Overturning type propelling device of amphibious vehicle and control method of overturning type propelling device

Abstract

The invention belongs to an amphibious vehicle turnover type propelling device in the technical field of amphibious vehicles, and further relates to a control method of the amphibious vehicle turnover type propelling device. A spoke (26) of the wheel structure (2) is movably connected with a paddle structure (25), the paddle structure (25) comprises an overturning rib plate (251) and paddle blades (252), one side of the overturning rib plate (251) is provided with an arc-shaped convex surface (28), an inner ring of the wheel structure (2) is provided with a telescopic mechanism (3), the front end of a telescopic rod of the telescopic mechanism (3) is provided with a top roller (31), and the top roller (31) is in contact with the arc-shaped convex surface (28). According to the turnover type propelling device of the amphibious vehicle, under the condition that propellers and power devices are not additionally arranged, the paddles are combined with the wheels, and the propelling force and the driving efficiency of paddling of the tires are improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of amphibious vehicles, and more specifically, relates to a flip-type propulsion device for an amphibious vehicle. The present invention also relates to a control method for the flip-type propulsion device for an amphibious vehicle. Background Art

[0002] The propulsion methods of amphibious vehicles include tire paddling, track paddling, propeller propulsion, water jet propulsion, etc. Among them, tire paddling is the simplest method, which relies on the rotation of the tire to propel the amphibious vehicle forward. This driving method has a simple structure and requires little modification to existing land vehicles. However, since the reverse propulsion force generated by the back-stroke of the dead water in the wheel well of the tire offsets part of the propulsion force generated by the paddling of the lower tire, the driving efficiency of this method is very low and the water navigation speed is low. Due to the low speed of the vehicle, the steering wheel cannot obtain sufficient lateral force when the steering wheel is used for water steering, so the water maneuverability is poor and it is difficult to maintain the direction of movement of the vehicle. The defects of the prior art: 1. The reverse propulsion force generated by the back-stroke of the dead water in the wheel well of the tire offsets part of the propulsion force generated by the paddling of the lower tire. The track mechanism is inconsistent with the wheel drive method; 2. Due to the low speed of the vehicle, the steering wheel cannot obtain sufficient lateral force when the steering wheel is used for water steering, so the water maneuverability is poor and it is difficult to maintain the direction of movement of the vehicle.

[0003] In the prior art, there is a technology named "amphibious vehicle" and with a publication (announcement) number of "CN103692871A". The technology is clearly an amphibious vehicle, comprising a vehicle body (1), wheels (6), an engine (2) and a hydraulic system (3), characterized in that the power source engine (2), a hydraulic motor (302) and a driving propulsion motor (301) of a marine propulsion device (4) of the vehicle are connected through a hydraulic pipeline; the engine (2) is installed at the center of the vehicle; the wheels (6) are installed at both ends of a sprocket box (5) on both sides of a frame (7); the sprocket box (5) and the frame (7) are hinged together by a sprocket box hinge lug (505); the sprocket box (5) flips to drive the wheels (6) to rise above a horizontal plane (8), and the wheels (6) are horizontal. The amphibious vehicle of the invention has high passing capacity, compact structure, stable performance, safety and reliability, fast water driving speed and flexible control.

[0004] However, this technology does not involve the technical problems and technical solutions of the present application. Summary of the invention

[0005] The technical problem to be solved by the present invention is: in view of the shortcomings of the existing technology, a flip propulsion device for amphibious vehicles is provided which has a simple structure and effectively combines the blades with the wheels without adding a propeller and a power device, thereby improving the propulsion force and driving efficiency of the tire paddling.

[0006] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is:

[0007] The present invention is a flip-type propulsion device for an amphibious vehicle. A paddle structure is movably connected to the spokes of a wheel structure. The paddle structure comprises a flip rib and a paddle blade. An arc-shaped convex surface is arranged on one side of the flip rib. A telescopic mechanism is installed on the inner ring of the wheel structure. A top roller is arranged at the front end of the telescopic rod of the telescopic mechanism. The top roller contacts the arc-shaped convex surface.

[0008] When the telescopic mechanism is in a retracted state, the paddle blades of the paddle structure are parallel to the wheel spokes; when the telescopic mechanism is in an extended state, the paddle blades of the paddle structure are at an angle to the wheel spokes.

[0009] The flip ribs and the paddle blades are vertically fixedly connected.

[0010] The amphibious vehicle flip propulsion device also includes an elastic reset mechanism 1, which connects the wheel spokes and the blades; when the telescopic rod of the telescopic mechanism contracts, the compressed elastic element in the elastic reset mechanism 1 is reset to assist the blade structure to rotate in the opposite direction to its original position.

[0011] The amphibious vehicle flipping propulsion device also includes an elastic reset mechanism 2, which includes an elastic slide groove and a connecting rod. An elastic element and a slider are provided in the elastic slide groove. One end of the elastic element is fixed against the end of the elastic slide groove, and the other end of the elastic element is against the end of the slider. The slider is configured to be able to slide in the slide groove. The upper part of the slider is hingedly connected to one end of the connecting rod, and the other end of the connecting rod is movably hinged to the flip rib.

[0012] When the telescopic rod of the telescopic mechanism is in an extended state, the paddle structure flips around the rotating axis toward the outside of the wheel structure, and the paddle structure pulls the slider to slide in the elastic slide groove, so that the elastic element in the slide groove is compressed; when the telescopic rod of the telescopic mechanism contracts, the elastic element in the elastic slide groove is released and returns to its original position, pushing the slider to slide in the elastic slide groove in the opposite direction, pulling the connecting rod to move, and pulling the paddle structure back to its original position.

[0013] The wheel structure comprises a tire, a rim, spokes, a hub, and a paddle structure. The spokes are radially and evenly connected between the rim and the hub. Each wheel structure comprises a plurality of spokes. Each paddle structure is located in a gap between adjacent spokes, and each spoke is respectively connected to a paddle structure.

[0014] The telescopic mechanism is rigidly connected to the fixed part of the wheel structure by bolts; the telescopic mechanism of the wheel structure can complete the telescopic action synchronously, and the telescopic mechanism of the wheel structure can complete the telescopic action independently.

[0015] The water flow speed and direction detection device is arranged at the four corners of the bottom of the vehicle body, and is used to detect the direction and speed data of the water flow, judge the state of the vehicle body in the water, and transmit the detected water flow direction and speed data to the main console; the data processing module of the main console processes the received water body data and the driving instruction data to calculate the required power size and direction, and controls the wheel rotation direction and speed and the extension length of the telescopic mechanism based on the calculation results.

[0016] The present invention also relates to a control method for an amphibious vehicle flip propulsion device, which has simple steps and effectively combines blades with wheels without adding propellers and power devices, thereby improving the propulsion force and driving efficiency of tire paddling. The control method comprises the following steps:

[0017] S1. When the amphibious vehicle is propelled by wading, all wheels are driven to rotate clockwise at a set speed, and the telescopic rod of the telescopic mechanism of each wheel is controlled to extend to the same length, the top roller of the telescopic rod of the telescopic mechanism contacts the arc-shaped convex surface of the flip rib of the paddle structure, pushing the blade of the paddle structure to flip to the outside of the wheel structure, and the extended blade rotates with the wheel structure, pushing the water flow backward, and the water flow provides forward propulsion force for the amphibious vehicle;

[0018] S2. When the amphibious vehicle wades and turns, the left front wheel and the left rear wheel are driven to move backward, and the right front wheel and the right rear wheel are driven to move forward, the telescopic rods of the telescopic mechanisms of the right front wheel and the right rear wheel, and the telescopic mechanisms of the left front wheel and the left rear wheel do not extend outward, and the amphibious vehicle can turn left; the right front wheel and the right rear wheel are driven to move backward, and the left front wheel and the left rear wheel are driven forward, the telescopic rods of the telescopic mechanisms of the left front wheel and the left rear wheel extend outward, and the telescopic rods of the telescopic mechanisms of the right front wheel and the right rear wheel do not extend outward, and the amphibious vehicle can turn right.

[0019] The technical solution of the present invention is adopted, and the working principle and beneficial effects are as follows:

[0020] The flip propulsion device for an amphibious vehicle of the present invention is provided with a wheel structure mounted on the vehicle body, and a paddle structure is movably connected to the spoke of the wheel structure, so that the paddle structure can rotate relative to the spoke. The paddle structure includes a flip rib and a paddle blade, and the flip rib and the paddle blade are fixedly connected structures, and the two can be welded. When the amphibious vehicle is wading, the paddle structure can be controlled to rotate relative to the spoke, and the paddle blade can be flipped to the outside of the wheel structure to play a propulsion role, or it can be retracted to a state flush with the spoke and will not play a propulsion role. An arc convex surface is provided on one side of the flip rib, and a top roller is provided at the front end of the telescopic rod of the telescopic mechanism, and the top roller contacts the arc convex surface. The telescopic mechanism is installed on the inner ring of the wheel structure, and the telescopic mechanism can only be telescopic and will not rotate or swing. When the paddle structure is required to perform a propulsion operation, the telescopic rod of the telescopic mechanism is controlled to extend, and the extension of the telescopic rod drives the top roller to act on the arc convex surface of the paddle structure, thereby applying force to the flip rib, pushing the paddle structure to flip outward relative to the spoke, and flip to the outside of the wheel structure. According to actual needs, the extension length of the telescopic rod of the telescopic mechanism can be controlled, thereby controlling the flip angle of the paddle blade to meet different propulsion needs. Each wheel structure is respectively provided with multiple telescopic mechanisms and multiple paddle blade structures, and each telescopic mechanism corresponds to a paddle blade structure. In this way, different wheel structures or different telescopic mechanisms of the same wheel structure can be controlled synchronously or individually, thereby controlling different paddle blade structures to achieve flipping (unfolding) and flip angle control as needed, realizing non-consistent control, and meeting the propulsion needs of different directions and speeds of tire paddling. When the top roller of the telescopic rod of the telescopic mechanism extends and touches the paddle blade, the top roller can rotate with the rotation of the paddle blade structure, reducing the wear of the telescopic mechanism and the paddle blade structure, and increasing the service life of the top roller and the paddle blade structure. The structure of the present invention, on the basis of the wheel structure having the paddling function, designs the paddle blade structure, arranges the paddle blade structure that can be flipped in the spoke, and can control the flip angle, thereby meeting the needs of amphibious vehicle wading propulsion, improving the propulsion force and driving efficiency of the wheel structure paddling, and improving the speed and water maneuverability of the vehicle. In the structure of the present invention, the telescopic mechanism of each blade structure can independently control its extension and retraction, and the movement posture of the amphibious vehicle in water can be assisted in being corrected through the cooperation of multiple telescopic mechanisms and blade structures. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The following is a brief description of the contents and symbols in the drawings of this specification:

[0022] Figure 1 It is a structural schematic diagram of the amphibious vehicle of the present invention;

[0023] Figure 2 It is a structural schematic diagram of the wheel structure of the amphibious vehicle according to the present invention;

[0024] Figure 3 is a schematic cross-sectional view of the wheel structure of the present invention;

[0025] Figure 4 This is a schematic diagram of the axial structure of the wheel structure of the present invention;

[0026] Figure 5 It is a structural schematic diagram of the amphibious vehicle of the present invention in a wading forward state;

[0027] Figure 6 It is a structural schematic diagram of the amphibious vehicle of the present invention in a wading steering state;

[0028] Figure 7 It is a partial structural schematic diagram of the elastic reset mechanism 1 of the amphibious vehicle flip propulsion device according to the present invention;

[0029] Figure 8 It is a partial structural schematic diagram of the elastic reset mechanism 2 of the amphibious vehicle flip propulsion device according to the present invention;

[0030] Fig. 9 It is a partial structural schematic diagram of the arrangement of the elastic reset mechanism of the rollover propulsion device of the amphibious vehicle according to the present invention;

[0031] Fig.10 A control flow chart of the wading mode of the amphibious vehicle according to the present invention;

[0032] The marks in the attached drawings are respectively: 1. vehicle body; 2. wheel structure; 3. telescopic mechanism; 31. top roller; 21. tire; 22. rim; 23. elastic reset mechanism 1; 24. hub; 25. paddle structure; 26. spoke; 27. elastic reset mechanism 2; 28. arc convex surface; 231. support 1; 232. elastic element; 233. support 2; 251. flip rib; 252. paddle blade; 271. elastic slide groove; 272. connecting rod; 273. slider; 274. elastic element. DETAILED DESCRIPTION

[0033] The following is a further detailed description of the specific implementation of the present invention, such as the shape, structure, mutual position and connection relationship between the various components involved, the function and working principle of each part, etc., through the description of the embodiments with reference to the accompanying drawings:

[0034] As attached Figure 1 -Attached Fig. 9As shown, the present invention is a flip propulsion device for an amphibious vehicle, wherein the wheel structure 2 is movably connected to the spoke 26 of the wheel structure 2 with a paddle structure 25, the paddle structure 25 includes a flip rib 251 and a paddle blade 252, an arcuate convex surface 28 is arranged on one side of the flip rib 251, a telescopic mechanism 3 is installed on the inner ring of the wheel structure 2, a top roller 31 is arranged at the front end of the telescopic rod of the telescopic mechanism 3, and the top roller 31 contacts the arcuate convex surface 28. The above structure proposes an improved technical solution to address the deficiencies in the prior art. When the structure is set, the wheel structure 2 is installed on the vehicle body 1, and the paddle structure 25 is movably connected to the spoke 26 of the wheel structure 2, so that the paddle structure 25 can rotate relative to the spoke 26. The paddle structure 25 includes a flip rib 251 and a paddle blade 252, and the flip rib 251 and the paddle blade 252 are fixed connection structures, and the two can be welded. When the amphibious vehicle is wading, the paddle structure 25 can be controlled to rotate relative to the spoke 26, and the paddle blades 252 can be turned over to the outside of the wheel structure 2 to play a propulsion role, or they can be retracted to a state flush with the spoke 26 and will not play a propulsion role. An arc convex surface 28 is set on one side of the flip rib 251, and a top roller 31 is set at the front end of the telescopic rod of the telescopic mechanism 3, and the top roller 31 contacts the arc convex surface 28. The telescopic mechanism 3 is installed on the inner ring of the wheel structure 2, and the telescopic mechanism 3 can only be extended and retracted, and will not rotate or swing. When the paddle structure 25 is required to play a pushing operation, the telescopic rod of the telescopic mechanism 3 is controlled to extend, and the extension of the telescopic rod drives the top roller 31 to act on the arc convex surface 28 of the paddle structure 25, thereby applying force to the flip rib 251, pushing the paddle structure 25 to flip outward relative to the spoke 26 and flip to the outside of the wheel structure 2. According to actual needs, the extension length of the telescopic rod of the telescopic mechanism 3 can be controlled, thereby controlling the flip angle of the paddle blades 252 to meet different propulsion needs. Each wheel structure 2 is provided with a plurality of telescopic mechanisms 3 and a plurality of paddle structures 25, and each telescopic mechanism 3 is provided corresponding to a paddle structure 25. In this way, different wheel structures 2 or different telescopic mechanisms 3 of the same wheel structure 2 can be controlled synchronously or individually, so as to control different paddle structures 25 to realize flipping (unfolding) and flipping angle control as needed, realize non-consistent control, and meet the propulsion requirements of different directions and speeds of tire paddling. When the top roller 31 of the telescopic rod of the telescopic mechanism 3 is extended to contact the paddle blade 252, the top roller 31 can rotate with the rotation of the paddle structure 25, reduce the wear of the telescopic mechanism 3 and the paddle 25, and increase the service life of the top roller 31 and the paddle structure 25. The structure of the present invention is based on the wheel structure 2 having the paddling function, and the paddle structure 25 is designed, and the paddle structure 25 that can be flipped is set in the spoke 26, and the flipping angle can be controlled, so as to meet the needs of amphibious vehicle wading propulsion, improve the propulsion force and driving efficiency of the wheel structure 2 paddling, and improve the speed and water maneuverability of the vehicle.In the structure of the present invention, the telescopic mechanism of each blade structure 25 can independently control its extension and retraction, and the cooperation of multiple telescopic mechanisms 3 and the blade structure 25 can assist in correcting the motion posture of the amphibious vehicle in the water. The flip-type propulsion device for an amphibious vehicle described in the present invention has a simple structure, and effectively combines the blades with the wheels without adding propellers and power devices, thereby improving the propulsion force and driving efficiency of the tire paddling.

[0035] When the telescopic mechanism 3 is in the retracted state, the blade 252 of the paddle structure 25 is parallel to the spoke 26, and when the telescopic mechanism 3 is in the extended state, the blade 252 of the paddle structure 25 is at an angle to the spoke 26. In the above structure, the telescopic structure 3 in each wheel structure 2 can be controlled individually, and the flip angles of different blade structures 25 can be controlled individually, which can achieve the inconsistency control of the propulsion force of each wheel structure 2, and then correct the movement posture of the vehicle in the water. The water flow speed direction detection device is used to detect the direction and speed data of the water flow, judge the driving state of the vehicle body 1 in the water, and transmit the detected data to the main console. The data processing module of the main console processes the received water body data and the driving instruction data to calculate the size and direction of the required power, and controls the rotation direction and speed of different wheel structures 2 of the vehicle body and the extension and retraction of the telescopic mechanism based on the calculation results.

[0036] The flip rib 251 and the paddle blade 252 are vertically fixedly connected. In the above structure, the flip rib 251 and the paddle blade 252 are made separately and then welded to form an integral structure. The paddle blade 252 is movably connected to the spoke through a rotating shaft to achieve a reliable connection and can be flexibly flipped. In this way, when the paddle structure needs to be flipped outward, it can be reliably controlled by the telescopic mechanism 3.

[0037] The amphibious vehicle flip propulsion device also includes an elastic reset mechanism 1 23, which connects the spoke 26 and the paddle 25; when the telescopic rod of the telescopic mechanism 3 is retracted, the compressed elastic element in the elastic reset mechanism 1 23 is reset, and the auxiliary paddle structure 25 is reversely rotated to the original position. The amphibious vehicle flip propulsion device also includes an elastic reset mechanism 2 27, which includes an elastic slide 271 and a connecting rod 272. An elastic element and a slider are provided in the elastic slide 271. One end of the elastic element is fixed against the end of the elastic slide 271, and the other end of the elastic element is against the end of the slider. The slider is configured to be able to slide in the slide. The upper part of the slider is hingedly connected to one end of the connecting rod 272, and the other end of the connecting rod is movably hinged to the flip rib 251. In the above structure, the elastic reset mechanism includes two, namely, the elastic reset mechanism 1 23 and the elastic reset mechanism 2 27, which are used to push the flipped paddle structure back to the original position when the telescopic mechanism is retracted. When the vehicle needs to turn in a wading environment, the movement of the telescopic mechanism 3 is flexibly controlled to control the flip angle of the paddle blade 252 of the paddle structure, thereby realizing the propulsion function and assisting in correcting the motion posture of the vehicle. The present invention provides propulsion to the vehicle body 1 through the flipping and unfolding of the paddle structure and the synchronous rotation with the wheels, thereby realizing the movement of the vehicle in the water.

[0038] When the telescopic rod of the telescopic mechanism 3 is in an extended state, the paddle structure 25 flips around the rotating axis toward the outside of the wheel structure 2, and the paddle structure 25 pulls the slider to slide in the elastic slide groove 271, so that the elastic element in the slide groove 271 is compressed; when the telescopic rod of the telescopic mechanism 3 contracts, the elastic element in the elastic slide groove 271 is released and returns to its original position, pushing the slider to slide in the elastic slide groove 271 in the opposite direction, pulling the connecting rod 272 to move, and pulling the paddle structure 25 back to its original position.

[0039] The wheel structure 2 comprises a tire 21, a rim 22, a spoke 26, a hub 24, and a paddle structure 25. The spokes 26 are evenly connected between the rim 22 and the hub 24 in a radial shape. Each wheel structure 2 comprises a plurality of spokes 26. Each paddle structure 25 is located in a gap between adjacent spokes, and each spoke 26 is connected to a paddle structure 25. The telescopic mechanism 3 is rigidly connected to the fixed part of the wheel structure 2 by bolts; the telescopic mechanism 3 provided on the wheel structure 2 can synchronously complete the telescopic action, and the telescopic mechanism 3 of the wheel structure 2 can complete the telescopic action alone. In the above structure, the telescopic mechanism 3 is fixed in position and can only perform telescopic action.

[0040] The water flow speed and direction detection device is arranged at the four corners of the bottom of the vehicle body 1, and is used to detect the direction and speed data of the water flow, judge the state of the vehicle body 1 in the water, and transmit the detected water flow direction and speed data to the main console; the data processing module of the main console processes the received water body data and the driving instruction data to calculate the required power size and direction, and controls the wheel rotation direction and speed and the extension length of the telescopic mechanism based on the calculation results.

[0041] In the structure of the present invention, as shown in the attached Figure 8 As shown, when the vehicle is propelled through water, the main console fits the water data detected by the water flow speed and direction detection device with the forward driving instruction, and after obtaining the size and direction of the required power, drives the four wheels to rotate clockwise at the set speed at the same time, and controls the telescopic rods of the telescopic mechanisms of the four wheel structures to extend to the same length. When the paddle structure rotates to the bottom position with the wheel, the telescopic rod of the telescopic mechanism 3 extends, and the top roller 31 contacts the arc-shaped convex surface 28 of the flip rib of the paddle structure, pushing the paddle blades to flip and extend to the outside of the wheel structure, until the wheel structure drives the paddle to rotate to the end position of contact, and the paddle structure returns to its original position under the action of the elastic reset mechanism. The extended paddle structure follows the rotation of the wheel to push the water flow backward, and the water flow provides forward propulsion to the vehicle, so as to achieve an increase in the propulsion force of the tire paddling method. As shown in the attached figure Fig. 9 As shown, when the vehicle turns through water, the main console fits the water body data detected by the water flow speed direction detection device with the corresponding steering driving instructions, and after obtaining the size and direction of the required power, drives the left front wheel and the left rear wheel to move backward, and the right front wheel and the right rear wheel to move forward, and at the same time, the telescopic mechanisms at the bottom of the right front wheel and the right rear wheel extend outward by a certain length, and the telescopic mechanisms 3 at the bottom of the left front wheel and the left rear wheel do not extend outward, but remain in a retracted state, and the amphibious vehicle can achieve left turning driving; drives the right front wheel and the right rear wheel to move backward, and the left front wheel and the left rear wheel to move forward, and at the same time, the telescopic mechanisms at the bottom of the left front wheel and the left rear wheel extend outward by a certain length, and the telescopic mechanisms at the bottom of the right front wheel and the right rear wheel do not extend outward, but remain in a retracted state, and the amphibious vehicle can achieve right turning driving.

[0042] The present invention also relates to a control method for an amphibious vehicle flip propulsion device, which has simple steps and effectively combines blades with wheels without adding propellers and power devices, thereby improving the propulsion force and driving efficiency of tire paddling. The control method comprises the following steps:

[0043] S1. When the amphibious vehicle is propelled by wading, all wheels are driven to rotate clockwise at a set speed, and the telescopic rod of the telescopic mechanism 3 of each wheel is controlled to extend to the same length, the top roller of the telescopic rod of the telescopic mechanism contacts the arc-shaped convex surface of the flip rib of the paddle structure, and the blade 252 of the paddle structure is pushed to flip to the outside of the wheel structure 2, and the extended blade 252 rotates with the wheel structure 2, pushing the water flow backward, and the water flow provides forward propulsion to the amphibious vehicle;

[0044] S2. When the amphibious vehicle wades and turns, the left front wheel and the left rear wheel are driven to move backward, and the right front wheel and the right rear wheel are driven to move forward. The telescopic rods of the telescopic mechanism 3 of the right front wheel and the right rear wheel and the telescopic mechanism of the left front wheel and the left rear wheel do not extend outward, and the amphibious vehicle can turn left; the right front wheel and the right rear wheel are driven to move backward, and the left front wheel and the left rear wheel are driven forward. The telescopic rods of the telescopic mechanism of the left front wheel and the left rear wheel extend outward, and the telescopic rods of the telescopic mechanism of the right front wheel and the right rear wheel do not extend outward, and the amphibious vehicle can turn right.

[0045] The structure and method described in the present invention have the following beneficial effects: 1. The propulsion force and driving efficiency of the wheel structure can be greatly improved without adding propellers and power devices. 2. The paddle structure and the wheel structure are effectively combined, so that the amphibious vehicle can move forward quickly under the thrust of the rotation of the paddle structure and the action of the water flow when wading, thereby improving the speed of the vehicle and further improving the vehicle's maneuverability on water. 3. Amphibious vehicles can travel both on land and in wading environments. When wading, the paddle structure can be used to achieve safe and stable driving of the wading vehicle. 4. The flip angle of each paddle blade in the paddle structure 25 can be controlled by controlling the movement of the telescopic mechanism, which can assist in correcting the vehicle's movement posture in the water.

[0046] The flip propulsion device for an amphibious vehicle of the present invention is configured such that the wheel structure 2 is mounted on the vehicle body 1, and the spoke 26 of the wheel structure 2 is movably connected to the paddle structure 25, so that the paddle structure 25 can rotate relative to the spoke 26. The paddle structure 25 includes a flip rib 251 and a paddle blade 252, and the flip rib 251 and the paddle blade 252 are fixedly connected structures, and the two can be welded. When the amphibious vehicle is wading, the paddle structure 25 can be controlled to rotate relative to the spoke 26, and the paddle blade 252 can be flipped to the outside of the wheel structure 2 to play a propulsion role, or it can be retracted to a state flush with the spoke 26 and will not play a propulsion role. An arc convex surface 28 is provided on one side of the flip rib 251, and a top roller 31 is provided at the front end of the telescopic rod of the telescopic mechanism 3, and the top roller 31 contacts the arc convex surface 28. The telescopic mechanism 3 is installed on the inner ring of the wheel structure 2, and the telescopic mechanism 3 can only be telescopic and will not rotate or swing. When the paddle structure 25 is required to perform a pushing operation, the telescopic rod of the telescopic mechanism 3 is controlled to extend, and the extension of the telescopic rod drives the top roller 31 to act on the arc convex surface 28 of the paddle structure 25, thereby applying force to the flip rib 251, pushing the paddle structure 25 to flip outward relative to the spoke 26 and flip to the outside of the wheel structure 2. According to actual needs, the extension length of the telescopic rod of the telescopic mechanism 3 can be controlled to control the flip angle of the paddle blade 252 to meet different propulsion needs. Each wheel structure 2 is respectively provided with multiple telescopic mechanisms 3 and multiple paddle structures 25, and each telescopic mechanism 3 is provided corresponding to a paddle structure 25. In this way, different wheel structures 25 or different telescopic mechanisms 3 of the same wheel structure 25 can be controlled synchronously or individually, so as to control different paddle structures 25 to achieve flipping (unfolding) and flip angle control as needed, and achieve non-consistent control to meet the propulsion needs of different directions and speeds of tire paddling. When the top roller 31 of the telescopic rod of the telescopic mechanism 3 extends out and contacts the paddle blade 252, the top roller 31 can rotate with the rotation of the paddle structure 25, thereby reducing the wear of the telescopic mechanism 3 and the paddle 25 and increasing the service life of the top roller 31 and the paddle structure 25. The structure of the present invention is based on the design of the paddle structure 25 on the basis that the wheel structure 2 has the function of paddling, and a flippable paddle structure 25 is set in the spoke 26, and the flipping angle can be controlled, so as to meet the needs of amphibious vehicle wading propulsion, improve the propulsion force and driving efficiency of the wheel structure paddling, and improve the speed and water maneuverability of the vehicle. In the structure of the present invention, the telescopic mechanism of each paddle structure 25 can independently control its extension and retraction, and through the cooperation of multiple telescopic mechanisms 3 and paddle structures 25, the movement posture of the amphibious vehicle in the water is assisted and corrected.

[0047] The present invention is described above by way of example in conjunction with the accompanying drawings. It is obvious that the specific implementation of the present invention is not limited to the above-mentioned method. As long as various improvements are made using the method concept and technical solution of the present invention, or the concept and technical solution of the present invention are directly applied to other occasions without improvement, they are all within the protection scope of the present invention.

Claims

1. A flip-type propulsion device for an amphibious vehicle, characterized in that: The wheel structure (2) is movably connected to the spoke (26) of the wheel structure (2), and the blade structure (25) comprises a flip rib (251) and a blade (252). An arcuate convex surface (28) is arranged on one side of the flip rib (251). A telescopic mechanism (3) is installed on the inner ring of the wheel structure (2), and a top roller (31) is arranged at the front end of the telescopic rod of the telescopic mechanism (3), and the top roller (31) contacts the arcuate convex surface (28).

2. The amphibious vehicle flip propulsion device according to claim 1, characterized in that: When the telescopic mechanism (3) is in a retracted state, the paddle blades (252) of the paddle structure (25) and the spokes (26) are in a parallel state; when the telescopic mechanism (3) is in an extended state, the paddle blades (252) of the paddle structure (25) and the spokes (26) are in an angled state.

3. The amphibious vehicle flip propulsion device according to claim 1 or 2, characterized in that: The flip rib (251) and the paddle blade (252) are vertically fixedly connected.

4. The amphibious vehicle flip propulsion device according to claim 1 or 2, characterized in that: The amphibious vehicle flip propulsion device further comprises an elastic reset mechanism (23), wherein the elastic reset mechanism (23) is connected to the wheel spoke (26) and the paddle (25); when the telescopic rod of the telescopic mechanism (3) is contracted, the compressed elastic element (232) in the elastic reset mechanism (23) is reset, thereby assisting the paddle structure (25) to rotate in the opposite direction to its original position.

5. The amphibious vehicle flip propulsion device according to claim 1 or 2, characterized in that: The amphibious vehicle flip propulsion device also includes a second elastic reset mechanism (27), the second elastic reset mechanism (27) includes an elastic slide groove (271) and a connecting rod (272), an elastic element (274) and a slider (273) are provided in the elastic slide groove (271), one end of the elastic element (274) is fixedly pressed against the end of the elastic slide groove (271), and the other end of the elastic element (274) is pressed against the end of the slider (273), the slider (273) is configured to be able to slide in the slide groove (271), the upper part of the slider (273) is hingedly connected to one end of the connecting rod (272), and the other end of the connecting rod is movably hinged to the flip rib (251).

6. The flip-type propulsion device for an amphibious vehicle according to claim 5, characterized in that: When the telescopic rod of the telescopic mechanism (3) is in an extended state, the paddle structure (25) flips around the rotating axis toward the outside of the wheel structure (2), and the paddle structure (25) pulls the slider (273) to slide in the elastic slide groove (271), so that the elastic element (274) in the slide groove (271) is compressed; when the telescopic rod of the telescopic mechanism (3) contracts, the elastic element (274) in the elastic slide groove (271) is released and returns to its original position, pushing the slider (273) to slide in the elastic slide groove (271) in the opposite direction, pulling the connecting rod (272) to move, and pulling the paddle structure (25) back to its original position.

7. The flip propulsion device for an amphibious vehicle according to claim 1 or 2, characterized in that: The wheel structure (2) comprises a tire (21), a rim (22), spokes (26), a hub (24), and a paddle structure (25); the spokes (26) are evenly connected between the rim (22) and the hub (24) in a radial shape; each wheel structure (2) comprises a plurality of spokes (26); each paddle structure (25) is located in a gap between adjacent spokes; and each spoke (26) is respectively connected to a paddle structure (25).

8. The flip propulsion device for an amphibious vehicle according to claim 1 or 2, characterized in that: The telescopic mechanism (3) is rigidly connected to the fixed part of the wheel structure (2) via bolts; the telescopic mechanism of the wheel structure (2) can synchronously complete the telescopic action, and the telescopic mechanism of the wheel structure (2) can independently complete the telescopic action.

9. The amphibious vehicle flip propulsion device according to claim 1 or 2, characterized in that: The water flow speed direction detection device is arranged at the four corners of the bottom of the vehicle body (1) and is used to detect the direction and speed data of the water flow, judge the state of the vehicle body (1) in the water, and transmit the detected water flow direction and speed data to the main control station; the data processing module of the main control station processes the received water body data and the driving instruction data, calculates the required power size and direction, and controls the wheel rotation direction and speed and the extension length of the telescopic mechanism based on the calculation results.

10. The control method of the amphibious vehicle flip propulsion device according to any one of claims 1 to 9, characterized in that: The steps of the control method are: S1. When the amphibious vehicle is propelled through water, all wheels are driven to rotate clockwise at a set speed, and the telescopic rod of the telescopic mechanism (3) of each wheel is controlled to extend to the same length, so that the top roller of the telescopic rod of the telescopic mechanism contacts the arc-shaped convex surface of the flip rib of the paddle structure, pushing the blade (252) of the paddle structure to flip to the outside of the wheel structure, and the extended blade (252) rotates with the wheel structure (2), pushing the water flow backward, and the water flow provides forward propulsion force for the amphibious vehicle; S2. When the amphibious vehicle wades and turns, the left front wheel and the left rear wheel are driven to move backward, and the right front wheel and the right rear wheel are driven to move forward, the telescopic rods of the telescopic mechanisms of the right front wheel and the right rear wheel, and the telescopic mechanisms of the left front wheel and the left rear wheel do not extend outward, and the amphibious vehicle can turn left; the right front wheel and the right rear wheel are driven to move backward, and the left front wheel and the left rear wheel are driven forward, the telescopic rods of the telescopic mechanisms of the left front wheel and the left rear wheel extend outward, and the telescopic rods of the telescopic mechanisms of the right front wheel and the right rear wheel do not extend outward, and the amphibious vehicle can turn right.

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