CN115782458A - Rigid-flexible coupling bionic walking wheel capable of automatically adapting to soft and hard ground environment - Google Patents
Rigid-flexible coupling bionic walking wheel capable of automatically adapting to soft and hard ground environment Download PDFInfo
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Abstract
The invention relates to a rigid-flexible coupling bionic walking wheel which is self-adaptive to soft and hard ground environments, belonging to the technical field of engineering bionic, and comprising a spoke wheel surface integrated structure group, a wheel thorn group and a wheel hub, wherein the spoke wheel surface integrated structure is formed by arranging rigid-flexible coupling bodies and elastic bodies at intervals, the cross section curve of the spoke wheel surface integrated structure is a bionic curve obtained by optimizing ostrich plantar contour lines, and the wheel surface structure can fix sand, limit current and improve the traction performance of wheels; the spoke and wheel surface integrated structure can also eliminate local stress concentration and prolong the service life of the wheel; the rigid-flexible coupling can ensure the strength and comfort of the walking wheel and reduce the weight, and the contour curve of the cross section of the inner supporting plate structure is a bionic curve obtained by optimizing the beak contour line of the giant-mouth bird, so that the effects of bending resistance, compression resistance and bearing improvement can be achieved; the elastomer can prevent sand and stones from entering gaps between the walking wheels.
Description
Technical Field
The invention belongs to the technical field of engineering bionics, and particularly relates to a rigid-flexible coupling bionic walking wheel capable of automatically adapting to soft and hard ground environments.
Background
With the progress of human science and technology, the demand of people on natural resources, especially on energy resources, is increasing, and even the global moon and mars exploration tide is started. However, in the extreme environment of desert and gobi, or the complex environment of moon and mars, the common point between them is that there are loose sandy soil (the physical properties of the soil of moon and mars are similar to those of loose sandy soil) and rock coexisting environment.
Vehicles serve as an important device for detection, transportation and mining tasks, and the basic function of a vehicle is its ability to pass through various environments. Since the wheels are the components of the vehicle that directly interact with the ground, the trafficability of the vehicle is largely dependent on the wheels. In a soft medium environment, the passing performance of a common wheel in the environment is extremely undesirable due to poor medium shear strength and load bearing capacity. When a vehicle provided with common wheels runs in a sand environment, the wheel slips and sinks, so that the passing performance of the vehicle is seriously influenced, and people have great limitation on exploration and exploitation of resources in a soft medium environment. Although the domestic scholars have made many studies on the sand walking wheel aiming at the advantages of the walking wheel and obtained certain results, the scholars only improve the trafficability of the vehicle to a certain extent, and mostly only consider the traction trafficability of the soft medium, so that the trafficability of road surface environments such as stones, pits and convex hulls is difficult to be considered. Therefore, the walking wheel structure which is light in weight, has high trafficability of the soft ground and low vibration characteristics of the hard ground, and can be self-adapted to soft and hard ground environments has important theoretical significance and application value.
The invention discloses a bionic ostrich sole three-dimensional curved surface drum-shaped wheel surface (application number: 201410153571.9) of a wheel for crossing over sand, which is characterized in that the ostrich sole curved surface is applied to the whole wheel surface, but the wheel surface is a continuous rigid wheel surface, the wheel surface cannot be self-adaptively adjusted according to different ground, the traction force is small, and the wheel surface does not have a vibration damping function. The invention discloses a bionic walking wheel (application number: 202110375736.7) with low dust emission and high traction on the surface of a moon, which combines a foot bottom curved surface of an ostrich with a walking wheel, applies the shape of the foot bottom curved surface of the ostrich to each bionic wheel surface monomer, but the wheel surface of the ostrich is of a continuous wheel surface structure, and can not play a role in dispersing stress concentration when the ostrich runs on a hard ground.
Disclosure of Invention
The invention aims to design a walking wheel which is light in weight, has the characteristics of high throughput of soft ground and low vibration of hard ground, can be automatically adapted to soft and hard ground environments, and can be applied to energy mining vehicles, desert running vehicles, and even deep space exploration patrollers and other walking machines operating in soft and hard ground environments in the future.
The invention relates to a rigid-flexible coupling bionic walking wheel capable of automatically adapting to soft and hard ground environments, which consists of a spoke wheel surface integrated structure group A, a wheel thorn group B and a wheel hub 1, wherein the radius r of an outer ring of the wheel hub 1 1 Is 38mm; inner ring radius r of hub 1 2 Is 55mm.
Spoke wheel surface integrated structure group A is composed of spoke wheel surface integrated structure IA 1 Spoke and wheel surface integrated structure IIA 2 And spoke wheel surface integrated structure IIIA 3 Spoke wheel surface integrated structure IVA 4 Spoke wheel surface integrated structure VA 5 And spoke wheel surface integrated structure VIA 6 Integrated structure IA of component and spoke wheel surface 1 Spoke and wheel surface integrated structure IIA 2 And spoke wheel surface integrated structure IIIA 3 Spoke wheel surface integrated structure IVA 4 Spoke wheel surface integrated structure VA 5 And spokeIntegrated structure VIA of strip and wheel surface 6 The 6 wheel thorn pieces 4 of the wheel thorn group B are arranged at intervals, and the inner ends of the wheel thorn pieces are uniformly distributed and fixedly connected with the surface of the outer ring of the wheel hub 1; the shape of the outer end of the longitudinal section of each spoke wheel surface integrated structure is a curve of a bc section, and the curve is a first bionic curve c obtained by optimizing the plantar contour line of the ostrich 1 . The first bionic curve c 1 The mathematical expression of (a) is:
y 1 ＝27.977+1.940x-0.034x 2 +1.906E^-4x 3
wherein: x is more than or equal to 4.323 and less than 34.797;
y 2 ＝205.619-9.373x+0.194x 2 -0.001x 3
wherein: 34.797 are made of the fabric x is less than or equal to 66.270;
wherein: x represents the length of the first bionic curve, y represents the width of the first bionic curve, and the unit of x and y is mm.
Spoke wheel face integrated structure IA 1 Spoke and wheel surface integrated structure IIA 2 And spoke wheel surface integrated structure IIIA 3 Spoke wheel surface integrated structure IVA 4 Spoke wheel surface integrated structure VA 5 And spoke wheel surface integrated structure VIA 6 The structure is completely the same, and the structure is composed of 7 rigid- flexible coupling bodies 2 and 6 elastic bodies 3, and the 7 rigid-flexible coupling bodies 2 and the 6 elastic bodies 3 are arranged at intervals and fixedly connected;
the rigid-flexible coupling body 2 consists of a wheel surface I5, a chamfer pair I6, a spoke pair I7, an inner supporting plate 8 and a soft filler 9, wherein the inner supporting plate 8 is fixedly connected between the spoke pair I7, and the soft filler 9 is filled in a space formed by the wheel surface I5, the spoke pair I7 and the inner supporting plate 8;
the wheel surface I5, the chamfer angle pair I6, the spoke pair I7 and the inner supporting plate 8 of the rigid-flexible coupling body 2 are of a bilateral symmetry structure of the longitudinal axis of the walking wheel a-a, and the left end and the right end of the wheel surface I5 are fixedly connected with the outer end of the spoke pair I7 through the chamfer angle pair I6; wherein the length L of the tread I5 1 Is 50mm; radius r of chamfer pair I6 6 Is 10mm; height h of spoke pair I7 1 +h 2 Is 11.46+24.37mm; width L of spoke pair I7 2 Is 2.51mm; length L of spoke pair I7 3 6.64mm;
the outer end of the longitudinal section of the inner supporting plate 8 is a curve of de section, and the curve is a second bionic curve c obtained by optimizing the beak contour line of the giant-mouth bird 2 The mathematical expression is as follows:
y 3 ＝31.100+0.042x+0.004x 2 -7.068x 3
wherein x is more than or equal to 15.680 and less than or equal to 56.157.
Wherein: x represents the length of the second bionic curve, y represents the width of the second bionic curve, and the unit of x and y is mm.
The elastic body 3 consists of a wheel face II 10, a chamfer angle pair II 11 and a spoke pair II 12, the wheel face II 10, the chamfer angle pair II 11 and the spoke pair II 12 are all symmetrical structures of a longitudinal axis of the walking wheel a-a, and the left end and the right end of the wheel face II 10 are fixedly connected with the outer end of the spoke pair II 12 through the chamfer angle pair II 11;
wherein the length L of the tread II 10 4 Is 50mm; radius r of chamfer pair II 11 7 Is 10mm; height h of spoke pair II 12 3 35.19mm; width L of spoke pair II 12 5 Is 2.53mm; lower end length L of spoke pair II 12 6 Is 3.43mm; upper end length L of spoke pair II 12 7 Is 5.93mm.
The wheel spine group B consists of 6 wheel spine pieces 4 with the same structure, each wheel spine piece 4 consists of a wheel spine 13, a wheel surface III 14 and an elastic block 15, the wheel spine 13, the wheel surface III 14 and the elastic block 15 are of a bilateral symmetry structure of a longitudinal axis of a walking wheel a-a, wherein the inner end of the wheel spine 13 is fixedly connected with the outer end of the wheel surface III 14, and the wheel surface III 14 is fixedly connected with the elastic block 15; wherein the height h of the wheel spine 13 5 Is 13.20mm; height h of tread III 14 4 Is 25.11mm; length L of tread III 14 8 Is 70.00mm; width L of upper sole of tread III 14 9 6.06mm; width L of upper sole of tread III 14 10 Is 4.27mm; width L of the elastic block 15 11 Is 3.57mm; length L of elastic block 15 12 Is 64.90mm; thickness L of elastic block 15 13 Is 2.51mm.
The length of the rigid-flexible coupling body 2 is r 3 -r 1 =111.04-38mm; the length of the elastic body 3 is r 4 -r 1 =111.80-38mm; of spur members 4Length r 5 -r 1 =119.09-38mm; radius r of chamfer pair I6 6 Is 10mm, and the chamfer angle is alpha of the I6 4 Is 88 degrees; radius r of chamfer pair II 11 7 Is 10mm, and the chamfer angle is alpha to the arc angle II 11 5 Is 88 degrees; included angle alpha of front and back surfaces of rigid-flexible coupling body 2 1 3.33 °; the angle alpha between the front and back surfaces of the elastic body 3 2 3.21 degrees; the included angle alpha of the front and the back of the wheel thorn piece 4 3 4.09 °;
the wheel surface I5, the chamfer angle pair I6, the spoke pair I7, the inner supporting plate 8 and the hub 1 of the rigid-flexible coupling body 2 are made of 6061 aluminum, and the soft filler 9 is made of polypropylene; the material of the tread II 10, the chamfer pair II 11 and the spoke pair II 12 of the elastic body 3 is polycarbonate; the materials of the wheel thorn pieces 4 of the wheel thorn group B are all spring steel.
The wheel spine 13 fixedly connected with the spring block 15 is slightly higher than a wheel surface structure in a natural state, and under the action of load on a vehicle in the environment of soft media, the wheel spine 13 deeply penetrates into the soft media to take the ground and provide the function of traction; in the hard ground environment, the spring block 15 fixedly connected with the wheel spine 13 can deform under the action of load, so that the wheel spine 13 is flush with the wheel surface, the attachment area of the wheel rim and the ground is increased, and the traction driving force of the wheel on the hard ground is improved.
The invention has the beneficial effects that:
1. the U-shaped structure formed by the wheel surface, the chamfer and the spoke in the rigid-flexible coupling body has the function similar to a spring plate spring, and the flexibility of the wheel is realized; the shape of the inner supporting plate is a de section curve which is a second bionic curve obtained by optimizing the beak contour line of the giant-mouth bird, and the effects of bending resistance, pressure resistance, bearing improvement and failure prevention caused by excessive deformation of the U-shaped structure are achieved; the mastoid on the surface of the wheel surface I plays a role in improving adhesion and increasing traction. The rigid-flexible coupling body structure realizes the function of wheel flexibility, can ensure the strength and the comfort of the wheel, and can also reduce the mass of the wheel.
2. The profile of spoke wheel face integrated configuration longitudinal section outer end is the curve of bc section, and this curve is the first bionical curve that optimization ostrich sole contour line obtained, and first bionical curve has protruding line, concave line and slow line triplex, therefore spoke wheel face integrated configuration has boss, recess and slow platform triplex, and when the wheel rolled, boss, recess and slow platform acted on with ground in proper order, and this kind of wheel face structure plays the effect of solid sand current-limiting, increase wheel traction performance.
3. The design that the rigid-flexible coupling bodies and the elastic bodies are arranged at intervals to form a spoke wheel surface integrated structure enables the wheel surface structure imitating the foot bottom appearance of the ostrich not only to play a role in fixing sand, limiting current and improving traction in soft and hard ground environments, but also to realize the combined action of the surrounding structure and the ground through local deformation in the hard ground environment, so that the effects of eliminating local stress concentration and prolonging the service life of the walking wheel are achieved.
4. The extension length of the wheel spine in the rolling process of the walking wheel can be adaptively adjusted according to the load on the wheel and the environment, and the traction force, the passing ability and the smoothness of the bionic walking wheel can be improved.
Drawings
FIG. 1 is a perspective view of a rigid-flexible coupling bionic walking wheel which is self-adaptive to soft and hard ground environments;
FIG. 2 is a front view of the spoke face integrated structure group A;
fig. 3 is a top view of a rigid-flexible coupled bionic walking wheel which is self-adaptive to soft and hard ground environments;
FIG. 4 is a front view of a rigid-flexible coupling bionic walking wheel which is self-adaptive to soft and hard ground environments;
FIG. 5 is a graph of the outer end shapes of the longitudinal sections of the spoke wheel surface integrated structures A1-A6 which are all bc sections;
FIG. 6 is a perspective view of a rigid-flexible coupling structure;
fig. 7 is a perspective view of the elastic body 3;
fig. 8 is a perspective view of the wheel-stab set B;
FIG. 9 is a first biomimetic graph of a contour line of a longitudinal section of the spoked wheel face integrated structure;
FIG. 10 is a second biomimetic graph of the contour line of the longitudinal section of the inner pallet;
wherein: A. spoke wheel surface integrated structure group A 1 Spoke wheel face integrated structure IA 2 Spoke wheel surface integrated structure IIA 3 Spoke wheel surface integrated structure IIIA 4 Spoke wheel face integrated structure IVA 5 Spoke wheel surface integrated structure VA 6 The spoke and wheel face integrated structure VIB, a spoke and wheel spine assembly 1, a wheel hub 2, a rigid-flexible-soft coupling body 3, an elastic body 4, a spoke piece 5, a wheel face I6, a chamfer pair I7, a spoke pair I8, an inner supporting plate 9, a soft filler 10, a wheel face II 11, a chamfer pair II 12, a spoke pair II 13, a spoke 14, a wheel face III 15 and an elastic block.
Detailed Description
The invention is described below with reference to the accompanying drawings
As shown in fig. 1 to 5, the rigid-flexible coupling bionic walking wheel capable of adapting to soft and hard ground environment autonomously comprises a spoke wheel surface integrated structure group a, a wheel thorn group B and a wheel hub 1. Wherein the outer ring radius r of the hub 1 1 Is 38mm; inner ring radius r of hub 1 2 Is 55mm, and the spoke wheel surface integrated structure group A is formed from spoke wheel surface integrated structure IA 1 Spoke and wheel surface integrated structure IIA 2 Spoke wheel surface integrated structure IIIA 3 Spoke wheel surface integrated structure IVA 4 Spoke wheel surface integrated structure VA 5 And spoke wheel surface integrated structure VIA 6 The spoke wheel surface integrated structure and the 6 wheel thorn pieces 4 of the wheel thorn group B are arranged at intervals and fixedly connected with the outer ring surface of the wheel hub 1. The rigid-flexible coupling body 2 has a length r 3 -r 1 =111.04-38mm; the length of the elastic body 3 is r 4 -r 1 =111.80-38mm; the length of the wheel thorn piece 4 is r 5 -r 1 ＝119.09-38mm。
Included angle alpha of front and back surfaces of rigid-flexible coupling body 2 1 3.33 °; the angle alpha between the front and back surfaces of the elastic body 3 2 3.21 degrees; the included angle alpha of the front and the back of the wheel thorn piece 4 3 Is 4.09. Wherein the material of the hub 1 is 6061 aluminum. The shape of the outer end of the longitudinal section of each spoke wheel surface integrated structure is a curve of a bc section, and the curve is a first bionic curve c obtained by optimizing the ostrich plantar contour line 1 。
As shown in fig. 6, the rigid-flexible coupling body 2 is composed of a wheel surface i 5, a chamfer pair i 6, a spoke pair i 7, an inner support plate 8 and a soft filler 9, wherein the inner support plate 8 is fixedly connected between the spoke pair i 7, and the soft filler 9 is filled in a space formed by the wheel surface i 5, the spoke pair i 7 and the inner support plate 8;
the wheel surface I5, the chamfer angle pair I6, the spoke pair I7 and the inner supporting plate 8 of the rigid-flexible coupling body 2 are of a bilateral symmetry structure of the longitudinal axis of the walking wheel a-a, and the left end and the right end of the wheel surface I5 are fixedly connected with the outer end of the spoke pair I7 through the chamfer angle pair I6;
the shape of the outer end of the longitudinal section of the inner supporting plate 8 is a de section curve which is a second bionic curve c obtained by optimizing the beak contour line of the big-mouth bird 2 。
Length L of tread I5 1 Is 50mm; radius r of chamfer pair I6 6 Is 10mm; height h of spoke pair I7 1 +h 2 Is 11.46+24.37mm; width L of spoke pair I7 2 Is 2.51mm; length L of spoke pair I7 3 Is 6.64mm.
As shown in FIG. 7, the elastic body 3 is composed of a wheel face II 10, a chamfer II 11 and a spoke II 12, the wheel face II 10, the chamfer II 11 and the spoke II 12 are all symmetrical structures of the longitudinal axis of the walking wheel a-a, one side of the wheel face 10 is fixedly connected with the outer end of the spoke II 12 through the chamfer II 11, and the wheel face II 10, the chamfer II 11 and the spoke II 12 are made of polycarbonate. Length L of elastic body 3 tread II 10 4 Is 50mm; radius r of chamfer II 11 7 Is 10mm; height h of spoke II 12 3 35.19mm; width L of spoke II 12 5 Is 2.53mm; lower end length L of spoke II 12 6 Is 3.43mm; upper end length L of spoke II 12 7 Is 5.93mm.
As shown in fig. 8, the wheel thorn group B is composed of 6 wheel thorn pieces 4 with the same structure, each wheel thorn piece 4 is composed of a wheel thorn 13, a wheel surface iii 14 and an elastic block 15, the wheel thorn 13, the wheel surface iii 14 and the elastic block 15 are all bilateral symmetry structures of a longitudinal axis of a walking wheel a-a, wherein the inner end of the wheel thorn 13 is fixedly connected with the outer end of the wheel surface iii 14, and the wheel surface iii 14 is fixedly connected with the elastic block 15; wherein the height h of the wheel spine 13 5 Is 13.20mm; height h of tread III 14 4 25.11mm; length L of tread III 14 8 Is 70.00mm; upper base width L of tread III 14 9 6.06mm; width L of upper sole of tread III 14 10 Is 4.27mm; width L of the elastic block 15 11 Is 3.57mm; length L of the elastic block 15 12 Is 64.90mm; thickness L of elastic block 15 13 Is 2.51mm.
As shown in fig. 9, the first bionic curve c 1 The mathematical expression of (a) is:
y 1 ＝27.977+1.940x-0.034x 2 +1.906E^-4x 3
wherein: x is more than or equal to 4.323 and less than 34.797;
y 2 ＝205.619-9.373x+0.194x 2 -0.001x 3
wherein: 34.797 are made of the fabric x is less than or equal to 66.270;
wherein: x represents the length of the first bionic curve, y represents the width of the first bionic curve, and the unit of x and y is mm.
As shown in fig. 10, the second bionic curve c 2 The mathematical expression of (a) is:
y 3 ＝31.100+0.042x+0.004x 2 -7.068x 3
wherein x is more than or equal to 15.680 and less than or equal to 56.157.
Wherein: x represents the length of the bionic second bionic curve, y represents the width of the bionic second curve, and the units of x and y are both mm.
The wheel surface I5, the chamfer angle pair I6, the spoke pair I7, the inner supporting plate 8 and the hub 1 of the rigid-flexible coupling body 2 are made of 6061 aluminum, and the soft filler 9 is made of polypropylene; the material of the tread II 10, the chamfer pair II 11 and the spoke pair II 12 of the elastic body 3 is polycarbonate; the materials of the wheel thorn pieces 4 of the wheel thorn group B are all spring steel.
Claims (3)
1. A rigid-flexible coupling bionic walking wheel capable of automatically adapting to soft and hard ground environments is characterized by comprising a spoke wheel surface integrated structure group (A), a wheel thorn group (B) and a wheel hub (1), wherein the radius r of an outer ring of the wheel hub (1) is 1 Is 38mm; inner ring radius r of hub (1) 2 Is 55mm; the spoke wheel surface integrated structure group (A) is formed by integrating spoke wheel surfacesStructure I (A) 1 ) Spoke wheel surface integrated structure II (A) 2 ) Spoke wheel surface integrated structure III (A) 3 ) Spoke wheel surface integrated structure IV (A) 4 ) Spoke wheel surface integrated structure V (A) 5 ) And spoke wheel surface integrated structure VI (A) 6 ) Composition is carried out; spoke wheel surface integrated structure I (A) 1 ) Spoke wheel surface integrated structure II (A) 2 ) Spoke wheel surface integrated structure III (A) 3 ) Spoke wheel surface integrated structure IV (A) 4 ) Spoke wheel surface integrated structure V (A) 5 ) And spoke wheel surface integrated structure VI (A) 6 ) The 6 wheel thorn pieces (4) of the wheel thorn group (B) are arranged at intervals, and the inner ends of the wheel thorn pieces are uniformly distributed and fixedly connected to the surface of the outer ring of the wheel hub (1); the shape of the outer end of the longitudinal section of each spoke wheel surface integrated structure is a curve of a bc section, and the curve is a first bionic curve (c) obtained by optimizing the ostrich plantar contour line 1 ) Said first bionic curve (c) 1 ) The mathematical expression of (a) is:
y 1 ＝27.977+1.940x-0.034x 2 +1.906E^-4x 3
wherein: x is more than or equal to 4.323 and less than 34.797;
y 2 ＝205.619-9.373x+0.194x 2 -0.001x 3
wherein: 34.797 are made of the fabric x is less than or equal to 66.270;
wherein: x represents the length of the first bionic curve, y represents the width of the first bionic curve, and the units of x and y are both mm;
the spoke wheel surface integrated structure I (A) 1 ) Spoke wheel surface integrated structure II (A) 2 ) Spoke wheel surface integrated structure III (A) 3 ) Spoke wheel surface integrated structure IV (A) 4 ) Spoke wheel surface integrated structure V (A) 5 ) And spoke wheel surface integrated structure VI (A) 6 ) The structure is completely the same and consists of 7 rigid-flexible coupling bodies (2) and 6 elastic bodies (3), and the 7 rigid-flexible coupling bodies (2) and the 6 elastic bodies (3) are arranged at intervals and fixedly connected; the rigid-flexible-soft coupling body (2) consists of a wheel surface I (5), a chamfer pair I (6), a spoke pair I (7), an inner supporting plate (8) and soft fillers (9), wherein the inner supporting plate (8) is fixedly connected between the spoke pair I (7), and the soft fillers (9) are filled in the wheel surface I (5)The spoke pair I (7) and the inner supporting plate (8) form a space; the wheel surface I (5), the chamfer angle pair I (6), the spoke pair I (7) and the inner supporting plate (8) of the rigid-flexible coupling body (2) are of a bilateral symmetry structure of the longitudinal axis a-a of the walking wheel, and the left end and the right end of the wheel surface I (5) are fixedly connected with the outer end of the spoke pair I (7) through the chamfer angle pair I (6); wherein the length L of the wheel surface I (5) 1 Is 50mm; radius r of chamfer pair I (6) 6 Is 10mm; height h of spoke pair I (7) 1 +h 2 Is 11.46+24.37mm; width L of spoke pair I (7) 2 Is 2.51mm; length L of spoke pair I (7) 3 6.64mm; the shape of the outer end of the longitudinal section of the inner supporting plate (8) is a curve of de section, and the curve is a second bionic curve (c) obtained by optimizing the beak contour line of the giant-mouth bird 2 ) Said second biomimetic curve (c) 2 ) The mathematical expression of (a) is:
y 3 ＝31.100+0.042x+0.004x 2 -7.068x 3
wherein x is more than or equal to 15.680 and less than or equal to 56.157;
wherein: x represents the length of the second bionic curve, y represents the width of the second bionic curve, and the units of x and y are both mm
The elastic body (3) consists of a wheel surface II (10), a chamfer pair II (11) and a spoke pair II (12), the wheel surface II (10), the chamfer pair II (11) and the spoke pair II (12) are all symmetrical structures of a longitudinal axis of a walking wheel a-a, and the left end and the right end of the wheel surface (10) are fixedly connected with the outer end of the spoke pair II (12) through the chamfer pair II (11); the wheel thorn group (B) comprises 6 wheel thorn pieces (4) with the same structure, each wheel thorn piece (4) comprises a wheel thorn (13), a wheel surface III (14) and an elastic block (15), the wheel thorn (13), the wheel surface III (14) and the elastic block (15) are of a bilateral symmetry structure of a longitudinal axis a-a of the walking wheel, wherein the inner end of the wheel thorn (13) is fixedly connected with the outer end of the wheel surface III (14), and the wheel surface III (14) is fixedly connected with the elastic block (15).
2. The rigid-flexible coupling bionic walker with the self-adaptive soft and hard ground environment as claimed in claim 1, wherein the length L of the wheel surface II (10) in the elastic body (3) is L 4 Is 50mm; radius r of chamfer pair II (11) 7 Is 10mm; height h of spoke pair II (12) 3 35.19mm; width L of spoke pair II (12) 5 Is 2.53mm; lower end length L of spoke pair II (12) 6 Is 3.43mm; upper end length L of spoke pair II (12) 7 Is 5.93mm; the height h of the wheel thorn (13) in the wheel thorn group (B) 5 Is 13.20mm; height h of tread III (14) 4 25.11mm; length L of tread III (14) 8 Is 70.00mm; width L of upper base of tread III (14) 9 6.06mm; width L of upper sole of tread III (14) 10 Is 4.27mm; width L of the elastic block (15) 11 Is 3.57mm; length L of elastic block (15) 12 Is 64.90mm; thickness L of the elastic block 15 13 Is 2.51mm; the length of the rigid-flexible coupling body (2) is r 3 -r 1 =111.04-38mm; the length of the elastic body (3) is r 4 -r 1 =111.80-38mm; the length of the wheel thorn piece (4) is r 5 -r 1 =119.09-38mm; radius r of chamfer pair I (6) 6 10mm, the arc angle alpha of the chamfer angle pair I (6) 4 Is 88 degrees; radius r of chamfer pair II (11) 7 Is 10mm, and the arc angle alpha of the chamfer angle pair II (11) 5 Is 88 degrees; the included angle alpha of the front and the back of the rigid-flexible coupling body (2) 1 3.33 °; the included angle alpha of the front surface and the back surface of the elastic body (3) 2 Was 3.21 °; the included angle alpha of the front surface and the rear surface of the wheel thorn piece (4) 3 Is 4.09.
3. The rigid-flexible coupling bionic walking wheel capable of automatically adapting to soft and hard ground environments as claimed in claim 1, wherein the wheel surface I (5), the chamfer pair I (6), the spoke pair I (7), the inner supporting plate (8) and the hub (1) are made of 6061 aluminum, and the soft filler (9) is made of polypropylene; the wheel face II (10), the chamfer pair II (11) and the spoke pair II (12) of the elastic body (3) are made of polycarbonate; the materials of the wheel thorn pieces (4) of the wheel thorn group (B) are all spring steel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211330838.8A CN115782458A (en) | 2022-10-27 | 2022-10-27 | Rigid-flexible coupling bionic walking wheel capable of automatically adapting to soft and hard ground environment |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211330838.8A CN115782458A (en) | 2022-10-27 | 2022-10-27 | Rigid-flexible coupling bionic walking wheel capable of automatically adapting to soft and hard ground environment |
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| Publication Number | Publication Date |
|---|---|
| CN115782458A true CN115782458A (en) | 2023-03-14 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211330838.8A Pending CN115782458A (en) | 2022-10-27 | 2022-10-27 | Rigid-flexible coupling bionic walking wheel capable of automatically adapting to soft and hard ground environment |
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| Country | Link |
|---|---|
| CN (1) | CN115782458A (en) |
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2022
- 2022-10-27 CN CN202211330838.8A patent/CN115782458A/en active Pending
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