The invention provides a rigid-flexible coupling bionic anti-sinking energy-saving buffer walking wheel which comprises a spoke plate, walking wheel leg and foot single bodies and hip joint imitatingparts, and the spoke plate is connected with each walking wheel leg and foot single body through the hip joint imitating parts; a plurality of walking wheel leg and foot single bodies are distributedon the spoke plate in a circular array mode, and each walking wheel leg and foot single body is composed of a walking wheel leg and a walking wheel foot. Wild duck hind limbs are selected as bionic prototypes, and the biological assembly characteristics of rigid-flexible coupling of legs and feet of wild ducks and the constantly changing movement postures of the legs and the feet during movement are simulated. The legs of the walking wheels are bent and restored, so that the effects of energy conservation and buffering are achieved; the toe webs at the feet of the walking wheel are actively opened and closed, so that the ground contact area is changed, and the anti-sinking and anti-sideslip effects are achieved. The rigid-flexible coupling walking wheel leg-foot single bodies actively change the moving posture and the ground contact area, so that the trafficability and traction performance of the walking wheel on soft grounds such as mudflat, muddy and marsh are improved.

    本发明提供一种刚柔耦合仿生抗沉陷节能缓冲步行轮,包括轮辐板、步行轮腿足单体和仿髋关节,轮辐板和每个步行轮腿足单体之间采用仿髋关节连接;所述轮辐板上呈圆形阵列分布了多个步行轮腿足单体,步行轮腿足单体由步行轮腿部和步行轮足部组成;选取野鸭后肢为仿生原型,模仿了野鸭腿足刚柔耦合的生物组装特性和运动时腿足不断变化的运动姿态。步行轮腿部弯曲与复原,起到了节能缓冲的作用;步行轮足部趾‑蹼主动开闭,改变了触地面积,起到了抗沉陷和防侧滑的作用。刚柔耦合的步行轮腿足单体通过主动地改变运动姿态和触地面积,提高了步行轮在滩涂、泥泞和沼泽等松软地面的通过性和牵引性。


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    Title :

    Rigid-flexible coupling bionic anti-sinking energy-saving buffer walking wheel


    Additional title:

    一种刚柔耦合仿生抗沉陷节能缓冲步行轮


    Contributors:
    HAN DIANLEI (author) / ZHOU MAILE (author) / YANG QIZHI (author) / WANG XINZHONG (author)

    Publication date :

    2021-03-02


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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