Climbing wheel structure and its movement mode of imitating the hop plant for ice layer

Abstract

The present application relates to a kind of facing ice layer climbs and imitates the wheel structure of Humulus scandens and its movement mode, belong to ice layer on attachment mobile platform technical field.The wheel structure is by front wheel frame (1), front connecting piece (2), intermediate connecting plate (3), rear connecting piece (4), rear wheel frame (5), double-headed thorn (6) imitating Humulus scandens, pin shaft (7) equipped with torsional spring, connecting piece (8), wheel hub piece (9), wheel hub outer side end cover (10), speed reducer motor (11), bearing (12), sleeve (13), wheel hub inner side end cover (14) are constituted.The structure extracts the advantage of Humulus scandens fusiform thorn, can be in the ice layer on the inclination climbs, sliding movement, can better adapt to the environment of ice layer.It has important research significance and application value to polar exploration and other fields.

Description

Technical Field

[0001] This invention relates to a wheeled structure for imitation hops that adheres to ice and its movement method, belonging to the technical field of mobile platforms for attachment on ice. Technical Background

[0002] The first challenge for polar exploration robots is their ability to move on ice. Currently, robots primarily use tracked or wheeled locomotion. The main disadvantages of tracked polar exploration robots are their complex structure and slow movement; wheeled robots are prone to slipping on ice surfaces that are tilted at a certain angle. Therefore, designing a robot capable of climbing on ice will have significant research and engineering value.

[0003] The Shenyang Institute of Automation, Chinese Academy of Sciences, proposed a portable mobile robot for ice and snow surfaces. This robot moves on ice by rotating a drive wheel driven by two motors. It can move forward and turn on ice, but cannot adhere to inclined ice surfaces. (Shenyang Institute of Automation, Chinese Academy of Sciences. Portable Mobile Robot for Ice and Snow Surfaces [P]: China, 101439671A. 2009-05-17.). Shanghai University proposed a tracked ice surface detection and marking robot, but this robot lacks the ability to climb and adhere to inclined ice surfaces. (Shanghai University. Tracked Ice Surface Detection and Marking Robot [P]: China, 109398515A. 2019-03-01).

[0004] There are currently no reports on wheel-like structures for artificial hops that climb on ice. Summary of the Invention

[0005] The purpose of this invention is to design a device capable of moving on ice. By biomimicking the spindle-shaped double-headed thorns on the stem of the hop plant in nature, which exhibit different frictional characteristics in different directions, this biomimetic double-headed thorn is mounted on a wheel, providing a hop-like wheel structure and its mode of movement that climbs on ice.

[0006] The aforementioned wheeled structure for ice-climbing motion is characterized by: comprising a hub, an outer end cap, a reduction motor, rolling bearings, a sleeve, and an inner end cap; wherein the hub is mounted on the sleeve via rolling bearings and can rotate relative to the outside; wherein the inner and outer end caps are fixedly mounted on the inner and outer sides of the hub, respectively; wherein the sleeve is mounted on the frame; wherein the reduction motor is mounted inside the sleeve, and its output shaft is connected to the outer end cap, driving the outer end cap, the hub, and the inner end cap to rotate together; the hub is composed of N hub plates evenly distributed along the circumference of the hub; the surface of the hub is arranged with several pairs of hop-inspired double-headed spikes; each pair of hop-inspired double-headed spikes consists of two spikes in opposite directions; and the spikes of the hop-inspired double-headed spikes are installed facing the circumference of the wheel.

[0007] All the biomimetic double-headed spikes of hops on a wheel hub are evenly divided into several groups of spike structures along the circumference of the wheel hub. Each group of spike structures consists of a pin with a torsion spring, a connector, and several biomimetic double-headed spikes of hops arranged along the direction parallel to the axis of the wheel hub surface. The biomimetic double-headed spikes of hops are installed on the connector through the pin with the torsion spring, and the connector is installed on the wheel hub. The aforementioned pin with the torsion spring has two torsion springs in opposite directions, which are respectively arranged at both ends of the pin.

[0008] The aforementioned wheel-like structure for ice-climbing motion is characterized by the following: When the hub begins to rotate, the biomimetic double-headed spikes on the hub, which are in contact with the inclined ice surface, rotate in the opposite direction to the wheel's rotation due to pressure, and pierce the ice, thus achieving upward climbing motion along the inclined ice surface; during the upward climbing motion along the inclined ice surface, when the reduction motor stops rotating, the hub stops rotating; because the surface of the biomimetic double-headed spikes is relatively smooth in this state, the device will slide on the ice surface for a distance before its speed decreases to 0; subsequently, under the action of gravity, the entire structure moves downward along the inclined ice surface, the wheel will rotate in the opposite direction on the inclined ice surface, and the biomimetic double-headed spikes on the hub in contact with the inclined ice surface will be subjected to pressure again and rotate in the opposite direction to the wheel's rotation, piercing the ice. When the gravity is counteracted, it will relatively stop on the inclined ice surface, thus achieving adhesion to the ice surface.

[0009] Compared with the prior art, the present invention has the following advantages: This invention enables robots to climb, attach, and glide on ice by using a structure that mimics the spindle-shaped thorns of hops.

[0010] This invention can adhere to the surface of ice for a long time, saving energy.

[0011] It has a simple structure, strong adaptability, and good flexibility.

[0012] The above-mentioned groups of spike structures are divided along the circumference of the hub; the spike structures of adjacent groups can be arranged symmetrically and evenly.

[0013] The aforementioned wheel hub can be composed of N wheel hub pieces that are uniformly distributed along the circumference of the wheel hub. Attached Figure Description

[0014] Figure 1 This is an electron microscope image of the hops described in this invention; Figure 2 This is a front view of the wheel-shaped structure of the hop-like plant that is oriented towards ice climbing as described in this invention; Figure 3 This is a top view of the wheel-shaped structure of the hop-like plant that adheres to ice as described in this invention; Figure 4 This is an axonometric view of the wheel-like structure of the hop-like plant that climbs on ice, as described in this invention. Figure 5 This is an exploded view of the wheel-shaped structure of the hop-like plant that adheres to ice as described in this invention; Figure 6 This is an exploded view of the wheel in the hop-like wheel structure for ice-climbing as described in this invention. Figure 7 This is a three-dimensional view of the hop-like wheel structure for climbing on ice, as described in this invention, climbing on an inclined ice surface. Figure 8 This is a three-dimensional view of the hop-like wheel structure for climbing on ice, as described in this invention, sliding on an inclined ice layer. Figure 9 This is a three-dimensional view of the hop-like wheel structure for ice climbing described in this invention, attached to an inclined ice layer. Labels in the diagram: A. A wheel modeled after hops; 1. Front wheel frame; 2. Front connector; 3. Middle connecting plate; 4. Rear connector; 5. Rear wheel frame; 6. Double-headed spikes inspired by hops; 7. Pin with torsion spring; 8. Connector; 9. Hub plate; 10. Outer end cap of hub; 11. Gear motor; 12. Bearing; 13. Sleeve; 14. Inner end cap of hub. Detailed Implementation

[0015] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments: Combination Figure 1The wheel-like structure of this invention is based on the spindle-shaped thorns of the hop plant. Its key feature is that, through electron microscopy observation of the hop plant, the thorns exhibit a spindle shape, appearing relatively smooth along one direction of the stem, but becoming hooked towards the stem tip, generating significant frictional resistance. Therefore, taking advantage of this characteristic, a structure inspired by the hop plant has been designed to allow it to climb on ice.

[0016] Combination Figure 2-6 The purpose of this invention is to provide a wheel structure that mimics the climbing action of hops on ice. Its features include: a hub, an outer end cap 10, a reduction motor 11, a rolling bearing 12, a sleeve 13, and an inner end cap 14. The hub is mounted on the sleeve 13 via the rolling bearing 12, allowing relative rotation. The inner end cap 14 and the outer end cap 10 are fixedly mounted on the inner and outer sides of the hub, respectively. The sleeve 13 is mounted on a frame. The reduction motor 11 is mounted inside the sleeve, and its output shaft is connected to the outer end cap 10, driving the outer end cap 10, the hub, and the inner end cap 14 to rotate together. The surface of the hub is arranged with several pairs of hop-inspired double-headed spikes 6. Each pair of hop-inspired double-headed spikes 6 consists of two spikes in opposite directions, and the spikes of the pairs of hop-inspired double-headed spikes 6 are oriented circumferentially towards the wheel. A hop-inspired double-headed spike 6 on a wheel hub is evenly divided into several groups of spike structures along the circumference of the hub, with adjacent groups of spike structures arranged symmetrically and evenly. Each group of spike structures consists of a pin 7 with a torsion spring, a connector 8, and several hop-inspired double-headed spikes arranged along the axis parallel to the surface of the hub. The hop-inspired double-headed spike 6 is mounted to the connector 8 via the pin 7 with a torsion spring, and the connector 8 is mounted on the hub. The aforementioned pin 7 with a torsion spring has two torsion springs in opposite directions, which are respectively arranged at both ends of the pin 7.

[0017] Combination Figure 7-9The purpose of this invention is to provide a wheel-like structure and its movement mechanism for climbing on ice, inspired by hops. The key feature is that when the hub begins to rotate clockwise, the double-headed thorns 6, which mimic hops and are in contact with the inclined ice surface, rotate counterclockwise on a pin 7 equipped with a torsion spring due to pressure, and one end pierces the ice, thus achieving climbing motion. When the reduction motor 11 stops rotating, the hub stops rotating. Because of this biomimetic structure in this state, the thorns at the end in contact with the inclined ice surface slide upwards, creating friction with the ice surface. With low friction, the biomimetic double-headed thorns 6 will no longer pierce the ice surface. The device will slide on the ice for a distance until its speed decreases to 0. Then, under the action of gravity, the entire structure will move downward along the inclined ice surface. The wheel will rotate counterclockwise on the inclined ice surface. At the same time, the biomimetic double-headed thorns 6 on the wheel hub, which is in contact with the inclined ice surface, will be subjected to pressure again and will rotate clockwise on the pin 7 equipped with a torsion spring, and pierce the ice layer again. When the gravity can be counteracted, it will be relatively stationary on the inclined ice layer, thus achieving adhesion to the ice surface.

Claims

1. A wheel-like structure for imitation hops that climbs on ice, characterized in that: It consists of a hub, an outer end cap (10) of the hub, a geared motor (11), a rolling bearing (12), a sleeve (13), and an inner end cap (14) of the hub; The hub is mounted on the sleeve (13) via a rolling bearing (12) and can rotate relative to it; The inner end cap (14) and the outer end cap (10) of the wheel hub are respectively fixedly installed on the inner and outer sides of the wheel hub; The sleeve (13) is installed on the frame; The geared motor (11) is installed inside the sleeve, and its output shaft is connected to the outer end cover (10) of the hub, which drives the outer end cover (10), the hub and its inner end cover (14) to rotate together. The surface of the above-mentioned wheel hub is provided with several pairs of hop bionic double-headed spikes (6); each pair of hop bionic double-headed spikes (6) is composed of two spike structures with opposite directions; and the spikes of the pair of hop bionic double-headed spikes (6) are installed in the circumferential direction of the wheel hub. All the hops-inspired double-headed spikes (6) on the above-mentioned hub are evenly divided into several groups of spike structures along the circumference of the hub. Each group of spike structures consists of a pin (7) with a torsion spring, a connector (8), and several hops-inspired double-headed spikes (6) arranged along the direction parallel to the axis of the hub surface. The biomimetic double-headed thorn (6) of the hop is mounted on the connector (8) via a pin (7) equipped with a torsion spring, and the connector (8) is mounted on the hub; The aforementioned pin (7) equipped with torsion springs has two torsion springs in opposite directions, which are respectively arranged at both ends of the pin (7).

2. The wheel-like structure of the hop-like plant climbing on ice as described in claim 1, characterized in that: The above-mentioned groups of spike structures are divided along the circumference of the hub; the spike structures of adjacent groups are arranged symmetrically and evenly.

3. The wheel-like structure of the hop-like plant climbing on ice as described in any one of claims 1 to 2, characterized in that: The hub is composed of N hub pieces (9) that are uniformly divided along the circumference of the hub.

4. The movement mode of the wheel-like structure for climbing ice as described in claim 1, characterized in that: When the hub starts to rotate, the double-headed thorns (6) on the hub that are in contact with the sloping ice surface will rotate in the opposite direction to the direction of the wheel due to the pressure on the pin (7) equipped with torsion spring, and pierce the ice, thereby realizing the upward climbing motion along the sloping ice surface. During the upward climbing motion along the inclined ice surface, when the deceleration motor (11) stops rotating, the hub stops rotating. Because the surface of the biomimetic double-headed thorn (6) of the hop biomimetic structure is relatively smooth in this state, the device will slide on the ice surface for a distance and then reduce its speed to 0. Subsequently, under the action of gravity, the wheel on the inclined ice surface will rotate in the opposite direction. The hop biomimetic double-headed thorn (6) on the hub that is in contact with the inclined ice surface will be subjected to pressure again, and will turn in the opposite direction to the wheel at this time and pierce into the ice. When it can counteract gravity, it will be relatively stationary on the inclined ice, thus achieving attachment to the ice surface.

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