Anti-sinking device, wheel and vehicle

Abstract

The utility model discloses an anti-sinking device, a wheel and a vehicle. The anti-sinking device is suitable for being installed on the vehicle and comprises a driving device and a pushing piece, the pushing piece is connected with the driving device, and the driving device is used for driving the pushing piece to do reciprocating motion and rotate around the circumferential direction of the pushing piece. According to the anti-sinking device, the driving device drives the pushing piece to reciprocate and rotate around the circumferential direction of the pushing piece, soft media around the vehicle can be effectively stirred, loosened and pushed, and a better supporting effect and a better driving condition are provided for movement of the vehicle; and the problem that the vehicle cannot move in a complex water area condition is effectively avoided, so that the trafficability of the vehicle under a complex terrain or a severe road condition is enhanced. And meanwhile, the pushing part can rotate to an angle with small advancing resistance when being far away from the ground, so that the anti-sinking device has a good anti-sinking and escape effect on the vehicle.

Description

Technical Field

[0001] This application relates to the field of vehicle technology, and more specifically, to an anti-sinking device, a wheel, and a vehicle. Background Technology

[0002] In related technologies, amphibious vehicles have shown unique advantages in the face of today's diverse transportation needs. However, when amphibious vehicles encounter complex water conditions, such as swift currents, deep pools, or get stuck in soft mud and sand, they often find themselves in a difficult situation where they cannot get out. Utility Model Content

[0003] This application aims to at least partially solve one of the aforementioned technical problems in the prior art. To this end, this application proposes an anti-sinking device with good anti-sinking and escape effects.

[0004] This application also proposes a wheel having the aforementioned anti-sinking device.

[0005] This application also proposes a vehicle having the aforementioned wheels.

[0006] According to an embodiment of the first aspect of this application, the anti-sinking device is adapted to be installed on a vehicle. The anti-sinking device includes a driving device and a pushing member. The pushing member is connected to the driving device, and the driving device is used to drive the pushing member to reciprocate and rotate around its own circumference.

[0007] According to the first aspect of the present application, the anti-sinking device drives the pushing member to reciprocate and rotate around its own circumference via a driving device. This effectively agitates, loosens, and pushes the soft medium (such as water or mud) around the vehicle, providing better support and driving conditions for the vehicle's movement. It effectively avoids the problem of the vehicle being unable to move when stuck in complex water conditions (such as flowing water or soft media like mud), thereby enhancing the vehicle's ability to pass through complex terrain or harsh road conditions. Simultaneously, the pushing member can rotate to an angle with lower resistance when away from the ground, resulting in a better anti-sinking device effect on the vehicle's ability to avoid getting stuck and escape.

[0008] According to some embodiments of this application, the driving device includes a moving part and a driving part, the pushing part is connected to the moving part, and the driving part is used to drive the moving part to reciprocate.

[0009] According to some embodiments of this application, the anti-sinking device further includes a housing, the driving member is mounted on the housing, and the moving member is mounted on the housing and reciprocating relative to the housing.

[0010] According to some embodiments of this application, the pusher is provided with a guide groove, and the housing is provided with a limiting protrusion. The limiting protrusion cooperates with the guide groove so that when the moving member drives the pusher to reciprocate, the limiting protrusion pushes the pusher to rotate.

[0011] According to some embodiments of this application, the pushing member includes a push rod and a push plate, the push rod is hinged to the moving member, the guide groove is disposed on the push rod, and the push plate is connected to the push rod.

[0012] According to some embodiments of this application, the guide groove extends circumferentially and axially along the push rod.

[0013] According to some embodiments of this application, the guide groove includes a first groove segment, a second groove segment, and a connecting groove segment, wherein the connecting groove segment is located between the first groove segment and the second groove segment, and the connecting groove segment connects the first groove segment and the second groove segment.

[0014] According to some embodiments of this application, the first slot segment is parallel to the second slot segment.

[0015] According to some embodiments of this application, the first groove segment and the second groove segment extend along the reciprocating motion direction of the pusher, and the first groove segment and the second groove segment are spaced 80° to 100° apart in the circumferential direction of the pusher.

[0016] According to some embodiments of this application, the first groove segment and the second groove segment are spaced 90° apart in the circumferential direction of the pusher.

[0017] According to some embodiments of this application, the movable member includes a rack body and a mounting base, the mounting base being mounted on the end of the rack body, and the pushing member being connected to the mounting base.

[0018] According to some embodiments of this application, there are two pushers, one of which is connected to one end of the moving member, and the other pusher is connected to the other end of the moving member.

[0019] According to some embodiments of this application, the driving device further includes a transmission mechanism, through which the driving member drives the moving member to reciprocate.

[0020] According to some embodiments of this application, the transmission mechanism includes a worm, a worm wheel, a transmission shaft, and a transmission gear. The driving member has a driving shaft, the worm is mounted on the driving shaft of the driving member, the worm wheel meshes with the worm for transmission, the worm wheel is mounted on the transmission shaft, the transmission gear is mounted on the transmission shaft, the moving member is a rack, and the transmission gear meshes with the rack for transmission.

[0021] According to some embodiments of this application, the axis of the drive shaft is parallel to the reciprocating motion direction of the rack.

[0022] According to some embodiments of this application, the anti-sinking device further includes a mounting base, the housing is mounted on the mounting base, and the mounting base is adapted to be mounted on a wheel.

[0023] According to some embodiments of this application, the mounting base includes a first mounting member, a second mounting member, and a fastener, wherein the second mounting member is mounted on the first mounting member, and the fastener is used to connect the second mounting member and the first mounting member.

[0024] According to some embodiments of this application, the mounting base further includes a fixing bracket, which is disposed on the second mounting member, and the housing is mounted on the fixing bracket.

[0025] According to some embodiments of this application, the anti-sinking device further includes a power supply device, which is installed on the second mounting member and electrically connected to the drive member.

[0026] A wheel according to a second aspect of this application includes a hub and the aforementioned anti-sinking device, the anti-sinking device being mounted on the hub.

[0027] According to the second aspect of the embodiment of the wheel, the anti-sinking device drives the pushing member to reciprocate and rotate around its own circumference via a drive device. This effectively agitates, loosens, and pushes the soft medium (such as water or mud) around the vehicle, providing better support and driving conditions for the vehicle's movement. It effectively avoids the problem of the vehicle being unable to move when stuck in complex water conditions (such as flowing water or soft media like mud), thereby enhancing the vehicle's ability to pass through complex terrain or harsh road conditions. Simultaneously, it allows the pushing member to rotate to an angle with lower resistance when away from the ground, resulting in a better anti-sinking device for the vehicle's ability to avoid getting stuck and escape.

[0028] According to some embodiments of this application, the hub is rotatable around the center of the hub, the projection of the pusher on the hub passes through the center of the hub, and the reciprocating motion direction of the pusher is parallel to one of the diameter directions of the hub.

[0029] According to some embodiments of this application, the wheel further includes a tire mounted outside the hub, and when the pusher rotates with the hub to point vertically to the ground, the pusher extends beyond the outer contour of the tire.

[0030] According to some embodiments of this application, the pushing member includes a push plate. When the pushing member rotates with the hub to point vertically to the ground, the angle between the push plate and the axis of the hub is a first angle. When the pushing member rotates with the hub to point vertically away from the ground, the angle between the push plate and the axis of the hub is a second angle. The first angle is smaller than the second angle.

[0031] According to some embodiments of this application, the first angle is 0° and the second angle is 90°.

[0032] The vehicle according to a third aspect of this application includes the wheels described above.

[0033] According to the third aspect of the embodiment of the vehicle, the wheel anti-sinking device drives the pushing member to reciprocate and rotate around its own circumference via a drive device. This effectively agitates, loosens, and pushes the soft medium (such as water or mud) around the vehicle, providing better support and driving conditions for the vehicle's movement. It effectively avoids the problem of the vehicle being unable to move when stuck in complex water conditions (such as flowing water or soft media like mud), thereby enhancing the vehicle's ability to pass through complex terrain or harsh road conditions. Simultaneously, it allows the pushing member to rotate to an angle with lower travel resistance when away from the ground, resulting in a better anti-sinking device effect on the vehicle's ability to prevent it from getting stuck and escape.

[0034] According to some embodiments of this application, the vehicle further includes a control device, the drive device is connected to the control device, the control device controls the drive device to drive the push member to reciprocate once for a time T1, the time for the wheel hub to rotate one revolution is T2, T1×N=T2, where N is a positive integer.

[0035] According to some embodiments of this application, the vehicle further includes a speed detection device disposed on the wheel hub and connected to the control device. The reciprocating motion direction of the pusher includes a first direction and a second direction, wherein the first direction and the second direction are opposite. When the rotational speed of the wheel hub reaches a preset threshold, the drive device drives the pusher to move along the first direction to a first position and maintain it at the first position.

[0036] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0037] Figure 1 This is a perspective view of an anti-sinking device according to an embodiment of this application;

[0038] Figure 2This is a perspective view of the driving device, pushing member, and transmission mechanism according to embodiments of this application;

[0039] Figure 3 This is a perspective view of the housing and the pusher according to an embodiment of this application;

[0040] Figure 4 This is a schematic diagram of a pusher according to an embodiment of this application;

[0041] Figure 5 This is a perspective view of the mounting base and power supply device according to an embodiment of this application;

[0042] Figure 6 This is a perspective view of the first mounting component according to an embodiment of this application;

[0043] Figure 7 This is a perspective view of the second mounting component according to an embodiment of this application;

[0044] Figure 8 This is a perspective view of a fastener according to an embodiment of this application;

[0045] Figure 9 This is a perspective view of a wheel according to an embodiment of this application;

[0046] Figure 10 This is a schematic diagram of a vehicle according to an embodiment of this application;

[0047] Figure 11 This is a flowchart illustrating the control device controlling the reciprocating motion of the anti-sinking device according to an embodiment of this application.

[0048] Figure label:

[0049] Vehicle 1000, wheel 100, anti-sinking device 10, wheel hub 20, tire 30, control device 200, speed detection device 300, drive device 1, moving part 11, rack body 111, mounting base 112, drive part 12, drive shaft 121, push part 2, guide groove 21, first groove section 211, connecting groove section 212, second groove section 213, push rod 22, push plate 23, housing 3, limiting protrusion 31, transmission mechanism 4, worm 41, worm wheel 42, transmission shaft 43, transmission gear 44, mounting base 5, first mounting part 51, first mounting hole 511, second mounting part 52, second mounting hole 521, fastener 53, fixed bracket 54, power supply device 6. Detailed Implementation

[0050] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application.

[0051] In the description of this application, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0052] The following is combined Figures 1-11 The present application describes in detail an anti-sinking device 10, a wheel 100 having the anti-sinking device 10, and a vehicle 1000 having the wheel 100, according to embodiments of the present application.

[0053] See Figure 1 , Figure 2 As shown, according to the first aspect of the present application, the anti-sinking device 10 is adapted to be installed on a vehicle 1000. The anti-sinking device 10 includes a drive device 1 and a pusher 2. The pusher 2 is connected to the drive device 1. The drive device 1 is used to drive the pusher 2 to reciprocate and rotate around itself.

[0054] Specifically, the driving device 1 drives the pushing member 2 to reciprocate and rotate around its own circumference, ensuring that the lever arm of the pushing member 2 is longer on the side closer to the soft medium (such as water or mud). This makes the lever arm of the pushing member 2 on the side closer to the soft medium greater than the lever arm on the side farther away from the soft medium, effectively agitating, loosening, and pushing the soft medium around the vehicle 1000. The end of the pushing member 2 can also contact the ground to provide support for the vehicle 1000 to get out of trouble. The anti-sinking device 10 provides better support and driving conditions for the movement of the vehicle 1000, effectively preventing the vehicle 1000 from getting stuck in the soft medium and being unable to move, thereby enhancing the vehicle 1000's ability to pass through complex terrain or harsh road conditions. At the same time, the pushing member 2 can rotate to an angle with less travel resistance when it is away from the ground, making the anti-sinking device 10 more effective in preventing the vehicle 1000 from getting stuck and getting out of trouble.

[0055] In related technologies, amphibious vehicles have shown unique advantages in the face of today's diverse transportation needs. However, when amphibious vehicles encounter complex water conditions, such as swift currents, deep pools, or get stuck in soft mud and sand, they often find themselves in a difficult situation where they cannot get out.

[0056] According to the first aspect of the present application, the anti-sinking device 10 drives the pushing member 2 to reciprocate and rotate around its own circumference via the driving device 1. This effectively agitates, loosens, and pushes the soft medium around the vehicle 1000, providing better support and driving conditions for the vehicle 1000's movement. This effectively prevents the vehicle 1000 from becoming stuck in complex water conditions (such as water currents or soft media like mud and sand), thus enhancing the vehicle 1000's ability to pass through complex terrain or harsh road conditions. Simultaneously, the pushing member 2 can rotate to an angle with lower resistance when away from the ground, resulting in a better anti-sinking and extrication effect for the vehicle 1000.

[0057] It should be noted that in some embodiments, the pusher 2 can not only agitate, loosen and push the soft medium, but also push other hard obstacles. For ease of description, this application uses the pusher 2 agitating, loosening and pushing the soft medium as an example to illustrate the structure and beneficial effects of the anti-sinking device 10.

[0058] In some embodiments of this application, see Figure 2 As shown, the drive device 1 includes a moving part 11 and a drive part 12. The pusher 2 is connected to the moving part 11, and the drive part 12 is used to drive the moving part 11 to reciprocate. Specifically, the connection between the pusher 2 and the moving part 11 allows the pusher 2 to rotate relatively independently while following the reciprocating motion of the moving part 11. This structural design makes the motion mode of the pusher 2 more complex and diverse, and can better adapt to different complex working conditions. For example, when the anti-sinking device 10 is applied to a water-covered road surface, the pusher 2 can rotate to the angle with the largest water-facing area, the smallest water-facing area, or an intermediate angle where the water-facing area is in the middle value.

[0059] Optionally, the connection between the pusher 2 and the moving part 11 can be a universal hinge, a rotary connection, etc.

[0060] It is understandable that "the angle with the largest water-facing area" refers to the angle of the pusher 2 when the thrust of the pusher 2 on the soft medium is the maximum, "the angle with the smallest water-facing area" refers to the angle of the pusher 2 when the thrust of the pusher 2 on the soft medium is the minimum, and "the intermediate angle with the water-facing area in the middle value" refers to the angle of the pusher 2 when the thrust of the pusher 2 on the soft medium is between the maximum and minimum values.

[0061] In some embodiments of this application, see Figure 1 , Figure 3As shown, the anti-sinking device 10 also includes a housing 3, a drive member 12 mounted on the housing 3, and a movable member 11 mounted on the housing 3, wherein the movable member 11 is reciprocating relative to the housing 3. Specifically, the housing 3 provides a stable mounting base for the drive member 12 and the movable member 11, and the housing 3 can prevent external objects from directly impacting the drive member 12 and the movable member 11, thereby reducing the risk of damage to the drive member 12 and the movable member 11.

[0062] In some embodiments of this application, the housing 3 can be a split housing, which facilitates the installation of the drive unit 12 and the moving unit 11 on the housing 3. The housing 3 can also be a housing with one end open, which also facilitates the installation of the drive unit 12 and the moving unit 11 on the housing 3.

[0063] In some embodiments of this application, see Figure 1 , Figure 4 As shown, the pusher 2 is provided with a guide groove 21, and the housing 3 is provided with a limiting protrusion 31. The limiting protrusion 31 cooperates with the guide groove 21 so that when the moving member 11 drives the pusher 2 to reciprocate, the limiting protrusion 31 pushes the pusher 2 to rotate. Specifically, the cooperation between the guide groove 21 and the limiting protrusion 31 provides precise guidance for the rotation of the pusher 2. When the pusher 2 moves relative to the housing 3, the limiting protrusion 31 moves relative to the guide groove 21, so that the rotation angle of the pusher 2 is precisely controlled according to the preset requirements, thereby improving the accuracy of the anti-sinking device 10 in dealing with complex environments.

[0064] In some embodiments, the limiting protrusion 31 and the housing 3 are an integral structure.

[0065] In some embodiments, the limiting protrusion 31 and the housing 3 are separate structures, with the limiting protrusion 31 mounted on the housing 3.

[0066] In some embodiments of this application, see Figures 1-4 As shown, the pushing component 2 includes a push rod 22 and a push plate 23. The push rod 22 is connected to the moving component 11, and a guide groove 21 is provided on the push rod 22. The push plate 23 is connected to the push rod 22. Specifically, the push rod 22 is hinged to the moving component 11, so that when the push rod 22 reciprocates under the drive of the moving component 11, it will rotate due to the cooperation of the guide groove 21 and the limiting protrusion 31. The angle of the push plate 23 can be precisely controlled, thereby increasing or decreasing the resistance of the push plate 23 in soft media. When the resistance of the push plate 23 in soft media is increased, the ability of the anti-sinking device 10 to pass through complex terrain or bad road conditions is improved.

[0067] Optionally, the pusher plate 23 can be a plate-like structure, with the larger surface of the pusher plate 23 being the water-facing surface.

[0068] Optionally, the connection between the push rod 22 and the moving part 11 can be a universal hinge, a rotatable connection, or the like.

[0069] In some embodiments of this application, see Figures 1-4 As shown, the guide groove 21 extends along the circumference and axial direction of the push rod 22. Specifically, the guide groove 21 extends along the circumference and axial direction of the push rod 22, enabling the push rod 22 to rotate around its own circumference while performing reciprocating motion. This allows the rotation angle of the push rod 22 to be precisely controlled according to preset requirements, improving the accuracy of the anti-sinking device 10 in dealing with complex environments.

[0070] In some embodiments of this application, see Figure 1 , Figure 4 As shown, the guide groove 21 includes a first groove segment 211, a second groove segment 213, and a connecting groove segment 212. The connecting groove segment 212 is located between the first groove segment 211 and the second groove segment 213, and connects the first groove segment 211 and the second groove segment 213. Specifically, the connecting groove segment 212, being located between the first groove segment 211 and the second groove segment 213 and connecting the first groove segment 211 and the second groove segment 213, allows the pushing member 2 to rotate at different angles while reciprocating, applying force to the surrounding soft medium in the direction most conducive to the vehicle 1000's escape from trouble. Simultaneously, it allows the pushing member 2 to rotate to an angle with lower travel resistance when away from the ground, resulting in a better anti-sinking and escape effect for the vehicle 1000 using the anti-sinking device 10.

[0071] In some embodiments of this application, see Figure 1 , Figure 4 As shown, the first groove segment 211 and the second groove segment 213 are parallel. Therefore, when the pusher 2 rotates in the first groove segment 211 and the second groove segment 213, the change in the rotation angle is regular, which allows the rotation angle of the pusher 2 to change periodically with the movement distance, so that the anti-sinking device 10 can better adapt to various working conditions.

[0072] In some embodiments of this application, see Figure 1 , Figure 4As shown, the first groove segment 211 and the second groove segment 213 extend along the reciprocating motion direction of the pusher 2, and the first groove segment 211 and the second groove segment 213 are spaced 80° to 100° apart in the circumferential direction of the pusher 2. Therefore, the push plate 23 of the limiting protrusion 31 in the first groove segment 211 and the push plate 23 of the limiting protrusion 31 in the second groove segment 213 are perpendicular or nearly perpendicular to each other. When the anti-sinking device 10 is applied to the wheel 100, with the reciprocating motion of the pusher 2, the limiting protrusion 31 also reciprocates in the first groove segment 211 and the second groove segment 213. For every revolution of the wheel 100, the pusher 2 performs one reciprocating motion, and the push plate 23 rotates a certain angle (any angle between 80° and 100°) before returning to its original position, ensuring that the movement of the push plate 23 is synchronized with the rotation of the wheel 100, thus improving the overall synergy of the anti-sinking device 10 on the wheel 100.

[0073] Optionally, the circumferential angle between the first groove segment 211 and the second groove segment 213 of the pusher 2 can be 80°, 90°, 100° or other angles between 80° and 100°.

[0074] In some embodiments of this application, see Figure 1 , Figure 4 As shown, the first groove segment 211 and the second groove segment 213 are spaced 90° apart in the circumferential direction of the pusher 2. Thus, the push plate 23 of the limiting protrusion 31 in the first groove segment 211 and the push plate 23 of the limiting protrusion 31 in the second groove segment 213 are perpendicular to each other.

[0075] In some embodiments, when the vehicle 1000 moves forward, the pusher 2 rotates 90° from its initial 0°, which moves it from the angle where the thrust on the soft medium is minimal (the angle with the smallest water-facing area) to the angle where the thrust on the soft medium is maximum (i.e., the angle with the largest water-facing area). When the pusher 2 rotates back to 0° from 90°, it moves it back from the angle where the thrust on the soft medium is maximum (i.e., the angle with the largest water-facing area) to the angle where the thrust on the soft medium is minimum (the angle with the smallest water-facing area).

[0076] In some embodiments of this application, see Figure 1 , Figure 4 , Figure 9 As shown, when the limiting protrusion 31 is in the first groove section 211, the push plate 23 is perpendicular to the direction of travel; when the limiting protrusion 31 is in the second groove section 213, the push plate 23 is parallel to the direction of travel.

[0077] In some embodiments not shown in the figure, when the limiting protrusion 31 is in the first groove section 211, the push plate 23 is parallel to the traveling direction, and when the limiting protrusion 31 is in the second groove section 213, the push plate 23 is perpendicular to the traveling direction.

[0078] In some embodiments of this application, see Figure 2 As shown, the movable component 11 includes a rack body 111 and a mounting base 112. The mounting base 112 is mounted on the end of the rack body 111, and the pusher 2 is connected to the mounting base 112. Specifically, the drive component 12 acts on the rack body 111, transmitting the driving force to the mounting base 112 through the rack body 111, and then to the pusher 2 through the mounting base 112. This makes the transmission path of the driving force relatively stable, ensuring the working efficiency of the anti-sinking device 10. At the same time, the pusher 2 is hinged to the mounting base 112. The limiting protrusion 31 and the limiting groove act to make the pusher 2 rotate relative to the mounting base 112 while reciprocating with the movable component 11.

[0079] Optionally, the connection between the push rod 22 and the mounting base 112 can be a universal joint, a swivel connection, etc. For example, it can be a ball joint, a pin joint, or a flexible hinge connection.

[0080] In some embodiments, the mounting base 112 and the rack body 111 may be an integrated structure.

[0081] In some embodiments, the mounting base 112 and the rack body 111 may be separate structures. For example, the mounting base 112 may be a ball head, and the mounting base 112 and the rack body 111 may be connected by threads.

[0082] In some embodiments of this application, see Figure 1 , Figure 2 As shown, there are two pushers 2, one of which is connected to one end of the moving member 11, and the other pusher 2 is connected to the other end of the moving member 11. Specifically, the two pushers 2 are respectively connected to the two ends of the moving member 11, so that the two pushers 2 can work in a complementary manner. When the first groove section 211 of one pusher 2 cooperates with the limiting protrusion 31, the second groove section 213 of the other pusher 2 cooperates with the other limiting protrusion 31. For example, when the anti-sinking device 10 is applied to the wheel 100 and on a water-covered road surface, the pusher plate 23 of the wheel 100 in the direction close to the road surface is always perpendicular to the driving direction, so as to increase the water-facing area. The pusher plate 23 of the wheel 100 in the direction away from the road surface is parallel to the driving direction, so as to minimize the water-facing area. Thus, the water-pushing efficiency of the wheel 100 can be maximized.

[0083] In some embodiments of this application, the two pushers 2 may rotate in the same direction.

[0084] In some embodiments of this application, see Figure 2As shown, the drive unit 1 also includes a transmission mechanism 4, through which the drive member 12 drives the moving member 11 to reciprocate. Specifically, the transmission mechanism 4 establishes a stable and effective force transmission channel between the drive member 12 and the moving member 11. The power generated by the drive member 12 can be accurately transmitted to the moving member 11 through the transmission mechanism 4, rationally planning the path of force transmission, making the layout of the drive member 12 and the moving member 11 more reasonable, and ensuring that the moving member 11 can obtain sufficient power to drive the pushing member 2 to reciprocate. Thus, when the anti-sinking device 10 encounters complex working conditions such as pits, the pushing member 2 can forcefully act on the surrounding soft medium, helping the vehicle 1000 to get out of trouble.

[0085] In some embodiments of this application, see Figure 2 As shown, the transmission mechanism 4 includes a worm 41, a worm wheel 42, a transmission shaft 43, and a transmission gear 44. The driving component 12 has a drive shaft 121, with the worm 41 mounted on the drive shaft 121. The worm wheel 42 meshes with the worm 41 for transmission. The worm wheel 42 is mounted on the transmission shaft 43, and the transmission gear 44 is mounted on the transmission shaft 43. The moving component 11 is a rack, with the transmission gear 44 meshing with the rack for transmission. Specifically, by rationally designing the number of threads in the worm 41 and the number of teeth in the worm wheel 42, a larger transmission ratio can be obtained, effectively reducing the high speed output by the driving component 12 while correspondingly increasing the torque. In the anti-sinking device 10, this speed reduction and torque increase effect is crucial because the pushing component 2 needs sufficiently large torque to overcome the significant resistance faced by the vehicle 1000 when it is stuck in soft media, thereby powerfully pushing and agitating the surrounding soft media to help the vehicle 1000 escape from the pit.

[0086] In some embodiments of this application, see Figure 2 As shown, the axis of the drive shaft 121 is parallel to the reciprocating motion direction of the rack. Specifically, when the axis of the drive shaft 121 is parallel to the reciprocating motion direction of the rack, the power output by the drive component 12 is transmitted along a path consistent with the rack's movement direction. This eliminates the need for complex force decomposition and synthesis during the transmission of force from the drive shaft 121 to the rack, reducing energy loss due to force transmission and changes in direction. This allows for more efficient transmission of power from the drive component 12 to the rack, ensuring sufficient power for the pusher 2 to perform effective anti-sinking and escape actions, thus improving the overall working efficiency of the anti-sinking device 10. Furthermore, having the axis of the drive shaft 121 parallel to the reciprocating motion direction of the rack, compared to a design where the axis of the drive shaft 121 is perpendicular to the rack's reciprocating motion direction, helps reduce the overall structural space required.

[0087] In some embodiments of this application, see Figure 2 , Figure 5As shown, the anti-sinking device 10 also includes a mounting base 5, with the housing 3 mounted on the mounting base 5. The pusher 2 is movable relative to the mounting base 5, and the mounting base 5 is suitable for installation on the wheel 100 of the vehicle 1000. Specifically, the mounting base 5 can be adapted to the wheel 100 for installation, greatly facilitating the deployment of the anti-sinking device 10 on the vehicle 1000. Regardless of the type of wheel 100 (such as automobile wheels, special wheels of engineering vehicles 1000, etc.), as long as it meets the installation requirements of the mounting base 5, the anti-sinking device 10 can be easily fixed to the wheel 100. The installation process is relatively simple and quick, without requiring large-scale modifications to the overall structure of the vehicle 1000, thus reducing installation difficulty and cost.

[0088] In some embodiments of this application, see Figures 5-8 As shown, the mounting base 5 includes a first mounting member 51, a second mounting member 52, and a fastener 53. The second mounting member 52 is mounted on the first mounting member 51, and the fastener 53 is used to connect the second mounting member 52 and the first mounting member 51. Specifically, the first mounting member 51 is connected to the wheel 100, and the housing 3 is connected to the second mounting member 52. The first mounting member 51 and the second mounting member 52 are fastened together by the fastener 53. Thus, the first mounting member 51 and the second mounting member 52 can be adjusted relative to each other during the connection process, making it easier to align and position them. Installers can use the fastener 53 to precisely fix the first mounting member 51 and the second mounting member 52 according to the actual structure of the wheel 100 and the installation requirements of the anti-sinking device 10, thereby ensuring that the entire mounting base 5 accurately matches the wheel 100 and other components of the anti-sinking device 10, and ensuring the installation quality.

[0089] In some embodiments, one of the second mounting member 52 and the first mounting member 51 has an internal spline and the other has an external spline, with the internal spline engaging with the external spline. Specifically, the engagement of the internal spline and the external spline achieves multi-tooth meshing, which can maintain a stable connection between the first mounting member 51 and the second mounting member 52 under the action of forces in various directions. At the same time, it can prevent relative rotation between the first mounting member 51 and the second mounting member 52, providing a stable mounting base for the anti-sinking device 10 and ensuring the reliable operation of the anti-sinking device 10.

[0090] In some embodiments not shown in the figures, the first mounting member 51 has an internal spline and the second mounting member 52 has an external spline.

[0091] In some embodiments, such as Figures 5-8As shown, the second mounting member 52 has an internal spline, and the first mounting member 51 has an external spline. Specifically, the first mounting member 51 is mounted to the wheel 100 by wheel 100 mounting bolts, and the second mounting member 52 is assembled to the first mounting member 51 by internal and external splines, which can realize the anti-detachment and anti-rotation of the internal and external spline cooperation between the first mounting member 51 and the second mounting member 52.

[0092] In some embodiments of this application, see Figure 1 , Figure 5 As shown, the mounting base 5 also includes a fixing bracket 54, which is disposed on the second mounting member 52, and the housing 3 is mounted on the fixing bracket 54. Specifically, the fixing bracket 54 is disposed on the second mounting member 52, providing a dedicated mounting support structure for the housing 3. During the movement of the vehicle 1000, especially under complex working conditions (such as bumpy roads, encountering potholes, etc.), the housing 3 may be subjected to forces in various directions. The fixing bracket 54 can effectively bear these forces and transmit them to the second mounting member 52 and the entire mounting base 5, preventing the housing 3 from loosening, shaking, or displacing due to force, thus ensuring the installation stability of the housing 3. This allows key components such as the drive device 1 and the pusher 2 inside the housing 3 to work in a stable environment, improving the reliability of the entire anti-sinking device 10.

[0093] Alternatively, the connection between the housing 3 and the fixed bracket 54 can be welding, bolting, snap-fitting, etc.

[0094] In some embodiments, such as Figures 5-7 As shown, the first mounting member 51 is adapted to be installed on the wheel 100. The first mounting member 51 has a first mounting hole 511, and the second mounting member 52 has a second mounting hole 521. The fastener 53 includes a fastening rod portion 531 and a fastening head 532. The fastening rod portion 531 passes through the second mounting hole 521 and the first mounting hole 511 and is fastened to the first mounting member 51. The fastening head 532 is connected to the fastening rod portion 531 and is located on the side of the second mounting hole 521 away from the first mounting hole 511. Specifically, the configuration of the first mounting hole 511 and the second mounting hole 521 provides a clear reference for the fastening installation of the first mounting member 51 and the second mounting member 52. During installation, the operator can easily position the first mounting member 51 and the second mounting member 52 based on the first mounting hole 511 and the second mounting hole 521, avoiding the inability to use the steering device 10 normally due to uncertain connection positions.

[0095] In some embodiments, such as Figure 7As shown, the second mounting hole 521 is an elongated hole. Specifically, after the fastening rod 531 passes through the second mounting hole 521 and the first mounting hole 511, the fastening head 532 can be rotated at a certain angle (for example, 90°) to make the first mounting member 51 and the second mounting member 52 more securely connected.

[0096] Optionally, the second mounting hole 521 is a smooth hole, the first mounting hole 511 is a threaded hole, the fastening rod portion 531 has external threads, and the fastening rod portion 531 passes through the second mounting hole 521 and engages with the threaded first mounting hole 511.

[0097] Alternatively, both the second mounting hole 521 and the first mounting hole 511 are smooth holes, and the fastening rod 531 passes through the second mounting hole 521 and the first mounting hole 511 and then engages with the nut.

[0098] In some embodiments of this application, see Figure 1 , Figure 5 As shown, the anti-sinking device 10 also includes a power supply device 6, which is mounted on the second mounting member 52 and electrically connected to the drive member 12. Specifically, mounting the power supply device 6 on the second mounting member 52 effectively shortens the length of the power supply line. A shorter line means lower line resistance, which reduces energy loss during transmission and ensures that the drive member 12 receives a stable and sufficient power supply. At the same time, a shorter power supply line has a relatively lower probability of failure, improving the stability and maintainability of the anti-sinking device 10.

[0099] Optionally, the connection between the power supply device 6 and the second mounting component 52 can be a bolt connection, an adhesive connection, a welding connection, etc.

[0100] Optionally, the power supply device 6 can be a dry cell battery, a photovoltaic power generation device, etc.

[0101] See Figure 9 As shown, the wheel 100 according to the second aspect embodiment of this application includes a wheel hub 20 and the aforementioned anti-sinking device 10, the anti-sinking device 10 being mounted on the wheel hub 20.

[0102] According to the second aspect of the embodiment of the wheel 100, the anti-sinking device 10 drives the pusher 2 to reciprocate and rotate around its own circumference via the drive device 1. This effectively agitates, loosens, and pushes the soft medium around the vehicle 1000, providing better support and driving conditions for the movement of the vehicle 1000. This effectively avoids the problem of the vehicle 1000 getting stuck in complex water conditions (such as water flow or soft mediums like mud and sand), thereby enhancing the vehicle 1000's ability to pass through complex terrain or harsh road conditions. At the same time, it allows the pusher 2 to rotate to an angle with less resistance when it is away from the ground, making the anti-sinking device 10 more effective in preventing the vehicle 1000 from getting stuck and escaping.

[0103] In some embodiments of this application, see Figure 9 As shown, the hub 20 can rotate around its center. The projection of the pusher 2 onto the hub 20 passes through its center, and the reciprocating motion of the pusher 2 is parallel to one of the diameter directions of the hub 20. Specifically, the hub 20 can rotate around its center, while the reciprocating motion of the pusher 2 is parallel to the diameter direction of the hub 20, allowing the action of the pusher 2 to coordinate well with the rotation of the wheel 100. The reciprocating motion of the pusher 2 can provide additional assistance to the rotation of the wheel 100 as needed. For example, during the rotation of the wheel 100, the pusher 2 applies a forward thrust to the soft medium in the corresponding diameter direction, helping the wheel 100 to better overcome resistance and grip the ground. The movements of the two complement and promote each other, improving the overall passability of the wheel 100 and allowing it to travel more smoothly in complex road conditions.

[0104] In some embodiments of this application, see Figure 9 As shown, the wheel 100 also includes a tire 30 mounted outside the hub 20. When the pusher 2 rotates with the hub 20 to point vertically to the ground, the pusher 2 extends beyond the outer contour of the tire 30. Specifically, when the wheel 100 sinks into a soft medium, the pusher 2 rotates with the hub 20 to point vertically to the ground and extends beyond the outer contour of the tire 30. The pusher 23 contacts the hard ground under the soft medium (such as silt, mud, etc.), generating a pushing force and creating better grip and passage conditions for the wheel 100, thereby making it easier for the wheel 100 to detach from the soft medium.

[0105] In some embodiments of this application, see Figure 9As shown, the pushing member 2 includes a push plate 23. When the pushing member 2 rotates with the wheel hub 20 to point vertically towards the ground, the angle between the push plate 23 and the axis of the wheel hub 20 is a first angle. When the pushing member 2 rotates with the wheel hub 20 to point vertically away from the ground, the angle between the push plate 23 and the axis of the wheel hub 20 is a second angle, and the first angle is smaller than the second angle. Specifically, the push plate 23 forms different angles with the axis of the wheel hub 20 at different rotation positions, and its contact area and mode of action with the medium are different, thus allowing the angle to be adjusted. By changing the first and second angles, the anti-sinking device 10 can flexibly adjust the force output by the pushing member 2 according to the actual degree of the wheel 100 being stuck, the magnitude of resistance at different stages, and other working conditions, ensuring that the appropriate force can help the wheel 100 to avoid getting stuck and escape at each stage, thus improving the flexibility of force adjustment and adaptability to different working conditions.

[0106] In some embodiments of this application, see Figure 9 As shown, the first angle is 0° and the second angle is 90°. Specifically, when the pusher 2 rotates with the hub 20 to point vertically towards the ground, the pusher plate 23 is perpendicular to the direction of travel, so that the force-bearing area of ​​the pusher plate 23 is maximized during the movement of the pusher 2. When the pusher 2 rotates with the hub 20 to point vertically away from the ground, the pusher plate 23 is parallel to the direction of travel, so that the force-bearing area of ​​the pusher plate 23 is minimized during the movement of the pusher 2.

[0107] See Figure 10 As shown, the vehicle 1000 according to the third aspect embodiment of this application includes the aforementioned wheels 100.

[0108] According to the third aspect of the embodiment of the vehicle 1000, the anti-sinking device 10 of its wheel 100 drives the pusher 2 to reciprocate and rotate around its own circumference via the drive device 1. This effectively agitates, loosens, and pushes the soft medium around the vehicle 1000, providing better support and driving conditions for the movement of the vehicle 1000. This effectively avoids the problem of the vehicle 1000 being unable to move when stuck in complex water conditions (such as water flow or soft mediums like mud and sand), thereby enhancing the vehicle 1000's ability to pass through complex terrain or harsh road conditions. At the same time, it allows the pusher 2 to rotate to an angle with less resistance when away from the ground, making the anti-sinking device 10 more effective in preventing the vehicle 1000 from getting stuck and escaping.

[0109] In some embodiments of this application, see Figure 10As shown, the vehicle 1000 also includes a control device 200. The drive device 1 is connected to the control device 200. The control device 200 controls the drive device 1 to drive the pusher 2 in one reciprocating motion for a time T1, and the time for the wheel hub 20 to rotate one revolution for a time T2, where T1 × N = T2, and N is a positive integer. Specifically, the control device 200 ensures that the time for the drive device 1 to drive the pusher 2 in one reciprocating motion is an integer multiple of the time for the wheel hub 20 to rotate one revolution, achieving a high degree of synchronization between the movement of the pusher 2 and the rotation of the wheel 100. When the vehicle 1000 is stuck in complex road conditions such as potholes, the pusher 2 can accurately perform several complete reciprocating motions for each revolution of the wheel hub 20, continuously and stably applying force to the surrounding soft medium, avoiding interruption or dispersion of force due to the lack of coordination between the movement of the pusher 2 and the rotation of the wheel 100, effectively enhancing the vehicle 1000's ability to get out of trouble.

[0110] For example, N can be 1, 2, 3, etc. When N is 1, the time for the drive device 1 to drive the pusher 2 to reciprocate once is the same as the time for the hub 20 to rotate once.

[0111] Optionally, the drive device 1 and the control device 200 can be connected by electrical connection or by mutual communication.

[0112] In some embodiments of this application, see Figure 10 As shown, the vehicle 1000 also includes a speed detection device 300, which is mounted on the wheel hub 20 and connected to the control device 200. The reciprocating motion of the pushing member 2 includes a first direction and a second direction, which are opposite in direction. When the rotational speed of the wheel hub 20 reaches a preset threshold, the drive device 1 drives the pushing member 2 to move along the first direction to a first position and maintain it in the first position. Specifically, when the vehicle 1000 gets stuck in a ditch, the driver often presses the accelerator hard, causing the wheel 100 to rotate at high speed. At this time, the reciprocating motion frequency of the anti-sinking device 10 will be difficult to keep up with the rotational frequency of the wheel 100. Therefore, when the rotational speed of the wheel hub 20 reaches the preset threshold, the drive device 1 drives the pushing member 2 to move along the first direction to a first position and maintain it in the first position. The anti-sinking device 10 no longer reciprocates. Every time the wheel 100 rotates once, the push plate 23 contacts the ground once. Because the push plate 23 protrudes from the tire 30, it can contact the hard road surface under the mud, thereby supporting the wheel 100 to lift up and get out of trouble.

[0113] In some embodiments, the first position may be the extreme position when the pusher 2 moves in the first direction.

[0114] Optionally, the speed detection device 300 and the control device 200 can be connected by electrical connection or by mutual communication.

[0115] In some embodiments, such as Figures 9-11 As shown, the line connecting the speed detection device 300 and the wheel hub of the tire 30 coincides with the anti-sinking device 10, meaning the speed detection device 300 is located on the projection of the anti-sinking device 10 onto the wheel 100. The speed detection device 300 can be used to detect the acceleration and rotational speed of the wheel 100. By analyzing the changes in acceleration and rotational speed, it determines the time it takes for the push plate 23 to move to its highest and lowest positions, thereby adjusting the rotational speed of the drive device 1. This ensures that the reciprocating motion of the pusher 2 is coordinated with the rotational speed of the wheel 100, thus enabling the vehicle 1000 to escape from a difficult situation.

[0116] In some embodiments, such as Figures 9-11 As shown, the driving component 12 drives the moving component 11 to reciprocate, and the frequency of the movement is consistent with the rotational speed of the wheel 100 of the vehicle 100. That is, for every one revolution of the wheel 100, the moving component 11 reciprocates once. Specifically, taking the vehicle 1000 stuck in water as an example, when the push plate 23 rotates downward with the wheel 100, the push plate 23 extends the longest distance and can extend the tire 30 to contact the ground. Therefore, when the vehicle 1000 slips on the water-covered road, the push plate 23 contacts the hard road surface, allowing the vehicle 1000 to get out of trouble and achieving the anti-sinking effect. At this time, the lever arm of the pushing component 2 on the lower side that pushes water backward is longer, while the lever arm of the pushing component 2 on the upper side that forms resistance against the water is shorter. Even if the wheel 100 is completely submerged, the pushing torque on the lower side is still greater than the resistance torque on the upper side.

[0117] See Figure 11 As shown, the specific logic for the reciprocating motion control of the anti-sinking device 10 is as follows:

[0118] Step 1, the wheel rotates 100 degrees;

[0119] Step 2: The acceleration sensor in the speed detection device 300 senses its own movement to the highest or lowest point of the wheel 100 by the change in acceleration;

[0120] Step 3: Identify the change in phase angle of the anti-sinking device 10 using the acceleration sensor in the speed detection device 300;

[0121] Step 4: Based on the change in phase angle, the control device 200 sends a control signal to the drive device 1;

[0122] Step 5: The drive device 1 controls the reciprocating motion frequency of the pusher 2 to be the same as the rotation frequency of the wheel.

[0123] The phase angle is the angle between the pusher 2 and the direction perpendicular to the ground. The acceleration sensor of the speed detection device 300 detects the instantaneous acceleration change at the location of the speed detection device 300. Based on the instantaneous acceleration change, the position of the speed detection device 300 on the wheel 100 can be determined. From this, the position of the pusher 2 on the wheel can be inferred. Using the angle between the pusher 2 and the direction perpendicular to the ground as a reference, in order to make the pusher 2 complete one reciprocating motion when the wheel 100 rotates one revolution, the drive device can be adjusted according to the phase angle change to control the movement speed of the pusher 2, so that the reciprocating motion frequency of the pusher 2 is the same as the rotation frequency of the wheel.

[0124] In the description of this application, it should be understood that the terms "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0125] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication between two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0126] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. In addition, those skilled in the art can combine and integrate the different embodiments or examples described in this specification.

[0127] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.

Claims

1. An anti-sinking device (10), said anti-sinking device (10) being adapted for installation on a vehicle, characterized in that, The anti-sinking device (10) includes: Drive unit (1); A pusher (2) is connected to the drive device (1), which is used to drive the pusher (2) to reciprocate and rotate around itself.

2. The anti-sinking device (10) according to claim 1, characterized in that, The driving device (1) includes: The moving part (11) is connected to the pushing part (2); A drive member (12) is used to drive the moving member (11) to reciprocate.

3. The anti-sinking device (10) according to claim 2, characterized in that, The anti-sinking device (10) further includes a housing (3), the driving member (12) is mounted on the housing (3), and the moving member (11) is mounted on the housing (3) and can reciprocate relative to the housing (3).

4. The anti-sinking device (10) according to claim 3, characterized in that, The pusher (2) is provided with a guide groove (21), and the housing (3) is provided with a limiting protrusion (31). The limiting protrusion (31) cooperates with the guide groove (21) so that when the moving member (11) drives the pusher (2) to reciprocate, the limiting protrusion (31) pushes the pusher (2) to rotate.

5. The anti-sinking device (10) according to claim 4, characterized in that, The pusher (2) includes a push rod (22) and a push plate (23). The push rod (22) is connected to the moving part (11). The guide groove (21) is disposed on the push rod (22). The push plate (23) is connected to the push rod (22).

6. The anti-sinking device (10) according to claim 5, characterized in that, The guide groove (21) extends along the circumference and axial direction of the push rod (22).

7. The anti-sinking device (10) according to any one of claims 4-6, characterized in that, The guide groove (21) includes a first groove segment (211), a second groove segment (213) and a connecting groove segment (212). The connecting groove segment (212) is located between the first groove segment (211) and the second groove segment (213), and the connecting groove segment (212) connects the first groove segment (211) and the second groove segment (213).

8. The anti-sinking device (10) according to claim 7, characterized in that, The first groove segment (211) is parallel to the second groove segment (213).

9. The anti-sinking device (10) according to claim 8, characterized in that, The first groove segment (211) and the second groove segment (213) extend along the reciprocating motion direction of the pusher (2), and the first groove segment (211) and the second groove segment (213) are spaced 80° to 100° apart in the circumferential direction of the pusher (2).

10. The anti-sinking device (10) according to claim 9, characterized in that, The first groove segment (211) and the second groove segment (213) are spaced 90° apart in the circumferential direction of the pusher (2).

11. The anti-sinking device (10) according to claim 2, characterized in that, The moving part (11) includes a rack body (111) and a mounting base (112), the mounting base (112) being mounted on the end of the rack body (111), and the pushing part (2) being connected to the mounting base (112).

12. The anti-sinking device (10) according to any one of claims 2-6 and 8-10, characterized in that, There are two pushers (2), one of which is connected to one end of the moving part (11), and the other pusher (2) is connected to the other end of the moving part (11).

13. The anti-sinking device (10) according to claim 2, characterized in that, The driving device (1) further includes a transmission mechanism (4), wherein the driving member (12) drives the moving member (11) to reciprocate through the transmission mechanism (4).

14. The anti-sinking device (10) according to claim 13, characterized in that, The transmission mechanism (4) includes: The worm (41) and the drive (12) have a drive shaft (121), the worm (41) being mounted on the drive shaft (121) of the drive (12); A worm gear (42) meshes with the worm (41) for transmission; A drive shaft (43), on which the worm gear (42) is mounted; A transmission gear (44) is mounted on the transmission shaft (43), and the moving part (11) is a rack. The transmission gear (44) meshes with the rack for transmission.

15. The anti-sinking device (10) according to claim 14, characterized in that, The axis of the drive shaft (121) is parallel to the reciprocating motion direction of the rack.

16. The anti-sinking device (10) according to claim 3, characterized in that, The anti-sinking device (10) further includes a mounting base (5), on which the housing (3) is mounted, and the mounting base (5) is adapted to be mounted on the wheel (100).

17. The anti-sinking device (10) according to claim 16, characterized in that, The mounting base (5) includes: First mounting component (51); The second mounting component (52) is mounted on the first mounting component (51); Fastener (53) for connecting the second mounting member (52) to the first mounting member (51).

18. The anti-sinking device (10) according to claim 17, characterized in that, The mounting base (5) further includes a fixing bracket (54), which is disposed on the second mounting member (52), and the housing (3) is mounted on the fixing bracket (54).

19. The anti-sinking device (10) according to claim 17, characterized in that, The anti-sinking device (10) further includes a power supply device (6), which is installed on the second mounting member (52) and is electrically connected to the driving member (12).

20. A wheel (100), characterized in that, It includes a wheel hub (20) and an anti-sinking device (10) according to any one of claims 1-19, the anti-sinking device (10) being mounted on the wheel hub (20).

21. The wheel (100) according to claim 20, characterized in that, The hub (20) is capable of rotating around the center of the hub (20), the projection of the pusher (2) on the hub (20) passes through the center of the hub (20), and the reciprocating motion direction of the pusher (2) is parallel to one of the diameter directions of the hub (20).

22. The wheel (100) according to claim 21, characterized in that, The wheel (100) also includes a tire (30) mounted outside the hub (20), and when the pusher (2) rotates with the hub (20) to point vertically to the ground, the pusher (2) extends out of the outer contour of the tire (30).

23. The wheel (100) according to claim 21, characterized in that, The pusher (2) includes a push plate (23). When the pusher (2) rotates with the hub (20) to point vertically to the ground, the angle between the push plate (23) and the axis of the hub (20) is a first angle. When the pusher (2) rotates with the hub (20) to point vertically away from the ground, the angle between the push plate (23) and the axis of the hub (20) is a second angle. The first angle is smaller than the second angle.

24. The wheel (100) according to claim 23, characterized in that, The first angle is 0°, and the second angle is 90°.

25. A vehicle (1000), characterized in that, Includes the wheel (100) according to any one of claims 20-24.

26. The vehicle (1000) according to claim 25, characterized in that, The vehicle (1000) also includes a control device (200). The drive device (1) is connected to the control device (200). The control device (200) controls the drive device (1) to drive the pusher (2) to reciprocate once for a time T1, and the time for the wheel hub (20) to rotate once is T2. T1×N=T2, where N is a positive integer.

27. The vehicle (1000) according to claim 26, characterized in that, The vehicle (1000) also includes a speed detection device (300), which is mounted on the wheel hub (20) and connected to the control device (200); The reciprocating motion direction of the pusher (2) includes a first direction and a second direction. The first direction and the second direction are opposite. When the rotational speed of the hub (20) reaches a preset threshold, the drive device (1) drives the pusher (2) to move along the first direction to a first position and maintain it in the first position.

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