the upper and lower steps. There is no degree of freedom to rotate along the horizontal axis, so the obstacle-crossing robot is extremely easy to get stuck and unable to move forward

Images