CN220974389U - Novel sand walking wheel - Google Patents

Abstract

The utility model provides a novel sand walking wheel, which is characterized in that: the wheel hub (1) is connected with 6 wheel legs (2), a structural reinforcement is connected between the adjacent wheel legs (2), and front and rear interfaces below each wheel leg (2) can be respectively connected with the wheel feet (4) and the elastic structure outer cylinder (305) through pin shafts; the wheel foot (4) is of a symmetrical structure, the other interface of the wheel foot is connected with the elastic structure sliding rod (302) through a pin shaft, a revolute pair is formed at three positions connected through the pin shaft, a nut (303) on the elastic structure outer barrel (305) can be adjusted up and down, a spring (304) is sleeved on the outer barrel (305), two ends of the spring are respectively connected with the sliding rod (302) and the nut (303), telescopic windproof Sha Pitao (301) is nested at two ends of the outer barrel (305) and the sliding rod (302), and the vertical acceleration during starting of the wheel foot is reduced through cooperation between the structures, so that the wheel foot has good smoothness during normal walking on a harder road surface.

Description

Novel sand walking wheel

Technical Field

The utility model relates to a walking wheel structure which moves forward in a desert, which can be applied to the advancing of mechanical equipment in the desert and can also be used in the similar field.

Background

With the continuous development of natural resources and the progress of environmental remediation work, the desert area draws a great deal of attention, however, the desert topography is complex, sand is soft, the trafficability of tires in the desert is not strong, even tracked vehicles often perform poorly, the application of mechanical equipment on the sand is severely limited by special topography and geology characteristics, and the research and development of the wheel-foot mechanism with higher performance in the desert walking has practical significance.

The design sense of the walking structure mostly comes from the nature, and the successful strategy of walking of some animals such as camels, lizards and the like in desert areas is used as a reference. The human has excellent passing capability in the desert, the work of paving grass square grids, planting salix psammophila and the like in the desert still depends on manpower at the present stage, the existing equipment mostly adopts wide-section wheels or walking mechanisms with complex structures, the sand passing capability of the wheels is improved to a certain extent, but the weight of a vehicle body can be increased due to overlarge wheel structures, the size of the vehicle body and the arrangement of other devices are influenced, and the use of complex structures faces high cost investment in severe environments and the use of the complex structures which are difficult to stabilize at the later stage, so that certain difficulties are brought to the design and research of the walking mechanisms in sandy environments. The novel sand walking wheel with simple structure and practical function is designed according to the teaching of the human leg and foot structure and the walking rule.

Disclosure of utility model

In order to solve the problem of weak trafficability in sand travelling of the existing equipment, the utility model provides a novel walking wheel for overcoming the problem, and the novel walking wheel comprises the following specific scheme:

A novel sand walking wheel which is characterized in that: the wheel hub is connected with 6 wheel legs, and the adjacent wheel legs are connected with structural reinforcement, so that a main structure for transmitting driving force by the walking wheel is formed. The front and rear interfaces below each wheel leg are respectively connected with the wheel foot and the elastic structure outer cylinder through pin shafts; the wheel foot is of a symmetrical structure, the other interface of the wheel foot is connected with the elastic structure sliding rod through a pin shaft, and a revolute pair is formed at three positions connected by the pin shaft; the nut on the outer cylinder of the elastic structure can be adjusted up and down, the spring is sleeved on the outer cylinder, two ends of the spring are respectively connected with the sliding rod and the nut, the protruding degree of the wheel foot can be determined by adjusting the height of the nut, and the outer cylinder and two ends of the sliding rod are nested with telescopic windproof sand leather sleeves.

The working principle and the process of the utility model are as follows: walking is the most basic advancing mode of human beings, and is taught according to the structural appearance and the ground contact condition of each part of the foot by observing the motion rule of the legs and feet of the human beings.

According to the foot touchdown condition in the human advancing process, the gait is divided into an initial landing stage, a half sole touchdown stage, a foot support stage and 4 stages of pedaling and stretching off, and the gait of the walking wheel is divided into four stages by combining the actual working requirement of the walking wheel: standing, advancing, starting. The heel and the sole of the rear foot are grounded in the standing stage, and the double feet are grounded to increase the stability of the equipment, so that the equipment can be used for stationary operation; the three stages of starting, advancing and final stage of advancing all belong to single foot advancing, in the process, the back foot pedaling and stretching force enables the body to advance forwards, feet and lower legs are connected through ankle joint shafts to realize ground contact rolling, then the front sole is gradually grounded, the foot arch descends to fit the ground, the elastic structure of the foot sole is lengthened, elastic potential energy is stored, at the moment, the heel is lifted off, the foot longitudinal arch is lowered, the foot transverse arch is lifted, and in order to maintain the balance of the body, the front feet start to touch the ground, and the alternation of the single foot and the double feet is completed. The main structure of the human foot is known that the human foot comprises a rigid structure consisting of bones and joints and an elastic structure consisting of muscles, ligaments and fascia, and the elastic structure has important reference significance for designing the wheel foot.

Further, according to the leg-foot structure of the human, the walking wheel is designed into two main parts, one part is a fixed component with a plurality of wheel legs connected with the wheel hub, and the fixed component is used as a main carrier for realizing torque output; the other part is a movable part connected with the wheel foot, the elastic structure and the wheel leg, the ankle joint structure is simplified according to the working requirement, the rotation effect of the ankle joint structure in a plane is reserved, the front and rear interfaces below each wheel leg are respectively connected with the wheel foot and the elastic structure outer cylinder through pin shafts, the wheel foot is of a symmetrical arc structure, the other interface is connected with the elastic structure sliding rod through pin shafts, and a revolute pair is formed in three places connected through pin shafts. The main difference with the common rigid walking wheel is that an elastic structure is structurally added, and the wheel foot is in an arc-shaped design, so that the running is realized in a rolling mode of the sole relative to the ground, and the purpose of reducing the gravity center fluctuation of the wheel foot caused by a polygonal effect is realized.

Further, the operation condition of a single wheel foot is used for explanation, the rear end of the wheel foot is grounded in the initial stage of the earth contact of the wheel foot, the spring is in a stretching state after being impacted, part of kinetic energy is converted into potential energy, the impact force is relieved, and the conversion from the final stage of advance to the standing stage is completed. In the forward rolling process, the walking wheel rolls along the wheel foot ground contact surface, the circle center of the ground contact surface is basically overlapped with the wheel center of the walking wheel due to the arc-shaped structure of the wheel foot, so that the up-and-down fluctuation of the wheel center is reduced, the spring is gradually converted into a compression state from a tension state until the front foot touches the ground, the walking wheel is in a standing stage again, and the wheel foot is pedaled to the ground when starting again, so that the elastic potential energy of the spring is converted into the kinetic energy of the advancing of the walking wheel.

Further, the arc-shaped part of the sole of the wheel adopts a transverse pattern design, so that the ground grabbing force of equipment walking is increased, slipping is prevented in the advancing process, the front end and the rear end are designed into a plane structure, the contact area between the sole and the ground is increased, and the stability of the equipment in stationary operation can be increased.

The purpose of the utility model is as follows: by adding the elastic structure, the impact force caused by continuous contact in the running process of the wheel foot is reduced, and meanwhile, the starting traction force is increased; the arc-shaped structural design of the wheel feet reduces the polygonal effect of the walking wheel, the vertical displacement of the gravity center is reduced, the energy consumption is reduced, the contact area between the two planar designs of the two ends and the ground is increased, and the stability of the walking wheel during stationary work is improved; the cooperation between the structures reduces the vertical acceleration of the wheel foot when the wheel foot starts, so that the wheel foot has good smoothness when walking on a harder road surface.

Drawings

FIG. 1 is a schematic view of the overall structure of a novel sand walking wheel of the present utility model.

FIG. 2 is a partial cross-sectional view of the spring structure of a novel sand walker in accordance with the present utility model.

Detailed Description

In order that the embodiments and structural expressions of the present utility model may be more clearly understood, the utility model may be carried out or practiced in other embodiments that depart from the spirit of the present utility model, and the details of the present utility model may be modified or changed from various points of view and applications.

Referring to fig. 1 and 2, the utility model provides a novel sand walking wheel, wherein: 1. a hub; 2. wheel legs; 3. an elastic structure; 4. wheel feet; 301. wind-proof Sha Pitao; 302. a slide bar; 303. a nut; 304. a spring; 305. an outer cylinder.

The wheel hub 1 is connected with 6 wheel legs 2, and the adjacent wheel legs 2 are connected with structural reinforcement members to form a main structure of the walking wheel. The front and rear interfaces below each wheel leg 2 are respectively connected with the wheel foot 4 and the elastic structure outer cylinder 305 through pin shafts; the wheel foot 4 is of a symmetrical structure, the other interface of the wheel foot is connected with the elastic structure sliding rod 302 through a pin shaft, and a revolute pair is formed at three positions connected by the pin shaft; the nut 303 on the outer cylinder 305 with the elastic structure can be adjusted up and down, the spring 304 is nested in the outer cylinder 305, two ends of the spring are respectively connected with the slide bar 302 and the nut 303, the protruding degree of the wheel foot 4 can be determined by adjusting the height of the nut 303, and the outer cylinder 305 and two ends of the slide bar 302 are nested with the telescopic windproof Sha Pitao.

Inspired by the leg and foot structure and the motion rule of human beings, the walking wheel is designed into two main parts, one part is a fixed component which is connected with the wheel leg 2 and the wheel hub 1 and is used as a main carrier for realizing torque output; the other part is a movable part connected below the wheel legs 2, the movement process is realized in a plane, the front and rear interfaces below each wheel leg 2 are respectively connected with the wheel feet 4 and the elastic structure outer cylinder 305 through pin shafts, the wheel feet 4 are of symmetrical arc structures, the other interface is connected with the elastic structure sliding rod 302 through pin shafts, and a revolute pair is formed by three positions connected through pin shafts; when the single foot moves, under the combined action of the ground and the wheel leg 2, the wheel foot 4, the elastic structure outer cylinder 305 and the elastic structure sliding rod 302 respectively rotate around three revolute pairs, the spring 304 is gradually changed from a stretching state to a shrinking state, the gravity center of the walking wheel is lowered, the front foot touches the ground, the front foot spring stretches to achieve the effect of relieving impact force, and when the vehicle starts again, the elastic potential energy of the spring 304 releases the wheel foot 4 to push the vehicle to the ground, so that the torque when the vehicle starts is increased.

Further, the wheel foot 4 adopts an arc-shaped design, the circle center of the ground contact surface is basically coincident with the wheel center of the walking wheel, compared with the traditional wheel center of the walking wheel, the vertical displacement of the wheel center of the walking wheel is obviously reduced, the bottom is provided with a transverse pattern design, the ground grabbing force of equipment walking is improved, slipping is prevented, the front end and the rear end of the wheel foot are designed into a plane structure, the contact area of the sole and the ground is increased, and the stability of the equipment during working is improved.

The present utility model has been described in detail with reference to the embodiments thereof, and one skilled in the art can make various modifications to the utility model based on the above description. Accordingly, certain details of the embodiments are not to be interpreted as limiting the utility model, which is defined by the appended claims.

Claims (1)

1. A novel sand walking wheel which is characterized in that: the wheel hub (1) is connected with 6 wheel legs (2), a structural reinforcement is connected between the adjacent wheel legs (2) to form a main structure of the walking wheel, and front and rear interfaces below each wheel leg (2) can be respectively connected with the wheel foot (4) and the elastic structure outer cylinder (305) through pin shafts; the wheel foot (4) is of a symmetrical structure, the other interface of the wheel foot is connected with an elastic structure sliding rod (302) through a pin shaft, a revolute pair is formed at three positions connected through the pin shaft, a nut (303) on an elastic structure outer cylinder (305) can be adjusted up and down, a spring (304) is sleeved on the outer cylinder (305), the two ends of the spring are respectively connected with the sliding rod (302) and the nut (303), the protruding degree of the front section of the wheel foot (4) is determined by adjusting the height of the nut (303), and the two ends of the outer cylinder (305) and the two ends of the sliding rod (302) are nested with telescopic windproof Sha Pitao (301).