Wearable self-induction underwater propelling device

Abstract

The utility model discloses a wearable self-induction underwater propelling device, and belongs to the technical field of underwater propelling equipment. Comprising a waist support, an electronic cabin, a propeller assembly and a waistband, wherein the electronic cabin, the propeller assembly and the waistband are carried on the waist support; a main body of the waist support is a cross beam, a waistband mounting groove is formed in the side, facing the waist, of the waist support, the position of a waistband in the waistband mounting groove is adjustable, an electronic cabin mounting frame and a propeller assembly mounting frame are arranged on the side, deviating from the waist, of the waist support, and the electronic cabin and the propeller assembly are detachably connected with the electronic cabin mounting frame and the propeller assembly mounting frame. The problem that in the prior art, an underwater boosting product excessively depends on hands is solved, and meanwhile the problems that in the prior art, the hands cannot be completely liberated, equipment is heavy and inconvenient to carry, and the constraint feeling on the legs is high are solved.

Description

Technical Field

[0001] The invention belongs to the technical field of underwater propulsion equipment, and in particular relates to a wearable self-sensing underwater propulsion device. Background Art

[0002] An underwater thruster is an underwater device that allows users to move freely in the water through the thrust provided by the underwater thruster. In recent years, underwater thrusters have been used more and more widely. For example, underwater thrusters can be used in underwater rescue, underwater entertainment, underwater archaeology, etc. The underwater thruster market is mature and its scale is gradually growing. At present, more and more underwater thrusters are put on the market, but the existing underwater thrusters on the market are all controlled by two-handed control or one-handed control, and rely entirely on wrist strength to complete underwater turning, ascent and descent, etc., which is highly dependent on the hands. After long-term use, the user experience will be greatly reduced, and this control method cannot meet the user's needs for high-flexibility sports such as underwater photography in specific fields.

[0003] Most of the control solutions that replace handheld underwater thrusters in the prior art have the defects of being bulky, inconvenient to operate and carry, and unable to completely free the hands. Summary of the invention

[0004] Technical issues to be solved:

[0005] In order to avoid the shortcomings of the prior art, the present invention provides a wearable self-sensing underwater propulsion device, which can be worn on the waist of a person through a belt, which can completely free the hands and will not burden other parts of the body; at the same time, being set on the waist can enhance the center of gravity stability of the diver and improve the efficiency of completing underwater tasks. The present invention solves the problems of excessive reliance on hands and uncontrollable speed of underwater propulsion products in the prior art, and solves the problems of the inability to completely free hands, bulky equipment, inconvenience in carrying, and strong sense of restraint on the legs in the existing alternative technologies.

[0006] The technical solution of the present invention is: a wearable self-sensing underwater propulsion device, including a waist support and an electronic cabin, a thruster assembly and a waist belt carried thereon, wherein the waist support is tied to the waist of the diver through the waist belt; the main body of the waist support is a crossbeam, a waist belt mounting groove is provided on the side facing the waist, the position of the waist belt in the waist belt mounting groove is adjustable, an electronic cabin mounting frame and a thruster assembly mounting frame are provided on the side away from the waist, and the electronic cabin, the thruster assembly and the electronic cabin mounting frame and the thruster assembly mounting frame are all detachably connected.

[0007] A further technical solution of the present invention is: both ends of the crossbeam of the waist support are bent toward one side of the waist, and T-shaped cross-section grooves are respectively opened in the transverse direction at the two end heads, a waist belt connecting block is arranged in the middle part of the crossbeam toward the waist side, a T-shaped cross-section groove is opened in the transverse direction on the waist belt connecting block, and a waist belt installation groove is formed by the T-shaped cross-section grooves at the two end heads and the T-shaped cross-section grooves on the waist belt connecting block, and the waist belt passes through the three grooves in sequence and then docks.

[0008] A further technical solution of the present invention is: a butterfly-shaped electronic cabin mounting frame is arranged at the center position of the back of the crossbeam of the waist support, the mounting surface of the electronic cabin mounting frame is an arc surface consistent with the shell profile of the electronic cabin, mounting edges are arranged on both sides of the mounting surface, and the two ends of the fixed semi-ring for fastening the electronic cabin are respectively connected to the mounting edges on both sides by bolts to complete the fastening of the electronic cabin; two thruster assembly mounting frames are symmetrically installed on both sides of the electronic cabin mounting frame.

[0009] A further technical solution of the present invention is: the electronic cabin includes an acrylic main tube, both ends of which are sealed and connected to the titanium alloy cabin cover and the titanium alloy bottom cover through watertight flanges; the titanium alloy cabin cover is provided with through holes for installing threading bolts, and the connection and communication of internal / external devices are achieved through the threading bolts.

[0010] A further technical solution of the present invention is that sealing rings are installed at the connection points between the watertight flange and the titanium alloy hatch cover and the titanium alloy bottom cover.

[0011] A further technical solution of the present invention is: epoxy resin waterproof glue is poured into the threading bolt to achieve water tightness of the electronic compartment.

[0012] A further technical solution of the present invention is: the upper and lower ends of the electronic cabin are fixedly connected to the waist bracket through a first fixed semi-ring and a second fixed semi-ring respectively, the fixed semi-ring is a semicircular ring consistent with the outer shell profile of the electronic cabin, and its two ends extend radially outward to connect ears, and the connecting ears on both sides are respectively connected to the mounting edges on both sides of the electronic cabin mounting frame by bolts; the outer ring surfaces of the two fixed semi-rings are respectively fixedly connected to the titanium alloy cabin cover and the titanium alloy bottom cover.

[0013] A further technical solution of the present invention is: the thruster assembly includes a thruster, a thruster connecting block, and a lumbar support connecting block; the thruster is connected to the lumbar support connecting block through the thruster connecting block, one end of the lumbar support connecting block is connected to the thruster connecting block, and the other end is provided with a T-shaped structure boss; the thruster assembly mounting frame is provided with a T-shaped groove along the vertical direction, which is installed in cooperation with the T-shaped structure boss to realize the detachable connection between the lumbar support connecting block and the thruster assembly mounting frame.

[0014] A further technical solution of the present invention is: a Raspberry Pi control system and a battery are placed inside the electronic cabin for overall control of the propulsion device.

[0015] A further technical solution of the present invention is: it also includes a posture sensor component, which is attached to the diver's leg and includes a posture sensor and a waterproof box. The posture sensor is placed in the waterproof box, and the communication line passes through the threading bolts of the electronic cabin and is connected to the Raspberry Pi control system in the cabin to perform real-time data feedback.

[0016] Beneficial Effects

[0017] The beneficial effects of the present invention are as follows: the present invention realizes the integrated installation design of the propeller and the electronic cabin through the waist bracket, and concentrates the whole on the waist and back through the waist bracket, reducing the sense of restraint of the legs, liberating the freedom of the hands, and realizing a lightweight design.

[0018] The present invention obtains data such as leg swing amplitude and speed through posture sensors installed on the legs, and transmits the data to the Raspberry Pi control system to adjust the propeller speed, thereby obtaining different speeds according to different situations and achieving freer and more efficient movement underwater. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 A schematic diagram of a wearable self-sensing underwater propulsion device of the present invention;

[0020] Figure 2 It is a schematic diagram of the waist support of the present invention.

[0021] Figure 3 This is an exploded isometric view of the electronic cabin assembly of the present invention;

[0022] Figure 4 An exploded isometric view of a thruster assembly of the present invention;

[0023] Explanation of the reference numerals: 1. Electronic cabin, 2. Waist support, 3. First thruster assembly, 4. Second thruster assembly, 5. Waist belt connecting block, 6. Waist belt, 7. First posture sensor assembly, 8. Second posture sensor assembly, 9. Threading bolt, 10. Titanium alloy cabin cover, 11. First watertight flange, 12. First fixed half ring, 13. Acrylic main body tube, 14. Titanium alloy bottom cover, 15. Second fixed half ring, 16. Second watertight flange, 17. Thruster, 18. Thruster connecting block, 19. Waist support connecting block, 20. First thruster assembly mounting frame, 21. First belt slot, 22. Belt slide rail, 23. Second thruster assembly mounting frame, 24. Second belt slot. DETAILED DESCRIPTION

[0024] The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, but should not be construed as limiting the present invention.

[0025] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0026] Based on the problems that the prior art cannot completely free the hands, the equipment is bulky, inconvenient to carry and has a strong sense of restraint on the legs, the present invention provides a wearable self-sensing underwater propulsion device, including a waist support and an electronic cabin, a thruster assembly and a belt mounted thereon, and the waist support is tied to the waist of the diver through the belt; the main body of the waist support is a crossbeam, and a belt mounting groove is provided on the side facing the waist, and the position of the belt in the belt mounting groove is adjustable, and an electronic cabin mounting frame and a thruster assembly mounting frame are provided on the side away from the waist, and the electronic cabin, the thruster assembly and the electronic cabin mounting frame and the thruster assembly mounting frame are all detachably connected.

[0027] It also includes a posture sensor component, which is attached to the diver's leg and includes a posture sensor and a waterproof box. The posture sensor is placed in the waterproof box, and a communication line passes through the threading bolt of the electronic cabin and is connected to the Raspberry Pi control system in the cabin to provide real-time feedback of speed data.

[0028] Specifically, both ends of the crossbeam of the waist support are bent toward the waist, and T-shaped cross-section grooves are opened in the transverse direction at the two end heads respectively. A waist belt connecting block is provided in the middle part of the crossbeam toward the waist, and a T-shaped cross-section groove is opened in the transverse direction on the waist belt connecting block. The waist belt installation groove is composed of the T-shaped cross-section grooves at the two end heads and the T-shaped cross-section grooves on the waist belt connecting block, and the waist belt passes through the three grooves in sequence and then docks.

[0029] Specifically, a butterfly-shaped electronic cabin mounting frame is arranged at the center position of the back of the crossbeam of the waist support, the mounting surface of the electronic cabin mounting frame is an arc surface consistent with the shell profile of the electronic cabin, and mounting edges are arranged on both sides of the mounting surface, and the two ends of the fixed semi-ring for fastening the electronic cabin are respectively connected to the mounting edges on both sides by bolts to complete the fastening of the electronic cabin; the two thruster assembly mounting frames are symmetrically installed on both sides of the electronic cabin mounting frame.

[0030] Specifically, the electronic cabin includes an acrylic main body tube, the two ends of which are sealed and connected to the titanium alloy hatch cover and the titanium alloy bottom cover through watertight flanges; the titanium alloy hatch cover is provided with through holes for installing threading bolts, and the connection and communication of internal / external devices are achieved through threading bolts. Sealing rings are installed at the connection between the watertight flange and the titanium alloy hatch cover and the titanium alloy bottom cover. The threading bolts are filled with epoxy resin waterproof glue to achieve the watertightness of the electronic cabin.

[0031] Specifically, the upper and lower ends of the electronic cabin are fixedly connected to the waist bracket through a first fixed semi-ring and a second fixed semi-ring respectively. The fixed semi-ring is a semicircular ring consistent with the outer shell profile of the electronic cabin, and its two ends extend radially outward to connect ears, and the connecting ears on both sides are respectively connected to the mounting edges on both sides of the electronic cabin mounting frame by bolts; the outer ring surfaces of the two fixed semi-rings are respectively fixedly connected to the titanium alloy cabin cover and the titanium alloy bottom cover.

[0032] Specifically, the thruster assembly includes a thruster, a thruster connecting block, and a lumbar support connecting block; the thruster is connected to the lumbar support connecting block through the thruster connecting block, one end of the lumbar support connecting block is connected to the thruster connecting block, and the other end is provided with a T-shaped structure boss; the thruster assembly mounting frame is provided with a T-shaped groove along the vertical direction, which is installed in conjunction with the T-shaped structure boss to realize a detachable connection between the lumbar support connecting block and the thruster assembly mounting frame.

[0033] Specifically, a Raspberry Pi control system and a battery are placed inside the electronic cabin for overall control of the propulsion device.

[0034] The above technical solution is further described below in conjunction with the accompanying drawings:

[0035] Reference Figure 1 As shown, the main body of the wearable self-sensing underwater propulsion device includes two groups of propeller assemblies on the left and right, namely the first propeller assembly 3, the second propeller assembly 4 and the electronic cabin 1 in the middle. The electronic cabin 1 is fixed to the waist bracket 2 through the first fixed semi-ring 12 and the second fixed semi-ring 15. The first propeller assembly 3 and the second propeller assembly 4 are installed on the waist bracket 2 through a T-shaped slide rail, which can be easily disassembled. A waist belt slide rail 22 is provided on the inner side of the waist bracket 2, which can be connected and matched with the waist belt connecting block 5. At the same time, the waist bracket 2 is provided with slide grooves on the left and right, namely the waist belt slots 21 and 24, which are used to cooperate with the waist belt 6 for installation. The data transmission lines of the first attitude sensor 7 and the second attitude sensor 8 pass through the threading bolt 9 of the electronic cabin 1 and are connected to the Raspberry Pi inside the electronic cabin to realize real-time transmission and feedback of data. The algorithm updates the rotation speed of the propeller assembly in real time according to the feedback data, thereby realizing free switching of speed.

[0036] Reference Figure 2As shown, the left and right ends of the front side of the waist support 2 are respectively provided with a first propeller assembly mounting frame 20 and a second propeller assembly mounting frame 23, which are respectively installed in cooperation with the first propeller assembly 3 and the second propeller assembly 4; the left and right ends of the rear side are provided with a first belt slot 21 and a second belt slot 24, and the middle part is provided with a belt slide rail 22, which cooperates with the waist belt 6 connecting block. A slide groove is provided on the inner side of the waist belt connecting block 5, which is installed on the waist belt 6 together with the first belt slot 21 and the second belt slot 24, thereby increasing the stability of the overall system and adjusting the position of the device according to users of different body shapes. The middle part of the outer side of the waist support 2 is responsible for installation and fixation with the electronic cabin 1. Through holes are provided at the top and bottom, and are fixed to the first fixed semi-ring 12 and the second fixed semi-ring 15 by screws and nuts to fix the electronic cabin 1 on the waist support 5.

[0037] Reference Figure 3 As shown, the main body of the electronic cabin 1 is an acrylic main tube 13, which is used to place electronic components such as Raspberry Pi and batteries. The first watertight flange 11 and the second watertight flange 16 are plugged at the upper and lower ends. A groove is provided on the watertight flange for placing a sealing ring. The compressibility of the sealing rubber ring is used to fill the gap between the flange and the acrylic main tube 13 and the titanium alloy hatch cover 10 and the titanium alloy bottom cover 14 to achieve a waterproof effect. A through hole is provided on the titanium alloy hatch cover 10, and a threading bolt 9 is inserted. The threading bolt 9 is connected inside and outside through the attitude sensor data line, and epoxy resin waterproof glue is poured at the same time to further achieve a waterproof effect. The titanium alloy hatch cover 10 and the titanium alloy bottom cover 14 are provided with protrusions on the left and right, which are respectively fixed to the sides of the first fixed semi-ring 12 and the second fixed semi-ring 15 by screws to limit the up and down movement of the electronic cabin 1. The titanium alloy hatch cover 10 and the titanium alloy bottom cover 14 are fixed to the first watertight flange 11 and the second watertight flange 16 by screws.

[0038] Reference Figure 4 As shown, the first propeller assembly 3 and the second propeller assembly 4 both include a propeller 17, a propeller connecting block 18, and a waist support connecting block 19. The propeller connecting block 18 is first connected to the propeller 17 by screws, and a screw hole is provided on its diagonal line, and is connected to the waist support connecting block 19 by screws. The waist support connecting block 19 is provided with a slide rail, which is installed in conjunction with the first propeller assembly slide rail 20 and the second propeller assembly slide rail 23 of the waist support 2, and finally the propeller assembly and the waist support 22 form a whole.

[0039] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations on the present invention. A person skilled in the art may change, modify, replace and modify the above embodiments within the scope of the present invention without departing from the principles and intent of the present invention.

Claims

1. A wearable self-sensing underwater propulsion device, characterized in that: It includes a waist support and an electronic cabin, a thruster assembly and a waist belt mounted thereon, and the waist support is tied to the waist of the diver through the waist belt; the main body of the waist support is a crossbeam, and a waist belt mounting groove is provided on the side facing the waist, and the position of the waist belt in the waist belt mounting groove is adjustable, and an electronic cabin mounting frame and a thruster assembly mounting frame are provided on the side away from the waist, and the electronic cabin, the thruster assembly and the electronic cabin mounting frame and the thruster assembly mounting frame are all detachably connected.

2. A wearable self-sensing underwater propulsion device according to claim 1, characterized in that: Both ends of the crossbeam of the waist support are bent toward one side of the waist, and T-shaped cross-section grooves are opened in the transverse direction at the two end heads respectively. A waist belt connecting block is arranged in the middle part of the crossbeam toward the waist side, and a T-shaped cross-section groove is opened in the transverse direction on the waist belt connecting block. The waist belt installation groove is composed of the T-shaped cross-section grooves at the two end heads and the T-shaped cross-section grooves on the waist belt connecting block, and the waist belt passes through the three grooves in sequence and then docks.

3. A wearable self-sensing underwater propulsion device according to claim 2, characterized in that: A butterfly-shaped electronic cabin mounting frame is arranged at the center position of the back of the crossbeam of the waist support. The mounting surface of the electronic cabin mounting frame is an arc surface consistent with the shell profile of the electronic cabin. Mounting edges are arranged on both sides of the mounting surface. The two ends of the fixed semi-ring for fastening the electronic cabin are respectively connected to the mounting edges on both sides by bolts to complete the fastening of the electronic cabin; the two thruster assembly mounting frames are symmetrically installed on both sides of the electronic cabin mounting frame.

4. A wearable self-sensing underwater propulsion device according to claim 1, characterized in that: The electronic cabin includes an acrylic main tube, both ends of which are sealed and connected to a titanium alloy cabin cover and a titanium alloy bottom cover through watertight flanges; through holes for installing threading bolts are opened on the titanium alloy cabin cover, and connection and communication of internal / external devices are achieved through the threading bolts.

5. A wearable self-sensing underwater propulsion device according to claim 4, characterized in that: Sealing rings are installed at the connections between the watertight flange and the titanium alloy hatch cover and the titanium alloy bottom cover.

6. A wearable self-sensing underwater propulsion device according to claim 5, characterized in that: The threading bolts are filled with epoxy resin waterproof glue to achieve water tightness of the electronic compartment.

7. A wearable self-sensing underwater propulsion device according to claim 4, characterized in that: The upper and lower ends of the electronic cabin are fixedly connected to the waist bracket through a first fixed semi-ring and a second fixed semi-ring respectively. The fixed semi-ring is a semicircular ring consistent with the outer shell profile of the electronic cabin, and its two ends extend radially outward to connect ears, and the connecting ears on both sides are respectively connected to the mounting edges on both sides of the electronic cabin mounting frame by bolts; the outer ring surfaces of the two fixed semi-rings are respectively fixedly connected to the titanium alloy cabin cover and the titanium alloy bottom cover.

8. The wearable self-sensing underwater propulsion device according to claim 1, characterized in that: The thruster assembly includes a thruster, a thruster connecting block, and a lumbar support connecting block; the thruster is connected to the lumbar support connecting block via the thruster connecting block, one end of the lumbar support connecting block is connected to the thruster connecting block, and the other end is provided with a T-shaped structure boss; the thruster assembly mounting frame is provided with a T-shaped groove along the vertical direction, which is installed in conjunction with the T-shaped structure boss to achieve a detachable connection between the lumbar support connecting block and the thruster assembly mounting frame.

9. The wearable self-sensing underwater propulsion device according to claim 1, characterized in that: A Raspberry Pi control system and a battery are placed inside the electronic cabin for overall control of the propulsion device.

10. A wearable self-sensing underwater propulsion device according to claim 9, characterized in that: It also includes a posture sensor component, which is attached to the diver's leg and includes a posture sensor and a waterproof box. The posture sensor is placed in the waterproof box, and a communication line passes through the threading bolt of the electronic cabin and is connected to the Raspberry Pi control system in the cabin to provide real-time feedback of leg data.

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