A novel three-axis wide-area pod structure

Abstract

This invention belongs to the field of airborne optoelectronic reconnaissance and detection technology, and discloses a novel three-axis optoelectronic pod structure, including an outer roll assembly, a mid-pitch assembly, and an inner azimuth assembly. The mid-pitch assembly is connected to the outer roll rotating part through its fixed end structure, and to the fixed end of the inner azimuth assembly through its rotating end. This invention avoids the processing losses caused by electronic image rotation cancellation required by previous two-axis airborne optoelectronic pod systems, thus improving processing efficiency. This three-axis optoelectronic pod structure is equipped with three single-axis high-precision fiber optic gyroscopes, achieving high-precision inertial stabilization of the three-axis optoelectronic pod. Sensor directional stabilization aiming and imaging can be performed without electronic image rotation cancellation. This invention features small size, compact structure, and high degree of freedom, meeting the application requirements of high-altitude directional surveillance optoelectronic pods.

Description

Technical Field

[0001] This invention belongs to the field of airborne optoelectronic reconnaissance and detection technology, and relates to a novel three-axis wide-area pod structure. Background Technology

[0002] In regional combat scenarios, it is necessary to continuously acquire and analyze image information within a certain range on the ground for intelligence analysis by combat command. Typically, airborne multi-band integrated optoelectronic systems, including television, infrared, and laser systems, are used for imaging, identification, and tracking of ground targets. These optoelectronic systems generally possess a multi-dimensional rotating frame, which, through servo control, stabilizes the line of sight on the area of ​​interest, enabling large-area scanning and staring imaging. Currently, optoelectronic systems with such capabilities mainly include optoelectronic pods, wide-area surveillance systems, and scanning arrays. Their ground observation and targeting capabilities mostly employ a two-dimensional rotating structure of azimuth plus pitch or roll plus push-scan. The two-dimensional scanning imaging principle cannot compensate for the image rotation caused by aircraft turning, requiring electronic image rotation correction, which leads to problems such as field-of-view loss and edge distortion. Three-axis wide-area pod structures employ a three-degree-of-freedom rotation form of inner azimuth, mid-pitch, and outer roll. Inner azimuth rotation compensates for the image rotation caused by yaw, while mid-pitch and outer roll achieve line-of-sight orientation, improving efficiency. Summary of the Invention

[0003] (I) Purpose of the Invention

[0004] The purpose of this invention is to provide a novel three-axis wide-area pod structure that provides three-dimensional orientation for optical sensing components, meets the requirements for line-of-sight stability, and has a good overall aerodynamic shape and compact structure.

[0005] (II) Technical Solution

[0006] To address the aforementioned technical issues, this invention provides a novel three-axis wide-area pod structure, incorporating a servo drive motor, a position feedback element (photoelectric encoder), and a speed measurement element (fiber optic gyroscope). The entire unit is sealed using sealing ropes and dynamic sealing rings. Electrical wiring interfaces are pre-installed internally, and electrical connectors are pre-installed externally, facilitating internal power supply and information connectivity with the outside. The airborne connection point employs a metal vibration isolator design, connecting the three-axis pod structure to the aircraft mounting surface while isolating it from high-frequency external disturbances from the aircraft. This provides a foundation for the realization of a wide-area surveillance optoelectronic system.

[0007] (III) Beneficial Effects

[0008] The novel three-axis wide-area pod structure provided by the above technical solution consists of inner azimuth, mid-pitch, and outer roll axes. Internally, it has mounting interfaces for various optical observation and aiming components such as television, thermal imaging, and laser sensors. Externally, it features metal vibration dampers to isolate aircraft platform disturbances and is equipped with a three-axis high-precision fiber optic gyroscope for high-precision inertial stabilization, enabling stable directional aiming of sensors. By using the inner azimuth axis to compensate for yaw, it solves the problem of previous two-axis airborne optoelectronic pod systems requiring electronic image correction rotation to achieve fixed-area, fixed-direction imaging, thus realizing fixed-area dynamic monitoring imaging. Attached Figure Description

[0009] Figure 1 This is a structural outline of a three-axis wide-area pod.

[0010] Figure 2 This is a simplified diagram of a three-degree-of-freedom rotational frame structure.

[0011] Figure 3 This is a structural diagram of a three-axis wide-area pod.

[0012] Figure 4 This is a structural diagram of the outer roll assembly.

[0013] Figure 5 This is a structural diagram of the roll motor assembly.

[0014] Figure 6 This is a diagram of the inner pressure ring structure.

[0015] Figure 7 This is a schematic diagram of the bearing stator housing structure.

[0016] Figure 8 This is a diagram of the outer pressure ring structure of a bearing.

[0017] Figure 9 This is a diagram of the rolling frame structure.

[0018] Figure 10-1 This is a structural diagram of the roll encoder assembly.

[0019] Figure 10-2 for Figure 10-1 AA sectional view.

[0020] Figure 11 This is a structural diagram of the pitch component.

[0021] Figure 12 This is a diagram of the pitch axis system.

[0022] Figure 13 This is a schematic diagram of the pitch limit.

[0023] Figure 14 This is a schematic diagram of the pitch frame.

[0024] Figure 15 This is a schematic diagram of the inner orientation axis. Detailed Implementation

[0025] To make the objectives, contents, and advantages of the present invention clearer, the specific embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and examples.

[0026] like Figures 1 to 15 As shown, the novel three-axis wide-area pod structure of this embodiment can meet the requirements for stabilizing the line of sight of the photoelectric sensor, and has a good overall aerodynamic shape and compact structure. The three-axis wide-area pod structure includes an outer roll assembly 3-1, a mid-pitch assembly 3-2, and an inner azimuth assembly 3-3. The outer roll assembly 3-1 is connected to the carrier aircraft through a metal vibration damper 5-1 to effectively reduce high-frequency disturbances of the aircraft, and is also connected to the mid-pitch assembly 3-2 through shaft components. The mid-pitch assembly 3-2 is connected to the rotating part of the outer roll assembly 3-1 through its fixed end structure, and is also connected to the fixed end of the inner azimuth assembly 3-3 through its rotating end. The rotating end of the inner azimuth assembly 3-3 is fixed to an optical bench, which has an installation interface for mounting various optical observation and aiming components such as television, thermal imaging, and laser. The inner azimuth assembly 3-3 can rotate 360° continuously around its own axis to solve the image rotation problem caused by the carrier aircraft flying around it when the photoelectric pod is observing and imaging vertically downwards.

[0027] like Figure 4 As shown, the outer roll assembly 3-1 includes an annular roll frame 4-3 located in the middle, a roll motor assembly 4-1 located at the lower left end of the roll frame 4-3, and a roll encoder assembly 4-2 located at the upper right end of the roll frame 4-3.

[0028] like Figure 5As shown, the roll motor assembly 4-1 includes a metal vibration damper 5-1, a left hanger 5-2, a connector assembly 5-3, a roll motor shaft stator seat 5-4, a roll motor shaft rotor seat 5-5, a roll motor 5-6, a roll bearing 5-7, a roll motor rotor pressure ring 5-8, an inner bearing pressure ring 5-9, an outer bearing pressure ring 5-10, a dynamic seal ring 5-11, a sealing rope 5-12, and a bearing stator seat 5-13. The left hanger 5-2 is circular in the middle, with through holes on the edge of its circular end face for fixing to the roll motor shaft stator seat 5-4 with screws. A square hole is located at the center of the circular end face for installing the electrical connector assembly 5-3. There are circular holes for installing vibration dampers at both ends. The metal vibration damper 5-1 is installed in the circular holes at both ends of the left hanger 5-2. The metal vibration damper 5-1 is a three-dimensional equal stiffness vibration damper. In actual selection, vibration dampers with the corresponding natural frequency are selected according to the vibration characteristics of the carrier aircraft, and they are distributed as far apart as possible. Connector 5-3 is installed in the central square hole on the left hanger end face and fixed with screws. It primarily serves as the internal and external communication path for the power signal of the optoelectronic system and meets airtightness requirements. The roll motor stator seat 5-4 is fixed to the left hanger 5-2. The roll motor stator seat 5-4 has a central circular hole, the inner surface of which is clearance-fitted with the stator of the roll motor 5-6. Threaded holes are distributed on the end face of the roll motor stator seat 5-4 for fixing the roll motor 5-6. The roll motor 5-6 is a brushed torque motor. The motor rotor is positioned by mating with the shaft hole of the roll motor shaft rotor seat 5-5. Threaded holes are distributed on the end face of the roll motor shaft rotor seat 5-5 for fixing the roll motor rotor. The roll motor shaft rotor seat 5-5, as the rotating end of the outer roll assembly, is fixed to the lower left end face of the roll frame 4-3. The end face of the roll motor shaft rotor seat 5-5 that contacts the roll frame 4-3 has threaded holes, and the lower left end face of the roll frame 4-3 has through holes for fixing with screws. The rolling motor stator housing 5-4 and the rolling motor rotor housing 5-5 combine to form a U-shaped groove, within which a sliding seal ring 5-11 is installed to ensure the watertightness of the rotating frame. The rolling motor shaft stator housing 5-4 and the left hanger 5-2 form a U-shaped groove, with an elastic sealing rope 5-12 interference-fitted in the middle to ensure static sealing. The rolling bearing 5-7 is a paired angular contact ball bearing, mounted back-to-back. The outer ring of the bearing is mounted on the bearing stator housing 5-13, and the inner ring is mounted on the rolling motor rotor housing 5-5. The outer ring is secured with an outer bearing pressure ring 5-10, and the inner ring is pre-tightened with an inner bearing pressure ring 5-9 to improve the radial stiffness of the system.

[0029] The inner pressure ring 5-9 serves two purposes: firstly, it preloads the inner ring of bearing 5-7; secondly, it has a limit stop on its end face. Figure 6 As shown; limit posts are distributed on the end face of bearing stator housing 5-13, and the limit posts are distributed at 80° around the center of the end face. Figure 7 As shown. The inner pressure ring 5-9 of the bearing and the stator housing 5-13 of the bearing cooperate to form a mechanical limiting device to ensure the rotation angle range requirement of -40° to +40°.

[0030] The outer bearing pressure ring 5-10 is screwed onto the bearing stator housing 5-13 via a threaded connection, pre-tightening the outer bearing ring. The end face has an opening groove for tightening. Figure 8 As shown, this makes it easy to tighten.

[0031] Roll encoder assembly 4-2 Figure 10-1 and Figure 10-2As shown, the assembly includes a roll encoder 10-1, a roll angle measuring rotor seat 10-2, a roll angle measuring stator seat 10-3, a roll angle measuring bearing 10-4, an inner pressure ring 10-5, an outer pressure ring 10-6, a roll encoder 10-7, a right hanger 10-8, a connector 10-9, a metal vibration damper 10-10, and a dynamic seal ring 10-11. The right hanger 10-8 is circular in the middle with a through hole on its circular end face. The roll encoder 10-1 has screw holes, and the right hanger 10-8 is fixed to the roll encoder 10-1 with screws. The center of the circular end face of the right hanger 10-8 has a square hole for fixing the connector 10-9. The right hanger 10-8 has circular holes for damper mounting at both ends. Metal dampers 10-10 are installed in these holes. The metal dampers 10-10 are triaxial equal stiffness dampers. In actual selection, dampers with the appropriate natural frequency are chosen based on the vibration characteristics of the carrier aircraft, and they are distributed as far apart as possible. The right-hand groove on the roll adapter 10-1 forms a U-shaped groove with the mounting end face of the right hanger 10-8. A sealing rope 10-11 is installed in the groove to ensure a static seal. The roll adapter 10-1 has a step in the middle. The roll angle measuring rotor seat 10-2 is the rotating end of the roll encoder assembly 4-2, and also has a step on its outer edge. After the roll adapter 10-1 and the roll angle measuring rotor seat 10-2 are coaxially installed, the steps on both sides together form a U-shaped groove. A dynamic sealing ring 10-11 is installed in the groove to ensure watertightness. The roll angle measuring stator base 10-3 is circular, with an outer cylindrical surface and an inner cylindrical surface. The outer cylindrical surface is positioned with a clearance fit to the inner bore surface on the right side of the roll adapter base 10-1. The outer cylindrical surface of the roll angle measuring stator base 10-3 has a through hole, and the right end face of the roll adapter base 10-1 has a threaded hole for fastening with screws. The roll angle measuring stator base 10-3 has a circular hole inside, and the fixed end of the roll encoder 10-7 has an outer cylindrical surface for coaxial mounting via a shaft hole. The end face of the roll angle measuring stator base 10-3 has a threaded hole, and the end face of the roll encoder 10-7 has a through hole for fastening with screws. The outer ring of the angular contact bearing 10-4 is clearance fitted with the roll angle measuring stator base 10-3, and the inner ring is clearance fitted with the roll angle measuring rotor base 10-2. The angular contact bearing 10-4 is installed back-to-back, first fixed with the outer pressure ring 10-6, and then axially pre-tightened with the inner pressure ring 10-5 to ensure its radial stiffness. The metal vibration damper 10-10 is installed in the round holes at both ends of the right hanger 10-8, forming a triaxial optoelectronic pod vibration isolation system together with the metal vibration damper 5-1 in the roll motor assembly 4-1. The connector 10-9 is installed in the center square hole on the round end face of the right hanger 10-8 and fixed with screws. The connector 10-9 mainly serves as the internal and external connection path for the electrical and optical signals of the optoelectronic system and meets airtightness requirements.

[0032] The roll frame 4-3 is diamond-shaped overall, with shaft mounting interfaces provided at all four ends. Figure 9As shown. The roll motor assembly 4-1 is installed at the lower left, the roll encoder assembly 4-2 at the upper right, the pitch motor assembly 11-1 at the upper left, and the pitch encoder assembly 11-2 at the lower right. The roll frame 4-3 has square grooves on its four sides, primarily for pre-embedding electrical wiring to prevent cable exposure. The grooves are covered with covers and sealed with silicone rubber. When installing the roll frame 4-3 with the roll motor assembly 4-1, silicone rubber is applied to their mounting surfaces to ensure a seal. When installing the roll frame 4-3 with the roll encoder assembly 4-2, silicone rubber is applied to their mounting surfaces to ensure a seal. The roll frame 4-3 has square grooves on its mounting surface with the pitch motor assembly 11-1, forming a U-shaped groove after installation. Sealing ropes are installed inside to create a static seal. The roll frame 4-3 also has square grooves on its mounting surface with the pitch encoder assembly 11-2, forming a U-shaped groove after installation. Sealing ropes are installed inside to create a static seal.

[0033] The pitch assembly 3-2 includes a pitch motor assembly 11-1, a pitch encoder assembly 11-2, a pitch frame 11-3, a pitch gyroscope assembly 11-4, and a roll gyroscope assembly 11-5. The pitch encoder assembly 11-1 has its fixed end connected to the lower right end of the roll frame 4-3 via a circular hole, and its rotating end is positioned with the lower right end of the pitch frame 11-3 via a shaft hole and secured with screws. The pitch motor assembly 11-2 has its fixed end mounted on the upper left end of the roll frame 4-3 via a circular hole, and its rotating end is positioned with the upper left end of the pitch frame 11-3 via a shaft hole and secured with screws. The pitch frame 11-3 is drum-shaped with an opening at the bottom and circular holes on both sides. Through holes are distributed within these circular holes for mounting the pitch motor assembly 11-1 and the pitch encoder assembly 11-2. The upper surface of the pitch frame 11-3 is flat, with circumferentially distributed weight-reducing holes and a large central hole that mates with the outer circular surface of the inner azimuth assembly 3-3's fixing end for positioning. Screw holes surround the central hole of the pitch frame 11-3 for securing the inner azimuth assembly 3-3's fixing end. Two sets of threaded holes, spaced at 90° intervals around the central hole, are located on the upper surface of the pitch frame 11-3 for mounting the pitch gyroscope assembly 11-4 and the roll gyroscope assembly 11-5.

[0034] To improve design versatility, the pitch assembly 3-2 adopts the same shaft system structure as the outer roll assembly 3-1, as shown below. Figure 12As shown. The pitch motor assembly 11-1 mainly consists of a left pitch cover plate 12-1, a pitch motor 12-2, a pitch motor stator base 12-3, a pitch motor rotor base 12-4, a pitch motor pressure ring 12-5, a pitch bearing 12-6, a pitch bearing outer pressure ring 12-7, a dynamic seal ring 12-8, a pitch bearing stator base 12-9, a sealing rope 12-10, and a pitch bearing inner pressure ring 12-11. The pitch motor stator base 12-3, serving as the fixed end of the pitch motor assembly 11-1, has a cylindrical surface on its outer side, and a circular hole at the upper left end of the roll frame 4-3. The pitch motor assembly 11-1 and the upper left end face of the roll frame 4-3 are positioned by a shaft hole and fixed with screws. The inner side of the pitch motor stator base 12-3 has a cylindrical surface, and the stator end of the pitch motor 12-2 has an outer cylindrical surface, positioned by a shaft hole. The pitch motor 12-2 has a flange at its stator end with through holes. The inner end face of the pitch motor stator housing 12-3 has threaded holes. The stator end of the pitch motor 12-2 is fixed to the pitch motor stator housing 12-3 with screws. The left pitch cover plate 12-1 is bowl-shaped with an opening on one side and through holes on the opening end face. The outer side of the upper left end face of the roll frame 4-3 has threaded holes. The left pitch cover plate 12-1 is fixed to the upper left end face of the roll frame 4-3 with screws. The upper left end face of the roll frame 4-3 has a square groove, which forms a U-shaped groove after installation with the left pitch cover plate 12-1. A sealing rope 12-10 is installed in the groove to ensure static sealing. The pitch motor rotor housing 12-4 has an outer cylindrical surface, and the rotor end of the pitch motor 12-2 has an inner cylindrical surface. The rotor housing 12-4 and the rotor end of the pitch motor 12-2 are positioned by a shaft hole. The outer end face of the pitch motor rotor housing 12-4 has external threads, and the pitch motor pressure ring 12-5 has internal threads. The rotor end of the pitch motor 12-2 is fixed to the pitch motor rotor housing 12-4 via the pitch motor pressure ring 12-5. The pitch bearing 12-6 is mounted back-to-back, and its outer ring is positioned with the pitch bearing stator housing 12-9 through a shaft hole. The pitch bearing stator housing 12-9 has internal threads, and the pitch bearing outer pressure ring 12-7 has external threads. The outer ring is secured to the pitch bearing stator housing 12-9 by tightening the outer pressure ring 12-7. The inner ring of the bearing is positioned with the pitch motor rotor housing 12-4 through a through hole. The end face of the pitch motor rotor housing 12-4 has a threaded hole, and the inner pressure ring 12-11 of the pitch bearing has a through hole. The inner ring is pre-tightened with mounting screws to enhance its radial stiffness. The pitch motor stator mount 12-3 has a step, and the pitch motor rotor mount 12-4 also has a step. After coaxial installation, the steps on both sides together form a U-shaped groove, and the dynamic sealing ring 12-8 is installed in the groove to ensure water tightness.

[0035] Limiting posts are distributed on the end face of the pitch bearing stator housing 12-9, with the limiting posts arranged at 80° intervals around the center of the end face. The end face of the pitch bearing inner pressure ring 12-11 has a locking tongue. When the pitch bearing stator housing 12-9 and the pitch bearing inner pressure ring 12-11 are coaxially installed, they together form a pitch limiting device, ensuring that the pitch rotation range is limited to -40° to +40°. Figure 13 As shown.

[0036] The upper outer edge of the pitch frame 11-3 has six sets of threaded holes for installing the rear cover. The upper edge also has a square groove, which, together with the rear cover, forms a U-shaped groove. A sealing rope is installed within the groove to achieve a static seal. Figure 14 As shown.

[0037] The pitch encoder assembly 11-2 consists of a pitch angle measuring stator base 12-12, a pitch encoder 12-13, a pitch angle measuring rotor base 12-14, a pitch bearing 12-15, a dynamic seal ring 12-16, a sealing rope 12-17, a bearing outer pressure ring 12-18, and a side cover 12-19. The pitch angle measuring stator base 12-12 is the fixed end of the pitch encoder assembly 11-2. The pitch angle measuring rotor base 12-14 is the rotating end of the pitch encoder assembly 11-2. The pitch angle measuring stator base 12-12 has a cylindrical surface on its outer side, and the lower right end face of the roll frame 4-3 has a circular hole. The pitch angle measuring stator base 12-12 and the roll frame 4-3 are positioned by a clearance fit through the shaft hole. The lower right end face of the roll frame 4-3 has a threaded hole, and the outer end face of the pitch angle measuring stator base 12-12 has a through hole, which is used for fastening with screws. The pitch measuring rotor base 12-14 has an outer cylindrical surface, and the pitch frame 11-3 has an inner cylindrical surface. The end face of the pitch measuring rotor base 12-14 that contacts the pitch frame 11-3 has a threaded hole, and the end face of the pitch frame 11-3 that contacts the pitch measuring rotor base 12-14 has a countersunk hole. They are fixed together with screws. When connecting the pitch measuring rotor base 12-14 and the pitch frame 11-3, silicone rubber is applied between their contact surfaces to ensure airtightness. The rotating end of the pitch encoder 12-13 has an inner cylindrical surface, and the pitch measuring rotor base 12-14 has an outer cylindrical surface. They are coaxially mounted through a shaft hole. The end face of the pitch measuring rotor base 12-14 has a threaded hole, and the rotating end of the pitch encoder 12-13 has a through hole, which is then fixed together with screws. The pitch encoder 12-13 has a boss on the outer side of its fixed end, with a through hole at its center. The pitch angle measuring stator 12-12 has a threaded hole on its end face. The fixed end of the pitch encoder 12-13 is fixed to the pitch angle measuring stator 12-12 with screws. The pitch bearing 12-15 is a four-point contact bearing. The outer ring of the bearing is installed in the inner hole of the pitch angle measuring stator 12-12 through a shaft hole. The end face of the inner hole of the pitch angle measuring stator 12-12 has a threaded hole. The outer pressure ring 12-18 of the bearing has a through hole. After the outer ring of the bearing is installed in the inner hole of the pitch angle measuring stator 12-12, the outer pressure ring 12-18 is fixed with screws. The inner ring of the bearing is positioned in conjunction with the pitch angle measuring rotor 12-14 through a shaft hole. The inner ring of the bearing adopts a floating design to prevent the shaft from seizing due to inconsistent thermal expansion coefficients of the shaft materials. The side cover 12-19 is bowl-shaped with an opening on one side and a through hole on the open end face. The lower right end face of the rolling frame 4-3 has a threaded hole. The side cover 12-19 is fixed to the lower right end face of the rolling frame 4-3 with screws. The lower right end face of the rolling frame 4-3 has a square groove, which forms a U-shaped groove after installation with the side cover 12-19. The sealing rope 12-17 is installed in the groove to ensure static sealing.

[0038] The inner orientation assembly 3-3 mainly consists of an orientation motor stator base 15-1, an orientation bearing 15-2, an orientation rotor base 15-3, an outer pressure ring of the orientation bearing 15-4, an inner pressure ring of the orientation bearing 15-5, an orientation motor 15-6, an orientation encoder 15-7, a slip ring 15-8, an optical bench base 15-9, a slip ring support 15-10, an angle measuring bracket 15-11, and an orientation gyroscope assembly 15-12. Figure 15As shown. The azimuth motor stator base 15-1 is the fixed end of the inner azimuth assembly 3-3, and the azimuth rotor base 15-3 is the rotating end of the inner azimuth assembly 3-3. The azimuth motor stator base 15-1 has an outer cylindrical surface, and the upper end face of the pitch frame 11-3 has a hole at its center. The azimuth motor stator base 15-1 and the pitch frame 11-3 are positioned by a shaft hole. The azimuth motor stator base 15-1 has a flange on its outer side with through holes, and the upper end face of the pitch frame 11-3 has a threaded hole. The azimuth motor stator base 15-1 and the pitch frame 11-3 are fixed together by screws. The azimuth bearing 15-2 is an angular contact bearing, mounted back-to-back to improve radial stiffness. The outer ring of the azimuth bearing 15-2 is positioned by a shaft hole in the azimuth motor stator base 15-1. The azimuth motor stator housing 15-1 has a threaded hole on its end face, and the azimuth bearing outer pressure ring 15-4 has a through hole on its end face. After the bearing outer ring is installed on the azimuth motor stator housing 15-1, the azimuth bearing outer pressure ring 15-4 is fastened to the azimuth motor stator housing 15-1 with screws to achieve pre-tightening of the bearing outer ring. The azimuth bearing 15-2 inner ring is positioned with the azimuth rotor housing 15-3 through a shaft hole. The azimuth rotor housing 15-3 has a threaded hole on its end face, and the azimuth bearing inner pressure ring 15-5 has a through hole on its end face. After the bearing outer ring is installed on the azimuth rotor housing 15-3, the azimuth bearing inner pressure ring 15-5 is fastened to the azimuth rotor housing 15-3 with screws to achieve pre-tightening of the bearing inner ring. The outer ring of the directional motor 15-6 is coaxially mounted with the directional motor stator housing 15-1. The outer ring of the directional motor 15-6 has a flange with through holes. The end face of the directional motor stator housing 15-1 has threaded holes. The outer ring of the directional motor 15-6 is fixedly mounted on the directional motor stator housing 15-1 with screws. The inner ring of the directional motor 15-6 is coaxially mounted with the directional rotor housing 15-3. The inner ring of the directional motor 15-6 has a flange with through holes. The end face of the directional rotor housing 15-3 has threaded holes. The inner ring of the directional motor 15-6 is fixedly mounted on the directional rotor housing 15-3 with screws. The lower end of the angle measuring bracket 15-11 has a ring. The inner cylindrical surface of the ring is coaxially mounted with the outer cylindrical surface of the azimuth motor stator seat 15-1 with a clearance fit. The angle measuring bracket 15-11 has a through hole, and the end face of the azimuth motor stator seat 15-1 has a threaded hole. The angle measuring bracket 15-11 and the azimuth motor stator seat 15-1 are fixed together with screws. The azimuth encoder 15-7 is located above the azimuth motor 15-6 and is coaxially mounted with the azimuth motor 15-6. Its fixed end is fixed to the angle measuring bracket 15-11, and its rotating end is fixed to the azimuth rotor seat 15-3. The angle measuring bracket 15-11 has an inner cylindrical surface, and the stator end of the azimuth encoder 15-7 has an outer cylindrical surface. The angle measuring bracket 15-11 and the stator end of the azimuth encoder 15-7 are positioned by a shaft hole. The stator end of the azimuth encoder 15-7 has a flange with a through hole, and the angle measuring bracket 15-11 has a threaded hole. The angle measuring bracket 15-11 and the stator end of the azimuth encoder 15-7 are fixedly connected by screws.The azimuth encoder 15-7 has a flange on its rotating end with a through hole. The azimuth rotor seat 15-3 has a threaded hole on its end face. The rotating end of the azimuth encoder 15-7 is fixed to the azimuth rotor seat 15-3 with screws. The slip ring support 15-10 is located above the azimuth encoder 15-7. The slip ring support 15-10 has an inner cylindrical surface, and the angle measuring bracket 15-11 has an outer cylindrical surface. The slip ring support 15-10 and the angle measuring bracket 15-11 are coaxially installed through a shaft hole. The end face of the slip ring support 15-10 has a through hole, and the end face of the angle measuring bracket 15-11 has a threaded hole, and they are fixed together with screws. The slip ring 15-8 is located in the middle of the inner azimuth assembly 3-3. The upper part of the slip ring 15-8 is a fixed end, and the lower part is a rotating end. The fixed end of slip ring 15-8 is coaxially mounted with slip ring support 15-10. The fixed end of slip ring 15-8 has a through hole, and slip ring support 15-10 has a threaded hole, which is used for fastening with screws. The rotating end of slip ring 15-8 is fastened to optical bench 15-9. Slip ring 15-8 passes through the hollow hole in pitch frame 11-3. Optical bench 15-9 is flat, with a raised cylinder at the center of its upper surface. The outer surface of the cylinder mates with the inner hole of the lower end of azimuth rotor seat 15-3 for positioning. The inner hole of the cylinder in optical bench 15-9 facilitates the passage of slip ring 15-8.

[0039] The lower surface of the optical bench 15-9 has bosses on both sides of the center, with threaded holes on the bosses. The rotating end of the slip ring 15-8 has protruding thin plates on both sides, with through holes on the plates. The optical bench 15-9 and the rotating end of the slip ring 15-8 are fixed together by screws. The lower surface edge of the optical bench 15-9 has a flat surface with threaded holes, serving as the mounting surface for the azimuth gyroscope assembly 15-12. This mounting surface also has through holes, and the azimuth gyroscope assembly 15-12 is fixed together with the optical bench 15-9 by screws. The azimuth gyroscope assembly 15-12 senses the rotation speed of the azimuth axis. Simultaneously, different mechanical interfaces can be provided on the lower surface of the optical bench 15-9 as needed to fix different types of optical loads, meeting system application requirements. The rotating end of the inner azimuth component 03-3, driven by a motor, rotates continuously 360° around its axis, offsetting the image rotation problem caused by the carrier aircraft's flight path, thereby improving system efficiency.

[0040] As can be seen from the above technical solution, the present invention has the following significant features:

[0041] (1) Breaking through the two-dimensional limitation of the traditional airborne optoelectronic frame, a new three-axis optoelectronic pod structure was designed. Through this structure, mechanical image rotation can be achieved, thereby avoiding the waste of resources and loss of field of view caused by electronic image rotation.

[0042] (2) The new three-axis optoelectronic pod structure adopts a multi-frame design, which achieves a compact structure and provides a large space for the sensing components, thereby meeting the requirements of large-area imaging.

[0043] (3) The external damper design, combined with inertial gyroscope stabilization, can provide high-precision optical axis stabilization.

[0044] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A novel three-axis wide-area pod structure, characterized in that, include: The system comprises an outer roll assembly (3-1), a mid-pitch assembly (3-2), and an inner azimuth assembly (3-3). The outer roll assembly (3-1) is connected to the aircraft via a metal damper (5-1) to reduce high-frequency disturbances and is connected to the mid-pitch assembly (3-2) via shaft components. The mid-pitch assembly (3-2) is connected to the rotating part of the outer roll assembly (3-1) via its fixed end structure and is connected to the fixed end of the inner azimuth assembly (3-3) via its rotating end. The rotating end of the inner azimuth assembly (3-3) is fixed to an optical bench, which has a mounting interface and optical observation and aiming components, including television, thermal imaging, and laser. The inner azimuth assembly (3-3) can rotate 360° continuously around its own axis. The optical bench has mounting interfaces and optical observation and aiming components, including television, thermal imaging, and laser systems. The outer roll assembly (3-1) includes an annular roll frame (4-3) located in the middle, a roll motor assembly (4-1) located at the lower left end of the roll frame (4-3), and a roll encoder assembly (4-2) located at the upper right end of the roll frame (4-3). The roll motor assembly (4-1) includes a metal vibration damper (5-1), a left hanger (5-2), a connector assembly (5-3), a roll motor shaft stator seat (5-4), a roll motor shaft rotor seat (5-5), a roll motor (5-6), a roll bearing (5-7), a roll motor rotor pressure ring (5-8), an inner bearing pressure ring (5-9), an outer bearing pressure ring (5-10), a dynamic seal ring (5-11), a sealing rope (5-12), and a bearing stator seat (5-13). The left hanger (5-2) is circular in the middle, with through holes on the edge of its circular end face for fixing to the roll motor shaft stator seat (5-4) with screws. It also has a square hole in the center of its circular end face for installing the electrical connector assembly (5-3). The left hanger (5-2) has two... The end has a circular hole for mounting a vibration damper. The metal vibration damper (5-1) is installed in the circular holes at both ends of the left hanger (5-2). The metal vibration damper (5-1) is a three-way equal stiffness vibration damper. The connector (5-3) is installed in the square hole in the center of the end face of the left hanger and is fixed by screws. It is the internal and external connection path for the power signal of the photoelectric system. The stator seat (5-4) of the roll motor is fixed on the left hanger (5-2). The stator seat (5-4) of the roll motor has a circular hole in the middle. The inner surface of the circular hole is clearance-fitted with the stator of the roll motor (5-6). The end face of the stator seat (5-4) of the roll motor has threaded holes for fixing the roll motor (5-6). The roll motor (5-6) is a brushed torque motor. The motor rotor is fitted with the shaft hole of the rotor seat (5-5) of the roll motor shaft for positioning. The end face of the roll motor shaft rotor seat (5-5) has threaded holes for fixing the roll motor rotor. The roll motor shaft rotor seat (5-5), as the rotating end of the outer roll assembly, is fixedly connected to the lower left end face of the roll frame (4-3). The end face of the roll motor shaft rotor seat (5-5) in contact with the roll frame (4-3) has threaded holes, and the lower left end face of the roll frame (4-3) has through holes for fixing with screws. The roll motor stator seat (5-4) and the roll motor rotor seat (5-5) combine to form a U-shaped groove, in which a sliding sealing ring (5-11) is installed to ensure the watertightness of the rotating frame. The roll motor shaft stator seat (5-4) and the left hanger (5-2) form a U-shaped groove, with an elastic sealing rope (5-12) installed in the middle for interference fit, ensuring... Static seal; the rolling bearing (5-7) is a paired angular contact ball bearing, installed back to back. The outer ring of the bearing is installed on the bearing stator housing (5-13), and the inner ring of the bearing is installed on the rolling motor rotor housing (5-5). The outer ring is fixed by the outer bearing pressure ring (5-10), and the inner ring is pre-tightened by the inner bearing pressure ring (5-9). The inner bearing pressure ring (5-9) serves two purposes: firstly, it pre-tightens the inner ring of the bearing (5-7), and secondly, the end face of the inner bearing pressure ring (5-9) has a limit stop bar. Limit posts are distributed on the end face of the bearing stator housing (5-13), and the limit posts are distributed at 80° around the center of the end face. The inner bearing pressure ring (5-9) and the bearing stator housing (5-13) cooperate to form a mechanical limiting device to ensure the rotation angle range requirement of -40° to +40°.The outer bearing ring (5-10) is screwed onto the bearing stator housing (5-13) via a threaded connection to pre-tighten the outer bearing ring. An opening groove for tightening is located on the end face.

2. The novel three-axis wide-area pod structure as described in claim 1, characterized in that, The roll encoder assembly (4-2) includes a roll adapter (10-1), a roll angle measuring rotor seat (10-2), a roll angle measuring stator seat (10-3), a roll angle measuring bearing (10-4), an inner pressure ring (10-5) of the roll angle measuring bearing, an outer pressure ring (10-6) of the roll angle measuring bearing, a roll encoder (10-7), a right hanger (10-8), a connector (10-9), a metal vibration damper (10-10), and a dynamic seal ring (10-11). The right hanger (10-8) is circular in the middle with a through hole on its circular end face. The roll adapter (10-1) has screw holes. The right hanger (10-8) and the roll adapter (10-1) are fastened together with screws. The right hanger (10-8) has a square hole at the center of its round end face for fixing the connector (10-9); both ends of the right hanger (10-8) have round holes for installing vibration dampers, and the metal vibration damper (10-10) is installed in the round holes at both ends of the right hanger (10-8). The metal vibration damper (10-10) is a three-way equal stiffness vibration damper; the right square groove on the roll adapter (10-1) forms a U-shaped groove with the mounting end face of the right hanger (10-8), and the sealing rope (10-11) is installed in the groove; the roll adapter (10-1) has a step in the middle, and the roll angle measuring rotor seat (10-2) is the rotating end of the roll encoder assembly (4-2), and also has a step on its outer edge. The roll adapter (10-1) and the roll angle measuring rotor... After the sub-base (10-2) is coaxially installed, the steps on both sides together form a U-shaped groove, and the dynamic sealing ring (10-11) is installed in the groove; the roll angle measuring stator base (10-3) is circular, with an outer cylindrical surface and an inner cylindrical surface. The outer cylindrical surface is positioned by clearance fit with the inner hole surface on the right side of the roll adapter base (10-1). The end face of the outer cylindrical surface of the roll angle measuring stator base (10-3) has a through hole, and the end face of the right side of the roll adapter base (10-1) has a threaded hole, which is fixed by screws; the roll angle measuring stator base (10-3) has a circular hole inside, and the fixed end of the roll encoder (10-7) has an outer cylindrical surface, which is coaxially installed by shaft hole fit; the end face of the roll angle measuring stator base (10-3) has a threaded hole, and the roll encoder (10-7) The end face has through holes and is fixed with screws; the outer ring of the angular contact bearing (10-4) is clearance-fitted with the rolling angle measuring stator seat (10-3), and the inner ring is clearance-fitted with the rolling angle measuring rotor seat (10-2); the angular contact bearing (10-4) adopts a back-to-back installation form, first fixed with the outer pressure ring (10-6), and then axially pre-tightened with the inner pressure ring (10-5) to ensure its radial stiffness; the metal vibration damper (10-10) is installed in the round holes at both ends of the right hanger (10-8), and together with the metal vibration damper (5-1) in the rolling motor assembly (4-1), it forms a three-axis photoelectric pod vibration isolation system; the connector (10-9) is installed at the center square hole of the round end face of the right hanger (10-8) and fixed with screws.

3. The novel three-axis wide-area pod structure as described in claim 2, characterized in that, The roll frame (4-3) is generally rhomboid in shape, with shaft mounting interfaces at all four ends. The roll motor assembly (4-1) is mounted at the lower left end, the roll encoder assembly (4-2) at the upper right end, the pitch motor assembly (11-1) at the upper left end, and the pitch encoder assembly (11-2) at the lower right end. The roll frame (4-3) has square grooves on its four sides for pre-embedded electrical wiring. The grooves are covered with covers and sealed with silicone rubber. When installing the roll frame (4-3) and the roll motor assembly (4-1), a coating is applied to their mounting surfaces. Apply silicone rubber; when installing the roll frame (4-3) and the roll encoder assembly (4-2), apply silicone rubber to their mounting surfaces; the roll frame (4-3) and the pitch motor assembly (11-1) have square grooves on their mounting surfaces, which form a U-shaped groove after installation with the pitch motor assembly (11-1), and a sealing rope is installed inside to form a static seal; the roll frame (4-3) and the pitch encoder assembly (11-2) have square grooves on their mounting surfaces, which form a U-shaped groove after installation with the pitch encoder assembly (11-2), and a sealing rope is installed inside to form a static seal.

4. The novel three-axis wide-area pod structure as described in claim 3, characterized in that, The pitch assembly (3-2) includes a pitch motor assembly (11-1), a pitch encoder assembly (11-2), a pitch frame (11-3), a pitch gyroscope assembly (11-4), and a roll gyroscope assembly (11-5). The pitch encoder assembly (11-2) has its fixed end connected to the lower right circular hole end face of the roll frame (4-3), and its rotating end is positioned with the lower right end face of the pitch frame (11-3) through a shaft hole and fixed with screws. The pitch motor assembly (11-1) has its fixed end installed on the upper left circular hole end face of the roll frame (4-3), and its rotating end is positioned with the upper left end face of the pitch frame (11-3) through a shaft hole and fixed with screws. The pitch frame (11-2) has its fixed end connected to the lower right circular hole end face of the roll frame (4-3), and its rotating end is positioned with the upper left circular hole of the pitch frame (11-3) through a shaft hole and fixed with screws. -3) It is drum-shaped with an opening at the bottom and round holes on the left and right sides. Through holes are distributed on the round holes for mounting the pitch motor assembly (11-1) and the pitch encoder assembly (11-2). The upper surface of the pitch frame (11-3) is flat with weight-reducing holes distributed around the circumference and a large hole in the center. It forms a shaft hole with the outer circular surface of the fixing end of the inner orientation assembly (3-3) for positioning. There are screw holes around the center hole of the pitch frame (11-3) for fixing the fixing end of the inner orientation assembly (3-3). There are two sets of threaded holes distributed at 90° around the center hole on the upper surface of the pitch frame (11-3) for mounting the pitch gyroscope assembly (11-4) and the roll gyroscope assembly (11-5).

5. The novel three-axis wide-area pod structure as described in claim 4, characterized in that, The pitch assembly (3-2) adopts the same shaft system structure as the outer roll assembly (3-1); the pitch motor assembly (11-1) includes a left pitch cover plate (12-1), a pitch motor (12-2), a pitch motor stator seat (12-3), a pitch motor rotor seat (12-4), a pitch motor pressure ring (12-5), a pitch bearing (12-6), a pitch bearing outer pressure ring (12-7), a dynamic seal ring (12-8), a pitch bearing stator seat (12-9), a sealing rope (12-10), and a pitch bearing inner pressure ring (12-11); the pitch motor stator seat (12-3), as the fixed end of the pitch motor assembly (11-1), has a cylindrical surface on its outer side, and the upper left end of the roll frame (4-3) has a circular hole for pitch... The motor assembly (11-1) is positioned with the upper left end face of the roll frame (4-3) via a shaft hole and is fixed with screws. The pitch motor stator base (12-3) has a cylindrical surface on its inner side, and the pitch motor (12-2) stator end has an outer cylindrical surface, which are positioned via a shaft hole. The pitch motor (12-2) stator end has a flange with a through hole, and the inner end face of the pitch motor stator base (12-3) has a threaded hole. The pitch motor (12-2) stator end and the pitch motor stator base (12-3) are fixed with screws. The left pitch cover plate (12-1) is bowl-shaped with an opening on one side and a through hole on the opening end face. The upper left end face of the roll frame (4-3) has a threaded hole on its outer side. The left pitch cover plate (12-1) and the upper left end face of the roll frame (4-3) are fixed with screws. The components are fixed with screws; the upper left end face of the roll frame (4-3) has a square groove, which forms a U-shaped groove after installation with the left pitch cover plate (12-1), and a sealing rope (12-10) is installed in the groove; the pitch motor rotor seat (12-4) has an outer cylindrical surface, and the rotor end of the pitch motor (12-2) has an inner cylindrical surface. The pitch motor rotor seat (12-4) and the rotor end of the pitch motor (12-2) are positioned by a shaft hole; the outer end face of the pitch motor rotor seat (12-4) has an external thread, and the pitch motor pressure ring (12-5) has an internal thread. The rotor end of the pitch motor (12-2) is fixed to the pitch motor rotor seat (12-4) by the pitch motor pressure ring (12-5); the pitch bearing (12-6) is installed back to back, and the outer ring of the bearing is fixed to the pitch bearing. The stator seat (12-9) is positioned by a shaft hole; the pitch bearing stator seat (12-9) has internal threads, and the pitch bearing outer pressure ring (12-7) has external threads. The outer ring of the pitch bearing is fixed by tightening the outer pressure ring (12-7) with the pitch bearing stator seat (12-9); the inner ring of the bearing is positioned by a through hole with the pitch motor rotor seat (12-4). The end face of the pitch motor rotor seat (12-4) has a threaded hole, and the inner pressure ring (12-11) of the pitch bearing has a through hole. The inner ring of the bearing is pre-tightened by mounting screws; the pitch motor stator seat (12-3) has a step, and the pitch motor rotor seat (12-4) also has a step. After coaxial installation, the steps on both sides together form a U-shaped groove. A dynamic sealing ring (12-8) is installed in the groove to ensure water tightness.

6. The novel three-axis wide-area pod structure as described in claim 5, characterized in that, The pitch bearing stator housing (12-9) has limit posts distributed on its end face, with the limit posts arranged at 80° around the center of the end face; the pitch bearing inner pressure ring (12-11) has a locking tongue on its end face; after the pitch bearing stator housing (12-9) and the pitch bearing inner pressure ring (12-11) are coaxially installed, they together form a pitch limiting device to ensure that the pitch rotation range is limited to -40° to +40°; the outer edge of the upper end face of the pitch frame (11-3) has 6 sets of threaded holes for installing the rear cover plate; the edge of the upper end face also has a square groove, which together with the rear cover to form a U-shaped groove, and a sealing rope is installed in the groove to achieve static sealing.

7. The novel three-axis wide-area pod structure as described in claim 6, characterized in that, The pitch encoder assembly (11-2) includes a pitch angle measuring stator base (12-12), a pitch encoder (12-13), a pitch angle measuring rotor base (12-14), a pitch bearing (12-15), a dynamic seal ring (12-16), a sealing rope (12-17), a bearing outer pressure ring (12-18), and a side cover (12-19). The pitch angle measuring stator base (12-12) is the fixed end of the pitch encoder assembly (11-2), and the pitch angle measuring rotor base (12-14) is the rotating end of the pitch encoder assembly (11-2). The pitch angle measuring stator base (12-12) has a cylindrical surface on its outer side, and the lower right end face of the roll frame (4-3) has a circular hole. The pitch angle measuring stator base (12-12) and the roll frame... The frame (4-3) is positioned by a clearance fit between the shaft holes; the lower right end face of the roll frame (4-3) has a threaded hole, and the outer end face of the pitch angle measuring stator seat (12-12) has a through hole, which is fixed by screws; the pitch angle measuring rotor seat (12-14) has an outer cylindrical surface, and the pitch frame (11-3) has an inner cylindrical surface; the end face of the pitch angle measuring rotor seat (12-14) that contacts the pitch frame (11-3) has a threaded hole, and the end face of the pitch frame (11-3) that contacts the pitch angle measuring rotor seat (12-14) has a countersunk hole, which is fixed by screws; when the pitch angle measuring rotor seat (12-14) and the pitch frame (11-3) are connected, silicone rubber is applied between their contact surfaces to ensure airtightness; the pitch encoder (12-13) rotates. The pitch encoder (12-13) has an inner cylindrical surface and an outer cylindrical surface, and is coaxially mounted through a shaft hole. The pitch encoder (12-13) has a threaded hole on its end face, and a through hole on its rotating end, which is secured with screws. The pitch encoder (12-13) has a boss on its outer side with a through hole at its center. The pitch encoder (12-12) has a threaded hole on its end face, and the fixed end of the pitch encoder (12-13) is secured to the pitch encoder (12-12) with screws. The pitch bearing (12-15) is a four-point contact bearing; its outer ring is mounted to the inner hole of the pitch encoder (12-12) through a shaft hole. The end face of the inner hole of the pitch encoder (12-12) has... The bearing outer pressure ring (12-18) has a threaded hole. After the bearing outer ring is installed in the inner hole of the pitch angle measuring stator seat (12-12), the bearing outer pressure ring (12-18) is fixed with mounting screws. The bearing inner ring is positioned with the pitch angle measuring rotor seat (12-14) through the shaft hole. The bearing inner ring adopts a floating design. The side cover (12-19) is bowl-shaped with an opening on one side. The opening end face has a through hole. The outer side of the lower right end face of the roll frame (4-3) has a threaded hole. The side cover (12-19) is fixed to the lower right end face of the roll frame (4-3) with screws. The lower right end face of the roll frame (4-3) has a square groove, which forms a U-shaped groove after installation with the side cover (12-19). The sealing rope (12-17) is installed in the groove to ensure static sealing.

8. The novel three-axis wide-area pod structure as described in claim 7, characterized in that, The inner orientation assembly (3-3) includes an orientation motor stator base (15-1), an orientation bearing (15-2), an orientation rotor base (15-3), an outer pressure ring of the orientation bearing (15-4), an inner pressure ring of the orientation bearing (15-5), an orientation motor (15-6), an orientation encoder (15-7), a slip ring (15-8), an optical bench base (15-9), a slip ring support (15-10), an angle measuring bracket (15-11), and an orientation gyroscope assembly (15-12). The azimuth motor stator base (15-1) is the fixed end of the inner azimuth assembly (3-3), and the azimuth rotor base (15-3) is the rotating end of the inner azimuth assembly (3-3). The azimuth motor stator base (15-1) has an outer cylindrical surface, and the pitch frame (11-3) has a hole at the center of its upper end face. The azimuth motor stator base (15-1) and the pitch frame (11-3) are positioned by a shaft hole. The azimuth motor stator base (15-1) has a flange on its outer side with a through hole, and the pitch frame (11-3) has a threaded hole on its upper end face. The azimuth motor stator base (15-1) and the pitch frame (11-3) are fixed together by screws. The azimuth bearing (15-2) is an angular contact bearing, installed back to back. The outer ring of the azimuth bearing (15-2) is positioned by fitting with the shaft hole of the azimuth motor stator seat (15-1). The end face of the azimuth motor stator seat (15-1) has a threaded hole, and the end face of the azimuth bearing outer pressure ring (15-4) has a through hole. After the outer ring of the bearing is installed on the azimuth motor stator seat (15-1), the outer pressure ring of the azimuth bearing (15-4) is fixed to the azimuth motor stator seat (15-1) with screws to achieve pre-tightening of the bearing outer ring. The inner ring of the azimuth bearing (15-2) is positioned by fitting with the azimuth rotor seat (15-3) through a shaft hole. The end face of the azimuth rotor seat (15-3) has a threaded hole, and the end face of the azimuth bearing inner pressure ring (15-5) has a through hole. After the outer ring of the bearing is installed on the azimuth rotor seat (15-3)... Then, the inner pressure ring (15-5) of the azimuth bearing is fixed to the azimuth rotor seat (15-3) with screws to achieve pre-tightening of the bearing inner ring; the outer ring of the azimuth motor (15-6) is coaxially mounted with the azimuth motor stator seat (15-1). The outer ring of the azimuth motor (15-6) has a flange with through holes, and the end face of the azimuth motor stator seat (15-1) has a threaded hole. The outer ring of the azimuth motor (15-6) is fixedly mounted on the azimuth motor stator seat (15-1) with screws; the inner ring of the azimuth motor (15-6) is coaxially mounted with the azimuth rotor seat (15-3). The inner ring of the azimuth motor (15-6) has a flange with through holes, and the end face of the azimuth rotor seat (15-3) has a threaded hole. (15-6) The inner ring is fixedly mounted on the azimuth rotor seat (15-3) by screws; the lower end of the angle measuring bracket (15-11) has a ring, the inner cylindrical surface of the ring is coaxially mounted with the outer cylindrical surface of the azimuth motor stator seat (15-1) with clearance fit, the angle measuring bracket (15-11) has a through hole, the end face of the azimuth motor stator seat (15-1) has a threaded hole, and the angle measuring bracket (15-11) and the azimuth motor stator seat (15-1) are fixedly connected by screws; the azimuth encoder (15-7) is located above the azimuth motor (15-6) and is coaxially mounted with the azimuth motor (15-6), the fixed end is fixedly connected to the angle measuring bracket (15-11), and the rotating end is fixedly connected to the azimuth rotor seat (15-3);The angle measuring bracket (15-11) has an inner cylindrical surface, and the stator end of the azimuth encoder (15-7) has an outer cylindrical surface. The angle measuring bracket (15-11) and the stator end of the azimuth encoder (15-7) are positioned by a shaft hole. The stator end of the azimuth encoder (15-7) has a flange with a through hole, and the angle measuring bracket (15-11) has a threaded hole. The angle measuring bracket (15-11) and the stator end of the azimuth encoder (15-7) are fixed together by screws. The azimuth encoder (15-7) has a flange on its rotating end with a through hole. The azimuth rotor seat (15-3) has a threaded hole on its end face. The rotating end of the azimuth encoder (15-7) is fixed to the azimuth rotor seat (15-3) with screws. The slip ring support (15-10) is located above the azimuth encoder (15-7). The slip ring support (15-10) has an inner cylindrical surface, and the angle measuring bracket (15-11) has an outer cylindrical surface. The slip ring support (15-10) and the angle measuring bracket (15-11) are connected. The bracket (15-11) is coaxially mounted via a shaft hole; the slip ring support (15-10) has a through hole on its end face, and the angle measuring bracket (15-11) has a threaded hole on its end face, which is fixed by screws; the slip ring (15-8) is located in the middle of the inner orientation assembly (3-3); the upper part of the slip ring (15-8) is a fixed end, and the lower part is a rotating end. The fixed end of the slip ring (15-8) is coaxially mounted with the slip ring support (15-10), and the fixed end of the slip ring (15-8) has a through hole. The ring support (15-10) has a threaded hole and is fixed by screws; the rotating end of the slip ring (15-8) is fixed to the optical bench (15-9); the slip ring (15-8) passes through the hollow hole of the pitch frame (11-3); the optical bench (15-9) is flat, with a raised cylinder at the center of its upper surface. The outer surface of the cylinder mates with the inner hole of the lower end of the azimuth rotor seat (15-3) for positioning. The inner hole of the cylinder in the optical bench (15-9) facilitates the passage of the slip ring (15-8).

9. The novel three-axis wide-area pod structure as described in claim 8, characterized in that, The optical bench (15-9) has bosses on both sides of the middle of its lower surface, with threaded holes on the bosses. The rotating end of the slip ring (15-8) has protruding thin plates on both sides, with through holes on the plates. The optical bench (15-9) and the rotating end of the slip ring (15-8) are fixed together by screws. The lower surface edge of the optical bench (15-9) has a flat surface with threaded holes, forming the mounting surface of the azimuth gyroscope assembly (15-12). The mounting surface has through holes, and the azimuth gyroscope assembly (15-12) is fixed together with the optical bench (15-9) by screws. The azimuth gyroscope assembly (15-12) is sensitive to the rotation speed of the azimuth axis. Different mechanical interfaces are provided on the lower surface of the optical bench (15-9) as needed to fix different types of optical loads, meeting system application requirements. The rotating end of the inner azimuth assembly (03-3) rotates continuously 360° around its axis under motor drive, offsetting the image rotation problem caused by the aircraft's flight path.

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