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This paper presents a double eccentric circular variable eccentricity widening components, including the Inner wheel and outer wheel. The inner wheel can be rotated in the outer wheel, and the outer ring surface of the inner wheel is provided with a plurality of first limit means, the inner ring surface of the outer wheel is provided with a second limiting device cooperating with the first stop device. The robot can be used as eccentric foot structure robot, It can also be a regular round wheel structure robot. When the robot is moving on a flat ground, the obstruction wheel switch to ordinary round mode, Ordinary round wheel of the power axis is located in the center, walking without ups and downs, high efficiency. In the non-flat ground motion, the obstacle can be used as a eccentric wheel, The power shaft of the eccentric wheel deviates from the center of the circle, obstacle ability is better. In this invention, the robot's obstacle wheel can switch freely in eccentricity and center, the size of eccentricity can be adjusted in real time according to the height of obstacles in the more obstacle environment. The higher the obstruction, the greater the eccentricity of the obstacle wheel.

A Double Eccentric Circular Variable Eccentricity Widening Components and Wheel Foot Robots