A precision guidance device with self-feedback

Abstract

The present invention relates to a precision guiding device with self-feedback, comprising a main frame, an intermediate frame, an inner frame and an optical imaging assembly, wherein the intermediate frame is located inside the main frame, the inner frame is located inside the intermediate frame, the optical imaging assembly is installed inside the inner frame and moves synchronously with the inner frame; the intermediate frame pitches and swings relative to the main frame, and the inner frame swings left and right relative to the intermediate frame; two gyroscopes are installed on the optical imaging assembly to detect the angles in the pitch direction and left and right directions respectively, and the intermediate frame and the inner frame are respectively installed with a pitch angle sensor and an azimuth angle sensor to detect the pitch motion angle of the intermediate frame and the left and right motion angle of the inner frame. Beneficial effects: improving the space utilization rate of the optical cabin and increasing the light aperture of the optical imaging assembly; reducing the dependence on the adjustment accuracy and improving the transmission life; adopting closed-loop control, the swing angle can be fed back in real time and adjusted according to the image observation needs, and the tracking accuracy is extremely high.

Description

Technical Field

[0001] The present invention relates to an optical lens driving device, in particular to a precision guiding device with self-feedback. Background Art

[0002] When tracking and aiming at targets, optoelectronic pods, unmanned aerial vehicles, weapon firing guidance devices and other equipment are very likely to lose the target because the target position information changes in real time and is limited by the field of view angle of the optical imaging component. The precision guidance device with self-feedback can adjust the azimuth and pitch angle of the optical imaging component in real time according to the target changes, firmly lock the target and prevent the target from leaving the field of view, greatly improving the efficiency of search, tracking and attack. In the existing technology: (1) the pitch mechanism is placed in front, which squeezes the space of the optical imaging component, resulting in a smaller aperture of the optical imaging component, which in turn affects the light energy, image quality, detection distance, etc.; (2) when the two frames are driven to rotate, a parallelogram mechanism is required to ensure that the two frames always remain parallel during rotation. This places high precision requirements on the installation and assembly of the connecting rods and connectors, making it unsuitable for mass production. At the same time, the more transmission mechanisms there are, the worse the reliability; (3) there is no gyroscope, and only the angle sensor is used to transmit azimuth and pitch information. In principle, it is essentially a semi-closed loop control, and the accuracy is not as high as that of closed loop control. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to provide a precision guiding device with self-feedback to solve the above problems.

[0004] The technical solution of the present invention to solve the above-mentioned technical problems is as follows: A precision guiding device with self-feedback, comprising a main frame, an intermediate frame, an inner frame and an optical imaging assembly, wherein the intermediate frame is located within the main frame, the inner frame is located within the intermediate frame, and the optical imaging assembly is installed within the inner frame and moves synchronously with the inner frame; a pitch motor assembly is provided on the main frame, a transmission device is provided between the pitch motor assembly and the intermediate frame, the pitch motor assembly drives the intermediate frame to pitch and swing relative to the main frame through the transmission device, an azimuth motor assembly is installed on the top of the intermediate frame to drive the inner frame to swing left and right relative to the intermediate frame; two gyroscopes are installed on the optical imaging assembly to respectively detect the angles in the pitch direction and the left and right directions and transmit feedback signals, a pitch angle sensor and an azimuth angle sensor are respectively installed on the intermediate frame and the inner frame to respectively detect the pitch movement angle of the intermediate frame and the left and right movement angle of the inner frame and transmit feedback signals.

[0005] The beneficial effects of the present invention are as follows: (1) the pitch transmission mechanism adopts a structural layout in which the motor is placed at the rear and the connecting rod transmits the torque to the front optical cabin, which effectively improves the space utilization of the optical cabin and greatly increases the light aperture of the optical imaging component; (2) it avoids the problems of low precision and poor reliability of the parallelogram connecting rod transmission and adopts a double-connecting rod transmission, which reduces the dependence on the installation accuracy and improves the transmission life; (3) it adopts closed-loop control: the azimuth gyroscope and the pitch gyroscope are directly installed in the azimuth and pitch directions of the optical imaging component, without any transmission error accumulation, and can provide real-time feedback on the swing angle and adjust it according to the image observation needs, with extremely high tracking accuracy.

[0006] On the basis of the above technical solution, the present invention can also be improved as follows.

[0007] Furthermore, two connecting seats are symmetrically provided on one side of the main frame, and each connecting seat is provided with a connecting seat through hole. Two pitch rotation axes corresponding to the connecting seat through holes are symmetrically provided on the two outer sides of the intermediate frame, and the pitch rotation axes are embedded in and rotatably connected to the corresponding connecting seat through holes; the pitch rotation axes are located in the middle of the intermediate frame and the central axis thereof is horizontally arranged.

[0008] The beneficial effect of adopting this further solution is that the pitch axis rotates within the through-hole of the connecting base, allowing the intermediate frame to tilt and swing on the main frame to adjust the pitch angle of the optical imaging assembly. Obviously, preferably, a bearing is provided between the pitch axis and the through-hole of the connecting base to ensure smoother and more stable rotation. This structure of the intermediate frame embedded within the main frame is more compact than the parallel arrangement of the frames commonly used in the prior art.

[0009] Furthermore, the pitch motor assembly includes a pitch motor frame, a pitch motor and a swing arm, the pitch motor frame is fixedly connected to a side of the main frame away from the intermediate frame, the pitch motor is fixedly connected to one side of the pitch motor frame and its motor shaft passes through the pitch motor frame, the middle part of the swing arm is fixedly connected to the motor shaft protruding end of the pitch motor frame, and the pitch motor frame drives the swing arm to rotate around the central axis of the motor shaft of the pitch motor frame.

[0010] The beneficial effect of adopting the above further solution is that the pitch motor drives the swing arm to rotate around the central axis of the motor shaft of the pitch motor frame, providing a power basis for the swing arm to transmit power to the intermediate frame in the next step.

[0011] Furthermore, the transmission device includes two connecting rods and connecting blocks, each of which is in one-to-one correspondence. The two connecting blocks are symmetrically fixed to one side of the intermediate frame with the central axis of the pitch axis as the symmetry axis. One end of the two connecting rods is respectively hinged to the two ends of the swing rod, and the other end of the two connecting rods is respectively hinged to the two connecting blocks.

[0012] The beneficial effect of adopting the above-mentioned further scheme is that the swing of the swing arm is transmitted to the connecting block through the connecting rod, driving the pitch swing of the intermediate frame. Such a structure does not require the two connecting rods to be parallel, nor does it require a parallelogram connecting rod mechanism to achieve the pitch swing of the intermediate frame. The two frames do not need to remain parallel during the swing, and the requirements for processing and installation precision are lower, making it easier to implement.

[0013] Furthermore, a rotating base is provided at the bottom of the intermediate frame, a rotating base through hole is opened on the rotating base, and an azimuth motor connecting seat and an azimuth rotating shaft are respectively provided at the top and bottom of the inner frame. The rotating part of the azimuth motor assembly passes through the top of the intermediate frame and is fixedly connected to the top of the azimuth motor connecting seat, and the azimuth rotating shaft is embedded in and rotatably connected to the rotating base through hole.

[0014] The beneficial effect of adopting the above-mentioned further scheme is that the azimuth motor assembly drives the inner frame to swing left and right through the azimuth motor connecting seat, and the azimuth shaft rotates in the through hole of the rotating base; the inner frame will also swing up and down along with the middle frame, without the need for a parallelogram structure that is difficult to process and assemble accurately. Obviously, preferably, a bearing is provided between the azimuth shaft and the through hole of the rotating base to ensure smooth and stable rotation.

[0015] Furthermore, the pitch angle sensor is installed at the end of one of the pitch rotation axes.

[0016] The beneficial effect of adopting the above further solution is to detect the pitch motion angle of the intermediate frame and transmit a feedback signal to the control system.

[0017] Furthermore, the azimuth angle sensor is installed at the end of the azimuth rotation shaft.

[0018] The beneficial effect of adopting the above further solution is to detect the azimuth movement angle of the inner frame and transmit a feedback signal to the control system. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a structural schematic diagram of a precision guiding device with self-feedback provided by the present invention;

[0020] Figure 2 for Figure 1 A schematic structural diagram of the back side of a precision guidance device with self-feedback is shown;

[0021] Figure 3 for Figure 1 An exploded view of a precision guide device with self-feedback is shown;

[0022] Figure 4 for Figure 3An exploded view of the other side of a precision guide device with self-feedback is shown.

[0023] In the accompanying drawings, the components represented by the reference numerals are as follows:

[0024] 1. Main frame, 11. Connecting seat, 12. Connecting seat through hole, 2. Intermediate frame, 21. Pitch axis, 22. Connecting block, 23. Rotating base, 24. Rotating base through hole, 3. Inner frame, 31. Azimuth axis, 32. Azimuth motor connecting seat, 4. Optical imaging assembly, 5. Azimuth motor assembly, 6. Pitch motor assembly, 61. Pitch motor frame, 62. Pitch motor, 63. Swing rod, 7. Connecting rod, 8. Pitch angle sensor, 81. Azimuth angle sensor, 9. Gyroscope. DETAILED DESCRIPTION

[0025] The principles and features of the present invention are described below with reference to the accompanying drawings. The examples given are only used to explain the present invention and are not used to limit the scope of the present invention.

[0026] like Figure 1-4 As shown, a precision guiding device with self-feedback includes a main frame 1, an intermediate frame 2, an inner frame 3 and an optical imaging assembly 4, wherein the intermediate frame 2 is located in the main frame 1, the inner frame 3 is located in the intermediate frame 2, and the optical imaging assembly 4 is installed in the inner frame 3 and moves synchronously with the inner frame 3; a pitch motor assembly 6 is provided on the main frame 1, a transmission device is provided between the pitch motor assembly 6 and the intermediate frame 2, the pitch motor assembly 6 drives the intermediate frame 2 to pitch and swing relative to the main frame 1 through the transmission device, and an azimuth motor assembly 5 is installed on the top of the intermediate frame 2 to drive the inner frame 3 to swing left and right relative to the intermediate frame 2; two gyroscopes 9 are installed on the optical imaging assembly 4 to respectively detect the angles in the pitch direction and the left and right directions and transmit feedback signals, and a pitch angle sensor 8 and an azimuth angle sensor 81 are respectively installed on the intermediate frame 2 and the inner frame 3 to respectively detect the pitch movement angle of the intermediate frame 2 and the left and right movement angle of the inner frame 3 and transmit feedback signals.

[0027] Two connecting seats 11 are symmetrically provided on one side of the main frame 1, and a connecting seat through hole 12 is provided on each of the connecting seats 11. Two pitch rotation axes 21 corresponding to the connecting seat through holes 12 are symmetrically provided on the two outer sides of the intermediate frame 2. The pitch rotation axes 21 are embedded in and rotatably connected to the corresponding connecting seat through holes 12; the pitch rotation axes 21 are located in the middle of the intermediate frame 2 and the central axis thereof is arranged horizontally. The pitch rotation axis 21 rotates in the connecting seat through hole 12, so that the intermediate frame 2 can pitch and swing on the main frame 1 to adjust the angle of the optical imaging assembly 4 in the pitch direction. Obviously, preferably, a bearing is provided between the pitch rotation axis 21 and the connecting seat through hole 12 to make the rotation smoother and more stable; this structure in which the intermediate frame 2 is embedded in the main frame 1 is more compact than the parallel-arranged frames commonly used in the prior art.

[0028] The pitch motor assembly 6 includes a pitch motor frame 61, a pitch motor 62, and a swing arm 63. The pitch motor frame 61 is fixedly connected to a side of the main frame 1 away from the intermediate frame 2. The pitch motor 62 is fixedly connected to a side of the pitch motor frame 61, and its motor shaft passes through the pitch motor frame 61. The middle portion of the swing arm 63 is fixedly connected to the motor shaft protruding end of the pitch motor frame 61. The pitch motor frame 61 drives the swing arm 63 to rotate around the central axis of the motor shaft of the pitch motor frame 61. The pitch motor 62 drives the swing arm 63 to rotate around the central axis of the motor shaft of the pitch motor frame 61, providing a power foundation for the swing arm 63 to transmit power to the intermediate frame 2 in the next step.

[0029] The transmission device includes two connecting rods 7 and connecting blocks 22, each of which is provided with two corresponding connecting rods. The two connecting blocks 22 are symmetrically fixed to one side of the intermediate frame 2 with the central axis of the pitch rotation axis 21 as the axis of symmetry. One end of the two connecting rods 7 is respectively hinged to the two ends of the swing rod 63, and the other end of the two connecting rods 7 is respectively hinged to the two connecting blocks 22. The swing of the swing rod 63 is transmitted to the connecting block 22 through the connecting rod 7, driving the intermediate frame 2 to pitch. This structure does not require the two connecting rods 7 to be parallel, nor does it require a parallelogram linkage mechanism to achieve the pitch swing of the intermediate frame 2. The two frames do not need to remain parallel at all times during swinging, and the processing and installation precision requirements are lower, making it easier to implement.

[0030] The bottom of the intermediate frame 2 is provided with a rotating base 23, and a rotating base through-hole 24 is provided on the rotating base 23. The top and bottom of the inner frame 3 are respectively provided with an azimuth motor connecting seat 32 and an azimuth rotating shaft 31. The rotating portion of the azimuth motor assembly 5 passes through the top of the intermediate frame 2 and is fixedly connected to the top of the azimuth motor connecting seat 32. The azimuth rotating shaft 31 is embedded and rotatably connected in the rotating base through-hole 24. The azimuth motor assembly 5 drives the inner frame 3 to swing left and right through the azimuth motor connecting seat 32, and the azimuth rotating shaft 31 rotates in the rotating base through-hole 24; the inner frame 3 will also pitch and swing along with the intermediate frame 2, without the need for a parallelogram structure that is difficult to machine and assemble accurately. Obviously, preferably, a bearing is provided between the azimuth rotating shaft 31 and the rotating base through-hole 24 to ensure smooth and stable rotation.

[0031] The pitch angle sensor 8 is mounted on the end of one of the pitch shafts 21 to detect the pitch angle of the intermediate frame 2 and transmit a feedback signal to the control system.

[0032] The azimuth angle sensor 81 is mounted on the end of the azimuth rotating shaft 31 to detect the azimuth motion angle of the inner frame 3 and transmit a feedback signal to the control system.

[0033] Gyroscope 9 detects the azimuth and pitch angles of optical imaging assembly 4 and transmits feedback signals to the control system. Based on the feedback of the actual azimuth and pitch angles of optical imaging assembly 4, the control system adjusts the pitch angle of intermediate frame 2 and the azimuth angle of inner frame 3, forming a precise closed-loop control. No parallelogram linkage is required to ensure the synchronous movement of pitch motor assembly 6 and intermediate frame 2. There is no accumulated transmission error. Because the actual azimuth and pitch angles of optical imaging assembly 4 are detected, tracking accuracy is extremely high.

[0034] Azimuth direction refers to the left and right direction.

[0035] According to the position and angle of the tracked object displayed on the optical imaging component 4, the direction and angle that the optical imaging component 4 needs to swing are calculated through a pre-set program of the control system. As the input value of the control system to adjust the optical imaging component 4, the gyroscope 9 detects the azimuth and pitch angle of the optical imaging component 4 as feedback value, and continuously compares the input value with the feedback value. When the input value is not equal to the feedback value, the optical imaging component 4 continues to be adjusted. When the input value is equal to the feedback value, the adjustment of the optical imaging component 4 is stopped.

[0036] The fixed connection mentioned in this application can be threaded connection, welding or bonding.

[0037] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A precision guiding device with self-feedback, characterized in that: The invention comprises a main frame (1), an intermediate frame (2), an inner frame (3) and an optical imaging assembly (4), wherein the intermediate frame (2) is located inside the main frame (1), the inner frame (3) is located inside the intermediate frame (2), and the optical imaging assembly (4) is installed inside the inner frame (3) and moves synchronously with the inner frame (3); a pitch motor assembly (6) is provided on the main frame (1), a transmission device is provided between the pitch motor assembly (6) and the intermediate frame (2), and the pitch motor assembly (6) drives the intermediate frame (2) to move relative to the main frame (1) through the transmission device. ) pitch and swing, an azimuth motor assembly (5) is installed on the top of the middle frame (2) to drive the inner frame (3) to swing left and right relative to the middle frame (2); two gyroscopes (9) are installed on the optical imaging assembly (4) to respectively detect the angles in the pitch direction and the left and right directions and transmit feedback signals, and a pitch angle sensor (8) and an azimuth angle sensor (81) are installed on the middle frame (2) and the inner frame (3) to respectively detect the pitch movement angle of the middle frame (2) and the left and right movement angle of the inner frame (3) and transmit feedback signals; the main frame Two connecting seats (11) are symmetrically arranged on one side of the intermediate frame (1), each of the connecting seats (11) is provided with a connecting seat through hole (12), two outer sides of the intermediate frame (2) are symmetrically provided with two pitch rotation axes (21) corresponding to the connecting seat through holes (12), the pitch rotation axes (21) are embedded in and rotatably connected to the corresponding connecting seat through holes (12); the pitch rotation axes (21) are located in the middle of the intermediate frame (2) and the central axis thereof is arranged horizontally; the pitch motor assembly (6) comprises a pitch motor frame (61), a pitch motor (62) and a swing rod (63), the pitch motor assembly (6) comprises a pitch motor frame (61), a pitch motor (62) and a swing rod (63), the pitch rotation axes (21) are arranged in a horizontal direction, and the pitch rotation axes (21) are arranged in a horizontal direction. The pitch motor frame (61) is fixedly connected to a side of the main frame (1) away from the intermediate frame (2); the pitch motor (62) is fixedly connected to a side of the pitch motor frame (61) and its motor shaft passes through the pitch motor frame (61); the middle part of the swing rod (63) is fixedly connected to the motor shaft protruding end of the pitch motor frame (61); the pitch motor frame (61) drives the swing rod (63) to rotate around the central axis of the motor shaft of the pitch motor frame (61); and the pitch angle sensor (8) is installed at the end of one of the pitch rotating shafts (21).

2. A precision guiding device with self-feedback according to claim 1, characterized in that: The transmission device comprises two connecting rods (7) and connecting blocks (22) each corresponding to the other. The two connecting blocks (22) are symmetrically fixedly connected to one side of the intermediate frame (2) with the central axis of the pitch axis (21) as the symmetry axis. One end of the two connecting rods (7) is respectively hinged to the two ends of the swing rod (63), and the other end of the two connecting rods (7) is respectively hinged to the two connecting blocks (22).

3. A precision guiding device with self-feedback according to claim 1, characterized in that: A rotating base (23) is provided at the bottom of the middle frame (2), a rotating base through hole (24) is provided on the rotating base (23), an azimuth motor connecting seat (32) and an azimuth rotating shaft (31) are provided at the top and bottom of the inner frame (3), respectively, the rotating part of the azimuth motor assembly (5) passes through the top of the middle frame (2) and is fixedly connected to the top of the azimuth motor connecting seat (32), and the azimuth rotating shaft (31) is embedded in and rotatably connected to the rotating base through hole (24).

4. A precision guiding device with self-feedback according to claim 3, characterized in that: The azimuth angle sensor (81) is mounted on the end of the azimuth rotation shaft (31).

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