New rapid response vehicle

Abstract

The present invention relates to a novel rapid response vehicle, comprising a cabin, with two sides of the cabin supported by two wheeled mechanical legs, each of which includes six control arms, and adjacent control arms are hinged to each other, wherein the inner end of the first control arm at the inner end is hinged to the cabin, and the sixth control arm at the outer end is rotatably connected to the wheel, and each control arm is driven by a different drive device. The rapid response vehicle uses its four wheeled mechanical legs as a completely independent suspension, and adjusts the suspension parameters through the control arms to adjust the wheels with multiple degrees of freedom, thus having strong applicability.

Description

Technical Field

[0001] The present invention relates to a novel rapid response vehicle. Background Art

[0002] With the expansion of urban areas and the development of new energy vehicles and intelligent vehicles, small rapid response vehicles have also been developed. Generally speaking, rapid response vehicles need to depart from the city or nearby relevant units, travel over well-paved roads, and then enter complex off-road terrain to carry out related work. They are generally used for reconnaissance or rescue, and need to reach the designated location in a short time, which requires high speed and terrain maneuverability.

[0003] Existing vehicle models have limited adaptability to terrain, typically SUVs or all-terrain vehicles. They can't simultaneously achieve high-speed travel on well-paved roads while also being able to navigate off-road and complex terrain. This significantly limits the speed at which vehicles (such as reconnaissance, rescue, or emergency vehicles) can reach the scene of an incident, potentially delaying the optimal opportunity. Therefore, based on these requirements and focusing on high-speed travel and complex terrain maneuverability, and leveraging automotive electronic control systems and new energy vehicle technologies, it is of practical significance to design a compact vehicle structure that balances low resistance on well-paved roads with off-road performance on various complex terrains. Summary of the Invention

[0004] In view of the deficiencies in the prior art, the technical problem to be solved by the present invention is to provide a new type of rapid response vehicle which is not only structurally reasonable but also highly applicable.

[0005] In order to solve the above technical problems, the technical solution of the present invention is: a new type of rapid response vehicle, including a cabin, and the two sides of the cabin are supported by two wheeled mechanical legs respectively, and the wheeled mechanical legs each include six control arms, and adjacent control arms are hinged to each other, among which the inner end of the innermost first control arm is hinged to the cabin, and the outermost sixth control arm is rotatably connected to the wheel, and each control arm is driven by a different drive device.

[0006] Furthermore, four fixing seats are protruding from both sides of the cockpit, and the first control arms located at the innermost ends of the wheeled mechanical legs are hinged to the fixing seats through first hinged rods arranged vertically. The second control arm is hinged to the second control arm via a second hinged rod passing horizontally outside the first control arm, the third control arm is hinged to the third control arm via a third hinged rod passing horizontally outside the outer end of the second control arm, the fourth control arm is hinged to the fifth control arm via a fifth hinged rod passing vertically outside the fourth control arm, and the sixth control arm is hinged to the sixth control arm via a sixth hinged rod passing longitudinally outside the fifth control arm.

[0007] Furthermore, there are four wheeled mechanical legs, which are centrally and symmetrically arranged around the cabin, and the wheels are all driven by hub motors.

[0008] Furthermore, a gas spring is connected between the second control arm and the fourth control arm. The gas spring extends inwardly and outwardly through the third control arm, and its two ends are hinged to the second control arm and the fourth control arm respectively.

[0009] Compared with existing technologies, the present invention has the following advantages: 1. The vehicle structure utilizes a motor-controlled wheel-leg fully independent suspension, allowing the cabin to be adjusted and modified according to the vehicle's specific application scenario (for example, converting the cabin into an unmanned vehicle or other transport carrier); 2. The vehicle utilizes a distributed in-wheel motor drive, resulting in low noise and convenient environmental sensing; 3. Due to the use of a wheel-leg fully independent suspension, the wheels have multi-degree-of-freedom adjustment capabilities, allowing for adjustment of various suspension parameters or wheel tilting to assist steering. 4. The wheels can be locked and converted into a mechanical leg model to enhance terrain maneuverability, enabling more mechanical leg-based functions than conventional vehicles; 5. A suitable control strategy ensures cabin comfort (a requirement for vehicle comfort when transporting injured persons during rescue operations); 6. The tires are located at the front and rear of the vehicle, ensuring both approach and departure angles greater than 90°. In emergencies, the tires can be used as cushions, and the wheel-legged mechanical legs actively control the direction of force release during impact, thereby improving vehicle safety.

[0010] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 Schematic diagram of the connection structure between the cockpit and the wheeled mechanical legs in an embodiment of the present invention;

[0012] Figure 2 This is a schematic diagram of a vehicle in a high-speed and low-resistance state according to an embodiment of the present invention;

[0013] Figure 3 Schematic diagram of a vehicle in a wheel tilt-assisted turning state according to an embodiment of the present invention;

[0014] Figure 4 This is a schematic diagram of a vehicle in a normal off-road state according to an embodiment of the present invention;

[0015] Figure 5 This is a schematic diagram of a vehicle in a state of mechanical legs climbing according to an embodiment of the present invention;

[0016] Figure 6 A perspective view of an embodiment of the present invention;

[0017] Figure 7 This is a schematic diagram of the structure after the gas spring is installed in an embodiment of the present invention.

[0018] In the figure: 1-cockpit, 2-wheeled mechanical leg, 3-first control arm, 4-sixth control arm, 5-wheel, 6-fixed seat, 7-first articulated rod, 8-articulated end, 9-second control arm, 10-second articulated rod, 11-third control arm, 12-third articulated rod, 13-fourth control arm, 14-fourth articulated rod, 15-fifth control arm, 16-fifth articulated rod, 17-sixth articulated rod, 18-gas spring. DETAILED DESCRIPTION

[0019] In order to make the above features and advantages of the present invention more clearly understood, embodiments are given below with reference to the accompanying drawings for detailed description.

[0020] like Figures 1 to 7 As shown, the new rapid response vehicle includes a cabin 1, which is supported on both sides by two wheeled mechanical legs 2. The wheeled mechanical legs each include six control arms, and adjacent control arms are hinged to each other. The inner end of the innermost first control arm 3 is hinged to the cabin, and the outermost sixth control arm 4 is rotatably connected to the wheel 5. Each control arm is driven by a different drive device to achieve multi-degree-of-freedom rotation.

[0021] In the embodiment of the present invention, four fixing seats 6 are protruding on both sides of the cabin, which are respectively connected to the four wheeled mechanical legs. The first control arms located at the innermost ends of the wheeled mechanical legs are hinged to the fixing seats through the first hinged rod 7 arranged vertically. The fixing seats are provided with a driving motor for driving and limiting the rotation of the first hinged rod. The outer end of the first control arm extends outward to form an articulated end 8, through which the inner end of the second control arm 9 is clamped inside and articulated through the second hinged rod 10 passing horizontally; the inner and outer ends of the third control arm 11 extend articulated ends, and the outer end of the second control arm is inserted into the inner end of the third control arm. The hinged end of the outer end of the third control arm is hinged through the third hinged rod 12 passing through it horizontally, the hinged end of the outer end of the third control arm clamps the inner end of the fourth control arm 13 inside and is hinged through the fourth hinged rod 14 passing through it horizontally, the hinged ends of the inner and outer ends of the fifth control arm 15 are extended, the outer end of the fourth control arm is inserted into the hinged end of the inner end of the fifth control arm and is hinged through the fifth hinged rod 16 passing through it vertically, the hinged end of the outer end of the fifth control arm clamps the inner end of the sixth control arm inside and is hinged through the sixth hinged rod 17 passing through it longitudinally, and each of the above-mentioned hinged ends is fixed with a small drive motor corresponding to each control arm.

[0022] In an embodiment of the present invention, there are four wheeled mechanical legs, which are centrally and symmetrically arranged around the cabin, and the wheels are all driven by hub motors.

[0023] In the embodiment of the present invention, Figure 7As shown, a gas spring 18 is connected between the second control arm and the fourth control arm. The gas spring extends inward and outward through the third control arm, that is, there is sufficient space in the third control arm for the gas spring to move. The two ends of the gas spring are respectively hinged on the second control arm and the fourth control arm, thereby assisting the suspension to provide a large torque in a short time, so that the vehicle can perform related actions such as bouncing through the suspension to assist in quickly passing through obstacles at high speed.

[0024] On good paved roads, such as Figure 2 As shown, the wheel-leg suspension reduces ground clearance, appropriately shortens the track width and increases the wheelbase via the first control arm, and adjusts wheel angle parameters via the sixth control arm to accommodate high-speed, low-resistance driving. In this configuration, the vehicle maintains minimal frontal area, minimizing air resistance while maintaining stability. If necessary, tire angles can be adjusted to appropriately reduce tire-road contact area and rolling resistance. Furthermore, during high-speed cornering, the suspension and tire roll assist, minimizing cabin roll. Figure 3 shown.

[0025] On ordinary off-road surfaces, such as Figure 4 As shown, the wheel-leg suspension increases ground clearance and widens the wheelbase, improving vehicle stability. It also utilizes a corresponding control strategy to enhance cabin comfort during off-road driving. The suspension settings can be adjusted based on changing terrain conditions (such as wading, rolling slopes, and small potholes).

[0026] In complex and difficult road conditions, such as Figure 5 As shown, the vehicle uses the drive motor to lock the wheels, placing the suspension in mechanical leg mode. The first control arm then rotates the suspension horizontally, enabling a climbing posture to overcome complex terrain and significantly improving the vehicle's maneuverability. Furthermore, in confined spaces, the mechanical legs can be retracted to minimize the vehicle's size. Using mechanical leg mode or vertically rotating the wheels allows for steering and omnidirectional maneuverability within tight spaces.

[0027] The present invention is not limited to the above-mentioned preferred embodiment. Anyone can come up with various other forms of new rapid response vehicles based on the enlightenment of the present invention. All equivalent changes and modifications made according to the scope of the patent application of the present invention shall fall within the scope of the present invention.

Claims

1. Rapid response vehicle, characterized by: The vehicle comprises a cabin, each of which is supported by two wheeled mechanical legs. Each wheeled mechanical leg comprises six control arms, and adjacent control arms are hinged to each other. The inner end of the first control arm at the innermost end is hinged to the cabin, and the outermost sixth control arm is rotatably connected to the wheel. Each control arm is driven by a different drive device. Four fixing seats are protruded from both sides of the cockpit respectively. The first control arms located at the innermost ends of the wheeled mechanical legs are hinged to the fixing seats through first hinged rods arranged vertically. The second control arm is hinged to the second control arm via a second hinged rod passing horizontally outside the first control arm. The third control arm is hinged to the third control arm via a third hinged rod passing horizontally outside the second control arm. The fourth control arm is hinged to the fifth control arm via a fifth hinged rod passing vertically outside the fourth control arm. The sixth control arm is hinged to the sixth control arm via a sixth hinged rod passing longitudinally outside the fifth control arm. A gas spring is connected between the second control arm and the fourth control arm. The gas spring extends inwardly and outwardly through the third control arm, and two ends of the gas spring are hinged to the second control arm and the fourth control arm respectively.

2. The rapid response vehicle according to claim 1, characterized in that: There are four wheeled mechanical legs in total, which are symmetrically arranged around the cabin, and the wheels are all driven by hub motors.

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