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

Abstract

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.

Description

technical field [0001] The invention relates to a robot walking device, in particular to a double eccentric circle variable eccentric distance obstacle crossing assembly and a wheel-footed robot comprising the assembly. Background technique [0002] Human beings continue to explore unknown areas and the unstructured working environment of human beings. Moreover, with the rapid development of many fields such as nuclear energy industry, exploration and rescue, military reconnaissance, fire prevention and detonation, aerospace, etc. A mobile robot that can walk freely on the ground, and can walk freely and overcome obstacles in wild environments and complex terrains (such as earthquake ruins, mine disaster sites). [0003] The motion mechanisms of existing mobile robots can be roughly divided into: wheeled, tracked, multi-legged, hybrid (such as wheel-leg hybrid, wheel-track hybrid) and special forms (such as polygonal tumbling, serpentine sliding) . Among them, most of the ...

AI Technical Summary

Problems solved by technology

Among them, most of the multi-legged and special forms belong to the bionic walking mechanism, which has strong obstacle-surmounting ability and terrain adaptability, but the mechanical structure of these two types of walking mechanisms is complicated, the control is difficult, and the mobility is relatively poor. In the early stages of research and development applications

After more than 100 years of development, the track has been proved to be a walking mechanism that can adapt to complex terrain and harsh environments, but its shortcomings are also obvious: bulky, requiring high-power drives, therefore, there are strict restrictions on portable or power Tracks are not suitable for mobile robots

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