Planetary Wheel Robot Steering Structure for Obstacle Crossing
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Solution Overview
Problem
Existing planetary wheel type obstacle crossing robots have poor turning characteristics and excessive wheel wear due to two wheels of the planetary wheel set being on the ground during normal operation.
Innovation Solution
A planetary wheel type obstacle crossing robot design featuring a dual-drive steering wheel structure for the front drive set and a rear drive set with individually driven planetary wheel sets and a retractable parallelogram suspension structure, allowing for improved steering and terrain adaptability, and reducing wear through differential drive and shock absorption.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Stability of the object's composition
If a planetary wheel set with two wheels on the ground is used for normal operation, then the robot achieves stable movement and load-bearing capability, but the turning characteristics deteriorate and wheel wear increases
Solution Approach 1:
The patent applies the dynamics principle by making the planetary wheel set configurable between two operational states: a stable state with two wheels on the ground for normal movement and load-bearing, and a turned state where one wheel is lifted off the ground for turning operations. This dynamic reconfiguration allows the system to optimize its characteristics based on operational requirements, resolving the contradiction between stability and turning ease.
2Stability of the object's composition
If a planetary wheel set with two wheels on the ground is used for normal operation, then the robot achieves stable movement, but wheel wear increases due to continuous contact with the ground
Solution Approach 1:
The patent reduces wheel wear through dynamic operation: during turning maneuvers, one wheel is lifted off the ground, reducing its contact time and wear accumulation. This dynamic adjustment minimizes unnecessary wear while maintaining stability during straight-line movement, addressing the contradiction between stability and wheel durability.
3Adaptability or versatility
If a pedrail type mechanism is used, then obstacle crossing ability and terrain adaptability improve, but the robot size increases and road surface damage occurs
Solution Approach 1:
The patent achieves multi-functionality by combining the planetary wheel set's inherent obstacle crossing capability with a lifting mechanism. This allows the same compact wheel structure to perform both normal rolling movement and active obstacle negotiation, eliminating the need for a separate pedrail mechanism and maintaining a compact robot size while achieving high terrain adaptability.
4Adaptability or versatility
If a leg type obstacle crossing robot is used, then terrain adaptability and flexible movement improve, but structure and control complexity increase
Solution Approach 1:
The patent achieves terrain adaptability through a simplified mechanism: the planetary wheel set can actively lift and reposition itself to overcome obstacles, combining the simplicity of wheel-based movement with the adaptability of legged systems. This eliminates the need for complex multi-jointed leg structures while maintaining high terrain adaptability.
Data Source
AI summary
A planetary wheel type obstacle crossing robot, including a frame, a front drive set, and a rear drive set, is provided. The front drive set and the rear drive set are respectively connected to a front end and a rear end of the frame. The front drive set includes a dual-drive steering wheel structure, which includes two drive wheels and two first drive devices. The first drive devices respectively output different rotational speeds to the drive wheels, so that the dual-drive steering wheel structure rotates. The rear drive set includes two planetary wheel sets, two second drive devices, and a planetary wheel set suspension structure. Each planetary wheel set is individually driven and includes a front wheel, a rear wheel, and an upper wheel. The 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.