CN108297636B - Multi-shaft all-terrain wheeled vehicle with swing arm telescopic wheel foot structure - Google Patents

Abstract

A multi-axle all-terrain wheeled vehicle with a swing arm telescopic wheel foot structure. The invention provides a multi-shaft all-terrain wheeled vehicle with wheels capable of fast running, wheel foot walking obstacle surmounting and multi-wheel bearing driving, which has great significance for improving the maneuvering and traffic capacity of border patrol, mountain fight and rescue and relief vehicles. The multi-axle wheel type all-terrain vehicle consists of a vehicle body, a swinging oil cylinder, a rocker arm, driving wheels, a hydraulic pump station, a braking system, a power supply system and a control system; the rocker arm provided with the driving wheels can swing and stretch under the action of the swing oil cylinder and the telescopic oil cylinder, and the multi-wheel cooperation can perform gait walking and obstacle surmounting; the vehicle is driven straight on the flat ground, the rotation speed and the direction of the driving wheels are regulated and controlled, the vehicle steering is realized through the speed difference between the wheels on the left side and the right side, and the vehicle can also lift the wheels to steer with reduced resistance; the actions of multi-wheel driving braking, multi-wheel rocker swinging and multi-wheel rocker stretching are coordinated and controlled, so that the posture change, flexible maneuvering and all-terrain passing of the vehicle can be realized.

Description

A multi-axle all-terrain wheeled vehicle with a swingable arm telescopic wheel foot structure

Technical field:

The invention relates to a wheeled all-terrain vehicle, in particular to a multi-axle all-terrain wheeled vehicle driven by a hub motor (or a hydraulic motor) and a wheel foot structure.

Background technique:

At present, wheeled vehicles have the ability to drive fast on flat ground, but under complex terrain conditions, the ability to overcome obstacles is poor, which is not conducive to walking and flexible maneuvering in mountainous and jungle areas; while walking machines can walk in mountainous areas, but limited to the characteristics of their walking mechanisms. Slow movement on flat ground is not conducive to fast driving on plains and roads; while wheeled vehicles with walking function can organically combine the two, and have both the performance of mountain obstacle surmounting and flat fast driving; at the same time, multi-wheel load and drive have It is beneficial to improve the cross-country and soft road traffic capability of the vehicle; therefore, the wheeled vehicle is of great significance for improving the maneuverability of vehicles for border patrol, mountain combat, and rescue and disaster relief.

Invention content:

Therefore, the object of the present invention is to provide an all-terrain mobile platform with high-speed driving of wheels and obstacle-crossing walking on wheels, so as to improve both the fast-moving maneuverability and the fast-moving obstacle-crossing ability of existing vehicles.

Specifically, the multi-axle wheeled all-terrain vehicle in the example of the present invention is composed of a car body, a swing cylinder, a rocker arm, a driving wheel, a hydraulic pump station, a braking system, a power supply system, and a control system, and is characterized in that:

The car body is a frame structure, with inner and outer support fixed plates welded on both sides. The inner and outer bearing seats are respectively installed on the fixed plate to support and fix multiple rocker shafts. The rocker shafts can rotate relative to the car body and are symmetrically distributed left and right. , the rocker arm shaft is connected to the rocker arm and the driving wheel as part of the rocker arm, and the pumping station system, braking system, power supply system and control system are also installed on the car body;

Drive wheels, which are composed of drive motors (or hydraulic motors), hubs, tires, and axles, can be 6 or 8 wheels, and are installed symmetrically on the left and right. The drive motors (or hydraulic motors) are installed in the hub and cannot be moved around The wheel shaft rotates, provides energy and control through wires (or pipelines), and realizes the forward, reverse and steering of the vehicle, and is fixed to the lower ends of the shock-absorbing columns on both sides through the wheel shaft. The wheel hub is equipped with tires, and the drive motor (or hydraulic motor) A brake disc is fixed on one side;

The rocker arm is composed of a rocker shaft, a swing plate, a rocker seat, a telescopic oil cylinder, a guide mechanism, a lower fixing seat, and a shock-absorbing column. The driving wheel swings relative to the car body;

The shock-absorbing column is located at the bottom of the rocker arm and consists of a piston rod and a shock-absorbing cylinder. There are two on each rocker arm, and a shock absorber is installed between the rod and the cylinder, which has both shock-absorbing and guiding functions. The upper end of the piston rod is fixed on the lower fixing seat, and the lower ends of the two shock-absorbing cylinders are fixed on both sides of the wheel axle. The two rods and the two cylinders have the same width up and down. There is also a lower brake pump fixed on the shock absorber, which cooperates with the brake disc to realize the mechanical braking of the wheel;

The lower fixing seat is used to connect the upper telescopic oil cylinder, the guide mechanism and the two lower shock absorbing columns, and fix the telescopic oil cylinder piston rod, the guide mechanism guide rod and the lower two shock absorbing column piston rods together, which can be moved as a whole ;

The telescopic oil cylinder is installed between the rocker arm seat and the lower fixed seat. The length of the rocker arm can be adjusted through the telescopic oil cylinder, so as to realize the adjustment of the height of the car. The oil cylinder is also equipped with a two-way hydraulic lock, which can realize the length of the rocker arm within the stroke of the oil cylinder. lock in any position;

The guide mechanism is located between the rocker arm seat and the lower fixed seat, and is installed parallel to the telescopic oil cylinder. It is composed of a guide rod, a guide sleeve and a linear bearing. The guide rod is fixed on the lower fixed seat. On the arm seat, the two are installed on the same axis and can be guided by telescopic. It cooperates with the telescopic oil cylinder to prevent the rotation of the lower fixed seat relative to the rocker arm seat, thus ensuring that the direction of the wheel is consistent with the car body when the rocker arm is telescopic;

The rocker arm seat is located at the upper end of the rocker arm and is fixed at one end of the rocker arm shaft. It is used to connect the rocker arm shaft, the telescopic oil cylinder and the guide mechanism.

The rocker arm shaft is installed on the car body through the inner and outer bearing seats. One end extends out of the car body to fix the rocker arm seat, which can drive the rocker arm to rotate. The inner side is fixed with a swing plate, and the pin shaft is installed on the swing plate. The joint bearing connection of the rod pin hole can drive the swing plate and the rocker shaft to rotate through the swing cylinder, so as to realize the large-angle swing of the rocker arm;

Swing oil cylinder, one end of the cylinder barrel is hinged on the support of the car body, and the pin hole of the piston rod at the other end is hinged with the pin shaft on the swing plate. In this way, the expansion and contraction of the swing oil cylinder can drive the swing plate and the rocker shaft to rotate, thereby realizing the swing of the rocker arm. Large-angle swing; the oil cylinder is also equipped with a two-way hydraulic lock, which can realize the locking of the swing angle of the rocker at any position within the stroke of the oil cylinder;

The hydraulic pump station provides the power source for the swing cylinder and the telescopic cylinder, and can also provide power for vehicles equipped with hydraulic motors to drive the wheels;

The brake system is composed of brake pedal, brake master cylinder, brake vacuum booster pump, brake pipeline, brake disc at the driving wheel, brake lower pump, etc., to realize the mechanical braking and parking of the vehicle;

The power system, consisting of batteries and power management systems, provides power sources for vehicles and vehicles equipped with in-wheel motors to drive wheels;

The control system is composed of mechanical control, electrical control, hydraulic control and other systems. It realizes the coordinated control of the operation of the swing cylinder, telescopic cylinder, drive wheel motor or hydraulic motor, and effectively guarantees the driving and obstacle-crossing ability of the vehicle;

In the example of the present invention, when the vehicle is running on a flat ground, forward and reverse is implemented by adjusting and controlling the rotation speed and direction of the motor or motor in the driving wheel, and its multi-wheel synchronization and anti-skid functions can be controlled by the motor or hydraulic motor. Electronic control system to achieve;

In the example of the present invention, the steering is realized by the speed difference between the left and right wheels during driving. When the steering resistance on the ground is large or when the steering is in place, the front and rear rocker shafts can be rotated by the swing cylinder to lift the wheels to realize the two-axis wheel rotation in the middle. Steering, center zero-radius steering can also be realized on the spot; only one end wheel (front or rear) can be lifted to realize three-axis wheel steering;

In the example of the present invention, by controlling the swing oil cylinder and the telescopic oil cylinder, and under the cooperation of the driving wheel brake and the driving state, the gait walking and obstacle-crossing functions of the vehicle are realized;

In the example of the present invention, relying on the vehicle state perception and electronic control system, by controlling the action of the telescopic oil cylinder and the swing oil cylinder, the height of the vehicle from the ground can be automatically adjusted and the horizontal posture of the vehicle body can be maintained during driving;

In the example of the present invention, the wheel can be lifted to a position above the bottom plane of the car body by controlling the swing oil cylinder, and after the boat maneuvering machine is installed at the rear of the car, the function of sailing in the water can be realized;

The above description is only an overview of the technical solution and performance of the present invention. In order to understand the technical means of the present invention more clearly, it can be implemented according to the contents of the description, and in order to make the present invention more obvious and understandable, the following special examples are preferred: Example.

Description of drawings:

Fig. 1 is the axonometric view of 8 * 8 all-terrain wheeled vehicles embodied in the present invention.

Fig. 2 is the four views of the 8 * 8 all-terrain wheeled vehicle embodied in the present invention.

Fig. 3 is a structural diagram of a single wheel of an 8×8 all-terrain wheeled vehicle embodied in the present invention.

Fig. 4 is the two-wheel structure diagram of the 8 * 8 all-terrain wheeled vehicle embodied in the present invention.

Fig. 5 is a rear isometric view of the 8×8 all-terrain wheeled vehicle embodied in the present invention after lifting.

Fig. 6 is a four-view view of the 8×8 all-terrain wheeled vehicle embodied in the present invention after the roof is raised.

Fig. 7 is a four-view diagram when the front and rear wheels of the 8×8 all-terrain wheeled vehicle embodied in the present invention are lifted and turned.

Fig. 8 is a four-view diagram after the rocker arm of the 8×8 all-terrain wheeled vehicle embodied in the present invention swings.

Detailed ways:

In order to make the above objects, features and advantages of the present invention more comprehensible, specific implementations of the present invention will be described in detail below in conjunction with the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. However, the present invention can be implemented in many other ways different from those described here, and those skilled in the art can make similar improvements without departing from the connotation of the present invention, so the present invention is not limited by the specific implementations disclosed below.

The multi-axis wheeled all-terrain vehicle in the example of the present invention is composed of a car body, a swing cylinder, a rocker arm, a driving wheel, a hydraulic pump station, a braking system, a power supply system, and a control system. Please refer to Fig. 1, Fig. 2 and Fig. 3 , which is characterized by:

The car body 2 is of a frame structure, with inner and outer support fixing plates 33 welded on both sides, and the inner bearing housing 1 and the outer bearing housing 6 are respectively installed on the fixing board to support and fix a plurality of rocker shafts (7, 20, 23 , 27), the bearing seat is equipped with a tapered bearing 36, which can withstand the radial and axial forces from the rocker shaft, the rocker shaft can rotate relative to the car body 2 and is symmetrically distributed left and right, and the rocker shaft is connected as a part of the rocker The rocker arm and the driving wheel are also equipped with a pumping station system 30, a braking system, a power supply system and a control system 31 on the car body;

Drive wheels, it is made up of drive motor (or hydraulic motor) 16, wheel hub 44, tire 17, wheel axle 43, can be 6 wheels or 8 wheels, and left and right symmetrical installation arrangement, drive motor (or hydraulic motor) 16 is installed on wheel hub 44 Inside, it can rotate around the fixed wheel shaft 43, provide energy and control through electric wires (or pipelines), realize the forward, reverse and steering of the vehicle, and be fixed on the lower ends of the shock-absorbing columns on both sides by the wheel shaft 43, and the wheel hub 44 is equipped with Tire, drive motor (or hydraulic motor) 16 sides are fixed with brake disc 15;

Rocker arm consists of rocker arm shafts (7, 20, 23, 27), swing plates (5, 22, 24, 27), rocker arm seat 8, telescopic oil cylinder 11, guide mechanism 10, lower fixing seat 12, shock-absorbing column 13, the lower end of which is fixed to the driving wheel, and the upper end is installed on the car body 2 through the rocker shaft, which can drive the driving wheel to swing relative to the car body 2;

Shock-absorbing column 13, located at the bottom end of the rocker arm, consists of a piston rod 41 and a shock-absorbing cylinder 42, two of which are installed on each rocker arm, and a shock absorber is installed between the rod and the cylinder, which has both shock-absorbing and guiding functions , the upper ends of two piston rods 41 are fixed on the lower fixing seat 12, the lower ends of the two shock absorbers are fixed on both sides of the wheel axle 43, the two rods and the two barrels are up and down the same width, and the wheel can move up and down with respect to the lower fixing seat 12 with the wheel axle 43 Elastic movement for shock absorption, a brake lower pump 14 is also fixed on one side of the shock absorber, which cooperates with the brake disc 15 to realize the mechanical braking of the wheels;

The lower fixing seat 12 is used to connect the telescopic oil cylinder 11 above, the guide mechanism 10 and the two shock absorbing columns 13 below, and the telescopic oil cylinder piston rod 39, the guide mechanism guide rod 35 and the two shock absorbing column piston rods 41 below Fixed together, can move as a whole;

The telescopic oil cylinder 11 is installed between the rocker arm base 8 and the lower fixed seat 12. The length of the rocker arm can be adjusted through the expansion and contraction of the oil cylinder, so as to realize the adjustment of the height of the car. The oil cylinder is also equipped with a two-way hydraulic lock 9, which can realize the adjustment of the rocker arm. The length is locked at any position within the cylinder stroke;

The guiding mechanism 10 is located between the rocker arm seat 8 and the lower fixing seat 12, and is installed in parallel with the telescopic oil cylinder 11. It is composed of a guide rod 35, a guide sleeve 32 and a linear bearing. There is a linear bearing, and it is fixed on the rocker arm seat 8. The two are installed on the same axis and can be guided telescopically. It cooperates with the telescopic oil cylinder 11 to prevent the lower fixed seat 12 from rotating relative to the rocker arm seat 8, thus ensuring the rocker When the arm stretches, the wheel direction is consistent with the car body;

The rocker arm seat 8 is located at the upper end of the rocker arm and is fixed on one end of the rocker arm shaft, and is used to connect the rocker arm shaft, the telescopic oil cylinder 11 and the guide mechanism 10, and fix the rocker arm shaft, the telescopic oil cylinder body 34, and the guide mechanism guide sleeve 32 together , can be rotated as a whole;

There are 8 rocker shafts (7, 20, 23, 27), which are installed on the car body through inner and outer bearing seats, and one end extends out of the car body to fix the rocker arm seat 8, which can drive the rocker arm to rotate, and the inner side is fixed to swing Plates (5, 22, 24, 27), pin shafts are installed on the oscillating plate, connected with the oscillating oil cylinder (the joint bearing of the piston rod pin hole, the oscillating oil cylinder can drive the oscillating plate and the rocker arm shaft to rotate, thereby realizing the rocker arm swing at a large angle;

Swing oil cylinders (4, 18, 25, 26), one end of the cylinder barrel is hinged on the support (3, 21) of the car body, and the pin hole of the piston rod at the other end is connected with the upper pin of the swing plate (5, 22, 24, 27). The shaft is hinged, so that the expansion and contraction of the swing oil cylinder can drive the swing plate and the rocker arm shaft to rotate, thereby realizing the large-angle swing of the rocker arm; the oil cylinder is also equipped with a two-way hydraulic lock 19, which can realize the swing angle of the rocker arm within the stroke of the oil cylinder. position locking;

The pump station system 30 provides the power source for the swing cylinder and the telescopic cylinder, and can also provide power for vehicles equipped with hydraulic motors to drive the wheels;

The brake system is composed of a brake pedal, a brake master cylinder, a brake vacuum booster pump, a brake pipeline, a brake disc 15 at the driving wheel, and a brake lower pump 14, etc., to realize mechanical braking and parking of the vehicle;

The power supply system is composed of a battery 29 and a power management system, which provides a power source for vehicle electrical equipment and vehicles equipped with hub motors to drive wheels;

The control system 31 is composed of mechanical control, electrical control, hydraulic control and other systems, and realizes the coordinated control of the operation of the swing cylinder, the telescopic cylinder, the drive wheel motor or the hydraulic motor, and effectively guarantees the driving and obstacle-crossing capabilities of the vehicle;

In the example of the present invention, when the vehicle is running on a flat ground, forward and reverse is implemented by adjusting and controlling the rotation speed and direction of the motor or motor in the driving wheel, and its multi-wheel synchronization and anti-skid functions can be controlled by the motor or hydraulic motor. Electronic control system to achieve;

In the example of the present invention, please refer to Figure 7. The steering is realized by the speed difference between the left and right wheels during driving. Two-axis wheel steering can also realize center zero-radius steering on the spot; only one end wheel (front or rear) can be lifted to realize three-axis wheel steering;

In the example of the present invention, please refer to Fig. 8, by controlling the swing cylinder and the telescopic cylinder, and under the cooperation of the driving wheel brake and the driving state, the vehicle gait walking and obstacle surmounting functions are realized;

In the example of the present invention, please refer to Fig. 5 and Fig. 8, relying on the vehicle state perception and electronic control system, by controlling the action of the telescopic oil cylinder and the swing oil cylinder, the vehicle can automatically adjust the height from the ground and maintain the horizontal posture of the vehicle body during driving;

In the example of the present invention, please refer to Fig. 6, the wheel can be lifted to the position above the bottom plane of the car body by controlling the swing cylinder, and after the boat maneuvering machine is installed at the rear of the car, the function of sailing in the water can be realized;

Other embodiments of the present invention also include implementable technical solutions formed by combining the technical features in the above embodiments.

In Figure 1, there are four rocker shafts on the left side, which are the first shaft 7, the second shaft 20, the third shaft 23, and the fourth shaft 27; Four shafts 28, in the initial position, the head and tail are connected upwards to the piston rod of the oil cylinder, and the middle is connected downwards, and the front and rear are symmetrically distributed; four sets of swing oil cylinders are respectively one axis 4, two axes 18, three axes 25, four axes 26, and one Axis 4 and four-axis 26 cylinders are fixed on the lower part of the car body, and two-axis 18 and three-axis 25 cylinders are fixed on the upper part of the car body. The front and rear are symmetrically distributed without interfering with each other; the right and left sides have the same number and are arranged symmetrically.

The above-mentioned embodiments only express several implementation modes of the present invention, and the description thereof is relatively specific and detailed, but should not be construed as limiting the patent scope of the present invention. It should be noted that, for those skilled in the art, several modifications and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention.

Therefore, the protection scope of the patent for the present invention should be based on the appended claims.

Claims (6)

1. A multi-axle wheel type all-terrain vehicle is characterized in that: the vehicle consists of a vehicle body, a swinging oil cylinder, a rocker arm, driving wheels, a pump station system, a brake system, a power supply system and a control system;

the vehicle body is in a frame structure, inner and outer supporting fixing plates are welded on two sides of the vehicle body, a plurality of rocker shafts are supported and fixed on the fixing plates through inner and outer bearing seats respectively, the rocker shafts can rotate relative to the vehicle body and are distributed in a bilateral symmetry manner, the rocker shafts are connected with rocker arms and driving wheels, and a pump station system, a brake system, a power supply system and a control system are further installed on the vehicle body;

the driving wheel consists of a driving motor or a hydraulic motor, a wheel hub, tires and a wheel shaft, wherein the driving motor or the hydraulic motor can be 6 wheels or 8 wheels, is arranged in a bilateral symmetry manner, is arranged in the wheel hub and can rotate around a fixed wheel shaft, energy and control are provided through electric wires or pipelines, the forward, backward running and steering of the vehicle are realized, the tires are arranged on the wheel hub and are fixed at the lower ends of shock absorption upright posts at two sides through the wheel shaft, and a brake disc is fixed at one side of the driving motor or the hydraulic motor;

the rocker arm consists of a rocker arm shaft, a swinging plate, a rocker arm seat, a telescopic oil cylinder, a guide mechanism, a lower fixing seat and a damping upright post, the lower end of the rocker arm is fixedly provided with a driving wheel, and the upper end of the rocker arm is arranged on the vehicle body through the rocker arm shaft and can drive the driving wheel to swing relative to the vehicle body;

the damping upright post is positioned at the lowest end of the rocker arm and consists of two piston rods and damping cylinders, two damping devices are arranged on each rocker arm, a damper is arranged between each piston rod and each cylinder, the damping upright post has damping and guiding functions, the upper ends of the two piston rods are fixed on the lower fixing seat, the lower ends of the two damping cylinders are fixed at two sides of a wheel axle, the two rods and the two cylinders are the same in width up and down, the wheel can elastically move up and down along with the wheel axle relative to the lower fixing seat to damp, a lower brake pump is also fixed on one damping cylinder, and the lower brake pump is matched with a brake disc to realize mechanical braking of the wheel;

the lower fixing seat is used for connecting the telescopic cylinder above, the guide mechanism and the two shock absorption upright posts below, and fixing the piston rod of the telescopic cylinder, the guide rod of the guide mechanism and the piston rods of the two shock absorption upright posts below together so as to be capable of integrally moving;

the telescopic oil cylinder is arranged between the rocker arm seat and the lower fixed seat, the length of the rocker arm can be adjusted through the telescopic action of the oil cylinder, so that the height of the vehicle gesture can be adjusted, and the oil cylinder is also provided with a bidirectional hydraulic lock, so that the length of the rocker arm can be locked at any position in the stroke of the oil cylinder;

the guide mechanism is arranged between the rocker arm seat and the lower fixed seat and is parallel to the telescopic oil cylinder, the guide mechanism consists of a guide rod, a guide sleeve and a linear bearing, the guide rod is fixed on the lower fixed seat, the guide sleeve is internally provided with the linear bearing and is fixed on the rocker arm seat, the guide mechanism and the guide sleeve are coaxially arranged, and the guide mechanism can realize telescopic guide and is matched with the telescopic oil cylinder, so that the lower fixed seat can be prevented from rotating relative to the rocker arm seat, and the direction of a wheel is ensured to be consistent with that of a vehicle body when the rocker arm stretches;

the rocker arm seat is positioned at the upper end of the rocker arm, is fixed at one end of the rocker arm shaft and is used for connecting the rocker arm shaft, the telescopic cylinder and the guide mechanism, and the rocker arm shaft, the telescopic cylinder body and the guide mechanism guide sleeve are fixed together and can integrally rotate;

the rocker arm shaft is arranged on the vehicle body through an inner bearing seat and an outer bearing seat, one end of the rocker arm shaft extends out of the vehicle body to fix the rocker arm seat and can drive the rocker arm to rotate, the inner side of the rocker arm seat is fixed with a swinging plate, a pin shaft is arranged on the swinging plate and is connected with a joint bearing of a piston rod pin hole of a swinging oil cylinder, and the swinging plate and the rocker arm shaft can be driven to rotate through the swinging oil cylinder, so that the large-angle swinging of the rocker arm is realized;

one end of a cylinder barrel of the swing cylinder is hinged to a support of the vehicle body, and a pin hole of a piston rod at the other end of the cylinder barrel is hinged to a pin shaft on the swing plate, so that the swing cylinder stretches and contracts to drive the swing plate and the swing arm shaft to rotate, and the swing arm can swing in a large angle; the oil cylinder is also provided with a bidirectional hydraulic lock, so that the swing angle of the rocker arm can be locked at any position in the stroke of the oil cylinder;

the hydraulic pump station provides a power source for the swing oil cylinder and the telescopic oil cylinder, and can also provide power for a vehicle provided with wheels driven by the hydraulic motor;

the brake system consists of a brake pedal, a brake master cylinder, a brake vacuum booster pump, a brake pipeline, a brake disc at a driving wheel and a brake lower pump, and realizes mechanical braking and parking of the vehicle;

the power supply system consists of a storage battery and a power supply management system and provides a power source for vehicles and vehicles provided with wheels driven by an in-wheel motor;

the control system consists of a mechanical or remote control, electric control and hydraulic control system, realizes coordination control on the running of the swing oil cylinder, the telescopic oil cylinder, the driving wheel motor or the hydraulic motor, and effectively ensures the running and obstacle crossing capacity of the vehicle.

2. The multi-axle wheeled all-terrain vehicle of claim 1, characterized by: when the vehicle runs on a flat ground, the forward running and the backward running are implemented by adjusting and controlling the rotation speed and the rotation direction of a motor or a motor in a driving wheel, and the multi-wheel synchronization and anti-slip function is realized by a motor electric control system or a hydraulic motor control system.

3. The multi-axle wheeled all-terrain vehicle of claim 1, characterized by: the steering of the vehicle is realized by the speed difference of the wheels at the left side and the right side, when the ground steering resistance is large or the steering is in situ, the wheels can be lifted by swinging the front rocker shaft and the rear rocker shaft through the swinging oil cylinder, the steering of the wheels with two shafts in the middle is realized, and the steering with zero radius in the center can be realized in situ; and one end of the wheel can be lifted, so that the three-axle wheel steering can be realized.

4. The multi-axle wheeled all-terrain vehicle of claim 1, characterized by: the vehicle realizes the gait walking and obstacle crossing functions of the vehicle by controlling the swing oil cylinder and the telescopic oil cylinder and under the cooperation of the braking and driving states of the driving wheels.

5. The multi-axle wheeled all-terrain vehicle of claim 1, characterized by: the vehicle can rely on a vehicle state sensing and electric control system, and the ground height of the vehicle can be automatically adjusted and the horizontal posture of the vehicle body can be maintained during running by controlling the actions of the telescopic oil cylinder and the swinging oil cylinder.

6. The multi-axle wheeled all-terrain vehicle of claim 1, characterized by: the vehicle can lift the wheels to a position above the bottom plane of the vehicle body by controlling the swing oil cylinder, and the boat operating machine is installed at the tail of the vehicle, so that the boat-type navigation function in water can be realized.