Novel two-shaft four-frame structure and photoelectric pod

Abstract

The utility model discloses a novel two-shaft four-frame structure and a photoelectric pod, and relates to the technical field of photoelectric pod control, the novel two-shaft four-frame structure comprises an inner pitching frame and an outer frame, the inner pitching frame is nested in a pitching motion cavity of the outer frame, and the inner pitching frame is connected with the outer frame through a direction adjusting assembly; the orientation adjusting assembly comprises a first shaft system and a second shaft system, two ends of the orientation adjusting assembly are respectively fixed on the inner and outer frames, the orientation adjusting assembly drives the inner pitching frame to rotate around a first axis, the inner pitching frame is connected with the optical equipment through an inner pitching adjusting assembly, an inner pitching shaft is arranged along a second axis perpendicular to the first axis, and the optical equipment is driven by a second driving part to rotate. The first driving part and the second driving part are arranged away from the first axis and the second axis respectively, a far-end driving mode is adopted, the length of a force arm is increased, motor miniaturization and pod core area space release are achieved, a redundant supporting structure is eliminated through the direction adjusting assembly, the number of parts is reduced, and the space utilization rate and the assembling reliability are improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to photoelectric pod control technical field, especially in new type two -axis four frame structure and photoelectric pod. BACKGROUND

[0002] In recent years, with the rapid development of unmanned aerial vehicle technology, airborne photoelectric pod as the core equipment for realizing military reconnaissance, target tracking and attack, its miniaturization, light weight and high precision stability performance have become the key direction of technology competition. The traditional two-axis four frame photoelectric pod usually adopts motor near end driving mode, and realizes the double freedom degree control of azimuth and pitch through the multi-layer nested shafting structure. However, such design exposes the following significant defects in practical application:

[0003] Firstly, the space utilization is insufficient. In the prior art, the motor is directly installed near the frame shafting, occupies the core area of the pod, causes the internal layout redundancy. In addition, independent support structure and transmission components need to be set between the frames, further occupy the limited space, seriously restrict the reduction of the overall size of the pod. Secondly, the structural complexity is high, the traditional shafting adopts the outer ring as the main support, needs to additionally configure the connecting piece to fix the inner and outer ring frames, causes the increase of the number of parts, the complex assembly process, not only increases the manufacturing cost, but also reduces the reliability of the system. In addition, the near end driving mode requires the motor to output larger torque due to the limited length of the force arm, forces the increase of the volume and weight of the motor, forms vicious circle, and it is difficult to meet the light weight demand. SUMMARY

[0004] The main purpose of the utility model is to provide a new type two-axis four frame structure and photoelectric pod, which aims to solve the problem of low space utilization.

[0005] To achieve the above purpose, the new type two-axis four frame structure provided by the utility model comprises:

[0006] The inner pitch frame is sleeved in the pitch movement cavity of the outer frame, and the two are connected through an azimuth adjusting assembly;

[0007] The azimuth adjusting assembly comprises a first shafting and a second shafting, the first shafting and the second shafting are arranged along the same first axis, and are respectively located on the opposite sides of the inner pitch frame, and the two ends of the first shafting and the second shafting are respectively connected with the inner pitch frame and the outer frame, so that the inner pitch frame rotates relative to the outer frame;

[0008] The first driving part is arranged on the side of the first shafting, and drives the inner pitch frame to rotate relative to the outer frame around the first axis;

[0009] An inner tilt adjusting assembly is arranged to rotate the optical device relative to the inner tilt frame about the second axis, the inner tilt adjusting assembly comprising an inner tilt shaft and a second driving part, the inner tilt shaft is arranged along a second axis which is perpendicular to the first axis, the second driving part is arranged to drive the optical device to rotate relative to the inner tilt frame about the second axis;

[0010] The first driving part and the second driving part are arranged away from the first axis and the second axis.

[0011] In an embodiment, the first driving part comprises a first motor stator and a first motor rotor, and the second driving part comprises a second motor stator and a second motor rotor.

[0012] The first motor stator is fixed relative to the outer frame, the first motor rotor is fixed relative to the inner tilt frame, and the first motor stator is movable relative to the first motor rotor to drive the inner tilt frame to rotate relative to the outer frame about the first axis.

[0013] The second motor stator is fixed relative to the inner tilt frame, the second motor rotor is fixed relative to the optical device, and the second motor stator is movable relative to the second motor rotor to drive the optical device to rotate relative to the inner tilt frame about the second axis.

[0014] The first motor stator is arranged around the first axis, and the second motor stator is arranged around the second axis.

[0015] In an embodiment, the second shaft system comprises a motor base provided with a rotating hole arranged along the first axis, the motor base is fixedly connected to a side of the outer frame facing the inner tilt frame.

[0016] The motor base extends to a first mounting arm arranged away from the rotating hole, the first motor stator is arranged on the first mounting arm away from the rotating hole, one end of the first motor rotor is fixedly connected to the inner tilt frame, and the other end of the first motor rotor is located in the first motor stator, and the first motor rotor rotates about the first axis.

[0017] In an embodiment, the number of the first mounting arms is two, and the first mounting arms are symmetrically arranged on opposite sides of the motor base.

[0018] The number of the first driving parts is two, and the two first driving parts are symmetrically arranged on the first mounting arms away from the rotating hole.

[0019] In an embodiment, the inner tilt frame extends outwardly about the second axis with a second mounting arm, the second motor stator is arranged on a side of the second mounting arm away from the second axis, one end of the second motor rotor is rotatably connected to the inner tilt frame, and the other end of the second motor rotor is located in the second motor stator, and the second motor rotor rotates about the second axis.

[0020] In an embodiment, the first shafting includes a first shaft body and a first bearing, the first shaft body penetrates the outer frame and is connected to the inner tilt frame, and the first bearing is arranged on the outer frame and the first shaft body penetrates the first bearing.

[0021] In an embodiment, the first shafting further includes a shaft sleeve, the shaft sleeve is sleeved on the first shaft body, one end of the shaft sleeve abuts against the inner tilt frame, the other end of the shaft sleeve is inserted into the outer frame and abuts against the first bearing.

[0022] In an embodiment, a mounting cavity is arranged on a side of the inner tilt frame away from the first shafting.

[0023] The second shafting further includes a second shaft body and a second bearing, and an extension part is arranged on a side of the motor base facing the inner tilt frame, the extension part extends into the mounting cavity and is connected to the inner tilt frame through the second bearing.

[0024] The second shaft body is located on a side of the inner tilt frame away from the motor base, the second shaft body penetrates the inner tilt frame and is connected to the extension part, and a side of the second shaft body abuts against the second bearing to prevent the second bearing from being separated.

[0025] In an embodiment, the second shaft body, the extension part and the first shaft body are arranged on the same straight line.

[0026] The utility model discloses further propose a kind of photoelectric pod, including above-mentioned novel two-axis four-frame structure.

[0027] The technical scheme of the utility model discloses by arranging the first driving part and the second driving part away from the first axis and the second axis, using remote end driving mode, significantly increase the length of driving force arm, reduce the output torque required by motor, so that motor can be miniaturized, reduce its occupied space, to release pod core area, provide layout freedom for the integration of other functional modules (such as optical sensor, stable control system), overall realization pod size reduction.

[0028] The inner tilt frame is sleeved in the tilt movement cavity of the outer frame, and is connected with the outer frame symmetrically through the azimuth adjusting assembly, which eliminates the redundancy of the independent support structure in the traditional design, makes the layout between the frames more compact, and further compresses the axial and radial dimensions. BRIEF DESCRIPTION OF DRAWINGS

[0029] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained according to the structures shown in the drawings without creative labor.

[0030] Figure 1 A structure schematic diagram of an embodiment of the novel two-axis four-frame structure provided by the present application is shown in the figure.

[0031] Figure 2 An assembly structure schematic diagram of the novel two-axis four-frame structure provided by the present application is shown in the figure.

[0032] Figure 3 An inverted structure schematic diagram of the novel two-axis four-frame structure provided by the present application is shown in the figure.

[0033] Figure 4 A sectional view of the novel two-axis four-frame structure provided by the present application is shown in the figure.

[0034] Figure 5 A structure schematic diagram of an embodiment of the novel two-axis four-frame structure provided by the present application is shown in the figure. Figure 4 A local enlarged view of position A in the figure.

[0035] Figure 6 A local enlarged view of position B in the figure. Figure 4 A local enlarged view of position B in the figure.

[0036] Explanation of reference numerals:

[0037] 100, New two-axis four-frame structure; 1, Inner pitch frame; 11, Second mounting arm; 12, Mounting cavity; 2, Outer frame; 31, First shaft system; 311, First shaft body; 312, First bearing; 313, Shaft sleeve; 314, Bottom cover; 32, Second shaft system; 321, Motor base; 3211, Rotation hole; 3212, First mounting arm; 322, Second shaft body; 323, Second bearing; 324, Bearing limiting portion; 325, Code disc; 4, First driving part; 41, First motor stator; 42, First motor rotor; 51, Inner pitch shaft; 52, Second driving part; 521, Second motor stator; 522, Second motor rotor; 6, Connecting piece.

[0038] The realization, functional features and advantages of the utility model will be further described with reference to the drawings in combination with embodiments. DETAILED DESCRIPTION

[0039] The technical solutions in the embodiments of the utility model will be clearly and completely described below with reference to the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor belong to the protection scope of the utility model.

[0040] It should be noted that if the embodiments of the utility model involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, movement condition, etc. between components in a certain posture, and if the certain posture changes, the directional indications also change accordingly.

[0041] In addition, if the embodiments of the utility model involve descriptions of "first", "second", etc., the descriptions of "first", "second", etc. are only for description purposes, and cannot be understood as indicating or implying the relative importance of the indicated technical features or implicitly indicating the number of the indicated technical features. Therefore, the features limited by "first" and "second" can explicitly or implicitly include at least one of the features. In addition, "and / or" or "and / or" appearing throughout the text means that the three parallel schemes are included, taking "A and / or B" as an example, including A scheme, or B scheme, or A and B simultaneously satisfying the scheme. In addition, the technical solutions of each embodiment can be combined with each other, but it must be based on the realization of the ordinary skill in the art, and when the combination of technical solutions appears contradictory or unachievable, it should be considered that the combination of technical solutions does not exist, nor is it within the protection scope required by the utility model.

[0042] With the rapid development of unmanned aerial vehicle technology in recent years, airborne optoelectronic pod as the core equipment to realize military reconnaissance, target tracking and attack, its miniaturization, lightweight and high precision stability performance has become the key direction of technology competition. The traditional two-axis four-frame optoelectronic pod usually adopts motor near-end driving mode, and realizes the control of two degrees of freedom of azimuth and pitch through the multi-layer nested shaft structure. However, such design exposes the following significant defects in practical application:

[0043] Firstly, the space utilization is insufficient. In the prior art, the motor is directly installed near the frame shaft, which occupies the core area of the pod, resulting in redundant internal layout. In addition, independent support structure and transmission components need to be set between the frames, which further occupies the limited space and seriously restricts the reduction of the overall size of the pod. Secondly, the structure is complex, the traditional shaft system adopts an outer ring as the main support, and additional connecting parts are required to fix the inner and outer ring frames, which increases the number of parts and the assembly process, increases the manufacturing cost, and reduces the reliability of the system. In addition, the near-end driving mode requires the motor to output a larger torque due to the limited length of the force arm, which increases the size and weight of the motor, forming a vicious cycle, which is difficult to meet the lightweight demand.

[0044] The utility model provides a novel two-axis four-frame structure 100.

[0045] Please refer to Figures 1 to 6 In an embodiment of the utility model, the novel two-axis four-frame structure 100 includes:

[0046] The inner pitch frame 1 is sleeved in the pitch motion cavity of the outer frame 2, and the two are connected through an azimuth adjusting assembly;

[0047] The azimuth adjusting assembly includes a first shaft system 31 and a second shaft system 32, the first shaft system 31 and the second shaft system 32 are arranged along the same first axis, and are located on the opposite sides of the inner pitch frame 1 respectively, and the two ends of the first shaft system 31 and the second shaft system 32 are connected with the inner pitch frame 1 and the outer frame 2 respectively, so that the inner pitch frame 1 rotates relative to the outer frame 2;

[0048] The first driving part 4 is arranged on the side of the first shaft system 31 to drive the inner pitch frame 1 to rotate around the first axis relative to the outer frame 2;

[0049] The inner pitch adjusting assembly, the inner pitch frame 1 is rotatably connected with an optical equipment through the inner pitch adjusting assembly, the inner pitch adjusting assembly includes an inner pitch shaft 51 and a second driving part 52, the inner pitch shaft 51 is arranged along the second axis, and is perpendicular to the first axis, and the second driving part 52 is used to drive the optical equipment to rotate around the second axis relative to the inner pitch frame 1;

[0050] The first driving part 4 and the second driving part 52 are both arranged away from the first axis and the second axis.

[0051] As shown in the figure, the outer frame 2 is in a ring shape, and the inner tilt frame 1 is in a ring shape. Figure 1

[0052] It can be understood that the inner tilt frame 1 is arranged in the outer frame 2, so that the outer frame 2 is sleeved on the inner tilt frame 1, that is, the inner tilt frame 1 is located in the outer frame 2, so as to facilitate the rotation of the inner tilt frame 1 relative to the outer frame 2.

[0053] It can be understood that the azimuth adjustment assembly connects the outer frame 2 and the inner tilt frame 1, so that when the inner tilt frame 1 rotates relative to the outer frame 2, the azimuth adjustment assembly serves as the rotation center, so as to ensure the stability of rotation.

[0054] It can be understood that the two-side mounting method needs to reserve enough space for the motor on both sides of the inner tilt frame 1, which may limit the layout of other components in the case of limited internal space of the photoelectric pod. For example, for some pods that need to install large optical sensors or complex signal processing circuit boards inside the frame, the space occupation on both sides may make the installation position of these devices cramped, or even impossible to install.

[0055] It should be noted that because the second driving part 52 is exposed in the pod alone, the second driving part 52 does not need to be disconnected from other parts when it is removed, the space limitation is greatly reduced, and the technical personnel can easily troubleshoot and handle faults.

[0056] In addition, the remote mounting method provides more flexibility for the selection and layout of the second driving part 52. Different sizes and powers of motors can be selected according to specific performance requirements and installed in the most suitable position. This flexibility is conducive to the upgrading and expansion of the system.

[0057] For example, when it is necessary to improve the tilt speed or torque of the pod, a second driving part 52 with larger power can be replaced, and the bias position can be adjusted to adapt to the size and weight of the new second driving part 52, without being limited by the space and layout of the traditional center mounting method. At the same time, when new auxiliary devices (such as cooling devices, auxiliary sensors, etc.) are added, the layout of the remotely mounted second driving part 52 is more conducive to coordinating the installation position of the new devices, facilitating the integration and expansion of the system, and improving the space utilization.

[0058] ​Secondly, the pod may change the center of gravity and unbalanced load in actual application due to installation of different optical lenses, additional equipment or in different mounting attitudes. The second driving part 52 installed at the distal end can be flexibly adjusted according to the position of the center of gravity, the balance precision can reach gram level, and the driving force of the second driving part 52 can better adapt to the changes.

[0059] For example, when a heavy telephoto lens is installed on one side of the pod, the second driving part 52 is offset and installed on the opposite side of the heavy load, which can effectively keep the center of gravity of the pod from changing too much, reduce the counterweight, and improve the stability and accuracy of the pod during operation without other accessories for balancing, thereby improving the space utilization.

[0060] The technical scheme of the utility model discloses that the first driving part 4 and the second driving part 52 are arranged away from the first axis and the second axis, a distal end driving mode is adopted, the length of the driving force arm is significantly increased, the output torque required by the motor is reduced, the motor can be miniaturized, the occupied space is reduced, the core area of the pod is released, layout freedom is provided for the integration of other functional modules (such as optical sensors and stable control systems), and the size of the pod is reduced as a whole.

[0061] The inner pitching frame 1 is sleeved in the pitching motion cavity of the outer frame 2, is connected to the outer frame 2 in a symmetrical mode through the double-shaft azimuth adjusting assembly, redundancy of the independent support structure in the traditional design is eliminated, the layout between the frames is more compact, and the axial and radial dimensions are further compressed. The mechanical connection mode of the inner and outer frames 2 is simplified by replacing the traditional outer ring support structure, the number of connecting pieces 6 and transmission components is reduced, the manufacturing cost is reduced, assembly errors and potential failure points are reduced, the overall reliability of the system is improved, and the space utilization is greatly improved.

[0062] Optionally, the first driving part 4 comprises a first motor stator 41 and a first motor rotor 42, and the second driving part 52 comprises a second motor stator 521 and a second motor rotor 522.

[0063] The first motor stator 41 is fixed relative to the outer frame 2, the first motor rotor 42 is fixed relative to the inner pitching frame 1, and the first motor stator 41 moves relative to the first motor rotor 42 to drive the inner pitching frame 1 to rotate relative to the outer frame 2 around the first axis.

[0064] The second motor stator 521 is fixed relative to the inner pitching frame 1, the second motor rotor 522 is fixed relative to the optical equipment, and the second motor stator 521 moves relative to the second motor rotor 522 to drive the optical equipment to rotate relative to the inner pitching frame 1 around the second axis.

[0065] The first motor stator 41 is arranged around the first axis, and the second motor stator 521 is arranged around the second axis.

[0066] As shown in Figure 1 and Figure 2 It can be understood that the adjustment of the pitch angle and the azimuth angle of the optical equipment can be realized by the first driving part 4 and the second driving part 52, the first motor stator 41 and the second motor stator 521 are arranged on the periphery of the first axis and the second axis, which avoids occupying the axial space, greatly improves the space utilization, reduces the size required by the photoelectric pod, reduces the weight, and is convenient for maintenance.

[0067] Optionally, the second shafting 32 comprises a motor seat 321 provided with a rotating hole 3211 arranged along the first axis direction, and the motor seat 321 is fixedly connected to one side of the outer frame 2 facing the inner pitch frame 1.

[0068] The motor seat 321 extends to the first mounting arm 3212 away from the rotating hole 3211, the first motor stator 41 is arranged on the side of the first mounting arm 3212 away from the rotating hole 3211, one end of the first motor rotor 42 is fixedly connected to the inner pitch frame 1, and the other end is located in the first motor stator 41, and the first motor rotor 42 rotates around the first axis.

[0069] As shown in Figure 3 It can be understood that by arranging the first motor stator 41 on the side of the first mounting arm 3212 away from the rotating hole 3211, not only the space is saved, but also the overall structure is more compact, the space is effectively utilized, the energy loss in the transmission process is avoided, and the first motor rotor 42 and the inner pitch frame 1 both rotate around the first axis. Coaxial rotation ensures the accuracy and efficiency of transmission.

[0070] Furthermore, the first mounting arm 3212 can extend the lever arm to reduce the requirements of the first driving part 4, and the lever arm can be further controlled to adjust the azimuth angle.

[0071] It should be noted that the motor seat 321 is fixedly connected to the outer frame 2 through the first mounting arm 3212 to facilitate the installation of the first driving part 4, so that the first motor stator 41 can be fixed relative to the outer frame 2, and the first motor rotor 42 is fixedly connected to the inner pitch frame 1. Therefore, when the first motor rotor 42 and the first motor stator 41 are relatively moved after being powered, the outer frame 2 will be rotated around the first axis relative to the inner pitch frame 1.

[0072] Optionally, the first driving part 4 and the second driving part 52 are voice coil motors, and the first driving part 4 and the second driving part 52 can be arranged on the circumferential side of the rotation center, so as to effectively reduce the occupation of the axial space.

[0073] Optionally, the number of the first mounting arms 3212 is two, and the first mounting arms 3212 are symmetrically arranged on the opposite sides of the motor base 321.

[0074] The number of the first driving parts 4 is two, and the first driving parts 4 are symmetrically arranged on the side away from the rotating hole 3211 of the first mounting arm 3212.

[0075] As shown in Figure 3 It can be understood that the two first mounting arms 3212 can realize the symmetric mounting of the first driving part 4, and the two first driving parts 4 can cooperatively provide power for the rotation of the inner tilt frame 1 and guarantee the stability of the movement.

[0076] In some embodiments, the number of the first mounting arms 3212 is more than two, and the first driving parts 4 corresponding to the number are arranged, and the first mounting arms 3212 are arranged on the circumferential side of the rotating hole 3211, and the first driving parts 4 cooperatively drive the rotation of the inner tilt frame 1, which is not limited in the embodiment.

[0077] Optionally, the inner tilt frame 1 extends outwardly around the second axis to form a second mounting arm 11, the second motor stator 521 is arranged on the side away from the second axis of the second mounting arm 11, one end of the second motor rotor 522 is rotationally connected to the inner tilt frame 1, and the other end is located in the second motor stator 521, and the second motor rotor 522 rotates around the second axis.

[0078] It can be understood that the second motor stator 521 is fixedly connected to the second mounting arm 11, i.e., fixed relative to the inner tilt frame 1, and the second motor rotor 522 is rotationally connected to the inner tilt frame 1, and when the second motor rotor 522 rotates relative to the second motor stator 521, the second motor rotor 522 rotates around the second axis.

[0079] In some embodiments, the second motor rotor 522 is fixedly connected to the optical equipment in the inner tilt frame 1, so as to drive the adjustment of the tilt angle of the optical equipment.

[0080] In some other embodiments, the second motor rotor 522 is fixedly connected with the optical device through a connecting member 6, the connecting member 6 is rotationally connected with the inner tilt frame 1, the rotation axis of the connecting member 6 and the inner tilt frame 1 is consistent with the second axis, the connecting member 6 is connected with the second motor rotor 522 at the side away from the rotation axis, and the connecting member 6 is connected with the optical device at the side away from the inner tilt frame 1, the second motor rotor 522 drives the connecting member 6 to rotate, thereby driving the optical device to rotate.

[0081] It can be understood that the connecting member 6 simultaneously assumes the functions of rotational connection and fixed connection, so that the installation process is more convenient, in addition, when it is necessary to maintain or replace components, it is also easier to access and disassemble the related components, thereby reducing the maintenance cost and time cost.

[0082] Further, the connecting member 6 is rotationally connected with the inner tilt frame 1 through the inner tilt shaft 51 and a third bearing.

[0083] In addition, the connecting member 6 can further increase the force arm of the second driving part 52, thereby reducing the requirement for the second driving part 52.

[0084] Optionally, the first shafting 31 comprises a first shaft body 311 and a first bearing 312, the first shaft body 311 penetrates the outer frame 2 and is connected with the inner tilt frame 1, and the first bearing 312 is installed on the outer frame 2, and the first shaft body 311 penetrates the first bearing 312.

[0085] As shown in Figure 4 and Figure 6 In order to ensure the rigid connection between the outer frame 2 and the inner tilt frame 1, the first shaft body 311 penetrates the outer frame 2 and is fixedly connected with the inner tilt frame 1, and the first bearing 312 is arranged on the outer frame 2, and the first shaft body 311 penetrates the first bearing 312.

[0086] It can be understood that when the inner tilt frame 1 rotates relative to the outer frame 2, the inner tilt frame 1 drives the first shaft body 311 to rotate, and due to the first bearing 312, the outer frame 2 is prevented from rotating synchronously.

[0087] It should be noted that in order to prevent the first shaft body 311 from being separated from the outer frame 2 and the inner tilt frame 1, the first shaft body 311 is directly fixedly connected with the inner tilt frame 1 after penetrating the outer frame 2.

[0088] It can be understood that one end of the first shaft body 311 is provided with a thread, and the inner tilt frame 1 is provided with a connecting hole matched with the first shaft body 311, the connecting hole is provided with a thread, and the threaded end of the first shaft body 311 is inserted into the connecting hole, so as to realize the fixed connection with the inner tilt frame 1.

[0089] At the same time, the first shaft body 311 is provided with a limiting portion at the end away from the thread, and when the first shaft body 311 is arranged in the first bearing 312, the limiting portion is attached to the surface of the first bearing 312, so as to realize the limiting connection between the outer frame 2 and the inner tilt frame 1.

[0090] It can be understood that the connection between the outer frame 2 and the inner tilt frame 1 is realized by the first bearing 312 and the first shaft body 311, so as to ensure the rigid connection between the outer frame 2 and the inner tilt frame 1, and only the connection between the first shaft body 311 and the first bearing 312 is realized, which greatly saves the number of parts, improves the space utilization, and further reduces the production cost of the photoelectric pod.

[0091] Optionally, the first shaft system 31 further comprises a shaft sleeve 313, the shaft sleeve 313 is sleeved on the first shaft body 311, one end of the shaft sleeve 313 abuts against the inner tilt frame 1, the other end is inserted into the outer frame 2, and the first bearing 312 is abutted.

[0092] It should be noted that the first shaft body 311 penetrates the outer frame 2 and is connected with the inner tilt frame 1, at this time, the first shaft body 311 is partially exposed, in order to realize the protection of the first shaft body 311, the shaft sleeve 313 is sleeved on the first shaft body 311, and the shaft sleeve 313 is used for protecting the exposed part of the first shaft body 311.

[0093] It can be understood that in order to limit the movement of the shaft sleeve 313, avoid that the movement of the shaft sleeve 313 affects the normal operation of rotation in the relative movement process of the outer frame 2 and the inner tilt frame 1, one end of the shaft sleeve 313 abuts against the inner tilt frame 1, and the other end of the shaft sleeve 313 abuts against the second bearing 323.

[0094] In some embodiments, the bottom cover 314 is connected to the side of the outer frame 2 away from the inner tilt frame 1, and the bottom cover 314 is capped on the first shaft body 311, so as to prevent the first shaft body 311 from being separated from the outer frame 2.

[0095] Optionally, the bottom cover 314 is connected with the outer frame 2 by screws, the screws penetrate the bottom cover 314 and are connected with the outer frame 2.

[0096] Optionally, a mounting cavity 12 is arranged on one side of the inner tilt frame 1 away from the first shafting 31;

[0097] The second shafting 32 further comprises a second shaft body 322 and a second bearing 323. The motor base 321 is provided with an extension part on one side thereof facing the inner tilt frame 1. The extension part extends into the mounting cavity 12 and is connected with the inner tilt frame 1 through the second bearing 323.

[0098] The second shaft body 322 is arranged on the side of the inner tilt frame 1 away from the motor base 321. The second shaft body 322 penetrates the inner tilt frame 1 and is connected with the extension part. One side of the second shaft body 322 abuts against the second bearing 323 to prevent the second bearing 323 from being detached.

[0099] As shown in Figure 1 It can be understood that the inner tilt frame 1 rotates around the extension part during rotation. In this way, the cost of the azimuth adjusting assembly is reduced by reducing the number of components, and the installation efficiency of the pod is improved.

[0100] One end of the second shaft body 322 penetrates the inner tilt frame 1 and extends into the extension part. The second shaft body 322 is fixedly connected with the extension part, so as to limit the second bearing 323 on the extension part.

[0101] Optionally, the second shaft body 322, the extension part and the first shaft body 311 are arranged on the same straight line.

[0102] It can be understood that the second shaft body 322, the extension part and the first shaft body 311 are arranged on the same straight line. In this way, the center of rotation of the inner tilt frame 1 relative to the outer frame 2 coincides with the second shaft body 322, the extension part and the first shaft body 311, thereby ensuring the stability of the rotation of the inner tilt frame 1.

[0103] Optionally, the second shafting 32 comprises a bearing limiting part 324. The bearing limiting part 324 is arranged in the mounting cavity 12. The extension part penetrates the bearing limiting part 324 and is connected with the second bearing 323.

[0104] As shown in Figure 5 It can be understood that the outer side of the second bearing 323 abuts against the second shaft body 322. The bearing limiting part 324 abuts against one side of the second bearing 323 close to the outer frame 2. It can be understood that the second bearing 323 is effectively limited by being clamped by the second shaft body 322 and the bearing limiting part 324.

[0105] In some embodiments, the second bearing 323 is in abutment with the inner tilt frame 1, and the inner tilt frame 1, in cooperation with the second shaft body 322 and the bearing limiting portion 324, clamps the second bearing 323 to avoid disengagement of the second bearing 323.

[0106] In an embodiment, the second shaft system 32 further comprises a code disc 325, the code disc 325 is arranged in the mounting cavity 12, the extension portion penetrates the code disc 325, and the motor base 321 and the bearing limiting portion 324 are clamped on the code disc 325.

[0107] In order to facilitate the detection of the azimuth angle of the inner tilt frame 1, the code disc 325 is arranged on the side of the bearing limiting portion 324 away from the second bearing 323, and the code disc 325 is penetrated by the extension portion.

[0108] It can be understood that when the inner tilt frame 1 rotates, the code disc 325 detects the azimuth angle of the inner tilt frame 1, so as to determine whether the actual azimuth angle of the inner tilt frame 1 meets the preset azimuth angle, so as to ensure the rotation control of the inner tilt frame 1.

[0109] The utility model also proposes a kind of photoelectric pod, the photoelectric pod includes novel two-axis four-frame structure 100, the specific structure of the novel two-axis four-frame structure 100 refers to above-mentioned embodiment, since the photoelectric pod of the present application adopts all technical solutions of above-mentioned all embodiments, at least has all beneficial effects brought by the technical scheme of above-mentioned embodiment, here no longer one by one elaboration.

[0110] The above-mentioned is only the exemplary embodiment of the utility model, and is not therefore limited the patent range of the utility model, is made equivalent structure transformation using the utility model specification and attached drawing contents under the technical concept of the utility model, or direct / indirectly applied in other related technical fields are included in the patent protection range of the utility model.

Claims

1. A novel two-axis four-frame structure, characterized by, The utility model relates to a kind of optical equipment, including: Inner pitch frame and outer frame, the inner pitch frame is set in the pitch movement cavity of the outer frame, and they are connected by azimuth adjusting component; Wherein, the azimuth adjusting component includes first shaft system and second shaft system, the first shaft system and the second shaft system are along the same first axis, and are respectively located in the opposite sides of the inner pitch frame, the first shaft system and the second shaft system both ends are respectively connected with the inner pitch frame and the outer frame, so that the inner pitch frame rotates relative to the outer frame; First driving part, the first driving part is set in the first shaft system side, to drive the inner pitch frame relative to the outer frame rotates around the first axis; Inner pitch adjusting component, the inner pitch frame is connected with optical equipment by the inner pitch adjusting component, the inner pitch adjusting component includes inner pitch shaft and second driving part, the inner pitch shaft is along second axis, and is perpendicular to the first axis, the second driving part is used to drive the optical equipment relative to the inner pitch frame rotates around the second axis; Wherein, the first driving part and the second driving part are away from the first axis and the second axis.

2. The novel two-axis four-frame structure of claim 1, wherein, The first driving part includes first motor stator and first motor rotor, and the second driving part includes second motor stator and second motor rotor; The first motor stator is fixed relative to the outer frame, the first motor rotor is fixed relative to the inner pitch frame, the first motor stator moves relative to the first motor rotor, to drive the inner pitch frame relative to the outer frame rotates around the first axis; The second motor stator is fixed relative to the inner pitch frame, the second motor rotor is fixed relative to the optical equipment, the second motor stator moves relative to the second motor rotor, to drive the optical equipment relative to the inner pitch frame rotates around the second axis; The first motor stator is set around the first axis side, and the second motor stator is set around the second axis side.

3. The novel two-axis four-frame structure as claimed in claim 2, wherein, The second shaft system includes motor seat, is provided with rotating hole, the rotating hole is along the first axis direction, and the motor seat is fixedly connected to the outer frame side towards the inner pitch frame; The motor seat extends to the first mounting arm away from the rotating hole side, the first motor stator is set to the first mounting arm away from the rotating hole side, one end of the first motor rotor is fixedly connected to the inner pitch frame, and the other end is located in the first motor stator, and the first motor rotor rotates around the first axis.

4. The novel two-axis four-frame structure as claimed in claim 3, wherein, The number of the first mounting arm is two, and is symmetrically arranged on the opposite sides of the motor seat; The number of the first driving part is two, and the two first driving parts are symmetrically arranged on the first mounting arm away from the rotating hole side.

5. The novel two-axis four-frame structure as claimed in claim 2, wherein, The inner pitch frame extends to the second mounting arm outside around the second axis, the second motor stator is set to the second mounting arm away from the second axis side, one end of the second motor rotor is rotatably connected to the inner pitch frame, and the other end is located in the second motor stator, and the second motor rotor rotates around the second axis.

6. The novel two-axis four-frame structure as claimed in claim 4, wherein, The first shaft system comprises a first shaft body and a first bearing, the first shaft body penetrates the outer frame and is connected with the inner tilt frame, the first bearing is installed on the outer frame, and the first shaft body penetrates the first bearing.

7. The novel two-axis four-frame structure as claimed in claim 6, wherein, The first shaft system further comprises a shaft sleeve, the shaft sleeve is sleeved on the first shaft body, one end of the shaft sleeve abuts against the inner tilt frame, the other end of the shaft sleeve is inserted into the outer frame, and the first bearing is abutted.

8. The novel two-axis four-frame structure as claimed in claim 7, wherein, The inner tilt frame is provided with a mounting cavity away from one side of the first shaft system. The second shaft system further comprises a second shaft body and a second bearing, the motor base is provided with an extension part on the side facing the inner tilt frame, the extension part extends into the mounting cavity, and the extension part is connected with the inner tilt frame through the second bearing; The second shaft body is located on the side of the inner tilt frame away from the motor base, the second shaft body penetrates the inner tilt frame, and the second shaft body is connected with the extension part, one side of the second shaft body abuts against the second bearing to prevent the second bearing from being separated.

9. The novel two-axis four-frame structure as claimed in claim 8, wherein, The second shaft body, the extension part and the first shaft body are in the same straight line.

10. An optical pod, comprising: The novel two-shaft four-frame structure comprises the novel two-shaft four-frame structure according to any one of claims 1 to 9.

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