CN110843955A - Compound type deformation wheel simulating steps of cattle feet - Google Patents
Compound type deformation wheel simulating steps of cattle feet Download PDFInfo
- Publication number
- CN110843955A CN110843955A CN201911297483.5A CN201911297483A CN110843955A CN 110843955 A CN110843955 A CN 110843955A CN 201911297483 A CN201911297483 A CN 201911297483A CN 110843955 A CN110843955 A CN 110843955A
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- Prior art keywords
- toe
- wheel
- foot
- leg part
- upper leg
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- 241000283690 Bos taurus Species 0.000 title claims abstract description 25
- 150000001875 compounds Chemical class 0.000 title claims description 7
- 238000013016 damping Methods 0.000 claims description 16
- 244000100945 Piper peltatum Species 0.000 claims description 13
- 239000002131 composite material Substances 0.000 claims description 8
- 239000004576 sand Substances 0.000 claims description 5
- 235000001968 nicotinic acid Nutrition 0.000 abstract description 2
- 210000003371 toe Anatomy 0.000 description 71
- 210000002683 foot Anatomy 0.000 description 27
- 239000002689 soil Substances 0.000 description 14
- 238000011160 research Methods 0.000 description 4
- 230000007246 mechanism Effects 0.000 description 3
- 230000000712 assembly Effects 0.000 description 2
- 238000000429 assembly Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000007123 defense Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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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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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention belongs to the field of bionics, in particular to a cow-foot-imitating wheel step combined type variable-configuration wheel which comprises a wheel hub, leg components and a cow-foot-imitating component, wherein a plurality of leg components are uniformly distributed in the circumferential direction of the wheel hub; the artificial ox foot part comprises a left toe, a right toe and a buffer spring, wherein the left toe is hinged with the right toe and is connected with the other end of the lower leg part at the hinged part, and the buffer spring is arranged between the left toe and the right toe. The invention combines the advantages of the wheel feet, has good trafficability, and the cattle foot simulating component can simulate various functions of the cattle feet on soft ground and meet the requirement of comprehensive trafficability of the environment.
Description
Technical Field
The invention belongs to the field of bionics, and particularly relates to a compound variable-configuration wheel simulating the steps of a cattle foot wheel.
Background
The desert and gobi area of China are wide, and the walking mechanism suitable for soft ground is needed in desert scientific investigation, military defense, desert development and the like. In addition, deep space exploration is receiving more and more attention, the lunar surface environment and the Mars surface environment are complex, soft sandy soil distributed with stones, pits and convex hulls is distributed, and the passing performance required by the planet exploration is difficult to achieve by a common wheel.
The soft ground has poor bearing capacity and low shear strength, the performance of a walking mechanism depends on the friction force and the external adhesion force to soil, and the soil often sinks too deeply and slips to control the flow of the soil below the walking mechanism. The cattle often walk on soft soil, and the cattle of the cattle gradually forms an excellent geometric shape through continuous evolution in long-term interaction with the soil, so that the cattle has the characteristics of strong passing capacity, small movement resistance, high action efficiency and the like on the soft soil.
At present, researches on adapting to soft ground and combining the advantages of wheel feet are few at home and abroad, the scientific research requirements cannot be met, and further research and research are needed.
Disclosure of Invention
In order to meet the requirement of walking on soft ground, the invention aims to combine the advantages of the wheel feet and provide a composite variable-configuration wheel imitating the wheel steps of the cattle feet based on the adaptability of the cattle feet to soft terrain. The composite variable-configuration wheel imitating the steps of the cattle foot wheel can be used for four-wheel and six-wheel mobile robots.
The purpose of the invention is realized by the following technical scheme:
the invention comprises a hub, leg components and a cow-foot-imitating component, wherein a plurality of leg components are uniformly distributed in the circumferential direction of the hub, each leg component comprises an upper leg part, a lower leg part and a damping spring, one end of each upper leg part is connected with the hub, one end of each lower leg part can be relatively and telescopically connected into the other end of each upper leg part, the other end of each lower leg part is connected with the cow-foot-imitating component, the damping spring is contained in each upper leg part, and two ends of each damping spring are respectively abutted against one end of the hub and one end of each lower leg part; the artificial ox foot component comprises a left toe, a right toe and a buffer spring, the left toe and the right toe are hinged and connected with the other end of the lower leg part at the hinged position, and the buffer spring for enabling the left toe and the right toe to leave the ground and reset is arranged between the left toe and the right toe.
Wherein: the wheel hub is cylindric, and the surface has a plurality of connecting pipes along the circumferencial direction equipartition, and the one end of this connecting pipe links to each other with wheel hub, the other end with go up the one end of shank and be connected.
The connecting pipe is a cylinder with a hollow inner part, and the inner wall of the connecting pipe is provided with a thread which is in threaded connection with one end of the upper leg part.
The upper leg part is a cylinder with a hollow inner part, the damping spring is accommodated in the middle through hole of the upper leg part, and the diameter of the middle through hole on the end face of the other end of the upper leg part is smaller than that of the middle through holes on other parts.
The lower leg is cylindrical, one end of the lower leg is positioned in the upper leg, the diameter of the end of the lower leg is larger than that of the other part of the lower leg, and the part with the small diameter of the lower leg penetrates out of the other end of the upper leg.
The left toe and the right toe are both provided with toe tips and connecting parts, the connecting parts of the left toe or the right toe are provided with through holes, the connecting parts of the right toe or the left toe are inserted into the through holes, the connecting parts of the left toe and the right toe are hinged through foot shafts, and the foot shafts are connected with the other ends of the lower leg parts; and the buffer spring is arranged between the connecting part of the left toe and the connecting part of the right toe.
The inner side surfaces of the left toe and the right toe which are contacted with the sand are inclined planes.
The invention has the advantages and positive effects that:
1. the invention combines the advantages of the wheel foot, has good trafficability, and the simulated cattle foot component can simulate the functions of the cattle foot such as landing on the toe tip of a soft ground, vertically entering the soil, opening the toe flap, fixing the soil in the toe flap, recovering the soil after the emergence of the soil and the like, thereby meeting the requirement of the comprehensive trafficability of the environment.
2. The left and right toes of the simulated cattle foot component are provided with elastic finger pillows, and the upper leg part is provided with a damping spring which can buffer the impact of the toe tips contacting the ground.
Drawings
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is a front view of the structure of the present invention;
FIG. 3 is a cross-sectional view taken along line A-A of FIG. 2 in accordance with the present invention;
FIG. 4 is a schematic perspective view of a bovine foot-like member of the present invention;
FIG. 5 is a front view of the configuration of the bovine foot-like member of the present invention;
wherein: 1 is the wheel hub, 101 is the connecting pipe, 2 is the leg subassembly, 201 is the upper leg, 202 is the lower leg, 203 is the damping spring, 3 is imitative ox foot part, 301 is the left toe, 302 is the right toe, 303 is the foot axle, 304 is the buffer spring, 305 is the through-hole.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
As shown in fig. 1 to 5, the present invention includes a hub 1, leg assemblies 2 and a cow-foot-like member 3, wherein a plurality of leg assemblies 2 are uniformly distributed in a circumferential direction of the hub 1, each leg assembly 2 includes an upper leg 201, a lower leg 202 and a damping spring 203, one end of the upper leg 201 is connected to the hub 1, one end of the lower leg 202 is connected to the other end of the upper leg 201 in a relatively telescopic manner, the other end of the lower leg 202 is connected to the cow-foot-like member 3, the damping spring 203 is accommodated in the upper leg 201, and two ends of the damping spring 203 are respectively abutted to one ends of the hub 1 and the lower leg 202.
The hub 1 of this embodiment is cylindrical, a plurality of (six in this embodiment) connecting pipes 101 are uniformly distributed on the outer surface along the circumferential direction, the connecting pipes 101 are cylinders with hollow interiors, and the inner walls of the connecting pipes are provided with threads; one end of the connecting pipe 101 is fixedly connected to the hub 1 (or the connecting pipe 101 and the hub 1 are integrated), and the other end is in threaded connection with one end of the upper leg 201.
The upper leg portion 201, the lower leg portion 202, and the artificial cow foot member 3 of the present embodiment are all six.
The upper leg 201 of this embodiment is a cylinder with a hollow inner portion, the damping spring 203 is accommodated in the middle through hole of the upper leg 201, and the diameter of the middle through hole on the end surface of the other end of the upper leg 201 is smaller than the diameter of the middle through holes on other portions.
The lower leg 202 of this embodiment is cylindrical, one end of which is located inside the upper leg 201, and the diameter of the end is larger than the diameters of other parts and larger than the diameter of the middle through hole at the end face of the other end of the upper leg; the smaller diameter portion of the lower leg 202 extends out from the other end of the upper leg 201.
The artificial cow foot part 3 comprises a left toe 301, a right toe 302 and a buffer spring 304, wherein the left toe 301 and the right toe 302 are hinged and connected with the other end of the lower leg part 202 at the hinged position, and the buffer spring 304 for enabling the left toe 301 and the right toe 302 to leave the ground and reset is arranged between the left toe 301 and the right toe 302. The left toe 301 and the right toe 302 of the present embodiment both have toe tips and connecting parts, the connecting part of the left toe 301 or the right toe 302 is provided with a through hole 305, the connecting part of the right toe 302 or the left toe 301 is inserted into the through hole 305, the connecting parts of the left toe 301 and the right toe 302 are hinged through a foot shaft 303, and the foot shaft 303 is connected with the other end of the lower leg 202; a cushion spring 304 is provided between the connecting portion of the left toe 301 and the connecting portion of the right toe 302. The connecting part of the left toe 301 of the present embodiment is a rectangular parallelepiped, and a through hole 305 is formed along the length direction; the connecting portion of the right toe 302 is formed in a rectangular plate shape, is inserted through a through hole 305, and is hinged by a foot shaft 303, and a buffer spring 304 is provided at the end of the rectangular plate and the end of the rectangular plate. The inner side surfaces of the left toe 301 and the right toe 302 contacting with the sand are both inclined surfaces. The foot shaft 303 may be connected to the other end of the lower leg portion 202, or the other end of the lower leg portion 202 may be used as the foot shaft 303, i.e., the left toe 301 and the right toe 302 are hinged to the other end of the lower leg portion 202.
When the device is installed, the part with the small diameter of the lower leg part 202 penetrates through one end of the upper leg part 201 and then penetrates out of the other end of the upper leg part 201, and the part with the large diameter of the lower leg part 202 is left in the upper leg part 201; the damper spring 203 is then inserted into the upper leg 201, and the upper leg 201 is screwed to the connection pipe 101. Finally, the cow foot imitation member 3 is mounted on the other end of the lower leg portion 202.
The working principle of the invention is as follows:
the hub 1 has six sets of composite legs and feet, each set having a leg assembly 2 and a simulated cow foot member 3. When the length of the composite leg and foot is designed, when the previous composite leg and foot is off the ground, the toe tip of the cow foot simulating component 3 in the next adjacent composite leg and foot just contacts the ground. The wheels are driven by power, when the left toe 301 and the right toe 302 of the cow foot simulating component 3 contact the ground, sand on the soft ground enters the position between the left toe 301 and the right toe 302 and acts on the inner side inclined planes of the left toe 301 and the right toe 302, so that the left toe 301 and the right toe 302 rotate outwards and are separated; at this time, the cushion spring 304 is compressed, and when the elastic force and the force acting on the inner slope of the left and right toes 301, 302 are balanced in the horizontal direction, the left and right toes 301, 302 are separated by a predetermined angle. The force applied to the artificial cow foot member 3 is transmitted from the lower leg portion 202 to the damper spring 203, the lower leg portion 202 retracts relative to the upper leg portion 201, and the damper spring 203 in the upper leg portion 201 is compressed. When the cow foot simulating member 3 is separated from the ground, sand leaks out from between the left and right toes 301, 302, the buffer spring 304 is restored to its original state, and the left and right toes 301, 302 are also restored to their original states. The damping spring 203 resets to push the lower leg 202 to extend and reset relative to the upper leg 201. The simulated cattle foot component 3 can simulate the functions of landing the tip of the toe, vertically entering the soil, opening the toe flap, fixing the soil in the toe flap, recovering the soil after the emergence of the cattle foot on soft ground and the like, and meets the requirement of comprehensive passing capacity of the environment.
The left and right toes 301, 302 of the artificial cow foot part 3 of the invention have elastic finger pillows, and the upper leg part 201 is provided with a damping spring 203 which can buffer the impact of the toe tip contacting the ground.
Claims (7)
1. The utility model provides an imitative ox foot wheel step combined type morph configuration wheel which characterized in that: the artificial cow foot component comprises a hub (1), leg components (2) and an artificial cow foot component (3), wherein a plurality of leg components (2) are uniformly distributed in the circumferential direction of the hub (1), each leg component (2) comprises an upper leg part (201), a lower leg part (202) and a damping spring (203), one end of each upper leg part (201) is connected with the hub (1), one end of each lower leg part (202) can be relatively and telescopically connected into the other end of each upper leg part (201), the other end of each lower leg part (202) is connected with the artificial cow foot component (3), each upper leg part (201) is internally provided with the damping spring (203), and two ends of each damping spring (203) are respectively abutted to one end of the hub (1) and one end of the lower leg part (202); the artificial cow foot part (3) comprises a left toe (301), a right toe (302) and a buffer spring (304), wherein the left toe (301) is hinged with the right toe (302) and is connected with the other end of the lower leg part (202) at the hinged position, and the buffer spring (304) for enabling the left toe (301) and the right toe (302) to leave the ground to reset is arranged between the left toe (301) and the right toe (302).
2. The compound type variable-configuration wheel imitating the steps of a cattle foot wheel as claimed in claim 1, wherein: wheel hub (1) is cylindricly, and the surface has a plurality of connecting pipes (101) along the circumferencial direction equipartition, and the one end of this connecting pipe (101) links to each other with wheel hub (1), the other end with the one end of going up shank (201) is connected.
3. The simulated cattle foot wheel step composite variable-configuration wheel as claimed in claim 2, characterized in that: the connecting pipe (101) is a cylinder with a hollow inner part, and the inner wall of the connecting pipe is provided with a thread which is in threaded connection with one end of the upper leg part (201).
4. The compound type variable-configuration wheel imitating the steps of a cattle foot wheel as claimed in claim 1, wherein: the upper leg part (201) is a cylinder with a hollow inner part, the damping spring (203) is accommodated in a middle through hole of the upper leg part (201), and the diameter of the middle through hole on the end face of the other end of the upper leg part (201) is smaller than that of the middle through holes of other parts.
5. The compound type variable-configuration wheel imitating the steps of a cattle foot wheel as claimed in claim 1, wherein: the lower leg part (202) is cylindrical, one end of the lower leg part is positioned in the upper leg part (201), the diameter of the end is larger than that of the other part, and the part of the lower leg part (202) with the small diameter penetrates out of the other end of the upper leg part (201).
6. The compound type variable-configuration wheel imitating the steps of a cattle foot wheel as claimed in claim 1, wherein: the left toe (301) and the right toe (302) are respectively provided with a toe tip and a connecting part, the connecting part of the left toe (301) or the right toe (302) is provided with a through hole (305), the connecting part of the right toe (302) or the left toe (301) is inserted into the through hole (305), the connecting parts of the left toe (301) and the right toe (302) are hinged through a foot shaft (303), and the foot shaft (303) is connected with the other end of the lower leg part (202); the buffer spring (304) is arranged between the connecting part of the left toe (301) and the connecting part of the right toe (302).
7. The simulated cattle foot-wheel step composite variable-configuration wheel as claimed in claim 6, characterized in that: the inner side surfaces of the left toe (301) and the right toe (302) which are contacted with the sand are inclined surfaces.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911297483.5A CN110843955A (en) | 2019-12-17 | 2019-12-17 | Compound type deformation wheel simulating steps of cattle feet |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911297483.5A CN110843955A (en) | 2019-12-17 | 2019-12-17 | Compound type deformation wheel simulating steps of cattle feet |
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| Publication Number | Publication Date |
|---|---|
| CN110843955A true CN110843955A (en) | 2020-02-28 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911297483.5A Pending CN110843955A (en) | 2019-12-17 | 2019-12-17 | Compound type deformation wheel simulating steps of cattle feet |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112429105A (en) * | 2020-11-16 | 2021-03-02 | 江苏大学 | Rigid-flexible coupling bionic anti-sinking energy-saving buffering walking wheel |
| CN112918182A (en) * | 2021-04-02 | 2021-06-08 | 吉林大学 | Bionic walking wheel capable of automatically adapting to soft and hard surfaces of planet |
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| CN109383656A (en) * | 2017-08-14 | 2019-02-26 | 中国科学院沈阳自动化研究所 | The rotary compound mobile mechanism of wheel leg |
| CN211223666U (en) * | 2019-12-17 | 2020-08-11 | 中国科学院沈阳自动化研究所 | Compound variable-configuration wheel imitating cow foot wheel steps |
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2019
- 2019-12-17 CN CN201911297483.5A patent/CN110843955A/en active Pending
Patent Citations (8)
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| CN103264614A (en) * | 2013-06-07 | 2013-08-28 | 吉林大学 | Bionic sand-crossing walking wheel |
| CN103448824A (en) * | 2013-09-24 | 2013-12-18 | 吉林大学 | Bionic desert-hiking obstacle-surmounting travelling wheel foot structure |
| CN103802908A (en) * | 2014-02-19 | 2014-05-21 | 北京航空航天大学 | Modularization sheep foot simulation mechanical foot device |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112429105A (en) * | 2020-11-16 | 2021-03-02 | 江苏大学 | Rigid-flexible coupling bionic anti-sinking energy-saving buffering walking wheel |
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| CN112918182B (en) * | 2021-04-02 | 2022-09-23 | 吉林大学 | Bionic walking wheel capable of automatically adapting to soft and hard surfaces of planet |
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Application publication date: 20200228 |
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