Amphibious vehicle and running and steering system thereof

Abstract

The invention relates to an amphibious vehicle and a running and steering system thereof. The running and steering system of the amphibious vehicle comprises wheels, a suspension swing arm connected to a vehicle frame, a steering gear and a driver. The wheel comprises a rim and a spoke assembly. The spoke assembly comprises a center connecting piece arranged in the rim in a sleeved mode and blades connected between the center connecting piece and the rim. The steering gear is connected to the center connecting piece through the suspension swing arm and used for controlling the turning angle of the wheels. The driver is connected to the center connecting piece through the half shaft and used for controlling rotation of the wheels, and the blades can push the amphibious vehicle to run and steer by controlling the rotation direction and the rotation angle of the wheels. According to the driving and steering system of the amphibious vehicle, a power source and a transmission structure do not need to be additionally arranged, the structure is simple, light weight of the whole vehicle is facilitated, and cost is lower; and the wheels are directly connected with a power system of the vehicle, so that larger torque and thrust can be provided, and the vehicle can run faster in water.

Description

Technical Field

[0001] The present disclosure relates to the technical field of amphibious vehicles, and in particular to an amphibious vehicle and a driving and steering system thereof. Background Art

[0002] In the related technologies, amphibious vehicles are all made by improving the sealing of ordinary vehicles so that they can act as a hull, and then adding a propeller and its drive to the car. This solution is simply a combination of the boat driving mode and ordinary vehicles. The current solution has a series of problems such as complex structure, increased vehicle weight, high cost, relatively small thrust, etc., which is not conducive to driving and turning in water. Summary of the invention

[0003] The purpose of the present disclosure is to provide an amphibious vehicle and a driving and steering system thereof, wherein the driving and steering system of the amphibious vehicle is used to at least partially solve the related technical problems.

[0004] In order to achieve the above-mentioned object, the first aspect of the present disclosure provides a driving and steering system for an amphibious vehicle, comprising wheels, a suspension swing arm connected to a vehicle frame, a steering gear and a driver;

[0005] The wheel comprises a rim and a spoke assembly; the spoke assembly comprises a central connecting piece sleeved inside the rim, and blades connected between the central connecting piece and the rim;

[0006] The steering gear is connected to the central connecting member through the suspension swing arm to control the turning angle of the wheel; the driver is connected to the central connecting member through the half shaft to control the rotation of the wheel;

[0007] By controlling the rotation direction and the rotation angle of the wheels, the blades can propel the amphibious vehicle to travel and turn.

[0008] Optionally, the blades are fan-shaped and evenly distributed between the rim and the central connecting piece.

[0009] Optionally, the blades are configured to cause air or liquid to flow from the inner side of the wheel to the outer side of the wheel when the driver drives the wheel to rotate counterclockwise; and to cause air or liquid to flow from the outer side of the wheel to the inner side of the wheel when the driver drives the wheel to rotate clockwise; or

[0010] The blades are configured so that when the driver drives the wheel to rotate counterclockwise, air or liquid flows from the outside of the wheel to the inside of the wheel; and when the driver drives the wheel to rotate clockwise, air or liquid flows from the inside of the wheel to the outside of the wheel.

[0011] Optionally, the spoke assembly further comprises a plurality of spokes connected between the rim and the central connecting member;

[0012] The blade has an open state and a closed state;

[0013] In the open state, the blades are arranged obliquely relative to the plane where the plurality of spokes are located;

[0014] In the closed state, the blades are parallel to the plane where the plurality of spokes are located.

[0015] Optionally, the number of the blades is the same as the number of the spokes;

[0016] When the blades are in a closed state, the blades correspond to the spokes in a one-to-one manner in a direction perpendicular to a plane where the plurality of spokes are located.

[0017] Optionally, the steering gear is configured as a split steering gear.

[0018] Optionally, the wheels include a first left wheel and a first right wheel;

[0019] The suspension swing arm comprises a first suspension swing arm and a second suspension swing arm;

[0020] The steering gear comprises a first steering gear and a second steering gear;

[0021] The first steering gear is connected to the first left wheel through the first suspension swing arm; the second steering gear is connected to the first right wheel through the second suspension swing arm.

[0022] Optionally, the wheels further include a second left wheel and a second right wheel;

[0023] The suspension swing arm comprises a third suspension swing arm and a fourth suspension swing arm;

[0024] The steering gear includes a third steering gear and a fourth steering gear;

[0025] The third steering gear is connected to the second left wheel through the third suspension swing arm; the fourth steering gear is connected to the second right wheel through the fourth suspension swing arm.

[0026] Optionally, the driving and steering system includes a forward state in water, a backward state in water, a left turn state in water and a right turn state in water.

[0027] Optionally, the travel and steering system further comprises a state of rotation in place in water; and / or

[0028] The travel and steering system also includes a water inclined travel state.

[0029] According to a second aspect of the present disclosure, an amphibious vehicle is further provided, wherein the amphibious vehicle comprises the driving and steering system provided in the first aspect of the present disclosure.

[0030] Through the above technical solution, i.e., the driving and steering system of the amphibious vehicle disclosed in the present invention, the wheel includes a rim and a spoke assembly, the spoke assembly includes a central connecting piece sleeved inside the rim and blades connected between the central connecting piece and the rim, the steering gear is connected to the central connecting piece through a cantilever swing frame, and is used to control the turning angle of the wheel, and the driver is connected to the central connecting piece through a half shaft, and is used to drive the rotation of the wheel. When the amphibious vehicle is driving on land, the driver drives the wheel to rotate to achieve driving, and the steering gear controls the turning angle of the wheel to achieve steering; when driving in water, the driver drives the wheel to rotate to obtain power drive, and the steering gear controls the turning angle of the wheel through the suspension swing arm, and the cooperation of the two enables the blades of the wheel to generate power to drive the amphibious vehicle to drive and turn, for example, in the forward state in water, the backward state in water, the left turn state in water, and the right turn state in water. Compared with related technologies, the driving and steering system of this amphibious vehicle does not require additional power source and transmission structure, has a simple structure, is conducive to the lightweight of the entire vehicle, and has lower costs; and the wheels are directly connected to the vehicle's own power system, which can provide greater torque and thrust, allowing it to travel faster in water.

[0031] Other features and advantages of the present disclosure will be described in detail in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The accompanying drawings are used to provide a further understanding of the present disclosure and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the present disclosure but do not constitute a limitation of the present disclosure. In the accompanying drawings:

[0033] Figure 1 It is a structural diagram of the travel and steering system of an amphibious vehicle provided in some embodiments of the present disclosure.

[0034] Figure 2 It is a structural diagram of the wheels of the driving and steering system of an amphibious vehicle provided in some embodiments of the present disclosure.

[0035] Figure 3 It is a schematic diagram of the fluid flow inside the wheel when driving, wherein, when the wheel rotates counterclockwise, the air or liquid flows from the inside to the outside of the wheel.

[0036] Figure 4 It is a schematic diagram of different modes of single-axis left and right wheel steering in some embodiments of the present disclosure.

[0037] Figure 5 It is a top view of the left-turning structure of the front axle of the amphibious vehicle.

[0038] Figure 6 It is a structural diagram of a single front axle wheel of an amphibious vehicle moving forward in water.

[0039] Figure 7 It is a structural diagram of a single front axle wheel of an amphibious vehicle in the backward state in water.

[0040] Figure 8 It is a structural diagram of a single front axle wheel of an amphibious vehicle rotating in situ in water.

[0041] Fig. 9 It is a structural diagram of a single-axle wheel of an amphibious vehicle in the underwater steering state.

[0042] Fig.10 It is a structural diagram of a four-wheel drive and four-wheel independent amphibious vehicle, in which the four wheels work together to enable the amphibious vehicle to travel in water, wherein the front and rear wheels are both outward-facing.

[0043] Fig.11 The invention is a structural schematic diagram of a four-wheel drive and four-wheel independent amphibious vehicle, in which the four wheels work together to enable the amphibious vehicle to travel in water, wherein the front wheels are shaped like an outward toe and the rear wheels are shaped like an inward toe.

[0044] Fig.12 The invention is a structural diagram of a four-wheel drive and four-wheel independent amphibious vehicle, in which the four wheels work together to enable the amphibious vehicle to travel in water, wherein the front wheels are shaped inward and the rear wheels are shaped outward.

[0045] Fig.13 It is a four-wheel drive and four-wheel independent amphibious vehicle. The four wheels work together to make the amphibious vehicle rotate in place in the water. The wheel structure diagram of the whole vehicle.

[0046] Fig.14 The four wheels of a four-wheel-drive and four-wheel independent amphibious vehicle work together to enable the amphibious vehicle to move obliquely in the water.

[0047] Description of Reference Numerals

[0048] 100-wheel; 110-rim; 120-center connecting piece; 130-blade; 200-suspension swing arm; 300-steering gear; 400-steering knuckle; 500-frame. DETAILED DESCRIPTION

[0049] The specific implementation of the present disclosure is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described herein is only used to illustrate and explain the present disclosure, and is not used to limit the present disclosure.

[0050] In the present disclosure, unless otherwise specified, the directional words used, such as "inside" and "outside", refer to the inside and outside of the outline of the corresponding component; "far" and "near" refer to the distance between the corresponding structure or the corresponding component and the distance between the corresponding structure and the corresponding component and the distance between the corresponding structure and the corresponding component and the corresponding component. Among them, X represents the front and rear direction of the amphibious vehicle; Y represents the left and right direction of the amphibious vehicle. In addition, the terms "first", "second", etc. used in the present disclosure are to distinguish one element from another, and do not have order and importance. In addition, in the following description, when referring to the drawings, unless otherwise explained, the same figure numbers in different drawings represent the same or similar elements. The above definitions are only used to explain and illustrate the present disclosure and should not be construed as limitations on the present disclosure.

[0051] In order to achieve the above purpose, Figures 1 to 14 As shown, the embodiment of the present disclosure provides a driving and steering system of an amphibious vehicle, which includes a wheel 100, a suspension swing arm 200 connected to a frame 500, a steering gear 300, and a driver. The wheel 100 includes a rim 110 and a spoke assembly; the spoke assembly includes a central connecting member 120 sleeved inside the rim 110, and a blade 130 connected between the central connecting member 120 and the rim 110; the steering gear 300 is connected to the central connecting member 120 through the suspension swing arm 200 to control the turning angle of the wheel 100; the driver is connected to the central connecting member 120 through a half shaft to control the rotation of the wheel 100; by controlling the rotation direction of the wheel 100 and the turning angle of the wheel 100, the blade 130 can drive the amphibious vehicle to travel and turn.

[0052] Through the above technical solution, that is, the driving and steering system of the amphibious vehicle disclosed in the present invention, the wheel 100 includes a rim 110 and a spoke assembly, the spoke assembly includes a central connecting member 120 sleeved inside the rim 110 and a blade 130 connected between the central connecting member 120 and the rim 110, the steering gear 300 is connected to the central connecting member 120 through a cantilever swing frame, and is used to control the turning angle of the wheel 100, and the drive is drivingly connected to the central connecting member 120 through a half shaft, and is used to drive the rotation of the wheel 100. When the amphibious vehicle is traveling on land, the driver drives the wheel 100 to rotate to achieve driving, and the steering gear 300 controls the turning angle of the wheel 100 to achieve steering; when traveling in water, the driver drives the wheel 100 to rotate to obtain power drive, and at the same time, the steering gear controls the turning angle of the wheel 100 through the suspension swing arm 200. The cooperation of the two enables the blades 130 of the wheel 100 to generate power to push the amphibious vehicle to travel and turn, for example, forward state in water, backward state in water, left turn state in water and right turn state in water.

[0053] It should be noted that, in some embodiments, the spoke assembly includes a central connecting member 120 coaxially sleeved inside the rim 110, and there may be multiple blades 130, and multiple blades 130 are connected between the central connecting member 120 and the rim 110, so that the amphibious vehicle can obtain greater power and steering performance when traveling in water.

[0054] Compared with related technologies, the driving and steering system of the amphibious vehicle does not require additional power source and transmission structure, has a simple structure, is conducive to the lightweight of the entire vehicle, and has lower cost; and the wheel 100 is directly connected to the vehicle's own power system (steering gear 300 and drive), which can provide greater torque and thrust, and can travel faster in water.

[0055] like Figure 1 As shown, it is a schematic diagram of the structure of the driving and steering system of the amphibious vehicle disclosed in the present invention, wherein only a single wheel 100 and a suspension mechanism are shown, and the driver of the wheel 100 is not shown. The system mainly consists of five parts: wheel 100, steering knuckle 400, suspension swing arm 200, frame 500 / body, split steering gear 300 (left and right wheels 100 are controlled by two independent steering gears 300, and each wheel 100 can be steered separately). The suspension swing arm 200, steering knuckle 400, frame 500 / body and split steering gear 300 are the same as those of general vehicles, and the suspension can be McPherson suspension, double wishbone suspension, etc.; the split steering can be electric, hydraulic, etc., as long as the steering of a single wheel 100 can be achieved.

[0056] like Figure 2 , which is a schematic diagram of the structure of the wheel 100 of the present invention. Different from the existing wheel 100, the spoke assembly of the wheel 100 includes a plurality of blades 130, such as Figure 3 As shown, it is a schematic diagram of the flow of fluid (water) in the wheel 100 during driving. When the wheel 100 rotates counterclockwise, the blade 130 rotates, so that the air or liquid flows from the inside to the outside of the wheel 100; when the wheel 100 rotates clockwise, the blade 130 rotates, so that the air or liquid flows from the outside of the wheel 100 to the inside of the rim 110. In other embodiments, the blade 130 can be designed in reverse, so that when the wheel 100 rotates clockwise, the air or liquid flows from the inside of the wheel 100 to the outside of the wheel 100; when the wheel 100 rotates counterclockwise, the air or liquid flows from the outside of the wheel 100 to the inside. Based on this, the following describes in detail the implementation method of the driving and steering functions of the amphibious vehicle.

[0057] In some embodiments, the blades 130 are fan-shaped and evenly distributed between the rim 110 and the central connecting member 120. The blades 130 are fan-shaped or approximately fan-shaped, and a plurality of blades 130 are evenly distributed between the rim 110 and the central connecting member 120. When the wheel 100 rotates under the drive of the driver, the plurality of blades 130 can stir in the water with the rotation of the wheel 100, thereby giving the amphibious vehicle a reverse thrust. In addition, the steering angle of the wheel 100 is adjusted through the steering gear 300, thereby adjusting the direction of the thrust, thereby realizing the forward, backward or steering of the amphibious vehicle.

[0058] In some embodiments, the blades 130 are configured to allow air or liquid to flow from the inside of the wheel 100 to the outside of the wheel 100 when the driver drives the wheel 100 to rotate counterclockwise; and to allow air or liquid to flow from the outside of the wheel 100 to the inside of the wheel 100 when the driver drives the wheel 100 to rotate clockwise. Among them, when the wheel 100 rotates counterclockwise, the air or liquid flows from the inside of the wheel 100 to the outside of the wheel 100, thereby generating a thrust perpendicular to the wheel 100 and outward. When the wheel 100 rotates clockwise, the air or liquid flows from the outside of the wheel 100 to the inside of the wheel 100. At this time, by changing the turning angle of the wheel 100, for example, it can be tilted outward or inward. Here, the thrust can be decomposed into a component in the front and rear direction of the amphibious vehicle and a component in the left and right direction of the amphibious vehicle. The component in the front and rear direction is used to push the amphibious vehicle forward or backward, and the component in the left and right direction is used to push the amphibious vehicle to turn, including turning left, turning right, and turning on the spot.

[0059] In some other embodiments, the blades 130 are configured to allow air or liquid to flow from the outside of the wheel 100 to the inside of the wheel 100 when the driver drives the wheel 100 to rotate counterclockwise; and to allow air or liquid to flow from the inside of the wheel 100 to the outside of the wheel 100 when the driver drives the wheel 100 to rotate clockwise. Similar to the above embodiments, in other embodiments, when the wheel 100 rotates counterclockwise, air or liquid flows from the outside of the wheel 100 to the inside of the wheel 100, thereby generating a thrust perpendicular to the wheel 100 and inward. At the same time, when the wheel 100 rotates clockwise, air or liquid flows from the inside of the wheel 100 to the outside of the wheel 100, thereby generating a thrust perpendicular to the wheel 100 and outward. At this time, by changing the turning angle of the wheel 100, for example, it can be tilted outward. Here, the thrust can be decomposed into a component in the front and rear direction of the amphibious vehicle and a component in the left and right direction of the amphibious vehicle. The component in the front and rear direction is used to push the amphibious vehicle forward or backward, and the component in the left and right direction is used to push the amphibious vehicle to turn, including turning left, turning right, and turning on the spot.

[0060] In other embodiments, the spoke assembly further includes a plurality of spokes connected between the rim 110 and the central connecting member 120; the blades 130 have an open state and a closed state; in the open state, the blades 130 are arranged obliquely relative to the plane where the plurality of spokes are located; in the closed state, the blades 130 are parallel to the plane where the plurality of spokes are located. The spokes are used to support the rim 110 to improve the strength and rigidity of the entire wheel 100.

[0061] The blades 130 are configured to have an open state and a closed state. When the amphibious vehicle is traveling on land, the blades 130 are switched to the closed state, that is, the blades 130 are parallel to the plane where the multiple spokes are located, so that the entire wheel 100 is flat, which can reduce wind resistance and noise. When traveling in water, the blades 130 are switched to the open state, that is, the blades 130 are arranged obliquely relative to the plane where the multiple spokes are located, so that when the wheel 100 rotates, water can flow from the inside of the wheel 100 to the outside or from the outside to the inside, and in conjunction with the turning angle of the wheel 100, it is used to generate power and steering for the amphibious vehicle to travel horizontally.

[0062] It should be noted that the switching between the open state and the closed state of the blade 130 can be completed by manual operation, that is, the blade 130 can be unlocked when the state switching is required by disassembling the corresponding fixings, and the blade 130 can be locked when the state switching is completed to achieve the use requirements on land and in water.

[0063] It is worth noting that the switching between the open state and the closed state of the above-mentioned blade 130 can also be achieved through a corresponding driving mechanism. The blade 130 can be movably connected to the central connecting member 120 and the rim 110. The driving mechanism can be connected to the blade 130 by driving. When the state needs to be switched, it can directly or indirectly act on the blade 130, thereby driving the blade 130 to rotate to achieve the switching between the open state and the closed state. The specific structure can refer to the angle adjustment mechanism of the fan or blower blade 130 in the related art. On this basis, those skilled in the art can make adaptive adjustments according to actual working conditions, which will not be repeated here.

[0064] Optionally, the number of blades 130 is the same as that of spokes; when the blades 130 are in the closed state, the blades 130 correspond to the spokes in a direction perpendicular to the plane where the multiple spokes are located. The number of blades 130 and spokes is the same, and their positions correspond to each other in a direction perpendicular to the plane where the wheel 100 is located (the axial direction of the wheel 100), so that when the blades 130 are in the closed state,

[0065] The steering gear 300 may be constructed with any suitable structure. In order to facilitate the individual control of each wheel 100 of the amphibious vehicle, that is, to individually control the direction and size of the turning angle of each wheel 100, and realize the driving and turning state of the amphibious vehicle, in some embodiments, the steering gear 300 is constructed as a split steering gear 300. That is, each wheel 100 may be connected to a split steering gear 300, and the wheel 100 can achieve the purpose of individually controlling its turning angle through the split steering gear 300.

[0066] In addition, it should be noted that the driver of the embodiment of the present disclosure can adopt a driver known in the relevant art, connected to the amphibious vehicle through a half shaft, to drive the clockwise and counterclockwise rotation of the wheel 100. When viewed from the left side of the amphibious vehicle in the left-right direction, the clockwise rotation of the wheel 100 of the present disclosure is the rotation direction of the wheel 100 when the amphibious vehicle is in a backward state when traveling on land, and the counterclockwise rotation of the wheel 100 is the rotation direction of the wheel 100 when the amphibious vehicle is in a forward state when traveling on land.

[0067] In some embodiments, the wheel 100 includes a first left wheel and a first right wheel; the suspension swing arm 200 includes a first suspension swing arm and a second suspension swing arm; the steering gear 300 includes a first steering gear and a second steering gear; the first steering gear is connected to the first left wheel through the first suspension swing arm; the second steering gear is connected to the first right wheel through the second suspension swing arm. The first left wheel and the first right wheel can be the left and right wheels 100 of the front axle or rear axle of an amphibious vehicle.

[0068] like Figure 4 As shown in FIG. 1 , it is a schematic diagram of different modes of single-axis left and right wheel steering. Because the left and right wheels 100 are controlled by the split steering gear 300, the left and right wheels 100 have three states: left turn, no turn (angle is 0), and right turn. The combination of the left and right wheels 100 has a total of 9 states, such as Figure 4 Figure (a) shows that the left and right wheels 100 turn left at the same time; Figure (b) shows that the left wheel 100 turns left and the right wheel 100 does not move; Figure (c) shows that the left wheel 100 turns left and the right wheel 100 turns right, forming an outward eight-shaped shape; Figure d) shows that the left and right wheels 100 do not move at the same time; Figure (e) shows that the left wheel 100 does not move and the right wheel 100 turns left; Figure (f) shows that the left wheel 100 does not move and the right wheel 100 turns right; Figure (g) shows that the left and right wheels 100 turn right at the same time; Figure (h) shows that the left wheel 100 turns right and the right wheel 100 does not move; Figure (i) shows that the left wheel turns right and the right wheel turns left, forming an inward eight-shaped shape. By controlling the steering of the left and right wheels 100, the forward movement in water can be achieved, as shown in Figure (c) when the wheel 100 rotates counterclockwise; or the backward movement in water can be achieved, as shown in Figure (i) when the wheel 100 rotates counterclockwise; or the left turn or right turn in water can be achieved, as shown in Figures (a) and (g).

[0069] In other embodiments, the amphibious vehicle includes a front axle and a rear axle, the first left wheel and the second right wheel mentioned above can be used for the front axle, the wheel 100 also includes a second left wheel and a second right wheel, which are used for the rear axle of the amphibious vehicle; the suspension swing arm 200 includes a third suspension swing arm and a fourth suspension swing arm; the steering gear 300 includes a third steering gear and a fourth steering gear; the third steering gear is connected to the second left wheel through the third suspension swing arm; the fourth steering gear is connected to the second right wheel through the fourth suspension swing arm.

[0070] The turning angles of the four wheels 100 are controlled respectively by four steering gears 300 and four suspension swing arms 200, and the clockwise and counterclockwise rotations of the four wheels 100 are controlled by a driver, so as to realize multi-state driving of the amphibious vehicle in water. Among them, the driving and steering system includes a forward state in water, a backward state in water, a left turn state in water, and a right turn state in water. In addition, optionally, the driving and steering system also includes a state of rotating in place in water; and / or, the driving and steering system also includes a state of oblique driving in water.

[0071] The following describes multiple water driving states of the amphibious vehicle through specific embodiments.

[0072] like Figure 5 The figure shows a top view of the left-turning structure of the front axle of an amphibious vehicle. In the related art, when designing a car, in order to reduce tire wear when the amphibious vehicle turns, the turning angle α of the inner wheel 100 is generally greater than the turning angle β of the outer wheel 100 when turning. Therefore, the amphibious vehicle disclosed in the present invention can also be designed so that when in the land driving mode, the turning angles of the above two wheels 100 are configured so that the turning angle α of the inner wheel 100 is greater than the turning angle β of the outer wheel 100, so as to better ensure the land driving mode. It should be noted that when the amphibious vehicle is in the water driving mode, the turning angles of the above two wheels 100 can be the same, or can be, for example, one of the above-mentioned wheels is relatively small (for example, one of the outer wheel 100 or the inner wheel 100), and the other (the other of the outer wheel 100 or the inner wheel 100) is relatively large, which is not specifically limited here.

[0073] like Figure 6 The figure shows the structure of the single front axle wheel 100 of the amphibious vehicle in the forward state in the water; when the amphibious vehicle floats on the water surface, the left and right wheels 100 are controlled to be in an outward eight-shaped shape, and the left and right wheels 100 are driven to rotate, so that the blades 130 rotate, so that the water flows from the inside of the wheel 100 to the outside of the wheel 100, generating a thrust F perpendicular to the tire, and the thrust is decomposed into the first component force F in the front and rear directions of the amphibious vehicle x =F×cosγ, the thrust F is decomposed into the second component force in the left and right directions of the amphibious vehicle as F y=F×sinγ, where γ is the turning angle of the wheel 100. When the driving force of the left and right wheels 100 and the turning angle of the wheel 100 are the same, the left and right thrusts F are equal and the left and right turning angles γ are equal. At this time, the second component force F in the left and right directions of the left wheel 100 is equal to y =F×sinγ is equal to the second component force F of the right wheel 100 in the left and right direction y =F×sinγ, and the directions are opposite, which is conducive to the stability of the amphibious vehicle when it is traveling in a straight line. The thrust of the amphibious vehicle is the first component force F of the left wheel 100 in the front-rear direction. x Add the first component force F of the right wheel 100 in the front-rear direction x Similarly, the thrust of the wheel 100 on one side can be adjusted so that the thrust F of the left wheel is not equal to the thrust F of the right wheel. Then the left and right component force F of the left wheel is y With right wheel thrust F y unequal, so that a certain steering function can be achieved while moving forward; or the turning angle of the wheel 100 on one side can be adjusted so that the left wheel turning angle γ is unequal to the right wheel turning angle γ, then the second component force F of the left wheel y The second force F of the right wheel y They are also not equal, so it can also achieve a certain steering function while moving forward.

[0074] Similarly, if Figure 7 The structure diagram of the single front axle wheel 100 of the amphibious vehicle in the water in the backward state is shown. Figure 6 , it is only necessary to drive the wheel 100 to reverse, that is, to make the water flow from the outside of the wheel 100 to the inside of the wheel 100 to generate a thrust perpendicular to the tire, so that the amphibious vehicle can move backward in the water. The specific control method is basically the same as Figure 6 The state of moving forward in water will not be described in detail.

[0075] like Figure 6 , Figure 7 As shown, turning the left and right wheels 100 to an outward-facing angle is the best solution, because the inner turning angle of the wheel 100 (the left wheel when turning left, the right wheel when turning right) is greater than the outer turning angle, so the angle between the thrust F and the front-rear direction is smaller, which means that the greater the component force of the thrust F in the forward direction of the amphibious vehicle, the higher the efficiency of the amphibious vehicle in forward and backward travel. Optionally, the wheels 100 can also be turned to an inward-facing angle, but the efficiency of the amphibious vehicle in forward and backward travel is slightly lower.

[0076] like Figure 8 The figure shows the structure of a single front axle wheel 100 of an amphibious vehicle rotating in place in water. At this time, the left wheel thrust F1 points to the right front, and the right wheel thrust F2 points to the right rear. At this time, the amphibious vehicle will rotate clockwise around the intersection of the vertical lines F1 and F2 (rotation center); similarly, if the left and right wheels 100 are driven in reverse, the amphibious vehicle will rotate counterclockwise.

[0077] like Fig. 9 The structure diagram of the single-axle wheel 100 of the amphibious vehicle in the water steering state is shown. The steering directions of the left and right wheels 100 are the same, and the thrusts F1 and F2 are both directed to the lower left, so the amphibious vehicle moves to the right front. Similarly, it should be noted that when the amphibious vehicle needs to move to the left front direction, it only needs to adjust the directions of the left and right wheels 100 in the opposite direction, that is, the thrusts F1 and F2 are both directed to the lower right, and the amphibious vehicle moves to the left front.

[0078] like Figures 6 to 9 The description is that the single-axle wheel 100 is used as the front axle to drive the amphibious vehicle in the water. If it is applied to the rear axle, the direction of the amphibious vehicle when turning will change. For details, please refer to the difference between the rear wheel steering of a forklift and the front wheel steering of an ordinary car, which will not be repeated in this article.

[0079] like Figures 10 to 14 The schematic diagram of the structure of a four-wheel drive and four-wheel independent amphibious vehicle is that the four wheels 100 work together to enable the amphibious vehicle to travel in water. Fig.10 As shown, the front and rear wheels 100 are all outward-facing, so that the amphibious vehicle can travel in a straight line; Fig.11 and Fig.12 As shown, the front and rear wheels 100 are oriented one inward and one outward, so that the amphibious vehicle can travel in a straight line; Fig.13 is a structural diagram of a vehicle wheel 100 in a state of rotation in place in water, relative to Figure 8 As shown, Fig.13 Turning in the middle of the field is more accurate and less likely to cause a tailspin; Fig.14 The structure diagram of the wheel 100 of the whole vehicle in the oblique moving state in water is shown, so that the amphibious vehicle can realize oblique moving in water. When the steering angle of the wheel 100 is 0, the amphibious vehicle can only move purely in the left and right directions.

[0080] In all the above driving and steering controls, the desired driving and steering effects can be achieved by adjusting the thrust size and direction of the rotation of the blades 130 of a single wheel 100 and the steering angle of the wheel 100 .

[0081] In summary, when the spoke assembly is constructed as a structure of multiple blades 130 or multiple spokes and blades 130, the wheel 100 rotates in the water to generate thrust, and through the joint action of the thrust of the left and right wheels 100, the amphibious vehicle can drive in a straight line, turn, and turn around on the spot in the water, all of which fall within the scope of protection of the present disclosure.

[0082] The embodiments of the present disclosure also provide an amphibious vehicle, which includes the driving and steering systems provided by the above embodiments, and can realize the driving of the amphibious vehicle on land and in water, and can drive in a straight line, turn, and turn around on the spot in water. Therefore, the amphibious vehicle also has all the advantages of the above driving and steering systems.

[0083] The amphibious vehicle and its driving and steering system disclosed in the present invention have a wheel 100 including a rim 110 and a spoke assembly, the spoke assembly including a center connector 120 coaxially sleeved inside the rim 110 and a plurality of blades 130 connected between the center connector 120 and the rim 110, a steering gear 300 connected to the center connector 120 via a cantilever swing frame for controlling the turning angle of the wheel 100, and a drive connected to the center connector 120 via a half shaft for driving the rotation of the wheel 100. When the amphibious vehicle is traveling on land, the driver drives the wheel 100 to rotate to achieve driving, and the steering gear 300 controls the turning angle of the wheel 100 to achieve steering; when traveling in water, the driver drives the wheel 100 to rotate to obtain power drive, and the steering gear 300 controls the turning angle of the wheel 100 through the suspension swing arm 200. The two cooperate to enable the blades 130 of the wheel 100 to generate power to drive the amphibious vehicle to travel and turn, for example, in the forward state in the water, the backward state in the water, the left turn state in the water, and the right turn state in the water. Compared with the related art, the driving and steering system of the amphibious vehicle does not need to be additionally configured with a power source and a transmission structure, has a simple structure, is conducive to the lightweight of the whole vehicle, and has a lower cost; and the wheel 100 is directly connected to the vehicle's own power system (steering gear 300), which can provide greater torque and thrust, and can travel faster in water.

[0084] Furthermore, due to the large structural difference between the front of an amphibious vehicle and a ship, that is, the front of a ship is arrow-shaped, which can improve the stability of the ship in the Y direction (left and right direction of the ship) when it is moving forward, while the front of an amphibious vehicle cannot have such an arrow shape, which means that a general amphibious vehicle cannot ensure straight-line driving stability when driving in a straight line. The present disclosure provides an amphibious vehicle driving and steering system that not only provides thrust in the X direction (forward and backward direction of the amphibious vehicle), but also provides thrust in the Y direction at the same time, which can improve the stability of the amphibious vehicle when driving in a straight line.

[0085] The preferred embodiments of the present disclosure are described in detail above in conjunction with the accompanying drawings; however, the present disclosure is not limited to the specific details in the above embodiments. Within the technical concept of the present disclosure, a variety of simple modifications can be made to the technical solution of the present disclosure, and these simple modifications all fall within the protection scope of the present disclosure.

[0086] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, the present disclosure will not further describe various possible combinations.

[0087] In addition, various embodiments of the present disclosure may be arbitrarily combined, and as long as they do not violate the concept of the present disclosure, they should also be regarded as the contents disclosed by the present disclosure.

Claims

1. A driving and steering system for an amphibious vehicle, characterized in that: It includes wheels, suspension swing arms connected to the frame, steering gear and drive; The wheel comprises a rim and a spoke assembly; the spoke assembly comprises a central connecting piece sleeved inside the rim, and blades connected between the central connecting piece and the rim; The steering gear is connected to the central connecting member through the suspension swing arm to control the turning angle of the wheel; The driver is connected to the central connecting member through a half shaft to control the rotation of the wheel; By controlling the rotation direction and the rotation angle of the wheels, the blades can propel the amphibious vehicle to travel and turn.

2. The driving and steering system of an amphibious vehicle according to claim 1, characterized in that: The blades are fan-shaped and evenly distributed between the rim and the central connecting piece.

3. The driving and steering system of an amphibious vehicle according to claim 1, characterized in that: The blades are configured so that when the driver drives the wheel to rotate counterclockwise, the air or liquid flows from the inner side of the wheel to the outer side of the wheel; when the driver drives the wheel to rotate clockwise, the air or liquid flows from the outer side of the wheel to the inner side of the wheel; or The blades are configured so that when the driver drives the wheel to rotate counterclockwise, air or liquid flows from the outside of the wheel to the inside of the wheel; and when the driver drives the wheel to rotate clockwise, air or liquid flows from the inside of the wheel to the outside of the wheel.

4. The driving and steering system of an amphibious vehicle according to claim 1, characterized in that: The spoke assembly also includes a plurality of spokes connected between the rim and the central connecting member; The blade has an open state and a closed state; In the open state, the blades are arranged obliquely relative to the plane where the plurality of spokes are located; In the closed state, the blades are parallel to the plane where the plurality of spokes are located.

5. The driving and steering system of an amphibious vehicle according to claim 4, characterized in that: The number of the blades is the same as the number of the spokes; When the blades are in a closed state, the blades correspond to the spokes in a one-to-one manner in a direction perpendicular to a plane where the plurality of spokes are located.

6. The driving and steering system of an amphibious vehicle according to claim 1, characterized in that: The steering gear is configured as a split steering gear.

7. The driving and steering system of an amphibious vehicle according to any one of claims 1 to 6, characterized in that: The wheels include a first left wheel and a first right wheel; The suspension swing arm comprises a first suspension swing arm and a second suspension swing arm; The steering gear comprises a first steering gear and a second steering gear; The first steering gear is connected to the first left wheel through the first suspension swing arm; The second steering gear is connected to the first right wheel through the second suspension swing arm.

8. The driving and steering system of an amphibious vehicle according to claim 7, characterized in that: The wheels also include a second left wheel and a second right wheel; The suspension swing arm comprises a third suspension swing arm and a fourth suspension swing arm; The steering gear includes a third steering gear and a fourth steering gear; The third steering gear is connected to the second left wheel through the third suspension swing arm; the fourth steering gear is connected to the second right wheel through the fourth suspension swing arm.

9. The driving and steering system of an amphibious vehicle according to claim 7, characterized in that: The driving and steering system includes a forward state in water, a backward state in water, a left turn state in water and a right turn state in water.

10. The driving and steering system of an amphibious vehicle according to claim 9, characterized in that: The driving and steering system also includes a state of rotation in place in water; and / or The travel and steering system also includes a water inclined travel state.

11. An amphibious vehicle, characterized in that: The amphibious vehicle comprises the driving and steering system of the amphibious vehicle according to any one of claims 1-10.

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