Bidirectional spiral elastic wheel capable of adapting to large gradient and high bearing capacity

Abstract

The bidirectional spiral elastic wheel comprises a hub, spokes are reversely arranged on the two sides of the hub respectively, namely, the spokes on one side are arranged in a clockwise rotating mode, and the spokes on the other side are arranged in an anticlockwise rotating mode. Each spoke is bent outwards in the rotating direction from the end connected with the hub, the tail end of each spoke is provided with a connecting table matched with the circumferential face of a wheel, and the outer end faces of the connecting tables on the same side are jointly connected with a rubber ring. According to the crawler-type rigid wheel, the simple structure of a common rigid wheel and the road gripping capacity of the crawler-type wheel body are both considered, meanwhile, a driving motor and a transmission part are not needed, and the high-bearing operation capacity of the wheel body in complex terrains and large-gradient terrains is improved while the light weight is kept. When the wheel body rotates, the bottom surface of the wheel body is pressed downwards through bearing deformation cooperation of the rubber ring of the outer ring and the spokes, so that the contact area between the bottom surface of the wheel body and the ground is increased, and the function of approaching a crawler belt is achieved.

Description

Technical Field

[0001] This invention relates to the field of mobile devices for complex terrain, and in particular to a bidirectional helical elastic wheel that can adapt to steep slopes and bear high loads. Background Technology

[0002] In demanding operational scenarios such as field exploration and disaster relief, mobile platforms often face challenges related to steep terrain and high load-bearing requirements. Therefore, for such scenarios, wheels, as the core execution component of a mobile platform, must simultaneously meet three core performance indicators: strong grip, lightweight design, and adaptive deformation. However, existing wheel technologies have significant drawbacks: ordinary rigid wheels have a fixed contact area, resulting in low friction coefficients on rough surfaces like rocks and gravel, making them prone to slippage on steep inclines and unable to meet the requirements for traversing steep slopes; tracked wheels, while increasing contact area to improve grip, require multiple support wheels and track tensioning mechanisms, leading to significant overall weight and difficulty in meeting lightweight design requirements. Furthermore, their terrain adaptability is limited by track pitch, making them prone to jamming on complex and uneven surfaces; biomimetic leg-type wheels adapt to terrain through alternating deformation of multiple legs, but their complex structure requires multiple drive motors and transmission components, resulting in a low load-bearing-to-weight ratio and failing to meet high load-bearing requirements. To further enhance the traction of wheels in complex terrain conditions while maintaining lightweight design, there is an urgent need for a high-load-bearing, two-way helical elastic wheel that is simple in structure, avoids the use of complex structures and transmission components, and combines the traction capabilities of tracked wheels. Summary of the Invention

[0003] The purpose of this invention is to overcome the shortcomings of the prior art and to provide a high-load-bearing bidirectional helical elastic wheel that is simple in structure, avoids the use of complex structures and transmission components, and has the traction capability of a tracked wheel.

[0004] To achieve the above objectives, the present invention is implemented through the following technical solution:

[0005] A bidirectional helical elastic wheel with adaptability to steep slopes and high load-bearing capacity includes a hub with spokes arranged in opposite directions on both sides of the hub. That is, the spokes on one side are arranged in a clockwise rotation and the spokes on the other side are arranged in a counterclockwise rotation. Each spoke is bent outward from the end connected to the hub in the direction of rotation. The end of each spoke has a connecting platform that matches the circumferential surface of the wheel body. A rubber ring is connected to the outer end face of the connecting platform on the same side.

[0006] Furthermore, the rubber ring is provided with a recess at each connecting platform, and the connecting platform and the recess are provided with threaded holes.

[0007] Furthermore, the rubber ring is provided with protrusions at intervals, and the protrusions have friction patterns.

[0008] Furthermore, the rubber ring is made of high-viscosity natural rubber (NR).

[0009] Furthermore, there is a gap between the spokes on both sides of the hub.

[0010] Furthermore, the spokes are made of spring steel.

[0011] Compared with the prior art, the present invention has the following beneficial effects:

[0012] This invention combines the simple structure of a conventional rigid wheel with the gripping capability of a tracked wheel, while eliminating the need for a drive motor and transmission components. It maintains a lightweight design while enhancing the wheel's high load-bearing capacity in complex and steep terrain. When the wheel rotates, the outer rubber ring and the spokes work together to compress the wheel's bottom surface, increasing the contact area between the wheel and the ground, thus achieving a near-track-like function. It also retains the advantages of strong adaptability to complex terrain and high stability under heavy loads, while eliminating the drawbacks of heavy tracks and complex components. The raised friction patterns improve the engagement with the ground, enhancing grip and adapting to complex and uneven terrain. Attached Figure Description

[0013] Figure 1 This is a schematic diagram of the structure of the present invention;

[0014] Figure 2 for Figure 1 Side view;

[0015] Figure 3 This is a schematic diagram of the structure of the left and right spokes in this invention;

[0016] Figure 4 for Figure 3 Side view.

[0017] Figure label:

[0018] 1-Left spoke, 2-Right spoke, 3-Hub, 4-Connecting platform, 5-Left rubber ring, 6-Right rubber ring, 7-Concave platform, 8-Protrusion. Detailed Implementation

[0019] The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0020] like Figures 1 to 4As shown, a bidirectional helical elastic wheel with adaptability to large slopes and high load-bearing capacity includes a hub 3. The hub 3 has spokes arranged in opposite directions on both sides, that is, the spokes on one side are arranged in a clockwise rotation and the spokes on the other side are arranged in a counterclockwise rotation. Each spoke is bent outward from the end connected to the hub 3 in the direction of rotation. The end of each spoke has a connecting platform 4 that matches the circumferential surface of the wheel body. The outer end face of the connecting platform 4 on the same side is connected to a rubber ring.

[0021] The rubber ring is provided with a recess 7 at each connecting platform 4, and the connecting platform 4 and the recess 7 are provided with threaded holes. The connecting platform 4 and the recess 7 are pre-set with threaded holes, and two sets of threaded holes are passed through the bolts to realize the detachable connection between the left wheel spoke 1 and the left rubber ring 5, and the right wheel spoke 2 and the right rubber ring 6, which not only ensures the reliability of the connection, but also facilitates the later maintenance and replacement.

[0022] The rubber ring is provided with raised protrusions 8 at intervals, and the raised protrusions 8 have friction patterns, which can enhance the meshing between the wheel and the ground, increase the friction coefficient, adapt to uneven terrain, buffer the impact of the ground, and ensure the ability to pass through steep slopes.

[0023] The present invention increases grip by means of the following: When the mobile platform is moving forward, if the central axis of the hub 3 rotates clockwise, the areas of the left spoke 1 and the right spoke 2 that are in contact with the ground will undergo compression deformation along their respective helical directions, and the deformation state of the two-way spokes exhibits an adaptive difference matching the direction of rotation. This deformation will simultaneously cause the left rubber ring 5 and the right rubber ring 6 covering the outer side of the spokes to undergo corresponding elastic deformation, thereby significantly increasing the contact area between the wheel and the ground, forming a wide ground contact pattern similar to that of a track, so as to achieve sequential ground contact support between the connecting platform 4 and the ground. Specifically, the wheel deformation manifests as a reduction in the height of the central axis of the hub 3 relative to the ground, and the left rubber ring 5 and the right rubber ring 6 exhibiting a locally flattened shape, thereby further expanding the effective contact area between the wheel and the ground. When the mobile platform is moving backward, if the wheel rotates counterclockwise around the central axis, the working process of spoke deformation, rubber ring deformation, and ground contact area expansion is the same as in the forward movement. To facilitate reasonable elastic deformation of the left spoke 1 and right spoke 2, the spokes are made of spring steel. In this embodiment, 60Si2MnA spring steel is preferred. This type of spring steel has high elastic recovery characteristics, does not undergo permanent deformation after unloading, has high fatigue strength and yield strength, and can withstand more than 5000 cycles of alternating stress. It also has good thermoplasticity and is easy to process into a shape that bends in the direction of rotation.

[0024] The specific deformation effect is related to the number of bidirectional helical elastic spokes and the helix angle parameter. For wheels of different diameters and materials, the number of spokes and the helix angle parameter are different. They can be adapted to meet the usage requirements under different working conditions according to the actual application scenario.

[0025] The rubber ring is made of high-viscosity natural rubber (NR). In this embodiment, a high-viscosity natural rubber (NR)-based composite material is preferred. This material is one of the most elastic of all rubbers, with a rebound rate of 70-80%, and also possesses high surface properties, excellent adhesion, and strong grip. Its unique dual characteristics of high elasticity and high viscosity ensure that the rubber ring can complete efficient adaptive elastic deformation, effectively enhancing the overall grip performance and traversing complex terrain.

[0026] The spokes on both sides of the hub 3 have a gap, that is, there is a gap between the left spoke 1 and the right spoke 2. This gap is reserved for the elastic deformation of the spokes, so as to avoid the spokes rubbing or interfering with each other under load, climbing and other stress scenarios, and to ensure the independence of the deformation of each spoke.

[0027] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A bidirectional helical elastic wheel with adaptation to large slopes and high load, comprising a wheel hub (3), characterized in that: The hub (3) is reversely provided with spokes on both sides, that is, the spokes on one side are arranged in clockwise rotation, and the spokes on the other side are arranged in counterclockwise rotation, each spoke is curved outward along the rotation direction from the end connected with the hub (3), and the end of each spoke has a connecting platform (4) matched with the circumferential surface of the wheel body, and the outer end surfaces of the connecting platforms (4) on the same side are jointly connected with a rubber ring.

2. The bidirectional helical elastic wheel with adaptive large slope and high load capacity according to claim 1, characterized in that: The rubber ring is provided with a recess (7) corresponding to each connecting platform (4), and the connecting platform (4) and the recess (7) are cooperatively provided with a threaded hole.

3. The bidirectional helical elastic wheel with adaptive large slope and high load capacity according to claim 2, characterized in that: The rubber ring is provided with a protrusion (8) at intervals, and the protrusion (8) is provided with a friction pattern.

4. The bidirectional helical elastic wheel with adaptive large slope and high load capacity according to claim 3, characterized in that: The rubber ring is made of high-viscosity natural rubber (NR).

5. The bidirectional helical elastic wheel with adaptive large slope and high load capacity according to claim 1, characterized in that: The spokes on both sides of the hub (3) have a gap.

6. The bidirectional helical elastic wheel with adaptive large slope and high load capacity according to claim 1, characterized in that: The spokes are made of spring steel.

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