Amphibious vehicle based on bionic duck foot principle and driving method thereof

Abstract

The present invention discloses an amphibious vehicle based on the bionic duck foot principle and a driving method thereof. The vehicle body is a sealed and waterproof structure. Four driving units are arranged on the lower side of the vehicle body. The driving wheel is mainly composed of two fixedly connected discs. An eccentric shaft is provided on the crankshaft and is installed in the inner center of the driving wheel to form a rotating pair. An active rod is provided at the upper end of a synchronous frame, and a smooth inner hole and five driven shafts are provided at the lower end. The synchronous frame is installed inside the driving wheel and is coaxially rotatably connected to the eccentric shaft. Six water-splashing plates are evenly distributed circumferentially installed between the two discs of the driving wheel to form a rotating pair. The inner side of one of the water-splashing plates is rotatably connected to the top end of the active rod, and the inner sides of the remaining five water-splashing plates are respectively connected to the corresponding driven shafts through a connecting rod; the first motor realizes the rotation and braking of the driving wheel through a gear ring transmission structure; the second motor realizes the rotation and positioning of the crankshaft through a gear transmission structure; a sealing cover is installed on the lower side of the first motor and the second motor to protect the motors from water damage.

Description

Technical Field

[0001] The present invention relates to the technical field of amphibious vehicles, in particular to an amphibious vehicle based on the bionic duck foot principle and a driving method thereof. Background Art

[0002] The surface speed of an amphibious vehicle is an important indicator to measure its comprehensive performance. In traditional amphibious vehicles, the engine is connected to two sets of power output devices. When driving on land, power is output from the distributor to the drive wheels through the gearbox and drive shaft. When driving on water, power is output from the distributor to the propeller through the drive shaft. That is to say, the two drive modes of water and land are integrated together, and the corresponding drive system is selected according to the water and land driving environment. Due to the mixture of two drive systems, its internal structure is complex, the failure rate is high, the weight is increased, the cost is increased, and it is also not easy to inspect and maintain.

[0003] There are webbed feet on the duck's paws. When the duck's paws paddle backwards, the webbed feet expand, increasing the paw area and thus increasing the reverse resistance of the water, so that the duck's body moves forward; when the duck's paws are retracted forwards, the webbed feet contract, reducing the recovery resistance of the duck's paws; when turning left, the right paw accelerates to paddle backwards; when turning right, the left paw accelerates to paddle; the physiological characteristics of duck's paws enable the duck to swim freely in the water and have a high swimming efficiency; based on the above comprehensive considerations, the present invention provides an amphibious vehicle based on the principle of bionic duck's paws and a driving method thereof. Summary of the Invention

[0004] In order to solve the deficiencies of the prior art, the purpose of the present invention is to provide an amphibious vehicle based on the bionic duck foot principle and a driving method thereof, which can realize driving in both water and land environments through a set of driving devices.

[0005] The technical solution adopted by the present invention is: an amphibious vehicle based on the bionic duck foot principle and a driving method thereof, which is characterized in that: the vehicle body is a sealed and waterproof structure, with seats, a cargo box, a power unit and a driving system inside, four drive units are provided on the lower side of the vehicle body, and the four drive units are respectively installed on the left and right sides of the vehicle body; the driving wheel is the main component of the driving unit, and the driving wheel is mainly composed of two fixedly connected discs, and two coaxial smooth circular holes are provided in the center of the driving wheel, and a coaxial inner gear ring is provided on the outside of the right disc, and the driving wheel is rotatably connected to the vehicle body; two coaxial rotating shafts are provided at both ends of the crankshaft, and an eccentric shaft is provided between the two rotating shafts, the first gear is coaxially and tightly connected to the rotating shaft on the right side of the crankshaft, and the crankshaft is installed in the inner center of the driving wheel to form a rotating pair; the upper end of the synchronous frame is provided with a main The cam is connected to the gear unit via a gear transmission structure, and the second motor is connected to the gear unit via a gear transmission structure, and the second motor is connected to the gear unit via a gear transmission structure.

[0006] Preferably, the two discs on the driving wheel are connected into a whole by six circumferentially evenly distributed connecting blocks.

[0007] Preferably, a plurality of ridges are evenly distributed circumferentially on the outer sides of the two discs on the driving wheel, and the ridges are used to increase the friction between the driving wheel and the ground.

[0008] Preferably, the angle between the active rod and the adjacent driven shaft with respect to the axis of the smooth inner hole is 60°, and the angle between two adjacent driven shafts with respect to the axis of the smooth inner hole is also 60°.

[0009] Preferably, an outward inclined surface is provided at the outer end of the water-skimming plate. When the water-skimming plate is paddling, the outward inclined surface can increase the resistance, so that the amphibious vehicle can obtain a greater reverse driving force.

[0010] Preferably, the amphibious vehicle can adopt differential steering when it needs to turn, that is, when the forward speed of the two left drive wheels is greater than the speed of the two right drive wheels, the amphibious vehicle turns right; when the forward speed of the two right drive wheels is greater than the speed of the two left drive wheels, the amphibious vehicle turns left.

[0011] The beneficial effects of the present invention are as follows: (1) The present invention adopts the same set of driving devices both on land and on water. By changing the position of the water-skidding plate on the driving wheel, the switching between the land and water driving modes is realized, which greatly reduces the complexity of the equipment and effectively improves the reliability of the equipment. In addition, the mode switching is simple and fast, and is convenient for inspection and maintenance; (2) All four driving wheels can provide driving force, which enables the amphibious vehicle to effectively cope with muddy road conditions and enhances the amphibious vehicle's ability to escape from difficulties. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 It is a schematic diagram of the overall structure of the present invention when traveling on land.

[0013] Figure 2 It is a schematic diagram of the overall structure of the present invention when traveling on water.

[0014] Figure 3 Schematic diagram of the drive unit.

[0015] Figure 4 This is an enlarged partial cross-sectional diagram of the drive unit installation location.

[0016] Figure 5 This is a schematic diagram of the cross-sectional structure of the drive unit when driving on land.

[0017] Figure 6 This is a schematic diagram of the cross-sectional structure of the drive unit when traveling on water.

[0018] Figure 7 It is a structural diagram of the synchronization frame.

[0019] Reference numerals: 1 vehicle body, 2 drive unit, 3 drive wheel, 3.1 internal gear ring, 3.2 connecting block, 4 crankshaft, 4.1 first gear, 5 water deflector, 6 second gear, 7 third gear, 8 first motor, 9 second motor, 10 sealing cover, 11 synchronizer frame, 11.1 active rod, 11.2 driven shaft, 12 connecting rod. DETAILED DESCRIPTION

[0020] The present invention will be further described below with reference to specific embodiments. The illustrative embodiments and descriptions of the present invention are used to explain the present invention but are not intended to limit the present invention.

[0021] like Figures 1 to 6 As shown, the amphibious vehicle based on the bionic duck foot principle and the driving method thereof mainly include a vehicle body 1 and four drive units 2. Four motor mounting slots are provided on the lower side of the vehicle body 1. The four motor mounting slots are located on both sides of the vehicle body 1 and correspond to each other on the left and right sides. The vehicle body 1 is a sealed and waterproof structure, and is internally provided with seats, a cargo box, a power unit and a driving system. Four drive units 2 are installed on the lower side of the vehicle body 1, and each drive unit 2 corresponds to a motor mounting slot.

[0022] The drive unit 2 includes a drive wheel 3, a crankshaft 4, a water-spraying plate 5, a second gear 6, a third gear 7, a first motor 8, a second motor 9, a sealing cover 10, a synchronous frame 11, and a connecting rod 12, wherein the drive wheel 3 is mainly composed of two discs of the same size, the two discs are coaxial and connected as a whole through six circumferentially evenly distributed connecting blocks 3.2, and a plurality of ridges are evenly distributed circumferentially on the outer sides of the two discs, which are used to increase the friction between the drive wheel 3 and the ground, and two coaxial smooth circular holes are provided in the centers of the two discs, and a coaxial inner gear ring 3.1 is provided on the outside of the right disc.

[0023] The crankshaft 4 is provided with two coaxial rotating shafts at both ends. The outer end of the right rotating shaft is coaxially fixed with a first gear 4.1. A cylindrical eccentric shaft is provided in the middle position of the crankshaft 4. There is a distance deviation between the axis of the eccentric shaft and the axis of the rotating shafts at both ends of the crankshaft 4. The crankshaft 4 is installed inside the center of the driving wheel 3. The rotating shafts on both sides of the crankshaft 4 are coaxially rotatably installed with the smooth circular hole in the center of the driving wheel 3, and the first gear 4.1 is located on the outside of the driving wheel 3.

[0024] like Figure 7 As shown, an active rod 11.1 is provided at the upper end of the synchronizer frame 11, and a transversely extending circular hole is provided at the top of the active rod 11.1. A smooth inner hole is provided at the center of the lower end of the synchronizer frame 11. The diameter of the smooth inner hole is equal to the diameter of the eccentric shaft on the crankshaft 4. Five driven shafts 11.2 are transversely provided around the outer periphery of the smooth inner hole. The angle between the active rod 11.1 and the adjacent driven shaft 11.2 about the axis of the smooth inner hole is 60°, and the angle between two adjacent driven shafts 11.2 about the axis of the smooth inner hole is also 60°. The synchronizer frame 11 is mounted inside the drive wheel 3, and the smooth inner hole at the lower end of the synchronizer frame 11 is coaxially rotatably connected to the eccentric shaft of the crankshaft 4, and the active rod 11.1 is located in the gap between the two connecting blocks 3.2.

[0025] like Figure 5 、 Figure 6As shown, the outer side of the water-splashing plate 5 is a circular arc surface structure, and the outer end of the water-splashing plate 5 is provided with an outward inclined surface. When the water-splashing plate 5 paddles the water, the outward inclined surface can increase the resistance, so that the amphibious vehicle can obtain a greater reverse driving force. The number of water-splashing plates 5 is six, and the six water-splashing plates 5 are evenly distributed and installed between the two discs of the driving wheel 3. The inner end of each water-splashing plate 5 is rotatably connected to the driving wheel 3, and the inner side of one of the water-splashing plates 5 is rotatably connected to the circular hole at the top of the active rod 11.1. The inner sides of the remaining five water-splashing plates 5 are respectively rotatably connected to the outer end of a connecting rod 12, and the inner ends of the five connecting rods 12 are respectively rotatably connected to the opposite The corresponding driven shaft 11.2 is rotationally connected; since the lower end of the synchronous frame 11 is always coaxially connected to the eccentric shaft, the smooth inner hole at the lower end of the synchronous frame 11 cannot always be coaxial with the driving wheel 3, so there are always three water-deflecting plates 5 opened outward, while the other three water-deflecting plates 5 are retracted inside the driving wheel 3; when the driving wheel 3 rotates, the six water-deflecting plates 5 will rotate with the driving wheel 3, and the water-deflecting plates 5 connected to the active rod 11.1 will drive the synchronous frame 11 to rotate at a constant speed with the driving wheel 3, so that under the pulling force of the five connecting rods 12, the six water-deflecting plates 5 will periodically open and retract.

[0026] like Figure 4 As shown, the driving wheel 3 is rotatably connected to the vehicle body 1 through a cross roller bearing; the first motor 8 is internally integrated with a brake, and the first motor 8 is fixedly mounted in the motor mounting groove on the lower side of the vehicle body 1 by screws; the third gear 7 is coaxially and tightly connected to the output shaft of the first motor 8, and the third gear 7 is meshed with the inner ring gear 3.1 to form a gear and ring gear transmission structure, so that the first motor 8 can realize the rotation and braking of the driving wheel 3; the second motor 9 is internally integrated with an encoder and a brake, which can realize precise angular rotation and locking positioning, and the second motor 9 is fixedly mounted in the motor mounting groove on the lower side of the vehicle body 1 by screws and is located below the first motor 8; the second gear 6 is coaxially and tightly connected to the output shaft of the second motor 9, and the second gear 6 is meshed with the first gear 4.1 to form a gear transmission structure, so that the second motor 9 realizes the rotation and positioning of the crankshaft 4; the sealing cover 10 is installed on the lower side of the motor mounting groove to protect the motor from water damage.

[0027] Methods of traveling on land: Figure 1 、 Figure 5As shown, when the second motor 9 drives the crankshaft 4 to rotate and makes the eccentric shaft located on the upper side, the three water-spraying plates 5 on the upper side of the driving wheel 3 open outward, and the three water-spraying plates 5 on the lower side of the driving wheel 3 retract into the driving wheel 3, that is, when the water-spraying plates 5 rotate to the upper side of the driving wheel 3, they will open outward, and when they rotate to the lower side of the driving wheel 3, they will retract inward; at this time, the arc surface on the lower side of the driving wheel 3 is in contact with the ground, and the first motor 8 rotates the driving wheel 3 through the gear meshing mechanism, so that the amphibious vehicle can be driven on land; when the amphibious vehicle needs to turn, the differential steering method can be used, that is, when the forward rotation speed of the two left driving wheels 3 is greater than the rotation speed of the two right driving wheels 3, the amphibious vehicle turns right; when the forward rotation speed of the two right driving wheels 3 is greater than the rotation speed of the two left driving wheels 3, the amphibious vehicle turns left.

[0028] Methods of traveling on water: Figure 2 、 Figure 6 As shown, when the second motor 9 drives the crankshaft 4 to rotate and makes the eccentric shaft located on the lower side, the three water-skiing plates 5 on the lower side of the driving wheel 3 open outward, and the three water-skiing plates 5 on the upper side of the driving wheel 3 retract into the driving wheel 3, that is, when the water-skiing plates 5 rotate to the lower side of the driving wheel 3, they will open outward, and when they rotate to the upper side of the driving wheel 3, they will retract inward; at this time, when the driving wheel 3 is immersed in water and rotates under the drive of the first motor 8, the upper side of the driving wheel 3 paddles forward and the lower side of the driving wheel 3 paddles backward. Since the lower water-skiing plates 5 are always in an open state and the upper water ski plates are always retracted into the driving wheel 3, the force of the water-skiing plates 5 on the lower side of the driving wheel 3 paddling backward is significantly greater than the paddling resistance on the upper side. Under the reaction force of the water flow, the amphibious vehicle can move forward; the amphibious vehicle can also use differential steering to steer on water.

Claims

1. The amphibious vehicle based on the principle of bionic duck feet is characterized by: Mainly include: The vehicle body is a sealed and waterproof structure, which houses seats, a cargo box, a power unit, and a driving system. Four drive units are installed on the lower side of the vehicle body, one on each side. The driving wheel is the main component of the driving unit. It is mainly composed of two fixedly connected discs. There are two coaxial smooth circular holes in the center of the driving wheel. There is a coaxial inner gear ring on the outside of the right disc. The driving wheel is connected to the vehicle body for rotation. The crankshaft has two coaxial rotating shafts at both ends, an eccentric shaft is provided between the two rotating shafts, the first gear is coaxially and tightly connected to the rotating shaft on the right side of the crankshaft, and the crankshaft is installed in the center of the driving wheel to form a rotating pair; A synchronous frame, having an active rod at its upper end and a smooth inner hole at its lower end, with five driven shafts laterally arranged around the outer periphery of the smooth inner hole. The synchronous frame is mounted inside the driving wheel, and the smooth inner hole at its lower end is coaxially rotatably connected to the eccentric shaft of the crankshaft. The outer side of the water-spouting plate is a circular arc surface structure. Six water-spouting plates are evenly distributed around the circumference and installed between the two discs of the driving wheel. The inner end of each water-spouting plate forms a rotating pair with the driving wheel. The inner side of one water-spouting plate is rotatably connected to the top of the active rod, and the inner sides of the other five water-spouting plates are respectively connected to the corresponding driven shafts through a connecting rod; The first motor realizes the rotation and braking of the drive wheel through the gear ring transmission structure; The second motor realizes the rotation and positioning of the crankshaft through a gear transmission structure; The sealing cover is installed on the lower sides of the first motor and the second motor to protect the motors from being damaged by water.

2. The amphibious vehicle based on the bionic duck foot principle according to claim 1 is characterized in that: The two discs on the driving wheel are connected into a whole through six connecting blocks evenly distributed in the circumference.

3. The amphibious vehicle based on the bionic duck foot principle according to claim 1 is characterized in that: The outer sides of the two discs on the driving wheel are evenly distributed in the circumferential direction with a plurality of ridges, and the ridges are used to increase the friction between the driving wheel and the ground.

4. The amphibious vehicle based on the bionic duck foot principle according to claim 1 is characterized in that: The included angle between the active rod and the adjacent driven shaft with respect to the axis of the smooth inner hole is 60°, and the included angle between two adjacent driven shafts with respect to the axis of the smooth inner hole is also 60°.

5. The amphibious vehicle based on the bionic duck foot principle according to claim 1 is characterized in that: An outward inclined surface is provided at the outer end of the water-skipping plate. When the water-skipping plate paddles the water, the outward inclined surface can increase the resistance, so that the amphibious vehicle can obtain a greater reverse driving force.

6. The amphibious vehicle based on the bionic duck foot principle according to claim 1 is characterized in that: When the amphibious vehicle needs to turn, a differential steering method can be used, that is, when the forward rotation speed of the two left driving wheels is greater than the rotation speed of the two right driving wheels, the amphibious vehicle turns right; when the forward rotation speed of the two right driving wheels is greater than the rotation speed of the two left driving wheels, the amphibious vehicle turns left.

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