CN112245896A

CN112245896A - Bionic four-wheel-drive self-propelled shoe matched with walking and running

Info

Publication number: CN112245896A
Application number: CN202011458986.9A
Authority: CN
Inventors: 杨志峰
Original assignee: Individual
Current assignee: Individual
Priority date: 2019-12-14
Filing date: 2020-12-13
Publication date: 2021-01-22

Abstract

A bionic four-wheel drive self-propelled shoe matched with walking and running is characterized in that a bottom plate is arranged at the bottom of a sole, and a front shaft and a rear shaft are arranged at the bottom of the bottom plate; a front swing arm is hinged on the front shaft, and a front pulley is hinged at the free end of the front swing arm; a rear swing arm is hinged on the rear shaft, and a rear pulley is hinged at the free end of the rear swing arm; is provided with a front group of transmission mechanisms and a rear group of transmission mechanisms which are driven by four wheels. When the walking is carried out, the ground clearance of the sole and the heel is changed in a streamline way during the walking, the bottom plate can always apply a proper amount of upward reverse thrust to the sole and the heel, and the self-propelled shoe can be driven to accelerate forwards only by applying a very small amount of forward traction to the upper; the device is highly matched with the original ecological walking and running, converts a large amount of lost energy during normal walking or running into sliding kinetic energy, and realizes the superposition of walking or running and sliding speed; automatically braking in the optimal posture state that the heel and the sole are stressed in a balanced way; the posture of walking, running, stepping on the spot, standing on tiptoe and the like can be changed.

Description

Bionic four-wheel-drive self-propelled shoe matched with walking and running

Technical Field

The invention relates to an assistant shoe which combines walking or running with sliding and enables walking or running and sliding speeds to be superposed, in particular to a bionic four-wheel-drive self-propelled shoe which is matched with walking and running.

Background

The bicycle is a good pure manpower riding tool, and the advancing speed is greatly improved. The force generation modes of riding and walking or running are not matched, the explosive force of the body's instinct can not be fully released, and both hands are needed to take part in controlling the direction, so that the bicycle can not be as natural and comfortable as walking or running. The actions of the feet are similar to climbing when riding, but only equivalent to stepping on the spot, and the superposition of sliding and walking speeds cannot be generated. The bicycle is relatively heavy and bulky, and needs to provide large additional energy to overcome the self weight of the bicycle. The skating shoes can also be used for riding instead of walking, but the force applying mode is completely different from walking, and the skating shoes need to be pedaled backwards to the side and the back, so that the skating shoes slide in a curve, the safety and the shock absorption performance are poor, and the deceleration or the braking is inconvenient. At present, some self-walking shoes which can slide by using the weight of a human body as power have low fit degree with walking, unnatural walking and incapability of raising the speed or only can slide by treading. The No. CN 103096985B discloses a unidirectional walking shoe, which comprises a shoe body, wherein the front part of the sole of the shoe body is slightly tilted relative to the rear part of the sole, an open-ended containing cavity is arranged on the lower bottom surface of the front part of the sole, a pulley body axially arranged along the length direction of the shoe body is arranged in the containing cavity, the lowest point of the wheel surface of the pulley body extends out of the opening of the containing cavity, the extension range of the lowest point is at most flush with the rear part of the sole, and the pulley body is provided with a unidirectional control piece for controlling the pulley body to rotate in a unidirectional way so as to drive the sole to move forwards. The pulley body is coupled in the accommodating cavity by adopting a middle shaft, and the one-way control piece is a one-way bearing piece arranged between the pulley body and the middle shaft; the inner cavity shell is sleeved in the containing cavity in a lining manner, the bottom of the inner cavity shell is in an open shape, and the pulley body and the intermediate shaft are arranged in the inner cavity shell; the accommodating cavity is also internally provided with an adjusting module which adjusts the pulley body to enable the lowest point of the pulley surface to be flush with the opening of the accommodating cavity. When the one-way control piece enables the pulley body to generate a gripping force when sliding on flat ground, the pulley body is static relative to the ground, so that the speed of applying force backwards to the foot part is required to be fast enough; the pulley body is arranged at the front part of the sole, the whole body weight always acts on the sole when the sole slides, and the ankle joint load is large; when the user normally walks, the heel firstly lands, then the sole lands and exerts force, and when the heel lands, the gravity center of the human body moves downwards and the energy is released, so that the energy is not converted and utilized; the force-generating method is not matched with the walking force-generating method. Publication No. CN201119461Y discloses a self-propelled shoe: the bicycle comprises a pedal, a wheel bracket and a gear driving device, wherein the wheel bracket is arranged at the bottom of the pedal through a hinge, a driving wheel and an auxiliary wheel are respectively arranged at two ends of the wheel bracket, the gear driving device consists of a rack, a composite gear and a driving wheel, the composite gear is formed by compounding a large gear and a small gear, the driving gear is arranged on a driving wheel shaft, the small gear of the composite gear of the driving gear is meshed with the large gear of the composite gear, and the rack arranged at the bottom of the pedal is meshed with the large gear of the composite gear; a brake is arranged between the auxiliary wheel and the pedal plate, one end of the brake, which is connected with the auxiliary wheel, is connected with a spring, and the end part of the spring is connected with a brake shoe; when the walking machine walks, the rack is driven by the self weight of a human body to reciprocate up and down, then the small gear and the big gear on the compound gear are driven to change the speed, and the big gear of the compound gear drives the transmission wheel to drive the driving wheel to rotate, so that the power for walking forward is formed; when the brake is required, the brake can be contacted with the front auxiliary wheel to brake as long as the sole applies force forwards. The wheel support can not be well matched with the ground along with the lifting of the footstep, and the sole brakes when stressed and is mainly suitable for sliding forwards in a straight-up and straight-down treading mode; the superposition of sliding and walking speed or the unnatural walking can not be generated, which is not matched with the force generation mode of walking.

Disclosure of Invention

Therefore, the invention aims to provide the bionic four-wheel-drive self-propelled shoes which are highly matched with walking postures and force-applying manners of walking and running, effectively convert potential energy and kinetic energy lost during walking or running into sliding kinetic energy, convert flat walking into uphill walking, increase driving force and perfectly superpose walking or running speed and sliding speed. Another object of the present invention is to automatically brake when the heel and the sole are balanced and stressed for a certain time, so that the human body can brake stably in the most natural posture state.

In order to achieve the purpose, the technical scheme of the invention is as follows: the utility model provides a bionical four-wheel drive is shoes by oneself identical with walking and running, it includes the shoes part that constitutes by upper of a shoe and sole 1, its characterized in that: a bottom plate 2 is arranged at the bottom of the sole 1, and a front shaft 3 and a rear shaft 8 which are axially vertical to the length direction of the bottom plate 2 are arranged at the bottom of the bottom plate 2;

a front swing arm 4 is hinged on the front shaft 3, the free end of the front swing arm 4 is hinged with a front wheel shaft 6 through two bearings 5, and two ends of the front wheel shaft 6 are respectively provided with a front pulley 7;

a front limiting piece which enables the free end of the front swing arm 4 to swing only within a preset angle range is arranged between the free end of the front swing arm 4 and the front end of the bottom plate 2;

the front limiting piece enables the free end of the front swing arm 4 to swing downwards anticlockwise at most to be positioned slightly in front of the front shaft 3; when the weight acts on the front pulley 7 through the bottom plate 2 and the front swing arm 4, the horizontal component force applied to the front pulley 7 points to the front, so that the free end of the front swing arm 4 swings upwards clockwise relative to the bottom plate 2;

a rear swing arm 9 is hinged on the rear shaft 8, the free end of the rear swing arm 9 is hinged with a rear wheel shaft 10 through two bearings 5, and two ends of the rear wheel shaft 10 are respectively provided with a rear pulley 11;

a rear limiting piece which enables the free end of the rear swing arm 9 to swing only within a preset angle range is arranged between the free end of the rear swing arm 9 and the rear end of the bottom plate 2;

the rear limiting piece enables the free end of the rear swing arm 9 to swing downwards clockwise at most to be slightly behind the rear shaft 8; when the weight acts on the rear pulley 11 through the bottom plate 2 and the rear swing arm 9, the horizontal component force applied to the rear pulley 11 points to the rear, so that the free end of the rear swing arm 9 swings counterclockwise and upwards relative to the bottom plate 2;

and a front transmission mechanism which adopts the clockwise upward swing of the free end of the front swing arm 4 relative to the bottom plate 2 to drive the front pulley 7 to rotate is arranged between the front swing arm 4 and the bottom plate 2, and a rear transmission mechanism which adopts the counterclockwise upward swing of the free end of the rear swing arm 9 relative to the bottom plate 2 to drive the rear pulley 11 to rotate is arranged between the rear swing arm 9 and the bottom plate 2.

The front transmission mechanism consists of a front middle shaft 12, two bearings 5, a front flywheel 13, a front pinion 6-1, a front rope winding 14, a front vertical rod 15 and a front lettuce winding spring 16;

the front intermediate shaft 12 which is axially vertical to the length direction of the front swing arm 4 is hinged with the front swing arm 4 through two bearings 5;

the front flywheel 13 is arranged on the front middle shaft 12, and a front big gear 13-1 is processed on the circumferential surface of the front flywheel 13;

a front small gear 6-1 is machined on the front wheel shaft 6, and the front small gear 6-1 is meshed with the front big gear 13-1;

the upper end of the front vertical rod 15 is fixedly connected with the bottom plate 2, the lower end of the front vertical rod 15 is provided with a small hole 15-2 for the lower end of the front rolling rope 14 to pass through, the small hole 15-2 is positioned below the rear part of the axis of the front intermediate shaft 12 when swinging downwards to the preset lowest point, and the lower end of the front rolling rope 14 passes through the small hole 15-2 and is connected with the front vertical rod 15;

the upper end of the front winding rope 14 passes through a small hole 12-2 arranged on the front middle shaft 12 to be connected with the front middle shaft 12, and the front middle shaft 12 is wound along the clockwise direction;

the front lettuce coil spring 16 is connected between the front middle shaft 12 and the front swing arm 4, and the front lettuce coil spring 16 stores energy when the front middle shaft 12 rotates clockwise;

the rear transmission mechanism consists of a rear intermediate shaft 12, two bearings 5, a rear flywheel 13, a rear pinion 10-1, a rear coiling rope 14, a rear vertical rod 15 and a rear lettuce coiling spring 16;

the rear intermediate shaft 12 axially vertical to the length direction of the rear swing arm 9 is hinged with the rear swing arm 9 through two bearings 5;

the rear flywheel 13 is arranged on the rear intermediate shaft 12, and a rear large gear 13-1 is machined on the circumferential surface of the rear flywheel 13;

a rear small gear 10-1 is processed on the rear wheel shaft 10, and the rear small gear 10-1 is meshed with the rear big gear 13-1;

the upper end of the rear vertical rod 15 is fixedly connected with the bottom plate 2, the lower end of the rear vertical rod 15 is provided with a small hole 15-2 for the lower end of the rear rolling rope 14 to pass through, the small hole 15-2 is positioned slightly in front of and below the axis of the rear intermediate shaft 12 when swinging downwards to the preset lowest point, and the lower end of the rear rolling rope 14 passes through the small hole 15-2 and is connected with the rear vertical rod 15;

the upper end of the rear coiling rope 14 passes through a small hole 12-2 arranged on the rear middle shaft 12 to be connected with the rear middle shaft 12 and winds the rear middle shaft 12 along the clockwise direction;

the rear lettuce coil spring 16 is connected between the rear intermediate shaft 12 and the rear swing arm 9, and the rear lettuce coil spring 16 stores energy when the rear intermediate shaft 12 rotates clockwise;

the front pulley 7 is fixedly connected with the front wheel shaft 6, and the rear pulley 11 is fixedly connected with the rear wheel shaft 10;

therefore, when the weight acts on the rear pulley 11 through the heel part to cause the free end of the rear swing arm 9 to swing upwards anticlockwise relative to the bottom plate 2, the rear coiling rope 14 pulls the rear intermediate shaft 12 to rotate clockwise, and the rear flywheel 13 drives the rear wheel shaft 10 and the rear pulley 11 to rotate anticlockwise to generate forward power;

then, when the sole exerts force to lift the heel upwards, the rear lettuce coiling spring 16 releases energy to drive the rear intermediate shaft 12 to rotate anticlockwise (when the rear intermediate shaft 12 rotates anticlockwise, the rear flywheel 13 idles), so that the upper end of the rear coiling rope 14 is clockwise wound on the rear intermediate shaft 12, the free end of the rear swing arm 9 is pulled to swing downwards clockwise relative to the bottom plate 2, and the rear end of the bottom plate 2 applies a proper amount of upward reverse thrust to the heel lifted upwards;

meanwhile, when the weight acts on the front pulley 7 through the sole part to cause the free end of the front swing arm 4 to swing upwards clockwise relative to the bottom plate 2, the front winding rope 14 pulls the front intermediate shaft 12 to rotate clockwise, and drives the front wheel shaft 6 and the front pulley 7 to rotate anticlockwise through the front flywheel 13 to generate forward power;

furthermore, when the sole lifts off the ground and advances forwards, the front lettuce roll spring 16 releases energy to drive the front intermediate shaft 12 to rotate anticlockwise (when the front intermediate shaft 12 rotates anticlockwise, the front flywheel 13 idles), so that the upper end of the front rolling rope 14 is clockwise wound on the front intermediate shaft 12, the free end of the front swing arm 4 is pulled to swing downwards anticlockwise relative to the bottom plate 2, and the front end of the bottom plate 2 applies a proper amount of upward reverse thrust to the sole part;

then, when taking a step, under the combined action of the upward reverse thrust exerted by the front swing arm 4 and the rear swing arm 9 on the front end and the rear end of the bottom plate 2 respectively, the sole and the heel in the forward stepping are streamlined, and when the ground clearance changes along with the stepping of the sole, the bottom plate 2 can always exert a proper amount of upward reverse thrust on the sole and the heel, so that only a small amount of forward traction is exerted on the upper of a shoe in the stepping, the self gravity of the self-propelled shoe is not required to be overcome, and the self-propelled shoe can be driven to accelerate forwards.

Or the rear transmission mechanism consists of a rear rolling rope 14, a rear vertical rod 15, a rear rolling spring 16 and a one-way bearing 17 connected between the rear wheel axle 10 and the rear pulley 11;

the upper end of the rear vertical rod 15 is fixedly connected with the rear end of the bottom plate 2, the lower end of the rear vertical rod 15 is provided with a small hole 15-2 for the lower end of the rear rolling rope 14 to pass through, the small hole 15-2 is positioned slightly in front of and below the axis of the rear wheel shaft 10 when swinging downwards to the preset lowest point, and the lower end of the rear rolling rope 14 passes through the small hole 15-2 and is connected with the rear vertical rod 15;

the upper end of the rear rolling rope 14 is connected with the rear wheel axle 10 and winds the rear wheel axle 10 along the counterclockwise direction;

the rear lettuce coil spring 16 is connected between the rear wheel axle 10 and the rear swing arm 9, and the rear lettuce coil spring 16 stores energy when the rear wheel axle 10 rotates anticlockwise;

the rear pulley 11 is hinged with the rear wheel shaft 10 through the one-way bearing 17;

the one-way bearing 17 enables the rear wheel shaft 10 to rotate only clockwise relative to the rear pulley 11;

therefore, when the weight acts on the rear pulley 11 through the heel part to cause the free end of the rear swing arm 9 to swing upwards anticlockwise relative to the bottom plate 2, the rear winding rope 14 pulls the rear wheel shaft 10 to rotate anticlockwise, and the rear wheel shaft 10 drives the rear pulley 11 to rotate anticlockwise through the one-way bearing 17 when rotating anticlockwise to generate forward power;

then, when the sole exerts force to lift up the heel, the rear lettuce coil spring 16 releases energy to drive the rear wheel shaft 10 to rotate clockwise, so that the upper end of the rear coiling rope 14 winds around the rear wheel shaft 10 anticlockwise, the free end of the rear swing arm 9 is pulled to swing clockwise and downwards relative to the bottom plate 2, and the rear end of the bottom plate 2 applies a proper amount of upward reverse thrust to the heel lifted up in the positive direction.

As another preferred embodiment of the front and rear transmission mechanisms of the bionic four-wheel-drive self-propelled shoe matched with walking and running, the front transmission mechanism consists of a front middle shaft 12, two bearings 5, a front flywheel 13, a front pinion 6-1, a front driven gear 12-1, a front vertical rod 15 and a front asparagus lettuce coil spring 16;

a front driven gear 12-1 is machined on the front intermediate shaft 12;

a front vertical rod 15 is arranged on the rear side of the swing track of the front driven gear 12-1, and the upper end of the front vertical rod 15 is fixedly connected with the bottom plate 2;

a front sector gear 15-1 is machined on the front side surface of the front vertical rod 15, and the front sector gear 15-1 is meshed with the front driven gear 12-1;

the axes of the tooth parts of the front sector gear 15-1 are coincided with the axis of the front shaft 3, so that the front driven gear 12-1 is always meshed with the front sector gear 15-1 in the process of swinging up and down along with the free end of the front swing arm 4;

the front lettuce coil spring 16 is connected between the front middle shaft 12 and the front swing arm 4;

the front lettuce coil spring 16 stores energy when the front intermediate shaft 12 rotates clockwise;

the rear transmission mechanism consists of a rear pinion 10-1, a rear vertical rod 15, a rear lettuce coil spring 16 and a one-way bearing 17 connected between the rear wheel axle 10 and the rear pulley 11;

a rear pinion 10-1 is processed on the rear wheel shaft 10;

a rear vertical rod 15 is arranged on the front side of the swing track of the rear pinion 10-1, and the upper end of the rear vertical rod 15 is fixedly connected with the bottom plate 2;

a rear sector gear 15-1 is processed on the rear side surface of the rear vertical rod 15, and the rear sector gear 15-1 is meshed with the rear pinion 10-1;

the axes of the tooth parts of the rear sector gear 15-1 are coincided with the axis of the rear shaft 8, so that the rear pinion 10-1 is always meshed with the rear sector gear 15-1 in the process of swinging up and down along with the free end of the rear swing arm 9;

the rear lettuce coil spring 16 is connected between the rear wheel axle 10 and the rear swing arm 9;

the rear lettuce coil spring 16 stores energy when the rear wheel axle 10 rotates counterclockwise;

the front pulley 7 is fixedly connected with the front wheel shaft 6;

when the weight acts on the rear pulley 11 through the heel part, so that the free end of the rear swing arm 9 swings upwards in a counterclockwise way, the rear sector gear 15-1 drives the rear wheel shaft 10 to rotate in a counterclockwise way through the meshed rear pinion 10-1, and the rear wheel shaft 10 drives the rear pulley 11 to rotate in a counterclockwise way through the one-way bearing 17 when rotating in a counterclockwise way, so that the forward power is provided;

then, when the sole exerts force to lift up the heel, the rear lettuce coiling spring 16 releases energy, drives the rear wheel axle 10 and the rear pinion 10-1 to rotate clockwise, drives the free end of the rear swing arm 9 to swing clockwise and downwards relative to the bottom plate 2, and makes the rear end of the bottom plate 2 apply a proper amount of upward reverse thrust to the heel lifted up in the positive direction;

meanwhile, when the weight acts on the front pulley 7 through the sole part to cause the free end of the front swing arm 4 to swing upwards clockwise relative to the bottom plate 2, the front sector gear 15-1 rotates the engaged front driven gear 12-1, and drives the front wheel shaft 6 and the front pulley 7 to rotate anticlockwise through the front intermediate shaft 12 and the front flywheel 13 to generate forward power;

furthermore, when the sole lifts off the ground and advances forwards, the front lettuce roll spring 16 releases energy to drive the front intermediate shaft 12 and the front driven gear 12-1 to rotate anticlockwise (when the front intermediate shaft 12 rotates anticlockwise, the front flywheel 13 idles), so that the free end of the front swing arm 4 swings downwards anticlockwise relative to the bottom plate 2, and the front end of the bottom plate 2 applies a proper amount of upward reverse thrust to the sole part;

The front limiting piece comprises a left thick gasket 19 and a right thick gasket 19 which are arranged at the front end of the bottom plate 2 and used for limiting the clockwise upward swinging range of the free end of the front swing arm 4, and a front pull rope 20 which is connected between the free end of the front swing arm 4 and the front end of the bottom plate 2 and used for limiting the counterclockwise downward swinging range of the free end of the front swing arm 4;

when the free end of the front swing arm 4 swings clockwise and upwards to be attached to the thick gasket 19, an included angle of about 15-20 degrees is formed between a plane located by the axis of the front wheel shaft 6 and the axis of the front shaft 3 and the top surface of the bottom plate 2;

when the free end of the front swing arm 4 swings anticlockwise and downwards to enable the front pull rope 20 to be tensioned, a plane located by the axis of the front wheel shaft 6 and the axis of the front shaft 3 forms an included angle of about 45-60 degrees with the top surface of the bottom plate 2;

the rear limiting piece comprises a left shim 21 and a right shim 21 which are arranged at the rear end of the bottom plate 2 and used for limiting the counterclockwise upward swinging range of the free end of the rear swing arm 9, and a rear pull rope 22 which is connected between the free end of the rear swing arm 9 and the rear end of the bottom plate 2 and used for limiting the clockwise downward swinging range of the free end of the rear swing arm 9;

when the free end of the rear swing arm 9 swings anticlockwise and upwards to be close to the shim 21, the rear wheel shaft 10 is approximately flush with the rear shaft 8;

when the free end of the rear swing arm 9 swings clockwise and downwards to tighten the rear pull rope 22, the plane located by the axis of the rear wheel shaft 10 and the axis of the rear shaft 8 forms an included angle of about 45-60 degrees with the top surface of the bottom plate 2.

The lower end of the rear vertical rod 15 is provided with a wear-resistant sheet 18, and when the front swing arm 4 and the rear swing arm 9 respectively swing upwards to reach the highest point limited by the front limiting piece and the rear limiting piece, the bottom of the wear-resistant sheet 18 is lower than the connecting line of the lowest points of the front pulley 7 and the rear pulley 11; therefore, when the sole and the heel are stressed for a certain time in a balanced way, the front swing arm 4 and the rear swing arm 9 respectively swing upwards to be close to the highest point defined by the front limiting piece and the rear limiting piece, the wear-resistant piece 18 contacts the ground and brakes automatically; in normal running, when the sole of a foot is stressed, the free end of the rear swing arm 9 automatically swings clockwise and downwards under the action of the rear lettuce coil spring 16, and when the heel of the foot is stressed, the free end of the front swing arm 4 automatically swings anticlockwise and downwards under the action of the front lettuce coil spring 16, so that the bottom of the wear-resisting piece 18 is always higher than the connecting line of the lowest point of the front pulley 7 and the rear pulley 11 by at least 1.5 cm.

The lower end of the rear vertical rod 15 is provided with a clamping groove 15-3, and the upper end of the wear-resistant sheet 18 is embedded in the clamping groove 15-3.

Two sides of the bottom plate 2 are provided with side edges 2-1 extending downwards, and the front shaft 3 and the rear shaft 8 respectively penetrate through a front shaft hole 2-2 and a rear shaft hole 2-3 arranged on the side edges 2-1 to be fixedly connected with the bottom plate 2;

a pair of small shaft holes 2-4 are additionally arranged on the side edge 2-1 which is positioned at a proper position in front of the front shaft hole 2-2;

a connecting plate 23 is fixedly connected at the front end of the bottom of the sole 1, two left and right downwardly extending lugs 23-1 are arranged at the bottom of the connecting plate 23 side by side, a pair of coaxial small shaft holes 23-1-1 are arranged at the lower ends of the two lugs 23-1,

the positions of the small shaft holes 23-1-1 and the small shaft holes 2-4 correspond to each other;

a small shaft 24 penetrating through the small shaft hole 23-1-1 and the small shaft hole 2-4 connects the sole 1 with the bottom plate 2, and a limit pin 25 arranged at the end of the small shaft 24 prevents the small shaft 24 from withdrawing from the bottom plate 2.

The front shaft 3 is located at a position about 2-3 cm behind a sole force-bearing central point, the rear shaft 8 is located at a position about 2-3 cm in front of a heel force-bearing central point, the diameter of the front pulley 7 is about 7-12 cm, the diameter of the rear pulley 11 is 1.3-2 times of that of the front pulley 7, the effective length of the front swing arm 4 (the distance between the axis of the front wheel shaft 6 and the axis of the front shaft 3) is about 7-11 cm, and the length of the rear swing arm 9 is the same as that of the front swing arm 4 or is slightly longer than that of the front swing arm 4.

The bottom plate 2, the front swing arm 4 and the rear swing arm 9 are made of high-strength aluminum alloy, the front coiled rope 14 and the rear coiled rope 14 are steel wire flexible wires with the diameter of about 0.8 mm, and the thick gasket 19 and the thin gasket 21 are rubber gaskets.

The invention mainly has the following advantages: 1. the device is highly matched with walking postures and force-applying modes of walking and running, effectively converts potential energy and kinetic energy lost in walking or running into sliding kinetic energy, converts flat walking into uphill walking to increase driving force, perfectly superposes walking or running speed and sliding speed, and greatly improves advancing speed. 2. The brake is automatically performed when the heel and the sole are stressed in a balanced way for a certain time, so that the human body can brake stably in the most natural posture state. 3. The user can move forward by changing various postures such as walking, running, stepping on the spot, standing on tiptoe and the like. 4. Compared with a bicycle, the bicycle has the advantages that two hands are liberated, the liberated hands can respectively hold a thin bamboo pole (or a telescopic rod), the hands and the feet are matched to exert force (similar to skiing), the sliding speed and the comfort level are further greatly improved, and the whole body is fully exercised. 5. The heel part of the sole 1 can be separated from the bottom plate 2 upwards during walking and sliding, and can be well attached to the foot, so that the shoe part consisting of the upper and the sole 1 can be a comfortable and foot-attached soft sole type; and, the shoe part consisting of the upper and the sole 1 can be easily and quickly separated from or coupled to the base plate 2. 6. The novel skating boots can be used for taking subways and buses on the way, have excellent shock absorption performance, simple and light structure and weight equivalent to or slightly heavier than that of common skating boots.

Drawings

FIG. 1 is a schematic view showing the overall structure of a left shoe in example 1;

FIGS. 2 to 4 are schematic structural views of a part of the structure of FIG. 1;

FIG. 5 is a bottom view of FIG. 1;

fig. 6 is a partially enlarged view of fig. 1 with the bearing 5 omitted;

fig. 7 is a schematic structural diagram of fig. 1 when the front swing arm 4 and the rear swing arm 9 swing downward respectively to tighten the front rope 20 and the rear rope 22;

fig. 8 is a left side view of fig. 1 with the left front pulley 7 and the left rear pulley 11 omitted;

fig. 9 is a left side view of fig. 7 with the left rear pulley 11 omitted;

FIG. 10 is a left side view of FIG. 1 when rear swing arm 9 is swung upwardly against shim 21;

FIG. 11 is a schematic structural diagram of the bottom plate 2 of FIG. 1, and the vertical rods 15, the thick spacers 19 and the thin spacers 21 fixed to the bottom of the bottom plate 2;

FIG. 12 is a schematic view of the construction of the connecting plate 23 of FIG. 1;

FIG. 13 is a schematic structural view of the front axle 6 of FIG. 1;

fig. 14 is a schematic structural view of the front swing arm 4 in fig. 1;

FIG. 15 is a schematic view of the construction of the rear swing arm 9 of FIG. 1;

FIG. 16 is a schematic view showing the entire construction of the left shoe in embodiment 2;

FIG. 17 is a schematic structural view of a portion of the structure of FIG. 16;

FIG. 18 is a schematic view of a portion of the structure of FIG. 17 from another angle;

FIG. 19 is a schematic view of the construction of the rear swing arm 9 of FIG. 16;

FIG. 20 is a bottom view of FIG. 16;

fig. 21 is a left side view of fig. 16 with the left front pulley 7 and the left rear pulley 11 omitted;

FIG. 22 is a schematic view showing the left shoe of embodiment 3 without the left front pulley 7;

FIG. 23 is a schematic structural view of a portion of the structure of FIG. 22;

FIG. 24 is a bottom view of embodiment 3;

fig. 25 is a left side view of fig. 22 with the left rear pulley 11 omitted;

FIG. 26 is a left side view of FIG. 22 with front swing arm 4 swung upwardly to abut against thick pad 19 and rear swing arm 9 swung upwardly to abut against thin pad 21;

fig. 27 is a schematic structural view of the bottom plate 2, the vertical rods 15, the thick spacers 19, and the thin spacers 21 in fig. 22.

In the drawings: 1. sole, 2, bottom plate, 2-1, side edge, 2-2, front axle hole, 2-3, rear axle hole, 2-4, small axle hole, 2-5, small hole, 2-6, small hole, 3, front axle, 4, front swing arm, 4-1, bearing cavity, 4-2, bearing cavity, 4-3, bearing cavity, 4-4, stop block, 4-5, lug, 4-5-1, small hole, 5, bearing, 6, front axle, 6-1, front pinion, 7, front pulley, 8, rear axle, 9, rear swing arm, 9-1, bearing cavity, 9-2, bearing cavity, 9-3, bearing cavity, 9-4, stop block, 9-5, lug, 9-5-1, small hole, 10, rear axle, 10-1, The device comprises a rear pinion, 11, a rear pulley, 12, an intermediate shaft, 12-1, a driven gear, 12-2, a small hole, 13, a flywheel, 13-1, a big gear, 14, a rolling rope, 15, a vertical rod, 15-1, a sector gear, 15-2, a small hole, 15-3, a clamping groove, 16, a asparagus lettuce roll spring, 17, a one-way bearing, 18, a wear-resistant sheet, 19, a thick gasket, 20, a front pull rope, 21, a thin gasket, 22, a rear pull rope, 23, a connecting plate, 23-1, a hanging lug, 23-1-1, a small shaft hole, 24, a small shaft, 25 and a limiting pin.

Detailed Description

Example 1:

please refer to fig. 1 to fig. 15: referring to fig. 2 and 11, two sides of a bottom plate 2 are provided with side edges 2-1 extending downwards, and a front shaft 3 and a rear shaft 8 which are axially perpendicular to the length direction of the bottom plate 2 respectively penetrate through a front shaft hole 2-2 and a rear shaft hole 2-3 arranged on the side edges 2-1 to be fixedly connected with the bottom plate 2. The front axle 3 is arranged at the position about 2-3 cm behind the stress central point of the sole of the foot, and the rear axle 8 is arranged at the position about 2-3 cm in front of the stress central point of the heel.

The front swing arm 4 is hinged with the bottom plate 2 through the front shaft 3 and two bearings 5, the front wheel shaft 6 is hinged with the free end of the front swing arm 4 through the two bearings 5, and the front intermediate shaft 12 is hinged slightly behind the front wheel shaft 6 through the two bearings 5; in order to facilitate the installation of the bearings 5, as shown in fig. 14, the front swing arm 4 is provided with three pairs of bearing cavities 4-1, 4-2 and 4-3 which are arranged symmetrically left and right, and each bearing 5 is respectively installed in the three pairs of bearing cavities 4-1, 4-2 and 4-3; wherein, the bearing cavity 4-2 corresponding to the front middle shaft 12 is arranged to be inclined upwards (the axis of the front middle shaft 12 is positioned above the plane of the axis of the front shaft 3 and the axis of the front wheel shaft 6), so as to properly reduce the required length of the front vertical rod 15.

A pair of front pulleys 7 are fixedly connected to two ends of the front wheel shaft 6, external threads (as shown in fig. 13) can be arranged at two ends of the front wheel shaft 6, and internal threads are arranged in shaft holes of the front pulleys 7 and fixedly connected through threads; the thread direction is as follows: when the front wheel shaft 6 rotates counterclockwise, the two front pulleys 7 screwed on both ends of the front wheel shaft 6 are locked with respect to the front wheel shaft 6. Or, the two ends of the front wheel shaft 6 are not provided with external threads, the front pulley 7 is provided with a shaft hole matched with the front wheel shaft 6, and the front pulley 7 is sleeved at the two ends of the front wheel shaft 6 and fixedly connected with the front wheel shaft by using strong glue.

A front limiting piece which enables the free end of the front swing arm 4 to swing only within a preset angle range is arranged between the free end of the front swing arm 4 and the front end of the bottom plate 2, and the front limiting piece comprises a left thick gasket 19 and a right thick gasket 19 (shown in fig. 11) which are fixedly connected with the front end of the bottom plate 2, and a front pull rope 20 (shown in fig. 7 and 9) which is connected between the free end of the front swing arm 4 and the front end of the bottom plate 2; a hanging lug 4-5 is arranged at the free end of the front swing arm 4, a small hole 4-5-1 is formed in the hanging lug 4-5, and the lower end of the front pull rope 20 penetrates through the small hole 4-5-1 to be connected with the free end of the front swing arm 4; the front end of the bottom plate 2 is provided with a small hole 2-5, and the upper end of the front pull rope 20 penetrates through the small hole 2-5 to be connected with the front end of the bottom plate 2. When the free end of the front swing arm 4 swings clockwise and upwards to be close to the thick gasket 19, the plane where the axis of the front wheel shaft 6 is located and the axis of the front shaft 3 is approximately at an angle of 17 degrees with the top surface of the bottom plate 2 (as shown in fig. 1, 8 and 10), and when the free end of the front swing arm 4 swings anticlockwise and downwards to enable the front pull rope 20 to be tensioned, the plane where the axis of the front wheel shaft 6 is located and the axis of the front shaft 3 is approximately at an angle of 53 degrees with the top surface of the bottom plate 2 (as shown in fig. 7 and 9).

The rear swing arm 9 is hinged with the base plate 2 through the rear shaft 8 and the two bearings 5, the rear wheel shaft 10 is hinged with the free end of the rear swing arm 9 through the two bearings 5, and the rear intermediate shaft 12 is hinged slightly in front of the rear wheel shaft 10 through the two bearings 5; in order to facilitate the installation of each bearing 5, as shown in fig. 15, the rear swing arm 9 is provided with three pairs of bearing cavities 9-1, 9-2 and 9-3 which are arranged in bilateral symmetry, and each bearing 5 is respectively installed in the three pairs of bearing cavities 9-1, 9-2 and 9-3; the bearing cavity 9-2 corresponding to the rear intermediate shaft 12 is arranged to be biased downward, so that the rear swing arm 9 can swing counterclockwise upward until the rear wheel shaft 10 is approximately flush with the rear shaft 8.

A pair of rear pulleys 11 are fixedly connected to two ends of the rear wheel shaft 10, external threads can be arranged at two ends of the rear wheel shaft 10, and internal threads are arranged in shaft holes of the rear pulleys 11 and fixedly connected through threads; the thread direction is as follows: when the rear wheel axle 10 rotates counterclockwise, the two rear pulleys 11 threadedly coupled to both ends of the rear wheel axle 10 are locked with respect to the rear wheel axle 10. Or, the two ends of the rear wheel shaft 10 are not provided with external threads, the rear pulley 11 is provided with a shaft hole matched with the rear wheel shaft 10, and the rear pulley 11 is sleeved at the two ends of the rear wheel shaft 10 and fixedly connected with the two ends of the rear wheel shaft by using the strong glue.

A rear limiting member which enables the free end of the rear swing arm 9 to swing only within a preset angle range is arranged between the free end of the rear swing arm 9 and the rear end of the bottom plate 2, and the rear limiting member comprises a left shim 21 and a right shim 21 (shown in fig. 11) which are fixedly connected with the rear end of the bottom plate 2, and a rear pull rope 22 (shown in fig. 7 and 9) which is connected between the free end of the rear swing arm 9 and the rear end of the bottom plate 2; a hanging lug 9-5 is arranged at the free end of the rear swing arm 9, a small hole 9-5-1 is formed in the hanging lug 9-5, and the lower end of the rear pull rope 22 passes through the small hole 9-5-1 and is connected with the free end of the rear swing arm 9; the rear end of the bottom plate 2 is provided with a small hole 2-6, and the upper end of the rear pull rope 22 penetrates through the small hole 2-6 to be connected with the rear end of the bottom plate 2. When the free end of the rear swing arm 9 swings counterclockwise up against the shim 21, the rear axle 10 is approximately flush with the rear axle 8 (as shown in fig. 10). When the free end of the rear swing arm 9 swings clockwise and downwards to make the rear pull rope 22 tense, the plane located by the axes of the rear wheel axle 10 and the rear axle 8 forms an included angle of about 53 degrees with the top surface of the bottom plate 2 (as shown in fig. 7 and 9).

Referring to fig. 1-9, the front transmission mechanism is composed of a front middle shaft 12, two bearings 5, a front flywheel 13, a front pinion 6-1, a front rolling rope 14, a front vertical rod 15, and a front rolling spring 16; the front intermediate shaft 12 which is axially vertical to the length direction of the front swing arm 4 is hinged with the front swing arm 4 through two bearings 5; the front flywheel 13 is arranged on the front middle shaft 12, and a front big gear 13-1 is processed on the circumferential surface of the front flywheel 13; a front small gear 6-1 is machined on the front wheel shaft 6, and the front small gear 6-1 is meshed with the front big gear 13-1; the upper end of the front vertical rod 15 is fixedly connected with the bottom plate 2, the lower end of the front vertical rod 15 is provided with a small hole 15-2 for the lower end of the front rolling rope 14 to pass through, the small hole 15-2 is positioned below the rear part of the axis of the front intermediate shaft 12 when swinging downwards to the preset lowest point, and the lower end of the front rolling rope 14 passes through the small hole 15-2 and is connected with the front vertical rod 15; the upper end of the front winding rope 14 passes through a small hole 12-2 arranged on the front middle shaft 12 to be connected with the front middle shaft 12, and the front middle shaft 12 is wound along the clockwise direction; the front lettuce coil spring 16 is connected between the front middle shaft 12 and the front swing arm 4, and the front lettuce coil spring 16 stores energy when the front middle shaft 12 rotates clockwise; a stop block 4-4 is arranged on the front swing arm 4, and the tail end of the front lettuce coil spring 16 is connected with the front swing arm 4 through the stop block 4-4 (as shown in fig. 6).

The rear transmission mechanism consists of a rear intermediate shaft 12, two bearings 5, a rear flywheel 13, a rear pinion 10-1, a rear coiling rope 14, a rear vertical rod 15 and a rear lettuce coiling spring 16; the rear intermediate shaft 12 axially vertical to the length direction of the rear swing arm 9 is hinged with the rear swing arm 9 through two bearings 5; the rear flywheel 13 is arranged on the rear intermediate shaft 12, and a rear large gear 13-1 is machined on the circumferential surface of the rear flywheel 13; a rear small gear 10-1 is processed on the rear wheel shaft 10, and the rear small gear 10-1 is meshed with the rear big gear 13-1; the upper end of the rear vertical rod 15 is fixedly connected with the bottom plate 2, the lower end of the rear vertical rod 15 is provided with a small hole 15-2 for the lower end of the rear rolling rope 14 to pass through, the small hole 15-2 is positioned slightly in front of and below the axis of the rear intermediate shaft 12 when swinging downwards to the preset lowest point, and the lower end of the rear rolling rope 14 passes through the small hole 15-2 and is connected with the rear vertical rod 15; the upper end of the rear coiling rope 14 passes through a small hole 12-2 arranged on the rear middle shaft 12 to be connected with the rear middle shaft 12 and winds the rear middle shaft 12 along the clockwise direction; the rear lettuce coil spring 16 is connected between the rear intermediate shaft 12 and the rear swing arm 9, and the rear lettuce coil spring 16 stores energy when the rear intermediate shaft 12 rotates clockwise; a stop block 9-4 is arranged on the rear swing arm 9, and the tail end of the rear lettuce coil spring 16 is connected with the rear swing arm 9 through the stop block 9-4.

The lower end of the rear vertical rod 15 is provided with a clamping groove 15-3, and a wear-resistant sheet 18 is embedded in the clamping groove 15-3. When the free end of the front swing arm 4 swings clockwise and upwards to be attached to the thick pad 19 and the free end of the rear swing arm 9 swings anticlockwise and upwards to be attached to the thin pad 21, the bottom of the wear-resistant plate 18 is about 1 cm lower than the connecting line of the lowest points of the front pulley 7 and the rear pulley 11 (as shown in fig. 10); when the sole and the heel are stressed for a certain time in a balanced way, the front swing arm 4 (or the rear swing arm 9) touches the thick gasket 19 (or the thin gasket 21), and the free end of the rear swing arm 9 (or the front swing arm 4) continues to swing upwards to a certain height, the bottom of the wear-resistant plate 18 touches the ground, and the automatic brake is carried out; in normal traveling, when the sole of a foot is stressed, the free end of the rear swing arm 9 is far away from the thin gasket 21 under the action of the rear lettuce coil spring 16, and when the heel of the foot is stressed, the free end of the front swing arm 4 is far away from the thick gasket 19 under the action of the front lettuce coil spring 16, so that the bottom of the wear-resisting plate 18 is always higher than the connecting line of the lowest point of the front pulley 7 and the rear pulley 11 by at least 1.5 cm.

A pair of small shaft holes 2-4 are additionally arranged on the side edge 2-1 which is positioned at a proper position in front of the front shaft hole 2-2 of the bottom plate 2; a connecting plate 23 is fixedly connected to the front end of the bottom of the sole 1, two left and right downwardly extending lugs 23-1 are arranged at the bottom of the connecting plate 23 side by side, a pair of coaxial small shaft holes 23-1-1 are arranged at the lower ends of the two lugs 23-1, and the positions of the small shaft holes 23-1-1 and the small shaft holes 2-4 correspond to each other; a small shaft 24 penetrating through the small shaft hole 23-1-1 and the small shaft hole 2-4 connects the sole 1 with the bottom plate 2, and a limit pin 25 arranged at the end of the small shaft 24 prevents the small shaft 24 from withdrawing from the bottom plate 2. Therefore, the heel part of the sole 1 can be separated from the bottom plate 2 upwards during walking and sliding, and is well attached to the foot, so that the shoe part consisting of the upper and the sole 1 can be a comfortable and foot-attached soft sole type; and, can be convenient and swiftly will be by the upper and the shoes part that the sole 1 constitutes separates or connects with the bottom plate 2 to can wear the shoes part that constitutes by the upper and the sole 1 alone and walk, be more convenient for wash the shoes part that constitutes by the upper and the sole 1.

Example 2:

please refer to fig. 16-21: the construction of embodiment 2 is substantially the same as that of embodiment 1, except that the rear transmission mechanism of embodiment 2 omits the rear intermediate shaft 12, the rear flywheel 13, and the rear pinion 10-1, and is composed of a rear winding rope 14, a rear vertical rod 15, a rear winding spring 16, and a one-way bearing 17 connected between the rear wheel axle 10 and the rear sheave 11. The upper end of the rear vertical rod 15 is fixedly connected with the rear end of the bottom plate 2, the lower end of the rear vertical rod 15 is provided with a small hole 15-2 for the lower end of the rear rolling rope 14 to pass through, the small hole 15-2 is positioned slightly in front of and below the axis of the rear wheel shaft 10 when swinging downwards to the preset lowest point, and the lower end of the rear rolling rope 14 passes through the small hole 15-2 and is connected with the rear vertical rod 15; the upper end of the rear rolling rope 14 is connected with the rear wheel axle 10 and winds the rear wheel axle 10 along the counterclockwise direction; the rear lettuce coil spring 16 is connected between the rear wheel axle 10 and the rear swing arm 9, and the rear lettuce coil spring 16 stores energy when the rear wheel axle 10 rotates anticlockwise; each rear pulley 11 is hinged to the rear wheel shaft 10 by a pair of one-way bearings 17, and the one-way bearings 17 enable the rear wheel shaft 10 to rotate only clockwise relative to the rear pulley 11. As shown in fig. 19, the rear swing arm 9 in embodiment 2 is provided with only two pairs of bearing cavities 9-1, 9-3, and the end of the rear lettuce coil spring 16 is connected with the rear swing arm 9 through a stop 9-4 arranged at the bearing cavity 9-1 (as shown in fig. 18). In this embodiment, the diameter of the front pulley 7 is set to 9 cm, and the diameter of the rear pulley 11 is set to 15 cm.

Example 3:

please refer to fig. 22-27: embodiment 3 is basically the same as embodiment 2, and slightly differs therefrom in that in embodiment 3, the front transmission mechanism is composed of a front intermediate shaft 12, two bearings 5, a front flywheel 13, a front pinion 6-1, a front driven gear 12-1, a front vertical rod 15, and a front lettuce coiling spring 16; the front intermediate shaft 12 which is axially vertical to the length direction of the front swing arm 4 is hinged with the front swing arm 4 through two bearings 5; the front flywheel 13 is arranged on the front middle shaft 12, and a front big gear 13-1 is processed on the circumferential surface of the front flywheel 13; a front small gear 6-1 is machined on the front wheel shaft 6, and the front small gear 6-1 is meshed with the front big gear 13-1; a front driven gear 12-1 is machined on the front intermediate shaft 12; a front vertical rod 15 is arranged on the rear side of the swing track of the front driven gear 12-1, and the upper end of the front vertical rod 15 is fixedly connected with the bottom plate 2; a front sector gear 15-1 is machined on the front side surface of the front vertical rod 15, and the front sector gear 15-1 is meshed with the front driven gear 12-1; the axes of the tooth parts of the front sector gear 15-1 are coincided with the axis of the front shaft 3, so that the front driven gear 12-1 is always meshed with the front sector gear 15-1 in the process of swinging up and down along with the free end of the front swing arm 4; the front lettuce coil spring 16 is connected between the front middle shaft 12 and the front swing arm 4; the front lettuce coil spring 16 stores energy when the front intermediate shaft 12 rotates clockwise.

The rear transmission mechanism consists of a rear pinion 10-1, a rear vertical rod 15, a rear lettuce coil spring 16 and a one-way bearing 17 connected between the rear wheel axle 10 and the rear pulley 11; a rear pinion 10-1 is processed on the rear wheel shaft 10; a rear vertical rod 15 is arranged on the front side of the swing track of the rear pinion 10-1, and the upper end of the rear vertical rod 15 is fixedly connected with the bottom plate 2; a rear sector gear 15-1 is processed on the rear side surface of the rear vertical rod 15, and the rear sector gear 15-1 is meshed with the rear pinion 10-1; the axes of the tooth parts of the rear sector gear 15-1 are coincided with the axis of the rear shaft 8, so that the rear pinion 10-1 is always meshed with the rear sector gear 15-1 in the process of swinging up and down along with the free end of the rear swing arm 9; the rear lettuce coil spring 16 is connected between the rear wheel axle 10 and the rear swing arm 9; the rear lettuce coil spring 16 stores energy when the rear wheel axle 10 is turned anticlockwise. Each rear pulley 11 is hinged to the rear wheel shaft 10 by a pair of one-way bearings 17, and the one-way bearings 17 enable the rear wheel shaft 10 to rotate only clockwise relative to the rear pulley 11.

Claims

1. A bionic four-wheel drive self-propelled shoe matched with walking and running comprises a shoe part consisting of an upper and a sole (1), and is characterized in that: a bottom plate (2) is arranged at the bottom of the sole (1), and a front shaft (3) and a rear shaft (8) which are axially vertical to the length direction of the bottom plate (2) are arranged at the bottom of the bottom plate (2);

a front swing arm (4) is hinged on the front shaft (3), a front wheel shaft (6) is hinged at the free end of the front swing arm (4) through two bearings (5), and a front pulley (7) is respectively arranged at two ends of the front wheel shaft (6);

a front limiting piece which enables the free end of the front swing arm (4) to swing only within a preset angle range is arranged between the free end of the front swing arm (4) and the front end of the bottom plate (2);

the front limiting piece enables the free end of the front swing arm (4) to swing downwards anticlockwise at most to be positioned slightly in front of the front shaft (3); when the weight acts on the front pulley (7) through the bottom plate (2) and the front swing arm (4), the horizontal component force applied to the front pulley (7) points to the front, and the free end of the front swing arm (4) swings upwards clockwise relative to the bottom plate (2);

a rear swing arm (9) is hinged on the rear shaft (8), a rear wheel shaft (10) is hinged at the free end of the rear swing arm (9) through two bearings (5), and a rear pulley (11) is respectively arranged at two ends of the rear wheel shaft (10);

a rear limiting piece which enables the free end of the rear swing arm (9) to swing only within a preset angle range is arranged between the free end of the rear swing arm (9) and the rear end of the bottom plate (2);

the rear limiting piece enables the free end of the rear swing arm (9) to swing downwards clockwise at most to be slightly behind the rear shaft (8); when the weight acts on the rear pulley (11) through the bottom plate (2) and the rear swing arm (9), the horizontal component force applied to the rear pulley (11) points to the rear, and the free end of the rear swing arm (9) swings upwards anticlockwise relative to the bottom plate (2);

and a front transmission mechanism which adopts the clockwise upward swing of the free end of the front swing arm (4) relative to the bottom plate (2) to drive the front pulley (7) to rotate is arranged between the front swing arm (4) and the bottom plate (2), and a rear transmission mechanism which adopts the counterclockwise upward swing of the free end of the rear swing arm (9) relative to the bottom plate (2) to drive the rear pulley (11) to rotate is arranged between the rear swing arm (9) and the bottom plate (2).

2. A bionic four-wheel drive self-propelled shoe matched with walking and running as claimed in claim 1, wherein: the front transmission mechanism consists of a front middle shaft (12), two bearings (5), a front flywheel (13), a front pinion (6-1), a front rolling rope (14), a front vertical rod (15) and a front lettuce rolling spring (16);

the front intermediate shaft (12) which is axially vertical to the length direction of the front swing arm (4) is hinged with the front swing arm (4) through two bearings (5);

the front flywheel (13) is arranged on the front middle shaft (12), and a front large gear (13-1) is machined on the circumferential surface of the front flywheel (13);

a front small gear (6-1) is machined on the front wheel shaft (6), and the front small gear (6-1) is meshed with the front big gear (13-1);

the upper end of the front vertical rod (15) is fixedly connected with the bottom plate (2), the lower end of the front vertical rod (15) is provided with a small hole (15-2) for the lower end of the front rolling rope (14) to pass through, the small hole (15-2) is positioned below the rear part of the axis of the front intermediate shaft (12) when swinging downwards to the preset lowest point, and the lower end of the front rolling rope (14) passes through the small hole (15-2) and is connected with the front vertical rod (15);

the upper end of the front winding rope (14) penetrates through a small hole (12-2) formed in the front middle shaft (12) to be connected with the front middle shaft (12), and the front middle shaft (12) is wound along the clockwise direction;

the front lettuce coil spring (16) is connected between the front middle shaft (12) and the front swing arm (4), and the front lettuce coil spring (16) stores energy when the front middle shaft (12) rotates clockwise;

the rear transmission mechanism consists of a rear middle shaft (12), two bearings (5), a rear flywheel (13), a rear pinion (10-1), a rear rolling rope (14), a rear vertical rod (15) and a rear lettuce rolling spring (16);

the rear intermediate shaft (12) which is axially vertical to the length direction of the rear swing arm (9) is hinged with the rear swing arm (9) through two bearings (5);

the rear flywheel (13) is arranged on the rear intermediate shaft (12), and a rear large gear (13-1) is machined on the circumferential surface of the rear flywheel (13);

a rear small gear (10-1) is processed on the rear wheel shaft (10), and the rear small gear (10-1) is meshed with the rear large gear (13-1);

the upper end of the rear vertical rod (15) is fixedly connected with the bottom plate (2), the lower end of the rear vertical rod (15) is provided with a small hole (15-2) for the lower end of the rear rolling rope (14) to pass through, the small hole (15-2) is positioned slightly in front of and below the axis of the rear intermediate shaft (12) when swinging downwards to the preset lowest point, and the lower end of the rear rolling rope (14) passes through the small hole (15-2) and is connected with the rear vertical rod (15);

the upper end of the rear coiling rope (14) penetrates through a small hole (12-2) formed in the rear middle shaft (12) to be connected with the rear middle shaft (12), and the rear middle shaft (12) is wound along the clockwise direction;

the rear lettuce coil spring (16) is connected between the rear intermediate shaft (12) and the rear swing arm (9), and the rear lettuce coil spring (16) stores energy when the rear intermediate shaft (12) rotates clockwise;

the front pulley (7) is fixedly connected with the front wheel shaft (6), and the rear pulley (11) is fixedly connected with the rear wheel shaft (10);

therefore, when the weight acts on the rear pulley (11) through the heel part to cause the free end of the rear swing arm (9) to swing upwards anticlockwise relative to the bottom plate (2), the rear coiling rope (14) pulls the rear intermediate shaft (12) to rotate clockwise, and the rear flywheel (13) drives the rear wheel shaft (10) and the rear pulley (11) to rotate anticlockwise to generate forward power;

then, when the sole exerts force to lift the heel upwards, the rear lettuce coiling spring (16) releases energy to drive the rear intermediate shaft (12) to rotate anticlockwise, so that the upper end of the rear coiling rope (14) is clockwise wound on the rear intermediate shaft (12), the free end of the rear swing arm (9) is pulled to swing downwards clockwise relative to the bottom plate (2), and the rear end of the bottom plate (2) applies a proper amount of upward reverse thrust to the heel lifted upwards;

meanwhile, when the weight acts on the front pulley (7) through the sole part to cause the free end of the front swing arm (4) to swing upwards clockwise relative to the bottom plate (2), the front coiling rope (14) pulls the front intermediate shaft (12) to rotate clockwise, and drives the front wheel shaft (6) and the front pulley (7) to rotate anticlockwise through the front flywheel (13), so that forward power is generated;

furthermore, when the sole lifts off the ground and advances forwards, the front lettuce rolling spring (16) releases energy to drive the front intermediate shaft (12) to rotate anticlockwise, so that the upper end of the front rolling rope (14) is clockwise wound on the front intermediate shaft (12), the free end of the front swing arm (4) is pulled to swing downwards anticlockwise relative to the bottom plate (2), and the front end of the bottom plate (2) applies a proper amount of upward reverse thrust to the sole part;

then, when taking a step, under the combined action of upward reverse thrust exerted by the front swing arm (4) and the rear swing arm (9) on the front end and the rear end of the bottom plate (2) respectively, the sole and the heel taking a step forward are streamlined, and when the ground clearance changes along with the stepping of the sole, the bottom plate (2) can always exert a proper amount of upward reverse thrust on the sole and the heel, so that only a small amount of forward traction force is exerted on the upper of a shoe during the stepping, and the self gravity of the self-propelled shoe is not required to be overcome, and the self-propelled shoe can be driven to accelerate forward.

3. A bionic four-wheel drive self-propelled shoe matched with walking and running as claimed in claim 1, wherein: the rear transmission mechanism consists of a rear rolling rope (14), a rear vertical rod (15), a rear rolling spring (16) and a one-way bearing (17) connected between the rear wheel shaft (10) and the rear pulley (11);

the upper end of the rear vertical rod (15) is fixedly connected with the rear end of the bottom plate (2), the lower end of the rear vertical rod (15) is provided with a small hole (15-2) for the lower end of the rear rolling rope (14) to pass through, the small hole (15-2) is positioned slightly in front of and below the axis of the rear wheel shaft (10) when swinging downwards to the preset lowest point, and the lower end of the rear rolling rope (14) passes through the small hole (15-2) to be connected with the rear vertical rod (15);

the upper end of the rear coiling rope (14) is connected with the rear wheel shaft (10) and winds the rear wheel shaft (10) along the anticlockwise direction;

the rear lettuce coil spring (16) is connected between the rear wheel shaft (10) and the rear swing arm (9), and the rear lettuce coil spring (16) stores energy when the rear wheel shaft (10) rotates anticlockwise;

the rear pulley (11) is hinged with the rear wheel shaft (10) through the one-way bearing (17);

the one-way bearing (17) enables the rear wheel shaft (10) to rotate clockwise relative to the rear pulley (11);

when the weight acts on the rear pulley (11) through the heel part to cause the free end of the rear swing arm (9) to swing upwards anticlockwise relative to the bottom plate (2), the rear coiling rope (14) pulls the rear wheel shaft (10) to rotate anticlockwise, and the rear wheel shaft (10) drives the rear pulley (11) to rotate anticlockwise through the one-way bearing (17) when rotating anticlockwise to generate forward power;

then, when the sole exerts force to lift the heel upwards, the rear lettuce coiling spring (16) releases energy to drive the rear wheel shaft (10) to rotate clockwise, so that the upper end of the rear coiling rope (14) winds the rear wheel shaft (10) anticlockwise, the free end of the rear swinging arm (9) is pulled to swing clockwise downwards relative to the bottom plate (2), and the rear end of the bottom plate (2) applies a proper amount of upward reverse thrust to the heel which is lifted upwards in the positive direction.

4. A bionic four-wheel drive self-propelled shoe matched with walking and running as claimed in claim 1, wherein: the front transmission mechanism consists of a front middle shaft (12), two bearings (5), a front flywheel (13), a front pinion (6-1), a front driven gear (12-1), a front vertical rod (15) and a front lettuce coil spring (16);

a front driven gear (12-1) is machined on the front intermediate shaft (12);

a front vertical rod (15) is arranged on the rear side of the swing track of the front driven gear (12-1), and the upper end of the front vertical rod (15) is fixedly connected with the bottom plate (2);

a front sector gear (15-1) is machined on the front side surface of the front vertical rod (15), and the front sector gear (15-1) is meshed with the front driven gear (12-1);

the axis of a tooth part of the front sector gear (15-1) is coincident with the axis of the front shaft (3), so that the front driven gear (12-1) is always meshed with the front sector gear (15-1) in the process of swinging up and down along with the free end of the front swing arm (4);

the front asparagus lettuce coil spring (16) is connected between the front middle shaft (12) and the front swing arm (4);

the front lettuce coil spring (16) stores energy when the front middle shaft (12) rotates clockwise;

the rear transmission mechanism consists of a rear pinion (10-1), a rear vertical rod (15), a rear lettuce coil spring (16) and a one-way bearing (17) connected between the rear wheel shaft (10) and the rear pulley (11);

a rear pinion (10-1) is processed on the rear wheel shaft (10);

a rear vertical rod (15) is arranged on the front side of the swing track of the rear pinion (10-1), and the upper end of the rear vertical rod (15) is fixedly connected with the bottom plate (2);

a rear sector gear (15-1) is processed on the rear side surface of the rear vertical rod (15), and the rear sector gear (15-1) is meshed with the rear pinion (10-1);

the axis of a tooth part of the rear sector gear (15-1) is coincided with the axis of the rear shaft (8), so that the rear pinion (10-1) is always meshed with the rear sector gear (15-1) in the process of swinging up and down along with the free end of the rear swing arm (9);

the rear asparagus lettuce coil spring (16) is connected between the rear wheel shaft (10) and the rear swing arm (9);

the rear lettuce coil spring (16) stores energy when the rear wheel axle (10) rotates anticlockwise;

the front pulley (7) is fixedly connected with the front wheel shaft (6);

when the weight acts on the rear pulley (11) through the heel part to cause the free end of the rear swing arm (9) to swing upwards anticlockwise, the rear sector gear (15-1) drives the rear wheel shaft (10) to rotate anticlockwise through the meshed rear pinion (10-1), and when the rear wheel shaft (10) rotates anticlockwise, the rear pulley (11) is driven to rotate anticlockwise through the one-way bearing (17) to provide forward power;

then, when the sole exerts force to lift the heel upwards, the rear asparagus lettuce coiling spring (16) releases energy, drives the rear wheel shaft (10) and the rear pinion (10-1) to rotate clockwise, drives the free end of the rear swing arm (9) to swing clockwise downwards relative to the bottom plate (2), and enables the rear end of the bottom plate (2) to apply a proper amount of upward reverse thrust to the heel lifted upwards;

meanwhile, when the weight acts on the front pulley (7) through the sole part to cause the free end of the front swing arm (4) to swing upwards clockwise relative to the bottom plate (2), the front sector gear (15-1) rotates the engaged front driven gear (12-1), and drives the front wheel shaft (6) and the front pulley (7) to rotate anticlockwise through the front intermediate shaft (12) and the front flywheel (13), so as to generate forward power;

furthermore, when the sole lifts off the ground and advances forwards, the front asparagus lettuce roll spring (16) releases energy to drive the front intermediate shaft (12) and the front driven gear (12-1) to rotate anticlockwise, so that the free end of the front swing arm (4) swings downwards anticlockwise relative to the bottom plate (2), and the front end of the bottom plate (2) applies a proper amount of upward reverse thrust to the sole part;

5. A bionic four-wheel drive self-propelled shoe matched with walking and running as claimed in claim 1, wherein: the front limiting piece comprises a left thick gasket and a right thick gasket (19) which are arranged at the front end of the bottom plate (2) and used for limiting the clockwise upward swinging range of the free end of the front swing arm (4), and a front pull rope (20) which is connected between the free end of the front swing arm (4) and the front end of the bottom plate (2) and used for limiting the counterclockwise downward swinging range of the free end of the front swing arm (4);

when the free end of the front swing arm (4) swings clockwise and upwards to be attached to the thick gasket (19), an included angle of 15-20 degrees is formed between a plane located by the axis of the front wheel shaft (6) and the axis of the front shaft (3) and the top surface of the bottom plate (2);

when the free end of the front swing arm (4) swings anticlockwise and downwards to enable the front pull rope (20) to be tensioned, a plane located by the axis of the front wheel shaft (6) and the axis of the front shaft (3) forms an included angle of about 45-60 degrees with the top surface of the bottom plate (2);

the rear limiting piece comprises a left shim and a right shim (21) which are arranged at the rear end of the bottom plate (2) and used for limiting the counterclockwise upward swinging range of the free end of the rear swing arm (9), and a rear pull rope (22) which is connected between the free end of the rear swing arm (9) and the rear end of the bottom plate (2) and used for limiting the clockwise downward swinging range of the free end of the rear swing arm (9);

when the free end of the rear swing arm (9) swings upwards anticlockwise to be close to the shim (21), the rear wheel shaft (10) is approximately flush with the rear shaft (8);

when the free end of the rear swing arm (9) swings clockwise and downwards to enable the rear pull rope (22) to be tensioned, an included angle of about 45-60 degrees is formed between a plane located by the axis of the rear wheel shaft (10) and the axis of the rear shaft (8) and the top surface of the bottom plate (2).

6. A bionic four-wheel drive self-propelled shoe matched with walking and running as claimed in any one of claims 1-5, wherein: the lower end of the rear vertical rod (15) is provided with a wear-resistant sheet (18), and when the front swing arm (4) and the rear swing arm (9) respectively swing upwards to reach the highest point defined by the front limiting piece and the rear limiting piece, the bottom of the wear-resistant sheet (18) is lower than a connecting line of the lowest points of the front pulley (7) and the rear pulley (11); when the sole and the heel are stressed for a certain time in a balanced way, the front swing arm (4) and the rear swing arm (9) respectively swing upwards to the highest point limited by the front limiting piece and the rear limiting piece, the wear-resisting piece (18) touches the ground and automatically brakes; and in normal running, when the sole of a foot is stressed, the free end of the rear swing arm (9) automatically swings clockwise and downwards under the action of the rear lettuce coil spring (16), and when the heel is stressed, the free end of the front swing arm (4) automatically swings anticlockwise and downwards under the action of the front lettuce coil spring (16), so that the bottom of the wear-resistant sheet (18) is always higher than the connecting line of the front pulley (7) and the lowest point of the rear pulley (11) by at least 1.5 cm.

7. A bionic four-wheel drive self-propelled shoe matched with walking and running as claimed in claim 6, wherein: the lower end of the rear vertical rod (15) is provided with a clamping groove (15-3), and the upper end of the wear-resistant sheet (18) is embedded in the clamping groove (15-3).

8. A bionic four-wheel drive self-propelled shoe matched with walking and running as claimed in any one of claims 1-5, wherein: two sides of the bottom plate (2) are provided with side edges (2-1) extending downwards, and the front shaft (3) and the rear shaft (8) respectively penetrate through a front shaft hole (2-2) and a rear shaft hole (2-3) arranged on the side edges (2-1) and are fixedly connected with the bottom plate (2);

a pair of small shaft holes (2-4) are additionally arranged on the side edge (2-1) which is positioned at a proper position in front of the front shaft hole (2-2);

a connecting plate (23) is fixedly connected at the front end of the bottom of the sole (1), two left and right downwardly extending lugs (23-1) are arranged at the bottom of the connecting plate (23) side by side, a pair of coaxial small shaft holes (23-1-1) are arranged at the lower ends of the two lugs (23-1),

the positions of the small shaft holes (23-1-1) and the small shaft holes (2-4) correspond to each other;

a small shaft (24) penetrating through the small shaft hole (23-1-1) and the small shaft hole (2-4) connects the sole (1) with the bottom plate (2), and a limit pin (25) arranged at the end of the small shaft (24) prevents the small shaft (24) from withdrawing from the bottom plate (2).

9. A bionic four-wheel drive self-propelled shoe matched with walking and running as claimed in any one of claims 1-5, wherein: the front shaft (3) is located at a position about 2-3 cm behind a sole stress central point, the rear shaft (8) is located at a position about 2-3 cm in front of a heel stress central point, the diameter of the front pulley (7) is about 7-10 cm, and the diameter of the rear pulley (11) is 1.3-2 times of that of the front pulley (7).

10. A bionic four-wheel drive self-propelled shoe matched with walking and running as claimed in any one of claims 1-5, wherein: the bottom plate (2), the front swing arm (4) and the rear swing arm (9) are made of high-strength aluminum alloy, the front winding rope (14) and the rear winding rope (14) are steel wire flexible wires with the diameter of about 0.8 mm, and the thick gasket (19) and the thin gasket (21) are rubber gaskets.