Common-caliber dual-light servo mechanism

Abstract

The utility model discloses a common-caliber dual-light servo mechanism, which relates to the technical field of multi-light fusion high-altitude modern camera shooting, and is characterized in that a fairing is connected with a skin, adopts optical glass and is matched with a common-caliber dual-light imaging system for use; the two-axis gyroscope assembly is mounted at the bottom of the common-caliber dual-light imaging system; the common-aperture dual-light imaging system comprises a visible light integral optical lens, an infrared primary lens and an infrared secondary lens, the visible light integral optical lens is installed on the infrared primary lens through a visible light supporting frame, and the infrared primary lens and the infrared secondary lens are both installed on a lens supporting frame; an infrared sensor core assembly and a visible light sensor core assembly are respectively mounted at the bottom and on the side mounting surface of the lens support frame; the common-caliber dual-light imaging system and the two-axis gyroscope assembly are integrally connected to the yaw transmission system. The common-caliber dual-light imaging system and the yaw transmission system are integrally connected to the pitching transmission system. The scheme has the advantages of high fusion degree, high space utilization rate, consistent observation reference and the like.

Description

Technical Field

[0001] The utility model relates to the technical field of high-altitude modern photography with multi-light fusion, in particular to a common-aperture dual-light servo mechanism. Background Art

[0002] As an important component of optoelectronic reconnaissance and fire control, high-resolution earth observation, robotics and other systems, servo mechanisms are developing in the direction of high precision, high bandwidth, light weight and dexterity. Servo mechanisms are generally composed of drive motors, transmission structural components and actuators. The mechanical characteristics of the transmission structural components have a significant impact on the performance indicators of the entire servo mechanism, such as system pointing accuracy, system working bandwidth and the compactness of the entire system structure. Traditional gear transmission, chain transmission and belt transmission have inherent nonlinear factors such as gaps and friction, which restrict the further improvement of the servo performance of precision pointing mechanisms. It is urgent to explore new transmission methods with higher transmission accuracy and response characteristics.

[0003] In recent years, with the continuous development of optoelectronic countermeasure technology, the future complex battlefield combat environment has higher and higher requirements for the functions and performance of servo mechanisms. The servo mechanism with a single search mode has been difficult to complete the tracking and comprehensive detection of the target. Nowadays, the servo mechanism has developed in the direction of multi-mode composite guidance and modular multi-function, which has put forward higher requirements on the materials, sensors, platform mechanisms and transmission systems of the servo mechanism. In the design of the servo mechanism, the use of miniaturization, lightweight and integrated design can significantly reduce the effective load of the servo mechanism, so that the servo mechanism space can be more reasonably allocated, which is of great significance.

[0004] The current method of aperture fusion is relatively simple, and the optical systems of different bands are independent of each other. Of course, the disadvantages are also obvious, such as low degree of fusion, large structural space occupied, inconsistent observation benchmarks, etc. Utility Model Content

[0005] In order to solve the deficiencies of the prior art, the utility model provides a common-aperture dual-light servo mechanism, in which a visible light imaging system and an infrared imaging system are fused with a common aperture to make the observation reference consistent and improve space utilization.

[0006] In order to achieve the purpose of this utility model, the following scheme is proposed:

[0007] A common-aperture dual-light servo mechanism comprises a fairing, a skin, a common-aperture dual-light imaging system, a yaw transmission system, a pitch transmission system, and a two-axis gyro assembly.

[0008] The fairing is connected to the skin, and the fairing is made of optical glass and is used in conjunction with the co-aperture dual-light imaging system;

[0009] The two-axis gyro assembly is installed at the bottom of the co-aperture dual-light imaging system;

[0010] The common-aperture dual-light imaging system includes a visible light integral optical lens, an infrared primary lens, and an infrared secondary lens. The visible light integral optical lens includes a visible light primary lens, a visible light secondary lens, a visible light concave lens, and a visible light reflector from top to bottom. The visible light integral optical lens is mounted on the infrared primary lens through a visible light support frame. The infrared primary lens and the infrared secondary lens are both mounted on the lens support frame. The infrared sensor movement assembly and the visible light sensor movement assembly are respectively mounted on the bottom and side mounting surfaces of the lens support frame.

[0011] The co-aperture dual-light imaging system and the two-axis gyro assembly are connected to the yaw drive system as a whole;

[0012] The co-aperture dual-light imaging system and the yaw transmission system are connected to the pitch transmission system as a whole.

[0013] Furthermore, the skin includes an outer cabin skin and a skin pressing ring, and the fairing and the outer cabin skin are tightly connected by means of threads of the skin pressing ring.

[0014] Furthermore, the visible light concave lens, the visible light secondary lens and the visible light main lens are all installed in the visible light supporting frame, and are respectively pressed by the visible light concave lens pressing ring, the visible light secondary lens pressing ring and the visible light main lens pressing ring; the visible light integral optical lens is installed on the infrared main lens and is pressed by the visible light frame pressing ring; the visible light reflector mounting seat is connected to the visible light supporting frame by two screws; and the visible light reflector is bonded to the visible light reflector mounting seat with strong glue.

[0015] Furthermore, the infrared secondary lens and the infrared primary lens are pressed by an infrared secondary lens pressing ring and an infrared primary lens pressing ring respectively.

[0016] Furthermore, the yaw transmission system includes an inner frame, a deep groove ball bearing on the yaw motor side, a yaw motor, a yaw motor pressure ring, a yaw motor shaft, a yaw encoder shaft, a deep groove ball bearing on the yaw encoder side, and a yaw encoder. The yaw motor shaft and the yaw encoder shaft are respectively installed on the mounting interfaces on both sides of the co-aperture dual-light imaging system shaft and are fixed by multiple screws seventeen and multiple screws six, respectively. The deep groove ball bearing on the yaw motor side is installed on the motor side of the inner frame, is pressed by a yaw bearing pressure plate, and is fixed by multiple screws eighteen. The deep groove ball bearing on the yaw encoder side is installed on the encoder side of the inner frame, is pressed by a yaw bearing pressure plate, and is fixed by multiple screws seven. The yaw motor is installed on the inner frame with the cable facing outward by multiple screws eighteen. The inner ring of the motor is screwed to the yaw motor shaft thread by the yaw motor pressure ring. The yaw encoder is installed on the inner frame with the chip facing inward by multiple screws eighteen.

[0017] Furthermore, the pitch transmission system includes an outer frame, a pitch encoder shaft, a pitch encoder, a deep groove ball bearing on the pitch encoder side, a pitch motor, a pitch motor pressure ring, a pitch motor shaft, and a deep groove ball bearing on the pitch motor side. The pitch motor shaft and the pitch encoder shaft are respectively mounted on the through-hole mounting surfaces of the yaw transmission system and are fixed by a plurality of screws thirteen and a plurality of screws ten, respectively. The deep groove ball bearing on the pitch motor side is mounted on the motor side of the outer frame, is pressed by a pitch bearing pressure plate, and is fixed by a plurality of screws fourteen. The deep groove ball bearing on the pitch encoder side is mounted on the encoder side of the outer frame, is pressed by a pitch bearing pressure plate, and is fixed by a plurality of screws eleven. The pitch motor is mounted on the outer frame by a plurality of screws twelve with an external cable facing outward. The inner ring of the motor is screwed to the pitch motor shaft thread through the pitch motor pressure ring. The pitch encoder is mounted on the outer frame by a plurality of screws nine with the chip facing inward.

[0018] Furthermore, it also includes an electronic control component. The bottom of the pitch transmission system is connected to the electronic control component by a group of screws. The electronic control component includes a circuit board mounting seat, a servo circuit board, and a circuit board mounting cover. The servo circuit board is mounted on the circuit board mounting seat by a plurality of screws fifteen, and the circuit board mounting cover is mounted above the circuit board mounting seat by a plurality of screws sixteen.

[0019] Furthermore, the co-aperture dual-light imaging system, together with the yaw transmission system and the pitch transmission system, captures the target within the field of view of yaw ±13° and pitch ±35°.

[0020] The beneficial effects of the utility model are:

[0021] 1. The visible light imaging system and the infrared imaging system are fused in the same aperture, which has the advantages of high fusion degree, high space utilization and consistent observation benchmark.

[0022] 2. The electronic control component is connected to the servo structure as a whole circuit box, which has two advantages: first, it is convenient for disassembly, maintenance and testing; second, the hardware circuit is installed in the circuit box to achieve self-isolation, which can effectively avoid the electromagnetic interference generated by the servo drive motor and achieve the effect of electromagnetic shielding.

[0023] 3. The overall structure realizes a fully symmetrical layout of the two axes along the axis, which has two advantages: first, the center of gravity is on the axis, and the rotation is stable; second, the power source and the signal source rotate coaxially and synchronously, and a larger bearing fulcrum span is obtained. High-precision deep groove ball bearings are used at both ends of the shaft system to effectively withstand the axial force generated by gravity acceleration. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is an overall perspective view of the co-aperture dual-light servo mechanism of the embodiment;

[0025] Figure 2A cross-sectional view of a co-aperture dual-light imaging system and a pitch transmission system of an embodiment;

[0026] Figure 3 Schematic diagram of the yaw transmission system of the embodiment. DETAILED DESCRIPTION

[0027] like Figure 1 As shown, this embodiment provides a co-aperture dual-light servo mechanism, including a fairing 1, a skin 2, a co-aperture dual-light imaging system 3, a yaw transmission system 4, a pitch transmission system 5, a two-axis gyro assembly 6 and an electronic control assembly 7.

[0028] Specifically, the skin 2 includes an outer cabin skin 201 and a skin pressing ring 202 . The fairing 1 is threadedly pressed and connected to the outer cabin skin 201 via the skin pressing ring 202 . The fairing 1 is made of optical glass and is used in conjunction with the co-aperture dual-light imaging system 3 .

[0029] Specifically, the common-aperture dual-light imaging system 3 includes an infrared main lens pressure ring 301, an infrared main lens 302, a lens support frame 303, a visible light frame pressure ring 304, a visible light secondary lens 305, a second screw 306, a visible light support frame 307, a visible light concave lens 308, a visible light sensor movement assembly 309, an infrared sensor movement assembly 310, a two-axis gyroscope mounting seat 311, a third screw 312, a fourth screw 313, an infrared secondary lens pressure ring 314, an infrared secondary lens 315, a visible light reflector mounting seat 316, a visible light reflector 317, a fifth screw 318, a visible light concave lens pressure ring 319, a visible light secondary lens pressure ring 320, a visible light main lens 321, and a visible light main lens pressure ring 322.

[0030] The connection relationship is as follows: the visible light concave lens 308, the visible light secondary lens 305, and the visible light main lens 321 are all installed in the visible light support frame 307. First, the visible light concave lens 308 is installed in the visible light support frame 307 and pressed by the visible light concave lens pressing ring 319; then the visible light secondary lens 305 is installed and pressed by the visible light secondary lens pressing ring 320; then the visible light main lens 321 is installed and pressed by the visible light main lens pressing ring 322; the visible light reflector mounting seat 316 is fixedly connected to the visible light support frame 307 by two screws 318; the visible light reflector 317 is bonded to the visible light reflector mounting seat 316 by strong glue; the infrared secondary lens 315 is installed in the lens support frame 307. 03, compressed by the infrared secondary lens pressing ring 314; the visible light integral optical lens is installed on the infrared main lens 302, compressed by the visible light frame pressing ring 304; the infrared main lens 302 is installed on the lens support frame 303, compressed by the infrared main lens pressing ring 301; the visible light sensor movement assembly 309 is installed on the side mounting surface of the lens support frame 303, fixedly connected by four screws two 306; the infrared sensor movement assembly 310 is installed on the bottom mounting surface of the lens support frame 303, fixedly connected by four screws three 312; the two-axis gyroscope mounting seat 311 is installed on the bottom mounting surface of the lens support frame 303, fixedly connected by four screws four 313, and is used for the installation of the two-axis gyroscope assembly 6.

[0031] Specifically, the co-aperture dual-light imaging system 3 and the two-axis gyro assembly 6 are connected to the yaw transmission system 4 as a whole. The yaw transmission system 4 includes an inner frame 401, a yaw bearing pressure plate 402, a yaw motor side deep groove ball bearing 403, a yaw motor 404, a yaw motor pressure ring 405, a yaw motor shaft 406, screw seventeen 407, a yaw bearing adjustment gasket one 408, screw eighteen 409, a yaw encoder shaft 410, a yaw encoder side deep groove ball bearing 411, a yaw bearing adjustment gasket two 412, a yaw encoder 413, screw six 414, screw seven 415, and screw eight 416.

[0032] The connection relationship is as follows: the yaw motor shaft 406 and the yaw encoder shaft 410 are respectively installed on the installation interfaces on both sides of the left and right axes of the co-aperture dual-light imaging system 3, and are respectively fixed by multiple screws 17 407 and multiple screws 6 414; the deep groove ball bearing 403 on the yaw motor side is installed on the motor side of the inner frame 401, and is pressed by the yaw bearing pressing plate 402, and is fixed by multiple screws 18 409; the preload force of the two yaw bearings is adjusted by the yaw bearing adjusting gasket 1 408; the deep groove ball bearing on the yaw encoder side is 411 is installed on the encoder side of the inner frame 401, pressed by the yaw bearing pressure plate 402, fixed by multiple screws seven 415, and the preload force of the two yaw bearings is adjusted by the yaw bearing adjustment gasket two 412. The yaw motor 404 is installed on the inner frame 401 with the cable facing outward through multiple screws eighteen 409, and the inner ring of the motor is screwed tightly with the yaw motor shaft 406 through the yaw motor pressure ring 405. The yaw encoder 413 is installed on the inner frame with the chip facing inward through multiple screws eight 416.

[0033] Specifically, the co-aperture dual-light imaging system 3 and the yaw transmission system 4 are connected to the pitch transmission system 5 as a whole. The pitch transmission system 5 includes an outer frame 501, a pitch bearing pressure plate 502, screw nine 503, a pitch encoder shaft 504, screw ten 505, a pitch motor bearing adjustment gasket 506, a pitch encoder 507, a pitch encoder side deep groove ball bearing 508, screw eleven 509, screw twelve 510, a pitch motor 511, a pitch motor pressure ring 512, a pitch motor shaft 513, screw thirteen 514, a pitch motor side deep groove ball bearing 515, and screw fourteen 516.

[0034] The connection relationship is as follows: the pitch motor shaft 513 and the pitch encoder shaft 504 are respectively installed on the through-hole mounting surface of the inner frame 401, and are respectively fixed by a plurality of screws thirteen 514 and a plurality of screws ten 505; the pitch motor side deep groove ball bearing 515 is installed on the motor side of the outer frame 501, is pressed by the pitch bearing pressing plate 502, and is fixed by a plurality of screws fourteen 516; the pitch encoder side deep groove ball bearing 508 is installed on the encoder side of the outer frame 501, is pressed by the pitch bearing pressing plate 502, and is fixed by a plurality of screws eleven 509; the preload force of the two pitch bearings is adjusted by the pitch motor bearing adjusting gasket 506; the pitch motor 511 is installed on the outer frame 501 by a plurality of screws twelve 510 with the external cable facing outward; the inner ring of the motor is screwed to the pitch motor shaft 513 by the pitch motor pressing ring 512; the pitch encoder 507 is installed on the outer frame 501 by a plurality of screws nine 503 with the chip facing inward.

[0035] Specifically, the bottom of the outer frame 501 is connected to the electronic control component 7 by a group of screws, the fairing 1 and the skin 2 are integrally installed on the external connecting flange of the electronic control component 7, the electronic control component 7 includes a circuit board mounting seat 701, a servo circuit board 702, and a circuit board mounting cover 703, the servo circuit board 702 is installed on the circuit board mounting seat 701 by a plurality of screws 15 704, and the circuit board mounting cover 703 is installed above the circuit board mounting seat 701 by a plurality of screws 16 705.

[0036] The co-aperture dual-light imaging system 3, along with the yaw transmission system 4 and the pitch transmission system 5, captures the target within the field of view of yaw ±13° and pitch ±35°.

[0037] The optical system of the utility model adopts a common aperture fusion method of a visible light imaging system and an infrared imaging system. This method has the advantages of high fusion degree, high space utilization rate and consistent observation reference. It can be widely used for military / civilian purposes such as airborne long-range reconnaissance, tracking, patrol, disaster relief, etc. in multiple regions under all-weather conditions, and can transmit video images and record and collect intelligence information in real time. When designing, according to the characteristics of different detection bands of the optical system, the common characteristics of different bands are used to select appropriate optical path structures and wave-transmitting (reflective) materials to achieve high fusion of different bands within a certain spatial structure. Due to the high space utilization rate, it is easier to achieve the index requirements of miniaturization and lightweight of the servo mechanism. The consistency of the reference axis of the infrared imaging optical path and the visible light optical path can enable the servo mechanism to achieve perfect switching between the infrared imaging system and the visible light imaging system in the working state, and the target will not be lost after switching. It can effectively achieve the purpose of long-range reconnaissance and transmit clear intelligence information and video images in real time.

[0038] The above embodiments are only used to illustrate the technical ideas and features of the utility model, and are not intended to be the only or limit the utility model. Those skilled in the art should understand that various changes or equivalent replacements made to the utility model without departing from the scope of the utility model are within the scope of protection of the utility model.

Claims

1. A common aperture dual-light servo mechanism, characterized in that: It includes a fairing (1), a skin (2), a common aperture dual-light imaging system (3), a yaw transmission system (4), a pitch transmission system (5), and a two-axis gyro assembly (6); The fairing (1) is connected to the skin (2), and the fairing (1) is made of optical glass and is used in conjunction with a co-aperture dual-light imaging system (3); The two-axis gyro assembly (6) is installed at the bottom of the co-aperture dual-light imaging system (3); The common aperture dual-light imaging system (3) comprises a visible light integral optical lens, an infrared main lens (302), and an infrared secondary lens (315); the visible light integral optical lens comprises, from top to bottom, a visible light main lens (321), a visible light secondary lens (305), a visible light concave lens (308), and a visible light reflector (317); the visible light integral optical lens is mounted on the infrared main lens (302) via a visible light support frame (307); the infrared main lens (302) and the infrared secondary lens (315) are both mounted on a lens support frame (303); and the bottom and side mounting surfaces of the lens support frame (303) are respectively mounted with an infrared sensor movement assembly (310) and a visible light sensor movement assembly (309); The co-aperture dual-light imaging system (3) and the two-axis gyro assembly (6) are connected as a whole to the yaw transmission system (4); The common aperture dual-light imaging system (3) and the yaw transmission system (4) are connected to the pitch transmission system (5) as a whole.

2. The common aperture dual-light servo mechanism according to claim 1, characterized in that: The skin (2) comprises an outer cabin skin (201) and a skin pressing ring (202), and the fairing (1) and the outer cabin skin (201) are screw-pressed and connected via the skin pressing ring (202).

3. The common aperture dual-light servo mechanism according to claim 1, characterized in that: The visible light concave lens (308), the visible light secondary lens (305), and the visible light main lens (321) are all installed in the visible light support frame (307) and are respectively pressed by the visible light concave lens pressing ring (319), the visible light secondary lens pressing ring (320), and the visible light main lens pressing ring (322); the visible light integral optical lens is installed on the infrared main lens (302) and is pressed by the visible light frame pressing ring (304); the visible light reflector mounting seat (316) is connected to the visible light support frame (307) by two screws (318); and the visible light reflector (317) is bonded to the visible light reflector mounting seat (316) by using strong glue.

4. The common aperture dual-light servo mechanism according to claim 1, characterized in that: The infrared secondary lens (315) and the infrared primary lens (302) are respectively pressed by the infrared secondary lens pressing ring (314) and the infrared primary lens pressing ring (301).

5. The common aperture dual-light servo mechanism according to claim 1, characterized in that: The yaw transmission system (4) comprises an inner frame (401), a yaw motor side deep groove ball bearing (403), a yaw motor (404), a yaw motor pressure ring (405), a yaw motor shaft (406), a yaw encoder shaft (410), a yaw encoder side deep groove ball bearing (411), and a yaw encoder (413). The yaw motor shaft (406) and the yaw encoder shaft (410) are respectively mounted on mounting interfaces on both sides of the axis of the co-aperture dual-light imaging system (3) and are respectively fixed by a plurality of screws seventeen (407) and a plurality of screws six (414). The yaw motor side deep groove ball bearing (403) is mounted on the inner frame (401 ) motor side, compressed by a yaw bearing pressing plate (402), and fixed by a plurality of screws eighteen (409); a yaw encoder side deep groove ball bearing (411) is installed on the encoder side of the inner frame (401), compressed by a yaw bearing pressing plate (402), and fixed by a plurality of screws seven (415); a yaw motor (404) is installed on the inner frame (401) with a cable facing outward by a plurality of screws eighteen (409); the inner ring of the motor is screwed with a yaw motor pressing ring (405) and a yaw motor shaft (406) through a thread; and a yaw encoder (413) is installed on the inner frame with a chip facing inward by a plurality of screws eight (416).

6. The common aperture dual-light servo mechanism according to claim 1, characterized in that: The pitch transmission system (5) comprises an outer frame (501), a pitch encoder shaft (504), a pitch encoder (507), a pitch encoder side deep groove ball bearing (508), a pitch motor (511), a pitch motor pressure ring (512), a pitch motor shaft (513), and a pitch motor side deep groove ball bearing (515). The pitch motor shaft (513) and the pitch encoder shaft (504) are respectively mounted on a through hole mounting surface of the yaw transmission system (4) and are respectively fixed by a plurality of screws thirteen (514) and a plurality of screws ten (505). The pitch motor side deep groove ball bearing (515) is mounted on the motor side of the outer frame (501) and is fixed by a plurality of screws ten (505). The pitch bearing pressing plate (502) is pressed and fixed by a plurality of screws fourteen (516); the pitch encoder side deep groove ball bearing (508) is installed on the encoder side of the outer frame (501) and is pressed by the pitch bearing pressing plate (502) and fixed by a plurality of screws eleven (509); the pitch motor (511) is installed on the outer frame (501) by a plurality of screws twelve (510) with the external cable facing outward; the inner ring of the motor is screwed with the pitch motor shaft (513) through the pitch motor pressing ring (512); and the pitch encoder (507) is installed on the outer frame (501) by a plurality of screws nine (503) with the chip facing inward.

7. The common aperture dual-light servo mechanism according to claim 1, characterized in that: The invention also includes an electronic control component (7), wherein the bottom of the pitch transmission system (5) is connected to the electronic control component (7) via a group of screws, and the electronic control component (7) includes a circuit board mounting seat (701), a servo circuit board (702), and a circuit board mounting cover plate (703), wherein the servo circuit board (702) is mounted on the circuit board mounting seat (701) via a plurality of fifteen screws (704), and the circuit board mounting cover plate (703) is mounted above the circuit board mounting seat (701) via a plurality of sixteen screws (705).

8. The common aperture dual-light servo mechanism according to claim 1, characterized in that: The co-aperture dual-light imaging system (3) along with the yaw transmission system (4) and the pitch transmission system (5) can capture the target within the field of view of yaw ±13° and pitch ±35°.

Images