Torque motor driven double-body synchronous rotating mechanism and photoelectric system

Abstract

The invention provides a double-body synchronous rotating mechanism driven by a torque motor and a photoelectric system, relates to the field of inertial measurement, and aims to solve the technical problems of overall structure redundancy and low space utilization rate of an inertial measurement product with a plurality of rotary shaft systems. The synchronous rotation mechanism comprises a base, a first inertial measurement unit, a second inertial measurement unit and a motor arranged on the base, and the rotation axis of the first inertial measurement unit is perpendicular to the rotation axis of the second inertial measurement unit; one end of the output shaft of the motor is in transmission connection with the first inertial measurement unit, and the other end is in transmission connection with the second inertial measurement unit. According to the synchronous rotating mechanism, part redundancy is reduced, the size and weight of the whole product are reduced, and the space utilization rate is high.

Description

Technical Field

[0001] This invention relates to the field of inertial measurement technology, and more particularly to a torque motor-driven dual-body synchronous rotation mechanism and an optoelectronic system. Background Technology

[0002] With the increasing demand for high-precision, lightweight optoelectronic payloads from drones, armored vehicles, ships, and unmanned ground combat platforms, rotary products such as precision turntables, optoelectronic pods, panoramic mirrors, and optoelectronic turrets are rapidly developing towards multi-axis collaboration, high precision, lightweight design, and miniaturization. To meet the requirements of target search, tracking, and aiming missions in complex environments, these products typically need to have two or more degrees of rotational freedom to achieve rapid response and precise positioning of the target's spatial location.

[0003] In related technologies, inertial measurement products with multiple rotation axes have redundant overall structures and low space utilization. Summary of the Invention

[0004] The purpose of this invention is to provide a torque motor-driven dual-body synchronous rotation mechanism and a photoelectric system to solve the technical problems of redundant overall structure and low space utilization in inertial measurement products with multiple rotating shafts.

[0005] To achieve the above objectives, the present invention provides the following technical solution:

[0006] In a first aspect, the present invention provides a torque motor driven dual-body synchronous rotation mechanism, comprising a base, a first inertial measurement unit, a second inertial measurement unit, and a motor disposed on the base, wherein the rotation axis of the first inertial measurement unit is perpendicular to the rotation axis of the second inertial measurement unit.

[0007] One end of the motor's output shaft is connected to the first inertial measurement unit, and the other end is connected to the second inertial measurement unit.

[0008] According to at least one embodiment of the present invention, the first inertial measurement unit is disposed on the output shaft of the motor, and the second inertial measurement unit is connected to the output shaft of the motor via a gear assembly.

[0009] According to at least one embodiment of the present invention, the gear assembly includes a driving bevel gear and a driven bevel gear that mesh with each other, the driving bevel gear being drivenly connected to the output shaft of the motor, and the driven bevel gear being disposed on a transfer shaft connected to the second inertial measurement unit;

[0010] The transmission ratio between the driving bevel gear and the driven bevel gear is 1:1.

[0011] According to at least one embodiment of the present invention, the rotating mechanism further includes a frame structure located on the base and two supports disposed opposite to each other, and the two supports are detachably disposed on the base;

[0012] The motor is detachably mounted on the frame structure, and the two ends of the adapter shaft are rotatably mounted on the two brackets respectively.

[0013] According to at least one embodiment of the present invention, the motor includes a stator, a rotor, a hollow stator shaft, and a hollow rotor shaft, wherein the stator shaft is detachably mounted on the frame structure, and the rotor shaft is rotatably mounted within the stator shaft.

[0014] One end of the rotor shaft is connected to the first inertial measurement unit, and the other end is connected to the active bevel gear transmission.

[0015] According to at least one embodiment of the present invention, the portion of the adapter shaft near the driven bevel gear has a hollow cavity, and the rotating mechanism further includes a controller, a first slip ring, and a second slip ring, wherein the first slip ring is at least partially disposed in the hollow cavity of the rotor shaft, and the second slip ring is at least partially disposed in the hollow cavity of the adapter shaft;

[0016] The first inertial measurement unit is electrically connected to the controller via the first slip ring, and the second inertial measurement unit is electrically connected to the controller via the second slip ring.

[0017] According to at least one embodiment of the present invention, the rotating mechanism further includes an encoder disposed on the stator shaft, the encoder being used to detect the rotation angle of the rotor shaft.

[0018] According to at least one embodiment of the present invention, the torque motor is a DC torque motor, and the output torque of the torque motor is 0.1 N·m to 0.5 N·m.

[0019] According to at least one embodiment of the present invention, the first inertial measurement unit and the second inertial measurement unit have the same structure.

[0020] According to at least one embodiment of the present invention, the gear assembly further includes a driving spur gear and a driven spur gear meshing with each other. The driving spur gear is disposed on the rotor shaft, the driven spur gear is rotatably disposed on the vertical shaft of the base, the driving bevel gear is fixedly disposed on the driven spur gear, and the driving bevel gear and the driven spur gear are coaxial. The transmission ratio between the driving spur gear and the driven spur gear is 1:1.

[0021] According to at least one embodiment of the present invention, the rotor is bonded to the rotor shaft, and at least one first annular groove is provided on the annular surface of the rotor, the first annular groove being used to hold glue.

[0022] According to at least one embodiment of the present invention, the adhesive is GY-340 general-purpose assembly and holding anaerobic adhesive.

[0023] According to at least one embodiment of the present invention, the stator is bonded to the stator shaft, and the stator shaft is provided with at least one third annular groove for holding glue.

[0024] According to at least one embodiment of the present invention, the driven bevel gear is bonded to the adapter shaft, and the adapter shaft is provided with at least one second annular groove for holding glue.

[0025] According to at least one embodiment of the present invention, the bracket has a plurality of second through holes, and the bracket is detachably connected to the base by second screws passing through the respective second through holes, wherein the diameter of the second screws is smaller than the diameter of the second through holes.

[0026] According to at least one embodiment of the present invention, the flange at the bottom of the stator shaft has a plurality of first through holes, and the motor is detachably connected to the frame structure by first screws passing through the corresponding first through holes, wherein the diameter of the first screws is smaller than the diameter of the first through holes.

[0027] In a second aspect, the present invention provides an optoelectronic system including the rotating mechanism described in the first aspect.

[0028] In one or more technical solutions provided in the exemplary embodiments of the present invention, at least one of the following beneficial effects can be achieved.

[0029] An exemplary embodiment of the present invention discloses a torque motor-driven dual-body synchronous rotation mechanism, comprising a base, a first inertial measurement unit, a second inertial measurement unit, and a motor mounted on the base, wherein the rotation axes of the first and second inertial measurement units are arranged perpendicularly to each other. The output shaft of the motor adopts a through-type structure, extending from both ends of the motor body. One end is connected to the first inertial measurement unit to drive its rotation, and the other end is connected to the second inertial measurement unit via a gear assembly. Based on this, the same motor and gear assembly can drive two rotating bodies (the first and second inertial measurement units) to rotate synchronously, for example, synchronously forward or synchronously reverse.

[0030] Compared to existing technologies where each rotating body is driven independently by a motor, driver, and encoder, the torque motor driven dual-body synchronous rotation mechanism of the exemplary embodiment of the present invention uses the same motor to drive the rotation of two vertically rotating bodies, reducing the number of motors, encoders, and drivers used, thereby reducing the overall size and weight of the product and achieving high space utilization. Attached Figure Description

[0031] The accompanying drawings illustrate exemplary embodiments of the invention and, together with the description thereof, serve to explain the principles of the invention. These drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification.

[0032] Figure 1 This is a schematic diagram of the overall structure of the rotating mechanism according to an embodiment of the present invention;

[0033] Figure 2 This is a schematic diagram of the structure of the rotating mechanism (decomposed second inertial measurement unit) according to an embodiment of the present invention;

[0034] Figure 3 This is a schematic diagram of the structure of the rotating mechanism (first inertial measurement unit and motor disassembly) according to an embodiment of the present invention;

[0035] Figure 4 This is a structural schematic diagram of the rotating mechanism (first inertial measurement unit and motor disassembly) according to an embodiment of the present invention from another perspective;

[0036] Figure 5 This is a cross-sectional structural schematic diagram of the rotating mechanism according to an embodiment of the present invention;

[0037] Figure 6 This is a top view of the rotating mechanism according to an embodiment of the present invention.

[0038] Figure label:

[0039] 10. First Inertial Measurement Unit; 11. IMU Frame;

[0040] 20. Second Inertial Measurement Unit;

[0041] 30. Base; 31. Frame structure; 32. Support; 33. Vertical axis;

[0042] 41. First slip ring; 42. Second slip ring;

[0043] 521. Driving spur gear; 522. Driven spur gear; 511. Driving bevel gear; 512. Driven bevel gear; 53. Adapter shaft; 531. Second annular groove;

[0044] 611, Rotor; 611a, First annular groove; 612, Rotor shaft; 621, Stator; 622, Stator shaft;

[0045] 70. MEMS control board;

[0046] 80. Encoder;

[0047] 91. Controller; 92. Driver. Detailed Implementation

[0048] To make the technical problems to be solved, the technical solutions, and the beneficial effects of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present invention and are not intended to limit the present invention.

[0049] Before introducing the embodiments of the present invention, the relevant terms involved in the embodiments of the present invention are first defined as follows:

[0050] An inertial measurement unit (IMU) is a device used to measure the three-axis angular velocity and three-axis acceleration of an object. It is usually composed of the following core components: gyroscope, accelerometer or magnetometer, etc.

[0051] A MEMS (Micro-Electro-Mechanical-System) control board is a complete electronic module that integrates MEMS micro-sensors / micro-actuators with drives, signal conditioning, and communication interfaces onto a single PCB. It is used for power supply, issuing commands, reading data, and performing compensation.

[0052] Backlash (also known as idle stroke or hysteresis) refers to the phenomenon that when the direction of screw rotation changes, due to the gap between the threaded mating surfaces, the screw must first rotate at an angle before the nut begins to move in the opposite direction.

[0053] An inertial measurement unit (IMU) is used to measure the acceleration of a vehicle (aircraft, ship, vehicle, etc.) to calculate its instantaneous velocity, position, and attitude. By adding a rotation and control mechanism to the IMU, the rotation of the IMU can be used to average out the impact of inertial element drift on navigation performance, thereby improving the accuracy of inertial navigation.

[0054] Figure 1 This is a schematic diagram of the overall structure of the rotating mechanism according to an embodiment of the present invention. Figure 1As shown in the exemplary embodiment of the present invention, the torque motor-driven dual-body synchronous rotation mechanism refers to two rotating bodies: a first inertial measurement unit 10 and a second inertial measurement unit 20. The rotation axis of the first inertial measurement unit 10 is perpendicular to the base 30 (the extension direction of this axis can be defined as the vertical direction), and the rotation axis of the second inertial measurement unit 20 is parallel to the base 30 (the extension direction of this axis can be defined as the horizontal direction). The first inertial measurement unit 10 and the second inertial measurement unit 20 can be rotatably mounted on the base 30 under the drive of the torque motor without affecting each other, and their rotation axes are perpendicular to each other. The overall structure is symmetrically arranged and compact.

[0055] Figure 2 This is a schematic diagram of the structure of the rotating mechanism (decomposed second inertial measurement unit) according to an embodiment of the present invention; Figure 6 This is a top view schematic diagram of the rotating mechanism according to an embodiment of the present invention. (Combined with...) Figures 1-2 , Figure 6 As shown, the first inertial measurement unit 10 and the second inertial measurement unit 20 have the same structure. To clearly show the IMU frame 11 of the two inertial measurement units, Figure 2 The MEMS control boards 70 mounted on the IMU frame 11 are then removed. The circumferential profile of the IMU frame 11 for each inertial measurement unit is approximately square, with a MEMS control board 70 or other control boards mounted on each side and top surface. For example, multiple MEMS control boards 70 can be used to control the inertial elements in the X, Y, and Z directions respectively. Based on this, static balancing and trimming control are performed on the two inertial measurement units respectively. The position of the rotation axis of the inertial measurement unit allows it to have a minimum rotation radius, thereby maximizing the driving capability of the torque motor and achieving high-precision motor control.

[0056] Figure 3 This is a schematic diagram of the structure of the rotating mechanism (first inertial measurement unit and motor disassembly) according to an embodiment of the present invention; Figure 4 This is a structural schematic diagram of the rotating mechanism (first inertial measurement unit and motor disassembly) according to an embodiment of the present invention from another perspective; Figure 5 This is a cross-sectional structural schematic diagram of a rotating mechanism according to an embodiment of the present invention. (Combined with...) Figures 3-5 As shown, in the torque motor driven dual-body synchronous rotation mechanism provided by the exemplary embodiment of the present invention, the first inertial measurement unit 10 is disposed on the output shaft of the motor, and the second inertial measurement unit 20 is connected to the output shaft of the motor through a gear assembly.

[0057] In some embodiments, the gear assembly includes a driving bevel gear 511 and a driven bevel gear 512 that mesh with each other. The driving bevel gear 511 is connected to the output shaft of the motor, and the driven bevel gear 512 is mounted on the transfer shaft 53 of the second inertial measurement unit 20. The transmission ratio between the driving bevel gear 511 and the driven bevel gear 512 is 1:1, that is, the driving bevel gear 511 and the driven bevel gear 512 have the same module and number of teeth.

[0058] In practical applications, the motor is a DC torque motor. The annular stator 621 and its coils are arranged around the hollow stator shaft 622. The annular rotor 611 is rotatably arranged on the periphery of the stator 621. The rotor shaft 612 has a circular surface that matches the rotor 611 and a hollow shaft section. Its circular surface is connected to the top surface of the rotor 611. The two form a bottle cap shape, covering the periphery and top of the stator 621. The hollow shaft section of the rotor shaft 612 passes through the hollow cavity of the stator shaft 622 and extends out from the bottom surface of the stator shaft 622. Based on this, the first inertial measurement unit 10 can be fixedly mounted on the circular surface of the rotor shaft 612 and rotate together with the rotor 611; the driving bevel gear 511 is located on the portion of the rotor shaft 612 extending out of the bottom of the stator shaft 622, and drives the adapter shaft 53 to rotate through the transmission with the driven bevel gear 512 with a transmission ratio of 1:1, thereby causing the second inertial measurement unit 20 mounted on the adapter shaft 53 to rotate synchronously. Thus, by using the same through-type torque motor, the synchronous forward or reverse rotation of the two vertical inertial measurement units can be achieved.

[0059] Compared to existing technologies where each rotating body has an independent motor drive system, the torque motor driven dual-body synchronous rotation mechanism provided by the exemplary embodiment of the present invention can reduce the use of motors, drivers 92 and encoders 80 while satisfying the full rotation of two mutually perpendicular inertial measurement units, thereby further reducing the size and weight of the entire product.

[0060] In other embodiments, combined Figure 2 and Figure 5 As shown, the gear assembly also includes a driving spur gear 521 and a driven spur gear 522 that mesh with each other. The driving spur gear 521 is mounted on the rotor shaft 612, and the driven spur gear 522 is rotatably mounted on the vertical shaft 33 of the base 30. The driving bevel gear 511 is fixedly mounted on the driven spur gear 522, and the driving bevel gear 511 and the driven spur gear 522 are coaxial. The transmission ratio of the driving spur gear 521 and the driven spur gear 522 is 1:1. Exemplarily, the driving spur gear 521 and the driven spur gear 522 have the same number of teeth and module.

[0061] In practical applications, the rotor shaft 612 drives the driving spur gear 521 to rotate, and the driven spur gear 522, which meshes with the driving spur gear 521, rotates. Since the driving bevel gear 511 is fixedly mounted on the driven spur gear 522 by screws and rotates on the vertical shaft 33, the two achieve synchronous rotation. This gear meshing then drives the rotation of the driven bevel gear 512, which is fixed to the adapter shaft 53. The second inertial measurement unit 20 is fixedly connected to the adapter shaft 53, thus enabling the same motor to drive the synchronous rotation of two inertial measurement units.

[0062] In a transmission mode where the gear assembly includes only one bevel gear pair, the driving bevel gear 511 and driven bevel gear 512 require large external dimensions due to the overall size and space constraints of the inertial measurement unit. However, when a spur gear pair (driving spur gear 521 and driven spur gear 522) is used for transmission switching, the size of the bevel gear pair can be reduced, the entire rotating mechanism can be made more compact, and the volume and weight of the rotating mechanism can be reduced.

[0063] Combination Figure 2 , Figure 3 and Figure 5 As shown, in the rotating mechanism provided by the exemplary embodiment of the present invention, a frame structure 31 and two supports 32 arranged opposite to each other are provided on the base 30. The two supports 32 are detachably provided on the base 30; the motor is detachably provided on the frame structure 31, and the two ends of the adapter shaft 53 are respectively rotatably provided on the two supports 32.

[0064] For example, the frame structure 31 consists of four legs mounted on the base 30 to support the motor and the first inertial measurement unit 10, while two brackets 32 support the second inertial measurement unit 20 and its transmission structure. The space between the four legs accommodates some components of the motor and part of the transmission structure, such as the drive spur gear 521. The bottom of the stator shaft 622 in the motor is provided with a flange, which has multiple first through holes, such as four first through holes corresponding to the four legs, and is detachably connected to the frame structure 31 by first screws passing through the corresponding first through holes. The diameter of the first screw is smaller than the diameter of the first through hole.

[0065] For example, the first screw is an M2×6 screw, and the diameter of the first through hole is 2.5mm. When the flange of the stator shaft 622 is tightened with the first screw, there is a left and right adjustment range of 0.25mm. After the motor is adjusted to the appropriate position, the motor is fixed to the frame structure 31 by tightening the first screw. Based on this, the center distance between the driving spur gear 521 and the driven spur gear 522 can be finely adjusted to reduce the gear meshing clearance, thereby reducing the impact of gear transmission backlash on rotational accuracy. It can also control the frictional torque of the gear transmission within a reasonable range, improving gear transmission efficiency. This allows the torque motor to drive the two inertial measurement units to achieve synchronous forward and synchronous reverse rotation.

[0066] In some implementations, such as Figure 2 As shown, the adapter shaft 53 can be a hollow shaft with a mounting flange. The IMU frame 11 of the second inertial measurement unit 20 has a connecting surface in the middle, which is screwed onto the mounting flange of the adapter shaft 53. On the other side of the connecting surface away from the mounting flange, there is a rotating shaft, which can be an extension of the adapter shaft 53 (penetrating the connecting surface), rotatably mounted on a bracket 32. The end of the adapter shaft 53 near the driven bevel gear 512 is rotatably mounted on another bracket 32. It is understood that bearings are provided on both brackets 32, and the two ends of the adapter shaft 53 are rotatably mounted on the two brackets 32 respectively via corresponding bearings. The space between the two brackets 32 provides rotation space for the second inertial measurement unit 20.

[0067] It is understandable that a hollow structure is provided on the bracket 32 ​​near the driving bevel gear 511 so that the driving bevel gear 511 can mesh with the driven bevel gear 512 provided on the adapter shaft 53 after passing through the hollow structure.

[0068] For example, the bearings on the two supports 32 are deep groove ball bearings.

[0069] For example, the bracket 32 ​​has a plurality of second through holes, each bracket 32 ​​being detachably connected to the base 30 by a second screw passing through the corresponding second through hole, the diameter of the second screw being smaller than the diameter of the second through hole.

[0070] For example, the second screw is an M2×6 screw, and the diameter of the second through hole is 2.5mm. When the bracket 32 ​​is tightened with the second screw, there is a 0.25mm adjustment range to the left and right. After the two brackets 32 are adjusted to the appropriate position, they are fixed to the base 30 by tightening the second screw. Based on this, the center distance between the driving bevel gear 511 and the driven bevel gear 512 can be finely adjusted to reduce the gear meshing clearance, thereby reducing the impact of gear drive backlash on rotational accuracy. It can also control the frictional torque of the gear drive within a reasonable range, improving gear drive efficiency, and thus enabling the torque motor to drive the two inertial measurement units to achieve synchronous forward and synchronous reverse rotation.

[0071] Considering that the two inertial measurement units require cables to transmit signals to the controller 91, such as Figures 3-5 As shown, in the torque motor driven dual-body synchronous rotation mechanism provided by the exemplary embodiment of the present invention, the portion of the adapter shaft 53 near the driven bevel gear 512 has a hollow cavity. The rotation mechanism also includes a controller 91, a first slip ring 41, and a second slip ring 42. The first slip ring 41 is at least partially disposed in the hollow cavity of the rotor shaft 612, and the second slip ring 42 is at least partially disposed in the hollow cavity of the adapter shaft 53. The first inertial measurement unit 10 is electrically connected to the controller 91 through the first slip ring 41, and the second inertial measurement unit 20 is electrically connected to the controller 91 through the second slip ring 42.

[0072] In practical applications, the upper half of the first slip ring 41 is set in the IMU frame 11 of the first inertial measurement unit 10, and the lower half is set in the hollow cavity of the rotor shaft 612. Its cable portion passes through the bottom of the rotor shaft 612 and is connected to the controller 91 after passing through the cable tray of the flange fixed to the bottom of the stator shaft 622.

[0073] Similarly, the left half of the second slip ring 42 is disposed in the hollow cavity of the adapter shaft 53, and the right half is disposed in the IMU frame 11 of the second inertial measurement unit 20. Its cable portion passes through the left end of the adapter shaft 53 and then through the cable tray fixed on the bracket 32 ​​to connect to the controller 91.

[0074] For example, such as Figure 6 As shown, the controller 91 and the driver 92 are mounted on the base and located on opposite sides of the frame structure 31, which makes the weight distribution more balanced and facilitates precise control of the two inertial measurement units.

[0075] It should be noted that the above-mentioned up, down, left, and right refer to... Figure 5 The view shown is for reference only and should not be construed as a limitation on the orientation of the components of this invention.

[0076] In some implementations, combined Figure 4 and Figure 5As shown, the torque motor driven dual-body synchronous rotation mechanism provided in the exemplary embodiment of the present invention further includes an encoder 80 disposed on the stator shaft 622, the encoder 80 being used to detect the rotation angle of the rotor shaft 612.

[0077] In practical applications, the stationary part of the T-type encoder 80 is fixedly connected to the flange at the bottom of the stator shaft 622 by screws, and the rotating part of the T-type encoder 80 is in cylindrical contact with the rotor shaft 612 to ensure the accuracy of the rotation angle value of the rotor shaft 612 measured by the T-type encoder 80. The speed is precisely controlled by the PID control of the motor driver 92.

[0078] It is understandable that the rotor shaft 612 and stator shaft 622 are connected by two deep groove ball bearings 6702 with a precision grade of P4 to ensure coaxiality between them.

[0079] In some implementations, the torque motor is a DC torque motor with an output torque of 0.1 N·m to 0.5 N·m.

[0080] Based on the moments of inertia of the two inertial measurement units and the gear transmission, the required acceleration torque is calculated according to the required rotational acceleration. Based on the shaft system force analysis and the selected bearing and gear meshing clearance adjustment requirements, the required maximum friction torque is calculated. Taking into account the influence of external disturbances on the rotational torque, a torque margin is reserved for the DC torque motor output. A DC torque motor of model MS5010V3 is selected, with a rated output torque of 0.25 N·m, which can meet the requirements for low-speed, high-precision position control.

[0081] In some embodiments, in the above-mentioned torque motor driven dual-body synchronous rotation mechanism, the rotor shaft 612 and gear assembly are made of 304 stainless steel, while other components can be made of high-strength aluminum alloy 2A12-T4 and aerospace hard aluminum alloy 7075. This can meet the overall strength and rigidity of the product and reduce the impact of part deformation caused by machining and assembly stress on the overall rotational accuracy of the product.

[0082] In some embodiments, the rotor 611 is bonded to the rotor shaft 612, and at least one first annular groove 611a is provided on the annular surface of the rotor 611 for holding adhesive. The driven bevel gear 512 is bonded to the adapter shaft 53, and at least one second annular groove 531 is provided on the adapter shaft 53 for holding adhesive. The stator 621 is bonded to the stator shaft 622, and at least one third annular groove is provided on the stator shaft 622 for holding adhesive.

[0083] like Figure 5As shown, two first annular grooves 611a are formed on the inner wall of the annular surface of the rotor shaft 612 to hold glue. The rotor 611 and the rotor shaft 612 are bonded together with strong adhesive to complete the fixed installation. The first annular grooves 611a can leave enough glue at the shaft hole mating point to ensure the bonding strength.

[0084] Similarly, as Figure 5 As shown, two second annular grooves 531 for holding glue are opened on the outer peripheral surface of the adapter shaft 53. The driven bevel gear 512 is fixed to the adapter shaft 53 by glue, and the two are also connected by a key, so that a larger torque can be transmitted. The second annular grooves 531 can leave enough glue at the shaft hole mating point to ensure the bonding strength.

[0085] The mating surfaces of stator 621 and stator shaft 622 are also bonded together with glue, and the two third annular grooves provided on stator shaft 622 can leave enough glue at the shaft hole mating point to ensure the bonding strength.

[0086] For example, the adhesive can be GY-340 general-purpose assembly and holding anaerobic adhesive, with methacrylate as the main component, an average release torque ≥25.0 N·m, an initial curing time ≤1 h, a curing time of 24 h, a viscosity of 400-800 mPa·s, and an operating temperature of -55℃ to 155℃. When bonding the corresponding parts with the adhesive, they should be pressed firmly and allowed to stand for 24 h to allow the adhesive to fully solidify.

[0087] Compared to the existing technology, where the motor rotor 611 and rotor shaft 612, and stator 621 and stator shaft 622 are connected by fastening screws, i.e., threaded holes and corresponding screw through holes are provided at the cylindrical mating parts, this requires reserving space for installing screws, making it difficult to miniaturize the overall size of the torque motor and increasing its weight, the use of adhesive can avoid the defects of the above-mentioned screw fixing connection.

[0088] It should be noted that the DC torque motor of the present invention has a relatively small output torque. The connection strength between the motor rotor 611 and rotor shaft 612, and between stator 621 and stator shaft 622 formed by the above-mentioned adhesive bonding method is sufficient to ensure the normal use of the motor. Moreover, the assembly process is simple, the structure is more compact, it is easy to process, and the production cost is low.

[0089] An exemplary embodiment of the present invention also provides a photoelectric system including the rotating mechanism of the above embodiments.

[0090] For example, optoelectronic systems can be optoelectronic pods, panoramic mirrors, and optoelectronic turrets, which can be used in drones, armored vehicles, ships, and ground unmanned combat platforms.

[0091] The technological advantages of the aforementioned optoelectronic system compared to existing technologies are the same as those of the aforementioned rotating mechanism, and will not be repeated here.

[0092] Those skilled in the art should understand that the above embodiments are merely for illustrating the present invention and are not intended to limit the scope of the invention. Those skilled in the art can make other changes or modifications based on the above disclosure, and these changes or modifications still fall within the scope of the present invention.

Claims

1. A torque motor-driven dual-body synchronous rotation mechanism, characterized in that, It includes a base, a first inertial measurement unit, a second inertial measurement unit, and a motor mounted on the base, wherein the rotation axis of the first inertial measurement unit is perpendicular to the rotation axis of the second inertial measurement unit. One end of the motor's output shaft is connected to the first inertial measurement unit, and the other end is connected to the second inertial measurement unit.

2. The rotating mechanism according to claim 1, characterized in that, The first inertial measurement unit is mounted on the output shaft of the motor, and the second inertial measurement unit is connected to the output shaft of the motor via a gear assembly.

3. The rotating mechanism according to claim 2, characterized in that, The gear assembly includes a driving bevel gear and a driven bevel gear that mesh with each other. The driving bevel gear is connected to the output shaft of the motor, and the driven bevel gear is mounted on a transfer shaft connected to the second inertial measurement unit.

4. The rotating mechanism according to claim 3, characterized in that, The rotating mechanism also includes a frame structure located on the base and two opposing supports, and the two supports are detachably mounted on the base; The motor is detachably mounted on the frame structure, and the two ends of the adapter shaft are rotatably mounted on the two brackets respectively.

5. The rotating mechanism according to any one of claims 4, characterized in that, The motor includes a stator, a rotor, a hollow stator shaft, and a hollow rotor shaft. The stator shaft is detachably mounted on the frame structure, and the rotor shaft is rotatably mounted inside the stator shaft. One end of the rotor shaft is connected to the first inertial measurement unit, and the other end is connected to the active bevel gear transmission.

6. The rotating mechanism according to claim 5, characterized in that, The portion of the adapter shaft near the driven bevel gear has a hollow cavity. The rotating mechanism also includes a controller, a first slip ring, and a second slip ring. The first slip ring is at least partially disposed in the hollow cavity of the rotor shaft, and the second slip ring is at least partially disposed in the hollow cavity of the adapter shaft. The first inertial measurement unit is electrically connected to the controller via the first slip ring, and the second inertial measurement unit is electrically connected to the controller via the second slip ring.

7. The rotating mechanism according to claim 5, characterized in that, The rotating mechanism also includes an encoder mounted on the stator shaft, which is used to detect the rotation angle of the rotor shaft.

8. The rotating mechanism according to any one of claims 1-7, characterized in that, The torque motor is a DC torque motor, and the output torque of the torque motor is 0.1 N·m to 0.5 N·m.

9. The rotating mechanism according to claim 8, characterized in that, The first inertial measurement unit and the second inertial measurement unit have the same structure.

10. A photoelectric system, characterized in that, Includes the rotating mechanism as described in any one of claims 1-9.

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