Amphibious propulsion device and method for controlling the same

Abstract

The application relates to an amphibious propelling device and a control method thereof, and belongs to the technical field of ship propelling devices. The amphibious propelling device comprises a mounting frame, two telescopic rods, two motors and a push plate assembly. The mounting frame is provided with the telescopic rods on the left and right sides, the center lines of the telescopic rods are located in a vertical plane, and the fixed ends of the telescopic rods are rotationally connected to the mounting frame. The two motors are installed on the top of the mounting frame and are arranged in one-to-one correspondence with the two telescopic rods. The motors are used for driving the corresponding telescopic rods to rotate relative to the mounting frame. The push plate assembly is arranged in the mounting frame. The lower end of the push plate assembly is rotationally connected to the telescopic end of one of the telescopic rods, and the upper end of the push plate assembly is rotationally connected to the telescopic end of the other telescopic rod. Through the cooperation of the two motors and the two telescopic rods, the push plate assembly can continuously rotate around a horizontal axis and can also move horizontally in a straight line, so that the amphibious propelling device can sail underwater and also can walk on land.

Description

Technical Field

[0001] This application belongs to the technical field of ship propulsion devices, and particularly relates to an amphibious propulsion device and its control method. Background Technology

[0002] As marine resource exploration and development continue to deepen, amphibious vessels capable of operating between water and land are receiving increasing attention.

[0003] As a core component of a ship, the propulsion system directly determines the ship's power output, operating efficiency, and adaptability to different environments. Unlike conventional ships that operate only in a single body of water, amphibious vessels' propulsion systems must simultaneously meet the dual requirements of water propulsion and land traction, and ensure a smooth and reliable switch between the two modes.

[0004] Currently, most common amphibious propulsion systems employ propellers, paddles, or wheel drives. These systems generally suffer from complexity and wear, resulting in insufficient compatibility with ships and inadequate long-term operational reliability, making it difficult to adequately meet the comprehensive requirements of amphibious vessels in complex environments. Summary of the Invention

[0005] This application addresses, to at least some extent, one of the technical problems in the related art.

[0006] Therefore, this application aims to provide an amphibious propulsion device and its control method. Through the cooperation of two motors and two telescopic rods, the push plate assembly can perform continuous circular motion around a horizontal axis and also move horizontally. When the push plate assembly performs continuous circular motion, the amphibious propulsion device is used for underwater navigation; when the push plate assembly moves horizontally, the amphibious propulsion device is used for walking on land. The switching between circular and horizontal motion of the push plate assembly is simple and continuous. Furthermore, the overall structure of the amphibious propulsion device is simple, compact, and convenient to be arranged on amphibious vessels.

[0007] To achieve the above objectives, in a first aspect, this application provides an amphibious propulsion device, comprising:

[0008] The mounting frame has telescopic rods on its left and right sides respectively. The center line of the telescopic rods along their length is located in a vertical plane, and the fixed end of the telescopic rods is rotatably connected to the mounting frame.

[0009] Two motors are mounted on the top of the mounting frame and are configured to correspond one-to-one with the two telescopic rods; the motors are used to drive the corresponding telescopic rods to rotate relative to the mounting frame.

[0010] A push plate assembly is located inside the mounting frame; the lower end of the push plate assembly is rotatably connected to the telescopic end of one of the telescopic rods via a first rotating shaft, and the upper end of the push plate assembly is rotatably connected to the telescopic end of another telescopic rod via a second rotating shaft.

[0011] The amphibious propulsion system includes an underwater navigation mode and a land walking mode;

[0012] In underwater navigation mode, the telescopic rod rotatably connected to the lower end of the push plate assembly does not rotate relative to the mounting frame and stops extending and retracting, while the telescopic rod rotatably connected to the upper end of the push plate assembly rotates relative to the mounting frame and drives the push plate assembly to continuously rotate around the first rotation axis.

[0013] In the land walking mode, the push plate assembly moves linearly from the first position along the front-back direction of the mounting frame to the second position, and then flips upward from the second position back to the first position. The push plate assembly circulates between the first position and the second position. During the linear movement of the push plate assembly from the first position to the second position, the push plate assembly makes surface contact with the ground.

[0014] In the technical solution, the pusher assembly can perform continuous circular motion around a horizontal axis and also move horizontally through the cooperation of two motors and two telescopic rods. When the pusher assembly performs continuous circular motion, the amphibious propulsion device is used for underwater navigation; when the pusher assembly moves horizontally, the amphibious propulsion device is used for walking on land. The switching between circular and horizontal motion of the pusher assembly is simple and continuous. Furthermore, the overall structure of the amphibious propulsion device is simple, compact, and easy to arrange on amphibious vessels.

[0015] In some embodiments of this application, one of the telescopic rods is a first telescopic rod, and the other telescopic rod is a second telescopic rod;

[0016] When the push plate assembly is in the first position, the first telescopic rod is retracted and the telescopic end is set vertically downward, while the second telescopic rod is extended and set at an angle.

[0017] When the push plate assembly is in the second position, the first telescopic rod is extended and tilted, and the second telescopic rod is retracted with its telescopic end facing vertically downward.

[0018] When the push plate assembly moves linearly from the first position to the second position, the first telescopic rod extends and the second telescopic rod retracts, while the first telescopic rod and the second telescopic rod rotate synchronously relative to the mounting frame.

[0019] When the push plate assembly flips from the second position to the first position, the first telescopic rod stops extending and does not rotate relative to the mounting frame, while the second telescopic rod first retracts and then extends while rotating relative to the mounting frame.

[0020] In some embodiments of this application, the push plate assembly includes a frame, an airbag, and two base plates. A first rotation axis and a second rotation axis are respectively disposed on the frame. The airbag is disposed inside the frame, and the two base plates are disposed opposite each other and on both sides of the airbag. The airbag is used to increase the distance between the two base plates.

[0021] In the land walking mode, the upper and lower ends of the push plate assembly are set in a horizontal direction, and the airbag is inflated so that the distance between the two base plates is greater than or equal to the distance from the central axis of the first rotating shaft to the bottom of the mounting bracket.

[0022] In the technical solution, the pusher assembly is designed to include an airbag and two base plates. When the amphibious propulsion device is walking on land, the airbag is inflated to increase the distance between the two base plates, allowing the base plates to make full contact with the ground. The airbag can also absorb the vibration and impact generated during walking. When the amphibious propulsion device is navigating underwater, the airbag is deflated to reduce the distance between the two base plates, reduce the resistance of the pusher assembly, and ensure the effective interaction between the pusher assembly and the water.

[0023] In some embodiments of this application, the telescopic rod is a pneumatic rod, and a first channel is provided in the telescopic end of the telescopic rod. A second channel is provided on the first rotating shaft and the second rotating shaft respectively. The second channel communicates with the first channel and extends to the frame and communicates with the airbag. A valve is provided in the first channel and / or the second channel to control the opening and closing of the first channel and / or the second channel.

[0024] In the technical solution, by designing the telescopic rod as a pneumatic rod, the air passage of the telescopic rod is used to inflate and deflate the airbag, which not only simplifies the overall structure but also improves the utilization rate of resources.

[0025] In some embodiments of this application, the left and right side walls of the mounting frame are respectively provided with arc-shaped grooves, which are connected to the interior of the mounting frame; the groove wall of the arc-shaped groove includes a straight segment and an arc segment, with the straight segment located below the arc segment; the first rotating shaft and the second rotating shaft extend into the corresponding arc-shaped grooves respectively;

[0026] When the pusher assembly moves linearly from the first position toward the second position, the first rotation axis and the second rotation axis slide along the corresponding straight line segments respectively;

[0027] When the pusher assembly flips from the second position to the first position or when the pusher assembly makes continuous circular motion, the second rotation axis slides along the corresponding arc segment.

[0028] In the technical solution, arc-shaped grooves are set on the left and right sides of the mounting frame, so that when the push plate assembly moves, the first rotating shaft and the second rotating shaft slide along the groove wall of the corresponding arc-shaped groove. The movement of the push plate assembly is guided and restricted by the mutual cooperation between the arc-shaped groove and the first rotating shaft and / or the second rotating shaft, so as to ensure the reliability and smoothness of the push plate assembly movement.

[0029] In some embodiments of this application, the output shaft of the motor is provided with a first transmission wheel, the fixed end of the telescopic rod is provided with a transition shaft, the transition shaft is rotatably connected to the mounting bracket, and a second transmission wheel is sleeved on the transition shaft. The second transmission wheel and the first transmission wheel are simultaneously connected to the transmission component.

[0030] In the technical solution, a first transmission wheel is set on the output shaft of the motor and a second transmission wheel is set on the fixed end of the telescopic rod. The transmission component is connected to both the first and second transmission wheels. By utilizing the cooperation between the first and second transmission wheels and the transmission component, the motor drives the telescopic rod to rotate relative to the mounting frame.

[0031] Secondly, this application provides a control method for an amphibious propulsion device, used to control the movement of the aforementioned amphibious propulsion device; when the amphibious propulsion device is moving on land, the control method includes the following steps:

[0032] S11. The first motor locks itself when it drives the first telescopic rod to rotate until the telescopic end is vertically downward. The second motor drives the second telescopic rod to rotate in the first direction so that the push plate assembly contacts the ground and the push plate assembly is in the first position.

[0033] S12. The first motor drives the first telescopic rod to rotate relative to the mounting frame in a first direction, and at the same time, the second motor also drives the second telescopic rod to rotate relative to the mounting frame in a first direction, so that the push plate assembly moves linearly from the first position to the second position;

[0034] S13. When the second motor drives the second telescopic rod to rotate to the point where the telescopic end is vertically downward, it is locked to place the push plate assembly in the second position.

[0035] S14. The first motor drives the first telescopic rod to continue rotating in the first direction, causing the push plate assembly to flip until the push plate assembly contacts the ground again and returns to the first position.

[0036] S15. The first motor drives the first telescopic rod to rotate relative to the mounting frame in the first direction. At the same time, the second motor also drives the second telescopic rod to rotate relative to the mounting frame in the first direction, so that the push plate assembly moves linearly from the first position to the second position.

[0037] S16. When the first motor drives the first telescopic rod to rotate to the point where the telescopic end is vertically downward, it is locked, so that the push plate assembly is in the second position again.

[0038] S17. The second motor drives the second telescopic rod to continue rotating in the first direction, causing the push plate assembly to flip until the push plate assembly contacts the ground again and returns to the first position.

[0039] Repeat steps S12 to S17.

[0040] In some embodiments of this application, when the amphibious propulsion device is moving in the opposite direction on land, the control method includes the following steps:

[0041] S21. The first motor drives the first telescopic rod to rotate relative to the mounting frame in the second direction, and at the same time, the second motor also drives the second telescopic rod to rotate relative to the mounting frame in the second direction, so that the push plate assembly moves linearly from the second position to the first position; wherein, the second direction and the first direction are opposite directions on the circumference;

[0042] S22. During the rotation of the first telescopic rod and the second telescopic rod in the second direction, if the telescopic end of the first telescopic rod is first set vertically downward, the first motor is locked, and the second motor drives the second telescopic rod to continue rotating in the second direction, so as to drive the push plate assembly to flip.

[0043] If the telescopic end of the second telescopic rod is set vertically downward first, the second motor is locked, and the first motor drives the first telescopic rod to continue rotating in the second direction, so as to drive the push plate assembly to flip.

[0044] S23. The first motor drives the first telescopic rod to rotate relative to the mounting frame in the second direction. At the same time, the second motor also drives the second telescopic rod to rotate relative to the mounting frame in the second direction, so that the push plate assembly moves linearly from the second position to the first position again.

[0045] Repeat steps S22 to S23.

[0046] Thirdly, this application provides a control method for an amphibious propulsion device, used to control the movement of the aforementioned amphibious propulsion device; when the amphibious propulsion device is navigating underwater, the control method includes the following steps:

[0047] S31. Stop the telescopic rod connected to the lower end of the push plate assembly from extending or retracting and prevent it from rotating relative to the mounting bracket;

[0048] S32. The telescopic rod connected to the upper end of the push plate assembly rotates continuously relative to the mounting frame, so as to drive the push plate assembly to make continuous circular motion around the first rotation axis.

[0049] In some embodiments of this application, when the amphibious propulsion device is traveling in reverse underwater, the telescopic rod connected to the upper end of the push plate assembly rotates continuously in the opposite direction relative to the mounting frame, so as to drive the push plate assembly to perform continuous circular motion in the opposite direction around the first rotation axis.

[0050] As can be seen from the above technical solutions, additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0051] Figure 1 This is a schematic diagram of the amphibious propulsion device according to an embodiment of this application;

[0052] Figure 2 This is a schematic diagram of the amphibious propulsion device in underwater navigation mode according to the embodiments of this application;

[0053] Figure 3 This is a structural schematic diagram of the amphibious propulsion device according to an embodiment of this application in underwater navigation mode from another angle.

[0054] Figure 4 This is a schematic diagram of the amphibious propulsion device in land walking mode according to the embodiments of this application;

[0055] Figure 5 This is a structural schematic diagram of the amphibious propulsion device according to an embodiment of this application in land walking mode from another angle;

[0056] Figure 6 This is a schematic diagram of the mounting frame in the amphibious propulsion device according to an embodiment of this application;

[0057] Figure 7 This is a schematic diagram of the push plate assembly when the airbag is inflated in the amphibious propulsion device according to the embodiments of this application;

[0058] Figure 8 This is a schematic diagram of the push plate assembly during airbag degassing in the amphibious propulsion device according to an embodiment of this application;

[0059] Figure 9 This is a schematic diagram of the structure when the telescopic rod and the push plate assembly are connected in the amphibious propulsion device according to the embodiments of this application;

[0060] Figure 10 yes Figure 9 Sectional view of AA;

[0061] Figure 11 This is a control flowchart of the amphibious propulsion device according to the embodiments of this application when it is walking on land;

[0062] Figure 12 This is a control flowchart of another embodiment of the amphibious propulsion device according to the present application when it is walking on land;

[0063] Figure 13This is a control flowchart of the amphibious propulsion device according to the embodiments of this application when it moves in the opposite direction on land;

[0064] Figure 14 This is a control flowchart of another embodiment of the amphibious propulsion device according to the present application when it is walking in the opposite direction on land;

[0065] Figure 15 This is a control flowchart of the amphibious propulsion device according to the embodiments of this application during underwater navigation;

[0066] Figure 16 This is a schematic diagram of the motion state change of the push plate assembly of the amphibious propulsion device in the land walking mode according to the embodiments of this application;

[0067] Figure 17 This is a schematic diagram showing the change in motion state of the pusher assembly when the amphibious propulsion device according to the embodiments of this application moves in the reverse direction in land walking mode.

[0068] In the above figures: 1. Mounting bracket; 2. Push plate assembly; 3. Telescopic rod; 4. Second transmission wheel; 5. Auxiliary wheel; 6. Transmission component; 7. First transmission wheel; 8. Motor;

[0069] 101. Arc-shaped groove; 1011. Straight segment; 1012. Arc segment;

[0070] 11. Mounting plate;

[0071] 110. First through hole; 111. Second through hole;

[0072] 201. First rotation axis; 202. Second rotation axis;

[0073] 21. Substrate; 22. Airbag; 23. Frame; 231. Adapter;

[0074] 31. Left telescopic pole; 32. Right telescopic pole;

[0075] 301. First vent; 302. First passage;

[0076] 310. Telescopic end; 320. Fixed end; 330. Adapter shaft;

[0077] 3010, Second vent; 3011, Second channel;

[0078] 81. Left motor; 82. Right motor. Detailed Implementation

[0079] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0080] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between components; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication between two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0081] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0082] In this application, the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0083] The present application will now be described in detail through exemplary embodiments. However, it should be understood that, without further description, elements, structures, and features in one embodiment may be advantageously incorporated into other embodiments.

[0084] As attached Figures 1 to 5 As shown in an illustrative embodiment of the amphibious propulsion device of this application, the amphibious propulsion device includes a mounting frame 1, telescopic rods 3, motors 8, and a push plate assembly 2; telescopic rods 3 are respectively provided on the left and right sides of the mounting frame 1, the center line of the telescopic rods 3 in the length direction is located in a vertical plane, and the fixed end 320 of the telescopic rods 3 is rotatably connected to the mounting frame 1; two motors 8 are provided, and the two motors 8 are respectively installed on the top of the mounting frame 1 and are arranged one-to-one with the two telescopic rods 3; the motors 8 are used to drive the corresponding telescopic rods 3 in the vertical plane relative to the mounting frame. 1. Rotation; Push plate assembly 2 is located inside mounting frame 1; The lower end of push plate assembly 2 is rotatably connected to the telescopic end 310 of one of the telescopic rods 3 via a first rotating shaft 201, and the upper end of push plate assembly 2 is rotatably connected to the telescopic end 310 of another telescopic rod 3 via a second rotating shaft 202; The amphibious propulsion device includes a land walking mode and an underwater navigation mode. When the amphibious propulsion device moves on the ground, it is in the land walking mode; when the amphibious propulsion device navigates underwater, it is in the underwater navigation mode.

[0085] like Figure 2 and Figure 3 As shown, in the underwater navigation mode, the telescopic rod 3, which is rotatably connected to the lower end of the push plate assembly 2, does not rotate relative to the mounting frame 1 and stops extending and retracting. The telescopic rod 3, which is rotatably connected to the upper end of the push plate assembly 2, rotates relative to the mounting frame 1 and drives the push plate assembly 2 to continuously rotate around the first rotation axis 201, so as to realize the underwater navigation of the amphibious propulsion device.

[0086] It should be noted that in the underwater navigation mode, when the amphibious propulsion device is traveling in the opposite direction underwater, the push plate assembly 2 makes a continuous circular motion in the opposite direction around the first rotation axis 201.

[0087] It should also be noted that, since the rotation axis of the telescopic rod 3 is offset from the rotation axis of the push plate assembly 2, the telescopic rod 3 connected to the upper end of the push plate assembly 2 needs to extend and retract during the rotation of the push plate assembly 2 in order to ensure that the push plate assembly 2 and the telescopic rod 3 rotate simultaneously.

[0088] In addition, it should be noted that during the continuous circular motion of the pusher assembly 2, the pusher assembly 2 is in an inclined state for most of the time; the pusher assembly 2 always rotates around the first rotation axis 201, the lower end of the pusher assembly 2 is located at the center of the circular motion curve of the pusher assembly 2, and the upper end of the pusher assembly 2 is located on the outer edge of the circular motion curve of the pusher assembly 2.

[0089] like Figure 4 and Figure 5 As shown, in the land walking mode, the push plate assembly 2 moves linearly from the first position along the front-back direction of the mounting frame 1 to the second position, and then flips upward from the second position back to the first position. The push plate assembly 2 moves cyclically between the first position and the second position to realize the amphibious propulsion device walking on land. During the process of the push plate assembly 2 moving linearly from the first position to the second position and from the first position to the second position, the push plate assembly 2 makes surface contact with the ground.

[0090] It should be noted that when the pusher assembly 2 flips from the second position to the first position, the amphibious propulsion device does not move on the ground. The amphibious propulsion device only moves on the ground when the pusher assembly 2 moves in a straight line from the first position to the second position.

[0091] It should also be noted that when the push plate assembly 2 is in the first position, the push plate assembly 2 is in contact with the ground surface, one of the telescopic rods 3 is vertically set and retracted, and the other telescopic rod 3 is extended and inclined; when the push plate assembly 2 is in the second position, the push plate assembly 2 is still in contact with the ground surface, the originally retracted telescopic rod 3 becomes extended and inclined, and the originally extended telescopic rod 3 becomes retracted and vertical.

[0092] In addition, it should be noted that, similar to the continuous circular motion of the push plate assembly 2, during the flipping process of the push plate assembly 2, the telescopic rod that rotates relative to the mounting frame 1 needs to extend or retract so that the telescopic rod 3 can drive the push plate assembly 2 to complete the rotation.

[0093] In some embodiments of this application, the telescopic rod 3 cannot extend or retract on its own; instead, it extends or retracts passively under the combined action of the motor 8 and the push plate assembly 2. This is because the motor 8 drives the telescopic rod 3 to rotate, and the telescopic rod 3 is connected to the push plate assembly 2. The telescopic rod 3 passively extends or retracts to simultaneously satisfy the requirements of both the motor 8 and the push plate assembly 2.

[0094] For ease of description, the telescopic rod 3 that retracts in the first position of the pusher assembly 2 is referred to as the first telescopic rod, and the telescopic rod 3 that extends in the first position of the pusher assembly 2 is referred to as the second telescopic rod. The motor that drives the first telescopic rod to rotate is called the first motor, and the motor that drives the second telescopic rod to rotate is called the second motor.

[0095] When the push plate assembly 2 moves linearly from the first position to the second position, the first telescopic rod 3 extends and the second telescopic rod 3 retracts, while the first and second telescopic rods 3 rotate synchronously relative to the mounting frame 1. When the push plate assembly 2 flips from the second position to the first position, the second telescopic rod 3 does not rotate relative to the mounting frame 1, while the first telescopic rod 3 retracts first and then extends, rotating relative to the mounting frame 1.

[0096] In some embodiments, when the push plate assembly 2 is in the first position, the push plate assembly 2 is in contact with the ground, the first telescopic rod 3 is retracted and its telescopic end is vertically downward, the second telescopic rod 3 is extended to the maximum position toward the mounting frame 1, and the second telescopic rod 3 is inclined; when the push plate assembly 2 is in the second position, the push plate assembly 2 is in contact with the ground, the second telescopic rod 3 is retracted and its telescopic end is vertically downward, the first telescopic rod 3 is extended to the maximum position toward the mounting frame 1, and the first telescopic rod 3 is inclined.

[0097] It should be noted that the specific positions of the first and second positions in space are different depending on the direction of travel of the amphibious propulsion device. When the amphibious propulsion device moves towards the front of the mounting frame 1, the first position is close to the front of the mounting frame 1 and the second position is close to the rear of the mounting frame 1; when the amphibious propulsion device moves towards the rear of the mounting frame 1, the first position is close to the rear of the mounting frame 1 and the second position is close to the front of the mounting frame 1.

[0098] The plane passing through the front and rear directions of the mounting frame 1 is defined as the first plane. In some embodiments, the mounting frame 1 is a symmetrical structure about the first plane, and the two telescopic rods 3 and the two motors 8 are also symmetrically arranged about the first plane; the push plate assembly 2 is a centrally symmetrical structure.

[0099] In the land walking mode, the upper and lower ends of the pusher assembly 2 are located horizontally, and their horizontal positions are interchangeable. When the pusher assembly 2 contacts the ground, if the upper end of the pusher assembly 2 is in front of the lower end in the direction of its linear movement, then after the pusher assembly 2 flips, the lower end of the pusher assembly 2 will be in front of the upper end in the direction of its linear movement. Therefore, when the pusher assembly 2 flips again during its linear movement, the upper end becomes the lower end, and vice versa. The upper and lower ends of the pusher assembly 2 are thus interchanged.

[0100] In addition, the upper and lower surfaces of the push plate assembly 2 also change in the land walking mode. After the push plate assembly 2 flips, the upper surface of the push plate assembly 2 becomes the lower surface of the push plate assembly 2. This design can wear on both sides of the push plate assembly 2, so that the push plate assembly 2 is balanced by force, ensuring the stability and reliability of the rotation of the push plate assembly 2. At the same time, compared with the wear on one side of the surface, the wear on both sides of the surface can extend the service life of the push plate assembly 2.

[0101] like Figures 1-4 As shown, the bottom of the mounting frame 1 is equipped with auxiliary wheels 5. When the amphibious propulsion device walks on land, the auxiliary wheels 5 contact the ground to reduce the friction between the mounting frame 1 and the ground.

[0102] In some embodiments, the mounting frame 1 is a cuboid structure, and auxiliary wheels 5 are respectively installed at the four corners of the bottom of the mounting frame 1. The auxiliary wheels 5 roll along the front and back direction of the mounting frame 1.

[0103] like Figure 6 As shown, the bottom and front and rear sides of the mounting frame 1 are open structures. The left and right side walls of the mounting frame 1 are respectively provided with arc-shaped grooves 101, which are connected to the interior of the mounting frame 1. The groove wall of the arc-shaped groove 101 includes a straight segment 1011 and an arc segment 1012, with the straight segment 1011 located below the arc segment 1012. The first rotating shaft 201 and the second rotating shaft 202 extend into the arc-shaped groove 101 respectively. When the push plate assembly 2 moves linearly from the first position to the second position, the first rotating shaft 201 and the second rotating shaft 202 slide along the corresponding straight segment 1011 respectively. When the push plate assembly 2 flips from the second position to the first position or the push plate assembly 2 makes continuous circular motion, the second rotating shaft 202 slides along the corresponding arc segment 1012.

[0104] The arc-shaped groove 101 can not only guide and restrict the movement of the push plate assembly 2, but also make the push plate assembly 2 fully contact the water flow, ensuring the reliability of the movement of the amphibious propulsion device in underwater navigation mode.

[0105] When the amphibious propulsion device moves on land, the bottom of the mounting frame 1 contacts the ground, while the first rotating shaft 201 or the second rotating shaft 202 extends into the arc-shaped groove 101 and contacts the groove wall. Furthermore, the bottom of the mounting frame 1 is equipped with auxiliary wheels 5. This means that if the thickness of the push plate assembly 2 is too small, when the push plate assembly 2 is set horizontally, its lower surface will be at a certain height above the ground, preventing it from making surface contact with the ground and hindering effective movement of the amphibious propulsion device. However, if the thickness of the push plate assembly 2 is large, although its lower surface can make surface contact with the ground when set horizontally, the push plate assembly 2 experiences greater resistance in underwater navigation mode, resulting in poor interaction with water and reduced underwater navigation capability of the amphibious propulsion device.

[0106] Based on this, in this application, an airbag 22 is provided, and the thickness of the push plate assembly 2 is adjusted by inflating and deflating the airbag 22. In the land walking mode, the thickness of the push plate assembly 2 is increased to ensure that the push plate assembly 2 is in surface contact with the ground; in the underwater navigation mode, the thickness of the push plate assembly 2 is decreased to reduce the resistance experienced by the push plate assembly 2.

[0107] Specifically, such as Figure 7As shown, the pusher assembly 2 includes a frame 23, an airbag 22, and two base plates 21. The airbag 22 is disposed inside the frame 23, and the two base plates 21 are disposed opposite each other on both sides of the airbag 22. The airbag 22 is used to increase the distance between the two base plates 21. In the land walking mode, the airbag 22 is inflated to increase the distance between the two base plates 21, so that the thickness of the pusher assembly 2 is greater than or equal to the distance from the central axis of the first rotating shaft 201 to the bottom of the mounting frame 1, thereby allowing the base plates 21 to make full surface contact with the ground.

[0108] It should be noted that the airbag 22 can also buffer and absorb vibrations, reducing the vibrations and impacts experienced by the amphibious propulsion device when it walks on land.

[0109] In underwater navigation mode, the airbag 22 is preferably in an evacuated state to reduce the thickness of the pusher assembly 2, thereby reducing the resistance experienced by the pusher assembly 2 and ensuring the effective interaction between the pusher assembly 2 and the water. However, in some embodiments, a certain distance may be required between the two substrates 21. Therefore, the airbag 22 does not need to be in a fully evacuated state. The airbag 22 can be inflated or deflated as needed to adjust the thickness of the pusher assembly 2.

[0110] like Figure 7 As shown, the frame 23 is provided with a connecting part 231. There are two connecting parts 231, which are respectively provided on the left and right sides of the frame 23 and along the front and rear sides of the frame 23. One connecting part 231 is connected to the first rotating shaft 201, and the other connecting part 231 is connected to the second rotating shaft 202.

[0111] like Figure 8 As shown, the telescopic rod 3 is a pneumatic rod, which includes a fixed end 320 and a telescopic end 310. The telescopic end 310 extends into the fixed end 320 and can move relative to the fixed end 320 to realize the extension and retraction of the telescopic rod 3. The fixed end 320 is connected to a first vent 301, which is used to connect to a gas source device so that the gas source device can introduce air into the fixed end 320 through the first vent 301 or allow the gas in the fixed end 320 to be discharged to the gas source device through the first vent 301, thereby realizing the movement of the telescopic end 310.

[0112] It should be noted that the gas source equipment can both supply gas and contain incoming gas. The gas source equipment is existing technology in this field and will not be described in detail here.

[0113] The fixed end 320 is connected to the adapter shaft 330, which is rotatably connected to the mounting bracket 1. The first vent 301 is opened on the adapter shaft 330. The telescopic end 310 is sleeved on the outer periphery of the first rotating shaft 201 or the second rotating shaft 202 so that the telescopic rod 3 is rotatably connected to the push plate assembly 2.

[0114] like Figure 10 As shown, the telescopic end 310 has a first channel 302, which communicates with the interior of the fixed end 320. The first channel 302 extends along the length of the telescopic end 310 and forms a first air vent at the end where the telescopic end 310 connects to the frame 23. The first rotating shaft 201 and the second rotating shaft 202 each have a second channel 3011, which extends axially along either the first or second rotating shaft 201 into the frame 23. The outer periphery of the first and second rotating shafts 201 and 202 each have a second vent 3010. When the telescopic rod 3 is rotatably connected to the push plate assembly 2, the second vent 3010 communicates with the first air vent, so that the second channel 3011 communicates with the first channel 302. The airbag 22 has a second air vent, which communicates with the second channel 3011, allowing the airbag 22 to be inflated or deflated via the air passage connected by the telescopic rod 3.

[0115] When the airbag 22 needs to be inflated, the gas enters the fixed end 320 from the gas source device through the first vent 301, and then enters the first channel 302 from the fixed end 320. It then enters the second channel 3011 through the first air port and the second vent 3010, and finally enters the airbag 22 through the second air port.

[0116] When the airbag 22 needs to be vented, the gas inside the airbag 22 enters the second channel 3011 through the second air port, and then enters the first channel 302 through the second air vent 3010 and the first air port. After passing through the inside of the fixed end 320, it returns to the air source device through the first air vent 301.

[0117] Valves are provided in the first channel 302 and / or the second channel 3011 to control the opening and closing of the first channel 302 and / or the second channel 3011, thereby controlling the air intake and exhaust of the airbag 22. Valves are prior art in this field and will not be described in detail here.

[0118] like Figure 3 As shown, the output shaft of the motor 8 is provided with a first transmission wheel 7, and the fixed end 320 of the telescopic rod 3 is provided with a transition shaft 330. The transition shaft 330 is rotatably connected to the mounting bracket 1, and a second transmission wheel 4 is sleeved on the transition shaft 330. The second transmission wheel 4 and the first transmission wheel 7 are connected to the transmission component 6. The output shaft of the motor 8 drives the first transmission wheel 7 to rotate, thereby driving the transmission component 6 to rotate, which in turn drives the second transmission wheel 4 to rotate, and then drives the fixed end 320 of the telescopic rod 3 to rotate through the transition shaft 330, so as to realize the rotation of the telescopic rod 3 in the vertical plane.

[0119] It should be noted that the transmission component 6 can be a synchronous belt or a transmission chain; when the transmission component 6 is a transmission chain, the first transmission wheel 7 and the second transmission wheel 4 are sprockets respectively.

[0120] like Figure 6 As shown, mounting plates 11 are provided on the left and right sides of the mounting frame 1, respectively. The mounting plates 11 are used to mount the motor 8 and the telescopic rod 3. The transmission component 6 is located on the side of the mounting plate 11 away from the interior of the mounting frame 1. The lower end of the mounting plate 11 is provided with a first through hole 110, which is used for the adapter shaft 330 or the second transmission wheel 4 to pass through. The upper end of the mounting plate 11 is provided with a second through hole 111, which is used for the output shaft of the motor 8 or the first transmission wheel 7 to pass through.

[0121] The two telescopic rods 3 are positioned to correspond to the rotatable connection positions of the mounting bracket 1, that is, the central axes of the adapter shafts 330 on the two telescopic rods 3 are on the same straight line.

[0122] It should be noted that when the push plate assembly 2 flips from the second position to the first position, the actions of the push plate assembly 2, the telescopic rod 3, and the motor 8 are the same as the actions of the push plate assembly 2, the telescopic rod 3, and the motor 8 when the push plate assembly 2 makes continuous circular motion.

[0123] Based on the above-mentioned amphibious propulsion device, this application also provides a control method for the amphibious propulsion device, used to control the movement of the above-mentioned amphibious propulsion device.

[0124] like Figure 11 As shown, the control method for the amphibious propulsion device includes the following steps:

[0125] S11. The first motor locks itself when it drives the first telescopic rod to rotate until the telescopic end is vertically downward. The second motor drives the second telescopic rod to rotate in the first direction so that the push plate assembly contacts the ground and the push plate assembly is in the first position.

[0126] S12. The first motor drives the first telescopic rod to rotate relative to the mounting frame in a first direction, and at the same time, the second motor also drives the second telescopic rod to rotate relative to the mounting frame in a first direction, so that the push plate assembly moves linearly from the first position to the second position;

[0127] S13. When the second motor drives the second telescopic rod to rotate to the point where the telescopic end is vertically downward, it is locked to place the push plate assembly in the second position.

[0128] S14. The first motor drives the first telescopic rod to continue rotating in the first direction, causing the push plate assembly to flip until the push plate assembly contacts the ground again and returns to the first position.

[0129] S15. The first motor drives the first telescopic rod to rotate relative to the mounting frame in the first direction. At the same time, the second motor also drives the second telescopic rod to rotate relative to the mounting frame in the first direction, so that the push plate assembly moves linearly from the first position to the second position.

[0130] S16. When the first motor drives the first telescopic rod to rotate to the point where the telescopic end is vertically downward, it is locked, so that the push plate assembly is in the second position again.

[0131] S17. The second motor drives the second telescopic rod to continue rotating in the first direction, causing the push plate assembly to flip until the push plate assembly contacts the ground again and returns to the first position.

[0132] Repeat steps S12 to S17.

[0133] Because when the push plate assembly is in the first position, the telescopic end of the first telescopic rod is vertically downward and retracted, while the second telescopic rod is inclined and extended; and when the push plate assembly is in the second position, the telescopic end of the second telescopic rod is vertically downward and retracted, while the first telescopic rod is inclined and extended, therefore, in some embodiments of this application, such as Figure 12 As shown, when the amphibious propulsion device is moving on land, the control method of the amphibious propulsion device includes the following steps:

[0134] S11'. The first telescopic rod is retracted and its telescopic end is set vertically downward, while the second telescopic rod is extended and set at an angle, so that the push plate assembly 2 contacts the ground and is located in the first position;

[0135] S12'. Extend the first telescopic rod and retract the second telescopic rod, while simultaneously rotating the first and second telescopic rods synchronously relative to the mounting frame 1 in the first direction, so that the push plate assembly 2 moves linearly from the first position to the second position;

[0136] S13'. The second telescopic rod stops extending and does not rotate relative to the mounting bracket 1. The first telescopic rod first retracts and then extends while continuing to rotate in the first direction, causing the push plate assembly 2 to flip from the second position to the first position.

[0137] S14'. Extend the second telescopic rod and retract the first telescopic rod, while simultaneously rotating the first and second telescopic rods synchronously relative to the mounting frame 1 in the first direction, so that the push plate assembly 2 moves linearly from the first position to the second position;

[0138] S15'. The first telescopic rod stops extending and does not rotate relative to the mounting bracket 1. The second telescopic rod first retracts and then extends while continuing to rotate along the first direction, causing the push plate assembly 2 to flip from the second position to the first position.

[0139] Repeat steps S12' to S15'.

[0140] like Figure 13 As shown, when the amphibious propulsion device moves in the opposite direction on land, the control method of the amphibious propulsion device includes the following steps:

[0141] S21. The first motor drives the first telescopic rod to rotate relative to the mounting frame in a second direction. At the same time, the second motor also drives the second telescopic rod to rotate relative to the mounting frame in a second direction, so that the push plate assembly moves linearly from the second position to the first position. The second direction is opposite to the first direction, and the second direction and the first direction are circumferential directions, respectively.

[0142] S22. During the rotation of the first telescopic rod and the second telescopic rod in the second direction, if the telescopic end of the first telescopic rod is first set vertically downward, the first motor is locked, and the second motor drives the second telescopic rod to continue rotating in the second direction, so as to drive the push plate assembly to flip.

[0143] If the telescopic end of the second telescopic rod is set vertically downward first, the second motor is locked, and the first motor drives the first telescopic rod to continue rotating in the second direction, so as to drive the push plate assembly to flip.

[0144] S23. The first motor drives the first telescopic rod to rotate relative to the mounting frame in the second direction. At the same time, the second motor also drives the second telescopic rod to rotate relative to the mounting frame in the second direction, so that the push plate assembly moves linearly from the second position to the first position again.

[0145] Repeat steps S22 to S23.

[0146] In some embodiments of this application, such as Figure 14 As shown, when the amphibious propulsion device moves in the opposite direction on land, the control method of the amphibious propulsion device includes the following steps:

[0147] S21'. The first telescopic rod is retracted and the second telescopic rod is extended. At the same time, the first and second telescopic rods are rotated synchronously relative to the mounting frame 1 in the second direction, so that the push plate assembly 2 moves linearly from the second position to the first position; wherein, the second direction is opposite to the first direction, and the second direction and the first direction are respectively circumferential directions;

[0148] S22'. The second telescopic rod stops extending and does not rotate relative to the mounting bracket 1. The first telescopic rod first retracts and then extends while continuing to rotate in the second direction, causing the push plate assembly 2 to flip from the first position to the second position.

[0149] S23'. The first telescopic rod is retracted and the second telescopic rod is extended. At the same time, the first and second telescopic rods are rotated synchronously relative to the mounting frame 1 in the second direction, so that the push plate assembly 2 moves linearly from the second position to the first position.

[0150] S24'. The second telescopic rod stops extending and does not rotate relative to the mounting bracket 1. The first telescopic rod first retracts and then extends while continuing to rotate in the second direction, causing the push plate assembly 2 to flip from the first position to the second position.

[0151] Repeat steps S21' to S24'.

[0152] It should be noted that when the amphibious propulsion device is moving on land, the first telescopic rod and the second telescopic rod move in a circular motion relative to the mounting frame.

[0153] like Figure 15 As shown, when the amphibious propulsion device is navigating underwater, the control method for the amphibious propulsion device includes the following steps:

[0154] S31. Stop the telescopic rod connected to the lower end of the push plate assembly 2 from extending and retracting and prevent it from rotating relative to the mounting bracket 1; for ease of description, the telescopic rod connected to the lower end of the push plate assembly 2 is called the third telescopic rod, and the telescopic rod connected to the upper end of the push plate assembly 2 is called the fourth telescopic rod; the motor corresponding to the third telescopic rod is called the first motor, and the motor corresponding to the fourth telescopic rod is called the second motor;

[0155] S32. Make the telescopic rod (i.e. the fourth telescopic rod) connected to the upper end of the push plate assembly 2 rotate continuously, so as to drive the push plate assembly 2 to make continuous circular motion around the first rotation axis 201.

[0156] When the amphibious propulsion device travels in the opposite direction underwater, the fourth telescopic rod rotates continuously in the opposite direction to drive the push plate assembly 2 to make a continuous circular motion in the opposite direction around the first rotating axis 201.

[0157] For ease of description, the telescopic rod located on the left side of the mounting frame 1 is called the left telescopic rod 31, and the telescopic rod located on the right side of the mounting frame 1 is called the right telescopic rod 32; the motor connected to the left telescopic rod 31 is called the left motor 81, and the motor connected to the right telescopic rod 32 is called the right motor 82.

[0158] With the pusher assembly 2 vertically positioned as its initial state, in this embodiment, the left telescopic rod 31 is connected to the lower end of the pusher assembly 2 in its initial state, and the right telescopic rod 32 is connected to the upper end of the pusher assembly 2 in its initial state. The left telescopic rod 31 is connected to the pusher assembly 2 via a first rotating shaft 201, and the right telescopic rod 32 is connected to the pusher assembly 2 via a second rotating shaft 202. The underwater navigation mode and land walking mode of the amphibious propulsion device will be described in detail below.

[0159] like Figure 2 and Figure 3 As shown, when the amphibious propulsion device is navigating underwater, the left motor 81 is locked so that the left telescopic rod 31 does not rotate relative to the mounting frame 1; the right motor 82 drives the right telescopic rod 32 to perform continuous circular motion in the vertical plane, thereby driving the push plate assembly 2 to perform continuous circular motion, thus realizing the underwater navigation of the amphibious propulsion device.

[0160] When the amphibious propulsion device moves toward the front of the mounting frame 1, the pusher assembly 2 makes a continuous clockwise circular motion; when the amphibious propulsion device moves toward the rear of the mounting frame 1, the pusher assembly 2 makes a continuous counterclockwise circular motion.

[0161] It should be noted that the clockwise and counterclockwise rotation of the push plate assembly 2 is viewed from the left side of the mounting bracket 1.

[0162] During the continuous circular motion of the push plate assembly 2, the left telescopic rod 31 remains stationary, while the right telescopic rod 32 extends and retracts as needed to ensure that the right telescopic rod 32 can drive the push plate assembly 2 to complete the continuous circular motion.

[0163] It should be noted that the movement of the right telescopic rod 32 and the push plate assembly 2 is not in the same circle. Although both the right telescopic rod 32 and the push plate assembly 2 rotate relative to the mounting frame 1, the right telescopic rod 32 extends and retracts during rotation. Therefore, the trajectory curve formed by the rotation of the telescopic end 310 of the right telescopic rod 32 is not of equal radius. Furthermore, the fixed end 320 of the right telescopic rod 32 and the rotation axis of the mounting frame 1, as well as the rotation axis of the push plate assembly 2 and the mounting frame 1, are not on the same straight line.

[0164] like Figure 16 As shown, when the amphibious propulsion device is walking on land and moving towards the front of the mounting frame 1, the push plate assembly 2 is first flipped to be set in a horizontal direction, and then the push plate assembly 2 is moved in a straight line towards the rear of the mounting frame 1. When the push plate assembly 2 moves in a straight line towards the rear of the mounting frame 1 to the limit position, the push plate assembly 2 is flipped counterclockwise until the push plate assembly 2 contacts the ground, and then the push plate assembly 2 continues to move in a straight line towards the rear of the mounting frame 1, repeating the cycle.

[0165] Specifically, such as Figure 4 and Figure 5As shown, the left motor 81 is locked to prevent the left telescopic rod 31 from rotating relative to the mounting frame 1; the right motor 82 drives the right telescopic rod 32 to rotate counterclockwise in the vertical plane, causing the push plate assembly 2 to flip towards the front of the mounting frame 1 until it contacts the ground; then the left telescopic rod 31 extends and the right telescopic rod 32 retracts, while the left and right telescopic rods 31 and 32 rotate counterclockwise simultaneously, causing the push plate assembly 2 to move linearly towards the rear of the mounting frame 1; when the left telescopic rod 31 extends to its limit position, the right motor 82 is locked to prevent the right telescopic rod 32 from rotating relative to the mounting frame 1, and the left motor 81 drives the left telescopic rod 31 to rotate counterclockwise in the vertical plane, causing the push plate assembly 2 to flip towards the front of the mounting frame 1 until it contacts the ground; then the right telescopic rod 31 extends and the right telescopic rod 32 retracts, while the right telescopic rod 32 retracts, and the right telescopic rod 32 rotates counterclockwise in the vertical plane, causing the push plate assembly 2 to flip towards the front of the mounting frame 1 until it contacts the ground; then the right telescopic rod 32 extends and the right telescopic rod 32 retracts, while the right telescopic rod 32 retracts, ... 2. The left telescopic rod 31 extends and retracts, while the left telescopic rod 31 and the right telescopic rod 32 rotate counterclockwise simultaneously, so that the push plate assembly 2 moves linearly toward the rear of the mounting frame 1. When the right telescopic rod 32 extends to its limit position, the left motor 81 locks so that the left telescopic rod 31 does not rotate relative to the mounting frame 1. The right motor 82 drives the right telescopic rod 32 to rotate counterclockwise in the vertical plane, so that the push plate assembly 2 flips toward the front of the mounting frame 1 until it contacts the ground. Then the left telescopic rod 31 extends and the right telescopic rod 32 retracts, while the left telescopic rod 31 and the right telescopic rod 32 rotate counterclockwise simultaneously, so that the push plate assembly 2 moves linearly toward the rear of the mounting frame 1. The above operation is repeated so that the amphibious propulsion device moves toward the front of the mounting frame 1 on land.

[0166] like Figure 17 As shown, when the amphibious propulsion device is walking on land and moving towards the rear of the mounting frame 1, the push plate assembly 2 is first flipped to be set in a horizontal direction, and then the push plate assembly 2 is moved in a straight line towards the front of the mounting frame 1. When the push plate assembly 2 moves in a straight line towards the front of the mounting frame 1 to the limit position, the push plate assembly 2 is flipped clockwise until the push plate assembly 2 contacts the ground, and then the push plate assembly 2 continues to move in a straight line towards the front of the mounting frame 1, repeating the cycle.

[0167] Specifically, such as Figure 4 and Figure 5As shown, the left motor 81 is locked to prevent the left telescopic rod 31 from rotating relative to the mounting frame 1; the right motor 82 drives the right telescopic rod 32 to rotate clockwise, causing the push plate assembly 2 to flip towards the rear of the mounting frame 1 until it contacts the ground; then the left telescopic rod 31 extends and the right telescopic rod 32 retracts, while the left and right telescopic rods 31 and 32 rotate clockwise simultaneously, causing the push plate assembly 2 to move linearly towards the front of the mounting frame 1; when the left telescopic rod 31 extends to its limit position, the right motor 82 is locked to prevent the right telescopic rod 32 from rotating relative to the mounting frame 1, and the left motor 81 drives the left telescopic rod 31 to rotate clockwise in the vertical plane, causing the push plate assembly 2 to flip towards the rear of the mounting frame 1 until it contacts the ground; then the right telescopic rod 32 extends and The left telescopic rod 31 retracts, and simultaneously the left and right telescopic rods 31 and 32 rotate clockwise to make the push plate assembly 2 move linearly toward the front of the mounting frame 1. When the right telescopic rod 32 extends to its limit position, the left motor 81 locks to prevent the left telescopic rod 31 from rotating relative to the mounting frame 1. The right motor 82 drives the right telescopic rod 32 to rotate clockwise in the vertical plane, causing the push plate assembly 2 to flip toward the rear of the mounting frame 1 until it contacts the ground. Then the left telescopic rod 31 extends and the right telescopic rod 32 retracts, and simultaneously the left and right telescopic rods 31 and 32 rotate clockwise to make the push plate assembly 2 move linearly toward the front of the mounting frame 1. The above operation is repeated to make the amphibious propulsion device walk toward the rear of the mounting frame 1 on land.

[0168] It should be noted that, since the connecting shaft between the right telescopic rod 32 and the push plate assembly 2 is off-center from the rotation center of the push plate assembly 2, the right telescopic rod 32 needs to extend and retract during the rotation of the push plate assembly 2 in order to ensure the reliability and stability of the rotational motion of the push plate assembly 2.

[0169] Based on the above-mentioned amphibious propulsion device, this application also provides an amphibious vessel equipped with the above-mentioned amphibious propulsion device; when the amphibious vessel is traveling in water, it is in underwater navigation mode; when the amphibious vessel is traveling on land, it is in land travel mode.

[0170] Through the description of several embodiments of the amphibious propulsion device and control method of this application, it can be seen that the embodiments of the amphibious propulsion device and control method of this application have at least one or more of the following advantages:

[0171] 1. Through the cooperation of two motors 8 and two telescopic rods 3, the push plate assembly 2 can perform continuous circular motion around the horizontal axis, and can also move horizontally in a straight line. When the push plate assembly 2 performs continuous circular motion, the amphibious propulsion device is used for underwater navigation; when the push plate assembly 2 moves horizontally in a straight line, the amphibious propulsion device is used for walking on land. The switching between circular motion and horizontal linear motion of the push plate assembly 2 is simple and continuous. Furthermore, the overall structure of the amphibious propulsion device is simple and compact, making it convenient to arrange on amphibious vessels.

[0172] 2. With only two motors 8 as power components, the ship's control system can enable the amphibious propulsion device to navigate underwater or walk on land by operating the two motors 8. The control method is simple.

[0173] 3. By designing the pusher assembly 2 to include an airbag 22 and two base plates 21, when the amphibious propulsion device is walking on land, the airbag 22 is inflated to increase the distance between the two base plates 21, allowing the base plates 21 to make full contact with the ground. The airbag 22 can also absorb the vibration and impact generated during walking. When the amphibious propulsion device is navigating underwater, the airbag 22 is deflated to reduce the distance between the two base plates 21, reduce the resistance of the pusher assembly 2, and ensure the effective interaction between the pusher assembly 2 and the water.

[0174] 4. By setting arc-shaped grooves 101 on the left and right sides of the mounting frame 1 respectively, when the push plate assembly 2 moves, the first rotating shaft 201 and the second rotating shaft 202 slide along the groove wall of the corresponding arc-shaped groove 101. The mutual cooperation between the arc-shaped groove 101 and the first rotating shaft 201 and / or the second rotating shaft 202 guides and restricts the movement of the push plate assembly 2, ensuring the reliability and smoothness of the movement of the push plate assembly 2.

[0175] 5. When the amphibious propulsion device is walking on land or navigating underwater, it does not need to turn around when the direction of movement changes. It can simply move the push plate assembly 2 in the opposite direction. The switching between the forward and reverse movements of the push plate assembly 2 is simple, fast and smooth.

[0176] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.

Claims

1. An amphibious propulsion device, characterized in that, include: The mounting frame has telescopic rods on its left and right sides respectively. The center line of the telescopic rods along their length is located in a vertical plane, and the fixed end of the telescopic rods is rotatably connected to the mounting frame. Two motors are respectively mounted on the top of the mounting frame and are arranged in a one-to-one correspondence with the two telescopic rods; the motors are used to drive the corresponding telescopic rods to rotate relative to the mounting frame. A push plate assembly is disposed within the mounting frame; the lower end of the push plate assembly is rotatably connected to the telescopic end of one of the telescopic rods via a first rotating shaft, and the upper end of the push plate assembly is rotatably connected to the telescopic end of the other telescopic rod via a second rotating shaft. The amphibious propulsion device includes an underwater navigation mode and a land walking mode; In the underwater navigation mode, the telescopic rod rotatably connected to the lower end of the push plate assembly does not rotate relative to the mounting frame and stops extending and retracting, while the telescopic rod rotatably connected to the upper end of the push plate assembly rotates relative to the mounting frame and drives the push plate assembly to continuously rotate around the first rotation axis. In the land walking mode, the push plate assembly moves linearly from the first position along the front-back direction of the mounting frame to the second position, and then flips upward from the second position back to the first position. The push plate assembly cyclically moves between the first position and the second position. During the linear movement of the push plate assembly from the first position to the second position, the push plate assembly makes surface contact with the ground.

2. The amphibious propulsion device according to claim 1, characterized in that, One of the telescopic rods is a first telescopic rod, and the other telescopic rod is a second telescopic rod; the motor that drives the first telescopic rod to rotate is a first motor, and the motor that drives the second telescopic rod to rotate is a second motor; When the push plate assembly is in the first position, the first telescopic rod is retracted and the telescopic end is vertically downward, while the second telescopic rod is extended and inclined. When the push plate assembly is in the second position, the first telescopic rod is extended and inclined, and the second telescopic rod is retracted with its telescopic end facing vertically downward. When the push plate assembly moves linearly from the first position to the second position, the first telescopic rod extends and the second telescopic rod retracts, and at the same time the first telescopic rod and the second telescopic rod rotate synchronously relative to the mounting frame. When the push plate assembly flips from the second position to the first position, the first telescopic rod stops extending and does not rotate relative to the mounting frame, while the second telescopic rod first retracts and then extends while rotating relative to the mounting frame.

3. The amphibious propulsion device according to claim 1, characterized in that, The push plate assembly includes a frame, an airbag, and two base plates. The first rotating shaft and the second rotating shaft are respectively disposed on the frame. The airbag is disposed inside the frame. The two base plates are disposed opposite each other and on both sides of the airbag. The airbag is used to increase the distance between the two base plates. In the land walking mode, the upper and lower ends of the push plate assembly are arranged in a horizontal direction, and the airbag is inflated so that the distance between the two base plates is greater than or equal to the distance from the central axis of the first rotating shaft to the bottom of the mounting frame.

4. The amphibious propulsion device according to claim 3, characterized in that, The telescopic rod is a pneumatic rod. The telescopic end of the telescopic rod is provided with a first channel. The first rotating shaft and the second rotating shaft are respectively provided with a second channel. The second channel communicates with the first channel and extends to the frame and communicates with the airbag. The first channel and / or the second channel are provided with valves to control the opening and closing of the first channel and / or the second channel.

5. The amphibious propulsion device according to claim 1, characterized in that, The left and right side walls of the mounting frame are respectively provided with arc-shaped grooves, which are connected to the interior of the mounting frame; the groove wall of the arc-shaped groove includes a straight segment and an arc segment, with the straight segment located below the arc segment; the first rotating shaft and the second rotating shaft respectively extend into the corresponding arc-shaped groove; When the pusher assembly moves linearly from the first position toward the second position, the first rotation axis and the second rotation axis slide along the corresponding straight line segments respectively; When the pusher assembly flips from the second position to the first position or when the pusher assembly performs continuous circular motion, the second rotation axis slides along the corresponding arc segment.

6. The amphibious propulsion device according to claim 1, characterized in that, The output shaft of the motor is provided with a first transmission wheel, and the fixed end of the telescopic rod is provided with a transition shaft. The transition shaft is rotatably connected to the mounting bracket, and a second transmission wheel is sleeved on the transition shaft. The second transmission wheel and the first transmission wheel are simultaneously connected to the transmission component.

7. A control method for an amphibious propulsion device, characterized in that, The method for controlling the movement of the amphibious propulsion device as described in claim 2, wherein when the amphibious propulsion device is moving on land, the control method includes the following steps: S11. The first motor locks itself when it drives the first telescopic rod to rotate until the telescopic end is vertically downward. The second motor drives the second telescopic rod to rotate in the first direction so that the push plate assembly contacts the ground and the push plate assembly is located in the first position. S12. The first motor drives the first telescopic rod to rotate relative to the mounting frame in the first direction, and at the same time, the second motor also drives the second telescopic rod to rotate relative to the mounting frame in the first direction, so that the push plate assembly moves linearly from the first position toward the second position; S13. When the second motor drives the second telescopic rod to rotate to the point where the telescopic end is vertically downward, the rod is locked, so that the push plate assembly is in the second position. S14. The first motor drives the first telescopic rod to continue rotating in the first direction, causing the push plate assembly to flip until the push plate assembly contacts the ground again and returns to the first position. S15. The first motor drives the first telescopic rod to rotate relative to the mounting frame in the first direction, and at the same time, the second motor also drives the second telescopic rod to rotate relative to the mounting frame in the first direction, so that the push plate assembly moves linearly from the first position toward the second position; S16. When the first motor drives the first telescopic rod to rotate to the point where the telescopic end is vertically downward, it is locked, so that the push plate assembly is in the second position again; S17. The second motor drives the second telescopic rod to continue rotating in the first direction, causing the push plate assembly to flip until the push plate assembly contacts the ground again and the push plate assembly returns to the first position. Repeat steps S12 to S17.

8. The control method for the amphibious propulsion device as described in claim 7, characterized in that, When the amphibious propulsion device travels in the opposite direction on land, the control method includes the following steps: S21. The first motor drives the first telescopic rod to rotate relative to the mounting frame in a second direction, and at the same time, the second motor also drives the second telescopic rod to rotate relative to the mounting frame in the second direction, so that the push plate assembly moves linearly from the second position to the first position; wherein, the second direction and the first direction are opposite directions on the circumference; S22. During the rotation of the first telescopic rod and the second telescopic rod in the second direction, if the telescopic end of the first telescopic rod is first set vertically downward, then the first motor is locked, and the second motor drives the second telescopic rod to continue rotating in the second direction, so as to drive the push plate assembly to flip. If the telescopic end of the second telescopic rod is initially set vertically downwards, the second motor is locked, and the first motor drives the first telescopic rod to continue rotating in the second direction, thereby causing the push plate assembly to flip. S23. The first motor drives the first telescopic rod to rotate relative to the mounting frame in the second direction. At the same time, the second motor also drives the second telescopic rod to rotate relative to the mounting frame in the second direction, so that the push plate assembly moves linearly from the second position to the first position again. Repeat steps S22 to S23.

9. A control method for an amphibious propulsion device, characterized in that, The method for controlling the movement of the amphibious propulsion device as described in claim 1, wherein when the amphibious propulsion device is navigating underwater, the control method includes the following steps: S31. The telescopic end of the telescopic rod connected to the lower end of the push plate assembly is vertically oriented and does not rotate relative to the mounting frame; S32. The telescopic rod connected to the upper end of the push plate assembly is continuously rotated relative to the mounting frame to drive the push plate assembly to perform continuous circular motion around the first rotation axis.

10. The control method for the amphibious propulsion device according to claim 9, characterized in that, When the amphibious propulsion device travels in reverse underwater, the telescopic rod connected to the upper end of the push plate assembly rotates continuously in the opposite direction relative to the mounting frame, thereby driving the push plate assembly to perform continuous circular motion in the opposite direction around the first rotation axis.

Images