Unmanned ship quick-release land transport wheel set device and small water vehicle

Abstract

The application provides a quick-release land transportation wheel set device for an unmanned ship and a small water vehicle, which at least comprises a propeller, a transition seat and a wheel. The propeller is arranged on the bottom of a ship body. The outer shell of the propeller is symmetrically provided with a first protrusion and a second protrusion along an axis. The transition seat is detachably arranged on the outer shell of the propeller through cooperation with the first protrusion and the second protrusion. The wheel is rotatably arranged on the transition seat and located on the side of the propeller away from the ship body. The wheel can support the transition seat and the propeller to be separated from the ground, and drive the ship body to move on land through the rolling of the wheel. The technical problems of the existing unmanned ship land transportation difficulty, the difficulty in disassembling the ship bottom wheel and the influence on the water performance are solved. The traditional inefficient mode of at least two people cooperating to lift and transport is abandoned, the deployment efficiency in the test preparation, scene transportation and the like is improved, the labor cost and the operation strength are reduced, and the buckle connection between the transition seat and the outer shell of the propeller is quickly released before the unmanned ship is prepared to enter water.

Description

Technical Field

[0001] This application relates to the technical field of small unmanned vessels, and more particularly to a quick-release land transport wheel assembly device for unmanned vessels and a small water transport vehicle. Background Technology

[0002] Small unmanned surface vessels (USVs) typically consist of a hull, propulsion system, navigation and control system, energy system, and payload. The hull is often made of lightweight composite materials or high-strength plastics to ensure structural strength while reducing overall weight. The propulsion system generally includes an electric motor and propeller, powered by a battery pack. The navigation and control system integrates GPS, an inertial measurement unit (IMU), and a wireless communication module to achieve autonomous navigation and remote control. Due to their small size and relatively light weight, they theoretically possess high deployment flexibility. However, in practical applications, limited by their hull design and lack of auxiliary mobility devices, small USVs cannot be moved during land transfers and must rely on manual handling. Typically, at least two operators are needed to lift them from their storage location onto a transport vehicle, and then manually unload and place them in the water upon arrival at the test site. This process is not only inefficient, especially in frequent relocations or complex terrain conditions, but also significantly increases labor costs and operational risks, severely restricting the rapid deployment capability and operational efficiency of the USV system.

[0003] To address the challenge of transferring small unmanned surface vessels (USVs) to land, an amphibious design has emerged in existing technologies. These USVs, based on traditional hull structures, have rolling wheels fixed to their hull bottom, creating a configuration similar to an amphibious vehicle. The wheels are connected to the hull bottom via rigid supports or a simple suspension structure, enabling them to travel on land and perform short-distance self-propelled transfers from transport vehicles to water's edge. This reduces reliance on manual handling and enhances the USV's adaptability and maneuverability in various environments.

[0004] However, existing amphibious unmanned surface vessels (USVs) still suffer from significant technical shortcomings. While they achieve land mobility by mounting wheels on their hulls, these wheels are typically fixed or semi-fixed, making them difficult to disassemble quickly. When the USV enters the water, the wheels and their supporting structures exposed to the current significantly increase hydrodynamic drag, disrupting the hull's streamlined shape, leading to decreased speed, increased energy consumption, and impacting endurance and mission efficiency. Furthermore, while adding automatic wheel retraction mechanisms (such as hydraulic or electric lifting devices) to address drag could reduce drag by retracting the wheels into the hull after entry into the water, such mechanisms are complex, require additional internal space, increase system weight, and impose higher requirements on sealing and reliability. This significantly increases the design complexity and manufacturing cost of the USV, hindering its widespread adoption and large-scale application. Utility Model Content

[0005] This application provides a quick-release land transport wheel assembly device for unmanned vessels and a small water vehicle, solving the technical problems of difficult land transport of existing unmanned vessels and the difficulty in disassembling the wheels, which affects water performance. The technical solution is as follows:

[0006] In a first aspect, this application provides an unmanned vessel quick-release land transport wheel assembly device, comprising: a propeller for mounting on the bottom of the hull, wherein a first protrusion and a second protrusion are symmetrically arranged along the axis on the outer shell of the propeller; an adapter seat for detachably mounting on the outer shell of the propeller by cooperating with the first and second protrusions; and a wheel rotatably mounted on the adapter seat, located on the side of the propeller away from the hull, wherein the wheel can support the adapter seat and the propeller to lift off the ground, and the hull is moved on land by the rolling of the wheel.

[0007] In one embodiment, the adapter includes: a support component, which is elongated, with a support platform on one side for supporting the propeller housing, and a first limiting hole adapted to the first protrusion on the support platform; and a snap-fit ​​assembly, which is rotatably mounted on one end of the support component, and a second limiting hole adapted to the second protrusion on the snap-fit ​​assembly.

[0008] When the first protrusion is inserted into the first limiting hole, the outer shell of the pusher abuts against the support platform; the buckling assembly can be flipped to fit the second limiting hole onto the second protrusion, so that the support platform and the buckling assembly together form a connection structure locked on the pusher.

[0009] In one embodiment, the snap-fit ​​assembly includes: a first pivot shaft that passes through the bracket component;

[0010] The tilting arm is rotatably mounted on the bracket component via a first pivot, and a second limiting hole is formed on the tilting arm; when the tilting arm rotates on the bracket component via the first pivot, the second limiting hole can correspond to the first limiting hole.

[0011] In one embodiment, the second protrusion is provided with a locking hole; the unmanned vessel quick-release land transport wheel assembly device further includes: a locking pin, which is installed in the locking hole by insertion and removal, and the length of the locking pin is greater than the inner diameter of the second limiting hole, so that the locking pin can abut against the tilting arm, thereby locking the tilting arm sleeved on the second protrusion.

[0012] In one embodiment, the snap-fit ​​assembly further includes: an elastic element sleeved on the first pivot; the elastic element has a first elastic arm and a second elastic arm, the first elastic arm being elastically supported on the bracket component, and the second elastic arm being elastically supported on the flipping arm;

[0013] When the flipping arm rotates around the first pivot and causes the second limiting hole to disengage from the second protrusion, the elastic element can store elastic potential energy.

[0014] In one embodiment, the support component is provided with a limiting part, which is located on the side of the first rotating shaft near the pusher; when the tilting arm rotates around the first rotating shaft under the elastic force of the elastic element, the tilting arm can abut against the limiting part, thereby limiting the maximum rotation angle of the tilting arm.

[0015] In one embodiment, the bracket component has two oppositely arranged mounting lugs at one end away from the buckle assembly; the unmanned vessel quick-release land transport wheel assembly also includes: a second pivot shaft passing through the two mounting lugs, and the wheel is rotatably mounted between the two mounting lugs via the first pivot shaft.

[0016] Secondly, embodiments of this application provide a small water vehicle, including: a hull; and the unmanned vessel quick-release land transport wheel assembly device proposed in the above technical solution.

[0017] Compared with existing technologies, the unmanned surface vessel (USV) quick-release land transport wheel assembly and small water vehicle proposed in the above technical solution utilize the USV's existing propeller as the installation base. Symmetrical first and second protrusions are set on the propeller shell, and a detachable connection is achieved between the propeller and the adapter by a snap-fit ​​mechanism between the first and second protrusions and the adapter. No additional modifications to the hull structure or the addition of complex drive and deployment mechanisms are required to enable the USV to travel on land. Operators only need to quickly install the quick-release land transport wheel assembly onto the propeller at the stern. The entire vessel can be easily transferred by a single person lifting the bow and using the wheels to support the stern, completely eliminating the inefficient traditional method that requires at least two people to lift and transport the vessel. This significantly improves the deployment efficiency of USVs in scenarios such as test preparation and relocation, and greatly reduces labor costs and workload. Before the unmanned surface vessel (USV) completes land transport and prepares to enter the water, operators can quickly disengage the snap-fit ​​connection between the adapter and the propeller housing, removing the entire quick-release land transport wheel assembly from the bottom of the hull. This feature ensures that the USV maintains its original streamlined structure when navigating on water, avoiding the additional hydrodynamic resistance generated by fixed wheels in the water. This effectively guarantees the USV's speed, propulsion efficiency, and endurance, improving its performance on water. Compared to the increased energy consumption caused by the prolonged exposure of wheels to water in existing amphibious USVs, this solution achieves an optimal balance between function and performance.

[0018] In summary, the quick-release land transport wheel assembly of this application has a simple structure, is easy to install, and has high reliability. It does not introduce complex mechanical structures such as hydraulic lifting or electric recovery, thus avoiding the high manufacturing costs, high maintenance difficulties, and risk of seal failure that would result. It meets the comprehensive needs of small unmanned vessels for rapid deployment, low-cost maintenance, and high-performance operation in practical applications, and has outstanding practical value and broad application prospects.

[0019] The above overview is for illustrative purposes only and is not intended to be limiting in any way. In addition to the illustrative aspects, embodiments, and features described above, further aspects, embodiments, and features of this application will become readily apparent from the accompanying drawings and the following detailed description. Attached Figure Description

[0020] In the accompanying drawings, unless otherwise specified, the same reference numerals throughout the various drawings denote the same or similar parts or elements. These drawings are not necessarily drawn to scale. It should be understood that these drawings depict only some embodiments disclosed in this application and should not be construed as limiting the scope of this application.

[0021] Figure 1 This is a three-dimensional structural schematic diagram of the quick-release land transport wheel assembly device for unmanned vessels in the first embodiment of this application;

[0022] Figure 2 This is a three-dimensional structural diagram of the thruster housing in the first embodiment of this application;

[0023] Figure 3 This is a three-dimensional structural diagram of the adapter and the wheel in the first embodiment of this application;

[0024] Figure 4 This is a three-dimensional structural diagram of the snap-fit ​​assembly in the first embodiment of this application.

[0025] Figure label:

[0026] 1. Thruster;

[0027] 11. First bump; 12. Second bump;

[0028] 120. Keyhole;

[0029] 2. Adapter socket;

[0030] 21. Support component; 22. First rotating shaft; 23. Tilting arm; 24. Elastic element;

[0031] 211. Support platform; 212. First limiting hole; 213. Limiting part; 214. Mounting lug; 231. Second limiting hole;

[0032] 3. Wheels;

[0033] 4. Second rotating shaft. Detailed Implementation

[0034] In the following description, only certain exemplary embodiments are briefly described. As those skilled in the art will recognize, the described embodiments can be modified in various ways without departing from the spirit or scope of this application. Therefore, the drawings and description are considered to be exemplary in nature and not restrictive.

[0035] First Embodiment

[0036] Reference Figure 1 and Figure 2 As shown, an embodiment of this application proposes a quick-release land transport wheel assembly for unmanned vessels. This quick-release land transport wheel assembly may include: a thruster 1 for mounting on the bottom of the hull, with a first protrusion 11 and a second protrusion 12 symmetrically arranged along the axis on the outer shell of the thruster 1; an adapter 2 for detachably mounting on the outer shell of the thruster 1 by cooperating with the first protrusion 11 and the second protrusion 12; and a wheel 3 rotatably mounted on the adapter 2, located on the side of the thruster 1 away from the hull, the wheel 3 being able to support the adapter 2 and the thruster 1 to lift off the ground, and the hull moving on land by the rolling of the wheel 3.

[0037] Specifically, in the technical solution adopted in this application, the thruster 1 is a power function component assembled on the unmanned vessel, generally located at the bottom of the hull. This embodiment does not improve the internal structure and power principle of the thruster 1, so it will not be described in detail here. To achieve a limiting connection between the thruster 1 and the adapter 2, symmetrical first protrusion 11 and second protrusion 12 can be provided on the outer shell of the thruster 1. The adapter 2 is installed on the outer shell of the thruster 1 through a snap-fit ​​engagement with the first protrusion 11 and the second protrusion 12, which not only limits the engagement of the adapter 2, but also allows the thruster 1 and the adapter 2 to be separated by releasing the snap-fit ​​engagement, achieving a quick disassembly and assembly effect. Wheels 3 are rotatably mounted on the adapter 2. When the unmanned vessel needs to be moved on land, the wheels 3 can support the adapter 2 and drive the thruster 1 off the ground through the adapter 2. Since the thruster 1 is assembled at the bottom of the unmanned vessel's hull, the unmanned vessel also leaves the ground with the support of the wheels 3, and then the unmanned vessel can move smoothly on land through the rolling of the wheels 3.

[0038] It should be noted that the thruster 1 is usually mounted on the bottom of the stern of the unmanned vessel. With the quick-release land transport wheel assembly device for unmanned vessels of this application, when moving the unmanned vessel on land, only the operator needs to manually lift the front of the unmanned vessel, without lifting the entire vessel. Compared with the traditional method of lifting the entire vessel by two people, this device can be completed by a single person for land transportation, which greatly improves the efficiency of test preparation and reduces labor costs.

[0039] Furthermore, refer to Figure 3 As shown, in some embodiments, the adapter 2 includes: a support component 21, which is elongated, and a support platform 211 for supporting the housing of the thruster 1 is provided on one side of the support component 21. The support platform 211 is provided with a first limiting hole 212 that is adapted to the first protrusion 11; and a buckle assembly, which is rotatably installed on one end of the support component 21. The buckle assembly is provided with a second limiting hole 231 that is adapted to the second protrusion 12.

[0040] When the first protrusion 11 is inserted into the first limiting hole 212, the outer shell of the pusher 1 abuts against the support platform 211; the buckle assembly can be flipped to fit the second limiting hole 231 onto the second protrusion 12, so that the support platform 211 and the buckle assembly together form a connection structure locked on the pusher 1.

[0041] Specifically, in the technical solution adopted in this application, the support component 21 can be a long, vertical support frame with a length greater than the corresponding size of the thruster 1. For example, if the outer shell of the thruster 1 is cylindrical, the length of the support component 21 is greater than the diameter of the outer shell of the thruster 1, to ensure that the support component 21 can stably support the thruster 1 off the ground. The outer shell of the thruster 1 can be placed on the support platform 211 on one side of the support component 21, so that the support component 21 supports the outer shell of the thruster 1. Specifically, when the wheel 3 contacts the ground, the supporting force of the wheel 3 can be transmitted to the outer shell of the thruster 1 through the support platform 211, providing stable support for the thruster 1. To limit and fix the outer shell of the thruster 1 on the support platform 211, a first limiting hole 212 is provided on the support platform 211. The first protrusion 11 on the outer shell of the thruster 1 can be inserted into the first limiting hole 212, and the lateral displacement of the thruster 1 along the support platform 211 is limited by the cooperation between the protrusion and the limiting hole. After the buckle assembly is flipped around the bracket component 21, its second limiting hole 231 can be fitted onto the second protrusion 12 of the outer shell of the pusher 1, thereby forming a connection structure for locking the pusher 1 together with the support platform 211; at this time, the outer shell of the pusher 1 is limited and fixed between the buckle assembly and the support platform 211, realizing a stable connection between the outer shell of the pusher 1 and the adapter 2.

[0042] Furthermore, refer to Figure 4 As shown, in some embodiments, the buckle assembly includes: a first rotating shaft 22, which passes through the bracket component 21; a flip arm 23, which is rotatably mounted on the bracket component 21 via the first rotating shaft 22; and a second limiting hole 231 is formed on the flip arm 23. When the flip arm 23 rotates on the bracket component 21 via the first rotating shaft 22, the second limiting hole 231 can correspond to the first limiting hole 212.

[0043] Specifically, in the technical solution adopted in this application, when the pusher 1 is placed on the support platform 211 and the first protrusion 11 on the outer shell of the pusher 1 is inserted into the first limiting hole 212 of the support platform 211, the operator rotates the flip arm 23 around the first rotating shaft 22, so that the second limiting hole 231 of the flip arm 23 is fitted onto the second protrusion 12 on the outer shell of the pusher 1; at this time, the flip arm 23 and the support platform 211 together form a connection structure that provides bidirectional limiting for the pusher 1, thereby achieving a stable connection between the pusher 1 and the adapter 2. When it is necessary to separate the pusher 1 from the adapter 2, the flip arm 23 is rotated in the opposite direction around the first rotating shaft 22, so that the second limiting hole 231 is disengaged from the second protrusion 12, and then the pusher 1 is separated from the support platform 211 by insertion and removal (i.e., the engagement between the first protrusion 11 and the first limiting hole 212 is pulled out), thus completing the quick disassembly. This process eliminates the need for complicated loading and unloading steps, enabling the simultaneous loading and unloading of the propeller 1 and the adapter 2, fully demonstrating the core advantage of rapid loading and unloading.

[0044] Furthermore, refer to Figure 2 As shown, in some embodiments, the second protrusion 12 is provided with a locking hole 120; the unmanned vessel quick-release land transport wheel assembly device in this embodiment also includes: a locking pin (not shown in the figure), which is installed in the locking hole 120 by insertion and removal. The length of the locking pin is greater than the inner diameter of the second limiting hole 231 so that the locking pin can abut against the flip arm 23, thereby locking the flip arm 23 sleeved on the second protrusion 12.

[0045] Specifically, in the technical solution adopted in this application, a pluggable locking pin is configured on the second protrusion 12. The core purpose is to prevent the tilting arm 23 from disengaging from the second protrusion 12 due to unexpected situations such as ship movement, turbulence, or external collisions, thereby further improving the stability of the connection between the propeller 1 and the adapter 2. In actual assembly, after the tilting arm 23 is fitted onto the second protrusion 12 through the second limiting hole 231, the operator inserts the locking pin into the locking hole 120 of the second protrusion 12. Since the length of the locking pin is greater than the inner diameter of the second limiting hole 231, both ends of the locking pin will protrude from the locking hole 120. When the tilting arm 23 rotates in the direction of disengaging from the second protrusion 12, its end face will abut against the protruding end of the locking pin, thereby restricting its rotation and locking the tilting arm 23. In this embodiment, the locking pin can adopt various structural forms that facilitate quick disassembly: for example, if the locking pin is a bolt, the locking hole 120 is a threaded hole adapted to the external thread of the bolt, that is, quick insertion and removal are achieved through thread engagement without the need for an additional nut; if the locking pin is a bolt-nut assembly, the locking hole 120 is a through hole for the bolt to pass through, that is, after the bolt passes through the through hole, it can be quickly tightened or disassembled by the nut, which also meets the quick disassembly requirement. Neither of the above two structures requires special loading and unloading tools to tighten its insertion and removal structure; only the tilting arm 23 needs to be restricted during land transportation.

[0046] Furthermore, refer to Figure 4As shown, in some embodiments, the snap-fit ​​assembly further includes: an elastic element 24 sleeved on the first rotating shaft 22; the elastic element 24 has a first elastic arm and a second elastic arm, the first elastic arm being elastically supported on the bracket component 21, and the second elastic arm being elastically supported on the flipping arm 23.

[0047] When the flipping arm 23 rotates around the first rotating shaft 22 and causes the second limiting hole 231 to disengage from the second protrusion 12, the elastic element 24 can store elastic potential energy.

[0048] Specifically, in the technical solution adopted in this application, the elastic element 24 can be a torsion spring. The torsion spring has a cylindrical shape adapted to the first rotating shaft 22, with a helical coil section wound around the outside of the first rotating shaft 22. The straight rod sections extending from both ends of the coil respectively constitute the first elastic arm and the second elastic arm. The first elastic arm can generate radial elastic pressure on the support component 21, and the second elastic arm can generate reverse elastic pressure on the tilting arm 23, so as to stably limit the tilting arm 23 on the second protrusion 12, which can prevent the tilting arm 23 from accidentally loosening due to bumps when the unmanned boat moves on land, thus improving the connection stability. When it is necessary to disassemble the thruster 1, the operator applies external force to the tilting arm 23 and rotates it in a direction away from the second protrusion 12. During the rotation of the tilting arm 23 around the first rotating shaft 22, the torsion spring will undergo torsional deformation, and its elastic potential energy will accumulate synchronously with the increase of deformation. When the external force is removed, the elastic potential energy stored in the torsion spring is released through the reset deformation of the helical coil, causing the flip arm 23 to automatically rotate back to the initial locked position around the first rotating shaft 22 without the need for the operator to manually adjust the reset state of the flip arm 23. On the one hand, this reduces the manual operation steps after disassembly, further improving the efficiency of quick disassembly; on the other hand, it ensures that the flip arm 23 can be accurately fitted onto the second protrusion 12 each time it is assembled, reducing the difficulty of assembly alignment.

[0049] Furthermore, refer to Figure 3 As shown, in some embodiments, the support component 21 is provided with a limiting part 213, which is located on the side of the first rotating shaft 22 near the pusher 1; when the flip arm 23 rotates around the first rotating shaft 22 under the elastic force of the elastic element 24, the flip arm 23 can abut against the limiting part 213, thereby limiting the maximum rotation angle of the flip arm 23.

[0050] Specifically, in the technical solution adopted in this application, the limiting part 213 can be a limiting plate structure that is vertically arranged along the height direction of the support component 21. It can be integrally formed with the support component 21 or detachably connected. When the flip arm 23 rotates under the elastic force of the elastic element 24, the flip arm 23 can form a surface contact with the end of the limiting part 213. After the pusher 1 separates from the adapter 2, the elastic element 24 will release elastic potential energy to drive the flip arm 23 to automatically reset and rotate around the first rotating shaft 22. The rotating flip arm 23 can contact the limiting part 213 and be subjected to the reaction force of the limiting part 213. This reaction force is balanced with the elastic force of the elastic element 24, preventing the flip arm 23 from rotating further. This avoids the flip arm 23 rotating too much, which would require a large angle to rotate the flip arm 23 during the next assembly, causing inconvenience.

[0051] Furthermore, refer to Figure 3 As shown, in some embodiments, the bracket component 21 has two oppositely arranged mounting lugs 214 at one end away from the buckle assembly; the unmanned vessel quick-release land transport wheel assembly device in this embodiment also includes: a second rotating shaft 4, which passes through the two mounting lugs 214, and the wheel 3 is rotatably mounted between the two mounting lugs 214 through the second rotating shaft 4.

[0052] Specifically, in the technical solution adopted in this application, the two mounting lugs 214 and the bracket component 21 are connected by integral molding or welding. This design can ensure the structural integrity of the mounting lugs 214 and the bracket component 21, and avoid the lugs from falling off or deforming due to the load of the unmanned vessel during land transportation. At the same time, the two relatively arranged mounting lugs 214 at the end of the bracket component 21 away from the buckle assembly together form an installation space for the wheel 3 to rotate, providing a structural basis for the stable assembly of the wheel 3.

[0053] Second Embodiment

[0054] This application proposes a small waterborne vehicle, which includes at least a hull and the unmanned surface vessel (USV) quick-release land transport wheel assembly device from the first embodiment of this application. The specific structure of the USV quick-release land transport wheel assembly device is described in the first embodiment and will not be repeated here. The small waterborne vehicle in this embodiment only requires the operator to manually lift the front of the hull, eliminating the need to lift the entire vessel, thus enabling land transport. Compared to the traditional method of lifting the entire vessel by two people, this small waterborne vehicle can be transported on land by a single person, significantly improving test preparation efficiency and reducing labor costs.

[0055] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. 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 those different embodiments or examples.

[0056] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "a plurality of" means two or more, unless otherwise explicitly specified.

[0057] Any process or method description in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or more executable instructions for implementing a particular logical function or process. Furthermore, the scope of the preferred embodiments of this application includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functionality involved.

[0058] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus or device (such as a computer-based system, a processor-included system or other system that can fetch and execute instructions from, an instruction execution system, apparatus or device).

[0059] It should be understood that various parts of this application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution system. All or part of the steps of the methods in the above embodiments can be implemented by a program instructing related hardware, the program being stored in a computer-readable storage medium, which, when executed, includes one or a combination of the steps of the method embodiments.

[0060] Furthermore, the functional units in the various embodiments of this application can be integrated into a single processing module, or each unit can exist physically separately, or two or more units can be integrated into a single module. The integrated module can be implemented in hardware or as a software functional module. If the integrated module is implemented as a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium. This storage medium can be a read-only memory, a disk, or an optical disk, etc.

[0061] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of various variations or substitutions within the technical scope disclosed in this application, and these should all be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A quick-release land transport wheel assembly device for unmanned vessels, characterized in that, include: A propeller, for mounting on the bottom of the hull, wherein a first protrusion and a second protrusion are symmetrically arranged along the axis on the outer shell of the propeller; The adapter is detachably mounted on the housing of the thruster by engaging with the first protrusion and the second protrusion; as well as, The wheels are rotatably mounted on the adapter seat and located on the side of the propeller away from the hull. The wheels can support the adapter seat and the propeller to lift off the ground, and the hull can be moved on land by the rolling of the wheels.

2. The unmanned vessel quick-release land transport wheel assembly device according to claim 1, characterized in that, The adapter includes: The support component is elongated and has a support platform on one side for supporting the outer shell of the thruster. The support platform has a first limiting hole that matches the first protrusion. A snap-fit ​​assembly is rotatably mounted on one end of the bracket component, and the snap-fit ​​assembly is provided with a second limiting hole that matches the second protrusion; When the first protrusion is inserted into the first limiting hole, the outer shell of the pusher abuts against the support platform; the buckling assembly can be flipped to fit the second limiting hole onto the second protrusion, so that the support platform and the buckling assembly together form a connection structure locked on the pusher.

3. The unmanned vessel quick-release land transport wheel assembly device according to claim 2, characterized in that, The snap-fit ​​assembly includes: The first rotating shaft passes through the bracket component; A tilting arm is rotatably mounted on the bracket component via the first pivot, and a second limiting hole is formed on the tilting arm; When the flipping arm rotates on the bracket component via the first rotating shaft, the second limiting hole can correspond to the first limiting hole.

4. The unmanned vessel quick-release land transport wheel assembly device according to claim 3, characterized in that, The second protrusion is provided with a locking hole; The unmanned vessel quick-release land transport wheel assembly also includes: A locking pin is installed in the locking hole by insertion and removal. The length of the locking pin is greater than the inner diameter of the second limiting hole, so that the locking pin can abut against the flip arm, thereby locking the flip arm sleeved on the second protrusion.

5. The unmanned vessel quick-release land transport wheel assembly device according to claim 3 or 4, characterized in that, The snap-fit ​​assembly also includes: An elastic element is sleeved on the first rotating shaft; The elastic element has a first elastic arm and a second elastic arm, the first elastic arm being elastically supported by the bracket component, and the second elastic arm being elastically supported by the flipping arm; When the flipping arm rotates around the first rotating shaft, causing the second limiting hole to disengage from the second protrusion, the elastic element is able to store elastic potential energy.

6. The unmanned vessel quick-release land transport wheel assembly device according to claim 5, characterized in that, The bracket component is provided with a limiting part, which is located on the side of the first rotating shaft near the thruster; When the flipping arm rotates around the first axis under the elastic force of the elastic element, the flipping arm can abut against the limiting part, thereby limiting the maximum rotation angle of the flipping arm.

7. The unmanned vessel quick-release land transport wheel assembly device according to claim 3, characterized in that, The bracket component has two oppositely arranged mounting lugs at the end opposite to the buckle assembly; The unmanned vessel quick-release land transport wheel assembly also includes: The second pivot is inserted through the two mounting lugs, and the wheel is rotatably mounted between the two mounting lugs via the first pivot.

8. A small water transport vehicle, characterized in that, include: hull; as well as, The unmanned vessel quick-release land transport wheel assembly device according to any one of claims 1 to 7.

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