A chain-type planetary wheel all-terrain walking mechanism

Abstract

The utility model discloses a kind of chain planetary wheel all-terrain walking mechanism, it is related to intelligent mobile equipment field, comprising: frame, the frame both sides are with the planetary carrier of rotation connection, the planetary carrier includes the planetary gear set rotationally connected in middle part and the several planetary wheels rotationally connected in periphery and are evenly distributed;The planetary gear set includes the main gear in center and the several secondary gears meshing in periphery and main gear, every the secondary gear is and corresponding one planetary wheel transmission connection;Primary drive system, it is used to drive the rotation of main gear;Second drive system, its output and the planetary carrier eccentric connection, and it is used to for the eccentric torque of planetary carrier output, to drive the rotation of planetary carrier relative to frame.Using this scheme, walking and obstacle crossing of walking mechanism are driven by two drive systems respectively, can guarantee effective power transmission efficiency, and power overload or transmission imbalance can be avoided.

Description

Technical Field

[0001] This utility model relates to the field of intelligent mobile equipment, specifically to a chain-type planetary wheel all-terrain walking mechanism. Background Technology

[0002] Existing wheeled walking mechanisms often face problems such as low power transmission efficiency, excessive structural rigidity, or insufficient synchronous control precision when dealing with complex terrains (such as sand, rocks, steps, etc.), which affect their operational stability and terrain adaptability.

[0003] For example, traditional structures that use rigid planetary carriers often suffer from power overload or transmission imbalance due to single-motor drive mode. The synchronization system relies on a single sensor feedback and cannot effectively correct phase difference, leading to misalignment when multiple wheels work together. At the same time, the integrated rigid support structure lacks the ability to buffer and absorb high-frequency vibration or impact loads, which can easily induce fatigue damage. Utility Model Content

[0004] To address the shortcomings of existing technologies, this invention aims to provide a chain-type planetary wheel all-terrain walking mechanism. By employing this solution, two drive systems are used to drive the walking mechanism for both walking and obstacle crossing, ensuring efficient power transmission and preventing power overload or transmission imbalance.

[0005] This utility model is achieved through the following technical solution:

[0006] A chain-type planetary wheel all-terrain walking mechanism includes:

[0007] The frame has planetary carriers rotatably connected to both sides. Each planetary carrier includes a planetary gear set rotatably connected to the center and several planetary gears rotatably connected to the periphery and evenly distributed. The planetary gear set includes a main gear located at the center and several secondary gears meshing with the main gear on the periphery. Each secondary gear is connected to a corresponding planetary gear for transmission.

[0008] A primary drive system for driving the main gear to rotate;

[0009] The secondary drive system has its output end eccentrically connected to the planetary carrier and is used to output eccentric torque to the planetary carrier so as to drive the planetary carrier to rotate relative to the vehicle frame.

[0010] Compared to existing technologies that partially employ rigid planetary carrier structures, which often suffer from power overload or transmission imbalance due to single-motor drive, this invention provides a chain-type planetary gear all-terrain walking mechanism. This solution uses two drive systems to drive the walking mechanism for both movement and obstacle crossing, ensuring efficient power transmission and avoiding power overload or transmission imbalance. Specifically, the solution includes a frame, a primary drive system, and a secondary drive system. The planetary carrier is rotatably connected to the frame. A matching planetary gear set is located in the center of the planetary carrier. The primary drive system drives the central main gear of the planetary gear set to rotate. The main gear then drives several, preferably three, symmetrically arranged 120° gears around the main gear. Power is transmitted through the secondary gears to the three outermost planetary gears, driving them to rotate synchronously at equal intervals. This enhances the omnidirectional mobility of the walking mechanism on flat and slippery surfaces. Additional planetary carriers can be added between the two planetary carriers. Furthermore, since the planetary carrier is rotatably connected to the frame, when the secondary drive system applies an eccentric torque to the planetary carrier, it can synchronously drive the entire planetary carrier to rotate around the frame, thereby achieving flipping. A detection module can also be installed on the frame. When the detection module detects an obstacle ahead, the secondary drive system can drive the planetary carrier to passively or actively cross the obstacle. The planetary carrier's sides are preferably concave and, through a triangular structure, can avoid steps as much as possible. After crossing the obstacle, the frame can move forward stably and synchronously. A soil detection module and a camera acquisition module can be installed inside the frame. The soil detection module has the function of acquiring parameters such as humidity, conductivity, and pH value. The camera module uses a wide-angle low-light lens combined with a Raspberry Pi computing unit to achieve low-light visual recognition, improving the mechanism's environmental modeling and self-perception capabilities.

[0011] To further optimize the system and create a stable walking structure, the planetary carrier includes two opposing triangular plates, with the planetary gears rotatably connected between the two triangular plates. The planetary gear set and each transmission shaft of all planetary gears pass through the two triangular plates and are rotatably connected to them.

[0012] To further optimize the structure and simplify the design, the system achieves coaxial output while driving rotation and tumbling. The primary drive system includes a solid spindle, which is laterally rotatably connected to the middle of the planetary carrier. Two triangular plates extend from both ends of the solid spindle. The solid spindle is located at one end of the planetary carrier and is fixedly connected to the main gear.

[0013] The two-stage drive system includes a hollow spindle, which is coaxially mounted on a solid spindle and rotatably connected to the solid spindle via a composite rolling bearing assembly. An eccentric connector is also mounted on the hollow spindle, and the eccentric connector is eccentrically connected to an outer triangular plate. In this design, a solid spindle for rotation and a hollow spindle for tilting are provided. The hollow and solid spindles are coaxially arranged, and a composite rolling bearing assembly between them achieves axial decoupling. The solid spindle, passing inside the hollow spindle, can rotate independently for rotational drive, unaffected by the tilting motion of the hollow spindle. This ensures that the dual power systems can work independently or collaboratively, improving system stability and control flexibility. The hollow and solid spindles are arranged coaxially and nested, with multiple stages of rolling bearings between them forming a torque isolation structure, allowing the two spindles to rotate independently without interference. This decoupling design not only solves the common mutual interference problem in composite power input systems, but also improves the accuracy of the mechanism in recognizing and switching multi-mode motion states, extends the transmission life of the whole machine, and ensures motion reliability and structural coordination under complex operating conditions.

[0014] To further optimize the mechanism and improve its obstacle-crossing ability and maintain a stable climbing posture, the eccentric connector adopts a fixed flange, which is fixedly sleeved on the hollow main shaft in the middle. The fixed flange has several coaxially arranged arc-shaped holes evenly distributed around its circumference, and the connecting shaft on each secondary gear in the planetary gear set passes through the arc-shaped holes.

[0015] A slot is provided at the inner edge of the center of the arc-shaped hole to allow passage of the connecting shaft. In this design, the eccentric connector uses a fixed flange, which is fixedly fitted onto the hollow main shaft so that the fixed flange and the hollow main shaft rotate synchronously. Each circumferential end of the fixed flange has a coaxially arranged arc-shaped hole. The connecting shaft, through which the secondary gear passes, passes through the arc-shaped hole. Thus, as the hollow main shaft drives the fixed flange to rotate, the connecting shaft moves along the arc-shaped hole. When it reaches the end of the arc-shaped hole, the fixed flange continues to rotate and applies force to several connecting shafts, applying an eccentric torque in the same direction to the eccentric circumferential position of the planetary carrier, thereby causing the entire planetary carrier to rotate. Therefore, the secondary drive system drives the hollow main shaft to rotate, which in turn drives the entire planetary gear set to rotate around the solid main shaft via the fixed flange and the carrier body, switching to "crossing mode," allowing the wheel set to actively climb steps and adapt to undulating terrain, improving the mechanism's obstacle-crossing ability. Additionally, fixed flanges can be installed on both sides inside the planetary carrier.

[0016] To further optimize the system and enable separate driving of the solid and hollow spindles, the primary drive system also includes a primary motor and a first sprocket assembly. The solid spindle is fitted with transmission teeth on one end inside the planetary carrier, and the transmission teeth on the output end of the primary motor are connected to the transmission teeth on the solid spindle via the first sprocket assembly.

[0017] The secondary drive system also includes a secondary motor and a second sprocket set. A transmission gear is fitted onto one end of the hollow main shaft located inside the planetary carrier. The transmission gear on the output shaft of the secondary motor is connected to the transmission gear on the hollow main shaft via the second sprocket set. In this design, the primary and secondary motors are fixed to the frame and can be arranged side-by-side. Both ends of the primary and secondary motors have input shafts connected to bearing seats on the frame. The primary motor outputs through coupling with the solid main shaft via the first sprocket set. The outer end of the solid main shaft is connected to a planetary gear set, which drives the central sun gear of the planetary gear set to rotate, causing the three symmetrically arranged secondary gears on the periphery to rotate synchronously. The secondary motor outputs through coupling with the hollow main shaft via the second sprocket set. When a height difference obstacle or step boundary is detected ahead, the mechanism switches to a flip mode, activating the secondary motor. The secondary motor drives the hollow main shaft to rotate via the second sprocket set. The hollow main shaft has a fixed flange on its exterior, forming a fixed connection with the planetary carrier, thereby causing the entire wheel set to flip along the transverse axis, achieving dynamic adjustment of the wheel set angle and enabling the wheels to actively operate in the vertical direction. This action is automatically triggered by the vehicle's main control system in conjunction with the vision module, requiring no manual intervention and significantly improving the mechanism's initiative and intelligence in overcoming obstacles.

[0018] To further optimize power transmission and achieve stable power delivery, the planetary gear set is located outside the planetary carrier, and each of the secondary gears and planetary gears has a coaxially arranged synchronous pulley extending outward. The synchronous pulley on each secondary gear is connected to the corresponding synchronous pulley on the planetary gear via a synchronous belt. This design includes a synchronous transmission system comprising synchronous pulleys, a synchronous belt, and a rotating shaft installed within the planetary gear housing. Each planetary secondary gear and the planetary gear below it are rotatably connected to the planetary carrier via the rotating shaft, cooperating with the synchronous belt and synchronous pulley installed within the planetary gear housing to distribute power, achieving precise control of the mechanism during forward movement, turning, and U-turns. This structure improves the stability of the wheel set while enhancing drive response speed and transmission efficiency. Each planetary gear has an independent power input channel and an adaptive suspension interface, allowing the wheel set to automatically conform to the road surface according to ground undulations, reducing vibration and improving traction stability. Simultaneously, the outer shell is covered with a high-strength composite rubber material, effectively absorbing impact. In addition, the three sets of wheelsets use synchronous belts for flexible transmission, combined with a differential linkage structure, which can maintain balanced power output even under complex ground adhesion conditions (such as one wheel being suspended in the air or muddy surfaces). Furthermore, the planetary gears are equipped with replaceable rubber track plates on their ground contact faces. The track thickness is 8–12 mm, and the Shore A hardness is 70A–85A, to improve terrain adhesion and ground contact cushioning performance.

[0019] Further optimization includes a stabilizing block to provide guiding support during the flipping process. The stabilizing block is located between two triangular plates; each transmission shaft in the planetary gear set passes through the stabilizing block. In this design, the stabilizing block is located in the middle of the planetary carrier and provides a certain mass to the carrier. The stabilizing block includes two small triangular plates, with several rolling bearings sandwiched between them. The connecting shaft on each planetary gear set and the hollow main shaft pass through the rolling bearings on the stabilizing block. Therefore, the stabilizing block can rotate synchronously with the planetary carrier. This structure provides guiding support for the wheel set during the flipping process and absorbs instantaneous impact loads caused by sudden angle changes during obstacle crossing. This structure can extend the fatigue life of the structure and improve the mechanical stability and safety during obstacle crossing. It possesses three functions: rotational limiting, shock absorption, and torsional reinforcement, ensuring structural rigidity does not become unstable when the planetary carrier undergoes large-angle flipping, thus improving reliability and overall vehicle lifespan during obstacle crossing. Additionally, a fixed shaft can be added to the stabilizing block, with both ends rotatably connected to the sides of the planetary carrier and inserted into the arc-shaped holes of the fixed flange.

[0020] Furthermore, the fixing flange has a groove on the side facing the outer triangular plate, and the groove is used to fasten the bearing in the middle of the inner side of the triangular plate.

[0021] The fixed flange has several fixed plates evenly distributed around its circumference. Each fixed plate is fixedly connected to a triangular plate and has a notch on its inner side for the circumferential end of the fixed flange to rotate through.

[0022] The stabilizing block is provided with several columns around its circumference, and each column is connected to the stabilizing block and the fixing plate at both ends. In this design, the fixing flange has a groove in the middle of its side, and the circumferential end is flush with the top of the groove; in this way, the fixing flange can hold the bearing on the inner side of the triangular plate for protection, and can make the circumferential end of the fixing flange close to the triangular plate; several fixing plates are also provided on the triangular plate, which limit the circumferential end of the fixing flange, and the columns limit the distance between the triangular plate and the stabilizing block.

[0023] Further optimization involves rotatably connecting the planetary gears to the planetary carrier via an axle; the synchronizing pulleys on the planetary gears are tension pulleys and connected to the axle via a flexible coupling. A phase difference compensation mechanism is constructed using the tension pulley, flexible coupling, and encoder to achieve adaptive synchronous adjustment of the rotational angle deviation Δφ between the planetary gear sets to ≤1.5°.

[0024] Further optimized, the stabilizer block adopts a honeycomb structure and is composed of an aluminum alloy substrate and a polyurethane damping layer. The stabilizer block has a honeycomb polygonal structure, with its major axis forming a 32°–38° angle with the main shaft axis. It forms an asymmetric triangular stabilizing structure with the fixed shaft and frame through a three-point positioning method. An array of piezoelectric stress sensors is embedded within the stabilizer block for real-time monitoring of coupled loads. The stabilizer block uses 7075-T6 aluminum alloy as the substrate material, covered with a composite polyurethane damping layer. Its honeycomb pore size is 2–5 mm, with a gradient distribution, a porosity of 35%–45%, and a surface hardness of not less than HRB85. The transmission system sprocket ratio is i = 2.5–4.5. When the planetary gear set rotation angle θ ≥ 120°, the contact stress σ of the combined stabilizer block ≤ 15MPa.

[0025] Compared with the prior art, this utility model has the following advantages and beneficial effects:

[0026] 1. The present invention provides a chain-type planetary gear all-terrain walking mechanism, which is equipped with a dual-mode power coupling system. The dual-mode power coupling system uses the speed-torque coordinated drive of the primary motor and the secondary motor to form a composite transmission system with the sprocket assembly, so as to realize the switching of working conditions under different terrains (low speed with high torque / high speed with smoothness). The primary motor and the secondary motor drive the walking mechanism to walk and overcome obstacles respectively, which can ensure effective power transmission efficiency and avoid power overload or transmission imbalance.

[0027] 2. The present invention provides a chain-type planetary gear all-terrain walking mechanism, which is equipped with a phase synchronization compensation mechanism. The phase synchronization compensation mechanism integrates a tensioning wheel and an elastic coupling in the synchronous belt transmission path, and constructs a closed-loop control logic in combination with encoder feedback to stably control the rotation phase difference between planetary gears within the range of Δφ≤1.5°.

[0028] 3. The present invention provides a chain-type planetary wheel all-terrain walking mechanism with a gradient stabilization structure design. The gradient stabilization structure design is provided with a honeycomb stabilizing block. The stabilizing block is made of 7075-T6 aluminum alloy matrix and polyurethane damping layer composite. The honeycomb pore size is gradient distributed to achieve broadband vibration suppression and dynamic contact force buffering.

[0029] 4. This utility model provides a chain-type planetary gear all-terrain walking mechanism, equipped with a rear-wheel drive module, including a rear-wheel motor and a rear-wheel assembly. The rear-wheel motor is installed at the rear of the frame and directly drives the rear wheel to rotate through a single-stage reduction mechanism, thereby improving the power coordination and stability of the front and rear axles of the mechanism;

[0030] 5. The chain-type planetary wheel all-terrain walking mechanism provided by this utility model further achieves the following technical improvements by integrating a rear wheel and an independent rear drive motor into the mechanism: more reasonable power distribution, with the front and rear wheels working together to reduce the load on a single axle; improved walking efficiency, especially in low-resistance flat ground and inspection paths where the rear wheel can be driven independently for energy-saving operation; improved system anti-tipping ability and posture recovery efficiency after obstacle crossing by using rear wheel braking control in complex terrain; and a smaller platform turning radius, adapting to narrow working scenarios or high-mobility environments such as orchard passages. Attached Figure Description

[0031] The accompanying drawings, which are included to provide a further understanding of the embodiments of the present invention and form part of this application, do not constitute a limitation thereof. In the drawings:

[0032] Figure 1 A schematic diagram of the overall structure of the walking mechanism provided by this utility model;

[0033] Figure 2 Front sectional view of the walking mechanism provided by this utility model;

[0034] Figure 3 A side sectional view of the walking mechanism provided by this utility model;

[0035] Figure 4 An axial schematic diagram of the planetary carrier provided by this utility model;

[0036] Figure 5 Another axial schematic diagram of the planetary carrier provided by this utility model;

[0037] Figure 6 An axial schematic diagram of the eccentric connector provided by this utility model;

[0038] Figure 7 Internal structural diagram of the planetary gear set provided by this utility model;

[0039] Figure 8 Analysis diagram of the pre-attitude advance response of the planetary carrier in an obstacle crossing environment provided by this utility model.

[0040] The attached diagram shows the markings and corresponding component names:

[0041] 1-First stage motor; 2-Input shaft; 3-Bearing housing; 4-Frame; 5-Housing; 6-Solid main shaft; 7-First sprocket set; 8-Second sprocket set; 9-Hollow main shaft; 10-Wheel axle; 11-Stop bushing; 12-Planetary carrier; 13-Fixed plate; 14-Eccentric connector; 1401-Arc-shaped hole; 15-Fixed shaft; 16-Stabilizing block; 1601-Column; 17-Composite rolling bearing set; 18-Synchronous pulley; 19-Planetary gear set; 20-Transmission shaft; 21-Synchronous belt; 22-Planetary gear housing; 23-Tensioner; 24-Planetary gear; 25-Second stage motor; 26-Rear wheel motor; 27-Rear wheel. Detailed Implementation

[0042] To make the objectives, technical solutions, and advantages of this utility model clearer, the present utility model will be further described in detail below with reference to the embodiments and accompanying drawings. The illustrative embodiments and descriptions of this utility model are only used to explain this utility model and are not intended to limit this utility model.

[0043] Example:

[0044] This embodiment provides a chain-type planetary wheel all-terrain walking mechanism, such as... Figures 1-8 As shown, it includes:

[0045] The frame 4 has planetary carriers 12 rotatably connected on both sides. Each planetary carrier 12 includes a planetary gear set 19 rotatably connected in the middle and a plurality of planetary gears 24 rotatably connected and evenly distributed around the periphery. The planetary gear set 19 includes a main gear located in the center and a plurality of auxiliary gears meshing with the main gear around the periphery. Each auxiliary gear is connected to a corresponding planetary gear 24 in a transmission.

[0046] A primary drive system for driving the main gear to rotate;

[0047] The secondary drive system has its output end eccentrically connected to the planetary carrier 12 and is used to output eccentric torque to the planetary carrier 12 to drive the planetary carrier 12 to rotate relative to the frame 4.

[0048] Compared to existing technologies that employ rigid planetary carriers 12, which often suffer from power overload or transmission imbalance due to single-motor drive, this invention provides a chain-type planetary gear 24 all-terrain walking mechanism. This solution uses two drive systems to drive the walking mechanism for both movement and obstacle crossing, ensuring efficient power transmission and avoiding power overload or transmission imbalance. Specifically, the solution includes a frame 4, a primary drive system, and a secondary drive system. The planetary carrier 12 is rotatably connected to the frame 4. A matching planetary gear set 19 is located in the center of the planetary carrier 12. The primary drive system drives the central main gear of the planetary gear set 19 to rotate. The main gear then drives several, preferably three, symmetrically arranged 120° gears around the main gear. Power is transmitted through the gears to the three outermost planetary gears 24, driving them to rotate synchronously and at equal intervals. This enhances the omnidirectional movement capability of the walking mechanism on flat and slippery surfaces. Several additional planetary carriers 12 can be added between the two planetary carriers 12. Furthermore, since the planetary carrier 12 is rotatably connected to the frame 4, when the secondary drive system applies an eccentric torque to the planetary carrier 12, it can synchronously drive the entire planetary carrier 12 to rotate around the frame 4, thereby achieving a flip. A detection module can also be installed on the frame 4. When the detection module detects an obstacle in front, the secondary drive system can drive the planetary carrier 12 to passively or actively cross the obstacle. The side of the planetary carrier 12 is preferably a concave side, and through a triangular structure, it can avoid steps as much as possible. After crossing the obstacle, the frame 4 can move forward stably and synchronously. A soil detection module and a camera acquisition module can be installed inside the frame 4. The soil detection module has the function of collecting parameters such as humidity, conductivity, and pH value. The camera module uses a wide-angle low-light lens combined with a Raspberry Pi computing unit to achieve low-light visual recognition, improving the mechanism's environmental modeling capability and self-perception capability.

[0049] In some embodiments, to form a stable walking structure, the planetary carrier 12 includes two opposing triangular plates, and the planetary gear 24 is rotatably connected between the two triangular plates; the planetary gear set 19 and each transmission shaft 20 of all planetary gears 24 pass through the two triangular plates and are rotatably connected to the triangular plates.

[0050] In some embodiments, to simplify the structure and achieve coaxial output while driving rotation and flipping, the primary drive system includes a solid spindle 6. The solid spindle 6 is laterally rotatably connected to the middle of the planetary carrier 12. Two triangular plates extend from both ends of the solid spindle 6. The solid spindle 6 is fixedly connected to the main gear at one end located on the outer side of the planetary carrier 12.

[0051] The secondary drive system includes a hollow spindle 9, which is coaxially mounted on a solid spindle 6 and rotatably connected to the solid spindle 6 via a composite rolling bearing assembly 17. An eccentric connector 14 is also mounted on the hollow spindle 9, and the eccentric connector 14 is eccentrically connected to an outer triangular plate. In this design, a solid spindle 6 for self-rotation and a hollow spindle 9 for rotation are provided. The hollow spindle 9 and the solid spindle 6 are coaxially arranged, and a composite rolling bearing assembly 17 is provided between them to achieve axial decoupling. The solid spindle 6, passing inside the hollow spindle 9, can rotate independently for self-rotation drive, unaffected by the rotational motion of the hollow spindle 9, ensuring that the dual power system can work independently or collaboratively, improving system stability and control flexibility. The hollow spindle 9 and the solid spindle 6 are arranged in a coaxial nested configuration, with multiple stages of rolling bearings between them, forming a torque isolation structure, allowing the two spindles to rotate independently without interference. This decoupling design not only solves the common mutual interference problem in composite power input systems, but also improves the accuracy of the mechanism in recognizing and switching multi-mode motion states, extends the transmission life of the whole machine, and ensures motion reliability and structural coordination under complex operating conditions.

[0052] In some embodiments, to improve the obstacle-crossing ability of the mechanism and maintain a stable climbing posture, the eccentric connector 14 adopts a fixed flange, and the fixed flange is fixedly sleeved on the hollow main shaft 9 in the middle; the fixed flange has a plurality of coaxially arranged arc-shaped holes 1401 evenly distributed around its circumference, and the connecting shaft on each secondary gear in the planetary gear set 19 passes through the arc-shaped holes 1401.

[0053] A slot for avoiding the connecting shaft is provided at the inner edge of the center of the arc-shaped hole 1401. In this design, the eccentric connector 14 adopts a fixed flange, which is fixedly sleeved on the hollow main shaft 9 so that the fixed flange and the hollow main shaft 9 rotate synchronously. The circumferential ends of the fixed flange are all coaxially arranged arc-shaped holes 1401, and the connecting shaft with the auxiliary gear passing through it passes through the arc-shaped hole 1401. In this way, when the hollow main shaft 9 drives the fixed flange to rotate, the connecting shaft can move along the arc-shaped hole 1401. When it moves to the end of the arc-shaped hole 1401, the fixed flange continues to rotate and applies force to several connecting shafts to apply an eccentric torque in the same direction to the eccentric circumferential position of the planetary carrier 12, thereby driving the entire planetary carrier 12 to rotate. Therefore, the secondary drive system drives the hollow main shaft 9 to rotate, and then drives the entire set of planetary gears 24 to rotate around the solid main shaft 6 through the fixed flange and the frame, switching to the "crossing mode", so that the wheel set can actively climb steps and adapt to undulating road sections, improving the obstacle crossing ability of the mechanism. In addition, fixed flanges can be installed on both sides inside the planetary carrier 12.

[0054] In some embodiments, in order to achieve separate driving of the solid spindle 6 and the hollow spindle 9, the primary drive system further includes a primary motor 1 and a first sprocket set 7; the solid spindle 6 is fitted with transmission teeth on one end inside the planetary carrier 12, and the transmission teeth on the output end of the primary motor 1 are connected to the transmission teeth on the solid spindle 6 through the first sprocket set 7.

[0055] The secondary drive system also includes a secondary motor 25 and a second sprocket set 8. A transmission gear is fitted onto one end of the hollow main shaft 9 located inside the planetary carrier 12. The transmission gear on the output shaft of the secondary motor 25 is connected to the transmission gear on the hollow main shaft 9 via the second sprocket set 8. In this design, the primary motor 1 and the secondary motor 25 are fixed to the frame 4 and can be arranged side-by-side. Both ends of the primary motor 1 and the secondary motor 25 have input shafts 2, which are connected to bearing seats 3 on the frame 4. The primary motor 1 outputs power through a first sprocket set 7 and a solid main shaft 6. The outer end of the solid main shaft 6 is connected to a planetary gear set 19, which drives the central sun gear of the planetary gear set 19 to rotate, causing the three symmetrically arranged auxiliary gears on the periphery to rotate synchronously. The secondary motor 25 outputs power through the second sprocket set 8 and the hollow main shaft 9. When an obstacle with a height difference or a step boundary is detected ahead, the mechanism switches to the flip mode and starts the secondary motor 25. The secondary motor 25 drives the hollow main shaft 9 to rotate through the second sprocket set 8. The hollow main shaft 9 has a fixed flange on its outside, forming a fixed connection with the planetary carrier 12, thereby driving the entire wheel set to flip along the lateral axis, realizing dynamic adjustment of the wheel set angle, and enabling the wheels to actively operate in the vertical direction. This action is automatically triggered by the vehicle's main control system in conjunction with the vision module, without manual intervention, significantly improving the mechanism's initiative and intelligence in overcoming obstacles.

[0056] In some embodiments, to achieve stable power transmission, the planetary gear set 19 is located outside the planet carrier 12, and each of the secondary gears and each of the planetary gears 24 has a coaxially arranged synchronous pulley 18 extending outward; the synchronous pulley 18 on each secondary gear is connected to the corresponding synchronous pulley 18 on the planetary gear 24 via a synchronous belt 21. This solution includes a synchronous transmission system comprising synchronous pulleys 18, a synchronous belt 21, and a rotating shaft installed within the planetary gear housing 22; each planetary secondary gear and the lower planetary gear 24 are rotatably connected to the planet carrier 12 via the rotating shaft, cooperating with the synchronous belt 21 and synchronous pulley 18 installed within the planetary gear housing 22 to distribute power, achieving precise control of the mechanism during forward movement, turning, and U-turns. This structure improves the stability of the wheel set while enhancing drive response speed and transmission efficiency. Each planetary gear 24 has an independent power input channel and an adaptive suspension interface, allowing the wheel set to automatically press against the road surface according to ground undulations, reducing vibration and improving traction stability. Simultaneously, the outer shell material is covered with high-strength composite rubber material, effectively absorbing impact. In addition, the three sets of wheelsets are flexibly driven by a synchronous belt 21, combined with a differential linkage structure, which can maintain balanced power output even under complex ground adhesion conditions (such as one wheel being suspended in the air, muddy surfaces, etc.). Furthermore, the ground contact end face of the planetary gear 24 is equipped with replaceable rubber track plates, with a track thickness of 8–12 mm and a Shore hardness of 70A–85A, to improve terrain adhesion and ground contact cushioning performance.

[0057] In some embodiments, a stabilizing block 16 is included to provide guiding support during the flipping process. The stabilizing block 16 is located between two triangular plates; each transmission shaft 20 in the planetary gear set 19 passes through the stabilizing block 16. In this scheme, the stabilizing block 16 is located in the middle of the planetary carrier 12 and provides a certain mass to the planetary carrier 12; the stabilizing block 16 includes two small triangular plates, with several rolling bearings sandwiched between the two small triangular plates, and the connecting shaft on each planetary gear and the hollow main shaft 9 all pass through the rolling bearings on the stabilizing block 16. Therefore, the stabilizing block 16 can rotate synchronously with the planetary carrier 12. This structure provides guiding support for the wheel set during the flipping process and can also absorb the instantaneous impact load caused by the sudden change in angle during obstacle crossing. This structure can extend the fatigue life of the structure and improve the mechanical stability and safety during obstacle crossing. It has three functions: rotation limit, shock absorption, and torsional reinforcement, which are used to ensure that the structural rigidity does not become unstable when the planetary carrier 12 is flipped at a large angle, thereby improving the reliability and overall vehicle life during obstacle crossing. Additionally, a fixed shaft 15 can be added to the stabilizer block 16. The two ends of the fixed shaft 15 are rotatably connected to the two sides of the planetary carrier 12, and are inserted into the arc-shaped hole 1401 of the fixed flange.

[0058] In some embodiments, the fixing flange has a groove on the side facing the outer triangular plate, the groove being used to fasten the bearing in the middle of the inner side of the triangular plate.

[0059] The fixed flange is evenly distributed with several fixed plates 13 in the circumference. Each fixed plate 13 is fixedly connected to a triangular plate and has a notch on its inner side for the circumferential end of the fixed flange to rotate through.

[0060] The stabilizing block 16 is provided with a plurality of columns 1601 circumferentially, and each of the columns 1601 is connected to the stabilizing block 16 and the fixing plate 13 at both ends respectively. In this design, the fixing flange has a groove in the middle of its side surface, and the circumferential end is flush with the top of the groove; in this way, the fixing flange can fasten the bearing on the inner side of the triangular plate for protection, and can make the circumferential end of the fixing flange close to the triangular plate; a plurality of fixing plates 13 are also provided on the triangular plate, which limit the circumferential end of the fixing flange and limit the distance between the triangular plate and the stabilizing block 16 by means of the plurality of columns 1601.

[0061] In some embodiments, the planetary gears 24 are rotatably connected to the planet carrier 12 via the axle 10; the synchronizing pulleys 18 on the planetary gears 24 are tensioning pulleys 23 and are connected to the axle 10 via a flexible coupling. The tensioning pulley 23, the flexible coupling, and the encoder constitute a phase difference compensation mechanism, which is used to achieve adaptive synchronous adjustment of the rotation angle deviation Δφ between the planetary gear sets 24 ≤ 1.5°.

[0062] In some embodiments, the stabilizing block 16 adopts a honeycomb structure and is composed of an aluminum alloy substrate and a polyurethane damping layer. The stabilizing block 16 has a honeycomb polygonal structure, with its major axis forming an angle of 32°–38° with the main shaft axis. It forms an asymmetric triangular stabilizing structure with the fixed shaft 15 and the frame 4 through a three-point positioning method. The stabilizing block 16 embeds a piezoelectric stress sensor array for real-time monitoring of coupled loads. The stabilizing block 16 uses 7075-T6 aluminum alloy as the substrate material, covered with a composite polyurethane damping layer. Its honeycomb pore size is 2–5 mm, with a gradient distribution, a porosity of 35%–45%, and a surface hardness not less than HRB85. The transmission system sprocket ratio is i = 2.5–4.5. When the planetary gear set 24's rotation angle θ ≥ 120°, the contact stress σ of the combined stabilizing block 16 is ≤ 15 MPa.

[0063] The specific working principle of this solution is as follows:

[0064] After the mechanism is powered on, the primary motor 1 starts working, and power is transmitted to the solid main shaft 6 through the first sprocket set 7. The rotation of the solid main shaft 6 drives the planetary gear seat fixed at one end to move, and the main gear starts to rotate, simultaneously driving the three equally spaced auxiliary gears to rotate synchronously. The auxiliary gears not only rotate around their own axes, but also revolve around the central gear, achieving even power distribution and bringing the entire gear set structure into a ready state. As the pinions rotate, they transmit power to the synchronous pulley 18 through the connecting shaft, which in turn drives the three sets of planetary gears 24 to roll. The three wheels work together, moving forward in the same direction and at the same speed, enabling the mechanism to propel stably on ordinary terrain, and even when encountering small undulations or gravel, it can maintain balance and continuous movement.

[0065] When a medium-height obstacle appears in the path, the foremost wheel contacts the obstacle first and slows down, while the other two sets of wheels continue to drive. Since the three wheels are supported on a single plane, as the obstructed wheel lags behind, the entire wheel frame structure begins to tilt upwards, achieving active lifting. This process requires no external commands and relies entirely on the inter-wheel support logic and structural linkage. Once the wheel frame tilts, the center of gravity at the front of the mechanism shifts upwards, and the other two sets of wheels continue to push upwards under the mechanism's inertia and continuous drive, gradually unfolding a "flipping" posture. At this point, the mechanism has achieved automatic preparatory action before overcoming the obstacle, dynamically adjusting its posture for the subsequent complete flipping motion.

[0066] Once the traveling mechanism senses that the flipping conditions are met, the system activates the secondary motor 25, whose power is applied downwards to the hollow main shaft 9 via the second sprocket set 8. Driven by this power, the hollow main shaft 9 rotates, causing the planetary carrier 12, which is rigidly connected to it, to flip forward as a whole. During the wheel carrier flip, the three wheels gradually change from facing downwards to facing upwards, achieving a forward flipping motion at the front end of the mechanism, thus forming the first stage of the wheel set attitude switching.

[0067] Driven by the hollow spindle 9, the planetary carrier 12 continues to rotate, and the three sets of wheels successively cross the edge of the obstacle and leave the original ground contact point. As the hollow spindle 9 rotates to the specified angle, the planetary carrier 12 is locked in the upward posture, and the three wheels land back on the ground in front of the mechanism, realizing the process of "flipping and re-landing", providing an adaptive structure for terrain with elevation differences.

[0068] After the mechanism re-establishes a new ground contact point, the primary motor 1 continues to output drive, and the three wheels roll forward in an upward posture. Due to the change in the structural height of the wheel assembly, the mechanism now has a stronger obstacle-crossing ability, enabling it to traverse obstacles that would normally be insurmountable, such as higher vertical structures or steep slopes.

[0069] Once the mechanism crosses an obstacle, the system issues a reset command, and the hollow main shaft 9 rotates in the opposite direction. The wheel frame then slowly tilts downwards, and the three wheels sequentially return to their original drooping position and re-make contact with the ground. The reset process is controlled by the system in terms of angle and speed to ensure that the overall balance of the mechanism is not disrupted, while simultaneously restoring the vehicle's movement. Throughout the entire operation of the mechanism, the front and rear vehicle bodies maintain a flexible connection through an articulated structure. When the front section of the mechanism changes angle due to terrain undulations, a buffering mechanism at the articulation point compensates for the angle of the rear vehicle body, preventing concentrated structural stress, achieving dynamic linkage, and ensuring consistent vehicle posture.

[0070] Additionally, to achieve in-situ rotation, the mechanism control system sends opposite rotation signals to the left and right wheel sets respectively. The left wheel set rotates clockwise, and the right wheel set rotates counterclockwise, constituting the mechanism's rotation around its central axis. During this period, the flipping structure remains locked in its posture and does not participate in the movement, making the in-situ rotation process more precise.

[0071] Secondly, during the overall operation of the platform, the rear wheel 27 can operate in the following three modes:

[0072] Cooperative drive mode: When the front wheel enters a high-load obstacle crossing state, the control system activates the rear wheel motor 26 to provide thrust compensation;

[0073] Cruise mode: In areas with flat terrain, only the rear wheel motor 26 drives the platform forward, while the front wheel mechanism is in a passive rolling state to reduce energy consumption;

[0074] Braking Stability Mode: When the platform is going downhill or requires rapid braking, the rear wheel motor 26 applies braking force in the opposite direction to assist the system in deceleration and attitude control;

[0075] The rear wheel motor 26 controller is integrated into the main control unit and has the same control logic as the front wheel motor, enabling closed-loop control of speed, torque, and attitude feedback.

[0076] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of this utility model. It should be understood that the above description is only a specific embodiment of this utility model and is not intended to limit the scope of protection of this utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the scope of protection of this utility model.

Claims

1. A chain-type planetary wheel all-terrain walking mechanism, characterized in that, include: The frame (4) has planetary carriers (12) rotatably connected on both sides. The planetary carriers (12) include a planetary gear set (19) rotatably connected in the middle and a number of planetary gears (24) rotatably connected around the periphery and evenly distributed. The planetary gear set (19) includes a main gear located in the center and a number of auxiliary gears meshing with the main gear around the periphery. Each auxiliary gear is connected to a corresponding planetary gear (24) in a transmission. A primary drive system for driving the main gear to rotate; The secondary drive system has its output end eccentrically connected to the planetary carrier (12) and is used to output eccentric torque to the planetary carrier (12) to drive the planetary carrier (12) to rotate relative to the frame (4).

2. The chain-type planetary wheel all-terrain walking mechanism according to claim 1, characterized in that, The planetary carrier (12) includes two opposing triangular plates, and the planetary gears (24) are rotatably connected between the two triangular plates; the planetary gear set (19) and each transmission shaft (20) of all planetary gears (24) pass through the two triangular plates and are rotatably connected to the triangular plates.

3. The chain-type planetary wheel all-terrain walking mechanism according to claim 2, characterized in that, The first-stage drive system includes a solid spindle (6), which is laterally rotatably connected to the middle of the planetary carrier (12). Two triangular plates extend from both ends of the solid spindle (6). The solid spindle (6) is located at one end outside the planetary carrier (12) and is fixedly connected to the main gear. The secondary drive system includes a hollow spindle (9), which is coaxially sleeved on the solid spindle (6) and rotatably connected to the solid spindle (6) through a composite rolling bearing assembly (17); an eccentric connector (14) is also sleeved on the hollow spindle (9), and the eccentric connector (14) is eccentrically connected to the outer triangular plate.

4. The chain-type planetary wheel all-terrain walking mechanism according to claim 3, characterized in that, The eccentric connector (14) adopts a fixed flange, and the fixed flange is fixedly sleeved on the hollow main shaft (9) in the middle; the fixed flange has a number of coaxially arranged arc holes (1401) evenly distributed around its circumference, and the connecting shaft on each secondary gear in the planetary gear set (19) passes through the arc holes (1401). A slot is provided at the inner edge of the center of the arc-shaped hole (1401) to avoid the connecting shaft.

5. The chain-type planetary wheel all-terrain walking mechanism according to claim 3, characterized in that, The primary drive system also includes a primary motor (1) and a first sprocket set (7); the solid spindle (6) is fitted with transmission teeth on one end inside the planetary carrier (12), and the transmission teeth on the output end of the primary motor (1) are connected to the transmission teeth on the solid spindle (6) through the first sprocket set (7); The secondary drive system also includes a secondary motor (25) and a second sprocket set (8). The hollow spindle (9) is fitted with transmission teeth on one end inside the planetary carrier (12). The transmission teeth on the output shaft of the secondary motor (25) are connected to the transmission teeth on the hollow spindle (9) through the second sprocket set (8).

6. The chain-type planetary wheel all-terrain walking mechanism according to claim 2, characterized in that, The planetary gear set (19) is located outside the planet carrier (12), and each of the secondary gears and each of the planetary gears (24) has a coaxially arranged synchronous pulley (18) extending outward; the synchronous pulley (18) on each of the secondary gears is connected to the synchronous pulley (18) on the corresponding planetary gear (24) via a synchronous belt (21).

7. The chain-type planetary wheel all-terrain walking mechanism according to claim 4, characterized in that, It also includes a stabilizing block (16) located between two triangular plates; each transmission shaft (20) in the planetary gear set (19) passes through the stabilizing block (16).

8. The chain-type planetary wheel all-terrain walking mechanism according to claim 7, characterized in that, The fixed flange has a groove on the side facing the outer triangular plate, and the groove is used to fasten the bearing in the middle of the inner side of the triangular plate. The fixed flange is evenly distributed with several fixed plates (13) in the circumference. Each fixed plate (13) is fixedly connected to a triangular plate and has a notch on its inner side for the circumferential end of the fixed flange to rotate through. The stabilizing block (16) is provided with a plurality of columns (1601) in the circumferential direction, and the two ends of each column (1601) are connected to the stabilizing block (16) and the fixing plate (13) respectively.

9. A chain-type planetary wheel all-terrain walking mechanism according to claim 6, characterized in that, The planetary gear (24) is rotatably connected to the axle (10) and the planet carrier (12); the synchronizing pulley (18) on the planetary gear (24) is a tensioning pulley (23) and is connected to the axle (10) through a flexible coupling.

10. A chain-type planetary wheel all-terrain walking mechanism according to claim 7, characterized in that, The stabilizer block (16) adopts a honeycomb structure and is made of an aluminum alloy substrate and a polyurethane damping layer.

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