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

Claim 1:
2. The planetary wheel type obstacle crossing robot according to claim 1, wherein the front drive set further comprises a steering wheel suspension structure;
the dual-drive steering wheel structure is connected to the front end of the frame through the steering wheel suspension structure;
the steering wheel suspension structure comprises a drive part fixing plate, a damping spring, and a damping spring bracket;
the dual-drive steering wheel structure further comprises a motor fixing base, a drive wheel fixing plate, an outer connecting shaft, a limit sleeve, an inner connecting shaft, and a shaft end retaining ring; and
the first drive device is connected to the motor fixing base, and a torque output by the first drive device is transmitted to the drive wheel through a belt transmission structure or a chain transmission structure; the drive wheel is connected to an output shaft of the belt transmission structure or the chain transmission structure, and the drive wheel fixing plate passes through the output shaft and connects the output shaft and the drive wheel through a bolt to implement fixing in an axial direction of the drive wheel; the outer connecting shaft is connected to the drive part fixing plate through a bolt, the inner connecting shaft passes through the outer connecting shaft, a lower end of the outer connecting shaft is connected to the motor fixing base, and an upper end of the inner connecting shaft is connected to the shaft end retaining ring, thereby implementing relative rotation of the inner connecting shaft and the outer connecting shaft; the limit sleeve passes through the inner connecting shaft, the shaft end retaining ring is screwed onto a thread of the upper end of the inner connecting shaft, and the limit sleeve is pressed against the inner connecting shaft to implement axial direction limit; and two ends of the damping spring are respectively pressed against the inner connecting shaft and a lower end of the damping spring bracket, and an upper end of the damping spring bracket is connected to the front end of the frame.