Underwater device

Abstract

The utility model provides an underwater device which comprises a body and a gravity center mechanism. The gravity center mechanism is arranged in the body. The gravity center mechanism comprises a fixing plate, a bracket, a first driving motor, two guide rods, two linear bearings, a battery module and a transmission assembly. The bracket is fixed on the fixing plate. The first driving motor is arranged on the bracket. The two guide rods are fixed on two sides of the fixing plate. The two linear bearings are arranged on the two guide rods. The battery module is connected to the two linear bearings. The transmission assembly is connected to the first driving motor and the battery module. The first driving motor drives the battery module to move along the two guide rods through the transmission assembly so as to transfer the gravity center of the underwater device.

Description

Technical Field

[0001] The utility model relates to an underwater device, in particular to an underwater device which can be applied to bionic fish. Background Art

[0002] At present, conventional bionic fish use counterweights to control the center of gravity to achieve control of buoyancy and diving. The mechanism design is usually complex and will affect the smoothness and reliability of operation. Too complex a mechanism will increase friction and reduce the life of the drive mechanism. In addition, the waterproof structure also needs special design. In order to meet the waterproof requirements, some designs will use waterproof motors. However, the cost of waterproof motors is usually much higher than that of motors without waterproof functions. Utility Model Content

[0003] The utility model aims to provide an underwater device which can be applied to bionic fish to solve the above problems.

[0004] The utility model provides an underwater device, comprising a body and a center of gravity mechanism; the center of gravity mechanism is arranged in the body; the center of gravity mechanism comprises a fixed plate, a bracket, a first drive motor, two guide rods, two linear bearings, a battery module and a transmission component; the bracket is fixed to the fixed plate; the first drive motor is arranged on the bracket; the two guide rods are fixed to two sides of the fixed plate; the two linear bearings are arranged on the two guide rods; the battery module is connected to the two linear bearings; the transmission component is connected to the first drive motor and the battery module; the first drive motor drives the battery module to move along the two guide rods via the transmission component to shift the center of gravity of the underwater device.

[0005] In one embodiment, the transmission assembly includes a crank, a connecting rod and an adapter plate, the crank is connected to the first drive motor, the adapter plate is connected to the battery module, and the connecting rod is connected to the crank and the adapter plate.

[0006] In one embodiment, the battery module includes a battery box, a battery and a baffle, the transmission assembly is connected to the battery box, the battery is disposed in the battery box, and the baffle is fixed to one end of the battery box to limit the battery in the battery box.

[0007] In one embodiment, the underwater device is a bionic fish, and the fish head section of the body includes a first shell, a second shell, a third shell, a first sealing ring, a second sealing ring, a first fixing frame, a second fixing frame and a third fixing frame. The first sealing ring is clamped between the first shell and the second shell, the second sealing ring is clamped between the second shell and the third shell, the first fixing frame is used to fix the first shell and the second shell, the second fixing frame and the third fixing frame are used to fix the second shell and the third shell, and the center of gravity mechanism is arranged in the second shell.

[0008] In one embodiment, the second sealing ring has an outer flange, an inner flange and a first groove, the first groove is located between the outer flange and the inner flange, the second shell has a second groove, the third shell has a boss, the second sealing ring is embedded in the second groove, the boss is embedded in the first groove, and the outer flange and the inner flange are clamped between the second shell and the third shell.

[0009] In one embodiment, the second shell has a first protrusion, the third shell has a second protrusion, the first protrusion abuts the second protrusion, the second fixing frame abuts the first protrusion, the third fixing frame abuts the second protrusion, a fixing member passes through the second fixing frame, the first protrusion, the second protrusion and the third fixing frame in sequence to lock the second shell and the third shell, and the second sealing ring is closer to the inner side of the second shell and the third shell than the fixing member.

[0010] In one embodiment, the underwater device further includes four infrared sensors disposed in the first shell, and the positions of the four infrared sensors correspond to the front, bottom, left and right of the main body respectively.

[0011] In one embodiment, the underwater device further includes a camera lens disposed in the first housing and located above the four infrared sensors.

[0012] In one embodiment, the underwater device further includes a fisheye cover and a fixing plate. The fisheye cover is disposed on the second shell and has a fixing flange. The fixing flange is sandwiched between the fixing plate and the second shell.

[0013] In one embodiment, the fish body section of the main body includes a fourth shell, a fifth shell, a sixth shell, a first fixed seat and a first driving mechanism, the fourth shell is fixed to the third shell, the first fixed seat is fixed to the third shell, the fifth shell is pivotally connected to the first fixed seat, the sixth shell is fixed to the first fixed seat, the first driving mechanism is arranged in the fifth shell and connected to the fourth shell, and the first driving mechanism is used to drive the fifth shell to rotate relative to the fourth shell and the sixth shell.

[0014] In one embodiment, the first driving mechanism includes a second driving motor, a first adapter, a second adapter, a transmission shaft, a sleeve and a connecting member, the first adapter is connected to the second driving motor, the second adapter is connected to the first adapter, the transmission shaft is connected to the second adapter and the connecting member, the connecting member is connected to the fourth shell, and the sleeve is sleeved on the transmission shaft.

[0015] In one embodiment, the first driving mechanism further includes a bearing, a spacer, a third sealing ring and a fourth sealing ring. The bearing, the spacer, the third sealing ring and the fourth sealing ring are all sleeved on the sleeve, the third sealing ring is clamped between the sleeve and the fourth shell, and the fourth sealing ring is clamped between the spacer and the fifth shell.

[0016] In one embodiment, the first driving mechanism further includes a first supporting member and a second supporting member, the second driving motor is fixed to the first supporting member, the first supporting member is connected to the second supporting member, and the second supporting member is connected to the fifth shell.

[0017] In one embodiment, the fish body section of the main body includes a seventh shell, an eighth shell, a ninth shell, a tenth shell, a second fixed seat and a second driving mechanism, the seventh shell is fixed to the fifth shell, the eighth shell is fixed to the seventh shell, the second fixed seat is fixed to the seventh shell, the ninth shell is pivotally connected to the second fixed seat, the tenth shell is fixed to the second fixed seat, the second driving mechanism is arranged in the ninth shell and connected to the eighth shell, and the second driving mechanism is used to drive the ninth shell to rotate relative to the eighth shell and the tenth shell.

[0018] In one embodiment, the underwater device further includes an eleventh shell and a wireless communication module. The eleventh shell is fixed to the ninth shell. The wireless communication module is disposed in the eleventh shell and fixed to the second driving mechanism.

[0019] In one embodiment, the underwater device further includes a fixing structure and a fish tail, wherein the fixing structure is fixed to the eleventh shell, and the fish tail is fixed to the fixing structure.

[0020] In one embodiment, the underwater device further includes a jacket and a fin, wherein the jacket is mounted on the outside of the main body and has a snap-fit ​​hole, and the fin has an I-shaped snap-fit ​​structure, which is snap-fitted to the snap-fit ​​hole to fix the fin to the jacket.

[0021] In one embodiment, an escape space is formed between the outer shell and the body.

[0022] In one embodiment, the underwater device also includes an anti-loosening element and a screw, the outer casing has a mounting hole and a plurality of first limiting holes, the main body has a screw hole and a plurality of second limiting holes, the anti-loosening element has a through hole and a plurality of limiting parts, the plurality of limiting parts are arranged in sequence with the plurality of first limiting holes and the plurality of second limiting holes to set the anti-loosening element in the mounting hole, and the screw passes through the through hole and is locked in the screw hole.

[0023] In summary, the utility model utilizes the first drive motor of the center of gravity mechanism to drive the battery module to move, so as to shift the center of gravity of the underwater device, thereby achieving the control of floating and diving. Since the battery module moves along the guide rod by means of a linear bearing, the linear movement of the battery module becomes very smooth, so that the load of the first drive motor becomes smaller and more stable, thereby reducing the failure rate of the first drive motor. The utility model can achieve the waterproof requirement by setting a plurality of sealing rings. In one embodiment, the underwater device can be a bionic fish. The drive mechanism is provided with bearings, spacers and sealing rings on the shaft sleeve, so that the rotation of the fish body of the bionic fish can be smooth and waterproof. In one embodiment, the positions of the four infrared sensors correspond to the front, bottom, left and right of the body, respectively, and can be used to detect obstacles in front, left and right of the underwater device, and detect whether the underwater device has dived to the bottom of the water.

[0024] The advantages and spirit of the present invention can be further understood through the following detailed description of the present invention and the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a three-dimensional diagram of an underwater device according to an embodiment of the utility model.

[0026] Figure 2 for Figure 1 A stereoscopic view of the underwater device from another perspective.

[0027] Figure 3 for Figure 1 A three-dimensional image of the underwater device with the jacket removed.

[0028] Figure 4 for Figure 3 Exploded view of the entity in .

[0029] Figure 5 for Figure 3 A partial cross-sectional view of the body in .

[0030] Figure 6 for Figure 3 A partial stereoscopic image of the subject from another perspective.

[0031] Figure 7 for Figure 6 A three-dimensional diagram of the center of gravity mechanism.

[0032] Figure 8 for Figure 7 Partial exploded view of the center of gravity mechanism.

[0033] Fig. 9 for Figure 3 A partial stereoscopic image of the subject from another perspective.

[0034] Fig.10 for Fig. 9 A partial exploded view of the entity in another perspective.

[0035] Fig.11 for Fig. 9 A stereoscopic view of the first driving mechanism in FIG.

[0036] Fig.12 for Fig. 9 A partial cross-sectional view of the body in .

[0037] Fig.13 for Fig. 9 Another partial cross-sectional view of the body in FIG.

[0038] Fig.14 for Figure 3 A three-dimensional diagram of the main body and fish tail combined.

[0039] Fig.15 for Fig.14 Exploded view of the main body and fish tail.

[0040] Fig.16 for Figure 1 A partial exploded view of the underwater device from another perspective.

[0041] Fig.17 for Fig.16 A partial cross-section of the coat and fins.

[0042] Fig.18 for Figure 1 Cross-sectional view of the underwater device.

[0043] Fig.19 for Figure 1 A partial exploded view of the underwater device.

[0044] Fig. 20 for Figure 1 A partial cross-sectional view of the underwater device.

[0045] Fig.21 for Figure 3 A partial exploded view of the body in .

[0046] Fig. 22 for Figure 3 A partial exploded view of the body in .

[0047] Explanation of reference numerals: 1-underwater device; 10-jacket; 10a-fish head cover; 10b-fish body cover; 12-body; 12a-fish head section; 12b-fish body section; 14-fish tail; 16-fish fin; 18-center of gravity mechanism; 20-wireless communication module; 22-avoidance space; 24-anti-loosening element; 26-screw; 28-infrared sensor; 30-camera lens; 32-transparent lens cover; 34-fish eye cover; 36-fixing plate; 38-airtight test hole; 40-electrical connector; 42-waterproof cover; 100-clamping hole; 102-water hole; 104-installation hole; 106-first limit hole; 108-avoidance hole ; 120-first shell; 122-second shell; 124-third shell; 126-first sealing ring; 128-second sealing ring; 130-first fixing frame; 132-second fixing frame; 134-third fixing frame; 136-fixing member; 138-fourth shell; 140-fifth shell; 142-sixth shell; 144-first fixing seat; 146-seventh shell; 148-eighth shell; 150-ninth shell; 152-tenth shell; 154-second fixing seat; 156-eleventh shell; 158-fixing structure; 160-fifth sealing ring; 161-I-shaped clamping structure; 162-sixth sealing ring Sealing ring; 164-seventh sealing ring; 166-eighth sealing ring; 168-fourth fixing frame; 170-fifth fixing frame; 172-sixth fixing frame; 174-first driving mechanism; 176-second driving mechanism; 180-fixing plate; 182-bracket; 184-first driving motor; 186-guide rod; 188-linear bearing; 190-battery module; 192-transmission assembly; 194-screw hole; 196-second limiting hole; 240-through hole; 242-limiting part; 340-fixing flange; 1220-second groove; 1222-first protrusion; 1240-boss; 1242-second protrusion; 1280-outer flange; 1282-inner flange; 1284-first groove; 1740-second drive motor; 1742-first adapter; 1744-second adapter; 1746-drive shaft; 1748-sleeve; 1750-connecting piece; 1752-bearing; 1754-spacer; 1756-third sealing ring; 1758-fourth sealing ring; 1760-first support member; 1762-second support member; 1900-battery box; 1902-battery; 1904-baffle; 1920-crank; 1922-connecting rod; 1924-adapter plate; F-water flow; S1, S2, S3-preload surface. DETAILED DESCRIPTION

[0048] See also Figures 1 to 22 , Figure 1 is a three-dimensional diagram of an underwater device 1 according to an embodiment of the utility model. Figure 2for Figure 1 A stereoscopic view of the underwater device 1 in another perspective, Figure 3 for Figure 1 A three-dimensional view of the underwater device 1 after removing the outer cover 10, Figure 4 for Figure 3 An exploded view of the body 12 in FIG. Figure 5 for Figure 3 A partial cross-sectional view of the body 12 in FIG. Figure 6 for Figure 3 A partial stereoscopic view of the main body 12 at another viewing angle, Figure 7 for Figure 6 A three-dimensional diagram of the center of gravity mechanism 18 in FIG. Figure 8 for Figure 7 A partial exploded view of the center of gravity mechanism 18 in FIG. Fig. 9 for Figure 3 A partial stereoscopic view of the main body 12 at another viewing angle, Fig.10 for Fig. 9 A partial exploded view of the main body 12 in another perspective, Fig.11 for Fig. 9 A perspective view of the first driving mechanism 174 in FIG. Fig.12 for Fig. 9 A partial cross-sectional view of the body 12 in FIG. Fig.13 for Fig. 9 Another partial cross-sectional view of the body 12 in FIG. Fig.14 for Figure 3 A three-dimensional diagram of the combination of the body 12 and the fish tail 14, Fig.15 for Fig.14 An exploded view of the body 12 and the fish tail 14 in FIG. Fig.16 for Figure 1 A partial exploded view of the underwater device 1 from another perspective, Fig.17 for Fig.16 A partial cross-sectional view of the jacket 10 and the fin 16 in FIG. Fig.18 for Figure 1 A cross-sectional view of the underwater device 1 in FIG. Fig.19 for Figure 1 A partial exploded view of the underwater device 1 in FIG. Fig. 20 for Figure 1 A partial cross-sectional view of the underwater device 1 in FIG. Fig.21 for Figure 3 A partial exploded view of the body 12 in FIG. Fig. 22 for Figure 3 A partial exploded view of the body 12 in FIG.

[0049] The underwater device 1 of the present invention can be a bionic fish, but is not limited thereto. The type of the underwater device 1 can be determined according to the actual application. Figures 1 to 3As shown, the underwater device 1 may include a jacket 10, a body 12, a fish tail 14 and a fish fin 16. The body 12 is used to accommodate the main mechanical components and electronic components of the underwater device 1. The jacket 10 is mounted on the outside of the body 12 for decoration. In this embodiment, the jacket 10 may include a fish head cover 10a and a fish body cover 10b, but is not limited to this. In addition, the body 12 can be divided into a fish head section 12a and a fish body section 12b. The fish head cover 10a can be mounted on the fish head section 12a, and the fish body cover 10b can be mounted on the fish body section 12b. The fish tail 14 is connected to the fish body section 12b. In this embodiment, the underwater device 1 may include four fish fins 16, of which two fish fins 16 are connected to the fish head section 12a as pectoral fins, and the other two fish fins 16 are connected to the fish body section 12b as pelvic fins. In this embodiment, the outer cover 10, the fish tail 14 and the fish fin 16 can be made of silicone, rubber or other soft materials, thereby reducing the problem of damage due to impact.

[0050] like Figure 3 and Figure 4 As shown, the fish head section 12a of the body 12 includes a first shell 120, a second shell 122, a third shell 124, a first sealing ring 126, a second sealing ring 128, a first fixing frame 130, a second fixing frame 132 and a third fixing frame 134. The first sealing ring 126 is sandwiched between the first shell 120 and the second shell 122. The second sealing ring 128 is sandwiched between the second shell 122 and the third shell 124. The first fixing frame 130 is used to fix the first shell 120 and the second shell 122. The second fixing frame 132 and the third fixing frame 134 are used to fix the second shell 122 and the third shell 124.

[0051] like Figure 5As shown, the second sealing ring 128 may have an outer flange 1280, an inner flange 1282 and a first groove 1284, the second housing 122 has a second groove 1220, and the third housing 124 may have a boss 1240. The first groove 1284 of the second sealing ring 128 is located between the outer flange 1280 and the inner flange 1282. The boss 1240 of the third housing 124 can be used to position the second sealing ring 128. The second sealing ring 128 is embedded in the second groove 1220 of the second housing 122, the boss 1240 of the third housing 124 is embedded in the first groove 1284 of the second sealing ring 128, and the outer flange 1280 and the inner flange 1282 of the second sealing ring 128 are sandwiched between the second housing 122 and the third housing 124. When the second shell 122 and the third shell 124 are fixed, three pre-stressed surfaces S1, S2, and S3 are formed at the positions corresponding to the outer flange 1280, the boss 1240, and the inner flange 1282. The water flow F on the outer side of the main body 12 will first be blocked by the pre-stressed surface S1. When the pre-stressed surface S1 fails, the water flow F will be blocked by the pre-stressed surface S2. When the pre-stressed surface S2 also fails, the water flow F will be blocked by the pre-stressed surface S3. With the design of the three pre-stressed surfaces S1, S2, and S3, the main body 12 can achieve a highly reliable waterproof function.

[0052] like Figure 5 As shown, the second housing 122 may have a first protrusion 1222, and the third housing 124 may have a second protrusion 1242. The first protrusion 1222 abuts against the second protrusion 1242, the second fixing frame 132 abuts against the first protrusion 1222, and the third fixing frame 134 abuts against the second protrusion 1242. A fixing member 136 (for example, a screw) passes through the second fixing frame 132, the first protrusion 1222, the second protrusion 1242 and the third fixing frame 134 in sequence to lock the second housing 122 and the third housing 124. In this embodiment, the second fixing frame 132, the first protrusion 1222 and the second protrusion 1242 may have non-threaded through holes for the fixing member 136 to pass through. In addition, the third fixing frame 134 may have screw holes for the fixing member 136 to lock. In this embodiment, the second housing 122 and the third housing 124 can be made of plastic, and the second fixing frame 132 and the third fixing frame 134 can be made of metal. Since the fixing member 136 is locked to the second fixing frame 132 and the third fixing frame 134, a larger locking torque can be obtained, and the second housing 122 and the third housing 124 are not easily damaged. After the second housing 122 and the third housing 124 are locked, the second sealing ring 128 is closer to the inner side of the second housing 122 and the third housing 124 than the fixing member 136. Therefore, a good waterproof effect can be achieved without having to design the fixing member 136 to be waterproof.

[0053] like Figure 3 and Figure 4As shown, the fish body section 12b of the main body 12 includes a fourth shell 138, a fifth shell 140, a sixth shell 142, a first fixing seat 144, a seventh shell 146, an eighth shell 148, a ninth shell 150, a tenth shell 152, a second fixing seat 154, an eleventh shell 156, a fixing structure 158, a fifth sealing ring 160, a sixth sealing ring 162, a seventh sealing ring 164, an eighth sealing ring 166, a fourth fixing frame 168, a fifth fixing frame 170 and a sixth fixing frame 172.

[0054] The fourth housing 138 is fixed to one end of the third housing 124, and the first fixing seat 144 is fixed to the other end of the third housing 124. The fifth sealing ring 160 is sandwiched between the third housing 124 and the fourth housing 138. The fifth housing 140 is pivoted to the first fixing seat 144, and the sixth housing 142 is fixed to the first fixing seat 144. The seventh housing 146 is fixed to the fifth housing 140, and the sixth sealing ring 162 is sandwiched between the fifth housing 140 and the seventh housing 146. The fourth fixing bracket 168 and the fifth fixing bracket 170 are used to fix the fifth housing 140 and the seventh housing 146. The eighth housing 148 is fixed to one end of the seventh housing 146, and the second fixing seat 154 is fixed to the other end of the seventh housing 146. The seventh sealing ring 164 is sandwiched between the seventh housing 146 and the eighth housing 148. The ninth housing 150 is pivoted to the second fixing seat 154, and the tenth housing 152 is fixed to the second fixing seat 154. The eleventh housing 156 is fixed to the ninth housing 150, and the eighth sealing ring 166 is sandwiched between the ninth housing 150 and the eleventh housing 156. The sixth fixing frame 172 is used to fix the ninth housing 150 and the eleventh housing 156. The fixing structure 158 is fixed to the eleventh housing 156.

[0055] It should be noted that the structural design between all the shells and the sealing rings of the present invention may be the same as the structural design between the second shell 122, the third shell 124 and the second sealing ring 128, which will not be repeated here. In addition, the locking method between all the shells and the fixing frame of the present invention may be the same as the locking method between the second shell 122, the third shell 124, the second fixing frame 132 and the third fixing frame 134, which will not be repeated here. Furthermore, according to actual assembly requirements, the fixing frame may be an open design (for example, the first fixing frame 130, the second fixing frame 132 and the third fixing frame 134) or a closed design (for example, the fourth fixing frame 168, the fifth fixing frame 170 and the sixth fixing frame 172).

[0056] like Figures 6 to 8As shown, the underwater device 1 includes a gravity center mechanism 18, which is disposed in the body 12. In this embodiment, the gravity center mechanism 18 can be disposed in the second shell 122. The gravity center mechanism 18 includes a fixed plate 180, a bracket 182, a first drive motor 184, two guide rods 186, two linear bearings 188, a battery module 190 and a transmission assembly 192. The bracket 182 is fixed to the fixed plate 180. The first drive motor 184 is disposed on the bracket 182. The two guide rods 186 are fixed on two sides of the fixed plate 180. The two linear bearings 188 are disposed on the two guide rods 186. The transmission assembly 192 is connected to the first drive motor 184 and the battery module 190. The first drive motor 184 can drive the battery module 190 to move along the two guide rods 186 via the transmission assembly 192 to shift the gravity center of the underwater device 1, thereby achieving the control of floating and diving. Since the battery module 190 moves along the guide rod 186 via the linear bearing 188 , the linear movement of the battery module 190 becomes very smooth, so that the load of the first driving motor 184 becomes smaller and more stable, thereby reducing the failure rate of the first driving motor 184 .

[0057] In this embodiment, the transmission assembly 192 may include a crank 1920, a connecting rod 1922, and an adapter plate 1924. The crank 1920 is connected to the first driving motor 184, the adapter plate 1924 is connected to the battery module 190, and the connecting rod 1922 is connected to the crank 1920 and the adapter plate 1924. Thus, the first driving motor 184 can drive the crank 1920 to rotate, and the crank 1920 can drive the battery module 190 to move along the two guide rods 186 via the connecting rod 1922 and the adapter plate 1924.

[0058] In this embodiment, the battery module 190 may include a battery box 1900, a battery 1902, and a baffle 1904. The adapter plate 1924 of the transmission assembly 192 is connected to the battery box 1900, and the battery 1902 is disposed in the battery box 1900. The baffle 1904 is fixed to one end of the battery box 1900 to limit the battery 1902 in the battery box 1900.

[0059] like Figures 9 to 12As shown, the fish body section 12b of the body 12 includes a first driving mechanism 174. The first driving mechanism 174 is disposed in the fifth housing 140 and connected to the fourth housing 138. In this embodiment, the first driving mechanism 174 may include a second driving motor 1740, a first adapter 1742, a second adapter 1744, a transmission shaft 1746, a sleeve 1748, and a connecting member 1750. The first adapter 1742 is connected to the second driving motor 1740. The second adapter 1744 is connected to the first adapter 1742. The transmission shaft 1746 is connected to the second adapter 1744 and the connecting member 1750. The connecting member 1750 is connected to the fourth housing 138. The sleeve 1748 is sleeved on the transmission shaft 1746. In addition, the first driving mechanism 174 may further include a bearing 1752, a spacer 1754, a third sealing ring 1756, and a fourth sealing ring 1758. The bearing 1752, the spacer 1754, the third sealing ring 1756 and the fourth sealing ring 1758 are all sleeved on the shaft sleeve 1748. In this embodiment, the bearing 1752 can be a plastic ball bearing, but is not limited thereto. The third sealing ring 1756 is sandwiched between the shaft sleeve 1748 and the fourth housing 138. The fourth sealing ring 1758 is sandwiched between the spacer 1754 and the fifth housing 140. Furthermore, the first driving mechanism 174 may further include a first support member 1760 and a second support member 1762. The second driving motor 1740 is fixed to the first support member 1760, the first support member 1760 is connected to the second support member 1762, and the second support member 1762 is connected to the fifth housing 140. When the output shaft of the second driving motor 1740 rotates, the first driving mechanism 174 can drive the fifth housing 140 to rotate relative to the fourth housing 138 and the sixth housing 142, so that the fish body section 12b of the body 12 swings. Since the first driving mechanism 174 is provided with a bearing 1752 , a spacer 1754 , a third sealing ring 1756 and a fourth sealing ring 1758 on the shaft sleeve 1748 , the fish body section 12 b of the main body 12 can rotate smoothly and waterproofly.

[0060] like Fig. 9 and Fig.13 As shown, the fish body section 12b of the body 12 may further include a second driving mechanism 176. The second driving mechanism 176 is disposed in the ninth housing 150 and connected to the eighth housing 148. The second driving mechanism 176 is used to drive the ninth housing 150 to rotate relative to the eighth housing 148 and the tenth housing 152. It should be noted that the structural design of the second driving mechanism 176 may be the same as the structural design of the first driving mechanism 174, and will not be repeated here.

[0061] like Fig.14 and Fig.15As shown, the fish tail 14 can be fixed to the fixing structure 158 and connected to the eleventh housing 156. In this embodiment, the underwater device 1 can further include a wireless communication module 20. The wireless communication module 20 can be a Bluetooth module, but is not limited thereto. The wireless communication module 20 can be disposed in the eleventh housing 156 and fixed to the support member of the second driving mechanism 176. The wireless communication module 20 can send a signal so that the user of the underwater device 1 can track the location of the underwater device 1.

[0062] like Figures 16 to 18 As shown, the outer jacket 10 is sleeved on the outside of the main body 12 and has a snap-fit ​​hole 100. In the present embodiment, the outer jacket 10 may have four snap-fit ​​holes 100 corresponding to the four fish fins 16. The fish fin 16 may have an I-shaped snap-fit ​​structure 161. The I-shaped snap-fit ​​structure 161 is snapped into the snap-fit ​​hole 100 to fix the fish fin 16 to the outer jacket 10 and achieve the function of preventing it from loosening. In addition, an escape space 22 may be formed between the outer jacket 10 and the main body 12. In other words, the outer jacket 10 and the main body 12 are not completely fitted. Thereby, when the underwater device 1 rotates, the outer jacket 10 is not easily tightened, so that the outer jacket 10 still retains better elasticity. Furthermore, as Figure 1 and Figure 2 As shown, the outer jacket 10 is formed with a plurality of water holes 102. Water can enter the escape space 22 through the water holes 102, so that the internal and external pressures of the outer jacket 10 are balanced, and the outer jacket 10 is not easily crushed.

[0063] like Fig.19 and Fig. 20 As shown, the underwater device 1 may further include an anti-loosening element 24 and a screw 26, the outer jacket 10 may have a mounting hole 104 and a plurality of first limiting holes 106, and the body 12 may have a screw hole 194 and a plurality of second limiting holes 196. In addition, the anti-loosening element 24 may have a through hole 240 and a plurality of limiting portions 242. The plurality of limiting portions 242 may be sequentially connected to the plurality of first limiting holes 106 and the plurality of second limiting holes 196 to set the anti-loosening element 24 in the mounting hole 104. The screw 26 passes through the through hole 240 and is locked in the screw hole 194. In this way, the outer jacket 10 can be prevented from being easily pulled away from the body 12. In one embodiment, the screw hole 194 may be provided by a copper column, but is not limited thereto.

[0064] like Figure 3 and Fig.21As shown, the underwater device 1 may further include four infrared sensors 28, which are arranged in the first shell 120. The positions of the four infrared sensors 28 correspond to the front, bottom, left and right of the main body 12, respectively, and can be used to detect obstacles in front, left and right of the underwater device 1, and detect whether the underwater device 1 has dived to the bottom of the water. When an obstacle is detected, the underwater device 1 can be controlled to make an evasive action in advance. When it is detected that the underwater device 1 has dived to the bottom of the water, the underwater device 1 can be controlled to float up. In this embodiment, an avoidance hole 108 corresponding to the infrared sensor 28 can be formed on the outer shell 10 (such as Figure 1 ) to avoid affecting the signal transmission of the infrared sensor 28. In addition, the underwater device 1 may further include a camera lens 30, which is disposed in the first housing 120 and located above the four infrared sensors 28. In this embodiment, a transparent lens cover 32 may be disposed on the first housing 120 at a position corresponding to the camera lens 30.

[0065] like Figure 3 and Fig. 22 As shown, the underwater device 1 may further include a fisheye cover 34 and a fixing plate 36. The fisheye cover 34 may be disposed on the second housing 122 and has a fixing flange 340. The fixing flange 340 is sandwiched between the fixing plate 36 and the second housing 122 to achieve a highly reliable waterproof function.

[0066] like Fig.15 As shown, the underwater device 1 may further include an airtight test hole 38, which is disposed in the eleventh shell 156 of the shell 12. This facilitates the underwater device 1 to be tested for airtightness before launching into the water, and to confirm that there is no air leakage before launching into the water. Figure 2 and Fig.21 As shown, the underwater device 1 may further include an electrical connector 40 and a waterproof cover 42. The waterproof cover 42 covers the electrical connector 40 to prevent the electrical connector 40 from malfunctioning when exposed to water.

[0067] In summary, the utility model utilizes the first drive motor of the center of gravity mechanism to drive the battery module to move, so as to shift the center of gravity of the underwater device, thereby achieving the control of floating and diving. Since the battery module moves along the guide rod by means of a linear bearing, the linear movement of the battery module becomes very smooth, so that the load of the first drive motor becomes smaller and more stable, thereby reducing the failure rate of the first drive motor. The utility model can achieve the waterproof requirement by setting a plurality of sealing rings. In one embodiment, the underwater device can be a bionic fish. The drive mechanism is provided with bearings, spacers and sealing rings on the shaft sleeve, so that the rotation of the fish body of the bionic fish can be smooth and waterproof. In one embodiment, the positions of the four infrared sensors correspond to the front, bottom, left and right of the body, respectively, and can be used to detect obstacles in front, left and right of the underwater device, and detect whether the underwater device has dived to the bottom of the water.

[0068] The above description is only a preferred embodiment of the present invention, and all equivalent changes and modifications made based on the present invention should fall within the scope of the present invention.

Claims

1. An underwater device, characterized in that: Include: an entity; and A center of gravity mechanism is disposed in the body, and the center of gravity mechanism comprises: a fixing plate; a bracket fixed to the fixing plate; a first driving motor, disposed on the bracket; Two guide rods are fixed on two sides of the fixed plate; Two linear bearings are disposed on the two guide rods; a battery module connected to the two linear bearings; and a transmission assembly connected to the first drive motor and the battery module; The first driving motor drives the battery module to move along the two guide rods via the transmission assembly to shift the center of gravity of the underwater device.

2. The underwater device according to claim 1, characterized in that: The transmission assembly includes a crank, a connecting rod and an adapter plate. The crank is connected to the first driving motor, the adapter plate is connected to the battery module, and the connecting rod is connected to the crank and the adapter plate.

3. The underwater device according to claim 1, characterized in that: The battery module includes a battery box, a battery and a baffle. The transmission assembly is connected to the battery box. The battery is arranged in the battery box. The baffle is fixed to one end of the battery box to limit the battery in the battery box.

4. The underwater device according to claim 1, characterized in that: The underwater device is a bionic fish. The fish head section of the body includes a first shell, a second shell, a third shell, a first sealing ring, a second sealing ring, a first fixing frame, a second fixing frame and a third fixing frame. The first sealing ring is clamped between the first shell and the second shell, the second sealing ring is clamped between the second shell and the third shell, the first fixing frame is used to fix the first shell and the second shell, the second fixing frame and the third fixing frame are used to fix the second shell and the third shell, and the center of gravity mechanism is arranged in the second shell.

5. The underwater device according to claim 4, characterized in that: The second sealing ring has an outer flange, an inner flange and a first groove, the first groove is located between the outer flange and the inner flange, the second shell has a second groove, the third shell has a boss, the second sealing ring is embedded in the second groove, the boss is embedded in the first groove, and the outer flange and the inner flange are clamped between the second shell and the third shell.

6. The underwater device according to claim 4, characterized in that: The second shell has a first protrusion, the third shell has a second protrusion, the first protrusion abuts the second protrusion, the second fixing frame abuts the first protrusion, and the third fixing frame abuts the second protrusion. A fixing member passes through the second fixing frame, the first protrusion, the second protrusion and the third fixing frame in sequence to lock the second shell and the third shell, and the second sealing ring is closer to the inner side of the second shell and the third shell than the fixing member.

7. The underwater device according to claim 4, characterized in that: It also includes four infrared sensors which are arranged in the first shell. The positions of the four infrared sensors correspond to the front, bottom, left and right of the main body respectively.

8. The underwater device according to claim 7, characterized in that: The device also comprises a camera lens, which is arranged in the first shell and located above the four infrared sensors.

9. The underwater device according to claim 4, characterized in that: The invention also comprises a fisheye cover and a fixing sheet. The fisheye cover is arranged on the second shell and has a fixing flange. The fixing flange is sandwiched between the fixing sheet and the second shell.

10. The underwater device according to claim 4, characterized in that: The fish body section of the main body includes a fourth shell, a fifth shell, a sixth shell, a first fixed seat and a first driving mechanism. The fourth shell is fixed to the third shell, the first fixed seat is fixed to the third shell, the fifth shell is pivotally connected to the first fixed seat, the sixth shell is fixed to the first fixed seat, the first driving mechanism is arranged in the fifth shell and connected to the fourth shell, and the first driving mechanism is used to drive the fifth shell to rotate relative to the fourth shell and the sixth shell.

11. The underwater device according to claim 10, characterized in that: The first driving mechanism includes a second driving motor, a first adapter, a second adapter, a transmission shaft, a sleeve and a connecting member. The first adapter is connected to the second driving motor, the second adapter is connected to the first adapter, the transmission shaft is connected to the second adapter and the connecting member, the connecting member is connected to the fourth housing, and the sleeve is sleeved on the transmission shaft.

12. The underwater device according to claim 11, characterized in that: The first driving mechanism also includes a bearing, a spacer, a third sealing ring and a fourth sealing ring. The bearing, the spacer, the third sealing ring and the fourth sealing ring are all sleeved on the sleeve. The third sealing ring is clamped between the sleeve and the fourth shell, and the fourth sealing ring is clamped between the spacer and the fifth shell.

13. The underwater device according to claim 11, characterized in that: The first driving mechanism further includes a first supporting member and a second supporting member. The second driving motor is fixed to the first supporting member. The first supporting member is connected to the second supporting member. The second supporting member is connected to the fifth housing.

14. The underwater device according to claim 10, characterized in that: The fish body section of the main body includes a seventh shell, an eighth shell, a ninth shell, a tenth shell, a second fixed seat and a second driving mechanism. The seventh shell is fixed to the fifth shell, the eighth shell is fixed to the seventh shell, the second fixed seat is fixed to the seventh shell, the ninth shell is pivotally connected to the second fixed seat, and the tenth shell is fixed to the second fixed seat. The second driving mechanism is arranged in the ninth shell and connected to the eighth shell. The second driving mechanism is used to drive the ninth shell to rotate relative to the eighth shell and the tenth shell.

15. The underwater device according to claim 14, characterized in that: It also includes an eleventh shell and a wireless communication module. The eleventh shell is fixed to the ninth shell. The wireless communication module is arranged in the eleventh shell and fixed to the second driving mechanism.

16. The underwater device according to claim 15, characterized in that: It also includes a fixing structure and a fish tail. The fixing structure is fixed to the eleventh shell, and the fish tail is fixed to the fixing structure.

17. The underwater device according to claim 1, characterized in that: It also includes a jacket and a fin. The jacket is sleeved on the outside of the main body and has a clamping hole. The fin has an I-shaped clamping structure, which is clamped in the clamping hole to fix the fin to the jacket.

18. The underwater device according to claim 17, characterized in that: An escape space is formed between the outer shell and the main body.

19. The underwater device according to claim 17, characterized in that: It also includes an anti-loosening element and a screw. The outer sleeve has a mounting hole and a plurality of first limiting holes. The main body has a screw hole and a plurality of second limiting holes. The anti-loosening element has a through hole and a plurality of limiting parts. The plurality of limiting parts are arranged in sequence with the plurality of first limiting holes and the plurality of second limiting holes to set the anti-loosening element in the mounting hole. The screw passes through the through hole and is locked in the screw hole.

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