Photoelectric pod and carrier equipment

Abstract

An optoelectronic pod and a carrier device, relating to the technical field of pods, the optoelectronic pod comprising a pan-tilt and a rotating pod; the pan-tilt comprises a fixed seat, a motor, a main connecting arm and a supporting connecting arm, the main connecting arm and the supporting connecting arm are both provided with cavities, one end of the main connecting arm is connected to the fixed seat; the other end is rotationally connected to the rotating pod, one end of the supporting connecting arm is connected to the main connecting arm, and the other end is rotationally connected to the rotating pod; the motor comprises a first motor, the first motor is installed in the cavity of the supporting connecting arm; the inner cavity of the rotating pod is provided with a main control board, the main control board is electrically connected to the first motor through a motor line; the signal line connected to the main control board passes through the inner cavity of the main connecting arm to connect to an electronic device installed in the fixed seat. The arrangement of the optoelectronic pod can reduce the number of cables passing through the motor, reduce the rotation resistance of the motor, and improve the rotation accuracy of the motor.

Description

Technical Field

[0001] The present invention relates to the field of transport equipment, and in particular to an optoelectronic pod and transport equipment. Background Art

[0002] In the fields of cars, ships, aircraft, etc., pods are often installed for hanging cameras and other devices. The pod usually includes a gimbal and a rotating part. The gimbal includes a fixed part, a connecting arm and a motor. The pod is used to fix the pod on the corresponding carrying equipment. The connecting arm is respectively connected to the fixed part and the rotating part. The motor is installed on the connecting arm and / or the fixed part. The rotating part is controlled by the motor to rotate, thereby driving the multiple optoelectronic components in the rotating part to rotate. A main control board is installed in the fixed part. On the one hand, the main control board is connected to the electronic components in the fixed part through cables, and on the other hand, it is connected to the motor and the multiple optoelectronic components in the rotating part through cables. The cables extend from the fixed part through the motor of the gimbal and then into the rotating part.

[0003] However, when the number of optoelectronic components in the rotating part is large, the number of cables running through the motor is too large, the rotation resistance of the motor is large, and the rotation accuracy of the motor is low. Summary of the invention

[0004] The object of the present invention is to provide an optoelectronic pod, which reduces the number of wires passing through the pan-tilt platform, reduces the rotation resistance of the motor, and improves the rotation accuracy of the motor.

[0005] The present invention is achieved in that:

[0006] An optoelectronic pod, comprising: a pan head and a rotating pod body; wherein;

[0007] The pan / tilt head comprises a fixing seat, a motor, a main connecting arm and a supporting connecting arm, wherein the main connecting arm and the supporting connecting arm are both provided with a cavity, one end of the main connecting arm is connected to the fixing seat; the other end is rotatably connected to the rotating cabin, one end of the supporting connecting arm is connected to the main connecting arm, and the other end is rotatably connected to the rotating cabin; the motor comprises a first motor, and the first motor is installed in the cavity of the supporting connecting arm;

[0008] A main control board is provided in the inner cavity of the rotating cabin, and the main control board is electrically connected to the first motor through a motor line; a signal line connected to the main control board passes through the inner cavity of the main connecting arm to connect to the electronic device installed in the fixing seat.

[0009] In a feasible implementation scheme, the motor includes a stator, a rotor and a motor drive board, the stator is sleeved on the rotor, the motor drive board is installed on the stator, the motor has a first wire passing cavity, the first wire passing cavity passes through the rotor and the stator that are sleeved with each other, and the motor wire connected to the main control board passes through the first wire passing cavity to be electrically connected to the motor drive board.

[0010] In a feasible implementation, the motor drive board is provided with a second wire passing cavity, the second wire passing cavity passes through the motor drive board, the first wire passing cavity is connected to the second wire passing cavity, and the signal line connected to the main control board can pass through the first wire passing cavity and the second wire passing cavity in sequence.

[0011] In a feasible implementation, the motor includes a second motor, which is installed on the fixed seat and is transmission-connected to the main connecting arm. The signal line connected to the main control board passes through the inner cavity of the main connecting arm and then passes through the first wire passing cavity and the second wire passing cavity of the second motor to connect to the electronic device in the fixed seat.

[0012] In a feasible implementation, the first side wall of the rotating cabin is rotatably connected to the main connecting arm, and the second side wall of the rotating cabin opposite to the first side wall is rotatably connected to the support connecting arm; the shortest straight-line distance between the main control panel and the first side wall is smaller than the shortest straight-line distance between the main control panel and the second side wall.

[0013] In a feasible embodiment, the main control board is provided with a first motor connector, which is used to connect the motor line to electrically connect the main control board to the first motor, the shortest straight-line distance between the first motor connector and the second side wall is a, and the shortest straight-line distance between the first motor connector and the first side wall is b, a<b.

[0014] In a feasible implementation scheme, a mounting frame is provided in the rotating cabin, the mounting frame is detachably connected to the rotating cabin, a plurality of optical devices are mounted on the mounting frame, the main control board is mounted on the mounting frame via a main control board fixing frame, and the main control board is electrically connected to each of the optical devices via a signal line.

[0015] In a feasible implementation, the main control board is integrated with an IMU module, and / or the main control board is provided with an IMU connector, and the IMU connector is located on a side of the main control board facing the first side wall;

[0016] If the main control board is integrated with the IMU module, and the IMU module includes a rectangular IMU chip module, isolation areas are respectively provided on the main control board along the four sides of the IMU chip module, and the isolation areas are not connected to each other in space, so as to isolate the external temperature and prevent the IMU chip module from deformation; the isolation areas and the space enclosed by the isolation areas are not covered with copper.

[0017] In a feasible implementation scheme, if the IMU chip module is arranged at the edge of the main control board, a corresponding isolation groove is arranged on the side of the IMU chip module that is not close to the edge, and the isolation groove and the edge of the main control board together constitute the isolation area arranged around the IMU chip module;

[0018] If the IMU chip module is not arranged at the edge of the main control board, isolation grooves are respectively arranged along the four sides of the IMU chip module, and the isolation grooves together constitute the isolation area arranged along the four sides of the IMU chip module;

[0019] Wherein, the isolation groove passes through the main control board, or, if the isolation groove does not pass through the main control board, a heat insulating or wave absorbing material is arranged in the isolation groove.

[0020] In a feasible implementation scheme, a user signal adapter board is installed in the fixed seat, and the main control board is provided with an adapter board connector. The main control board is connected to the user signal adapter board signal through the adapter board connector, and the adapter board connector is facing the connection point between the main connecting arm and the rotating cabin.

[0021] In a feasible implementation scheme, a plurality of shock-absorbing structures are installed inside the fixing seat, and the plurality of shock-absorbing structures are evenly distributed in the edge area of ​​the fixing seat; the shock-absorbing structure includes an air damper, the main connecting arm is rotatably connected to the middle area of ​​the fixing seat, a user signal adapter plate is installed in the fixing seat, the user signal adapter plate is arranged close to the main connecting arm, and a shielding plate is arranged in the fixing seat, and the shielding plate is used to separate the user signal adapter plate from the air damper.

[0022] In a feasible implementation scheme, the motor also includes a third motor, and the main connecting arm includes a first arm body, a second arm body and a protective tube; the protective tube is fixedly connected to the fixed seat, and the protective tube is rotatably connected to the first arm body; one end of the first arm body is transmission connected to the second motor, and the other end is installed with the third motor; the second arm body is rotationally connected to the first arm body and is transmission connected to the third motor, the second arm body is rotationally connected to the rotating cabin, and is fixedly connected to the supporting connecting arm.

[0023] In a feasible implementation, the pan / tilt head further includes a slip ring and a slip ring signal adapter plate, the slip ring is located between the second motor and the third motor, and the slip ring is coaxially arranged with the rotor of the second motor, the slip ring signal adapter plate is installed between the slip ring and the third motor, the signal line connected to the main control board and the motor line used to connect to the second motor are connected to the slip ring through the slip ring signal adapter plate, and are correspondingly connected to the second motor and the electronic components in the fixed seat after being converted through the slip ring.

[0024] In a feasible implementation scheme, the main connecting arm includes a main body and a cover body, the cavity of the main connecting arm is arranged on the main body, the two ends of the cavity are respectively connected to the fixed seat and the rotating cabin body, the cover body covers the side of the cavity, and the cover body is detachably connected to the main body.

[0025] In a feasible implementation scheme, the rotating cabin body is provided with two adapter tubes, the two adapter tubes are respectively connected to the outer side walls of the rotating cabin body, and the tube cavity of each adapter tube is respectively connected to the inner cavity of the rotating cabin body; the main connecting arm and the branch connecting arm are respectively provided with adapter holes, one of the adapter tubes extends into the adapter hole of the main connecting arm, and the other adapter tube extends into the adapter hole of the branch connecting arm, and each of the adapter tubes is rotatably connected to the corresponding main connecting arm or the branch connecting arm through a bearing.

[0026] In a feasible implementation scheme, the rotating cabin includes a middle frame, a first shell and a second shell, the first shell and the second shell are respectively detachably installed on opposite sides of the middle frame, the main connecting arm and the support connecting arm are respectively rotatably connected to the middle frame, and the motor in the support connecting arm is transmission connected to the middle frame; the mounting frame is detachably connected to the middle frame.

[0027] A carrier comprises an optoelectronic pod provided by any one of the above technical solutions.

[0028] The beneficial effects of the present invention include at least:

[0029] In the optoelectronic pod provided in the present application, the main control board is installed inside the rotating pod, the main control board is connected to the motor on the gimbal through a motor line, and the main control board is connected to the electronic device in the fixed seat through a signal line. In the above optoelectronic pod, on the one hand, since the main control board is installed inside the rotating pod, the signal line connecting the main control board and the optical device inside the rotating pod does not need to pass through the motor; on the other hand, since the rotating pod is connected to the support connecting arm, and the first motor is installed on the support connecting arm, the motor line used by the main control board to connect to the first motor extends into the support connecting arm to connect to the first motor; and the signal line used by the main control board to connect to the electronic device in the fixed seat enters the fixed seat via the main connecting arm without passing through the motor.

[0030] In summary, the number of cables passing through the motor in the gimbal in the optoelectronic pod provided by the present application is reduced, thereby reducing the rotational resistance of the motor and improving the rotational accuracy of the motor. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0032] Figure 1 A schematic diagram of the structure of an optoelectronic pod provided by an embodiment of the present invention;

[0033] Figure 2 Schematic diagram of some structures in the optoelectronic pod provided in the embodiment of the present invention Figure 1 ;

[0034] Figure 3 A partial cross-sectional view of an optoelectronic pod provided by an embodiment of the present invention;

[0035] Figure 4 A schematic diagram of the structure of a motor in an optoelectronic pod provided by an embodiment of the present invention;

[0036] Figure 5 A schematic structural diagram of a main connecting arm in an optoelectronic pod provided in an embodiment of the present invention;

[0037] Figure 6 A schematic diagram of the assembly of a main connecting arm and a supporting connecting arm in an optoelectronic pod provided in an embodiment of the present invention.

[0038] In the figure:

[0039] 10-pan head; 11-fixed seat; 12-first motor; 13-slip ring; 14-support connecting arm; 15-main connecting arm; 151-first arm body; 152-second arm body; 153-protection tube; 161-stator; 162-rotor; 163-motor drive plate; 164-connecting frame; 1641-connecting ring; 1642-support foot;

[0040] 20-bearing;

[0041] 30 - rotating cabin; 31 - middle frame; 32 - first shell; 33 - second shell. DETAILED DESCRIPTION

[0042] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0043] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0044] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0045] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside", etc. indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, or the positions or positional relationships in which the invention product is usually placed when in use. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the equipment or components referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", "third", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0046] In addition, the terms "horizontal", "vertical", "overhanging" and the like do not mean that the components are required to be absolutely horizontal or overhanging, but can be slightly tilted. For example, "horizontal" only means that its direction is more horizontal than "vertical", and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0047] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0048] Some embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0049] First embodiment

[0050] like Figure 1-Figure 6 As shown, an optoelectronic pod includes a pan-tilt head 10 and a rotating cabin body 30, wherein: the pan-tilt head 10 includes a fixed seat 11, a motor, a main connecting arm 15 and a supporting connecting arm 14, the main connecting arm 15 and the supporting connecting arm 14 are both provided with a cavity, one end of the main connecting arm 15 is connected to the fixed seat 11; the other end is rotatably connected to the rotating cabin body 30, one end of the supporting connecting arm 14 is connected to the main connecting arm 15, and the other end is rotatably connected to the rotating cabin body 30; the motor includes a first motor 12, and the first motor 12 is installed in the cavity of the supporting connecting arm 14.

[0051] The inner cavity of the rotating cabin 30 is provided with a main control board, and the main control board is electrically connected to the first motor 12 through a motor line; a signal line connected to the main control board passes through the inner cavity of the main connecting arm 15 to connect to the electronic device installed in the fixing seat 11.

[0052] Since the main control board is installed on the inner side of the rotating cabin 30 in the optoelectronic pod provided in the present embodiment, the connection line between the main control board and the optical device installed in the rotating cabin 30 does not need to pass through any motor, thus reducing the number of cables passing through the motor. The first motor 12 is installed on the supporting connecting arm 14, which is connected to the rotating cabin 30, so the motor line connected between the main control board and the first motor 12 directly extends from the rotating cabin 30 into the first motor 12, and the main connecting arm 15 is also connected to the active cabin. Therefore, on the one hand, the motor line connected between the main control board and the first motor 12 does not need to enter the main connecting arm 15, thus reducing the number of wires threaded in the main connecting arm 15. On the other hand, the connection line between the main control board and the electronic devices in the main connecting arm 15 or the electronic devices in the fixing seat 11 does not need to pass through the first motor 12, thereby reducing the number of wires threaded in the first motor 12, improving the rotation accuracy of the first motor 12, and avoiding signal interference to the first motor 12.

[0053] The pan head 10 includes a motor, which is used to drive the rotating cabin 30 to rotate along the axis of the motor. The number of motors in the pan head 10 is one, two, or more. When the number of motors is more than one, the multiple motors can be arranged in different directions to drive the rotating cabin 30 to rotate along the axis in different directions.

[0054] Taking the axis of the first motor 12 as the first axis, the first motor 12 is used to drive the rotating cabin 30 to rotate around the first axis. Specifically, the cavity of the supporting connecting arm 14 is connected to the inner cavity of the rotating cabin 30, and the first motor 12 is installed at one end of the cavity of the supporting connecting arm 14, and the first motor 12 is closer to the connection point between the supporting connecting arm 14 and the rotating cabin 30. On the one hand, such a configuration facilitates the rotational connection of the first motor 12 and the rotating cabin 30 to drive the rotating cabin 30 to rotate through the first motor 12; on the other hand, it makes the distance between the first motor 12 and the main control board closer, which is convenient for connecting the first motor 12 and the main control board through the motor line, and the minimum length of the required motor line can be shortened.

[0055] Furthermore, the motor also includes a second motor, the axis of the second motor is the second axis, the second axis is not parallel to the first axis, for example, perpendicular to each other, the second motor can be installed on the fixing seat 11, the second motor is connected to the main connecting arm 15, and the second motor drives the rotating cabin 30 to rotate around the second axis through the main connecting arm 15. The signal line connected to the main control board passes through the inner cavity of the main connecting arm 15 and then passes through the second motor and then extends into the fixing seat 11 to connect with the electronic device in the fixing seat 11. The motor line on the main control board used to connect to the second motor passes through the inner cavity of the main connecting arm 15 and then connects to the second motor.

[0056] Since the second motor is provided, the pan-tilt head 10 can drive the rotating cabin 30 to rotate around the first axis through the first motor 12, and can drive the rotating cabin 30 to rotate around the second axis through the second motor. That is, the pan-tilt head 10 can at least drive the rotating cabin 30 to rotate in two different dimensions. And since the second motor is installed on the supporting connecting arm 14, and the supporting connecting arm is connected to the main connecting arm 15, when the first motor 12 is running, the first motor 12 drives the main connecting arm 14, the supporting connecting arm 14, the second motor and the rotating cabin 30 to rotate around the second axis together. When the first motor 12 and the second motor are started respectively, the rotating cabin 30 can respectively realize the actions of rotating around the first axis and rotating around the second axis; when the first motor 12 and the second motor are both started, the rotating cabin 30 can simultaneously realize the actions of rotating around the first axis and rotating around the second axis.

[0057] Furthermore, the motor further comprises a third motor, and the rotating shaft of the third motor is the third axis. The first axis, the second axis and the third axis are not parallel. In a preferred embodiment, the first axis, the second axis and the third axis are perpendicular to each other. In other words, the first axis, the second axis and the third axis are parallel to the X axis, the Y axis and the Z axis in the spatial coordinate system, respectively.

[0058] In this configuration, the first motor 12 is directly connected to the rotating cabin 30, and the first motor 12 drives the rotating cabin 30 to rotate around the first axis; since the third motor is connected to the first motor 12 through the second arm 152, the third motor drives the first motor 12 and the rotating cabin 30 to rotate around the third axis through the second arm 152; similarly, since the second motor is connected to the third motor through the first arm 151, the second motor can drive the third motor, the second arm 152, the first motor 12 and the rotating cabin 30 to rotate around the first axis through the first arm 151. The first motor 12, the second motor and the third motor cooperate to realize the rotation of the rotating cabin 30 in three different dimensions.

[0059] The main connecting arm 15 includes a first arm body 151, a second arm body 152 and a protective tube 153. The protective tube 153 is fixedly connected to the fixing seat 11, and the protective tube 153 is rotatably connected to the first arm body 151; one end of the first arm body 151 is transmission-connected to the second motor, and the other end is installed with a third motor; the second arm body 152 is rotationally connected to the first arm body 151, and is transmission-connected to the third motor, the second arm body 152 is rotatably connected to the rotating cabin, and is fixedly connected to the supporting connecting arm 14. The third motor drives the rotating cabin body 30 to rotate around the third axis through the second arm body 152.

[0060] Since the protective tube 153 is fixedly connected to the fixing seat 11, and the first arm 151 is rotationally connected to the protective tube 153, the protective tube 153 provides a larger installation space for the first arm 151, so that the first arm 151 can achieve a relative rotation connection with the fixing seat 11. And the protective tube 153 provides a certain limit effect and a certain degree of support and fixing effect for the first arm 151. The arrangement of the first arm 151 and the second arm 152 enables the third motor to drive the rotating cabin 30 to rotate in a third different direction relative to the first arm 151 and the second motor connected thereto, the fixing seat 11 and other structures through the second arm 152.

[0061] Specifically, the first arm 151 is a bent structure, which includes a first pipe segment, a second pipe segment and a third pipe segment, and the first pipe segment, the second pipe segment and the third pipe segment can be an integral structure. The two ends of the second pipe segment are respectively connected to the first pipe segment and the third pipe segment, and the length direction of the first pipe segment is perpendicular to the length direction of the second pipe segment, and the length direction of the first pipe segment is parallel to the length direction of the third pipe segment. The protective tube 153 is coaxially arranged with the first pipe segment, one end of the first pipe segment is connected to the second pipe segment, and the other end extends into the protective tube 153 to be connected to the second motor transmission, and the outer wall of the first pipe segment is rotatably connected to the inner wall of the protective tube 153 through the bearing 20. Further, a first sealing structure is arranged between the first pipe segment and the protective tube 153, and the first sealing structure can be a sealing ring.

[0062] Preferably, if Figure 3 As shown, the optoelectronic pod is also provided with a slip ring 13 and a slip ring signal adapter plate. The slip ring 13 is located between the second motor and the third motor, and the slip ring 13 is coaxially arranged with the rotor of the second motor. The slip ring signal adapter plate is installed between the slip ring 13 and the third motor. Specifically, the slip ring signal adapter plate is installed in the cavity of the first arm body 151; the slip ring 13 is coaxially arranged with the rotor of the second motor, and the signal line connected to the main control board and the motor line used to connect to the second motor are connected to the slip ring 13 through the slip ring signal adapter plate, and are correspondingly connected to the second motor and the electronic components in the fixing seat 11 after being transferred through the slip ring 13.

[0063] Specifically, the slip ring 13 is installed in the cavity of the first pipe section of the first arm 151, the slip ring signal adapter board is installed in the cavity of the second pipe section, and the slip ring 13 is located between the second motor and the slip ring signal adapter board.

[0064] Specifically, the signal line between the main control board and the electronic devices in the slip ring signal adapter board is an ultra-fine coaxial line. Since the ultra-fine coaxial line is used to transmit video signals and control signals, the electromagnetic shielding effect of the signal can be improved. In addition, since the ultra-fine coaxial line is soft and has a small wire diameter, even if part of the signal line needs to pass through the motor, it will have less impact on the rotation accuracy of the motor.

[0065] A slip ring 13 is provided between the second motor and the third motor to realize the transmission of the signal line and avoid the signal line from being entangled during the rotation of the motor. The slip ring signal adapter plate is located between the slip ring 13 and the third motor and is used to transfer the signal of the signal line.

[0066] Furthermore, in this embodiment, if Figure 4As shown, the motor includes a stator 161, a rotor 162 and a motor drive board 163, the stator 161 is sleeved on the rotor 162, the motor drive board 163 is installed on the stator 161, and the motor has a first wire-passing cavity, the first wire-passing cavity runs through the mutually sleeved rotor 162 and the stator 161, and the motor wire connected to the main control board passes through the first wire-passing cavity to be electrically connected to the motor drive board 163. The setting of the first wire-passing cavity facilitates the threading of the cable, avoids the setting of the cable outside the motor to affect the torque and rotation accuracy of the motor, and is conducive to connecting the motor wire with the motor drive board 163 in the motor.

[0067] Furthermore, a second wire-passing cavity is provided on the motor drive board 163, and the second wire-passing cavity runs through the motor drive board 163, and the first wire-passing cavity is connected to the second wire-passing cavity, and the signal line connected to the main control board can pass through the first wire-passing cavity and the second wire-passing cavity in sequence. The provision of the first wire-passing cavity and the second wire-passing cavity is conducive to the layout of cables that need to pass through the entire motor, so that the cables can be laid through the motor through the first wire-passing cavity and the second wire-passing cavity. On the one hand, it avoids the influence of the torque of the motor when the cables are laid outside the motor, and on the other hand, it enables the device using the motor to use the internal space of the motor for wiring, so that the wiring is more reasonable and the structure is more compact. Furthermore, the first wire-passing cavity and the second wire-passing cavity are coaxially arranged, so that the cables can be laid through the motor in a straight line directly through the first wire-passing cavity and the second wire-passing cavity without bending.

[0068] Please continue reading Figure 4 Preferably, the motor drive board 163 is connected to the stator 161 through a connecting frame 164, and the connecting frame 164 includes two connecting rings 1641 and a plurality of supporting legs 1642, each supporting leg 1642 is installed between the two connecting rings 1641 so that there is a certain gap between the two connecting rings 1641, one connecting ring 1641 is connected to the stator 161, and the other connecting ring 1641 is connected to the motor drive board 163, so that the motor drive board 163 is connected to the stator 161 and a certain distance is maintained between the motor drive board 163 and the stator 161, so as to facilitate heat dissipation of the motor drive board 163.

[0069] Optionally, the first motor 12 , the second motor and the third motor are all of the structures of the motors described above.

[0070] Take the second motor as an example. Figure 3As shown, the stator 161, rotor 162, motor drive plate 163 and connecting frame 164 of the second motor are all coaxially arranged, the rotor 162 is installed on the inner side of the stator 161, one end of the first arm 151 extends into the rotor 162 from one side and is connected to the rotor 162, and a connecting frame 164 is installed on the other side, a connecting ring of the connecting frame 164 is sleeved on the outer side of the stator 161, and the other connecting ring is used to install the motor drive plate 163, so that there is a certain gap between the motor drive plate 163 and the stator 161.

[0071] When the pan / tilt head 10 is provided with three motors, the main control board is connected with three motor wires correspondingly, so as to be connected with the first motor 12, the second motor and the third motor respectively. For the convenience of description, the three motor wires are respectively referred to as the first motor wire, the second motor wire and the third motor wire. The main control board is connected with the first motor wire, and the first motor wire extends into the first wire cavity of the first motor 12 to be electrically connected with the motor drive board of the first motor 12. The main control board is connected with the second motor wire, and the main control board is connected with the third motor wire, and the second motor wire and the third motor wire both extend into the cavity of the main connecting arm 15, and the third motor wire extends into the first wire cavity of the third motor installed on the first arm body 151 after passing through the second arm body 152 of the main connecting arm 15, so as to be electrically connected with the motor drive board of the third motor. The second motor wire passes through the third motor and enters the cavity of the first arm body 151 after passing through the second arm body 152, and extends into the first wire cavity of the second motor after extending along the cavity of the first arm body 151, so as to be electrically connected with the second motor. The signal line connected to the main control board passes through the inner cavity of the second arm body 152 and then passes through the first wire passing cavity and the second wire passing cavity of the second motor to extend into the first arm body 151, and is connected to the slip ring signal adapter board in the first arm body 151, and is connected to the slip ring 13 through the adapter of the slip ring signal adapter board, and is connected to the electronic device in the fixed seat 11 after the adapter of the slip ring 13.

[0072] Preferably, the first motor 12 , the second motor and the third motor may all be equipped with built-in photoelectric encoders.

[0073] In the optoelectronic pod provided in this embodiment, the main connecting arm 15 includes a main body and a cover body. The cavity of the main connecting arm 15 is arranged in the main body. The two ends of the cavity are respectively connected with the fixed seat 11 and the rotating cabin body 30. The cover body covers the side of the cavity, and the cover body and the main body are detachably connected.

[0074] Furthermore, the branch connecting arm 14 also includes a main body and a cover body. To facilitate distinguishing the main body and the cover body of the main connecting arm 15 and the branch connecting arm 14, the main body and the cover body of the main connecting arm 15 are respectively referred to as the first main body and the first cover body, and the main body and the cover body of the branch connecting arm 14 are respectively referred to as the second main body and the second cover body.

[0075] The cavity of the main connecting arm 15 is arranged in the first body, and the cavity of the branch connecting arm 14 is arranged in the second body. The cavity has a connecting port and a side opening, and the signal line or the motor line extends into or extends into the corresponding cavity through the connecting port. The first body covers the side opening of the cavity of the first body, and the second body covers the side opening of the cavity of the second body. The first body and the first cover body are detachably connected, and the second body and the second cover body are detachably connected. The setting of the first cover body facilitates the installation or maintenance of the signal line, motor line passing through the main connecting arm 15 or the slip ring signal adapter board installed in the cavity of the first body. The setting of the second cover body facilitates the installation or maintenance of the first motor 12.

[0076] Further, a second sealing structure is provided between the first body and the first cover body, and between the second body and the second cover body. The second sealing structure may be a sealing ring, and the second sealing structure can improve the sealing performance of the cavity of the main connecting arm 15, and improve the sealing performance of the cavity of the branch connecting arm 14. The first body and the first cover body, and the second body and the second cover body can be connected by screws.

[0077] In order to facilitate the connection with the branch connecting arm 14 and the main connecting arm 15, in a preferred embodiment, the rotating cabin 30 is provided with two adapter tubes, the two adapter tubes are respectively connected to the outer side wall of the rotating cabin 30, and the barrel cavity of each adapter tube is respectively communicated with the inner cavity of the rotating cabin 30; the main connecting arm 15 and the branch connecting arm 14 are respectively provided with adapter holes, one of which extends into the adapter hole of the main connecting arm 15, and the other adapter tube extends into the adapter hole of the branch connecting arm 14, and each adapter tube is rotatably connected to the corresponding main connecting arm 15 or branch connecting arm 14 through a bearing 20. The provision of the adapter tube increases the connection area between the rotating cabin 30 and the branch connecting arm 14, and increases the connection area between the rotating cabin 30 and the main connecting arm 15, and improves the connection strength between the rotating cabin 30 and the branch connecting arm 14 and between the rotating cabin 30 and the main connecting arm 15. In addition, a space for installing the bearing 20 is increased between the rotating cabin 30 and the support connecting arm 14, and a space for installing the bearing 20 is increased between the rotating cabin 30 and the main connecting arm 15. The rotating cabin 30 and the main connecting arm 15, and the rotating cabin 30 and the support connecting arm 14 are connected by the bearing 20, which can improve the smoothness during the relative rotation of the rotating cabin 30 and the main connecting arm 15, and the rotating cabin 30 and the support connecting arm 14.

[0078] A mounting frame is provided in the rotating cabin 30, and the mounting frame is detachably connected to the rotating cabin 30. A plurality of optical devices are installed on the mounting frame, and the main control board is installed on the mounting frame through the main control board fixing frame, and the main control board is electrically connected to each optical device through a signal line. The setting of the mounting frame, on the one hand, makes the optical device relatively fixed to the main control board fixing frame, that is, makes the optical device relatively fixed to the main control board, and on the other hand, facilitates the fixing of the optical device and the main control board in the rotating cabin 30. Since the mounting frame is detachably connected to the rotating cabin 30, during the assembly process, the installation operation of the optical device, the main control board and the mounting frame can be performed outside the rotating cabin 30, and the operation space is large, which is convenient for assembly.

[0079] Specifically, the main control board fixing frame includes a first clamping plate and a second clamping plate, the main control board is clamped between the first clamping plate and the second clamping plate, and the first clamping plate, the second clamping plate and the mounting frame are fixed by bolts.

[0080] Furthermore, if Figure 1 As shown, the rotating cabin includes a middle frame 31, a first shell 32 and a second shell 33. The first shell 32 and the second shell 33 are detachably installed on the opposite sides of the middle frame 31, respectively. The main connecting arm 15 and the supporting connecting arm 14 are respectively rotatably connected to the middle frame 31, and the motor in the supporting connecting arm 14 is transmission-connected to the middle frame 31; that is, the two adapter tubes are respectively connected to the opposite sides of the middle frame 31.

[0081] Furthermore, the mounting frame is detachably connected to the middle frame 31. Specifically, the mounting frame is located on the inner side of the middle frame 31 and is connected to the inner wall of the middle frame 31. For example, the mounting frame and the middle frame 31 can be connected by bolts. With such a configuration, the first shell 32 or the second shell 33 can be opened to expose the mounting frame installed on the middle frame 31, as well as the optical devices and the main control board installed on the mounting frame, so as to facilitate the plug-in operation and the subsequent repair and maintenance operations on the rotating cabin 30. Installation and maintenance operations can be performed from both the side of the first shell 32 and the side of the second shell 33, and during the plug-in or installation and maintenance process, the relative positions of the optical devices, the middle frame 31, and the main control board can be kept unchanged, without the need for re-alignment and secondary adjustment of the optical axis of the optical device.

[0082] A third sealing structure is provided between the first shell 32 and the middle frame 31, and between the second shell 33 and the middle frame 31. The third sealing structure is used to seal between the first shell 32 and the middle frame 31, and between the second shell 33 and the middle frame 31, so as to improve the sealing performance of the rotating cabin 30 and prevent dust, water vapor, salt spray, etc. from entering the interior of the rotating cabin 30.

[0083] A fourth sealing structure is provided between the adapter tube and the branch connecting arm 14 and between the adapter tube and the main connecting arm 15. The fourth sealing structure may be a sealing ring, or a combination of a sealing ring and a labyrinth seal.

[0084] For example, in a feasible implementation, between the adapter tube and the supporting connecting arm 14 that are rotatably connected to each other, a first sealing ring is sleeved on the outer side of the adapter tube, the first sealing ring is located between the adapter tube and the supporting connecting arm 14, and the adapter tube and the supporting connecting arm 14 are rotatably connected through a bearing 20. A labyrinth seal is provided between the adapter tube and the first motor 12, and the labyrinth seal is sleeved on the adapter tube, one end of the labyrinth seal contacts the first motor 12, and the other end face contacts the end face of the bearing 20 sleeved on the adapter tube.

[0085] Between the adapter tube and the second arm body 152 of the main connecting arm 15 which are rotatably connected to each other, a second sealing ring is sleeved on the outer side of the adapter tube, the second sealing ring is located between the adapter tube and the second arm body 152, and the adapter tube and the second arm body 152 are rotatably connected through a bearing 20.

[0086] The main control board is installed inside the rotating cabin 30. Specifically, the rotating cabin 30 has a first side wall and a second side wall that are arranged opposite to each other, wherein the first side wall is rotationally connected to the main connecting arm 15, and the second side wall is rotationally connected to the supporting connecting arm 14. The shortest straight-line distance between the main control board and the first side wall is smaller than the shortest straight-line distance between the main control board and the second side wall, that is, the distance between the main control board and the first side wall is closer, and the distance between the main control board and the second side wall is relatively farther. Since the first side wall is rotationally connected to the main connecting arm 15, the installation position of the main control board is closer to the connecting port between the rotating cabin 30 and the main connecting arm 15, so that it is convenient to extend the signal line connected to the main control board into the main connecting arm 15, which is convenient for wiring and can reduce the length of the signal line.

[0087] One, two or more optical devices are installed on the mounting frame, and correspondingly, one, two or more photoelectric connectors are arranged on the main control board, and the photoelectric connectors are used for signal connection with the optical devices through signal lines.

[0088] In a feasible implementation, the optical device includes a visible light module. Correspondingly, the photoelectric connector includes a visible light connector, the main control board is installed next to the visible light module, and the main control board is connected to the visible light module through the visible light connector; specifically, one end of the signal line is inserted into the visible light connector, and the other end is connected to the visible light core in the visible light module.

[0089] Furthermore, the optical device may also include an infrared module and a laser ranging module. In this case, the photoelectric connector includes an infrared connector for connecting the infrared module and a laser ranging connector for connecting the laser ranging module.

[0090] Preferably, the visible light connector and the laser ranging connector can be integrated into the same connector, that is, the visible light / laser ranging connector, and the main control board transmits signals with the visible light module and the laser ranging module respectively through the visible light / laser ranging connector.

[0091] Specifically, the visible light module includes a visible light lens and a visible light core connected to each other, the infrared module includes an infrared lens and an infrared core connected to each other; and the laser ranging module includes a laser ranging lens and a laser ranging core.

[0092] Furthermore, a power connector is also provided on the main control board, and the power connector is used to connect the power line. Such a configuration enables the power line and the signal line connected to the main control board to realize split transmission, thereby avoiding signal interference caused by the power supply.

[0093] Furthermore, a motor connector is provided on the main control board, and the motor connector is used to connect the motor wire so that the main control board is connected to the motor.

[0094] Specifically, when the motor includes a first motor 12, a second motor and a third motor, the main control board is provided with a first motor 12 connector, a second motor connector and a third motor connector. The first motor 12 connector is used to connect the motor wire so that the main control board is electrically connected to the first motor 12, the second motor connector is used to connect the motor wire so that the main control board is electrically connected to the second motor, and the third motor connector is used to connect the motor wire so that the main control board is electrically connected to the third motor.

[0095] Preferably, the first motor 12 connector is used to connect the motor line to electrically connect the main control board to the first motor 12, the shortest straight-line distance between the first motor 12 connector and the second side wall is a, and the shortest straight-line distance between the first motor 12 connector and the first side wall is b, and a<b. In other words, the installation position of the first motor 12 connector on the main control board is closer to the first motor 12, so as to facilitate the connection of the first motor 12 and the first motor 12 connector through the motor line. Such a setting, on the one hand, facilitates the rotational connection of the first motor 12 with the rotating cabin 30, so as to drive the rotating cabin 30 to rotate through the first motor 12; on the other hand, it makes the distance between the first motor 12 and the main control board closer, which is convenient for connecting the first motor 12 with the main control board through the motor line, and can shorten the minimum length of the required motor line.

[0096] In a feasible implementation, the main control board is integrated with an IMU (Inertial Measurement Unit) module, and / or the main control board is provided with an IMU connector.

[0097] That is to say, in one specific embodiment, the main control board is only integrated with an IMU module, but does not have an IMU connector. In another specific embodiment, the main control board is only provided with an IMU connector, but does not integrate an IMU module. Alternatively, in another specific embodiment, the main control board is integrated with both an IMU module and an IMU connector, so that when a problem occurs with the IMU module integrated in the main control board, an external IMU can be used as a temporary solution, so that the optoelectronic pod can continue to operate stably.

[0098] Preferably, an IMU module is integrated on the main control board, so that there is no need for an external IMU, which can reduce the number of wires in the rotating cabin 30, thereby reducing or even avoiding the impact on the accuracy of the main control board and improving the accuracy of the main control board.

[0099] If the main control board is integrated with an IMU module, and the IMU module includes a rectangular IMU chip module, isolation areas are respectively provided on the main control board along the four sides of the IMU chip module, and the isolation areas are not connected to each other in space, so as to isolate the external temperature and prevent the IMU chip module from deformation; the isolation areas and the space enclosed by the isolation areas are not covered with copper.

[0100] Specifically, the isolation area can be set as follows:

[0101] If the IMU chip module is arranged at the edge of the main control board, a corresponding isolation groove is arranged on the side of the IMU chip module that is not close to the edge, and the isolation groove and the edge of the main control board together constitute an isolation area arranged around the IMU chip module.

[0102] If the IMU chip module is not arranged at the edge of the main control board, isolation grooves are respectively arranged along the four sides of the IMU chip module, and the isolation grooves together constitute an isolation area arranged along the four sides of the IMU chip module.

[0103] The isolation groove passes through the main control board, or, if the isolation groove does not pass through the main control board, a heat insulating or wave absorbing material is arranged in the isolation groove.

[0104] Two different setting methods are provided above according to the different setting positions of the IMU chip module on the main control board, so as to achieve better isolation effect by using an isolation slot with a smaller total volume.

[0105] like Figure 2 As shown, in this embodiment, the optoelectronic pod includes a fixing seat 11, and electronic devices are installed in the fixing seat 11. For example, the electronic devices include a user interface board, that is, the user interface board is installed in the fixing seat 11, and a power line and a signal line are connected between the main control board and the user interface board. The power line is used to realize power supply between the main control board and the user interface board, and the signal line is used to realize communication between the main control board and the user interface board.

[0106] Furthermore, in an optional embodiment, the electronic device also includes a user signal adapter board, that is, a user signal adapter board is installed in the fixing seat 11, and the main control board is provided with an adapter board connector, and the main control board is connected to the user signal adapter board signal through the adapter board connector. Preferably, the adapter board connector faces the connection between the main connecting arm 15 and the rotating cabin body 30, so that the signal line connected to the adapter board connector can be easily extended into the main connecting arm 15. The user signal adapter board is used to convert the signal of the user interface board into a signal of other formats according to the requirements of the application scenario (such as long-distance communication). The setting of the user signal adapter board enables the signal of the user interface board to be converted into a signal of other formats to meet different usage requirements, thereby expanding the scope of use of the optoelectronic pod.

[0107] In summary, in this embodiment, the connector of the main control board includes at least:

[0108] An optical connector (such as a visible light connector, an infrared connector, a laser ranging connector) is used to receive a signal fed back by a corresponding optical device;

[0109] A power connector, used to connect a power cord;

[0110] The adapter board connector is used to realize signal connection with the user signal adapter board;

[0111] The motor connector is used to connect to the drive board of the motor to realize power supply and communication with the motor, thereby realizing motor control.

[0112] In a preferred implementation of this embodiment, the fixing seat 11 includes a fixing cabin and a third cover body, the fixing cabin has a receiving groove, and the third cover body can cover the opening of the receiving groove to seal the receiving groove. The third cover body and the fixing cabin are detachably connected, and can be specifically connected by screws. A fifth sealing structure is provided between the third cover body and the fixing cabin, and the fifth sealing structure can be a sealing ring.

[0113] Preferably, a plurality of shock absorbing structures are installed in the fixed cabin, and the shock absorbing structures may include air dampers. The connection point between the main connecting arm 15 and the fixed cabin is located in the middle area of ​​the fixed cabin, so that the signal line extends outward through the middle of the fixed cabin to connect with the electronic devices in the fixed cabin. The shock absorbing structures are evenly distributed in the edge area of ​​the fixed cabin. Shielding plates are respectively arranged at the four corners of the fixed cabin, and an installation space is formed between the shielding plates and the side walls of the fixed cabin. The installation space is used to install the air damper, and the shielding plates are used to metal-shield the air damper and other components in the fixed cabin. The shock absorbing structure is used to reduce the shock of the fixed seat 11. Since the optoelectronic pod is connected to the external device or platform through the fixed seat 11, the shock absorbing structure can reduce the shock between the fixed seat 11 and the external device or platform to reduce the vibration transmitted to the rotating cabin body 30 and improve the operating stability of the optical devices in the rotating cabin body 30.

[0114] Second embodiment

[0115] A carrier includes the optoelectronic pod provided by the first embodiment. Since the carrier includes the optoelectronic pod provided by the above technical solution, the carrier has all the advantages of the optoelectronic pod, which will not be described in detail here.

[0116] The transport equipment may specifically be a vehicle, a ship, an aircraft or the like.

[0117] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An optoelectronic pod, characterized in that: include: Pan / tilt and rotating cabin; The pan / tilt head comprises a fixing seat, a motor, a main connecting arm and a supporting connecting arm, wherein the main connecting arm and the supporting connecting arm are both provided with a cavity, one end of the main connecting arm is connected to the fixing seat; the other end is rotatably connected to the rotating cabin, one end of the supporting connecting arm is connected to the main connecting arm, and the other end is rotatably connected to the rotating cabin; the motor comprises a first motor, and the first motor is installed in the cavity of the supporting connecting arm; The inner cavity of the rotating cabin is provided with a main control board, and the main control board is electrically connected to the first motor through a motor line; a signal line connected to the main control board passes through the inner cavity of the main connecting arm to be connected to the electronic device installed in the fixing seat; The motor comprises a stator, a rotor and a motor drive board, wherein the stator is sleeved on the rotor, and the motor drive board is installed on the stator. The motor has a first wire-passing cavity, and the first wire-passing cavity passes through the mutually sleeved rotor and the stator. The motor wire connected to the main control board passes through the first wire-passing cavity to be electrically connected to the motor drive board. The first side wall of the rotating cabin is rotatably connected to the main connecting arm, and the second side wall of the rotating cabin opposite to the first side wall is rotatably connected to the supporting connecting arm; The shortest straight line distance between the main control board and the first side wall is smaller than the shortest straight line distance between the main control board and the second side wall.

2. The optoelectronic pod according to claim 1, characterized in that: The motor drive board is provided with a second wire passing cavity, the second wire passing cavity passes through the motor drive board, the first wire passing cavity is connected to the second wire passing cavity, and the signal line connected to the main control board can pass through the first wire passing cavity and the second wire passing cavity in sequence.

3. The optoelectronic pod according to claim 2, characterized in that: The motor includes a second motor, which is installed on the fixed seat and is transmission-connected to the main connecting arm. The signal line connected to the main control board passes through the inner cavity of the main connecting arm and then passes through the first wire passing cavity and the second wire passing cavity of the second motor to connect with the electronic device in the fixed seat.

4. The optoelectronic pod according to claim 1, characterized in that: The main control board is provided with a first motor connector, which is used to connect the motor line to electrically connect the main control board to the first motor. The shortest straight-line distance between the first motor connector and the second side wall is a, and the shortest straight-line distance between the first motor connector and the first side wall is b, and a<b.

5. The optoelectronic pod according to claim 1, characterized in that: A mounting frame is provided in the rotating cabin, the mounting frame is detachably connected to the rotating cabin, a plurality of optical devices are mounted on the mounting frame, the main control board is mounted on the mounting frame via a main control board fixing frame, and the main control board is electrically connected to each of the optical devices via a signal line.

6. The optoelectronic pod according to claim 1, characterized in that: The main control board is integrated with an IMU module, and / or the main control board is provided with an IMU connector, and the IMU connector is located on a side of the main control board facing the first side wall; If the main control board is integrated with the IMU module, and the IMU module includes a rectangular IMU chip module, isolation areas are respectively provided on the main control board along the four sides of the IMU chip module, and the isolation areas are not connected to each other in space, so as to isolate the external temperature and prevent the IMU chip module from deformation; the isolation areas and the space enclosed by the isolation areas are not covered with copper.

7. The optoelectronic pod according to claim 6, characterized in that: If the IMU chip module is arranged at the edge of the main control board, a corresponding isolation groove is arranged on the side of the IMU chip module that is not close to the edge, and the isolation groove and the edge of the main control board together constitute the isolation area arranged around the IMU chip module; If the IMU chip module is not arranged at the edge of the main control board, isolation grooves are respectively arranged along the four sides of the IMU chip module, and the isolation grooves together constitute the isolation area arranged along the four sides of the IMU chip module; Wherein, the isolation groove passes through the main control board, or, if the isolation groove does not pass through the main control board, a heat insulating or wave absorbing material is arranged in the isolation groove.

8. The optoelectronic pod according to claim 1, characterized in that: A user signal adapter board is installed in the fixing seat, and the main control board is provided with an adapter board connector. The main control board is connected to the user signal adapter board signal through the adapter board connector, and the adapter board connector faces the connection point between the main connecting arm and the rotating cabin.

9. The optoelectronic pod according to claim 1, characterized in that: A plurality of shock-absorbing structures are installed inside the fixed seat, and the plurality of shock-absorbing structures are evenly distributed in the edge area of ​​the fixed seat; the shock-absorbing structure includes an air damper, the main connecting arm is rotatably connected to the middle area of ​​the fixed seat, a user signal adapter plate is installed in the fixed seat, and the user signal adapter plate is arranged close to the main connecting arm, and a shielding plate is arranged in the fixed seat, and the shielding plate is used to separate the user signal adapter plate and the air damper.

10. The optoelectronic pod according to claim 3, characterized in that: The motor also includes a third motor, and the main connecting arm includes a first arm body, a second arm body and a protective tube; the protective tube is fixedly connected to the fixing seat, and the protective tube is rotatably connected to the first arm body; one end of the first arm body is transmission-connected to the second motor, and the other end is equipped with the third motor; the second arm body is rotationally connected to the first arm body and transmission-connected to the third motor, the second arm body is rotationally connected to the rotating cabin, and fixedly connected to the supporting connecting arm.

11. The optoelectronic pod according to claim 10, characterized in that: The pan / tilt head further includes a slip ring and a slip ring signal adapter plate. The slip ring is located between the second motor and the third motor, and the slip ring is coaxially arranged with the rotor of the second motor. The slip ring signal adapter plate is installed between the slip ring and the third motor. The signal line connected to the main control board and the motor line used to connect to the second motor are connected to the slip ring through the slip ring signal adapter plate, and are correspondingly connected to the second motor and the electronic components in the fixing seat after being transferred through the slip ring.

12. The optoelectronic pod according to claim 1, characterized in that: The main connecting arm includes a main body and a cover body. The cavity of the main connecting arm is arranged in the main body. The two ends of the cavity are respectively connected with the fixing seat and the rotating cabin body. The cover body covers the side of the cavity. The cover body and the main body are detachably connected.

13. The optoelectronic pod according to claim 1, characterized in that: The rotating cabin body is provided with two adapter tubes, and the two adapter tubes are respectively connected to the outer side walls of the rotating cabin body, and the tube cavity of each adapter tube is respectively connected to the inner cavity of the rotating cabin body; the main connecting arm and the branch connecting arm are respectively provided with adapter holes, one of the adapter tubes extends into the adapter hole of the main connecting arm, and the other adapter tube extends into the adapter hole of the branch connecting arm, and each adapter tube is rotatably connected to the corresponding main connecting arm or the branch connecting arm through a bearing.

14. The optoelectronic pod according to claim 5, characterized in that: The rotating cabin includes a middle frame, a first shell and a second shell. The first shell and the second shell are detachably installed on opposite sides of the middle frame. The main connecting arm and the supporting connecting arm are rotatably connected to the middle frame respectively. The motor in the supporting connecting arm is transmission-connected to the middle frame. The mounting frame is detachably connected to the middle frame.

15. A transport device, characterized in that: Comprising the optoelectronic pod as described in any one of claims 1-14.

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