CN110203010B - Self-adaptive bionic sinking-prevention wheel - Google Patents
Self-adaptive bionic sinking-prevention wheel Download PDFInfo
- Publication number
- CN110203010B CN110203010B CN201910592069.0A CN201910592069A CN110203010B CN 110203010 B CN110203010 B CN 110203010B CN 201910592069 A CN201910592069 A CN 201910592069A CN 110203010 B CN110203010 B CN 110203010B
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- plate
- wheel
- supporting plate
- hub
- bottom plate
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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
Abstract
The invention discloses a self-adaptive bionic anti-subsidence wheel, which comprises a wheel hub and a plurality of wheel feet uniformly arranged along the circumferential direction of the wheel hub; the wheel foot comprises a supporting leg connected with the wheel hub and a supporting part connected with the supporting leg; the supporting part comprises an upper supporting plate, a lower supporting plate, a sliding rod and an elastic part, the lower supporting plate is arranged below the upper supporting plate in parallel with the upper supporting plate, two opposite sides of the upper supporting plate are correspondingly hinged with two opposite sides of the lower supporting plate respectively, and the sliding rod and the elastic part are abutted between the upper supporting plate and the lower supporting plate; the supporting leg is perpendicular to and goes up the backup pad, connects the upper surface at last backup pad, goes up and is provided with a through-hole on the backup pad, and the slide bar runs through the through-hole and corresponds and stretch into the slip chamber. The advantages are that: the side plates and the rocking plates are jointly formed into a concave state to compact a soft road surface and improve the supporting force, so that the sinking amount of the wheels is reduced; meanwhile, the bottom plate protection plate and the rocking plate protection plate are designed in an arc shape, the multilateral effect is reduced, and the driving smoothness is improved.
Description
Technical Field
The invention relates to the field of anti-sinking wheels, in particular to a self-adaptive bionic anti-sinking wheel.
Background
Wheels of robots or ground vehicles mainly comprise rigid wheels, elastic wheels and walking wheels. The rigid wheel has simple structure and relatively mature technology; the elastic wheel overcomes the defect of poor damping effect of the rigid wheel, and has the advantages of light weight, good damping performance and the like; the walking wheel also gets more and more attention of researchers due to the advantages of good obstacle crossing performance and large traction force.
However, the rigid wheel has poor shock absorption performance due to poor structural deformability, and the structure is easily damaged when strong impact occurs, so that the reliability and the passing stability of the vehicle are influenced; the elastic wheel cannot give consideration to both strength and shock absorption performance, and has the defect of poor bearing capacity; moreover, both of them have poor anti-sinking performance, and the rigid wheels or the elastic wheels are easy to sink on soft road surfaces in the driving process. The walking wheels roll in a walking-like mode, so that a variable effect is easily generated, and the running smoothness of the wheels is seriously influenced.
Disclosure of Invention
The invention aims to provide a self-adaptive bionic anti-subsidence wheel, so as to solve the problems in the prior art.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
a self-adaptive bionic anti-subsidence wheel comprises a wheel hub and a plurality of wheel feet uniformly arranged along the circumferential direction of the wheel hub; the wheel foot comprises a wheel foot body and a wheel foot body,
supporting legs; the supporting legs are connected with the hubs and are cylindrical, and the supporting legs are hollow inside to form a sliding cavity;
a support portion; the supporting part is connected with the supporting leg and comprises an upper supporting plate, a lower supporting plate, a sliding rod and an elastic part, the lower supporting plate is arranged below the upper supporting plate in parallel with the upper supporting plate, two opposite sides of the upper supporting plate are correspondingly hinged with two opposite sides of the lower supporting plate respectively, and the sliding rod and the elastic part are abutted between the upper supporting plate and the lower supporting plate; the supporting legs are perpendicular to the upper supporting plate and connected to the upper surface of the upper supporting plate, a through hole is formed in the upper supporting plate, and the sliding rod penetrates through the through hole and correspondingly extends into the sliding cavity; the lower surface of the lower supporting plate is provided with a plurality of wheel spines which protrude outwards and extend.
Preferably, the upper supporting plate comprises a top plate horizontally arranged, a first side plate and a second side plate are respectively arranged on two opposite sides of the top plate, and the first side plate and the second side plate extend towards the direction close to the lower supporting plate in an inclined mode.
Preferably, the top plate, the first side plate and the second side plate are integrally formed or are mutually independent and fixedly connected.
Preferably, the lower supporting plate comprises a bottom plate arranged in parallel to the top plate, a first rocking plate and a second rocking plate are respectively arranged on two opposite sides of the bottom plate, and the first rocking plate and the second rocking plate are respectively hinged with two opposite sides of the bottom plate; first shake the board with the second shakes the board to being close to go up the direction slope of backup pad and extends, the extension end of first shake the board with the extension end of first curb plate is articulated, the extension end of second shake the board with the extension end of first curb plate is articulated.
Preferably, the lower surface of the bottom plate is provided with a bottom plate protection plate, the upper surface of the bottom plate protection plate is correspondingly attached to the lower surface of the bottom plate, the lower surface of the bottom plate protection plate is arranged along the circumferential direction of the hub in an arc shape, and the lower surface of the bottom plate protection plate is provided with wheel thorns.
Preferably, the lower surfaces of the first rocking plate and the second rocking plate are respectively provided with a first rocking plate protection plate and a second rocking plate protection plate; first shake the board protection shield with the upper surface that the board protection shield was shaken to the second respectively with first shake the board with the second shakes the board lower surface and corresponds the laminating respectively, first shake the board protection shield with the lower surface that the board protection shield was shaken to the second is followed wheel hub circumference is the arc setting, first shake the board protection shield with the lower surface that the board protection shield was shaken to the second is provided with the wheel thorn.
Preferably, the slide bar is fixed on the upper surface of the bottom plate, and the other end of the slide bar penetrates through the through hole and correspondingly extends into the sliding cavity.
Preferably, the slide bar is circumferentially and symmetrically provided with at least two elastic pieces parallel to the slide bar, and two ends of each elastic piece are respectively and fixedly connected with the lower surface of the top plate and the upper surface of the bottom plate.
Preferably, the hub is of a regular prism-shaped cylindrical structure, and a plurality of mounting seats are uniformly arranged on the outer wall of the hub along the circumferential direction of the hub, so that each side surface of the hub is provided with one mounting seat; the mounting seat protrudes and extends from the side surface of the hub to a direction far away from the hub, and the axis of the mounting seat is perpendicular to the axis of the hub; the extension end of the mounting seat is open, one end of the supporting leg, which is far away from the supporting part, correspondingly extends into the corresponding mounting seat, and each wheel foot is fixed on the wheel hub.
Preferably, each wheel foot is uniformly arranged on the periphery of the hub along the arc direction of the bottom plate protection plate.
The invention has the beneficial effects that: 1. the wheel feet land on the ground, the grounding area with the sand is gradually increased, the sand sinking is reduced, the bearing capacity is improved, and the contact area can be increased by more than 28 percent. 2. The wheel foot is finally concave, and has the functions of flow limiting, sand fixing and soft road surface compaction, so that the wheel does not sink too deeply. 3. The bottom plate protection plate and the rocking plate protection plate adopt circular arc design, so that the multilateral effect is reduced, and the running smoothness is improved. 4. When the vehicle runs on a hard road or a road with more broken stones, the vehicle wheels are protected by utilizing the deformation, shock absorption and energy absorption of the springs, and the running stability is improved.
Drawings
FIG. 1 is a front view of a wheel in an embodiment of the present invention;
FIG. 2 is a side view of a wheel in an embodiment of the invention
FIG. 3 is a front view of a wheel foot in an embodiment of the invention;
FIG. 4 is a side view of a wheel foot in an embodiment of the present invention;
FIG. 5 is a top view of a wheel foot in an embodiment of the present invention;
FIG. 6 is a top view of the top plate in an embodiment of the present invention;
FIG. 7 is a schematic structural view of a side panel in an embodiment of the present invention;
FIG. 8 is a schematic structural view of a base plate in an embodiment of the present invention;
FIG. 9 is an assembly view of the base plate and the base plate protective plate in the embodiment of the present invention;
FIG. 10 is a side view of FIG. 9 in an embodiment of the present invention;
FIG. 11 is a schematic view of the construction of a rocker paddle and a rocker paddle guard in an embodiment of the invention;
FIG. 12 is a bottom view of FIG. 11 in an embodiment of the present invention;
FIG. 13 is an elevation view of a hub in an embodiment of the present invention;
FIG. 14 is a side view of a hub in an embodiment of the present invention.
In the figure: 1. wheel feet; 2. supporting legs; 3. a sliding cavity; 4. a slide bar; 5. an elastic member; 6. a top plate; 7. a first side plate; 8. a second side plate; 9. a base plate; 10. a bottom plate protection plate; 11. a first rocker paddle; 12. a second rocker paddle; 13. a first rocker paddle guard plate; 14. a second rocker paddle guard plate; 15. wheel stabs; 16. a through hole; 17. a hub; 18. a side surface; 19; and (7) mounting a seat.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the invention, are intended for purposes of illustration only and are not intended to limit the scope of the invention.
As shown in fig. 1 to 13, the invention provides a self-adaptive bionic anti-subsidence wheel, which comprises a hub 17 and a plurality of wheel feet 1 uniformly arranged along the circumferential direction of the hub 17; the wheel foot 1 comprises a wheel foot body which comprises,
a support portion; the supporting part is connected with the supporting leg 2 and comprises an upper supporting plate, a lower supporting plate, a sliding rod 4 and an elastic part 5, the lower supporting plate is arranged below the upper supporting plate in parallel with the upper supporting plate, two opposite sides of the upper supporting plate are correspondingly hinged with two opposite sides of the lower supporting plate respectively, and the sliding rod 4 and the elastic part 5 are abutted between the upper supporting plate and the lower supporting plate; the supporting legs 2 are perpendicular to the upper supporting plate and connected to the upper surface of the upper supporting plate, a through hole 16 is formed in the upper supporting plate, and the sliding rod 4 penetrates through the through hole 16 and correspondingly extends into the sliding cavity 3; the lower surface of the lower supporting plate is provided with a plurality of wheel spines 15 which protrude outwards and extend.
As shown in fig. 1 to 2, in this embodiment, the wheel feet 1 are uniformly arranged in the circumferential direction of the wheel hub 17, so that the wheel feet 1 are matched with each other in the moving process of the wheel, and the normal rotation of the wheel is ensured.
As shown in fig. 3 to 7, in this embodiment, the upper supporting plate includes a top plate 6 horizontally disposed, two opposite sides of the top plate 6 are respectively provided with a first side plate 7 and a second side plate 8, and the first side plate 7 and the second side plate 8 extend obliquely in a direction approaching to the lower supporting plate. The first side plate 7 and the second side plate 8 extend from the connecting ends of the first side plate 7 and the top plate 6 in a downward inclined manner, and the distance between the first side plate 7 and the second side plate 8 is gradually increased from top to bottom.
In this embodiment, the top plate 6, the first side plate 7 and the second side plate 8 are integrally formed or are disposed independently and fixedly connected. That is to say the top plate 6 is fixedly connected to the first side plate 7 and the second side plate 8. When roof 6 with when independently setting up respectively between first curb plate 7, the second curb plate 8, be provided with the first installation department that a plurality of outside bulges extend at roof 6 relative both sides respectively interval, be provided with first mounting hole on the first installation department, first curb plate 7 with second curb plate 8 is close to one side of roof 6 is provided with the second installation department that a plurality of outside bulges extend at interval respectively, be provided with the second mounting hole on the second installation department, the second installation department corresponds respectively and stretches into between the two adjacent first installation departments, the fastener pass first mounting hole in proper order with the second mounting hole, with roof 6 and first curb plate 7, second curb plate 8 fixed connection. The fastener is a screw, a bolt or a stud and a nut and the like.
As shown in fig. 8 to 12, in the present embodiment, the lower support plate includes a bottom plate 9 disposed parallel to the top plate 6, two opposite sides of the bottom plate 9 are respectively provided with a first rocking plate 11 and a second rocking plate 12, and the first rocking plate 11 and the second rocking plate 12 are respectively hinged to two opposite sides of the bottom plate 9; the first rocking plate 11 and the second rocking plate 12 extend obliquely in a direction close to the upper supporting plate, the extending end of the first rocking plate 11 is hinged with the extending end of the first side plate 7, and the extending end of the second rocking plate 12 is hinged with the extending end of the first side plate 7; the first rocking plate 11 and the second rocking plate 12 extend from the hinged end of the bottom plate 9 in an upward inclined mode respectively, and the distance between the first rocking plate 11 and the second rocking plate 12 is gradually increased from bottom to top.
In this embodiment, the bottom plate 9 and the first rocking plate 11 and the second rocking plate 12 are hinged, and the first rocking plate 11 and the second rocking plate 12 can rotate relative to the bottom plate 9. Be provided with the third installation department that a plurality of outside protrusions extend respectively at bottom plate 9's relative both sides interval, be provided with the third mounting hole on the third installation department, first rocker 11 with second rocker 12 is close to one side of bottom plate 9 is provided with the fourth installation department that a plurality of outside protrusions extend respectively at the interval, be provided with the fourth mounting hole on the fourth installation department, the fourth installation department corresponds respectively and stretches into between the two adjacent third installation departments, the articulated elements pass in proper order the third mounting hole with the fourth mounting hole, with bottom plate 9 and first rocker 11, second rocker 12 fixed connection.
In this embodiment, a plurality of fifth mounting portions are respectively disposed at intervals on the extending ends of the first side plate 7 and the second side plate 8, and fifth fixing holes are disposed on the fifth mounting portions; first rocking plate 11 with the extension of second rocking plate 12 is served and is provided with a plurality of sixth installation departments at the interval respectively, be provided with the sixth fixed orifices on the sixth installation department, the sixth installation department corresponds respectively and stretches into between the adjacent two fifth installation departments, the articulated elements pass in proper order the fifth fixed orifices with the sixth fixed orifices is shaken first curb plate 7 and first rocking plate 11, second curb plate 8 and second and is rocked plate 12 and articulate respectively and be connected.
In this embodiment, the hinge is a component that can realize relative rotation.
In this embodiment, the lower surface of the bottom plate 9 is provided with a bottom plate protection plate 10, the upper surface of the bottom plate protection plate 10 corresponds to the lower surface of the bottom plate 9 for attachment, the lower surface of the bottom plate protection plate 10 is along the circumference of the hub 17 is in an arc shape, and the lower surface of the bottom plate protection plate 10 is provided with wheel pricks 15. The bottom plate protection plate 10 is fixedly connected with the bottom plate 9. The wheel pricks 15 are uniformly arranged on the lower surface of the bottom plate protection plate 10, the wheel pricks 15 are cuboid, a certain distance is reserved between the wheel pricks 15, and the shape of the wheel pricks 15 is set according to actual conditions so as to better meet actual requirements.
In this embodiment, the bottom plate 9 and the bottom plate protection plate 10 are fixedly connected by fasteners such as screws, bolts, or rivets.
In this embodiment, the lower surfaces of the first rocking plate 11 and the second rocking plate 12 are respectively provided with a first rocking plate protection plate 13 and a second rocking plate protection plate 14; first shake board protection shield 13 with the second shake the upper surface of board protection shield 14 respectively with first shake board 11 with the second shakes the 12 lower surfaces of board and corresponds the laminating respectively, first shake board protection shield 13 with the lower surface that the second shakes board protection shield 14 is followed wheel hub 17 circumference is the arc setting, first shake board protection shield 13 with the lower surface that the second shakes board protection shield 14 is provided with wheel thorn 15. The wheel spines 15 are uniformly arranged on the lower surfaces of the first rocking plate 11 and the second rocking plate 12, the wheel spines 15 are cuboid, a certain distance is reserved between the wheel spines 15, and the shape of the wheel spines 15 is set according to actual conditions so as to better meet actual requirements.
In this embodiment, the first rocking plate 11 and the first rocking plate protecting plate 13 are fixedly connected by fasteners such as screws, bolts, or rivets. The second rocking plate 12 and the second rocking plate protection plate 14 are fixedly connected by fasteners such as screws, bolts or rivets.
In this embodiment, the lower surfaces of the bottom plate protecting plate 10, the first rocking plate protecting plate 13 and the second rocking plate protecting plate 14 are processed in an arc shape, the radius of the arc is the average radius of the wheel in the driving process, and the length of the arc extends properly in the tangential direction of the arc, so as to reduce the changeable effect and improve the driving smoothness of the wheel. The protection plate structure is provided with a wheel spine 15 structure which can improve traction force during the driving of the wheels.
In this embodiment, the sliding rod 4 is fixed on the upper surface of the bottom plate 9, and the other end of the sliding rod 4 penetrates through the through hole 16 and correspondingly extends into the sliding cavity 3. The upper surface of the bottom plate 9 is provided with a boss coaxial with the slide rod 4, the boss is coaxial with the slide rod 4 and is arranged at the periphery of the slide rod 4, the boss protrudes upwards and extends, so that the top plate 6 and the bottom plate 9 cannot be attached when the slide rod 4 slides in the sliding cavity 3, a certain distance is kept between the top plate and the bottom plate, and the elastic part 5 is prevented from losing efficacy.
In this embodiment, the slide bar 4 is symmetrically provided with at least two elastic members 5 parallel to the slide bar 4 in the circumferential direction, and two ends of the elastic members 5 are respectively fixedly connected with the lower surface of the top plate 6 and the upper surface of the bottom plate 9.
In this embodiment, the upper surface of the bottom plate 9 is provided with a first fixing column protruding upwards, the lower surface of the top plate 6 is provided with a second fixing column protruding downwards corresponding to the first fixing column, two ends of the elastic element 5 are respectively sleeved on the first fixing column and the second fixing column, so that the elastic element 5 is abutted between the top plate 6 and the bottom plate 9.
In this embodiment, the elastic member 5 is a spring.
As shown in fig. 13 to 14, in the present embodiment, the hub 17 has a regular prism-shaped cylindrical structure, and a plurality of mounting seats 19 are uniformly arranged on the outer wall of the hub 17 along the circumferential direction thereof, so that each side surface 18 of the hub 17 is provided with one mounting seat 19; the mounting seat 19 protrudes from the side surface 18 of the hub 17 to extend away from the hub 17, and the axis of the mounting seat 19 is perpendicular to the axis of the hub 17; the extending end of the mounting seat 19 is open, and one end of the support leg 2, which is far away from the supporting part, correspondingly extends into the corresponding mounting seat 19, so that each wheel foot 1 is fixed on the wheel hub 17.
In this embodiment, each wheel foot 1 is uniformly arranged on the periphery of the wheel hub 17 along the arc direction of the bottom plate protection plate 10. The wheel 1 utilizes the side plates and the rocking plates to jointly form a concave state so as to compact a soft road surface and improve the supporting force, thereby reducing the sinking amount of the wheel.
In this embodiment, when the wheel is driven on a hard road, the operation process is as follows: the wheel transfers load downwards from the hub 17, the supporting leg 2 pushes the top plate 6 to move downwards, and the first side plate 7 and the second side plate 8 respectively push the first rocking plate 11 and the second rocking plate 12 to rotate until the first rocking plate and the second rocking plate contact the ground; at this time, the top plate 6, the bottom plate 9, the side plates and the rocking plate form a trapezoidal state together, and the springs compress and absorb kinetic energy in the process to achieve the effect of shock absorption. The wheels roll forwards, the wheel feet 1 start to leave the ground, the elastic potential energy of the spring pushes the bottom plate 9 to move downwards, and the wheel feet 1 are restored to the original state.
In the embodiment, when the wheel runs on a soft ground, the running process of the wheel is as follows, when the wheel runs on a soft road, the wheel transfers load downwards from the hub 17, the supporting leg 2 pushes the top plate 6 to move downwards, the first side plate 7 and the second side plate 8 respectively push the first rocking plate 11 and the second rocking plate 12 to rotate and contact with the road, the bottom plate protecting plate 10 applies force downwards, the road under the bottom plate protecting plate 10 is compacted, the road under the first rocking plate 11 and the second rocking plate 12 is still loose, and therefore the first rocking plate 11 and the second rocking plate 12 continue to move downwards until stopping; at this time, the top plate 6, the bottom plate 9, the side plates and the rocking plates form a concave state together, and the concave state can compact a soft road surface and improve the supporting force of the soft road surface, so that the sinking amount is reduced. The spring is compressed in the process to absorb kinetic energy, and the shock absorption effect is also achieved. The wheels roll forwards, the wheel feet 1 start to leave the ground, the elastic potential energy of the spring pushes the bottom plate 9 to move downwards, and the wheel feet 1 are restored to the original state.
By adopting the technical scheme disclosed by the invention, the following beneficial effects are obtained:
the invention provides a self-adaptive bionic anti-subsidence wheel, which lands on the ground, and the grounding area of the wheel and sand is gradually increased, so that the subsidence of sand is reduced, the bearing capacity is improved, and the contact area is increased by more than 28%; the wheel feet are finally concave, and have the functions of flow limiting and sand fixing and soft road surface compaction, so that the wheels do not sink too deeply; the bottom plate protection plate and the rocking plate protection plate adopt circular arc design, so that the multilateral effect is reduced, and the driving smoothness is improved; when the vehicle runs on a hard road or a road with more broken stones, the vehicle wheels are protected by utilizing the deformation, shock absorption and energy absorption of the springs, and the running stability is improved.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and improvements can be made without departing from the principle of the present invention, and such modifications and improvements should also be considered within the scope of the present invention.
Claims (8)
1. A self-adaptive bionic anti-subsidence wheel comprises a wheel hub and a plurality of wheel feet uniformly arranged along the circumferential direction of the wheel hub; the method is characterized in that: the wheel foot comprises a wheel foot body and a wheel foot body,
supporting legs; the supporting legs are connected with the hubs and are cylindrical, and the supporting legs are hollow inside to form a sliding cavity;
a support portion; the supporting part is connected with the supporting leg and comprises an upper supporting plate, a lower supporting plate, a sliding rod and an elastic part, the lower supporting plate is arranged below the upper supporting plate in parallel with the upper supporting plate, two opposite sides of the upper supporting plate are correspondingly hinged with two opposite sides of the lower supporting plate respectively, and the sliding rod and the elastic part are abutted between the upper supporting plate and the lower supporting plate; the supporting legs are perpendicular to the upper supporting plate and connected to the upper surface of the upper supporting plate, a through hole is formed in the upper supporting plate, and the sliding rod penetrates through the through hole and correspondingly extends into the sliding cavity; the lower surface of the lower supporting plate is provided with a plurality of wheel spines which protrude outwards and extend;
the upper supporting plate comprises a top plate which is horizontally arranged, a first side plate and a second side plate are respectively arranged on two opposite sides of the top plate, and the first side plate and the second side plate extend obliquely towards the direction close to the lower supporting plate;
the lower supporting plate comprises a bottom plate arranged in parallel to the top plate, a first rocking plate and a second rocking plate are respectively arranged on two opposite sides of the bottom plate, and the first rocking plate and the second rocking plate are respectively hinged with two opposite sides of the bottom plate; first shake the board with the second shakes the board to being close to go up the direction slope of backup pad and extends, the extension end of first shake the board with the extension end of first curb plate is articulated, the extension end of second shake the board with the extension end of first curb plate is articulated.
2. The adaptive biomimetic anti-subsidence wheel of claim 1, wherein: the top plate and the first side plate and the second side plate are integrally formed or mutually independently arranged and fixedly connected.
3. The adaptive biomimetic anti-subsidence wheel of claim 1, wherein: the bottom plate lower surface is provided with the bottom plate protection shield, the upper surface of bottom plate protection shield with the bottom plate lower surface corresponds the laminating, bottom plate protection shield lower surface is followed wheel hub circumference is the arc setting, the lower surface of bottom plate protection shield is provided with the wheel thorn.
4. The adaptive biomimetic anti-subsidence wheel of claim 1, wherein: the lower surfaces of the first rocking plate and the second rocking plate are respectively provided with a first rocking plate protecting plate and a second rocking plate protecting plate; first shake the board protection shield with the upper surface that the board protection shield was shaken to the second respectively with first shake the board with the second shakes the board lower surface and corresponds the laminating respectively, first shake the board protection shield with the lower surface that the board protection shield was shaken to the second is followed wheel hub circumference is the arc setting, first shake the board protection shield with the lower surface that the board protection shield was shaken to the second is provided with the wheel thorn.
5. The adaptive biomimetic anti-subsidence wheel of claim 1, wherein: the slide bar is fixed on the upper surface of the bottom plate, and the other end of the slide bar penetrates through the through hole and correspondingly extends into the sliding cavity.
6. The adaptive biomimetic anti-subsidence wheel of claim 5, wherein: the sliding rod circumference symmetry is provided with at least two and is on a parallel with the elastic component of sliding rod, the both ends of elastic component respectively with the lower surface of roof with the upper surface fixed connection of bottom plate.
7. The adaptive biomimetic anti-subsidence wheel of claim 1, wherein: the hub is of a regular prism-shaped cylindrical structure, and a plurality of mounting seats are uniformly arranged on the outer wall of the hub along the circumferential direction of the hub, so that each side surface of the hub is provided with one mounting seat; the mounting seat protrudes and extends from the side surface of the hub to a direction far away from the hub, and the axis of the mounting seat is perpendicular to the axis of the hub; the extension end of the mounting seat is open, one end of the supporting leg, which is far away from the supporting part, correspondingly extends into the corresponding mounting seat, and each wheel foot is fixed on the wheel hub.
8. The adaptive biomimetic anti-subsidence wheel of claim 3, wherein: all the wheel feet are uniformly arranged on the periphery of the hub along the arc direction of the bottom plate protection plate.
Priority Applications (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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| 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 |
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| CN110203010A CN110203010A (en) | 2019-09-06 |
| CN110203010B true 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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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111152601B (en) * | 2020-01-13 | 2022-11-18 | 吉林大学 | Elastic bionic walking wheel of manned lunar vehicle |
| CN112606624B (en) * | 2021-01-07 | 2022-08-19 | 山东大众机械制造股份有限公司 | Driving wheel capable of adjusting surface friction force according to ground roughness |
| CN113524983B (en) * | 2021-06-10 | 2022-08-12 | 季华实验室 | Tire with adjustable radial stiffness and method of manufacture |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US1329213A (en) * | 1918-08-22 | 1920-01-27 | Tourtier Paul Auguste | Wheel |
| GB201209333D0 (en) * | 2012-05-24 | 2012-07-11 | Ontario Drive & Gear Ltd | Metal wheel |
| CN103264614B (en) * | 2013-06-07 | 2015-05-20 | 吉林大学 | Bionic sand-crossing walking wheel |
| US10525766B2 (en) * | 2017-09-22 | 2020-01-07 | Keir P. Daniels | Wheel with adjustable radius and tread firmness |
| CN109109559B (en) * | 2018-08-01 | 2023-12-22 | 吉林大学 | Wheeled auxiliary obstacle surmounting device |
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