Three-axis holder for inspection robot and camera waterproof structure

Abstract

This utility model discloses a three-axis gimbal and a waterproof structure for mounting a camera on an inspection robot, belonging to the field of robot technology. It includes a connector, with a control component fixedly connected to the bottom of the connector. A three-axis gimbal is located in the center of the bottom surface of the control component. A waterproof housing is located at the bottom of the three-axis gimbal, and a waterproof cover is located on the front side of the waterproof housing. A snap-fit ​​device is located on the top of the waterproof cover. This utility model, by setting up a control component and a three-axis gimbal, and controlling the three-axis gimbal through the control component, ensures that the movement of the three-axis gimbal counteracts the shaking generated during camera shooting. A waterproof cover and a waterproof housing are set on the three-axis gimbal, and the snap-fit ​​device and a second snap-fit ​​interface allow for quick installation and removal, facilitating maintenance, camera replacement, or repair. The external silicone waterproof sleeve prevents water from entering the robot through the gap between the waterproof cover and the waterproof housing, thus preventing damage to the camera.

Description

Technical Field

[0001] This utility model belongs to the field of robot technology, specifically relating to a three-axis gimbal and a waterproof structure for mounting a camera on an inspection robot. Background Technology

[0002] Currently, inspection robots are widely used in complex industrial environments such as power plants, oil and gas plants, and tunnels. Their core sensing components—the three-axis gimbal and mounted camera—often face severe challenges such as rain, splashes, and even short-term immersion. Achieving an ideal balance between gimbal motion performance and camera imaging quality is crucial. Therefore, developing a compact, reliably sealed, and waterproof integrated structure for the three-axis gimbal and camera that does not compromise core functions has become a key technological bottleneck in improving the environmental adaptability and operational stability of inspection robots.

[0003] Traditional waterproofing measures often involve installing an integrated housing on the outside of the camera to ensure its waterproof performance. However, integrated housings are inconvenient for maintenance, camera replacement, or repair. Quick-release structures have large gaps at the joints, allowing water to easily enter the housing and damage the camera. Utility Model Content

[0004] The technical problem to be solved by this utility model is to overcome the shortcomings of the prior art and provide a three-axis gimbal and waterproof structure for mounting a camera for an inspection robot.

[0005] The technical solution adopted to solve the above technical problems is: a three-axis gimbal and a waterproof structure for mounting a camera for an inspection robot, including a connector, a control component fixedly connected to the bottom of the connector, a three-axis gimbal provided in the middle of the bottom surface of the control component, a waterproof shell provided at the bottom of the three-axis gimbal, a waterproof cover provided on the front side of the waterproof shell, a snap-fit ​​device provided on the top of the waterproof cover, and a silicone waterproof sleeve covering the outside of the waterproof shell and the waterproof cover.

[0006] Furthermore, the silicone waterproof sleeve has pre-drilled holes in the middle of both the front and rear sides, the pre-drilled holes penetrating the silicone waterproof sleeve, a first snap-fit ​​interface is provided at the bottom of the inner side of the waterproof housing, and a second snap-fit ​​interface is provided at the top of the inner side of the waterproof housing, with the second snap-fit ​​interface and snap-fit ​​device correspondingly provided.

[0007] Furthermore, the connector has four threaded fixing bolts at the top corners, a snap-fit ​​block is fixedly connected to the bottom of the waterproof cover near the waterproof housing, the snap-fit ​​block is snapped into the first snap-fit ​​interface, and a reinforced glass is fixedly connected to the center of the front of the waterproof cover.

[0008] Furthermore, the three-axis gimbal includes a translation axis, which is fixedly connected to a control component. A roll axis is fixedly connected to the rear side of the translation axis, and pitch axes are fixedly connected to both the left and right sides of the roll axis.

[0009] The above method involves fixing the three-axis gimbal to the inspection robot using bolts and connectors, then fixing the waterproof housing to the three-axis gimbal. A silicone waterproof sleeve is fitted over the waterproof housing. The camera is placed inside the waterproof housing, and the silicone waterproof sleeve is rolled up. It is then secured by the snap-fit ​​blocks and snap-fit ​​devices on the waterproof cover and the first and second snap-fit ​​interfaces on the waterproof housing. The silicone waterproof sleeve is then reset to cover the outside of the waterproof cover and the waterproof housing, preventing water from entering the waterproof housing through the gaps between the waterproof cover and the waterproof housing and damaging the camera. The camera takes pictures through the reinforced glass on the waterproof cover.

[0010] Furthermore, the latching device includes a lever plate, a plurality of first springs are fixedly connected to the bottom front side of the lever plate, the first springs are fixedly connected to the waterproof cover, and a plurality of mating blocks are fixedly connected to the rear side of the lever plate, with the bottom of the mating blocks abutting against a moving block.

[0011] Furthermore, a number of second springs are fixedly connected to the bottom of the movable block, and the second springs are fixedly connected to the waterproof cover. Slider blocks are fixedly connected to both the front and rear sides of the movable block, and the sliders are slidably connected to the waterproof cover. A snap-fit ​​post is fixedly connected to the top surface of the movable block, and the snap-fit ​​post is snapped into the second snap-fit ​​interface.

[0012] The above scheme involves moving the connecting block by turning the lever, which in turn presses the moving block downwards and compresses the second spring at its bottom. The moving block then moves the locking pin downwards, inserting the waterproof cover into the waterproof housing. Releasing the lever allows the first spring to reset the lever and connecting block, while the second spring moves the moving block and locking pin upwards. The locking pin then engages with the second locking interface on the waterproof housing, thus completing the quick fixing and disassembly of the waterproof cover and the waterproof housing.

[0013] The beneficial effects of this utility model are as follows:

[0014] This invention incorporates a control unit and a three-axis gimbal. The control unit controls the three-axis gimbal to ensure its movement counteracts camera shake during shooting. A waterproof cover and a waterproof housing are installed on the three-axis gimbal. The gimbal can be quickly installed and removed through a snap-fit ​​device and a second snap-fit ​​interface, facilitating maintenance, camera replacement, or repair. The external silicone waterproof sleeve prevents water from entering the camera through the gap between the waterproof cover and the waterproof housing, thus preventing damage. Attached Figure Description

[0015] Figure 1 This is a three-dimensional structural diagram of the three-axis gimbal and waterproof structure for mounting a camera used in the inspection robot of this utility model.

[0016] Figure 2 This is a partial three-dimensional structural diagram of the three-axis gimbal and waterproof structure for the camera mounted on the inspection robot of this utility model.

[0017] Figure 3 This is a first-view exploded three-dimensional structural diagram of the waterproof shell part of the three-axis gimbal and camera-mounted waterproof structure for the inspection robot of this utility model.

[0018] Figure 4 This is an exploded three-dimensional view of the waterproof shell part of the three-axis gimbal and camera-mounted waterproof structure for the inspection robot of this utility model.

[0019] Figure 5 This is a three-dimensional structural diagram of the snap-fit ​​device for the three-axis gimbal and waterproof camera mounting structure of the inspection robot of this utility model.

[0020] Reference numerals: 1. Connector; 2. Control component; 3. Three-axis gimbal; 301. Translation axis; 302. Roll axis; 303. Pitch axis; 4. Silicone waterproof sleeve; 5. Waterproof housing; 6. Snap-fit ​​device; 601. Paddle plate; 602. First spring; 603. Connecting block; 604. Moving block; 605. Second spring; 606. Slider; 607. Snap-fit ​​post; 7. Reserved hole; 8. First snap-fit ​​interface; 9. Second snap-fit ​​interface; 10. Waterproof cover; 11. Snap-fit ​​block; 12. Tempered glass; 13. Fixing bolt. Detailed Implementation

[0021] To make the objectives, technical solutions, and advantages of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present utility model and are not intended to limit the present utility model.

[0022] like Figure 1-5 As shown, the waterproof structure of the inspection robot's three-axis gimbal and camera mount in this embodiment includes a connector 1. A control unit 2 is fixedly connected to the bottom of the connector 1. The control unit 2 is a high-performance microcontroller (MCU) used to command the motors to make opposite movements to counteract jitter. A three-axis gimbal 3 is provided in the middle of the bottom surface of the control unit 2. The three-axis gimbal 3 includes a translation axis 301, which is used to control the horizontal orientation of the camera, ensuring the stability and smooth turning of the camera in the horizontal direction. The translation axis 301 and the control unit 2 are fixedly connected. A roll axis 302 is fixedly connected to the rear side of the translation axis 301, which is used to keep the image level. This is one of the most critical functions of three-axis stabilization. Pitch axes 303 are fixedly connected to both sides of the roll axis 302, which are used to control the pitch angle of the camera, enabling head-up and head-down shooting. A waterproof shell 5 is provided at the bottom of the three-axis gimbal 3, and a waterproof cover 10 is provided on the front side of the waterproof shell 5.

[0023] The top of the waterproof cover 10 is provided with a snap-fit ​​device 6, which includes a lever 601. Several first springs 602 are fixedly connected to the bottom front side of the lever 601. The first springs 602 are fixedly connected to the waterproof cover 10 and are used to drive the lever 601 to reset. Several docking blocks 603 are fixedly connected to the rear side of the lever 601. The bottom of the docking blocks 603 abuts against a moving block 604. Several second springs 605 are fixedly connected to the bottom of the moving block 604 and are fixedly connected to the waterproof cover 10. Slider blocks 606 are fixedly connected to both the front and rear sides of the moving block 604. The sliders 606 are used to assist the moving block 604 in sliding. The sliders 606 are slidably connected to the waterproof cover 10. A snap-fit ​​post 607 is fixedly connected to the top surface of the moving block 604 and snaps into the second snap-fit ​​interface 9.

[0024] The waterproof housing 5 and the waterproof cover 10 are covered with a silicone waterproof sleeve 4. The silicone waterproof sleeve 4 is made of silicone and is used to cover the waterproof cover 10 and the waterproof housing 5 to prevent water from entering the interior of the waterproof housing 5 through the gap between the waterproof cover 10 and the waterproof housing 5 and causing damage to the camera. The silicone waterproof sleeve 4 has a reserved hole 7 in the middle of the front and rear sides. The reserved hole 7 passes through the silicone waterproof sleeve 4. The bottom of the inner side of the waterproof housing 5 has a first locking interface 8 and the top of the inner side of the waterproof housing 5 has a second locking interface 9. The second locking interface 9 and the locking device 6 are correspondingly set. The four corners of the top surface of the connector 1 are threaded with fixing bolts 13. The bottom of the waterproof cover 10 near the waterproof housing 5 is fixedly connected with a locking block 11. The locking block 11 and the first locking interface 8 are locked together. The center of the front of the waterproof cover 10 is fixedly connected with a tempered glass 12.

[0025] The working principle of this embodiment is as follows: During use, the three-axis gimbal 3 is fixed to the inspection robot by the cooperation of the fixing bolt 13 and the connector 1. Then, the waterproof housing 5 is fixed to the three-axis gimbal 3. The waterproof housing 5 is covered with a silicone waterproof sleeve 4. The camera is placed inside the waterproof housing 5. The silicone waterproof sleeve 4 is rolled up and fixed by the snap-fit ​​block 11 and snap-fit ​​device 6 on the waterproof cover 10 and the first snap-fit ​​interface 8 and the second snap-fit ​​interface 9 on the waterproof housing 5. The waterproof cover 10 and the waterproof housing 5 are fixed. The silicone waterproof sleeve 4 is then reset so that it covers the outside of the waterproof cover 10 and the waterproof housing 5, preventing water from entering the interior of the waterproof housing 5 through the gap between the waterproof cover 10 and the waterproof housing 5 and damaging the camera. The camera takes pictures through the reinforced glass 12 on the waterproof cover 10.

[0026] The working principle of the three-axis gimbal 3 is as follows: The three-axis gimbal 3 includes a translation axis 301, a roll axis 302, and a pitch axis 303. Each of the translation axis 301, roll axis 302, and pitch axis 303 is equipped with a brushless motor and bearings. The translation axis 301 is used to control the horizontal orientation of the camera, ensuring the stability and smooth turning of the camera in the horizontal direction. The roll axis 302 is used to keep the image level. This is one of the most critical functions of three-axis stabilization. The pitch axis 303 is used to control the pitch angle of the camera, enabling up-and-down shooting. The three-axis gimbal 3 stabilizes the camera for shooting through the control unit 2. The control unit 2 is the "brain" of the gimbal, usually a high-performance microcontroller (MCU). It receives real-time data from the IMU, performs high-speed calculations through complex control algorithms (such as PID algorithms), and outputs drive signals to the motors, commanding the motors to make movements in the opposite direction to counteract shaking.

[0027] The working principle of the snap-fit ​​device 6 is as follows: by moving the lever 601, the docking block 603 is moved. At the same time, the docking block 603 presses the moving block 604 to move it down and presses the second spring 605 set at its bottom. The moving block 604 drives the snap-fit ​​post 607 to move down, inserting the waterproof cover 10 into the waterproof housing 5. Then, the lever 601 is released, so that the first spring 602 drives the lever 601 and the docking block 603 to reset. The second spring 605 drives the moving block 604 and the snap-fit ​​post 607 to move up. The snap-fit ​​post 607 snaps and fixes with the second snap-fit ​​interface 9 set on the waterproof housing 5, thus completing the quick fixation of the waterproof cover 10 and the waterproof housing 5. Disassembly is the same.

[0028] The above description is merely a preferred embodiment of the present utility model and is not intended to limit the scope of protection of the present utility model.

Claims

1. A waterproof structure for a three-axis gimbal and camera mount for an inspection robot, including a connector (1), characterized in that: The bottom of the connector (1) is fixedly connected to a control component (2). The bottom surface of the control component (2) is provided with a three-axis gimbal (3). The bottom of the three-axis gimbal (3) is provided with a waterproof housing (5). The front side of the waterproof housing (5) is provided with a waterproof cover (10). The top of the waterproof cover (10) is provided with a snap-fit ​​device (6). The waterproof housing (5) and the waterproof cover (10) are covered with a silicone waterproof sleeve (4).

2. The waterproof structure for the three-axis gimbal and camera mount of the inspection robot according to claim 1, characterized in that, The silicone waterproof sleeve (4) has a reserved hole (7) in the middle of the front and rear sides. The reserved hole (7) passes through the silicone waterproof sleeve (4). The bottom of the inner side of the waterproof shell (5) is provided with a first card interface (8). The top of the inner side of the waterproof shell (5) is provided with a second card interface (9). The second card interface (9) and the carding device (6) are correspondingly provided.

3. The waterproof structure for the three-axis gimbal and camera mount of the inspection robot according to claim 1, characterized in that, The connector (1) has four screw-on fixing bolts (13) on the top surface of each of the four corners. The waterproof cover (10) has a snap-fit ​​block (11) fixedly connected to the bottom of the side near the waterproof shell (5). The snap-fit ​​block (11) is snapped into the first snap-fit ​​interface (8). The waterproof cover (10) has a reinforced glass (12) fixedly connected to the center of the front.

4. The waterproof structure for the three-axis gimbal and camera mount of the inspection robot according to claim 1, characterized in that, The three-axis gimbal (3) includes a translation axis (301), which is fixedly connected to the control component (2). A roll axis (302) is fixedly connected to the rear side of the translation axis (301), and pitch axes (303) are fixedly connected to both the left and right sides of the roll axis (302).

5. The waterproof structure for the three-axis gimbal and camera mount of the inspection robot according to claim 1, characterized in that, The latching device (6) includes a lever (601), a plurality of first springs (602) are fixedly connected to the bottom front side of the lever (601), the first springs (602) are fixedly connected to the waterproof cover (10), and a plurality of docking blocks (603) are fixedly connected to the rear side of the lever (601), the bottom of the docking block (603) abuts against a moving block (604).

6. The waterproof structure for the three-axis gimbal and camera mount of the inspection robot according to claim 5, characterized in that, The bottom of the movable block (604) is fixedly connected to several second springs (605), and the second springs (605) are fixedly connected to the waterproof cover (10). The front and rear sides of the movable block (604) are fixedly connected to sliders (606), and the sliders (606) are slidably connected to the waterproof cover (10). The top surface of the movable block (604) is fixedly connected to a snap-fit ​​post (607), and the snap-fit ​​post (607) is snapped into the second snap-fit ​​interface (9).

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