TWI889487B - Underwater device - Google Patents

Abstract

An underwater device includes a main body and a center of gravity mechanism. The center of gravity mechanism is disposed in the main body. The center of gravity mechanism includes a fixing plate, a bracket, a first driving motor, two guiding rods, two linear bearings, a battery module and a transmission assembly. The bracket is fixed on the fixing plate. The first driving motor is disposed on the bracket. The two guiding rods are fixed at two sides of the fixing plate. The two linear bearings are disposed on the two guiding rods. The battery module is connected to the two linear bearings. The transmission assembly is connected to the first driving motor and the battery module. The first driving motor drives the battery module to move along the two guiding rods through the transmission assembly to shift a center of gravity of the underwater device.

Description

Underwater device

The present invention relates to an underwater device, and more particularly to an underwater device applicable to bionic fish.

At present, the bionic fish uses a counterweight to control the center of gravity to achieve the control of floating and diving. The mechanism design is usually complicated and will affect the smoothness and reliability of operation. Too complicated a mechanism will increase friction and reduce the life of the drive mechanism. In addition, the waterproof structure also needs special design. In order to meet the waterproof requirements, some designs will use waterproof motors. However, the cost of waterproof motors is usually much higher than that of motors without waterproof functions.

The present invention provides an underwater device that can be applied to bionic fish to solve the above problems.

According to one embodiment, the underwater device of the present invention includes a body and a center of gravity mechanism. The center of gravity mechanism is disposed in the body. The center of gravity mechanism includes a fixed plate, a bracket, a first drive motor, two guide rods, two linear bearings, a battery module and a transmission assembly. The bracket is fixed to the fixed plate. The first drive motor is disposed on the bracket. The two guide rods are fixed to two sides of the fixed plate. The two linear bearings are disposed on the two guide rods. The battery module is connected to the two linear bearings. The transmission assembly is connected to the first drive motor and the battery module. The first drive motor drives the battery module to move along the two guide rods via the transmission assembly to shift the center of gravity of the underwater device.

In one embodiment, the transmission assembly includes a crank, a connecting rod and an adapter plate, the crank is connected to the first drive motor, the adapter plate is connected to the battery module, and the connecting rod is connected to the crank and the adapter plate.

In one embodiment, the battery module includes a battery box, a battery and a baffle, the transmission assembly is connected to the battery box, the battery is disposed in the battery box, and the baffle is fixed to one end of the battery box to limit the battery in the battery box.

In one embodiment, the underwater device is a bionic fish, and the fish head section of the body includes a first shell, a second shell, a third shell, a first sealing ring, a second sealing ring, a first fixing frame, a second fixing frame and a third fixing frame. The first sealing ring is sandwiched between the first shell and the second shell, the second sealing ring is sandwiched between the second shell and the third shell, the first fixing frame is used to fix the first shell and the second shell, the second fixing frame and the third fixing frame are used to fix the second shell and the third shell, and the center of gravity mechanism is arranged in the second shell.

In one embodiment, the second sealing ring has an outer flange, an inner flange and a first groove, the first groove is located between the outer flange and the inner flange, the second shell has a second groove, the third shell has a boss, the second sealing ring is embedded in the second groove, the boss is embedded in the first groove, and the outer flange and the inner flange are sandwiched between the second shell and the third shell.

In one embodiment, the second shell has a first protrusion, the third shell has a second protrusion, the first protrusion abuts the second protrusion, the second fixing frame abuts the first protrusion, the third fixing frame abuts the second protrusion, a fixing member passes through the second fixing frame, the first protrusion, the second protrusion and the third fixing frame in sequence to lock the second shell and the third shell, and the second sealing ring is closer to the inner side of the second shell and the third shell than the fixing member.

In one embodiment, the underwater device further includes four infrared sensors disposed in the first housing, and the positions of the four infrared sensors correspond to the front, bottom, left and right of the main body respectively.

In one embodiment, the underwater device further includes a camera lens disposed in the first housing and located above the four infrared sensors.

In one embodiment, the underwater device further comprises a fisheye cover and a fixing plate. The fisheye cover is disposed on the second shell and has a fixing flange, and the fixing flange is sandwiched between the fixing plate and the second shell.

In one embodiment, the fish body section of the main body includes a fourth shell, a fifth shell, a sixth shell, a first fixed seat and a first driving mechanism. The fourth shell is fixed to the third shell, the first fixed seat is fixed to the third shell, the fifth shell is pivoted to the first fixed seat, the sixth shell is fixed to the first fixed seat, the first driving mechanism is arranged in the fifth shell and connected to the fourth shell, and the first driving mechanism is used to drive the fifth shell to rotate relative to the fourth shell and the sixth shell.

In one embodiment, the first driving mechanism includes a second driving motor, a first adapter, a second adapter, a transmission shaft, a sleeve and a connecting member, the first adapter is connected to the second driving motor, the second adapter is connected to the first adapter, the transmission shaft is connected to the second adapter and the connecting member, the connecting member is connected to the fourth housing, and the sleeve is sleeved on the transmission shaft.

In one embodiment, the first driving mechanism further includes a bearing, a spacer, a third sealing ring and a fourth sealing ring. The bearing, the spacer, the third sealing ring and the fourth sealing ring are all sleeved on the sleeve, the third sealing ring is sandwiched between the sleeve and the fourth housing, and the fourth sealing ring is sandwiched between the spacer and the fifth housing.

In one embodiment, the first driving mechanism further includes a first supporting member and a second supporting member, the second driving motor is fixed to the first supporting member, the first supporting member is connected to the second supporting member, and the second supporting member is connected to the fifth housing.

In one embodiment, the fish body section of the main body includes a seventh shell, an eighth shell, a ninth shell, a tenth shell, a second fixed seat and a second driving mechanism. The seventh shell is fixed to the fifth shell, the eighth shell is fixed to the seventh shell, the second fixed seat is fixed to the seventh shell, the ninth shell is pivoted to the second fixed seat, the tenth shell is fixed to the second fixed seat, the second driving mechanism is arranged in the ninth shell and connected to the eighth shell, and the second driving mechanism is used to drive the ninth shell to rotate relative to the eighth shell and the tenth shell.

In one embodiment, the underwater device further includes an eleventh housing and a wireless communication module. The eleventh housing is fixed to the ninth housing. The wireless communication module is disposed in the eleventh housing and fixed to the second driving mechanism.

In one embodiment, the underwater device further comprises a fixing structure and a fish tail, wherein the fixing structure is fixed to the eleventh shell, and the fish tail is fixed to the fixing structure.

In one embodiment, the underwater device further includes a jacket and a fin. The jacket is mounted on the outside of the body and has a snap-fit hole. The fin has an I-shaped snap-fit structure that snaps into the snap-fit hole to fix the fin to the jacket.

In one embodiment, an escape space is formed between the outer shell and the main body.

In one embodiment, the underwater device further includes an anti-loosening element and a screw, the outer shell has an installation hole and a plurality of first limiting holes, the main body has a screw hole and a plurality of second limiting holes, the anti-loosening element has a through hole and a plurality of limiting parts, the plurality of limiting parts are sequentially connected to the plurality of first limiting holes and the plurality of second limiting holes to set the anti-loosening element in the installation hole, and the screw passes through the through hole and is locked in the screw hole.

In summary, the present invention utilizes the first drive motor of the center of gravity mechanism to drive the battery module to move, so as to shift the center of gravity of the underwater device, thereby achieving control of buoyancy and diving. Since the battery module moves along the guide rod via a linear bearing, the linear movement of the battery module becomes very smooth, making the load of the first drive motor smaller and more stable, thereby reducing the failure rate of the first drive motor. The present invention can achieve waterproof requirements by providing multiple sealing rings. In one embodiment, the underwater device can be a bionic fish. The drive mechanism is provided with bearings, spacers and sealing rings on the sleeve, which can make the rotation of the fish body of the bionic fish smooth and waterproof. In one embodiment, the positions of the four infrared sensors correspond to the front, bottom, left and right of the main body respectively, and can be used to detect obstacles in front, left and right of the underwater device, and detect whether the underwater device has dived to the bottom of the water.

The advantages and spirit of the present invention can be further understood through the following detailed description of the invention and the attached drawings.

Please refer to Figures 1 to 22, Figure 1 is a three-dimensional view of an underwater device 1 according to an embodiment of the present invention, Figure 2 is a three-dimensional view of the underwater device 1 in Figure 1 at another viewing angle, Figure 3 is a three-dimensional view of the underwater device 1 in Figure 1 after removing the jacket 10, Figure 4 is an exploded view of the main body 12 in Figure 3, Figure 5 is a partial cross-sectional view of the main body 12 in Figure 3, Figure 6 is a partial three-dimensional view of the main body 12 in Figure 3 at another viewing angle, Figure 7 is a three-dimensional view of the center of gravity mechanism 18 in Figure 6, Figure 8 is a partial exploded view of the center of gravity mechanism 18 in Figure 7, Figure 9 is a partial three-dimensional view of the main body 12 in Figure 3 at another viewing angle, Figure 10 is a partial exploded view of the main body 12 in Figure 9 at another viewing angle, and Figure 11 is a first driving mechanism 17 in Figure 9. 4, FIG. 12 is a partial cross-sectional view of the main body 12 in FIG. 9, FIG. 13 is another partial cross-sectional view of the main body 12 in FIG. 9, FIG. 14 is a three-dimensional view of the main body 12 in FIG. 3 combined with the fish tail 14, FIG. 15 is an exploded view of the main body 12 and the fish tail 14 in FIG. 14, FIG. 16 is a partial exploded view of the underwater device 1 in FIG. 1 at another viewing angle, FIG. 17 is a partial cross-sectional view of the jacket 10 and the fish fin 16 in FIG. 16, FIG. 18 is a cross-sectional view of the underwater device 1 in FIG. 1, FIG. 19 is a partial exploded view of the underwater device 1 in FIG. 1, FIG. 20 is a partial cross-sectional view of the underwater device 1 in FIG. 1, FIG. 21 is a partial exploded view of the main body 12 in FIG. 3, and FIG. 22 is a partial exploded view of the main body 12 in FIG. 3.

The underwater device 1 of the present invention can be a bionic fish, but is not limited thereto. The type of the underwater device 1 can be determined according to the actual application. As shown in Figures 1 to 3, the underwater device 1 can include a jacket 10, a body 12, a fish tail 14 and a fish fin 16. The body 12 is used to accommodate the main components and electronic components of the underwater device 1. The jacket 10 is mounted on the outside of the body 12 for decorative purposes. In this embodiment, the jacket 10 may include a fish head cover 10a and a fish body cover 10b, but is not limited thereto. In addition, the body 12 can be divided into a fish head section 12a and a fish body section 12b. The fish head cover 10a can be mounted on the fish head section 12a, and the fish body cover 10b can be mounted on the fish body section 12b. The fish tail 14 is connected to the fish body section 12b. In this embodiment, the underwater device 1 may include four fins 16, wherein two fins 16 are connected to the head section 12a as pectoral fins, and another two fins 16 are connected to the body section 12b as ventral fins. In this embodiment, the outer cover 10, the tail 14 and the fins 16 may be made of silicone, rubber or other soft materials. This can reduce the problem of damage due to collision.

As shown in FIG. 3 and FIG. 4 , the fish head section 12a of the body 12 includes a first shell 120, a second shell 122, a third shell 124, a first sealing ring 126, a second sealing ring 128, a first fixing frame 130, a second fixing frame 132, and a third fixing frame 134. The first sealing ring 126 is sandwiched between the first shell 120 and the second shell 122. The second sealing ring 128 is sandwiched between the second shell 122 and the third shell 124. The first fixing frame 130 is used to fix the first shell 120 and the second shell 122. The second fixing frame 132 and the third fixing frame 134 are used to fix the second shell 122 and the third shell 124.

As shown in FIG. 5 , the second sealing ring 128 may have an outer flange 1280, an inner flange 1282 and a first groove 1284, the second housing 122 may have a second groove 1220, and the third housing 124 may have a boss 1240. The first groove 1284 of the second sealing ring 128 is located between the outer flange 1280 and the inner flange 1282. The boss 1240 of the third housing 124 may be used to position the second sealing ring 128. The second sealing ring 128 is embedded in the second groove 1220 of the second housing 122, the boss 1240 of the third housing 124 is embedded in the first groove 1284 of the second sealing ring 128, and the outer flange 1280 and the inner flange 1282 of the second sealing ring 128 are sandwiched between the second housing 122 and the third housing 124. When the second housing 122 and the third housing 124 are fixed, three pre-stressing surfaces S1, S2, and S3 are formed at the positions corresponding to the outer flange 1280, the boss 1240, and the inner flange 1282. The water flow F outside the body 12 will first be blocked by the pre-stressing surface S1. When the pre-stressing surface S1 fails, the water flow F will be blocked by the pre-stressing surface S2. When the pre-stressing surface S2 also fails, the water flow F will be blocked by the pre-stressing surface S3. By designing the three pre-stressing surfaces S1, S2, and S3, the main body 12 can achieve a highly reliable waterproof function.

As shown in FIG. 5 , the second housing 122 may have a first protrusion 1222, and the third housing 124 may have a second protrusion 1242. The first protrusion 1222 abuts against the second protrusion 1242, the second fixing frame 132 abuts against the first protrusion 1222, and the third fixing frame 134 abuts against the second protrusion 1242. A fixing member 136 (e.g., a screw) passes through the second fixing frame 132, the first protrusion 1222, the second protrusion 1242, and the third fixing frame 134 in sequence to lock the second housing 122 and the third housing 124. In this embodiment, the second fixing frame 132, the first protrusion 1222, and the second protrusion 1242 may have through holes without threads for the fixing member 136 to pass through. In addition, the third fixing frame 134 may have screw holes for the fixing member 136 to lock. In this embodiment, the second housing 122 and the third housing 124 can be made of plastic, and the second fixing frame 132 and the third fixing frame 134 can be made of metal. Since the fixing member 136 is locked to the second fixing frame 132 and the third fixing frame 134, a larger locking torque can be obtained, and the second housing 122 and the third housing 124 are not easily damaged. After the second housing 122 and the third housing 124 are locked, the second sealing ring 128 is closer to the inner side of the second housing 122 and the third housing 124 than the fixing member 136. Therefore, a good waterproof effect can be achieved without having to design the fixing member 136 to be waterproof.

As shown in Figures 3 and 4, the fish body section 12b of the main body 12 includes a fourth shell 138, a fifth shell 140, a sixth shell 142, a first fixing seat 144, a seventh shell 146, an eighth shell 148, a ninth shell 150, a tenth shell 152, a second fixing seat 154, an eleventh shell 156, a fixing structure 158, a fifth sealing ring 160, a sixth sealing ring 162, a seventh sealing ring 164, an eighth sealing ring 166, a fourth fixing frame 168, a fifth fixing frame 170 and a sixth fixing frame 172.

The fourth housing 138 is fixed to one end of the third housing 124, and the first fixing seat 144 is fixed to the other end of the third housing 124. The fifth sealing ring 160 is sandwiched between the third housing 124 and the fourth housing 138. The fifth housing 140 is pivoted to the first fixing seat 144, and the sixth housing 142 is fixed to the first fixing seat 144. The seventh housing 146 is fixed to the fifth housing 140, and the sixth sealing ring 162 is sandwiched between the fifth housing 140 and the seventh housing 146. The fourth fixing bracket 168 and the fifth fixing bracket 170 are used to fix the fifth housing 140 and the seventh housing 146. The eighth housing 148 is fixed to one end of the seventh housing 146, and the second fixing bracket 154 is fixed to the other end of the seventh housing 146. The seventh sealing ring 164 is sandwiched between the seventh housing 146 and the eighth housing 148. The ninth housing 150 is pivoted to the second fixing seat 154, and the tenth housing 152 is fixed to the second fixing seat 154. The eleventh housing 156 is fixed to the ninth housing 150, and the eighth sealing ring 166 is sandwiched between the ninth housing 150 and the eleventh housing 156. The sixth fixing frame 172 is used to fix the ninth housing 150 and the eleventh housing 156. The fixing structure 158 is fixed to the eleventh housing 156.

It should be noted that the structural design between all the housings and the sealing ring of the present invention may be the same as the structural design between the second housing 122, the third housing 124 and the second sealing ring 128, which will not be described in detail here. In addition, the locking method between all the housings and the fixing frame of the present invention may be the same as the locking method between the second housing 122, the third housing 124, the second fixing frame 132 and the third fixing frame 134, which will not be described in detail here. Furthermore, according to actual assembly requirements, the fixing frame may be an open design (for example, the first fixing frame 130, the second fixing frame 132 and the third fixing frame 134) or a closed design (for example, the fourth fixing frame 168, the fifth fixing frame 170 and the sixth fixing frame 172).

As shown in FIGS. 6 to 8, the underwater device 1 includes a gravity mechanism 18 disposed in the body 12. In this embodiment, the gravity mechanism 18 can be disposed in the second housing 122. The gravity mechanism 18 includes a fixed plate 180, a bracket 182, a first drive motor 184, two guide rods 186, two linear bearings 188, a battery module 190, and a transmission assembly 192. The bracket 182 is fixed to the fixed plate 180. The first drive motor 184 is disposed on the bracket 182. The two guide rods 186 are fixed to two sides of the fixed plate 180. The two linear bearings 188 are disposed on the two guide rods 186. The transmission assembly 192 is connected to the first drive motor 184 and the battery module 190. The first drive motor 184 can drive the battery module 190 to move along the two guide rods 186 via the transmission assembly 192 to transfer the center of gravity of the underwater device 1, thereby achieving the control of floating and diving. Since the battery module 190 moves along the guide rod 186 via the linear bearing 188, the linear movement of the battery module 190 becomes very smooth, making the load of the first drive motor 184 smaller and more stable, thereby reducing the failure rate of the first drive motor 184.

In this embodiment, the transmission assembly 192 may include a crank 1920, a connecting rod 1922, and an adapter plate 1924. The crank 1920 is connected to the first drive motor 184, the adapter plate 1924 is connected to the battery module 190, and the connecting rod 1922 is connected to the crank 1920 and the adapter plate 1924. Thus, the first drive motor 184 can drive the crank 1920 to rotate, and the crank 1920 can drive the battery module 190 to move along the two guide rods 186 through the connecting rod 1922 and the adapter plate 1924.

In this embodiment, the battery module 190 may include a battery box 1900, a battery 1902, and a baffle 1904. The adapter plate 1924 of the transmission assembly 192 is connected to the battery box 1900, and the battery 1902 is disposed in the battery box 1900. The baffle 1904 is fixed to one end of the battery box 1900 to limit the battery 1902 in the battery box 1900.

As shown in FIGS. 9 to 12, the fish body section 12b of the body 12 includes a first drive mechanism 174. The first drive mechanism 174 is disposed in the fifth housing 140 and connected to the fourth housing 138. In this embodiment, the first drive mechanism 174 may include a second drive motor 1740, a first adapter 1742, a second adapter 1744, a drive shaft 1746, a sleeve 1748, and a connector 1750. The first adapter 1742 is connected to the second drive motor 1740. The second adapter 1744 is connected to the first adapter 1742. The drive shaft 1746 is connected to the second adapter 1744 and the connector 1750. The connector 1750 is connected to the fourth housing 138. The sleeve 1748 is sleeved on the transmission shaft 1746. In addition, the first driving mechanism 174 may further include a bearing 1752, a spacer 1754, a third sealing ring 1756 and a fourth sealing ring 1758. The bearing 1752, the spacer 1754, the third sealing ring 1756 and the fourth sealing ring 1758 are all sleeved on the sleeve 1748. In this embodiment, the bearing 1752 can be a plastic ball bearing, but is not limited thereto. The third sealing ring 1756 is sandwiched between the sleeve 1748 and the fourth housing 138. The fourth sealing ring 1758 is sandwiched between the spacer 1754 and the fifth housing 140. Furthermore, the first driving mechanism 174 may further include a first supporting member 1760 and a second supporting member 1762. The second driving motor 1740 is fixed to the first supporting member 1760, the first supporting member 1760 is connected to the second supporting member 1762, and the second supporting member 1762 is connected to the fifth housing 140. When the output shaft of the second driving motor 1740 rotates, the first driving mechanism 174 can drive the fifth housing 140 to rotate relative to the fourth housing 138 and the sixth housing 142, so that the fish body 12b of the main body 12 swings. Since the first driving mechanism 174 is provided with a bearing 1752, a spacer 1754, a third sealing ring 1756 and a fourth sealing ring 1758 on the sleeve 1748, the fish body section 12b of the main body 12 can rotate smoothly and waterproofly.

As shown in FIG. 9 and FIG. 13 , the fish body section 12 b of the body 12 may further include a second driving mechanism 176. The second driving mechanism 176 is disposed in the ninth housing 150 and connected to the eighth housing 148. The second driving mechanism 176 is used to drive the ninth housing 150 to rotate relative to the eighth housing 148 and the tenth housing 152. It should be noted that the structural design of the second driving mechanism 176 may be the same as the structural design of the first driving mechanism 174, and will not be described in detail here.

As shown in FIG. 14 and FIG. 15 , the fish tail 14 can be fixed to the fixing structure 158 and connected to the eleventh housing 156. In this embodiment, the underwater device 1 can further include a wireless communication module 20. The wireless communication module 20 can be a Bluetooth module, but is not limited thereto. The wireless communication module 20 can be disposed in the eleventh housing 156 and fixed to the support member of the second driving mechanism 176. The wireless communication module 20 can send a signal so that the user of the underwater device 1 can track the location of the underwater device 1.

As shown in FIGS. 16 to 18 , the outer jacket 10 is sleeved on the outside of the main body 12 and has a snap-fit hole 100. In this embodiment, the outer jacket 10 may have four snap-fit holes 100 corresponding to four fins 16. The fin 16 may have an I-shaped snap-fit structure 161. The I-shaped snap-fit structure 161 is snapped into the snap-fit hole 100 to fix the fin 16 to the outer jacket 10 and achieve the function of preventing loosening. In addition, an escape space 22 may be formed between the outer jacket 10 and the main body 12. In other words, the outer jacket 10 and the main body 12 are not completely fitted. Thereby, when the underwater device 1 rotates, the outer jacket 10 is not easily tightened, so that the outer jacket 10 still retains better elasticity. Furthermore, as shown in FIGS. 1 and 2 , the outer jacket 10 is formed with a plurality of water holes 102. Water can enter the escape space 22 through the water hole 102, so that the internal and external pressures of the outer jacket 10 are balanced, and the outer jacket 10 is not easily crushed.

As shown in FIG. 19 and FIG. 20, the underwater device 1 may further include an anti-loosening element 24 and a screw 26, the outer shell 10 may have a mounting hole 104 and a plurality of first limiting holes 106, and the main body 12 may have a screw hole 194 and a plurality of second limiting holes 196. In addition, the anti-loosening element 24 may have a through hole 240 and a plurality of limiting portions 242. The plurality of limiting portions 242 may be sequentially connected to the plurality of first limiting holes 106 and the plurality of second limiting holes 196 to set the anti-loosening element 24 in the mounting hole 104. The screw 26 passes through the through hole 240 and is locked in the screw hole 194. In this way, the outer shell 10 can be prevented from being easily pulled away from the main body 12. In one embodiment, the screw hole 194 may be provided by a copper column, but is not limited thereto.

As shown in FIG. 3 and FIG. 21, the underwater device 1 may further include four infrared sensors 28, which are arranged in the first housing 120. The positions of the four infrared sensors 28 correspond to the front, bottom, left and right of the body 12, respectively, and can be used to detect obstacles in front, left and right of the underwater device 1, and detect whether the underwater device 1 has dived to the bottom of the water. When an obstacle is detected, the underwater device 1 can be controlled to make an evasive action in advance. When it is detected that the underwater device 1 has dived to the bottom of the water, the underwater device 1 can be controlled to float up. In this embodiment, a avoidance hole 108 (as shown in FIG. 1) corresponding to the infrared sensor 28 can be formed on the outer jacket 10 to avoid affecting the signal transmission of the infrared sensor 28. In addition, the underwater device 1 may further include a camera lens 30 disposed in the first housing 120 and above the four infrared sensors 28. In this embodiment, a transparent lens cover 32 may be disposed on the first housing 120 at a position corresponding to the camera lens 30.

As shown in FIG. 3 and FIG. 22 , the underwater device 1 may further include a fisheye cover 34 and a fixing plate 36. The fisheye cover 34 may be disposed on the second housing 122 and has a fixing flange 340. The fixing flange 340 is sandwiched between the fixing plate 36 and the second housing 122 to achieve a highly reliable waterproof function.

As shown in FIG. 15 , the underwater device 1 may further include an airtight test hole 38, which is provided in the eleventh shell 156 of the shell 12. This facilitates the underwater device 1 to be tested for airtightness before entering the water, and to confirm that there is no air leakage before entering the water. In addition, as shown in FIG. 2 and FIG. 21 , the underwater device 1 may further include an electrical connector 40 and a waterproof cover 42. The waterproof cover 42 covers the electrical connector 40 to prevent the electrical connector 40 from malfunctioning when exposed to water.

In summary, the present invention utilizes the first drive motor of the center of gravity mechanism to drive the battery module to move, so as to shift the center of gravity of the underwater device, thereby achieving control of buoyancy and diving. Since the battery module moves along the guide rod via a linear bearing, the linear movement of the battery module becomes very smooth, making the load of the first drive motor smaller and more stable, thereby reducing the failure rate of the first drive motor. The present invention can achieve waterproof requirements by providing multiple sealing rings. In one embodiment, the underwater device can be a bionic fish. The drive mechanism is provided with bearings, spacers and sealing rings on the sleeve, which can make the rotation of the fish body of the bionic fish smooth and waterproof. In one embodiment, the positions of the four infrared sensors correspond to the front, bottom, left and right of the main body respectively, and can be used to detect obstacles in front, left and right of the underwater device, and detect whether the underwater device has dived to the bottom of the water. The above is only a preferred embodiment of the present invention, and all equivalent changes and modifications made according to the scope of the patent application of the present invention shall fall within the scope of the present invention.

1: Underwater device 10: Jacket 10a: Fish head cover 10b: Fish body cover 12: Body 12a: Fish head section 12b: Fish body section 14: Fish tail 16: Fish fin 18: Center of gravity mechanism 20: Wireless communication module 22: Avoidance space 24: Anti-loosening element 26: Screw 28: Infrared sensor 30: Camera lens 32: Transparent lens cover 34: Fish eye cover 36: Fixing plate 38: Airtight test hole 40: Electrical connector 42: Waterproof cover 100: Snap-in hole 102: Water hole 104: Mounting hole 106: First limit hole 108: avoidance hole 120: first shell 122: second shell 124: third shell 126: first sealing ring 128: second sealing ring 130: first fixing frame 132: second fixing frame 134: third fixing frame 136: fixing member 138: fourth shell 140: fifth shell 142: sixth shell 144: first fixing seat 146: seventh shell 148: eighth shell 150: ninth shell 152: tenth shell 154: second fixing seat 156: eleventh shell 158: fixing structure 160: fifth sealing ring 161: I-shaped clamping structure 162: sixth sealing ring 164: Seventh sealing ring 166: Eighth sealing ring 168: Fourth fixing frame 170: Fifth fixing frame 172: Sixth fixing frame 174: First driving mechanism 176: Second driving mechanism 180: Fixing plate 182: Bracket 184: First driving motor 186: Guide rod 188: Linear bearing 190: Battery module 192: Transmission assembly 194: Screw hole 196: Second limiting hole 240: Through hole 242: Limiting part 340: Fixed flange 1220: Second groove 1222: First protrusion 1240: Boss 1242: Second protrusion 1280: Outer flange 1282: inner flange 1284: first groove 1740: second drive motor 1742: first adapter 1744: second adapter 1746: drive shaft 1748: bushing 1750: connector 1752: bearing 1754: spacer 1756: third seal ring 1758: fourth seal ring 1760: first support 1762: second support 1900: battery box 1902: battery 1904: baffle 1920: crank 1922: connecting rod 1924: adapter plate F: water flow S1, S2, S3: preload surface

FIG. 1 is a three-dimensional view of an underwater device according to an embodiment of the present invention. FIG. 2 is a three-dimensional view of the underwater device in FIG. 1 at another viewing angle. FIG. 3 is a three-dimensional view of the underwater device in FIG. 1 after removing the jacket. FIG. 4 is an exploded view of the main body in FIG. 3. FIG. 5 is a partial cross-sectional view of the main body in FIG. 3. FIG. 6 is a partial three-dimensional view of the main body in FIG. 3 at another viewing angle. FIG. 7 is a three-dimensional view of the center of gravity mechanism in FIG. 6. FIG. 8 is a partial exploded view of the center of gravity mechanism in FIG. 7. FIG. 9 is a partial three-dimensional view of the main body in FIG. 3 at another viewing angle. FIG. 10 is a partial exploded view of the main body in FIG. 9 at another viewing angle. FIG. 11 is a three-dimensional view of the first drive mechanism in FIG. 9. Figure 12 is a partial cross-sectional view of the main body in Figure 9. Figure 13 is another partial cross-sectional view of the main body in Figure 9. Figure 14 is a three-dimensional view of the main body and the fishtail in Figure 3. Figure 15 is an exploded view of the main body and the fishtail in Figure 14. Figure 16 is a partial exploded view of the underwater device in Figure 1 from another perspective. Figure 17 is a partial cross-sectional view of the jacket and the fin in Figure 16. Figure 18 is a cross-sectional view of the underwater device in Figure 1. Figure 19 is a partial exploded view of the underwater device in Figure 1. Figure 20 is a partial cross-sectional view of the underwater device in Figure 1. Figure 21 is a partial exploded view of the main body in Figure 3. Figure 22 is a partial exploded view of the main body in Figure 3.

18: Center of gravity mechanism

180:Fixed plate

182: Bracket

184: First drive motor

186: Guide rod

188:Linear bearings

190:Battery module

192: Transmission components

1900:Battery box

1920: Crank

1922: Connecting rod

1924: Adapter plate

Claims (19)

An underwater device comprises: a body; and a center of gravity mechanism disposed in the body, the center of gravity mechanism comprising: a fixing plate; a bracket fixed to the fixing plate; a first drive motor disposed on the bracket; two guide rods fixed to two sides of the fixing plate; two linear bearings disposed on the two guide rods; a battery module connected to the two linear bearings; and a transmission assembly connected to the first drive motor and the battery module; wherein the first drive motor drives the battery module to move along the two guide rods via the transmission assembly to shift the center of gravity of the underwater device. An underwater device as described in claim 1, wherein the transmission assembly includes a crank, a connecting rod and an adapter plate, the crank is connected to the first drive motor, the adapter plate is connected to the battery module, and the connecting rod is connected to the crank and the adapter plate. An underwater device as described in claim 1, wherein the battery module includes a battery box, a battery and a baffle, the transmission assembly is connected to the battery box, the battery is disposed in the battery box, and the baffle is fixed to one end of the battery box to confine the battery in the battery box. An underwater device as described in claim 1, wherein the underwater device is a bionic fish, the fish head section of the main body includes a first shell, a second shell, a third shell, a first sealing ring, a second sealing ring, a first fixing frame, a second fixing frame and a third fixing frame, the first sealing ring is sandwiched between the first shell and the second shell, the second sealing ring is sandwiched between the second shell and the third shell, the first fixing frame is used to fix the first shell and the second shell, the second fixing frame and the third fixing frame are used to fix the second shell and the third shell, and the center of gravity mechanism is arranged in the second shell. An underwater device as described in claim 4, wherein the second sealing ring has an outer flange, an inner flange and a first groove, the first groove is located between the outer flange and the inner flange, the second shell has a second groove, the third shell has a boss, the second sealing ring is embedded in the second groove, the boss is embedded in the first groove, and the outer flange and the inner flange are sandwiched between the second shell and the third shell. An underwater device as described in claim 4, wherein the second shell has a first protrusion, the third shell has a second protrusion, the first protrusion abuts the second protrusion, the second fixing frame abuts the first protrusion, the third fixing frame abuts the second protrusion, a fixing member passes through the second fixing frame, the first protrusion, the second protrusion and the third fixing frame in sequence to lock the second shell and the third shell, and the second sealing ring is closer to the inner side of the second shell and the third shell than the fixing member. The underwater device as described in claim 4 further includes four infrared sensors disposed in the first shell, and the positions of the four infrared sensors correspond to the front, bottom, left and right of the main body respectively. The underwater device as described in claim 7 further includes a camera lens disposed in the first housing and located above the four infrared sensors. The underwater device as described in claim 4 further includes a fisheye mask and a fixing plate. The fisheye mask is disposed on the second shell and has a fixing flange, which is sandwiched between the fixing plate and the second shell. An underwater device as described in claim 4, wherein the fish body section of the main body includes a fourth shell, a fifth shell, a sixth shell, a first fixing seat and a first driving mechanism, the fourth shell is fixed to the third shell, the first fixing seat is fixed to the third shell, the fifth shell is pivoted to the first fixing seat, the sixth shell is fixed to the first fixing seat, the first driving mechanism is arranged in the fifth shell and connected to the fourth shell, and the first driving mechanism is used to drive the fifth shell to rotate relative to the fourth shell and the sixth shell. An underwater device as described in claim 10, wherein the first driving mechanism includes a second driving motor, a first adapter, a second adapter, a drive shaft, a sleeve and a connecting member, the first adapter is connected to the second driving motor, the second adapter is connected to the first adapter, the drive shaft is connected to the second adapter and the connecting member, the connecting member is connected to the fourth housing, and the sleeve is sleeved on the drive shaft. An underwater device as described in claim 11, wherein the first driving mechanism further includes a bearing, a spacer, a third sealing ring and a fourth sealing ring, the bearing, the spacer, the third sealing ring and the fourth sealing ring are all sleeved on the sleeve, the third sealing ring is sandwiched between the sleeve and the fourth housing, and the fourth sealing ring is sandwiched between the spacer and the fifth housing. An underwater device as described in claim 11, wherein the first driving mechanism further includes a first supporting member and a second supporting member, the second driving motor is fixed to the first supporting member, the first supporting member is connected to the second supporting member, and the second supporting member is connected to the fifth shell. An underwater device as described in claim 10, wherein the fish body section of the main body includes a seventh shell, an eighth shell, a ninth shell, a tenth shell, a second fixing seat and a second driving mechanism, the seventh shell is fixed to the fifth shell, the eighth shell is fixed to the seventh shell, the second fixing seat is fixed to the seventh shell, the ninth shell is pivoted to the second fixing seat, the tenth shell is fixed to the second fixing seat, the second driving mechanism is arranged in the ninth shell and connected to the eighth shell, and the second driving mechanism is used to drive the ninth shell to rotate relative to the eighth shell and the tenth shell. The underwater device as described in claim 14 further includes an eleventh housing and a wireless communication module, wherein the eleventh housing is fixed to the ninth housing, and the wireless communication module is disposed in the eleventh housing and fixed to the second driving mechanism. The underwater device as described in claim 15 further includes a fixing structure and a fish tail, wherein the fixing structure is fixed to the eleventh shell, and the fish tail is fixed to the fixing structure. The underwater device as described in claim 1 further includes a jacket and a fin, wherein the jacket is mounted on the outside of the main body and has a snap-fit hole, and the fin has an I-shaped snap-fit structure, which snaps into the snap-fit hole to fix the fin to the jacket. An underwater device as described in claim 17, wherein an escape space is formed between the outer shell and the main body. The underwater device as described in claim 17 further includes an anti-loosening element and a screw, the outer casing has an installation hole and a plurality of first limiting holes, the main body has a screw hole and a plurality of second limiting holes, the anti-loosening element has a through hole and a plurality of limiting parts, the plurality of limiting parts are sequentially connected to the plurality of first limiting holes and the plurality of second limiting holes to set the anti-loosening element in the installation hole, and the screw passes through the through hole and is locked in the screw hole.

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