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

Claim 6:
7. The planetary wheel type obstacle crossing robot according to claim 5, wherein when the obstacle crossing robot encounters a gully, the front wheel is under the action of the driving torque output by the second drive device, and the binding rod flips forward around the front wheel, so that the upper wheel reaches an opposite side of the gully, after the upper wheel contacts a plane on the opposite side of gully, the upper wheel and the rear wheel jointly drive the planetary wheel set to move horizontally, the front wheel separates from a front wall of the gully, an upward driving force generated by the front wheel contacting the front wall of the deep groove and a driving force generated by the upper wheel jointly act, so that the planetary wheel set makes a combined flipping and forward movement, and a center of gravity gradually rises to complete gully crossing.