Double-eccentric circle obstacle crossing assembly with variable eccentric distance and wheel-leg robot
A technology of eccentric circle and eccentric distance, which is applied in the field of robot walking devices, can solve the problems of high-power drive, complex mechanical structure, and difficult control, etc., and achieve the effect of simple and reliable structure, simple mechanical structure and good controllability
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[0032] The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings; it should be understood that the preferred embodiments are only for illustrating the present invention, rather than for limiting the protection scope of the present invention.
[0033] A double eccentric circle variable eccentric distance obstacle crossing assembly includes an inner wheel 32 and an outer wheel 31 that are both eccentric wheels, the inner wheel is rotatably arranged in the outer wheel, and an outer ring surface 321 of the inner wheel is provided with A plurality of first limiting devices 361 are provided, and the inner ring surface 311 of the outer wheel is provided with second limiting devices 362 that cooperate with the first limiting devices.
[0034] The inner and outer wheels are provided with drive holes 37 .
[0035] Based on the above-mentioned double eccentric circle variable eccentric distance obstacle crossing assem...
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