Modular reconfigurable nacelle

Abstract

The application discloses a modular reconfigurable pod and belongs to the technical field of airborne photoelectricity, and aims to provide a modular reconfigurable pod, so as to solve the problems that independent product components have no commonality, modes have no switching property, the structure of the switching mode has low stability and precision, the capacity of bearing vibration impact load is poor, and the switching precision cannot be ensured. In a three-axis working mode, the two ends of a U-shaped frame are connected with a spherical shell assembly through a pitching shaft system, so as to drive the spherical shell assembly to rotate around the pitching shaft system; one end of a C-shaped frame is connected with the middle position of the U-shaped frame through a second shaft system assembly, so as to drive the U-shaped frame and the spherical shell assembly to rotate as a whole around the second shaft system assembly; the other end of the C-shaped frame is connected with an azimuth base through a first shaft system assembly, so as to drive the C-shaped frame, the U-shaped frame and the spherical shell assembly to rotate as a whole around the first shaft system assembly; or in a two-axis working mode, the C-shaped frame and the first shaft system assembly are removed, and the azimuth base is connected with the middle position of the U-shaped frame through the second shaft system assembly.

Description

Technical Field

[0001] This invention belongs to the field of airborne optoelectronic technology, specifically relating to a modular reconfigurable pod. Background Technology

[0002] As the core carrier for optical payloads, optoelectronic pods are widely used in military and civilian fields such as UAV inspection, aerial surveying, and vehicle-mounted detection. Their frame structure mainly adopts two forms: three-axis stabilization and two-axis stabilization. They can perform real-time attitude compensation according to the usage scenario to ensure the stability of optical imaging. With the diversification of optoelectronic pod application scenarios, higher requirements are placed on their mode adaptability, modularity, and ease of operation.

[0003] Existing optoelectronic pods mostly adopt a fixed structure, with three-axis pods and two-axis pods being independent products. There is no commonality in components or mode switching. Some technical solutions that attempt to switch pod modes also have problems such as non-standardized interfaces, cumbersome switching processes, and reduced accuracy, which cannot meet the needs of actual engineering applications.

[0004] In existing technologies, switching between two-axis and three-axis modes is achieved through a snap-fit ​​structure. While this enables rapid loading and unloading, there is a gap between the snap-fit ​​and the slide, and the structural components lack reliable connections, making it difficult to achieve high stability and precision. This also limits the application scenarios as the structure cannot withstand vibration and impact loads in general airborne and vehicle environments. Furthermore, the lack of positioning features on the structural frame makes it difficult to guarantee accuracy during switching. The technology also does not consider the adaptation and modification of the electronic system during structural switching, and the shaft housing structure occupies a large volume, making it impossible to achieve a miniaturized and compact design for the overall pod structure. Summary of the Invention

[0005] The purpose of this invention is to propose a modular reconfigurable pod that solves the problems of existing technologies, such as the lack of universality of independent product components, the lack of mode switching, low structural stability and accuracy when switching modes, poor ability to withstand vibration and impact loads, and inability to guarantee switching accuracy.

[0006] To achieve the above objectives, a modular reconfigurable pod of the present invention includes a spherical shell assembly, a pitch axis system, a U-shaped frame, a second axis system assembly, a C-shaped frame, a first axis system assembly, and an azimuth base; In the three-axis operating mode, the two ends of the U-shaped frame are connected to the spherical shell assembly at positions relative to the center of the sphere via a pitch axis system. The pitch axis system drives the spherical shell assembly to rotate relative to the U-shaped frame around the axis of the pitch axis system. One end of the C-shaped frame is connected to the middle of the U-shaped frame via a second axis system assembly. The second axis system assembly drives the U-shaped frame and the spherical shell assembly to rotate relative to the C-shaped frame around the axis of the second axis system assembly. The other end of the C-shaped frame is connected to the azimuth base via a first axis system assembly. The first axis system assembly drives the C-shaped frame, the U-shaped frame, and the spherical shell assembly to rotate relative to the azimuth base around the axis of the first axis system assembly. The axes of the pitch axis system, the second axis system assembly, and the first axis system assembly are perpendicular to each other. In either the pitch or two-axis operating mode, the two ends of the U-shaped frame are connected to the spherical shell assembly at positions relative to the center of the sphere via a pitch axis system. The pitch axis system drives the spherical shell assembly to rotate relative to the U-shaped frame around the axis of the pitch axis system. The middle position of the U-shaped frame is connected to the azimuth base via a second axis system assembly. The second axis system assembly drives the U-shaped frame and the spherical shell assembly to rotate relative to the azimuth base around the axis of the second axis system assembly. The axis of the pitch axis system is perpendicular to the axis of the second axis system assembly.

[0007] The axis of the pitch axis system and the axis of the second axis system assembly both pass through the center of the spherical shell assembly.

[0008] The azimuth base includes multiple sets of base positioning units evenly distributed around the circumference of the azimuth base. Each set of base positioning units includes a positioning annular surface disposed inside the azimuth base, a shaft mounting surface disposed on one side of the positioning annular surface, and a base positioning through hole disposed on the shaft mounting surface.

[0009] The azimuth base also includes multiple connector fixing holes that penetrate the inner and outer surfaces of the azimuth base.

[0010] The orientation base also includes: Multiple flange platforms are evenly distributed on the outside of the azimuth base; And a first split-type cover that can be detachably connected to the outer end of the azimuth base.

[0011] The first shaft system assembly and the second shaft system assembly have the same structure. The first shaft system assembly includes: a drive motor and a conductive slip ring located at the center of the drive motor; the drive motor includes a motor stator and a motor rotor. In the three-axis working mode, the motor stator of the first axis assembly is connected to the orientation base, and the motor rotor of the first axis assembly is connected to the other end of the C-shaped frame; the motor stator of the second axis assembly is connected to one end of the C-shaped frame, and the motor rotor of the second axis assembly is connected to the middle position of the U-shaped frame. In the two-axis working mode, the motor stator of the second axis assembly is connected to the orientation base, and the motor rotor of the second axis assembly is connected to the middle position of the U-shaped frame.

[0012] The motor stator includes a stator outer circular surface, a stator mounting surface located at one end of the motor stator, and a plurality of stator threaded holes evenly distributed around the stator mounting surface. The motor rotor includes an inner circular surface, a rotor mounting surface located at one end of the motor rotor, and a plurality of rotor threaded holes evenly distributed around the circumference of the rotor mounting surface. The connection between the motor stator of the first shaft system assembly and the azimuth base is specifically as follows: the outer circular surface of the stator of the motor stator of the first shaft system assembly is positioned in conjunction with the positioning annular surface of the azimuth base; the mounting surface of the stator is positioned in conjunction with the shaft mounting surface of the azimuth base; and the screw passes through the positioning through hole of the base and is connected to the threaded hole of the stator.

[0013] The C-shaped frame includes: The split conformal housing is connected to both ends of the C-shaped frame, and the arc of the split conformal housing is concentric with the spherical shell assembly. The first positioning part located at one end of the C-shaped frame includes a first circular surface, a first mounting surface perpendicular to the first circular surface, and a plurality of first through holes evenly distributed on the first mounting surface; the motor stator of the second shaft system assembly is connected to one end of the C-shaped frame in the following manner: the outer circular surface of the stator of the motor stator of the second shaft system assembly is positioned in conjunction with the first circular surface of the C-shaped frame, the stator mounting surface is positioned in conjunction with the first mounting surface of the C-shaped frame, and the screw passes through the first through hole of the C-shaped frame and is connected to the stator thread hole; The second positioning part located at the other end of the C-shaped frame includes a second circular surface, a second mounting surface perpendicular to the second circular surface, and a plurality of second through holes evenly arranged on the second mounting surface; the motor rotor of the first shaft system assembly is connected to the other end of the C-shaped frame in the following manner: the inner circular surface of the motor rotor of the first shaft system assembly is positioned in conjunction with the second circular surface of the C-shaped frame, the mounting surface of the rotor is positioned in conjunction with the second mounting surface of the C-shaped frame, and the screw passes through the second through hole of the C-shaped frame and is connected to the threaded hole of the rotor; And a second split-type cover that can be detachably connected to the outside of one end of the C-shaped frame.

[0014] The middle part of the U-shaped frame includes a third circular surface, a third mounting surface perpendicular to the third circular surface, and a plurality of third through holes evenly distributed on the third mounting surface around the circumference. The motor rotor of the second shaft system assembly is connected to the middle position of the U-shaped frame in the following manner: the inner circular surface of the motor rotor of the second shaft system assembly is positioned in conjunction with the third circular surface of the U-shaped frame, the rotor mounting surface is positioned in conjunction with the third mounting surface of the U-shaped frame, and the screw passes through the third through hole of the U-shaped frame and is connected to the rotor threaded hole.

[0015] The pitch axis system includes: A pitch drive shaft system is connected between one end of the U-shaped frame and the spherical shell assembly. The pitch drive shaft system includes a drive stator connected to one end of the U-shaped frame and a drive rotor connected to the spherical shell assembly. And a pitch support shaft system connected between the other end of the U-shaped frame and the spherical shell assembly, the pitch support shaft system including a support stator connected to the other end of the U-shaped frame and a support rotor connected to the spherical shell assembly.

[0016] The beneficial effects of this invention are as follows: The modular reconfigurable pod of this invention is designed based on a modular and universal design concept for its structure and electronics. The first and second axis components, with identical structures, utilize an integrated hollow drive motor paired with conductive slip rings as modular universal components. In three-axis operation mode, they are used as azimuth axis components and roll axis components, respectively. In two-axis operation mode, the second axis component is used as the azimuth axis component, supporting overall assembly and disassembly. It is a core universal component for mode switching, facilitating pod structural integration, mode transformation, and maintenance. The use of conductive slip rings reduces line interference, and quick-connect connectors are provided at both ends of the conductive slip rings to facilitate rapid interruption and connection recovery of the electronic system during pod mode switching. The azimuth base and C-shaped frame, as well as the C-shaped frame and U-shaped frame... Each frame is equipped with the same standardized shaft connection interface, providing a standardized basis for component disassembly and replacement, and mode switching. All mating components adopt mating surface positioning and screw fastening connection methods to achieve precise radial positioning and firm axial connection, with a simple and reliable connection method. Split-type and conformal covers are set on the orientation base, C-shaped frame and U-shaped frame, which not only make the internal connecting screws visible and accessible, but also protect the cables from rotational interference, solving the problems of inconvenient disassembly and assembly and easy cable wear during mode switching and fault diagnosis. Based on modular universal components and standardized interfaces, mode switching only requires disassembly or installation of the specified shaft components and C-shaped frame, and the rest of the structure does not need to be modified. The operation is simple and can realize rapid switching between two-axis and three-axis working modes, with high flexibility, while also taking into account the advantages of simple and compact structure and convenient maintenance.

[0017] While retaining the core advantages of the pod such as high precision and high stability, this invention achieves rapid reconfiguration of the pod mode in the field with guaranteed precision and strength through standardized interfaces, universal modules, simplified mode switching and maintenance processes, and multi-adaptive installation design measures. It can flexibly switch working modes according to different mission requirements. Attached Figure Description

[0018] Figure 1 This is a structural schematic diagram of a modular reconfigurable pod operating in a three-axis mode according to the present invention; Figure 2 This is an exploded view of the installation of a modular reconfigurable pod in a three-axis working mode according to the present invention; Figure 3 This is a structural schematic diagram of a modular reconfigurable pod operating in a two-axis mode according to the present invention; Figure 4 This is an exploded view of the installation of a modular reconfigurable pod in a two-axis working mode according to the present invention. Figure 5 This is a schematic diagram of the internal structure of the orientation base of a modular reconfigurable pod according to the present invention; Figure 6 This is a schematic diagram of the external structure of the orientation base of a modular reconfigurable pod according to the present invention; Figure 7 This is a top-view structural diagram of the first shaft system assembly in a modular reconfigurable pod according to the present invention; Figure 8 This is a schematic diagram of the first shaft system assembly in a modular reconfigurable pod according to the present invention, viewed from an elevation angle. Figure 9 This is a schematic diagram of the C-shaped frame structure in a modular reconfigurable pod according to the present invention from one perspective. Figure 10 This is a schematic diagram of another perspective of the C-shaped frame structure in a modular reconfigurable pod according to the present invention; Figure 11 This is an exploded view of the pitch section structure in a modular reconfigurable pod according to the present invention; Among them: 1. Orientation base; 101. Flange platform; 102. Positioning annular surface; 103. Shaft mounting surface; 104. Base positioning through hole; 105. Connector fixing hole; 106. First split-type cover; 2. First shaft assembly; 201. Drive motor; 202. Conductive slip ring; 203. Motor stator; 204. Motor rotor; 205. Stator outer circular surface; 206. Stator mounting surface; 207. Stator threaded hole; 208. Rotor inner circular surface; 209. Rotor mounting surface; 210. Rotor... 3. Threaded hole; 4. C-shaped frame; 5. Second circular surface; 6. Second mounting surface; 7. Second through hole; 8. Split conformal cover; 9. First circular surface; 10. First mounting surface; 2. First through hole; 30. Second split cover; 11. U-shaped frame; 12. Third circular surface; 13. Third mounting surface; 14. Third through hole; 15. Pitch axis system; 16. Pitch drive axis system; 17. Pitch support axis system; 28. Spherical housing assembly; 39. Second axis system assembly. Detailed Implementation

[0019] The embodiments of the present invention will be further described below with reference to the accompanying drawings.

[0020] See Figures 1-11 A modular reconfigurable pod of the present invention includes a spherical shell assembly 6, a pitch axis system 5, a U-shaped frame 4, a second axis system assembly 7, a C-shaped frame 3, a first axis system assembly 2, and an azimuth base 1. In the three-axis working mode, the two ends of the U-shaped frame 4 are connected to the spherical shell assembly 6 at positions relative to the center of the sphere via the pitch axis system 5. The pitch axis system 5 drives the spherical shell assembly 6 to rotate relative to the U-shaped frame 4 around the axis of the pitch axis system 5. One end of the C-shaped frame 3 is connected to the middle of the U-shaped frame 4 via the second axis system assembly 7. The second axis system assembly 7 drives the U-shaped frame 4 and the spherical shell assembly 6 to rotate relative to the C-shaped frame 3 around the axis of the second axis system assembly 7. The other end of the C-shaped frame 3 is connected to the azimuth base 1 via the first axis system assembly 2. The first axis system assembly 2 drives the C-shaped frame, the U-shaped frame 4, and the spherical shell assembly 6 to rotate relative to the azimuth base 1 around the axis of the first axis system assembly 2. The axes of the pitch axis system 5, the second axis system assembly 7, and the first axis system assembly 2 are perpendicular to each other. In the two-axis working mode, the two ends of the U-shaped frame 4 are connected to the spherical shell assembly 6 at positions relative to the center of the sphere through the pitch axis system 5. The pitch axis system 5 drives the spherical shell assembly 6 to rotate relative to the U-shaped frame 4 around the axis of the pitch axis system 5. The middle position of the U-shaped frame 4 is connected to the azimuth base 1 through the second axis system assembly 7. The second axis system assembly 7 drives the U-shaped frame 4 and the spherical shell assembly 6 to rotate relative to the azimuth base 1 around the axis of the second axis system assembly 7. The axis of the pitch axis system 5 is perpendicular to the axis of the second axis system assembly 7.

[0021] The axis of the pitch axis 5 and the axis of the second axis assembly 7 both pass through the center of the spherical shell assembly 6. The axis of the first axis assembly can pass through the center of the spherical shell assembly 6 or not; in this example, it does not, resulting in a 20mm offset.

[0022] The azimuth base 1 includes multiple sets of base positioning units evenly distributed around the circumference of the azimuth base 1. Each set of base positioning units includes a positioning annular surface 102 disposed inside the azimuth base 1, a shaft mounting surface 103 disposed on one side of the positioning annular surface 102, and a base positioning through hole 104 disposed on the shaft mounting surface 103.

[0023] The azimuth base 1 also includes a plurality of connector fixing holes 105 penetrating the inner and outer surfaces of the azimuth base 1 for installing and fixing the external electronic interfaces of the pod.

[0024] The orientation base 1 also includes: Multiple flanges 101 evenly distributed on the outside of the azimuth base 1 are used for the installation and fixing of the pod. Rigid connection or vibration damping connection can be selected according to actual use requirements. And a first split-type cover 106 that is detachably connected to the outer end of the azimuth base 1. The first split-type cover 106 is connected by screws and can be quickly disassembled when the pod's working mode is switched or when a fault is repaired, so that the connecting screws between the azimuth base 1 and the first shaft assembly 2 are visible and accessible.

[0025] The first shaft assembly 2 and the second shaft assembly 7 have the same structure. The first shaft assembly 2 includes a drive motor 201 and a conductive slip ring 202 located at the center inside the drive motor 201. The drive motor 201 includes a motor stator 203 and a motor rotor 204. In the three-axis working mode, the motor stator 203 of the first axis assembly 2 is connected to the orientation base 1, and the motor rotor 204 of the first axis assembly 2 is connected to the other end of the C-shaped frame 3; the motor stator 203 of the second axis assembly 7 is connected to one end of the C-shaped frame 3, and the motor rotor 204 of the second axis assembly 7 is connected to the middle position of the U-shaped frame 4. In the two-axis working mode, the motor stator of the second shaft system assembly 7 is connected to the orientation base 1, and the motor rotor of the second shaft system assembly 7 is connected to the middle position of the U-shaped frame 4.

[0026] The drive motor 201 of the first shaft assembly 2 and the second shaft assembly 7 is an integrated hollow motor, which integrates encoder, driver and bearing, etc., to facilitate the integration of the pod and mode change.

[0027] The first shaft system assembly 2 and the second shaft system assembly 7 are modular and universal components. In the three-axis working mode, they are used as the azimuth shaft system assembly and the roll shaft system assembly, respectively. In the two-axis working mode, the second shaft system assembly 7 is used as the azimuth shaft system assembly. They can be assembled and disassembled as a whole, which facilitates the integration of the pod and the rapid change of working mode. The motor stator 203 includes a stator outer circular surface 205, a stator mounting surface 206 located at one end of the motor stator 203, and a plurality of stator threaded holes 207 evenly distributed around the stator mounting surface 206. The motor rotor 204 includes an inner circular surface 208, a rotor mounting surface 209 located at one end of the motor rotor 204, and a plurality of rotor threaded holes 210 evenly distributed around the rotor mounting surface 209. The stator outer circular surface 205 of the drive motor 201 serves as a positioning surface, which cooperates with the azimuth base 1 or the C-shaped frame 3 to achieve radial positioning during installation. The stator mounting surface 206 is provided with evenly distributed stator threaded holes 207 for connecting and fixing with the azimuth base 1 or the C-shaped frame 3. The rotor inner circular surface 208 serves as a positioning surface, which cooperates with the C-shaped frame 3 or the U-shaped frame 4 to achieve radial positioning during installation. The rotor mounting surface 209 is provided with evenly distributed rotor threaded holes 210 for connecting and fixing with the C-shaped frame 3 or the U-shaped frame 4.

[0028] The motor stator 203 of the first shaft system assembly 2 is connected to the azimuth base 1 in the following ways: the stator outer circular surface 205 of the motor stator 203 of the first shaft system assembly 2 is positioned in conjunction with the positioning annular surface 102 of the azimuth base 1; the stator mounting surface 206 is positioned in conjunction with the shaft mounting surface 103 of the azimuth base 1; and the screw passes through the positioning through hole 104 of the base and is connected to the stator threaded hole 207.

[0029] The C-shaped frame 3 includes: The split conformal housing 304 is connected to both ends of the C-shaped frame 3. The arc of the split conformal housing 304 is concentric with the spherical shell assembly 6. It is used to protect the cable and prevent interference with the cable when the frame rotates. The first positioning part located at one end of the C-shaped frame 3 includes a first circular surface 305, a first mounting surface 306 perpendicular to the first circular surface 305, and a plurality of first through holes 307 evenly arranged on the first mounting surface 306; the motor stator of the second shaft assembly 7 is connected to one end of the C-shaped frame 3 in the following manner: the outer circular surface of the stator of the motor stator of the second shaft assembly 7 is positioned in conjunction with the first circular surface 305 of the C-shaped frame 3, the stator mounting surface is positioned in conjunction with the first mounting surface 306 of the C-shaped frame 3, and the screw passes through the first through hole 307 of the C-shaped frame 3 and is connected to the stator thread hole; The second positioning part located at the other end of the C-shaped frame 3 includes a second circular surface 301, a second mounting surface 302 perpendicularly disposed to the second circular surface 301, and a plurality of second through holes 303 uniformly disposed on the second mounting surface 302; the motor rotor 204 of the first shaft assembly 2 is specifically connected to the other end of the C-shaped frame 3 as follows: the inner circular surface 208 of the motor rotor 204 of the first shaft assembly 2 and the second circular surface 301 of the C-shaped frame 3 are positioned in cooperation; the rotor mounting surface 209 and the second mounting surface 302 of the C-shaped frame 3 are positioned in cooperation; and the screw passes through the second through hole 303 of the C-shaped frame 3 and is connected to the rotor thread hole 210. And a second split-type cover 308 that can be detachably connected to the outside of one end of the C-shaped frame 3.

[0030] The C-shaped frame 3 is a single-sided cantilever structure with mounting interfaces at both ends for connection and fixation with the first shaft assembly 2 and the second shaft assembly 7.

[0031] The U-shaped frame 4 is a double-sided cantilever structure. The middle part of the U-shaped frame 4 includes a third circular surface 401, a third mounting surface 402 perpendicular to the third circular surface 401, and a plurality of third through holes 403 evenly distributed on the third mounting surface 402. The motor rotor of the second shaft assembly 7 is connected to the middle position of the U-shaped frame 4 in the following manner: the inner circular surface of the motor rotor of the second shaft assembly 7 is positioned in conjunction with the third circular surface 401 of the U-shaped frame 4, the rotor mounting surface 209 is positioned in conjunction with the third mounting surface 402 of the U-shaped frame 4, and the screw passes through the third through hole 403 of the U-shaped frame 4 and is connected to the rotor thread hole.

[0032] The pitch axis system 5 includes: A pitch drive shaft system 501 is connected between one end of the U-shaped frame 4 and the spherical shell assembly 6. The pitch drive shaft system 501 includes a drive stator connected to one end of the U-shaped frame 4 and a drive rotor connected to the spherical shell assembly 6. And a pitch support shaft system 502 connected between the other end of the U-shaped frame 4 and the spherical shell assembly 6, the pitch support shaft system 502 including a support stator connected to the other end of the U-shaped frame 4 and a support rotor connected to the spherical shell assembly 6.

[0033] An optical camera is installed inside the spherical cavity formed by the spherical shell assembly 6, and a window glass is provided at the corresponding position of the spherical shell. When the pod needs to achieve three-axis stabilization, the pod structure includes an azimuth base 1, a first shaft system assembly 2, a second shaft system assembly 7, a C-shaped frame 3, a U-shaped frame 4, a pitch shaft system 5, and a spherical shell assembly 6. The motor stator 203 of the first shaft system assembly 2 is connected to the azimuth base 1 to form the azimuth fixing part of the three-axis pod. The motor rotor 204 of the first shaft system assembly 2 is connected to the other end interface of the C-shaped frame 3 to form the azimuth rotation part of the three-axis pod. The motor stator of the second shaft system assembly 7 is connected to the C-shaped frame 3. One end interface is connected to form the roll-fixed part of the three-axis pod; the motor rotor of the second axis assembly 7 is connected to the interface at the middle position of the U-shaped frame 4 to form the roll-rotation part of the three-axis pod; the two ends of the U-shaped frame 4 are respectively connected to the drive stator and support stator of the pitch axis system 5 to form the pitch-fixed part of the three-axis pod; the spherical shell assembly 6 is connected to the drive rotor and support rotor of the pitch axis system 5 to form the pitch-rotation part of the three-axis pod, realizing the three-axis (azimuth + roll + pitch) mode; When the pod needs to switch from three-axis stabilization mode to two-axis stabilization mode, loosen the fastening screws of the motor stator 203 of the first axis assembly 2 and the azimuth base 1 to disconnect the connection; loosen the fastening screws of the motor stator of the second axis assembly 7 and the interface of one end of the C-shaped frame 3 to disconnect the connection; correspondingly disconnect the relevant electronic cable connectors; remove the first axis assembly 2 and the C-shaped frame 3 from the pod; connect and fix the azimuth base 1 and the motor stator of the second axis assembly 7 to form the azimuth fixing part of the two-axis pod; correspondingly connect the relevant electronic cable connectors; the rest of the structure remains unchanged, the roll rotation part of the three-axis pod is transformed into the azimuth rotation part of the two-axis pod, and the pitch fixing part and pitch rotation part of the three-axis pod are transformed into the pitch fixing part and pitch rotation part of the two-axis pod, respectively, to realize the two-axis (azimuth + pitch) mode; the two-axis mode pod structure includes the azimuth base 1, the second axis assembly 7, the U-shaped frame 4, the pitch axis system 5, and the spherical shell assembly 6.

[0034] When the pod needs to switch from two-axis stabilization mode to three-axis stabilization mode, the operation is reversed: loosen the fastening screws of the azimuth base 1 and the motor stator of the second axis assembly 7 to disconnect the connection, and correspondingly disconnect the relevant electronic cable connectors; install the first axis assembly 2 and the C-shaped frame 3, connect the motor stator 203 of the first axis assembly 2 to the azimuth base 1, connect the motor stator of the second axis assembly 7 to one end interface of the C-shaped frame 3, tighten the screws and connect the cables to achieve three-axis (azimuth + roll + pitch) mode.

Claims

1. A modular reconfigurable pod, characterized in that, It includes a spherical shell assembly (6), a pitch axis system (5), a U-shaped frame (4), a second axis system assembly (7), a C-shaped frame (3), a first axis system assembly (2), and an azimuth base (1); In the three-axis working mode, the two ends of the U-shaped frame (4) are connected to the spherical shell assembly (6) about the center of the sphere through the pitch axis system (5). The pitch axis system (5) drives the spherical shell assembly (6) to rotate relative to the U-shaped frame (4) around the axis of the pitch axis system (5). One end of the C-shaped frame (3) is connected to the middle of the U-shaped frame (4) through the second axis system assembly (7). The second axis system assembly (7) drives the U-shaped frame (4) and the spherical shell assembly (6) to rotate relative to the C-shaped frame (4). The frame (3) rotates around the axis of the second axis assembly (7); the other end of the C-shaped frame (3) is connected to the azimuth base (1) through the first axis assembly (2), and the C-shaped frame, U-shaped frame (4) and spherical shell assembly (6) rotate around the axis of the first axis assembly (2) relative to the azimuth base (1); the axis of the pitch axis (5), the axis of the second axis assembly (7) and the axis of the first axis assembly (2) are perpendicular to each other; In the two-axis working mode, the two ends of the U-shaped frame (4) are connected to the spherical shell assembly (6) about the center of the sphere through the pitch axis system (5). The pitch axis system (5) drives the spherical shell assembly (6) to rotate relative to the U-shaped frame (4) around the axis of the pitch axis system (5). The middle position of the U-shaped frame (4) is connected to the azimuth base (1) through the second axis system assembly (7). The second axis system assembly (7) drives the U-shaped frame (4) and the spherical shell assembly (6) to rotate relative to the azimuth base (1) around the axis of the second axis system assembly (7). The axis of the pitch axis system (5) is perpendicular to the axis of the second axis system assembly (7). The first shaft assembly (2) and the second shaft assembly (7) have the same structure. The first shaft assembly (2) includes a drive motor (201) and a conductive slip ring (202) located at the center inside the drive motor (201). The drive motor (201) includes a motor stator (203) and a motor rotor (204). In the three-axis working mode, the motor stator (203) of the first axis assembly (2) is connected to the orientation base (1), and the motor rotor (204) of the first axis assembly (2) is connected to the other end of the C-shaped frame (3); the motor stator of the second axis assembly (7) is connected to one end of the C-shaped frame (3), and the motor rotor of the second axis assembly (7) is connected to the middle position of the U-shaped frame (4); In the two-axis working mode, the motor stator of the second shaft assembly (7) is connected to the orientation base (1), and the motor rotor of the second shaft assembly (7) is connected to the middle position of the U-shaped frame (4).

2. The modular reconfigurable pod according to claim 1, characterized in that, The axis of the pitch axis (5) and the axis of the second axis assembly (7) both pass through the center of the spherical shell assembly (6).

3. The modular reconfigurable pod according to claim 1, characterized in that, The azimuth base (1) includes multiple sets of base positioning units evenly distributed around the azimuth base (1). Each set of base positioning units includes a positioning annular surface (102) disposed inside the azimuth base (1), a shaft mounting surface (103) disposed on one side of the positioning annular surface (102), and a base positioning through hole (104) disposed on the shaft mounting surface (103).

4. A modular reconfigurable pod according to claim 3, characterized in that, The azimuth base (1) also includes a plurality of connector fixing holes (105) penetrating the inner and outer surfaces of the azimuth base (1).

5. A modular reconfigurable pod according to claim 3, characterized in that, The azimuth base (1) also includes: Multiple flange platforms (101) are evenly distributed outside the azimuth base (1); And a first split-type cover (106) that is detachably connected to the outer end of the azimuth base (1).

6. A modular reconfigurable pod according to claim 1, characterized in that, The motor stator (203) includes a stator outer circular surface (205), a stator mounting surface (206) located at one end of the motor stator (203), and a plurality of stator threaded holes (207) evenly distributed on the stator mounting surface (206) around the circumference. The motor rotor (204) includes an inner circular surface (208), a rotor mounting surface (209) located at one end of the motor rotor (204), and a plurality of rotor threaded holes (210) evenly distributed on the rotor mounting surface (209) around the circumference. The motor stator (203) of the first shaft system assembly (2) is connected to the azimuth base (1) in the following ways: the stator outer circular surface (205) of the motor stator (203) of the first shaft system assembly (2) is positioned in conjunction with the positioning annular surface (102) of the azimuth base (1); the stator mounting surface (206) is positioned in conjunction with the shaft mounting surface (103) of the azimuth base (1); and the screw passes through the positioning through hole (104) of the base and is connected to the stator threaded hole (207).

7. A modular reconfigurable pod according to claim 6, characterized in that, The C-shaped frame (3) includes: The split conformal housing (304) is connected to both ends of the C-shaped frame (3), and the arc of the split conformal housing (304) is concentric with the spherical shell assembly (6); The first positioning part located at one end of the C-shaped frame (3) includes a first circular surface (305), a first mounting surface (306) perpendicular to the first circular surface (305), and a plurality of first through holes (307) evenly arranged on the first mounting surface (306); the motor stator of the second shaft assembly (7) is connected to one end of the C-shaped frame (3) in the following ways: the outer circular surface (205) of the stator of the second shaft assembly (7) is positioned in conjunction with the first circular surface (305) of the C-shaped frame (3), the stator mounting surface (206) is positioned in conjunction with the first mounting surface (306) of the C-shaped frame (3), and the screw passes through the first through hole (307) of the C-shaped frame (3) and is connected to the stator thread hole (207); The second positioning part located at the other end of the C-shaped frame (3) includes a second circular surface (301), a second mounting surface (302) perpendicular to the second circular surface (301), and a plurality of second through holes (303) evenly arranged on the second mounting surface (302); the motor rotor (204) of the first shaft assembly (2) is specifically connected to the other end of the C-shaped frame (3) as follows: the inner circular surface (208) of the motor rotor (204) of the first shaft assembly (2) is positioned in conjunction with the second circular surface (301) of the C-shaped frame (3), the rotor mounting surface (209) is positioned in conjunction with the second mounting surface (302) of the C-shaped frame (3), and the screw passes through the second through hole (303) of the C-shaped frame (3) and is connected to the rotor thread hole (210); And a second split-type cover (308) that is detachably connected to the outside of one end of the C-shaped frame (3).

8. A modular reconfigurable pod according to claim 3, characterized in that, The U-shaped frame (4) includes a third circular surface (401), a third mounting surface (402) perpendicular to the third circular surface (401), and a plurality of third through holes (403) evenly distributed on the third mounting surface (402) around the circumference. The motor rotor of the second shaft assembly (7) is connected to the middle position of the U-shaped frame (4) in the following ways: the inner circular surface of the motor rotor of the second shaft assembly (7) is matched and positioned with the third circular surface (401) of the U-shaped frame (4), the rotor mounting surface is matched and positioned with the third mounting surface (402) of the U-shaped frame (4), and the screw passes through the third through hole (403) of the U-shaped frame (4) and is connected with the rotor thread hole.

9. A modular reconfigurable pod according to claim 1, characterized in that, The pitch axis system (5) includes: A pitch drive shaft system (501) is connected between one end of the U-shaped frame (4) and the spherical shell assembly (6). The pitch drive shaft system (501) includes a drive stator connected to one end of the U-shaped frame (4) and a drive rotor connected to the spherical shell assembly (6). And a pitch support shaft system (502) connected between the other end of the U-shaped frame (4) and the spherical shell assembly (6), the pitch support shaft system (502) including a support stator connected to the other end of the U-shaped frame (4) and a support rotor connected to the spherical shell assembly (6).

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