CN112677721A - Multi-driving-mode vehicle for complex terrain and obstacle crossing method thereof - Google Patents
Multi-driving-mode vehicle for complex terrain and obstacle crossing method thereof Download PDFInfo
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Abstract
The invention relates to a multi-driving-mode vehicle for complex terrains and an obstacle crossing method thereof, belongs to the technical field of rail dual-purpose vehicles and obstacle crossing rescue, and solves the problems that in the prior art, the obstacle crossing capability is poor, the rail climbing operation is complex and the time is long during the rail dual-purpose vehicle rescue. The invention comprises a vehicle body (1), a tire driving component (3), a track wheel driving component (4) and a mechanical foot component (5), wherein the tire driving component (3), the track wheel driving component (4) and the mechanical foot component (2) are all arranged on the vehicle body; the tire drive assembly (3) is used for driving on a flat road, the rail wheel drive assembly (4) is used for driving on a railway rail, and the mechanical foot assembly (5) is used for off-road or crossing obstacles. When the emergency rescue task is executed, the invention can select a better driving mode according to different conditions, thereby saving the time cost for arriving at an accident site and improving the rescue efficiency.
Description
Technical Field
The invention relates to the technical field of rail and road dual-purpose vehicles and obstacle crossing rescue, in particular to a multi-driving-mode vehicle for complex terrains and an obstacle crossing method thereof.
Background
In recent years, with the development of economy in China and the acceleration of urbanization process, urban traffic is under unprecedented pressure, and underground traffic is rapidly developed for relieving the pressure of urban traffic. With the development of underground traffic in China, the application scene of underground space is more complex, and underground buildings such as underground malls and underground pipe galleries are rapidly increased.
Because the building structure in the underground space is very complicated, the topography is changeable, the barrier is too much, and the space size requirement is strict. When fire disasters such as fire disasters, traffic accidents and the like occur in underground traffic, the disaster relief vehicle cannot rapidly reach the disaster occurrence place. In the current subway rescue, disaster relief vehicles need to be collected from a subway central station, subway trains on all lines need to be scheduled to vacate the lines for the disaster relief vehicles, and a large amount of precious disaster relief time needs to be consumed when the vehicles arrive at accident sites in a complex traffic network. When dangerous situations occur in underground markets, pipe corridors and other occasions, the rescue vehicles do not have proper passages to pass through and cannot directly reach underground disaster relief places, so that disaster relief efficiency is affected.
In order to improve the rescue efficiency, a rail dual-purpose professional rescue vehicle is generally used, and the vehicle is switched between a rail mode and a highway mode through a rail conversion device, but the vehicle has great limitation in application, long time for reaching an accident site, high rescue equipment updating cost and low rescue efficiency. In addition, the existing off-road vehicle has single function, is generally used for carrying people or realizing the carrying function of light load, is difficult to pass when meeting the mountain environments with more obstacles and higher obstacle height, and has poor vehicle passing capacity.
Aiming at the fields of underground space rescue, complex terrain application and the like, the existing vehicle can not effectively solve the problem and needs to be solved urgently.
Disclosure of Invention
In view of the foregoing analysis, embodiments of the present invention are directed to a multi-driving mode vehicle for complex terrain and an obstacle crossing method thereof, so as to solve the problems of poor obstacle crossing capability, complex track-climbing operation and long time in rescue of the existing dual-purpose vehicle for road and rail.
In one aspect, the invention provides a multi-drive mode vehicle for complex terrain, comprising a vehicle body, a tire drive assembly, a rail wheel drive assembly and a mechanical foot assembly, wherein the tire drive assembly, the rail wheel drive assembly and the mechanical foot assembly are all arranged on the vehicle body;
tire drive assemblies are used for flat road applications, rail wheel drive assemblies are used for railroad track applications, and mechanical foot assemblies are used off-road or across obstacles.
Further, the multi-drive mode vehicle comprises a tire drive mode, a track drive mode and an obstacle crossing drive mode.
Further, the mechanical foot assembly comprises a mechanical foot hip joint, a mechanical foot thigh, a mechanical foot shank and a mechanical foot part which are connected in sequence.
Further, the vehicle main part includes vehicle base and drive module support, and the drive module support is located the both ends of vehicle base.
Further, the mechanical foot hip joint is rotatably connected with the driving module bracket.
Further, the tire driving assembly comprises a tire and a retainer, the retainer is connected with the driving module bracket, and the tire is connected with the retainer through a tire input shaft.
Further, track wheel drive assembly includes lift slide and slider, and the lift slide is located in the vehicle base, the one end of slider slides in the lift slide.
Further, the rail wheel driving assembly further comprises a rail wheel, and the rail wheel is arranged at the other end of the slide way.
Furthermore, the rail wheel driving assembly comprises a rail wheel, and the rail wheel is arranged at the joint of the thigh and the shank of the mechanical foot.
In another aspect, the present invention provides a method of obstacle crossing for a multi-drive mode vehicle for complex terrain, comprising the steps of:
step 1: the multi-driving mode vehicle moves to the edge of the platform in a tire driving mode and inclines to be close to the edge of the platform, when a tire at one end of the multi-driving mode vehicle crosses the edge of the platform and then expands a mechanical foot, the multi-driving mode vehicle is driven by a mechanical foot assembly, and the other end of the multi-driving mode vehicle is positioned on the platform and driven by a tire driving assembly;
step 2: the tire at the other end of the multi-driving mode vehicle is driven by the mechanical foot assembly after passing over the edge of the platform until the whole vehicle passes over the platform;
and step 3: the mechanical foot assembly contracts, the vehicle body moves downwards to enable the tire to contact the ground, and the tire is driven by the tire driving assembly;
and 4, step 4: steering under a tire driving mode, aligning the rail wheels with the rail, unfolding the rail wheels, and driving by adopting a rail wheel driving assembly to finish obstacle crossing;
or, step 1: the multi-drive mode vehicle moves to the edge of the platform in a tire drive mode, when the multi-drive mode vehicle moves to the edge of the platform in a tire drive mode, the multi-drive mode vehicle is driven by a crawler belt and a swing arm drive assembly, and the other side of the multi-drive mode vehicle is positioned on the platform and driven by the tire drive assembly;
step 2: after the vehicle with the multiple driving modes moves to the edge of the platform by the tire on the other side of the tire, the vehicle is driven by the crawler belt and the swing arm driving assembly;
and step 3: the vehicle body moves downwards to enable the track wheels to contact the track, the multi-driving-mode vehicle swings upwards to be separated from the ground through the tracks of the tires, and the track wheel driving assembly is adopted for driving, so that obstacle crossing is completed.
Compared with the prior art, the invention can realize at least one of the following beneficial effects:
(1) the multi-driving-mode vehicle adapts to a flat road surface by using tires, spans small obstacles by using a crawler, spans large obstacles by using a swing arm, adapts to a railway track by using a track wheel, and can select a better traveling mode according to different conditions when executing an emergency rescue task, so that the time cost of arriving at an accident site is saved, and the rescue efficiency is improved;
(2) the multi-driving-mode vehicle adapts to a flat road surface by using tires, spans obstacles by using mechanical feet, adapts to a railway track by using track wheels, and can select a better traveling mode according to different conditions when executing an emergency rescue task, so that the time cost of arriving at an accident site is saved, and the rescue efficiency is improved;
(3) when the road rail dual-purpose vehicle is in a tire driving mode, the driving state is four-wheel drive, and road tires are driven by a tire driving motor through a tire transmission device, so that the quality of a power system is reduced, the transmission efficiency is improved, and the defect of insufficient dynamic property of the conventional road rail dual-purpose vehicle is overcome;
(4) the four-wheel drive steering is adopted, so that the maneuverability of the multi-drive mode vehicle is improved, the abrasion of tires can be reduced, and the multi-drive mode vehicle can be steered easily;
(5) the wedge-shaped structural design at the front end of the crawler belt improves the approach angle of the multi-driving-mode vehicle and enhances the trafficability of the multi-driving-mode vehicle; when large obstacles are encountered, the four crawler belts play a role of single-joint legs through the swing arm rods, so that the obstacle crossing capability of the rail mobile platform is improved;
(6) the worm and gear structure is used for controlling the lifting of the track wheel, the stability of the lifted track wheel can be ensured by utilizing the self-locking function of the worm and gear, and the sliding block is prevented from sliding in the lifting slideway when the track mode is adopted;
(7) the tensioning unit is to the track tensioning in-process, increases the contained angle of tensioning rod and swing arm pole to change the shape of track outline, increased the approach angle of track driving in-process, promoted the trafficability characteristic of track, and then improved the obstacle crossing performance of many drive mode vehicles.
In the invention, the technical schemes can be combined with each other to realize more preferable combination schemes. Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and drawings.
Drawings
The drawings are only for purposes of illustrating particular embodiments and are not to be construed as limiting the invention, wherein like reference numerals are used to designate like parts throughout.
FIG. 1 is a schematic diagram of a multi-drive mode vehicle according to an exemplary embodiment;
FIG. 2 is an enlarged view of a portion of a multi-drive mode vehicle according to an exemplary embodiment;
FIG. 3 is a first multi-drive mode vehicle track drive mode state diagram of an embodiment;
FIG. 4 is a state diagram of an obstacle crossing driving mode of the multi-driving mode vehicle according to an exemplary embodiment;
FIG. 5 is a state diagram illustrating a diagonal translation of a multi-drive mode vehicle according to an exemplary embodiment;
FIG. 6 is a diagram of a multi-drive mode vehicle pivot steering state according to an exemplary embodiment;
FIG. 7 is a multi-drive mode vehicle tire drive mode state diagram of an exemplary embodiment;
FIG. 8 is a state diagram of the obstacle detouring driving modes of the multi-driving mode vehicle according to the second embodiment
FIG. 9 is a second multi-drive mode vehicle track drive mode state diagram of an exemplary embodiment;
FIG. 10 is a state diagram of the drive modes of a multi-drive mode vehicle tire of an exemplary embodiment;
FIG. 11 is a state diagram of obstacle detouring driving modes of the multi-driving mode vehicle according to the third embodiment
Fig. 12 is a multi-drive mode vehicle track drive mode state diagram of an embodiment (iii).
Reference numerals:
1-a vehicle body; 11-a vehicle chassis; 111-a limiting part; 12-a modular equipment mounting frame; 121-connecting hole; 13-drive module holder; 2-a mechanical foot assembly; 21-a crawler belt; 22-a track drive wheel; 23-a track driven wheel; 24-a swing arm drive wheel; 25-a swing arm lever; 26-a tension wheel; 27-a tension rod; 28-track drive motor; 29-a track drive; 3-a tire drive assembly; 31-a tire; 32-a cage; 33-a tyre drive motor; 34-a tyre transmission; 4-a rail wheel drive assembly; 41-rail wheels; 42-a lifting slide; 43-a slide block; 5-a mechanical foot assembly; 51-mechanical foot hip joint; 52-mechanical foot thigh; 53-mechanical calf of foot; 54-mechanical foot section.
Detailed Description
The preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, which form a part hereof, and which together with the embodiments of the invention serve to explain the principles of the invention and not to limit its scope.
Example 1
The invention discloses a multi-driving mode vehicle capable of crossing vertical obstacles, which comprises a vehicle body 1, a track and swing arm driving assembly 2, a tire driving assembly 3 and a rail wheel driving assembly 4, wherein the track and swing arm driving assembly 2, the tire driving assembly 3 and the rail wheel driving assembly 4 are arranged on the vehicle body.
The track and swing arm drive assembly 2 is used to traverse obstacles, the tire drive assembly 3 is used to travel on a flat surface, and the rail wheel drive assembly 4 is used for railway track travel.
Compared with the prior art, the multi-drive mode vehicle capable of crossing vertical obstacles provided by the embodiment adapts to a flat road surface by using tires, crosses small obstacles by using tracks, crosses large obstacles by using swing arms, adapts to railway tracks by using track wheels, and can select a better traveling mode according to different conditions when executing emergency rescue tasks, so that the time cost for arriving at an accident site is saved, and the rescue efficiency is improved; compared with a rail dual-purpose rescue vehicle which does not have strong obstacle crossing capability and can only carry out the rail climbing operation from the platform such as a level crossing or a subway main station and the like without height difference with the rail, the swing arm can be used for crossing large obstacles, the height difference between the platform and the rail can be crossed at any subway station, the rail climbing operation is completed, and the rescue time is greatly saved.
Specifically, the vehicle base 11 adopts a frame structure, and a four-wheel steering system and a rail wheel lifting system are arranged inside the vehicle base. Two ends of the vehicle base 11 are symmetrically provided with two columns respectively, namely four corners of the vehicle base 11 are provided with one column respectively, the four columns are hinged to four driving module supports 13 respectively, the four-wheel steering system comprises four steering engines arranged in the vehicle base 11 and a transmission mechanism matched with the steering engines, the steering engines control the four driving module supports 13 to rotate respectively in the process of advancing of the multi-driving mode vehicle, and the rotation, pivot steering, oblique translation and other motions of the multi-driving mode vehicle can be realized through the cooperation of the rotation motions of the four driving module supports 13.
The vehicle base 11 is provided with a lifting slide way for the rail wheel inside, a lifting driving motor and a lifting transmission device are fixed on the outer side of the lifting slide way, and a limiting part 111 is arranged at the bottom end of the vehicle base 11 in order to prevent the rail wheel 41 from lifting excessively.
The shelf 12 is a conical square-table-shaped shell structure, and the top of the shelf is provided with a connecting hole 121 which is connected with the vehicle base 11 through bolts evenly distributed on the periphery. Be equipped with connecting hole 121 at the top of supporter 12, connecting hole 121 is equipped with the screw thread, can assemble with the upper mechanism of difference fast to realize multiple functions, improve the utilization ratio of many drive mode vehicles, embodied modular design philosophy. Meanwhile, the hollow design of the commodity shelf 12 also reserves a lifting space for the lifting type track wheel driving component 4, ensures that the lifting slide rail 42 is not worn by dirt such as external dust and the like in the driving process, and prolongs the service life of the lifting track 42.
The track and swing arm driving assembly 2 comprises a track unit, a swing arm unit and a driving unit, wherein the track unit is used for driving the multi-driving-mode vehicle to travel and cross small obstacles, the swing arm unit is used for driving the multi-driving-mode vehicle to cross large obstacles, and the driving unit provides power for the track unit and the swing arm unit.
The track unit includes track 21, track action wheel 22 and track from driving wheel 23, and track 21 connects track action wheel 22 and track from driving wheel 23, and the swing arm unit includes swing arm drive wheel 24 and swing arm pole 25, and swing arm drive wheel 24 and track action wheel 22 coaxial setting, the circumference arm face of swing arm drive wheel 24 is located to the one end of swing arm pole 25, and links firmly with swing arm drive wheel 24.
In view of the tensioning of the track 21, the track and swing arm driving assembly 2 further includes a tensioning unit including a tensioning wheel 26 and a tensioning rod 27, the tensioning unit being disposed between the track driving wheel 22 and the track driven wheel 23, one end of the tensioning rod 27 being connected to the tensioning wheel 26, the other end being connected to the track driven wheel 23, and the other end of the swing arm rod 25 being connected to the tensioning rod 27.
In the tensioning process, the included angle between the tensioning rod 27 and the swing arm rod 25 can be increased, so that the shape of the outline of the crawler 21 is changed, the approach angle of the crawler 21 in the running process is increased, and the trafficability of the crawler 21 is improved.
Particularly, swing arm drive wheel 24 links firmly with the one end of swing arm pole 25, and the other end of swing arm pole 25 is articulated with tensioning rod 27, and tensioning rod 27 is inside to be close to the articulated department and to install the tensioning and turn to the steering wheel, can drive tensioning rod 27 and rotate for swing arm pole 25 to the realization is to the tensioning of track 21, reduces the smooth loss that grinds. Two ends of the tension rod 27 are respectively hinged with the track driven wheel 23 and the tension wheel 26, namely two ends of the tension rod 27 are connected to the mounting shafts of the track driven wheel 23 and the tension wheel 26, and the track driven wheel 23 and the tension wheel 26 are connected with the mounting shafts through bearings.
It is noted that the tension wheel 26 is located below the swing arm lever 25, and the end of the swing arm lever 25 is connected to the middle of the tension lever 27.
The front end of the track 21 adopts a wedge-shaped structural design, the ground connection posture of the track is adjusted by swinging the track 21, the surface contact between the track 21 and the ground is realized, the ground connection area is increased, the pressure is reduced, the stability of the track 21 in the running mode is improved, and the passing performance of a vehicle in the muddy state is enhanced.
In this embodiment, four track units are provided, each track unit being connected to the vehicle chassis 11 by means of the drive module bracket 13 only and being located outside the drive module bracket 13. The drive module support 13 can drive the track and swing arm drive assembly to rotate +/-40 degrees. The crawler 21 is sleeved outside the crawler driving wheel 22 and the crawler driven wheel 23, the outer side of the crawler 21 is provided with a tooth-shaped structure which can enhance the cross-country performance, and the middle part of the inner side of the crawler 21 is provided with a tooth-shaped structure which can be meshed with the crawler driving wheel 22 and the crawler driven wheel 23.
The driving unit comprises a track driving motor 28 and a track transmission device 29, the track driving motor 28 and the track transmission device 29 are arranged on a retainer 32, one end of the track transmission device 29 is connected with the track driving motor 28, and the other end of the track transmission device 29 is connected with a track input shaft.
It should be noted that, a track driving motor mounting hole is formed in the retainer 32, the track driving motor 28 is arranged in the reserved track driving motor mounting hole and fixed with the clamp ring through a bolt, a multi-stage transmission gear in the track transmission device 29 is fixed on the retainer 32 by a bearing and a retainer ring, a final-stage output gear is coaxially connected with a track input shaft, and the track input shaft is coaxially arranged outside the tire input shaft through an opposed tapered roller bearing. The crawler drive wheel 22 and the swing arm drive wheel 24 are provided on a crawler input shaft, and the tire 31 is provided on a tire input shaft.
The crawler belt input shaft is provided with a transfer device, the transfer device is composed of six transfer cases which are uniformly distributed in the crawler belt driving wheel 22 by taking the crawler belt input shaft as an axis, and each transfer case comprises an actuator, a position selecting slide block and a reset spring. The inner surface of the track driving wheel 22, the inner surface of the swing arm driving wheel 24 and the outer surface of the track input shaft are respectively provided with a sliding groove corresponding to the position selecting sliding block, the position selecting sliding block can be pushed under the combined action of the control actuator and the return spring, so that the position selecting sliding block moves on a sliding way on the track input shaft, and the position selecting sliding block is positioned between the track driving wheel 22 and the track input shaft or between the swing arm driving wheel 24 and the track input shaft. The movement of the position selecting slider between two positions corresponding to the power transmission of the track driving motor 28 to the track driving wheel 22 or the swing arm driving wheel 24, respectively, can be realized thereby.
In consideration of daily application conditions, the power transmission route of the track driving wheel 22 is in a normally closed state, and the power transmission route of the swing arm driving wheel 24 is in a normally open state, that is, in a normal state, the track driving wheel 22 receives the power of the track driving motor 28, and when the swing arm 25 needs to swing, the swing arm driving wheel 24 receives the power of the track driving motor 28 through a transfer device.
In this embodiment, the track driving wheel 22 and the swing arm driving wheel 24 are coaxially arranged and are coaxial with the tire 31, and the radius of the track driving wheel 22 is smaller than that of the tire 31, so that the problem that the track 21 contacts the ground to interfere with normal running when the multi-drive mode vehicle is in the tire drive mode is avoided.
The tire driving assembly 3 comprises a tire 31, a retainer 32, a tire driving motor 33 and a tire transmission device 34, wherein the retainer 32 is connected with the driving module bracket 13, the tire driving motor 33 is arranged on the retainer 32, and the tire transmission device 34 is connected with the tire driving motor 33.
Specifically, the holder 32 is provided with a track driving motor mounting hole and a tire driving motor mounting hole, and the tire driving motor 33 and the track driving motor 28 are correspondingly arranged in the mounting holes. The retainer 32 is arranged between the two drive module supports 13, one retainer 32 is correspondingly arranged on each drive module support 13, and the retainer 32 is connected with the drive module supports 13 through screws.
The tire driving motor 33 is fixed on the retainer 32 through a compression ring and bolts, a tire transmission device 34 composed of multi-stage gears is fixed on the retainer 32 through a bearing and a retainer ring, an input gear of the tire transmission device 34 is meshed with an output shaft of the tire driving motor 33, a final output gear of the tire transmission device 34 is fixed with a tire input shaft and transmits power, the outer side of the crawler input shaft is kept in a coaxial relation with a hole site of the driving module bracket 13 through an opposite tapered roller bearing, on the premise that the crawler input shaft can rotate relatively, in order to prevent the tire input shaft from moving left and right under the action of lateral force, the outer side of the tire input shaft is connected with a tire 31 with the diameter of 920mm through six bolts, and off-road patterns are arranged on the surface of the tire 31 so as to enhance the off-road performance of the tire in.
In this embodiment, each tire driving assembly 3 is connected to the vehicle base 11 only by the driving module bracket 13, and on the premise that no structural interference occurs, each driving module bracket 13 can rotate by ± 40 °, and the rotation, pivot steering, oblique translation, and other motions of the multi-driving mode vehicle are realized by the cooperation of the rotation motions of the four driving module brackets 13.
The rail wheel driving component 4 comprises a rail wheel 41 and a rail wheel lifting system, the rail wheel lifting system is used for controlling the lifting of the rail wheel 41, the rail wheel lifting system comprises a lifting slide way 42, a slide block 43, a lifting transmission device, a lifting driving motor and a worm gear, the lifting slide way 42 is fixedly arranged inside the vehicle base 11 through bolts, the outer side of the lifting slide way 42 is provided with the lifting driving motor, an output gear of the lifting driving motor is meshed with an input gear of the lifting transmission device formed by multi-stage gears, the output gear of the lifting transmission device is coaxially and fixedly connected with the worm wheel, so that the rotation of the output gear can drive the worm wheel to rotate, the worm wheel is fixedly arranged on a support shaft at the outer side of the lifting slide way 42 through a bearing, the two ends of the worm wheel are fixedly provided with slide blocks 43 capable of being matched with the lifting slide way 42, the, so as to realize the meshing of the worm gear and the worm at the through hole, the worm is driven by the worm gear, and the sliding block 43 moves up and down under the constraint of the lifting slide way 42. The slider 43 provided at the lower portion of the worm is connected to the rail wheel 41, and the rail wheel with a stroke of 450mm can reciprocate up and down.
Specifically, two rail wheels 41 are coaxially arranged, a rail wheel shaft is arranged and rotatably connected with the sliding block 43, a rail wheel driving motor and a rail wheel transmission device are arranged inside the sliding block 43 and used for driving the rail wheels 41 to rotate, exemplarily, an output shaft of the rail wheel driving motor is provided with a gear meshed with an input gear of the rail wheel transmission device, and an output gear of the rail wheel transmission device is meshed with a gear arranged on the rail wheel shaft, so that the power transmission of the rail wheel driving motor is realized.
In this embodiment, a worm and gear structure is used to control the lifting of the track wheel 41, and the self-locking function of the worm and gear can ensure the stability of the lifted track wheel 41, so as to prevent the sliding block 43 from sliding in the lifting slideway 42 when the track mode is adopted.
The multi-driving-mode vehicle comprises a tire driving mode, a track driving mode and an obstacle crossing driving mode, wherein the tire driving mode is executed through the tire driving assembly 3, the track driving mode is executed through the track driving assembly 4, and the obstacle crossing driving mode is executed through the crawler belt and the swing arm driving assembly 2.
When the multi-drive mode vehicle runs on a flat road surface by adopting the tire drive mode, the tire 31 is selected to drive the multi-drive mode vehicle, and the crawler 21 and the track wheels 41 are separated from the ground. As shown in fig. 1, the slide block 43 rises under the action of the lifting drive motor, the lifting transmission device and the worm gear, so as to drive the rail wheel 41 to move up and travel, and finally, the slide block contacts with the limiting part 111, reaches the upper limit position and is separated from the ground, the track drive motor 28 works, and the track drive motor 29 is transmitted to the swing arm drive wheel 24 through the transfer device to drive the swing arm rod 25 to rotate upwards, so that the lifting motion of the track and the swing arm drive assembly is realized, the track and the swing arm drive assembly are separated from the ground, and only the tire 31 contacts with the ground to drive the multi-drive mode vehicle to travel.
As shown in fig. 2, the tire driving motor 33 starts to work under the control of the electronic control system, the movement of the tire driving motor 33 is immediately transmitted to the tire transmission device 34, and through speed reduction and torque increase in the transmission process of the multi-stage gear, the movement and torque of the final-stage output gear are finally transmitted to the tire input shaft, and the tire input shaft is coaxially and fixedly connected with the tire 31 by virtue of the tire fixing screw, that is, the final movement and torque are transmitted to the tire 31, and the torque overcomes the resistance torque applied to the tire, so that the multi-drive mode vehicle can be driven to move.
It is worth noting that the dual-purpose driving mode of the rail adopted by the multi-driving mode vehicle is a split type, namely, the rail wheel driving system, the track driving system and the tire driving system in the multi-driving mode vehicle are completely separated and do not influence each other. Namely, a motor and a transmission device for driving the track wheel are mutually independent from a motor and a transmission device for driving the track swing arm, a transmission device and a motor and a transmission device for driving the tire.
In this embodiment, the driving module support 13 can rotate ± 40 ° around the upright on the vehicle underframe 1 under the driving of the steering engine, the caterpillar track and swing arm driving assembly 2 and the tire driving assembly 3 are installed on the driving module support 13, that is, the rotation of the driving module support 13 can drive the caterpillar track 21 and the tire 31 to rotate, and the combination of the four tires 31 with different rotation angles can make the multi-driving mode vehicle move along different tracks.
As shown in fig. 5, is the diagonal translational motion of the multi-drive mode vehicle. The four driving module supports 13 are controlled by the steering engine to rotate in the same direction by the same angle, so that the tire 31 is driven to rotate. In fig. 6, the pivot steering motion of a multi-drive mode vehicle is shown. In order to avoid interference, the crawler 21 is lifted, then the driving module supports 13 at the front left and the rear right simultaneously rotate clockwise by 40 degrees, the driving module supports at the front right and the rear left simultaneously rotate anticlockwise by 40 degrees, and the tires 31 are driven to rotate by the tire driving motors 33, so that the pivot steering movement of the multi-driving mode vehicle can be realized.
As another possibility in this embodiment, the track and swing arm drive assembly 2 is replaced with a mechanical foot assembly 5, the mechanical foot assembly 5 being used off-road or across obstacles.
Compared with the prior art, the multi-driving-mode vehicle for the complex terrain, provided by the embodiment, adapts to a road surface by using tires, adapts to a railway track by using mechanical feet for cross country or crossing obstacles, and adapts to the railway track by using a track wheel pair, so that when an emergency rescue task is executed, a better driving mode can be selected according to different conditions, thereby saving the time cost for arriving at an accident site and improving the rescue efficiency; compared with a dual-purpose rescue vehicle for a rail and a road which does not have strong obstacle crossing capability and can only carry out the operation of getting on the rail from the places without height difference between the platform and the rail, such as a level crossing or a subway main station, and the like, the multi-drive mode vehicle for the complex terrain provided by the embodiment can cross large obstacles by utilizing the mechanical foot assembly, and can cross the height difference between the platform and the rail at any subway station to complete the operation of getting on the rail, so that the rescue time is greatly saved.
The mechanical foot assembly 5 comprises a mechanical foot hip joint 51, a mechanical foot thigh 52, a mechanical foot shank 53 and a mechanical foot part 54, wherein the mechanical foot hip joint 51, the mechanical foot thigh 52, the mechanical foot shank 53 and the mechanical foot part 54 are connected in sequence.
Specifically, the mechanical foot hip joint 51 is connected with the driving module bracket 13 through a connecting shaft, the mechanical foot hip joint 51 can rotate around the connecting shaft, the upper end of the mechanical foot thigh 52 is connected with the mechanical foot hip joint 51, the lower end of the mechanical foot thigh 52 is hinged with the upper end of the mechanical foot shank 53, and the lower end of the mechanical foot shank 53 is hinged with the mechanical foot part 54.
It should be noted that the mechanical foot hip joint 51, the joint between the upper leg 52 and the lower leg 53 of the mechanical foot, and the joint between the lower leg 53 and the foot 54 of the mechanical foot are correspondingly provided with a driving motor and a transmission device, so that the mechanical foot hip joint 51 can rotate around the connecting shaft, the lower leg 53 of the mechanical foot rotates relative to the lower end of the upper leg 52 of the mechanical foot, and the foot 54 of the mechanical foot rotates relative to the lower end of the lower leg 53 of the mechanical foot.
It is noted that the mechanical foot assembly 5 can be rotated by 360 ° about the connecting shaft by the mechanical foot hip joint 51, and by the rotation, the mechanical foot part 54 can be put on an obstacle higher than the vehicle body 1 so as to straddle the obstacle higher than the vehicle body 1.
In this embodiment, the length of the thigh 52 of the mechanical foot is greater than the connection length of the shank 53 and the foot 54 of the mechanical foot, the thigh 52 of the mechanical foot is of a truss structure, the shank 53 and the foot 54 of the mechanical foot can be folded into the storage groove of the thigh 52 of the mechanical foot, and the thigh 52 of the mechanical foot is structurally arranged on the premise of meeting the strength, so that the weight is reduced, the space is saved, and the mechanical foot assembly 5 is compact in structure.
The mechanical foot part 54 comprises a connecting part and a ground contacting part, the lower end of the lower leg 53 of the mechanical foot is hinged to the connecting part, the bottom of the ground contacting part is a plane, the lower leg 53 of the mechanical foot is hinged to the mechanical foot part 54, and the mechanical foot part 54 can rotate relative to the lower leg 53 of the mechanical foot through a motor and a transmission device, so that the ground contacting part is always in plane contact with the ground, the ground contacting area is increased, the pressure is reduced, the stability under the obstacle crossing driving mode is improved, and the trafficability of a vehicle under a muddy road condition is enhanced.
In this embodiment, four mechanical foot assemblies 5 are provided, and each mechanical foot assembly 5 is connected to the vehicle base 11 through the driving module bracket 13 and is located outside the driving module bracket 13. The driving module support 13 can drive the mechanical foot assembly 5 to rotate by +/-40 degrees.
It should be noted that the connecting shaft is coaxially arranged outside the tire input shaft through the opposed tapered roller bearing, and thus the space can be saved on the premise of ensuring the power transmission function.
As another possibility of this embodiment, the rail wheel 41 may also be mounted on a rotating shaft at the connection between the thigh 52 and the calf 53 of the mechanical foot assembly 5, and rotate by using this rotating shaft to perform a driving function.
Example 2
In another embodiment of the present invention, an obstacle crossing method for a multi-drive-mode vehicle in complex terrain is disclosed, wherein the multi-drive-mode vehicle of embodiment 1 is adopted, and the method comprises the following steps:
step 1: the tire is driven to the edge of the platform in a tire driving mode, when the tire 31 on one side of the multi-driving mode vehicle moves to the edge of the platform, the multi-driving mode vehicle is driven by the crawler belt and swing arm driving assembly 2, and the tire driving assembly 3 is used for driving the other side of the multi-driving mode vehicle on the platform.
As shown in fig. 4, when the multi-drive mode vehicle adopts the obstacle crossing travel mode, the four crawler belts 21 are divided into a left front crawler belt, a right front crawler belt, a left rear crawler belt, and a right rear crawler belt according to the traveling direction of the multi-drive mode vehicle. The track 21 portion length (distance from the tyre 31 to the furthest end of the track 21) is 1820mm, and the multi-drive mode vehicle can span obstacles below 1600mm in consideration of the real influence factors and the requirements for the track for obstacle crossing. For example, when the multi-drive mode vehicle needs to perform emergency rescue tasks in a tunnel, the vertical drop height from a platform to a rail surface needs to be spanned by about 1.2 m. When crossing such a large obstacle, the platform edge is approached by the tire driving mode, and after the left front tire and the left rear tire cross the platform edge, the motion of the corresponding track drive motor 28 is transmitted to the swing arm drive wheel 24 through the track transmission 29 and the transfer gear, under the action of the swing arm driving wheel 24, the left front crawler belt swings forwards to contact the ground or the track, the left rear crawler belt swings backwards to contact the platform, then the force application of the actuator of the transfer device is stopped, the position selecting slide block is reset under the action of a reset spring, the transfer device selects the power transmission path of the track driving wheel 22, the motion of the track driving motor 28 is transmitted to the track driving wheel 22 through the track transmission device 29, thereby driving the left front crawler and the left rear crawler to rotate, and at the moment, one side of the multi-drive mode vehicle is driven by the crawler 21, and the other side is still driven by the tire 31.
Step 2: the other side tyre 31 of the multi-drive mode vehicle moves to the edge of the platform and is driven by the track and swing arm driving assembly 2.
The multi-drive mode vehicle remains in this drive mode (left driven by tracks 21 and right driven by tires 31) for forward travel. When the right front tire and the right rear tire move to the edge of the platform, the movement of the corresponding track driving motor 28 is transmitted to the swing arm driving wheel 24 through the track transmission device 29 and the transfer device, under the action of the swing arm driving wheel 24, the left rear crawler belt continuously swings downwards and contacts with the ground or the track, the right front crawler belt swings forwards and contacts with the ground or the track, the right rear crawler belt swings backwards and contacts with the platform, then the force application of the actuator of the transfer device is stopped, the slide block is reset under the action of the spring, the transfer device selects the power transmission path of the track driving wheel 22, the motion of the track driving motor 28 is transmitted to the track driving wheel 22 through the track transmission device 29, therefore, the right front crawler belt and the right rear crawler belt are driven to rotate, the multi-drive mode vehicle is driven by the crawler belts completely, the left front crawler belt, the left rear crawler belt and the right front crawler belt are arranged on the ground or a track, and the right rear crawler belt is arranged on the lunar surface.
The multi-drive mode vehicle continues to advance under the drive of the track, and space is reserved for the right rear track to continuously swing downwards, so that the right rear track can contact the ground or the track.
In the embodiment, the vehicle head of the multi-drive mode vehicle enters the track leftwards, the front end of the vehicle head is inclined to be close to the edge of the platform, and the left front tire, the left rear tire, the right front tire and the right rear tire sequentially cross the edge of the platform and cross the obstacle by matching with the actions of the crawler.
It should be noted that, in order to avoid interference of the multi-drive mode vehicle with the boundary of the space below the platform during the movement process, the multi-drive mode vehicle needs to be steered in good time.
When all of the four tracks 21 contact the ground, the vehicle body 1 is in an overhead state, i.e., contacts the ground or a rail at the end of the track follower wheels 23 of the four tracks 21, so that the vehicle body 1 is overhead.
And step 3: the vehicle body moves downwards to enable the rail wheels 41 to contact the rail, the crawler belts 21 at two ends of the multi-driving mode vehicle swing upwards to be separated from the ground, and the rail wheel driving assembly 4 is adopted for driving, so that obstacle crossing is completed.
The multi-drive mode vehicle turns such that the rail wheels 41 are aligned with the rail, the vehicle body 1 moves down under the action of the swing arm unit, the rail wheels 41 are used to contact the rail, the crawler 21 swings upward off the ground, and the vehicle travels in a rail mode.
When the multi-drive mode vehicle moves to the track, the multi-drive mode vehicle runs in a track mode, extends out of the track wheels 41 to lift the vehicle body 1, so that the tires 31 and/or the tracks 21 are completely separated from the track, and the track wheels 41 have driving, guiding and braking functions and completely bear the mass of the whole vehicle. As shown in fig. 3, in the track running state, the electronic control system controls the operation of the lifting drive motor inside the vehicle base 11, the rotation of the lifting drive motor is transmitted to the worm wheel through the lifting transmission device, the worm wheel transmits the motion to the worm wheel with a larger transmission ratio, and the slide blocks 43 on both sides of the worm wheel are constrained by the lifting slide rail 42, so the slide blocks 43 can move downwards along the lifting slide rail 42 fixed on the vehicle base 11 under the driving of the worm wheel, when the motion stroke reaches 450mm, the track wheels 41 reach the lower limit position, at this time, the tires 31 and the track 21 are already separated from the track, and the state of the multi-drive mode vehicle meets the requirement of the "transfer type" drive mode. In the lifting process of the multi-drive mode vehicle, the swing arm driving wheel 24, the swing arm rod 25 and the crawler 21 can be used for assisting the track wheel 41 to complete the lifting action.
After the vehicle body 1 is lifted, the track wheels 41 are matched with the rails, the electric control system can send signals to the track wheel driving motor, and the track wheel driving motor works and is transmitted to the track wheels 41 through the transmission device, so that the multi-driving-mode vehicle is driven to advance.
The multi-drive mode vehicle can cross obstacles, the application range of the rescue platform is greatly limited for a dual-purpose rescue vehicle which does not have strong obstacle crossing capability and can only carry out the rail climbing operation from the places without height difference between the platform and the rail, such as a level crossing or a subway main station, and the like, the time cost is increased, the multi-drive mode vehicle of the embodiment can span large obstacles by utilizing the swing arm, the height difference between the platform and the rail is spanned at any subway station, the rail climbing operation is completed, and the rescue time is greatly saved.
The process of climbing vertical height obstacle is exactly opposite to the above process, and is not described in detail herein.
As shown in fig. 7-12, when the mechanical foot assembly 5 is used for obstacle crossing, the steps include:
step 1: the front end of the multi-driving mode vehicle inclines to be close to the edge of the platform by moving to the edge of the platform in a tire driving mode, when the tire 31 at one end of the multi-driving mode vehicle crosses the edge of the platform and then expands a mechanical foot, the mechanical foot is driven by a mechanical foot assembly 5, and the other end of the multi-driving mode vehicle is positioned on the platform and driven by a tire driving assembly 3.
When the multi-drive mode vehicle adopts the obstacle crossing drive mode, the four mechanical foot components 5 are divided into a left front mechanical foot component, a right front mechanical foot component, a left rear mechanical foot component and a right rear mechanical foot component according to the advancing direction of the multi-drive mode vehicle. For example, when the multi-drive mode vehicle needs to perform emergency rescue tasks in a tunnel, the vertical drop height from a platform to a rail surface needs to be spanned by about 1.2 m. When crossing this kind of large-scale obstacle, at first approach the platform edge through the tire drive mode, after left front tire crossed the platform edge, left front machinery foot subassembly expanded for left front machinery foot portion contacts ground or track, play support and drive effect, multi-drive mode vehicle continues to advance, after right front tire crossed the platform edge, right front machinery foot subassembly expanded for right front machinery foot portion contacts ground or track, play support and drive effect, multi-drive mode vehicle front end relied on machinery foot subassembly 5 drive this moment, the rear end still relies on tire 31 drive.
Step 2: the other end tire 31 of the multi-drive mode vehicle is driven by the mechanical foot assembly 5 after passing over the edge of the platform until the vehicle as a whole passes over the platform.
The multi-drive mode vehicle remains in this drive mode (front driven by the mechanical foot assembly 5 and rear driven by the tire 31) forward. When the left rear tire moves to the platform and crosses the edge, the left rear mechanical foot component stretches, so that the left rear mechanical foot part contacts the ground or the track to play a supporting and driving role, the multi-drive mode vehicle continues to advance, when the right rear tire crosses the edge of the platform, the right rear mechanical foot component stretches to contact the ground or the track to play a supporting role, and at the moment, the multi-drive mode vehicle is driven completely by the mechanical foot component 5.
It should be noted that, in order to avoid interference of the multi-drive mode vehicle with the boundary of the space below the platform during the movement process, the multi-drive mode vehicle needs to be steered in good time.
When the four extended mechanical foot assemblies 5 all contact the ground, the vehicle body 1 is in an overhead state, that is, the mechanical foot portions of the four mechanical foot assemblies 5 contact the ground or a rail, so that the vehicle body 1 is overhead.
And step 3: the mechanical foot assembly 5 is contracted and the vehicle body 1 moves down so that the tire 31 contacts the ground and is driven by the tire driving assembly 3.
And 4, step 4: and steering under the tire driving mode so that the rail wheel 41 is aligned with the rail and driven by the rail wheel driving assembly 4 to complete obstacle crossing.
There are two cases at this time: for convenience of description, the joint between the thigh 52 and the lower leg 53 of the mechanical foot is defined as a knee joint, and the joint between the lower leg 53 and the foot 54 of the mechanical foot is defined as an ankle joint.
Firstly, when the rail wheel 41 is placed on the mechanical foot assembly 5, the mechanical foot assembly 5 (mechanical foot) is unfolded, so that the vehicle body 1 is lifted, the tire 31 leaves the ground, the mechanical foot leg 53 is put into the mechanical foot thigh 52, the rail wheel 41 is adopted to contact with the rail, and the rail wheel 41 is driven to rotate to drive. Specifically, the motor controls the rotation of the hip joint 51 of the mechanical foot connected with the left front connecting shaft and the right rear connecting shaft and the knee joint, so as to lift the two mechanical feet; the mechanical foot hip joint 51 and the knee joint connected with the left front connecting shaft and the right rear connecting shaft are controlled to rotate through the motor, so that two mechanical foot thighs 52 are perpendicular to the vehicle main body 1, the mechanical foot thighs 53 and the mechanical foot thighs 52 are overlapped and are also perpendicular to the vehicle main body 1, and the rail wheel 41 is positioned at the lowest end; controlling the rotation of the hip joint 51 and the knee joint of the mechanical foot connected with the right front connecting shaft and the left rear connecting shaft to enable the vehicle body 1 to vertically descend until the track wheels 41 on the left front mechanical foot and the right rear mechanical foot contact the track; the rotation of a hip joint 51 and a knee joint of a mechanical foot connected with the right front connecting shaft and the left rear connecting shaft is controlled, so that two thighs 52 of the mechanical foot are perpendicular to the vehicle body 1, the lower leg 53 of the mechanical foot is overlapped with the upper leg 52 of the mechanical foot and is also perpendicular to the vehicle body 1, the rail wheels 41 on the right front mechanical foot and the left rear mechanical foot are also in contact with a rail, the switching from a cross-country driving mode to a rail driving mode is completed, and then the vehicle can run in the rail driving mode.
Secondly, the rail wheel 41 is arranged below the vehicle base 11, the multi-drive mode vehicle extends out of the rail wheel 41 to contact with the rail, then the multi-drive mode vehicle is unfolded continuously, the vehicle main body 1 is lifted, the tire 31 is separated from the ground or the rail, the rail wheel 41 plays a role in driving, guiding and braking, and the whole vehicle mass is completely borne. As shown in fig. 12, in the rail running state, the electronic control system controls the operation of the lifting drive motor inside the vehicle base 11, the rotation of the lifting drive motor is transmitted to the worm wheel through the lifting transmission device, the worm wheel transmits the motion to the worm wheel with a larger transmission ratio, and the slide blocks 43 on both sides of the worm wheel are constrained by the lifting slide rail 42, so the slide blocks 43 can move downwards along the lifting slide rail 42 fixed on the vehicle base 11 under the driving of the worm wheel, when the motion stroke reaches 450mm, the rail wheel 41 reaches the lower limit position, at this time, the tire 31 is already separated from the rail, and the state of the multi-drive mode vehicle meets the requirement of the "transfer type" drive mode.
After the vehicle body 1 is lifted, the track wheels 41 are matched with the rails, the electric control system can send signals to the track wheel driving motor, and the track wheel driving motor works and is transmitted to the track wheels 41 through the transmission device, so that the multi-driving-mode vehicle is driven to advance.
It is worth noting that when the multi-drive mode vehicle encounters a large obstacle in the process of advancing in the tire drive mode, the rotation of the hip joint 51 and the knee joint of the mechanical foot is controlled, the ankle joint is controlled not to rotate, the mechanical foot is put down, the tail end of the shank 52 of the mechanical foot is made to be attached to the ground, the acute angle formed by the thigh 52 of the mechanical foot and the ground is the same as the acute angle formed by the shank 53 of the mechanical foot and the ground, and the vehicle body 1 is guaranteed to move only in the vertical direction when being lifted; the rotation of the hip joint 51 and the knee joint of the mechanical foot is continuously controlled, so that the acute angle formed by the thigh 52 of the mechanical foot and the ground is the same as the acute angle formed by the shank 53 of the mechanical foot and the ground, the lifting of the vehicle body 1 is realized, in the process, the ground contacting part of the foot 54 of the mechanical foot is always tightly attached to the ground, the vehicle body 1 is lifted to a proper height, the tire 31 is suspended and is far away from the ground, the off-road driving mode is switched, and the large obstacle area can be crossed.
When the multi-drive mode vehicle encounters a mountain terrain with a higher gradient in the field, the multi-drive mode vehicle can also be converted into a cross-country drive mode from a tire drive mode to ascend, and can be switched to the tire drive mode to continue driving after climbing is completed.
When the multi-driving mode vehicle encounters a high obstacle, the tire driving mode is switched to an off-road driving mode (mechanical foot driving), then the multi-driving mode vehicle approaches the obstacle, when the multi-driving mode vehicle approaches the obstacle sufficiently, the three mechanical feet are used as supports to lift the left front foot, rotate anticlockwise along the connecting shaft, enable the mechanical foot part 54 to be lapped on the obstacle, then rotate the right front mechanical foot to be lapped on the obstacle in the same mode, and control the front two mechanical feet to slightly lift, so that the vehicle body 1 does not contact the obstacle and cannot contact the obstacle in the running process. And the rear two mechanical feet are used as driving mechanical feet to drive the vehicle to move forward along the oblique upper direction until the rear two mechanical feet are close to the obstacle, the left rear mechanical foot is lifted up and continuously lapped on the obstacle in the above way, then the left rear mechanical foot and the front two mechanical feet are used as supports to lift the vehicle main body 1, and then the right rear mechanical foot is folded up to complete the obstacle crossing task, the mode is switched to a tire driving mode, and the vehicle continues to work.
The multi-drive mode vehicle can cross obstacles, the application range of the dual-purpose rescue vehicle for the rail and the road which does not have strong obstacle crossing capability and can only carry out the operation of getting on the rail from the places without height difference between the platform and the rail, such as a level crossing or a subway main station, is greatly limited, the time cost is increased, compared with the rescue platform, the multi-drive mode vehicle can cross large obstacles by utilizing the swing arm, the operation of getting on the rail is completed when any subway station crosses the height difference between the platform and the rail, and the rescue time is greatly saved.
When the vehicle with the multiple driving modes is in the tire driving mode, the driving state is four-wheel drive, road tires are driven by the tire driving motor through the tire transmission device, the quality of a power system is reduced, the transmission efficiency is improved, the defect of insufficient power performance of the conventional rail dual-purpose vehicle is overcome, the tire driving motor system is simple to operate, the control precision is higher, the transmission noise is low, and the overall optimal arrangement and dynamic matching of the vehicle are facilitated; the four-wheel drive steering is adopted, so that the maneuverability of the multi-drive mode vehicle is improved, the abrasion of tires can be reduced, and the multi-drive mode vehicle can be steered easily.
The multi-driving-mode vehicle is provided with four sections of tracks, the four tracks are respectively controlled by four track driving motors to move, and under the control of the transfer device, the vehicle can be directly driven to move forwards through the tracks or driven to move forwards through the swing arms. When a small obstacle is encountered, the vehicle can directly span in a track driving mode, and the wedge-shaped structure design at the front end of the track improves the approach angle of the vehicle in multiple driving modes, so that the trafficability of the vehicle is enhanced; when large obstacles are met, the four tracks play the role of single-joint legs through the swing arm rods, the multi-drive mode vehicle can be helped to cross the obstacles through gait control, and the obstacle crossing capability of the rail maneuvering platform is greatly improved due to the design of the four sections of tracks.
According to the multi-driving-mode vehicle, tires are adapted to a flat road surface, the track is used for crossing small obstacles, the swing arm is used for crossing large obstacles or mechanical feet are used for crossing obstacles, the track wheel pair is adapted to a railway track, and when an emergency rescue task is executed, an optimal traveling mode can be selected according to different conditions, so that the time cost for arriving at an accident site is saved, and the rescue efficiency is improved.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention.
Claims (10)
1. A multi-drive mode vehicle for complex terrain is characterized by comprising a vehicle body (1), a tire drive assembly (3), a rail wheel drive assembly (4) and a mechanical foot assembly (5), wherein the tire drive assembly (3), the rail wheel drive assembly (4) and the mechanical foot assembly (2) are arranged on the vehicle body;
the tire drive assembly (3) is used for driving on a flat road, the rail wheel drive assembly (4) is used for driving on a railway rail, and the mechanical foot assembly (5) is used for off-road or crossing obstacles.
2. The multi-drive mode vehicle of claim 1, wherein the multi-drive mode vehicle comprises a tire drive mode, a track drive mode, and an obstacle crossing drive mode.
3. The multi-drive modal vehicle of claim 1, wherein the mechanical foot assembly (5) comprises a mechanical foot hip joint (51), a mechanical foot thigh (52), a mechanical foot shank (53) and a mechanical foot section (54) connected in series.
4. A multi-drive mode vehicle according to claim 3, wherein the vehicle body (1) comprises a vehicle chassis (11) and drive module brackets (13), the drive module brackets (13) being provided at both ends of the vehicle chassis (11).
5. The multi-drive modality vehicle of claim 4, characterized in that the mechanical foot hip joint (51) is rotationally connected with a drive module bracket (13).
6. Multi-drive mode vehicle according to claim 4, wherein the tire drive assembly (3) comprises a tire (31) and a cage (32), the cage (32) being connected with the drive module carrier (13), the tire (31) being connected with the cage (32) via a tire input shaft.
7. A multi-drive modal vehicle according to claim 4, wherein the rail wheel drive assembly (4) comprises a lifting slide (42) and a slider (43), the lifting slide (42) being provided within the vehicle chassis (11), one end of the slider (43) sliding within the lifting slide (42).
8. A multi-drive mode vehicle according to claim 7, wherein the rail wheel drive assembly (4) further comprises rail wheels (41), rail wheels (41) being provided at the other end of the slideway (43).
9. The multi-drive modality vehicle of claim 3, characterized in that the rail wheel drive assembly (4) comprises rail wheels (41), the rail wheels (41) being provided at the connection of the mechanical foot thigh (52) and the mechanical foot shank (53).
10. A method of obstacle crossing for a multi-drive mode vehicle for complex terrain, the steps comprising:
step 1: the multi-driving mode vehicle moves to the edge of a platform in a tire driving mode and inclines to be close to the edge of the platform, when a tire (31) at one end of the multi-driving mode vehicle crosses the edge of the platform, the multi-driving mode vehicle is driven by a mechanical foot assembly (5), and the other end of the multi-driving mode vehicle is positioned on the platform and driven by a tire driving assembly (3);
step 2: the tire (31) at the other end of the multi-driving mode vehicle passes over the edge of the platform and then is driven by a mechanical foot assembly (5);
and step 3: the mechanical foot component (5) is contracted, the vehicle body (1) moves downwards, so that the tire (31) is contacted with the ground and is driven by the tire driving component (3);
and 4, step 4: steering under a tire driving mode, so that the rail wheel (41) is aligned to the rail and is driven by the rail wheel driving assembly (4) to complete obstacle crossing;
or, step 1: the multi-drive mode vehicle moves to the edge of the platform in a tire drive mode, when the multi-drive mode vehicle moves to the edge of the platform in a tire drive mode, the multi-drive mode vehicle is driven by a crawler belt and swing arm drive assembly (2), and the other side of the multi-drive mode vehicle is positioned on the platform and driven by a tire drive assembly (3);
step 2: after the vehicle with the multiple driving modes moves to the edge of a platform by a tire (31) on the other side of the tire, the vehicle is driven by a crawler belt and swing arm driving assembly (2);
and step 3: the vehicle body (1) moves downwards to enable the rail wheels (41) to contact the rail, the multi-driving mode vehicle swings upwards to be separated from the ground through the tracks of the tires, and the multi-driving mode vehicle is driven by the rail wheel driving assembly (4) to complete obstacle crossing.
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