Microminiature underwater double-shaft pan-tilt camera

Abstract

The invention relates to a microminiature underwater double-shaft pan-tilt camera which comprises a pressure-resistant cabin and a pan-tilt system and a camera module which are arranged in the pressure-resistant cabin, the pan-tilt system comprises a horizontal swing motor, a vertical swing motor, a mounting seat, a gear transmission assembly and a vertical swing seat, the horizontal swing motor and the gear transmission assembly are both arranged on the mounting seat, and the vertical swing seat is arranged on the mounting seat. A driving gear at the head end of the gear transmission assembly is driven by a horizontal swing motor to rotate, a driven gear at the tail end of the gear transmission assembly is provided with a first support and a second support, a vertical swing motor is arranged on one side of the vertical swing seat, and a vertical swing motor shaft on the vertical swing motor is installed on the first support. The other side of the vertical swing seat is rotatably connected with the second support through a rotating shaft, and the camera module is arranged on the vertical swing seat. According to the invention, the horizontal rotation and the vertical rotation of the camera module can be limited in a small range on the upper side of the driven gear, so that the purpose of microminiature design of the double-shaft pan-tilt camera is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater observation equipment, and in particular to a micro-miniature underwater two-axis pan-tilt camera. Background Art

[0002] With the rapid development of the marine economy, various underwater devices and underwater equipment have also developed rapidly. Among them, the underwater observation function is one of the basic functions required by various underwater equipment. Therefore, underwater observation equipment is widely carried on various underwater equipment.

[0003] At present, the underwater observation function of many underwater devices depends on underwater cameras. Traditional underwater cameras are mainly divided into two categories: fixed type and pan-tilt type. Among them, the fixed underwater camera has a fixed observation orientation. After installation, it can only observe a specific direction and cannot achieve spatial multi-angle scanning observation. While the pan-tilt underwater camera has a real-time adjustable observation direction and can adjust the camera observation direction in real time according to the observation task requirements.

[0004] The pan-tilt underwater camera is further divided into single-axis and double-axis types. Among them, the single-axis pan-tilt can only realize the rotation of the camera around a single rotating shaft, and the double-axis pan-tilt can realize the rotation of the camera around two rotating shafts, namely horizontal and vertical shafts, with a larger scanning range and more flexible movement. However, traditional underwater two-axis pan-tilt cameras mostly adopt a structure with the pan-tilt and the camera arranged separately, with a larger structural size, and the rotational movement also requires a larger space. Therefore, it is difficult to achieve the structural design of a small-structured and compact underwater camera device. Moreover, due to the complex structure, the price of traditional underwater two-axis pan-tilt cameras is relatively expensive, which is not conducive to reducing the cost of underwater devices. For example, the patent CN220817255U discloses an underwater two-axis pan-tilt, which includes a fixed platform, a pitch axis control cabin, and a yaw axis control cabin connected in sequence. An underwater exploration device is installed on the fixed platform. This device adopts a structure with the pan-tilt (composed of the fixed platform, the pitch axis control cabin, and the yaw axis control cabin) and the camera (underwater exploration device) arranged separately, and has problems such as a larger structural size and the rotational movement of the pan-tilt part requiring a larger space. Summary of the Invention

[0005] The purpose of the present invention is to provide a micro-miniature underwater two-axis pan-tilt camera, which can limit the horizontal and vertical rotations of the camera module within a very small range above the driven gear, achieving the micro-miniature design purpose of the two-axis pan-tilt camera while ensuring the rotation angle of the camera module.

[0006] The purpose of the present invention is achieved by the following technical solutions:

[0007] A micro underwater biaxial pan-tilt camera, comprising a pressure-resistant cabin body, and a pan-tilt system and a camera module arranged in the pressure-resistant cabin body, wherein the pan-tilt system includes a horizontal swing motor, a vertical swing motor, a mounting seat, a gear transmission assembly and a vertical swing seat. The horizontal swing motor and the gear transmission assembly are both arranged on the mounting seat. The driving gear at the head end of the gear transmission assembly is driven to rotate by the horizontal swing motor. A first support and a second support are arranged on the driven gear at the tail end. A vertical swing motor is arranged on one side of the vertical swing seat, and the vertical swing motor shaft on the vertical swing motor is installed on the first support. The other side of the vertical swing seat is rotationally connected to the second support through a rotating shaft. The camera module is arranged on the vertical swing seat.

[0008] The vertical swing seat includes a connecting plate. A vertical motor mounting plate is arranged on one side of the connecting plate, and a rotating connection side plate is arranged on the other side. The vertical swing motor is arranged on the vertical motor mounting plate, and a rotating shaft is arranged on the rotating connection side plate and is rotationally connected to the second support.

[0009] A height adjustment block is arranged on the first support, and the upper end of the height adjustment block is connected to the vertical swing motor shaft.

[0010] A plurality of adjustment holes are arranged on the height adjustment block, and fixing screw holes are arranged on the first support. The height adjustment block is fixed to the first support through fixing bolts, and the fixing bolts pass through the corresponding adjustment holes and are threadedly inserted into the corresponding fixing screw holes.

[0011] A support slot is arranged at the upper end of the second support, the rotating shaft is arranged in the support slot, and the outer end is limited by a pressing plate.

[0012] Both ends of the pressing plate are fixedly connected to the second support through bolts, and a concave pressing groove matching the shape of the rotating shaft is arranged in the middle of the pressing plate.

[0013] The rear end of the camera module is arranged on a camera module mounting plate. The camera module mounting plate is connected to the connecting plate of the vertical swing seat through a connecting shaft. A notch is arranged on one side of the connecting plate.

[0014] The mounting seat includes a horizontally arranged horizontal motor mounting plate and a bottom plate. One end of the horizontal motor mounting plate is connected to one end of the bottom plate through a connecting part. The horizontal swing motor is arranged on the horizontal motor mounting plate. The gear transmission assembly is arranged on the bottom plate. The driving gear is arranged between the horizontal motor mounting plate and the bottom plate. The vertical swing seat on the driven gear is arranged on one side of the free end of the horizontal motor mounting plate. Fixing parts are arranged on both sides of the connecting part, and the fixing parts are fixedly connected to one side end plate of the pressure-resistant cabin body.

[0015] A bearing is sleeved on the outer side of the driven gear shaft below the driven gear. A bearing installation groove is provided at the free end of the bottom plate of the mounting seat, and the bearing is arranged in the bearing installation groove. A first bearing end cover is provided above the bearing installation groove, and a first limiting protrusion is provided at the upper end of the inner wall of the first bearing end cover. A second limiting protrusion is provided at the lower end of the inner wall of the bearing installation groove, and the outer side of the bearing is limited by the first limiting protrusion and the second limiting protrusion. A second bearing end cover is provided below the bearing installation groove, and the second bearing end cover is fixedly connected to the lower end of the driven gear shaft by bolts. A limiting stop is provided at the upper part of the driven gear shaft, and the inner side of the bearing is limited by the limiting stop and the second bearing end cover.

[0016] One end of the pressure-resistant cabin body close to the camera module is provided with a hemispherical observation cover, and the other end of the pressure-resistant cabin body is provided with a watertight connector and a cabin leak detection interface.

[0017] The advantages and positive effects of the present invention are as follows:

[0018] 1. The present invention adopts the method of directly connecting the vertical swing motor with the vertical swing seat and cooperates with the relevant seat body structure design, which can limit the horizontal rotation and vertical rotation of the camera module within a very small range above the driven gear, achieving the purpose of miniaturizing the dual-axis pan-tilt camera while ensuring the rotation angle of the camera module.

[0019] 2. The mounting seat of the pan-tilt system of the present invention includes a horizontally arranged motor mounting plate and a bottom plate with a hierarchical design. The horizontal swing motor is arranged on the horizontal motor mounting plate, the gear transmission component is arranged on the bottom plate, and the vertical swing seat is arranged on the driven gear in the gear transmission component and on one side of the horizontal motor mounting plate. In this way, while ensuring the overall structure of the pan-tilt system is compact, the overall pan-tilt system can also be installed in cooperation with the long-axis shape of the pressure-resistant cabin body, and the mounting seat can drive the pan-tilt system and the camera module for overall installation and disassembly, facilitating the installation and debugging of the equipment. Brief Description of the Drawings

[0020] Figure 1 is a schematic diagram of the internal structure of the present invention,

[0021] Figure 2 is Figure 1 a schematic diagram of the internal structure of another angle of the present invention in

[0022] Figure 3 is Figure 2 an enlarged view of part A in

[0023] Figure 4 is Figure 1 a schematic diagram of the structure of the pan-tilt system in

[0024] Figure 5 is Figure 4 Another perspective structural schematic diagram of the pan-tilt system in

[0025] Figure 6 is Figure 5 the front view of the pan-tilt system in

[0026] Figure 7 is Figure 6 the enlarged view at position B in

[0027] Among them, 1 is the pressure-resistant cabin body, 2 is the pan-tilt system, 201 is the horizontal swing motor, 202 is the vertical swing motor, 2021 is the vertical swing motor shaft, 203 is the mounting seat, 2031 is the horizontal motor mounting plate, 2032 is the bottom plate, 2033 is the connecting part, 2034 is the fixing part, 204 is the driving gear, 205 is the driven gear, 2051 is the driven gear shaft, 20511 is the limiting stop, 2052 is the first bearing end cover, 20521 is the first limiting protrusion, 2053 is the bearing, 2054 is the second bearing end cover, 2055 is the bearing mounting groove, 20551 is the second limiting protrusion, 206 is the second support, 2061 is the support slot, 207 is the vertical swing seat, 2071 is the vertical motor mounting plate, 2072 is the connecting plate, 2073 is the rotating connection side plate, 20731 is the rotating shaft, 2074 is the notch, 2075 is the pressing plate, 208 is the camera module mounting plate, 2081 is the connecting shaft, 209 is the first support, 210 is the height adjustment block, 2101 is the adjustment hole, 3 is the observation cover, 4 is the camera module, 5 is the waterproof connector, and 6 is the cabin leak detection interface. Detailed implementation manners

[0028] The present invention will be further described in detail below with reference to the accompanying drawings.

[0029] As Figures 1 to 7 shown, the present invention includes a pressure-resistant cabin body 1, a pan-tilt system 2 and a camera module 4 disposed in the pressure-resistant cabin body 1. The pan-tilt system 2 includes a horizontal swing motor 201, a vertical swing motor 202, a mounting seat 203, a gear transmission assembly and a vertical swing seat 207. The horizontal swing motor 201 and the gear transmission assembly are both disposed on the mounting seat 203, and the driving gear 204 at the head end of the gear transmission assembly is driven to rotate by the horizontal swing motor 201. A vertical swing motor 202 and a vertical swing seat 207 are provided on the driven gear 205 at the tail end of the gear transmission assembly, and the vertical swing seat 207 is driven to swing by the vertical swing motor 202. The camera module 4 is disposed on the vertical swing seat 207.

[0030] As Figures 1 to 7As shown in the figure, in this embodiment, a first support 209 and a second support 206 are provided on the driven gear 205. The vertical swing seat 207 includes a connecting plate 2072. A vertical motor mounting plate 2071 is provided on one side of the connecting plate 2072, and a rotating connection side plate 2073 is provided on the other side. The vertical swing motor 202 is arranged on the vertical motor mounting plate 2071, and the vertical swing motor shaft 2021 on the vertical swing motor 202 is mounted on the first support 209. A rotating shaft 20731 is provided on the rotating connection side plate 2073 and is rotatably connected to the second support 206.

[0031] As Figures 5 to 6 shown in the figure, in this embodiment, a height adjustment block 210 is provided on the first support 209, and the upper end of the height adjustment block 210 is connected to the vertical swing motor shaft 2021. During the installation of the present invention, the height can be finely adjusted through the height adjustment block 210 to ensure the rotational installation of the vertical swing motor shaft 2021 and the first support 209. As Figure 5 shown in the figure, in this embodiment, a plurality of adjustment holes 2101 are provided on the height adjustment block 210, and fixing screw holes are provided on the first support 209. After the height adjustment of the height adjustment block 210 is completed, a fixing bolt can pass through the corresponding adjustment hole 2101 and be threadedly connected to the corresponding fixing screw hole.

[0032] As Figures 3 to 4 shown in the figure, in this embodiment, a support slot 2061 is provided at the upper end of the second support 206. The rotating shaft 20731 is arranged in the support slot 2061 and the outer end is limited by a pressing plate 2075. Both ends of the pressing plate 2075 are fixedly connected to the second support 206 through bolts, and a concave pressing groove matching the shape of the rotating shaft 20731 is provided in the middle of the pressing plate 2075. The above structure of the present invention facilitates the installation and adjustment of the vertical swing seat 207. After the pressing plate 2075 is disassembled, the rotating shaft 20731 can be taken out from the support slot 2061.

[0033] As Figures 3 to 4 shown in the figure, in this embodiment, the rear end of the camera module 4 is arranged on a camera module mounting plate 208. The camera module mounting plate 208 is connected to the connecting plate 2072 of the vertical swing seat 207 through a connecting shaft 2081. A notch 2074 is provided on one side of the connecting plate 2072 to facilitate the passing of the cable at the rear end of the camera module 4. The camera module mounting plate 208 is conducive to the overall installation and disassembly of the camera module 4.

[0034] Through the structural design of the above-mentioned pan-tilt system 2, the present invention can reduce the structural volume. At the same time, the horizontal rotation and vertical rotation of the camera module 4 can be limited within a very small range above the driven gear 205, thus achieving the purpose of the micro-miniature design of the two-axis pan-tilt camera.

[0035] As Figures 4 to 5 shown, in this embodiment, the mounting base 203 includes a horizontally disposed motor mounting plate 2031 and a bottom plate 2032 that are arranged in parallel, and one end of the horizontally disposed motor mounting plate 2031 is connected to one end of the bottom plate 2032 through a connecting portion 2033. The horizontal swing motor 201 is disposed on the horizontally disposed motor mounting plate 2031, the gear transmission assembly is disposed on the bottom plate 2032, and the driving gear 204 is disposed between the horizontally disposed motor mounting plate 2031 and the bottom plate 2032. The vertical swing seat 207 on the driven gear 205 is disposed on one side of the free end of the horizontally disposed motor mounting plate 2031.

[0036] As Figures 4 to 5 shown, in this embodiment, fixing portions 2034 are provided on both sides of the connecting portion 2033 of the mounting base 203 for fixedly connecting with one side end plate of the pressure-resistant cabin body 1. In this way, the mounting base 203 can drive the pan-tilt system 2 and the camera module 4 to achieve overall installation or disassembly.

[0037] As Figures 6 to 7 shown, in this embodiment, a bearing 2053 is sleeved outside the driven gear shaft 2051 on the lower side of the driven gear 205. A bearing mounting groove 2055 is provided at the free end of the bottom plate 2032 of the mounting base 203, and the bearing 2053 is disposed in the bearing mounting groove 2055. A first bearing end cover 2052 is provided above the bearing mounting groove 2055, and a first limiting protrusion 20521 is provided at the upper end of the inner wall of the first bearing end cover 2052. A second limiting protrusion 20551 is provided at the lower end of the inner wall of the bearing mounting groove 2055. The outside of the bearing 2053 is limited by the first limiting protrusion 20521 and the second limiting protrusion 20551. A second bearing end cover 2054 is provided below the bearing mounting groove 2055, and the second bearing end cover 2054 is fixedly connected to the lower end of the driven gear shaft 2051 through a bolt. A limiting stop 20511 is provided on the upper part of the driven gear shaft 2051. The inside of the bearing 2053 is limited by the limiting stop 20511 and the second bearing end cover 2054. Through the above structural design, the present invention can ensure that the bottom plate 2032 of the mounting base 203 is approximately flat as a whole, which can ensure a compact structure while further leaving enough space for the rotation of the upper vertical swing seat 207. In addition, the above structure is also convenient for disassembly, installation and maintenance. After the second bearing end cover 2054 is disassembled, the driven gear shaft 2051 can be separated from the bearing 2053, and then after the second bearing end cover 2051 is disassembled, the bearing 2053 can be taken out for replacement.

[0038] As Figure 1As shown in the figure, in this embodiment, one end of the pressure-resistant cabin body 1 is provided with an observation cover 3 in a hemispherical shape. The camera module 4 performs underwater observation through the observation cover 3. The other end of the pressure-resistant cabin body 1 is provided with a watertight connector 5 and a cabin leak detection interface 6. Among them, the electrical cables of each component inside the pressure-resistant cabin body 1 are electrically connected to external devices through the watertight connector 5. The cabin leak detection interface 6 is a waterproof and sealed structure, which is used to connect pressure detection equipment to perform operations such as air extraction and pressure testing to determine whether the pressure-resistant cabin body 1 leaks. The watertight connector 5 and the cabin leak detection interface 6 are well-known technologies in the art.

[0039] The working principle of the present invention is as follows:

[0040] When the present invention works, the horizontal swing motor 201 in the pan-tilt system 2 drives the driving gear 204 in the gear transmission assembly to rotate, and then drives the driven gear 205 in the gear transmission assembly to rotate and realizes the horizontal swing of the vertical swing seat 207 and the camera module 4. One side of the vertical swing seat 207 is rotatably connected to the first support 209 on the driven gear 205 through the vertical swing motor shaft 2021 on the vertical swing motor 202 to realize vertical swing drive. The rotating connection side plate 2073 on the other side of the vertical swing seat 207 cooperates with the second support 206 on the driven gear 205 to follow. The swing of the vertical swing seat 207 drives the camera module 4 to swing vertically. The present invention adopts the direct connection method of the vertical swing motor 202 and the vertical swing seat 207 and the relevant seat body structure design, which can limit the horizontal rotation and vertical rotation of the camera module 4 within a very small range above the driven gear 205, and realizes the miniaturization design purpose of the two-axis pan-tilt camera on the basis of ensuring the rotation angle of the camera module 4.

Claims

1. A miniature underwater dual-axis pan-tilt camera, characterized in that: The invention comprises a pressure-resistant cabin (1), a pan / tilt system (2) and a camera module (4) arranged in the pressure-resistant cabin (1), wherein the pan / tilt system (2) comprises a horizontal swing motor (201), a vertical swing motor (202), a mounting seat (203), a gear transmission assembly and a vertical swing seat (207), the horizontal swing motor (201) and the gear transmission assembly are both arranged on the mounting seat (203), and a driving gear (204) at the front end of the gear transmission assembly is driven by the horizontal swing motor (201). 01) is driven to rotate, and a first support (209) and a second support (206) are provided on the driven gear (205) at the end, a vertical swing seat (207) is provided with a vertical swing motor (202) on one side, and a vertical swing motor shaft (2021) on the vertical swing motor (202) is installed on the first support (209), and the other side of the vertical swing seat (207) is rotatably connected to the second support (206) through a rotating shaft (20731), and a camera module (4) is arranged on the vertical swing seat (207).

2. The miniature underwater dual-axis pan-tilt camera according to claim 1, characterized in that: The vertical swing seat (207) comprises a connecting plate (2072), and a vertical motor mounting plate (2071) is provided on one side of the connecting plate (2072), and a rotating connecting side plate (2073) is provided on the other side. The vertical swing motor (202) is arranged on the vertical motor mounting plate (2071), and a rotating shaft (20731) is provided on the rotating connecting side plate (2073) for rotationally connecting with the second support (206).

3. The miniature underwater dual-axis pan-tilt camera according to claim 1, characterized in that: A height adjustment block (210) is provided on the first support (209), and the upper end of the height adjustment block (210) is connected to the vertical swing motor shaft (2021).

4. The miniature underwater dual-axis pan-tilt camera according to claim 3, characterized in that: The height adjustment block (210) is provided with a plurality of adjustment holes (2101), the first support (209) is provided with a fixing screw hole, the height adjustment block (210) is fixed to the first support (209) by means of fixing bolts, and the fixing bolts pass through the corresponding adjustment holes (2101) and are threadedly inserted into the corresponding fixing screw holes.

5. The miniature underwater dual-axis pan-tilt camera according to claim 1, characterized in that: The upper end of the second support (206) is provided with a support slot (2061), the rotating shaft (20731) is arranged in the support slot (2061) and the outer end is limited by a pressing plate (2075).

6. The micro underwater dual-axis pan-tilt camera according to claim 5, characterized in that: The two ends of the pressing plate (2075) are fixedly connected to the second support (206) by means of bolts, and a concave pressing groove matching the shape of the rotating shaft (20731) is provided in the middle of the pressing plate (2075).

7. The miniature underwater dual-axis pan-tilt camera according to claim 1, characterized in that: The rear end of the camera module (4) is arranged on a camera module mounting plate (208), and the camera module mounting plate (208) is connected to the connecting plate (2072) of the vertical swing seat (207) via a connecting shaft (2081), and a notch (2074) is provided on one side of the connecting plate (2072).

8. The miniature underwater dual-axis pan-tilt camera according to claim 1, characterized in that: The mounting seat (203) comprises a horizontal motor mounting plate (2031) and a bottom plate (2032) arranged in parallel, one end of the horizontal motor mounting plate (2031) is connected to one end of the bottom plate (2032) via a connecting portion (2033), the horizontal swing motor (201) is arranged on the horizontal motor mounting plate (2031), the gear transmission assembly is arranged on the bottom plate (2032), and the driving gear (204) is arranged between the horizontal motor mounting plate (2031) and the bottom plate (2032), the vertical swing seat (207) on the driven gear (205) is arranged on one side of the free end of the horizontal motor mounting plate (2031), and fixing portions (2034) are arranged on both sides of the connecting portion (2033), and the fixing portion (2034) is fixedly connected to an end plate on one side of the pressure-resistant cabin (1).

9. The miniature underwater dual-axis pan-tilt camera according to claim 1, characterized in that: A bearing (2053) is sleeved on the outer side of the driven gear shaft (2051) at the lower side of the driven gear (205); a bearing mounting groove (2055) is provided at the free end of the bottom plate (2032) of the mounting seat (203); and the bearing (2053) is arranged in the bearing mounting groove (2055); a first bearing end cover (2052) is provided on the upper side of the bearing mounting groove (2055); and a first limiting protrusion (20521) is provided on the upper end of the inner wall of the first bearing end cover (2052); and a second limiting protrusion (20521) is provided on the lower end of the inner wall of the bearing mounting groove (2055). 0551), and the outer side of the bearing (2053) is limited by the first limiting protrusion (20521) and the second limiting protrusion (20551), a second bearing end cover (2054) is provided on the lower side of the bearing mounting groove (2055), and the second bearing end cover (2054) is fixedly connected to the lower end of the driven gear shaft (2051) by bolts, a limiting stop (20511) is provided on the upper part of the driven gear shaft (2051), and the inner side of the bearing (2053) is limited by the limiting stop (20511) and the second bearing end cover (2054).

10. The miniature underwater dual-axis pan-tilt camera according to claim 1, characterized in that: A hemispherical observation cover (3) is provided at one end of the pressure-resistant cabin (1) close to the camera module (4), and a watertight connector (5) and a cabin leak detection interface (6) are provided at the other end of the pressure-resistant cabin (1).

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