CN221678993U - An airborne optoelectronic pod - Google Patents

Abstract

The present application belongs to the field of optoelectronic technology, and specifically relates to an airborne optoelectronic pod, including an azimuth axis system assembly and a pitch axis system assembly, wherein the azimuth axis system assembly is installed on the top of the pitch axis system assembly; the azimuth axis system assembly includes a shell assembly, a bearing assembly, and a first robot joint module, wherein the first robot joint module is rotationally connected to the shell assembly through the bearing assembly, and the shell assembly of the azimuth axis system assembly is connected to the pitch axis system assembly; the pitch axis system assembly includes a second robot joint module and an axis system assembly, wherein the second robot joint module is connected to the axis system assembly, and is used to drive the axis system assembly of the pitch axis system assembly to rotate. The present application integrates a robot joint module, and the overall structure is compact, and a lightweight and miniaturized design is achieved, while taking into account flexibility and lightness. The hollow inner hole of the joint module realizes internal wiring, and the structural design is neat, and has a large torque output, and can be applied to large load assembly.

Description

An airborne optoelectronic pod

Technical Field

The utility model belongs to the field of optoelectronic technology, and specifically relates to an airborne optoelectronic pod.

Background Art

In order to realize the azimuth and pitch axis control and angle data extraction of airborne optoelectronic pods and meet the basic reconnaissance, detection, tracking and other functions of airborne optoelectronic pods, airborne optoelectronic pods currently generally use distributed servo motors plus absolute (or incremental) angle measuring elements, servo drive circuits, etc. Each component is heavy and large in size, and needs to be equipped with a dedicated servo drive circuit, with high installation accuracy requirements, complex external interfaces and cable connections, and chaotic internal cable routing, which will also bring electromagnetic interference related problems.

Utility Model Content

In view of the defects of the prior art, the utility model proposes an airborne optoelectronic pod, which integrates a robot joint module, has a compact overall structure, realizes a lightweight and miniaturized design, and is flexible and light. The hollow inner holes of the first robot joint module and the second robot joint module realize internal wiring, and the structural design is neat. The harmonic reducer inside the joint module realizes a large torque output, and can be applied to large load assembly.

In order to achieve the above object, the utility model provides an airborne optoelectronic pod, comprising an azimuth axis assembly and a pitch axis assembly, wherein the azimuth axis assembly is installed on top of the pitch axis assembly;

The azimuth axis system assembly includes a housing assembly, a bearing assembly and a first robot joint module, the first robot joint module is rotatably connected to the housing assembly through the bearing assembly, and the housing assembly of the azimuth axis system assembly is connected to the pitch axis system assembly; the pitch axis system assembly includes a second robot joint module and an axis system assembly, the second robot joint module is connected to the axis system assembly, and is used to drive the axis system assembly of the pitch axis system assembly to rotate;

The first robot joint module and the second robot joint module each include a motor encoder and a cover plate, a servo drive board, a joint module housing, an output end encoder, a brake retainer, a frameless torque motor, a torque sensor, a harmonic reducer and a connecting shaft;

The motor encoder and cover plate, servo drive board, output end encoder, brake retainer, frameless torque motor, torque sensor and harmonic reducer are located inside the joint module housing and have a coaxial center hole. The harmonic reducer is sleeved on one end of the connecting shaft and is rotatably connected to the connecting shaft. The torque sensor, frameless torque motor and brake retainer are sequentially sleeved and installed from the other end of the connecting shaft. The output end encoder is connected to the brake retainer, the servo drive board is connected to the motor encoder and the cover plate, and is connected to the joint module housing through the housing of the harmonic reducer.

Further, the housing assembly of the azimuth shaft system assembly includes an azimuth housing and a module adapter, and the bearing assembly of the azimuth shaft system assembly includes an azimuth shaft, a first bearing, a second bearing and corresponding fasteners;

The middle part of the azimuth shell is provided with a joint module mounting seat, the bottom of the azimuth shell is provided with a center hole, the top of the joint module mounting seat is provided with an opening which is connected with the bottom center hole of the azimuth shell, and the first bearing and the second bearing are sleeved on the azimuth shaft and are rotatably connected with the inner wall of the joint module mounting seat;

One end of the first robot joint module is a driving end, and the other end is an output end. The driving end is located inside the azimuth axis, and the output end is outside the bottom of the azimuth shell. The driving end has a stator and a rotor. The stator of the driving end is connected to the module adapter, and the rotor of the driving end is connected to the azimuth axis. The module adapter is installed on the top of the joint module mounting seat.

Furthermore, a first annular flange is provided on the inner side of one end edge of the azimuth axis, and a second annular flange is provided on the outer side of the other end edge; the first annular flange abuts against the rotor of the driving end of the first robot joint module, and a sealing groove for installing a sealing ring is arranged on the outer wall of the second annular flange, and the outer wall of the sealing ring is in close contact with the inner wall of the joint module mounting seat.

Furthermore, the harmonic reducer is the driving end of the first robot joint module and the second robot joint module, and the motor encoder and the cover plate are the output ends of the first robot joint module and the second robot joint module.

Further, the pitch axis system assembly also includes a pitch seat housing, and the axis system assembly of the pitch axis system assembly includes a third bearing, a pitch axis, a motor shaft, a fourth bearing and a transmission shaft;

The pitch seat shell is fixedly connected to the azimuth shell, and two ends of the pitch seat shell have through holes. The third bearing is installed in the through hole at one end of the pitch seat shell, the pitch axis is installed in the third bearing and is rotatably connected to it, the fourth bearing is installed in the through hole at the other end of the pitch seat shell, the motor shaft is installed in the fourth bearing and is rotatably connected to it, and the transmission shaft is located inside the pitch seat shell, and its two ends are respectively connected to the pitch axis and the motor shaft.

Furthermore, the pitch axis system assembly also includes a module connecting ring; the stator of the driving end of the second robot joint module is connected to the module connecting ring, the module connecting ring is fixedly installed on one side of the pitch seat shell, and the rotor of the driving end of the second robot joint module is connected to the motor shaft.

The beneficial effects of the utility model are:

First, the utility model integrates the robot joint module, the motor encoder and cover plate, the servo drive board, the joint module housing, the output end encoder, the brake retainer, the frameless torque motor, the torque sensor and the harmonic reducer inside the robot joint module to avoid external electromagnetic interference. The integrated design enables the pod to achieve lightweight and miniaturized design, taking into account flexibility, lightness and large load; directly carrying two sets of robot joint modules, eliminating the manpower and time cost of selecting motors, angle measuring elements, servo drives, etc. and assembling structures in the early stage of pod design;

Second, in the preferred implementation, the hollow inner holes of the first robot joint module and the second robot joint module of the utility model realize internal wiring, solving the problem of complex cable connection of the existing airborne optoelectronic pod;

Third, in the preferred implementation, the azimuth axis system assembly and the pitch axis system assembly of the utility model are only provided with external structures through the motor encoder and the cover plate of the first robot joint module and the second robot joint module, so that the external interfaces are unified in the same position, and the external cables are unified and simple in direction;

Fourth, in the preferred implementation, the harmonic reducers of the first robot joint module and the second robot joint module of the utility model achieve a larger torque output to meet the power transmission of large loads.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG1 is a three-dimensional structural diagram of an airborne optoelectronic pod according to an embodiment of the utility model;

FIG2 is a cross-sectional view of an azimuth shafting assembly according to an embodiment of the present utility model;

FIG3 is an exploded view of an azimuth shafting assembly according to an embodiment of the present invention;

FIG4 is an exploded view of a pitch axis assembly according to an embodiment of the present invention;

5 is a partial cross-sectional view of the azimuth axis assembly and the pitch axis assembly of the embodiment of the utility model in an assembled state;

FIG. 6 is an exploded view of the first robot joint module of an embodiment of the present utility model.

Among them, 1-azimuth axis system assembly; 10-upper cover; 11-azimuth shell; 110-joint module mounting seat; 12-first robot joint module; 120-motor encoder and cover plate; 121-servo drive board; 122-joint module housing; 123-output end encoder; 124-brake retainer; 125-frameless torque motor; 126-torque sensor; 127-harmonic reducer; 13-azimuth axis; 14-first bearing; 15-second bearing; 16-module adapter; 17-stator fixing bolt; 18-rotor fixing bolt; 2-pitch axis system assembly; 20-pitch seat housing; 21-third bearing; 22-pitch axis; 23-motor shaft; 24-module connecting ring; 25-second robot joint module.

DETAILED DESCRIPTION

In order to enable those skilled in the art to better understand the technical solution of the present application, the present application will be further described in detail below with reference to the accompanying drawings and embodiments.

The terms such as up, down, left, right, front and back in this application document are based on the positional relationships shown in the drawings. If the drawings are different, the corresponding positional relationships may also change accordingly, so they cannot be understood as limiting the scope of protection.

In this application, the terms "install", "connected", "connected", "connected", "fixed" and the like should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, an integral connection, a mechanical connection, an electrical connection, or mutual communication, a direct connection, or an indirect connection through an intermediate medium, the internal connection of two components, or the interaction relationship between two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

Referring to Figures 1-6 of the specification, an airborne optoelectronic pod includes an azimuth axis assembly 1 and a pitch axis assembly 2, wherein the azimuth axis assembly 1 is mounted on top of the pitch axis assembly 2. The azimuth axis assembly 1 includes a housing assembly, a bearing assembly, and a first robot joint module 12, wherein the first robot joint module 12 is rotationally connected to the housing assembly via the bearing assembly, and the housing assembly of the azimuth axis assembly 1 is connected to the pitch axis assembly 2. The pitch axis assembly 2 includes a second robot joint module 25 and an axis assembly, wherein the second robot joint module 25 is connected to the axis assembly, and is used to drive the axis assembly of the pitch axis assembly 2 to rotate.

Specifically, the azimuth shaft system assembly 1 also includes an upper cover 10 , an azimuth housing 11 , an azimuth shaft 13 , a first bearing 14 , a second bearing 15 , a module adapter 16 , a stator fixing bolt 17 and a rotor fixing bolt 18 .

The upper cover 10 is installed on the top of the azimuth shell 11, and the main control circuit board is installed on the inner side of the upper cover 10. The azimuth shell 11 is through from top to bottom, and has a center hole at the bottom, and the outer edge of the bottom is connected to the pitch axis assembly 2. The joint module mounting seat 110 is located in the middle of the azimuth shell 11, and has a multi-step stepped cylindrical hole coaxial with the center hole of the azimuth shell 11. The first robot joint module 12, the azimuth axis 13, the first bearing 14 and the second bearing 15 are installed in the multi-step stepped cylindrical hole of the joint module mounting seat 110, and the first bearing 14 and the second bearing 15 are sleeved on the azimuth axis 13 and are rotatably connected to the inner wall of the multi-step stepped cylindrical hole of the joint module mounting seat 110.

The azimuth axis 13 is a stepped cylindrical axis with a center hole, and its outer wall structure matches the inner wall structure of the multi-step stepped cylindrical hole of the joint module mounting seat 110. The inner side of one end edge of the azimuth axis 13 has a first annular flange, and the outer side of the other end edge has a second annular flange. One end of the first robot joint module 12 is a driving end, and the other end is an output end. The driving end is used to drive the output end to rotate, and the output end is used to drive the pitch axis system component 2 to rotate axially. The first robot joint module 12 is installed in the azimuth axis 13, and its driving end is abutted against the first annular flange of the azimuth axis 13, and its output end is exposed to the outside of the bottom of the azimuth housing 11. The outer wall of the second annular flange of the azimuth axis 13 is provided with a sealing groove for installing a sealing ring. The sealing ring adopts a star-shaped ring, and the outer wall of the sealing ring is in close contact with the inner wall of the joint module mounting seat 110.

The driving end of the first robot joint module 12 has a stator and a rotor. The end faces of the stator and the rotor of the driving end of the first robot joint module 12 both have internal threaded holes. The module adapter 16 is installed on the top of the joint module mounting seat 110. The module adapter 16 has a through hole that matches the internal threaded hole of the stator of the driving end of the first robot joint module 12. The module adapter 16 is connected to the stator of the first robot joint module 12 through a stator fixing bolt 17. The first annular flange of the azimuth axis 13 has a through hole that matches the internal threaded hole of the rotor of the driving end of the first robot joint module 12. The azimuth axis 13 is connected to the rotor of the first robot joint module 12 through a rotor fixing bolt 18, so that when the rotor of the driving end of the first robot joint module 12 rotates, the stator remains stationary.

The pitch axis assembly 2 includes a third bearing 21 , a pitch axis 22 , a motor shaft 23 , a fourth bearing and a transmission shaft. The pitch axis assembly 2 also includes a pitch seat housing 20 and a module connecting ring 24 .

The pitch seat shell 20 is fixedly connected to the azimuth shell 11, and both ends of the pitch seat shell 20 have through holes. The third bearing 21 is installed in the through hole at one end of the pitch seat shell 20, and the pitch axis 22 is installed in the third bearing 21 and is rotatably connected thereto. The fourth bearing is installed in the through hole at the other end of the pitch seat shell 20, and the motor shaft 23 is installed in the fourth bearing and is rotatably connected thereto. The transmission shaft is located inside the pitch seat shell 20, and its two ends are respectively connected to the pitch axis 22 and the motor shaft 23.

In this embodiment, the first robot joint module 12 and the second robot joint module 25 have the same structure, one end of the second robot joint module 25 is a driving end, and the other end is an output end, and its driving end has a stator and a rotor. The difference between the second robot joint module 25 and the first robot joint module 12 is that the driving end of the second robot joint module 25 is used to drive the axis system assembly of the pitch axis system assembly 2 to rotate, while the first robot joint module 12 drives the pitch axis system assembly 2 as a whole to rotate along the internal rotating axis of the first robot joint module 12 through the output end.

The stator at the driving end of the second robot joint module 25 is connected to the module connecting ring 24, and the module connecting ring 24 is fixedly installed on one side of the pitch seat shell 20. The rotor at the driving end of the second robot joint module 25 is connected to the motor shaft 23, so that when the rotor at the driving end of the second robot joint module 25 rotates, the stator remains stationary.

The transmission shaft of the pitch axis assembly 2 adopts a hollow structure, the camera is fixed on the transmission shaft, and the inside of the transmission shaft is used for wiring. The pitch seat housing 20 has an opening that matches the lens of the camera, and the motor shaft 23 is controlled to rotate by the rotor of the second robot joint module 25, thereby driving the camera on the transmission shaft to achieve pitch rotation.

Taking the first robot joint module 12 as an example, the first robot joint module 12 includes a motor encoder and cover plate 120, a servo drive board 121, a joint module housing 122, an output end encoder 123, a brake retainer 124, a frameless torque motor 125, a torque sensor 126, a harmonic reducer 127 and a connecting shaft.

The motor encoder and cover plate 120 are the output ends of the first robot joint module 12. The motor encoder and cover plate 120 have a data transmission interface for transmitting data through the interface to the servo drive board 121. The output end encoder 123 is used to detect and feedback the angular position and speed information of the rotation of the connecting shaft. The brake retainer 124 is used to ensure that the collaborative robot maintains its original posture after power failure, avoiding accidents caused by inertia causing the collaborative robot's posture to change after power failure. The torque sensor 126 is used to detect the torque of the harmonic reducer 127. The harmonic reducer 127 is the driving end of the first robot joint module 12. The internal meshing structure of the harmonic reducer 127 achieves high-precision transmission and large torque output, thereby meeting the power transmission of the first robot joint module 12.

One end of the first robot joint module 12 is a motor encoder and a cover plate 120, and the other end is a harmonic reducer 127. The motor encoder and the cover plate 120, the servo drive board 121, the output end encoder 123, the brake retainer 124, the frameless torque motor 125, the torque sensor 126 and the harmonic reducer 127 are located inside the joint module housing 122. The motor encoder and the cover plate 120, the servo drive board 121, the joint module housing 122, the output end encoder 123, the brake retainer 124, the frameless torque motor 125, the torque sensor 126 and the harmonic reducer 127 all have a coaxial center hole, which is convenient for circuit routing, can prevent winding, and improve the service life of the power supply and communication cables. The harmonic reducer 127 is sleeved on one end of the connecting shaft and is rotatably connected to the connecting shaft. The torque sensor 126, the frameless torque motor 125 and the brake retainer 124 are sequentially sleeved and installed from the other end of the connecting shaft. The output end encoder 123 is connected to the brake retainer 124, and the servo drive board 121 is connected to the motor encoder and the cover plate 120. It is connected to the joint module housing 122 through the housing of the harmonic reducer 127, serving as a fixed support for the motor encoder and the cover plate 120, the servo drive board 121, the output end encoder 123, the brake retainer 124, the frameless torque motor 125 and the torque sensor 126.

The motor encoder and cover plate 120, the output end encoder 123, the brake retainer 124, the frameless torque motor 125, the torque sensor 126 and the harmonic reducer 127 are connected to the servo drive board 121 through a signal cable. The servo drive board 121 is connected to an external power supply. The servo drive board 121 controls the rotation of the frameless torque motor 125, and the frameless torque motor 125 drives the connecting shaft to rotate. The connecting shaft drives the brake retainer 124 and the harmonic reducer 127 to rotate, and the brake retainer 124 then drives the output end (electrical The machine encoder and cover plate 120 rotate. Inside the azimuth axis system assembly 1, since the stator of the harmonic reducer 127 is fixedly connected to the module adapter 16, the module adapter 16 is fixedly connected to the joint module mounting seat 110, and the rotor of the harmonic reducer 127 is connected to the azimuth axis 13, the rotor of the harmonic reducer 127 drives the azimuth axis 13 and the joint module mounting seat 110 to rotate, and then drives the pitch seat shell 20 fixedly connected to the azimuth shell 11 to rotate, so that the pitch axis system assembly 2 rotates along the rotation direction of the rotating axis of the first robot joint module 12.

The airborne optoelectronic pod of the present embodiment also includes an azimuth gyro and a pitch gyro, which are respectively installed inside the azimuth housing 11 and the pitch seat housing 20, and the main control circuit board inside the upper cover 10 is connected to the servo drive board of the first robot joint module 12, the servo drive board of the second robot joint module 25, the azimuth gyro and the pitch gyro through communication cables. After receiving the angular velocity signals of the azimuth gyro and the pitch gyro, the main control circuit board sends instructions to the servo drive board of the first robot joint module 12 and the servo drive board of the second robot joint module 25, respectively, for receiving the angle data fed back by the servo drive board of the first robot joint module 12 and the servo drive board of the second robot joint module 25, and then sends control instructions to the servo drive board of the first robot joint module 12 and the servo drive board of the second robot joint module 25 through the closed-loop control of the main control circuit board, so as to complete the visual axis pointing control.

The utility model integrates the robot joint module, so that the pod can achieve lightweight and miniaturized design, taking into account flexibility, lightness and large load. At the same time, the hollow inner hole of the first robot joint module 12 and the second robot joint module 25 realizes internal wiring, and the external interface is simple. After the assembly is completed, the built-in encoder corrects the deviation in the given angle signal, which has the function of compensating the assembly error of the whole machine, making the pod design and its software development simpler and faster, and eliminating the manpower and time cost of selecting motors, angle measuring elements, servo drives, etc. and assembling structures in the early stage of pod design.

The above is only an embodiment of the utility model, and the common sense such as the known specific structure and characteristics in the scheme is not described too much here. For those skilled in the art, it is obvious that the utility model is not limited to the details of the above exemplary embodiments, and the utility model can be implemented in other specific forms without departing from the spirit or basic features of the utility model. Therefore, no matter from which point of view, the embodiments should be regarded as exemplary and non-restrictive. The scope of the utility model is limited by the attached claims rather than the above description, and it is intended to include all changes within the meaning and scope of the equivalent elements of the claims in the utility model. Any figure mark in the claims should not be regarded as limiting the claims involved.

Claims (6)

1. An airborne optoelectronic pod, characterized in that it comprises an azimuth axis assembly (1) and a pitch axis assembly (2), wherein the azimuth axis assembly (1) is mounted on top of the pitch axis assembly (2); The azimuth axis system assembly (1) comprises a housing assembly, a bearing assembly and a first robot joint module (12); the first robot joint module (12) is rotatably connected to the housing assembly via the bearing assembly; the housing assembly of the azimuth axis system assembly (1) is connected to the pitch axis system assembly (2); the pitch axis system assembly (2) comprises a second robot joint module (25) and an axis system assembly; the second robot joint module (25) is connected to the axis system assembly and is used to drive the axis system assembly of the pitch axis system assembly (2) to rotate; The first robot joint module (12) and the second robot joint module (25) both include a motor encoder and a cover plate, a servo drive plate, a joint module housing, an output end encoder, a brake retainer, a frameless torque motor, a torque sensor, a harmonic reducer and a connecting shaft; The motor encoder and cover plate, servo drive board, output end encoder, brake retainer, frameless torque motor, torque sensor and harmonic reducer are located inside the joint module housing and have a coaxial center hole. The harmonic reducer is sleeved on one end of the connecting shaft and is rotatably connected to the connecting shaft. The torque sensor, frameless torque motor and brake retainer are sequentially sleeved and installed from the other end of the connecting shaft. The output end encoder is connected to the brake retainer, the servo drive board is connected to the motor encoder and the cover plate, and is connected to the joint module housing through the housing of the harmonic reducer. 2. The airborne optoelectronic pod according to claim 1, characterized in that the housing assembly of the azimuth shaft assembly (1) comprises an azimuth housing (11) and a module adapter (16), and the bearing assembly of the azimuth shaft assembly (1) comprises an azimuth shaft (13), a first bearing (14), a second bearing (15) and corresponding fasteners; The middle part of the azimuth housing (11) is provided with a joint module mounting seat, the bottom of the azimuth housing (11) is provided with a center hole, the top of the joint module mounting seat (110) is provided with an opening which is in communication with the bottom center hole of the azimuth housing (11), and the first bearing (14) and the second bearing (15) are sleeved on the azimuth shaft (13) and are rotatably connected with the inner wall of the joint module mounting seat (110); One end of the first robot joint module (12) is a driving end, and the other end is an output end, the driving end is located inside the azimuth shaft (13), and the output end is outside the bottom of the azimuth housing (11), the driving end has a stator and a rotor, the stator of the driving end is connected to a module adapter (16), the rotor of the driving end is connected to the azimuth shaft (13), and the module adapter (16) is installed on the top of the joint module mounting seat (110). 3. The airborne optoelectronic pod according to claim 2 is characterized in that a first annular flange is provided on the inner side of one end edge of the azimuth axis (13), and a second annular flange is provided on the outer side of the other end edge; the first annular flange abuts against the rotor of the driving end of the first robot joint module (12), and a sealing groove for installing a sealing ring is arranged on the outer wall of the second annular flange, and the outer wall of the sealing ring is in close contact with the inner wall of the joint module mounting seat (110). 4. The airborne optoelectronic pod according to claim 2 is characterized in that the harmonic reducer is the driving end of the first robot joint module (12) and the second robot joint module (25), and the motor encoder and the cover plate are the output ends of the first robot joint module (12) and the second robot joint module (25). 5. The airborne optoelectronic pod according to claim 2, characterized in that the pitch axis assembly (2) further comprises a pitch seat housing (20), and the axis assembly of the pitch axis assembly (2) comprises a third bearing (21), a pitch axis (22), a motor shaft (23), a fourth bearing and a transmission shaft; The pitch seat shell (20) is fixedly connected to the azimuth shell (11); both ends of the pitch seat shell (20) have through holes; a third bearing (21) is installed in the through hole at one end of the pitch seat shell (20); a pitch shaft (22) is installed in the third bearing (21) and is rotatably connected thereto; a fourth bearing is installed in the through hole at the other end of the pitch seat shell (20); a motor shaft (23) is installed in the fourth bearing and is rotatably connected thereto; a transmission shaft is located inside the pitch seat shell (20); and both ends of the transmission shaft are respectively connected to the pitch shaft (22) and the motor shaft (23). 6. The airborne optoelectronic pod according to claim 5 is characterized in that the pitch axis system assembly (2) also includes a module connecting ring (24); the stator of the driving end of the second robot joint module (25) is connected to the module connecting ring (24), the module connecting ring (24) is fixedly installed on one side of the pitch seat shell (20), and the rotor of the driving end of the second robot joint module (25) is connected to the motor shaft (23).