CN110203010A - A kind of anti-depression wheel of self-adaptive biomimetic - Google Patents
A kind of anti-depression wheel of self-adaptive biomimetic Download PDFInfo
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- CN110203010A CN110203010A CN201910592069.0A CN201910592069A CN110203010A CN 110203010 A CN110203010 A CN 110203010A CN 201910592069 A CN201910592069 A CN 201910592069A CN 110203010 A CN110203010 A CN 110203010A
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- Prior art keywords
- plate
- rocker
- wheel
- backup pad
- upper backup
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B15/00—Wheels or wheel attachments designed for increasing traction
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B19/00—Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B9/00—Wheels of high resiliency, e.g. with conical interacting pressure-surfaces
- B60B9/26—Wheels of high resiliency, e.g. with conical interacting pressure-surfaces comprising resilient spokes
- B60B9/28—Wheels of high resiliency, e.g. with conical interacting pressure-surfaces comprising resilient spokes with telescopic action
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Tires In General (AREA)
Abstract
The invention discloses a kind of anti-depression wheels of self-adaptive biomimetic, including wheel hub and the multiple wheels foot being circumferentially uniformly arranged along wheel hub；The support portion that the wheel foot includes the supporting leg being connected with wheel hub and is connected with supporting leg；Support portion includes upper backup pad, lower supporting plate, slide bar and elastic component, lower supporting plate is parallel to upper backup pad and is arranged below the upper backup pad, the opposite both sides of upper backup pad both sides opposite with lower supporting plate respectively correspond hingedly, and slide bar and elastic component are supported and terminated between upper backup pad and lower supporting plate；Supporting leg perpendicular to upper backup pad, be connected to the upper surface of upper backup pad, a through-hole is provided on upper backup pad, slide bar protrudes into sliding cavity through through-hole correspondence.Advantage is: " spill " state is collectively formed using side plate and rocker, to be compacted soft surface, support force is improved, to reduce wheel sinkage amount；Base plate protection plate and rocker protection board use designed arc-shaped appearance simultaneously, reduce polygon effect, improve ride performance.
Description
Technical field
The present invention relates to anti-depression art of wheels more particularly to a kind of anti-depression wheels of self-adaptive biomimetic.
Background technique
The wheel of robot or surface car mainly includes rigid wheel, elastic wheel and walking wheel.Rigid wheel structure is simple,
Technology also relative maturity；Elastic wheel overcomes the bad disadvantage of rigid wheel damping effect, have it is light-weight, buffer shock-absorbing performance is good
The advantages that；Walking wheel is also good because of its obstacle performance, and the big advantage of tractive force obtains the concern of more and more researchers.
But rigid wheel due to structure can deformability it is poor, cause its damping performance poor, mechanism is easy when encountering strong impact
It is damaged, affect its reliability and vehicle passes through stability；Elastic wheel cannot combine intensity and damping performance, exist
The disadvantage of bearing capacity difference；Also, the anti-depression performance of the two is all poor, and rigid wheel or elastic wheel are easy in the process of moving
Depression is in soft surface.Walking wheel is easy to produce changeable effect, has seriously affected wheel row due to being rolled using class manner of walking
The ride comfort sailed.
Summary of the invention
The purpose of the present invention is to provide a kind of anti-depression wheels of self-adaptive biomimetic, to solve existing in the prior art
Foregoing problems.
To achieve the goals above, The technical solution adopted by the invention is as follows:
A kind of anti-depression wheel of self-adaptive biomimetic, including wheel hub and the multiple wheels foot being circumferentially uniformly arranged along the wheel hub；
The wheel is sufficient to include,
Supporting leg；The supporting leg is connected with the wheel hub, and the supporting leg is cylindrical, and inner hollow is arranged to be formed
Sliding cavity；
Support portion；The support portion is connected with the supporting leg, and the support portion includes upper backup pad, lower supporting plate, slides
Bar and elastic component, the lower supporting plate are parallel to the upper backup pad and are arranged below the upper backup pad, the upper backup pad
Opposite both sides both sides opposite with the lower supporting plate respectively correspond hingedly, and the slide bar and the elastic component are supported and terminated on described
Between support plate and the lower supporting plate；The supporting leg perpendicular to the upper backup pad, be connected to the upper of the upper backup pad
Surface, a through-hole is provided on the upper backup pad, and the slide bar protrudes into the sliding cavity through through-hole correspondence；Under described
Multiple wheel thorns for outwardly protruding extension are provided on the lower surface of support plate.
Preferably, the upper backup pad includes a horizontally disposed top plate, and the opposite both sides of the top plate are respectively arranged with
First side plate and the second side plate, first side plate and second side plate prolong to the inclination close to the direction of the lower supporting plate
It stretches.
Preferably, the top plate and first side plate and second side plate are integrally formed or mutually indepedent are arranged and solid
Fixed connection.
Preferably, the lower supporting plate includes the bottom plate for being parallel to top plate setting, and the opposite both sides of the bottom plate are set respectively
It is equipped with the first rocker and the second rocker, first rocker and second rocker both sides hinge opposite with the bottom plate respectively
It connects；First rocker and second rocker are tilted to the direction close to the upper backup pad to be extended, first rocker
The elongated end of elongated end and first side plate is hinged, and the elongated end of the elongated end of second rocker and first side plate is cut with scissors
It connects.
Preferably, the lower surface of base plate is provided with base plate protection plate, the upper surface and the bottom of the base plate protection plate
The corresponding fitting in plate lower surface, base plate protection plate lower surface is along the circumferentially arc-shaped setting of the wheel hub, the base plate protection plate
Lower surface be provided with wheel thorn.
Preferably, first rocker and second rocker lower surface are respectively arranged with the first rocker protection board and second
Rocker protection board；The upper surface of the first rocker protection board and the second rocker protection board respectively with first rocker and
Second rocker lower surface respectively corresponds fitting, the lower surface of the first rocker protection board and the second rocker protection board
Along the circumferentially arc-shaped setting of the wheel hub, the lower surface of the first rocker protection board and the second rocker protection board is provided with
Wheel thorn.
Preferably, the slide bar is fixed on the plate upper surface, and the other end of the slide bar runs through the through-hole, correspondence
Protrude into the sliding cavity.
Preferably, the slide bar is circumferentially symmetrically arranged at least two elastic components for being parallel to the slide bar, the elasticity
The both ends of part are fixedly connected with the upper surface of the lower surface of the top plate and the bottom plate respectively.
Preferably, the wheel hub is in regular prism shape tubular structure, is evenly arranged on the hub outer wall along its circumferential direction more
A mounting base is respectively arranged with a mounting base to enable on each side of the wheel hub；The mounting base is from the side of the wheel hub
It protrudes and extends to the direction far from the wheel hub, the axis of the axis of the mounting base perpendicular to the wheel hub；The mounting base
Elongated end opening setting, the supporting leg far from the support portion one end correspondence protrudes into corresponding mounting base, enable each wheel
Foot is fixed on the wheel hub.
Preferably, each wheel foot is uniformly arranged on the hub periphery along the arc direction where the base plate protection plate.
The beneficial effects of the present invention are: 1, wheel foot lands, be gradually increased with the contact area of sand ground, make it is husky sink reduce and
Bearing capacity improves, and contact area can increase 28% or more.2, wheel foot finally be in concave shaped, have current limliting fix the sand, be compacted it is soft
Road surface effect, make wheel be unlikely to sink it is too deep.3, designed arc-shaped appearance is used at base plate protection plate and rocker protection board, reduced
Polygon effect improves ride performance.4, in rigid pavement or the more road traveling of rubble, the deformation damping of spring is utilized
Energy-absorbing protects wheel, promotes cruising characteristic.
Detailed description of the invention
Fig. 1 is the main view of wheel in the embodiment of the present invention；
Fig. 2 is the side view of wheel in the embodiment of the present invention
Fig. 3 is that sufficient main view is taken turns in the embodiment of the present invention；
Fig. 4 is that sufficient side view is taken turns in the embodiment of the present invention；
Fig. 5 is that sufficient top view is taken turns in the embodiment of the present invention；
Fig. 6 is the top view of top plate in the embodiment of the present invention；
Fig. 7 is the structural schematic diagram of latus inframedium of the embodiment of the present invention；
Fig. 8 is the structural schematic diagram of insole board of the embodiment of the present invention；
Fig. 9 is the installation diagram of insole board of the embodiment of the present invention and base plate protection plate；
Figure 10 is the side view of Fig. 9 in the embodiment of the present invention；
Figure 11 is the structural schematic diagram of rocker and rocker protection board in the embodiment of the present invention；
Figure 12 is the bottom view of Figure 11 in the embodiment of the present invention；
Figure 13 is the front view of wheel hub in the embodiment of the present invention；
Figure 14 is the side view of wheel hub in the embodiment of the present invention.
In figure: 1, wheel foot；2, supporting leg；3, sliding cavity；4, slide bar；5, elastic component；6, top plate；7, the first side plate；8,
Two side plates；9, bottom plate；10, base plate protection plate；11, the first rocker；12, the second rocker；13, the first rocker protection board；14, second
Rocker protection board；15, wheel thorn；16, through-hole；17, wheel hub；18, side；19；Mounting base.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, below in conjunction with attached drawing, to the present invention into
Row is further described.It should be appreciated that the specific embodiments described herein are only used to explain the present invention, it is not used to
Limit the present invention.
As shown in Fig. 1 to 13, the present invention provides a kind of anti-depression wheel of self-adaptive biomimetic, including wheel hub 17 and along described
Multiple wheels foot 1 that wheel hub 17 is circumferentially uniformly arranged；Wheel foot 1 includes,
Supporting leg 2；The supporting leg 2 is connected with the wheel hub 17, and the supporting leg 2 is cylindrical, and inner hollow is set
It sets to form sliding cavity 3；
Support portion；The support portion is connected with the supporting leg 2, and the support portion includes upper backup pad, lower supporting plate, slides
Bar 4 and elastic component 5, the lower supporting plate are parallel to the upper backup pad and are arranged below the upper backup pad, the upper support
The opposite both sides of plate both sides opposite with the lower supporting plate respectively correspond hingedly, and the slide bar 4 and the elastic component 5 support and terminate in institute
It states between upper backup pad and the lower supporting plate；The supporting leg 2 perpendicular to the upper backup pad, be connected to the upper backup pad
Upper surface, a through-hole 16 is provided on the upper backup pad, the slide bar 4 protrudes into the sliding through the through-hole 16 correspondence
Chamber 3；Multiple wheel thorns 15 for outwardly protruding extension are provided on the lower surface of the lower supporting plate.
As shown in Figure 1 to Figure 2, in the present embodiment, the wheel foot 1 is uniformly arranged on the circumferential direction of the wheel hub 17, Neng Goubao
Wheel is demonstrate,proved in moving process, cooperates between each wheel foot 1, guarantees the normal rotation of wheel.
As shown in Fig. 3 to Fig. 7, in the present embodiment, the upper backup pad includes a horizontally disposed top plate 6, the top plate 6
Opposite both sides are respectively arranged with the first side plate 7 and the second side plate 8, and first side plate 7 and second side plate 8 are to close to institute
The direction inclination for stating lower supporting plate extends.First side plate 7 and second side plate 8 are respectively from the company of itself and the top plate 6
It connects end and tilts down extension, and the distance between first side plate 7 and second side plate 8 are gradually increased from top to bottom.
In the present embodiment, the top plate 6 is with first side plate 7 and second side plate 8 integrated molding or independently of each other
It is arranged and is fixedly connected.That is it is fixedly connected between the top plate 6 and first side plate 7 and second side plate 8.When
When being independently arranged between top plate 6 and first side plate 7, the second side plate 8, it is respectively separated on the opposite both sides of top plate 6
Multiple the first mounting portions for outwardly protruding extension are provided with, are provided with the first mounting hole on first mounting portion, described first
Side plate 7 and second side plate 8 are respectively provided with multiple the second peaces for outwardly protruding extension close to the top plate 6 on one side
Dress portion is provided with the second mounting hole on second mounting portion, and second mounting portion, which respectively corresponds, protrudes into adjacent two first peace
Between dress portion, fastener sequentially passes through the first mounting hole and second mounting hole, by top plate 6 and the first side plate 7, the second side plate
8 are fixedly connected.The fastener is screw, bolt or stud and nut etc..
As shown in Fig. 8 to Figure 12, in the present embodiment, the lower supporting plate includes the bottom plate 9 for being parallel to the setting of top plate 6, institute
It states the opposite both sides of bottom plate 9 and is respectively arranged with the first rocker 11 and the second rocker 12, first rocker 11 and described second shake
Opposite with the bottom plate 9 both sides are hinged respectively for plate 12；First rocker 11 and second rocker 12 are on described
The direction of support plate, which tilts, to be extended, and the elongated end of first rocker 11 and the elongated end of first side plate 7 are hinged, and described the
The elongated end of two rockers 12 and the elongated end of first side plate 7 are hinged；First rocker 11 and second rocker 12 divide
Extension is not tilted upwards from the hinged end of itself and the bottom plate 9, and between first rocker 11 and second rocker 12
Distance is gradually increased from bottom to top.
In the present embodiment, it is articulated and connected between the bottom plate 9 and first rocker 11 and second rocker 12, first
Rocker 11 and the second rocker 12 can rotate relative to the bottom plate 9.Setting is respectively separated on the opposite both sides of bottom plate 9
There are multiple third mounting portions for outwardly protruding extension, third mounting hole, first rocker are provided on the third mounting portion
11 and second rocker 12 close to the bottom plate 9 be respectively provided on one side it is multiple outwardly protrude extension the 4th installation
Portion is provided with the 4th mounting hole on the 4th mounting portion, and the 4th mounting portion, which respectively corresponds, protrudes into adjacent two thirds installation
Between portion, articulation piece sequentially passes through third mounting hole and the 4th mounting hole, by bottom plate 9 and the first rocker 11, the second rocker
12 are fixedly connected.
In the present embodiment, multiple five are respectively provided on the elongated end of the first side plate 7 and second side plate 8
Mounting portion is provided with the 5th fixation hole on the 5th mounting portion；The extension of first rocker 11 and second rocker 12
It is respectively provided with multiple 6th mounting portions on end, the 6th fixation hole, the 6th peace are provided on the 6th mounting portion
Dress portion, which respectively corresponds, to be protruded between adjacent two the 5th mounting portion, and articulation piece sequentially passes through the 5th fixation hole and the described 6th and fixes
First side plate 7 and the first rocker 11, the second side plate 8 and the second rocker 12 are hingedly connected by hole.
In the present embodiment, the articulation piece is the component that may be implemented to relatively rotate.
In the present embodiment, 9 lower surface of bottom plate is provided with base plate protection plate 10, the upper surface of the base plate protection plate 10
Fitting corresponding with 9 lower surface of bottom plate, 10 lower surface of base plate protection plate is along the circumferential arc-shaped setting of the wheel hub 17, institute
The lower surface for stating base plate protection plate 10 is provided with wheel thorn 15.It is fixedly connected between the base plate protection plate 10 and the bottom plate 9.Institute
Stating wheel thorn 15, uniformly in 10 lower surface of base plate protection plate, the wheel pierces 15 in a rectangular parallelepiped shape for setting, between each wheel thorn 15
It is separated by a certain distance, the shape of the wheel thorn 15 is configured according to the actual situation, to better meet actual demand.
In the present embodiment, it is fixedly connected between the bottom plate 9 and the base plate protection plate 10, using screw, bolt or riveting
The fasteners such as nail.
In the present embodiment, first rocker 11 and 12 lower surface of the second rocker are respectively arranged with the protection of the first rocker
Plate 13 and the second rocker protection board 14；The upper surface of the first rocker protection board 13 and the second rocker protection board 14 difference
It respectively corresponds and is bonded with first rocker 11 and 12 lower surface of the second rocker, the first rocker protection board 13 and described
The lower surface of second rocker protection board 14 is along the circumferential arc-shaped setting of the wheel hub 17, the first rocker protection board 13 and described
The lower surface of second rocker protection board 14 is provided with wheel thorn 15.The wheel thorn 15 is uniformly arranged in first rocker 11 and institute
It states on 12 lower surface of the second rocker, the wheel thorn 15 in a rectangular parallelepiped shape, is separated by a certain distance between each wheel thorn 15, the wheel thorn 15
Shape be configured according to the actual situation, to better meet actual demand.
In the present embodiment, it is fixedly connected between first rocker 11 and the first rocker protection board 13, using screw, bolt
Or the fasteners such as rivet.It is fixedly connected between second rocker 12 and the second rocker protection board 14, using screw, bolt or riveting
The fasteners such as nail.
In the present embodiment, the lower surface of base plate protection plate 10, the first rocker protection board 13 and the second rocker protection board 14 is adopted
With arc process, arc radius uses the mean radius during wheels travel, and its length is suitable in circular arc tangential line direction
Work as extension, to reduce changeable effect, promotes wheels travel ride comfort.Design has wheel 15 structures of thorn in protection board structure, can be in vehicle
Lifting traction force in wheel traveling.
In the present embodiment, the slide bar 4 is fixed on 9 upper surface of bottom plate, and the other end of the slide bar 4 is through described logical
Hole 16, correspondence protrude into the sliding cavity 3.9 upper surface of bottom plate is provided with the boss coaxial with the slide bar 4, the boss
The periphery of the slide bar 4 is co-axially located at the slide bar 4, the boss extension protruding upward guarantees slide bar 4 in sliding cavity 3
When interior sliding, top plate 6 will not be made to be bonded with bottom plate 9, the two time is enabled to keep certain distance, elastic component 5 is avoided to fail.
In the present embodiment, the slide bar 4 is circumferential to be symmetrically arranged at least two elastic components 5 for being parallel to the slide bar 4, institute
The both ends for stating elastic component 5 are fixedly connected with the upper surface of the lower surface of the top plate 6 and the bottom plate 9 respectively.
In the present embodiment, 9 upper surface of bottom plate is provided with the first fixed column of extension protruding upward, under the top plate 6
Surface corresponds to the second fixed column that first fixed column is provided with downwardly projecting extension, and the both ends of the elastic component 5 cover respectively
It is located in first fixed column and second fixed column, the elastic component 5 is enabled to support only in the top plate 6 and the bottom plate 9
Between.
In the present embodiment, the elastic component 5 is spring.
As shown in Figure 13 to Figure 14, in the present embodiment, the wheel hub 17 is in regular prism shape tubular structure, outside the wheel hub 17
Multiple mounting bases 19 are evenly arranged with along its circumferential direction on wall, are respectively arranged with an installation on each side 18 of the wheel hub 17 to enable
Seat 19；The mounting base 19, which is protruded from the side 18 of the wheel hub 17 to the direction far from the wheel hub 17, to be extended, the installation
Axis of the axis of seat 19 perpendicular to the wheel hub 17；The elongated end opening of the mounting base 19 is arranged, and the supporting leg 2 is separate
One end correspondence of the support portion protrudes into corresponding mounting base 19, and each wheel foot 1 is enabled to be fixed on the wheel hub 17.
In the present embodiment, each wheel foot 1 is uniformly arranged on the wheel hub along the arc direction where the base plate protection plate 10
17 peripheries." spill " state is collectively formed using side plate and rocker in the wheel 1, to be compacted soft surface, improves support force, from
And reduce wheel sinkage amount.
In the present embodiment, when wheel on hard road surface when driving, operational process is as follows: wheel is downward by wheel hub 17
Transmitting load, supporting leg 2 push top plate 6 to move downward, and the first side plate 7 and the second side plate 8 push the first rocker 11 and the respectively
Two rockers 12 rotate up to contact ground；At this point, top plate 6, bottom plate 9, side plate, rocker collectively form " trapezoidal " state, spring exists
The process compresses absorb kinetic energy, play the effect of damping.Wheel rolls forward, wheel foot 1 initially move off ground, the elastic potential of spring
Bottom plate 9 can be pushed to move downward, and restore wheel foot 1 to original state.
In the present embodiment, on soft ground when driving, operational process is as follows for the wheel, travels in soft surface
When, wheel pushes top plate 6 to move downward by the transmitting load downwards of wheel hub 17, supporting leg 2, the first side plate 7 and the second side plate 8 difference
The first rocker 11 and the second rocker 12 is pushed to rotate contact road surface, base plate protection plate 10 exerts a force downwards, 10 lower section of base plate protection plate
Road surface is compacted, and the first rocker 11 and 12 lower section road surface of the second rocker are still loose, therefore the first rocker 11 and the second rocker 12
Continue to move downward until stopping；At this point, top plate 6, bottom plate 9, side plate, rocker collectively form " spill " state, this state can be with
It is compacted soft surface, its support force is improved, to reduce sinkage.Spring absorbs kinetic energy in the process compresses, also plays and subtracts
The effect of shake.Wheel rolls forward, wheel foot 1 initially move off ground, and the elastic potential energy of spring pushes bottom plate 9 to move downward, and makes
Wheel foot 1 restores to original state.
By using above-mentioned technical proposal disclosed by the invention, following beneficial effect has been obtained:
The present invention provides a kind of anti-depression wheel of self-adaptive biomimetic, and wheel foot lands, is gradually increased with the contact area of sand ground,
Make husky sink reduction and bearing capacity raising, contact area is made to increase 28% or more；Wheel foot is finally in concave shaped, solid with current limliting
Husky, compacting soft surface effect, make wheel be unlikely to sink it is too deep；Circular arc is used at base plate protection plate and rocker protection board
Design reduces polygon effect, improves ride performance；In rigid pavement or the more road traveling of rubble, spring is utilized
Deformation damping energy-absorbing protects wheel, promotes cruising characteristic.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
Depending on protection scope of the present invention.
Claims (10)
1. a kind of anti-depression wheel of self-adaptive biomimetic, including wheel hub and the multiple wheels foot being circumferentially uniformly arranged along the wheel hub；Its
Be characterized in that: the wheel is sufficient to include,
Supporting leg；The supporting leg is connected with the wheel hub, and the supporting leg is cylindrical, and inner hollow is arranged to form sliding
Chamber；
Support portion；The support portion is connected with the supporting leg, and the support portion includes upper backup pad, lower supporting plate, slide bar and
Elastic component, the lower supporting plate are parallel to the upper backup pad and are arranged below the upper backup pad, and the upper backup pad is opposite
Both sides both sides opposite with the lower supporting plate respectively correspond hingedly, the slide bar and the elastic component support and terminate in the upper support
Between plate and the lower supporting plate；The supporting leg perpendicular to the upper backup pad, be connected to the upper surface of the upper backup pad,
A through-hole is provided on the upper backup pad, the slide bar protrudes into the sliding cavity through through-hole correspondence；The lower support
Multiple wheel thorns for outwardly protruding extension are provided on the lower surface of plate.
2. the anti-depression wheel of self-adaptive biomimetic according to claim 1, it is characterised in that: the upper backup pad includes a water
The top plate of flat setting, the opposite both sides of the top plate are respectively arranged with the first side plate and the second side plate, first side plate and institute
The second side plate is stated to extend to the inclination close to the direction of the lower supporting plate.
3. the anti-depression wheel of self-adaptive biomimetic according to claim 2, it is characterised in that: the top plate and first side
Plate is integrally formed with second side plate or is arranged and is fixedly connected independently of each other.
4. the anti-depression wheel of self-adaptive biomimetic according to claim 1, it is characterised in that: the lower supporting plate includes parallel
In the bottom plate of top plate setting, the opposite both sides of the bottom plate are respectively arranged with the first rocker and the second rocker, first rocker
Opposite with bottom plate both sides are hinged respectively with second rocker；First rocker and second rocker are to close to institute
The direction inclination for stating upper backup pad extends, and the elongated end of first rocker and the elongated end of first side plate are hinged, described
The elongated end of second rocker and the elongated end of first side plate are hinged.
5. the anti-depression wheel of self-adaptive biomimetic according to claim 4, it is characterised in that: the lower surface of base plate is provided with
Base plate protection plate, the fitting corresponding with the lower surface of base plate of the upper surface of the base plate protection plate, the base plate protection plate following table
Along the circumferentially arc-shaped setting of the wheel hub, the lower surface of the base plate protection plate is provided with wheel thorn in face.
6. the anti-depression wheel of self-adaptive biomimetic according to claim 4, it is characterised in that: first rocker and described
Two rocker lower surfaces are respectively arranged with the first rocker protection board and the second rocker protection board；The first rocker protection board and described
The upper surface of second rocker protection board respectively corresponds and is bonded with first rocker and second rocker lower surface respectively, described
Along the circumferentially arc-shaped setting of the wheel hub, described first is shaken for the lower surface of first rocker protection board and the second rocker protection board
The lower surface of plate protection board and the second rocker protection board is provided with wheel thorn.
7. the anti-depression wheel of self-adaptive biomimetic according to claim 1, it is characterised in that: the slide bar is fixed on the bottom
The other end of plate upper surface, the slide bar protrudes into the sliding cavity through the through-hole, correspondence.
8. the anti-depression wheel of self-adaptive biomimetic according to claim 7, it is characterised in that: the slide bar is circumferentially symmetrical arranged
Have at least two elastic components for being parallel to the slide bar, the both ends of the elastic component respectively with the lower surface of the top plate and described
The upper surface of bottom plate is fixedly connected.
9. the anti-depression wheel of self-adaptive biomimetic according to claim 1, it is characterised in that: the wheel hub is in regular prism shape cylinder
Shape structure is evenly arranged with multiple mounting bases along its circumferential direction on the hub outer wall, is set respectively on each side of the wheel hub with enabling
It is equipped with a mounting base；The mounting base, which is protruded from the side of the wheel hub away from the direction of the wheel hub, to be extended, the peace
Fill axis of the axis perpendicular to the wheel hub of seat；The elongated end opening of the mounting base is arranged, and the supporting leg is far from described
One end correspondence of support portion protrudes into corresponding mounting base, and each wheel is enabled to be fixed on the wheel hub enough.
10. the anti-depression wheel of self-adaptive biomimetic according to any one of claims 1 to 9, it is characterised in that: each wheel foot is along described
Arc direction where base plate protection plate is uniformly arranged on the hub periphery.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910592069.0A CN110203010B (en) | 2019-07-02 | 2019-07-02 | Self-adaptive bionic sinking-prevention wheel |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910592069.0A CN110203010B (en) | 2019-07-02 | 2019-07-02 | Self-adaptive bionic sinking-prevention wheel |
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| CN110203010A true CN110203010A (en) | 2019-09-06 |
| CN110203010B CN110203010B (en) | 2020-08-04 |
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| CN201910592069.0A Active CN110203010B (en) | 2019-07-02 | 2019-07-02 | Self-adaptive bionic sinking-prevention wheel |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111152601A (en) * | 2020-01-13 | 2020-05-15 | 吉林大学 | Elastic bionic walking wheel of manned lunar vehicle |
| CN112606624A (en) * | 2021-01-07 | 2021-04-06 | 上海松元汽车用品有限公司 | Driving wheel capable of adjusting surface friction force according to ground roughness |
| CN113524983A (en) * | 2021-06-10 | 2021-10-22 | 季华实验室 | Tire with adjustable radial stiffness and method of manufacture |
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| US1329213A (en) * | 1918-08-22 | 1920-01-27 | Tourtier Paul Auguste | Wheel |
| GB2506223A (en) * | 2012-05-24 | 2014-03-26 | Ontario Drive & Gear Ltd | Wheel |
| CN103264614A (en) * | 2013-06-07 | 2013-08-28 | 吉林大学 | Bionic sand-crossing walking wheel |
| US20190092091A1 (en) * | 2017-09-22 | 2019-03-28 | Keir P. Daniels | Wheel with adjustable radius and tread firmness |
| CN109109559A (en) * | 2018-08-01 | 2019-01-01 | 吉林大学 | A kind of wheeled device for aiding overpass obstacle |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111152601A (en) * | 2020-01-13 | 2020-05-15 | 吉林大学 | Elastic bionic walking wheel of manned lunar vehicle |
| CN111152601B (en) * | 2020-01-13 | 2022-11-18 | 吉林大学 | Elastic bionic walking wheel of manned lunar vehicle |
| CN112606624A (en) * | 2021-01-07 | 2021-04-06 | 上海松元汽车用品有限公司 | Driving wheel capable of adjusting surface friction force according to ground roughness |
| CN113524983A (en) * | 2021-06-10 | 2021-10-22 | 季华实验室 | Tire with adjustable radial stiffness and method of manufacture |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110203010B (en) | 2020-08-04 |
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