A bionic walking wheel for crossing sand with multi-posture casters
A multi-position, walking wheel technology, applied in the field of engineering bionics, can solve the problem of low wheel traction and passability, and achieve good sand passability, high stability, and simple structure
Active Publication Date: 2019-05-10
JILIN UNIV
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[0004] The purpose of the present invention is to solve the problem of low traction and passability of wheels on loose sandy soil, and to design a multi-posture wheel structure that imitates the toes of an ostrich.
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[0030] African ostriches live in vast deserts and wilderness areas all year round, and their ability to run in sandy environments is amazing, mainly reflected in their stability, durability and high speed. The ostrich has a span of 4-7m per step, a continuous running speed of about 50-60km / h, and a sprint speed of over 70km / h, which can last for more than half an hour. It is the biped animal with the strongest running ability on land. The toe of the ostrich, as the part directly in contact with the sand, plays a key role in the superior sports performance on the sand. The ostrich foot has only two toes, the third toe that bears the main load of the body and the fourth toe that assists the body's balance. When the ostrich is running, the third toe and fourth toe cooperate with each other, showing a unique posture and movement characteristics for crossing the sand. By observing the dynamic change process of the toe posture of the ostrich foot from the beginning of touching the ...
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The invention discloses a multi-attitude-caster bionic sand-crossing walking wheel which consists of a wheel surface and a wheel hub which are integrated, multiple attitude casters, bolts and nuts, wherein 8 columns of inclined '-' type bolt holes are formed in the wheel surface and form included angles of 23 degrees with the horizontal plane; an included angle of 45 degrees is formed between every two adjacent columns; an included angle of 8 degrees is formed between every two adjacent bolt holes in the same column; the multiple attitude casters consist of 0-attitude casters, 25-attitude casters, 50-attitude casters, 75-attitude casters and 100-attitude casters; caster attitudes comprise nails, 3 sections of phalanxes, tarsometatarsus and bases fixed on the wheel surface; joint angles between the phalanxes are determined according to parameters alpha, beta, gamma and omega; the arrangement sequences of every two adjacent columns of casters are opposite. According to the multi-attitude-caster bionic sand-crossing walking wheel disclosed by the invention, the tractive trafficability of running wheels on a loose sandy pavement; the multi-attitude-caster bionic sand-crossing walking wheel is applicable to working in a loose medium environment such as a desert, the moon and the Mars, and has the characteristics of high sandy land trafficability, simple structure and high stability.
Description
technical field [0001] The invention belongs to the technical field of engineering bionics, and relates to a sand-surfing walking wheel imitating ostrich toes touching the sand with multiple gestures. Background technique [0002] Deserts, Gobi and other areas contain rich mineral resources, but the carrying capacity and shear strength of sandy soil are relatively poor, making it difficult for ordinary wheeled vehicles to drive on loose sandy land, or even impossible. In addition, it has been proven that there are rich mineral resources on Mars and the moon. With the intensification of the global energy crisis and the depletion of easily exploitable energy sources, the development of desert resources and deep space exploration have become an inevitable trend of future development. Most of the traveling mechanisms of the air detection patrol are wheeled, and the driving performance on soft ground is poor. For example, when the US "Spirit" rover was passing through soft terra...
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IPC IPC(8): B60B19/00B62D57/028
CPCB60B19/00B62D57/028
Inventor 张锐吉巧丽韩佃雷乔钰何远李建桥
Owner JILIN UNIV