CN203267651U - Bionic sand crossing walking wheel - Google Patents
Bionic sand crossing walking wheel Download PDFInfo
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- CN203267651U CN203267651U CN 201320326076 CN201320326076U CN203267651U CN 203267651 U CN203267651 U CN 203267651U CN 201320326076 CN201320326076 CN 201320326076 CN 201320326076 U CN201320326076 U CN 201320326076U CN 203267651 U CN203267651 U CN 203267651U
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Abstract
The utility model discloses a bionic sand crossing walking wheel. The bionic sand crossing walking wheel consists of a plurality of wheel legs and wheel hubs, wherein the wheel legs comprise moving base plates, fixed base plates and wheel thorns. According to the inspiration from the structure and morphology and the sand touching mode of African ostrich toes with an excellent sand passing property, sand soil under the wheel is limited and fixed through the inventive match of the moving base plates and the fixed base plates of the wheel legs, and thus the wheel is effectively prevented from sinking and sliding; meanwhile, the wheel thorns are controlled to prick into sand soil under the wheel, and thus a traction adhesive force increases; when the wheel leaves from sand and moves forward, the moving base plates of the wheel legs push a compacted sand pile under the wheel backward under the counter-force effect of springs, the traction force of a hook increases further, and at the same time, the resetting of the moving base plates of the wheel legs and the return of the wheel thorns alleviate the disturbance to the sand soil when the wheel moves forward; meanwhile, through the return of the wheel thorns and the optimization of the base plates of the wheel legs, the bionic sand crossing walking wheel provided by the utility model runs smoothly on a hard pavement.
Description
Technical field
The utility model relates to a kind of walking wheel, particularly a kind of Bionic desert passing walking wheel.
Background technology
Along with the non-renewable resources such as the mineral reserve of easy exploitation, oil-gas field are increasingly exhausted, the energy strategy of China has concentrated one's gaze on that natural conditions are abominable, the large desert and Gobi of exploitation difficulty.Reconnoitre situation from the present energy, the hydrocarbon storage amount in the zones such as China Tarim Basin, Turfan Hami basin, Xinjiang and the Junggar Basin occupies China's hydrocarbon resources total amount 70%.But, due to the abominable natural environment of desert and Gobi and the limitation of desert engineer transportation device, mostly verified abundant mineral reserve, oil-gas field resource and also all belonged to the state of unminding.Exploitation sand ground fo environmental agriculture resource has extremely profound significance to the mankind's the survival and development, thereby the meaning of sand ground environment vehicle and the research of sand ground field machine is self-evident.Equally, also be faced with the easy depression slippage of vehicle, the traction crossing ability problems such as tack is poor in fields such as military engineering, surveies of deep space.On the traveling gear that the passing through of sand vehicle is mainly reflected in sandy soil directly contact, so that exploitation has a traveling gear that height passes through is significant.
Sand vehicle or mobile robot are general at present uses wide section wheel, thereby reduces grounding pressure, has improved to a certain extent the sand ground crossing ability of wheel.But, the excessive layout that affects body dimensions and other device of car wheel structure, and then bring certain bottleneck for research and the design of sand ground environment under-carriage.
Summary of the invention
The purpose of this utility model is the poor problem of sand ground crossing ability that has the sand vehicle wheel now in order to solve, and a kind of Bionic desert passing walking wheel that can overcome above-mentioned shortcoming is provided.
the utility model takes turns leg by several and wheel hub forms, wherein take turns leg and comprise moving base plate, decide base plate and wheel thorn, moving base plate is fixed on wheel hub by the first moving column and the second moving column, the first spring is set on the first moving column, the second spring is set on the second moving column, two springs are arranged between wheel hub and postive stop baffle, and two spring outsides are provided with locating dowel pin, deciding base plate is fixed on postive stop baffle by deciding column, be provided with several pedestals on one side of moving base plate, the wheel thorn is by bolt and pedestal pivot joint, be connected with wheel thorn spring between wheel thorn and moving base plate, pedestal and decide to be connected with between base plate steel rope, wheel hub is connected transferring power by general flat key with axletree.
Principle of work of the present utility model and process are: the utility model is according to the structure and morphology of the African Ostrich toes with superior sand ground crossing ability and touches the enlightenment that husky mode obtains.
African Ostrich is maximum in the world birds, belongs to the ratite bird, and namely breastbone is flat does not have the keel projection and clavicle is degenerated.Ostrich main movement ability realizes by the legs and feet of strong prosperity.Ostrich ability to run in the sand ground environment is very surprising, is mainly reflected in sane, lasting and high speed.Through measuring, the per step span of ostrich reaches 4-7m, continues approximately 50-60km/h of running speed, and dash speed can surpass 70km/h, and more than can adhering to half an hour, far away higher than other birds, is also the strongest animal of ability to run in land two sufficient class animals.Ostrich leg foot directly contacts with sand ground, plays the crux effect in its more husky process.In order to adapt to the sand ground living environment, differ from other birds through long-term evolution and optimization ostrich toes, structure and morphology is very special, having two toes (I, II toe) has degenerated, only be left two toes (III, IV toe), the III toe is comparatively flourishing, and end is with hard sharp toenail, and IV toe toenail is closely degenerated.All there is the matter meat pad by mastoid process group angle one-tenth the bottom surface of two toes.
Through observation analysis, the ostrich foot touches when husky, and two toes outwards open and vola mastoid process group meat pad spreads out and reaches maximum ground contact area; " indent " state of vola formation simultaneously restriction foot sandy soil overflow, and make the continuous compacting of foot sandy soil.When advancing, the toes first that three-toed is sharp penetrates in the foot sandy soil dearly, prevents that effectively ostrich is in process slippage and depression and the increase traction of running fast.Before husky across the time, vola fat pad and mastoid process group rebound and reduce rapidly area of contact and leave the sandy soil surfaces, the disturbance of minimizing to sandy soil.
Based on ostrich toes structure and morphology and mode of motion, each is taken turns leg is designed with moving base plate and decides base plate, of the present utility modelly decide base plate and be fixed on wheel hub, wheel hub is fixed relatively, moving base plate is movable, moving base plate under the combined action of spring and sandy soil load along deciding the base plate up-and-down movement; " certain one is moving " cooperatively interacts and realizes the current limliting of taking turns lower sandy soil is tightened up function.Moving base plate and decide plane that base plate forms and land and touch when husky, moving base plate overcomes spring under load and sandy soil antagonistic force application force be along deciding the base plate upward movement, makes the gathering under the slide block of the lower sandy soil of wheel, tightens up and compacting; Before husky across the time, under the antagonistic force of spring, compacting sandy soil heap is formed " pedaling afterwards ", and then increases tractive force of the present invention.The wheel thorn of deciding on base plate is controlled by the moving base plate on spring and wheel leg, realize that its two states namely works and off working state, namely the less large traction hour wheel thorn that do not need of load belongs to off working state on vehicles failed enters the sand ground environment or takes turns, and regains under the effect of spring force and does not contact with ground; Otherwise, penetrate sandy soil dearly under the drive of moving base plate, larger earth-grasping force is provided, make the vehicle smoothly by sand ground environment road surface.
Due to the low compressibility of top layer loosen soil, the distortion under load is mainly Plastic Flow.Function of the present utility model is mainly reflected on the lower sand drift direction of caster ACTIVE CONTROL wheel, and then improves anti-yieldability of the present invention and traction tack.Rotatablely moving of wheel shaft passes to caster by wheel hub, and the oblique incision sandy soil of caster, caster are decided the tactile sand in bottom edge place, and the extruding sandy soil flow backward; Along with vehicle wheel rotation, caster leans forward, and moving base plate begins to touch husky, and then the moving base plate upward movement of sandy soil promotion, form the lower available space of wheel, make a large amount of sandy soil pour in (comprise and decide the sandy soil that base plate pushes backward) under taking turns, moving base plate upward movement driven wheel thorn motion downwards simultaneously penetrates sandy soil; The moving base plate upward movement place that reaches capacity, due to inertia and guide functions, under base plate, the space pours in toward moving in a large amount of sandy soil continuation, and wheel underfooting limited space, extruding compacting mutually between sandy soil, add that this moment, caster reached vertical orientations, it is maximum that vertical component reached within the whole cycle, in the time of the downward depression of wheel, a large amount of sandy soil flow into to wheel is lower, combined action makes the lower sandy soil of wheel form " transient state solid ", effectively controlled wheel and continue to have sunk, at this moment, the wheel thorn also penetrates under wheel in " transient state solid " sandy soil; When the caster forward direction tilts, under spring and wheel thorn application force, kick backward at " transient state solid " caster of getting on the bus, wheel traction tack moment is increased, along with moving base plate moves down gradually, the caster focus of work shifts on base plate to deciding; Flow out sandy soil trailing wheel underfooting subsequently, and moving base plate resets, and the wheel thorn reclaims, and caster is about to liftoff to next caster transition.
The beneficial effects of the utility model: the moving base plate by caster with decide base plate and cooperatively interact dexterously, realized fixing the sand to taking turns lower sandy soil current limliting, effectively prevent the effect of wheel sinkage and slippage; The control wheel thorn penetrates the lower sandy soil of wheel simultaneously, plays the effect that increases traction; Before husky across the time, wheel foot-propelled base plate under the effect of spring counter-force to wheel under the compacting sand drift form " pedaling afterwards ", further increase dbp, at this moment, wheel foot-propelled base plate reset and take turns thorn regain reduced wheel front across the time to the disturbance of sandy soil; Simultaneously, by the wheel recovery of stinging and the optimization of taking turns sole, make the present invention have good ride comfort on the hard pavement.
Description of drawings
Fig. 1 is block diagram of the present invention.
Fig. 2 is the block diagram of caster of the present invention.
Fig. 3 is caster gait schematic diagram of the present invention.
The specific embodiment
see also Fig. 1, Fig. 2 and shown in Figure 3, be the utility model embodiment, formed with wheel hub 2 by eight wheel legs 1, wherein take turns leg 1 and comprise moving base plate 11, decide base plate 12 and wheel thorn 13, moving base plate 11 is fixed on wheel hub 2 by the first moving column 111 and the second moving column 112, the first spring 151 is set on the first moving column 111, the second spring 152 is set on the second moving column 112, two springs are arranged between wheel hub 2 and postive stop baffle 14, and two spring outsides are provided with locating dowel pin 16, deciding base plate 12 is fixed on postive stop baffle 14 by deciding column 121, be provided with three pedestals 131 on one side of moving base plate 11, wheel thorn 13 is by bolt 132 and pedestal 131 pivot joints, be connected with wheel thorn spring 17 between wheel thorn 13 and moving base plate 11, pedestal 131 and decide to be connected with between base plate 12 steel rope 18, wheel hub 2 is connected transferring power by general flat key with axletree.
Based on ostrich toes structure and morphology and mode of motion, each is taken turns leg is designed with moving base plate 11 and decides base plate 12, of the present inventionly decide base plate 12 and be fixed on wheel hub 2, wheel hub 2 is fixed relatively, moving base plate 11 is movable, moving base plate 11 under the combined action of spring and sandy soil load along deciding base plate 12 up-and-down movements; " certain one is moving " cooperatively interacts and realizes the current limliting of taking turns lower sandy soil is tightened up function.Moving base plate 11 and decide plane that base plate 12 forms and land and touch when husky, moving base plate 11 overcomes spring under load and sandy soil antagonistic force application force be along deciding base plate 12 upward movements, makes the gathering under the slide block of the lower sandy soil of wheel, tightens up and compacting; Before husky across the time, under the antagonistic force of spring, compacting sandy soil heap is formed " pedaling afterwards ", and then increases tractive force of the present utility model.The wheel thorn 13 of deciding on base plate 12 is controlled by the moving base plate 11 on spring and wheel leg 1, realize that its two states namely works and off working state, namely the less large traction hour wheel thorn 13 that do not need of load belongs to off working state on vehicles failed enters the sand ground environment or takes turns, and regains under the effect of spring force and does not contact with ground; Otherwise, penetrate sandy soil dearly under the drive of moving base plate 11, larger earth-grasping force is provided, make the vehicle smoothly by sand ground environment road surface.
Due to the low compressibility of top layer loosen soil, the distortion under load is mainly Plastic Flow.The function of the present embodiment is mainly reflected on the caster 1 lower sand drift direction of ACTIVE CONTROL wheel, and then improves the anti-yieldability and traction tack of the present embodiment.Rotatablely moving of wheel shaft passes to caster 1 by wheel hub 2, and the oblique incision sandy soil of caster 1, caster 1 are decided the tactile sand of base plate 12 edges, and the extruding sandy soil flow backward; Along with vehicle wheel rotation, caster 1 leans forward, moving base plate 11 begins to touch husky, and then sandy soil promote moving base plate 11 upward movements, form the lower available space of wheel, make a large amount of sandy soil pour in (comprise and decide the sandy soil that base plate pushes backward) under wheel, moving base plate 11 upward movement driven wheel thorns 13 move downward simultaneously, penetrate sandy soil; The moving base plate 11 upward movements place that reaches capacity, due to inertia and guide functions, 11 times spaces of the past moving base plate of a large amount of sandy soil continuation pour in, and 1 time limited space of caster, extruding compacting mutually between sandy soil, add that this moment, caster 1 reached vertical orientations, it is maximum that vertical component reached within the whole cycle, in the time of the downward depression of wheel, a large amount of sandy soil flow into to wheel is lower, combined action makes the lower sandy soil of wheel form " transient state solid ", effectively controlled wheel and continue to have sunk, at this moment, wheel thorn 13 also penetrates under wheel in " transient state solid " sandy soil; During caster 1 forward direction inclination, sting under 13 application forces at spring and wheel, kick backward at " transient state solid " caster of getting on the bus, make the moment increase of wheel traction tack, along with moving base plate 11 moves down gradually, caster 1 focus of work is to deciding transfer on base plate 12; Sandy soil flow out for 1 time from caster subsequently, and moving base plate 11 resets, and wheel thorn 13 reclaims, and caster 1 is about to liftoff to next caster transition.
Claims (1)
1. Bionic desert passing walking wheel, it is characterized in that: take turns leg (1) by several and form with wheel hub (2), wherein take turns leg (1) and comprise moving base plate (11), decide base plate (12) and wheel thorn (13), moving base plate (11) is fixed on wheel hub (2) by the first moving column (111) and the second moving column (112), the first spring (151) is set on the first moving column (111), the second spring (152) is set on the second moving column (112), two springs are arranged between wheel hub (2) and postive stop baffle (14), and two spring outsides are provided with locating dowel pin (16), deciding base plate (12) is fixed on postive stop baffle (14) by deciding column (121), be provided with several pedestals (131) on one side of moving base plate (11), wheel thorn (13) is by bolt (132) and pedestal (131) pivot joint, be connected with wheel thorn spring (17) between wheel thorn (13) and moving base plate (11), pedestal (131) and decide to be connected with between base plate (12) steel rope (18), wheel hub (2) is connected with axletree by general flat key.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320326076 CN203267651U (en) | 2013-06-07 | 2013-06-07 | Bionic sand crossing walking wheel |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320326076 CN203267651U (en) | 2013-06-07 | 2013-06-07 | Bionic sand crossing walking wheel |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203267651U true CN203267651U (en) | 2013-11-06 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201320326076 Withdrawn - After Issue CN203267651U (en) | 2013-06-07 | 2013-06-07 | Bionic sand crossing walking wheel |
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| Country | Link |
|---|---|
| CN (1) | CN203267651U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103264614A (en) * | 2013-06-07 | 2013-08-28 | 吉林大学 | Bionic sand-crossing walking wheel |
| CN106347519A (en) * | 2016-11-13 | 2017-01-25 | 吉林大学 | Self-adaption sand land biomimetic mechanical foot |
-
2013
- 2013-06-07 CN CN 201320326076 patent/CN203267651U/en not_active Withdrawn - After Issue
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103264614A (en) * | 2013-06-07 | 2013-08-28 | 吉林大学 | Bionic sand-crossing walking wheel |
| CN106347519A (en) * | 2016-11-13 | 2017-01-25 | 吉林大学 | Self-adaption sand land biomimetic mechanical foot |
| CN106347519B (en) * | 2016-11-13 | 2018-07-27 | 吉林大学 | A kind of adaptive sand ground bionic mechanical foot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20131106 Effective date of abandoning: 20150520 |
|
| RGAV | Abandon patent right to avoid regrant |