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

Claim 4:
5. The planetary wheel type obstacle crossing robot according to claim 1, wherein each planetary wheel set further comprises a binding rod;
the binding rod has three output shafts, and movement directions and movement speeds of the three output shafts are the same; and the three output shafts are respectively connected to the front wheel, the rear wheel, and the upper wheel; and
a central axis of the upper wheel, a central axis of the front wheel, and a central axis of the rear wheel respectively coincide with central axes of the three output shafts of the binding rod, and structures of the upper wheel, the front wheel, and the rear wheel are the same; and a geometric center of the upper wheel, a geometric center of the front wheel, and a geometric center of the rear wheel are respectively located at three vertices of a same equilateral triangle.