Buoyancy regulating device and swimming pool robot

Abstract

The present application discloses a buoyancy adjustment device and a swimming pool robot. The buoyancy adjustment device includes a housing, a drive mechanism, and a deformable member. The housing defines a housing cavity. The drive mechanism includes a first plate slidably connected to the inner wall of the housing and a drive assembly for sliding the first plate. The first plate includes a sliding connection portion abutting the inner wall of the housing. The first plate seals the housing cavity to form a first chamber and a second chamber. The deformable member seals the first chamber to form a first space and a second space. The first space communicates with the external environment, and the deformable member isolates the sliding connection portion from the first space. The sliding first plate is used to adjust the volumes of the first and second chambers to change the amount of fluid entering the first space through the external environment.

Description

Technical Field

[0001] The present application relates to, but is not limited to, the field of robotics, and in particular to a buoyancy regulating device and a swimming pool robot. Background Art

[0002] Pool robots can be used for cleaning, maintenance, inspection, and environmental monitoring of pools in home swimming pools, swimming pools, water parks, etc.

[0003] In related art, pool robots include buoyancy adjustment devices. This device changes the buoyancy of the pool robot by drawing in or out water from the pool, allowing the pool robot to sink or float in the pool. In related art, the pool robot includes a piston assembly, which comprises a piston cylinder and a piston. The piston's outer circumference is slidably connected within the piston cylinder, and the piston cylinder's opening is connected to the outside world. Water is drawn in or out of the piston cylinder's opening through the piston movement. Because the piston is in direct contact with the water, it is easily corroded by the water, shortening its service life. Furthermore, debris such as dead leaves in the water can easily get stuck in the piston, affecting its movement relative to the piston cylinder and causing the pool robot to sink or float. Summary of the Invention

[0004] To solve the above technical problems, the present application provides a buoyancy adjustment device and a swimming pool robot, which have the advantages of being less affected by external fluids, having a long service life, and having high efficiency in switching between sinking and floating. This application is achieved through the following technical solutions:

[0005] In a first aspect, an embodiment of the present application provides a buoyancy adjustment device, which is applied to a swimming pool robot. The buoyancy adjustment device includes a shell, a drive mechanism and a deformable member. The shell is formed with a accommodating chamber; the drive mechanism includes a first plate body slidably connected to the inner wall of the shell and a drive assembly for sliding the first plate body. The first plate body includes a sliding connection portion abutting against the inner wall of the shell. The first plate body seals and isolates the accommodating chamber to form a first chamber and a second chamber; the deformable member seals and isolates the first chamber to form a first space and a second space. The first space is connected to the external environment, and the deformable member isolates the sliding connection portion and the first space; wherein, the sliding first plate body is used to adjust the volume of the first chamber and the second chamber to change the amount of fluid entering the first space through the external environment.

[0006] The present application provides a technical solution, wherein the buoyancy regulating device comprises a housing and a drive mechanism, wherein the housing is formed with a receiving chamber, a first plate of the drive mechanism is located in the receiving chamber and hermetically separates the receiving chamber into a first chamber and a second chamber, a sliding connection portion of the first plate being slidably connected to the inner wall of the housing, and a drive assembly of the drive mechanism is used to drive the first plate to slide relative to the housing. As the first plate slides relative to the housing, the volumes of the first chamber and the second chamber change accordingly, i.e., the volume of the first chamber increases and the volume of the second chamber decreases; or, the volume of the first chamber decreases and the volume of the second chamber increases. Furthermore, the buoyancy regulating device further comprises a deformable member, which hermetically separates the first chamber into a first space and a second space, wherein the first space is in communication with the external environment. Since the first space is part of the first chamber, when the drive assembly drives the first plate to move and changes the volume of the first chamber, the volume of the first space changes accordingly, and external fluid is sucked in or discharged from the opening of the first space, i.e., the actual displacement of the buoyancy regulating device is changed, thereby changing the buoyancy of the entire buoyancy regulating device. The deformable member isolates the sliding connection portion from the first space. In other words, the sliding connection portion does not come into contact with the fluid in the first space. Due to the isolation of the deformable member, the sliding connection portion is less likely to be corroded by the fluid in the first space, thereby improving the service life of the sliding connection portion. Impurities such as dead leaves carried by the fluid in the first space are also blocked by the deformable member and are difficult to enter the connection position between the sliding connection portion and the inner wall of the shell, which is unlikely to have an adverse effect on the sliding of the sliding connection portion. In other words, the sliding of the sliding connection portion and the inner wall of the shell is less affected by the outside world, and the relative movement is smoother, which facilitates improving the switching efficiency of the buoyancy regulating device between the floating or sinking state. Compared with the solution of using a piston assembly to achieve floating and sinking in the related art, the buoyancy regulating device of the embodiment of the present application is provided with a deformable member. The first space isolated by the deformable member is used to accommodate external fluid. The sliding connection portion of the first plate body is isolated from the fluid in the first space by the deformable member. The external fluid has less impact on the sliding connection portion, which can not only improve the service life of the sliding connection portion, but also improve the state switching efficiency of the buoyancy regulating device.

[0007] In some implementations of the present application, the deformable member has a first end fixed to the housing.

[0008] The technical solution provided in the present application is that the first end of the deformable member is fixed to the shell, the connection between the deformable member and the shell is relatively stable, and the end of the deformable member is connected to the shell, the deformable member is subject to fewer constraints, which is more conducive to the deformation of the deformable member.

[0009] In some implementations of the present application, the deformable member has a second end fixed to the first plate.

[0010] The technical solution provided by the present application is that the deformable member is fixed to the first plate body, and there is a relatively stable connection relationship between the two. The deformation of the deformable member can be directly driven by the sliding of the first plate body relative to the shell. In other words, the first plate body provides a direct drive for the deformation of the deformable member and also provides a restriction on the deformation direction of the deformable member, so that the deformable member deforms in the set direction, facilitating the fluid to enter or flow out of the first space.

[0011] In some implementations of the present application, the buoyancy regulating device further includes a structural member, which is detachably connected to the shell, and the first end is clamped between the structural member and the shell.

[0012] The technical solution provided in the present application is to set up a structural part, and the first end of the deformable part is clamped and pressed against the shell by the structural part. There is a stable connection between the deformable part and the shell, so that the deformable part can withstand a larger force and produce a larger degree of deformation, thereby increasing the effective volume of the first space, and the structural part and the shell are detachably connected, which facilitates the disassembly and maintenance of the structural part and the deformable part.

[0013] In some implementations of the present application, the structural member includes a connecting portion and an extension portion, the connecting portion is connected to the shell, and the connecting portion is sleeved on the outer edge of the opening of the shell, and the extension portion extends from the connecting portion toward the center of the opening of the shell; projected along the axial direction of the shell, the extension portion at least covers the connecting portion between the deformable member and the shell.

[0014] The technical solution provided by the present application is that the structural part is provided with a connecting part and an extending part, and the connecting part is sleeved on the outer edge of the opening of the shell, so that the connecting part and the shell have good limiting function in the radial direction perpendicular to the shell, and the positions of the two are relatively fixed; the extending part extends from the connecting part toward the center of the opening of the shell and covers the connecting part of the deformable part and the shell. On the one hand, it is convenient to press the deformable part against the opening of the shell; on the other hand, the extending part and the shell jointly provide limiting function for the deformable part, so the deformable part is not easy to fall out and the connection is more stable.

[0015] In some implementations of the present application, a flanging structure is provided at the first end, and the flanging structure includes a first section and a second section connected to each other, the first section is located between the shell and the connecting part, the second section is located between the shell and the extension part, and the outer edges of the openings of the extension part, the second section and the shell are abutted in sequence along the axial direction of the shell.

[0016] The technical solution provided by the present application is to provide a flange structure at the first end of the deformable part. The first section included in the flange structure is located between the shell and the connecting part. In other words, the first section is located between the outer peripheral side of the shell and the inner peripheral side of the structural part. The shell and the connecting part can provide good radial limitation for the deformable part; the second section of the flange structure abuts between the extension part and the shell along the axial direction of the shell. The shell and the extension part can provide good axial limitation for the deformable part. The limitations in multiple different directions further improve the connection stability between the deformable part and the shell, so that the deformable part can be deformed. In addition, the structures of the first section and the second section are relatively complex, and it is difficult for external fluid to enter the second space through the gap at the connection position of the deformable part, thereby improving the sealing effect.

[0017] In some implementations of the present application, the flange structure also includes a sealing convex ring, which is arranged on the outer periphery and / or inner periphery of the first section. The sealing convex ring located on the outer periphery of the first section abuts the inner wall of the connecting part, and the sealing convex ring located on the inner periphery of the first section abuts the outer wall of the shell.

[0018] The technical solution provided in the present application is that the flange structure is formed with a sealing convex ring, which is arranged on the outer periphery of the first section and abuts the inner wall of the connecting part, so as to seal the gap between the first section and the connecting part, and / or the sealing convex ring is arranged on the inner periphery of the first section and abuts the outer wall of the shell, so as to seal the gap between the first section and the shell, thereby providing a good sealing effect and reducing the possibility of fluid in the first space or external fluid entering the second space.

[0019] In some implementations of the present application, the drive assembly includes a motor, a transmission assembly and a guide assembly. The motor is fixed in the accommodating cavity. The transmission assembly is connected between the output end of the motor and the first plate body, and is used to drive the first plate body to move along the axial direction of the shell; the guide assembly extends along the axial direction of the shell and is slidably connected to the shell, and the guide assembly is connected to the first plate body.

[0020] The technical solution provided by the present application is that the motor of the driving assembly has the advantages of fast response speed and high control accuracy, which facilitates the precise control of the sinking and floating process; the transmission assembly is connected between the output shaft of the motor and the first plate body so as to transmit the connection between the motor and the first plate body. The transmission assembly can change the direction and form of action of the motor output power to meet different transmission requirements and reduce the requirements for the layout position of the motor; the guide assembly is slidably connected to the shell and connected to the first plate body. The sliding of the guide assembly relative to the shell can provide guidance for the sliding of the first plate body relative to the shell, thereby improving the accuracy and smoothness of the sliding of the first plate body relative to the shell.

[0021] In some implementations of the present application, the drive assembly includes a reel and a rope, wherein the two ends of the rope are respectively connected to the first plate and the reel, and the reel is located on the side of the first plate away from the deformable member; the reel is used to rotate the reel rope to drive the first plate toward the reel through the rope and compress the fluid in the second chamber; or, the reel releases the rope by rotating, and the first plate moves away from the reel under the action of the fluid pressure in the second chamber.

[0022] The technical solution provided in this application drives the first plate to move through a reel and a rope. When the reel reels the rope, the first plate moves toward the reel. When the reel releases the rope, the first plate moves away from the reel under the action of the fluid pressure in the second chamber. The reel and rope drive are suitable for long-stroke drive, and the rope is a flexible component, which can effectively avoid rigid impact.

[0023] In some implementations of the present application, the buoyancy regulating device further includes an elastic member disposed between the first plate and the shell; the elastic member can cause the first plate to tend to move away from the retractor.

[0024] The technical solution provided in this application is an elastic member arranged between the first plate and the shell, which can drive the first plate to move away from the retractor through the elastic member. The elastic member can work together with the fluid in the second chamber to help the first plate move quickly to a position away from the retractor.

[0025] In some implementations of the present application, the elastic member is arranged on the side of the first plate body facing the retractor, and the two ends of the elastic member are respectively connected to the first plate body and the first wall of the second chamber, and the first wall is opposite to the first plate body; the elastic member has a contact surface that contacts the first plate body and the first wall, and the contact surface is arranged around the central axis of the first plate body.

[0026] The technical solution provided by the present application is that since the two ends of the elastic member are respectively connected to the first plate body and the first wall of the second chamber, the layout direction of the elastic member corresponds to its deformation direction, which can reduce the possibility of skewing due to force. The contact surface of the elastic member surrounds the central axis of the first plate body so that the elastic member can apply force uniformly toward the first plate body in a direction parallel to the central axis, thereby facilitating smooth sliding of the first plate body and reducing the possibility of skewing and jamming of the first plate body.

[0027] In some implementations of the present application, the shell includes a first cylinder and a second cylinder that are connected to each other, and the first cylinder is configured with an open end for installing a deformable member; a support structure is provided on one side of the first cylinder opposite to the open end and / or on the inner wall of the second cylinder, at least a portion of the drive assembly is fixedly connected to the support structure, and the drive assembly is located in the second cylinder.

[0028] The technical solution provided in the present application is that the shell is provided with a first cylinder and a second cylinder, a deformation part is installed at the open end of the first cylinder, a support structure is provided on the side of the first cylinder opposite to the open end and / or the inner wall of the second cylinder, at least part of the drive component is fixedly connected to the support structure, and the connection is relatively stable; the drive component is located in the second cylinder, the deformation part and the drive component are located at opposite ends of the first cylinder, and are respectively located in the first cylinder and the second cylinder, with a long distance between the two and being in different spaces, which helps to reduce interference between the two and also facilitates providing a wider deformation space for the deformation part, which is beneficial to the deformation of the deformation part.

[0029] In some implementations of the present application, the first cylinder is detachably connected to the second cylinder, and the buoyancy regulating device further includes a first seal, which is disposed on the outer periphery of the first cylinder and is in sealing contact with the inner wall of the second cylinder.

[0030] The technical solution provided in the present application is a detachable connection between the first cylinder and the second cylinder, which facilitates the disassembly and maintenance of the shell and the components inside the shell, and improves the maintenance convenience of the buoyancy regulating device; the first seal is arranged between the first cylinder and the second cylinder to seal the connection between the first cylinder and the second cylinder, reducing the possibility of external fluid entering the second chamber, so as to provide a good and stable working environment for the motor and the first plate; and the first seal is in a sleeve-type relationship relative to the first cylinder and the second cylinder, which increases the structural complexity of the gap at the connection between the first cylinder and the second cylinder, and also helps to isolate the external fluid.

[0031] In some implementations of the present application, the second chamber is constructed as a sealed chamber, or the second chamber is connected to at least one third chamber, and the second chamber and at least one third chamber are jointly constructed as a sealed chamber.

[0032] The technical solution provided by the present application is that the second chamber is a closed chamber, which reduces the possibility of external fluid entering from other positions of the second chamber, thereby providing a good and stable working environment for the motor and the first plate in the second chamber; the second chamber can also be connected to the third chamber, and the two are together constructed as a closed chamber, which is convenient for sealing the space where the motor and the first plate are located, and the second chamber and the third chamber can also realize internal fluid exchange, thereby facilitating the change in the volume of the second chamber caused by the sliding of the first plate relative to the shell.

[0033] In a second aspect, an embodiment of the present application provides a swimming pool robot, comprising a fuselage and a buoyancy adjustment device according to any one of the first aspects, wherein the fuselage is provided with a cleaning device, and the buoyancy adjustment device is connected to the fuselage to enable the swimming pool robot to float or sink in the water.

[0034] The technical solution provided in the present application is a swimming pool robot including a buoyancy adjustment device. The buoyancy adjustment device is provided with a deformable part. The first space isolated by the deformable part is used to accommodate external fluid. The sliding connection part of the first plate body is isolated from the fluid in the first space by the deformable part. The external fluid has little impact on the sliding connection part, which can not only improve the service life of the sliding connection part, but also improve the state switching efficiency of the buoyancy adjustment device. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 A schematic structural diagram (front view) of the buoyancy regulating device provided in an embodiment of the present application;

[0036] Figure 2 A schematic structural diagram of the buoyancy regulating device provided in an embodiment of the present application (isometric view);

[0037] Figure 3 A schematic diagram of the structure of the buoyancy regulating device provided in an embodiment of the present application in a floating state;

[0038] Figure 4 A schematic diagram of the structure of the buoyancy regulating device provided in an embodiment of the present application in a sinking state;

[0039] Figure 5 A schematic diagram of the structure of the buoyancy regulating device provided in an embodiment of the present application (left view);

[0040] Figure 6 Provided in the embodiments of this application Figure 5 Cross-section structure diagram along the middle line AA;

[0041] Figure 7 Provided in the embodiments of this application Figure 6 A partial enlarged structural diagram at point C in the middle;

[0042] Figure 8 Provided in the embodiments of this application Figure 5 Cross-section structure diagram along the middle BB;

[0043] Figure 9 A schematic diagram of the structure of the drive mechanism connected to the support structure in the buoyancy regulating device provided in an embodiment of the present application;

[0044] Figure 10 A schematic diagram of a portion of the structure of a driving mechanism in a buoyancy regulating device provided in an embodiment of the present application;

[0045] Figure 11 Provided for the embodiment of this application Figure 6 The local enlarged structure diagram at D in the middle;

[0046] Figure 12 Provided for the embodiment of this application Figure 6 The local enlarged structure diagram at E in the middle;

[0047] Figure 13 A schematic diagram of the structure of a retractor and a rope in a buoyancy regulating device provided in an embodiment of the present application;

[0048] Figure 14 A schematic structural diagram of an elastic member in a buoyancy regulating device is provided for an embodiment of the present application;

[0049] Figure 15 This is a schematic diagram of the structure of the swimming pool robot provided in an embodiment of the present application.

[0050] Reference numerals:

[0051] 100-housing; 110-accommodating chamber; 111-first chamber; 1111-first space; 1112-second space; 112-second chamber; 120-first cylinder; 121-opening end; 122-support structure; 1221-support column; 1222-guide column; 1223-connecting hole; 123-second limiting groove; 124-second connecting column; 130-second cylinder; 131-third connecting ear; 140-second connecting hole; 200-driving mechanism; 210-first plate; 211-sliding connection portion; 212-plate body; 213-reinforcement structure; 214-first limiting groove; 215-first connecting column; 220-driving assembly; 221-motor; 222-transmission assembly ;2221-first gear;2222-second gear;2223-threaded rod;223-guide assembly;2231-sliding rod;224-retractor;225-rope;226-elastic member;2261-contact surface;230-second plate;240-first connecting hole;300-deformation member;310-first end;320-second end;330-telescopic section;340-flanged structure;341-first section;342-second section;343-sealing convex ring;400-structural member;410-connecting part;420-extension part;430-first connecting ear;440-second connecting ear;500-first sealing member;600-second sealing member;700-fuselage;L-center axis. DETAILED DESCRIPTION

[0052] To make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the specific technical solutions of the present application will be further described in detail below in conjunction with the drawings in the embodiments of the present application. The following embodiments are used to illustrate the present application but are not intended to limit the scope of the present application.

[0053] In the embodiments of this application, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the embodiments of this application, unless otherwise specified, "multiple" means two or more.

[0054] In addition, in the embodiments of the present application, directional terms such as "up", "down", "left" and "right" are defined relative to the orientation of the components in the drawings. It should be understood that these directional terms are relative concepts. They are used for relative description and clarification, and they may change accordingly according to changes in the orientation of the components in the drawings.

[0055] In the embodiments of the present application, unless otherwise clearly specified and limited, the term "connection" should be understood in a broad sense. For example, "connection" can be a fixed connection, a detachable connection, or an integrated connection; it can be a direct connection or an indirect connection through an intermediate medium.

[0056] In the embodiments of the present application, the terms "comprises," "comprising," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or apparatus comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not preclude the presence of other identical elements in the process, method, article, or apparatus comprising the element.

[0057] In the embodiments of this application, words such as "exemplarily" or "for example" are used to indicate examples, illustrations, or explanations. Any embodiment or design described as "exemplarily" or "for example" in the embodiments of this application should not be construed as being preferred or advantageous over other embodiments or designs. Rather, the use of words such as "exemplarily" or "for example" is intended to present the relevant concepts in a concrete manner.

[0058] The present application provides a pool robot that can be used for cleaning, maintenance, inspection, and environmental monitoring of pools in home swimming pools, swimming pools, water parks, and other facilities. The pool robot, with its cleaning function, can effectively remove dust, dirt, and algae from the pool's bottom and sidewalls, as well as leaves and suspended debris from the water. The pool robot can be powered by either a cable or a battery; its cleaning methods include suction, filtration, and brushing; and its mobility can include propellers, wheels, tracks, and other mechanisms.

[0059] In some technical solutions, a pool robot includes a buoyancy adjustment device that changes the buoyancy of the pool robot by drawing in or out water from the pool, allowing the pool robot to sink or float in the pool. In related art, a pool robot includes a piston assembly, which includes a piston cylinder and a piston. The outer periphery of the piston is slidably connected within the piston cylinder. The opening of the piston cylinder is connected to the outside world. Water is drawn in or out of the piston cylinder opening through the piston movement. Because the piston is in direct contact with the water, it is easily corroded by the water, shortening its service life. Furthermore, debris such as dead leaves in the water can easily get stuck in the piston, affecting its movement relative to the piston cylinder and affecting the pool robot's sinking or floating.

[0060] Before further describing the embodiments of the present application in detail, the nouns and terms involved in the embodiments of the present application are explained. The nouns and terms involved in the embodiments of the present application are subject to the following interpretations.

[0061] 1) Sinking or floating: When a component is located in a fluid (such as swimming pool water), it sinks when the component increases its density and reduces the buoyancy of the fluid, thereby moving toward the bottom of the fluid under the action of gravity. It floats when the component decreases its density and increases the buoyancy of the fluid, thereby moving toward the surface of the fluid under the action of buoyancy.

[0062] 2) Central axis: This refers to the axis passing through the geometric center of a component. The central axis can be the component's axis of symmetry or its axis of extension along a specific direction. For example, if the component is a cylindrical structure, the central axis is the line connecting the centers of its multiple cross sections. This central axis is both the axis of symmetry and the axis of extension of the cylindrical structure along the axial direction.

[0063] 3) Axial / Radial: For cylindrical components such as cylinders, elliptical cylinders, and prisms, the axial direction (axial direction) refers to the direction parallel to the central axis of the cylindrical component, and the radial direction refers to any direction perpendicular to the axial direction. Accordingly, an axial section refers to a section parallel to the central axis of the component, while a radial section refers to a section perpendicular to the axial direction of the component.

[0064] 4) Outer wall / inner wall: For a component with a cavity, the wall located on the inner side of the component and used to form the cavity is the inner wall; the wall located on the outer side of the component and able to contact the external environment of the cavity is the outer wall.

[0065] 5) Inner circumference / outer circumference: For a component having a cavity, the inner circumference refers to the inner wall that can surround the entire circumference, and the outer circumference refers to the outer wall that can surround the entire circumference.

[0066] 6) Extension direction: For columnar structures, the extension direction can be the axial direction or the radial direction. Unless otherwise specified, it usually refers to the axial direction of the columnar structure. For example, the extension direction of a cylindrical structure is the axial direction.

[0067] 7) Extension direction: refers to any direction parallel to the maximum surface of the component. For example, for a square plate-shaped component, the extension direction can be any direction perpendicular to its thickness direction, such as the length direction, width direction, diagonal direction, etc.

[0068] 8) Deformable parts: Deformable parts are structural parts that can be deformed under the action of external forces. The deformable parts themselves can be elastic or inelastic.

[0069] The present application also provides a buoyancy adjustment device for use in a swimming pool robot. Figure 1 、 Figure 2 、 Figure 3 and Figure 4 The buoyancy regulating device includes a shell 100, a driving mechanism 200 and a deformable member 300. The shell 100 is formed with a accommodating chamber 110; the driving mechanism 200 includes a first plate body 210 slidably connected to the inner wall of the shell 100 and a driving assembly 220 for sliding the first plate body 210. The first plate body 210 includes a sliding connection portion 211 abutting against the inner wall of the shell 100. The first plate body 210 seals and isolates the accommodating chamber 110 to form a first chamber 111 and a second chamber 112; the deformable member 300 seals and isolates the first chamber 111 to form a first space 1111 and a second space 1112. The first space 1111 is communicated with the external environment. The deformable member 300 isolates the sliding connection portion 211 and the first space 1111; wherein, the sliding first plate body 210 is used to adjust the volume of the first chamber 111 and the second chamber 112 to change the amount of fluid entering the first space 1111 through the external environment.

[0070] In the embodiment of the present application, the housing 100 provides a mounting base for the drive mechanism 200 and the deformable member 300. The outer contour of the housing 100 is not limited and can be regular or irregular. The housing 100 can be a monolithic structure or a split structure. The interior of the housing 100 forms a housing cavity 110, and the housing 100 is provided with an opening that communicates with the housing cavity 110.

[0071] In some examples, the outer contour of the housing 100 is generally cylindrical, with an opening provided at one axial end of the housing 100, the opening communicating with the accommodating cavity 110. The housing 100 may have a variable diameter structure, a constant diameter structure, or a stepped structure. A variable diameter structure refers to a gradually changing radial dimension of the housing 100 along the axial direction of the housing 100; a constant diameter structure refers to a uniform radial dimension of the housing 100 along the axial direction of the housing 100; and a stepped structure refers to a housing 100 comprising at least two structural segments, each having a uniform radial dimension, with different segments having different radial dimensions.

[0072] In an embodiment of the present application, the accommodating cavity 110 is formed on the inner side of the shell 100. The contour of the accommodating cavity 110 may be the same as or different from the outer contour of the shell 100. In some examples, the contour of the accommodating cavity 110 is the same as the outer contour of the shell 100. The shell 100 is cylindrical, and the accommodating cavity 110 is also cylindrical.

[0073] In the embodiment of the present application, the outer contour of the first plate body 210 is adapted to the contour of the accommodating cavity 110. For example, if the accommodating cavity 110 is prism-shaped, the outer contour of the first plate body 210 is a polygon corresponding to the number of sides of the prism; for another example, if the accommodating cavity 110 is cylindrical, the outer contour of the first plate body 210 is circular. The extension direction of the first plate body 210 can be perpendicular to the axial direction of the housing 100 or be set at an acute or obtuse angle. In some examples, the extension direction of the first plate body 210 is perpendicular to the axial direction of the housing 100 so that the first plate body 210 separates the first chamber 111 and the second chamber 112 into a more regular spatial structure.

[0074] In the embodiment of the present application, a sliding connection portion 211 is constructed on the first plate body 210 and is slidably connected to the inner wall of the shell 100. The sliding connection portion 211 includes a sliding wall facing the inner wall of the shell 100 and / or a sliding sealing structure arranged on the sliding wall.

[0075] Specifically, the sliding wall may be the outer peripheral wall of the first plate body 210. The sliding connection portion 211 may include a flange structure provided on the outer edge of the first plate body 210, the flange structure forming a sliding wall facing the inner wall of the housing 100, and the sliding wall contacts the inner wall of the housing 100; or the sliding connection portion 211 may include a groove structure filled with a sliding sealing structure, and the sliding sealing structure contacts the inner wall of the housing 100.

[0076] In the embodiment of the present application, the driving assembly 220 may include a motor, an angle cylinder, or other driving member for output shaft rotational motion, or may include a hydraulic cylinder, an air cylinder, an electric telescopic rod, or other driving member for output shaft linear motion, wherein the motor may be a servo motor, a stepper motor, or the like. Figure 6 In some examples, the driving assembly 220 includes a motor 221 , the output shaft of the motor 221 is connected to the first plate 210 for driving the first plate 210 to slide relative to the housing 100 along the axial direction of the housing 100 .

[0077] In the embodiment of the present application, the deformable member 300 hermetically isolates the first chamber 111. Specifically, the deformable member 300 is hermetically connected to the housing 100, and the deformable member 300 separates the first chamber 111 into a first space 1111 and a second space 1112. Fluids in the first space 1111 and the second space 1112 cannot flow between the first space 1111 and the second space 1112 through the connection between the deformable member 300 and the housing 100. The connection between the deformable member 300 and the housing 100 can be to the outer wall of the housing 100 or to the inner wall of the housing 100.

[0078] In some examples, the deformable member 300 is a sheet-like structure, and the extended plane of the deformable member 300 is arranged at an angle to the central axis L of the housing 100. The angle can be acute, obtuse, or right. For example, the sheet-like deformable member 300 extends perpendicular to the central axis L of the first chamber 111, and the circumferential side of the sheet-like deformable member 300 is connected to the inner wall of the housing 100.

[0079] In other examples, the deformable member 300 is formed with an accommodation space, and the radial size of the deformable member 300 can be uniform or gradually set, or can be set in a stepped or wavy shape. The deformable member 300 is provided with an open end connected to the shell 100.

[0080] In this embodiment of the present application, first space 1111 is connected to the external environment, allowing fluid from the external environment (external fluid) to enter first space 1111. However, due to the configuration of deformable member 300, external fluid cannot enter second space 1112. Sliding connection 211 is isolated from external fluid, making it less susceptible to intrusion by external fluid. Furthermore, due to the configuration of first plate 210, second space 1112 is relatively isolated from second chamber 112, isolating the fluid between them.

[0081] In some examples, the fluids in the second space 1112 and the second chamber 112 are both gases, and the fluid in the external environment is liquid (such as water in a swimming pool). Figure 3 , the driving component 220 drives the first plate 210 to move and approach the opening of the accommodating chamber 110, the volume of the second chamber 112 increases, the volume of the first chamber 111 decreases, the fluid in the second space 1112 is compressed and generates positive pressure, squeezing the deformable member 300 in the direction away from the first plate 210, and the deformable member 300 deforms toward the opening of the accommodating chamber 110, compressing the volume of the first space 1111, and the external fluid in the first space 1111 is discharged from the buoyancy regulating device, and the overall drainage volume of the buoyancy regulating device increases, and the buoyancy it receives increases, so as to achieve the floating operation. Of course, in some embodiments, positive pressure may not be generated in the second space 1112, and the first plate 210 directly drives the deformable member 300 to generate deformation. Otherwise, please refer to Figure 4The driving assembly 220 drives the first plate body 210 to move and away from the opening of the accommodating chamber 110, the volume of the second chamber 112 decreases, the volume of the first chamber 111 increases, and the volume of the second space 1112 changes accordingly. Under the positive pressure of the external fluid in the first space 1111, the deformable member 300 deforms toward the first plate body 210, and the volume of the first space 1111 increases accordingly. More external fluid enters the first space 1111, and the overall drainage volume of the buoyancy regulating device decreases, and the buoyancy it receives decreases, so as to achieve the sinking operation.

[0082] In the technical solution of the embodiment of the present application, the buoyancy regulating device includes a shell 100 and a driving mechanism 200. The shell 100 is formed with a accommodating chamber 110. The first plate 210 of the driving mechanism 200 is located in the accommodating chamber 110 and seals and isolates the accommodating chamber 110 into a first chamber 111 and a second chamber 112. The sliding connection portion 211 of the first plate 210 is slidably connected to the inner wall of the shell 100. The driving assembly 220 of the driving mechanism 200 is used to drive the first plate 210 to slide relative to the shell 100. As the first plate 210 slides relative to the shell 100, the volumes of the first chamber 111 and the second chamber 112 change accordingly, that is, the volume of the first chamber 111 increases and the volume of the second chamber 112 decreases; or, the volume of the first chamber 111 decreases and the volume of the second chamber 112 increases.

[0083] On this basis, the buoyancy regulating device also includes a deformable member 300, which seals and isolates the first chamber 111 into a first space 1111 and a second space 1112. The first space 1111 is connected to the external environment. Since the first space 1111 is part of the first chamber 111, when the driving component 220 drives the first plate 210 to move and changes the volume of the first chamber 111, the volume of the first space 1111 changes accordingly, and the external fluid is sucked in or discharged from the opening of the first space 1111, that is, the actual displacement in the first space 1111 is changed, thereby changing the buoyancy of the entire buoyancy regulating device.

[0084] The deformable member 300 isolates the sliding connection portion 211 and the first space 1111. In other words, the sliding connection portion 211 does not contact the fluid in the first space 1111. Due to the isolation of the deformable member 300, the sliding connection portion 211 is not easily corroded by the fluid in the first space 1111, thereby improving the service life of the sliding connection portion 211; and impurities such as dead leaves carried by the fluid in the first space 1111 are also blocked by the deformable member 300, and are difficult to enter the connection position between the sliding connection portion 211 and the inner wall of the shell 100, and are unlikely to have an adverse effect on the sliding of the sliding connection portion 211. In other words, the sliding of the sliding connection portion 211 and the inner wall of the shell 100 is less affected by the outside world, and the relative movement is smoother, which facilitates improving the switching efficiency of the buoyancy regulating device between the floating or sinking states.

[0085] Compared with the solution of using a piston assembly to achieve floating and sinking in the related art, the buoyancy regulating device of the embodiment of the present application is provided with a deformable part 300. The first space 1111 isolated by the deformable part 300 is used to accommodate external fluid. The sliding connection part 211 of the first plate body 210 is isolated from the fluid in the first space 1111 by the deformable part 300. The external fluid has little effect on the sliding connection part 211, which can not only improve the service life of the sliding connection part 211, but also improve the state switching efficiency of the buoyancy regulating device.

[0086] Reference Figure 5 and Figure 6 In some embodiments of the present application, the deformable member 300 has a first end 310 fixed to the housing 100 .

[0087] In the embodiment of the present application, the deformable member 300 may have a receiving space. Along the central axis L of the deformable member 300, the deformable member 300 has a first end 310 away from the first plate 210, and the first end 310 is fixed to the housing 100. It will be understood that the first end 310 is provided with an opening corresponding to the receiving space to facilitate entry of external fluid into the receiving space. Since the deformable member 300 is disposed within the first chamber 111, the receiving space of the deformable member 300 is a portion of the first chamber 111.

[0088] In the embodiment of the present application, the first end 310 of the deformable member 300 can be connected to the inner wall of the housing 100, that is, the deformable member 300 is completely accommodated in the first chamber 111, and the first space 1111 includes both the accommodation space for the deformable member 300 and the portion between the opening of the deformable member 300 and the opening of the housing 100. Alternatively, the first end 310 of the deformable member 300 is connected to the outer wall of the housing 100, that is, the portion of the deformable member 300 provided with the opening extends to the outside of the housing 100 and is connected to the corresponding wall surface of the housing 100, and the accommodation space for the deformable member 300 and the first space 1111 are the same space.

[0089] In the embodiment of the present application, the first end 310 and the housing 100 can be fixed by snapping, bonding, welding, riveting, interference fit, fastener connection, etc. In some examples, the first end 310 and the housing 100 are fixed by clamping.

[0090] In the embodiment of the present application, the deformable member 300 may be connected to or not connected to the first plate body 210. When the first plate body 210 is connected to the deformable member 300, the first plate body 210 may directly apply force to the deformable member 300 so that the deformable member 300 is deformed. When the first plate body 210 is not connected to the deformable member 300, the deformable member 300 may be deformed by the positive pressure or negative pressure of the second space 1112 and the pressure of the external fluid.

[0091] In the technical solution of the embodiment of the present application, the first end 310 of the deformable member 300 is fixed to the shell 100, the connection between the deformable member 300 and the shell 100 is relatively stable, and the end of the deformable member 300 is connected to the shell 100, the deformable member 300 is subject to fewer constraints, which is more conducive to the deformation of the deformable member 300.

[0092] Reference Figure 5 and Figure 6 In some embodiments of the present application, the deformable member 300 has a second end 320 fixed to the first plate 210 .

[0093] In the embodiment of the present application, the deformable member 300 may have an accommodating space. Along the central axis L of the deformable member 300 , the deformable member 300 has a second end 320 close to the first plate body 210 . The second end 320 and the first end 310 may be opposite ends of the deformable member 300 along the axial direction.

[0094] In the embodiment of the present application, the second end 320 and the first plate 210 can be fixed by clamping, bonding, welding, riveting, interference fit, fastener connection, etc. In some examples, the second end 320 and the first plate 210 are fixed by clamping.

[0095] In some examples, the driving mechanism 200 also includes a second plate 230, which is located in the first space 1111, that is, the first plate 210 and the second plate 230 are respectively located on the outside and inside of the deformable member 300, and the extension directions of the first plate 210 and the second plate 230 are arranged in parallel, and the first plate 210 and the second plate 230 clamp and fix the second end 320 of the deformable member 300.

[0096] In the embodiment of the present application, the first plate 210 and the second plate 230 can be fixed in a contact manner by means of snapping, bonding, welding, fastener connection, etc.; the first plate 210 and the second plate 230 can also be fixed in a non-contact manner such as magnetic attraction.

[0097] In an embodiment of the present application, the second end 320 can be a closed structure or a through structure. For example, the second end 320 is a closed structure set on the entire surface and has no through holes. The fluid cannot pass through the second end 320 to enter the second space 1112, and the sealing performance is better. Alternatively, when the second end 320 is provided with a through structure (such as a connecting through hole), a sealing structure is also provided between the second end 320 and the first plate body 210 to close the through structure of the second end 320. Such a setting can facilitate the connection between the second end 320 and the first plate body 210.

[0098] In some examples, the second end 320 of the deformable member 300 is provided with a through hole, Figure 5The first plate 210 and the second plate 230 are provided with first connecting holes 240 corresponding to the through holes of the deformable member 300. The first plate 210 and the second plate 230 are connected by fasteners such as screws, bolts, screws, and nuts. The fasteners pass through the first connecting hole 240 of the first plate 210, the through hole of the deformable member 300, and the first connecting hole 240 of the second plate 230 in sequence to lock and fix the first plate 210 and the second plate 230 so that the first plate 210 and the second plate 230 clamp and fix the second end 320 of the deformable member 300.

[0099] In the embodiment of the present application, the second end 320 of the deformable member 300 may be provided with one or more (including two) through-holes, and the multiple through-holes may be arranged in a rectangular or circular array. In some examples, the second end 320 is provided with four through-holes, and the four through-holes are distributed in a circular array, which can not only improve the connection security but also balance the force.

[0100] In the technical solution of the embodiment of the present application, the first plate body 210 and the second plate body 230 clamp and fix the second end 320, which has a high connection strength and is convenient for the first plate body 210 to transmit the driving force to the deformable part 300. When the deformable part 300 is deformed, it will be supported in two relative directions, and the force will be more balanced. The fastener passes through the through hole of the second end 320, and can also limit the deformable part 300, reducing the possibility of radial displacement of the deformable part 300.

[0101] In the embodiment of the present application, the deformation of the deformable member 300 can be achieved by an elastic material, for example, the deformable member 300 includes an elastic material such as rubber, silicone, or polyurethane. Alternatively, the deformation of the deformable member 300 can be achieved by a structure, such as a bellows or a multi-layer sleeve with a deformable function. Furthermore, a deformable structure can be combined with an elastic material.

[0102] In some examples, the deformable member 300 includes a plurality of first annular walls and a plurality of second annular walls. The extension directions of the first annular walls and the second annular walls each form an angle with the central axis L of the deformable member 300, and the first annular walls and the second annular walls have different orientations. Along the axial direction of the deformable member 300, the plurality of first annular walls and the plurality of second annular walls are alternately arranged, and adjacent first annular walls and second annular walls are connected and arranged at an angle. The angle between adjacent first annular walls and second annular walls can be varied. As the angle between adjacent first annular walls and second annular walls increases, the projected dimensions of the first annular walls and the second annular walls along the radial direction of the deformable member 300 increase, the axial dimension of the deformable member 300 increases, the deformable member 300 elongates, and the volume of the first space 1111 increases.

[0103] Accordingly, the angle between the adjacent first and second annular walls decreases, and along the radial direction of the deformable member 300, the projected dimensions of the first and second annular walls decrease. The axial dimension of the deformable member 300 decreases, shortening the deformable member 300 and reducing the volume of the first space 1111. The deformable member 300 deforms by extending or shortening. In some examples, the deformable member 300 may be a bellows.

[0104] In the technical solution of the embodiment of the present application, the deformable member 300 is fixed to the first plate body 210, and there is a relatively stable connection relationship between the two. The deformation of the deformable member 300 can be directly driven by the sliding of the first plate body 210 relative to the shell 100. In other words, the first plate body 210 provides a direct drive for the deformation of the deformable member 300, and also provides a restriction on the deformation direction of the deformable member 300, so that the deformable member 300 deforms in the set direction, facilitating the fluid to enter or flow out of the first space 1111.

[0105] Reference Figure 5 、 Figure 6 and Figure 7 In some embodiments of the present application, the buoyancy regulating device further includes a structural member 400 , which is detachably connected to the shell 100 , and the first end 310 is clamped between the structural member 400 and the shell 100 .

[0106] In the embodiment of the present application, the detachable connection between the structural member 400 and the housing 100 can be a snap connection, a threaded connection, an adsorption connection, a fastener connection, etc. In some embodiments, the structural member 400 is sleeved on the outer circumference of the housing 100, and the surfaces where the two meet are both configured as threaded surfaces, and the first end 310 can be clamped between the threaded surfaces of the structural member 400 and the housing 100.

[0107] In some embodiments, the structural member 400 and the housing 100 are connected using fasteners such as screws, bolts, studs, and nuts. For example, the structural member 400 and the housing 100 are both provided with second connection holes 140, and the bolts or screws pass through the second connection holes 140 of the structural member 400 and the housing 100 in sequence, and one of the second connection holes 140 is a threaded hole that can cooperate with the bolt or screw to lock the structural member 400 to the housing 100; alternatively, the structural member 400 and the housing 100 are both provided with second connection holes 140, and the bolts or studs pass through the second connection holes 140 of the structural member 400 and the housing 100 in sequence and cooperate with the nuts to lock the structural member 400 to the housing 100.

[0108] Reference Figure 1 、 Figure 2 、 Figure 5 and Figure 6In some embodiments of the present application, a first connecting ear 430 is provided on the outer peripheral side of the structural member 400, and a second connecting column 124 is provided on the shell 100 at a position corresponding to the first connecting ear 430. The first connecting ear 430 and the second connecting column 124 are both provided with a second connecting hole 140, and the corresponding first connecting ear 430 is coaxially arranged with the second connecting hole 140 of the second connecting column 124. Bolts, studs and other fasteners pass through the first connecting ear 430 and the second connecting column 124 to fix the structural member 400 to the shell 100.

[0109] In some examples, the housing 100 includes a main body and a second connecting post 124 coupled to the main body. The second connecting post 124 can be coupled to the main body by integral molding, bonding, welding, or snap-fitting. The second connecting post 124 can be coupled to one or more locations on the main body. In some examples, the ends of the second connecting post 124 are coupled to the main body, respectively, with a cavity formed between the middle portion of the second connecting post 124 and the main body. This saves material and reduces weight while still meeting connection requirements.

[0110] In some examples, a plurality of first connecting ears 430 are provided on the outer peripheral side of the structural member 400, and the plurality of first connecting ears 430 are evenly spaced along the circumference of the structural member 400. The shell 100 is correspondingly provided with a plurality of second connecting columns 124, and the plurality of second connecting columns 124 correspond one to one to the plurality of first connecting ears 430.

[0111] Reference Figure 1 、 Figure 2 、 Figure 5 and Figure 6 In some embodiments of the present application, a second connecting ear 440 is further provided on the outer peripheral side of the structural member 400. The second connecting ear 440 is used to connect to an external fixed structure. For example, the connection between the buoyancy regulating device and the fuselage 700 can be achieved by connecting the second connecting ear 440 to the fuselage 700.

[0112] In some examples, the second connecting lug 440 is provided with a connection hole, a clamping portion, a welding portion, an adhesive portion, etc., so as to be connected to a corresponding position of the fuselage 700. A plurality of second connecting lugs 440 can also be provided, and the plurality of second connecting lugs 440 and the plurality of first connecting lugs 430 are alternately distributed along the circumference of the structural member 400 to ensure a more balanced force on the structural member 400.

[0113] In the technical solution of the embodiment of the present application, by setting a structural member 400, the first end 310 of the deformable member 300 is clamped on the shell 100 by the structural member 400, and there is a stable connection between the deformable member 300 and the shell 100, so that the deformable member 300 can withstand a larger force and produce a larger degree of deformation, thereby increasing the effective volume of the first space 1111, and the structural member 400 is detachably connected to the shell 100, which facilitates the disassembly and maintenance of the structural member 400 and the deformable member 300.

[0114] Reference Figure 6 and Figure 7 In some embodiments of the present application, the structural member 400 includes a connecting portion 410 and an extending portion 420. The connecting portion 410 is connected to the shell 100, and the connecting portion 410 is sleeved on the outer edge of the opening of the shell 100. The extending portion 420 extends from the connecting portion 410 toward the center of the opening of the shell 100; projected along the axial direction of the shell 100, the extending portion 420 at least covers the connecting portion between the deformable member 300 and the shell 100.

[0115] Among them, the connecting part between the deformation member 300 and the shell 100 refers to the structure for connecting the connecting part 410 and the shell 100, specifically including the part where the connecting part 410 is connected to the shell 100, the part where the shell 100 is connected to the connecting part 410, and the structure arranged between the connecting part 410 and the shell 100.

[0116] In some examples, the connecting portion 410 and the extending portion 420 can be connected by welding, clamping, bonding, integral molding, etc. For example, the connecting portion 410 and the extending portion 420 are integrally molded, so that the structural member 400 has a higher structural strength.

[0117] In some examples, the connection between the connecting portion 410 and the housing 100 can be a snap connection, a threaded connection, an adsorption connection, a fastener connection, etc. For example, the first connecting ear 430 is provided on the outer peripheral side of the connecting portion 410 , and the connecting portion 410 is connected to the housing 100 via the first connecting ear 430 .

[0118] In some examples, the connection portion 410 is an annular structure, and the inner contour of the connection portion 410 matches the outer contour of the housing 100. For example, the cross-sectional contours of both are circular. The connection portion 410 is sleeved on the outer edge of the opening of the housing 100, that is, the connection portion 410 is sleeved on the outer circumference of the housing 100, and the connection portion 410 is located at the opening of the housing 100. The inner wall of the connection portion 410 corresponds to the outer wall of the opening of the housing 100.

[0119] In some examples, the extension portion 420 extends from the connecting portion 410 toward the center of the opening of the housing 100. In other words, the extension portion 420 extends from the edge of the opening toward the center of the opening of the housing 100. It is understood that the extension portion 420 is an annular structure, and the hollow portion of the extension portion 420 serves as an opening for the buoyancy regulating device to communicate with the external fluid.

[0120] In some examples, the extension direction of the extension portion 420 is at an angle to the extension direction of the connection portion 410. Along the central axis L of the housing 100, the extension portion 420 may extend toward the accommodating cavity 110 or away from the accommodating cavity 110. For example, the extension direction of the extension portion 420 is perpendicular to the central axis L of the housing 100 and also perpendicular to the extension direction of the connection portion 410.

[0121] In some examples, the deformable member 300 can be clamped between the extension portion 420 and the outer wall of the shell 100, and projected along the axial direction of the shell 100, the projection of the extension portion 420 covers the clamped portion of the deformable member 300; in other examples, the deformable member 300 is clamped between the connecting portion 410 and the outer wall of the shell 100, and the deformable member 300 needs to pass through the gap between the extension portion 420 and the shell 100, and projected along the axial direction of the shell 100, the projection of the extension portion 420 covers the portion of the deformable member 300 located between the extension portion 420 and the shell 100.

[0122] In some examples, when projected along the axial direction of the shell 100, the projection of the connecting portion between the deformable member 300 and the shell 100 overlaps with the projection of the extension portion 420, and the inner wall of the extension portion 420 overlaps with the projection of the inner wall of the shell 100; in other examples, when projected along the axial direction of the shell 100, the projection of the extension portion 420 not only covers the connecting portion between the deformable member 300 and the shell 100, but also exceeds the inner wall of the shell 100. For example, the first annular wall and the second annular wall of the deformable member 300 form the telescopic section 330, and the projection of the extension portion 420 at least partially covers the projection of the telescopic section 330.

[0123] In the technical solution of the embodiment of the present application, the structural member 400 is provided with a connecting portion 410 and an extension portion 420. The connecting portion 410 is sleeved on the outer edge of the opening of the shell 100, so that the connecting portion 410 and the shell 100 have good limiting function in the radial direction perpendicular to the shell 100, and the positions of the two are relatively fixed; the extension portion 420 extends from the connecting portion 410 toward the center of the opening of the shell 100 and covers the connecting portion of the deformable member 300 and the shell 100. On the one hand, it is convenient to press the deformable member 300 against the opening of the shell 100; on the other hand, the extension portion 420 and the shell 100 jointly provide limiting function for the deformable member 300, so that the deformable member 300 is not easy to fall out and the connection is more stable.

[0124] Reference Figure 6and Figure 7 In some embodiments of the present application, the first end 310 is provided with a flange structure 340, and the flange structure 340 includes a first segment 341 and a second segment 342 connected to each other, the first segment 341 is located between the shell 100 and the connecting portion 410, and the second segment 342 is located between the shell 100 and the extension portion 420, and the extension portion 420, the second segment 342 and the outer edge of the opening of the shell 100 are abutted in sequence along the axial direction of the shell 100.

[0125] In some examples, the first section 341 of the deformable member 300 is located between the shell 100 and the connecting portion 410, and the first section 341 is clamped and fixed by the inner wall of the connecting portion 410 and the outer wall of the shell 100, that is, the first section 341 is an annular structure, and the first section 341 is sleeved on the outer peripheral side of the shell 100 and located on the inner peripheral side of the connecting portion 410.

[0126] In some examples, the surface of the first section 341 is smooth, and in other examples, the surface of the first section 341 is provided with a concave structure or a convex structure. For example, the first section 341 is formed with a threaded structure to facilitate the threaded connection between the connecting portion 410 and the shell 100. In some examples, the first section 341 is a flexible structure, and the shape of the first section 341 can adapt to the shape of the connecting portion 410 and the shell 100. The first section 341 fits the connecting portion 410 and the shell 100 respectively, and has a good sealing effect.

[0127] In some examples, the second segment 342 is located between the shell 100 and the extension portion 420, and the second segment 342 is located between the first segment 341 and the telescopic segment 330. Along the center axis L of the shell 100, one side of the second segment 342 abuts against the end face of the shell 100, and the other side of the second segment 342 abuts against the extension portion 420. The extension portion 420 and the shell 100 clamp and fix the second segment 342.

[0128] In some examples, the surface of the second section 342 is smoothly set, or the surface of the second section 342 is provided with a concave structure or a convex structure; in some examples, the second section 342 is a flexible structure, and the shape of the second section 342 can adapt to the shape of the extension portion 420 and the shell 100. The second section 342 fits the extension portion 420 and the shell 100 respectively, and has a better sealing effect.

[0129] In the technical solution of the embodiment of the present application, a flange structure 340 is provided at the first end 310 of the deformable member 300. The flange structure 340 includes a first section 341 located between the housing 100 and the connecting portion 410. In other words, the first section 341 is located between the outer circumference of the housing 100 and the inner circumference of the structural member 400. The housing 100 and the connecting portion 410 can provide good radial limitation for the deformable member 300. The second section 342 of the flange structure 340 abuts between the extension portion 420 and the housing 100 along the axial direction of the housing 100. The housing 100 and the extension portion 420 can provide good axial limitation for the deformable member 300. The limitation in multiple directions further improves the connection stability between the deformable member 300 and the housing 100, so that the deformable member 300 can be deformed. In addition, the structures of the first section 341 and the second section 342 are relatively complex, and it is difficult for external fluid to enter the second space 1112 through the gap at the connection position of the deformable member 300, thereby improving the sealing effect.

[0130] Reference Figure 6 and Figure 7 In some embodiments of the present application, the flange structure 340 also includes a sealing convex ring 343, which is arranged on the outer periphery and / or inner periphery of the first section 341. The sealing convex ring 343 located on the outer periphery of the first section 341 abuts against the inner wall of the connecting portion 410, and the sealing convex ring 343 located on the inner periphery of the first section 341 abuts against the outer wall of the shell 100.

[0131] In some examples, the sealing ring 343 is an annular protrusion provided on the surface of the flange structure 340. The sealing ring 343 can surround the shell 100 around the central axis L of the shell 100. The sealing ring 343 has elastic deformation capability and can seal the tiny gap between the first section 341 and the connecting portion 410 / shell 100 through elastic deformation, thereby improving the sealing effect.

[0132] In some examples, the radial direction of the sealing ring is perpendicular to the central axis L of the housing 100, for example, the sealing ring is a circular ring; in other examples, the radial direction of the sealing ring forms an acute angle or an obtuse angle with the central axis L of the housing 100, for example, the sealing ring is an elliptical ring.

[0133] In some examples, the cross-section of the sealing ring (the cross-section through the axial direction of the sealing ring) has an arc profile or a polygonal profile. The arc profile can be a major arc, a minor arc, a semicircular arc, etc., and the polygonal profile can be a triangle, a rectangle, a square, a trapezoid, etc.

[0134] In some examples, a sealing convex ring 343 is provided on the outer periphery of the first section 341, and the sealing convex ring 343 abuts the inner wall of the connecting portion 410 for sealing between the connecting portion 410 and the first section 341; in other examples, a sealing convex ring 343 is provided on the inner periphery of the first section 341, and the sealing convex ring 343 abuts the outer wall of the shell 100 for sealing between the shell 100 and the first section 341; in still other examples, sealing convex rings 343 are provided on both the outer periphery and the inner periphery of the first section 341, the sealing convex ring 343 located on the outer periphery abuts the inner wall of the connecting portion 410 for sealing between the connecting portion 410 and the first section 341, and the sealing convex ring 343 located on the inner periphery abuts the outer wall of the shell 100 for sealing between the shell 100 and the first section 341.

[0135] In the embodiment of the present application, one or more sealing convex rings 343 can be set on the outer periphery of the first section 341, and one or more sealing convex rings 343 can also be set on the inner periphery of the first section 341. The multiple sealing convex rings 343 can adopt the same or different structures, and the number of sealing convex rings 343 located on the outer periphery of the first section 341 can be the same as or different from the number of sealing convex rings 343 located on the inner periphery of the first section 341.

[0136] In the embodiment of the present application, the sealing convex ring 343 located on the outer periphery of the first section 341 and the sealing convex ring 343 located on the inner periphery of the first section 341 can be arranged relative to each other or staggered. For example, along the central axis L of the deformable member 300, the sealing convex ring 343 located on the outer periphery of the first section 341 and the sealing convex ring 343 located on the inner periphery of the first section 341 are alternately arranged, so that the first section 341 is deformed into a wavy structure, thereby improving the sealing effect.

[0137] In some examples, the number of sealing protrusions 343 located on the inner circumference of the first section 341 is greater than the number of sealing protrusions 343 located on the outer circumference of the first section 341. Since the gap between the first section 341 and the shell 100 can connect to the second space 1112, more sealing protrusions 343 are provided on the inner circumference of the first section 341, which helps to isolate the second space 1112 from the outside world.

[0138] For example, two sealing convex rings 343 are provided on the inner periphery of the first section 341, and one sealing convex ring 343 is provided on the outer periphery of the first section 341. Along the central axis L of the shell 100, the outer sealing convex ring 343 is arranged between the two inner sealing convex rings 343, and the cross-sectional profiles of the three sealing convex rings 343 are all arc-shaped.

[0139] In the technical solution of the embodiment of the present application, the flange structure 340 is formed with a sealing convex ring 343, which is arranged on the outer periphery of the first section 341 and abuts the inner wall of the connecting part 410, so as to seal the gap between the first section 341 and the connecting part 410, and / or, the sealing convex ring 343 is arranged on the inner periphery of the first section 341 and abuts the outer wall of the shell 100, so as to seal the gap between the first section 341 and the shell 100, thereby providing a good sealing effect and reducing the possibility of the fluid in the first space 1111 or the external fluid entering the second space 1112.

[0140] Reference Figure 6 、 Figure 8 、 Figure 9 and Figure 10 In some embodiments of the present application, the driving assembly 220 includes a motor 221, a transmission assembly 222 and a guide assembly 223. The motor 221 is fixed to the accommodating cavity 110, and the transmission assembly 222 is connected between the output end of the motor 221 and the first plate body 210, and is used to drive the first plate body 210 to move along the axial direction of the shell 100; the guide assembly 223 extends along the axial direction of the shell 100 and is slidably connected to the shell 100, and the guide assembly 223 is connected to the first plate body 210.

[0141] In some examples, the drive assembly 220 includes a motor 221. The motor 221 serving as a drive member can be a servo motor, a stepper motor, etc. The base of the motor 221 is fixed to the shell 100, and the output shaft of the motor 221 is connected to the first plate body 210 through the transmission assembly 222 so as to drive the first plate body 210 to slide relative to the shell 100 along the center axis L of the shell 100.

[0142] In some examples, a transmission assembly 222 is provided between the motor 221 and the first plate 210. The transmission assembly 222 may be a component capable of changing the drive mode, such as a lead screw nut, a worm gear, a gear rack, or a connecting rod mechanism. The transmission assembly 222 may also be a component capable of changing the reduction ratio, such as a belt drive assembly, a chain drive assembly, or a gear assembly. The transmission assembly 222 may also be a combination of one or more of a lead screw nut, a worm gear, a gear rack, a connecting rod mechanism, a belt drive assembly, a chain drive assembly, and a gear assembly. In addition, the transmission assembly 222 may not be provided. For example, a pneumatic cylinder, a hydraulic cylinder, an electric telescopic rod, or the like may be used as a driving element to directly drive the first plate 210 to move relative to the housing 100 via an output shaft.

[0143] In some examples, the transmission assembly 222 includes a threaded rod 2223, a first gear 2221, and a second gear 2222. One end of the threaded rod 2223 is fixedly connected to the middle portion of the first plate 210, and the other end of the threaded rod 2223 is sleeved with the first gear 2221. The inner periphery of the first gear 2221 is threadedly connected to the outer periphery of the threaded rod 2223. The first gear 2221 and the threaded rod 2223 form a screw-nut assembly. The second gear 2222 meshes with the first gear 2221 to form a gear assembly. The second gear 2222 is fixedly connected to the output shaft of the motor 221. The first gear 2221 is rotatably connected to the housing 100 via a bearing. The radius of the first gear 2221 is larger than the radius of the second gear 2222, which has the effect of reducing the rotational speed.

[0144] In some examples, when it is necessary to inhale external fluid to sink, the motor 221 drives the second gear 2222 to rotate along the first rotation direction, and the second gear 2222 drives the first gear 2221 to rotate. Since the first gear 2221 is fixed relative to the shell 100 in the direction of the central axis L of the shell 100, the rotation of the first gear 2221 drives the threaded rod 2223 to move along the direction of the central axis L of the shell 100, and the threaded rod 2223 drives the first plate 210 to move away from the opening of the shell 100, thereby increasing the volume of the first chamber 111 to accommodate More external fluid; when it is necessary to discharge the external fluid to float, the motor 221 drives the second gear 2222 to rotate in a second rotation direction, and the second rotation direction is set opposite to the first rotation direction. The second gear 2222 drives the first gear 2221 to rotate, and the rotation of the first gear 2221 drives the threaded rod 2223 to move along the central axis L of the shell 100, and the threaded rod 2223 drives the first plate 210 to move toward the opening of the shell 100, thereby reducing the volume of the first chamber 111 so as to discharge the external fluid in the first space 1111.

[0145] In some examples, a guide assembly 223 is further disposed between the first plate 210 and the housing 100. The guide assembly 223 includes one or more combinations of a guide rail assembly, a guide rod assembly, and a guide block. In some examples, the guide assembly 223 includes a guide groove defined in the inner wall of the housing 100, or includes a guide rail fixed to the inner wall of the housing 100. The guide groove or guide rail extends in a direction parallel to the direction of movement of the first plate 210. The guide groove or guide rail is slidably connected to a slider, which slides along the extension direction of the guide groove or guide rail and is fixed to the first plate 210.

[0146] In other examples, the guide assembly 223 includes a slide rod 2231 and a guide hole opened in the shell 100. The slide rod 2231 passes through the guide hole, and the two can slide relative to each other along the movement direction of the first plate body 210. The slide rod 2231 is fixed to the first plate body 210.

[0147] In some examples, one or more guide assemblies 223 are disposed between the first plate 210 and the housing 100, and the plurality of guide assemblies 223 can be symmetrically distributed around the central axis L of the housing 100. For example, the drive mechanism 200 includes two guide assemblies 223, each of which includes a slide bar 2231, and the two slide bars 2231 are centrally symmetrically distributed about the central axis L of the housing 100.

[0148] In the technical solution of the embodiment of the present application, the motor 221 of the driving component 220 has the advantages of fast response speed and high control accuracy, which facilitates the precise control of the sinking and floating process; the transmission component 222 is connected between the output shaft of the motor 221 and the first plate body 210 so as to transmit the connection between the motor 221 and the first plate body 210. The transmission component 222 can change the direction and form of action of the output power of the motor 221 to meet different transmission requirements and reduce the requirements for the layout position of the motor 221; the guide component 223 is slidably connected to the shell 100 and is connected to the first plate body 210. It can provide guidance for the sliding of the first plate body 210 relative to the shell 100 through the sliding of the guide component 223 relative to the shell 100, thereby improving the accuracy and smoothness of the sliding of the first plate body 210 relative to the shell 100.

[0149] Reference Figure 13 and Figure 14 In some embodiments of the present application, the drive assembly 220 includes a retractor 224 and a rope 225, the two ends of the rope 225 are respectively connected to the first plate body 210 and the retractor 224, and the retractor 224 is located on the side of the first plate body 210 away from the deformable member 300; the retractor 224 rotates the retracted rope 225 to drive the first plate body 210 toward the retractor 224 through the rope 225 and compress the fluid in the second chamber 112; or, the retractor 224 releases the rope 225 by rotating, and the first plate body 210 moves away from the retractor 224 under the action of the fluid pressure in the second chamber 112.

[0150] In some examples, the retractor 224 includes a shaft and a drive member, the shaft is rotatably arranged relative to the housing 100, the rope 225 is wound around the shaft, and the end of the rope 225 is fixed to the shaft. The drive member can drive the shaft to rotate, thereby reeling the rope 225 onto the shaft to reduce the length of the rope 225 between the retractor 224 and the first plate 210, or the shaft rotates in the opposite direction to release the rope 225 to increase the length of the rope 225 between the retractor 224 and the first plate 210.

[0151] The driving member for driving the shaft may be a motor, which includes a stepping motor, a servo motor, etc. The driving member may also be other components that can output power.

[0152] In some examples, the retractor 224 may further include a housing, a bracket, a lock, and other structures. The housing is used to accommodate the retracted rope 225; the bracket is connected between the housing 100 and the shaft to provide support for the shaft; and the lock can fix the rope 225 relative to the retractor 224 to pause the retraction or release action.

[0153] In the embodiment of the present application, the rope 225 refers to any component that can be easily wound on the shaft. The rope 225 can be a single-line structure, a braided structure, a multi-strand winding structure, a chain structure, etc.; the rope 225 can include one or more materials such as metal, fiber, plastic, etc.

[0154] In some examples, the rope 225 is connected to the middle of the first plate 210 to evenly apply force to the first plate 210. In other examples, the rope 225 includes multiple connection ends, each of which is connected to different positions of the first plate 210, and the multiple connection ends surround the central axis of the first plate 210. In still other examples, multiple retractors 224 and ropes 225 are provided, with each retractor 224 corresponding to each of the ropes 225. The ropes 225 are respectively connected to different positions of the first plate 210, and the ropes 225 surround the central axis of the first plate 210.

[0155] In the technical solution of the embodiment of the present application, the first plate body 210 is driven to move by the retractor 224 and the rope 225. The retractor 224 reels the rope 225 and drives the first plate body 210 to move toward the retractor 224. The retractor 224 releases the rope 225, and the first plate body 210 moves away from the retractor 224 under the action of the fluid pressure in the second chamber 112. The retractor 224 and the rope 225 are suitable for long-stroke driving, and the rope 225 is a flexible component, which can effectively avoid rigid impact.

[0156] Reference Figure 14 In some embodiments of the present application, the buoyancy regulating device further includes an elastic member 226 , which is disposed between the first plate 210 and the housing 100 ; the elastic member 226 can cause the first plate 210 to tend to move away from the retractor 224 .

[0157] In the embodiment of the present application, the elastic part 226 refers to a component that can produce elastic deformation under the action of external force and restore to its pre-deformation shape after the external force is removed. The elastic part 226 can be made of metal materials, rubber, plastic, synthetic materials, etc. with a large elastic modulus. The elastic part 226 can be in the form of a spring, a coil spring, a leaf spring, a rubber pad, a rubber band, an elastic band, an elastic airbag, etc.

[0158] In some examples, the elastic member 226 is configured to elastically deform when the first plate 210 moves toward the retractor 224, and to drive the first plate 210 away from the retractor 224 through an elastic restoring force. In other examples, the elastic member 226 is disposed between the first plate 210 and the housing 100 and has a preset elastic force. The elastic member 226 is configured to increase the elastic force when the first plate 210 moves toward the retractor 224, thereby driving the first plate 210 away from the retractor 224 through the elastic restoring force. The preset elastic force can reduce the possibility of failure of the elastic member 226 due to repeated deformation.

[0159] For example, the elastic member 226 is a spring. When the retractor 224 drives the first plate 210 to move toward the retractor 224, the elastic member 226 is compressed and elastically deformed. When the retractor 224 releases the rope 225, the external force acting on the elastic member 226 becomes smaller, and the restoring force of the elastic member 226 drives the elastic member 226 to restore its inherent shape, thereby driving the first plate 210 to move away from the retractor 224.

[0160] It should be noted that when the elastic member 226 is provided, the second chamber 112 may not be sealed, and the first plate 210 is driven to move only by the elastic member 226; when the elastic member 226 is not provided, the second chamber 112 is configured as a sealed structure so that the fluid in the second chamber 112 is compressed to generate driving force.

[0161] In the technical solution of the embodiment of the present application, the elastic member 226 arranged between the first plate body 210 and the shell 100 can drive the first plate body 210 to move away from the retractor 224 through elastic restoring force. The elastic member 226 can work together with the fluid in the second chamber 112 to help the first plate body 210 move quickly to a position away from the retractor 224.

[0162] Reference Figure 14 In some embodiments of the present application, the elastic member 226 is arranged on the side of the first plate body 210 facing the retractor 224, and the two ends of the elastic member 226 are respectively connected to the first plate body 210 and the first wall of the second chamber 112, and the first wall is opposite to the first plate body 210; the elastic member 226 has a contact surface 2261 that contacts the first plate body 210 and the first wall, and the contact surface 2261 is arranged around the central axis L of the first plate body 210.

[0163] In some examples, the elastic member 226 is fixedly connected to the first plate 210 , for example, by welding, bonding, or clamping; in other examples, the elastic member 226 abuts against the first plate 210 .

[0164] In the embodiment of the present application, the first wall of the second chamber 112 refers to the chamber wall of the second chamber 112 opposite to the first plate 210 , and the connection between the elastic member 226 and the first wall can be welding, bonding, clamping, abutting, etc.

[0165] In some examples, the contact surface 2261 is an annular surface, and the contact surface 2261 surrounds the central axis L of the first plate body 210; in other examples, the contact surface 2261 includes multiple contact areas, that is, the first plate body 210 and / or the first wall and the elastic member 226 have multiple contact positions, and different contact areas of the same contact surface 2261 are arranged at intervals, and multiple contact areas surround the central axis L of the first plate body 210.

[0166] In some examples, the outer peripheral side of the elastic member 226 contacts the second chamber 112, and the second chamber 112 serves as a guide structure for the elastic member 226; in other examples, the outer peripheral side of the elastic member 226 is spaced apart from the inner wall of the second chamber 112, which helps to reduce friction resistance.

[0167] In the technical solution of the embodiment of the present application, since the two ends of the elastic member 226 are respectively connected to the first plate body 210 and the first wall of the second chamber 112, the layout direction of the elastic member 226 corresponds to its deformation direction, which can reduce the possibility of skewing due to force. The contact surface 2261 of the elastic member 226 surrounds the central axis L of the first plate body 210, so that the elastic member 226 can apply force uniformly toward the first plate body 210 in a direction parallel to the central axis L, thereby facilitating the smooth sliding of the first plate body 210 and reducing the possibility of the first plate body 210 skewing and getting stuck.

[0168] Reference Figure 6 、 Figure 8 、 Figure 9 and Figure 10 In some embodiments of the present application, the shell 100 includes a first cylinder 120 and a second cylinder 130 that are connected to each other. The first cylinder 120 is configured with an open end 121 for installing the deformable member 300; a support structure 122 is provided on one side of the first cylinder 120 opposite to the open end 121 and / or on the inner wall of the second cylinder 130, at least a portion of the drive assembly 220 is fixedly connected to the support structure 122, and the drive assembly 220 is located in the second cylinder 130.

[0169] In some examples, a portion of the internal space of the first cylinder 120 forms a first chamber 111, the deformable member 300 is connected to the open end 121 of the first cylinder 120, the deformable member 300 and the first plate 210 are both located in the internal space of the first cylinder 120, and the first plate 210 slides in the internal space of the first cylinder 120; the other end of the first cylinder 120 relative to the open end 121 is connected to the second cylinder 130, and the other portion of the internal space of the first cylinder 120 and the internal space of the second cylinder 130 form a second chamber 112, and a portion of the driving mechanism 200 is arranged in the internal space of the second cylinder 130, for example, the motor 221, the first gear 2221, the second gear 2222, the retractor 224, the rope 225, the elastic member 226, etc. are arranged in the internal space of the second cylinder 130.

[0170] In some examples, the cross-sectional profile of the first cylinder 120 (the cross-sectional profile perpendicular to the direction of movement of the first plate 210) can be a regular or irregular shape such as a circle, square, triangle, diamond, trapezoid, etc., and the cross-sectional profile of the second cylinder 130 (the cross-sectional profile perpendicular to the direction of movement of the first plate 210) can also be a regular or irregular shape such as a circle, square, triangle, diamond, trapezoid, etc. The cross-sectional profile of the first cylinder 120 and the cross-sectional profile of the second cylinder 130 can be the same or different. At the connection position between the first cylinder 120 and the second cylinder 130, the two have the same cross-sectional profile. For example, the cross-sectional profiles of the first cylinder 120 and the second cylinder 130 are both circular.

[0171] In some examples, the support structure 122 is located on the other side of the first cylinder 120 relative to the open end 121; in other examples, the support structure 122 is located on the inner wall of the second cylinder 130, for example, the support structure 122 is arranged on the first wall; in still other examples, the support structure 122 is arranged on the inner wall of the second cylinder 130 and on the other side of the first cylinder 120 relative to the open end 121.

[0172] The support structure 122 can be a rod-shaped structure, a plate-shaped structure, a mesh-shaped structure, etc. In some examples, the support structure 122 is a plate-shaped structure, and the support structure 122 constitutes the bottom structure of the first cylindrical body 120. It is understood that the support structure 122 is provided with a connecting hole 1223, which connects the interior space of the first cylindrical body 120 with the interior space of the second cylindrical body 130.

[0173] In some examples, the support structure 122 includes a base plate, which forms the bottom structure of the first cylinder 120. A plurality of support columns 1221 are disposed on a side of the base plate away from the open end 121. The base of the motor 221 is connected to the support columns 1221 to secure the motor 221 relative to the support structure 122. A first gear 2221 and a second gear 2222 are also rotatably connected to the side of the base plate away from the open end 121. The base plate has a through hole, through which the threaded rod 2223 is inserted. The base plate also has guide holes corresponding to the slide rod 2231, and the slide rod 2231 is slidably connected within the corresponding guide holes.

[0174] In some examples, a guide column 1222 is further provided on the side of the base plate away from the opening end 121. The guide column 1222 is provided with a penetrating guide hole, and the slide rod 2231 is passed through the guide hole, thereby increasing the contact area between the slide rod 2231 and the guide hole and improving the guiding accuracy.

[0175] In the technical solution of the embodiment of the present application, the shell 100 is provided with a first cylinder 120 and a second cylinder 130, and the deformation part 300 is installed at the open end 121 of the first cylinder 120, and a support structure 122 is provided on the side of the first cylinder 120 opposite to the open end 121 and / or the inner wall of the second cylinder 130, and at least part of the drive component 220 is fixedly connected to the support structure 122, and the connection is relatively stable; the drive component 220 is located in the second cylinder 130, and the deformation part 300 and the drive component 220 are located at opposite ends of the first cylinder 120, and are respectively located in the first cylinder 120 and the second cylinder 130, and the distance between the two is relatively far and they are in different spaces, which helps to reduce interference between the two and also facilitates providing a wider deformation space for the deformation part 300.

[0176] Reference Figure 1 、 Figure 2 、 Figure 6 、 Figure 8 and Figure 11 In some embodiments of the present application, the first cylinder 120 and the second cylinder 130 are detachably connected, and the buoyancy regulating device also includes a first seal 500, which is arranged on the outer periphery of the first cylinder 120 and is sealed against the inner wall of the second cylinder 130.

[0177] In some examples, the detachable connection between the first barrel 120 and the second barrel 130 is a snap connection, a threaded connection, a fastener connection, etc. For example, a second connecting column 124 is provided on the outer circumference of the first barrel 120, and a third connecting ear 131 is provided on the outer circumference of the second barrel 130 corresponding to the second connecting column 124. The third connecting ear 131 is provided with a second connecting hole 140. The fastener passes through the second connecting column 124 and the second connecting hole 140 corresponding to the third connecting ear 131 to lock and fix the two. In some examples, the fastener can also pass through the first connecting ear 430, the second connecting column 124, and the third connecting ear 131 in sequence to lock the structural member 400, the first barrel 120, and the second barrel 130 as a whole.

[0178] In some examples, the first barrel 120 and the second barrel 130 are connected in a butt-jointed manner, i.e., the end surface of the first barrel 120 and the end surface of the second barrel 130 abut against each other along the central axis L of the first barrel 120. In other examples, the first barrel 120 and the second barrel 130 are connected in a sleeve-jointed manner, i.e., a portion of the second barrel 130 extends into the interior space of the second barrel 130, or a portion of the first barrel 120 extends into the interior space of the second barrel 130. In still other examples, the first barrel 120 and the second barrel 130 are connected by a transition piece, which is sleeved on the first barrel 120 and the second barrel 130 respectively, and the first barrel 120 and the second barrel 130 may or may not be in contact.

[0179] In some examples, the first sealing member 500 may include a sealing ring, a sealing gasket, a sealing filler, etc. The first sealing member 500 may include one or more materials such as rubber, plastic, metal, etc. For example, the first sealing member 500 is a sealing ring.

[0180] In some examples, the first cylinder 120 extends into the second cylinder 130, and a second limiting groove 123 is provided on the outer wall of the first cylinder 120 and / or the inner wall of the second cylinder 130. Part of the first seal 500 is located in the second limiting groove 123, and the second limiting groove 123 is used to limit the movement of the first seal 500 along the center axis L of the first cylinder 120.

[0181] In the technical solution of the embodiment of the present application, the detachable connection between the first cylinder 120 and the second cylinder 130 facilitates the disassembly and maintenance of the shell 100 and the components inside the shell 100, thereby improving the maintenance convenience of the buoyancy regulating device; the first seal 500 is arranged between the first cylinder 120 and the second cylinder 130 to seal the connection between the first cylinder 120 and the second cylinder 130, thereby reducing the possibility of external fluid entering the second chamber 112, thereby providing a good and stable working environment for the motor 221 and the first plate 210; and the first seal 500 is in a sleeve-type relationship relative to the first cylinder 120 and the second cylinder 130, which increases the structural complexity of the gap at the connection between the first cylinder 120 and the second cylinder 130, and also helps to isolate the external fluid.

[0182] In some embodiments of the present application, the second chamber 112 is constructed as a sealed chamber, or the second chamber 112 is connected to at least one third chamber, and the second chamber 112 and at least one third chamber are jointly constructed as a sealed chamber.

[0183] In the embodiments of the present application, a sealed chamber refers to a structure forming a chamber that does not have an opening connected to the outside world, or a sealing structure is provided at the opening to isolate the chamber from the outside environment. For example, the deformable member 300 and the first sealing member 500 are both used to isolate the second chamber 112 from the outside environment. The second chamber 112 can be configured as a sealed chamber alone, or it can be connected to other chambers to form a sealed chamber.

[0184] In some examples, the end of the second cylinder 130 away from the open end 121 is closed; in other examples, a wire hole is opened at the end of the second cylinder 130 away from the open end 121, and the power supply cables of electrical components such as the motor 221 pass through the wire hole. A sealing structure is provided between the cable and the second cylinder 130 for sealing the wire hole. The sealing structure may include sealant, a sealing ring, a sealing plug, a sealing clamp, etc.

[0185] In the embodiment of the present application, the communication between the second chamber 112 and the third chamber can be absolute or selective. Absolute communication means that there is a passage between the second chamber 112 and the third chamber, and the passage remains unobstructed; selective communication means that there is a passage between the second chamber 112 and the third chamber, and a valve is provided in the passage, which can be controlled as needed to connect or isolate the second chamber 112 from the third chamber.

[0186] In the embodiment of the present application, the second chamber 112 can be connected to one or more third chambers. The second chamber 112 can be connected to multiple third chambers through a single channel, or can be connected to corresponding third chambers through multiple channels. The channel connecting the second chamber 112 to the third chamber can be provided on the circumference of the second chamber 112 or at the end of the second chamber 112. For example, the channel connecting the second chamber 112 to the third chamber can be provided at the end of the second chamber 112 opposite the first chamber 111.

[0187] In an embodiment of the present application, the swimming pool robot has a third chamber, which can be a structure possessed by the buoyancy regulating device, that is, the shell 100 forms the third chamber, or the third chamber is a structure provided by other parts of the swimming pool robot. For example, the third chamber is provided in the body 700 of the swimming pool robot. When the buoyancy regulating device is connected to the body 700, the second chamber 112 is communicated with the third chamber.

[0188] In the technical solution of the embodiment of the present application, the second chamber 112 is a closed chamber, which reduces the possibility of external fluid entering from other positions of the second chamber 112, thereby providing a good and stable working environment for the motor 221 and the first plate body 210 in the second chamber 112; the second chamber 112 can also be connected to the third chamber, and the two are jointly constructed as a closed chamber, which is convenient for sealing the space where the motor 221 and the first plate body 210 are located, and the second chamber 112 and the third chamber can also realize internal fluid exchange, which is convenient for the change in the volume of the second chamber 112 caused by the sliding of the first plate body 210 relative to the shell 100.

[0189] Reference Figure 12 In some embodiments of the present application, the sliding seal structure between the sliding connection portion 211 and the inner wall of the housing 100 includes one or more of an O-ring, a lip seal, a piston seal ring, and a sealing filler. For example, a second seal 600 is provided between the sliding connection portion 211 and the inner wall of the housing 100. The second seal 600 is a rubber O-ring.

[0190] In some examples, a first limiting groove 214 is provided on the sliding wall of the sliding connection portion 211 and / or the inner wall of the shell 100, and a portion of the second seal 600 is located in the first limiting groove 214. The first limiting groove 214 is used to limit the movement of the second seal 600 along the center axis L of the shell 100.

[0191] In some examples, the first plate body 210 includes a plate body 212, and a sliding connection portion 211 arranged around the plate body 212, and a first limiting groove 214 is provided on the side of the sliding connection portion 211 facing the inner wall of the shell 100, and a portion of the second seal 600 is located in the first limiting groove 214, the inner side of the second seal 600 abuts the bottom wall of the first limiting groove 214, and the outer side of the second seal 600 abuts the inner wall of the shell 100.

[0192] It is understandable that the sliding connection portion 211 may be a part of the plate body 212 or a separate component that is fixedly connected to the plate body 212 .

[0193] In some examples, the first plate body 210 further includes a reinforcement structure 213, which includes reinforcement ribs, reinforcement plates, reinforcement rings, etc., disposed on the plate body 212. The extension direction of the reinforcement structure 213 forms an angle with the extension direction of the plate body 212. For example, a plurality of reinforcement rings are disposed on a side of the plate body 212 facing away from the deformable member 300. The plurality of reinforcement rings have different sizes and are nested around the central axis L of the plate body 212. A plurality of reinforcement plates are also disposed on a side of the plate body 212 facing away from the deformable member 300. The plurality of reinforcement plates extend along different radial directions of the plate body 212 and are evenly disposed along the central axis L of the plate body 212, with the reinforcement plates intersecting the reinforcement rings.

[0194] In some examples, the first plate body 210 also includes a first connecting column 215, which is connected to the side of the plate body 212 facing away from the deformable member 300. The first connecting column 215 is arranged corresponding to the first connecting hole 240 on the first plate body 210, and at least a portion of the first connecting hole 240 is opened on the corresponding first connecting column 215.

[0195] Reference Figure 15 The swimming pool robot provided in an embodiment of the present application includes a fuselage 700 and a buoyancy adjustment device of an embodiment of the present application. The fuselage 700 is provided with a cleaning device, and the buoyancy adjustment device is connected to the fuselage 700 to enable the swimming pool robot to float or sink in the water.

[0196] In some examples, fuselage 700 includes a housing, a buoyancy-adjusting device is connected to the housing, and the opening of first space 1111 is connected to the exterior of fuselage 700. The buoyancy-adjusting device enables fuselage 700 to sink and float in a swimming pool. The buoyancy-adjusting device can be connected to either the upper or lower side of fuselage 700 relative to the direction of sinking or floating of fuselage 700. Relative to the horizontal movement direction of fuselage 700, the buoyancy-adjusting device can be connected to the front, rear, left, or right side of fuselage 700. This application does not limit the connection position of the buoyancy-adjusting device relative to fuselage 700.

[0197] In some examples, the swimming pool robot includes one or more buoyancy adjusting devices, and the multiple buoyancy adjusting devices can be symmetrically distributed about the shell. For example, the multiple buoyancy adjusting devices are symmetrically distributed about the central axis of the shell 100 along the front-to-back direction.

[0198] In the embodiments of the present application, the body 700 of the pool robot can be in any suitable shape, such as a circle, a square, or an aesthetically pleasing industrial design. In some embodiments, a portion of the body 700 is circular and another portion is square. The body 700 can be made of any suitable material, such as metal or plastic. In practice, the embodiments of the present application do not limit the shape, material, etc., of the body 700.

[0199] The cleaning device can be any suitable component capable of cleaning. For example, a cleaning roller, a cleaning brush, a cleaning tray, etc. The shape of the cleaning device can be any suitable shape. In practice, the embodiments of the present application do not limit the shape, material, etc. of the operating components.

[0200] The number of cleaning devices may be at least one. In some embodiments, the cleaning device includes a cleaning device located in front of the body 700 and / or a cleaning device located in the rear of the body 700. The multiple cleaning devices may be the same or different. For example, the multiple cleaning devices may all include cleaning rollers, or some cleaning devices may include cleaning rollers while others may include cleaning brushes.

[0201] In some embodiments, the pool robot also includes sensors, which are used to detect the pool robot's posture (e.g., tilt angle, rotation angle, etc.), motion information (e.g., acceleration, speed), environmental information (e.g., depth, distance from the water surface, obstacles, etc.), cleaning information (water quality monitoring, debris detection, etc.), etc. The pool robot performs movement and cleaning operations based on the data detected by each sensor.

[0202] In some embodiments, the pool robot further includes a controller configured to execute any of the pool robot control methods provided herein. The controller can be any suitable component capable of implementing control functions, such as an MCU (Microcontroller Unit), a CPU (Central Processing Unit), a DSP (Digital Signal Processor), or a single-chip microcomputer.

[0203] In some embodiments, the pool robot further includes a power system, which may include a buoyancy adjustment device according to an embodiment of the present application, for enabling the pool robot to perform actions such as sinking and floating. The power system may also include a propeller, which is used to enable the pool robot to perform actions such as forward movement, backward movement, and turning.

[0204] In some embodiments, the left propeller and the right propeller, when implemented, can control the left propeller and the right propeller to rotate forward and reverse at the same time to enable the swimming pool robot to perform forward or backward movement; and can control the rotation speed of the left propeller to be different from the rotation speed of the right propeller to enable the swimming pool robot to perform left turn or right turn movement.

[0205] In some embodiments, the power system may also include tracks, which enable the pool robot to move stably on the pool floor (e.g., tile joints, slopes, steps, etc.), avoiding jamming or slipping caused by uneven pool floors. This makes it suitable for navigating curved pool walls and corners. Furthermore, compared to wheels, tracks distribute the weight of the body 700 by increasing the contact area, reducing frictional damage to the pool floor coating and enhancing grip on smooth tile surfaces. In practice, these tracks enable the pool robot to perform movements such as forward movement, backward movement, and turning.

[0206] In some embodiments, the track may include a left track and a right track. During implementation, the swimming pool robot can be made to move forward or backward by controlling the left track and the right track to rotate forward and reverse at the same time; and the swimming pool robot can be made to turn left or right by controlling the rotation speed of the left track to be different from the rotation speed of the right track.

[0207] In the technical solution of the embodiment of the present application, the swimming pool robot includes a buoyancy adjustment device, which is provided with a deformable part 300. The first space 1111 isolated by the deformable part 300 is used to accommodate external fluid. The sliding connection part 211 of the first plate body 210 is isolated from the fluid in the first space 1111 by the deformable part 300. The external fluid has little effect on the sliding connection part 211, which can not only improve the service life of the sliding connection part 211, but also improve the state switching efficiency of the buoyancy adjustment device.

[0208] In one possible embodiment, the swimming pool robot includes at least one buoyancy adjustment device, which includes a shell 100. The shell 100 includes a first cylinder 120 and a second cylinder 130. One end of the first cylinder 120 is provided with an open end 121, and the other end is provided with a support structure 122. The end of the first cylinder 120 provided with the support structure 122 is inserted into the second cylinder 130. A first seal 500 is provided between the first cylinder 120 and the second cylinder 130. The first seal 500 is a sealing ring. The support structure 122 is provided with a connecting hole 1223, which connects the internal spaces of the second cylinder 130 and the first cylinder 120.

[0209] The buoyancy regulating device also includes a driving mechanism 200, which includes a motor 221. The motor 221 is fixedly connected to the side of the support structure 122 away from the open end 121 through a support column 1221. The side of the support structure 122 away from the open end 121 is also rotatably connected to a first gear 2221 and a second gear 2222. The second gear 2222 is fixedly connected to the output shaft of the motor 221, and the second gear 2222 is meshed with the first gear 2221. The radius of the first gear 2221 is greater than the radius of the second gear 2222. A threaded rod 2223 is passed through the middle of the first gear 2221, and the threaded rod 2223 is threadedly connected to the first gear 2221. The threaded rod 2223 passes through the support structure 122 and extends toward the open end 121. The end of the threaded rod 2223 close to the open end 121 is fixedly connected to the first plate 210. Two guide columns 1222 are also provided on the side of the support structure 122 away from the open end 121. The two guide columns 1222 are symmetrically arranged about the central axis L of the first cylinder 120. Each guide column 1222 is provided with a guide hole parallel to the threaded rod 2223. A sliding rod 2231 is slidingly connected in the guide hole. The sliding rod 2231 extends toward the first plate body 210, and the sliding rod 2231 is fixedly connected to the first plate body 210.

[0210] The first plate body 210 is located in the first cylinder body 120. The first plate body 210 includes a plate body 212 with a circular plate-like structure, and a sliding connection part 211 that is integrally formed and surrounds the plate body 212. The sliding connection part 211 is provided with a first limiting groove 214 on the side facing the inner wall of the first cylinder body 120. A second sealing member 600 is provided in the first limiting groove 214. The second sealing member 600 respectively abuts against the outer wall of the sliding connection part 211 and the inner wall of the first cylinder body 120, so that the first plate body 210 can slide sealed relative to the first cylinder body 120 along the axial direction of the threaded rod 2223.

[0211] The first plate 210 seals and separates the internal space of the first cylinder 120 into two parts. The part of the internal space of the first cylinder 120 corresponding to the open end 121 is the first chamber 111. The other part of the internal space of the first cylinder 120 and the internal space of the second cylinder 130 form the second chamber 112. The open end 121 is connected to the deformable member 300. The deformable member 300 seals and isolates the first chamber 111 into a first space 1111 and a second space 1112. The first space 1111 is connected to the external fluid (such as the water in the swimming pool), and the sliding connection part 211 of the first plate 210 does not contact the external fluid.

[0212] The deformable member 300 includes a telescopic section 330, which can be a bellows structure and can be telescopically deformed along the sliding direction of the first plate body 210. The second end 320 of the telescopic section 330 close to the second cylinder 130 is connected to the first plate body 210. The internal space of the telescopic section 330 is also provided with a second plate body 230. The first plate body 210 and the second plate body 230 are locked by fasteners, and the second end 320 of the deformable member 300 is clamped and fixed.

[0213] The buoyancy regulating device further includes a structural member 400, which includes an integrally formed extension portion 420 and a connecting portion 410. The connecting portion 410 is sleeved around the outer periphery of the open end 121, and the extension portion 420 extends from the connecting portion 410 toward the central axis L of the opening. The end of the deformable member 300 connected to the open end 121 includes a flange structure 340. The flange structure 340 includes a first section 341 and a second section 342. The first section 341 is sleeved between the connecting portion 410 and the open end 121. A sealing protrusion 343 is provided on the outer periphery of the first section 341, which abuts the inner wall of the connecting portion 410. Two sealing protrusions 343 are provided on the inner periphery of the first section 341, and the two sealing protrusions 343 abut the outer wall of the first cylinder 120. The second section 342 is connected between the first section 341 and the telescopic section 330. The second section 342 abuts the extension portion 420 and the end surface of the first cylindrical body 120 along the central axis L of the open end 121. The outer circumferences of the structural member 400 and the second cylindrical body 130 are respectively provided with a first connecting lug 430 and a third connecting lug 131. The outer circumference of the first cylindrical body 120 is provided with a second connecting post 124. Fasteners such as bolts and studs pass through the corresponding first connecting lugs 430, second connecting posts 124, and second connecting rods to secure the structural member 400, the first cylindrical body 120, and the second cylindrical body 130.

[0214] When it is necessary to inhale external fluid to sink, the motor 221 drives the second gear 2222 to rotate in the first rotation direction, and the second gear 2222 drives the first gear 2221 to rotate. Since the first gear 2221 is fixed relative to the shell 100 in the direction of the central axis L of the shell 100, the rotation of the first gear 2221 drives the threaded rod 2223 to move along the direction of the central axis L of the shell 100, and the threaded rod 2223 drives the first plate 210 to move away from the opening of the shell 100. The volume of the second chamber 112 decreases, the volume of the first chamber 111 increases, and the volume of the second space 1112 changes accordingly. Under the positive pressure of the external fluid, the deformable member 300 deforms toward the first plate 210, and the volume of the first space 1111 increases accordingly. More external fluid enters the first space 1111, the overall drainage volume of the buoyancy adjusting device decreases, and the buoyancy it receives decreases, so as to achieve the sinking of the swimming pool robot.

[0215] When it is necessary to discharge the external fluid to float, the motor 221 drives the second gear 2222 to rotate in the second rotation direction, which is opposite to the first rotation direction. The second gear 2222 drives the first gear 2221 to rotate, and the rotation of the first gear 2221 drives the threaded rod 2223 to move along the central axis L of the shell 100. The threaded rod 2223 drives the first plate 210 to move toward the opening of the shell 100. The volume of the second chamber 112 increases, the volume of the first chamber 111 decreases, and the volume of the second space 1112 changes accordingly. The first plate 210 pushes the deformable part 300 to move toward the opening of the accommodating chamber 110, and the volume of the first space 1111 decreases, so that the external fluid is discharged from the buoyancy regulating device. The overall drainage volume of the buoyancy regulating device increases, and the buoyancy it receives increases, so as to achieve the floating of the swimming pool robot.

[0216] The serial numbers of the embodiments of this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments. The above are only preferred embodiments of this application and do not limit the scope of the patent of this application. Any equivalent structure or equivalent process transformation made by using the contents of the description and drawings of this application, or directly or indirectly applied in other related technical fields, are also included in the scope of patent protection of this application.

Claims

1. A buoyancy regulating device, applied to a swimming pool robot, characterized in that: The buoyancy control device includes: a housing, forming a receiving cavity; a drive mechanism comprising a first plate slidably connected to an inner wall of the housing and a drive assembly for sliding the first plate, wherein the first plate comprises a sliding connection portion abutting against the inner wall of the housing, and the first plate sealingly isolates the accommodating cavity to form a first chamber and a second chamber; a deformable member sealingly isolating the first chamber from a second space to form a first space, wherein the first space communicates with an external environment, and the deformable member isolates the sliding connection portion from the first space; The sliding of the first plate is used to adjust the volume of the first chamber and the second chamber to change the amount of fluid entering the first space through the external environment; The deformable member is connected to the shell.

2. The buoyancy regulating device according to claim 1, characterized in that: The deformable member has a first end fixed to the housing.

3. The buoyancy regulating device according to claim 2, characterized in that: The deformable member has a second end fixed to the first plate.

4. The buoyancy regulating device according to claim 2, wherein: It also includes a structural member, which is detachably connected to the shell, and the first end is clamped between the structural member and the shell.

5. The buoyancy regulating device according to claim 4, characterized in that: The structural member includes a connecting portion and an extending portion, wherein the connecting portion is connected to the shell and sleeved on the outer edge of the opening of the shell, and the extending portion extends from the connecting portion toward the center of the opening of the shell; Projected along the axial direction of the shell, the extension portion at least covers the connection portion between the deformable member and the shell.

6. The buoyancy regulating device according to claim 5, characterized in that: The first end is provided with a flanging structure, which includes a first section and a second section connected to each other, the first section is located between the shell and the connecting part, the second section is located between the shell and the extension part, and the extension part, the second section and the outer edge of the opening of the shell are abutted in sequence along the axial direction of the shell.

7. The buoyancy regulating device according to claim 6, characterized in that: The flanging structure also includes a sealing convex ring, which is arranged on the outer periphery and / or inner periphery of the first section. The sealing convex ring located on the outer periphery of the first section abuts the inner wall of the connecting part, and the sealing convex ring located on the inner periphery of the first section abuts the outer wall of the shell.

8. The buoyancy regulating device according to any one of claims 1 to 7, characterized in that: The drive assembly includes: a motor fixed to the accommodating cavity; a transmission assembly connected between the output end of the motor and the first plate, and configured to drive the first plate to move along the axis of the housing; The guide assembly extends along the axial direction of the shell and is slidably connected to the shell. The guide assembly is connected to the first plate.

9. The buoyancy regulating device according to any one of claims 1 to 7, characterized in that: The driving assembly includes a retractor and a rope, wherein two ends of the rope are respectively connected to the first plate and the retractor, and the retractor is located on a side of the first plate away from the deformable member; The retractor reels in the rope by rotating, thereby driving the first plate to move toward the retractor through the rope and compressing the fluid in the second chamber; or, the retractor releases the rope by rotating, and the first plate moves away from the retractor under the action of the fluid pressure in the second chamber.

10. The buoyancy regulating device according to claim 9, characterized in that: It also includes an elastic member, which is arranged between the first plate and the shell; The elastic member can cause the first plate to tend to move away from the retractor.

11. The buoyancy regulating device according to claim 10, wherein: The elastic member is arranged on a side of the first plate body facing the retractor, and two ends of the elastic member are respectively connected to the first plate body and the first wall of the second chamber, and the first wall is opposite to the first plate body; The elastic member has a contact surface that contacts the first plate body and the first wall, and the contact surface is arranged around the central axis of the first plate body.

12. The buoyancy regulating device according to any one of claims 1 to 7, characterized in that: The housing comprises a first cylinder and a second cylinder that are in communication with each other, wherein the first cylinder is configured with an open end for mounting the deformable member; A support structure is provided on one side of the first cylinder opposite to the open end and / or on the inner wall of the second cylinder. At least a portion of the drive assembly is fixedly connected to the support structure, and the drive assembly is located in the second cylinder.

13. The buoyancy regulating device according to claim 12, wherein: The first cylinder is detachably connected to the second cylinder. The buoyancy regulating device further comprises a first sealing member, which is arranged on the outer periphery of the first cylinder and is in sealing contact with the inner wall of the second cylinder.

14. The buoyancy regulating device according to any one of claims 1 to 7, characterized in that: The second chamber is configured as a sealed chamber, or, The second chamber is communicated with at least one third chamber, and the second chamber and the at least one third chamber are jointly constructed as a sealed chamber.

15. A swimming pool robot, characterized in that: include: The fuselage is provided with a cleaning device; The buoyancy regulating device according to any one of claims 1 to 14, wherein the buoyancy regulating device is connected to the fuselage to enable the swimming pool robot to float or sink in water.

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