CN206155809U - Light small -size optoelectronic pod - Google Patents
Light small -size optoelectronic pod Download PDFInfo
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- CN206155809U CN206155809U CN201621091468.7U CN201621091468U CN206155809U CN 206155809 U CN206155809 U CN 206155809U CN 201621091468 U CN201621091468 U CN 201621091468U CN 206155809 U CN206155809 U CN 206155809U
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- shafting
- angle measurement
- housing
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- frame
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Abstract
The utility model discloses a light small -size optoelectronic pod, including horizontal rotating shaft system and height gyration shafting, horizontal rotating shaft system including casing and a torque motors, first survey angular encoder and electronic circuit board group, a torque motors's pivot on install first bearing and ring flange, the casing on be provided with the upper cover plate, the upper cover plate on install power module, height gyration shafting include u -shaped frame and side cap, be provided with motor shafting and angle measurement shafting in the cavity that u -shaped frame and side cap formed, just the revolving axle is fastened and is provided with sealed spherical cavity, the internal sensor group that is provided with of spherical cavity, the utility model discloses a high accuracy biax gyroscope stabilization and torque motors do not have the backlash design, nested formula shaft system structure, and furthest compression overall dimension and weight, furthest extension sensor focus and installation space, whole appearance is sealed, is the light small -size high performance optoelectronic pod device that uses under the suitable adverse circumstances.
Description
Technical field
The utility model belongs to ray machine field, and in particular to a kind of small-sized photoelectric nacelle, is adapted for mount to all kinds of someone
Machine or unmanned plane, are also mountable to continental rise, vehicle-mounted, boat-carrying application places, are particularly well-suited to the scouting of remote control distributor video detection,
High accuracy, high definition video imaging or Target indication are carried out to target area.
Background technology
In recent years, unmanned air vehicle technique quickly grows, and airborne photoelectric gondola is the most important payload of unmanned plane, its performance
Directly affect the overall operational performance index of unmanned plane, and because unmanned plane is left a blank the restriction of duration, load-carrying ability etc., often
Seek O-E Payload（That is photoelectric nacelle）Small volume, lightweight, technical indicator are high, performance is good.For adverse circumstances（Such as ocean ring
Border）The lower unmanned plane for using, also specially requires photoelectric nacelle profile smoothness, little, the water-proof anti-salt fog superior performance of moment of wind resistance etc..
On the market some photoelectric nacelles have the characteristics of operating distance is remote, lasting accuracy is high, but often appearance and size, weight
Also it is larger, and some small volumes, lightweight photoelectric nacelle, but often lasting accuracy is not high enough, operating distance is not remote enough, or knot
Structure is unsatisfactory for military or adverse circumstances with profile（Such as marine environment）Lower use requirement.
Utility model content
The purpose of this utility model be according to the deficiencies in the prior art, design a kind of small volume, it is lightweight and act on away from
The novel photoelectric gondola used away from, under high, the suitable adverse circumstances of lasting accuracy.
The utility model solves the technical scheme that its technical problem adopted：A kind of small-sized photoelectric nacelle, including water
Flat rotary axis system and the height rotary axis system below horizontal rotation shafting, described horizontal rotation shafting include housing with
And it is arranged on the first torque motor in housing, the first angle measurement encoder and electronic circuit board group, the first described torque motor
Rotating shaft on clutch shaft bearing and ring flange are installed, upper cover plate is provided with described housing, be provided with described upper cover plate
Power module, described height rotary axis system includes the U-frame frame being arranged on ring flange lower surface and installed in U-frame frame two
The side cover of side, in the cavity that U-frame frame is formed with side cover motor shafting and angle measurement shafting, described height rotary axis system are provided with
It is upper that Packed spherical cavity is set, it is provided with sensor group in described spherical cavity.
Described a kind of small-sized photoelectric nacelle, is provided with a cylinder with raised mounting surface, described reading on its housing
Several are fixedly mounted on mounting surface, and described inner walls top is additionally provided with four boss, described electronic circuit board group
It is fixedly mounted on boss,
Described a kind of small-sized photoelectric nacelle, its clutch shaft bearing adopts two bearings of model identical, described bearing
Between be provided with spacer ring, be provided with the first sealing ring between described housing and ring flange.
Described a kind of small-sized photoelectric nacelle, its motor shafting includes the bicyclic hollow cylinder being arranged on U-frame frame
Shape motor cabinet, coaxial with motor cabinet the second torque motor on motor cabinet and in the rotating shaft of the second torque motor
It is respectively arranged with second bearing between wall and motor cabinet endocyclic outer wall, described U-frame frame and the relevant position of middle housing
First through hole and the second through hole, the rotating shaft of the second described torque motor is fixedly connected through first through hole with middle housing, described
Second bearing and middle housing between be fastenedly connected with the second trim ring, the first mounting groove, institute are provided with described first through hole
The second sealing ring used cooperatively with the rotating shaft outer wall of the second torque motor is provided with the first mounting groove stated.
Described a kind of small-sized photoelectric nacelle, its angle measurement shafting includes the bicyclic hollow cylinder being arranged on U-frame frame
Shape reading headstock, it is set on reading headstock endocyclic outer wall and the annulate shaft coaxial with reading headstock and installed in reading headstock inner ring
The 3rd is respectively arranged with 3rd bearing between outer wall and annulate shaft inwall, described U-frame frame and the relevant position of middle housing
Through hole and fourth hole, described annulate shaft is fixedly connected through third through-hole with middle housing, described 3rd bearing and middle housing
Between be fastenedly connected with the 3rd trim ring, the 3rd mounting groove is provided with described third through-hole, set in the 3rd described mounting groove
It is equipped with the 3rd sealing ring used cooperatively with the outer surface of annulate shaft, described annulate shaft on one end end face of middle housing away from being provided with
Second angle measurement encoder ring body, described reading headstock is read away from the second angle measurement encoder is provided with one end end face of middle housing
Several heads.
Described a kind of small-sized photoelectric nacelle, its sensor group includes the sensor stand being fixedly mounted on middle housing
With the photoelectric sensor and gyrosensor being respectively and fixedly installed on the upper and lower end face of sensor stand, described protecgulum end face
On be provided with the optics protecting window matched with sensor group, described photoelectric sensor is using visible light sensor, infrared
The combination of any one or several in sensor and laser designator.
Described a kind of small-sized photoelectric nacelle, its visible light sensor includes that SD visible light sensor and high definition are visible
Optical sensor.
Described a kind of small-sized photoelectric nacelle, its electronic circuit board group include servo-driven module, servo control module,
Image capture module, image processing module, gyro data processing module, tracing control module, the inclined processing module of survey, shafting angle measurement
Module, comprehensive control module and internal and external interface module.
Described a kind of small-sized photoelectric nacelle, between its U-frame frame and side cover and middle housing and front/rear cover end face it
Between be provided with sealing cord.
The beneficial effects of the utility model are：
1st, between horizontal rotation shafting of the present utility model and the bearing and motor of height rotary axis system or bearing and survey
Nesting type structure layout is adopted between angular encoder, horizontal rotation shafting and height rotary axis system is farthest have compressed
Axial space size；The radius of gyration of the present utility model is less than 10 centimeters, and highly less than 25 centimeters, weight is less than 5.5 kilograms,
Height slewing area is spent to -110 degree for+20, and the continuous infinite rotational of horizontal 360-degree, lasting accuracy is better than 0.01 degree of angle, to personnel
Detection range be more than 3 kilometers, monnolithic case sealing.
2nd, the utility model horizontal rotation shafting and height rotary axis system are first as driving using direct current torque motor
Part, it is to avoid the backlash in motor transmission is present, and built-in high-precision dual-axis gyro further improves lasting accuracy.
3rd, the utility model substantially extends the interior space dimension of spherical cavity, to allow more large scale sensor
Installation.
4th, the utility model built-in power, IMAQ, image output, servo-drive, angle measurement resolving, tracking process, it is comprehensive
The functional modules such as control are closed, with functions such as independent stable, tracking, without the need for external add-in electrical module.
Description of the drawings
Fig. 1 is front view of the present utility model；
Fig. 2 is the structural representation of the utility model horizontal shafting；
Fig. 3 is the structural representation of the utility model height motor shafting；
Fig. 4 is the structural representation of the utility model height angle measurement shafting；
Fig. 5 is the utility model Principle of Electrical System figure.
Each reference is：1-horizontal rotation shafting, 1.1-housing, 1.2-ring flange, 1.3-clutch shaft bearing,
1.4-the first torque motor, the 1.5-the first angle measurement encoder, 1.6-conducting slip ring, 1.7-electronic circuit board group, 1.8-on
Cover plate, 2-height rotary axis system, 2.1-U-frame frame, 2.2-motor shafting, 2.3-angle measurement shafting, 2.4-side cover, 2.5-
Motor cabinet, 2.6-reading headstock, the 2.7-the second torque motor, 2.8-second bearing, 2.9-3rd bearing, 2.10-ring
Axle, the 2.11-the second angle measurement encoder ring body, the 2.12-the second angle measurement encoder count head, 3-spherical cavity, 3.1-middle shell
Body.
Specific embodiment
The utility model is described in further detail below in conjunction with the accompanying drawings.
Referring to figs. 1 to shown in Fig. 4, the utility model discloses a kind of small-sized photoelectric nacelle, including horizontal rotation shafting 1
With the height rotary axis system 2 for being arranged on the lower section of horizontal rotation shafting 1, described horizontal rotation shafting 1 includes the shell of both ends open
Body 1.1 and the first torque motor 1.4 in housing 1.1, the first angle measurement encoder 1.5 and electronic circuit board group 1.7,
Described first torque motor 1.4 is installed with clutch shaft bearing 1.3 using nested arrangement, described the first torque motor 1.4
Rotating shaft inwall is arranged with the clutch shaft bearing 1.3 used cooperatively with it along axis, and the upper surface fastening of described clutch shaft bearing 1.3 connects
It is connected to the first trim ring, is provided with the lower surface of the rotating shaft of described the first torque motor 1.4 and is engaged with the inwall of housing 1.1
Ring flange 1.2, described ring flange 1.2 is provided centrally with a hollow cylinder, and being arranged with described hollow cylinder can be with
The conducting slip ring 1.6 of transmission high-definition video signal, is provided with a step plane on described hollow cylinder upper surface, and described the
One angle measurement encoder 1.5 includes the first angle measurement encoder ring body and the first angle measurement encoder count head, and the first described angle measurement is compiled
Code device ring body is arranged on the step plane of hollow cylinder, and on the inwall of described housing 1.1 the raised mounting surface of a band is provided with
Cylinder, the first described angle measurement encoder count head is fixedly mounted on mounting surface, the first angle measurement encoder count head with
The cooperation of first angle measurement encoder ring body completes the reading of horizontal rotation shafting Angle Information；Set on the upper surface of described housing 1.1
Upper cover plate 1.8 is equipped with, the lower surface of described upper cover plate 1.8 is provided with power module, and it is right to be provided with described upper cover plate 1.8
External plug-in component.The described upper inside wall of housing 1.1 is additionally provided with four boss and screwed hole, described electronic circuit board group 1.7
It is fixedly mounted on boss, described electronic circuit board group 1.7 includes servo-driven module, servo control module, IMAQ
Module, image processing module, gyro data processing module, tracing control module, survey inclined processing module, shafting angle measurement module, comprehensive
Close control module and internal and external interface module etc..Described clutch shaft bearing 1.3 adopts two model identical bearings, described
It is provided with spacer ring between bearing, revolution dynamic sealing is realized by the first sealing ring between described housing 1.1 and ring flange 1.2,
End face static seal is realized by sealing cord between described housing 1.1 and upper cover plate 1.8.
Described height rotary axis system 2 include be arranged on the lower surface of ring flange 1.2 on U-frame frame 2.1, installed in U-shaped
The side cover 2.4 of the both sides of framework 2.1 and the motor shafting being separately positioned in the cavity that U-frame frame 2.1 is formed with side cover 2.4
2.2 and angle measurement shafting 2.3, end face static seal is realized by sealing cord between described U-frame frame 2.1 and side cover 2.4.
Described motor shafting 2.2 and angle measurement shafting 2.3 is also adopted by nested arrangement's installation.
The Packed spherical cavity 3 of middle setting of described height rotary axis system 2, during described spherical cavity 3 includes
Housing 3.1, the protecgulum end face on the front and rear end of middle housing 3.1 and bonnet end face and it is arranged in middle housing 3.1
End face static seal is realized by sealing cord between sensor group, described middle housing 3.1 and front/rear cover end face.
Described motor shafting 2.2 includes the bicyclic hollow cylinder motor cabinet 2.5 being arranged on U-frame frame 2.1, adopts
Screw is arranged on the end face of motor cabinet 2.5 second torque motor 2.7 coaxial with motor cabinet 2.5 and installed in the second torque motor
Second bearing 2.8 between 2.7 rotating shaft inwall and the endocyclic outer wall of motor cabinet 2.5, described U-frame frame 2.1 and middle housing 3.1
Relevant position on be respectively arranged with first through hole and the second through hole, the rotating shaft of the second described torque motor 2.7 passes through first
Through hole is fixedly connected with middle housing 3.1, and between described second bearing 2.8 and middle housing 3.1 the second trim ring, institute are fastenedly connected with
The first mounting groove is provided with the first through hole stated, be provided with the first described mounting groove with the second torque motor 2.7 turn
The sealing ring of O shapes second that axle outer wall is used cooperatively, the second described torque motor 2.7 is sealed with U-frame frame 2.1 by second
Circle realizes dynamic sealing.
Described angle measurement shafting 2.3 includes bicyclic hollow cylinder reading headstock 2.6, the set being arranged on U-frame frame 2.1
It is located on the endocyclic outer wall of reading headstock 2.6 and the annulate shaft 2.10 coaxial with reading headstock 2.6 and is arranged on the inner ring of reading headstock 2.6
On 3rd bearing 2.9 between outer wall and the inwall of annulate shaft 2.10, described U-frame frame 2.1 and the relevant position of middle housing 3.1 point
Third through-hole and fourth hole are not provided with, described annulate shaft 2.10 is fixedly connected through third through-hole with middle housing 3.1, described
3rd bearing 2.9 and middle housing 3.1 between be fastenedly connected with the 3rd trim ring, the 3rd installation is provided with described third through-hole
Groove, is provided with the sealing ring of O shapes the 3rd used cooperatively with the outer surface of annulate shaft 2.10, described ring in the 3rd described mounting groove
Axle 2.10 and U-frame frame 2.1 realize dynamic sealing by the 3rd sealing ring, the one end of described annulate shaft 2.10 away from middle housing 3.1
Second angle measurement encoder ring body 2.11 is installed, described reading headstock 2.6 is away from one end end face of middle housing 3.1 on end face
It is provided with the second angle measurement encoder count head 2.12.
Described sensor group includes the sensor stand being fixedly mounted on middle housing 3.1 and is respectively and fixedly installed to pass
Photoelectric sensor and gyrosensor on the upper and lower end face of sensor bracket, is provided with and sensor group on described protecgulum end face
The optics protecting window for matching, described photoelectric sensor adopts visible light sensor, infrared sensor and laser designator
（Or airborne laser range finder）In the combination of any one or several；Described visible light sensor include SD visible light sensor and
High definition visible light sensor.
Described photoelectric sensor and the electrical signal lead of gyrosensor is worn from the central shaft hole of angle measurement shafting 2.3
Go out, the upper right cable-through hole of U-frame frame 2.1 is passed through together with the electrical signal lead of the second angle measurement encoder count head 2.12, then
It is connected with the stator conductor of conducting slip ring 1.6；The electrical signal lead of the second torque motor 2.7 of described motor shafting 2.2 passes through U
The upper left-hand cable-through hole of shape framework 2.1, is connected with the stator conductor of conducting slip ring 1.6；Each telecommunications of described horizontal rotation shafting 1
Number wire respectively with external plug-in component is connected on the rotor wire of conducting slip ring 1.6 and upper cover plate 1.8.
As shown in figure 5, the course of work of the present utility model is：External scene target enters this device light through propagation in atmosphere
Electric transducer is transformed to video signal, Jing after image capture module process, then video image is entered by image processing module
Row target identification, extraction, position survey inclined, will survey inclined information input comprehensive control module, are referred to reference to outside by comprehensive control module
Order is sent to shafting by servo control module and drives parameter, is rotated by servo-driven module control moment motor, shafting angle measurement
The timely measurement motor rotary state of module, gyrosensor senses in time photoelectric sensor optical axis attitude, and feedback information is sent to
Comprehensive control module, sends order-driven shafting motor and keeps shafting attitude steady from comprehensive control module to servo control module
It is fixed；Image capture module and image processing module also export image all the way and observe for showing to outside device.The utility model is only needed
Outside to provide 24V dc sources and working method（Manually, automatically, tracking, scanning, start, shutdown etc.）Status command, i.e.,
Can utonomous working, the functions such as stable, tracking are realized, while device also exports real time video image, working state of device, sensor
The parameter informations such as optical axis sensing.
Above-described embodiment only illustrative principle of the present utility model and its effect, and the embodiment that part uses,
For the person of ordinary skill of the art, on the premise of design is created without departing from the utility model, if can also make
Dry deformation and improvement, these belong to protection domain of the present utility model.
Claims (9)
1. a kind of small-sized photoelectric nacelle, it is characterised in that：Including horizontal rotation shafting (1) and installed in horizontal rotation shafting
(1) the height rotary axis system (2) below, described horizontal rotation shafting (1) is including housing (1.1) and is arranged on housing
(1.1) the first torque motor (1.4), the first angle measurement encoder (1.5) and electronic circuit board group (1.7) in, described first
Clutch shaft bearing (1.3) and ring flange (1.2) are installed in the rotating shaft of torque motor (1.4), are provided with described housing (1.1)
Upper cover plate (1.8), is provided with power module on described upper cover plate (1.8), described height rotary axis system (2) includes being arranged on
U-frame frame (2.1) and the side cover (2.4) installed in U-frame frame (2.1) both sides on ring flange (1.2) lower surface, U-frame frame
(2.1) motor shafting (2.2) and angle measurement shafting (2.3), described height revolution are provided with the cavity formed with side cover (2.4)
Packed spherical cavity (3) is set in shafting (2), in described spherical cavity (3) sensor group is provided with.
2. a kind of small-sized photoelectric nacelle according to claim 1, it is characterised in that described clutch shaft bearing (1.3) is adopted
With two bearings of model identical, be provided with spacer ring between described bearing, described housing (1.1) and ring flange (1.2) it
Between be provided with the first sealing ring.
3. a kind of small-sized photoelectric nacelle according to claim 1, it is characterised in that described motor shafting (2.2) bag
Include bicyclic hollow cylinder motor cabinet (2.5) on U-frame frame (2.1), on motor cabinet (2.5) and motor cabinet
(2.5) coaxial the second torque motor (2.7) and the rotating shaft inwall installed in the second torque motor (2.7) and motor cabinet (2.5)
Set respectively on second bearing (2.8) between endocyclic outer wall, described U-frame frame (2.1) and the relevant position of middle housing (3.1)
First through hole and the second through hole are equipped with, the rotating shaft of described the second torque motor (2.7) passes through first through hole and middle housing (3.1)
It is fixedly connected, is fastenedly connected with the second trim ring between described second bearing (2.8) and middle housing (3.1), described first leads to
The first mounting groove is provided with hole, is provided with the first described mounting groove and is matched somebody with somebody with the rotating shaft outer wall of the second torque motor (2.7)
The second sealing ring that conjunction is used.
4. a kind of small-sized photoelectric nacelle according to claim 1, it is characterised in that described angle measurement shafting (2.3) bag
Include the bicyclic hollow cylinder reading headstock (2.6) on U-frame frame (2.1), be set in outside reading headstock (2.6) inner ring
On wall and the annulate shaft (2.10) coaxial with reading headstock (2.6) and installed in reading headstock (2.6) endocyclic outer wall and annulate shaft
(2.10) on 3rd bearing (2.9) between inwall, described U-frame frame (2.1) and the relevant position of middle housing (3.1) respectively
Third through-hole and fourth hole are provided with, described annulate shaft (2.10) is fixedly connected through third through-hole with middle housing (3.1), institute
The 3rd trim ring is fastenedly connected between the 3rd bearing (2.9) stated and middle housing (3.1), is provided with described third through-hole
Three mounting grooves, are provided with the 3rd sealing ring used cooperatively with the outer surface of annulate shaft (2.10), institute in the 3rd described mounting groove
The annulate shaft (2.10) stated is provided with the second angle measurement encoder ring body (2.11) on one end end face away from middle housing (3.1), described
One end end face of the reading headstock (2.6) away from middle housing (3.1) on be provided with the second angle measurement encoder count head (2.12).
5. a kind of small-sized photoelectric nacelle according to claim 1, it is characterised in that described sensor group includes fixing
Sensor stand on middle housing (3.1) and the photoelectric transfer being respectively and fixedly installed on the upper and lower end face of sensor stand
Sensor and gyrosensor, described photoelectric sensor is using in visible light sensor, infrared sensor and laser designator
The combination of any one or several.
6. a kind of small-sized photoelectric nacelle according to claim 5, it is characterised in that described visible light sensor includes
SD visible light sensor and high definition visible light sensor.
7. a kind of small-sized photoelectric nacelle according to claim 6, it is characterised in that described electronic circuit board group
(1.7) mould is processed including servo-driven module, servo control module, image capture module, image processing module, gyro data
Block, tracing control module, the inclined processing module of survey, shafting angle measurement module, comprehensive control module and internal and external interface module.
8. a kind of small-sized photoelectric nacelle according to claim 1, it is characterised in that the first described angle measurement encoder
(1.5) including the first angle measurement encoder ring body and the first angle measurement encoder count head, the first described angle measurement encoder ring body is consolidated
Dingan County is mounted on the upper surface of hollow cylinder, and the first described angle measurement encoder count head is fixedly mounted on housing (1.1).
9. a kind of small-sized photoelectric nacelle according to claim 1, it is characterised in that the upper end of described housing (1.1)
Between face and upper cover plate (1.8), between U-frame frame (2.1) and side cover (2.4) and middle housing (3.1) and front/rear cover end face it
Between be provided with sealing cord.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621091468.7U CN206155809U (en) | 2016-09-29 | 2016-09-29 | Light small -size optoelectronic pod |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621091468.7U CN206155809U (en) | 2016-09-29 | 2016-09-29 | Light small -size optoelectronic pod |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206155809U true CN206155809U (en) | 2017-05-10 |
Family
ID=58652312
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621091468.7U Active CN206155809U (en) | 2016-09-29 | 2016-09-29 | Light small -size optoelectronic pod |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206155809U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106347696A (en) * | 2016-09-29 | 2017-01-25 | 武汉华中天经通视科技有限公司 | Light and small photoelectric pod |
| CN113418421A (en) * | 2021-06-17 | 2021-09-21 | 西安应用光学研究所 | Rigid connection mechanism for inner and outer universal frames of airborne photoelectric sight-stabilizing system |
-
2016
- 2016-09-29 CN CN201621091468.7U patent/CN206155809U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106347696A (en) * | 2016-09-29 | 2017-01-25 | 武汉华中天经通视科技有限公司 | Light and small photoelectric pod |
| CN113418421A (en) * | 2021-06-17 | 2021-09-21 | 西安应用光学研究所 | Rigid connection mechanism for inner and outer universal frames of airborne photoelectric sight-stabilizing system |
| CN113418421B (en) * | 2021-06-17 | 2022-12-30 | 西安应用光学研究所 | Rigid connection mechanism for inner and outer universal frames of airborne photoelectric sight-stabilizing system |
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