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

Claim 5:
6. The planetary wheel type obstacle crossing robot according to claim 5, wherein when the obstacle crossing robot is traveling normally, the front wheel and the rear wheel of the planetary wheel set are on the ground at a same time, and stable power is provided through the front wheel and the rear wheel; and
when the obstacle crossing robot encounters the obstacle, the front wheel is blocked by the obstacle, under the action of the driving torque output by the second drive device, the binding rod flips forward around the front wheel, so that the upper wheel touches the ground, at this time, if the obstacle has not been passed, the upper wheel is also blocked by the obstacle, under the action of the driving torque output by the second drive device, the binding rod continues to flip forward around the upper wheel, so that the rear wheel touches the ground, and the three wheels flip in turn until the entire planetary wheel set passes the obstacle.