Patent ID: 11945527
Assignee: HUAZHONG UNIVERSITY OF SCIENCE AND TECHNOLOGY
Field: Transport (Mechanical engineering)
Classification: CPC B | IPC B

Claim 3:
4. The planetary wheel type obstacle crossing robot according to claim 1, wherein the planetary wheel set suspension structure comprises two motor brackets, eight pendulum rods, two connecting rods, a drive bracket, four spring guide rods, four pressure springs, two spacing sleeves, and two support shafts;
the two motor brackets are used to respectively connect to the second drive device;
the two motor brackets are respectively connected to the drive bracket through the four pendulum rods to form the retractable parallelogram structure; the four pendulum rods are respectively composed of two pendulum rods with parallel upper ends and two pendulum rods with parallel lower ends; and the connecting rod is connected between the two pendulum rods with parallel lower ends;
an upper end of the pressure spring is pressed against the support shaft, and a lower end is pressed against the connecting rod; the spring guide rod passes through the pressure spring and is connected to the drive bracket through the support shaft, a fork is provided under the spring guide rod, and the connecting rod is placed in the fork; and two sides of the drive bracket respectively have two spring guide rods, two pressure springs, a spacing sleeve, and a support shaft;
the spacing sleeve is sleeved onto the support shaft and is placed between the two spring guide rods on a same side; and
when the planetary wheel set encounters the obstacle or a ground with uneven left and right sides, a shape of a parallelogram formed by the motor bracket, the drive bracket, and the pendulum rod changes; the planetary wheel set and the second drive device rely on the pendulum rod to swing together, the connecting rod squeezes the pressure spring to move in the fork under the spring guide rod, and at a same time, the spring guide rod rotates around the support shaft, thereby enhancing terrain adaptability of the obstacle crossing robot.