Bionic peristaltic combined walking wheel
By designing a biomimetic peristaltic combination of wheels, which simulates the crawling motion of a caterpillar, the problem of wheeled devices being unable to cross high steps has been solved, enabling vertical movement and making it suitable for various mobile devices.
Patent Information
- Application Number
- CN202520419142.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-03-11
- Publication Date
- 2026-01-02
- Estimated Expiration
- 2035-03-11
AI Technical Summary
Existing wheeled mobile walking equipment cannot effectively pass through steps or irregular obstacles whose height is greater than the radius of the walking wheels. Traditional improvement measures can only alleviate the problem to a certain extent and cannot achieve effective vertical obstacle crossing.
Design a biomimetic peristaltic combination walking wheel, including a front wheel, a rear wheel, and a central gear. It forms a stable double-sided triangular structure through reverse spring plates and connecting rods, simulating the peristaltic crawling of a caterpillar to achieve vertical movement. Combined with a drive motor to drive the gear meshing, the wheel assembly can peristally overcome obstacles.
It enables the wheel set to automatically switch to crawling obstacle crossing when encountering vertical obstacles, achieving vertical movement and overcoming the obstacle crossing limitations of traditional wheeled equipment. It is suitable for equipment such as walkers, mini electric vehicles, and engineering vehicles.
Smart Images
Figure CN223750556U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The utility model relates to walking technical field, concretely relates to a bionic peristalsis formula combined walking wheel. BACKGROUND
[0002] At present, the walking wheel applied to the wheeled mobile walking equipment has the following walking characteristics:
[0003] 1. The walking (moving) direction of the wheel is limited to (relative) forward and backward, that is, the translation characteristic of the walking direction.
[0004] 2. The vertical distance between the load wheel shaft and the walking plane of the wheel (the radius of the walking wheel) does not change during the walking process of the equipment.
[0005] The walking (moving) mode of the above-mentioned wheeled mobile walking equipment can only be translation but not lifting.
[0006] In fact, the passing environment during the walking process of most load walking machines cannot meet the necessary conditions for the load translation of the walking wheel throughout the process. When encountering a step or irregular obstacle with a height greater than the radius of the walking wheel, the passing function of the walking wheel is completely lost.
[0007] To overcome the passing obstacles of the walking wheel, the common technical approach is to increase the wheel diameter of the walking wheel, increase the friction between the walking wheel and the walking surface, and other technical improvement measures aiming at the use characteristics. It is obvious that this technical improvement limited to the use characteristics can only alleviate the passing inconvenience of the walking wheel within a certain limit. Therefore, the possible way to fundamentally solve the problem of the walking wheel passing the absolute obstacle (the step and irregular obstacle with a height greater than the radius of the walking wheel) should be to design and add an effective vertical obstacle crossing function, and then realize the expansion and integration of the load translation and load lifting functions of the walking wheel. CONTENT OF THE UTILITY MODEL
[0008] In view of the above technical problems, the utility model provides a bionic peristalsis formula combined walking wheel solution.
[0009] The utility model provides a bionic peristalsis formula combined walking wheel, it is characterized by: including front wheel, middle gear and rear wheel;
[0010] The front wheel includes walking wheel A, intermediate gear A, walking wheel A and intermediate gear A fixed connection, walking wheel A and intermediate gear A are installed on connecting shaft A, connecting shaft A is connected with the rotating shaft of the driving motor, and the driving motor rotates to drive intermediate gear A and walking wheel A to rotate synchronously;
[0011] The middle gear is installed on the middle gear connecting shaft, and the middle gear is engaged with the intermediate gear A.
[0012] The rear wheel comprises a walking wheel B and a middle gear B, the walking wheel B is fixedly connected with the middle gear B, the walking wheel B and the middle gear B are installed on a connecting shaft B, the middle gear is engaged with the middle gear B to drive the walking wheel B to rotate synchronously;
[0013] The front wheel and the middle gear are provided with a reverse spring piece A (14), one end of the reverse spring piece A (14) is connected with the connecting shaft A, and the other end is connected with the middle gear connecting shaft.
[0014] The rear wheel and the middle gear are provided with a reverse spring piece B, one end of the reverse spring piece B is connected with the connecting shaft B, and the other end is connected with the middle gear connecting shaft.
[0015] The front wheel and the rear wheel are connected through a connecting rod, one end of the connecting rod is connected with the connecting shaft A, and the other end is connected with the connecting shaft B.
[0016] Further, the walking wheel A and the middle gear A are installed on the connecting shaft A and are connected through a flat key;
[0017] The walking wheel B and the middle gear B are installed on the connecting shaft B and are connected through a flat key.
[0018] Further, the walking wheel A and the middle gear A are fixedly connected through a bolt, and the walking wheel B and the middle gear B are fixedly connected through a bolt.
[0019] Further, the front wheel adopts two walking wheels A, and the middle gear A is located in the middle of the two walking wheels A.
[0020] Further, the rear wheel adopts two walking wheels B, and the middle gear B is located in the middle of the two walking wheels B.
[0021] Further, two reverse spring pieces A (14) are arranged between the front wheel and the middle gear, and are located on both sides.
[0022] Further, two reverse spring pieces B are arranged between the rear wheel and the middle gear, and are located on both sides.
[0023] Further, the front wheel and the rear wheel are connected through two connecting rods.
[0024] Further, the middle gear connecting shaft is located between the connecting shaft A and the connecting shaft B.
[0025] The ground clearance of the middle gear connecting shaft is greater than the ground clearance of the connecting shaft A, and the ground clearance of the middle gear connecting shaft is greater than the ground clearance of the connecting shaft B.
[0026] Further, the diameter of the walking wheel A is greater than the diameter of the middle gear, and the diameter of the walking wheel B is greater than the diameter of the middle gear.
[0027] The utility model discloses the beneficial effect is:
[0028] Based on modern bionics technology, the wheel combination mechanism is designed and assembled. The design idea is derived from the motion characteristics of the larvae of lepidoptera insects in the animal kingdom - the wriggling and crawling of the caterpillar to overcome obstacles, which is imitated as a mechanical component that can approximate the wriggling walking, i.e. the bionic wriggling combination walking wheel described in the specification. When the walking wheel encounters a vertical obstacle with a height greater than the radius of the walking wheel, the walking mode will automatically convert into the crawling action of the wriggling obstacle to overcome, so that the walking function of vertical movement can be realized.
[0029] When the front walking wheel of the wheel group walks to the front step surface (the total height is less than three times the radius of the walking wheel) with a height greater than the radius of the walking wheel and contacts with it, the combination walking wheel driven by the driving motor produces a wriggling effect similar to the crawling of the caterpillar, realizing the vertical upward movement of the combination walking wheel.
[0030] After the wheel group completes the upward movement and walks into a short translation state, the front walking wheel contacts with the step surface of the aforementioned specification again, and starts another vertical upward movement. In this way, the wheel group enters the complete plane walking state.
[0031] The product can be used for walking aids (such as electric wheelchairs), micro electric vehicles, engineering vehicles (such as bulldozers and excavators), etc., to realize obstacle overcoming. BRIEF DESCRIPTION OF DRAWINGS
[0032] Figure 1 It is a perspective structural schematic view of the bionic wriggling combination walking wheel of the utility model;
[0033] Figure 2 It is an obstacle overcoming schematic view of the bionic wriggling combination walking wheel of the utility model;
[0034] Figure 3 It is a structural schematic view of the bionic wriggling combination walking wheel of the utility model;
[0035] Figure 4 It is a top view schematic view of the utility model; Figure 3 It is a left view schematic view of the utility model;
[0036] Figure 5 It is a top view schematic view of the utility model; Figure 3 It is a left view schematic view of the utility model;
[0037] MARKING OF THE DRAWINGS:
[0038] 1 - front wheel 11 - walking wheel A 12 - intermediate gear A
[0039] 13 - connecting shaft A 14 - reverse spring piece A
[0040] 2 - middle wheel 21 - middle wheel connecting shaft
[0041] 3 - rear wheel 31 - traveling wheel B 32 - intermediate gear B
[0042] 33 - connecting shaft B 34 - reverse spring piece B
[0043] 4 - drive motor 5 - connecting rod 6 - step obstacle. DETAILED DESCRIPTION
[0044] In order to make the purpose, technical scheme and advantages of the utility model more clearly, the following will be further described in detail with the help of the embodiment and the drawings. It should be understood that the specific embodiments described herein are only used to explain the utility model, and are not used to limit the utility model.
[0045] As shown in Figure 1 , Figure 2 , Figure 4 , Figure 5 indicated, a bionic peristalsis type combined traveling wheel, comprising a front wheel 1, a middle gear 2 and a rear wheel 3;
[0046] The front wheel 1 comprises a traveling wheel A11 and an intermediate gear A12, the traveling wheel A11 is fixedly connected with the intermediate gear A12, the traveling wheel A11 and the intermediate gear A12 are installed on a connecting shaft A13, the connecting shaft A13 is connected with a rotating shaft of a drive motor 4, the drive motor 4 rotates to drive the intermediate gear A12 and the traveling wheel A11 to rotate synchronously;
[0047] The middle gear 2 is installed on a middle gear connecting shaft 21, and the middle gear 2 is engaged with the intermediate gear A12;
[0048] The rear wheel 3 comprises a traveling wheel B31 and an intermediate gear B32, the traveling wheel B31 is fixedly connected with the intermediate gear B32, the traveling wheel B31 and the intermediate gear B32 are installed on a connecting shaft B33, the middle gear 2 is engaged with the intermediate gear B32 to drive the traveling wheel B31 to rotate synchronously;
[0049] The front wheel 1 and the middle gear 2 are provided with a reverse spring piece A14, one end of the reverse spring piece A14 is connected with the connecting shaft A13, and the other end is connected with the middle gear connecting shaft 21;
[0050] The rear wheel 3 and the middle gear 2 are provided with a reverse spring piece B34, one end of the reverse spring piece B34 is connected with the connecting shaft B33, and the other end is connected with the middle gear connecting shaft 21;
[0051] The front wheel 1 and the rear wheel 3 are connected through a connecting rod 5, one end of the connecting rod 5 is connected with the connecting shaft A13, and the other end is connected with the connecting shaft B33.
[0052] As a preferred implementation, the running wheel A11 and the intermediate gear A12 are installed on the connecting shaft A13, and are connected by a flat key.
[0053] The running wheel B31 and the intermediate gear B32 are installed on the connecting shaft B33, and are connected by a flat key.
[0054] As a preferred implementation, referring to Figure 1 , Figure 2 , the running wheel A11 and the intermediate gear A12 are fixedly connected by bolts; the running wheel B31 and the intermediate gear B32 are fixedly connected by bolts.
[0055] The above-mentioned fixed connection can also use pin connection. When using bolts or pin connection, the number is based on the principle of achieving stable connection, such as using 3 or more than 3 bolts or pin connection.
[0056] As a preferred implementation, referring to Figure 1 , Figure 4 , Figure 5 , the front wheel 1 uses two running wheels A11, and the intermediate gear A12 is located in the middle of the two running wheels A11.
[0057] The running wheel A11 and the intermediate gear A12 are flatly attached.
[0058] As a preferred implementation, referring to Figure 1 , Figure 4 , Figure 5 , the rear wheel 3 uses two running wheels B31, and the intermediate gear B32 is located in the middle of the two running wheels B31.
[0059] The running wheel B31 and the intermediate gear B32 are flatly attached.
[0060] As a preferred implementation, referring to Figure 1 , Figure 4 , Figure 5 , two reverse spring sheets A14 are arranged between the front wheel 1 and the intermediate gear 2, respectively on both sides.
[0061] As a preferred implementation, referring to Figure 1 , Figure 4 , Figure 5 , two reverse spring sheets B34 are arranged between the rear wheel 3 and the intermediate gear 2, respectively on both sides.
[0062] As a preferred implementation, referring to Figure 1 , Figure 4 , Figure 5As shown in the drawings, the front wheel 1 and the rear wheel 3 are connected through two connecting rods 5.
[0063] As a preferred embodiment, referring to Figure 1 、 Figure 2 、 Figure 3 As shown in the drawings, the middle gear connecting shaft 21 is located between the connecting shaft A13 and the connecting shaft B33.
[0064] The ground clearance of the middle gear connecting shaft 21 is greater than the ground clearance of the connecting shaft A13; the ground clearance of the middle gear connecting shaft 21 is greater than the ground clearance of the connecting shaft B33.
[0065] As a preferred embodiment, referring to Figure 1 、 Figure 2 、 Figure 3 、 Figure 5 As shown in the drawings, the diameter of the walking wheel A11 is greater than the diameter of the middle gear 2; the diameter of the walking wheel B31 is greater than the diameter of the middle gear 2.
[0066] As shown in the drawings, the front wheel 1 and the rear wheel 3 are connected through two connecting rods 5. Figure 2 As shown in the drawings, the front wheel 1 and the rear wheel 3 are connected through two connecting rods 5.
[0067] It should be noted that the connecting rod 5, the reverse spring piece A14 and the reverse spring piece B34 form a stable double-sided triangular structure, which ensures the stable connection between the walking wheel A11, the middle gear 2 and the walking wheel B31 of the bionic peristaltic combined walking wheel.
[0068] It should be noted that the diameter of the walking wheel A11 is the same as the diameter of the walking wheel B31; the diameter of the intermediate gear A12 is smaller than the diameter of the walking wheel A11, and the diameter of the intermediate gear A12 is greater than the diameter of the middle gear 2; the diameter of the intermediate gear B32 is smaller than the diameter of the walking wheel B31, and the diameter of the intermediate gear B32 is greater than the diameter of the middle gear 2; the diameter of the intermediate gear A12 is the same as the diameter of the intermediate gear B32.
[0069] The axis lines of the connecting shaft A13, the middle gear connecting shaft 21 and the connecting shaft B33 are parallel.
[0070] It should be noted that the length of the connecting rod 5 can be adjusted according to the actual need of crossing the step (obstacle), and the length of the connecting rod 5 is fixed after adjustment in the same use scenario.
[0071] It should be noted that a driving motor 4 can also be arranged on the connecting shaft B33 of the rear wheel 3, so that the intermediate gear B32 meshes with the intermediate gear A12 to drive the walking wheel A11 of the front wheel 1 to rotate synchronously; if the driving motor 4 is arranged on both the front wheel 1 and the rear wheel 3, one driving motor 4 is used according to the actual control during use, instead of both driving motors 4 working at the same time.
[0072] It should be noted that the shape and size of the components in the drawings do not reflect the actual size and ratio, but only illustrate the content of the embodiments of the present application.
[0073] The directional terms mentioned in the embodiments, such as "up", "down", "front", "back", "left", "right", etc., are the directions of the drawings, and are not used to limit the protection scope of the present application. And the above embodiments can be mixed and used with each other or with other embodiments based on the consideration of design and reliability, that is, the technical features in different embodiments can be freely combined to form more embodiments.
[0074] The method steps involved in the embodiments are not limited to the order described, and the order of each step is adjusted according to the actual needs.
[0075] It should be noted that the implementation not shown or described in the drawings or the text of the specification is known to those skilled in the art, and is not described in detail. In addition, the above definitions of elements and methods are not limited to the various specific structures, shapes or ways mentioned in the embodiments, and those skilled in the art can make simple changes or replacements.
[0076] The above specific embodiments further illustrate the purpose, technical scheme and beneficial effects of the present application. It should be understood that the above is only a specific embodiment of the present application and is not used to limit the present application. Any modification, equivalent replacement, improvement, etc. within the spirit and principles of the present application shall be included in the protection scope of the present application.
Claims
1. A bionic peristaltic modular walking wheel, characterized in that: It comprises a front wheel (1), a middle gear (2) and a rear wheel (3); The front wheel (1) comprises a walking wheel A (11), a middle gear A (12), the walking wheel A (11) is fixedly connected with the middle gear A (12), the walking wheel A (11) and the middle gear A (12) are installed on a connecting shaft A (13), the connecting shaft A (13) is connected with a rotating shaft of a driving motor (4), the driving motor (4) rotates to drive the middle gear A (12) and the walking wheel A (11) to rotate synchronously; The middle gear (2) is installed on a middle gear connecting shaft (21), the middle gear (2) is engaged with the middle gear A (12); The rear wheel (3) comprises a walking wheel B (31) and a middle gear B (32), the walking wheel B (31) is fixedly connected with the middle gear B (32), the walking wheel B (31) and the middle gear B (32) are installed on a connecting shaft B (33), the middle gear (2) is engaged with the middle gear B (32) to drive the walking wheel B (31) to rotate synchronously; The front wheel (1) and the middle gear (2) are provided with reverse spring sheets A (14), one end of the reverse spring sheet A (14) is connected with the connecting shaft A (13), and the other end is connected with the middle gear connecting shaft (21); The rear wheel (3) and the middle gear (2) are provided with reverse spring sheets B (34), one end of the reverse spring sheet B (34) is connected with the connecting shaft B (33), and the other end is connected with the middle gear connecting shaft (21); The front wheel (1) and the rear wheel (3) are connected through connecting rods (5), one end of the connecting rod (5) is connected with the connecting shaft A (13), and the other end is connected with the connecting shaft B (33).
2. The bionic peristaltic modular walking wheel according to claim 1, characterized in that: The walking wheel A (11) and the middle gear A (12) are installed on the connecting shaft A (13) through a flat key connection; The walking wheel B (31) and the middle gear B (32) are installed on the connecting shaft B (33) through a flat key connection.
3. The bionic peristaltic modular walking wheel according to claim 2, characterized in that: The walking wheel A (11) and the middle gear A (12) are fixedly connected through a bolt connection, and the walking wheel B (31) and the middle gear B (32) are fixedly connected through a bolt connection.
4. The bionic peristalsis combined walking wheel according to any one of claims 1, 2, 3, characterized in that: The front wheel (1) adopts two walking wheels A (11), and the middle gear A (12) is located in the middle of the two walking wheels A (11).
5. The bionic peristalsis combined walking wheel according to any one of claims 1, 2, 3, characterized in that: The rear wheel (3) adopts two walking wheels B (31), and the middle gear B (32) is located in the middle of the two walking wheels B (31).
6. The bionic peristalsis combined walking wheel according to any one of claims 1, 2, 3, characterized in that: Two reverse spring sheets A (14) are arranged between the front wheel (1) and the middle gear (2), and are located on both sides.
7. The bionic peristalsis combined walking wheel according to any one of claims 1, 2, 3, characterized in that: Two reverse spring sheets B (34) are arranged between the rear wheel (3) and the middle gear (2), and are located on both sides.
8. The bionic peristalsis combined walking wheel according to any one of claims 1, 2, 3, characterized in that: The front wheel (1) and the rear wheel (3) are connected through two connecting rods (5).
9. The bionic peristaltic modular walking wheel according to claim 1, characterized in that: The middle gear connecting shaft (21) is located between the connecting shaft A (13) and the connecting shaft B (33); The ground clearance of the middle gear connecting shaft (21) is greater than the ground clearance of the connecting shaft A (13); and the ground clearance of the middle gear connecting shaft (21) is greater than the ground clearance of the connecting shaft B (33).
10. The biomimetic peristaltic modular walking wheel according to claim 1, characterized in that: The diameter of the traveling wheel A (11) is greater than the diameter of the middle gear (2); the diameter of the traveling wheel B (31) is greater than the diameter of the middle gear (2).