An amphibious special vehicle and its composite shock-absorbing tracked walking mechanism

Abstract

This utility model provides an amphibious special vehicle and its composite shock-absorbing tracked running mechanism, belonging to the field of special vehicle technology. The vehicle includes a frame, a two-stage high-precision rotating platform, and a tracked running mechanism. The frame is equipped with airbags, a pump-jet propulsion system, a power supply, etc., enabling amphibious mode switching. The tracked running mechanism includes a fixed frame, a load-bearing frame, shock absorbers, and support columns. The tracks adopt a three-gradient structure of rubber, polyurethane composite layers, and hard alloy. The outer side has staggered inner and outer track teeth, the middle has tooth holes and hard alloy for meshing with the drive wheels, and the inner side has guide grooves. This design makes the tracks have high tear resistance, strong grip, and low wear. The composite shock-absorbing structure improves shock absorption performance. The pump-jet propulsion system works with the airbags to achieve efficient amphibious drive. The quick-release frame facilitates equipment replacement. Searchlights and cameras adapt to complex environments, meeting the requirements for high passability and operation in complex environments.

Description

Technical Field

[0001] This utility model relates to the field of special vehicle technology, specifically to an amphibious special vehicle and its composite shock-absorbing track walking mechanism. Background Technology

[0002] Special vehicles are suitable for high mobility needs in complex underground environments such as muddy terrain, jungles, trenches, rivers, and shallows, as well as for support missions in complex environments such as rain, fog, and darkness.

[0003] Existing amphibious walking mechanisms mostly operate in conventional roads with gentle transitions between land and water and no surface obstacles, making them unsuitable for transitions to amphibious environments such as cliff-like sections or complex terrain. Amphibious vehicles often use a single propulsion mode, such as propeller + tire independent drive, which requires mechanical structure adjustments for transitions between land and water, resulting in high energy consumption. Tracked walking mechanisms often use single-layer shock absorption, which can easily lead to vehicle vibration in extreme terrain, and uneven contact between the tracks and the ground can cause fatigue damage to components. Utility Model Content

[0004] To overcome the shortcomings of the existing technology, an amphibious special vehicle and its composite shock-absorbing tracked walking mechanism are provided to solve the problems mentioned in the background technology.

[0005] To achieve the above objectives, an amphibious special vehicle is provided, comprising a frame, a secondary high-precision rotating platform, and a tracked walking mechanism. The secondary high-precision rotating platform is fixed on top of the frame, and a quick-release frame is installed in the middle of the secondary high-precision rotating platform. An airbag is fixed in the middle of the frame. Tracked walking mechanisms are installed on both sides below the frame. A front power supply is installed at the front of the frame, and a lifting ring is provided at the front corner of the frame. A rear power supply is installed in the middle of the rear of the frame, and a charging port is provided in the middle above the rear power supply. Warning lights are installed on both sides of the frame of the rear power supply. A pump-jet propulsion device is installed on the frame above the rear power supply, and the pump-jet propulsion device is connected to an air pump through a telescopic tube. A searchlight and a camera are installed on the upper end of the support on the back of the frame.

[0006] Furthermore, the pump-jet propulsion device is an adjustable-speed fluid propulsion device, and the airbag is an inflatable and deflated rubber airbag connected to the air pump via a solenoid valve.

[0007] Furthermore, the quick-release frame has a modular interface structure with at least two sets of standardized buckles or bolt holes, which can quickly disassemble or replace the working equipment installed on the secondary high-precision rotating platform.

[0008] Furthermore, the searchlight is a rotatable LED high-intensity searchlight equipped with an angle-adjustable motor, and the camera is a high-definition night vision camera.

[0009] A tracked walking mechanism for an amphibious special vehicle includes a fixed frame, a load-bearing frame, and shock-absorbing and support columns connecting the fixed frame and the load-bearing frame. A drive wheel is installed at one end of the fixed frame and is connected to a motor. Pressure wheels are installed in the middle of both the fixed frame and the load-bearing frame. A guide wheel is installed at one end of the load-bearing frame, and tracks are fitted on the outside of the drive wheel and the guide wheel.

[0010] Furthermore, the outer track teeth and inner track teeth are arranged alternately on the outer side of the track, and two rows of tooth holes that mesh with the drive wheel are reserved on the outer side of the middle of the track. There is hard alloy between the tooth holes, and there is a guide groove on the outer edge of the inner side of the track.

[0011] Furthermore, the track adopts a three-gradient structure of rubber, polyurethane composite layer and cemented carbide. The base is composed of a high-elasticity rubber composite layer with a Shore A hardness of 60-80. The transition reinforcement layer uses a polyurethane composite layer with a thickness of 5mm and a transition hardness of Shore D50. The cemented carbide wear-resistant tooth tip is sintered from alloy powder with a 50° apex angle and a height of 15mm.

[0012] Furthermore, the fixed frame is fixedly connected to the vehicle frame, and the load-bearing frame is connected to the fixed frame through the support column and two sets of front and rear shock-absorbing hinges. The fixed frame is reserved with three displacement holes, and the support column can be displaced through the displacement holes.

[0013] Furthermore, the cemented carbide is a tungsten-cobalt cemented carbide, which is embedded in the tooth hole gap of the track, and the guide groove cooperates with the protrusion of the guide wheel.

[0014] The beneficial effects of this utility model are as follows: The track of this invention is integrally molded, making it highly resilient and less prone to damage. The track surface features staggered tooth arrangements, and the entire track employs a three-gradient structure design of rubber-polyurethane composite layer-hard alloy, improving tear resistance and grip in complex operating environments while minimizing wear on the track surface and tooth tips. The contact area between the guide wheel and the track tooth groove is inlaid with a lightweight, wear-resistant alloy, reducing hard-contact wear on the guide wheel teeth and protecting the weaker short-range rubber gaps at the track grooves, thus extending service life. A composite suspension auxiliary wheel system is used, with the support wheel and pressure wheel made of different materials. With identical shape and structure, the central hub adopts a composite structure of polyurethane and metal bushing, with an impact-resistant rubber layer covering the outer contact layer, forming double shock absorption and improving the overall shock absorption performance of the traveling mechanism; the auxiliary wheels inside the track adopt a double wheel set layout, with flanges arranged on the edge of the tooth groove inside the track for positioning the arrangement of auxiliary wheels, and auxiliary wheel sets symmetrically arranged at both ends of the tooth groove to ensure the optimal tension of the track during operation. The double-sided load-bearing and pressure edge allow the track to exert maximum efficiency; the central guide wheel can be laterally fine-tuned and non-locked to avoid rigid contact, in order to meet different power distribution requirements. Attached Figure Description

[0015] Figure 1 This is a side view schematic diagram of the special vehicle of the present invention; Figure 2 This is a front view schematic diagram of the special vehicle of the present invention; Figure 3 This is a rear-view schematic diagram of the special vehicle of the present invention; Figure 4 This is a three-dimensional schematic diagram of the special vehicle of the present invention; Figure 5 This is a schematic diagram of the air pump for the special vehicle of the present invention; Figure 6 This is a schematic diagram of the motor of the special vehicle of the present invention; Figure 7 This is a three-dimensional schematic diagram of the tracked walking mechanism of the present invention; Figure 8 This is a side view of the tracked walking mechanism of the present invention; Figure 9 This is a three-dimensional schematic diagram of the fixing frame of the tracked walking mechanism of the present invention; Figure 10 This is a front view of the track of the tracked walking mechanism of the present invention; Figure 11 This is a schematic diagram of the back of the track of the tracked walking mechanism of the present invention; Figure 12 This is a three-dimensional schematic diagram of the track of the tracked walking mechanism of the present invention.

[0016] In the diagram: 11. Tracked walking mechanism; 12. Drive wheel; 13. Shock absorber; 14. Support column; 15. Motor; 21. Frame; 22. Front power supply; 23. Lifting ring; 24. Rear power supply; 25. Warning light; 26. Charging port; 31. Pump-jet propulsion unit; 32. Telescopic tube; 33. Airbag; 34. Air pump; 41. Secondary high-precision rotating platform; 42. Quick-release frame; 51. Searchlight; 52. Camera; 111. Track; 1111. Outer track teeth; 1112. Inner track teeth; 1113. Carbide; 1114. Guide groove; 112. Fixing frame; 113. Load-bearing frame; 114. Guide wheel; 115. Pressure wheel. Detailed Implementation

[0017] Reference Figures 1 to 12As shown, this utility model provides an amphibious special vehicle, including a frame 21, a secondary high-precision rotating platform 41, and a tracked walking mechanism 11. The secondary high-precision rotating platform 41 is fixed on the top of the frame 21, and a quick-release frame 42 is installed in the middle of the secondary high-precision rotating platform 41. An airbag 33 is fixed in the middle of the frame 21. Tracked walking mechanisms 11 are installed on both sides below the frame 21. A front power supply 22 is installed at the front of the frame 21, and a hanging ring 23 is provided at the front corner of the frame 21. A rear power supply 24 is installed in the middle of the rear of the frame 21, and a charging port 26 is provided in the middle of the upper part of the rear power supply 24. Warning lights 25 are installed on the frame 21 on both sides of the rear power supply 24. A pump-jet propulsion device 31 is installed on the frame 21 above the rear power supply 24, and the pump-jet propulsion device 31 is connected to an air pump 34 through a telescopic tube 32. A searchlight 51 and a camera 52 are installed on the upper end of the support on the back of the frame 21.

[0018] The pump-jet propulsion unit 31 is an adjustable-speed fluid propulsion device, and the airbag 33 is an inflatable and deflated rubber airbag, which is connected to the air pump 34 through a solenoid valve.

[0019] The quick-release frame 42 has a modular interface structure with at least two sets of standardized buckles or bolt holes, which can quickly disassemble or replace the work equipment installed on the secondary high-precision rotary platform 41.

[0020] The searchlight 51 is a rotatable LED high-intensity searchlight equipped with an angle-adjustable motor, and the camera 52 is a high-definition night vision camera.

[0021] The front power supply 22 is the main power supply, which supplies power to the motor 15, air pump 34, pump-jet propulsion unit 31, etc. The rear power supply 24 automatically switches when the main power supply fails, ensuring continuous power supply.

[0022] The 26 charging ports support vertical charging, are compatible with standardized charging piles, and enable clustered power management.

[0023] A tracked walking mechanism for an amphibious special vehicle. The tracked walking mechanism 11 includes a fixed frame 112, a load-bearing frame 113, and shock absorbers 13 and support columns 14 connecting the fixed frame 112 and the load-bearing frame 113. A drive wheel 12 is installed at one end of the fixed frame 112 and is connected to a motor 15. Pressure wheels 115 are installed in the middle of both the fixed frame 112 and the load-bearing frame 113. A guide wheel 114 is installed at one end of the load-bearing frame 113, and a track 111 is fitted on the outside of the drive wheel 12 and the guide wheel 114.

[0024] The outer track teeth 1111 and inner track teeth 1112 are arranged alternately on the outer side of the track 111, and two rows of tooth holes that mesh with the drive wheel 12 are reserved on the outer side of the middle of the track 111. There is a hard alloy 1113 between the tooth holes, and there is a guide groove 1114 on the outer edge of the inner side of the track 111.

[0025] Track 111 adopts a three-gradient structure of rubber, polyurethane composite layer and cemented carbide. The base is composed of a high elasticity rubber composite layer with a Shore A hardness of 60-80. The transition reinforcement layer uses a polyurethane composite layer with a thickness of 5mm and a transition hardness of Shore D50. The cemented carbide wear-resistant tooth tip is sintered from alloy powder with a 50° apex angle and a height of 15mm.

[0026] The fixed frame 112 is fixedly connected to the vehicle frame 21. The load-bearing frame 113 is connected to the fixed frame 112 through the support column 14 and the front and rear shock absorbers 13. The fixed frame 112 is reserved with three displacement holes, and the support column 14 can be displaced through the displacement holes.

[0027] The cemented carbide 1113 is a tungsten-cobalt cemented carbide, which is embedded in the tooth hole gap of the track 111, and the guide groove 1114 cooperates with the protrusion of the guide wheel 114.

[0028] The drive wheel 31 rotates clockwise, which drives the track 1 to rotate in a cycle, passing through the pressure wheel 32, guide wheel 33, and bearing wheel 34 in sequence, and finally returning to the drive wheel 31 to form a closed loop.

[0029] Dual shock absorbers use hydraulic damping to attenuate vibrations and reduce damage to the vehicle body from rigid impacts.

[0030] Lightweight wear-resistant alloy is inlaid at the contact point between the guide wheel and the track tooth groove to reduce hard contact wear and extend track life.

[0031] Adjusting the angle of the support column by 14mm via the displacement hole changes the contact area between the track and the ground, improving climbing traction. Auxiliary wheel sets are symmetrically arranged on both sides of the internal tooth grooves of the track to ensure optimal track tension, reduce lateral tilt, and improve stability.

[0032] Land driving mode When the motor 15 is powered on, it drives the drive wheel 12 to rotate. The drive wheel 12 meshes with the track 11 through the tooth hole, driving the track 11 to rotate cyclically, realizing the vehicle's forward / backward movement. The impact force generated by the track 11 contacting the ground is transmitted to the shock absorber 13 through the support column 14. The elastic deformation of the shock absorber 13 absorbs the vibration energy and reduces the bumps of the chassis 21. The staggered tooth design on the outer side of track 11 enhances grip, while carbide 1113 protects the tooth holes from wear. The guide groove 1114 cooperates with the guide wheel 114 to ensure that the track does not deviate.

[0033] The support column 14 adjusts the track tilt angle by ±15° through the displacement hole on the fixing frame 112 to adapt to steep slopes or trench terrain and prevent the vehicle from touching the bottom.

[0034] Waterway driving mode When the water depth sensor on the vehicle's sensor module detects that the vehicle has entered the water area, the vehicle's control module sends a command to the rear power supply 24 to start the air pump 34. The air pump 34 quickly inflates the airbag 33 through the pipe, and the airbag 33 pops out to both sides of the vehicle body through the telescopic tube 32, generating buoyancy to make the whole vehicle float. Motor 15 switches to drive pump-jet propulsion unit 31. Propulsion unit 31 generates thrust through impeller rotation, propelling the vehicle to move on the water with a maximum speed of ≥5 knots. When braking or decelerating, propulsion motor 15 switches to generator mode, recovering kinetic energy through supercapacitors to extend the endurance on the water.

[0035] The control module uses an existing unmanned vehicle controller to analyze data through a neural network model.

Claims

1. An amphibious special vehicle, characterized in that: The vehicle includes a frame (21), a secondary high-precision rotary platform (41), and a tracked walking mechanism (11). The secondary high-precision rotary platform (41) is fixed on the top of the frame (21), and a quick-release frame (42) is installed in the middle of the secondary high-precision rotary platform (41). An airbag (33) is fixed in the middle of the frame (21). Tracked walking mechanisms (11) are installed on both sides below the frame (21). A front power supply (22) is installed in front of the frame (21), and a lifting ring (23) is provided at the front corner of the frame (21). The rear power supply (24) is installed in the middle of the rear of the frame (21), and a charging port (26) is provided in the middle of the upper part of the rear power supply (24). Warning lights (25) are installed on the frame (21) on both sides of the rear power supply (24). A pump-jet propulsion device (31) is installed on the frame (21) above the rear power supply (24), and the pump-jet propulsion device (31) is connected to the air pump (34) through a telescopic tube (32). A searchlight (51) and a camera (52) are installed on the upper end of the bracket on the back of the frame (21).

2. The amphibious special vehicle according to claim 1, characterized in that, The pump-jet propulsion device (31) is an adjustable speed fluid propulsion device, and the airbag (33) is an inflatable and deflated rubber airbag, which is connected to the air pump (34) through a solenoid valve.

3. The amphibious special vehicle according to claim 1, characterized in that, The quick-release frame (42) is a modular interface structure with at least two sets of standardized buckles or bolt holes, which can quickly disassemble or replace the work equipment installed on the secondary high-precision rotary platform (41).

4. The amphibious special vehicle according to claim 1, characterized in that, The searchlight (51) is a rotatable LED high-intensity searchlight equipped with an angle-adjustable motor, and the camera (52) is a high-definition night vision camera.

5. A composite shock-absorbing tracked walking mechanism for the amphibious special vehicle as described in claim 1, characterized in that: The tracked walking mechanism (11) includes a fixed frame (112), a load-bearing frame (113), and shock absorbers (13) and support columns (14) connecting the fixed frame (112) and the load-bearing frame (113). A drive wheel (12) is installed at one end of the fixed frame (112), and the drive wheel (12) is connected to a motor (15). A pressure wheel (115) is installed in the middle of both the fixed frame (112) and the load-bearing frame (113). A guide wheel (114) is installed at one end of the load-bearing frame (113), and a track (111) is fitted on the outside of the drive wheel (12) and the guide wheel (114).

6. The composite shock-absorbing track walking mechanism according to claim 5, characterized in that: The outer track teeth (1111) and inner track teeth (1112) are arranged alternately on the outer side of the track (111), and two rows of tooth holes that mesh with the drive wheel (12) are reserved on the outer side of the middle of the track (111). There is a hard alloy (1113) between the tooth holes, and a guide groove (1114) is provided on the outer edge of the inner side of the track (111).

7. The composite shock-absorbing track walking mechanism according to claim 6, characterized in that: The track (111) adopts a three-gradient structure of rubber, polyurethane composite layer and cemented carbide. The base is composed of a high elastic rubber composite layer with a Shore A hardness of 60-80. The transition reinforcement layer uses a polyurethane composite layer with a thickness of 5mm and a transition hardness of Shore D50. The cemented carbide wear-resistant tooth tip is sintered from alloy powder with a apex angle of 50° and a height of 15mm.

8. The composite shock-absorbing track walking mechanism according to claim 5, characterized in that: The fixed frame (112) is fixedly connected to the vehicle frame (21). The load-bearing frame (113) is connected to the fixed frame (112) by the support column (14) and the front and rear shock absorbers (13) through hinge. The fixed frame (112) has three displacement holes, and the support column (14) can be displaced through the displacement holes.

9. The composite shock-absorbing track walking mechanism according to claim 7, characterized in that, The cemented carbide (1113) is a tungsten-cobalt cemented carbide, which is embedded in the tooth hole gap of the track (111), and the guide groove (1114) cooperates with the protrusion of the guide wheel (114).

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