CN216162788U

CN216162788U - Underwater camera device

Info

Publication number: CN216162788U
Application number: CN202122273999.5U
Authority: CN
Inventors: 郑乃博; 李婉丽; 郑志杰
Original assignee: Wuhan Zisheng Technology Co ltd
Current assignee: Wuhan Zisheng Technology Co ltd
Priority date: 2021-09-18
Filing date: 2021-09-18
Publication date: 2022-04-01
Anticipated expiration: 2031-09-18

Abstract

The utility model provides an underwater camera device, which comprises: a camera mechanism; the rotating mechanism is arranged below the camera shooting mechanism and comprises a fixed cylinder, a rotating cylinder and a first driving device, the top of the fixed cylinder is in an opening shape, the rotating cylinder is inserted into the fixed cylinder, and the first driving device is arranged in the fixed cylinder and used for driving the rotating cylinder to do rotating motion; the pitching mechanism comprises a main swing arm and a second driving device, the main swing arm is arranged on one side of the rotary cylinder, one end of the main swing arm is fixedly connected with the rotary cylinder, the other end of the main swing arm is rotatably connected with the camera shooting mechanism, and the second driving device is arranged in the rotary cylinder and the main swing arm and used for driving the camera shooting mechanism to perform pitching motion around the end part of the main swing arm. The underwater camera disclosed by the utility model has a simple and light structure, does not need to additionally install a cloud deck on the underwater robot, and utilizes the self-carried pitching mechanism and the self-carried slewing mechanism to realize omnibearing angle adjustment so as to ensure the normal operation of the underwater robot.

Description

Underwater camera device

Technical Field

The utility model relates to the field of underwater operation equipment, in particular to an underwater camera device.

Background

With the increase of the width and depth of the ocean development and utilization by human beings, underwater robots will be important tools for the ocean development and utilization by human beings. The underwater camera device is an important component of the underwater robot, can be used as two eyes of the underwater robot, and if the underwater camera device is not arranged, the underwater robot is difficult to complete complex underwater operation.

At present, most of practical underwater cameras are fixedly installed at preset positions of robots and perform figure acquisition along with the walking of the robots, and due to the fact that underwater environments are complex, the robots are inflexible when changing action poses to adjust the shooting angles or ranges of underwater cameras, and cannot adjust the poses when obstacles are encountered, and therefore shooting zones exist in the cameras. At the present stage, some underwater camera devices are installed on the robot through the cloud deck to realize the rotation of the angle of the camera, but the cloud deck is additionally installed on the robot, so that the whole robot is complex in structure, large in size, high in energy consumption and relatively high in cost.

SUMMERY OF THE UTILITY MODEL

In view of this, the utility model provides an underwater image capturing device which has a simple structure and a light volume and can realize angle adjustment.

The technical scheme of the utility model is realized as follows:

the utility model provides an underwater camera device, comprising:

a camera mechanism;

the rotating mechanism is arranged below the camera shooting mechanism and comprises a fixed cylinder, a rotating cylinder and a first driving device, the top of the fixed cylinder is in an opening shape, the rotating cylinder is inserted into the fixed cylinder, and the first driving device is arranged in the fixed cylinder and used for driving the rotating cylinder to do rotating motion;

the pitching mechanism comprises a main swing arm and a second driving device, the main swing arm is arranged on one side of the rotary cylinder, one end of the main swing arm is fixedly connected with the rotary cylinder, the other end of the main swing arm is rotatably connected with the camera shooting mechanism, and the second driving device is arranged in the rotary cylinder and the main swing arm and used for driving the camera shooting mechanism to perform pitching motion around the end part of the main swing arm.

On the basis of the technical scheme, preferably, the first driving device comprises a first motor, a first gear disc and a first gear, the first motor is fixedly installed in the fixed cylinder, the gear disc is arranged in the fixed cylinder and fixedly connected with the bottom end of the rotary cylinder, and an output shaft of the first motor is meshed with the first gear disc through the first gear.

Preferably, the swing mechanism further comprises a first connecting cylinder and a second connecting cylinder, a flange is arranged at the upper end of the fixing cylinder, a cylinder extending downwards is arranged in the middle of the flange, the upper end of the second connecting cylinder is inserted into the cylinder, the lower end of the second connecting cylinder is fixedly connected with the gear plate, the lower end of the first connecting cylinder is inserted into the second connecting cylinder, and the upper end of the first connecting cylinder is fixedly connected with the swing cylinder.

Further, preferably, sealing rings are arranged between the rotary cylinder and the fixed cylinder and between the second connecting cylinder and the cylinder body.

On the basis of the technical scheme, preferably, the second driving device comprises a second motor, a driving wheel, a driven wheel and a transmission belt, the second motor is fixedly installed in the rotary drum, the driving wheel and the driven wheel are respectively arranged in the main swing arm, an output shaft of the second motor is fixedly connected with the driving wheel, the driven wheel is fixedly connected with the camera shooting mechanism, and the driving wheel is in transmission connection with the driven wheel through the transmission belt.

Further, preferably, the pitching mechanism further comprises a slave swing arm, the slave swing arm is arranged on one side of the rotary cylinder far away from the master swing arm, one end of the slave swing arm is fixedly connected with the rotary cylinder, and the other end of the slave swing arm is rotatably connected with the camera shooting mechanism.

On above-mentioned technical scheme's basis, it is preferred, camera mechanism includes casing, lens subassembly and adjusting device, the both sides of casing respectively with main swing arm and from the sealed rotation of swing arm be connected, the casing inside wall be provided with from driving wheel fixed connection's swivel mount, the top of casing has the light-emitting window, the lens subassembly includes the lens cap, protection lens and lens mount, the lens cap is installed at the light-emitting window top, the lens mount sets up in the casing and is located the lens cap below, protection lens installs in the lens cap below, the lens mount is provided with a plurality of optical lenses along its axial direction, set up the internal thread on the internal perisporium of light-emitting window below, set up the external screw thread with internal thread matched with on the lens mount top periphery wall, adjusting device sets up in the lens mount below for make the lens mount for casing up-and-down motion.

Further, preferably, the adjusting device includes a third motor, a second fluted disc and a second gear, the third motor is fixedly installed in the housing, the second fluted disc is horizontally and fixedly installed at the bottom of the lens mount, and an output shaft of the third motor is meshed with the second fluted disc through the second gear.

Further, preferably, a plurality of light sources are further disposed in the camera mechanism.

Preferably, the bottom of the fixed cylinder is open, the bottom of the fixed cylinder is hermetically connected with a lower end cover, and the lower end cover is provided with a connector connected with the underwater robot.

Compared with the prior art, the utility model has the following beneficial effects:

(1) the underwater camera device disclosed by the utility model can drive the rotary cylinder to do rotary motion in the fixed cylinder through the first driving device, one end of the main swing arm is fixedly connected with the rotary cylinder, the other end of the main swing arm is rotatably connected with the camera mechanism, the second driving device is arranged in the rotary cylinder and the main swing arm and can drive the camera mechanism to do pitching motion around the end part of the main swing arm, and therefore, the camera mechanism can be adjusted at any angle underwater by combining the rotary mechanism and the pitching mechanism. The underwater camera device is simple and light in structure, a tripod head is not required to be additionally arranged on the underwater robot, and the pitching mechanism and the slewing mechanism carried by the underwater camera device are utilized to realize omnibearing angle adjustment so as to ensure normal operation of the underwater robot;

(2) the first motor drives the first gear to rotate so as to drive the first fluted disc to drive the rotary drum to rotate in the fixed drum, and by utilizing the gear fluted disc structure, on one hand, the installation space of the first driving device in the fixed drum can be saved, and on the other hand, the stable and precise rotation of the rotary drum on the fixed drum can be ensured;

(3) by arranging the first connecting cylinder and the second connecting cylinder, the rotary cylinder is convenient to install in the fixed cylinder, and the first driving device is lighter in structure, small and exquisite and convenient to connect with the rotary cylinder;

(4) the second driving device adopts a belt transmission structure, so that impact and vibration can be alleviated in the transmission process, the motion is stable and noiseless, and meanwhile, the structure is simple and the manufacturing cost is low;

(5) the two sides of the camera shooting mechanism are respectively in rotating connection with the main swing arm and the auxiliary swing arm, so that the camera shooting mechanism can be ensured to move more stably on the pitching mechanism;

(6) the lens mount is adjusted to move up and down relative to the shell by using the gear fluted disc transmission as an adjusting device, so that the focusing of the camera shooting mechanism can be realized on one hand, and the focusing process can be more stable on the other hand; and (7) a plurality of light sources are arranged in the camera shooting mechanism, so that an illumination environment can be provided underwater, and the image quality is improved.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

Fig. 1 is a schematic perspective view of an underwater image capturing device disclosed by the present invention;

FIG. 2 is a schematic plan view of an underwater image capturing device according to the present disclosure;

FIG. 3 is a schematic view of the internal structure of the disclosed camera mechanism;

the attached drawings are as follows:

1. a camera mechanism; 2. a swing mechanism; 3. a pitch mechanism; 21. a fixed cylinder; 22. a rotary drum; 23. a first driving device; 31. a main swing arm; 32. a second driving device; 231. a first motor; 232. a first gear plate; 233. a first gear; 211. a flange plate; 212. a barrel; 24. a first connecting cylinder; 25. a second connecting cylinder; 26. a seal ring; 321. a second motor; 322. a driving wheel; 323. a driven wheel; 324. a transmission belt; 33. a slave swing arm; 11. a housing; 12. a lens assembly; 13. an adjustment device; 14. a rotating frame; 111. A light outlet; 121. a lens cover; 122. a protective lens; 123. a lens mount; 124. an optical lens; 131. A third motor; 132. a second fluted disc; 133. a second gear; 15. a light source; 27. a lower end cover; 28. a connecting head.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.

As shown in fig. 1, in conjunction with fig. 2-3, an embodiment of the present invention discloses an underwater image capturing apparatus, which includes an image capturing mechanism 1, a swing mechanism 2, and a pitching mechanism 3.

The camera shooting mechanism 1 is used for collecting images or videos underwater.

The rotating mechanism 2 is used for driving the camera shooting mechanism 1 to do rotating motion, specifically, the rotating mechanism 2 is arranged below the camera shooting mechanism 1 and comprises a fixed cylinder 21, a rotating cylinder 22 and a first driving device 23, the top of the fixed cylinder 21 is in an open shape, the rotating cylinder 22 is inserted into the fixed cylinder 21, the first driving device 23 is arranged in the fixed cylinder 21 and is used for driving the rotating cylinder 22 to do rotating motion, for the convenience of the rotating cylinder 22 rotating in the fixed cylinder 21, the rotating cylinder 22 and the fixed cylinder 21 are both cylindrical shells 11, and in this embodiment, the rotating mechanism 2 drives the camera shooting mechanism 1 to do rotating motion through the pitching mechanism 3.

The pitching mechanism 3 is used for driving the camera shooting mechanism 1 to perform pitching motion, specifically, the pitching mechanism 3 comprises a main swing arm 31 and a second driving device 32, the main swing arm 31 is arranged on one side of the rotary cylinder 22, one end of the main swing arm 31 is fixedly connected with the rotary cylinder 22, the other end of the main swing arm 31 is rotatably connected with the camera shooting mechanism 1, and the second driving device 32 is installed in the rotary cylinder 22 and the main swing arm 31 and is used for driving the camera shooting mechanism 1 to perform pitching motion around the end part of the main swing arm 31.

By adopting the technical scheme, the camera shooting mechanism 1 can be adjusted at any angle underwater by combining the swing mechanism 2 and the pitching mechanism 3. The underwater camera device is simple and light in structure, a tripod head is not required to be additionally arranged on the underwater robot, and the pitching mechanism 3 and the slewing mechanism 2 which are carried by the underwater camera device are utilized to realize omnibearing angle adjustment so as to ensure normal operation of the underwater robot.

Specifically, the utility model is also realized by the following technical scheme.

In this embodiment, the first driving device 23 includes a first motor 231, a first gear 233 disc 232 and a first gear 233, the first motor 231 is fixedly installed in the fixed cylinder 21, the gear disc is disposed in the fixed cylinder 21 and is fixedly connected to the bottom end of the rotary cylinder 22, and an output shaft of the first motor 231 is engaged with the first gear 233 disc 232 through the first gear 233. Adopt above-mentioned technical scheme, drive first gear 233 through first motor 231 and rotate, drive first fluted disc and drive revolving drum 22 and revolve in fixed cylinder 21, utilize gear fluted disc structure, can save the installation space of first drive arrangement 23 in fixed cylinder 21 on the one hand, on the other hand can guarantee that revolving drum 22 is steady, accurate rotation on fixed cylinder 21.

In order to realize that the rotary drum 22 is inserted into the fixed drum 21 and ensure that the first driving device 23 can drive the rotary drum 22 to rotate in a smaller space, some structural improvements are made in the present embodiment, specifically, the rotary mechanism 2 further comprises a first connecting drum 24 and a second connecting drum 25, a flange is arranged at the upper end in the fixed drum 21, a downwardly extending drum body is arranged in the middle of the flange, the drum body and the fixed drum 21 are integrally formed, the upper end of the second connecting drum 25 is inserted into the drum body, the lower end of the second connecting drum 25 is fixedly connected with the gear plate, the lower end of the first connecting drum 24 is inserted into the second connecting drum 25, and the upper end of the first connecting drum 24 is fixedly connected with the rotary drum 22. From this setting, through the setting of barrel, the revolving drum 22 is inserted from the top down and is located in the barrel through first connecting cylinder 24 and second connecting cylinder 25, can utilize first connecting cylinder 24 and second connecting cylinder 25 and first gear 233 dish 232 to establish the relation of connection on the one hand, and on the other hand, utilize the tube structure can make the revolving drum 22 after inserting and locating in the fixed cylinder 21, its lower extreme diameter reduces, easy to assemble in the fixed cylinder 21, also make first gear 233 dish 232 area littleer, thereby reduce the installation space of first drive arrangement 23 at the fixed cylinder 21.

Preferably, the seal rings 26 are provided between the rotary cylinder 22 and the fixed cylinder 21, and between the second connecting cylinder 25 and the cylinder body. From this setting, can avoid the position infiltration that revolving cylinder 22 and fixed cylinder 21 contacted through sealing washer 26 between revolving cylinder 22 and the fixed cylinder 21, all be provided with sealing washer 26 between through second connecting cylinder 25 and the barrel, can avoid steam to enter into inside the fixed cylinder 21, cause the inside electron device of revolving cylinder 22 to damage.

As some preferred embodiments, the second driving device 32 includes a second motor 321, a driving wheel 322, a driven wheel 323, and a transmission belt 324, the second motor 321 is fixedly installed in the rotary drum 22, the driving wheel 322 and the driven wheel 323 are respectively disposed in the main swing arm 31, an output shaft of the second motor 321 is fixedly connected to the driving wheel 322, the driven wheel 323 is fixedly connected to the image capturing mechanism 1, and the driving wheel 322 is in transmission connection with the driven wheel 323 through the transmission belt 324. From this setting, second motor 321 drive action wheel 322 rotates, and action wheel 322 pivoted in-process drives through drive belt 324 and rotates from driving wheel 323, drives camera shooting mechanism 1 again from driving wheel 323 and goes round main swing arm 31 tip and rotate, and second drive arrangement 32 is through adopting the belt transmission structure, and in transmission process, can alleviate impact and vibration, and the motion is steady noiseless, simple structure simultaneously, low in cost.

On the basis of the above technical solution, the pitching mechanism 3 further comprises a slave swing arm 33, the slave swing arm 33 is arranged on one side of the rotary drum 22 far away from the master swing arm 31, one end of the slave swing arm 33 is fixedly connected with the rotary drum 22, and the other end is rotatably connected with the camera shooting mechanism 1. The two sides of the camera shooting mechanism 1 are respectively connected with the main swing arm 31 and the auxiliary swing arm 33 in a rotating mode, so that the camera shooting mechanism 1 can be guaranteed to move more stably on the pitching mechanism 3.

As some preferred embodiments, the camera mechanism 1 includes a housing 11, a lens assembly 12 and an adjusting device 13, two sides of the housing 11 are respectively connected with the main swing arm 31 and the sub swing arm 33 in a sealing and rotating manner, specifically, a sealing ring 26 is also arranged between the housing 11 and the main swing arm 31 and the sub swing arm 33, a rotating frame 14 fixedly connected with the driven wheel 323 is arranged on an inner side wall of the housing 11, a light outlet 111 is arranged on a top portion of the housing 11, the lens assembly 12 includes a lens cover 121, a protective lens 122 and a lens holder 123, the lens cover 121 is mounted on the top portion of the light outlet 111, the lens holder 123 is arranged in the housing 11 and located below the lens cover 121, the protective lens is mounted below the lens cover 121, the lens holder 123 is provided with a plurality of optical lenses 124 along an axial direction thereof, an inner circumferential wall below the light outlet 111 is provided with an inner thread, an outer circumferential wall at a top end of the lens holder 123 is provided with an outer thread matching the inner thread, the adjustment device 13 is disposed below the lens holder for moving the lens holder 123 up and down with respect to the housing 11.

By adopting the above technical scheme, the driven wheel 323 can be fixedly connected with the shell 11 through the rotating frame 14 arranged on the inner side of the shell 11, so that the shell 11 can rotate relative to the main swing arm 31 and the auxiliary swing arm 33. By providing the lens cover 121, the protective lens 122 can be mounted, and by providing the protective lens 122, the optical lens 124 can be protected from damage. The adjustment device 13 is used to adjust the lens mount 123 to move up and down relative to the housing 11, so that on the one hand, focusing of the image pickup mechanism 1 can be achieved.

In order to realize focusing of the imaging mechanism 1, the adjusting device 13 includes a third motor 131, a second toothed disc 132 and a second gear 133, the third motor 131 is fixedly installed in the housing 11, the second toothed disc 132 is horizontally and fixedly installed at the bottom of the lens holder 123, and an output shaft of the third motor 131 is meshed with the second toothed disc 132 through the second gear 133. Therefore, the lens mount 123 is adjusted to perform spiral up-and-down movement relative to the shell 11 by using the gear-toothed disc transmission as the adjusting device 13, so that focusing on the camera shooting mechanism 1 can be realized on one hand, and the focusing process can be more stable on the other hand.

Preferably, a plurality of light sources 15 are further arranged in the camera shooting mechanism 1, and the light sources 15 are arranged, so that enough brightness can be kept underwater, and sufficient light can be provided for camera shooting. In this embodiment, the light source 15 may be one or more of red light, green light and blue light, and thus may be changed according to the environmental requirements.

Preferably, the bottom of the fixed cylinder 21 is open, the bottom of the fixed cylinder 21 is hermetically connected with a lower end cover 27, and the lower end cover 27 is provided with a connector 28 connected with the underwater robot. With this arrangement, the first driving device 23 and the revolving mechanism 2 can be easily mounted and dismounted in the fixed cylinder 21 by arranging the lower end cover 27, and the whole underwater camera device can be conveniently mounted on the underwater robot by the connecting head 28.

The present invention is not limited to the above preferred embodiments, and any modifications, equivalent substitutions, improvements, etc. within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. An underwater image pickup apparatus, comprising:

an imaging mechanism (1);

the rotating mechanism (2) is arranged below the camera shooting mechanism (1) and comprises a fixed cylinder (21), a rotating cylinder (22) and a first driving device (23), the top of the fixed cylinder (21) is open, the rotating cylinder (22) is inserted into the fixed cylinder (21), and the first driving device (23) is arranged in the fixed cylinder (21) and used for driving the rotating cylinder (22) to rotate;

every single move mechanism (3), including main swing arm (31) and second drive arrangement (32), main swing arm (31) set up in rotary drum (22) one side, the one end and rotary drum (22) fixed connection of main swing arm (31), the other end with make a video recording mechanism (1) rotate and be connected, second drive arrangement (32) are installed in rotary drum (22) and main swing arm (31) for drive make a video recording mechanism (1) and do every single move around main swing arm (31) tip.

2. The underwater image pickup apparatus according to claim 1, wherein: the first driving device (23) comprises a first motor (231), a first gear (233) disc (232) and a first gear (233), the first motor (231) is fixedly installed in the fixed cylinder (21), the gear disc is arranged in the fixed cylinder (21) and fixedly connected with the bottom end of the rotary cylinder (22), and an output shaft of the first motor (231) is meshed and connected with the first gear (233) disc (232) through the first gear (233).

3. The underwater image pickup apparatus according to claim 2, wherein: the slewing mechanism (2) further comprises a first connecting cylinder (24) and a second connecting cylinder (25), a flange plate (211) is arranged at the upper end in the fixed cylinder (21), a cylinder body (212) extending downwards is arranged in the middle of the flange plate (211), the upper end of the second connecting cylinder (25) is inserted into the cylinder body (212), the lower end of the second connecting cylinder (25) is fixedly connected with the gear plate, the lower end of the first connecting cylinder (24) is inserted into the first connecting cylinder, and the upper end of the first connecting cylinder (24) is fixedly connected with the slewing cylinder (22).

4. The underwater image pickup apparatus according to claim 3, wherein: sealing rings (26) are arranged between the rotary cylinder (22) and the fixed cylinder (21) and between the second connecting cylinder (25) and the cylinder body (212).

5. The underwater image pickup apparatus according to claim 1, wherein: the second driving device (32) comprises a second motor (321), a driving wheel (322), a driven wheel (323) and a transmission belt (324), the second motor (321) is fixedly installed in the rotary drum (22), the driving wheel (322) and the driven wheel (323) are respectively arranged in the main swing arm (31), an output shaft of the second motor (321) is fixedly connected with the driving wheel (322), the driven wheel (323) is fixedly connected with the camera shooting mechanism (1), and the driving wheel (322) is in transmission connection with the driven wheel (323) through the transmission belt (324).

6. The underwater image pickup apparatus according to claim 5, wherein: the pitching mechanism (3) further comprises a slave swing arm (33), the slave swing arm (33) is arranged on one side, away from the main swing arm (31), of the rotary cylinder (22), one end of the slave swing arm (33) is fixedly connected with the rotary cylinder (22), and the other end of the slave swing arm is rotatably connected with the camera shooting mechanism (1).

7. The underwater image pickup apparatus according to claim 6, wherein: the camera shooting mechanism (1) comprises a shell (11), a lens assembly (12) and an adjusting device (13), wherein two sides of the shell (11) are respectively connected with a main swing arm (31) and a slave swing arm (33) in a sealing and rotating manner, a rotating frame (14) fixedly connected with a driven wheel (323) is arranged on the inner side wall of the shell (11), a light outlet (111) is formed in the top of the shell (11), the lens assembly (12) comprises a lens cover (121), a protective lens (122) and a lens seat (123), the lens cover (121) is arranged at the top of the light outlet (111), the lens seat (123) is arranged in the shell (11) and is positioned below the lens cover (121), the protective lens is arranged below the lens cover (121), a plurality of optical lenses (124) are arranged on the lens seat (123) along the axial direction of the lens seat, internal threads are formed on the inner peripheral wall below the light outlet (111), external threads matched with the internal threads are formed on the outer peripheral wall of the top end of the lens seat (123), the adjusting device (13) is arranged below the lens holder and is used for enabling the lens holder (123) to move up and down relative to the shell (11).

8. The underwater image pickup apparatus according to claim 7, wherein: the adjusting device (13) comprises a third motor (131), a second fluted disc (132) and a second gear (133), the third motor (131) is fixedly installed in the shell (11), the second fluted disc (132) is horizontally and fixedly installed at the bottom of the lens seat (123), and an output shaft of the third motor (131) is meshed and connected with the second fluted disc (132) through the second gear (133).

9. The underwater image pickup apparatus according to claim 7, wherein: the camera shooting mechanism (1) is also internally provided with a plurality of light sources (15).

10. The underwater image pickup apparatus according to claim 1, wherein: the bottom of the fixed cylinder (21) is in an open shape, the bottom of the fixed cylinder (21) is hermetically connected with a lower end cover (27), and a connector (28) connected with an underwater robot is installed on the lower end cover (27).