阅读说明：本技术 一种三轴光电吊舱 (Triaxial photoelectric pod ) 是由 覃荣峰 曾钦勇 尹小杰 吴晋安 段葳 杨斌 于 2021-07-22 设计创作，主要内容包括：本发明公开了一种三轴光电吊舱,包括光电成像载荷,滚转组件,所述光电成像载荷安装于该滚转组件的内部；俯仰组件,内部形成有密闭的安装腔,所述滚转组件安装于该安装腔；以及方位组件,并与外接的所需设备连接,并且具有安装槽,所述俯仰组件的两侧连接于该安装槽的内侧壁；本发明设计合理,结构巧妙,用于飞行设备的三轴吊舱,合理的设计俯仰组件、滚转组件和方位组件,实现了光电成像载荷多方向运动,并且俯仰组件、滚转组件均为两端支撑,产品刚度高,冲击、振动环境条件下形变小,吊舱稳定精度高,成像质量好。(The invention discloses a triaxial photoelectric pod, which comprises a photoelectric imaging load and a rolling assembly, wherein the photoelectric imaging load is arranged in the rolling assembly; the pitching assembly is internally provided with a closed installation cavity, and the rolling assembly is installed in the installation cavity; the orientation component is connected with external required equipment and is provided with a mounting groove, and two sides of the pitching component are connected to the inner side wall of the mounting groove; the invention has reasonable design and ingenious structure, is used for the three-axis nacelle of the flight equipment, reasonably designs the pitching assembly, the rolling assembly and the orientation assembly, realizes the multidirectional movement of the photoelectric imaging load, supports the pitching assembly and the rolling assembly at two ends, has high product rigidity, small deformation under the impact and vibration environment conditions, high stability and precision of the nacelle and good imaging quality.)

1. A triaxial photovoltaic pod, comprising: comprises that

A roll assembly (300);

the photoelectric imaging load (304), the photoelectric imaging load (304) is arranged in the rolling component (300), and the rolling component (300) drives the photoelectric imaging load (304) to make rolling motion by taking the Y axis as the axis;

the pitching assembly (200) is internally provided with a closed installation cavity, the rolling assembly (300) is installed in the installation cavity, and the pitching assembly (200) drives the rolling assembly (300) to perform pitching adjustment rotation by taking an X axis as an axis; and

the direction component (100) is connected with external required equipment and is provided with a mounting groove (1041), two sides of the pitching component (200) are connected to the inner side wall of the mounting groove (1041), and the direction component (100) drives the pitching component (200) to rotate by taking the Z axis as an axis for direction adjustment.

2. The triaxial optoelectronic pod of claim 1, wherein: the azimuth assembly (100) comprises a mounting seat (101), an azimuth motor (103) and an azimuth frame (104), wherein the mounting seat (101) is connected with external required equipment, a stator of the azimuth motor (103) is fixedly connected with the mounting seat (101), and a rotor of the azimuth motor (103) is connected with the azimuth frame (104);

connecting lugs which are symmetrical to each other and extend downwards are arranged on two sides of the azimuth frame (104), a mounting groove (1041) is formed between the two connecting lugs, a pitching motor shaft (108) and a pitching angle measuring shaft (106) are mounted on the two connecting lugs through a bearing and a bearing sleeve respectively, and the pitching motor shaft (108) is connected with a pitching motor (109) mounted on the connecting lugs; wherein the pitch goniometer axis (106) is mounted through a pitch bearing (105) and a pitch bearing housing (107).

3. The triaxial photovoltaic pod of claim 2, wherein: the pitching angle measuring shaft (106) is provided with a pitching limiting mechanism for limiting the pitching rotation angle of the pitching assembly.

4. The triaxial optoelectronic pod of claim 3, wherein: the pitching limiting mechanism comprises a limiting column (1061) arranged on the pitching angle measuring shaft (106) and a limiting groove (110) which is arranged on the pitching bearing sleeve (107) and matched with the limiting column (1061) to limit the rotation angle of the pitching angle measuring shaft (106).

5. The triaxial photovoltaic pod of claim 2, wherein: the upper end of a stator (1031) of the azimuth motor (103) is provided with a connecting flange (1032) which is integrated with the stator, and the connecting flange (1032) is connected with the mounting seat (101) through bolts.

6. The triaxial photovoltaic pod of claim 2, wherein: the pitching assembly (200) comprises a front cover (201), a pitching frame (2) and a rear cover (203), wherein the front cover (201) and the rear cover (203) are respectively connected to two sides of the pitching frame (2) and form a spherical frame with a sealed installation cavity inside;

a transparent photoelectric window (2011) is arranged at the end part of the front cover (201);

the front end and the rear end of the pitching frame (2) are respectively provided with a connecting end, the two connecting ends are respectively connected with a pitching motor shaft (108) and a pitching angle measuring shaft (106), and the pitching assembly (200) is driven to perform pitching adjustment rotation by taking an X shaft as an axis under the action of a pitching motor (109).

7. The triaxial optoelectronic pod of claim 6, wherein: the rolling assembly (300) comprises a rolling frame (301), an upper rolling seat (303) and a lower rolling seat (305),

the photoelectric imaging load (304) is fixedly arranged in the rolling frame (301);

the upper rolling seat (303) is connected with the upper end of the pitching frame (2) through a bolt, and the rotating frame (301) is installed in the upper rolling seat (303) through an upper rolling bearing (302);

the lower rolling seat (305) is connected with the lower end of the pitching frame (2) through a bolt;

a rolling motor (306) and an adapter shaft (309) are arranged in the lower rolling seat (305), wherein the upper end of the adapter shaft is connected with the rolling frame (301), and the rolling motor (306) is fixed on the lower rolling seat (305) and is connected with the adapter shaft (309); the photoelectric imaging load (304) is driven to rotate along the axis of the adapter shaft (309) by the action of the rolling motor (306).

8. The triaxial optoelectronic pod of claim 7, wherein: the rolling motor (306) comprises a stator adapter (307) and a rolling rotor, wherein the rolling rotor is connected to the adapter shaft (309) and located in the adapter (307), and the adapter (307) is connected to the lower rolling seat (305).

9. The triaxial optoelectronic pod of claim 7, wherein: the rolling frame (301) is provided with a rolling limiting mechanism for limiting the rotation angle of the rolling frame.

10. The triaxial optoelectronic pod of claim 9, wherein: the rolling limiting mechanism comprises a limiting screw (310) arranged at the bottom of the rolling frame (301), and a limiting frame (3051) arranged on the lower rolling frame (305) and matched with the limiting screw (310).

Technical Field

The invention relates to the technical field of unmanned aerial vehicle inspection, aerial photography, monitoring, exploration and the like, in particular to a three-axis photoelectric pod.

Background

In order to eliminate the image rotation and improve the imaging quality, the photoelectric pod can adopt a three-axis three-frame structure form, and the image rotation caused by the attitude change of the helicopter is compensated by the compound motion of an azimuth axis, a pitching axis and a rolling axis.

The existing three-axis pod is mostly used for an unmanned aerial vehicle, and an azimuth frame usually adopts a structural form of a single-side cantilever in order to reduce weight. For example, the three-axis pods disclosed in the patents CN211685663U and CN208986720U have a roll frame supported on one side of an azimuth frame, and a roll axis forming an included angle with the azimuth axis and a pitch axis; meanwhile, patent publications CN206871377U and CN 206278282U disclose that the roll frame is supported on the azimuth frame on one side, and the azimuth axis, the pitch axis and the roll axis are orthogonal to each other.

However, the rolling frame in the prior art is supported by the single-side cantilever, the nacelle is asymmetric in shape, the connection of all parts is not smooth in transition, the nacelle is greatly influenced by air eccentric moment caused by flight of the helicopter, the nacelle is easy to deform greatly under the environmental conditions of impact and vibration, and the stability, precision, imaging quality and reliability of the nacelle are reduced.

Disclosure of Invention

Therefore, in order to solve the defects, the invention provides the three-axis nacelle for the flight equipment, which is reasonable in design and ingenious in structure, the pitching assembly, the rolling assembly and the azimuth assembly are reasonably designed, the multi-directional movement of the photoelectric imaging load is realized, the pitching assembly and the rolling assembly are supported at two ends, the product rigidity is high, the deformation is small under the impact and vibration environment conditions, the nacelle stability and precision are high, and the imaging quality is good.

The invention is realized by constructing a triaxial photoelectric pod, which comprises a rolling component,

the photoelectric imaging load is arranged in the rolling component, and the rolling component drives the photoelectric imaging load to roll and rotate by taking the Y axis as the axis;

the pitching assembly is internally provided with a closed installation cavity, the rolling assembly is installed in the installation cavity, and the pitching assembly drives the rolling assembly to perform pitching adjustment rotation by taking the X axis as an axis; and

the direction component is connected with external required equipment and is provided with a mounting groove, two sides of the pitching component are connected to the inner side wall of the mounting groove, and the direction component drives the pitching component to rotate by taking the Z axis as an axis for direction adjustment.

The closed installation cavity has the effect that the rolling assembly in the closed installation cavity is protected from external rainwater, wind and sand and the like.

Preferably, the azimuth assembly comprises a mounting seat, an azimuth motor and an azimuth frame, the mounting seat is connected with external required equipment, a stator of the azimuth motor is fixedly connected with the mounting seat, and a rotor of the azimuth motor is connected with the azimuth frame; the upper end of the azimuth frame is inserted into the mounting seat, and an azimuth bearing is arranged between the mounting seat and the azimuth frame;

connecting lugs which are symmetrical to each other and extend downwards are arranged on two sides of the azimuth frame, a mounting groove is formed between the two connecting lugs, a pitching motor shaft and a pitching angle measuring shaft are mounted on the two connecting lugs through a bearing and a bearing sleeve respectively, and the pitching motor shaft is connected with a pitching motor mounted on the connecting lugs; wherein the pitch angle shaft is mounted through a pitch bearing and a pitch bearing housing.

The nacelle is good in appearance symmetry, and the wind resistance moment caused by helicopter flight is small.

Preferably, the pitching angle measuring shaft is provided with a pitching limiting mechanism for limiting the pitching rotation angle of the pitching assembly.

Preferably, the pitching limiting mechanism comprises a limiting column arranged on the pitching angle measuring shaft and a limiting groove which is arranged on the pitching bearing sleeve and matched with the limiting column to limit the rotation angle of the pitching angle measuring shaft. The purpose of this arrangement is to prevent the pitch assembly from tilting at too great an angle and spraining the connecting cable.

Preferably, the upper end of the stator of the azimuth motor is provided with a connecting flange integrated with the stator, and the connecting flange is connected with the mounting seat through a bolt. The purpose of this setting is, let the position motor install inside the azimuth bearing, make full use of space reduces the volume of position subassembly, customization position motor mounting flange, does not need the adaptor, reduces part quantity, alleviates nacelle weight, reduces the assemble duration.

Preferably, the pitching assembly comprises a front cover, a pitching frame and a rear cover, wherein the front cover and the rear cover are respectively connected to two sides of the pitching frame and form a spherical frame with a closed installation cavity inside;

a transparent photoelectric window is arranged at the end part of the front cover;

the front end and the rear end of the pitching frame are respectively provided with a connecting end, the two connecting ends are respectively connected with a pitching motor shaft and a pitching angle measuring shaft, and the pitching assembly is driven to perform pitching adjustment rotation by taking the X shaft as an axis under the action of the pitching motor.

The sealed installation cavity is provided, so that the rolling assembly is located in the pitching assembly and is not directly influenced by wind resistance torque caused by helicopter flight, the requirements on the torque of the orientation motor, the torque of the pitching motor and the torque of the rolling motor are low, the size and the weight of the motor are favorably reduced, and the total weight of the triaxial nacelle is reduced.

Preferably, the rolling assembly comprises a rolling frame, an upper rolling seat and a lower rolling seat,

the photoelectric imaging load is fixedly arranged in the rolling frame;

the upper rolling seat is connected with the upper end of the pitching frame through a bolt, and the rotating frame is installed in the upper rolling seat through an upper rolling bearing;

the lower rolling seat is connected with the lower end of the pitching frame through a bolt;

a rolling motor and an adapter shaft are arranged in the lower rolling seat, wherein the upper end of the adapter shaft is connected with a rolling frame, and the rolling motor is fixed on the lower rolling seat and connected with the adapter shaft; the photoelectric imaging load is driven to rotate along the axis of the adapter shaft by the action of the rolling motor.

Preferably, the rolling motor comprises a stator adapter and a rolling rotor, wherein the rolling rotor is connected to the adapter shaft and is located in the adapter, and the adapter is connected to the lower rolling seat.

Preferably, the rolling frame is provided with a rolling limiting mechanism for limiting the rotation angle of the rolling frame.

Preferably, the rolling limiting mechanism comprises a limiting screw installed at the bottom of the rolling frame, and a limiting frame arranged on the lower rolling frame and matched with the limiting screw. The purpose of the arrangement is to prevent the cable on the photoelectric load from being twisted due to the excessive rotation angle of the rolling frame and the photoelectric imaging load; the lower rolling seat is provided with a window with a required angle, the corresponding position of the rolling frame is provided with a limiting screw, and the limiting screw only allows the movement in the window range on the rolling seat, so that the rotation angle of the rolling frame and the photoelectric imaging load is limited.

The invention has the following advantages:

the three-axis nacelle for the flight equipment is reasonable in design and ingenious in structure, the pitching assembly, the rolling assembly and the orientation assembly are reasonably designed, the photoelectric imaging load can move in multiple directions, the pitching assembly and the rolling assembly are supported at two ends, the rigidity of a product is high, deformation is small under the environment conditions of impact and vibration, the stability and the precision of the nacelle are high, and the imaging quality is good.

Meanwhile, the nacelle has good appearance symmetry, the wind resistance moment brought by the flight of the helicopter is small, the rolling assembly is positioned in the pitching assembly and is not directly influenced by the wind resistance moment brought by the flight of the helicopter, the torque requirements on the orientation motor 103, the pitching motor and the rolling motor are small, and the size and the weight of the motors are favorably reduced, so that the total weight of the triaxial nacelle is reduced;

the azimuth motor is arranged in the azimuth bearing, so that the space is fully utilized, the volume of an azimuth assembly is reduced, an azimuth motor mounting flange is customized, an adapter is not needed, the number of parts is reduced, the weight of the nacelle is reduced, and the assembly time is shortened.

Meanwhile, the invention is provided with pitching limit and rolling limit, prevents the cable of the nacelle from being strained, fully utilizes the existing parts, avoids adding additional parts, saves the cost, has stable and reliable limit and can flexibly realize different limit angles.

Drawings

FIG. 1 is a schematic perspective view of the present invention;

FIG. 2 is a schematic diagram of the split state of the present invention;

FIG. 3 is a schematic side view of the present invention;

FIG. 4 is an assembly schematic of the present invention;

FIG. 5 is a perspective view of the azimuth assembly of the present invention;

FIG. 6 is a schematic half-section view of the azimuth assembly of the present invention;

FIGS. 7 and 8 are perspective views of the stator of the azimuth motor of the present invention;

FIG. 9 is a schematic view of the present pitch horn and pitch bearing sleeve in combination;

FIG. 10 is a schematic perspective view of a pitch assembly of the present invention;

fig. 11 is a perspective view of a roll assembly according to the present invention.

Detailed Description

The present invention will be described in detail with reference to fig. 1 to 11, and the technical solutions in the embodiments of the present invention will be clearly and completely described below, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

As shown in fig. 1 and 3, a triaxial electro-optic pod includes a roll assembly 300;

the electro-optical imaging load 304, the electro-optical imaging load 304 is installed inside the rolling component 300, and the rolling component 300 drives the imaging load 304 to roll and rotate around the Y axis;

the pitching assembly 200 is internally provided with a closed installation cavity, the rolling assembly 300 is installed in the installation cavity, and the pitching assembly 200 drives the rolling assembly 300 to perform pitching adjustment rotation by taking the X axis as an axis; and

the position subassembly 100 to be connected with external required equipment (flight equipment, like helicopter, unmanned aerial vehicle or aerial vehicle) and have mounting groove 1041, the both sides of every single move subassembly 200 are connected in this mounting groove 1041's inside wall, and this position subassembly 100 drives every single move subassembly 200 and uses the Z axle to do the position as the axle center and adjust the rotation.

As shown in fig. 4 and fig. 6, in the present embodiment, the orientation assembly 100 includes a mounting base 101, an orientation motor 103, and an orientation frame 104, the mounting base 101 is connected to an external device, a stator of the orientation motor 103 is fixedly connected to the mounting base 101, and a rotor of the orientation motor 103 is connected to the orientation frame 104; the upper end of the azimuth frame 104 is inserted into the mounting seat 101, and an azimuth bearing 102 is arranged between the mounting seat 101 and the azimuth frame 104;

two sides of the azimuth frame 104 are provided with connecting lugs which are symmetrical to each other and extend downwards, a mounting groove 1041 is formed between the two connecting lugs, the two connecting lugs are respectively provided with a pitch motor shaft 108 and a pitch angle measuring shaft 106 through a bearing and a bearing sleeve, wherein the pitch motor shaft 108 is connected with a pitch motor 109 arranged on the connecting lugs; wherein said pitch angle shaft 106 is mounted by means of a pitch bearing 105 and a pitch bearing housing 107.

As shown in fig. 9, in the present embodiment, the pitch angle measuring shaft 106 is provided with a pitch limiting mechanism for limiting the pitch rotation angle of the pitch assembly.

In this embodiment, the pitch limiting mechanism includes a limiting post 1061 disposed on the pitch angle measuring shaft 106, and a limiting groove 110 opened on the pitch bearing housing 107 and matched with the limiting post 1061 for limiting the rotation angle of the pitch angle measuring shaft 106.

Meanwhile, another embodiment of the pitching limiting mechanism is that a limiting nail is arranged on the pitching angle measuring shaft, and a limiting frame matched with the limiting nail is arranged on the pitching bearing sleeve; or a limit nail is arranged on the pitching bearing sleeve, a limit frame matched with the limit nail is arranged on the pitching angle measuring shaft, and the structure of the rolling limit mechanism is referred as shown in figure 11.

As shown in fig. 7 and 8, in the present embodiment, the upper end of the stator 1031 of the azimuth motor 103 is provided with a connecting flange 1032 integrated with the stator, and the connecting flange 1032 is connected to the mounting base 101 by bolts.

As shown in fig. 10 and 4, in the present embodiment, the pitch assembly 200 includes a front cover 201, a pitch frame 2, and a rear cover 203, and the front cover 201 and the rear cover 203 are respectively connected to both sides of the pitch frame 2 and form a spherical frame having a sealed installation cavity therein;

a transparent photoelectric window 2011 is arranged at the end part of the front cover 201;

the front end and the rear end of the pitching frame 2 are respectively provided with a connecting end, and the two connecting ends are respectively connected with a pitching motor shaft 108 and a pitching angle measuring shaft 106, and the pitching motor 109 drives the pitching assembly 200 to perform pitching adjustment rotation by taking the X axis as the axis.

As shown in fig. 11 and 4, in the present embodiment, the rolling assembly 300 includes a rolling frame 301, an upper rolling seat 303 and a lower rolling seat 305,

the photoelectric imaging load 304 is fixedly arranged in the rolling frame 301;

the upper rolling seat 303 is connected with the upper end of the pitching frame 2 through a bolt, and the rotating frame 301 is installed in the upper rolling seat 303 through an upper rolling bearing 302;

the lower rolling seat 305 is connected with the lower end of the pitching frame 2 through a bolt;

a rolling motor 306 and an adapter shaft 309 are installed in the lower rolling seat 305, wherein the upper end of the adapter shaft is connected with the rolling frame 301, and the rolling motor 306 is fixed on the lower rolling seat 305 and connected with the adapter shaft 309; the action of the roll motor 306 is utilized to drive the photoelectric imaging load 304 to rotate along the axis of the adapter 309.

In this embodiment, the roll motor 306 includes a stator adapter 307 and a roll rotor coupled to the shaft 309 and located within the adapter 307, the adapter 307 being coupled to the lower roll housing 305.

In this embodiment, the rolling frame 301 is provided with a rolling limiting mechanism for limiting the rotation angle of the rolling frame.

In the embodiment, the rolling limiting mechanism comprises a limiting screw 310 arranged at the bottom of the rolling frame 301, and a limiting frame 3051 arranged on the lower rolling frame 305 and matched with the limiting screw 310; in this implementation, the other implementation of the roll and pitch limiting mechanism can be implemented with reference to the pitch limiting mechanism structure of fig. 9.

As shown in fig. 2, in the use process of the present invention, the roll motor 306 is used as a power source to roll the assembly to rotate, so as to realize that the photoelectric imaging load 304 rolls and rotates around the Y axis;

then, the pitching motor 109 is used as a power source to drive the pitching assembly 200 to rotate, and the pitching assembly drives the rolling assembly 300 to rotate, so that the photoelectric imaging load 304 can perform pitching adjustment rotation by taking the X axis as an axis;

and then the direction motor 103 is used as a power source to drive the direction component 100 to rotate, drive the direction component to drive the pitching component 200 to rotate, and drive the rotating and rolling component to rotate by the pitching component 200, so that the photoelectric imaging load 304 is rotated by adjusting the direction by taking the Z axis as an axis, and the photoelectric imaging load is rotated in multiple directions.

The nacelle has good appearance symmetry, the wind resistance moment brought by the flight of the helicopter is small, the rolling assembly is positioned in the pitching assembly and is not directly influenced by the wind resistance moment brought by the flight of the helicopter, the torque requirements on the orientation motor 103, the pitching motor and the rolling motor are small, and the size and the weight of the motor are favorably reduced, so that the total weight of the triaxial nacelle is reduced;

the azimuth motor is arranged in the azimuth bearing, so that the space is fully utilized, the volume of an azimuth assembly is reduced, an azimuth motor mounting flange is customized, an adapter is not needed, the number of parts is reduced, the weight of the nacelle is reduced, and the assembly time is shortened.

Meanwhile, the invention is provided with pitching limit and rolling limit, prevents the cable of the nacelle from being strained, fully utilizes the existing parts, avoids adding additional parts, saves the cost, has stable and reliable limit and can flexibly realize different limit angles.

The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.