CN203439165U - Sand and obstacle detouring bionic walking wheel leg structure - Google Patents

Abstract

The utility model discloses a sand and obstacle detouring bionic walking wheel leg structure which is composed of a hub, legs and feet, wherein five legs are uniformly distributed on the periphery of the hub; the lower part of each leg is in arc horizontal connection with a foot. Based on the running posture of feet of an ostrich, the included angel alpha between the leg and the center line of the hub is 40 degrees, and the included angle beta between the leg and the foot is 130 degrees; the foot is in a trapezoid-like shape of the foot of the ostrich, the foot has a toe, the toe is in an inverted triangle shape of the foot nail of the ostrich; as five legs are arranged on the hub, the structure has an obstacle detouring function in a large range; due to the designed five legs, when the toe of one foot is about to leave the ground, the next foot is justly contacted with the ground with a largest contact surface parallelly; the feet and toes are designed as similar as those of the ostrich, thus the structure can play a role in sand stabilization and flow limitation and can be used for improving the tractive performance.

Description

A kind of Bionic desert passing is taken turns sufficient structure across barrier walking wheel

Technical field

The utility model relates to a kind of car wheel structure, and particularly a kind of Bionic desert passing is taken turns sufficient structure across barrier walking wheel.

Background technology

Along with scientific and technological progress and social development, the continuous aggravation of people to resource especially energy demand, the resource reserve in conventional area has started day by day deficient, and people turn to exploitation region severe extreme environment (as desert, Gobi desert) gradually.Through surveying, find, the moon and Mars are rich in mining deposits and the precious energy, therefore carry out survey of deep space and have also become following important directions of China and even the whole world.No matter be desert and the Gobi desert of earth extreme environment, or the moon and the Mars of deep space complex environment, their common feature is loosen soil (the native physico mechanical characteristic of lunar soil and Mars the is similar to loosen soil) working environment of part stone, pit and convex closure of distributing.As the important equipment completing detection, transportation and exploitation task, the basic function of vehicle is the carrying capacity of the soft dielectric surface of non-regular texture.Because trafficability can depend on directly the wheel of having an effect with ground to a great extent, therefore more husky with across barrier wheel, study and become important ground (moon) face Vehicular system field of research.In soft medium working environment, because load-carrying capacity and the shear strength of medium are poor, cause common wheel to lead crossing ability very undesirable.When the wheeled car of installation common wheel travels on sand ground, because wheel slip sink, have a strong impact on the performance of passing through of vehicle, limited exploration and exploitation to mining deposits and the energy in soft medium working environment.Although experts and scholars are for the advantage of walking wheel both at home and abroad, sand ground walking wheel has been carried out to large quantity research, and obtain certain achievement, but only improved to a certain extent trafficability, and great majority are only focused on the traction crossing abilitys of soft medium, be difficult to take into account the irregular road surfaces such as stone, pit and convex closure across barrier performance.Therefore, develop and a kind ofly cross-country travelingly more huskyly across barrier walking wheel, take turns sufficient structure and by performance, there is most important theories meaning and using value for improving the cross-country of vehicle in irregular springy texture medium working environment.

Utility model content

The technical problems to be solved in the utility model is to solve the more husky problem with taking into account across barrier of walking wheel, for irregular springy texture medium road surface working environment provides a kind of high cross-country Bionic desert passing by performance, across barrier walking wheel, takes turns sufficient structure.

The origin of design: African Ostrich (hereinafter to be referred as ostrich) originates in Africa and the larger desert environmental of the Arabic temperature difference, mainly lives in spacious desert region and the dry prairie without tree.Ostrich belongs to ratite bird, breastbone is flat does not have a keel projection, and clavicle is degenerated, and forelimb is evolved into wing, degenerated and can not circle in the air, but hind leg is strong and strong, in sand ground environment, there is magical sane, lasting and high speed ability to run, each step of ostrich is crossed over distance and can be reached 3.5～7 meters, continue approximately 50～60 kilometers/hour of running speeds, and can maintain approximately 30 minutes and not feel exhausted, dash speed can reach more than 70 kilometers/hour, is undisputed sand ground and the wasteland top-notch player of running.Ostrich hind leg (leg foot) carrying ostrich body weight, plays most important effect in across barrier performance ostrich is more husky.From realm of nature, obtain inspiration, the nature of excuting a law, take ostrich leg foot structure with run attitude as biological prototype, adopt engineering bionics technology and similarity principle, combined ground mechanics of vehicles is theoretical, and optimal design goes out the Bionic wheel configuration of superior traction property and obstacle detouring under irregular springy texture medium working environment and has most important theories meaning and application prospect.

The technical solution adopted in the utility model is:

By ostrich sufficient structure and attitude data collection, ostrich leg foot structure and attitude data processing and the model reconstruction of running of running errands of running quickly, carry out bio-information and obtain and optimize.Based on ostrich leg foot structure and the attitude of running, adopt engineering bionics technology, according to walking wheel, take turns sufficient movement characteristic, designed the utility model.

The utility model is to consist of wheel hub, wheel leg and wheel foot, and five wheel legs are evenly arranged on the side face of wheel hub, and each takes turns leg below with circular arc level connection joint wheel foot.Based on the sufficient attitude of running of ostrich leg, each takes turns leg and angle α=40 ° of crossing wheel hub line of centers, angle β=130 ° between wheel leg and wheel are sufficient; The class that is shaped as imitative ostrich foot-shape of described wheel foot is trapezoidal, and described wheel foot has wheel toe, described wheel toe be shaped as ostrich toes first shape.

Beneficial effect of the present utility model:

1, the settings of five wheel legs on wheel hub, make to the utlity model has good on a large scale across barrier function;

2, the design of five wheel legs, while making a sufficient wheel toe of wheel be about to built on stilts, next wheel foot is just abreast with Maximum Contact area kiss the earth, and imitative ostrich foot-shape respectively and the imitative ostrich toes first shape of taking turns foot and wheel toe design, played and fixed the sand metering function, improved tractive property.

Accompanying drawing explanation

Fig. 1 is schematic perspective view of the present utility model.

Fig. 2 is front view of the present utility model.

Fig. 3 is the left view of Fig. 2.

The specific embodiment

Refer to shown in Fig. 1, Fig. 2 and Fig. 3, the present embodiment is to consist of wheel hub 1, wheel leg 2 and wheel foot 3, article five, wheel leg 2 is evenly arranged on the side face of wheel hub 1, each takes turns leg 2 belows with circular arc level connection joint wheel foot 3, each takes turns leg 2 and angle α=40 ° of crossing wheel hub 1 line of centers, angle β=130 ° between wheel leg 2 and wheel foot 3; The class that is shaped as imitative ostrich foot-shape of described wheel foot 3 is trapezoidal, and described wheel foot 3 has wheel toe 4, the upside-down triangle shape that is shaped as ostrich toes first of described wheel toe 4.

Traveling process of the present utility model is as follows:

While advancing, wheel leg 2 is 50 ° with ground angle, article five, take turns the design of leg 2 and angle β=130 ° between wheel leg 2 and wheel foot 3, make one to take turns when 3 wheel toe 4 is about to built on stilts enough, next wheel foot 3 is just abreast with Maximum Contact area kiss the earth, when meeting ostrich and running, leg foot athletic posture feature, takes turns between leg and across barrier and the good sand ground crossing ability of caster, takes into account on a large scale, realizes Bionic desert passing across the function of barrier.

Claims (2)

1. a Bionic desert passing is taken turns sufficient structure across barrier walking wheel, it is characterized in that: be to be formed by wheel hub (1), wheel leg (2) and wheel foot (3), article five, wheel leg (2) is evenly arranged on the side face of wheel hub (1), each takes turns leg (2) below with circular arc level connection joint wheel foot (3), each takes turns leg (2) and angle α=40 ° of crossing wheel hub (1) line of centers, angle β=130 ° between wheel leg (2) and wheel foot (3); Described wheel foot (3) has wheel toe (4).

2. a kind of Bionic desert passing according to claim 1 is taken turns sufficient structure across barrier walking wheel, it is characterized in that: described class of taking turns the imitative ostrich foot-shape of being shaped as of foot (3) is trapezoidal; The upside-down triangle shape that is shaped as ostrich toes first of described wheel toe (4).

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