Amphibious vehicle wheel propelling structure and control method thereof

Abstract

The invention belongs to an amphibious vehicle wheel propelling structure in the technical field of amphibious vehicles, and further relates to a control method of the amphibious vehicle wheel propelling structure. The paddle blade (233) comprises a first blade (2331) and a second blade (2332), the paddle structure (23) is located at the gap position of the adjacent spokes (25), the first blade (2331) and the second blade (2332) are connected with the sliding control plate (2333), the sliding groove (43) is formed in the control plate (2333) and is of an arc-shaped structure, one end of the connecting rod (41) is connected with the telescopic mechanism (3), and the other end of the connecting rod (41) is movably connected with the sliding groove (43) through a connecting rod pin shaft. And the telescopic mechanism (3) is fixedly connected to the inner ring position of the wheel structure (2). According to the amphibious vehicle wheel propelling structure, the telescopic mechanism can be controlled, the paddle unfolding angle can be adjusted, the water skiing efficiency of the wheel structure is improved, and the moving posture of a vehicle in water can be corrected in an auxiliary mode.

Description

Technical Field

[0001] The present invention belongs to the technical field of amphibious vehicles. More specifically, it relates to a wheel propulsion structure for an amphibious vehicle, and the present invention also relates to a control method for the wheel propulsion structure of an amphibious vehicle. Background Art

[0002] With the continuous progress of transportation technology, amphibious transportation means have attracted increasing attention due to their unique cross-boundary capabilities. However, there are still many challenges in the propulsion system of such transportation means. Traditional propellers perform well underwater, but are prone to damage and have low efficiency on land or in shallow water areas; while the tire or track system of land vehicles has difficulty obtaining sufficient traction in water areas. Therefore, it is particularly important to develop a device that can not only adapt to high-speed navigation on water, but also effectively propel on land and in shallow water areas. Currently, there are some solutions in the market to address this problem, such as variable propellers, retractable tracks, etc., but these solutions are often complex in structure, costly, and still have many deficiencies in practical applications. Therefore, the present invention proposes a brand-new amphibious sliding paddle impeller rim propulsion device, aiming to overcome the limitations of the prior art and provide a propulsion solution with simple structure, convenient operation, strong adaptability, and high energy efficiency. In summary, the deficiencies of the prior art are: the propeller is easily damaged by underwater obstacles in shallow water areas or complex water areas, its propulsion efficiency fluctuates greatly under different working conditions, and it is less flexible during vehicle steering or side-thrust operations, often requiring the assistance of a complex rudder system or additional side-thrust devices to achieve, which not only increases the structural complexity and weight of the vehicle, but also reduces the overall reliability and operation convenience.

[0003] There is a technology in the prior art with the name "Amphibious Composite Wheel and Amphibious Vehicle", and the publication (announcement) number is "CN110789272B". This technology is applicable to the technical field of walking machinery and provides an amphibious composite wheel and an amphibious vehicle. The amphibious composite wheel includes a wheel hub, a wheel side speed reducer, a brake, a main tire, an air filling pipe, a half shaft, a central air charging and discharging system, and a connecting mechanism; it also includes a fixed and inflatable and deflatable fixed webbed paddle wheel impeller auxiliary tire arranged outside the wheel hub. The auxiliary tire is made of elastic rubber, and the central axis of the auxiliary tire coincides with the central axis of the main tire. When the auxiliary tire is fully inflated, it is parallel to the main tire, and when the auxiliary tire is deflated, it shrinks into the wheel hub. The amphibious composite wheel provided by the present invention has a simple structure, is light in weight, is easy to maintain, can effectively avoid waterweed entanglement, has strong environmental adaptability, and has high propulsion efficiency, meeting the special requirements of the vehicle for integrated composite propulsion on water and land.

[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: aiming at the deficiencies of the prior art, to provide a wheel propulsion structure for an amphibious vehicle that can control the telescopic mechanism, adjust the deployment angle of the blades, improve the wheel structure and rowing efficiency, assist the vehicle to travel quickly when the vehicle is driving in water, and can also assist in correcting the movement posture of the vehicle in water and improve the overall performance.

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

[0007] The present invention is a wheel propulsion structure for an amphibious vehicle. The blade is movably connected to the spoke. The blade includes a first blade and a second blade. The blade structure is located at the gap position between adjacent spokes. The first blade and the second blade are connected to a sliding control plate. A chute is provided on the control plate, and the chute is an arc structure. One end of the connecting rod is connected to the telescopic mechanism, and the other end of the connecting rod is movably connected to the chute through a connecting rod pin shaft. The telescopic mechanism is fixedly connected to the inner ring position of the wheel structure.

[0008] The first blade and the second blade are arranged at an acute angle, the control plate is perpendicular to the first blade and the second blade, and the first leaf is movably connected to the fixed support through a pin shaft.

[0009] The fixed support is clamped in the notch on the spoke through a convex part, and protruding pin shafts are respectively arranged at each end of the first blade.

[0010] When the telescopic mechanism is in a contracted state, the first blade is set to a structure parallel to the spoke; the second blade is set to a structure arranged at an acute angle to the spoke; when the telescopic mechanism is in an extended state, the first blade is set to a structure that unfolds outward from the gap between adjacent spokes. When the telescopic mechanism is in the maximum extended state, the second blade is set to a structure parallel to the spoke.

[0011] The wheel structure includes a tire, a rim, a spoke, a hub, and a blade structure. The telescopic mechanism is fixed in the rim.

[0012] The telescopic rod of the telescopic mechanism is hinged to the connecting rod.

[0013] The wheel propulsion structure of the amphibious vehicle further includes a power source transmission structure. The power source transmission structure includes a bearing, an air pipe, a steering knuckle, a seal, and a lock nut. The bearing includes a first bearing and a second bearing. The first bearing and the second bearing respectively rotatably connect the two ends of the hub of the wheel structure to the steering knuckle. One end of the air pipe is connected to the air source, and the other end of the air pipe is connected to the air duct opened in the steering knuckle.

[0014] The seal includes a first seal and a second seal. The first seal is arranged between the steering knuckle and the hub, and the second seal is arranged between the hub cap and the oil and gas seal seat ring.

[0015] The high-pressure gas from the gas source is transported through a trachea into the air passage in the steering knuckle, enters the cavity of the wheel hub through the air passage, and finally is transported to the telescopic mechanism through the air holes and the external trachea connected to the air holes. The movement of the telescopic mechanism is controlled by a control valve for the telescopic control of the telescopic mechanism.

[0016] The present invention also relates to a control method for a wheel propulsion structure of an amphibious vehicle, which can control the telescopic mechanism, adjust the deployment angle of the blades, improve the wheel structure and rowing efficiency, assist the vehicle to travel quickly when the vehicle is driving in water, and can also assist in correcting the movement posture of the vehicle in water and improve the overall performance. The steps of the control method are as follows:

[0017] S1. When the amphibious vehicle wades and propels, drive all wheel structures to rotate clockwise at a set speed simultaneously, and control the telescopic rods of each telescopic mechanism to extend the same length. The extended telescopic rods push the connecting rods to drive the pin shafts connected to the blade vanes to slide along the chute, so that the blade structure rotates around the pin shafts, the first blade unfolds and extends outside the wheel structure until the second blade rotates to be parallel to the wheel spokes, reaching the maximum deployment state; the extended blade vanes follow the movement of the wheel structure to stir the water flow backward, and the water flow provides a forward propulsion force to the amphibious vehicle to realize the rowing of the wheel structure; control the telescopic rods of each telescopic mechanism to retract the same length, then the extended blade vanes rotate back around the pin shafts until the first blade is parallel to the wheel spokes again, reaching the fully closed reset state;

[0018] S2. When the vehicle wades and turns, drive the left front wheel and the left rear wheel to move backward, drive the right front wheel and the right rear wheel to move forward, and at the same time, the telescopic rods of the telescopic mechanisms at the bottoms of the right front wheel and the right rear wheel extend a set length outward, and the telescopic rods of the telescopic mechanisms on one side of the left front wheel and the left rear wheel do not extend outward and remain in the retracted state, and the vehicle realizes a left-turn driving; drive the right front wheel and the right rear wheel to move backward, the left front wheel and the left rear wheel to move forward, the telescopic rods of the telescopic mechanisms at the bottoms of the left front wheel and the left rear wheel extend a set length outward, and the telescopic rods of the telescopic mechanisms at the bottoms of the right front wheel and the right rear wheel do not extend outward and remain in the retracted state, and the vehicle can realize a right-turn driving.

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

[0020] The wheel propulsion structure of the amphibious vehicle described in the present invention has a paddle structure disposed on the wheel structure, and the wheel structure is mounted on the vehicle body. The paddle blades are movably connected to the wheel spokes. When the paddle blades are pushed by an external force, they can rotate relative to the wheel spokes, thereby realizing flipping to the outside of the wheel structure and resetting to the inside of the wheel structure. The paddle structure is located at the gap position between adjacent wheel spokes. The paddle blades include a first blade and a second blade. The first blade and the second blade are connected to a sliding control plate. The first blade, the second blade, and the control plate are of a fixed structure, which can be connected by welding. A chute is provided on the control plate. The chute is of an arc structure. One end of a connecting rod is connected to a telescopic mechanism, and the other end of the connecting rod is movably connected to the chute through a connecting rod pin shaft. The telescopic mechanism is fixedly connected to the inner ring position of the wheel structure. In this way, the telescopic mechanism can only complete telescopic movements and will not swing or shake, so that a thrust or a pulling force can be provided through the connecting rod, and the thrust or the pulling force drives the position of the paddle blades to change relative to the wheel structure. Based on the water paddling of the wheel structure, the structure of the present invention designs a sliding paddle structure, and a sliding control paddle structure is provided in the wheel spokes, which can improve the propulsion force and driving efficiency of the wheel structure for water paddling, can increase the vehicle speed, and further improve the water maneuverability of the vehicle. In the structure of the present invention, each paddle blade in the paddle structure of each wheel paddle structure can be individually controlled by the telescopic movement of the telescopic rod of a corresponding telescopic mechanism. When the telescopic mechanism is controlled to extend to push the paddle structure to move to the outside of the wheel structure, the paddle structure can complete the backward water paddling movement after being pushed out. When the telescopic mechanism is controlled to contract, and then the paddle structure is pulled back to its original position from the extended state, the reverse water paddling movement is avoided, and the propulsion efficiency of the wheel water paddling is reduced. By different control steps, the paddle structure can be controlled to be in different deployed angle states, which can assist in correcting the movement posture of the vehicle in water and enhance the mobility and flexibility of the amphibious vehicle in water. The structure of the present invention realizes efficient propulsion in different media (water, land, shallow water) through the innovative sliding paddle control and rim structure design, while maintaining the compactness of the structure and the simplicity of operation. The device includes a tire, a rim, a wheel spoke, a paddle structure, a chute, and a telescopic mechanism embedded in the rim structure. The telescopic movement of the telescopic mechanism can realize the extension (deployment) of the paddle structure to the outside of the wheel structure under the cooperation of the chute and the connecting rod. The paddle structure is provided in the wheel spokes to improve the propulsion force and driving efficiency of the wheel structure for water paddling. The chute converts the telescopic movement of the telescopic mechanism into a sliding movement, and then drives the paddle structure to deploy to the outside of the wheel structure or contract to the inside of the wheel structure. The telescopic mechanism is embedded in the rim structure and is fixedly connected to the rim structure by welding, and can rotate synchronously with the wheel to provide the driving force for telescoping. Its power source is fixedly connected to the vehicle body, and the connection with the telescopic mechanism is realized through the power source transmission structure. When the vehicle needs to perform a turning movement in a water-related environment, the movement of the telescopic mechanism can be flexibly controlled, and then the sliding movement amount of the connecting rod in the chute can be controlled, and finally the extension amount of the paddle can be controlled to assist in correcting the movement posture of the vehicle.The water flow velocity direction detection device detects the direction and velocity data of the water flow. After processing the data measured by the water flow velocity direction detection device, the main control console calculates the water resistance direction and magnitude, and controls the movement of each part based on the calculation results. In the present invention, through the sliding deployment of the paddle blades in the liquid and the synchronous rotation with the wheels, a propulsion force is provided to the vehicle body, realizing the movement of the vehicle in water. Description of the Drawings

[0021] The following briefly describes the content expressed by each drawing in this specification and the marks in the drawings:

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

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

[0024] Figure 3 It is a schematic structural diagram of the paddle blade structure of the wheel propulsion structure of the amphibious vehicle described in the present invention;

[0025] Figure 4 It is a schematic structural diagram of the paddle blade structure of the wheel propulsion structure of the amphibious vehicle described in the present invention;

[0026] Figure 5 It is a schematic partial structural diagram of the wheel propulsion structure of the amphibious vehicle described in the present invention;

[0027] Figure 6 It is a schematic partial structural diagram of the wheel propulsion structure of the amphibious vehicle described in the present invention;

[0028] Figure 7 It is a schematic structural diagram of the amphibious vehicle described in the present invention when in the wading forward mode;

[0029] Figure 8 It is a schematic structural diagram of the amphibious vehicle described in the present invention when in the wading turning mode;

[0030] Figure 9 It is a schematic structural diagram of the power source transmission structure of the amphibious vehicle described in the present invention;

[0031] Figure 10 It is a schematic working process diagram of the amphibious vehicle described in the present invention;

[0032] The labels in the attached drawings are respectively: 1. vehicle body; 2. wheel structure; 3. telescopic mechanism; 21. tire; 22. rim; 23. blade structure; 24. hub; 25. spoke; 41. connecting rod; 42. fixed support; 43. chute; 231. pin shaft; 232. fixed support; 2321. convex part; 233. blade; 2331. first blade; 2332. second blade; 2333. control plate; 51. air hole; 52. second bearing; 53. air pipe; 54. knuckle; 55. second seal; 56. locking nut; 57. first seal; 58. first bearing; 59. air duct; 60. cavity. Detailed implementation manners

[0033] The following further details the specific implementation manners of the present invention, such as the shapes, structures of the components involved, the mutual positions and connection relationships between the various parts, the functions and working principles of the various parts, etc., by describing the embodiments with reference to the attached drawings:

[0034] As shown in the attached Figure 1 - attached Figure 10As shown in the figure, the present invention is a wheel propulsion structure for an amphibious vehicle. The blade 233 is movably connected to the spoke 25. The blade 233 includes a first blade 2331 and a second blade 2332. The first blade 2331 is located at the gap position between adjacent spokes 25. The first blade 2331 and the second blade 2332 are connected to the sliding control plate 2333. The sliding groove 43 is provided on the control plate 2333. The sliding groove 43 is an arc-shaped structure. One end of the connecting rod 41 is connected to the telescopic mechanism 3, and the other end of the connecting rod 41 is movably connected to the sliding groove 43 through a connecting rod pin shaft. The telescopic mechanism 3 is fixedly connected to the inner ring position of the wheel structure 2. The above structure proposes an improved technical solution for the deficiencies in the prior art. When the structure is set, the blade structure 23 is arranged on the wheel structure 2, the wheel structure 2 is installed on the vehicle body 1, the blade 233 is movably connected to the spoke 25, and the blade 233 can rotate relative to the spoke 25 when subjected to an external force, so as to realize the flipping to the outside of the wheel structure and the reset to the inside of the wheel structure. The blade structure 23 is located at the gap position between adjacent spokes 25. The blade 233 includes a first blade 2331 and a second blade 2332. The first blade 2331 and the second blade 2332 are connected to the sliding control plate 2333. The first blade 2331, the second blade 2332 and the control plate 2333 are fixed structures, which can be connected by welding. The sliding groove 43 is provided on the control plate 2333. The sliding groove 43 is an arc-shaped structure. One end of the connecting rod 41 is connected to the telescopic mechanism 3, and the other end of the connecting rod 41 is movably connected to the sliding groove 43 through a connecting rod pin shaft. The telescopic mechanism 3 is fixedly connected to the inner ring position of the wheel structure 2. In this way, the telescopic mechanism 3 can only complete the telescopic action without swinging or shaking, so that the thrust or pull force can be provided through the connecting rod 41, and the thrust or pull force drives the position of the blade 233 relative to the wheel structure 2 to change. Based on the water rowing of the wheel structure 2, the structure of the present invention designs a sliding blade structure 23, and a sliding control blade structure 23 is provided in the spoke 25, which improves the propulsion force and driving efficiency of the wheel structure 2 for water rowing, can increase the sailing speed of the amphibious vehicle, and further improves the water maneuverability of the vehicle. In the structure of the present invention, each blade 233 in each blade structure can be individually controlled by the telescopic movement of the telescopic rod of a corresponding telescopic mechanism 3. When the telescopic mechanism 3 is controlled to extend and push the blade structure 23 to move to the outside of the wheel structure 2, the blade structure 23 can complete the backward water paddling movement after being pushed out. When the telescopic mechanism 3 is controlled to contract, and then the blade structure 23 is pulled back to the original position from the extended state, the reverse water paddling movement is avoided, and the propulsion efficiency of the wheel water rowing is reduced. By different control steps, the blade structure 23 can be controlled to be in different unfolded angle states, which can assist in correcting the movement attitude of the vehicle in water and enhance the mobility and flexibility of the amphibious vehicle in water. The structure of the present invention realizes efficient propulsion in different media (water, land, shallow water) through innovative sliding blade control and rim structure design, while maintaining the compactness of the structure and the simplicity of operation.The device includes a tire, a rim, spokes, a blade structure, a chute, and a telescopic mechanism 3 embedded in the rim structure. The movement of the telescopic mechanism 3 can enable the blade structure to extend (deploy) towards the outside of the wheel structure with the cooperation of the chute 43 and the connecting rod 41. The blade structure is arranged in the spokes to enhance the propulsion force and driving efficiency of the wheel structure for water paddling. The chute converts the telescopic movement of the telescopic mechanism into a sliding movement, thereby driving the blade structure to deploy towards the outside of the wheel structure 2 or contract towards the inside of the wheel structure 2. The telescopic mechanism 3 is embedded in the rim structure and is fixedly connected to the rim structure by welding, and can rotate synchronously with the wheel structure 2 to provide the driving force for telescoping. Its power source is fixedly connected inside the vehicle body 1 and is connected to the telescopic mechanism 3 through the power source transmission structure. When the vehicle needs to perform a steering movement in a water environment, the movement of the telescopic mechanism 3 can be flexibly controlled, thereby controlling the sliding movement amount of the connecting rod 41 in the chute, and finally controlling the extension amount of the blades to assist in correcting the movement posture of the vehicle. The water flow velocity direction detection device detects the direction and velocity data of the water flow. The main control console processes the data measured by the water flow velocity direction detection device and calculates the water resistance direction and magnitude, and controls the movement of each part based on the calculation results. Through the sliding deployment of the blades in the liquid and the synchronous rotation with the wheels, the present invention provides a propulsion force to the vehicle body to achieve the movement of the vehicle in water. The wheel propulsion structure of the amphibious vehicle described in the present invention can control the telescopic mechanism, adjust the blade deployment angle, improve the water paddling efficiency of the wheel structure, assist the vehicle to travel quickly when the vehicle is traveling in water, and can also assist in correcting the movement posture of the vehicle in water, improving the overall performance.

[0035] The first blade 2331 and the second blade 2332 are arranged at an acute angle, the control plate 2333 is perpendicular to the first blade 2331 and the second blade 2332, and the first blade 2331 is movably connected to the fixed support 232 through a pin shaft 231. With the above structure, the structure of the blade 233 is set. The first blade 2331, the second blade 2332, and the control plate 2333 are welded together. The first blade 2331 is movably connected to the fixed support 232 through the pin shaft 231, and the fixed support 232 is fixedly arranged on the spoke, thereby realizing the connection of the entire blade 233, which can only flip and will not easily fall off. When subjected to external forces, the blade 233 can be deployed and retracted.

[0036] The fixed support 232 is clamped in the notch on the spoke 25 through the convex part 2321, and the pin shaft 231 protrudes from each end of the first blade 2331. With the above structure, the notch is used to clamp the convex part 2321 of the fixed support 232 to realize the fixed connection between the fixed support and the spoke.

[0037] When the telescopic mechanism 3 is in the retracted state, the first blade 2331 is arranged in a structure parallel to the spoke 25; the second blade 2332 is arranged in a structure at an acute angle to the spoke 25; when the telescopic mechanism 3 is in the extended state, the first blade 2331 is arranged in a structure that unfolds outward from the gap between adjacent spokes 25, and when the telescopic mechanism 3 is in the maximum extended state, the second blade 2332 is arranged in a structure parallel to the spoke 25. The wheel structure 2 includes a tire 21, a rim 22, spokes 25, a hub 24, and a blade structure 23, and the telescopic mechanism 3 is fixed in the rim 22.

[0038] The telescopic rod of the telescopic mechanism 3 is hinged to the connecting rod 41. In the above structure, when the telescopic rod of the telescopic mechanism moves, force is applied to the control plate 2333 through the connecting rod to achieve driving.

[0039] The wheel propulsion structure of the amphibious vehicle further includes a power source transmission structure, which includes a bearing 58, an air pipe 53, a knuckle 54, seals, and a lock nut 56. The bearing includes a first bearing 59 and a second bearing 52. The first bearing 59 and the second bearing 52 respectively rotatably connect the two ends of the hub 24 of the wheel structure 2 to the knuckle 54. One end of the air pipe 53 is connected to the air source, and the other end of the air pipe 53 is connected to the air duct 59 opened in the knuckle 54. The seals include a first seal 55 and a second seal 57. The first seal 55 is arranged between the knuckle 54 and the hub 24, and the second seal 57 is arranged between the hub cap and the oil and gas seal seat ring to prevent gas leakage from affecting the transmission efficiency. The high-pressure gas of the air source is transported through the air pipe 53 into the air duct 59 in the knuckle 54, enters the cavity 60 of the hub 24 through the air duct 59, and finally is transported to the telescopic mechanism 3 through the air hole 51 and the external air pipe connected to the air hole 51. The movement of the telescopic mechanism 3 is controlled by a control valve for the telescopic control of the telescopic mechanism 3. In the above structure, the setting of the power source transmission structure enables the air source fixed in the vehicle to be transmitted to the rotatable telescopic mechanism 3, thereby realizing the control of the telescopic movement of the telescopic mechanism 3. According to the actual needs of the vehicle, the deployment angle of the blade structure 23 can be adjusted flexibly and accurately, improving the water rowing efficiency of the wheel structure.

[0040] The present invention also relates to a control method for a wheel propulsion structure of an amphibious vehicle that can control the telescopic mechanism, adjust the blade deployment angle, improve the wheel structure, water rowing efficiency, assist the vehicle to travel quickly when the vehicle is in water, and can also assist in correcting the movement posture of the vehicle in water to improve the overall performance. The steps of the control method are as follows:

[0041] S1. When the amphibious vehicle wades and advances, the main console fits the water body data detected by the water flow velocity direction detection device with the forward driving instruction. After obtaining the magnitude and direction of the required power, it drives all the wheel structures 2 to rotate clockwise at a set speed simultaneously, and controls the telescopic rods of each telescopic mechanism 3 to extend by the same length. The extended telescopic rods push the connecting rod 41 to drive the pin shaft connected to the paddle blade 233 to slide along the chute 43, so that the paddle structure 23 unfolds around the pin shaft 231. The first blade 2331 unfolds and extends outside the wheel structure 2 until the second blade 2332 rotates to be parallel to the wheel spoke 25, reaching the maximum unfolded state; the extended paddle blade 233 follows the movement of the wheel structure 2 to deflect the water flow backward, and the water flow provides a forward propulsion force for the amphibious vehicle, realizing the improvement of the propulsion force in the way of the wheel structure rowing water; controlling the telescopic rods of each telescopic mechanism 3 to retract by the same length, the extended paddle blade 233 rotates back around the pin shaft 231 until the first blade 2331 is parallel to the wheel spoke 25 again, reaching the fully closed reset state; S2. When the vehicle wades and turns, the main console fits the water body data detected by the water flow velocity direction detection device with the corresponding steering driving instruction. After obtaining the magnitude and direction of the required power, it drives the left front wheel and the left rear wheel to move backward, drives the right front wheel and the right rear wheel to move forward, and at the same time, the telescopic rods of the telescopic mechanisms 3 at the bottoms of the right front wheel and the right rear wheel extend outward by a set length, and the telescopic rods of the telescopic mechanisms 3 on one side of the left front wheel and the left rear wheel do not extend outward and remain in the retracted state, and the vehicle realizes left-turn driving; driving the right front wheel and the right rear wheel to move backward, the left front wheel and the left rear wheel to move forward, the telescopic rods of the telescopic mechanisms 3 at the bottoms of the left front wheel and the left rear wheel extend outward by a set length, and the telescopic rods of the telescopic mechanisms 3 at the bottoms of the right front wheel and the right rear wheel do not extend outward and remain in the retracted state, and the vehicle can realize right-turn driving.

[0042] The beneficial effects of the structure of the present invention are mainly as follows: 1. Without adding a propeller and a power device, the propulsion force and driving efficiency of the wheel structure rowing water can be greatly improved. 2. The paddle structure is effectively combined with the wheel structure, so that the vehicle advances rapidly under the boost of the paddle structure and the action of the water flow, improving the vehicle speed and further enhancing the water maneuverability of the vehicle. 3. The wheel-paddle structure includes a tire structure and a paddle structure, which can be used as wheels on land for vehicle driving and can also be used as paddles in a wading environment, realizing the safe and stable driving of the wading vehicle. 4. The paddle structure in each wheel-paddle structure can control its flipping angle by controlling the movement of the telescopic mechanism, which can assist in correcting the movement attitude of the vehicle in water.

[0043] For the wheel propulsion structure of the amphibious vehicle described in the present invention, the paddle structure 23 is provided on the wheel structure 2, and the wheel structure 2 is installed on the vehicle body 1. The paddle blade 233 is movably connected to the spoke 25. When the paddle blade 233 is pushed by an external force, it can rotate relative to the spoke 25, so as to realize the flipping to the outside of the wheel structure and the reset to the inside of the wheel structure. The paddle structure 23 is located at the gap position between adjacent spokes 25. The paddle blade 233 includes a first blade 2331 and a second blade 2332. The first blade 2331 and the second blade 2332 are connected to the sliding control plate 2333. The first blade 2331, the second blade 2332 and the control plate 2333 are of a fixed structure and can be connected by welding. A chute 43 is provided on the control plate 2333. The chute 43 is of an arc structure. One end of the connecting rod 41 is connected to the telescopic mechanism 3, and the other end of the connecting rod 41 is movably connected to the chute 43 through a connecting rod pin shaft. The telescopic mechanism 3 is fixedly connected to the inner ring position of the wheel structure 2. In this way, the telescopic mechanism 3 can only complete the telescopic action and will not swing or shake, so that the connecting rod 41 can provide a thrust or a pull force, and the thrust or pull force drives the position of the paddle blade 233 to change relative to the wheel structure 2. Based on the water paddling of the wheel structure 2, the structure of the present invention designs a sliding paddle structure 23, and a paddle structure 23 that can be slidably controlled is arranged in the spoke 25, which improves the propulsion force and driving efficiency of the wheel structure 2 for water paddling, can increase the sailing speed of the amphibious vehicle, and further improves the water maneuverability of the vehicle. In the structure of the present invention, each paddle blade 233 in the paddle structure of each wheel paddle structure can be individually controlled by the telescopic movement of the telescopic rod of a corresponding telescopic mechanism 3. When the telescopic mechanism 3 is controlled to extend and push the paddle structure 23 to move to the outside of the wheel structure 2, the paddle structure 23 can complete the backward water paddling movement after being pushed out. When the telescopic mechanism 3 is controlled to contract, and then the paddle structure 23 is pulled back to its original position from the extended state, the reverse water paddling movement is avoided, and the propulsion efficiency of the wheel water paddling is reduced. By different control steps, the paddle structure 23 can be controlled to be in different unfolded angle states, which can assist in correcting the movement posture of the vehicle in water and enhance the mobility and flexibility of the amphibious vehicle in water. The structure of the present invention realizes efficient propulsion in different media (water, land, shallow water) through innovative sliding paddle control and rim structure design, while maintaining the compactness of the structure and the simplicity of operation. The device includes a tire, a rim, a spoke, a paddle structure, a chute, and a telescopic mechanism 3 embedded in the rim structure. The action of the telescopic mechanism 3 can realize the extension (unfolding) of the paddle structure to the outside of the wheel structure under the cooperation of the chute 43 and the connecting rod 41. The paddle structure is arranged in the spoke to improve the propulsion force and driving efficiency of the wheel structure for water paddling. The chute converts the telescopic movement of the telescopic mechanism into a sliding movement, and then drives the paddle structure 23 to unfold to the outside of the wheel structure 2 or contract to the inside of the wheel structure 2.The telescopic mechanism 3 is embedded in the rim structure and fixedly connected to the rim structure by welding, and can rotate synchronously with the wheel structure 2 to provide the driving force for telescoping. Its power source is fixedly connected to the vehicle body, and the connection with the telescopic mechanism is realized through the power source transmission structure. When the vehicle needs to perform a steering movement in a water-related environment, the movement of the telescopic mechanism can be flexibly controlled, thereby controlling the sliding movement amount of the connecting rod in the chute, and finally controlling the extension amount of the paddle to assist in correcting the movement posture of the vehicle. The water flow velocity direction detection device detects the direction and velocity data of the water flow. After the main control console processes the data measured by the water flow velocity direction detection device, it calculates the water resistance direction and magnitude, and controls the movement of each part based on the calculation results. Through the sliding expansion of the paddle in the liquid and the synchronous rotation with the wheel, the present invention provides a propulsion force to the vehicle body to realize the underwater driving of the vehicle.

[0044] The present invention has been described exemplarily in conjunction with the accompanying drawings. Obviously, the specific implementation of the present invention is not limited by the above-mentioned manner. As long as various improvements are made by adopting 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 wheel propulsion structure for an amphibious vehicle, characterized in that: The paddle blade (233) is movably connected to the spoke (25), and the paddle blade (233) includes a first blade (2331) and a second blade (2332). The paddle blade structure (23) is located in the gap between adjacent spokes (25). The first blade (2331) and the second blade (2332) are connected to a sliding control plate (2333). A slide groove (43) is arranged on the control plate (2333), and the slide groove (43) is an arc-shaped structure. One end of the connecting rod (41) is connected to the telescopic mechanism (3), and the other end of the connecting rod (41) is movably connected to the slide groove (43) through a connecting rod pin shaft. The telescopic mechanism (3) is fixedly connected to the inner ring position of the wheel structure (2).

2. The wheel propulsion structure for an amphibious vehicle according to claim 1, characterized in that: The first blade (2331) and the second blade (2332) are arranged at an acute angle, the control plate (2333) is perpendicular to the first blade (2331) and the second blade (2332), and the first blade (2331) is movably connected to the fixed support (232) via a pin shaft (231).

3. The wheel propulsion structure for an amphibious vehicle according to claim 2, characterized in that: The fixed support (232) is clamped in the notch on the spoke (25) through the protrusion (2321), and a protruding pin shaft (231) is respectively provided at each end of the first blade (2331).

4. The wheel propulsion structure for an amphibious vehicle according to claim 1 or 2, characterized in that: When the telescopic mechanism (3) is in a retracted state, the first blade (2331) is configured as a structure parallel to the spoke (25); the second blade (2332) is configured as a structure arranged at an acute angle to the spoke (25); when the telescopic mechanism (3) is in an extended state, the first blade (2331) is configured as a structure extending outward from a gap between adjacent spokes (25); and when the telescopic mechanism (3) is in a maximally extended state, the second blade (2332) is configured as a structure parallel to the spoke (25).

5. The wheel propulsion structure for an amphibious vehicle according to claim 1 or 2, characterized in that: The wheel structure (2) comprises a tire (21), a rim (22), a spoke (25), a hub (24), and a paddle structure (23), and the telescopic mechanism (3) is fixed in the rim (22).

6. The wheel propulsion structure for an amphibious vehicle according to claim 1 or 2, characterized in that: The telescopic rod of the telescopic mechanism (3) is hingedly connected to the connecting rod (41).

7. The wheel propulsion structure for an amphibious vehicle according to claim 1 or 2, characterized in that: The wheel propulsion structure of the amphibious vehicle also includes a power source transmission structure, which includes a bearing (58), an air pipe (53), a steering knuckle (54), a seal, and a locking nut (56). The bearing includes a first bearing (59) and a second bearing (52). The first bearing (59) and the second bearing (52) respectively rotatably connect the two ends of the wheel hub (24) of the wheel structure (2) to the steering knuckle (54). One end of the air pipe (53) is connected to an air source, and the other end of the air pipe (53) is connected to an air passage (59) opened in the steering knuckle (54).

8. The wheel propulsion structure for an amphibious vehicle according to claim 7, characterized in that: The seal comprises a seal 1 (55) and a seal 2 (57), wherein the seal 1 (55) is arranged between the steering knuckle (54) and the wheel hub (24), and the seal 2 (57) is arranged between the wheel hub cover and the oil and gas seal seat ring.

9. The wheel propulsion structure for an amphibious vehicle according to claim 8, characterized in that: The high-pressure gas from the gas source is transported to the gas passage (59) in the steering knuckle (54) through the gas passage (59), enters the cavity (60) of the wheel hub (24) through the gas hole (51) and is finally transported to the telescopic mechanism (3) through the gas hole (51) and an external gas pipe connected to the gas hole (51). The movement of the telescopic mechanism (3) is controlled by the control valve.

10. The control method of the wheel propulsion structure of an amphibious vehicle 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 the wheel structures (2) are driven to rotate clockwise at a set speed at the same time, and the telescopic rod of each telescopic mechanism (3) is controlled to extend to the same length. The telescopic rod extends to push the connecting rod 41 to drive the pin connected to the paddle blade (233) to slide along the slide groove (43), so that the paddle structure (23) turns around the pin (231), and the first blade (2331) is unfolded and extended to the outside of the wheel structure (2) until the second blade (2332) rotates to be parallel to the wheel spoke (25) and reaches the maximum unfolded state; the extended paddle blade (233) follows the movement of the wheel structure (2) and moves the water flow backward, and the water flow provides the amphibious vehicle with forward propulsion force, so that the wheel structure can paddle; the telescopic rod of each telescopic mechanism (3) is controlled to retract to the same length, and the extended paddle blade (233) rotates back around the pin (231) until the first blade (2331) is parallel to the wheel spoke (25) again, and reaches a fully closed reset state; S2. When the vehicle turns through water, 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. At the same time, the telescopic rods of the telescopic mechanism (3) at the bottom of the right front wheel and the right rear wheel are extended outward by a set length, and the telescopic rods of the telescopic mechanism (3) at one side of the left front wheel and the left rear wheel do not extend outward, but remain in a retracted state, so that the vehicle can achieve left turning. 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 (3) at the bottom of the left front wheel and the left rear wheel are extended outward by a set length, and the telescopic rods of the telescopic mechanism (3) at the bottom of the right front wheel and the right rear wheel do not extend outward, but remain in a retracted state, so that the vehicle can achieve right turning.

Images