CN113306350B - Amphibious wheel and power system - Google Patents
Amphibious wheel and power system Download PDFInfo
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- CN113306350B CN113306350B CN202110574317.6A CN202110574317A CN113306350B CN 113306350 B CN113306350 B CN 113306350B CN 202110574317 A CN202110574317 A CN 202110574317A CN 113306350 B CN113306350 B CN 113306350B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F3/00—Amphibious vehicles, i.e. vehicles capable of travelling both on land and on water; Land vehicles capable of travelling under water
- B60F3/0007—Arrangement of propulsion or steering means on amphibious vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F3/00—Amphibious vehicles, i.e. vehicles capable of travelling both on land and on water; Land vehicles capable of travelling under water
- B60F3/003—Parts or details of the vehicle structure; vehicle arrangements not otherwise provided for
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T70/00—Maritime or waterways transport
- Y02T70/50—Measures to reduce greenhouse gas emissions related to the propulsion system
- Y02T70/5218—Less carbon-intensive fuels, e.g. natural gas, biofuels
- Y02T70/5236—Renewable or hybrid-electric solutions
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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
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Abstract
An amphibious wheel and a power system relate to the technical field of amphibious special vehicles and amphibious robots. The invention solves the problems that the existing amphibious vehicle needs additional propeller power sources, is complex in structure, fails in power when wheels are completely positioned in water, and is low in performance in a water-land transition area. The power output end of the wheel power system is connected with the wheel inner ring, the power output ends of the spoke power systems are respectively connected with the N spokes, the primary power input system transmits power to the two secondary power input systems respectively, each secondary power input system transmits power to the corresponding wheel power system and the corresponding spoke power system respectively, the wheel power system transmits power to the wheel inner ring, the wheel inner ring transmits power to the wheel outer ring through the N spokes, and the spoke power systems synchronously transmit power to the N spokes. The invention is used for providing better thrust on the water surface, underwater and water-land transition areas.
Description
Technical Field
The invention relates to the technical field of amphibious special vehicles and amphibious robots, in particular to an amphibious wheel and a power system.
Background
The amphibious special vehicle or the amphibious robot can travel on the land like a normal vehicle, and can also move on the water surface or underwater like a ship or an underwater robot in water. The existing amphibious vehicle is mainly characterized in that a propeller is additionally arranged at the tail part of the existing amphibious vehicle on the basis of a normal vehicle or a water-skiing blade is additionally arranged on a wheel of the existing amphibious vehicle so that the existing amphibious vehicle can advance on the water surface. If the propeller is additionally arranged on a normal vehicle, the power of the wheels cannot be output to the propeller, and an additional power source is needed to enable the vehicle to obtain the power under water. If the paddling blade is installed on the wheel, the structure is complex, and when the wheel is completely submerged, the paddling blade loses the propelling function. And the existing amphibious vehicle needs power switching or structural change in a land and water transition region, so that both the land and water performances are always failed. There is therefore a need for new amphibious wheels and power systems.
In summary, the existing amphibious vehicle has the problems of additional propeller power source, complicated structure, power failure when the wheels are completely in water, and low performance in the water-land transition region.
Disclosure of Invention
The invention aims to solve the problems that the existing amphibious vehicle needs additional propeller power sources, is complex in structure, has power failure when wheels are completely in water and has low performance in an amphibious transition region.
The technical scheme of the invention is as follows:
an amphibious wheel and a power system comprises a frame 1, a primary power input system 6, two wheel main bodies 2, two wheel power systems 3, two spoke power systems 4 and two secondary power input systems 5, wherein the frame 1 is horizontally arranged, the two wheel main bodies 2 are respectively and oppositely arranged at the left side and the right side of the frame 1, each wheel main body 2 comprises a wheel outer ring 21, a wheel inner ring 22 and N spokes 23, N is more than or equal to 8 and is a positive integer, the wheel outer ring 21 is coaxially sleeved on the vertically arranged wheel inner ring 22, the N spokes 23 are uniformly arranged between the wheel inner ring 22 and the wheel outer ring 21 along the circumferential direction, two ends of each spoke 23 are respectively and rotatably connected with the wheel inner ring 22 and the wheel outer ring 21, one end of each spoke 23 close to the wheel inner ring 22 extends into the wheel inner ring 22, the primary power input system 6 is positioned between the two wheel main bodies 2, the two secondary power input systems 5 are respectively arranged at the left side and the right side of the primary power input system 6, a wheel power system 3 and a spoke power system 4 are respectively arranged between each wheel main body 2 and each secondary power input system 5, the power output end of the wheel power system 3 is connected with a wheel inner ring 22, the power output end of the spoke power system 4 is respectively connected with N spokes 23, the primary power input system 6 respectively transmits power to the two secondary power input systems 5, each secondary power input system 5 respectively transmits power to the corresponding wheel power system 3 and the corresponding spoke power system 4, the wheel power system 3 transmits power to the wheel inner ring 22 to control the wheel inner ring 22 to rotate, the wheel inner ring 22 transmits power to the wheel outer ring 21 through the N spokes 23 to further control the wheel main body 2 to integrally rotate, the spoke power systems 4 synchronously transmit power to the N spokes 23, controlling the N spokes 23 to rotate synchronously.
Further, each wheel power system 3 includes an outer axle 31, an outer axle support 32, an outer axle drive bevel gear 33, the outer shaft transition bevel gear 34, the outer shaft transition gear shaft 35 and the outer shaft transition support 36, the wheel outer shaft 31 is a hollow tubular structure, the wheel outer shaft 31 is horizontally arranged on one side of the wheel main body 2 close to the frame 1, the wheel outer shaft 31 is coaxially arranged with the wheel inner ring 22, the middle part of the wheel outer shaft 31 is arranged on the wheel main body 2 through the outer shaft support 32, one end of the wheel inner ring 22 close to the frame 1 is connected with one end of the wheel outer shaft 31, the outer shaft drive bevel gear 33 is arranged at the other end of the wheel outer shaft 31, a shaft hole is preset in the center of the outer shaft drive bevel gear 33, the outer shaft transition bevel gear 34 is meshed with the outer shaft drive bevel gear 33, the outer shaft transition bevel gear 34 is arranged at one end of the outer shaft transition gear shaft 35, and the middle part of the outer shaft transition gear shaft 35 is arranged on the frame 1 through the outer shaft transition support 36.
Further, each spoke power system 4 comprises a wheel inner shaft 41, an inner shaft driving bevel gear 42, an inner shaft transition bevel gear 43, an inner shaft transition gear shaft 44, an inner shaft transition support 45, a transition gear clutch mechanism 46, a spoke driving drive bevel gear 47, a long connecting key 49 and N spoke driving driven bevel gears 48, wherein the N spoke driving driven bevel gears 48 are respectively arranged at one ends of the N spokes 23 extending into the wheel inner shaft 41, one end of the wheel inner shaft 41 sequentially passes through the shaft hole at the center of the outer shaft driving bevel gear 33 and the wheel outer shaft 31 and extends into the wheel inner ring 22, the spoke driving drive bevel gear 47 is vertically arranged at one end of the wheel inner shaft 41 extending into the wheel inner shaft 41, the spoke driving drive bevel gears 47 are respectively meshed with the N spoke driving driven bevel gears 48, the inner shaft driving bevel gear 42 is vertically arranged at one end of the wheel inner shaft 41 far away from the wheel body 2, the inner shaft transition bevel gear 43 is a speed change bevel gear, the inner shaft drive bevel gear 42 is meshed with gear teeth on the circumference of a small bevel gear of the inner shaft transition bevel gear 43, the inner shaft drive bevel gear 42 is mounted on an inner shaft transition gear shaft 44, a long key groove is formed in the outer cylindrical surface of the inner shaft transition gear shaft 44 along the length direction, a long connecting key 49 is embedded in the long key groove, the inner shaft drive bevel gear 42 is connected with the inner shaft transition gear shaft 44 through the long connecting key 49, the inner shaft transition gear shaft 44 is mounted on the frame 1 through an inner shaft transition support 45, and a transition gear clutch mechanism 46 is mounted on the inner shaft transition gear shaft 44.
Further, each secondary power input system 5 includes a secondary power bevel gear 51, a secondary power input shaft 52 and a secondary input shaft support 53, the secondary power bevel gear 51 is vertically disposed between the outer shaft transition bevel gear 34 and the inner shaft transition bevel gear 43, the secondary power bevel gear 51 is respectively engaged with the gear teeth on the large bevel gear circumference of the outer shaft transition bevel gear 34 and the inner shaft transition bevel gear 43, the secondary power bevel gear 51 is installed at one end of the secondary power input shaft 52, and the middle part of the secondary power input shaft 52 is installed on the frame 1 through the secondary input shaft support 53.
Furthermore, each wheel main body 2 further comprises N outer ring bearings 24 and N inner ring bearings 25, the N inner ring bearings 25 are uniformly embedded in the wheel inner ring 22 along the circumferential direction, the N outer ring bearings 24 corresponding to the inner ring bearings 25 are uniformly embedded in the wheel outer ring 21 along the circumferential direction, one end of each spoke 23 is connected with the wheel inner ring 22 through the inner ring bearing 25, one end of each spoke 23 close to the spoke 23 extends into the wheel inner ring 22 through the inner ring bearing 25, and the other end of each spoke 23 is connected with the wheel outer ring 21 through the outer ring bearing 24.
Further, two end portions of the spoke 23 are cylindrical structures, the cylindrical structures are matched with bearing inner rings of the outer ring bearing 24 and/or the inner ring bearing 25, the middle portion of the spoke 23 is a sheet-shaped structure, and the sheet-shaped structure in the middle portion of the spoke 23 is rectangular, oval, isosceles triangle or fan-shaped.
Further, the transition gear clutch mechanism 46 includes an annular slider 461, an annular slide way assembly 462, a slide way support spring 463, a brake line integrated block 464, a traction main line 467, four traction branch lines 465 and four traction line ear plates 466, the cross section of the annular slider 461 is a T-shaped structure, the annular slider 461 is coaxially fixed on the end surface of the bevel gear of the inner shaft transition bevel gear 43, a T-shaped groove matched with the annular slider 461 is formed on one side end surface of the annular slide way assembly 462, the annular slide way assembly 462 is sleeved on the annular slider 461, the four traction line ear plates 466 are uniformly arranged on the end surface of the other side of the annular slide way assembly 462 along the circumferential direction, each traction line ear plate 466 is connected with one traction branch line 465, the brake line integrated block 464 is vertically arranged, the other ends of the four traction branch lines 465 are respectively fixed on the end surface of one side of the brake line integrated block 464, one end of the traction main line 467 is fixed in the center of the end surface of the other side of the brake line integrated block 464, the sliding rail supporting spring 463 is sleeved on the inner shaft transition gear shaft 44, one end of the sliding rail supporting spring 463 abuts against the end face of the annular slideway component 462, and the other end of the sliding rail supporting spring 463 abuts against the end face of the inner shaft transition bearing 45.
Further, the annular slide assembly 462 includes an annular upper slide 4621, an annular lower slide 4622, a plurality of slide connectors and a plurality of balls 4623, an annular chute matching with the vertical rod of the annular slider 461 is formed in the center of the upper end surface of the annular upper slide 4621, an annular positioning protrusion is formed on the outer edge of the lower end surface of the annular upper slide 4621, a plurality of first ball receiving grooves are formed in the middle of the upper end surface of the annular upper slide 4621 in an annular array manner, a plurality of second ball receiving grooves are formed in the upper end surface of the cross rod of the annular slider 461 in an annular array manner, the plurality of second ball receiving grooves correspond to the plurality of first ball receiving grooves one to one, a plurality of balls 4623 are formed between the annular upper slide 4621 and the annular slider 461, an annular positioning groove matching with the annular positioning protrusion is formed on the outer edge of the upper end surface of the annular lower slide 4622, a plurality of third ball receiving grooves are formed in the middle of the upper end surface of the annular lower slide 4622 in an annular array manner, a plurality of fourth ball holding grooves are seted up with annular array's mode to the horizontal pole lower extreme face of annular slider 461, a plurality of fourth ball holding grooves and a plurality of third ball holding grooves one-to-one, be equipped with a plurality of balls 4623 between annular glidepath 4622 and the annular slider 461, a plurality of first bolt holes are seted up to the up end face outer fringe of annular upper slideway 4621, a plurality of second bolt holes are seted up to the up end face outer fringe of annular glidepath 4622, a plurality of second bolt holes and a plurality of first bolt hole one-to-one, annular upper slideway 4621 can dismantle with annular glidepath 4622 through a plurality of slide connecting pieces and be connected.
Further, the primary power input system 6 comprises a primary power input shaft 61, a primary input shaft support 62, a differential 63, two brake shafts 64, two brake devices 66, two primary drive bevel gears 67, two primary drive driven bevel gears 68 and four brake shaft supports 65, wherein the primary power input shaft 61 is horizontally mounted on the frame 1 through the primary input shaft support 62, one end of the primary power input shaft 61 is connected with the power input end of the differential 63, the two brake shafts 64 are horizontally arranged on the left side and the right side of the differential 63 in an opposite way, each brake shaft 64 is mounted on the frame 1 through the two brake shaft supports 65, one brake device 66 is mounted in the middle of each brake shaft 64, one end of each brake shaft 64 is connected with the first power output end of the differential 63, one primary drive bevel gear 67 is mounted at the other end of each brake shaft 64, the primary drive bevel gear 67 is engaged with a primary drive driven bevel gear 68, and the primary drive driven bevel gear 68 is mounted on the other end of the secondary power input shaft 52.
Furthermore, each brake device 66 comprises a brake device shell 661, a brake pad 662, a brake pad rotating shaft 663, a pressure spring 664 and a brake wire 665, wherein the brake device shell 661 is a hollow rectangular structure, shaft holes matched with the brake shaft 64 are respectively formed on the left and right end surfaces of the brake device shell 661, the brake device shell 661 is sleeved on the brake shaft 64, the brake pad 662 is vertically arranged on one side of the brake shaft 64, one end of the brake pad 662 close to the brake shaft 64 is provided with an arc-shaped pressing groove, one end of the brake pad 662 is rotatably sleeved on the brake pad rotating shaft 663, two ends of the brake pad rotating shaft 663 are respectively arranged on the brake device shell 661, the other end of the brake pad 662 is connected with the brake wire 665, a threading hole matched with the brake wire 665 is formed in the front end surface of the brake device shell 661, the other end of the brake wire 665 passes through the threading hole and extends to the outside of the brake device shell 661, the pressure spring 664 is horizontally arranged on one side of the brake shaft 64 away from the brake pad rotating shaft 663, one end of the pressure spring 664 is connected to the brake pad 662, and the other end of the pressure spring 664 abuts against a front end surface of the brake housing 661.
Compared with the prior art, the invention has the following effects:
the amphibious wheel and the power system can provide better thrust on the water surface, under the water and in the water-land transition area. The amphibious wheel and power system not only has the function of driving on the land like a normal vehicle, but also has efficient propelling effect in underwater and land transition areas, and can provide thrust in any direction in a wheel surface completely in underwater. The land running function of the amphibious wheel and the power system is the same as that of a normal vehicle, the land running function is realized through friction force generated between the outer ring 21 of the wheel and the ground, and the underwater propelling effect is realized through rotation of the spokes 23 with adjustable rotation angles and the wheel main body 2. The invention can generate thrust in any direction in the wheel surface by adjusting the posture and the relative position of the spokes 23 when underwater, and can provide effective thrust when the wheel is completely underwater. The invention has simple structure and amphibious use of the same power source. Namely, the rotation of the wheel outer ring 21 for realizing the land driving function and the rotation of the spokes 23 for realizing the underwater propelling effect are from the same power source.
Drawings
Figure 1 is a schematic structural view of an amphibious wheel and power system of the invention; FIG. 2 is an assembled schematic view of the wheel body 2, wheel powertrain 3, spoke powertrain 4 and secondary power input system 5 of the present invention; FIG. 3 is an enlarged view of a portion of FIG. 1 at P; FIG. 4 is a schematic view of the construction of the braking device 66 of the present invention; fig. 5 is a view in the direction Q of the wheel main body 2 in fig. 1; FIG. 6 is a state view of the inner shaft transition bevel gear 43 of the present invention disengaged from the inner shaft drive bevel gear 42 and the secondary power bevel gear 51 by the transition gear clutch mechanism 46; FIG. 7 is a view showing the state in which the inner shaft transition bevel gear 43 of the present invention is engaged with the inner shaft drive bevel gear 42 and the secondary power bevel gear 51 by the transition gear clutch mechanism 46; figure 8 is a schematic illustration of the principle explanation of the amphibious wheel and power system of the invention.
Detailed Description
The first embodiment is as follows: the embodiment is described with reference to fig. 1 to 7, and the amphibious wheel and power system of the embodiment comprises a frame 1, a primary power input system 6, two wheel main bodies 2, two wheel power systems 3, two spoke power systems 4 and two secondary power input systems 5, wherein the frame 1 is horizontally arranged, the two wheel main bodies 2 are respectively and oppositely arranged at the left side and the right side of the frame 1, each wheel main body 2 comprises a wheel outer ring 21, a wheel inner ring 22 and N spokes 23, N is not less than 8, N is a positive integer, the wheel outer ring 21 is coaxially sleeved on the vertically arranged wheel inner ring 22, the N spokes 23 are uniformly arranged between the wheel inner ring 22 and the wheel outer ring 21 along the circumferential direction, two ends of the spokes 23 are respectively rotatably connected with the wheel inner ring 22 and the wheel outer ring 21, and one end of the spokes 23 close to the wheel inner ring 22 extends into the wheel inner ring 22, the primary power input system 6 is positioned between the two wheel main bodies 2, the two secondary power input systems 5 are respectively arranged at the left side and the right side of the primary power input system 6, a wheel power system 3 and a spoke power system 4 are respectively arranged between each wheel main body 2 and each secondary power input system 5, the power output end of the wheel power system 3 is connected with the wheel inner ring 22, the power output end of the spoke power system 4 is respectively connected with N spokes 23, the primary power input system 6 transmits power to the two secondary power input systems 5 respectively, each secondary power input system 5 transmits power to the corresponding wheel power system 3 and spoke power system 4 respectively, the wheel power system 3 transmits power to the wheel inner ring 22 to control the wheel inner ring 22 to rotate, the wheel inner ring 22 transmits power to the wheel outer ring 21 through the N spokes 23, and then the wheel main body 2 is controlled to rotate integrally, the spoke power system 4 synchronously transmits power to the N spokes 23, and the N spokes 23 are controlled to rotate synchronously.
The number of spokes 23 of the present invention is chosen according to the actual situation, and the number of spokes 23 can be 8, 9, 10, 11, 12, … …, 16.
The second embodiment is as follows: referring to fig. 1, 2 and 5, the wheel power system 3 of this embodiment includes a wheel outer shaft 31, an outer shaft support member 32, an outer shaft drive bevel gear 33, an outer shaft transition bevel gear 34, an outer shaft transition gear shaft 35 and an outer shaft transition support member 36, the wheel outer shaft 31 is a hollow tubular structure, the wheel outer shaft 31 is horizontally disposed on one side of the wheel main body 2 close to the frame 1, the wheel outer shaft 31 is coaxially disposed with the wheel inner ring 22, the middle portion of the wheel outer shaft 31 is mounted on the wheel main body 2 through the outer shaft support member 32, one end of the wheel inner ring 22 close to the frame 1 is connected with one end of the wheel outer shaft 31, the outer shaft drive bevel gear 33 is mounted on the other end of the wheel outer shaft 31, a central preset axial hole of the outer shaft drive bevel gear 33, the outer shaft transition bevel gear 34 is engaged with the outer shaft drive bevel gear 33, the outer shaft transition bevel gear 34 is mounted on one end of the outer shaft transition gear shaft 35, the middle of the outer shaft transition gear shaft 35 is mounted on the frame 1 through an outer shaft transition support 36.
So set up, outer axle transition bevel gear 34 drives outer axle drive bevel gear 33 and rotates under secondary power input system 5's driving action, and outer axle drive bevel gear 33 drives the outer axle 31l of wheel and rotates, and outer axle 31l of wheel drives the wheel inner circle 22 and rotates, and wheel inner circle 22 drives wheel outer lane 21 through N spoke 23 and rotates, realizes the land function of traveling through the friction power that produces between wheel outer lane 21 and the ground. Other components and connections are the same as in the first embodiment.
The third concrete implementation mode: referring to the present embodiment described with reference to fig. 1, 2, 3, 6 and 7, each spoke driving system 4 of the present embodiment includes a wheel inner shaft 41, an inner shaft driving bevel gear 42, an inner shaft transition bevel gear 43, an inner shaft transition gear shaft 44, an inner shaft transition support 45, a transition gear clutch mechanism 46, a spoke driving drive bevel gear 47, a long connecting key 49 and N spoke driving driven bevel gears 48, wherein the N spoke driving driven bevel gears 48 are respectively installed at one ends of the N spokes 23 extending into the wheel inner shaft 41, one end of the wheel inner shaft 41 sequentially passes through a shaft hole at the center of the outer shaft driving bevel gear 33 and the wheel outer shaft 31 and extends into the wheel inner ring 22, the spoke driving drive bevel gear 47 is vertically installed at one end of the wheel inner shaft 41 extending into the wheel inner shaft 41, the spoke driving bevel gear 47 is respectively engaged with the N spoke driving driven bevel gears 48, the inner shaft drive bevel gear 42 is vertically arranged at one end of the wheel inner shaft 41 far away from the wheel body 2, the inner shaft transition bevel gear 43 is a speed change bevel gear, the inner shaft drive bevel gear 42 is meshed with the gear teeth on the circumference of a small bevel gear of the inner shaft transition bevel gear 43, the inner shaft drive bevel gear 42 is arranged on the inner shaft transition gear shaft 44, a long key groove is formed in the outer cylindrical surface of the inner shaft transition gear shaft 44 along the length direction, a long connecting key 49 is embedded in the long key groove, the inner shaft drive bevel gear 42 is connected with the inner shaft transition gear shaft 44 through the long connecting key 49, the inner shaft transition gear shaft 44 is arranged on the frame 1 through the inner shaft transition support 45, and the transition gear clutch mechanism 46 is arranged on the inner shaft transition gear shaft 44.
The rotational angular velocity of the wheel outer ring 21 of the present embodiment is twice the self-rotational angular velocity of the spokes 23, that is, the spokes 23 rotate half a turn by one turn of the wheel outer ring 21.
So set up, interior axle transition bevel gear 43 drives interior axle drive bevel gear 42 and rotates under the drive effect of second grade power input system 5, interior axle drive bevel gear 42 drives the rotation of wheel interior axle 41, wheel interior axle 41 drives spoke drive bevel gear 47 and rotates, spoke drive bevel gear 47 drives N spoke drive driven bevel gear 48 and rotates synchronously, N spoke drive driven bevel gear 48 drives N spoke 23 respectively and rotates, spoke 23 and wheel main part 2 through adjustable rotation angle rotate and realize the propulsion effect under water, can produce the thrust of any direction in the wheel face through adjusting spoke 23 gesture and relative position when under water simultaneously. Other components and connection relationships are the same as in the first or second embodiment.
The fourth concrete implementation mode is as follows: referring to fig. 1 and 2, each secondary power input system 5 of the present embodiment includes a secondary power bevel gear 51, a secondary power input shaft 52 and a secondary input shaft support 53, wherein the secondary power bevel gear 51 is vertically disposed between the outer shaft transition bevel gear 34 and the inner shaft transition bevel gear 43, the secondary power bevel gear 51 is respectively engaged with the gear teeth on the large bevel gear circumference of the outer shaft transition bevel gear 34 and the inner shaft transition bevel gear 43, the secondary power bevel gear 51 is mounted at one end of the secondary power input shaft 52, and the middle part of the secondary power input shaft 52 is mounted on the frame 1 through the secondary input shaft support 53.
With such an arrangement, the secondary power input shaft 52 drives the secondary power bevel gear 51 to rotate under the driving action of the primary power input system 6, and the secondary power bevel gear 51 drives the large bevel gears of the outer shaft transition gear shaft 35 and the inner shaft transition bevel gear 43 to rotate at the same time. Other compositions and connection relationships are the same as in the first, second or third embodiment.
The fifth concrete implementation mode: referring to fig. 1, 2 and 5, the present embodiment is described, each wheel main body 2 of the present embodiment further includes N outer ring bearings 24 and N inner ring bearings 25, the wheel inner ring 22 is uniformly embedded with the N inner ring bearings 25 along the circumferential direction, the wheel outer ring 21 is uniformly embedded with the N outer ring bearings 24 corresponding to the inner ring bearings 25 along the circumferential direction, one end of the spoke 23 is connected to the wheel inner ring 22 through the inner ring bearing 25, the end of the spoke 23 close to the spoke extends into the wheel inner ring 22 through the inner ring bearing 25, and the other end of the spoke 23 is connected to the wheel outer ring 21 through the outer ring bearing 24. Other compositions and connection relationships are the same as those in the first, second, third or fourth embodiment.
The sixth specific implementation mode: referring to fig. 1, 2 and 5, the spoke 23 of the present embodiment has two cylindrical end portions, the cylindrical end portions are matched with the inner rings of the outer ring bearing 24 and/or the inner ring bearing 25, the middle portion of the spoke 23 is a sheet-shaped structure, and the sheet-shaped structure in the middle portion of the spoke 23 is rectangular, oval, isosceles triangle or fan-shaped.
So set up, can produce the thrust of any direction in the wheel face through adjusting spoke 23 gesture and relative position when under water, the spoke 23 that the middle part is rectangle, ellipse, isosceles triangle or fan-shaped spoke 23 can possess bigger thrust. Other compositions and connection relationships are the same as in the first, second, third, fourth or fifth embodiment.
The seventh embodiment: referring to fig. 1, 2, 3, 6 and 7 for explaining the present embodiment, the transition gear clutch mechanism 46 of the present embodiment includes an annular slider 461, an annular slide way assembly 462, a slide way support spring 463, a brake line integrated block 464, a traction main line 467, four traction branch lines 465 and four traction line lug plates 466, the cross section of the annular slider 461 is a T-shaped structure, the annular slider 461 is coaxially fixed on the end face of the bevel gear of the inner shaft transition bevel gear 43, one side end face of the annular slide way assembly 462 is provided with a T-shaped groove matching with the annular slider 461, the annular slide way assembly 462 is sleeved on the annular slider 461, the other side end face of the annular slide way assembly 462 is uniformly provided with the four traction line lug plates 466 along the circumferential direction, each traction line lug plate 466 is connected with one traction branch line 465, the brake line integrated block 464 is vertically arranged, the other ends of the four traction branch lines 465 are respectively fixed on one side end face of the brake line integrated block 464, one end of the traction main wire 467 is fixed at the center of the end face of the other side of the brake wire integrated block 464, the slide rail support spring 463 is sleeved on the inner shaft transition gear shaft 44, one end of the slide rail support spring 463 abuts against the end face of the annular slideway component 462, and the other end of the slide rail support spring 463 abuts against the end face of the inner shaft transition support 45.
With such an arrangement, if the direction of thrust needs to be adjusted, it can be achieved by rotating either the spokes 23 or the wheel outer 21, and if the inner shaft drive bevel gear 42 is controlled to be separated from the inner shaft transition bevel gear 43, the transition gear clutch mechanism 46 can be adopted to separate the inner shaft drive bevel gear 42 from the inner shaft transition bevel gear 43, so that the secondary power bevel gear 51 can only drive the outer shaft transition bevel gear 34 and the outer shaft drive bevel gear 33 to rotate, that is, only drive the wheel outer 21 to rotate, and at this time, the spokes 23 do not rotate. Other compositions and connection relationships are the same as in the first, second, third, fourth, fifth or sixth embodiment.
The specific implementation mode is eight: referring to fig. 3, the annular slide assembly 462 of this embodiment includes an annular upper slide 4621, an annular lower slide 4622, a plurality of slide connectors and a plurality of balls 4623, an annular slide groove matching with the vertical rod of the annular slider 461 is formed in the center of the upper end surface of the annular upper slide 4621, an annular positioning protrusion is formed on the outer edge of the lower end surface of the annular upper slide 4621, a plurality of first ball receiving grooves are formed in the middle of the upper end surface of the annular upper slide 4621 in an annular array, a plurality of second ball receiving grooves are formed in the upper end surface of the cross bar of the annular slider 461 in an annular array, the plurality of second ball receiving grooves correspond to the plurality of first ball receiving grooves one by one, a plurality of balls 4623 are formed between the annular upper slide 4621 and the annular slider 461, an annular positioning groove matching with the annular positioning protrusion is formed on the outer edge of the upper end surface of the annular lower slide 4622, a plurality of third balls are formed in the middle of the upper end surface of the annular lower slide 4622 in an annular array, a plurality of fourth ball holding grooves are seted up with annular array's mode to the horizontal pole lower extreme face of annular slider 461, a plurality of fourth ball holding grooves and a plurality of third ball holding grooves one-to-one, be equipped with a plurality of balls 4623 between annular glidepath 4622 and the annular slider 461, a plurality of first bolt holes are seted up to the up end face outer fringe of annular upper slideway 4621, a plurality of second bolt holes are seted up to the up end face outer fringe of annular glidepath 4622, a plurality of second bolt holes and a plurality of first bolt hole one-to-one, annular upper slideway 4621 can dismantle with annular glidepath 4622 through a plurality of slide connecting pieces and be connected.
So set up, annular slide assembly 462 designs for split type structure, the dismouting of being convenient for. The rolling matching mode is adopted between the annular upper slide 4621 and the annular slide block 461 and between the annular lower slide 4622 and the annular slide block 461, so that the friction force generated when the components rotate relatively is effectively reduced. Other compositions and connection relationships are the same as those of embodiment one, two, three, four, five, six or seven.
The specific implementation method nine: referring to fig. 1 and 2, the primary power input system 6 of the present embodiment includes a primary power input shaft 61, a primary input shaft support 62, a differential 63, two brake shafts 64, two brake devices 66, two primary drive bevel gears 67, two primary drive bevel gears 68, and four brake shaft supports 65, the primary power input shaft 61 is horizontally mounted on the frame 1 through the primary input shaft support 62, one end of the primary power input shaft 61 is connected to a power input end of the differential 63, the two brake shafts 64 are horizontally disposed at left and right sides of the differential 63, each brake shaft 64 is mounted on the frame 1 through the two brake shaft supports 65, one brake device 66 is mounted at a middle portion of each brake shaft 64, one end of each brake shaft 64 is connected to a first power output end of the differential 63, one primary drive bevel gear 67 is mounted at the other end of each brake shaft 64, the primary drive bevel gear 67 is engaged with a primary drive driven bevel gear 68, and the primary drive driven bevel gear 68 is mounted on the other end of the secondary power input shaft 52.
So set up, one-level power input shaft 61 receives the drive to rotate, one-level power input shaft 61 passes through differential 63 and controls the rotational speed of two brake axles 64 of the left and right sides respectively alone, can realize the turn function, brake axle 64 one-level drive bevel gear 67 rotates, one-level drive bevel gear 67 drives one-level drive driven bevel gear 68 and rotates, one-level drive driven bevel gear 68 drives second grade power input shaft 52 and rotates, second grade power input shaft 52 drives second grade power bevel gear 51 and rotates, and then realize that spoke 23 and/or wheel outer lane 21 rotate. The brake device 66 is used to decelerate the brake shaft 64. Other compositions and connection relationships are the same as those in the first, second, third, fourth, fifth, sixth, seventh or eighth embodiment.
The detailed implementation mode is ten: referring to fig. 1 and 4, the present embodiment is described, each braking device 66 of the present embodiment includes a braking device housing 661, a brake pad 662, a brake pad rotating shaft 663, a pressure spring 664 and a brake wire 665, the braking device housing 661 is a hollow rectangular structure, shaft holes matched with the brake shaft 64 are respectively formed on left and right end surfaces of the braking device housing 661, the braking device housing 661 is sleeved on the brake shaft 64, the brake pad 662 is vertically arranged on one side of the brake shaft 64, one end of the brake pad 662 close to the brake shaft 64 is provided with an arc-shaped pressing groove, one end of the brake pad 662 is rotatably sleeved on the brake pad rotating shaft 663, two ends of the brake pad rotating shaft 663 are respectively installed on the braking device housing 661, the other end of the brake pad 662 is connected with the brake wire 665, a threading hole matched with the brake wire 665 is formed on a front end surface of the braking device housing 661, the other end of the brake wire 665 passes through the threading hole and extends to the outside of the braking device housing 661, the pressure spring 664 is horizontally arranged on one side of the brake shaft 64, which is far away from the brake block rotating shaft 663, one end of the pressure spring 664 is connected with the brake block 662, and the other end of the pressure spring 664 is abutted against the front end surface of the brake device shell 661.
So configured, in a normal state, the brake pads 662 are separated from the brake shaft 64 by the support of the pressure springs 664. When the brake shaft 64 needs to be decelerated, the brake wire 665 is pulled to enable the brake block 662 to approach the brake shaft 64, the pressure spring 664 is in a compression state, and as the pulling force for pulling the brake wire 665 is gradually increased, the friction force between the brake block 662 and the brake shaft 64 is increased until the rotation speed of the brake shaft 64 is zero, so that the brake shaft 64 is decelerated. Other compositions and connections are the same as those of the first, second, third, fourth, fifth, sixth, seventh, eighth or ninth embodiments.
The above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Principle of operation
The principle of operation of the amphibious wheel and power system of the invention is described with reference to figures 1 to 8: each wheel outer 21 and spoke 23 are driven by the corresponding outer shaft transition bevel gear 34 of the wheel power system 3, the inner shaft transition bevel gear 43 of the spoke power system 4 and the secondary power bevel gear 51 of the secondary power input system 5 to rotate, and the rotation angular speed of the wheel outer 21 is twice of the self-rotation angular speed of the spoke 23, so that the wheel outer 21 rotates for one circle and the spoke 23 rotates for half a circle. As shown in fig. 8, for the convenience of analysis, four spokes are taken as an example here, assuming that the wheel outer ring 21 rotates clockwise, A, B, C, D divides the circumference equally at four points and only translates with the wheel outer ring 21 without rotating, since the rotation angular velocity of the wheel outer ring 21 is twice the self-rotation angular velocity of the spokes 23, if the angle between the surface normal of the spoke 23 at the point a and the tangent of the rim at the point is 90 °, the angle between the surface normal of the spoke 23 at the point a and the tangent of the rim at the point is always 90 ° at any moment, the angle between the surface normal of the spoke 23 at the point B, D and the tangent of the rim at the point is always 45 °, and the angle between the surface normal of the spoke 23 at the point C and the tangent of the rim at the point is always 0 °. When the wheel body 2 rotates clockwise in water, the spoke 23 has the largest incident flow area at the point C, the spoke 23 has the smallest incident flow area at the point a, and the incident flow areas of the spokes 23 distributed in the BCD range are all larger than the incident flow areas of the spokes 23 distributed in the DAB range. The total incident flow area of the spokes 23 distributed in the BCD range is calculated to be 2.42 times of the total incident flow area of the spokes 23 distributed in the DAB range, the included angles between the surface normal lines of the spokes 23 and the tangent lines of the corresponding wheel rims are symmetrically distributed about AC, so when the wheel outer ring 21 rotates clockwise in water, the spokes 23 distributed in the BCD range generate force towards the DB direction under the impact action of water flow, the spokes 23 distributed in the DAB range generate force towards the BD direction under the impact action of water flow, the force towards the DB direction is far greater than the force towards the DB direction under the consideration of the influence of the incident flow area, and the wheel main body 2 generates force towards the DB direction integrally, so that the underwater propulsion effect is realized. If the direction of the thrust is to be adjusted, either the spokes 23 or the wheel outer 21 need to be rotated, for example, if the inner drive bevel gear 42 is controlled to be separated from the inner transition bevel gear 43, the transition gear clutch mechanism 46 can be used to separate the inner drive bevel gear 42 from the inner transition bevel gear 43, so that the secondary power bevel gear 51 can only drive the outer transition bevel gear 34 and the outer drive bevel gear 33 to rotate, that is, only drive the wheel outer 21 to rotate, and the spokes 23 do not rotate at this time. If the wheel outer ring 21 rotates clockwise by 90 °, then the inner shaft drive bevel gear 42 is controlled to mesh with the inner shaft transition bevel gear 43, at this time, point B is the same as point a before non-rotation, the angle between the normal of the surface of the spoke 23 and the tangent of the rim at this point is 90 °, point C is the same as point B before non-rotation, point D is the same as point C before non-rotation, and point a is the same as point D before non-rotation, so that when the wheel outer ring 21 continues to rotate clockwise, thrust in the AC direction is generated, and the thrust direction is also rotated by 90 °. Similarly, the spokes can be controlled to spin for a certain angle without rotating the wheel to realize the adjustment of the thrust direction, and the adjustment is more convenient. When rotating clockwise on the ground, the forward thrust comes from the friction between the wheel outer ring 21 and the ground, as in a conventional wheel.
Claims (9)
1. An amphibious wheel and a power system comprises a frame (1), a primary power input system (6), two wheel main bodies (2), two wheel power systems (3), two spoke power systems (4) and two secondary power input systems (5), wherein the frame (1) is horizontally arranged, the two wheel main bodies (2) are respectively and oppositely arranged at the left side and the right side of the frame (1), each wheel main body (2) comprises a wheel outer ring (21), a wheel inner ring (22) and N spokes (23), N is more than or equal to 8 and is a positive integer, the wheel outer ring (21) is coaxially sleeved on the vertically arranged wheel inner ring (22), the N spokes (23) are uniformly arranged between the wheel inner ring (22) and the wheel outer ring (21) along the circumferential direction, two ends of the spokes (23) are respectively and rotatably connected with the wheel inner ring (22) and the wheel outer ring (21), one end of each spoke (23) close to the wheel inner ring (22) extends into the wheel inner ring (22), the primary power input system (6) is positioned between the two wheel main bodies (2), the two secondary power input systems (5) are respectively arranged at the left side and the right side of the primary power input system (6), a wheel power system (3) and a spoke power system (4) are respectively arranged between each wheel main body (2) and each secondary power input system (5), the power output end of the wheel power system (3) is connected with the wheel inner ring (22), the power output end of the spoke power system (4) is respectively connected with the N spokes (23), the primary power input system (6) respectively transmits power to the two secondary power input systems (5), each secondary power input system (5) respectively transmits power to the corresponding wheel power system (3) and spoke power system (4), the wheel power system (3) transmits power to the wheel inner ring (22) to control the wheel inner ring (22) to rotate, the wheel inner ring (22) transmits power to the wheel outer ring (21) through the N spokes (23) to further control the whole wheel main body (2) to rotate, the spoke power system (4) synchronously transmits power to the N spokes (23) to control the N spokes (23) to synchronously rotate; each wheel power system (3) comprises a wheel outer shaft (31) and an outer shaft drive bevel gear (33); the method is characterized in that: each spoke power system (4) comprises a wheel inner shaft (41), an inner shaft driving bevel gear (42), an inner shaft transition bevel gear (43), an inner shaft transition gear shaft (44), an inner shaft transition support (45), a transition gear clutch mechanism (46), a spoke driving bevel gear (47), a long connecting key (49) and N spoke driving driven bevel gears (48), wherein the N spoke driving driven bevel gears (48) are respectively installed at one ends of N spokes (23) extending into the wheel inner shaft (41), one end of the wheel inner shaft (41) sequentially penetrates through a shaft hole in the center of the outer shaft driving bevel gear (33) and a wheel outer shaft (31) and extends into a wheel inner ring (22), the spoke driving bevel gear (47) is vertically installed at one end of the wheel inner shaft (41) extending into the wheel inner shaft (41), and the spoke driving bevel gear (47) is respectively meshed with the N spoke driving driven bevel gears (48), an inner shaft drive bevel gear (42) is vertically arranged at one end, far away from a wheel main body (2), of a wheel inner shaft (41), the inner shaft transition bevel gear (43) is a speed change bevel gear, the inner shaft drive bevel gear (42) is meshed with gear teeth on the circumference of a small bevel gear of the inner shaft transition bevel gear (43), the inner shaft drive bevel gear (42) is arranged on an inner shaft transition gear shaft (44), a long key groove is formed in the outer cylindrical surface of the inner shaft transition gear shaft (44) along the length direction, a long connecting key (49) is embedded in the long key groove, the inner shaft drive bevel gear (42) is connected with the inner shaft transition gear shaft (44) through the long connecting key (49), the inner shaft transition gear shaft (44) is arranged on a frame (1) through an inner shaft transition support (45), and a transition gear clutch mechanism (46) is arranged on the transition gear shaft (44).
2. An amphibious wheel and power system as claimed in claim 1, in which: each wheel power system (3) also comprises an outer shaft supporting part (32), an outer shaft transition bevel gear (34), an outer shaft transition gear shaft (35) and an outer shaft transition supporting part (36), a wheel outer shaft (31) is of a hollow tubular structure, the wheel outer shaft (31) is horizontally arranged on one side, close to the frame (1), of the wheel main body (2), the wheel outer shaft (31) and a wheel inner ring (22) are coaxially arranged, the middle part of the wheel outer shaft (31) is installed on the wheel main body (2) through the outer shaft supporting part (32), one end, close to the frame (1), of the wheel inner ring (22) is connected with one end of the wheel outer shaft (31), an outer shaft driving bevel gear (33) is installed at the other end of the wheel outer shaft (31), a shaft hole is preset in the center of the outer shaft driving bevel gear (33), the outer shaft transition bevel gear (34) is meshed with the outer shaft driving bevel gear (33), and the outer shaft transition bevel gear (34) is installed at one end of the outer shaft transition gear shaft (35), the middle part of the outer shaft transition gear shaft (35) is arranged on the frame (1) through an outer shaft transition support part (36).
3. An amphibious wheel and power system as claimed in claim 2, in which: each secondary power input system (5) comprises a secondary power bevel gear (51), a secondary power input shaft (52) and a secondary input shaft support (53), wherein the secondary power bevel gear (51) is vertically arranged between an outer shaft transition bevel gear (34) and an inner shaft transition bevel gear (43), the secondary power bevel gear (51) is respectively meshed with gear teeth on the circumferences of large bevel gears of the outer shaft transition bevel gear (34) and the inner shaft transition bevel gear (43), the secondary power bevel gear (51) is installed at one end of the secondary power input shaft (52), and the middle part of the secondary power input shaft (52) is installed on the frame (1) through the secondary input shaft support (53).
4. An amphibious wheel and power system as claimed in claim 3, in which: each wheel main body (2) further comprises N outer ring bearings (24) and N inner ring bearings (25), the N inner ring bearings (25) are uniformly embedded in the wheel inner ring (22) along the circumferential direction, the N outer ring bearings (24) corresponding to the inner ring bearings (25) are uniformly embedded in the wheel outer ring (21) along the circumferential direction, one end of each spoke (23) is connected with the wheel inner ring (22) through the inner ring bearing (25), one end, close to the spoke (23), of the spoke penetrates through the inner ring bearing (25) to extend into the wheel inner ring (22), and the other end of the spoke (23) is connected with the wheel outer ring (21) through the outer ring bearing (24).
5. An amphibious wheel and power system as claimed in claim 4, in which: the two end parts of the spoke (23) are cylindrical structures, the cylindrical structures are matched with the bearing inner rings of the outer ring bearing (24) and/or the inner ring bearing (25), the middle part of the spoke (23) is of a sheet structure, and the sheet structure in the middle part of the spoke (23) is rectangular, oval, isosceles triangle or fan-shaped.
6. An amphibious wheel and power system as claimed in claim 5, in which: the transition gear clutch mechanism (46) comprises an annular sliding block (461), an annular slideway component (462), a sliding rail supporting spring (463), a brake wire integrated block (464), a traction main wire (467), four traction branch wires (465) and four traction wire lug plates (466), wherein the cross section of the annular sliding block (461) is of a T-shaped structure, the annular sliding block (461) is coaxially fixed on the end surface of a large bevel gear of the inner shaft transition bevel gear (43), one side end surface of the annular slideway component (462) is provided with a T-shaped groove matched with the annular sliding block (461), the annular slideway component (462) is sleeved on the annular sliding block (461), the other side end surface of the annular slideway component (462) is uniformly provided with the four traction wire lug plates (466) along the circumferential direction, each traction wire lug plate (466) is connected with one traction branch wire (465), the brake wire integrated block (464) is vertically arranged, the other ends of the four traction branch wires (465) are respectively fixed on one side end surface of the brake wire integrated block (464), one end of the traction main line (467) is fixed at the center of the end face of the other side of the brake line integrated block (464), the sliding rail supporting spring (463) is sleeved on the inner shaft transition gear shaft (44), one end of the sliding rail supporting spring (463) is propped against the end face of the annular slideway component (462), and the other end of the sliding rail supporting spring (463) is propped against the end face of the inner shaft transition supporting piece (45).
7. An amphibious wheel and power system as claimed in claim 6, in which: the annular slide way assembly (462) comprises an annular upper slide way (4621), an annular lower slide way (4622), a plurality of slide way connecting pieces and a plurality of balls (4623), an annular chute matched with a vertical rod of the annular slide block (461) is formed in the center of the upper end face of the annular upper slide way (4621), an annular positioning bulge is arranged on the outer edge of the lower end face of the annular upper slide way (4621), a plurality of first ball accommodating grooves are formed in the middle of the upper end face of the annular upper slide way (4621) in an annular array mode, a plurality of second ball accommodating grooves are formed in the upper end face of a cross rod of the annular slide block (461) in an annular array mode, the plurality of second ball accommodating grooves correspond to the plurality of first ball accommodating grooves one to one, a plurality of balls (4623) are arranged between the annular upper slide way (4621) and the annular slide block (461), an annular positioning groove matched with the annular positioning bulge is formed in the outer edge of the upper end face of the annular lower slide way (4622), a plurality of third ball holding grooves are formed in the middle of the upper end face of the annular lower slideway (4622) in an annular array mode, a plurality of fourth ball holding grooves are formed in the lower end face of a cross rod of the annular sliding block (461) in an annular array mode, the plurality of fourth ball holding grooves correspond to the plurality of third ball holding grooves one to one, a plurality of balls (4623) are arranged between the annular lower slideway (4622) and the annular sliding block (461), a plurality of first bolt holes are formed in the outer edge of the upper end face of the annular upper slideway (4621), a plurality of second bolt holes are formed in the outer edge of the upper end face of the annular lower slideway (4622), a plurality of second bolt holes correspond to the plurality of first bolt holes one to one, and the annular upper slideway (4621) is detachably connected with the annular lower slideway (4622) through a plurality of slideway connecting pieces.
8. An amphibious wheel and power system as claimed in claim 7, in which: the primary power input system (6) comprises a primary power input shaft (61), a primary input shaft support (62), a differential (63), two brake shafts (64), two brake devices (66), two primary drive bevel gears (67), two primary drive driven bevel gears (68) and four brake shaft support members (65), wherein the primary power input shaft (61) is horizontally arranged on the frame (1) through the primary input shaft support member (62), one end of the primary power input shaft (61) is connected with the power input end of the differential (63), the two brake shafts (64) are horizontally arranged on the left side and the right side of the differential (63) oppositely, each brake shaft (64) is arranged on the frame (1) through the two brake shaft support members (65), the middle part of each brake shaft (64) is provided with one brake device (66), one end of each brake shaft (64) is connected with a first power output end of the differential (63), the other end of each brake shaft (64) is provided with a primary driving bevel gear (67), the primary driving bevel gear (67) is meshed with a primary driving driven bevel gear (68), and the primary driving driven bevel gear (68) is arranged at the other end of the secondary power input shaft (52).
9. An amphibious wheel and power system as claimed in claim 8, in which: each braking device (66) comprises a braking device shell (661), a brake pad (662), a brake pad rotating shaft (663), a pressure spring (664) and a brake wire (665), wherein the braking device shell (661) is of a hollow rectangular structure, shaft holes matched with the brake shaft (64) are respectively formed in the left end surface and the right end surface of the braking device shell (661), the braking device shell (661) is sleeved on the brake shaft (64), the brake pad (662) is vertically arranged on one side of the brake shaft (64), an arc pressing groove is formed in one end, close to the brake shaft (64), of the brake pad (662), one end of the brake pad (662) is rotatably sleeved on the brake pad rotating shaft (663), two ends of the brake pad rotating shaft (663) are respectively arranged on the braking device shell (661), the other end of the brake pad (662) is connected with the brake wire (665), a threading hole matched with the brake wire (665) is formed in the front end surface of the braking device shell (661), the other end of the brake wire (665) penetrates through the threading hole to extend to the outside of the brake device shell (661), the pressure spring (664) is horizontally arranged on one side, away from the brake block rotating shaft (663), of the brake shaft (64), one end of the pressure spring (664) is connected with the brake block (662), and the other end of the pressure spring (664) abuts against the front end face of the brake device shell (661).
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| CN202110574317.6A CN113306350B (en) | 2021-05-25 | 2021-05-25 | Amphibious wheel and power system |
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| CN202110574317.6A CN113306350B (en) | 2021-05-25 | 2021-05-25 | Amphibious wheel and power system |
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