A desert vehicle with variable amplitude wheels

Abstract

The application relates to a desert vehicle with variable-amplitude wheels. The desert vehicle comprises a vehicle body, a driving unit and a plurality of moving units arranged around the vehicle body in a circumferential direction, the vehicle body is provided with wheel supports for mounting the moving units, the output end of the driving unit is connected with the moving units to provide driving force for the vehicle body, the moving unit comprises a plurality of spokes and a hub motor, the hub motor is arranged in a wheel shell, the wheel shell is a shell with an open side, and a plurality of through holes are uniformly arranged on the outer circumference of the wheel shell. The desert vehicle has the beneficial effects that the shock-absorbing capacity of the vehicle is improved through the variable amplitude of the wheels, the desert road conditions can be better adapted to the uneven and undulating road conditions, the structure is simple and reliable, the self weight is low, the cost is low, a complex control circuit is not needed, the variable-amplitude function is realized by mechanical limiting of the wheel spokes, the wheel spokes can be adjusted to a proper diameter according to the road slope, and the vehicle can always keep stable driving.

Description

Technical Field

[0001] This invention relates to the field of mechanical vehicle technology, specifically to a desert vehicle with variable wheel amplification suitable for desert driving, which can solve the problem of ordinary desert vehicles bumping on uneven roads. Background Technology

[0002] my country's space program has developed rapidly, achieving one exciting success after another. However, with the increase in launch missions, the search for rocket debris has become increasingly important. In fact, not only rocket debris, but also debris from missile tests or other military missions is uncontrollably scattered in desert test sites. Searching for this debris often requires a large amount of manpower and is inherently dangerous. Using unmanned vehicles to replace manual search vehicles would greatly reduce manpower and ensure safety. However, desert roads are uneven and undulating, making it difficult for ordinary vehicles to adapt to the desert environment.

[0003] Therefore, there is an urgent need for a new type of desert vehicle that can adapt well to desert road conditions and complete search missions. Summary of the Invention

[0004] To address the problem of existing technologies where desert roads are uneven and undulating, making it difficult for ordinary vehicles to adapt to the desert environment, the purpose of this invention is to provide a desert vehicle with active shock absorption and strong road adaptability featuring variable amplitude damping. This vehicle achieves active shock absorption through the variable amplitude principle of its wheels, and its structure is simple, reliable, and durable.

[0005] To achieve the above objectives, the technical solution adopted by the present invention is: a desert vehicle with variable wheel amplification, comprising a vehicle body, a drive unit, and several movable units circumferentially arranged around the vehicle body. The vehicle body is provided with wheel brackets for mounting the movable units. The movable units are rotatably connected to the wheel brackets. The output end of the drive unit is connected to the movable units to provide driving force to the vehicle body.

[0006] The moving unit includes several spokes and a hub motor. The hub motor is disposed inside the wheel shell, which is a shell open on one side. Several through holes are evenly distributed on the outer circumference of the wheel shell. The hub motor has a built-in torque sensor. A spoke support is fixedly connected to the outer circumference of the hub motor. The spoke support has at least two spoke mounting edges circumferentially arranged. Several spoke mounting holes are provided on the spoke mounting edges. One end of each spoke is integrally provided with a locking pin that matches the spoke mounting hole. The locking pin and the spoke form a 90-degree angle. The locking pins at one end of several spokes are inserted into the spoke mounting holes and are clearance-fitted with the spoke mounting holes. The other ends of several spokes pass through the through holes of the wheel shell and have a certain degree of freedom.

[0007] Furthermore, the drive unit includes a stepper motor and a reducer connected to each other.

[0008] Furthermore, the reducer is a worm gear reducer with a self-locking function.

[0009] Furthermore, it also includes an elastic track, which is circumferentially fitted onto the outer circumference of the spokes and can contract or expand synchronously with the spokes.

[0010] Furthermore, the hub motor can rotate relative to the wheel, with a rotation angle of 0-45 degrees, and has a torque lock-up function.

[0011] Furthermore, it also includes a wheel flange, one side of which is fixedly connected to one side of the wheel housing, and the other side is coaxially connected to the output shaft of the reducer to transmit driving force to the wheel.

[0012] Furthermore, it also includes a wheel cover, which is connected to the opening side of the wheel housing.

[0013] Furthermore, the spokes are arranged in multiple rows in a parallel circumferential direction or dispersedly.

[0014] Furthermore, the end of the spoke that passes through the outer hole of the wheel is an open C-shaped structure, and the C-shaped structure has a certain range of elasticity.

[0015] Furthermore, the number of mobile units is an even number of four or more, symmetrically arranged on both sides of the vehicle body.

[0016] In general, the above-described technical solutions conceived by this invention can achieve the following beneficial effects:

[0017] (1) The present invention can improve the vehicle’s shock absorption capacity by changing the amplification of the wheel, so as to better adapt to the uneven and undulating road conditions in the desert.

[0018] (2) The present invention has a simple and reliable structure, low weight, low cost, no need for complex control circuits, and relies on the mechanical limit of the wheel spokes to realize the amplitude function.

[0019] (3) This invention is an active shock absorption system that can adjust the wheel spokes to a suitable diameter in advance according to the road slope, so that the vehicle can always maintain a stable ride. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the structure of a desert vehicle with variable wheel amplification provided in one embodiment of the present invention;

[0021] Figure 2 This is a half-sectional view of the wheel (excluding elastic tracks) of a desert vehicle provided in one embodiment of the present invention;

[0022] Figure 3 This is a cross-sectional view of a desert vehicle wheel provided in one embodiment of the present invention;

[0023] Figure 4 This is a schematic diagram of the spoke direction of a desert vehicle with variable wheel amplification provided in one embodiment of the present invention when the wheel is in its extreme retracted position (excluding the elastic track).

[0024] Figure 5 This is a schematic diagram of the spoke direction of a desert vehicle with variable wheel amplification provided in one embodiment of the present invention when the wheel is in its extreme extension position (excluding the elastic track).

[0025] Figure 6 This is a schematic diagram of the vehicle body traveling on a slope in the forward and backward directions according to one embodiment of the present invention;

[0026] Figure 7 This is a schematic diagram of the vehicle body traveling on a slope in the left and right directions according to one embodiment of the present invention.

[0027] In all the accompanying drawings, the same reference numerals are used to denote the same elements or structures, wherein:

[0028] 1-Body, 2-Wheel bracket, 3-Reducer, 4-Stepper motor, 5-Wheel flange, 6-Wheel shell, 601-Through hole, 7-Hub motor, 8-Spoke support, 801-Spoke mounting edge, 802-Spoke mounting hole, 9-Spoke, 901-Pin, 10-Wheel cover, 11-Elastic track. Detailed Implementation

[0029] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention. Furthermore, the technical features involved in the various embodiments of this invention described below can be combined with each other as long as they do not conflict with each other.

[0030] In the description of this invention, it should be understood that the terms "center," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention. In addition, in the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0031] like Figures 1-3 As shown, this invention provides a desert vehicle with variable wheel amplification, comprising a vehicle body, a drive unit, and several moving units circumferentially arranged around the vehicle body. Wheel brackets are symmetrically mounted circumferentially on the vehicle body and fixedly connected to it using screws. The drive unit is rotatably connected to the wheel brackets, and its output end is connected to the moving units to provide driving force to the vehicle body. In this embodiment, the drive unit includes a stepper motor and a worm gear reducer with a self-locking function that are connected to each other.

[0032] The moving unit includes several spokes and a hub motor, which can be an even number of four or more, symmetrically arranged on both sides of the vehicle body. In this embodiment, there are four moving units arranged symmetrically. The spokes of the moving unit are made of stainless steel, which has the advantages of being rust-resistant, tough, and resistant to plastic deformation. The hub motor is located inside the wheel shell and is fixed inside the wheel shell by screws or bolts and nuts. The wheel shell is a shell with an opening on one side, which facilitates the installation of the hub motor from the opening end. In this embodiment, the wheel shell is made of aluminum alloy, which is simple to process, low in cost, and has moderate rigidity. The opening end of the wheel shell is also provided with a matching wheel cover, which is installed on the wheel shell by screws. In order to facilitate the transmission of driving force to the wheel, a wheel flange is coaxially provided on the closed side of the wheel shell. The wheel flange is fixedly connected to the wheel shell by welding, screws, or bolts and nuts. The output shaft of the worm gear reducer is coaxially fixedly connected to the wheel flange by screws. The rotation of the output shaft drives the rotation of the wheel flange, thereby driving the wheel shell and the wheel to rotate. Several through holes are evenly distributed on the outer circumference of the wheel shell. A torque sensor is built into the hub motor, which is electrically connected to the torque sensor and powered by an external power source. A spoke support for mounting the spokes is fixedly connected to the outer circumference of the hub motor by screws or welding. Rotation of the hub motor drives the spoke support to rotate, with a rotation angle of 0-45 degrees. The hub motor also has a torque lock-up function. Figure 4 As shown, when the hub motor rotates to its 45-degree limit position, the spokes are tightly fitted together, and the wheel spokes are at their smallest size. Figure 5As shown, when the hub motor rotates to its original 0-degree position, the spokes move away from each other and spread out, at which point the wheel spokes are at their maximum size. The spoke support has at least two spoke mounting edges circumferentially. In this embodiment, the spoke mounting edges are two parallel edges. In other embodiments, there may be three or four edges. Several spoke mounting holes are provided on the spoke mounting edges. One end of the spoke is integrally provided with a locking pin that matches the spoke mounting hole. The locking pin and the spoke form a 90-degree angle to prevent the locking pin from falling off during the movement of the spoke. The locking pins at one end of the spokes are inserted into the spoke mounting holes and are in clearance fit with the spoke mounting holes, allowing the locking pins to rotate within the spoke mounting holes. The other end of the spokes passes through the through hole of the wheel shell and has a certain degree of freedom. At the same time, due to the radial restriction of the through hole on the wheel shell, the spokes can only move telescopically between the through holes and cannot move circumferentially towards the through hole. Therefore, the locking pins will not fall off from the spoke mounting holes. When the hub motor rotates, it drives the spoke support to rotate. The inner end of the spoke rotates with the spoke support. After being constrained by the radial force of the through hole of the wheel shell, the spokes automatically contract, which plays a role in amplitude variation.

[0033] like Figure 6 As shown, when the vehicle is driving on sloped surfaces, the wheel hub motors rotate to the appropriate angle in advance, ensuring the vehicle body remains level and achieving stable driving. Similarly, as... Figure 7 As shown, when the vehicle is driving on a sloped road, the hub motor rotates to the appropriate angle in advance, ensuring the vehicle body remains level and achieving stable driving. When the road surface is uneven, the hub motor senses the distance between itself and the road surface through a built-in torque sensor and actively adjusts the wheel's position to ensure the wheel remains in contact with the ground, achieving smooth and reliable driving.

[0034] To ensure the stability of the wheel, an elastic track with a tendency to contract and can contract or expand synchronously with the spokes is fitted on the outer circumference of the spokes to distribute pressure. In this embodiment, the elastic track is made of rubber. To prevent the elastic track from coming off the spokes, the two sides of the elastic track have a tapered design. To better support the elastic track, the end of the spoke that contacts the elastic track has an arc-shaped contact surface, and the curvature of the arc-shaped contact surface matches the curvature of the contacting elastic track.

[0035] To increase the support of the spokes, multiple spoke mounting edges can be set on the spoke support to install multiple rows of spokes. The spokes can be arranged in two parallel rows or dispersedly.

[0036] To make the wheel move more smoothly, the end of the spoke that extends outward, which is in contact with the elastic track, is designed as an open C-shape. The C-shape has a certain range of elasticity. When the impact is too great, the openings of the C-shape come together, limiting further deformation and protecting the stability of the spoke structure, so that the whole wheel is more stable.

[0037] By installing detection equipment and wireless receivers on the vehicle body, along with a wireless remote control device, it can be used to search for rocket debris and other items in desert environments, greatly improving search efficiency and safety, while also reducing labor costs. Moreover, it can be reused multiple times, further reducing search costs.

[0038] The adaptive active damping wheel proposed in this invention operates on the following principle.

[0039] (1) The stepper motor outputs power, which is reduced and increased in torque by the reducer and then output to the wheel flange. The wheel flange further outputs the torque to the wheel.

[0040] (2) When the vehicle is driving smoothly, the hub motor is powered on and locked, which plays the role of transmitting torque.

[0041] (3) When the torque sensor built into the hub motor senses a decrease / increase in torque, it rotates a certain angle to increase / decrease the wheel spokes and actively adjusts the wheel spokes to make the vehicle drive smoothly.

[0042] (4) When the vehicle is in motion, by repeating steps (1)-(3), active shock absorption can be achieved using a simple and lightweight structure to achieve smooth driving.

[0043] This invention is not limited to the embodiments described above. Those skilled in the art can make various improvements and modifications without departing from the principles of this invention, and these improvements and modifications are also considered within the scope of protection of this invention. Contents not described in detail in this specification are prior art known to those skilled in the art.

Claims

1. A desert vehicle with variable wheel axle, comprising a body, a drive unit, and a plurality of moving units circumferentially arranged around the body, characterized in that: The vehicle body is equipped with wheel brackets for mounting the mobile unit. The mobile unit is rotatably connected to the wheel brackets. The output end of the drive unit is connected to the mobile unit to provide driving force to the vehicle body. The moving unit includes several spokes and a hub motor. The hub motor is disposed inside the wheel shell, which is a shell open on one side. Several through holes are evenly distributed on the outer circumference of the wheel shell. The hub motor has a built-in torque sensor. A spoke support is fixedly connected to the outer circumference of the hub motor. The spoke support has at least two spoke mounting edges circumferentially arranged, and several spoke mounting holes are provided on the spoke mounting edges. One end of each spoke is integrally provided with a locking pin that matches the spoke mounting hole. The locking pin and the spoke form a 90-degree angle. The locking pins at one end of several spokes are inserted into the spoke mounting holes and are clearance-fitted with the spoke mounting holes. The other ends of several spokes pass through the through holes of the wheel shell and have a certain degree of freedom. When the hub motor rotates, it drives the spoke support to rotate. The inner end of the spoke rotates with the spoke support. After being constrained by the radial force of the through holes of the wheel shell, the spoke automatically retracts, thus achieving a variable amplitude effect. It also includes an elastic track, which is circumferentially fitted on the outer circumference of the spokes and can contract or expand synchronously with the spokes; The end of the spoke that passes through the outer hole of the wheel is an open C-shaped structure, and the C-shaped structure has a certain range of elasticity.

2. A desert vehicle with variable wheel amplification according to claim 1, characterized in that: The drive unit includes a stepper motor and a reducer that are connected to each other.

3. A desert vehicle with variable wheel amplification according to claim 2, characterized in that: The reducer is a worm gear reducer with a self-locking function.

4. A desert vehicle with variable wheel amplification according to claim 1, characterized in that: The hub motor can rotate relative to the wheel, with a rotation angle of 0-45 degrees, and has a torque lock-up function.

5. A desert vehicle with variable wheel amplification according to claim 2, characterized in that: It also includes a wheel flange, one side of which is fixedly connected to one side of the wheel housing, and the other side is coaxially connected to the output shaft of the reducer to transmit driving force to the wheel.

6. A desert vehicle with variable wheel amplification according to claim 1, characterized in that: It also includes a wheel cover, which is attached to the open side of the wheel housing.

7. A desert vehicle with variable wheel amplification according to claim 1, characterized in that: The spokes are arranged in multiple rows in a parallel circumferential direction or dispersedly.

8. A desert vehicle with variable wheel amplification according to claim 1, characterized in that: The number of mobile units is four or more (an even number), symmetrically arranged on both sides of the vehicle body.

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