Amphibious wheel and control method thereof

Abstract

The invention provides an amphibious wheel and a control method thereof, the amphibious wheel solves the problem that the thrust of an amphibious vehicle is small, the amphibious wheel comprises an onshore walking mechanism and a wading propelling mechanism which are integrally installed at the lower end of a vehicle body, and the wading propelling mechanism comprises a rotating disc which can be movably contained in the onshore walking mechanism; a telescopic driving assembly and a rotation driving assembly are installed between the rotating disc and the wading propelling mechanism, a plurality of paddles are rotationally installed on the rotating disc in the circumferential direction, a linkage assembly in linkage with the rotation driving assembly is installed between the paddles and the rotating disc, and the paddles are driven by the rotation driving assembly to revolve along with the rotating disc. The paddles are driven by the linkage assembly to rotate relative to the rotating disc. The device has the advantages of being large in pushing force, small in energy loss, capable of flexibly switching motion modes, stable in water entering and landing and the like.

Description

Technical Field

[0001] The invention belongs to the technical field of amphibious vehicles, and in particular relates to an amphibious wheel and a control method thereof. Background Art

[0002] Amphibious equipment such as wading vehicles and amphibious tanks have the dual functions of cars and ships. They can travel on land like cars and float on water like ships. Because they have the ability to travel on land and water, they can cross rivers, lakes and seas without being restricted by bridges or ships. Therefore, they have special significance and use value in transportation. Existing amphibious equipment is supported and driven by wheels and tracks on land. In water, it mainly relies on its own buoyancy to float on the water surface, and the propellers and water jets attached to the vehicle push the vehicle to move in the water. Recently, there have been cases where wading vehicles only rely on the wheels to rotate and paddle in the water to generate a small amount of thrust to maneuver in the water. Amphibious equipment uses attached propellers, water jets and other devices. Although it can obtain a large power output and improve thrust, its power transmission mechanism is complex, the layout is loose, and the propulsion efficiency is not high, and the energy loss is large. Although the technical solution of wading vehicles relying on wheels to rotate and paddle in the water has a simple power transmission mechanism, it can only absorb very little engine power and has extremely low propulsion efficiency. The thrust generated is extremely small and cannot meet the maneuvering requirements of wading vehicles in the water.

[0003] In order to solve the deficiencies of the prior art, people have conducted long-term exploration and proposed various solutions. For example, the Chinese patent document discloses a light amphibious patrol vehicle [201921961709.2], which includes a frame, the frame is a metal profile, welded into a body, the body is filled with polyurethane foam material, two groups of four paddle wheels are symmetrically installed on both sides of the frame, and bearings are installed at both ends of the paddle wheel center shaft. The bearings are fixed on the paddle wheel bracket, and a bracket is installed on the frame in the middle of a group of paddle wheels at the rear. The bracket is equipped with a motor reducer, and the output shaft end of the motor reducer is equipped with a sprocket, which is rotatably connected to the sprocket installed on the paddle wheel center shaft through a chain, and the front and rear paddle wheels are connected by a chain transmission through the sprocket on the paddle wheel center shaft, and a generator bracket is provided on the rear frame, and the generator is fixed on the generator bracket.

[0004] The above solution solves the problem of propulsion of water-crossing vehicles to a certain extent, but the solution still has many shortcomings, such as low thrust and large energy loss. Summary of the invention

[0005] The purpose of the present invention is to provide an amphibious vehicle propeller with reasonable design and large thrust in view of the above problems.

[0006] Another object of the present invention is to provide a control method for an amphibious vehicle propeller with low energy loss in order to solve the above-mentioned problem.

[0007] To achieve the above-mentioned purpose, the present invention adopts the following technical solutions: an amphibious wheel, comprising a land walking mechanism and a wading propulsion mechanism integrated at the lower end of the vehicle body, the wading propulsion mechanism comprising a rotating disk movably housed in the land walking mechanism, a telescopic driving assembly and a rotating driving assembly are installed between the rotating disk and the wading propulsion mechanism, a plurality of paddle blades are installed on the rotating disk for circumferential rotation, a linkage assembly linked to the rotating drive assembly is installed between the paddle blades and the rotating disk, the paddle blades are driven by the rotating drive assembly to revolve with the rotating disk, and the paddle blades are driven by the linkage assembly to rotate relative to the rotating disk.

[0008] In the above-mentioned amphibious wheel, the wading propulsion mechanism includes a propeller housing movably housed in the land walking mechanism, a rotating disk rotatably installed in the propeller housing, a blade cover plate is connected to the center of the propeller housing through a central axis, and the blades are installed between the rotating disk and the blade cover plate.

[0009] In the above-mentioned amphibious wheel, the linkage assembly includes a central gear fixed on the central shaft, the paddles are respectively connected to paddle gears rotatably mounted on a rotating disk and an adjusting motor is arranged between them, the central gear and the paddle gears are respectively meshed and transmitted with a bridge gear and the bridge gear is rotatably connected to the rotating disk.

[0010] In the above-mentioned amphibious wheel, the rotary drive assembly includes a propulsion motor fixedly connected to the propeller housing, the propulsion motor is transmission-connected to a driving spindle, and the driving spindle is fixedly connected to the rotating disk.

[0011] In the above-mentioned amphibious wheel, the telescopic drive assembly includes a telescopic motor installed in the land walking mechanism, the telescopic motor and the propeller housing are equipped with a driving screw for driving the axial movement of the wading propulsion mechanism, and a limiting guide rail is arranged between the propeller housing and the land walking mechanism to limit the movement trajectory of the wading propulsion mechanism.

[0012] In the above-mentioned amphibious wheel, the land walking mechanism includes a fixed wheel hub fixed under the vehicle body through a shock absorbing system and a connecting piece, a wheel-side motor is fixed on the fixed wheel hub and the connecting piece of the shock absorbing system, a rotating wheel hub is rotatably installed in the fixed wheel hub and a wading propulsion mechanism is installed in the rotating wheel hub, the wheel-side motor is meshed and transmitted with the rotating wheel hub through a reduction gear, and a tire is installed on the outer side of the rotating wheel hub.

[0013] In the above-mentioned amphibious wheel, the vehicle body includes a wheeled vehicle and a tracked vehicle.

[0014] A method for controlling an amphibious wheel comprises the following steps: S1: The vehicle body is traveling on land and is independently driven by the land traveling mechanism, and the wading propulsion mechanism is in the storage state; S2: The vehicle enters the wading state, and the wading propulsion mechanism is in the extended state and provides propulsion force independently; S3: The vehicle body is in the state of entering water or landing, and the land walking mechanism and the wading propulsion mechanism work simultaneously and provide propulsion force together.

[0015] In the above-mentioned method for controlling an amphibious wheel, step S2 comprises the following steps: S21: The vehicle body moves forward and backward, the fixed wheel hubs and the rotating wheel hubs at the front and rear of the vehicle body return to the center, the wading propulsion mechanism is started, and the rotating disk drives the blades to rotate to provide forward or backward driving force; S22: The vehicle body turns, the fixed wheel hub and the rotating wheel hub in front of the vehicle body deflect, and the rotating disks of the wading propulsion mechanisms on both sides in front of the vehicle body generate a rotation speed difference; S23: The vehicle body turns around, the fixed wheels and rotating wheels at the front and rear of the vehicle body return to the correct position, and the rotating disks of the wading propulsion mechanisms on both sides of the vehicle body rotate in opposite directions; S24: The vehicle body moves sideways, the fixed wheel hubs and the rotating wheel hubs at the front and rear of the vehicle body deflect and flip in opposite directions, the wading propulsion mechanism is started, and the rotating disk drives the blades to rotate to provide driving force to the left or right.

[0016] In the above-mentioned control method of an amphibious wheel, when the paddles revolve with the rotating disk in step S2 and step S3, the paddle gear and the center gear rotate around it at a transmission ratio of 1:2, that is, the rotating disk rotates one circle and the paddles rotate half a circle around their own axes.

[0017] Compared with the existing technology, the advantages of the present invention are: the paddle blades rotate while revolving with the rotating disk, so that the wading propulsion mechanism obtains a larger propulsion area, thereby ensuring the thrust effect of the propeller; the telescopic component can realize the flexible storage of the paddle blades, and the storage of the paddle blades has a better protective effect in the land state; the vehicle can rotate the steering wheel in the water to change the direction of the front wheels in a way that simulates the way of maneuvering the vehicle on land, and can simulate the turning trajectory of the vehicle on land, which is convenient for ordinary drivers to operate the vehicle; the land walking mechanism and the wading propulsion mechanism have high movement flexibility, and the vehicle body's travel mode can be flexibly switched in the wading state, and forward and backward thrust can be generated in the water, so that the vehicle can complete forward, backward, steering, on-the-spot rotation and lateral movement. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the wheel arrangement of the present invention.

[0019] Figure 2 It is a schematic diagram of the onshore state of the present invention.

[0020] Figure 3 It is a schematic diagram of the wading state of the present invention.

[0021] Figure 4 It is a cross-sectional view of the land state of the present invention.

[0022] Figure 5 It is a cross-sectional view of the present invention in a wading state.

[0023] Figure 6 It is a schematic diagram of the vehicle appearance of the present invention.

[0024] Figure 7 It is a schematic diagram of blade swing of the present invention.

[0025] Figure 8 It is a schematic diagram of the revolution, rotation and thrust of the blade of the present invention.

[0026] Fig. 9 It is a schematic diagram of the wading maneuver of the present invention.

[0027] In the figure, the vehicle body 1, the land walking mechanism 2, the shock absorbing system 21, the fixed wheel hub 22, the wheel side motor 23, the rotating wheel hub 24, the reduction gear 25, the tire 26, the wading propulsion mechanism 3, the propeller housing 31, the central shaft 32, the blade cover plate 33, the rotating disk 4, the telescopic drive assembly 5, the telescopic motor 51, the driving screw 52, ​​the limiting guide rail 53, the rotating drive assembly 6, the propulsion motor 61, the driving main shaft 62, the blade 7, the linkage assembly 8, the central gear 81, the blade gear 82, and the bridge gear 83. DETAILED DESCRIPTION

[0028] The present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0029] like Figure 1-9 As shown, an amphibious wheel includes a land walking mechanism 2 and a wading propulsion mechanism 3 which are integrated and installed at the lower end of a vehicle body 1. The land walking mechanism 2 meets the land walking requirements of the vehicle body 1, and the wading propulsion mechanism 3 is started in the wading state. When landing or entering the water, the land walking mechanism 2 and the wading propulsion mechanism 3 are started synchronously to provide additional driving force.

[0030] Similar to the existing paddle wheel drive structure, the wading propulsion mechanism 3 in this embodiment includes a rotating disk 4 that can be movably stored in the land walking mechanism 2. A telescopic driving component 5 and a rotating driving component 6 are installed between the rotating disk 4 and the wading propulsion mechanism 3. The rotating disk 4 is installed with a plurality of paddle blades 7 along the circumferential rotation. In order to increase the driving force, a linkage component 8 that is linked to the rotating driving component 6 is installed between the paddle blade 7 and the rotating disk 4. The paddle blade 7 is driven by the rotating driving component 6 to revolve with the rotating disk 4, and the paddle blade 7 is driven by the linkage component 8 to rotate relative to the rotating disk 4. The paddle blade 7 can flexibly adjust the circumferential angle. When the paddle blade 7 contacts the water body or a larger driving force is applied, the external resistance is reduced when the paddle blade 7 leaves the water surface.

[0031] Specifically, the wading propulsion mechanism 3 includes a propeller housing 31 movably stored in the land traveling mechanism 2, the rotating disk 4 is rotatably installed in the propeller housing 31, the center of the propeller housing 31 is connected to a blade cover plate 33 through a central axis 32, and the blades 7 are installed between the rotating disk 4 and the blade cover plate 33. The blade cover plate 33 can hide the blades 7 in the land traveling mechanism 2, and play a better protective role on the blades 7.

[0032] In depth, the overall structure of the linkage assembly 8 is similar to a planetary gear set, specifically including a central gear 81 fixed on the central shaft 32, and the blades 7 are respectively connected to blade gears 82 rotatably mounted on the rotating disk 4, and the central gear 81 and the blade gear 82 are respectively meshed and transmitted with a bridge gear 83, and the bridge gear 83 is rotatably connected to the rotating disk 4. In order to further improve the adjustment flexibility of the blade 7, an independent adjustment motor is also installed between the blade gear 82 and the blade 7 to further adjust the circumferential angle of the blade 7 relative to the blade gear 82, and further adjust the angle state of the blade 7 according to the different draft depths of the vehicle body 1.

[0033] Furthermore, the rotary drive assembly 6 includes a propulsion motor 61 fixedly connected to the propeller housing 31, the propulsion motor 61 is transmission-connected to a drive spindle 62, and the drive spindle 62 is fixedly connected to the rotating disk 4. When the propulsion motor 61 is started, the drive spindle 62 drives the rotating disk 4 to rotate relative to the land walking mechanism 2. Since an independent propulsion motor 61 is used, synchronous or asynchronous operation with the wheel side motor 23 can be achieved.

[0034] Furthermore, the telescopic drive assembly 5 controls the switching of the storage state of the wading propulsion mechanism 3, and cooperates with the corresponding sensor elements and control elements to realize the automatic switching of landing or launching. It specifically includes a telescopic motor 51 installed in the land walking mechanism 2, and the telescopic motor 51 and the propeller housing 31 are installed with a driving screw 52 that drives the wading propulsion mechanism 3 to move axially, and a limiting guide rail 53 is provided between the propeller housing 31 and the land walking mechanism 2 to limit the activity track of the wading propulsion mechanism 3. The driving screw 52 rotates to drive the propeller housing 31 to move and is circumferentially limited by the limiting guide rail 53.

[0035] In addition, the land walking mechanism 2 includes a fixed wheel hub 22 fixed to the bottom of the vehicle body 1 through a shock absorbing system 21 and a connecting piece, a wheel side motor 23 is fixed to the fixed wheel hub 22 and the connecting piece of the shock absorbing system 21, a rotating wheel hub 24 is rotatably installed in the fixed wheel hub 22, and the wading propulsion mechanism 3 is installed in the rotating wheel hub 24, the wheel side motor 23 is meshed and transmitted with the rotating wheel hub 24 through a reduction gear 25, and a tire 26 is installed on the outer side of the rotating wheel hub 24. Since the wheel side motor 23 is driven, the wheel side motor 23 adopts a servo motor, and the driving power and forward and reverse rotation can be flexibly adjusted. The land walking mechanism 2 is located below the vehicle body 1, so that the bottom of the vehicle body 1 is in a higher position, and the shock absorbing system 21 is cooperated to ensure the vehicle's passability. The wheel side motor 23 can adopt a traditional mechanical transmission method.

[0036] Meanwhile, the vehicle body 1 includes a wheeled vehicle and a tracked vehicle. When a wheeled vehicle structure is adopted, the bottom of the vehicle body 1 is a ship-shaped structure and the wading propulsion mechanism 3 is below the water surface. If a tracked vehicle is adopted, the vehicle body 1 is equipped with an induction wheel connected to the track drive at the front and rear, and the induction wheel is equipped with a water-sliding wing.

[0037] A control method for an amphibious wheel, which is applicable to a variety of traveling environments, specifically comprises the following steps: S1: the vehicle body 1 is traveling on land and is independently driven by the land traveling mechanism 2, and the wading propulsion mechanism 3 is in the storage state; S2: the vehicle body 1 enters the wading state, and the wading propulsion mechanism 3 is in the extended state and independently provides propulsion force; S3: The vehicle body 1 is in the state of entering the water or landing, and the land walking mechanism 2 and the wading propulsion mechanism 3 work simultaneously and provide propulsion force together. The working mode can be flexibly selected in steps S1 to S3, especially in step S3, the synchronous drive method is used to provide additional driving force to ensure smooth landing or entering the water.

[0038] It can be seen that step S2 includes the following steps: S21: the vehicle body 1 moves forward and backward, the fixed hubs 22 and the rotating hubs 24 at the front and rear of the vehicle body 1 return to the center, the wading propulsion mechanism 3 is started, and the rotating disk 4 drives the blades 7 to rotate to provide forward or backward driving force; S22: the vehicle body 1 turns, the fixed wheel hub 22 and the rotating wheel hub 24 in front of the vehicle body 1 deflect, and the rotating disks 4 of the wading propulsion mechanisms 3 on both sides in front of the vehicle body 1 generate a rotation speed difference; S23: the vehicle body 1 turns around, the fixed wheel hubs 22 and the rotating wheel hubs 24 at the front and rear of the vehicle body 1 return to the correct position, and the rotating disks 4 of the wading propulsion mechanisms 3 at both sides of the vehicle body 1 rotate in opposite directions; S24: The vehicle body 1 moves sideways, the fixed hubs 22 and rotating hubs 24 at the front and rear of the vehicle body 1 deflect and flip in opposite directions, the wading propulsion mechanism 3 is activated, and the rotating disk 4 drives the blades 7 to rotate to provide a driving force to the left or right. In this step, since the angle of the blades 7 can be adjusted by adjusting the motor, the blades 7 are arranged in a spiral relative to the rotating disk 4, and the rotating disk 4 rotates to provide a driving force. The driving force output by the rotating disk 4 and the blades 7 on the same side forms a combined force, driving the vehicle body 1 to translate toward one side.

[0039] Obviously, when the blade 7 revolves with the rotating disk 4 in step S2 and step S3, the blade gear 82 and the central gear 81 rotate around it at a transmission ratio of 1:2, that is, the rotating disk 4 rotates one circle, and the blade 7 rotates half a circle around its own axis. When the blade 7 revolves and moves from top to bottom, the blade 7 rotates relative to the rotating disk 4 and switches from a horizontal state to a vertical state, thereby obtaining a larger pushing area and obtaining the maximum driving force. When the blade 7 revolves and moves from top to bottom, the blade 7 rotates relative to the rotating disk 4 and switches from a vertical state to a horizontal state, and the blade 7 is separated from the water body, and the wind resistance is reduced by reducing the windward area when swinging above the water surface.

[0040] Since an adjusting motor is provided between the paddle 7 and the paddle gear 82, as the draft of the vehicle body 1 increases, the adjusting motor drives the paddle 7 to rotate relative to the paddle gear 82, thereby increasing the height of the paddle 7 when switching from a horizontal state to a vertical state. As the contact time between the paddle 7 and the water body increases, the time that the paddle 7 maintains the vertical state is also extended, thereby further increasing the driving force.

[0041] To sum up, the principle of this embodiment is that the wading propulsion mechanism 3 is movably stored in the land walking mechanism 2 and unfolded when entering the wading state. At the same time, the rotating disk 4 is driven to rotate by the rotating drive component 6, and the paddle blades 7 revolve with the rotating disk 4 and rotate under the action of the linkage component 8, thereby obtaining a larger propulsion area and driving force.

[0042] The specific embodiments described herein are merely examples of the spirit of the present invention. Those skilled in the art may make various modifications or additions to the specific embodiments described or replace them in similar ways, but they will not deviate from the spirit of the present invention or exceed the scope defined by the appended claims.

[0043] Although the text uses more terms such as vehicle body 1, land travel mechanism 2, shock absorbing system 21, fixed wheel hub 22, wheel side motor 23, rotating wheel hub 24, reduction gear 25, tire 26, wading propulsion mechanism 3, propeller housing 31, central shaft 32, blade cover plate 33, rotating disk 4, telescopic drive assembly 5, telescopic motor 51, driving screw 52, ​​limiting guide rail 53, rotating drive assembly 6, propulsion motor 61, driving main shaft 62, blade 7, linkage assembly 8, central gear 81, blade gear 82, bridge gear 83, etc., it does not exclude the possibility of using other terms. The use of these terms is only for the purpose of more conveniently describing and explaining the essence of the present invention; interpreting them as any additional restrictions is contrary to the spirit of the present invention.

Claims

1. An amphibious wheel, comprising a land walking mechanism (2) and a wading propulsion mechanism (3) integrally mounted at the lower end of a vehicle body (1), characterized in that: The wading propulsion mechanism (3) comprises a rotating disk (4) which can be movably accommodated in the land walking mechanism (2); a telescopic driving assembly (5) and a rotating driving assembly (6) are installed between the rotating disk (4) and the wading propulsion mechanism (3); a plurality of paddle blades (7) are installed on the rotating disk (4) so ​​as to rotate in a circumferential direction; a linkage assembly (8) which is linked to the rotating driving assembly (6) is installed between the paddle blades (7) and the rotating disk (4); the paddle blades (7) are driven by the rotating driving assembly (6) to revolve along the rotating disk (4); and the paddle blades (7) are driven by the linkage assembly (8) to rotate relative to the rotating disk (4).

2. The amphibious wheel according to claim 1, characterized in that: The wading propulsion mechanism (3) comprises a propeller housing (31) movably housed in the land walking mechanism (2); the rotating disk (4) is rotatably mounted in the propeller housing (31); the center of the propeller housing (31) is connected to a blade cover plate (33) via a central axis (32); and the blade (7) is mounted between the rotating disk (4) and the blade cover plate (33).

3. The amphibious wheel according to claim 2, characterized in that: The linkage assembly (8) comprises a central gear (81) fixed on the central shaft (32); the blades (7) are respectively connected to blade gears (82) rotatably mounted on the rotating disk (4), and an adjustment motor is arranged between them; the central gear (81) and the blade gears (82) are respectively meshed and transmitted with a bridge gear (83), and the bridge gear (83) is rotatably connected to the rotating disk (4).

4. The amphibious wheel according to claim 2, characterized in that: The rotary drive assembly (6) comprises a propulsion motor (61) fixedly connected to the propeller housing (31), the propulsion motor (61) being drivingly connected to a drive spindle (62), and the drive spindle (62) being fixedly connected to the rotating disk (4).

5. The amphibious wheel according to claim 2, characterized in that: The telescopic drive assembly (5) comprises a telescopic motor (51) installed in the land traveling mechanism (2); a driving screw (52) for driving the wading propulsion mechanism (3) to move axially is installed between the telescopic motor (51) and the thruster housing (31); and a limiting guide rail (53) for limiting the moving track of the wading propulsion mechanism (3) is provided between the thruster housing (31) and the land traveling mechanism (2).

6. The amphibious wheel according to claim 1, characterized in that: The land walking mechanism (2) comprises a fixed wheel hub (22) fixed to the bottom of the vehicle body (1) via a shock absorbing system (21) and a connecting piece, a wheel side motor (23) being fixed to the fixed wheel hub (22) and the connecting piece of the shock absorbing system (21), a rotating wheel hub (24) being rotatably mounted in the fixed wheel hub (22) and the wading propulsion mechanism (3) being mounted in the rotating wheel hub (24), the wheel side motor (23) being meshed and driven with the rotating wheel hub (24) via a reduction gear (25), and a tire (26) being mounted on the outer side of the rotating wheel hub (24).

7. The amphibious wheel according to claim 1, characterized in that: The vehicle body (1) includes a wheeled vehicle and a tracked vehicle.

8. A method for controlling an amphibious wheel, which adopts an amphibious wheel according to any one of claims 1 to 7, characterized in that: The steps include: S1: the vehicle body (1) is traveling on land and is independently driven by the land traveling mechanism (2), and the wading propulsion mechanism (3) is in a retracted state; S2: the vehicle body (1) enters a wading state, and the wading propulsion mechanism (3) is in an extended state and independently provides propulsion force; S3: The vehicle body (1) is in a state of entering water or landing, and the land walking mechanism (2) and the wading propulsion mechanism (3) work simultaneously and jointly provide propulsion force.

9. The method for controlling an amphibious wheel according to claim 8, characterized in that: The step S2 comprises the following steps: S21: the vehicle body (1) moves forward and backward, the fixed wheel hubs (22) and the rotating wheel hubs (24) at the front and rear of the vehicle body (1) return to the center, the wading propulsion mechanism (3) starts, and the rotating disk (4) drives the paddle blades (7) to rotate to provide a forward or backward driving force; S22: the vehicle body (1) turns, the fixed wheel hub (22) and the rotating wheel hub (24) in front of the vehicle body (1) deflect, and the rotating disks (4) of the wading propulsion mechanisms (3) on both sides in front of the vehicle body (1) generate a rotation speed difference; S23: the vehicle body (1) turns around, the fixed wheel hubs (22) and the rotating wheel hubs (24) at the front and rear of the vehicle body (1) return to the correct position, and the rotating disks (4) of the wading propulsion mechanisms (3) at both sides of the vehicle body (1) rotate in opposite directions; S24: The vehicle body (1) moves sideways, the fixed wheel hubs (22) and the rotating wheel hubs (24) at the front and rear of the vehicle body (1) deflect and flip in opposite directions, the wading propulsion mechanism (3) is started, and the rotating disk (4) drives the paddle blades (7) to rotate to provide a driving force to the left or right.

10. The method for controlling an amphibious wheel according to claim 8, characterized in that: In the above-mentioned steps S2 and S3, when the blade (7) revolves with the rotating disk (4), the blade gear (82) and the central gear (81) rotate around it at a transmission ratio of 1:2, that is, when the rotating disk (4) rotates one circle, the blade (7) rotates half a circle around its own axis.

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