The invention discloses a double-eccentric circle obstacle crossing assembly with a variable eccentric distance. The double-eccentric circle obstacle crossing assembly comprises inner wheels and outer wheels which are both eccentric wheels, the inner wheels are rotationally arranged in the outer wheels, a plurality of first limiting devices are arranged on the outer ring surfaces of the inner wheels, and second limiting devices which are matched with the first limiting devices are arranged on the inner ring surfaces of the outer wheels. An obstacle robot disclosed by the invention can be used as a robot with an eccentric wheel-leg structure and also can be used as a robot with a common round wheel structure; when the robot moves on the smooth ground, obstacle crossing wheels of the robot are changed into a command round wheel mode, a power shaft of each command round wheel is positioned in the circle center of the wheel, no fluctuation is generated during walking, and the efficiency is high; when the robot moves on the unsmooth ground, the obstacle wheels of the robot can be used as the eccentric wheels, a power shaft of each eccentric wheel is deviated from the circle center, and the obstacle crossing capacity is strong. According to the double-eccentric circle obstacle crossing assembly and the robot disclosed by the invention, the obstacle crossing wheels of the robot can be freely switched between an eccentric mode and a circle center mode, the size of the eccentric distance can be adjusted in real time according to the height of an obstacle in an obstacle crossing environment, and the higher the obstacle is, the larger the eccentric distance of the obstacle crossing wheels can be obtained.


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    Title :

    Double-eccentric circle obstacle crossing assembly with variable eccentric distance and wheel-leg robot


    Contributors:
    FANG CAN (author) / WANG YUJUN (author) / HUANG JIE (author) / LIAO SHUBIN (author) / JIANG QIMI (author)

    Publication date :

    2015-06-03


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge / B60B VEHICLE WHEELS , Räder für Fahrzeuge



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