A rotating dual-prism visual axis stabilization system capable of self-locking when power is off

Abstract

The present invention relates to a power-off self-locking rotating dual-prism visual axis stabilization system, wherein each component is symmetrically arranged along the axis. The mounting structure comprises a mounting base, a first rotating shaft, and a second rotating shaft, wherein the rotating shaft is mounted on the mounting base through a bearing; the power part comprises a first driving motor, a second driving motor, and first to fourth bearings, wherein the motor stator is fixed on the inner side of the mounting base, the motor rotor is fixed on the rotating shaft, and the bearing is coaxially assembled with the rotating shaft; the measuring part comprises a first angle encoder and a second angle encoder, wherein the angle encoder is mounted on the rotating shaft; the optical part comprises a first circular optical wedge and a second circular optical wedge, wherein the circular optical wedge is mounted on the inner side of the rotating shaft, and the plane ends thereof are arranged close to each other; the power-off self-locking part comprises a bidirectional electromagnetic brake, wherein the bidirectional electromagnetic brake is respectively connected to the two rotating shafts through a spline, and the present invention adopts a bidirectional electromagnetic brake to maintain the prism angle position when the power is off, thereby realizing the power-off self-locking function of the rotating dual-prism visual axis stabilization system.

Description

Technical Field

[0001] The invention relates to the field of visual axis stabilization, and in particular to a rotating dual-prism visual axis stabilization system capable of self-locking when powered off. Background Art

[0002] In the optoelectronic imaging tracking system of a moving carrier, the tracking performance is reduced due to the visual axis shaking caused by the movement of the carrier. Visual axis stabilization means that the direction of the tracker's visual axis in the inertial space is not affected by interference and maintains the same spatial direction. The rotating biprism is a refractive beam deflection mechanism. Based on the principle of light refraction, the direction of the beam can be changed by refraction of the light beam through a prism. The light beam is refracted twice after passing through two prisms. By designing the prism angle, the light beam on the receiving light screen can be arbitrarily pointed. The rotating biprism can be used as a pointing mechanism to achieve high-precision spatial pointing. On the basis of high-precision visual axis pointing, the rotating biprism combined with the control method can achieve visual axis stabilization. The power of the spatial line-of-sight stabilization system is very valuable. In order to keep the position of the prism when the power is turned off, the prior art (see Clark CS, Gentile S. Flightminiature Risley prism mechanism [C] / / Novel Optical Systems Design and Optimization XII. SPIE, 2009, 7429: 147-154.) mentions using an energized electromagnetic axial brake to brake the rotation of the axis when the power is turned off to keep the position of the prism. The disadvantage is that two electromagnetic brakes are required to keep the positions of the two prisms after the power is turned off, which is not conducive to the miniaturization of the spatial pointing mechanism and the simplification of the control system. At the same time, when the power of the rotating dual-prism line-of-sight stabilization system is turned off, the electromagnetic axial brake still needs to be powered. Summary of the invention

[0003] In order to overcome the shortcomings of the prior art, the present invention proposes a rotating dual-prism visual axis stabilization system that can be self-locked when the power is turned off. The system uses a bidirectional electromagnetic brake to maintain the angular position of the two prisms after the power is turned off, reducing the number of electromagnetic brakes required, thereby achieving the effects of reducing volume, reducing weight, simplifying the control system, and reducing power consumption.

[0004] In order to achieve the above object, the present invention adopts the following technical scheme:

[0005] A rotating dual-prism visual axis stabilization system capable of power-off self-locking includes a mounting structure, a power part, a measuring part, an optical part, and a power-off self-locking part. Except for the first rotating shaft and the second rotating shaft, all parts are symmetrically arranged along the axis. The mounting structure includes a mounting base, a first rotating shaft, and a second rotating shaft, and the rotating shaft is mounted on the mounting base through bearings; the power part includes a first driving motor, a second driving motor, and first to fourth bearings, the stator of the driving motor is fixed on the inner side of the mounting base, the rotor of the driving motor is fixed on the rotating shaft, and the bearing is coaxially assembled with the rotating shaft; the measuring part includes a first angle encoder and a second angle encoder, and the angle encoder is mounted on the rotating shaft; the optical part includes a first circular optical wedge and a second circular optical wedge, and the circular optical wedge is mounted on the inner side of the rotating shaft, and its plane end is arranged close to each other; the power-off self-locking part includes a bidirectional electromagnetic brake, and the bidirectional electromagnetic brake is connected to the two rotating shafts respectively through splines.

[0006] The first rotating shaft is mounted on a mounting base via the first bearing and the second bearing, the first drive motor stator is fixed on the inner side of the mounting base, the first drive motor rotor is fixed on the first rotating shaft, the first angle encoder is mounted on the first rotating shaft, and the first circular optical wedge is mounted on the inner side of the rotating shaft.

[0007] The bidirectional electromagnetic brake structure includes a first fixed plate, a second fixed plate, first to fourth friction plates, a first brake disc, a second brake disc, a first moving iron core, a second moving iron core, a first spring, a second spring, a first electromagnetic coil, a second electromagnetic coil, and a static iron core. The first electromagnetic coil, the second electromagnetic coil, the first spring, and the second spring are installed in the static iron core, the first fixed plate, the first moving iron core, and the static iron core are connected by screws, the second fixed plate, the second moving iron core, and the static iron core are connected by screws, the first friction plate is installed on the first fixed plate, the second friction plate is installed on the first moving iron core, the third friction plate is installed on the second fixed plate, and the fourth friction plate is installed on the second moving iron core. The first brake disc is installed between the first moving iron core and the first fixed plate, and the second brake disc is installed between the second moving iron core and the second fixed plate.

[0008] The inner surface of the first rotating shaft includes a first cylindrical surface, a second cylindrical surface and a third cylindrical surface. The inner diameter of the first cylindrical surface is smaller than the inner diameter of the second cylindrical surface, and the inner diameter of the second cylindrical surface is smaller than the inner diameter of the third cylindrical surface. The first cylindrical surface is designed with a groove and a glue injection hole to match the first circular optical wedge. The second cylindrical surface matches the outer side of the second rotating shaft, and the third cylindrical surface matches the outer side of the second rotating shaft. The inner surface of the second rotating shaft includes a first cylindrical surface and a second cylindrical surface, the inner diameter of the first cylindrical surface is smaller than the inner diameter of the second cylindrical surface, and the first cylindrical surface is designed with a groove and a glue injection hole to match the second circular optical wedge.

[0009] In one embodiment, the bidirectional electromagnetic brake is arranged at the axial center of the mechanism, with the first encoder and the second encoder arranged on both sides thereof, the first drive motor and the second drive motor are arranged on the outer sides of the encoders, and the first and second bearings and the third and fourth bearings are arranged on the outer sides of the motors.

[0010] In one embodiment, the inner surface of the mounting base includes mounting surfaces and mounting steps of the first drive motor stator sleeve and the second drive motor stator sleeve, and the mounting steps are used for axial and radial positioning of the motor stator sleeves; the inner surface of the mounting base includes mounting grooves for the reading head mounting plates of the first angle encoder and the second angle encoder, and the mounting grooves are used to axially limit the mounting plates, and the inner surface of the mounting base is arranged symmetrically on the left and right.

[0011] In one embodiment, the side surface of the mounting base includes a first end cover mounting surface, and the first end cover mounting surface is connected to the stator sleeve of the first drive motor by screws to axially connect and radially position it. The side surface of the mounting base is arranged symmetrically.

[0012] In one embodiment, the first bearing and the second bearing are used in pairs, and the third bearing and the fourth bearing are used in pairs. The first bearing outer retaining ring is installed on the left side of the first end cover, and is used to axially limit the left side of the outer rings of the first bearing and the second bearing. The first bearing inner retaining ring is installed on the left side of the first shaft, and is used to axially limit the left side of the inner rings of the first bearing and the second bearing. The right side of the first end cover axially limits the outer rings of the first bearing and the second bearing from the right side. The first shaft step faces the inner rings of the first bearing and the second bearing and is axially limited from the right side.

[0013] In one embodiment, the first drive motor and the second drive motor are permanent magnet synchronous motors. The bearing is a thin-walled large-ring angular contact ball bearing.

[0014] In one embodiment, the first angle encoder and the second angle encoder are inductive encoders.

[0015] The rotating dual-prism visual axis stabilization system capable of power-off self-locking described in the present invention has the following beneficial effects:

[0016] (1) Compact structure. The thin-walled large-ring angular contact ball bearing selected by the present invention has a narrow width and compact inner and outer diameters. A bidirectional electromagnetic brake is used instead of two unidirectional electromagnetic brakes, and the structure between the components is compact.

[0017] (2) Energy saving: The present invention has a power-off self-locking function, which can turn off the power supply and maintain the angular position of the rotating dual-prism visual axis stabilization system when the system is dormant.

[0018] (3) Good optical quality. The first rotating shaft and the second rotating shaft of the present invention contain cutting grooves and injection holes, which can accommodate the deformation of the circular optical wedge caused by thermal stress and ensure the quality of the output light beam. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 is a cross-sectional view of a bidirectional electromagnetic brake of the present invention;

[0020] Figure 2 It is a structural cross-sectional view of a rotating dual-prism visual axis stabilization system capable of power-off self-locking according to the present invention;

[0021] Figure 3 It is an isometric view and a front view of the first rotating shaft of the present invention.

[0022] In the figure:

[0023] 101——first drive motor; 102——second drive motor;

[0024] 103——first bearing; 104——second bearing;

[0025] 105——third bearing; 106——fourth bearing;

[0026] 201——first circular optical wedge; 202——second circular optical wedge;

[0027] 301——first angle encoder; 302——second angle encoder;

[0028] 401——first fixed plate; 402——second fixed plate;

[0029] 403——first friction plate; 404——second friction plate;

[0030] 405——third friction plate; 406——fourth friction plate;

[0031] 407——first brake disc; 408——second brake disc;

[0032] 409——first moving iron core; 410——second moving iron core;

[0033] 411——first spring; 412——second spring;

[0034] 413——first electromagnetic coil; 414——second electromagnetic coil;

[0035] 415——static iron core; 501——mounting base;

[0036] 502——first rotating shaft; 503——second rotating shaft;

[0037] 4——Bidirectional electromagnetic brake. DETAILED DESCRIPTION

[0038] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0039] like Figure 1 As shown, a rotating dual-prism visual axis stabilization system capable of power-off self-locking of the present invention comprises a mounting structure, a power part, a measuring part, an optical part, and a power-off self-locking part. Except for the first rotating shaft 502 and the second rotating shaft 503, all the components are symmetrically arranged along the axis. The mounting structure comprises a mounting base 501, a first rotating shaft 502, and a second rotating shaft 503. The first rotating shaft 502 and the second rotating shaft 503 are mounted on the mounting base through bearings; the power part comprises a first driving motor 101, a second driving motor 102, a first bearing 103, a second bearing 104, a third bearing 105, and a fourth bearing 106. The stator of the first driving motor 101 and the stator of the second driving motor 102 are fixed on the inner side of the mounting base 501. The rotor of the first driving motor 101 and the rotor of the second driving motor 102 are fixed on the first rotating shaft 502 and the second rotating shaft 503, respectively. The bearings are connected to the first rotating shaft 502 and the second rotating shaft 503. The second rotating shaft 503 is coaxially assembled; the measuring part includes a first angle encoder 301 and a second angle encoder 302, which are mounted on the first rotating shaft 502 and the second rotating shaft 503; the optical part includes a first circular optical wedge 201 and a second circular optical wedge 202, which are mounted on the inner sides of the first rotating shaft 502 and the second rotating shaft 503, with their plane ends close to each other and their inclined ends far away from each other; the power-off self-locking part includes a bidirectional electromagnetic brake 4, which is connected to the first rotating shaft 502 and the second rotating shaft 503 respectively through splines. The power-off self-locking rotating dual-prism visual axis stabilization system drives the first rotating shaft 502 and the second rotating shaft 503 to rotate respectively by the first driving motor 101 and the second driving motor 102, thereby changing the rotation angle position of the first circular optical wedge 201 and the second circular optical wedge 202. The angle encoder feeds back the angle information of the first rotating shaft 502 and the second rotating shaft 503 to the control board, realizing the angle control of the first circular optical wedge 201 and the second circular optical wedge 202, and changing the direction of the light beam or the visual axis.

[0040] like Figure 2As shown, the bidirectional electromagnetic brake 4 structure includes a first fixed plate 401, a second fixed plate 402, a first friction plate 403, a second friction plate 404, a third friction plate 405, a fourth friction plate 406, a first brake disc 407, a second brake disc 408, a first moving iron core 409, a second moving iron core 410, a first spring 411, a second spring 412, a first electromagnetic coil 413, a second electromagnetic coil 414, and a static iron core 415. The first electromagnetic coil 413, the second electromagnetic coil 414 and the first spring 411 and the second spring 412 are installed in the static iron core 415, the first fixed plate 401, the first moving iron core 409 and the static iron core 415 are connected by screws, the second fixed plate 402, the second moving iron core 410 and the static iron core 415 are connected by screws, the first friction plate 403 is installed on the first fixed plate 401, the second friction plate 404 is installed on the first moving iron core 409, the third friction plate 405 is installed on the second fixed plate 402, the fourth friction plate 406 is installed on the second moving iron core 410, the first brake disc 407 is installed between the first moving iron core 409 and the first fixed plate 401, and the second brake disc 408 is installed between the second moving iron core 410 and the second fixed plate 402. When the bidirectional electromagnetic brake 4 is powered on, current flows through the first electromagnetic coil 413 and the second electromagnetic coil 414 to generate a magnetic field, and the magnetic field generates an electromagnetic attraction on the first moving iron core 409 and the second moving iron core 410, so that the first moving iron core 409 and the second moving iron core 410 overcome the thrust of the first spring 411 and the second spring 412 and are adsorbed on the static iron core 415. At this time, the first brake disc 407 and the second brake disc 408 are not subject to friction resistance, and the first rotating shaft 502 and the second rotating shaft 503 are not braked and keep rotating; when the bidirectional electromagnetic brake 4 is powered off, the first electromagnetic coil 413 and the second electromagnetic coil 414 do not generate a magnetic field, and the first moving iron core 409 and the second moving iron core 410 are subject to the thrust of the first spring 411 and the second spring 412, and are pressed against the first brake disc 407 and the second brake disc 408 together with the first fixed plate 401 and the second fixed plate 402. The brake discs are subject to friction, and the first rotating shaft 502 and the second rotating shaft 503 are braked. The present invention uses one bidirectional electromagnetic brake to replace two unidirectional electromagnetic brakes, and the structures of various components are compact.

[0041] The rotating dual-prism visual axis stabilization system capable of power-off self-locking is highly symmetrically arranged in its components except for the first rotating shaft 502 and the second rotating shaft 503. The first rotating shaft 502 and its upper components are mainly used as an example for the structural introduction below. It should be known that the second rotating shaft 503 and its upper components are symmetrically arranged with the first rotating shaft 502 and its upper components, so the components and their layout and connection methods can all refer to the first rotating shaft and its upper components.

[0042] In one embodiment, the bidirectional electromagnetic brake 4 is arranged at the axial center of the mechanism, and the first encoder 301 and the second encoder 302 are arranged on both sides thereof, and the first drive motor 101 and the second drive motor 102 are arranged outside the first encoder 301 and the second encoder 302, respectively, and the first bearing 103, the second bearing 104 and the third bearing 105 and the fourth bearing 106 are arranged outside the first drive motor 101 and the second drive motor 102. Such a component arrangement ensures a symmetrical spatial layout and is convenient for installation and debugging.

[0043] In one embodiment, the inner surface of the mounting base 501 includes the stator sleeve mounting surface and mounting steps of the first drive motor 101 and the second drive motor 102, and the mounting steps are used to axially and radially position the motor stator sleeve; the inner surface of the mounting base 501 includes the mounting grooves of the reading head mounting plates of the first angle encoder 301 and the second angle encoder 302, and the mounting grooves are used to axially limit the mounting plates, and the inner surface of the mounting base 501 is arranged symmetrically. The left side of the mounting base 501 also includes the first end cover mounting surface, and the first end cover mounting surface is used to screw the stator sleeve of the first drive motor 101 to axially connect and radially position it. The left side and the right side of the mounting base are arranged symmetrically. This inner surface structure of the mounting base 501 can be used as an installation reference to ensure the radial and axial installation accuracy of the stator of the first drive motor 101.

[0044] In one embodiment, the first bearing 103 and the second bearing 104 are used in pairs, and the third bearing 105 and the fourth bearing 106 are used in pairs. The outer retaining ring of the first bearing 103 is installed on the left side of the first end cover, and is used to axially limit the left side of the outer rings of the first bearing 103 and the second bearing 104. The inner retaining ring of the first bearing is installed on the left side of the first rotating shaft 502, and is used to axially limit the left side of the inner rings of the first bearing 103 and the second bearing 104. The right side of the first end cover axially limits the outer rings of the first bearing 103 and the second bearing 104 from the right side. The first rotating shaft 502 step faces the inner rings of the first bearing 103 and the second bearing 104 and axially limits them from the right side. This bearing limiting method can transfer the installation reference to the first bearing 103, the second bearing 104, the third bearing 105, and the fourth bearing 106 on the premise that the installation base 501 is used as the installation reference. The first bearing 103, the second bearing 104, the third bearing 105, and the fourth bearing 106 support the mounting base 501, the first rotating shaft 502, and the second rotating shaft 503 from the left and right sides, thereby achieving the balance of the entire device. In addition, the first drive motor 101, the second drive motor 102 and the first bearing 103, the second bearing 104, the third bearing 105, and the fourth bearing 106 can be arranged adjacent to each other, thereby achieving miniaturization and compact structure of the device.

[0045] In one embodiment, the first drive motor 101 and the second drive motor 102 are permanent magnet synchronous motors, which have higher angular resolution than traditional stepper motors, smaller cogging effect and smaller torque fluctuation than brushless DC torque motors.

[0046] In one embodiment, the first bearing 103 is a thin-walled large-ring angular contact ball bearing. The thin-walled large-ring angular contact ball bearing can provide thin-walled inner and outer diameters of the bearing, and the bearing width is narrow, which is suitable for small load bearings and is conducive to compact structure and miniaturization and light weight.

[0047] In one embodiment, the inner surface of the first rotating shaft 502 includes a first cylindrical surface, a second cylindrical surface, and a third cylindrical surface. The inner diameter of the first cylindrical surface is smaller than the inner diameter of the second cylindrical surface, and the inner diameter of the second cylindrical surface is smaller than the inner diameter of the third cylindrical surface. The first cylindrical surface is designed with a groove and a glue injection hole to cooperate with the first circular optical wedge 201. The second cylindrical surface cooperates with the outer side of the second rotating shaft 503, and the third cylindrical surface cooperates with the outer side of the second rotating shaft 503. The inner surface of the second rotating shaft 503 includes a first cylindrical surface and a second cylindrical surface, the inner diameter of the first cylindrical surface is smaller than the second cylindrical surface, and the first cylindrical surface is designed with a groove and a glue injection hole to cooperate with the second circular optical wedge 202. The groove can accommodate the deformation of the circular optical wedge caused by thermal stress, reduce the thermal stress of the circular optical wedge, and ensure the imaging quality of the optical wedge.

[0048] In one embodiment, the shapes of the groove and the injection hole on the first cylindrical surface are as follows: Figure 3 As shown. The slotting gap is 0.5mm, each group of slotting is 120°, the slotting cantilever part is 30°, the opening part is 88°, and the knife edge part is 2°, with a total of three groups of slotting. The glue injection hole is in the middle of the cantilever part, with a diameter of 1mm and a distance of 0.25mm from the inner side of the cantilever. The integrated processing of the slotting and the first rotating shaft 502 can ensure the coaxiality of the slotting and the first rotating shaft, and reduce the connection steps of the slotting and the first rotating shaft 502.

[0049] In one embodiment, the first drive motor 101 further includes a motor stator sleeve, which is connected to the first end cover by screws to limit the stator of the first drive motor 101 in the axial and radial directions, thereby ensuring the axial position and radial installation accuracy of the stator.

[0050] In one embodiment, the first angle encoder 301 includes an encoder disc and an encoder reading head, the encoder disc is glued and fixedly connected to the first rotating shaft 502, and is positioned by three groups of 120° uniformly distributed positioning pins. The reading head of the first angle encoder 301 is fixedly connected to the mounting base 501 through a mounting plate. The mounting plate is fixedly connected to the mounting base 501 by screws, and the reading head is fixedly connected to the mounting plate by gluing, and is positioned by positioning pins. The installation plate is convenient for the processing of the mounting base 501, and the coaxiality of the left and right sides of the mounting base 501 can be ensured.

[0051] The mounting base 501 is provided with wiring holes for the first angle encoder 301 , the second angle encoder 302 , the first drive motor 101 , the second drive motor 102 , and the bidirectional electromagnetic brake 4 , so as to facilitate installation and debugging with the control board.

[0052] In one embodiment, the inner and outer retaining rings of the first bearing 103 are provided with a sealing and dustproof structure.

[0053] It will be easily understood by those skilled in the art that 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 and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A rotating dual-prism visual axis stabilization system capable of self-locking when powered off, characterized in that: The invention comprises an installation structure, a power part, a measuring part, an optical part, and a power-off self-locking part. Except for the first rotating shaft and the second rotating shaft, the components are symmetrically arranged along the axis. The installation structure comprises an installation base, a first rotating shaft, and a second rotating shaft. The first rotating shaft and the second rotating shaft are installed on the installation base through bearings. The power part comprises a first driving motor, a second driving motor, a first bearing, a second bearing, a third bearing, and a fourth bearing. The stators of the first driving motor and the second driving motor are fixed on the inner side of the installation base. The rotors of the first driving motor and the second driving motor are respectively fixed on the first rotating shaft and the second rotating shaft. The first The bearing and the second bearing are coaxially assembled with the first rotating shaft, and the third bearing and the fourth bearing are coaxially assembled with the second rotating shaft; the measuring part includes a first angle encoder and a second angle encoder, the first angle encoder is mounted on the first rotating shaft, and the second angle encoder is mounted on the second rotating shaft; the optical part includes a first circular optical wedge and a second circular optical wedge, the first circular optical wedge and the second circular optical wedge are respectively mounted on the inner sides of the first rotating shaft and the second rotating shaft, with their plane ends close to each other and their inclined ends far away from each other; the power-off self-locking part includes a bidirectional electromagnetic brake, and the bidirectional electromagnetic brake is connected to the two rotating shafts respectively through splines; The bidirectional electromagnetic brake structure includes a first fixed plate, a second fixed plate, first to fourth friction plates, a first brake disc, a second brake disc, a first moving iron core, a second moving iron core, a first spring, a second spring, a first electromagnetic coil, a second electromagnetic coil, and a static iron core; the first electromagnetic coil, the second electromagnetic coil, the first spring, and the second spring are installed in the static iron core, the first fixed plate, the first moving iron core, and the static iron core are connected by screws, the second fixed plate, the second moving iron core, and the static iron core are connected by screws, the first friction plate is installed on the first fixed plate, the second friction plate is installed on the first moving iron core, the third friction plate is installed on the second fixed plate, and the fourth friction plate is installed on the second moving iron core, the first brake disc is installed between the first moving iron core and the first fixed plate, and the second brake disc is installed between the second moving iron core and the second fixed plate.

2. The rotating dual-prism visual axis stabilization system capable of power failure and self-locking according to claim 1, characterized in that: The first rotating shaft is mounted on the mounting base through the first bearing and the second bearing, the stator of the first drive motor is fixed on the inner side of the mounting base, the rotor of the first drive motor is fixed on the first rotating shaft, the first angle encoder is mounted on the first rotating shaft, and the first circular optical wedge is mounted on the inner side of the rotating shaft; the bidirectional electromagnetic brake is respectively connected to the first rotating shaft and the second rotating shaft through splines.

3. The rotating dual-prism visual axis stabilization system capable of power failure and self-locking according to claim 1, characterized in that: The inner surface of the first rotating shaft includes a first cylindrical surface, a second cylindrical surface and a third cylindrical surface; the inner diameter of the first cylindrical surface is smaller than the inner diameter of the second cylindrical surface, and the inner diameter of the second cylindrical surface is smaller than the inner diameter of the third cylindrical surface; the first cylindrical surface is designed with grooves and glue injection holes to cooperate with the first circular optical wedge; the second cylindrical surface cooperates with the outer side of the second rotating shaft, and the third cylindrical surface cooperates with the outer side of the second rotating shaft; the inner surface of the second rotating shaft includes a first cylindrical surface and a second cylindrical surface, the inner diameter of the first cylindrical surface is smaller than the inner diameter of the second cylindrical surface, and the first cylindrical surface is designed with grooves and glue injection holes to cooperate with the second circular optical wedge.

4. The rotating dual-prism visual axis stabilization system capable of power failure and self-locking according to claim 1, characterized in that: The bidirectional electromagnetic brake is arranged at the axial center of the mechanism, with the first encoder and the second encoder arranged on both sides thereof, the first drive motor and the second drive motor arranged on the outer sides of the encoders, and the first and second bearings and the third and fourth bearings arranged on the outer sides of the motors.

5. The rotating dual-prism visual axis stabilization system capable of power-off self-locking according to claim 1, characterized in that: The inner surface of the mounting base includes mounting surfaces and mounting steps of the first drive motor stator sleeve and the second drive motor stator sleeve, and the mounting steps are used for axial and radial positioning of the motor stator sleeve; the inner surface of the mounting base includes mounting grooves for the reading head mounting plates of the first angle encoder and the second angle encoder, and the mounting grooves are used to axially limit the mounting plates, and the inner surface of the mounting base is arranged symmetrically on the left and right.

6. The rotating dual-prism visual axis stabilization system capable of power-off self-locking according to claim 1, characterized in that: The side surface of the mounting base includes a first end cover mounting surface, and the first end cover mounting surface is connected to the stator sleeve of the first drive motor by screws to axially connect and radially position it; the side surface of the mounting base is arranged symmetrically on the left and right.

7. The power-off self-locking rotating dual-prism visual axis stabilization system according to claim 6, characterized in that: The first bearing and the second bearing are used in pairs, and the third bearing and the fourth bearing are used in pairs; the first bearing outer retaining ring is installed on the left side of the first end cover, and is used to axially limit the left side of the outer rings of the first bearing and the second bearing; the first bearing inner retaining ring is installed on the left side of the first rotating shaft, and is used to axially limit the left side of the inner rings of the first bearing and the second bearing; the right side of the first end cover axially limits the outer rings of the first bearing and the second bearing from the right side; the first rotating shaft step faces the inner rings of the first bearing and the second bearing and is axially limited from the right side.

8. The rotating dual-prism visual axis stabilization system capable of power-off self-locking according to claim 1, characterized in that: The first drive motor and the second drive motor are permanent magnet synchronous motors; the bearings are thin-walled large-ring angular contact ball bearings.

9. The rotating dual-prism visual axis stabilization system capable of power failure and self-locking according to claim 1, characterized in that The first angle encoder and the second angle encoder are inductive encoders.

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