Pan-tilt and moving method of a full-degree-of-freedom automatic aiming system based on spherical gear drive

Abstract

The present invention discloses a pan-tilt head and a moving method for a full-degree-of-freedom automatic aiming system based on spherical gear transmission. The pan-tilt head for the full-degree-of-freedom automatic aiming system based on spherical gear transmission includes: a yaw angle adjustment mechanism disposed on a frame, a roll angle adjustment mechanism and a pitch angle adjustment mechanism are drivingly arranged on the yaw angle adjustment mechanism, and a support member is further arranged between the roll angle adjustment mechanism and the pitch angle adjustment mechanism. A spherical gear is movably defined in the support member. A launching device extending outward is arranged on the spherical gear, and the spherical gear is in transmission connection with the roll angle adjustment mechanism and the pitch angle adjustment mechanism. The present invention discloses a pan-tilt head and a moving method for a full-degree-of-freedom automatic aiming system based on spherical gear transmission, which can realize full-degree-of-freedom motion control through the spherical gear transmission mode, have high transmission accuracy and excellent transmission efficiency; also have a compact structure design, be easy to integrate, have good stability and excellent operation accuracy.

Description

Technical Field

[0001] The present invention relates to the technical field of automatic aiming systems, and particularly to a spherical gear transmission-based full-degree-of-freedom automatic aiming system pan-tilt head and a moving method thereof. Background Art

[0002] The development of gear transmission methods in existing technology for pan-tilt head systems is mainly reflected in improving transmission efficiency, reducing noise, enhancing load capacity, and achieving higher-precision control. Traditional gear transmission technology has always been one of the core technologies in the pan-tilt head field, especially having irreplaceable advantages in applications with high load and high stability requirements. However, with the continuous improvement of the performance requirements for pan-tilt head systems, especially the demands for precision, stability, and long-term operation ability, traditional gear transmission methods gradually expose problems such as wear, noise, and transmission errors, which have promoted the exploration and innovation of new transmission methods.

[0003] The existing types of pan-tilt head movements are as follows:

[0004] First, a two-axis pan-tilt head controls the movements in the horizontal and pitch directions through two mutually perpendicular rotating axes, but lacks a third degree of freedom and cannot support flexible adjustment at any angle.

[0005] Second, a three-axis pan-tilt head adds a rotating axis on the basis of the two-axis one to control the roll angle of the device. Due to the large number of driving motors, high control complexity, and large overall volume of the system, it is difficult to be applied in miniaturized devices.

[0006] Third, an electromagnetic drive pan-tilt head uses magnetic force to achieve contactless drive. Due to its limited driving force, it cannot support heavy loads and large-angle adjustments, and has limited application scenarios.

[0007] Fourth, the pan-tilt head control method combining a brushless motor and an inertial measurement unit relies on sensors and algorithms, which increases the hardware cost and has weak anti-interference ability. Especially in a complex environment, drift may occur.

[0008] The existing pan-tilt head movements have the following technical defects:

[0009] 1. Low transmission precision: Many traditional pan-tilt head transmission methods use spur gears or bevel gears. These gears are easily affected by gear meshing errors during the transmission process, resulting in a decrease in transmission precision and causing jitter or deviation in the pan-tilt head movement. In contrast, spherical gears can provide higher precision and avoid deviations caused by error accumulation.

[0010] 2. Severe wear: Gears in traditional transmission methods usually have local high-load areas during operation. After long-term operation, they are prone to wear and tooth surface damage, resulting in a decline in the stability and performance of the pan-tilt head, and even frequent maintenance is required. The full-degree-of-freedom design of spherical gears can reduce tooth surface wear and extend service life.

[0011] 3. Poor adaptability: The structures of some traditional pan-tilt head transmission methods are relatively rigid and cannot adapt to load changes or situations that require precise adjustment. When the external environment or load changes, the motion performance of the pan-tilt head is easily affected, resulting in instability or inability to precisely track. The full-degree-of-freedom characteristics of spherical gears enable them to maintain excellent adaptability under more complex working conditions.

[0012] 4. Low transmission efficiency: Many gears used in traditional pan-tilt head transmission methods may have incomplete meshing or large frictional forces, resulting in energy loss and low transmission efficiency. Relatively speaking, spherical gears can improve transmission efficiency and reduce energy waste due to their more uniform contact surfaces and low-friction characteristics. Summary of the Invention

[0013] The present invention overcomes the deficiencies of the prior art and provides a pan-tilt head, device, and storage medium for a full-degree-of-freedom automatic aiming system based on spherical gear transmission, which has good stability and operation accuracy, as well as full-degree-of-freedom transmission characteristics.

[0014] To achieve the above object, the technical solution adopted by the present invention is: A pan-tilt head for a full-degree-of-freedom automatic aiming system based on spherical gear transmission, comprising: a yaw angle adjustment mechanism arranged on a frame, a roll angle adjustment mechanism and a pitch angle adjustment mechanism are drivenly arranged on the yaw angle adjustment mechanism, and a support member is further arranged between the roll angle adjustment mechanism and the pitch angle adjustment mechanism. A spherical gear is movably defined in the support member, a transmitting device extending outward is arranged on the spherical gear, and the spherical gear is in transmission connection with the roll angle adjustment mechanism and the pitch angle adjustment mechanism.

[0015] In a preferred embodiment of the present invention, the support member includes a spherical gear support frame arranged on the frame. The spherical gear support frame includes a support seat, a spherical concave cavity is preset at the upper end of the support seat, and a through groove communicating with the spherical concave cavity is opened at the bottom of the support seat;

[0016] The spherical gear is received in the spherical concave cavity.

[0017] In a preferred embodiment of the present invention, the support member further includes a permanent magnet I arranged on the spherical gear support frame;

[0018] And a permanent magnet II corresponding to the permanent magnet I is embedded in the spherical gear.

[0019] In a preferred embodiment of the present invention, a BLE-IMU module is built into the spherical gear. The BLE-IMU module is used to send the attitude information of the current spherical gear to the host computer in real time through the low-power Bluetooth protocol, and the attitude of the spherical gear is controlled by a PID controller in the host computer.

[0020] In a preferred embodiment of the present invention, the yaw angle adjustment mechanism includes a yaw angle rotating gear and a yaw angle transmission gear that are respectively rotatably connected to the frame, and a yaw angle driving stepper motor arranged on the frame; and the yaw angle driving stepper motor is drivingly connected to the yaw angle transmission gear, and the yaw angle transmission gear meshes with the yaw angle rotating gear and drives the yaw angle rotating gear to rotate relative to the frame.

[0021] In a preferred embodiment of the present invention, the roll angle adjustment mechanism includes a roll angle driving stepper motor arranged on the frame. A roll angle transmission gear set is rotatably connected to the driving rotating shaft I of the roll angle driving stepper motor, and the roll angle transmission gear set is drivingly connected to a roll angle monopole gear pivotally connected to one side of the spherical gear support frame.

[0022] In a preferred embodiment of the present invention, the pitch angle adjustment mechanism includes a pitch angle driving stepper motor arranged on the frame. A pitch angle transmission gear is rotatably connected to the driving rotating shaft II of the pitch angle driving stepper motor; and the pitch angle transmission gear is located below the spherical gear support frame, and at least part of the pitch angle transmission gear meshes with the spherical gear through the through hole of the permanent magnet I and the through groove of the support seat.

[0023] In a preferred embodiment of the present invention, the spherical gear includes a bipolar spherical gear. The bipolar spherical gear includes a pair of hemispherical gears. An internal fixing screw hole is provided between the mating hemispherical gears, and the mating hemispherical gears are in threaded fit through a stud and the internal fixing screw hole; and a transmitting device is arranged in the direction of the z-axis of the bipolar spherical gear; A permanent magnet II is installed inside the bipolar spherical gear, and the permanent magnet II is used to attract the permanent magnet I on the spherical gear support frame to limit the spherical gear in the spherical cavity of the spherical gear support frame;

[0024] And / or, the pitch angle driving stepper motor is fixedly arranged on the frame through a stepper motor fixing bracket, and the driving rotating shaft II of the pitch angle driving stepper motor is drivingly connected to the pitch angle transmission gear through a flange;

[0025] And / or, the pitch angle transmission gear is a monopole gear with a module m = 3 and a number of teeth z = 20;

[0026] And / or, the yaw angle rotating gear is a gear with a module m = 5 and a number of teeth z = 50, and the yaw angle transmission gear is a gear with a module m = 5 and a number of teeth z = 20.

[0027] In a preferred embodiment of the present invention, the tooth profile of the spherical gear exhibits a curved surface characteristic; the number of teeth of the spherical gear is even, and the tooth profile of the spherical gear is arranged centrally symmetrically around the intersection of the x-axis and the y-axis of the spherical gear;

[0028] And / or, both the pitch angle transmission gear and the roll angle monopole gear are single-polarity spherical gears. Two mutually perpendicular x-axis and y-axis are selected, the z-axis coincides with the rotation axis, and the x-axis corresponds to the pole. The cross-section of x-y has an involute gear profile;

[0029] And / or, the pitch angle transmission gear is located below the spherical gear, the roll angle monopole gear is located on the lateral side of the spherical gear, and the pitch angle transmission gear and the roll angle monopole gear can mesh with the bipolar spherical gear of the spherical gear;

[0030] And / or, the bipolar spherical gear of the spherical gear is based on a spherical material. Two mutually perpendicular axes are selected on the horizontal plane of the sphere center. The two mutually perpendicular axes include the x-axis and the y-axis. The x-axis and the y-axis jointly define the x-y plane of a spherical surface; the geometric framework formed by the intersection of the x-axis and the y-axis defines the starting point of the structure of the bipolar spherical gear; on the spherical surface of the spherical material, the structure of the gear is carved along the direction of the x-axis to form the contour projection of the spur gear until the basic spherical gear around the x-axis is formed; on the spherical surface of the spherical material, the structure of the gear is carved along the direction of the y-axis to form an intersecting tooth structure; through biaxial carving, an orthogonal and staggered gear structure is formed on the spherical surface of the spherical material to obtain the bipolar spherical gear, and the bipolar spherical gear is an intersecting spherical gear.

[0031] In a preferred embodiment of the present invention, a moving method of a pan-tilt of a full-degree-of-freedom automatic aiming system based on spherical gear transmission is implemented by using a pan-tilt of a full-degree-of-freedom automatic aiming system based on spherical gear transmission, and includes:

[0032] The yaw angle drive stepper motor in the yaw angle adjustment mechanism is used to drive the yaw angle transmission gear to rotate, and drive the yaw angle rotating gear meshing with the yaw angle transmission gear to rotate; the yaw angle rotating gear drives the support member, the roll angle adjustment mechanism, and the pitch angle adjustment mechanism to rotate, adjusts the angle of the spherical gear carried on the support member, and drives the circumferential displacement of the launching device by the spherical gear;

[0033] The pitch angle drive stepper motor of the pitch angle adjustment mechanism is used to drive the pitch angle transmission gear to rotate. The pitch angle transmission gear rotates at the lower part of the support member. The pitch angle transmission gear meshes with the lower part of the spherical gear to drive the pitch displacement of the launching device by the spherical gear;

[0034] The roll angle driving stepper motor of the roll angle adjustment mechanism drives the second roll angle transmission gear to rotate. The second roll angle transmission gear drives the first roll angle transmission gear to rotate. The first roll angle transmission gear drives the roll angle single-pole gear to rotate. The roll angle single-pole gear meshes laterally with the spherical gear, driving the spherical gear to drive the roll displacement of the launching device.

[0035] Compared with the prior art, the beneficial effects achieved by the present invention are as follows:

[0036] A pan-tilt for a full-degree-of-freedom automatic aiming system based on spherical gear transmission and its detection method disclosed by the present invention; through the spherical gear transmission method, it realizes the motion control of all degrees of freedom, has high transmission accuracy and excellent transmission efficiency; also has a compact structure design, is easy to integrate, has good stability and excellent operation accuracy.

[0037] 1. The spherical gear achieves higher transmission accuracy through a precise three-dimensional meshing method, ensuring the stability and precise control of the pan-tilt during high-precision positioning.

[0038] 2. The full-degree-of-freedom design of the spherical gear can more flexibly cope with different load changes and working environments, ensuring the stable operation and precise movement of the system in complex scenarios.

[0039] 3. The spherical gear effectively improves the transmission efficiency through its uniform contact surface and low friction characteristics, reduces energy loss, and ensures higher working efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] The present invention will be further described below in conjunction with the drawings and embodiments.

[0041] Figure 1 is an axonometric structural schematic diagram of a pan-tilt for a full-degree-of-freedom automatic aiming system based on spherical gear transmission in a preferred embodiment of the present invention;

[0042] Figure 2 is an exploded structural schematic diagram of a pan-tilt for a full-degree-of-freedom automatic aiming system based on spherical gear transmission in a preferred embodiment of the present invention;

[0043] Figure 3 is a side view structural schematic diagram of a pan-tilt for a full-degree-of-freedom automatic aiming system based on spherical gear transmission in a preferred embodiment of the present invention;

[0044] Figure 4 is a combined structural schematic diagram of a spherical gear, a cylindrical permanent magnet, and a fixed screw hole in a preferred embodiment of the present invention Figure 1 ;

[0045] Figure 5 is a combined structural schematic diagram of a pitch angle transmission gear, a pitch angle driving stepper motor, a stepper motor fixing bracket, and a flange in a preferred embodiment of the present invention;

[0046] Figure 6 It is a schematic structural diagram of a bipolar spherical gear in a preferred embodiment of the present invention;

[0047] Figure 7 It is a schematic structural diagram of a unipolar spherical gear in a preferred embodiment of the present invention Figure 1 ;

[0048] Figure 8 It is a schematic structural diagram of a unipolar spherical gear in a preferred embodiment of the present invention Figure 2 ;

[0049] Figure 9 It is a schematic combined structure diagram of a spherical gear, a cylindrical permanent magnet, a fixed screw hole, and a BLE-IMU module in a preferred embodiment of the present invention Figure 2 ;

[0050] Figure 10 It is a schematic diagram of the motion analysis of a spherical gear in a preferred embodiment of the present invention;

[0051] Figure 11 It is a schematic system structure diagram in a preferred embodiment of the present invention;

[0052] Figure 12 It is a schematic control flow diagram in a preferred embodiment of the present invention;

[0053] Figure 13 It is a circuit structure diagram of the BLE-IMU module in a preferred embodiment of the present invention;

[0054] Wherein, 1. Spherical gear; 2. Transmitting device;

[0055] 3. Roll angle adjustment mechanism; 301. Roll angle unipolar gear; 302. Roll angle transmission gear one; 303. Roll angle transmission gear two; 304. Roll angle drive stepper motor;

[0056] 4. Pitch angle adjustment mechanism; 401. Pitch angle transmission gear; 402. Pitch angle drive stepper motor; 403. Stepper motor fixing bracket; 404. Flange;

[0057] 5. Yaw angle adjustment mechanism; 501. Yaw angle rotating gear; 502. Yaw angle transmission gear; 503. Yaw angle drive stepper motor;

[0058] 6. Support member; 601. Spherical gear support frame; 602. Permanent magnet one;

[0059] 7. Frame; 8. Permanent magnet two; 9. Fixed screw hole; 10. BLE-IMU module. Detailed implementation manners

[0060] The technical solution of the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the embodiments of the present invention and the specific features in the embodiments are detailed descriptions of the technical solution of the present invention, rather than limitations on the technical solution of the present invention. Without conflict, the embodiments of the present invention and the technical features in the embodiments can be combined with each other.

[0061] The term "and / or" is merely a description of the associated relationship of the associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist simultaneously, and B exists alone. In addition, the character " / " generally indicates that the associated objects before and after are in an "or" relationship. Embodiment 1

[0062] As Figures 1 to 8 shown, a pan-tilt of a full-degree-of-freedom automatic aiming system based on spherical gear transmission includes: a yaw angle adjustment mechanism 5 provided on a frame 7, a roll angle adjustment mechanism 3 and a pitch angle adjustment mechanism 4 are drivingly provided on the yaw angle adjustment mechanism 5, and a support member 6 is further provided between the roll angle adjustment mechanism 3 and the pitch angle adjustment mechanism 4. A spherical gear 1 is movably defined in the support member 6. A launching device 2 extending outward is provided on the spherical gear 1, and the spherical gear 1 is in transmission connection with the roll angle adjustment mechanism 3 and the pitch angle adjustment mechanism 4.

[0063] Specifically, the support member 6 includes a spherical gear support frame 601 provided on the frame 7. The spherical gear support frame 601 includes a support seat. A spherical cavity is preset at the upper end of the support seat, and a through groove communicating with the spherical cavity is opened at the bottom of the support seat; the spherical gear 1 is received in the spherical cavity. The support member 6 further includes a first permanent magnet 602 provided on the spherical gear support frame 601; and a second permanent magnet 8 corresponding to the annular first permanent magnet 602 is embedded in the spherical gear 1. Embodiment 2

[0064] A pan-tilt of a full-degree-of-freedom automatic aiming system based on spherical gear transmission, on the basis of Embodiment 1, as Figures 1 to 8 shown, in this embodiment, the first permanent magnet 602 is an annular permanent magnet; and the first permanent magnet 602 is provided below the support seat, and the through hole of the first permanent magnet 602 is coaxially arranged with the through groove of the support seat.

[0065] Specifically, the spherical gear 1 includes a bipolar spherical gear. The bipolar spherical gear includes a pair of hemispherical gears. An internal fixing screw hole 9 is provided between the mating hemispherical gears. The mating hemispherical gears are in threaded fit through a stud and the internal fixing screw hole 9. And a transmitting device 2 is arranged in the direction of the z-axis of the bipolar spherical gear. A permanent magnet II 8 is installed inside the bipolar spherical gear. The permanent magnet II 8 is used to attract the permanent magnet I 602 on the spherical gear support frame 601, so as to limit the spherical gear 1 in the spherical cavity of the spherical gear support frame 601. The permanent magnet II 8 embedded in the spherical gear 1 corresponds to the annular permanent magnet I 602. In this embodiment, the permanent magnet II 8 is a cylindrical permanent magnet.

[0066] Specifically, the yaw angle adjustment mechanism 5 includes a yaw angle rotating gear 501 and a yaw angle transmission gear 502 that are respectively rotatably connected to the frame 7, and a yaw angle driving stepper motor 503 arranged on the frame 7. And the yaw angle driving stepper motor 503 is drivingly connected to the yaw angle transmission gear 502, and the yaw angle transmission gear 502 meshes with the yaw angle rotating gear 501 to drive the yaw angle rotating gear 501 to rotate relative to the frame 7.

[0067] Specifically, the roll angle adjustment mechanism 3 includes a roll angle driving stepper motor 304 arranged on the frame 7. A roll angle transmission gear set is rotatably connected to the first driving rotating shaft of the roll angle driving stepper motor 304. The roll angle transmission gear set is in driving connection with a roll angle single-pole gear 301 pivotally connected to one side of the spherical gear support frame 601. Further, the roll angle transmission gear set includes a roll angle transmission gear II 303 rotatably connected to the first driving rotating shaft, and a roll angle transmission gear I 302 pivotally connected to one side of the spherical gear support frame 601. The roll angle transmission gear II 303 is in driving connection with the roll angle single-pole gear 301 through the roll angle transmission gear I 302.

[0068] Specifically, the pitch angle adjustment mechanism 4 includes a pitch angle driving stepper motor 402 arranged on the frame 7. The pitch angle driving stepper motor 402 is fixedly arranged on the frame 7 through a stepper motor fixing frame 403. And the second driving rotating shaft of the pitch angle driving stepper motor 402 is drivingly connected to a pitch angle transmission gear 401 through a flange 404. The pitch angle transmission gear 401 is located below the spherical gear support frame 601. The pitch angle transmission gear 401 meshes with the spherical gear 1 at least partially through the through hole of the permanent magnet I 602 and the through groove of the support seat. Further, the support member 6 is fixedly arranged between the roll angle adjustment mechanism 3 and the pitch angle adjustment mechanism 4 through the spherical gear support frame 601, and is located on the yaw angle rotating gear 501 of the yaw angle adjustment mechanism 5. Embodiment III

[0069] Based on Embodiment II, as Figures 1 to 8As shown, in this embodiment, the pitch angle drive gear 401 is a single-stage gear with a module m = 3 and a number of teeth z = 20. The yaw angle rotating gear 501 is a gear with a module m = 5 and a number of teeth z = 50, and the yaw angle drive gear 502 is a gear with a module m = 5 and a number of teeth z = 20.

[0070] In this embodiment, the spherical gear 1 is formed by the intersection of two axes, and the tooth profile of the spherical gear 1 exhibits a curved surface characteristic; the number of teeth of the spherical gear 1 is even, and the tooth profile of the spherical gear 1 is symmetrically arranged around the center of the axis of the spherical gear 1. The spherical gear 1 is formed by the intersection of two axes, and the tooth profile of the spherical gear 1 exhibits a curved surface characteristic; the number of teeth of the spherical gear 1 is even, and the tooth profile of the spherical gear 1 is symmetrically arranged around the center of the axis of the spherical gear 1. The bipolar spherical gear is formed by superposing the tooth profiles of two modules m = 3 and a number of teeth z = 30 on the x and y planes respectively after rotating around their respective coordinate axes.

[0071] In this embodiment, both the pitch angle drive gear 401 and the roll angle single-stage gear 301 are single-polar gear spherical gears. Two mutually perpendicular x-axis and y-axis are selected, the z-axis coincides with the rotation axis, and the x-axis corresponds to the pole. The cross-section of x-y has an involute gear profile. Specifically, the transmission relationship between the pitch angle drive gear 401 and the roll angle single-stage gear 301 and the spherical gear 1 satisfies the general gear transmission relationship, that is, the transmission ratio between the single-polar gear spherical gear and the spherical gear 1 is the inverse ratio of the two modules.

[0072] In this embodiment, the pitch angle drive gear 401 is located below the spherical gear 1, the roll angle single-stage gear 301 is located on the lateral side of the spherical gear 1, and the pitch angle drive gear 401 and the roll angle single-stage gear 301 can mesh with the bipolar spherical gear of the spherical gear 1.

[0073] In this embodiment, the bipolar spherical gear of the spherical gear 1 is based on a spherical material. Two mutually perpendicular axes are selected on the horizontal plane of the sphere center. The two mutually perpendicular axes include the x-axis and the y-axis. The x-axis and the y-axis together define the x-y plane of a spherical surface; the geometric frame formed by the intersection of the x-axis and the y-axis defines the starting point of the structure of the bipolar spherical gear; on the spherical surface of the spherical material, the structure of the gear is engraved along the direction of the x-axis to form the contour projection of the spur gear until the basic spherical gear around the x-axis is formed; on the spherical surface of the spherical material, the structure of the gear is engraved along the direction of the y-axis to form an intersecting tooth structure; through biaxial engraving, an orthogonal and staggered gear structure is formed on the spherical surface of the spherical material to obtain the bipolar spherical gear, and the bipolar spherical gear is an intersecting spherical gear.

[0074] Working principle:

[0075] In the directions of roll x and pitch y, the bipolar spherical gear of the spherical gear 1 meshes with the pitch angle transmission gear 401 or the roll angle unipolar gear 301. Due to the curved surface shape of the spherical gear 1, this meshing is dynamic and can perform relative motion in these two directions, enabling it to flexibly adjust the angle and ensuring precise contact with the pitch angle transmission gear 401 or the roll angle unipolar gear 301, thereby achieving attitude adjustment in the roll x direction and pitch y direction. However, in the z-axis direction, the bipolar spherical gear does not have a polar angle similar to that in the x and y directions. Only through mechanical limiting, relying on the engagement between the involute gear of the spherical gear 1 and the transmission gear, the torque is transmitted to complete the rotation around the z-axis, i.e., yaw rotation. Embodiment 4

[0076] On the basis of Embodiment 3, as Figures 1 to 8 shown, the support member 6 is composed of a spherical gear support frame 601 and an annular permanent magnet 602. The spherical gear support frame 601 includes a support seat in the shape of a cylinder with a spherical cavity dug out. The radius of the spherical cavity is equal to the addendum circle radius of the spherical gear 1 in any plane. A through groove with a diameter of 60 mm is provided at the lower part of the spherical gear support frame 601. The through groove here in this embodiment is a round hole, and the through groove is used for the cooperation between the pitch angle transmission gear 401 and the spherical gear 1. An annular permanent magnet 602 with an inner diameter of 60 mm, an outer diameter of 110 mm, and a thickness of 10 mm is installed at the lower part of the spherical gear support frame 601. Under the interaction of gravity and magnetism of the spherical gear 1, due to the geometric constraint of the spherical gear support frame 601, it will only perform attitude transformation without displacement, thus ensuring the cooperation relationship between the spherical gear 1 and the pitch angle transmission gear 401. A cylindrical permanent magnet 8 is installed inside the bipolar spherical gear of the spherical gear 1 to attract the annular permanent magnet 602 on the spherical gear support frame 601 to ensure that the spherical gear 1 will not fly out due to the lack of mechanical limiting during high-speed movement. Further, since in the aiming system, the rotation of the spherical gear 1 will not exceed 360°, the influence of the repulsive force between the permanent magnet 602 and the permanent magnet 8 does not need to be considered, and the free movement of the launching device 2 can be ensured.

[0077] In this embodiment, the spherical gear 1 is formed by the intersection of two axes. The tooth profile of the spherical gear 1 exhibits a curved surface characteristic. The number of teeth of the spherical gear 1 is an even number, and the tooth profile of the spherical gear 1 is symmetrically arranged around the center of the axis of the spherical gear 1. The bipolar spherical gear is formed by superimposing the tooth profiles of two gears with a module m = 3 and a number of teeth z = 30 in the x and y planes after rotating around their respective coordinate axes. When the spherical gear 1 is prepared, the bipolar spherical gear of the spherical gear 1 is based on a spherical material. Two mutually perpendicular axes are selected on the horizontal plane of the sphere center. The two mutually perpendicular axes include the x-axis and the y-axis. The x-axis and the y-axis jointly define the x-y plane of a spherical surface. The geometric framework formed by the intersection of the x-axis and the y-axis defines the structural starting point of the bipolar spherical gear. On the spherical surface of the spherical material, the gear structure is carved along the direction of the x-axis to form the contour projection of a spur gear until a basic spherical gear around the x-axis is formed. On the spherical surface of the spherical material, the gear structure is carved along the direction of the y-axis to form an intersecting tooth structure. Through two-axis carving, an orthogonally staggered gear structure is formed on the spherical surface of the spherical material to obtain a bipolar spherical gear, and the bipolar spherical gear is an intersecting spherical gear.

[0078] Among them, the yaw angle adjustment mechanism 5 is composed of a yaw angle rotating gear 501, a yaw angle transmission gear 502, and a yaw angle driving stepping motor 503. The yaw angle rotating gear 501 is a gear with a module m = 5 and a number of teeth z = 50. It is connected to the frame 7 through a bearing and connected to the support member 6 through a copper column. At the same time, there are screw holes for installing the roll angle driving stepping motor 304 and the pitch angle driving stepping motor 402. The yaw angle transmission gear 502 is a gear with a module m = 5 and a number of teeth z = 20. It is connected to the yaw angle driving stepping motor 503 through a flange in the prior art. The yaw angle driving stepping motor 503 is installed on the frame 7, and the angular displacement output by the yaw angle driving stepping motor 503 is converted into the yaw rotation of the launching device 2 through the yaw angle rotating gear 501 and the yaw angle transmission gear 502.

[0079] In this embodiment, both the pitch angle transmission gear 401 and the roll angle single-pole gear 301 are single-pole gear spherical gears. Two mutually perpendicular x-axis and y-axis are selected. The z-axis coincides with the rotation axis, and the x-axis corresponds to the pole. The cross-section of x-y has an involute gear profile. The pitch angle transmission gear 401 is located below the spherical gear 1, and the roll angle single-pole gear 301 is located on the lateral side of the spherical gear 1. The pitch angle transmission gear 401 and the roll angle single-pole gear 301 can mesh with the bipolar spherical gear of the spherical gear 1. Among them, the pitch angle transmission gear 401 is a single-pole gear with a module m = 3 and a number of teeth z = 20. The yaw angle rotating gear 501 is a gear with a module m = 5 and a number of teeth z = 50, and the yaw angle transmission gear 502 is a gear with a module m = 5 and a number of teeth z = 20.

[0080] Among them, the roll angle adjustment mechanism 3 includes a roll angle single-pole gear 301, a first roll angle transmission gear 302, a second roll angle transmission gear 303, and a roll angle driving stepper motor 304. The roll angle adjustment mechanism 3 uses the roll angle driving stepper motor 304 as the driving source to adjust the rotation angle. The angular displacement output by the roll angle driving stepper motor 304 is transmitted to the first roll angle transmission gear 302 meshing with it through the second roll angle transmission gear 303, and then through the pole teeth of the roll angle single-pole gear 301 meshing with it, to achieve precise meshing with the spherical gear 1, driving the spherical gear 1 to rotate horizontally, and finally realizing the horizontal attitude adjustment of the aiming system with high precision and no sliding.

[0081] Among them, the pitch angle adjustment mechanism 4 includes a pitch angle transmission gear 401, a pitch angle driving stepper motor 402, a stepper motor fixing bracket 403, and a flange 404. The pitch angle transmission gear 401 is a single-pole gear with a module m = 3 and a number of teeth z = 20. It is connected to the pitch angle driving stepper motor 402 through the flange 404, and can accurately transmit the angular displacement output by the pitch angle driving stepper motor 402 into the change of the pitch angle of the spherical gear 1. The pitch angle driving stepper motor 402 is the power source of the whole system, responsible for providing precise rotation control. The pitch angle driving stepper motor 402 adjusts the pitch angle of the device. The stepper motor fixing bracket 403 is used to connect the pitch angle driving stepper motor 402 and the yaw angle rotating gear 501. The flange 404 is a connecting piece between the pitch angle driving stepper motor 402 and the pitch angle transmission gear 401, playing a fixing role.

[0082] Working principle:

[0083] A pan-tilt and its detection method of a full-degree-of-freedom automatic aiming system based on spherical gear transmission of the present invention have good stability and operation accuracy. The spherical gear transmission with the transmission characteristics of full degrees of freedom is introduced. The spherical gear realizes uniform load distribution through multi-point contact between the spherical gear and the tooth groove, reduces the concentrated stress, and significantly reduces the friction and wear. Its small wear characteristic enables the spherical gear to maintain stable performance under the conditions of high load and long-term operation, reducing the frequency of maintenance and replacement. The spherical gear has high transmission accuracy. Through the full-degree-of-freedom contact design, the transmission error is reduced, ensuring the precise control of the pan-tilt system, and is particularly suitable for fields such as high-precision aiming systems, unmanned aerial vehicles, and precision instruments. The spherical gear transmission technology improves the stability and reliability of the system, and is an ideal choice for occasions with high load, high precision, and long-term stable operation requirements. Embodiment Five

[0084] Based on Embodiment Three or Embodiment Four, as Figures 1 to 3 , Figures 5 to 9 , Figure 11 , Figure 12As shown in the figure, a BLE-IMU module 10 is built into the spherical gear 1. The BLE-IMU module 10 is used to send the attitude information of the current spherical gear 1 to the host computer in real time through the low-power Bluetooth protocol, and control the attitude of the spherical gear 1 through a PID controller in the host computer. The BLE-IMU module 10 uses the BLE-IMU module in the prior art, and the specific product models are not described and listed one by one here. As long as it can basically realize sending the attitude information of the current spherical gear 1 to the host computer through the Bluetooth protocol in real time and cooperate with the host computer to control the attitude of the spherical gear 1 through the PID controller.

[0085] Specifically, the PID controller is an automatic control device constructed based on the proportional, integral, and derivative control laws. The GUI (Graphical User Interface) module provides a visual operation interface for users. BLE-IMU is the Bluetooth inertial measurement unit. The MCU (Microcontroller Unit) module: the micro control unit, receives the PID operation result transmitted from the host computer, and performs processing and conversion. The stepping motor and drive: control the operation of the stepping motor according to the frequency signal output by the MCU module, and adjust the attitude of the controlled object through the rotation of the motor, which is the final execution component of the system control instruction. Embodiment Six

[0086] Specifically, on the basis of Embodiment Five, the BLE-IMU module 10 includes an IM948 gyroscope chip. One VBAT pin of the IM948 gyroscope chip is led out as the VBAT node. The VBAT node is grounded through the VBAT power supply. Two ends of the VBAT power supply are also connected in parallel with a capacitor C1. The VBAT node is also connected to the GND pin of the IM948 gyroscope chip through a capacitor C2, and the GND pin of the IM948 gyroscope chip is grounded. The other VBAT pin of the IM948 gyroscope chip is connected to the other GND segment through a capacitor C3 and grounded. The KEY pin of the IM948 gyroscope chip is grounded through a resistor R1 and a switch SW1. The LED-C pin of the IM948 gyroscope chip is connected to the VBAT node through a resistor R2 and a light-emitting diode LED3. The LED-L pin of the IM948 gyroscope chip is connected to the VBAT node through a resistor R3 and a light-emitting diode LED1. Embodiment Seven

[0087] On the basis of any one of Embodiments One to Five, as Figures 1 to 7 shown, a moving method for a pan-tilt of a full-degree-of-freedom automatic aiming system based on spherical gear transmission is implemented by a full-degree-of-freedom automatic aiming system pan-tilt based on spherical gear transmission, and includes the following steps:

[0088] The yaw angle drive stepper motor 503 in the yaw angle adjustment mechanism 5 drives the yaw angle transmission gear 502 to rotate, and drives the yaw angle rotating gear 501 meshing with the yaw angle transmission gear 502 to rotate; the yaw angle rotating gear 501 drives the support member 6, the roll angle adjustment mechanism 3, and the pitch angle adjustment mechanism 4 to rotate, adjusts the angle of the spherical gear 1 carried on the support member 6, and drives the circumferential displacement of the launch device 2 driven by the spherical gear 1;

[0089] The pitch angle drive stepper motor 402 of the pitch angle adjustment mechanism 4 drives the pitch angle transmission gear 401 to rotate. The pitch angle transmission gear 401 rotates at the lower part of the support member 6. The pitch angle transmission gear 401 meshes with the lower part of the spherical gear 1, and drives the spherical gear 1 to drive the pitch displacement of the launch device 2;

[0090] The roll angle drive stepper motor 304 of the roll angle adjustment mechanism 3 drives the roll angle transmission gear two 303 to rotate. The roll angle transmission gear two 303 drives the roll angle transmission gear one 302 to rotate. The roll angle transmission gear one 302 drives the roll angle monopole gear 301 to rotate. The roll angle monopole gear 301 meshes with the side of the spherical gear 1, and drives the spherical gear 1 to drive the roll displacement of the launch device 2. Embodiment VIII

[0091] On the basis of any one of Embodiments 1-7, the force analysis of the bipolar spherical gear during movement is as Figure 10 shown. The bipolar spherical gear is subjected to the circumferential force F t_roll (F t_横滚角 ) and the radial force F r_roll (F r_横滚角 ) from the roll angle monopole gear 301, and the circumferential force F t_pitch (F t_俯仰角 ) and the radial force F r_pitch (F r_俯仰角 ) from the pitch angle transmission gear 401. Among them, the acting force in the x-y plane is offset by the supporting force provided by the spherical gear support frame 601, pitch angle (Pitch), roll angle (roll). When the resultant force of the acting forces F t_roll and F r_pitch parallel to the z-axis points to the negative direction of the z-axis, the spherical gear support frame 601 can provide a supporting force along the positive direction of the z-axis to keep the position of the bipolar spherical gear stable; and when the resultant force points to the positive direction of the z-axis, the spherical gear 1 (i.e., the bipolar spherical gear) lacks the corresponding acting force to offset this resultant force. Therefore, a permanent magnet two 8 (i.e., a cylindrical permanent magnet) is installed inside the spherical gear 1, and the magnetic force between the permanent magnet two 8 and the permanent magnet one 602 (i.e., an annular permanent magnet) ensures the position stability of the spherical gear 1 during movement.

[0092] Since in the aiming system, the rotation of the spherical gear 1 in the pitch angle and roll angle does not exceed 180°, the permanent magnet two 8 and the permanent magnet one 602 are placed with their magnetic moments parallel in the z direction, and the permanent magnet two 8 is subjected to the force F of the permanent magnet one 602 on the z axis z_magnet（ F z_磁体） always points to the negative direction of the z axis. In the x and y directions, the magnetic force F x_magnet（ F x_磁体） on the permanent magnet two 8 and F y_magnet（ F y_磁体） will be offset by the supporting force provided by the spherical gear support frame 601, magnet. This design provides a dynamic compensation force compensation mechanism for the bipolar spherical gear during movement to ensure the stability of the bipolar spherical gear movement.

[0093] Enlightened by the ideal embodiments of the present invention, through the above description, relevant personnel can completely make various changes and modifications without departing from the technical idea of the present invention. The technical scope of the present invention is not limited to the content in the specification, and the technical scope must be determined according to the scope of the claims.

Claims

1. A pan-tilt for a full-degree-of-freedom automatic aiming system based on spherical gear transmission, characterized in that include: A yaw angle adjustment mechanism is provided on the frame, wherein the yaw angle adjustment mechanism is driven by a roll angle adjustment mechanism and a pitch angle adjustment mechanism, and a support member is further provided between the roll angle adjustment mechanism and the pitch angle adjustment mechanism, wherein a spherical gear is movably defined in the support member, and an outwardly extending launch device is provided on the spherical gear, and the spherical gear is in transmission connection with the roll angle adjustment mechanism and the pitch angle adjustment mechanism; The support member includes a spherical gear support frame arranged on the frame, the spherical gear support frame includes a support seat, a spherical cavity is preset at the upper end of the support seat, and a through groove communicating with the spherical cavity is opened at the bottom of the support seat; The spherical gear is received in the spherical cavity; The support member further includes a permanent magnet 1 disposed on the spherical gear support frame; A second permanent magnet corresponding to the first permanent magnet is embedded in the spherical gear; The yaw angle adjustment mechanism includes a yaw angle rotation gear and a yaw angle transmission gear respectively rotatably connected to the frame, and a yaw angle driving stepper motor provided on the frame; the yaw angle driving stepper motor is drivingly connected to the yaw angle transmission gear, the yaw angle transmission gear and the yaw angle rotation gear are engaged with each other, and drive the yaw angle rotation gear to rotate relative to the frame; The roll angle adjustment mechanism includes a roll angle driving stepper motor mounted on a frame, a driving shaft of the roll angle driving stepper motor being rotatably connected to a roll angle transmission gear set, and the roll angle transmission gear set being in transmission engagement with a roll angle single-pole gear pivotally connected to one side of a spherical gear support frame; The pitch angle adjustment mechanism includes a pitch angle driving stepper motor arranged on the frame, and a pitch angle transmission gear is rotatably connected to the driving shaft 2 of the pitch angle driving stepper motor; and the pitch angle transmission gear is located below the spherical gear support frame, and the pitch angle transmission gear is at least partially engaged with the spherical gear through the through hole of the permanent magnet 1 and the through groove of the support seat.

2. The pan-tilt of a full-degree-of-freedom automatic aiming system based on spherical gear drive according to claim 1, wherein: The spherical gear is equipped with a built-in BLE-IMU module, which is used to send the current posture information of the spherical gear to the host computer in real time through the low-power Bluetooth protocol, and control the posture of the spherical gear through a PID controller in the host computer.

3. The pan-tilt of a full-degree-of-freedom automatic aiming system based on spherical gear drive according to claim 2, wherein: The spherical gear includes a bipolar spherical gear, and the bipolar spherical gear includes a pair of hemispherical gears, a built-in fixing screw hole is provided between the matched hemispherical gears, and the matched hemispherical gears are threadedly matched with the built-in fixing screw hole through the stud; and the launching device is provided in the direction of the z-axis of the bipolar spherical gear; a second permanent magnet is installed inside the bipolar spherical gear, and the second permanent magnet is used to attract the first permanent magnet on the spherical gear support frame, so as to confine the spherical gear in the spherical cavity of the spherical gear support frame; And / or, the pitch angle driving stepping motor is fixedly mounted on the frame via a stepping motor fixing bracket, and the second driving shaft of the pitch angle driving stepping motor is drivingly connected to the pitch angle transmission gear via a flange; And / or, the pitch angle transmission gear is a single-stage gear with a module m = 3 and a number of teeth z = 20; And / or, the yaw angle rotating gear is a gear with a module m = 5 and a number of teeth z = 50, and the yaw angle transmission gear is a gear with a module m = 5 and a number of teeth z = 20.

4. A pan-tilt for a full-degree-of-freedom automatic aiming system based on spherical gear drive according to claim 3, characterized in that: The tooth profile of the spherical gear exhibits a curved surface characteristic; the number of teeth of the spherical gear is even, and the tooth profile of the spherical gear is arranged centrally symmetrically around the intersection of the x-axis and y-axis of the spherical gear; And / or, both the pitch angle transmission gear and the roll angle single-stage gear are single-polarity gear spherical gears. Two mutually perpendicular x-axis and y-axis are selected, the z-axis coincides with the rotation axis, and the x-axis corresponds to the pole point. The cross-section of x-y has an involute gear profile; And / or, the pitch angle transmission gear is located below the spherical gear, the roll angle single-stage gear is located on the lateral side of the spherical gear, and the pitch angle transmission gear and the roll angle single-stage gear can mesh with the bipolar spherical gear of the spherical gear; And / or, the bipolar spherical gear of the spherical gear is based on a spherical material. Two mutually perpendicular axes are selected on the horizontal plane of the ball center. The two mutually perpendicular axes include the x-axis and the y-axis. The x-axis and the y-axis jointly define the x-y plane of a spherical surface; the geometric framework formed by the intersection of the x-axis and the y-axis defines the structural starting point of the bipolar spherical gear; on the spherical surface of the spherical material, the gear structure is carved along the direction of the x-axis to form the contour projection of a spur gear until a basic spherical gear around the x-axis is formed; on the spherical surface of the spherical material, the gear structure is carved along the direction of the y-axis to form an intersecting tooth structure; through two-axis carving, an orthogonally staggered gear structure is formed on the spherical surface of the spherical material to obtain a bipolar spherical gear, and the bipolar spherical gear is an intersecting spherical gear.

5. A moving method for a pan-tilt of a full-degree-of-freedom automatic aiming system based on spherical gear transmission, characterized in that, It is realized by using a pan-tilt of a full-degree-of-freedom automatic aiming system based on spherical gear transmission described in claim 4, including: The yaw angle drive stepping motor in the yaw angle adjustment mechanism drives the yaw angle transmission gear to rotate, and drives the yaw angle rotating gear meshing with the yaw angle transmission gear to rotate; the yaw angle rotating gear drives the support member, the roll angle adjustment mechanism, and the pitch angle adjustment mechanism to rotate, adjusts the angle of the spherical gear carried on the support member, and drives the circumferential displacement of the launching device by the spherical gear; The pitch angle drive stepping motor of the pitch angle adjustment mechanism drives the pitch angle transmission gear to rotate. The pitch angle transmission gear rotates at the lower part of the support member, and the pitch angle transmission gear meshes with the lower part of the spherical gear to drive the spherical gear to drive the pitch displacement of the launching device; The roll angle drive stepping motor of the roll angle adjustment mechanism drives the second roll angle transmission gear to rotate. The second roll angle transmission gear drives the first roll angle transmission gear to rotate. The first roll angle transmission gear drives the roll angle single-stage gear to rotate. The roll angle single-stage gear meshes with the side of the spherical gear to drive the spherical gear to drive the roll displacement of the launching device.

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