CN103568698A - Multi-category geographical environment traveling pedal wheel - Google Patents
Multi-category geographical environment traveling pedal wheel Download PDFInfo
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- CN103568698A CN103568698A CN201310574769.XA CN201310574769A CN103568698A CN 103568698 A CN103568698 A CN 103568698A CN 201310574769 A CN201310574769 A CN 201310574769A CN 103568698 A CN103568698 A CN 103568698A
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Abstract
The invention provides a multi-category geographical environment traveling pedal wheel which comprises a convex ratchet wheel, a convex pedal, a pedal pad, viscosity-removing toggle pins, a viscosity-removing spring, a resetting spring, a telescopic rod and a telescopic limiting combination spring. The convex ratchet wheel is provided with six convex ratchets, each convex ratchet is inserted in the telescopic rod and is pushed by the built-in telescopic limiting combination spring under the action of the gravity and inertia to slide in a reciprocating mode. The concave pedal is hinged to the tail end of the telescopic rod, a resetting spring is used for keeping the concave pedal rotating and resetting, the pedal pad attenuates sound, absorbs shock and resists slipping, and the viscosity-removing toggle pins reduce the viscosity of a smooth and viscous floor.
Description
Technical field
The present invention relates to a kind of multi-class geographical environment walking pedal wheel, the multiple types geographical environments such as it is applied to flatly, marsh, farmland, ice and snow, the water surface and step frequently change the carrier of walking and make, be particularly good in structure agricultural, scientific investigation, exploration carry with the harsh requirement of all class special industries of military surveillance, walking-replacing tool.
Background technology
At present, complicated, multiple types environment walking is main to be relied on crawler belt, collapsible crawler belt and wheeledly solves with crawler belt combination isotype, due to self character separately determined extremely difficult or hardly simultaneously efficient reply variety classes environment convert.Even if compound type can be obtained slightly good effect for a few class environment, but deadweight, monitoring complexity etc. all will sharply worsen.This kind of objective reality greatly retrained people and in face of many environment, had to still keep original mode of operation; so not only be difficult to significantly improve working conditions, increase work efficiency; usually also cannot guarantee inherently safe simultaneously; also be difficult for accident to adopt an effective measure in time, help danger and disaster person to pull out as early as possible.
Summary of the invention
Goal of the invention: the present invention relates to a kind of multi-class geographical environment walking pedal wheel, utilize the characteristic that pedal wheel construction can the different classes of environment of flexible adaptation, thereby the equipment in the past of solving is flatly, in the multiple types geographical environment such as marsh, farmland, ice and snow, the water surface and step, or the walking problem freely between different classes of environment during frequent changes, for the industries such as agricultural, scientific investigation, exploration, military surveillance provide the satisfied vehicle.
Technical scheme: the present invention is achieved by the following technical solutions:
A kind of multi-class geographical environment walking pedal wheel, is characterized in that: described pedal wheel mainly comprises prominent ratchet and spill pedal; At prominent ratchet, a plurality of prominent sour jujubes are along the circumferential direction set equably, prominent sour jujube is injected by flexible spacing cluster spring in one end of expansion link, and the hinged spill pedal of the other end of expansion link, is mounted with pull back spring in the hinged place of expansion link and spill pedal.
In spill pedal landing ground one side, be provided with foot pedal pad, spill pedal and foot pedal pad closely link together by the sticky peg that disappears, at spill pedal, near prominent ratchet center shaft one side, the viscoelastic spring that disappears is installed, the sticky peg that disappears is connected linkage with the viscoelastic spring that disappears, and the sticky peg that disappears can the side at foot pedal pad protrude and indentation in use under the effect of the viscoelastic spring that disappears.
Described prominent ratchet is provided with 6 prominent sour jujubes.
When described expansion link uses under common promotion of contractility, gravity and inertia of built-in flexible spacing cluster spring fore and aft motion reciprocally.
Landing ground at foot pedal pad is provided with M shape slope groove.
The cross section of spill pedal is the character cut in bas-relief shape of inverted trapezoidal.
Advantage and effect: the invention provides a kind of multi-class geographical environment walking pedal wheel, described pedal wheel comprises prominent ratchet, spill pedal, foot pedal pad, the sticky peg that disappears, the viscoelastic spring that disappears, pull back spring, expansion link and flexible spacing cluster spring; Prominent ratchet is provided with 6 prominent sour jujubes, and each prominent sour jujube is injected expansion link, by built-in flexible spacing cluster spring and gravity, inertia, is promoted to reciprocatingly slide; Described spill pedal hinged with expansion link end, utilize pull back spring to maintain and rotate playback, foot pedal pad noise reduction, damping anti-skidding, the sticky peg that disappears weakens smooth, sticky wetland face and pastes.
During this invention has utilized prominent ratchet rotation, prominent sour jujube end is raised characteristic high, thereby has realized easily step climbing; By spill pedal, fall to rise and to reach basic elimination relative sliding, rely on water resistance to cut angle and its generation of the qualitative torsion of disequilibration effect of striking; Under expansion link, flexible spacing cluster spring and pull back spring combined action, weakened to greatest extent the sense of discomfort that walking rises and falls and jolts and bring to occupant; Foot pedal pad is combined together with the sticky peg that disappears, and has not only weakened the spill pedal beating sounding that contacts to earth, and receives many effects such as damping, anti-skidding and visbreaking.
This invention need not manually be adjusted specially, electronic measurement and control, only relies on that structure self character can be realized flatly, self adaptation, the walking flexibly of the multi-class environment such as marsh, farmland, ice and snow, the water surface and step.Utilize its practical carrier platform of making, not only can solve well farmland, desert, the ice and snow region weight carrying difficult problem that cannot thoroughly go beyond so far always, and be expected to eliminate the yoke that freely comes and goes that marsh, the water surface and step etc. cause to people.In addition, the present invention can also remove floods, fire, earthquake and overboard the searching of perplexing for a long time the mankind and help, rescues and so on highly thorny social concern.
The present invention is simple for structure, reliable, reasonable, multiple functional, and not only driving-energy degree of utilization is high, and meets current green, environmental protection, energy-conservation and constantly pursue the social current in individualized development space.In addition, it is blank that its manufactured product also can be filled up the practical walking-replacing tool of the shortage facing at all class special dimensions of scientific investigation, exploration and military surveillance now, thereby impel human freedom's activity space to obtain very big expansion.
accompanying drawing explanation:
Fig. 1 is structural representation of the present invention;
Fig. 2 is the schematic diagram of foot pedal pad landing ground of the present invention.
the specific embodiment:below in conjunction with accompanying drawing, the present invention is described further:
As shown in Figure 1, the invention provides a kind of multi-class geographical environment walking pedal wheel, described pedal wheel mainly comprises prominent ratchet 1 and spill pedal 2; Prominent ratchet 1 a plurality of prominent sour jujubes are along the circumferential direction set equably, prominent sour jujube is all injected by flexible spacing cluster spring 3 in one end of expansion link 4, the hinged spill pedal 2 of the other end of expansion link 4, is mounted with pull back spring 5 in the hinged place of expansion link 4 and spill pedal 2.Spill pedal 2 is shown in Fig. 1, the character cut in bas-relief shape that cross section is inverted trapezoidal.
In spill pedal 2 landing ground one sides, be provided with foot pedal pad 6, spill pedal 2 closely links together by the sticky peg 8 that disappears with foot pedal pad 6, at spill pedal 2, near prominent ratchet 1 center shaft one side, the viscoelastic spring 7 that disappears is installed.Described prominent ratchet 1 is provided with 6 prominent sour jujubes; The sticky peg 8 that disappears is connected linkage with the viscoelastic spring 7 that disappears, and the sticky peg 8 that disappears can the side at foot pedal pad 6 protrude and indentation in use under the effect of the viscoelastic spring 7 that disappears.
When described expansion link 4 uses under common promotion of contractility, self gravitation and inertia of built-in flexible spacing cluster spring 3 fore and aft motion reciprocally.Thereby because changing fluctuating of bringing, effective radius jolts during having weakened prominent ratchet 1 walking.
Described spill pedal 2 is realized step climbing under pull back spring 5 helps, water surface walking is struck, and the pose departing from after walking contact medium restores, and has weakened the grains of sand to greatest extent again, muddy water is shed, and has strengthened counter-bending, deformation strength simultaneously.
Described foot pedal pad 6 is not only being born walking noise reduction, damping and anti-skidding effect, and utilizes M shape slope groove to weaken the adhesion effect while being lifted away from ground.So-called M shape slope groove is namely totally the structure that is similar to tire texture that M shape distributes.
The described sticky peg 8 that disappears has jointly helped foot pedal pad 6 to eliminate further the adhesion effect facing while being lifted away from the viscoelastic spring 7 that disappears.
As shown in Figure 1, be inserted with and reciprocally move and have a spacing expansion link in each prominent sour jujube, expansion link promotes it and reciprocatingly slides under built-in flexible spacing cluster spring and gravity, inertia combined action.Expansion link slides and both to have weakened prominent ratchet rotational angle and change the support platform causing and fluctuate, and can in certain limit, improve again the rough and uneven in surface bumpiness of bringing to occupant in ground simultaneously uncomfortable.The present invention is the selected prominent ratchet with 6 prominent sour jujubes why, and its basic goal ground pressure and walking antagonism that fluctuates that is to compromise is conflicted.Flexible spacing cluster spring is used for impelling expansion link to land and keeps stretching out before state, because its action is extreme frequent, so be easy to produce fatigability, ruptures.In addition, if adopt single mode, appropriate elasticity is difficult to determine, crosses soft cannot producing a desired effect, and landing instant really up to the mark certainly will form collision property and impact.Even reach reluctantly claimed range by repeatedly debugging, when load-carrying and walking states change, pedal wheel but cannot be adapted to voluntarily, and clears up within the specific limits.Flexible spacing cluster spring is composited by the spring of two or more different-diameters, length, pitch and sectional dimension, for anti-, be mutually wound around, take and touch, and externally the inner side of both ends of the spring cover has eversion type snap close socket.
Described spill pedal is articulated with expansion link end, utilizes pull back spring to maintain and reverses playback.Pull back spring is taken on dual role at this---and walking fluctuates and weakens and slowly walking posture maintenance.During prominent ratchet rotates, pull back spring utilizes spill pedal with the angle matching relationship between expansion link, can make the prominent ratchet effective radius of the unlikely change rapidly of support platform, and then obtain and weaken the effect fluctuating.But pull back spring also can not be too strong, the rotation distortion power that when its elastic strength must be walked lower than the water surface, water resistance produces.Otherwise, because forfeiture is struck effect and cause that water surface locomotor activity sharply weakens, even thoroughly lose.
When traditional running on wheels mode is absolute rigidity material between ground and wheel, contact area belongs to lines character, because faying face area goes to zero, therefore bear separately pressure, be also tending towards infinitely great, so can not undertake heavy burden like this because of any material, have to produce distortion to a certain degree.Material distortion must cause two aspect problems: fracture by fatigue and heating.Although inflation or rubber one class elastic wheel have improved some deficiency of rigid wheel, but the area that contacts to earth is still extremely limited, in addition climb step scarce capacity, when the heavy object of carrying, have to add bull wheel footpath, yet but worsen the aspect burdens such as overall dimensions, deadweight, cost so.In addition,, in any case effort, running on wheels mechanism is inevitably with two aspects limitations---relative sliding and the not tool ability of striking.The former causes many difficult problems providing when climbing up not high step.First, climb up step and take considerable damage frottage as cost exchanges for, when step is not very firm, form breaking-up.Secondly, will there is wearability distortion naturally with ground friction in wheel, and ageing equipment is scrapped and is just difficult to effective control in the course of time, and global reliability also cannot give comprehensive assurance.Finally, improve in any case, when facing the soft terrains such as farmland, marsh, desert and snowfield, getting deeply stuck in, be wherein difficult to oneself and climb unavoidablely, minimum original performance will be had a greatly reduced quality.Compared with wheeled, although crawler belt slightly takes on a new look in some aspects, limitation is still very outstanding, and its defect at least shows ground failure and tool two aspects of ability of striking not substantially.
The area that contacts to earth of the application's pedal wheel walking process is relatively-stationary, and it,, neither rely on relative deformation to produce, can not follow ground media variations generation wide fluctuations yet, and the pressure that contacted to earth since is so very stable.In addition, during the walking of pedal wheel, except carrier integral inclination, spill pedal is with there being hardly relative motion trend between ground, so all kinds of related property difficult problem just substantially having eliminated friction and caused thus.In the time of on carrier walks in the water surface, because the water that enters of water resistance and wheel body driven rotary cuts angle and must reverse spill pedal generation lateral deviation upset, this upset is until structure stops spacing stopping, then subsequently until exiting water process produces the effect of striking, promote body and move ahead.After water outlet, under pull back spring effect, again return to water before attitude.Go round and begin again, so repeatedly finally reach water surface walking object.
Why pedal has selected concave structure, and its fundamental starting point may occur while being to prevent desert, marshy area walking sink and the grains of sand, muddy water are buried, and sheds phenomenon after lifting.In addition, this moulding still has the subsidiary effect that the opposing of strengthening pedal is crooked, be out of shape.
When walking process runs into step, only otherwise exceed marginal range, spill pedal touches above terrace can impel it to twist and fall into, and is accompanied by the rotation that moves ahead that continues of wheel body, center of gravity is transferred on step below step, thereby completed step climbing target.
For reducing the pressure object of contacting to earth, during practical application, naturally wish to increase spill pedal at the yardstick of length and width both direction, but they must suffer, from constraints such as overall dimension, clearance envelope nargin and adjacent pedal travel interference, can not wantonly relax.
Pedal wheel walking process more or less can produce pats the ground tendency of sounding, and especially when high speed is walked, this problem is more outstanding, for weakening, eliminate this vice proper, at this, has adopted foot pedal pad.Foot pedal pad not only can be obtained noise reduction object, and has damping, anti-skidding and sticky wetland face stickup absorption reduction function concurrently.Foot pedal pad use rubber or improvement material are made, and for further noise reduction, damping, anti-skidding and visbreaking, and weaken soil block, stone, branch to the impact of walking formation, are carved with M shape hypotenuse groove on it.Groove top width be take and do not produced undue crimp as fundamental principle; The gradient take that to coordinate top width and unlikely extruding embolism object be key takeaway.Even if take countermeasure like this, still cannot eliminate the adsorption effect that smooth, sticky wetland face forms completely, so just reach by sticky peg 8 Function Extensions that disappear the sticky object that further disappears.The sticky peg that disappears is furnished with visbreaking spring near prominent ratchet shaft side, and sticky peg 8 indentation under gravity and inertia combined action that disappears weakens with the prominent ratchet gravity that moves ahead, and the sticky peg 8 that disappears under visbreaking spring promotes stretches, and then helps foot pedal pad disengaging ground to adsorb.In addition, visbreaking spring is also carrying and is assisting indirect mission flexible, that pull back spring improvement walking rises and falls and jolts.Spill pedal 2 utilizes pull back spring 5 to maintain and rotates playback.
Described prominent ratchet 1 is when common ground running, follow wheel body to move ahead and reverse the prominent sour jujube inclination aggravation gradually that lands, the support that starts to land of spill pedal 2 edges of the prominent sour jujube end in the place ahead, gravity constantly transmits until be transitioned into the two and evenly share, by progressively all carryings of late comer, the former exits support process and realizes Counterchange roles one time subsequently.In this process, expansion link 4 has completed one by the reciprocal process that is compressed to stretching, extension under gravity, inertia and flexible spacing cluster spring 3 synergy.Similarly, spill pedal 2 also under gravity, inertia, expansion link 4 change in location and pull back spring 5 etc. promote in many ways, experienced one by torsional deflection to the change cycle that returns original state.Around here, when spill pedal 2 lands, compressing disappears and glues peg 8 indentations, relies on the viscoelastic spring 7 that disappears to help to break away from smoothly ground adhesion effect impact while lifting.
As previously mentioned, when carrier walking runs into the water surface, because the water that enters of water resistance and prominent ratchet wheel body 1 driven rotary cuts angle and must reverse spill pedal 2 and lateral deviations occur overturn, this upset is until structure stops spacing stopping, so, promote body and move ahead until exiting water process produces the effect of striking subsequently.After water outlet, under pull back spring 5 effect, again return to water before attitude.Go round and begin again, so repeatedly finally reach water surface walking object.
Described in the same, if when walking process is faced step, the prominent sour jujube of this prominent ratchet 1 is rotated together with expansion link 4, and its spill pedal 2 that is articulated with end is raised high.As long as highly do not exceed marginal range, spill pedal 2 touches a upper step with prominent ratchet 1 rotation, impel afterwards spill pedal reverse and finally fall into above ladder completely, be accompanied by the rotation that moves ahead that continues of prominent ratchet 1, make center of gravity transfer to gradually upper strata step from lower floor's step, thereby complete step climbing object.
As shown in Figure 1, whole invention needn't manually be adjusted or electronic measurement and control, only relies on that self character has just been realized flatly simultaneously, self adaptation, the walking flexibly of the multi-class environment such as marsh, farmland, ice and snow, the water surface and step.The practical carrier platform made from it, not only can capture well farmland, desert, the carrying of ice-snow field weight that cannot thoroughly solve so far, and can for marsh, floods, spread unchecked the complex environments such as river, valley and step effective scientific investigation, exploration and military surveillance means are provided, and give all kinds of disasteies, and creation portable tool is transported in overboard, the rescue of distress personnel, goods and materials.
Claims (6)
1. a multi-class geographical environment walking pedal wheel, is characterized in that: described pedal wheel mainly comprises prominent ratchet (1) and spill pedal (2); At prominent ratchet (1), a plurality of prominent sour jujubes are along the circumferential direction set equably, prominent sour jujube is injected by flexible spacing cluster spring (3) in one end of expansion link (4), the hinged spill pedal of the other end (2) of expansion link (4), is mounted with pull back spring (5) in expansion link (4) and the hinged place of spill pedal (2).
2. multi-class geographical environment walking pedal according to claim 1 is taken turns, it is characterized in that: in spill pedal (2) landing ground one side, be provided with foot pedal pad (6), spill pedal (2) closely links together by the sticky peg (8) that disappears with foot pedal pad (6), at spill pedal (2), near prominent ratchet (1) center shaft one side, the viscoelastic spring (7) that disappears is installed, the sticky peg (8) that disappears is connected linkage with the viscoelastic spring (7) that disappears, and the sticky peg (8) that disappears can the side at foot pedal pad (6) protrude and indentation in use under the effect of viscoelastic spring (7) that disappear.
3. multi-class geographical environment walking pedal wheel according to claim 2, is characterized in that: described prominent ratchet (1) is provided with 6 prominent sour jujubes.
4. multi-class geographical environment walking pedal wheel according to claim 1, is characterized in that: when described expansion link (4) uses under common promotion of contractility, gravity and inertia of built-in flexible spacing cluster spring (3) fore and aft motion reciprocally.
5. multi-class geographical environment walking pedal wheel according to claim 2, is characterized in that: the landing ground at foot pedal pad (6) is provided with M shape slope groove.
6. multi-class geographical environment walking pedal wheel according to claim 1, is characterized in that: the character cut in bas-relief shape that the cross section of spill pedal (2) is inverted trapezoidal.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310574769.XA CN103568698B (en) | 2013-11-18 | 2013-11-18 | Multi-class geographical environment walking pedal wheel |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310574769.XA CN103568698B (en) | 2013-11-18 | 2013-11-18 | Multi-class geographical environment walking pedal wheel |
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| CN103568698A true CN103568698A (en) | 2014-02-12 |
| CN103568698B CN103568698B (en) | 2016-03-02 |
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| CN201310574769.XA Expired - Fee Related CN103568698B (en) | 2013-11-18 | 2013-11-18 | Multi-class geographical environment walking pedal wheel |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104887417A (en) * | 2015-06-16 | 2015-09-09 | 北京理工大学 | Wheel diameter-adjustable mechanism suitable for electric wheelchair |
| CN107554190A (en) * | 2017-08-21 | 2018-01-09 | 深圳市软晶科技有限公司 | Stump-jump wheel and running gear |
| CN109263403A (en) * | 2017-01-23 | 2019-01-25 | 杭州富阳新远新能源有限公司 | A kind of ellipse driving wheel |
| CN109435573A (en) * | 2018-12-30 | 2019-03-08 | 南京苏美达智能技术有限公司 | A kind of anti-pulley and automatic running device |
| CN110370862A (en) * | 2019-07-26 | 2019-10-25 | 安徽沪宁智能科技有限公司 | A kind of full landform fire-fighting robot |
| CN109435573B (en) * | 2018-12-30 | 2024-05-17 | 南京苏美达智能技术有限公司 | Anti-skid wheel and automatic walking equipment |
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| DE202011003360U1 (en) * | 2011-03-01 | 2011-05-12 | Bucyrus Hex Gmbh | crawler track |
| CN102275457A (en) * | 2011-05-23 | 2011-12-14 | 西南大学 | Switched multi-blade obstacle-crossing wheel |
| KR101322995B1 (en) * | 2012-06-29 | 2013-10-29 | 인텔렉추얼디스커버리 주식회사 | Wheel structure |
| CN203567454U (en) * | 2013-11-18 | 2014-04-30 | 沈阳工业大学 | Multi-class geographical environment walking pedal wheel |
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Patent Citations (5)
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| CN201712415U (en) * | 2010-07-14 | 2011-01-19 | 张毅 | Walking deformation wheel in multiple road conditions |
| DE202011003360U1 (en) * | 2011-03-01 | 2011-05-12 | Bucyrus Hex Gmbh | crawler track |
| CN102275457A (en) * | 2011-05-23 | 2011-12-14 | 西南大学 | Switched multi-blade obstacle-crossing wheel |
| KR101322995B1 (en) * | 2012-06-29 | 2013-10-29 | 인텔렉추얼디스커버리 주식회사 | Wheel structure |
| CN203567454U (en) * | 2013-11-18 | 2014-04-30 | 沈阳工业大学 | Multi-class geographical environment walking pedal wheel |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104887417A (en) * | 2015-06-16 | 2015-09-09 | 北京理工大学 | Wheel diameter-adjustable mechanism suitable for electric wheelchair |
| CN109263403A (en) * | 2017-01-23 | 2019-01-25 | 杭州富阳新远新能源有限公司 | A kind of ellipse driving wheel |
| CN109263402A (en) * | 2017-01-23 | 2019-01-25 | 杭州富阳新远新能源有限公司 | A kind of driving wheel |
| CN109263403B (en) * | 2017-01-23 | 2020-09-29 | 杭州富阳新远新能源有限公司 | Elliptical driving wheel |
| CN107554190A (en) * | 2017-08-21 | 2018-01-09 | 深圳市软晶科技有限公司 | Stump-jump wheel and running gear |
| CN109435573A (en) * | 2018-12-30 | 2019-03-08 | 南京苏美达智能技术有限公司 | A kind of anti-pulley and automatic running device |
| CN109435573B (en) * | 2018-12-30 | 2024-05-17 | 南京苏美达智能技术有限公司 | Anti-skid wheel and automatic walking equipment |
| CN110370862A (en) * | 2019-07-26 | 2019-10-25 | 安徽沪宁智能科技有限公司 | A kind of full landform fire-fighting robot |
| CN110370862B (en) * | 2019-07-26 | 2021-04-02 | 安徽沪宁智能科技有限公司 | All-terrain firefighting robot |
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| CN103568698B (en) | 2016-03-02 |
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