Amphibious vehicle and its driving and steering systems

Abstract

This disclosure relates to an amphibious vehicle and its driving and steering system. The driving and steering system of the amphibious vehicle includes wheels, suspension arms connected to the frame, a steering gear, and a drive unit. The wheels include a rim and a spoke assembly. The spoke assembly includes a central connector fitted inside the rim and blades connecting the central connector and the rim. The steering gear is connected to the central connector via the suspension arms to control the wheel's turning angle. The drive unit is connected to the central connector via a half-shaft to control the wheel's rotation. By controlling the wheel's rotation direction and turning angle, the blades can propel the amphibious vehicle to drive and steer. This driving and steering system of the amphibious vehicle does not require an additional power source and transmission structure, has a simple structure, is conducive to the vehicle's lightweight design, and has lower costs. Furthermore, the wheels are directly connected to the vehicle's own power system, which can provide greater torque and thrust, allowing for faster movement in water.

Description

Technical Field

[0001] This disclosure relates to the field of amphibious vehicle technology, specifically to an amphibious vehicle and its driving and steering system. Background Technology

[0002] In related technologies, amphibious vehicles are all based on improving the sealing of ordinary vehicles to make them function as boats, and then adding propellers and their drive mechanisms to the vehicle. These solutions are simply a combination of boat-like movement and that of a regular vehicle. Current solutions suffer from a series of problems, including complex structures, increased vehicle weight, high costs, and relatively low thrust, which are detrimental to movement and steering in water. Summary of the Invention

[0003] The purpose of this disclosure is to provide an amphibious vehicle and its driving and steering system, which is used to at least partially solve the relevant technical problems.

[0004] To achieve the above objectives, the first aspect of this disclosure provides a driving and steering system for an amphibious vehicle, including wheels, suspension arms connected to the vehicle frame, a steering mechanism, and a drive unit.

[0005] The wheel includes a rim and a spoke assembly; the spoke assembly includes a central connector fitted inside the rim, and blades connecting the central connector and the rim;

[0006] The steering gear is connected to the central connector via the suspension swing arm to control the steering angle of the wheel; the drive is connected to the central connector via a half-shaft to control the rotation of the wheel.

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

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

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

[0010] The blades are configured such 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 includes a plurality of spokes connected between the rim and the central connector;

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

[0013] In the open state, the blades are arranged at an angle relative to the plane containing the plurality of spokes;

[0014] In the closed state, the blade is parallel to the plane containing the plurality of spokes.

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

[0016] When the blade is in the closed state, the blade and the spoke correspond one-to-one in a direction perpendicular to the plane in which the plurality of spokes are located.

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

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

[0019] The suspension arm includes a first suspension arm and a second suspension arm;

[0020] The steering system includes a first steering system and a second steering system;

[0021] The first steering unit is connected to the first left wheel via the first suspension arm; the second steering unit is connected to the first right wheel via the second suspension arm.

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

[0023] The suspension arms include a third suspension arm and a fourth suspension arm;

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

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

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

[0027] Optionally, the driving and steering system also includes a stationary rotation state in water; and / or

[0028] The driving and steering system also includes a diagonal driving mode in water.

[0029] A second aspect of this disclosure also provides an amphibious vehicle, said amphibious vehicle including the driving and steering system provided in the first aspect of this disclosure.

[0030] The amphibious vehicle's driving and steering system disclosed herein utilizes the above-described technical solution. The wheel comprises a rim and a spoke assembly. The spoke assembly includes a central connector housed within the rim and blades connecting the central connector and the rim. The steering gear is connected to the central connector via a cantilever arm and controls the wheel's turning angle. The drive unit is connected to the central connector via a half-shaft and drives the wheel's rotation. When the amphibious vehicle is traveling on land, the drive unit rotates the wheel to achieve movement, and the steering gear controls the wheel's turning angle to achieve steering. When traveling in water, the drive unit rotates the wheel to provide power, while the steering gear controls the wheel's turning angle via the suspension arm. The combination of these two mechanisms allows the wheel blades to propel the amphibious vehicle forward and backward, enabling actions such as forward movement, backward movement, left turn, and right turn in water. Compared to related technologies, the amphibious vehicle's driving and steering system does not require an additional power source and transmission structure, resulting in a simpler structure that facilitates overall vehicle weight reduction and lower costs. Furthermore, the wheels are directly connected to the vehicle's own power system, providing greater torque and thrust, allowing it to travel faster in water.

[0031] Other features and advantages of this disclosure will be described in detail in the following detailed description section. Attached Figure Description

[0032] The accompanying drawings are provided to further illustrate the present disclosure and form part of the specification. They are used together with the following detailed description to explain the present disclosure, but do not constitute a limitation thereof. In the drawings:

[0033] Figure 1 This is a structural diagram of the driving and steering system of an amphibious vehicle provided in some embodiments of this disclosure.

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

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

[0036] Figure 4 This is a schematic diagram of different steering modes of the left and right wheels of a single axle in some embodiments of this disclosure.

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

[0038] Figure 6 This is a diagram of the single front axle wheel structure of an amphibious vehicle in its water-moving state.

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

[0040] Figure 8 This is a diagram of the single front axle wheel structure of an amphibious vehicle rotating in place in water.

[0041] Figure 9 This is a diagram of the single-axle wheel structure of an amphibious vehicle in underwater turning mode.

[0042] Figure 10 This is a schematic diagram of a four-wheel drive amphibious vehicle with four independent wheels. The four wheels work together to enable the amphibious vehicle to travel in water. The front and rear wheels are both outward-pointing.

[0043] Figure 11 This is a schematic diagram of a four-wheel drive amphibious vehicle with four independent wheels. The four wheels work together to enable the amphibious vehicle to travel in water. The front wheels are shaped like outwards, and the rear wheels are shaped like inwards.

[0044] Figure 12 This is a schematic diagram of a four-wheel drive amphibious vehicle with four independent wheels. The four wheels work together to enable the amphibious vehicle to travel in water. The front wheels are shaped like an inward V-shape, and the rear wheels are shaped like an outward V-shape.

[0045] Figure 13 This is a diagram of the wheel structure of a four-wheel drive amphibious vehicle with four independent wheels, where the four wheels work together to allow the amphibious vehicle to rotate in place in the water.

[0046] Figure 14 This is a diagram of the wheel structure of a four-wheel drive amphibious vehicle with four independent wheels, where the four wheels work together to enable the amphibious vehicle to move at an angle in the water.

[0047] Explanation of reference numerals in the attached figures

[0048] 100 - Wheel; 110 - Rim; 120 - Center connector; 130 - Blade; 200 - Suspension arm; 300 - Steering gear; 400 - Steering knuckle; 500 - Frame. Detailed Implementation

[0049] The specific embodiments of this disclosure will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit this disclosure.

[0050] In this disclosure, unless otherwise stated, directional terms such as "inner" and "outer" refer to the inner and outer contours of the corresponding components; "far" and "near" refer to the corresponding structure or component being away from or near another structure or component. X indicates the front-rear direction of the amphibious vehicle; Y indicates the left-right direction of the amphibious vehicle. Furthermore, the terms "first," "second," etc., used in this disclosure are for distinguishing one element from another and do not have sequential or importance implications. In addition, in the following description, when referring to the accompanying drawings, unless otherwise explained, the same reference numerals in different drawings denote the same or similar elements. The above definitions are for explanation and illustration only and should not be construed as limiting this disclosure.

[0051] To achieve the above objectives, such as Figures 1 to 14 As shown, embodiments of this disclosure provide a driving and steering system for an amphibious vehicle. This system includes a wheel 100, a suspension arm 200 connected to a frame 500, a steering gear 300, and a drive unit. The wheel 100 includes a rim 110 and a spoke assembly. The spoke assembly includes a central connector 120 fitted inside the rim 110 and blades 130 connected between the central connector 120 and the rim 110. The steering gear 300 is connected to the central connector 120 via the suspension arm 200 to control the turning angle of the wheel 100. The drive unit is connected to the central connector 120 via a half-shaft to control the rotation of the wheel 100. By controlling the rotation direction and turning angle of the wheel 100, the blades 130 can propel the amphibious vehicle to drive and steer.

[0052] Through the above technical solution, namely the driving and steering system of the amphibious vehicle disclosed herein, the wheel 100 includes a rim 110 and a spoke assembly. The spoke assembly includes a central connector 120 sleeved inside the rim 110 and a blade 130 connecting the central connector 120 and the rim 110. The steering gear 300 is connected to the central connector 120 through a cantilever frame and is used to control the turning angle of the wheel 100. The drive unit is connected to the central connector 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 drive unit drives the wheels 100 to rotate to achieve movement, and the steering unit 300 controls the turning angle of the wheels 100 to achieve steering. When traveling in water, the drive unit drives the wheels 100 to rotate to provide power, and at the same time, the steering unit controls the turning angle of the wheels 100 through the suspension swing arm 200. The two work together to enable the blades 130 of the wheels 100 to generate propulsion for the amphibious vehicle to travel and turn, such as forward movement in water, backward movement in water, left turn in water, and right turn in water.

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

[0054] Compared to related technologies, the driving and steering system of this amphibious vehicle does not require additional power source and transmission structure, making it simple in structure, which is conducive to the lightweighting of the whole vehicle and also lower in cost; and the wheels 100 are directly connected to the vehicle's own power system (steering gear 300 and drive), which can provide greater torque and thrust, allowing it to travel faster in water.

[0055] like Figure 1 The diagram shown is a structural schematic of the driving and steering system of the amphibious vehicle disclosed herein. Only a single wheel 100 and the suspension mechanism are shown; the drive mechanism for the wheel 100 is not shown. The system mainly consists of five parts: wheel 100, steering knuckle 400, suspension arm 200, frame 500 / body, and split steering gear 300 (the left and right wheels 100 are controlled by two independent steering gears 300, allowing each wheel 100 to steer independently). The suspension arm 200, steering knuckle 400, frame 500 / body, and split steering gear 300 are the same as in ordinary vehicles. The suspension can be a MacPherson strut suspension, double wishbone suspension, etc.; the split steering can be electric, hydraulic, etc., as long as it enables steering of a single wheel 100.

[0056] like Figure 2 The diagram shown is a structural schematic of the wheel 100 disclosed herein. Unlike existing wheels 100, the spoke assembly of this wheel 100 includes multiple blades 130, as shown... Figure 3 The diagram illustrates the fluid (water) flow within the wheel 100 during operation. When the wheel 100 rotates counterclockwise, the blade 130 rotates, causing air or liquid to flow from the inside to the outside of the wheel 100. When the wheel 100 rotates clockwise, the blade 130 rotates, causing air or liquid to flow from the outside of the wheel 100 to the inside of the rim 110. In some embodiments, the blade 130 may be designed in the opposite direction, so that when the wheel 100 rotates clockwise, air or liquid flows from the inside to the outside of the wheel 100; and when the wheel 100 rotates counterclockwise, air or liquid flows from the outside to the inside of the wheel 100. Based on this, the implementation of the amphibious vehicle's driving and steering functions will be described in detail below.

[0057] In some embodiments, the blades 130 are fan-shaped and evenly distributed between the rim 110 and the central connector 120. The blades 130 are fan-shaped or nearly fan-shaped, and multiple blades 130 are evenly distributed between the rim 110 and the central connector 120. When the wheel 100 rotates under the drive of the driver, the multiple blades 130 can stir the water as the wheel 100 rotates, thereby providing a reverse thrust to the amphibious vehicle. Furthermore, the steering angle of the wheel 100 is adjusted by the steering gear 300, thereby adjusting the direction of this thrust, thus enabling the amphibious vehicle to move forward, backward, or turn.

[0058] In some embodiments, the blade 130 is 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. When wheel 100 rotates counterclockwise, air or liquid flows from the inside of wheel 100 to the outside, generating a thrust perpendicular to wheel 100 and outward. When wheel 100 rotates clockwise, air or liquid flows from the outside of wheel 100 to the inside. At this time, by changing the turning angle of wheel 100, for example, tilting it outward or inward, the thrust can be decomposed into a component force in the front-to-back direction of the amphibious vehicle and a component force in the left-to-right direction of the amphibious vehicle. The front-to-back component force is used to propel the amphibious vehicle forward or backward, and the left-to-right component force is used to propel the amphibious vehicle to turn, including turning left, turning right, and turning in place.

[0059] In some other embodiments, the blade 130 is 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, 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, thereby generating a thrust perpendicular to the wheel 100 and outward. In this case, by changing the turning angle of the wheel 100, for example, tilting it outward, the thrust can be decomposed into a component force in the front-to-back direction of the amphibious vehicle and a component force in the left-to-right direction of the amphibious vehicle. The front-to-back component force is used to propel the amphibious vehicle forward or backward, and the left-to-right component force is used to propel the amphibious vehicle to turn, including turning left, turning right, and turning in place.

[0060] In other embodiments, the spoke assembly further includes a plurality of spokes connected between the rim 110 and the central connector 120; the blade 130 has an open state and a closed state; in the open state, the blade 130 is arranged obliquely relative to the plane containing the plurality of spokes; in the closed state, the blade 130 is parallel to the plane containing the plurality of spokes. The spokes support the rim 110 to improve the strength and rigidity of the entire wheel 100.

[0061] The blade 130 is configured with an open and closed state. When the amphibious vehicle is traveling on land, the blade 130 is switched to the closed state, meaning the blade 130 is parallel to the plane containing the multiple spokes, making the entire wheel 100 flat and reducing wind resistance and noise. When traveling in water, the blade 130 is switched to the open state, meaning the blade 130 is arranged at an angle relative to the plane containing the multiple spokes. This allows water to flow from the inside to the outside or from the outside to the inside of the wheel 100 when it rotates. Combined with the turning angle of the wheel 100, this generates the power and steering for the amphibious vehicle to travel horizontally.

[0062] It should be noted that the switching between the open and closed states of blade 130 can be done manually. That is, blade 130 can be unlocked when the state switch is required by removing the corresponding fasteners, and blade 130 can be locked when the state switch is completed, so as to meet the needs of use on land and in water.

[0063] It is worth noting that the switching between the open and closed states of the blade 130 can also be achieved through a corresponding drive mechanism. The blade 130 can be movably connected to the central connector 120 and the rim 110. This drive mechanism can be driven by the blade 130. 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 and closed states. For specific structure, refer to the angle adjustment mechanism of the fan or blower blade 130 in related technologies. Those skilled in the art can make adaptive adjustments based on actual working conditions, which will not be elaborated here.

[0064] Optionally, the number of blades 130 is the same as the number of spokes; when the blades 130 are in the closed state, the blades 130 and spokes correspond one-to-one in a direction perpendicular to the plane containing the multiple spokes. Specifically, the number of blades 130 and spokes is the same, and their positions correspond in the plane perpendicular to the wheel 100 (the axial direction of the wheel 100), such that when the blades 130 are in the closed state...

[0065] The steering gear 300 can be constructed using any suitable structure. To facilitate individual control of each wheel 100 of the amphibious vehicle—that is, to individually control the turning direction and magnitude of each wheel 100 to achieve the amphibious vehicle's driving and turning states—in some embodiments, the steering gear 300 is constructed as a split-type steering gear 300. That is, each wheel 100 can be connected to a split-type steering gear 300, and the turning angle of each wheel 100 can be individually controlled through the split-type steering gear 300.

[0066] Additionally, it should be noted that the driver in this embodiment can be a driver known in the related art, connected to the amphibious vehicle via a half-shaft, to drive the wheel 100 to rotate clockwise and counterclockwise. Viewed from the left side of the amphibious vehicle in a left-right direction, the clockwise rotation of the wheel 100 in this disclosure is the direction of rotation of the wheel 100 when the amphibious vehicle is in a reverse state while traveling on land, and the counterclockwise rotation of the wheel 100 is the direction of rotation of the wheel 100 when the amphibious vehicle is in a forward state while traveling on land.

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

[0068] like Figure 4 The diagram shows different steering modes for the left and right wheels of a single axle. Because the left and right wheels 100 are controlled by a split steering gear 300, each wheel 100 has three states: left turn, stationary (0° steering angle), and right turn. There are a total of nine possible combinations of left and right wheel 100 states, as shown below. Figure 4 Figure (a) shows both wheels 100 turning left simultaneously; Figure (b) shows the left wheel 100 turning left while the right wheel 100 remains stationary; Figure (c) shows the left wheel 100 turning left while the right wheel 100 turns right, forming an outward V-shape; Figure (d) shows both wheels 100 remaining stationary simultaneously; Figure (e) shows the left wheel 100 remaining stationary while the right wheel 100 turns left; Figure (f) shows the left wheel 100 remaining stationary while the right wheel 100 turns right; Figure (g) shows both wheels 100 turning right simultaneously; Figure (h) shows the left wheel 100 turning right while the right wheel 100 remains stationary; Figure (i) shows the left wheel turning right while the right wheel turns left, forming an inward V-shape. By controlling the steering of the left and right wheels 100, it is possible to achieve a forward movement in the water, as shown in Figure (c) when the wheels 100 rotate counterclockwise; or a backward movement in the water, as shown in Figure (i) when the wheels 100 rotate counterclockwise; or a left or right turn in the water, 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 described above can be used on the front axle. The wheel 100 also includes a second left wheel and a second right wheel for the rear axle of the amphibious vehicle. The suspension arm 200 includes a third suspension arm and a fourth suspension arm. The steering unit 300 includes a third steering unit and a fourth steering unit. The third steering unit is connected to the second left wheel via the third suspension arm. The fourth steering unit is connected to the second right wheel via the fourth suspension arm.

[0070] The amphibious vehicle achieves multi-state driving in water by controlling the steering angle of the four wheels 100 through four steering units 300 and four suspension arms 200, respectively, and controlling the clockwise and counterclockwise rotation of the four wheels 100 through a drive. The driving and steering system includes forward movement, backward movement, left turn, and right turn in water. Optionally, the driving and steering system also includes a stationary rotation state in water; and / or, a diagonal movement state in water.

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

[0072] like Figure 5 The diagram shows a top view of the left-turning front axle structure of an amphibious vehicle. In related technologies, during vehicle design, to minimize 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. Therefore, the amphibious vehicle of this disclosure can also be designed such that, in land driving mode, the turning angles of the two wheels 100 are configured such that the turning angle α of the inner wheel 100 is greater than the turning angle β of the outer wheel 100, to better ensure land driving mode safety. It should be noted that when the amphibious vehicle is in water driving mode, the turning angles of the two wheels 100 can be the same, or, for example, one can be relatively smaller (e.g., 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) can be relatively larger; no specific limitation is made here.

[0073] like Figure 6 The diagram shows the structure of a single front axle wheel 100 of an amphibious vehicle in its water-propelled state. When the amphibious vehicle floats on the water, the left and right wheels 100 are controlled to form an outward V-shape and are driven to rotate. This causes the blades 130 to rotate, allowing water to flow from the inside of the wheels 100 to the outside, generating a thrust F perpendicular to the tires. The first component of this thrust, decomposed into the front-rear direction of the amphibious vehicle, is F0. x =F×cosγ, the second component of the thrust F in the left-right direction of the amphibious vehicle is F. y=F×sinγ, where γ is the turning angle of wheel 100. When the driving force and turning angle of the left and right wheels 100 are the same, the left and right thrust F are equal and the left and right turning angles γ are equal. At this time, the second component force F of the left wheel 100 in the left and right directions is... y =F×sinγ equals the second component of the force F in the direction of approximately 100 degrees on the right side of the wheel. y =F×sinγ, and in the opposite direction, which helps the amphibious vehicle maintain stability when traveling in a straight line. The thrust that propels the amphibious vehicle forward is the first component of the force F in the longitudinal direction of the left wheel 100. x Adding the first component force F of the right wheel 100 in the longitudinal direction x Similarly, the thrust of one wheel can be adjusted to make the thrust F of the left wheel unequal to that of the right wheel. Then, the left-right component force F of the left wheel will be... y With right wheel thrust F y The angles are not equal, which allows for some steering while moving forward; or the steering angle of one wheel can be adjusted by 100 degrees so that the steering angle γ of the left wheel is not equal to that of the right wheel, thus the second component force F of the left wheel... y With the second component force F of the right wheel y They are not equal, which also allows for a certain steering function while moving forward.

[0074] Similarly, such as Figure 7 The diagram shows the structure of a single front axle wheel 100 of an amphibious vehicle in its backward state in water. Figure 6 Simply reverse the direction of wheel 100, that is, make the water flow from the outside of wheel 100 to the inside of wheel 100, generating a thrust perpendicular to the tire, and the amphibious vehicle can move backward in the water. The specific control method is basically the same as... Figure 6 The process of moving forward in water will not be described in detail.

[0075] like Figure 6 , Figure 7 As shown, rotating the left and right wheels 100° to an outward V-shape is the optimal solution. This is because the inward turning angle of wheel 100° (left wheel when turning left, right wheel when turning right) is greater than the outward turning angle, resulting in a smaller angle between the thrust F and the forward / backward direction. This means the greater the component of the thrust F in the amphibious vehicle's forward direction, the higher the efficiency of the amphibious vehicle's forward and backward movement. Alternatively, the wheels 100° can be rotated to an inward V-shape, but the efficiency of the amphibious vehicle's forward and backward movement will be slightly lower.

[0076] like Figure 8 The diagram shows the structure of the single front axle wheel 100 of the amphibious vehicle in a stationary rotation state in water. At this time, the thrust F1 of the left wheel points to the right front and the thrust F2 of the right wheel points to the right rear. The amphibious vehicle will rotate clockwise around the intersection of the vertical lines of F1 and F2 (the center of rotation). Similarly, if the left and right wheels 100 are driven in the opposite direction, the amphibious vehicle will rotate counterclockwise.

[0077] like Figure 9 The diagram shows the structure of a single-axle wheel 100 of an amphibious vehicle in underwater turning mode. With both wheels 100 turning in the same direction and thrusts F1 and F2 pointing downwards to the left, the amphibious vehicle moves forward to the right. Similarly, it should be noted that when the amphibious vehicle needs to move forward to the left, it only needs to reverse the direction of the left and right wheels 100, meaning thrusts F1 and F2 are both pointing downwards to the right, thus moving the amphibious vehicle forward to the left.

[0078] like Figures 6 to 9 This describes the movement of an amphibious vehicle in water, driven by a single axle wheel 100 as the front axle. If this is applied to the rear axle, the direction in which the amphibious vehicle turns will change. For details, please refer to the difference between the rear wheel steering of a forklift and the front wheel steering of a regular car; it will not be elaborated upon here.

[0079] like Figures 10 to 14 This is a schematic diagram of a four-wheel drive, four-wheel independent amphibious vehicle. All four wheels work together to enable the amphibious vehicle to travel in water. (See diagram for example.) Figure 10 The diagram shows that both the front and rear wheels are 100mm outwards, allowing the amphibious vehicle to travel in a straight line; as shown... Figure 11 and Figure 12 The diagram shows the front and rear wheels arranged in a V-shape, one pointing inwards and the other outwards, allowing the amphibious vehicle to travel in a straight line; as shown... Figure 13 This is a structural diagram of the vehicle wheel 100 in a state of rotation in water, relative to... Figure 8 As shown, Figure 13 A U-turn in the middle of the field is more precise and less prone to fishtailing; for example Figure 14 The diagram shows the structure of the vehicle's wheel 100 in the water-drifting state. This allows the amphibious vehicle to drift at an angle in the water. When the steering angle of wheel 100 is 0, the amphibious vehicle can only move in the pure left and right directions.

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

[0081] In summary, any scheme in which the wheel spoke assembly is constructed with multiple blades 130 or multiple spokes and blades 130, causing the wheel 100 to rotate in the water to generate thrust, and through the combined thrust of the left and right wheels 100, enabling the amphibious vehicle to travel in a straight line, turn, and turn around in place in the water, all fall within the protection scope of this disclosure.

[0082] The embodiments of this disclosure also provide an amphibious vehicle, which includes the driving and steering systems provided in the above embodiments, enabling the amphibious vehicle to drive on land and in water, and to drive in a straight line, turn, and make U-turns in water. Therefore, the amphibious vehicle also possesses all the advantages of the above driving and steering systems.

[0083] The amphibious vehicle and its driving and steering system disclosed herein include a wheel 100 comprising a rim 110 and a spoke assembly. The spoke assembly includes a central connector 120 coaxially fitted inside the rim 110 and a plurality of blades 130 connected between the central connector 120 and the rim 110. A steering gear 300 is connected to the central connector 120 via a cantilever arm and is used to control the turning angle of the wheel 100. A drive unit is connected to the central connector 120 via a half-shaft and is used to drive the rotation of the wheel 100. When the amphibious vehicle is traveling on land, the drive unit rotates the wheels 100 to achieve movement, and the steering unit 300 controls the turning angle of the wheels 100 to achieve steering. When traveling in water, the drive unit rotates the wheels 100 to provide power, and the steering unit controls the turning angle of the wheels 100 through the suspension swing arm 200. The two work together to enable the blades 130 of the wheels 100 to generate propulsion for the amphibious vehicle to move and steer, such as forward movement, backward movement, left turn, and right turn in water. Compared with related technologies, the driving and steering system of this amphibious vehicle does not require an additional power source and transmission structure, resulting in a simple structure, which is conducive to the weight reduction of the entire vehicle and also reduces costs. Furthermore, the wheels 100 are directly connected to the vehicle's own power system (steering unit 300), which can provide greater torque and thrust, allowing the vehicle to travel faster in water.

[0084] Furthermore, due to the significant structural differences between amphibious vehicles and boats at the front, boats have an arrowhead-shaped front section, which improves their stability in the Y direction (left-right direction) when moving forward. However, amphibious vehicles cannot achieve this arrowhead shape at the front, meaning that they generally cannot guarantee straight-line stability. This disclosure provides an amphibious vehicle driving and steering system that not only provides thrust in the X direction (front-to-back direction) but also thrust in the Y direction, thereby improving the stability of the amphibious vehicle when moving in a straight line.

[0085] The preferred embodiments of this disclosure have been described in detail above with reference to the accompanying drawings. However, this disclosure is not limited to the specific details of the above embodiments. Within the scope of the technical concept of this disclosure, various simple modifications can be made to the technical solutions of this disclosure, and these simple modifications all fall within the protection scope of this 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, this disclosure will not describe the various possible combinations separately.

[0087] Furthermore, various different embodiments of this disclosure can be combined in any way, as long as they do not violate the spirit of this disclosure, they should also be regarded as the content disclosed in this disclosure.

Claims

1. A driving and steering system for an amphibious vehicle, characterized in that, Includes wheels, suspension arms connected to the frame, steering gear, and drive unit; The wheel includes a rim and a spoke assembly; the spoke assembly includes a central connector fitted inside the rim, and blades connecting the central connector and the rim; The steering gear is connected to the central connector via the suspension swing arm to control the steering angle of the wheel; The driver is connected to the central connector via a half-shaft and is used to control the rotation of the wheel; By controlling the rotation direction and the turning angle of the wheels, the blades can propel the amphibious vehicle to move and turn. The wheel includes a left wheel and a right wheel; The amphibious vehicle is capable of traveling in a straight line in water. When traveling in a straight line in water, the left wheel and the right wheel form an inward or outward V-shape.

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

3. The driving and steering system of the amphibious vehicle according to claim 1, characterized in that, The blades are configured such that when the driver drives the wheel to rotate counterclockwise, air or liquid flows from the inside of the wheel to the outside of the wheel; and when the driver drives the wheel to rotate clockwise, air or liquid flows from the outside of the wheel to the inside of the wheel; or The blades are configured such 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 the amphibious vehicle according to claim 1, characterized in that, The spoke assembly further includes a plurality of spokes connecting the rim and the central connector; The blade has an open state and a closed state; In the open state, the blades are arranged at an angle relative to the plane containing the plurality of spokes; In the closed state, the blade is parallel to the plane containing the plurality of spokes.

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

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

7. The driving and steering system of the amphibious vehicle according to any one of claims 1-6, characterized in that, The wheel includes a first left wheel and a first right wheel; The suspension arm includes a first suspension arm and a second suspension arm; The steering system includes a first steering system and a second steering system; The first steering gear is connected to the first left wheel via the first suspension arm; The second steering unit is connected to the first right wheel via the second suspension arm.

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

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

10. The driving and steering system of the amphibious vehicle according to claim 9, characterized in that, The driving and steering system also includes a stationary rotation state in water; and / or The driving and steering system also includes a diagonal driving mode in water.

11. An amphibious vehicle, characterized in that, The amphibious vehicle includes the driving and steering system of the amphibious vehicle as described in any one of claims 1-10.

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