CN114941786A - A two-axis four-frame rotating mechanism based on flexible support and voice coil motor - Google Patents

Abstract

The invention relates to a two-axis four-frame servo turntable based on a flexible support and a voice coil motor, which includes four parts: an outer frame azimuth drive, an outer frame pitch drive, an inner frame azimuth drive, and an inner frame pitch drive; It adopts the design of brushless motor and rolling bearing. The inner azimuth and inner pitch adopt the design of voice coil motor and flexible support. It is the driving part of the rotary motion, and realizes the rotary motion in the direction of the shaft system. The four frame rotations are equipped with angle sensors. The angle information is collected to realize the precise control of the rotary motion; the outer frame and the inner frame are connected by a shock absorber; the invention realizes the movement of two axes through the flexible support and the voice coil motor, the rotation angle is accurate, and the working bandwidth is high; in a limited volume Within the size, the output of the motor is effectively improved, and in the control of the servo turntable, it provides a strong support for the improvement of the bandwidth; the number of parts is reduced, the assembly time is reduced, and the processing process is simplified.

Description

A two-axis four-frame rotating mechanism based on flexible support and voice coil motor

technical field

The invention belongs to the technical field of mechanical design of optoelectronic platforms, and relates to a two-axis four-frame rotating mechanism composed of a flexible support and a voice coil motor.

Background technique

For the system mechanical structure design, the main difference is the redesign of the internal pitch and azimuth axis structure. The traditional shafting structure has the problems of large inertia and friction torque of the shafting structure, resulting in serious nonlinearity of the control system, slow system response and low control accuracy. The existing optoelectronic systems have high requirements for frequency response characteristics, requiring the system to be frictionless, small in size and compact in structure, while traditional rotating mechanisms are expensive, bulky, complex and difficult to maintain.

A wide range of rotation can be achieved through the external shaft system, and then the two-axis rotation of the mechanism with accurate, fast and low cross-coupling can be realized through the internal shaft system.

At the same time, part of the traditional two-axis rotating mechanism is driven by rolling bearings and brushless motors, which are assembled by the motor and shafting, and the angle sensor is also installed in the axial direction. The axial distance will increase, the actual load space will be compressed, and the size will be difficult to reduce.

SUMMARY OF THE INVENTION

The technical problem to be solved by the present invention is to provide a two-axis rotation mechanism based on a voice coil motor and a flexible support, which can realize low-cross-coupling rotation of two axes and has fast response performance.

In order to solve the above-mentioned technical problems, the present invention is realized by adopting the following technical solutions, which are described as follows in conjunction with the accompanying drawings:

It should be noted that, in this document, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any relationship between these entities or operations. any such actual relationship or sequence exists. Moreover, the terms "comprising", "comprising" or any other variation thereof are intended to encompass a non-exclusive inclusion such that a process, method, article or device that includes a list of elements includes not only those elements, but also includes not explicitly listed or other elements inherent to such a process, method, article or apparatus.

In order to solve the above technical problems, the two-axis rotation mechanism based on flexible support, voice coil motor, ball bearing, brushless motor, and harmonic wheel reducer of the present invention includes two sets of shafts, one for azimuth and one for pitch. The shaft system is composed of brushless motor and ball bearing. The internal azimuth and pitch axis systems are composed of voice coil motors and flexible supports. The outer azimuth base is connected with the carrier aircraft, automobiles and ships, etc. At the same time, the outer azimuth axis is connected with the outer azimuth base, rolling bearing and brushless motor to complete the external azimuth drive. At the same time, an angle sensor is installed between the outer azimuth axis and the outer azimuth base, which can accurately determine the rotation angle of the outer azimuth. The outer pitch frame is connected with the outer azimuth axis, the outer pitch axis is connected with the outer pitch frame, the rolling bearing and the brushless motor, and the outer pitch motor is connected with the harmonic wheel reducer to complete the drive of the outer pitch. It can not only meet the large torque output but also reduce the structure space. At the same time, an angle sensor is installed between the outer pitch axis and the outer pitch frame, which can accurately determine the angle of the outer pitch rotation. The outer azimuth is driven by a rotating bearing and a brushless motor to achieve a wide range of rotation.

The shock absorber fixing seat is connected with the outer pitch frame through the shock absorber. High-frequency vibration can be filtered through shock absorption, which provides a stable environment for the rapid and small-angle precise positioning of the internal shafting.

The inner frame and the shock absorber are connected by flexible supports, the voice coil motor is fixed on the fixed seat of the shock absorber, and the rotor is connected with the inner frame. And the inner frame is equipped with an angle sensor to detect the angle of the inner position movement to achieve precise control. The inner pitch frame and the position frame are connected by flexible supports, the voice coil motor is fixed on the inner azimuth frame, and the rotor is connected with the inner pitch frame. And an angle sensor is installed on the inner pitch frame to detect the angle of the inner azimuth movement to achieve precise control. The use of a voice coil motor provides a drive unit with smaller size and higher torque for structural design. The use of flexible support provides a frictionless and no backlash slewing support link for servo control, which greatly improves the effect of servo control.

A two-axis four-frame rotation mechanism based on a flexible support and a voice coil motor, including four shaft systems: an outer pitch shaft system, an outer azimuth shaft system, an inner pitch shaft system and an inner azimuth shaft system, wherein the outer pitch shaft system and the outer azimuth shaft system The shaft system adopts the brushless motor and rolling bearing design, and the inner azimuth shaft system and inner pitch shaft system adopt the voice coil motor and flexible support design;

The outer azimuth axis is fixed, the outer pitch axis is mounted on the outer azimuth axis, the inner azimuth axis is mounted on the outer elevation axis, and the inner elevation axis is mounted on the inner azimuth axis.

Further, an angle sensor is installed on the four shaft systems, and the angle is precisely controlled by the signal of the angle sensor.

Further, the outer azimuth shaft system includes an outer azimuth base 1.1, an outer azimuth motor 1.2, a rotating bearing 1.3, an outer azimuth shaft 1.4, and an azimuth angle sensor 1.6;

The outer azimuth shaft 1.4 is fixed on the outer azimuth base 1.1 through the rotating bearing 1.3 and the gland, the other end of the outer azimuth shaft 1.4 and the rotor of the outer azimuth motor 1.2 are fixed by screws; the stator of the outer azimuth motor is fixed on the outer azimuth base 1.1, An azimuth sensor 1.6 is mounted on the extension of the outer azimuth axis 1.4.

A two-axis four-frame rotating mechanism based on a flexible support and a voice coil motor, further comprising an outer pitch angle sensor 1.9 and an outer pitch bearing 1.11;

The output end of the outer azimuth axis 1.4 is fixed on the outer pitch frame 1.5 by screws. One side of the outer pitch frame 1.5 fixes the outer pitch axis 1.8 on the outer pitch frame 1.5 through the outer pitch bearing 1.11. The outer pitch axis 1.8 is equipped with an outer pitch angle. Sensor 1.9; the other side of the outer pitching frame 1.5 The outer pitching bearing 1.11 fixes the outer pitching axis 1.8 on the outer pitching frame 1.5, and one end of the outer pitching axis 1.8 is connected with the outer pitching drive motor 1.7 through screws;

The outer azimuth base 1.1 is connected to the actual application scene, and at the same time, the outer azimuth axis 1.4 is used to connect with the outer azimuth base 1.1, the rotating bearing 1.3 and the outer azimuth motor 1.2 to complete the driving of the outer azimuth;

An outer pitch angle sensor 1.9 is installed between the outer azimuth axis 1.4 and the outer azimuth base 1.1; the outer pitch frame 1.5 is connected with the outer azimuth axis 1.4, the outer pitch axis 1.8 is connected with the outer pitch frame 1.5, the outer pitch bearing 1.11 and the outer pitch The drive motor 1.7 is connected to complete the external pitch drive.

Further, the inner azimuth shaft system includes an inner frame 2.1, a shock absorber 2.2, an inner azimuth fixing seat 2.3, and an inner azimuth voice coil motor 2.4;

The outer pitch axis 1.8 is connected with the inner frame 2.1 by screws to realize the connection between the inner and outer frames.

The upper and lower ends of the inner frame 2.1 are equipped with symmetrical shock absorbers 2.2; the inner position fixing seat 2.3 is fixed on the shock absorber 2.2 by screws;

Further, the inner pitch shaft system includes a pitch frame side bearing fixing seat 2.8, an inner pitch frame 2.9, an inner pitch voice coil motor 2.10, an inner pitch flexible support fixing seat bearing 2.11, an inner pitch flexible support 2.12, and a load side bearing fixing seat. 2.13, load bracket 2.14;

The pitch frame side bearing fixing seat 2.8 is fixed by pre-tightening the flexible support 2.5; the pitch frame side bearing fixing seat 2.8 is fixed with the inner pitch frame 2.9 by screws;

The inner pitching frame 2.9 is provided with a driving force arm, the driving force arm is connected with the rotor of the inner azimuth voice coil motor 2.4 by screws, and the stator of the voice coil motor is connected with the azimuth fixing seat 2.3 by screws;

The inner pitch flexible support fixed seat bearing 2.11 is fixed to the inner pitch frame 2.9 by screws, and the inner pitch flexible support fixed seat bearing 2.11 is disc-shaped and has a gap; the inner pitch flexible support 2.12 is fixed by the screw pre-tightening. On the fixed seat bearing 2.11; the load side bearing fixed seat 2.13 is fixed by pre-tightening the inner pitch flexible support 2.12; the inner pitch flexible support fixed seat bearing 2.11 is fixed with the load bracket 2.14 by screws.

Further, an outer pitch angle sensor 1.9 is installed between the outer pitch axis 1.8 and the outer pitch frame 1.5; the shock absorber fixing seat is connected with the outer pitch frame 1.5 through the shock absorber 2.2; the shock absorber fixing seat is connected with the inner azimuth frame. 1.5 is connected through the inner pitch flexible support 2.12, and the inner azimuth voice coil motor 2.4 is fixed on the shock absorber.

Further, the azimuth flexible support base 2.6 is fixed to the inner azimuth fixed base 2.3 by screws, and the azimuth flexible support base 2.6 is disc-shaped and has a slit;

By pre-tightening the azimuth flexible support seat 2.6 with screws, the flexible support 2.5 is fixed on the azimuth flexible support seat 2.6;

The inner pitch frame 2.9 is equipped with an inner pitch angle sensor 2.15;

The load carrier 2.14 is equipped with an inner azimuth angle sensor 2.7.

Further, the inner pitching frame 2.9 and the load support 2.14 are all designed with a driving force arm, the driving force arm is connected with the inner pitching voice coil motor 2.10, and the stator of the inner pitching voice coil motor 2.10 is connected with the inner pitching frame 2.9 by screws, The inner pitching voice coil motor 2.10 drives the shaft system to rotate through the driving force arm.

A two-axis four-frame rotating mechanism based on a flexible support and a voice coil motor, further comprising a harmonic wheel reducer 1.10;

The harmonic wheel reducer 1.10 is connected to the inner frame 2.1;

Compared with the prior art, the beneficial effects of the present invention are:

The flexible support and voice coil motor drive scheme adopted in the inner frame of the present invention has sufficient rigidity in the non-working direction to maintain the fast response performance of the system. At the same time, the shaft system assembled by the flexible support has the advantages of simple processing, no mechanical friction, no clearance and no backlash. The use of voice coil motor drive has the advantages of no lag, small size and large torque. The structure including the inner fixing seat of the bearing and the outer fixing seat of the motor has the advantages of compact structure and small volume. The invention realizes the movement of two axes through the flexible support and the voice coil motor, the rotation angle is accurate, and the working bandwidth is high.

The invention adopts the design scheme that the inner and outer frames are fixedly connected by the shock absorber, and in the actual use process, a good environment is provided for the inner frame to be accurate and stable, and the high-frequency vibration is effectively filtered.

The present invention adopts the joint driving mode of the outer pitch motor and the harmonic wheel reducer. Through the harmonic wheel reducer, the output of the motor is effectively improved within the limited size, and in the control of the servo turntable, the bandwidth improvement is provided. Strong support.

The structure design of the two-axis rotation of the present invention effectively reduces the overall mass and volume of the system, and has key characteristics such as stable rotation center, high precision, high reliability, and no wear, thereby reducing the constraint on the load; The number of parts is reduced, the assembly time is reduced, and the machining process is simplified.

Description of drawings

Below in conjunction with accompanying drawing, the present invention is further described:

1 is a cross-sectional view of a two-axis four-frame rotating mechanism based on a flexible support and a voice coil motor according to the present invention along a plane where the axis of a rotating shaft is located;

Fig. 2 is a view cut down along the plane where the inner pitch and outer pitch axis are located in Fig. 1;

Fig. 3 is a view cut upward along the plane where the inner pitch and outer pitch axis axes are located in Fig. 1;

4 is an overall appearance view of a two-axis four-frame rotating mechanism based on a flexible support and a voice coil motor according to the present invention.

In the figure, 1.1, outer azimuth base, 1.2, outer azimuth motor, 1.3, rotating bearing, 1.4, outer azimuth axis, 1.5, outer pitch frame, 1.6, azimuth angle sensor, 1.7, outer pitch drive motor, 1.8, outer pitch Axis, 1.9, outer pitch angle sensor, 1.10, harmonic wheel reducer, 1.11 outer pitch bearing;

2.1, inner frame, 2.2, shock absorber, 2.3, inner position fixed seat, 2.4, inner position voice coil motor,

2.5, flexible support, 2.6, azimuth flexible support seat, 2.7, inner azimuth angle sensor, 2.8, pitch frame side bearing mount, 2.9, inner pitch frame, 2.10 inner pitch voice coil motor, 2.11, inner pitch flexible support fixed seat bearing , 2.12 Inner pitch flexible support, 2.13, load side bearing mount, 2.14 load bracket, 2.15 inner pitch angle sensor.

Detailed ways

In order to make the objectives, technical solutions and advantages of the present invention clearer, the technical solutions in the embodiments of the present invention will be described in more detail below with reference to the accompanying drawings in the embodiments of the present invention. Throughout the drawings, the same or similar reference numbers refer to the same or similar elements or elements having the same or similar functions. The described embodiments are some, but not all, of the embodiments of the present invention. The embodiments described below with reference to the accompanying drawings are exemplary, and are intended to explain the present invention and should not be construed as limiting the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention. The embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

In the description of the present invention, it should be understood that the terms "center", "portrait", "horizontal", "front", "rear", "left", "right", "vertical", "horizontal", The orientation or positional relationship indicated by "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying The device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore should not be construed as limiting the scope of protection of the present invention.

Below in conjunction with accompanying drawing, the present invention is described in detail:

The invention relates to a two-axis four-frame servo turntable based on a flexible support and a voice coil motor, which includes four parts: an outer frame azimuth drive, an outer frame pitch drive, an inner frame azimuth drive, and an inner frame pitch drive. Among them, the outer pitch and outer azimuth adopt the design of brushless motor and rolling bearing, and the inner azimuth and inner pitch adopt the design of voice coil motor and flexible support, which are the driving components of the rotary motion, and realize the rotary motion in the direction of the shaft system. . The four-frame rotation is equipped with an angle sensor, which collects angle information and realizes the precise control of the rotation movement. The outer frame and the inner frame are connected by a shock absorber, which has an effective shock filtering effect in the actual use environment. The servo turntable can stabilize the large-angle motion brought by the base during operation through the rotation function of the outer pitch frame and the outer azimuth frame, and compensate the residual error after the outer frame is stabilized through the rotation function of the inner pitch frame and the inner azimuth frame. value, and filter the impact of high-frequency vibration on the system stability through the shock absorber, so as to achieve the precise stability of the servo turntable in the working environment of the moving base. Among them, the flexible support provides the slewing support ability of the inner frame, and has the characteristics of no friction and no backlash, which provides a good working condition for the accurate and stable inner frame. The two-axis four-frame servo turntable provided by the invention is suitable for the fields of precision machinery, precision measuring instruments, medical instruments and the like.

A two-axis four-frame rotating mechanism based on flexible support and voice coil motor, including four shaft systems of outer pitch, outer azimuth, inner pitch and inner azimuth, wherein the outer pitch and outer azimuth adopt brushless motor and rolling bearing design, The inner azimuth and inner pitch adopt the voice coil motor and flexible support design. At the same time, an angle sensor is installed between the outer pitch axis and the outer pitch frame, which can accurately determine the angle of the outer pitch rotation. The shock absorber fixing seat is connected with the outer pitch frame through the shock absorber. The shock absorber fixing seat is connected with the inner azimuth frame through a flexible support, and the voice coil motor is fixed on the shock absorber fixing seat. Based on a two-axis four-frame rotation mechanism composed of a flexible support and a voice coil motor, the outer pitch is decelerated by a motor and a harmonic wheel. drive. And the inner frame is equipped with an angle sensor to detect the angle of the inner position movement to achieve precise control. The inner pitch frame and the position frame are connected by flexible supports, the voice coil motor is fixed on the inner azimuth frame, and the rotor is connected with the inner pitch frame. And an angle sensor is installed on the inner pitch frame to detect the angle of the inner azimuth movement to achieve precise control.

The two-axis four-frame rotating mechanism based on the flexible support and the voice coil motor is fixed by the flexible support on the internal rotating shaft.

Based on a two-axis four-frame rotation mechanism composed of flexible supports and voice coil motors, a rotating force arm is designed on the inner pitch and azimuth axes. The force arm is connected to the voice coil motor, and the voice coil motor drives the shaft system to rotate through the force arm.

Based on the two-axis four-frame rotating mechanism composed of flexible support and voice coil motor, an angle sensor is installed on the shaft system, and the angle can be precisely controlled through the sensor signal.

Based on the two-axis four-frame rotation mechanism composed of flexible support and voice coil motor, the outer pitch is driven by a motor and a harmonic wheel reducer.

Based on a two-axis four-frame rotation mechanism composed of flexible supports and voice coil motors, the inner azimuth shaft system is fixed on the outer pitch shaft system by shock absorbers.

Based on the two-axis four-frame rotating mechanism composed of flexible support and voice coil motor, the outer azimuth base is connected to the actual application scene, and the outer azimuth axis is connected with the outer azimuth base, rolling bearing and brushless motor to complete the external azimuth. drive.

At the same time, an angle sensor is installed between the outer azimuth axis and the outer azimuth base, which can accurately determine the rotation angle of the outer azimuth. The outer pitch frame is connected with the outer azimuth axis, and the outer pitch axis is connected with the outer pitch frame, the rolling bearing and the brushless motor to complete the drive of the outer pitch.

As shown in Figure 1, Figure 2, Figure 3, Figure 4, the two-axis four-frame external rotation mechanism based on the voice coil motor and flexible support of the present invention includes an external orientation base 1.1, an external orientation motor 1.2, a rotating bearing 1.3, Outer azimuth axis 1.4, outer pitch frame 1.5, azimuth angle sensor 1.6, outer pitch drive motor 1.7, outer pitch axis 1.8, outer pitch angle sensor 1.9, harmonic wheel reducer 1.10, outer pitch bearing 1.11.

The outer azimuth shaft 1.4 is fixed on the outer azimuth base 1.1 through the rotating bearing 1.3 and the gland, and the other end of the outer azimuth shaft 1.4 and the rotor of the outer azimuth motor 1.2 are fixed by screws. The stator of the outer azimuth motor is fixed on the outer azimuth base 1.1, and an azimuth angle sensor 1.6 is installed on the extension of the outer azimuth shaft 1.4.

The output end of the outer azimuth axis 1.4 is fixed on the outer pitch frame 1.5 by screws, and one side of the outer pitch frame 1.5 is fixed on the outer pitch frame 1.5 through the outer pitch bearing 1.12. The outer pitch axis 1.8 is equipped with an outer pitch angle sensor 1.9 . The outer pitch bearing 1.11 on the other side of the outer pitch frame 1.5 fixes the outer pitch axis 1.8 on the outer pitch frame 1.5, and one end of the outer pitch axis 1.8 is connected with the outer pitch drive motor 1.7 by screws.

The outer pitch axis 1.8 is connected with the inner frame 2.1 by screws to realize the connection between the inner and outer frames.

The upper and lower ends of the inner frame 2.1 are equipped with symmetrical shock absorbers 2.2 to filter external vibrations. At the same time, the inner azimuth fixing seat 2.3 is fixed on the shock absorber 2.2 by screws. The azimuth flexible support seat 2.6 is fixed to the inner azimuth fixed seat 2.3 by screws, and the azimuth flexible support seat 2.6 is disc-shaped and has a gap. The flexible support 2.5 is fixed on the azimuth flexible support base 2.6 by screw pre-tightening. The pitch frame side bearing fixing seat 2.8 is similar in structure to the azimuth flexible support seat 2.6, and is fixed by preloading on the flexible support 2.5. At the same time, the pitch frame side bearing fixing seat 2.8 is fixed to the inner pitch frame 2.9 by screws.

The inner pitching frame 2.9 is provided with a driving force arm, the driving force arm is connected with the rotor of the inner azimuth voice coil motor 2.4 by screws, and the stator of the voice coil motor is connected with the azimuth fixing seat 2.3 by screws. At the same time, the inner pitch frame 2.9 is equipped with an inner pitch angle sensor 2.15, and real-time angle feedback is performed through the inner pitch angle sensor 2.15 to achieve precise angle control.

The inner pitching flexible supporting and fixing base bearing 2.11 is fixed to the inner pitching frame 2.9 by screws, and the inner pitching flexible supporting and fixing base bearing 2.11 is disc-shaped and has a slit. The inner pitching flexible support 2.12 is fixed on the inner pitching flexible support fixed seat bearing 2.11 by screw pre-tightening. The load-side bearing fixing seat 2.13 is similar in structure to the azimuth flexible support seat 2.6, and is fixed by pre-tightening the inner pitching flexible support 2.12. At the same time, the inner pitching flexible support fixed seat bearing 2.11 is fixed with the load bracket 2.14 by screws.

The load bracket 2.14 is provided with a driving force arm, the driving force arm is connected with the rotor of the voice coil motor by screws, and the stator of the voice coil motor 2.11 is connected with the inner pitch frame 2.9 by screws. At the same time, the load bracket 2.14 is equipped with an inner azimuth angle sensor 2.7, which provides real-time angle feedback through the sensor to achieve precise angle control.

The load bracket 2.14 is provided with a driving force arm, the driving force arm is connected with the rotor of the inner pitching voice coil motor 2.10 by screws, and the stator of the inner pitching voice coil motor 2.10 is connected with the inner pitching frame 2.9 by screws.

The invention can realize azimuth and pitch rotation by controlling the rotor of the voice coil motor through the installation method of the voice coil motor and the flexible support, and can realize fast response in a small angle range through the control of the voice coil motor. By controlling the brushless motor, large-angle rotation in the outer azimuth and outer pitch directions can be realized. The present invention satisfies the large-angle azimuth rotation of the existing rotating structure, and can also improve the fast and precise rotation within a small angle range. The stability accuracy is improved without changing the original angle range.

The brushless motor is a type of motor. The outer azimuth motor 1.2 and the outer pitch drive motor 1.7 belong to the category of brushless motors.

Rolling bearing is a type of bearing. Rotary bearing 3 and outer pitch bearing 1.11 belong to this category

The voice coil motor is another type of motor, and the inner position voice coil motor 2.4 belongs to the category of voice coil motor.

Obviously, the above-mentioned implementation is only an example for clear description, and is not intended to limit the implementation manner.

The above are only specific embodiments of the present invention, but the protection scope of the present invention is not limited to this. Any person skilled in the art is within the technical scope disclosed by the present invention, and all within the spirit and principle of the present invention Any modifications, equivalent replacements and improvements made within the scope of the present invention should be included within the protection scope of the present invention. Meanwhile, the contents not described in detail in this specification belong to the prior art known to those skilled in the art.

Claims (10)

1. The utility model provides a four frame slewing mechanism of diaxon based on flexible support and voice coil motor are constituteed which characterized in that:

the device comprises an outer pitch shaft system, an outer orientation shaft system, an inner pitch shaft system and an inner orientation shaft system, wherein the outer pitch shaft system and the outer orientation shaft system adopt brushless motors and rolling bearings, and the inner orientation shaft system and the inner pitch shaft system adopt voice coil motors and flexible supports;

the outer azimuth axis system is fixed, the outer pitch axis system is installed on the outer azimuth axis system, the inner pitch axis system is installed on the outer pitch axis system, and the inner pitch axis system is installed on the inner azimuth axis system.

2. The two-axis four-frame rotating mechanism based on the flexible support and the voice coil motor as claimed in claim 1, wherein:

the four shaft systems are all provided with angle sensors, and the accurate control of the angle is realized through the signals of the angle sensors.

3. The two-axis four-frame rotating mechanism based on the flexible support and the voice coil motor as claimed in claim 2, wherein:

the external orientation shaft system comprises an external orientation base (1.1), an external orientation motor (1.2), a rotary bearing (1.3), an external orientation shaft (1.4) and an orientation angle sensor (1.6);

the outer azimuth shaft (1.4) is fixed on the outer azimuth base (1.1) through a rotary bearing (1.3) and a gland, and the other end of the outer azimuth shaft (1.4) is fixed with a rotor of the outer azimuth motor (1.2) through a screw; the stator of the external orientation motor is fixed on an external orientation base (1.1), and an orientation angle sensor (1.6) is arranged on the extension section of the external orientation shaft (1.4).

4. The two-axis four-frame rotary mechanism based on the flexible support and the voice coil motor as claimed in claim 3, wherein:

the device also comprises an outer pitch angle sensor (1.9) and an outer pitch bearing (1.11);

the output end of the outer azimuth axis (1.4) is fixed on the outer pitching frame (1.5) through a screw, one side of the outer pitching frame (1.5) fixes the outer pitching axis (1.8) on the outer pitching frame (1.5) through an outer pitching bearing (1.11), and the outer pitching axis (1.8) is provided with an outer pitching angle sensor (1.9); an outer pitching shaft (1.8) is fixed on the outer pitching frame (1.5) through an outer pitching bearing (1.11) at the other side of the outer pitching frame (1.5), and one end of the outer pitching shaft (1.8) is connected with an outer pitching driving motor (1.7) through a screw;

the external orientation base (1.1) is connected with a scene of practical application, and is connected with the external orientation base (1.1), the rotary bearing (1.3) and the external orientation motor (1.2) by using an external orientation shaft (1.4) so as to drive the external orientation;

an outer pitching angle sensor (1.9) is arranged between the outer azimuth shaft (1.4) and the outer azimuth base (1.1); the outer pitching frame (1.5) is connected with the outer azimuth axis (1.4), and the outer pitching axis (1.8) is connected with the outer pitching frame (1.5), the outer pitching bearing (1.11) and the outer pitching driving motor (1.7) so as to drive the outer pitching.

5. The two-axis four-frame rotating mechanism based on the flexible support and the voice coil motor as claimed in claim 4, wherein:

the inner direction shafting comprises an inner frame (2.1), a shock absorber (2.2), an inner direction fixing seat (2.3) and an inner direction voice coil motor (2.4);

the outer pitch shaft (1.8) is connected with the inner frame (2.1) through screws so as to realize the connection of the inner frame and the outer frame.

The upper end and the lower end of the inner frame (2.1) are provided with symmetrical shock absorbers (2.2); the inner position fixing seat (2.3) is fixed on the shock absorber (2.2) through a screw.

6. The two-axis four-frame rotating mechanism based on the flexible support and the voice coil motor as claimed in claim 5, wherein:

the inner pitching shafting comprises a pitching frame side bearing fixing seat (2.8), an inner pitching frame (2.9), an inner pitching voice coil motor (2.10), an inner pitching flexible support fixing seat bearing (2.11), an inner pitching flexible support (2.12), a load side bearing fixing seat (2.13) and a load support (2.14);

the pitching frame side bearing fixing seat (2.8) is fixed on the flexible support (2.5) through pre-tightening; the pitching frame side bearing fixing seat (2.8) is fixed with the inner pitching frame (2.9) through a screw;

the inner pitching frame (2.9) is provided with a driving arm, the driving arm is connected with a rotor of the inner position voice coil motor (2.4) through a screw, and a stator of the voice coil motor is connected with the position fixing seat (2.3) through a screw;

the inner pitching flexible supporting fixed seat bearing (2.11) is fixed on the inner pitching frame (2.9) through a screw, and the inner pitching flexible supporting fixed seat bearing (2.11) is disc-shaped and provided with a gap; the inner pitching flexible support (2.12) is fixed on the inner pitching flexible support fixing seat bearing (2.11) through screw pre-tightening; the load side bearing fixing seat (2.13) is fixed by being pre-tightened on the inner pitching flexible support (2.12); the bearing (2.11) of the inner pitching flexible supporting fixed seat is fixed with the load support (2.14) through a screw.

7. The two-axis four-frame rotating mechanism based on the flexible support and the voice coil motor as claimed in claim 6, wherein:

an outer pitching angle sensor (1.9) is arranged between the outer pitching shaft (1.8) and the outer pitching frame (1.5); the shock absorber fixing seat is connected with the outer pitching frame (1.5) through a shock absorber (2.2); the shock absorber fixing seat is connected with the inner position frame (1.5) through the inner pitching flexible support (2.12), and the inner position voice coil motor (2.4) is fixed on the shock absorber fixing seat.

8. The two-axis four-frame rotating mechanism based on the flexible support and the voice coil motor as claimed in claim 7, wherein:

the azimuth flexible supporting seat (2.6) is fixed on the inner azimuth fixing seat (2.3) through a screw, and the azimuth flexible supporting seat (2.6) is disc-shaped and provided with a gap;

the flexible support (2.5) is fixed on the azimuth flexible support seat (2.6) by pre-tightening the azimuth flexible support seat (2.6) by using a screw;

the inner pitch frame (2.9) is provided with an inner pitch angle sensor (2.15);

the load support (2.14) is provided with an inner azimuth angle sensor (2.7).

9. The two-axis four-frame rotation mechanism based on flexible supports and voice coil motors of claim 8, wherein:

the inner pitching frame (2.9) and the load support (2.14) are both provided with driving arms, the driving arms are connected with the inner pitching voice coil motor (2.10), a stator of the inner pitching voice coil motor (2.10) is connected with the inner pitching frame (2.9) through screws, and the inner pitching voice coil motor (2.10) drives the shafting to rotate through the driving arms.

10. The two-axis four-frame rotation mechanism based on flexible supports and voice coil motors of claim 9, wherein:

the device also comprises a harmonic wheel reducer (1.10);

the harmonic wave wheel reducer (1.10) is connected with the inner frame (2.1);

the outer pitching shafting is driven by an outer pitching driving motor (1.7) and a harmonic wheel reducer (1.10).

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