A four-legged desert vehicle

Abstract

The present application relates to a kind of four-wheel desert vehicles, including guiding mechanism, vehicle body and propelling mechanism connected in order from front to back, and walking mechanism installed on vehicle body, guiding mechanism is used for changing the movement direction of desert vehicle under sand, vehicle body is used for loading load, propelling mechanism is used for generating propelling force of desert vehicle under sand, and walking mechanism includes four legs and is used for walking of desert vehicle on sand.It has the advantages of compact structure, good passability, strong adaptability, stable and reliable, and has strong concealment ability.

Description

Technical Field

[0001] This invention relates to a transport vehicle, specifically a four-legged desert vehicle for transporting goods in the desert. Background Technology

[0002] Deserts are not only harsh environments with complex road conditions, but also prone to sandstorms and significant temperature differences between day and night. Transporting materials and equipment in the desert places high demands on vehicle power, passability, maneuverability, and reliability. With the increasing demand for desert transportation and the growing number of large, non-detachable components, conventional trucks can no longer meet the requirements. Summary of the Invention

[0003] The purpose of this invention is to provide a four-legged desert vehicle that has the advantages of compact structure, good passability, strong adaptability, stability and reliability, and strong concealment capabilities.

[0004] To address the aforementioned problems in the prior art, the present invention provides a four-legged desert vehicle, comprising a guide mechanism, a vehicle body, and a propulsion mechanism connected sequentially from front to back, as well as a walking mechanism mounted on the vehicle body. The guide mechanism is used for the desert vehicle to change its direction of movement under the sand, the vehicle body is used to bear the load, the propulsion mechanism is used for the desert vehicle to generate propulsion force under the sand, and the walking mechanism includes four legs for the desert vehicle to walk on the sand.

[0005] Furthermore, the present invention provides a four-legged desert vehicle, wherein the guiding mechanism includes a first spiral cylinder and a first spiral cone. The rear end of the first spiral cylinder is coaxially sleeved on the front end of the vehicle body and coaxially fixedly connected to a first motor fixed on the vehicle body. The first spiral cylinder is provided with a ball joint shaft and a rotating component. The ball joint shaft includes a steering shaft in the front-rear direction. The middle part of the steering shaft is provided with a plurality of support blocks integral with it and distributed circumferentially. The ends of the support blocks are fitted with steel balls through ball sockets. The steel balls are located in spherical grooves fixed on the first spiral cylinder. The rear end of the steering shaft is hinged to a steering rod through a pin. The steering rod is hinged to an electric cylinder fixed on the rotating component through a pin. The rotating component is coaxially sleeved in the first spiral cylinder and coaxially fixedly connected to a second motor fixed in the first spiral cylinder. The rear middle part of the first spiral cone is coaxially sleeved on the front end of the steering shaft and coaxially fixedly connected to a third motor fixed on the steering shaft.

[0006] Furthermore, the present invention provides a four-legged desert vehicle, wherein the front peripheral wall of the vehicle body is provided with an annular first limiting groove, the first spiral cylinder is provided with a first limiting ring platform located in the first limiting groove, the front peripheral wall of the steering shaft is provided with an annular second limiting groove, and the first spiral cone is provided with a second limiting ring platform located in the second limiting groove.

[0007] Furthermore, the present invention provides a four-legged desert vehicle, wherein the front side of the rotating component is provided with a first groove, the electric cylinder is fixed in the first groove, the first spiral cylinder is provided with a support plate integral with it, the second motor is fixed on the support plate, the front end of the steering shaft is provided with a second groove, and the third motor is fixed in the second groove.

[0008] Furthermore, the present invention provides a four-legged desert vehicle, wherein the first spiral cylinder includes a first cylinder body and spiral blades disposed on the peripheral wall of the first cylinder body, the first spiral cone includes a hollow first cone and spiral blades disposed on the peripheral wall of the first cone; and the support block is provided in eight parts.

[0009] Furthermore, the present invention provides a four-legged desert vehicle, wherein the propulsion mechanism includes a bracket and four propellers. The bracket includes a mounting plate and a mounting disk fixedly connected by a central rod. The mounting disk is coaxially fixed to the rear end of the vehicle body. The mounting plate is in the shape of a four-petaled flower. Each propeller includes a second spiral cylinder and a second spiral cone. The second spiral cylinders of the four propellers are distributed circumferentially between the mounting disk and the mounting plate and are coaxially fixedly connected to four fourth motors fixed in the vehicle body. The second spiral cones of the four propellers are distributed circumferentially on the rear side of the mounting plate and are coaxially fixedly connected to the second spiral cylinders through connecting shafts passing through the mounting plate.

[0010] Furthermore, the present invention provides a four-legged desert vehicle, wherein the second spiral cylinder includes a second cylinder body and spiral blades disposed on the peripheral wall of the second cylinder body, and the second spiral cone includes a hollow second cone and spiral blades disposed on the peripheral wall of the second cone.

[0011] Furthermore, the present invention provides a four-legged desert vehicle, wherein the vehicle body includes a detachably fixed upper shell and a lower shell, the lower shell being provided with a protective support for supporting the load, and the first motor being coaxially fixed in the front end cavity of the vehicle body.

[0012] Furthermore, the present invention provides a four-legged desert vehicle, wherein the outriggers include a foot, a lower leg, and a thigh. The foot is hinged to the lower end of the lower leg via an ankle joint pivot. The upper end of the lower leg is hinged to the lower end of the thigh via a vertically fixed knee joint pivot. The thigh is provided with a knee joint motor coaxially fixedly connected to the knee joint pivot. The upper end of the thigh is hinged to a hip joint bracket via a vertically fixed hip joint pivot. The hip joint bracket is provided with a hip joint motor coaxially fixedly connected to the hip joint pivot. The hip joint bracket is also equipped with a turntable and a steering motor that drives the turntable to rotate.

[0013] Furthermore, the present invention provides a quadrupedal desert vehicle, wherein the legs are biomimetic ostrich legs, and the lower side of the foot is provided with a biomimetic ostrich foot protrusion.

[0014] Compared with existing technologies, this invention provides a four-legged desert vehicle with the following advantages: The invention comprises a guiding mechanism, a vehicle body, and a propulsion mechanism connected sequentially from front to back, along with a walking mechanism mounted on the vehicle body. The guiding mechanism changes the vehicle's direction of movement under the sand; the vehicle body carries the load; the propulsion mechanism generates propulsion under the sand; and the walking mechanism includes four outriggers for the vehicle to move on the sand. This results in a compact, highly maneuverable, adaptable, and reliable four-legged desert vehicle. In practical applications, the load (materials or equipment) is placed in the vehicle body, and the coordinated movement of the four outriggers enables movement on the sand. By folding the four outriggers and activating the guiding and propulsion mechanisms, the vehicle can penetrate and move under the sand. Compared to conventional wheeled or tracked vehicles, it adapts well to the rugged desert and Gobi environments, improving environmental adaptability and maneuverability, and possessing strong concealment capabilities.

[0015] The following detailed description of a four-legged desert vehicle according to the present invention, with reference to the accompanying drawings, illustrates the specific embodiments. Attached Figure Description

[0016] Figure 1 This is an axonometric drawing of a quadruped desert vehicle according to the present invention;

[0017] Figure 2 This is a cross-sectional view of the guiding mechanism in this invention;

[0018] Figure 3 This is an isometric view of the propulsion mechanism in this invention;

[0019] Figure 4 for Figure 2 A magnified view of a portion of position A in the middle;

[0020] Figure 5 This is a cross-sectional view of the vehicle body in this invention;

[0021] Figure 6 This is an isometric view of the support leg in this invention. Detailed Implementation

[0022] First, it should be noted that the directional terms such as up, down, left, right, front, and back used in this invention are merely descriptions based on the accompanying drawings for ease of understanding, and are not intended to limit the technical solution or the scope of protection claimed in this invention.

[0023] like Figures 1 to 6The present invention illustrates a specific embodiment of a four-legged desert vehicle, comprising a guide mechanism 1, a vehicle body 2, and a propulsion mechanism 3 connected sequentially from front to back, as well as a walking mechanism mounted on the vehicle body 2. The guide mechanism 1 is used to change the direction of movement of the desert vehicle under the sand; the vehicle body 2 is used to carry the load 100 (materials or equipment); the propulsion mechanism 3 is used to generate propulsion force for the desert vehicle under the sand; and the walking mechanism includes four outriggers 4 for the desert vehicle to move on the sand. This structural configuration constitutes a compact, highly maneuverable, adaptable, stable, and reliable four-legged desert vehicle. In practical applications, the load (materials or equipment) is placed in the vehicle body 2, and by controlling the coordinated movement of the four outriggers 4, movement on the sand can be achieved; by folding the four outriggers 4 and activating the guide mechanism 1 and the propulsion mechanism 3, it can penetrate the sand and move under it. Compared to conventional wheeled or tracked vehicles, it can adapt well to the rugged desert and Gobi environment, improving environmental adaptability and maneuverability, and possessing strong concealment capabilities.

[0024] As an optimization, this specific embodiment adopts the following configuration for the guide mechanism 1: it includes a first spiral cylinder 11 and a first spiral cone 12. The rear end of the first spiral cylinder 11 is coaxially sleeved on the front end of the vehicle body 2 and coaxially fixedly connected to the first motor 13 fixed on the vehicle body 2. A ball joint shaft 14 and a rotating component 15 are provided in the first spiral cylinder 11. The ball joint shaft 14 includes a steering shaft 141 in the front-rear direction. A plurality of support blocks 142 integral with it and distributed circumferentially are provided in the middle of the steering shaft 141. The ends of the support blocks 142 are fitted with steel rods through ball sockets. Ball 143, steel ball 143 is placed in spherical groove 144 fixed on first spiral cylinder 11, the rear end of steering shaft 141 is hinged to steering rod 145 by pin, steering rod 145 is hinged to electric cylinder 146 fixed on rotating part 15 by pin, rotating part 15 is coaxially sleeved in first spiral cylinder 11 and coaxially fixedly connected to second motor 151 fixed in first spiral cylinder 11, the rear middle part of first spiral cone 12 is coaxially sleeved in front end of steering shaft 141 and coaxially fixedly connected to third motor 121 fixed on steering shaft 141. The guiding mechanism 1 of this configuration features a simple structure, convenient operation, and flexible steering. The first motor 13 drives the first spiral cylinder 11 and the first spiral cone 12 to rotate as a whole, and the reaction force on the sand generates forward momentum. The extension and retraction of the electric cylinder 146 and the pushing and pulling action of the steering rod 145 cause the ball joint shaft 14 to wobble in the spherical groove 144, thereby causing the first spiral cone 12 to turn in a specific direction. In conjunction with the second motor 151 driving the rotating component 15, the electric cylinder 146, the steering rod 145, the ball joint shaft 14, the third motor 121, and the first spiral cone 12 to rotate as a whole, the first spiral cone 12 can achieve 360-degree all-around steering. The third motor 121 can drive the first spiral cone 12 alone and generate steering power by utilizing the reaction force on the sand. In practical applications, to ensure the reaction force on the sand during rotation, this invention provides a first cylinder 11 with a first cylinder body and helical blades on the circumferential wall of the first cylinder body, and a first helical cone 12 with a hollow first cone and helical blades on the circumferential wall of the first cone. Thus, the rotation of the helical blades generates a reaction force on the sand. To improve the stability of the structure and steering movements, this invention provides eight support blocks 142 evenly distributed circumferentially.

[0025] As an optimization, this embodiment provides an annular first limiting groove 21 on the front peripheral wall of the vehicle body 2, and a first limiting ring platform 111 within the first limiting groove 21 is provided on the first spiral cylinder 11. This arrangement, through the cooperation of the first limiting ring platform 111 and the first limiting groove 21, improves the stability of the structure and rotational movement. Similarly, this embodiment provides an annular second limiting groove on the front peripheral wall of the steering shaft 141, and a second limiting ring platform 122 within the second limiting groove is provided on the first spiral cone 12. This arrangement, through the cooperation of the second limiting ring platform 122 and the second limiting groove, also improves the stability of the structure and rotational movement. To improve structural compactness, this embodiment provides a first groove 152 on the front side of the rotating component 15, and fixes the electric cylinder 146 in the first groove 152. Similarly, a second groove 147 is provided at the front end of the steering shaft 141, and the third motor 121 is fixed in the second groove 147. To facilitate the installation and fixation of the second motor 151, this specific embodiment includes an integral support plate 112 within the first spiral cylinder 11, and the second motor 151 is fixed to the support plate 112. It should be noted that the guide mechanism 1 is not limited to the methods listed above; other similar structures can also be used, as long as it can turn under sand, thus achieving the technical objective of this invention.

[0026] As an optimized solution, this specific embodiment adopts the following configuration for the propulsion mechanism 3: it includes a bracket and four propellers. The bracket is equipped with a mounting plate 33 and a mounting disk 32 fixedly connected by a central rod 31. The mounting disk 32 is coaxially fixed to the rear end of the vehicle body 2, and the mounting plate 33 is in the shape of a four-petal flower. The propellers are equipped with second spiral cylinders 34 and second spiral cones 35. The second spiral cylinders 34 of the four propellers are distributed circumferentially between the mounting disk 32 and the mounting plate 33, and are coaxially fixedly connected to the four fourth motors 36 fixed in the vehicle body 2. The second spiral cones 35 of the four propellers are distributed circumferentially on the rear side of the mounting plate 33, and are coaxially fixedly connected to the second spiral cylinders 34 through connecting shafts passing through the mounting plate 33. The propulsion mechanism 3 features a compact structure, convenient operation, strong adaptability, and stable reliability. By rotating the four propellers in the same direction, propulsion force is generated using the reaction force against the sand. By rotating the symmetrically distributed propellers in opposite directions, a yaw torque in a specific direction is generated using the reaction force against the sand. Combined with the guide mechanism 1, steering becomes more convenient and faster. It should be noted that the aforementioned symmetrically distributed propellers refer to the upper two propellers and the lower two propellers being symmetrically distributed, or the left two propellers and the right two propellers being symmetrically distributed. In practical applications, to ensure the reaction force against the sand during rotation, the second spiral cylinder 34 is equipped with a second cylinder body and spiral blades on the peripheral wall of the second cylinder body, and the second spiral cone 35 is equipped with a hollow second cone and spiral blades on the peripheral wall of the second cone. Thus, the rotation of the spiral blades generates a reaction force against the sand. Furthermore, it should be noted that the propulsion mechanism 3 is not limited to the above-listed methods and can adopt other equivalent or similar structural forms, as long as it can generate propulsion force under the sand, the technical objective of this invention can be achieved.

[0027] In a specific embodiment, the present invention provides the vehicle body 2 with a detachable and fixedly connected upper housing 22 and lower housing 23 to facilitate the disassembly and placement of the load 100. A protective support 24 for supporting the load 100 is provided in the lower housing 23 to improve safety and reliability. The first motor 13 is coaxially fixed in the front end cavity of the vehicle body 2 to enhance structural compactness. As an optimization, this specific embodiment adopts the following structural configuration for the outrigger 4: including a foot 41, a lower leg 42, and a thigh 43. The foot 41 is hinged to the lower end of the lower leg 42 via an ankle joint pivot. The upper end of the lower leg 42 is hinged to the lower end of the thigh 43 via a knee joint pivot that is vertically fixed. The thigh 43 is provided with a knee joint motor 44 that is coaxially fixedly connected to the knee joint pivot. The upper end of the thigh 43 is hinged to a hip joint bracket 45 via a hip joint pivot that is vertically fixed. The hip joint bracket 45 is provided with a hip joint motor 46 that is coaxially fixedly connected to the hip joint pivot. The hip joint bracket 45 is also equipped with a turntable 47 and a steering motor 48 that drives the turntable 47 to rotate. The outrigger 4 is fixedly mounted to the vehicle body 2 via the steering motor 48. The above configuration forms a biomimetic ostrich leg structure 4, characterized by its simple structure, convenient operation, flexible movement, and strong adaptability. Driven by the knee joint motor 44, the lower leg 42 and foot 41 rotate around the knee joint axis. Driven by the hip joint motor 46, the thigh 43, lower leg 42, and foot 41 rotate around the hip joint axis. Driven by the steering motor 48, the hip joint support 45, thigh 43, lower leg 42, and foot 41 rotate around the turntable 47. By coordinating the movement of these components according to the leg control logic, the leg 4 can perform actions such as lifting, folding, and forward movement. Through comprehensive control logic, the coordinated movement of the four legs 4 enables walking. To increase friction and enhance sand-fixing effect, this specific embodiment also includes a biomimetic ostrich foot protrusion 411 on the lower side of the foot 41. It should be noted that the control logic for the outriggers and the integrated control logic for the four outriggers are not part of the technical content of this invention. That is, how to control the outriggers to achieve leg lifting, folding, and forward movement functions, and how to control the four outriggers 4 to achieve walking functions, are well-known to those skilled in the art and will not be elaborated upon here. Additionally, it should be pointed out that the coaxial fixed connection with each motor mentioned herein refers to a coaxial fixed connection with the output of each motor, and the hinge connection with the electric cylinder refers to a hinge connection with the piston rod of the electric cylinder.

[0028] Practical application has shown that the four-legged desert vehicle provided by this invention can produce the following beneficial effects: a) The larger foot area effectively reduces the ground pressure of the desert vehicle, preventing it from sinking into the sand and becoming difficult to pass; the biomimetic ostrich foot protrusions on the lower side of the feet effectively increase friction and enhance sand-fixing effect. b) To reduce friction during movement under the sand, this invention also incorporates biomimetic lizard scales on the vehicle surface. c) Due to the uneven desert terrain and winds from all directions, this invention designs the desert vehicle's center of gravity to be low, effectively preventing rollovers, slippage, and sinking caused by inability to adapt to the rugged desert terrain, thus improving maneuverability and load stability and reliability. d) The desert vehicle can travel on the sand and under a certain sand depth, providing strong concealment; and it is equipped with a sealing device to ensure the safety of the load and internal components.

[0029] The above embodiments are merely descriptions of preferred embodiments of the present invention and are not intended to limit the scope of protection of the present invention. Various modifications made by those skilled in the art based on the technical solutions of the present invention without departing from the design concept of the present invention should fall within the scope of protection defined by the claims of the present invention.

Claims

1. A four-legged desert vehicle, characterized in that, The vehicle includes a guide mechanism (1), a vehicle body (2), and a propulsion mechanism (3) connected sequentially from front to back, as well as a walking mechanism mounted on the vehicle body (2). The guide mechanism (1) is used for the desert vehicle to change its direction of movement under the sand. The vehicle body (2) is used to carry the load. The propulsion mechanism (3) is used for the desert vehicle to generate propulsion force under the sand. The walking mechanism includes four outriggers (4) and is used for the desert vehicle to walk on the sand. The guide mechanism (1) includes a first spiral cylinder (11) and a first spiral cone (12). The rear end of the first spiral cylinder (11) is coaxially sleeved on the front end of the vehicle body (2) and coaxially fixedly connected to a first motor (13) fixed on the vehicle body (2). The first spiral cylinder (11) is provided with a ball joint shaft (14) and a rotating part (15). The ball joint shaft (14) includes a steering shaft (141) in the front-rear direction. The steering shaft (141) is provided with multiple support blocks (142) that are integral with it and distributed circumferentially. The support blocks (142) The end of the first spiral cone (12) is fitted with a steel ball (143) through a ball socket. The steel ball (143) is in a spherical groove (144) fixed on the first spiral cylinder (11). The rear end of the steering shaft (141) is hinged to a steering rod (145) through a pin. The steering rod (145) is hinged to an electric cylinder (146) fixed on a rotating part (15) through a pin. The rotating part (15) is coaxially sleeved in the first spiral cylinder (11) and coaxially fixedly connected to a second motor (151) fixed in the first spiral cylinder (11). The rear middle part of the first spiral cone (12) is coaxially sleeved on the front end of the steering shaft (141) and coaxially fixedly connected to a third motor (121) fixed on the steering shaft (141). The vehicle body (2) includes a detachably fixed upper shell (22) and a lower shell (23). The lower shell (23) is provided with a protective support (24) to support the load. The first motor (13) is coaxially fixed in the front end cavity of the vehicle body (2).

2. A quadruped desert vehicle according to claim 1, characterized in that, The front peripheral wall of the vehicle body (2) is provided with an annular first limiting groove (21), the first spiral cylinder (11) is provided with a first limiting ring platform (111) in the first limiting groove (21), the front peripheral wall of the steering shaft (141) is provided with an annular second limiting groove, and the first spiral cone (12) is provided with a second limiting ring platform (122) in the second limiting groove.

3. A quadruped desert vehicle according to claim 2, characterized in that, The front side of the rotating component (15) is provided with a first groove (152), the electric cylinder (146) is fixed in the first groove (152), the first spiral cylinder (11) is provided with a support plate (112) integral with it, the second motor (151) is fixed on the support plate (112), the front end of the steering shaft (141) is provided with a second groove (147), and the third motor (121) is fixed in the second groove (147).

4. A quadruped desert vehicle according to claim 3, characterized in that, The first spiral cylinder (11) includes a first cylinder body and spiral blades disposed on the peripheral wall of the first cylinder body; the first spiral cone (12) includes a hollow first cone and spiral blades disposed on the peripheral wall of the first cone; the support block (142) is provided in eight parts.

5. A quadruped desert vehicle according to claim 1, characterized in that, The propulsion mechanism (3) includes a bracket and four propellers. The bracket includes a mounting plate (33) and a mounting disk (32) fixedly connected by a central rod (31). The mounting disk (32) is coaxially fixed to the rear end of the vehicle body (2). The mounting disk (33) is in the shape of a four-petal flower. The propellers include a second spiral cylinder (34) and a second spiral cone (35). The second spiral cylinders (34) of the four propellers are distributed circumferentially between the mounting disk (32) and the mounting disk (33), and are coaxially fixedly connected to the four fourth motors (36) fixed in the vehicle body (2) one by one. The second spiral cones (35) of the four propellers are distributed circumferentially on the rear side of the mounting disk (33), and are coaxially fixedly connected to the second spiral cylinders (34) one by one through the connecting shaft passing through the mounting disk (33).

6. A quadruped desert vehicle according to claim 5, characterized in that, The second spiral cylinder (34) includes a second cylinder body and spiral blades disposed on the peripheral wall of the second cylinder body, and the second spiral cone (35) includes a hollow second cone and spiral blades disposed on the peripheral wall of the second cone.

7. A quadruped desert vehicle according to claim 1, characterized in that, The outrigger (4) includes a foot (41), a lower leg (42) and a thigh (43). The foot (41) is hinged to the lower end of the lower leg (42) via an ankle joint pivot. The upper end of the lower leg (42) is hinged to the lower end of the thigh (43) via a knee joint pivot that is vertically fixed. The thigh (43) is provided with a knee joint motor (44) that is coaxially fixedly connected to the knee joint pivot. The upper end of the thigh (43) is hinged to a hip joint support (45) via a hip joint pivot that is vertically fixed. The hip joint support (45) is provided with a hip joint motor (46) that is coaxially fixedly connected to the hip joint pivot. The hip joint support (45) is also equipped with a turntable (47) and a steering motor (48) that drives the turntable (47) to rotate.

8. A quadruped desert vehicle according to claim 7, characterized in that, The leg (4) is a biomimetic ostrich leg, and the lower side of the foot (41) is provided with a biomimetic ostrich foot protrusion (411).

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