Double-clutch active planetary gear train obstacle crossing robot and control method thereof

Abstract

The invention discloses a double-clutch active planetary gear train obstacle crossing robot and a control method thereof. The double-clutch active planetary gear train obstacle crossing robot is formed by connecting a chassis and four groups of planetary gear drive devices, wherein in the planetary gear drive devices, a first clutch of a double-clutch is coaxially connected with a first transmission gear through a hollow shaft sleeve, a second clutch of the double-clutch is coaxially connected with a third transmission gear through an input shaft; the second transmission gear meshes with the first transmission gear; a fourth transmission gear meshes with the third transmission gear; the second transmission gear is coaxially connected with a sun gear of a planetary gear train mechanism through an output shaft; the fourth transmission gear is fixedly connected with a planet carrier of the planetary gear train mechanism through a connecting frame; a shock absorption wheel is coaxially arranged on a planet wheel of the planetary gear train mechanism; and the control method is characterized by realizing driving on the flat road or crossing obstacles through controlling the separation and reunion of the double-clutch and utilizing the principle of the planetary gear train. The double-clutch active planetary gear train obstacle crossing robot provided by the invention not only can quickly move on the common road, but also can smoothly cross the obstacles under the large loading condition, and is compact in structure and good in shock absorption.

Description

technical field [0001] The invention belongs to the technical field of obstacle-surmounting robots, and in particular relates to a dual-clutch active planetary gear train obstacle-overriding robot and a control method thereof. Background technique [0002] At present, obstacle-crossing robots are widely used in building search and rescue, indoor transportation, and disaster relief. The structural forms mainly adopted by obstacle-surpassing robots include crawler structure, wheel structure and leg structure. Tracked robots move slowly, footed robots have complex structures and controls, and ordinary wheeled robots have poor obstacle-surmounting performance. better choice. [0003] Existing planetary-wheel obstacle-surmounting robots are mostly passive planetary-wheel-system obstacle-surmounting mechanisms, which cannot successfully overcome obstacles under heavy load conditions, and their performance needs to be improved when crossing various ravines, obstacles and steps. ...

AI Technical Summary

Problems solved by technology

Tracked robots move slowly, footed robots have complex structures and controls, and ordinary wheeled robots have poor obstacle-surmounting performance. better choice

[0003] Most of the existing planetary wheel-type obstacle-climbing robots are passive planetary-wheel system obstacle-crossing mechanisms, which cannot smoothly cross obstacles under heavy load conditions, and their performance needs to be improved when crossing various ravines, obstacles and steps

In addition, the current planetary wheel-type obstacle-crossing robot lacks a shock-absorbing mechanism, which leads to poor ride comfort of the robot. Some planetary-wheel-type obstacle-crossing robots directly use the shock-absorbing mechanism of ordinary wheeled vehicles, and the structure is complex and takes up a lot of space.

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