CN203766398U - Bionic sand-crossing wheel drum-shaped wheel surface simulating three-dimensional curved surface of ostrich sole - Google Patents
Bionic sand-crossing wheel drum-shaped wheel surface simulating three-dimensional curved surface of ostrich sole Download PDFInfo
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- CN203766398U CN203766398U CN201420185633.XU CN201420185633U CN203766398U CN 203766398 U CN203766398 U CN 203766398U CN 201420185633 U CN201420185633 U CN 201420185633U CN 203766398 U CN203766398 U CN 203766398U
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Abstract
The utility model discloses a bionic sand-crossing wheel drum-shaped wheel surface simulating the three-dimensional curved surface of an ostrich sole. The bionic sand-crossing wheel drum-shaped wheel surface is formed by distributing a plurality of bionic wheel surface single bodies on the circumference of a base circle in an array mode, and each bionic wheel surface single body is formed by an ellipsoidal surface, a groove surface and a flat curved surface; semi-ellipsoidal arc lines are used as contour lines, and first guide lines and second guide lines are used as sweeping guide lines to conduct sweeping so as to obtain the ellipsoidal surfaces, the groove surfaces, the flat curved surfaces and two transition surfaces; the ellipsoidal surfaces, the groove surfaces and the flat curved surfaces are sole curved surfaces simulating the third toe of an ostrich foot. The bionic sand-crossing wheel drum-shaped wheel surface solves the problem that a vehicle is difficult to run normally in deserts, improves the trafficability and the traction performance of wheels or tires running on loose sandy soil pavements, and is suitable for running in soft medium environments such as deserts, gabi deserts, the moon and the mars. Compared with a smooth drum-shaped wheel surface structure in the same size, the hook traction force of the bionic sand-crossing wheel drum-shaped wheel surface is improved by 2.8 percent to 5.7 percent, the traction efficiency of the bionic sand-crossing wheel drum-shaped wheel surface is improved by 3.2 percent to 6.5 percent, and the relative flow velocity of sandy soil under the wheel surface is reduced by 8.9 percent to 11.6 percent.
Description
Technical field
The utility model belongs to engineering bionics techniques field, particularly the Bionic desert passing wheel cydariform wheel face of a kind of imitative ostrich vola three-dimension curved surface.
Background technology
At increasingly competitive society, the height of productive force is the important indicator of weighing a national overall national strength, and the mining mineral resource amounts such as national oil, coal, metal are directly connected to the development of a national productive force.China is a big country vast in territory, and mineral resources are contained abundant, but has quite a few resource to be all stored at the area of the road conditions extreme differences such as desert, Gobi desert.The desert census data of announcing in June, 2006 shows: China's desertification land has reached 1,730,000 square kilometres, accounts for 18% of territory total area, and wherein desert and Gobi is approximately 1,160,000 square kilometres.These desert and Gobi regions, energy mineral reserve store abundant, from the current energy, reconnoitre situation, and the hydrocarbon storage amount in the regions such as China Tarim Basin, Turfan Hami basin, Xinjiang and the Junggar Basin occupies China's hydrocarbon resources total amount 70%.The Takla Makan Desert subsurface storage amount of just take in the Tarim Basin of the title that have energy source in China " cornucopia " good reputation is example, verify underground petroleum standing stock and just reached 50,000,000,000 tons, be equivalent to 1/3 of Global Oil standing stock, gas reserve is also up to 8 tcms, be equivalent to 2 times of the U.S., vehicle is the indispensable instrument of exploitation mineral reserve, and it is also that these mining depositses of restriction are difficult to one of major reason of exploitation that vehicle is difficult to move ahead smoothly.These regional earth's surfaces are loose, major part is comprised of loose sandy soil, the wheel of common vehicle (tire) is all according to standard and the mechanical property design of travelling on hard pavement, therefore the Vehicle Driving Cycle of conventional wheel being installed is when desert region, be easy to occur skidding, the problem such as depression, cause vehicle to move ahead smoothly.In addition, verified on Mars, the moon at present and contained and have abundant mining deposits, countries in the world have started to take the space contention match that preempting resources is object.And the landforms of the moon and Mars are equally all to take desert as main.The U.S. is exactly because during on the sand dune by relatively soft in " courage number " Marsokhod of on June 10th, 2003 transmitting, and cydariform wheel face wheel crossing ability can reduce and is absorbed in weak soil and cannot gets away, and courage number so lose locomotor activity is forced to aborting task.In recent years, though there are many Chinese scholars to do correlative study to sand ground wheel, but fail fundamentally to solve sand ground wheel crossing ability problem.Can wheel travel smoothly and have direct relation with the wheel face feature of wheel at sand ground; common wheel face to fix the sand current limitation effect poor, sandy soil are large in wheel current downflow, little to the friction force of wheel; thereby the tractive force of wheel is little, therefore conventionally there will be skid, the phenomenon such as depression.Therefore developing a kind of cross-country traveling ability gets over sand round face structure and has most important theories meaning and using value for the cross-country crossing ability of the sand ground of improving wheel in loosen soil working environment.
Former Africa and the Arab region originated from of African Ostrich, lives on vast desert environmental and prairie, is the heaviest maximum bird in the world.According to birds attribute, ostrich belongs to ratite, and breastbone is flat does not have keel projection and a clavicle and degenerate.Ostrich has wing, but can not circle in the air, and is mainly used in moving equilibrium effect, so its main movement ability realizes by the legs and feet of strong prosperity.Ostrich ability to run in sand ground environment is very surprising, is mainly reflected in sane, lasting and high speed.Through measuring, the every step span of ostrich reaches 4-7m, continues the about 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.The ability to run that ostrich is outstanding and more husky ability and its body structure, organ, feather, neck, wing and leg etc. are many-sided closely related, are the results that multiple location coacts.But ostrich leg foot directly contacts with sand ground, plays crux effect in its more husky process, is worth in-depth study.Due to natural evolution optimization, ostrich foot is remaining two toes only, are respectively III toe (interior toe) and IV toe (outer toe), and III toe is sturdy comparatively flourishing, and towards dead ahead, toe end has prosperity and hard toenail.IV toe is less, and length is only 1/2 of three-toed, and toes first is degenerated.Ostrich, in the process of running, only has III toestrike, and the 4th toe only plays the effect keeping one's balance.No matter be walk or run process, ostrich foot III toe vola curved surface directly contacts with sandy soil all the time, therefore ⅢZhi vola, ostrich vola curved surface is affect ostrich one of quick key factor of steadily and surely running, particularly vola intermediate groove in desert partly to fix the sand the effect of current limliting antiskid remarkable.III toe curved surface pattern feature application will be had clear improvement by the crossing ability in desert to wheel to more husky wheel.
Summary of the invention
The purpose of this utility model is to solve vehicle in desert, to be difficult to a difficult problem of normally travelling, and provide the Bionic desert passing wheel cydariform wheel face of a kind of imitative ostrich vola three-dimension curved surface, the utility model has improved crossing ability and the tractive property of running vehicle wheel (tire) on loosen soil road surface, can be applicable to energy extraction vehicle, military-designed vehicle, desert driving vehicle, desert robot, or even planetary rover etc. is on the walking machine of soft surface operation.
The utility model be take and lived in that in desert, to be good at curved surface pattern at the bottom of the main III toe that touches husky position of the ostrich foot of running be at a high speed bionical prototype throughout the year, by analysis, find to have three typical curved surfaces at the bottom of ostrich foot III toe, by Mathematical Modeling Methods, obtain the shape facility of three typical curved surfaces, and according to engineering bionics principle, interactively based on getting over sand round face and sandy soil, three curve forms are applied to more husky wheel cydariform wheel face design upper, design a kind of cross-country traveling Bionic desert passing wheel cydariform wheel face structure.
The utility model is to consist of several bionical wheel face monomers array distribution on basic circle circumference, and bionical wheel face monomer is to consist of ellipsoid surface, the gentle curved surface of groove surface; Take semiellipse camber line as outline line, take respectively the first wire and the second wire to scan and obtain the ellipsoid surface, groove surface of wheel face, slow curved surface and two transition faces as scanning wire;
Described the first wire is comprised of four sections of mutual tangent circular arcs, and radius is respectively R
1=50mm, R
2=38.675mm, R
3=50mm, R
7=275mm, the center of circle is respectively O
1(0,0,250), O
2(0,80.268,287.687), O
3(0,100.41,201.337), O(0,0,0); Angle θ
1=64.849 °, θ
2=77.999 °, θ
3=39.663 °, θ
7=20.161 °, wherein radius is R
1circular arc one end points on the top of semiellipse arc, radius is R
2circular arc be R with both sides circular arc and radius respectively
6circle tangent, radius is R
3circular arc and radius be R
7circle tangent;
The second described wire is comprised of two circular arcs, and the second wire is as the transition wire of the other side of ellipsoid surface and the slow curved surface of wheel, and the center of circle of the second wire is respectively O
1(0,0,250), O
4(0 ,-74.906,316.25), the radius of the second wire is respectively R
1=50mm, R
4=50mm; Angle θ
4=35.184 °, θ
5=48.509 °.
The bionic method of described ellipsoid surface, the gentle curved surface of groove surface:
First by spatial digitizer, scan and obtain ostrich foot III toe vola geometric model, subregion processing is carried out in ostrich foot III toe vola, be slow curved surface, middle concave groove face and the protruding crown of heel of half sole, and obtain respectively the cloud data of three curved surfaces, import to and in CATIA Design of digital module, carry out a cloud and filter and retain the unique point that can embody curved surface features, and with txt textual form, derive the three-dimensional coordinate of unique point cloud.
The feature cloud data of half sole buffering curved surface and intermediate groove curved surface is imported to respectively and in Matlab software, carries out surface fitting, obtain the curved surface figure after two surface fittings, center recessed area curved surface is the high grooves in low both sides, a centre, tend towards stability in fitting surface middle part, half sole buffer zone, both sides are a little less than middle part.The data importing of the protruding crown unique point of heel cloud is carried out to surface fitting with elliptical model in the nonlinear regression module of SAS software, obtain the figure after matching, wherein the similar ellipsoid surface of the protruding hat curved surface of heel.According to the shape facility of three figures, three round and smooth coupling together of curved surface, obtain the unitary construction of bionical wheel face.
The beneficial effects of the utility model:
The utility model has solved vehicle and in desert, has been difficult to a difficult problem of normally travelling, and has improved crossing ability and the tractive property of running vehicle wheel on loosen soil road surface or tire, is applicable to the soft media environment operation such as desert, Gobi desert, the moon and Mars.Compare with the wheel of the smooth cydariform wheel face of same size structure, dbp of the present utility model has improved 2.8%-5.7%, drawbar efficiency has improved 3.2%-6.5%, the sandy soil 8.9%-11.6% that relatively flowed Speed Reduction under wheel face, has embodied the superior sand ground crossing ability of Bionic desert passing wheel cydariform wheel face and has fixed the sand current limitation effect.
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 bionical wheel face monomer schematic perspective view of the present utility model.
Fig. 4 is semiellipse camber line schematic diagram of the present utility model.
Fig. 5 is the first wire of the present utility model and the second wire schematic diagram.
The specific embodiment
Refer to shown in Fig. 1, Fig. 2, Fig. 3 and Fig. 4, the utility model is to consist of several bionical wheel face monomers 1 array distribution on basic circle 2 circumference, and bionical wheel face monomer 1 is to consist of ellipsoid surface 11, the gentle curved surface 13 of groove surface 12; Take semiellipse camber line 3 as outline line, take respectively the first wire 4 and the second wire 5 to scan and obtain the ellipsoid surface 11, groove surface 12 of wheel face, slow curved surface 13 and two transition faces as scanning wire;
As shown in Figure 5, the first described wire 4 is comprised of four sections of mutual tangent circular arcs, and radius is respectively R
1=50mm, R
2=38.675mm, R
3=50mm, R
7=275mm, the center of circle is respectively O
1(0,0,250), O
2(0,80.268,287.687), O
3(0,100.41,201.337), O(0,0,0); Angle θ
1=64.849 °, θ
2=77.999 °, θ
3=39.663 °, θ
7=20.161 °, wherein radius is R
1circular arc one end points on the top of semiellipse arc, radius is R
2circular arc be R with both sides circular arc and radius respectively
6circle tangent, radius is R
3circular arc and radius be R
7circle tangent; The first described wire 4 represents, in Fig. 5, with solid line, represents with heavy line in Fig. 2.
As shown in Figure 5, the second described wire 5 is comprised of two circular arcs, and the second wire 5 is as the transition wire of the other side of ellipsoid surface and buffer wheel face, and the center of circle of the second wire 5 is respectively O
1(0,0,250), O
4(0 ,-74.906,316.25), the radius of the second wire 5 is respectively R
1=50mm, R
4=50mm; Angle θ
4=35.184 °, θ
5=48.509 °.The second described wire 5 represents, in Fig. 5, is represented by dotted lines with middle solid line in Fig. 2.
Claims (1)
1. the Bionic desert passing wheel cydariform wheel face of an imitative ostrich vola three-dimension curved surface, it is characterized in that: several bionical wheel face monomers (1) array distribution on basic circle (2) circumference, consist of, described bionical wheel face monomer (1) is to consist of ellipsoid surface (11), the gentle curved surface (13) of groove surface (12); The semiellipse camber line (3) of take is outline line, take respectively the first wire (4) and the second wire (5) to scan and obtain the ellipsoid surface (11), groove surface (12) of wheel face, slow curved surface (13) and two transition faces as scanning wire;
Described the first wire (4) is comprised of four sections of mutual tangent circular arcs, and radius is respectively R
1=50mm, R
2=38.675mm, R
3=50mm, R
7=275mm, the center of circle is respectively O
1(0,0,250), O
2(0,80.268,287.687), O
3(0,100.41,201.337), O(0,0,0); Angle θ
1=64.849 °, θ
2=77.999 °, θ
3=39.663 °, θ
7=20.161 °, wherein radius is R
1circular arc one end points on the top of semiellipse arc, radius is R
2circular arc be R with both sides circular arc and radius respectively
6circle tangent, radius is R
3circular arc and radius be R
7circle tangent;
Described the second wire (5) is comprised of two circular arcs, and the second wire (5) is as the transition wire of the other side of ellipsoid surface and the slow curved surface of wheel, and the center of circle of the second wire (5) is respectively O
1(0,0,250), O
4(0 ,-74.906,316.25), the radius of the second wire (5) is respectively R
1=50mm, R
4=50mm; Angle θ
4=35.184 °, θ
5=48.509 °.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420185633.XU CN203766398U (en) | 2014-04-17 | 2014-04-17 | Bionic sand-crossing wheel drum-shaped wheel surface simulating three-dimensional curved surface of ostrich sole |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420185633.XU CN203766398U (en) | 2014-04-17 | 2014-04-17 | Bionic sand-crossing wheel drum-shaped wheel surface simulating three-dimensional curved surface of ostrich sole |
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| Publication Number | Publication Date |
|---|---|
| CN203766398U true CN203766398U (en) | 2014-08-13 |
Family
ID=51283636
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420185633.XU Withdrawn - After Issue CN203766398U (en) | 2014-04-17 | 2014-04-17 | Bionic sand-crossing wheel drum-shaped wheel surface simulating three-dimensional curved surface of ostrich sole |
Country Status (1)
| Country | Link |
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| CN (1) | CN203766398U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103879227A (en) * | 2014-04-17 | 2014-06-25 | 吉林大学 | Bionic sand crossing vehicle wheel drum-shaped wheel face which imitates 3D curved face of sole of ostrich |
-
2014
- 2014-04-17 CN CN201420185633.XU patent/CN203766398U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103879227A (en) * | 2014-04-17 | 2014-06-25 | 吉林大学 | Bionic sand crossing vehicle wheel drum-shaped wheel face which imitates 3D curved face of sole of ostrich |
| CN103879227B (en) * | 2014-04-17 | 2016-04-06 | 吉林大学 | The Bionic desert passing wheel cydariform wheel face of a kind of imitative ostrich vola three-dimension curved surface |
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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: 20140813 Effective date of abandoning: 20160406 |
|
| C25 | Abandonment of patent right or utility model to avoid double patenting |