A bionic wheel and wheel foot structure for walking across obstacles and over sand
A walking wheel and wheel foot technology is applied in the field of bionic sand crossing and obstacle walking wheel foot structure to achieve the effect of improving traction performance
Inactive Publication Date: 2016-04-13
JILIN UNIV
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Problems solved by technology
[0003] The technical problem to be solved by the present invention is to solve the problem of taking into account both sand and obstacle crossing by walking wheels, and provide a bionic sand crossing and obstacle crossing walking wheel wheel foot structure with high off-road passing performance for the working environment of irregular structure soft medium road surface
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[0014] see figure 1 , figure 2 and image 3 As shown, the present embodiment is composed of a wheel hub 1, wheel legs 2 and wheel feet 3, five wheel legs 2 are evenly arranged on the peripheral surface of the wheel hub 1, and the bottom of each wheel leg 2 is horizontally connected with the wheel feet 3 in an arc, each The angle α between the wheel leg 2 and the centerline of the wheel hub 1 is α=40°, the angle β between the wheel leg 2 and the wheel foot 3 is β=130°; the shape of the wheel foot 3 is a trapezoid imitating the shape of an ostrich foot, The wheel foot 3 has a wheel toe 4, and the shape of the wheel toe 4 is an inverted triangle shape of an ostrich toenail.
[0015] The progress of the present invention is as follows:
[0016] When traveling, the angle between the wheel legs 2 and the ground is 50°, the design of the five wheel legs 2 and the angle β between the wheel legs 2 and the wheel feet 3 = 130°, so that the wheel toe 4 of one wheel foot 3 is about to ...
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The invention discloses a bionic desert-hiking obstacle-surmounting travelling wheel foot structure comprising a hub, five wheel legs and wheel feet. The wheel legs are all arranged on the periphery of the hub. One wheel foot is horizontally connected to the bottom of each wheel leg in an arc form. According to the leg-foot running posture of an ostrich, the included angle alpha between each wheel leg and the center line of the hub is 40 degrees, and the included angle beta between each wheel leg and the corresponding wheel foot is 130 degrees; each wheel foot is in the shape of a similar trapezoid as the foot shape of the ostrich; each wheel foot is provided with toes in the shape of inverted triangles of nails of the ostrich feet. The wheel legs on the hub impart a good function of large-range obstacle surmounting. According to the design of the wheel legs, when the toes of one wheel foot are about to leave the ground, the next wheel foot right parallelly contacts with the ground, with the largest area. The wheel feet in the shapes of the ostrich feet and the wheel toes in the shapes of the ostrich toe nails have the effects of sand fixation and current limitation, so that traction performance is improved.
Description
technical field [0001] The invention relates to a wheel structure, in particular to a wheel foot structure of a bionic sand-crossing and obstacle-crossing walking wheel. Background technique [0002] With the advancement of science and technology and social development, people's demand for resources, especially energy, has been increasing, and resource reserves in conventional areas have become increasingly scarce, and people have gradually shifted mining areas to harsh and extreme environments (such as deserts and Gobi). It has been found through exploration that the moon and Mars are rich in mineral resources and precious energy, so deep space exploration has become an important direction for the future of China and the world. Whether it is the desert and Gobi in the extreme environment of the earth, or the moon and Mars in the complex environment of deep space, their common feature is the loose sandy soil with some rocks, pits and convex hulls (the physical and mechanical...
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IPC IPC(8): B62D57/02
Inventor 张锐王蒙李治强王玮王荣谭聪
Owner JILIN UNIV