CN203888535U - Novel obstacle-surmounting wheel - Google Patents
Novel obstacle-surmounting wheel Download PDFInfo
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- CN203888535U CN203888535U CN201420219400.7U CN201420219400U CN203888535U CN 203888535 U CN203888535 U CN 203888535U CN 201420219400 U CN201420219400 U CN 201420219400U CN 203888535 U CN203888535 U CN 203888535U
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- wheel
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- sector structure
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- surmounting
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Abstract
The utility model discloses a novel obstacle-surmounting wheel. The novel obstacle-surmounting wheel comprises half wheels and drive holes in the half wheels, wherein each of the half wheels is of a fan-shaped structure; a bulged block is arranged at the central angle of the fan-shaped structure; the drive hole is formed in the bulged block and the half wheel, and located in the central angle of the fan-shaped structure; the radian of the fan-shaped structure is not less than pi. During the applications of the novel obstacle-surmounting wheel disclosed by the utility model, a plurality of the novel obstacle-surmounting wheels are used in a matching manner, consideration can be given to both the stability of the power consumption and the high efficiency of travelling, of a regular terrain system, and the obstacle-surmounting capacity under an irregular terrain, and the novel obstacle-surmounting wheel is simple to control, high in efficiency, low in energy consumption, wide in application range, and widely suitable for equipment working in special environments, such as robots, rescue devices and the like.
Description
Technical field
The utility model relates to a kind of barrier getting over mechanism, especially relates to a kind of novel Stump-jump wheel.
Background technology
General wheel consists of wheel hub, spoke, wheel rim, and wheel hub, at the center of wheel, is equipped with wheel shaft in wheel hub, wheel rim is the round body at wheel edge, spoke connects wheel hub and wheel rim, and wheel shaft can be arranged on the pedestal of vehicle or machinery, and wheel can only be crossed the obstacle that is less than radius conventionally.For making wheel, can cross the obstacle of relatively large radius, there is a kind of multi-fork wheel, its spoke is an integral body, starlike three fork-shapeds of outside formation, wheel shaft is installed at center at three fork-shapeds, by being arranged on the mounting hole of each yoke end of three fork-shapeds, live axle and road wheel are installed, but the obstacle that this multi-fork wheel can be crossed over is subject to the restriction of single fork-shaped spoke self size, can only cross the obstacle that is slightly larger than yoke length.
For overcoming multi-fork wheel because being subject to the restriction of single fork-shaped spoke self size to affect the deficiency of wheel obstacle climbing ability.Publication number is that the Chinese patent of CN2866289Y discloses a kind of Stump-jump wheel, this technical scheme is that employing profile is the spoke of starlike three fork-shapeds, its yoke end and fork-shaped center are provided with axis hole, by nine pairs of one-levels, cross spoke, and in its yoke end, live axle and equipped road wheel are installed respectively, the center shaft that the nine pairs of one-levels are crossed spoke is arranged on respectively the yoke end that three pairs of secondarys are crossed spoke, the center shaft that the three pairs of secondarys are crossed spoke is arranged on respectively a pair of three grades of yoke ends of crossing spoke, and three grades of centers of crossing spoke have three grades to cross wheel shaft.By this Stump-jump wheel, can cross common wheel and cross the obstacle of not passing by, improve percent of pass; But this Stump-jump wheel structure is more complicated, operating efficiency is lower simultaneously.
Publication number is that the Chinese patent of CN203345078U discloses the adjustable caterpillar wheel of a kind of obstacle clearing capability, comprises triangular supports, hydraulic actuating cylinder, connecting rod, crawler belt; The drift angle of triangular supports is provided with driving wheel; The He Hou base angle, front base angle of triangular supports is all provided with V-shaped rest, and V-shaped rest two ends are all provided with flower wheel; The bracket lip at the drift angle of triangular supports and place, front base angle is disposed with the first hinge-point, the second hinge-point; The first end dumpling of described hydraulic actuating cylinder is connected to the first hinge-point, and the second end of hydraulic actuating cylinder and the first end of connecting rod are hinged, and described connecting rod middle part is articulated with the second hinge-point, and described Stump-jump wheel is installed on connecting rod the second end; This technical scheme is the percent of pass that the height of adjusting Stump-jump wheel by hydraulic actuating cylinder provides wheel.Its shortcoming is complex structure, and power consumption is high.
Along with the events such as disaster, forest fire, nuclear incident, earthquake rescue take place frequently and the growth of the mankind to the exploration of tera incognita, the mankind urgently wish these environment of perception, to reach collection information, alleviate disaster, to rescue the objects such as the wounded.Therefore, needing a kind of barrier getting over mechanism to help people goes to address this problem.Yet above-mentioned Stump-jump wheel is all difficult to meet the requirement addressing this problem.At present, the barrier getting over mechanism using mainly contains crawler type, sufficient formula, the structure such as hybrid, in these barrier getting over mechanism, all there is certain weak point: it is most widely used that crawler type barrier getting over mechanism is used for adapting to varying environment, use separately or several sections be used in conjunction with, but still can not avoid the high and costs such as broken ring to landform of heavy crawler belt, power consumption; Foot formula barrier getting over mechanism can be walked well under non-regular landform, but it has paid the costs such as sport efficiency is too low, control is more complicated; Hybrid barrier getting over mechanism Integrated using the advantage of various mechanisms, make it adapt to various landform, but complicated in mechanical structure is controlled difficulty larger as far as possible, efficiency is poor.
For addressing the above problem, publication number is that the Chinese patent of CN102275457B discloses a kind of suitching type multi-blade obstacle-crossing wheel, it comprises driving wheel and flower wheel, described driving wheel is fixed on dynamical axis and makes it to rotate together with dynamical axis, described flower wheel by bearing carrier ring on dynamical axis, driving wheel and flower wheel link together by auto resilient mounting, described driving wheel is the similar multiblade impeller of shape with flower wheel, driving wheel and flower wheel blade intersect to be installed, when flower wheel is subject to External Force Acting, the blade of driving wheel and flower wheel is overlapping, when flower wheel is not subject to External Force Acting, flower wheel is automatically got back to installation initial position and is spliced into toroidal under the effect of auto resilient mounting, driving wheel/flower wheel is provided with groove, the corresponding pin that is provided with on flower wheel/driving wheel, open groove one end, other end sealing, flower wheel pin when driving wheel rotates slides in groove.This technical scheme is simple for structure reliable, and efficiency is high, and earth's surface comformability is good, and obstacle climbing ability is strong, but because this Stump-jump wheel is the friction force work that depends on the contact of obstacle detouring face, has therefore limited its field of application.
For another example, the Chinese patent that publication number is CN202944147U discloses a kind of Multi-impeller barrier getting over mechanism, comprises fuselage ring and road wheel; Fuselage ring is flat rectangular build, and road wheel is arranged on fuselage ring the right and left by wheel rotational symmetry; Described road wheel is Multi-impeller, described Multi-impeller is to form after the first-class arc length of the full circle circumferential edge interval of a wheel cuts out one section of circular arc, described Multi-impeller be take and six taken turns as one group, on one side three, symmetrical between two, after being in place, the blade arc section of two symmetrical Multi-impellers is just in time complementary, forms a full circle, and first and the third round on the arbitrary one side of fuselage ring and another side second take turns the same installing condition of employing,, after installing, the direction of corresponding blade is identical.This barrier getting over mechanism can easily be crossed over the obstacle a little more than wheel radius, but its control relative complex.Meanwhile, because impeller adopts fork configuration, make obstacle climbing ability not ideal enough.
And for example, the Chinese patent that publication number is CN102107685A discloses a kind of eccentric wheel leg six biped robots, and this robot adopts eccentric wheel structure as the form of leg.Use the robot of eccentric structure traveling gear to make its earth's surface strong adaptability, obstacle climbing ability is strong.The obstacle detouring of this traveling gear under non-regular landform is effective, but sport efficiency under non-regular landform is lower, and its operating efficiency only has wheeled robot 1/3 left and right; In addition owing to having adopted eccentric wheel structure, energy consumption fluctuation is in the process of walking also larger.
In sum, current barrier getting over mechanism or control are complicated, or can not take into account the sport efficiency of regular landform, have the deficiencies such as efficiency is not high, energy consumption large, control is complicated, and these have seriously limited the field of application of equipment; Directly have influence on efficiency, function and the ability of the equipment of working in particular surroundings.
Utility model content
In order to overcome existing barrier getting over mechanism, can not take into account the obstacle climbing ability under the stationarity of regular topography system power consumption and the high efficiency of walking and non-regular landform, the utility model provides a kind of novel Stump-jump wheel.
The utility model is achieved by following technical solution.
A novel Stump-jump wheel, comprises half wheel and is arranged on the drive hole on half wheel, and described half wheel, for sector structure, is provided with casting lug thereon at the central angle place of sector structure, and described drive hole is arranged on casting lug thereon and half wheel is upper, and is positioned on the central angle of sector structure.
The radian of described sector structure is not less than π.
Pass between the radian W of described sector structure, wheel radius r and desirable obstacle clearing capability L is:
。
The magnitude range of the radian W of described sector structure is π～2 π.
On the radius of described sector structure, be provided with skid resistant course.
Described skid resistant course for to process anti-slop serrations or to wrap one deck anti-slip material on the radius of sector structure.
Described anti-slip material is silaatic, resin friction material or aluminum matrix composite.
The beneficial effects of the utility model are:
Compared with prior art, the utility model is when application, adopt a plurality of novel Stump-jump wheels to be used in conjunction with, can take into account strong at the stationarity of regular topography system power consumption and the high efficiency of walking, obstacle climbing ability under non-regular landform, control simple, efficiency is high, energy consumption is low, applied range, be widely used in being operated in the equipment in particular surroundings, as robot, deliverance apparatus etc.
Accompanying drawing explanation
Fig. 1 is the structural representation of the utility model embodiment mono-;
Fig. 2 is the structural representation of the utility model embodiment bis-.
In figure: 1-half wheel foot, 2-casting lug thereon, 3-drive hole, 4-anti-slip material, 5-anti-slop serrations.
The specific embodiment
Below in conjunction with implementation column accompanying drawing, further describe the technical solution of the utility model, but described in claimed scope is not limited to.
As shown in Figure 1 and Figure 2, a kind of novel Stump-jump wheel described in the utility model, comprise half wheel 1 and be arranged on the drive hole 3 on half wheel 1, describedly partly take turns 1 for sector structure, central angle place in sector structure is provided with casting lug thereon 2, described drive hole 3 is arranged on casting lug thereon 2 and half wheel foot 1, and is positioned on the central angle of sector structure.In use, drive hole 3, for connecting power device, can be selected the shape of drive hole 3 according to the output type of engine installation, and by casting lug thereon 2 is set, the driving of being convenient to engine installation connects.
The radian of described sector structure is not less than π.The radian of sector structure can need according to it the height of crossing to determine in obstacle detouring environment.If the radian of sector structure is W, desirable obstacle clearing capability is L, the radius r of wheel.Wherein, the radian W of sector structure is value between π and 2 π, and W value is larger, and the height that can cross is also just lower.Maximum desired obstacle clearing capability is the radius of twice wheel, and maximum desired obstacle clearing capability is 2r.Pass between the radian W of sector structure, wheel radius r and desirable obstacle clearing capability L is:
In order to reach better obstacle detouring effect, on the radius of described sector structure, be provided with skid resistant course.As shown in Figure 1, described skid resistant course for to wrap one deck anti-slip material 4 on the radius of sector structure, and described anti-slip material 4 can adopt silaatic, resin friction material, or the good material of the friction force such as aluminum matrix composite is made.
As shown in Figure 2, described skid resistant course for processing anti-slop serrations 5 on the radius of sector structure.
The utility model, when application, is first determined the shape of partly taking turns 1, namely determines and after the shape of the radian of good sector structure to be determined and drive hole 3, is fixed in the radian of sector structure and the shape of drive hole 3 in the output of engine installation.Single Stump-jump wheel can not be worked, and needs a plurality of coordinations to use, and in the technical program, preferentially selects the collaborative use of even number Stump-jump wheel, and its symmetry is installed on to the equipment left and right sides, coordinates corresponding gait can complete motion and obstacle detouring.
Claims (7)
1. a novel Stump-jump wheel, comprise half wheel (1) and be arranged on the drive hole (3) on half wheel (1), it is characterized in that: described half wheel (1) is sector structure, at the central angle place of sector structure, be provided with casting lug thereon (2), described drive hole (3) is arranged on casting lug thereon (2) and half wheel (1) is upper, and is positioned on the central angle of sector structure.
2. a kind of novel Stump-jump wheel according to claim 1, is characterized in that: the radian of described sector structure is not less than π.
3. a kind of novel Stump-jump wheel according to claim 1 and 2, is characterized in that: the pass between the radian W of described sector structure, wheel radius r and desirable obstacle clearing capability L is:
。
4. a kind of novel Stump-jump wheel according to claim 3, is characterized in that: the magnitude range of the radian W of described sector structure is π～2 π.
5. a kind of novel Stump-jump wheel according to claim 1, is characterized in that: on the radius of described sector structure, be provided with skid resistant course.
6. a kind of novel Stump-jump wheel according to claim 5, is characterized in that: described skid resistant course for to process anti-slop serrations (5) or to wrap one deck anti-slip material (4) on the radius of sector structure.
7. a kind of novel Stump-jump wheel according to claim 6, is characterized in that: described anti-slip material (4) is silaatic, resin friction material or aluminum matrix composite.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420219400.7U CN203888535U (en) | 2014-04-30 | 2014-04-30 | Novel obstacle-surmounting wheel |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420219400.7U CN203888535U (en) | 2014-04-30 | 2014-04-30 | Novel obstacle-surmounting wheel |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203888535U true CN203888535U (en) | 2014-10-22 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420219400.7U Expired - Fee Related CN203888535U (en) | 2014-04-30 | 2014-04-30 | Novel obstacle-surmounting wheel |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203888535U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104057773A (en) * | 2014-04-30 | 2014-09-24 | 黔南民族师范学院 | Axial semi-wheel obstacle crossing wheel |
| CN104442191A (en) * | 2014-12-12 | 2015-03-25 | 西南大学 | Obstacle surmounting wheel with double eccentric circles and variable eccentric distances |
| CN112455154A (en) * | 2020-12-07 | 2021-03-09 | 浙江海洋大学 | Deformation wheel |
-
2014
- 2014-04-30 CN CN201420219400.7U patent/CN203888535U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104057773A (en) * | 2014-04-30 | 2014-09-24 | 黔南民族师范学院 | Axial semi-wheel obstacle crossing wheel |
| CN104442191A (en) * | 2014-12-12 | 2015-03-25 | 西南大学 | Obstacle surmounting wheel with double eccentric circles and variable eccentric distances |
| CN112455154A (en) * | 2020-12-07 | 2021-03-09 | 浙江海洋大学 | Deformation wheel |
| CN112455154B (en) * | 2020-12-07 | 2022-05-31 | 浙江海洋大学 | Deformation wheel |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20141022 Termination date: 20170430 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |