High-traction bionic walking wheel in soft mud soil environment

Abstract

The invention provides a high-traction bionic walking wheel in a soft mud soil environment. The high-traction bionic walking wheel comprises a shell, a driving motor, a wheel train structure, a telescopic quantity control structure and walking wheel leg and foot single bodies. The walking wheels are of a double-row structure; two rows of wheel legs of the walking wheels are spaced by a certain distance, and six walking wheel leg single bodies are uniformly distributed in each row; the driving motor is installed outside the left side of the shell and transmits power through a gear train structure. The gear train structure ensures that the two rows of walking wheels control large gears of the lead screws to rotate to be the same in rotation angle through gear transmission ratio; the expansion amount control structure comprises a lead screw structure, a fixing structure and a pressure spring structure, the lead screw structure is connected with the gear train structure through a bevel gear, and a pressure spring is installed in the foot leg cavity and makes contact with the bottom face of the shell leg cavity. The walking wheel simulates the movement of birds, toes are bent to enhance traction when the walking wheel walks on the soft ground, the bending degree of the toes can be adjusted through driving of a motor on the hard ground, and the walking wheel has good adaptability and traction effect.

Description

Technical Field

[0001] The invention relates to the technical field of engineering bionics, and in particular to a bionic walking wheel with high traction in a soft muddy soil environment. Background Art

[0002] When walking on swamps, paddy fields and other soft muddy surfaces, traditional ordinary wheel structures often encounter a thorny problem, that is, they are prone to slipping and sinking. This is because the contact points of these wheel structures with the ground are discrete rather than continuous, resulting in insufficient traction. In contrast, the contact points of walking wheels on the ground are dispersed. This discrete contact point design allows the walking wheels to have better traction, grip the ground more effectively, and reduce the risk of slipping and sinking.

[0003] However, conventional walking wheels are usually designed with rigid mechanisms, which cannot effectively simulate the walking methods of organisms, especially those with special foot movement capabilities. For example, when waterfowl and other wading animals walk on muddy surfaces, they adjust the movement of their feet according to the hardness and state of the mud. When the muddy surface is softer, the toes of these animals will bend more, providing greater traction and helping them walk on soft ground without sinking. On the contrary, when the muddy surface is harder, these animals will reduce the bending of their toes and rely on friction to provide traction, which can avoid toe injuries and save energy consumption. Summary of the invention

[0004] In response to the technical problems raised above, a high-traction bionic walking wheel in a soft muddy environment is provided. The present invention imitates the changes in the posture of the feet of birds during movement. When walking, the wheel leg and foot monomer contacts the ground, the sole is forced upward, the foot body is compressed, and the spring is compressed; the position of the telescopic rod remains unchanged, the traction line pulls the middle toe to bend, and the three toes bend synchronously, and the stretching spring generates tension. When walking on soft ground, the toes bend and grip the ground to enhance traction, and the foot returns to its original position to complete the cycle movement; when walking on hard ground, the motor drives the wheel system to rotate, the bevel gear wire lever maintains a consistent angle, and the telescopic rod controls the height of the foot rise and the degree of toe bending.

[0005] The technical means adopted by the present invention are as follows:

[0006] A bionic walking wheel with high traction in soft muddy environment, comprising: a shell, a driving motor, a wheel train structure, a telescopic control structure, and a walking wheel leg and foot monomer;

[0007] The walking wheels are of a double-row structure;

[0008] The double-row wheel legs of the walking wheels are spaced a certain distance apart, and each row consists of 6 walking wheel leg-foot monomers evenly distributed, and the double-row walking wheels are staggered by 30°;

[0009] The drive motor is installed on the left side of the housing and transmits power through the gear train structure;

[0010] The gear train structure ensures that the large gears of the two rows of walking wheels that control the rotation of the lead screws have the same rotation angle through the gear transmission ratio;

[0011] The telescopic amount control structure includes a screw structure, a fixing structure and a pressure spring structure. The screw structure is connected to the gear train structure through a bevel gear. The pressure spring is installed in the leg cavity of the foot and contacts the bottom surface of the leg cavity of the shell.

[0012] Further, the gear train structure includes a middle shaft, a left shaft, a right shaft and a motor shaft;

[0013] The central shaft is installed concentrically with the outer shell, the left end is in contact with the left end cover, and the right end protrudes from the right end cover and is connected to the power output end of the driving motor.

[0014] Furthermore, the middle shaft gears are symmetrically installed on both sides of the middle shaft, the middle shaft gears are connected to the middle shaft through middle shaft gear bearings, and the middle shaft gears are installed in coordination with the left shaft and the right shaft gears.

[0015] Furthermore, the motor shaft end cover, the first bearing of the left shaft, the first gear of the left shaft, the second gear of the left shaft, the third gear of the left shaft and the second bearing of the left shaft are installed in sequence from the left end to the right end of the left shaft, and the second gear of the left shaft is meshed with the middle shaft gear; the second bearing of the left shaft is embedded in the reserved position of the wheel body and is installed and matched with the right end of the left shaft.

[0016] Furthermore, the right shaft left end cover, the right shaft first bearing, the right shaft first gear, the right shaft second gear and the right shaft second bearing are installed in sequence from the left end to the right end of the right shaft; the right shaft first gear is meshed with the left shaft third gear, and the right shaft second gear is meshed with the middle shaft gear.

[0017] Furthermore, the telescopic amount control structure includes a screw structure and a fixed structure, the screw structure includes a bevel gear screw lever and a telescopic rod, the bevel gear end is meshed with the middle shaft gear, and the telescopic rod is installed concentrically inside the leg cavity; the fixed structure includes a screw end cover and a fixed annular sleeve, the screw end cover is fixed to the wheel body by a screw end cover screw, and the fixed annular sleeve is installed in coordination with the contour of the telescopic rod.

[0018] Furthermore, the pressure spring structure includes an upper leg end cover, an upper leg end cover screw and a compression spring. The upper leg end cover is concentrically installed at the upper end of the leg cavity and fixed by the upper leg end cover screw. The compression spring is installed in the leg main body cavity, and the upper end contacts the lower surface of the leg cavity.

[0019] Furthermore, the walking wheel leg-foot unit includes a leg body, an extension spring, a first reversing pulley, a second reversing pulley, a traction line, a side toe, a middle toe and a prism-shaped synchronization column; one end of the traction line is connected to the lead screw telescopic rod, and the other end passes around the first reversing pulley and the second reversing pulley and then connects to the lower end of the middle toe; the prism-shaped synchronization column passes through the center of the three toes to control the synchronous rotation of the toes.

[0020] Furthermore, one end of the tension spring is connected to the upper end of the middle toe, and the other end is connected to the inside of the leg body, so as to control the rebound of the middle toe.

[0021] Furthermore, a rubber gasket is installed at the bottom end of the leg cavity of the shell and is connected to the leg body through a pressure spring structure to provide a buffering effect to adapt to the soft mud environment.

[0022] Due to the adoption of the above technical solution, compared with the prior art, the present invention has the following advantages:

[0023] 1. The present invention provides a high-traction bionic walking wheel in a soft muddy environment, which imitates the foot posture changes of wading birds during movement. Through the unique design of double-row walking wheel legs and the use of two-row walking wheel leg structure arranged at a 30° offset, it ensures that the multi-point grounding characteristics are always maintained in a soft muddy environment, and improves the wheel body's grip and traction performance on the ground. Each walking wheel leg and foot monomer is equipped with a linkage device and a tension spring, so that the walking wheel can automatically adjust the gait posture and pressure distribution according to the hardness of the ground, significantly improving the adaptability to complex terrain.

[0024] 2. The present invention provides a bionic walking wheel with high traction in a soft mud environment. The telescopic control structure realizes precise control of the telescopic action of the walking wheel legs and feet through a screw structure. The cooperation of the bevel gear and the gear train structure ensures the synchronous and coordinated action of the two rows of walking wheels to avoid traction loss caused by asynchrony. At the same time, the combined design of the pressure spring structure and the rubber gasket provides a good buffering effect, which reduces the impact force when the walking wheel passes through soft ground and improves the stability and durability of the system.

[0025] 3. The present invention provides a high-traction bionic walking wheel in a soft muddy environment. The internal gear train structure realizes efficient transmission of the driving motor power through the precise design of the middle shaft, left shaft, right shaft and multi-stage gears, ensuring smooth movement of the walking wheel during operation. The foot linkage device ensures that the three toes can move synchronously through the design of the traction line, reversing pulley and diamond-shaped synchronization column, enhancing the grip on the ground and gait stability. Under complex road conditions, the walking wheel can adjust the toe bending according to the force conditions, further improving the passability and flexibility.

[0026] Based on the above reasons, the present invention can be promoted in the field of engineering bionics technology. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0028] Figure 1 It is a stereoscopic view of a high-traction bionic walking wheel in a soft mud environment according to the present invention;

[0029] Figure 2 This is a view of the internal wheel train of a high-traction bionic walking wheel in a soft mud environment according to the present invention;

[0030] Figure 3 It is a partial cross-sectional view of the internal gear train structure of a high-traction bionic walking wheel in a soft mud environment according to the present invention;

[0031] Figure 4 It is a partial cross-sectional view of a high-traction bionic walking wheel extension control structure in a soft mud environment according to the present invention;

[0032] Figure 5 It is a cross-sectional view of a walking wheel leg and foot monomer in a bionic walking wheel with high traction in a soft muddy soil environment described in the present invention;

[0033] Figure 6 It is a partial cross-sectional view of a stereoscopic view of a bionic walking wheel with high traction in a soft mud environment according to the present invention;

[0034] Figure 7 It is a stereoscopic view of a wheel body of a bionic walking wheel with high traction in a soft muddy soil environment according to the present invention;

[0035] Figure 8 It is a cross-sectional view of a bionic walking wheel fixing annular sleeve with high traction in a soft muddy soil environment according to the present invention;

[0036] Fig. 9 It is a stereoscopic view of a telescopic rod of a bionic walking wheel with high traction in a soft mud environment described in the present invention.

[0037] In the figure: 1, shell; 2, telescopic control structure; 3, leg telescopic device; 4, walking wheel leg and foot monomer; 11, left end cover; 12, wheel body; 13, right end cover; 21, middle shaft; 22, left shaft; 23, right shaft; 24, motor gear shaft; 211, middle shaft gear; 212, middle shaft gear bearing; 221, motor shaft end cover; 222, motor shaft end cover screw; 223, left shaft first bearing; 224, left shaft first gear; 225, left shaft second gear; 226, left shaft third gear; 227, left shaft second bearing; 231, right shaft left end cover; 232, right shaft left end cover screw; 233, right shaft first bearing; 234 , the first gear of the right shaft; 235, the second gear of the right shaft; 236, the second bearing of the right shaft; 237, the right end cover of the right shaft; 238, the screw of the right end cover of the right shaft; 301, the bevel gear screw lever; 302, the screw end cover; 303, the screw end cover screw; 304, the screw fixed bearing; 305, the telescopic rod; 306, the fixed ring sleeve; 307, the rubber gasket; 308, the upper end cover of the leg; 309, the upper end cover screw of the leg; 310, the compression spring; 41, the leg body; 42, the tension spring; 43, the first reversing pulley; 44, the second reversing pulley; 45, the traction line; 46, the side toe; 47, the middle toe; 48, the diamond synchronization column. DETAILED DESCRIPTION

[0038] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0039] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is by no means intended to limit the present invention and its application or use. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0040] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprising" and / or "including" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0041] Unless otherwise specifically stated, the relative arrangement of the parts and steps described in these embodiments, the numerical expressions and numerical values ​​do not limit the scope of the present invention. At the same time, it should be clear that, for ease of description, the sizes of the various parts shown in the drawings are not drawn according to the actual proportional relationship. The technology, methods and equipment known to ordinary technicians in the relevant field may not be discussed in detail, but in appropriate cases, the technology, methods and equipment should be regarded as part of the authorization specification. In all examples shown and discussed here, any specific value should be interpreted as merely exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar numbers and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further discussed in subsequent drawings.

[0042] In the description of the present invention, it is necessary to understand that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "lateral, vertical, perpendicular, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the drawings. They are only for the convenience of describing the present invention and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the device or element referred to must have a specific direction or be constructed and operated in a specific direction. Therefore, they cannot be understood as limiting the scope of protection of the present invention: the directional words "inside and outside" refer to the inside and outside relative to the contours of each component itself.

[0043] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below their position devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0044] In addition, it should be noted that the use of terms such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. If not otherwise stated, the above terms have no special meaning and therefore cannot be understood as limiting the scope of protection of the present invention.

[0045] like Figures 1 to 9As shown, the present invention provides a high-traction bionic walking wheel in a soft mud environment, comprising: a housing 1, a driving motor, a wheel train structure, a telescopic control structure 2, and a walking wheel leg-foot monomer 4;

[0046] The walking wheel is a double-row structure, with two rows of wheel legs separated by a certain distance, and each row is composed of 6 walking wheel leg-foot monomers 4 evenly distributed around the center of the shell, and the two rows of walking wheels are staggered by 30°; the walking wheel includes a shell 1, a telescopic amount control structure 2, a leg telescopic device 3 and a walking wheel leg-foot monomer 4; the telescopic amount control structure 2 includes a driving motor installed on the left side of the shell and a gear train structure installed inside the shell, and the gear train structure is controlled by the driving motor gear shaft 24, and the rotation angle of the middle axis gear 211 for controlling the rotation of the lead screw in the two rows of walking wheels is kept the same by controlling the transmission ratio of each gear on the shaft; a telescopic amount control structure 2 coaxial with the leg cavity is arranged inside the shell 1, and the telescopic amount control structure 2 includes a lead screw structure, a fixing structure and a compression spring structure, and the lead screw structure includes a lead screw 305, one end of which is a bevel gear matched with the two rows of middle axis gears 211 in the gear train structure, The lead screw structure is fixed by a fixed structure at a position coaxial with the leg cavity of the outer shell, and the pressure spring is installed in the leg cavity of the foot unit 4 and contacts the bottom surface of the leg cavity of the outer shell, ensuring that the leg unit 4 returns to the maximum extension state after unloading; the walking wheel leg foot unit 4 includes a leg foot body 41, a middle toe 47, a side toe 46, a linkage device, and a tension spring 42. The front end of the leg foot body 41 is hinged with three toes, and a diamond-shaped synchronization column 48 is arranged between the centers of the three toes to ensure that the three toes have the same rotation angle. A linkage device is arranged inside the foot as a whole, and the pulling direction is changed by the pulley inside the foot as a whole. One end of the linkage device is connected to the lower end of the lead screw telescopic rod 305, and the other end is connected to the bottom of the middle toe 47. The walking wheel leg foot unit 4 receives an upward force by touching the ground, driving the walking wheel leg foot unit 4 to move upward, while the position of the telescopic rod 305 remains unchanged, thereby pulling the linkage device to achieve toe bending.

[0047] Furthermore, the middle shaft gears 211 are symmetrically installed on both sides of the middle shaft, and the middle shaft gear bearings 212 are installed between the middle shaft gears 211 and the middle shaft 21, so as to reduce the rotation resistance and the sliding friction during the movement.

[0048] Further, the motor shaft end cover 221, the left shaft first bearing 223, the left shaft first gear 224, the left shaft second gear 225, the left shaft third gear 226, and the left shaft second bearing 227 are installed in sequence from the left end to the right end of the left shaft 22, and the motor end cover 221 is installed on the left end cover 11 through the motor end cover screw 222, and the left shaft second gear 225 is installed in cooperation with the middle shaft gear 211 to transmit power to the middle shaft gear 211; the motor shaft end cover 221, the left shaft first bearing 223 and the left shaft 22 are installed in cooperation at the left end, the left shaft second bearing 227 is embedded in the reserved position of the wheel body 12 and installed with the right end of the left shaft, the left shaft first gear is installed in cooperation with the motor gear shaft 24, and the power is transmitted to the left shaft 22 through the motor gear shaft 24, and the components on the left shaft 22 are installed with interference fit to ensure that no relative rotation occurs.

[0049] Further, the right shaft 23 is sequentially installed with a right shaft left end cover 231, a right shaft first bearing 233, a right shaft first gear 234, a right shaft second gear 235, a right shaft second bearing 236, and a right shaft right end cover 237 from the left end to the right end. The right shaft left end cover 231 is installed on the wheel body 12 through the right shaft left end cover screw 232, and is installed at the left end of the right shaft 23 with the right shaft first bearing 233. The right shaft right end cover 237 is installed on the wheel body 12 through the right shaft right end cover screw 238, and is installed at the right end of the right shaft 23 with the right shaft second bearing 236. The right shaft first gear is installed in cooperation with the left shaft third gear for transmitting power to the right shaft 23; the right shaft second gear 235 is installed in cooperation with the middle shaft gear 211 for transmitting power to the middle shaft gear 211, and the components on the right shaft are installed with interference fit to ensure that no relative rotation occurs.

[0050] Furthermore, the telescopic amount control structure 2 includes a screw structure and a fixing structure, the screw structure includes a bevel gear screw lever 301, a telescopic rod 305, the bevel gear end is installed in cooperation with the middle shaft gear 211, and the telescopic rod 305 is installed concentrically with the inside of the leg cavity of the wheel body 12; the fixing device includes a screw end cover 302, a screw fixed bearing 304 and a fixed annular sleeve 306, the screw fixed bearing 304 is installed concentrically with the upper end of the telescopic rod 305 in the reserved position of the wheel body 12, and is fixed with the screw end cover 302 through the screw end cover screw 303 Installed on the wheel body 12; the fixed annular sleeve 306 is installed concentrically with the center of the wheel body and is installed in coordination with the contour of the telescopic rod 305; a rubber gasket 307 is installed at the lower end of the large end surface of the telescopic rod 305, and the bottom end of the leg cavity of the wheel body 12 is connected to the leg body through a compression spring structure. The rotation of the bevel gear wire lever 301 is controlled by the central axis gear 211 to drive the telescopic rod 305 to move up and down, so as to change the distance between the rubber gasket 307 and the upper end cover 308 of the leg, so as to achieve the purpose of controlling the rising distance of the leg and foot monomer 4, and then controlling the degree of toe bending.

[0051] Furthermore, the pressure spring structure includes an upper leg end cover 308, an upper leg end cover screw 309, and a compression spring 310, wherein the upper leg end cover 308 is concentrically installed with the upper end of the leg body inside the leg cavity of the wheel body 12 and fixed with the upper leg end cover screw 309, and the compression spring 310 is installed in the cavity of the leg body 41, and the upper end contacts the lower surface of the leg cavity of the wheel body 12. When the leg foot unit 4 is upward, the compression spring 310 will be compressed to generate thrust, and will be restored to the maximum extension length when leaving the ground.

[0052] Furthermore, the leg and foot unit 4 includes a foot body 41, a tension spring 42, a first reversing pulley 43, a second reversing pulley 44, a traction line 45, a side toe 46, a middle toe 47, and a diamond-shaped synchronization column 48. One end of the traction line 45 is connected to the lower end of the telescopic rod 305, and the other end passes through the first reversing pulley 43 and the second reversing pulley 44 inside the leg body 41 and is connected to the lower end of the middle toe 47. When the leg and foot unit 4 moves upward, the middle toe 47 is bent by the traction line 45; the diamond-shaped synchronization column 48 passes through the center of the three toes to control the synchronous rotation of the three toes; one end of the tension spring 42 is connected to the upper end of the middle toe 47, and the other end is connected to the leg body 41. When the toes are bent, the tension spring 42 is stretched to generate tension, and when the leg body 41 returns to its original position, it drives the three toes to return to a straight state.

[0053] Furthermore, a rubber gasket 307 is installed at the bottom end of the leg cavity of the shell, which is connected to the leg body through a pressure spring structure to provide a buffering effect to adapt to the soft mud environment.

[0054] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein by equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A high-traction bionic walking wheel in a soft mud environment, characterized in that: include: Casing, drive motor, gear train structure, telescopic control structure, walking wheel leg and foot monomer; The walking wheels are of a double-row structure; The walking wheel legs in the double rows are spaced at a fixed distance, each row consists of 6 walking wheel leg units evenly distributed, and the double rows of walking wheels are staggered by 30°; The drive motor is installed on the left side of the housing and transmits power through the gear train structure; The gear train structure ensures that the large gears of the two rows of walking wheels that control the rotation of the lead screws have the same rotation angle through the gear transmission ratio; The telescopic amount control structure includes a screw structure, a fixing structure and a pressure spring structure. The screw structure is connected to the gear train structure through a bevel gear. The pressure spring is installed in the leg cavity of the foot and contacts the bottom surface of the leg cavity of the shell.

2. The high-traction bionic walking wheel in soft mud environment according to claim 1, characterized in that: The gear train structure includes a middle shaft, a left shaft, a right shaft and a motor shaft; The central shaft is installed concentrically with the outer shell, the left end is in contact with the left end cover, and the right end protrudes from the right end cover and is connected to the power output end of the driving motor.

3. The high-traction bionic walking wheel in soft mud environment according to claim 2, characterized in that: The middle shaft gears are symmetrically installed on both sides of the middle shaft, the middle shaft gears are connected to the middle shaft through middle shaft gear bearings, and the middle shaft gears are installed in coordination with the left shaft and the right shaft gears.

4. The high-traction bionic walking wheel in soft mud environment according to claim 2, characterized in that: The motor shaft end cover, the first bearing of the left shaft, the first gear of the left shaft, the second gear of the left shaft, the third gear of the left shaft and the second bearing of the left shaft are installed in sequence from the left end to the right end of the left shaft. The second gear of the left shaft is meshed with the middle shaft gear; the second bearing of the left shaft is embedded in the reserved position of the wheel body and is installed and matched with the right end of the left shaft.

5. The high-traction bionic walking wheel in soft mud environment according to claim 2, characterized in that: The right shaft left end cover, the right shaft first bearing, the right shaft first gear, the right shaft second gear and the right shaft second bearing are installed in sequence from the left end to the right end of the right shaft; the right shaft first gear is meshed with the left shaft third gear, and the right shaft second gear is meshed with the middle shaft gear.

6. The high-traction bionic walking wheel in soft mud environment according to claim 1, characterized in that: The telescopic amount control structure includes a screw structure and a fixed structure. The screw structure includes a bevel gear screw lever and a telescopic rod. The bevel gear end is meshed with the middle shaft gear, and the telescopic rod is installed concentrically with the inside of the leg cavity; the fixed structure includes a screw end cover and a fixed annular sleeve. The screw end cover is fixed to the wheel body by a screw end cover screw, and the fixed annular sleeve is installed in coordination with the contour of the telescopic rod.

7. The high-traction bionic walking wheel in soft mud environment according to claim 6, characterized in that: The pressure spring structure includes an upper leg end cover, an upper leg end cover screw and a compression spring. The upper leg end cover is concentrically installed at the upper end of the leg cavity and fixed by the upper leg end cover screw. The compression spring is installed in the leg main body cavity, and the upper end contacts the lower surface of the leg cavity.

8. The high-traction bionic walking wheel in soft mud environment according to claim 1, characterized in that: The walking wheel leg-foot unit includes a leg body, an extension spring, a first reversing pulley, a second reversing pulley, a traction line, a side toe, a middle toe and a prism-shaped synchronization column; one end of the traction line is connected to the lead screw telescopic rod, and the other end passes around the first reversing pulley and the second reversing pulley and then connects to the lower end of the middle toe; the prism-shaped synchronization column passes through the center of the three toes to control the synchronous rotation of the toes.

9. The high-traction bionic walking wheel in soft mud environment according to claim 8, characterized in that: One end of the extension spring is connected to the upper end of the middle toe, and the other end is connected to the inside of the leg body, so as to control the rebound of the middle toe.

10. The high-traction bionic walking wheel in soft mud environment according to claim 1, characterized in that: A rubber gasket is installed at the bottom end of the leg cavity of the shell and is connected to the leg body through a pressure spring structure to provide buffering to adapt to the soft mud environment.

Images