Small variable-center-of-gravity wheel type obstacle crossing robot

• Main Authors: NIU YI, GAO SHAN, ZOU WENJING, WANG CHAO, MA ERQI, JIANG JING
• Format: Patent
• Language: Chinese; English
• Published: 27.10.2023
• Subjects: LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS; MOTOR VEHICLES; PERFORMING OPERATIONS; TRAILERS; TRANSPORTING

The invention provides a small variable-gravity-center wheel type obstacle crossing robot. The small variable-gravity-center wheel type obstacle crossing robot comprises feet, legs, a rack and balancing weights. The feet are connected with the legs, spoke wheels are fixed to the feet, and the passing ability of the robot facing common obstacles can be improved through the spoke wheels; the spoke wheels on the same side are meshed through gears, and driving is completed through only one motor. The legs are connected with the rack through worm gears and worms, the worms installed on the two sides of the rack rotate to drive the worm gears of the legs to rotate, and then the rack can be moved front and back to change the gravity center of the robot. The balancing weight is used for controlling whether the robot tilts or not when the rack moves front and back so as to adapt to different types of obstacles. The robot with the variable gravity centers of the wheel legs is flexible and rapid in movement, high in env