Optical-mechanical-electrical highly integrated modular two-axis aviation photoelectric pod

Abstract

The invention discloses an optical-mechanical-electrical highly integrated modular two-axis aviation photoelectric pod, which belongs to the technical field of photoelectric tracking, is mounted at the bottom or the front end of an aircraft, and comprises a photoelectric sensor load cabin module, the photoelectric sensor load cabin module is mounted on a rotating part of the pitching module through screws which are uniformly distributed in the circumferential direction; and the azimuth module and the pitching module are mounted on the azimuth module rotating part through screws which are uniformly distributed in the circumferential direction, and drive the photoelectric sensor load cabin module to do azimuth rotation along with the azimuth module. Photoelectric detection, imaging and tracking are carried out through the carried imaging sensor, the influence of machine body disturbance on stable tracking of a visual axis can be counteracted through precise motion, and while high motion precision is guaranteed and the wide-temperature application range is met, the optical-mechanical-electrical integration is high, the weight is low, the modular design is achieved, and assembly and disassembly are convenient.

Description

Technical Field

[0001] The invention relates to the technical field of optoelectronic tracking, and in particular to a highly optomechanically integrated modular two-axis aviation optoelectronic pod. Background Art

[0002] The aviation optoelectronic pod is a complex optomechanical integrated system that can offset the impact of high and low frequency disturbances of the carrier platform on the optoelectronic sensor, achieve line of sight stability, and complete target detection and tracking. However, the aviation pod faces a harsh working environment, including wide-range large gradient temperature changes from takeoff to high altitude, attitude disturbances of the drone, and installation size and weight constraints. With the advancement of technology, the application of aviation pods in special industries has higher and higher requirements for functional indicators such as optoelectronic imaging quality, detection distance, and line of sight stability accuracy. Therefore, while improving indicators such as stability accuracy, pointing accuracy, and detection imaging quality, achieving high integration of optomechanical systems, lightweight structures, and universal research is an urgent development direction in the future.

[0003] At present, there is still the problem of mutual restraint between high precision and low quality in the field, and facing different harsh working environments, most of the device structures are often complex, the assembly and disassembly process is cumbersome, and the degree of universality is low.

[0004] Based on the above technical problems, technicians in this field urgently need to develop a modular, simple-structured, and highly optically-mechanically integrated modular two-axis aviation optoelectronic pod that is easy to disassemble and assemble. Summary of the invention

[0005] The purpose of the present invention is to provide a modular two-axis aviation optoelectronic pod that is simple in structure and easy to disassemble and assemble, with highly integrated optomechanical and electrical systems.

[0006] In order to achieve the above object, the present invention provides the following technical solutions:

[0007] The present invention discloses a highly optical-mechanical-electrically integrated modular two-axis aviation optoelectronic pod, which comprises:

[0008] Electro-optical sensor payload bay module; and

[0009] The pitch module, the photoelectric sensor load compartment module is mounted on the pitch module rotating part by screws evenly arranged in the circumference;

[0010] The optronic pod also includes:

[0011] The azimuth module, the pitch module is installed on the rotating part of the azimuth module by circumferentially evenly arranged screws, and drives the photoelectric sensor payload cabin module to rotate in azimuth along with the azimuth module, and the photoelectric sensor payload cabin module and the pitch module together form a streamlined outer contour.

[0012] Furthermore, the photoelectric sensor load compartment module includes a four-way load-bearing frame, which adopts a stepped structure and is provided with a sensor mounting surface, a counterweight mounting surface and a weight reduction groove surface; wherein,

[0013] The central concave hole of the sensor mounting surface is a reserved space for the sensor, which can be used to install a visible light camera and a gyroscope. The visible light camera is supported by a camera mounting seat, and a plurality of different mounting interfaces are reserved on the sensor mounting surface to replace and / or add different sensors;

[0014] The counterweight mounting surface is capable of mounting a counterweight member;

[0015] The photoelectric sensor load compartment module also includes a front protective cover and a rear protective cover respectively connected to the two ends of the four-way load-bearing frame by screws, and the front protective cover is provided with a flat light window installation interface for installing a window piece.

[0016] Furthermore, a plurality of interfaces are reserved on the counterweight installation surface, and the counterweight scheme is determined by calculation and can be adjusted in real time according to different sensors, and the material of the counterweight installation surface is carbon steel;

[0017] The two side surfaces of the weight-reducing groove are provided with stopper assembly grooves for cooperating with the rotating part of the pitch module for positioning.

[0018] Preferably, the window piece is made of sapphire material, is mechanically pressed by a pressing ring, and is sealed with a sealant.

[0019] Further, the pitch module adopts a direct drive structure and has a fixed end and a floating end, and the pitch module includes a pitch bearing; and

[0020] U-shaped frame, the pitch bearing at the fixed end is fixed on the U-shaped frame through the fixed end bearing outer ring clamping flange, the pitch bearing at the floating end is installed on the floating end pitch axis through the floating end bearing inner ring clamping flange, the bottom of the U-shaped frame is provided with a pitch driver, and an azimuth assembly stop is reserved for cooperating with the azimuth module rotating part for positioning;

[0021] A left protective cover and a right protective cover mounted on the U-shaped frame by screws;

[0022] The fixed end pitch shaft has a disassembly and assembly interface reserved in its circumference, and is connected to the inner ring of the pitch bearing through a clamping flange. The fixed end pitch shaft and the floating end pitch shaft both have load compartment assembly stoppers reserved for assembly connection with the photoelectric sensor load compartment module. The floating end pitch shaft is connected to the inner ring of the pitch bearing of the floating end through a clamping flange on the outer ring of the floating end bearing;

[0023] A pitch encoder, wherein the fixed end pitch axis is connected to the pitch encoder circular grating by screws, and the pitch encoder is an absolute photoelectric encoder;

[0024] The pitch motor, the stator of the pitch motor is installed on the U-shaped frame through a clamping flange, and the pitch motor adopts a direct drive motor with a back electromotive force of a sine wave, and completes current commutation through electronics.

[0025] Preferably, the pitch encoder is an absolute photoelectric encoder;

[0026] The right protective cover is provided with a locking device interface, and its material is nylon plus glass fiber, and is formed by laser sintering technology.

[0027] Furthermore, the azimuth module adopts a direct drive structure, including an azimuth axis; and

[0028] A conductive slip ring assembly and an encoder assembly are mounted on the azimuth axis by screws, the conductive slip ring assembly is supported by a conductive slip ring mounting assembly, and the encoder assembly includes an azimuth encoder mounting seat and an azimuth encoder;

[0029] The azimuth base has vibration reduction device interfaces evenly reserved on the circumference of the side surface so as to be installed on the carrier through the vibration reduction system, and the conductive slip ring mounting assembly is installed on the lower part of the azimuth base through screws;

[0030] An azimuth bearing is mounted on the azimuth base through a clamping flange on the outer ring of the azimuth bearing. The upper surface of the azimuth shaft adopts a stepped structure and is provided with an azimuth pitch assembly stop for assembly and positioning of the pitch shaft system. The upper surface of the azimuth shaft is evenly provided with disassembly holes in the circumferential direction and is connected to the inner ring of the azimuth bearing through a clamping flange on the inner ring of the azimuth bearing.

[0031] An azimuth protection cover, which is installed at the lower part of the azimuth base;

[0032] A connector mounting plate mounted on the orientation protection cover by screws, and a connector mounted on the connector mounting plate by screws;

[0033] An azimuth motor, whose stator is mounted on the azimuth base through an azimuth motor stator clamping flange, and the azimuth motor rotor is mounted on the azimuth shaft through screws;

[0034] A driver assembly and a controller assembly are distributedly mounted on the bottom of the azimuth base, wherein the driver assembly includes a driver mounting seat and a driver, and the controller assembly includes a controller mounting seat and a controller.

[0035] Furthermore, the conductive slip ring assembly includes a conductive slip ring rotor connecting frame and a conductive slip ring;

[0036] The conductive slip ring installation assembly comprises a conductive slip ring lower support frame and a conductive slip ring stator installation seat.

[0037] Preferably, the connector mounting plate is made of nylon and glass fiber material and is formed by laser sintering process.

[0038] In the above technical solution, the present invention provides a highly optical-mechanical-electrically integrated modular two-axis aviation optoelectronic pod, which has the following beneficial effects:

[0039] The optical-mechanical-electrically highly integrated modular two-axis aviation optoelectronic pod of the present invention adopts a modular design, and the optoelectronic sensor load compartment module, azimuth module and pitch module can be replaced according to different scenarios. The optomechanical system is highly integrated, and the real-time servo feedback control with a synchronization period of 4ms and a frequency of 250HZ can be realized to realize the stable tracking technology of the visual axis;

[0040] In the present invention, some structural parts such as the azimuth base and the pitch axis are evenly provided with disassembly holes in the circumference, so that the azimuth base, the fixed end pitch axis, the floating end pitch axis and other key structural parts can be individually disassembled and assembled without affecting the assembly relationship between other parts.

[0041] The present invention uses the key structural parts such as the connecting shaft and the base as the main body, and integrates the structural parts such as the drive component mounting seat and the measuring component mounting seat into an integrated and integrated design. The time-consuming and low-precision manual adjustment process is replaced by high-precision machining, which simplifies the structural composition and reduces the transmission error of the system, providing convenience for ensuring the movement accuracy of the pod during the adjustment process.

[0042] In the present invention, the azimuth module realizes the structural form of the integrated bearing, motor, and conductive slip ring distributed from the outside to the inside through the optimization of the design of the azimuth axis and the azimuth base, and reduces the longitudinal height of the azimuth module, thereby reducing the windward area of ​​the pod during the movement of the aircraft, thereby reducing the wind resistance of the pod; the pitch module adopts a similar configuration arrangement idea, leaving more space for the intermediate load compartment in the horizontal direction;

[0043] The present invention adopts an integrated appearance design for the spherical photoelectric sensor load cabin, the U-shaped frame, and the left and right protective covers, which can ensure better aerodynamic performance of the pod. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0045] Figure 1A schematic diagram of the overall structure of a modular two-axis aviation optoelectronic pod with highly integrated optomechanical and electrical systems provided by an embodiment of the present invention;

[0046] Figure 2 A cross-sectional view of an opto-mechanical-electrically highly integrated modular two-axis aviation opto-electronic pod opto-electronic sensor payload compartment provided by an embodiment of the present invention;

[0047] Figure 3 A cross-sectional view of a modular two-axis aviation optoelectronic pod elevation module with highly integrated optomechanical and electrical systems provided by an embodiment of the present invention;

[0048] Figure 4 A cross-sectional view and a schematic structural diagram of a modular two-axis aviation optoelectronic pod orientation module with highly optomechanical and electrical integration provided by an embodiment of the present invention.

[0049] Description of reference numerals:

[0050] 1. Photoelectric sensor payload module; 2. Pitch module; 3. Azimuth module;

[0051] 11. Sensor installation surface; 12. Counterweight installation surface; 13. Weight reduction groove surface;

[0052] 21. Disassembly and assembly interface; 22. Load compartment assembly stopper; 23. Azimuth assembly stopper;

[0053] 31. Azimuth and pitch assembly stop; 32. Disassembly hole; 33. Vibration reduction device interface;

[0054] 1-1, front protective cover; 1-2, four-way load-bearing frame; 1-3, rear protective cover; 1-4, visible light camera; 1-5, counterweight; 1-6, camera mounting seat; 1-7, pressure ring; 1-8, window piece; 1-9, gyroscope;

[0055] 2-1, pitch bearing; 2-2, U-shaped frame; 2-3, left protective cover; 2-4, fixed end pitch axis; 2-5, fixed end bearing inner ring clamping flange; 2-6, fixed end bearing outer ring clamping flange; 2-7, pitch encoder; 2-8, pitch driver; 2-9, pitch motor stator clamping flange; 2-10, pitch motor; 2-11, floating end bearing inner ring clamping flange; 2-12, floating end pitch axis; 2-13, floating end bearing outer ring clamping flange; 2-14, right protective cover;

[0056] 3-1, electric slip ring rotor connecting frame; 3-2, azimuth axis; 3-3, azimuth base; 3-4, connector; 3-5, connector mounting plate; 3-6, azimuth bearing; 3-7, azimuth bearing inner ring clamping flange; 3-8, driver mounting seat; 3-9, driver; 3-10, controller mounting seat; 3-11, controller; 3-12, conductive slip ring lower support frame; 3-13, azimuth encoder; 3-14, encoder mounting seat; 3-15, azimuth motor; 3-16, azimuth motor stator clamping flange; 3-17, conductive slip ring stator mounting seat; 3-18, azimuth protective cover; 3-19, azimuth bearing outer ring clamping flange; 3-20, conductive slip ring. DETAILED DESCRIPTION

[0057] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings.

[0058] See also Figure 1 to Figure 4 As shown;

[0059] The present invention discloses a highly optical-mechanical-electrically integrated modular two-axis aviation optoelectronic pod, which comprises:

[0060] Photoelectric sensor payload compartment module 1; and

[0061] The pitch module 2, the photoelectric sensor load compartment module 1 is installed on the rotating part of the pitch module 2 by circumferentially evenly arranged screws;

[0062] The optronic pod also includes:

[0063] The azimuth module 3, the pitch module 2 is installed on the rotating part of the azimuth module 3 by circumferentially evenly arranged screws, and drives the photoelectric sensor payload cabin module 1 to rotate in azimuth along with the azimuth module 3, and the photoelectric sensor payload cabin module 1 and the pitch module 2 together form a streamlined outer contour to improve the aerodynamic performance of the system in all directions.

[0064] As a further introduction to this embodiment, Figure 2 As shown, the photoelectric sensor load compartment module 1 includes a four-way bearing frame 1-2, and the four-way bearing frame 1-2 adopts a stepped structure, on which a sensor mounting surface 11, a counterweight mounting surface 12 and a weight reduction groove surface 13 are provided; wherein,

[0065] The central concave hole of the sensor mounting surface 11 is a reserved space for the sensor, and sensors such as the visible light camera 1-4 and the gyroscope 1-9 can be installed. The visible light camera 1-4 is supported by the camera mounting seat 1-6, and a plurality of different mounting interfaces are reserved on the sensor mounting surface 11 to replace and / or add different sensors. In addition, the visible light camera 1-4 can be replaced with an all-in-one payload such as infrared-visible light-laser ranging according to actual needs, and the gyroscope 1-9 can be replaced with a combined navigation module according to the usage scenario;

[0066] The counterweight mounting surface 12 can be used to mount the counterweight members 1-5;

[0067] The photoelectric sensor load compartment module 1 also includes a front protective cover 1-1 and a rear protective cover 1-3 respectively connected to the two ends of the four-way bearing frame 1-2 by screws, and the front protective cover 1-1 is provided with a flat light window installation interface for installing a window piece 1-8.

[0068] As a further introduction to this embodiment, a plurality of interfaces are reserved on the counterweight installation surface 12, the counterweight scheme is determined by calculation and can be adjusted in real time according to different sensors, and the material of the counterweight installation surface 12 is carbon steel;

[0069] The weight reduction groove surface 13 is removed after design analysis to determine that the part that does not significantly affect the mechanical performance is removed, and the two sides are left with stopper assembly grooves for coordinating and positioning with the rotating part of the pitch module 2. The interior of the four-way bearing frame 1-2, the front protective cover 1-1 and the rear protective cover 1-3 adopt an integrated design.

[0070] As a preferred technical solution of this embodiment, the window piece 1-8 is made of sapphire material by comprehensively considering visible light transmittance and certain mechanical properties, mechanically pressed by the pressing ring 1-7, and sealed with sealant. It is not specified that the structural member material is aluminum alloy.

[0071] As a further introduction to this embodiment, the pitch module 2 adopts a direct drive structure and has a fixed end and a floating end. The pitch module 2 includes a pitch bearing 2-1; and

[0072] U-shaped frame 2-2, the pitch bearing 2-1 at the fixed end is fixed on the U-shaped frame 2-2 through the fixed end bearing outer ring clamping flange 2-6, and the pitch bearing 2-1 at the floating end is installed on the floating end pitch shaft 2-12 through the floating end bearing inner ring clamping flange 2-11. A clearance is reserved axially between the bearing seat and the floating end clamping flange. The appropriate clearance value is calculated and analyzed to ensure the wide temperature adaptability of the connection structure between the photoelectric sensor load cabin (1) and the pitch module 2. The bottom of the U-shaped frame 2-2 is provided with a pitch driver 2-8, as well as a grounding and other rich installation interfaces. The U-shaped frame 2-2 is optimized by topological optimization method to achieve a weight reduction of 58.2%, and an azimuth assembly stop 23 is reserved to cooperate with the rotating part of the azimuth module 3 for positioning;

[0073] A left protective cover 2-3 and a right protective cover 2-14 mounted on the U-shaped frame 2-2 by screws;

[0074] The fixed end pitch axis 2-4 has a circumferentially reserved disassembly interface 21, which is connected to the inner ring of the pitch bearing 2-1 through the fixed end bearing inner ring clamping flange 2-5. The fixed end pitch axis 2-4 and the floating end pitch axis 2-12 both have a load compartment assembly stop 22 to be assembled and connected to the photoelectric sensor load compartment module 1. The floating end pitch axis 2-12 is connected to the inner ring of the pitch bearing 2-1 of the floating end through the floating end bearing outer ring clamping flange 2-13; a radial gap is reserved between the pitch bearing 2-1 and the bearing seat and the pitch axis to ensure the wide temperature adaptability of the pitch axis system rotating part structure, and the U-shaped frame 2-2 and the pitch bearing seat adopt an integrated structural design;

[0075] The pitch encoder 2-7, the fixed end pitch axis 2-4 and the pitch encoder 2-7 circular grating are connected by screws, and the pitch encoder 2-7 is an absolute photoelectric encoder;

[0076] The pitch motor 2-10, the stator of the pitch motor 2-10 is installed on the U-shaped frame 2-2 through the pitch motor stator clamping flange 2-9. The pitch motor 2-10 uses a direct drive motor with a sinusoidal back electromotive force, and completes current commutation through electronics.

[0077] As a preferred technical solution of this embodiment, the pitch encoder 2-7 uses an absolute photoelectric encoder;

[0078] The right side protective cover 2-14 has a locking device interface, and its material is nylon plus glass fiber, and is formed by laser sintering process. It is not specified that the structural member material is aluminum alloy.

[0079] As a further introduction to this embodiment, the azimuth module 3 adopts a direct drive structure, including an azimuth axis 3-2; and

[0080] A conductive slip ring assembly and an encoder assembly are mounted on the azimuth axis 3-2 by screws, the conductive slip ring assembly is supported by a conductive slip ring mounting assembly, and the encoder assembly includes an azimuth encoder mounting seat 3-14 and an azimuth encoder 3-13;

[0081] The azimuth base 3-3, which is designed as an integrated whole with the azimuth bearing seat and the azimuth motor mounting seat, can be provided with a vibration reduction device interface 33 evenly circumferentially on the side of the azimuth base 3-3 so as to be installed on the carrier through the vibration reduction system, and different sizes of azimuth bearing 3-6 disassembly holes are evenly left on the bottom circumferentially, and the conductive slip ring mounting assembly is installed on the lower part of the azimuth base 3-3 by screws;

[0082] The azimuth bearing 3-6 is installed on the azimuth base 3-3 through the azimuth bearing outer ring clamping flange 3-19. The upper surface of the azimuth shaft 3-2 adopts a stepped structure and is provided with an azimuth pitch assembly stop 31 for assembly and positioning of the pitch axis system. The upper surface of the azimuth shaft 3-2 is evenly provided with disassembly holes 32 in the circumferential direction, which are connected to the inner ring of the azimuth bearing 3-6 through the azimuth bearing inner ring clamping flange 3-7. A gap is reserved between the azimuth bearing 3-6 and the bearing seat and the azimuth shaft 3-2 to ensure the wide temperature adaptability of the rotating part structure of the azimuth axis system. The reserved gap is related to the wide temperature working range and the lateral span of the axis system, and is determined through calculation and analysis. Specifically, the azimuth bearing 3-6 uses a single high-precision turntable bearing, which can withstand axial loads, radial loads and overturning moments.

[0083] An azimuth protection cover 3-18, which is installed at the lower part of the azimuth base 3-3;

[0084] A connector mounting plate 3-5 mounted on the orientation protection cover 3-18 by screws, and a connector 3-4 mounted on the connector mounting plate 3-5 by screws;

[0085] An azimuth motor 3-15, whose stator is mounted on the azimuth base 3-3 through an azimuth motor stator clamping flange 3-16, and the rotor of the azimuth motor 3-15 is mounted on the azimuth shaft 3-2 through screws;

[0086] The driver assembly and the controller assembly are distributed and installed at the bottom of the azimuth base 3-3, the driver assembly includes a driver mounting seat 3-8 and a driver 3-9, and the controller assembly includes a controller mounting seat 3-10 and a controller 3-11. Specifically, the controller 3-11 uses the stm32h743 chip as the main control and sends instructions to the pitch driver 2-8 and the driver 3-9 at the same time.

[0087] As a further introduction to this embodiment, the conductive slip ring assembly includes a conductive slip ring rotor connecting frame 3-1 and a conductive slip ring 3-20;

[0088] The conductive slip ring installation assembly includes a conductive slip ring lower support frame 3-12 and a conductive slip ring stator mounting seat 3-17.

[0089] As a preferred technical solution of this embodiment, the connector mounting plate 3-5 is made of nylon and glass fiber material and is formed by laser sintering process. It is not specified that the structural member material is made of aluminum alloy.

[0090] As a further introduction to this embodiment, the control strategy adopts a dual-speed circumferential axis stabilization control method based on CAN bus (canopen) / Ethercat. Preferably, the Csp control mode is adopted, the trajectory generator is placed at the controller 3-11 end, the pitch driver 2-8 and the driver 3-9 feedback the position information of the pitch encoder 2-7 and the azimuth encoder 3-13 to the controller 3-11 through a message, and the gyroscope 1-9 feedbacks the attitude and angular velocity information to the controller 3-11. After calculation and analysis by the host computer, the controller 3-11 periodically sends the target position and target angular velocity to the driver; preferably, the camera and the acquisition card interface use HD-SDI, the camera and the control board interface use RS232, the gyroscope 1-9 and the control board connection interface use 422, and the control board and the host computer interface use USB to serial port type-c; preferably, the gyroscope feedback frequency is 1000HZ, the servo feedback control frequency is 250HZ, the synchronization period is 4ms, and the video transmission efficiency is 1080P, 60 frames.

[0091] In the present invention, a wide temperature adaptability is ensured by reserving gaps, and 16 M4 / M5 screws of grade 10.9 or above are tightened in a cross-shaped order with a torque wrench in a circumferentially uniform and step-by-step locking manner to ensure the stability of the bearing assembly, simplify the structure, and ensure the pod movement accuracy and wide temperature adaptability.

[0092] In the above technical solution, the present invention provides a highly optical-mechanical-electrically integrated modular two-axis aviation optoelectronic pod, which has the following beneficial effects:

[0093] The optical-mechanical-electrically highly integrated modular two-axis aviation optoelectronic pod of the present invention adopts a modular design, and the optoelectronic sensor load compartment module, azimuth module and pitch module can be replaced according to different scenarios. The optomechanical system is highly integrated, and the real-time servo feedback control with a synchronization period of 4ms and a frequency of 250HZ can be realized to realize the stable tracking technology of the visual axis;

[0094] In the present invention, some structural parts such as the azimuth base and the pitch axis are evenly provided with disassembly holes in the circumference, so that the azimuth base, the fixed end pitch axis, the floating end pitch axis and other key structural parts can be individually disassembled and assembled without affecting the assembly relationship between other parts.

[0095] The present invention uses the key structural parts such as the connecting shaft and the base as the main body, and integrates the structural parts such as the drive component mounting seat and the measuring component mounting seat into an integrated and integrated design. The time-consuming and low-precision manual adjustment process is replaced by high-precision machining, which simplifies the structural composition and reduces the transmission error of the system, providing convenience for ensuring the movement accuracy of the pod during the adjustment process.

[0096] In the present invention, the azimuth module realizes the structural form of the integrated bearing, motor, and conductive slip ring distributed from the outside to the inside through the optimization of the design of the azimuth axis and the azimuth base, and reduces the longitudinal height of the azimuth module, thereby reducing the windward area of ​​the pod during the movement of the aircraft, thereby reducing the wind resistance of the pod; the pitch module adopts a similar configuration arrangement idea, leaving more space for the intermediate load compartment in the horizontal direction;

[0097] The present invention adopts an integrated appearance design for the spherical photoelectric sensor load cabin, the U-shaped frame, and the left and right protective covers, which can ensure better aerodynamic performance of the pod.

[0098] The above description is only by way of illustration of certain exemplary embodiments of the present invention. It is undoubted that those skilled in the art can modify the described embodiments in various ways without departing from the spirit and scope of the present invention. Therefore, the above drawings and descriptions are illustrative in nature and should not be construed as limiting the scope of protection of the claims of the present invention.

Claims

1. A highly optical-mechanical-electrically integrated modular two-axis aviation optoelectronic pod, characterized in that: The optoelectronic pod includes: An optoelectronic sensor payload bay module (1); and A pitch module (2), wherein the photoelectric sensor load compartment module (1) is mounted on a rotating part of the pitch module (2) by means of screws evenly arranged in a circumferential direction; The optronic pod also includes: The azimuth module (3) is installed on the rotating part of the azimuth module (3) by screws evenly arranged in the circumferential direction, and drives the photoelectric sensor load compartment module (1) to rotate in azimuth along with the azimuth module (3), and the photoelectric sensor load compartment module (1) and the pitch module (2) together form a streamlined outer contour.

2. According to claim 1, a highly optical-mechanical-electrically integrated modular two-axis aviation optoelectronic pod, characterized in that: The photoelectric sensor load compartment module (1) comprises a four-way load-bearing frame (1-2), wherein the four-way load-bearing frame (1-2) adopts a stepped structure and is provided with a sensor mounting surface (11), a counterweight mounting surface (12) and a weight reduction groove surface (13); wherein: The central concave hole of the sensor mounting surface (11) is a reserved space for the sensor, capable of mounting a visible light camera (1-4) and a gyroscope (1-9); the visible light camera (1-4) is supported by a camera mounting seat (1-6), and a plurality of different mounting interfaces are reserved on the sensor mounting surface (11) for replacing and / or adding different sensors; The counterweight installation surface (12) is capable of installing a counterweight component (1-5); The photoelectric sensor load compartment module (1) further comprises a front protective cover (1-1) and a rear protective cover (1-3) respectively connected to the two ends of the four-way load-bearing frame (1-2) by screws, and the front protective cover (1-1) is provided with a flat optical window installation interface for installing a window sheet (1-8).

3. The highly optical-mechanical-electrically integrated modular two-axis aviation optoelectronic pod according to claim 2, characterized in that: A plurality of interfaces are reserved on the counterweight installation surface (12), and a counterweight scheme is determined by calculation and can be adjusted in real time according to different sensors, and the material of the counterweight installation surface (12) is carbon steel; The two side surfaces of the weight-reducing groove surface (13) are provided with stopper assembly grooves for cooperating with the rotating part of the pitch module (2) for positioning.

4. The highly optical-mechanical-electrically integrated modular two-axis aviation optoelectronic pod according to claim 2, characterized in that: The window piece (1-8) is made of sapphire material, is mechanically pressed by a pressing ring (1-7), and is sealed by a sealant.

5. The highly optical-mechanical-electrically integrated modular two-axis aviation optoelectronic pod according to claim 1, characterized in that: The pitch module (2) adopts a direct drive structure and has a fixed end and a floating end. The pitch module (2) comprises a pitch bearing (2-1); and A U-shaped frame (2-2), wherein the pitch bearing (2-1) at the fixed end is fixedly mounted on the U-shaped frame (2-2) via a fixed end bearing outer ring clamping flange (2-6), and the pitch bearing (2-1) at the floating end is mounted on a floating end pitch shaft (2-12) via a floating end bearing inner ring clamping flange (2-11), and a pitch driver (2-8) is provided at the bottom of the U-shaped frame (2-2), and an azimuth assembly stopper (23) is reserved for cooperating with the rotating part of the azimuth module (3) for positioning; A left protective cover (2-3) and a right protective cover (2-14) mounted on the U-shaped frame (2-2) by means of screws; The fixed end pitch shaft (2-4) has a disassembly and assembly interface (21) reserved in the circumference thereof, and is connected to the inner ring of the pitch bearing (2-1) via a clamping flange (2-5); the fixed end pitch shaft (2-4) and the floating end pitch shaft (2-12) both have a load compartment assembly stop (22) reserved for assembly and connection with the photoelectric sensor load compartment module (1); the floating end pitch shaft (2-12) is connected to the inner ring of the pitch bearing (2-1) at the floating end via a clamping flange (2-13) on the outer ring of the floating end bearing; A pitch encoder (2-7), wherein the fixed end pitch axis (2-4) is connected to the pitch encoder (2-7) circular grating via screws, and the pitch encoder (2-7) is an absolute photoelectric encoder; A pitch motor (2-10), wherein the stator of the pitch motor (2-10) is installed on the U-shaped frame (2-2) via a pitch motor stator clamping flange (2-9); the pitch motor (2-10) is a direct drive motor whose back electromotive force is a sine wave, and current commutation is completed by electronics.

6. The highly optical-mechanical-electrically integrated modular two-axis aviation optoelectronic pod according to claim 5, characterized in that: The pitch encoder (2-7) is an absolute photoelectric encoder; The right side protective cover (2-14) is provided with a locking device interface, and its material is nylon plus glass fiber, and is formed by laser sintering process.

7. The highly optical-mechanical-electrically integrated modular two-axis aviation optoelectronic pod according to claim 1, characterized in that: The azimuth module (3) adopts a direct drive structure and comprises an azimuth axis (3-2); and A conductive slip ring assembly and an encoder assembly mounted on the azimuth axis (3-2) by means of screws, the conductive slip ring assembly being supported by a conductive slip ring mounting assembly, and the encoder assembly comprising an azimuth encoder mounting seat (3-14) and an azimuth encoder (3-13); An azimuth base (3-3) has vibration reduction device interfaces (33) evenly spaced around its side surface for installation on a carrier through a vibration reduction system, and the conductive slip ring installation assembly is installed on the lower part of the azimuth base (3-3) through screws; An azimuth bearing (3-6) is installed on the azimuth base (3-3) through an azimuth bearing outer ring clamping flange (3-19); the upper surface of the azimuth shaft (3-2) adopts a stepped structure and is provided with an azimuth pitch assembly stop (31) for assembling and positioning the pitch axis system; and the upper surface of the azimuth shaft (3-2) is evenly provided with disassembly holes (32) in the circumferential direction and is connected to the inner ring of the azimuth bearing (3-6) through an azimuth bearing inner ring clamping flange (3-7); An orientation protection cover (3-18) installed at the lower part of the orientation base (3-3); A connector mounting plate (3-5) mounted on the orientation protection cover (3-18) by means of screws, and a connector (3-4) mounted on the connector mounting plate (3-5) by means of screws; An azimuth motor (3-15), the stator of which is mounted on the azimuth base (3-3) via an azimuth motor stator clamping flange (3-16), and the rotor of the azimuth motor (3-15) is mounted on the azimuth shaft (3-2) via screws; A driver assembly and a controller assembly are distributed and installed at the bottom of the azimuth base (3-3), wherein the driver assembly comprises a driver mounting seat (3-8) and a driver (3-9), and the controller assembly comprises a controller mounting seat (3-10) and a controller (3-11).

8. The highly optical-mechanical-electrically integrated modular two-axis aviation optoelectronic pod according to claim 7, characterized in that: The conductive slip ring assembly comprises a conductive slip ring rotor connecting frame (3-1) and a conductive slip ring (3-20); The conductive slip ring installation assembly comprises a conductive slip ring lower support frame (3-12) and a conductive slip ring stator installation seat (3-17).

9. The highly optical-mechanical-electrically integrated modular two-axis aviation optoelectronic pod according to claim 7, characterized in that: The connector installation plate (3-5) is made of nylon and glass fiber material and is formed by laser sintering technology.

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