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

Abstract

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

Description

Technical Field

[0001] The invention belongs to the technical field of optoelectronic platform mechanical design, and relates to a two-axis four-frame rotating mechanism based on flexible support and voice coil motor. Background Art

[0002] For the mechanical structure design of the system, the main difference lies in the redesign of the internal pitch and azimuth axis structure. The traditional shaft system structure has the problem of large shaft system inertia and friction torque, which leads to serious nonlinearity of the control system, slow system response and low control accuracy. The existing optoelectronic system has high requirements for frequency response characteristics, requiring the system to be frictionless, small in size and compact in structure, while the traditional rotation mechanism is expensive, large in size, complex in equipment and difficult to maintain.

[0003] The external axis system can realize a large angle range of rotation, and the internal axis system can realize the precise, fast and low cross-coupling two-axis rotation of the mechanism.

[0004] At the same time, the traditional two-axis rotation mechanism is based on rolling bearings and wireless brushless motor drive, which is assembled by the motor and the shaft system, and the angle sensor is also installed in the axial direction. This will increase the axial distance, compress the actual load space, and make it difficult to reduce the size. Summary of the invention

[0005] 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 two-axis low cross-coupling rotation and has a fast response performance.

[0006] In order to solve the above technical problems, the present invention is implemented by adopting the following technical solutions, which are described as follows in conjunction with the accompanying drawings:

[0007] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0008] 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 inner and outer shaft systems, wherein the outer azimuth and pitch shaft systems are composed of brushless motor and ball bearing. The inner azimuth and pitch shaft systems are composed of voice coil motor and flexible support. The base of the outer azimuth is connected with the carrier, automobile and ship, etc., and the outer azimuth axis is connected with the outer azimuth base, rolling bearing and brushless motor to complete the drive of the outer azimuth. At the same time, an angle sensor is installed between the outer azimuth axis and the outer azimuth base, which can accurately determine the angle of the outer azimuth rotation. The outer pitch frame is connected with the outer azimuth axis, the outer pitch axis is connected with the outer pitch frame, rolling bearing and brushless motor, and the outer pitch motor is connected with the harmonic wheel reducer to complete the drive of the outer pitch. It can meet the large torque output and reduce the structural 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 external position adopts rotating bearing and brushless motor drive to realize rotation over a wide range of angles.

[0009] The shock absorber mount is connected to the outer pitch frame through the shock absorber. The shock absorber can filter out high-frequency vibrations and provide a stable environment for the internal shaft system to quickly and accurately position at a small angle.

[0010] The inner azimuth frame is connected to the shock absorber through a flexible support, the voice coil motor is fixed on the shock absorber fixed seat, and the rotor is connected to the inner azimuth frame. In addition, an angle sensor is installed on the inner azimuth frame to detect the angle of the inner azimuth movement for precise control. The inner pitch frame is connected to the position frame through a flexible support, the voice coil motor is fixed on the inner azimuth frame, and the rotor is connected to the inner pitch frame. In addition, an angle sensor is installed on the inner pitch frame to detect the angle of the inner azimuth movement for precise control. The use of the voice coil motor provides a smaller size and greater torque drive unit for structural design. The use of flexible support provides a frictionless and backlash-free slewing support link for servo control, which greatly improves the servo control effect.

[0011] A two-axis four-frame rotation mechanism based on flexible support and voice coil motor, including four axis systems: an outer pitch axis system, an outer azimuth axis system, an inner pitch axis system and an inner azimuth axis system, wherein the outer pitch axis system and the outer azimuth axis system adopt a brushless motor and a rolling bearing design, and the inner azimuth axis system and the inner pitch axis system adopt a voice coil motor and a flexible support design;

[0012] The outer azimuth axis system is fixed, the outer pitch axis system is installed on the outer azimuth axis system, the inner azimuth axis system is installed on the outer pitch axis system, and the inner pitch axis system is installed on the inner azimuth axis system.

[0013] Furthermore, angle sensors are installed on the four shaft systems, and accurate angle control is achieved through angle sensor signals.

[0014] Furthermore, the external azimuth axis system comprises an external azimuth base 1.1, an external azimuth motor 1.2, a rotary bearing 1.3, an external azimuth axis 1.4, and an azimuth angle sensor 1.6;

[0015] The external azimuth shaft 1.4 is fixed to the external azimuth base 1.1 through a rotary bearing 1.3 and a pressure cover, and the other end of the external azimuth shaft 1.4 is fixed to the rotor of the external azimuth motor 1.2 through screws; the stator of the external azimuth motor is fixed to the external azimuth base 1.1, and an azimuth angle sensor 1.6 is installed on the extension section of the external azimuth shaft 1.4.

[0016] A two-axis four-frame rotation mechanism based on a flexible support and a voice coil motor, further comprising an external pitch angle sensor 1.9 and an external pitch bearing 1.11;

[0017] The output end of the outer azimuth axis 1.4 is fixed to the outer pitch frame 1.5 by screws, and the outer pitch axis 1.8 is fixed to the outer pitch frame 1.5 by an outer pitch bearing 1.11 on one side of the outer pitch frame 1.5, and an outer pitch angle sensor 1.9 is mounted on the outer pitch axis 1.8; the outer pitch bearing 1.11 on the other side of the outer pitch frame 1.5 fixes the outer pitch axis 1.8 to the outer pitch frame 1.5, and one end of the outer pitch axis 1.8 is connected to the outer pitch drive motor 1.7 by screws;

[0018] The external orientation base 1.1 is connected to the actual application scene, and the external orientation shaft 1.4 is connected to the external orientation base 1.1, the rotating bearing 1.3 and the external orientation motor 1.2 to complete the external orientation drive;

[0019] An external pitch angle sensor 1.9 is installed between the external azimuth axis 1.4 and the external azimuth base 1.1; the external pitch frame 1.5 is connected to the external azimuth axis 1.4, and the external pitch axis 1.8 is connected to the external pitch frame 1.5, the external pitch bearing 1.11 and the external pitch drive motor 1.7 to complete the external pitch drive.

[0020] Furthermore, the inner azimuth axis 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;

[0021] The outer pitch axis 1.8 is connected to the inner frame 2.1 by screws to achieve the connection between the inner and outer frames.

[0022] Symmetrical shock absorbers 2.2 are installed at the upper and lower ends of the inner frame 2.1; the inner position fixing seat 2.3 is fixed on the shock absorber 2.2 by screws;

[0023] Further, the inner pitch axis 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, a load side bearing fixing seat 2.13, and a load bracket 2.14;

[0024] The pitch frame side bearing fixing seat 2.8 is fixed by pre-tightening to the flexible support 2.5; the pitch frame side bearing fixing seat 2.8 is fixed to the inner pitch frame 2.9 by screws;

[0025] The inner pitch frame 2.9 is provided with a driving force arm, which is connected to the rotor of the inner azimuth voice coil motor 2.4 by screws, and the stator of the voice coil motor is connected to the azimuth fixing seat 2.3 by screws;

[0026] 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 to the inner pitch flexible support fixed seat bearing 2.11 by screw pre-tightening; the load side bearing fixed seat 2.13 is fixed by pre-tightening to the inner pitch flexible support 2.12; the inner pitch flexible support fixed seat bearing 2.11 is fixed to the load bracket 2.14 by screws.

[0027] Furthermore, an external pitch angle sensor 1.9 is installed between the external pitch axis 1.8 and the external pitch frame 1.5; the shock absorber fixing seat is connected to the external pitch frame 1.5 through the shock absorber 2.2; the shock absorber fixing seat is connected to the inner azimuth frame 1.5 through the inner pitch flexible support 2.12, and the inner azimuth voice coil motor 2.4 is fixed on the shock absorber fixing seat.

[0028] Furthermore, 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;

[0029] Fix the flexible support 2.5 to the azimuth flexible support seat 2.6 by pre-tightening the azimuth flexible support seat 2.6 with screws;

[0030] The inner pitch frame 2.9 is equipped with an inner pitch angle sensor 2.15;

[0031] The load support 2.14 is equipped with an inner azimuth angle sensor 2.7.

[0032] Furthermore, the inner pitch frame 2.9 and the load bracket 2.14 are both designed with a driving force arm, which is connected to the inner pitch voice coil motor 2.10. The stator of the inner pitch voice coil motor 2.10 is connected to the inner pitch frame 2.9 by screws, and the inner pitch voice coil motor 2.10 drives the shaft system to rotate through the driving force arm.

[0033] A two-axis four-frame rotating mechanism based on flexible support and voice coil motor, further comprising a harmonic wheel reducer 1.10;

[0034] The harmonic reducer 1.10 is connected to the inner frame 2.1;

[0035] The outer pitch axis is driven by an outer pitch drive motor 1.7 and a harmonic wheel reducer 1.10. Compared with the prior art, the invention has the following beneficial effects:

[0036] The flexible support and voice coil motor driving scheme adopted in the inner frame of the present invention have sufficient rigidity in the non-working direction to maintain the rapid 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 gap and no backlash. The voice coil motor drive has the advantages of no hysteresis, small size and large torque. The structure including the inner fixed seat of the bearing and the outer fixed seat of the motor has the advantages of compact structure and small size. The present invention realizes the movement of two axes through flexible support and voice coil motor, with precise rotation angle and high working bandwidth.

[0037] The present invention adopts a design scheme in which the inner and outer frames are fixedly connected by a shock absorber, which provides a good environment for the precise stability of the inner frame and effectively filters high-frequency vibrations during actual use.

[0038] The present invention adopts a method of jointly driving an external pitch motor and a harmonic wheel reducer. Through the harmonic wheel reducer, the motor output is effectively improved within a limited volume size, and in the servo turntable control, a strong support is provided for the improvement of the bandwidth.

[0039] The structural 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 constraints on the load; since the number of parts is reduced, the assembly time is reduced and the processing process is simplified. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] The present invention will be further described below in conjunction with the accompanying drawings:

[0041] Figure 1 It is a view of a two-axis four-frame rotating mechanism based on a flexible support and a voice coil motor according to the present invention cut along a plane where the axis of each rotating axis is located;

[0042] Figure 2 yes Figure 1 A view cut downward along the plane where the inner pitch axis and the outer pitch axis center are located;

[0043] Figure 3 yes Figure 1 A view cut upward along the plane where the inner pitch axis and the outer pitch axis center are located;

[0044] Figure 4 This is an overall appearance diagram of a two-axis four-frame rotating mechanism based on flexible supports and voice coil motors described in the present invention.

[0045] In the figure, 1.1, external azimuth base, 1.2, external azimuth motor, 1.3, rotary bearing, 1.4, external azimuth axis, 1.5, external pitch frame, 1.6, azimuth angle sensor, 1.7, external pitch drive motor, 1.8, external pitch axis, 1.9, external pitch angle sensor, 1.10, harmonic wheel reducer, 1.11 external pitch bearing;

[0046] 2.1, inner frame, 2.2, shock absorber, 2.3, inner position fixing seat, 2.4, inner position voice coil motor,

[0047] 2.5, flexible support, 2.6, azimuth flexible support seat, 2.7, internal azimuth angle sensor, 2.8, pitch frame side bearing fixing seat, 2.9, internal pitch frame, 2.10 internal pitch voice coil motor, 2.11, internal pitch flexible support fixing seat bearing, 2.12 internal pitch flexible support, 2.13, load side bearing fixing seat, 2.14 load bracket, 2.15 internal pitch angle sensor. DETAILED DESCRIPTION

[0048] In order to make the purpose, technical scheme and advantages of the implementation of the present invention clearer, the technical scheme in the embodiment of the present invention will be described in more detail below in conjunction with the drawings in the embodiment of the present invention. In the drawings, the same or similar reference numerals throughout represent the same or similar elements or elements with the same or similar functions. The described embodiments are part of the embodiments of the present invention, not all of the embodiments. The embodiments described below with reference to the drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limitations on the present invention. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention. The embodiments of the present invention are described in detail below in conjunction with the drawings.

[0049] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the scope of protection of the present invention.

[0050] The present invention is described in detail below in conjunction with the accompanying drawings:

[0051] The present invention relates to a two-axis four-frame servo turntable based on flexible support and voice coil motor, which includes four parts: outer frame azimuth drive, outer frame pitch drive, inner frame azimuth drive, and inner frame pitch drive. The outer pitch and outer azimuth adopt the design of brushless motor with rolling bearing, and the inner azimuth and inner pitch adopt the design of voice coil motor with flexible support, which are the driving components of rotary motion and realize the rotary motion in the direction of the axis system. The four-frame rotation is equipped with an angle sensor to collect angle information and realize the precise control of the rotary motion. The outer frame and the inner frame are connected by a shock absorber, which plays an effective shock filtering effect in the actual use environment. The servo turntable can stabilize the large-angle motion brought by the base during work through the rotation function of the outer pitch frame and the outer azimuth frame, and compensate the residual value after the outer frame is stabilized through the rotation function of the inner pitch frame and the inner azimuth frame, and filter the influence of high-frequency vibration on the stability of the system through the shock absorber, so as to realize the precise stability capability of the servo turntable in the working environment of the moving base. The flexible support provides the slewing support capability of the inner frame, and has the characteristics of no friction and no backlash, providing a good working state for the inner frame to be precise and stable. The two-axis four-frame servo turntable provided by the present invention is suitable for the fields of precision machinery, precision measuring instruments and medical equipment.

[0052] A two-axis four-frame rotation mechanism based on flexible support and voice coil motor includes four axis systems of external pitch, external azimuth, internal pitch and internal azimuth, wherein the external pitch and external azimuth adopt brushless motor and rolling bearing design, and the internal azimuth and internal pitch adopt voice coil motor and flexible support design. At the same time, an angle sensor is installed between the external pitch axis and the external pitch frame, which can accurately determine the angle of external pitch rotation. The shock absorber fixing seat is connected to the external pitch frame through the shock absorber. The shock absorber fixing seat is connected to the internal azimuth frame through a flexible support, and the voice coil motor is fixed on the shock absorber fixing seat. Based on the two-axis four-frame rotation mechanism composed of flexible support and voice coil motor, the external pitch is driven by a motor and a harmonic wheel reducer. In addition, an angle sensor is installed on the internal azimuth frame to detect the angle of internal azimuth movement to achieve precise control. The internal pitch frame is connected to the azimuth frame through a flexible support, the voice coil motor is fixed on the internal azimuth frame, and the rotor is connected to the internal pitch frame. And an angle sensor is installed on the inner pitch frame to detect the angle of inner azimuth movement to achieve precise control.

[0053] The two-axis four-frame rotating mechanism is composed of a flexible support and a voice coil motor, and the internal rotating axis is fixed by the flexible support.

[0054] A two-axis four-frame rotation mechanism is composed of flexible supports and voice coil motors. Rotating force arms are designed on the inner pitch and azimuth axes. The force arms are connected to the voice coil motors. The voice coil motors drive the shaft system to rotate through the force arms.

[0055] Based on the two-axis four-frame rotating mechanism composed of flexible supports and voice coil motors, an angle sensor is installed on the axis system, and precise angle control can be achieved through the sensor signal.

[0056] Based on a two-axis four-frame rotation mechanism composed of flexible supports and voice coil motors, the external pitch is driven by a motor and a harmonic wheel reducer.

[0057] The two-axis four-frame rotating mechanism composed of flexible supports and voice coil motors is fixed on the inner azimuth axis system by a shock absorber on the outer pitch axis system.

[0058] Based on a two-axis four-frame rotating mechanism composed of flexible supports and voice coil motors, the exo-position base is connected to the actual application scenario. At the same time, the exo-position axis is connected to the exo-position base, rolling bearings and brushless motors to complete the exo-position drive.

[0059] At the same time, an angle sensor is installed between the external azimuth axis and the external azimuth base, which can accurately determine the angle of external azimuth rotation. The external pitch frame is connected to the external azimuth axis, and the external pitch axis is connected to the external pitch frame, rolling bearing and brushless motor to complete the drive of external pitch.

[0060] like Figure 1 , Figure 2 , Figure 3 , Figure 4 As shown, the two-axis four-frame external rotation mechanism based on the voice coil motor and the flexible support of the present invention includes an external azimuth base 1.1, an external azimuth motor 1.2, a rotary bearing 1.3, an external azimuth axis 1.4, an external pitch frame 1.5, an azimuth angle sensor 1.6, an external pitch drive motor 1.7, an external pitch axis 1.8, an external pitch angle sensor 1.9, a harmonic wheel reducer 1.10, and an external pitch bearing 1.11.

[0061] The external azimuth shaft 1.4 is fixed to the external azimuth base 1.1 through the rotating bearing 1.3 and the pressure cover, and the other end of the external azimuth shaft 1.4 is fixed to the rotor of the external azimuth motor 1.2 through screws. The stator of the external azimuth motor is fixed to the external azimuth base 1.1, and the azimuth angle sensor 1.6 is installed on the extension section of the external azimuth shaft 1.4.

[0062] The output end of the external azimuth axis 1.4 is fixed to the external pitch frame 1.5 by screws, and the external pitch axis 1.8 is fixed to the external pitch frame 1.5 by an external pitch bearing 1.12 on one side of the external pitch frame 1.5, and an external pitch angle sensor 1.9 is installed on the external pitch axis 1.8. The external pitch bearing 1.11 on the other side of the external pitch frame 1.5 fixes the external pitch axis 1.8 to the external pitch frame 1.5, and one end of the external pitch axis 1.8 is connected to the external pitch drive motor 1.7 by screws.

[0063] The outer pitch axis 1.8 is connected to the inner frame 2.1 by screws to achieve the connection between the inner and outer frames.

[0064] Symmetrical shock absorbers 2.2 are installed at the upper and lower ends of the inner frame 2.1 to filter external vibrations. At the same time, the inner azimuth fixing seat 2.3 is fixed to the shock absorber 2.2 by screws. The azimuth flexible support seat 2.6 is fixed to the inner azimuth fixing seat 2.3 by screws. The azimuth flexible support seat 2.6 is disc-shaped and has a gap. The flexible support 2.5 is fixed to the azimuth flexible support seat 2.6 by pre-tightening the screws. 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 pre-tightening 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.

[0065] The inner pitch frame 2.9 is provided with a driving force arm, which is connected to the rotor of the inner azimuth voice coil motor 2.4 by screws, and the stator of the voice coil motor is connected to 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, which performs real-time angle feedback to achieve precise angle control.

[0066] The inner pitch flexible support fixed seat bearing 2.11 is fixed to the inner pitch frame 2.9 by screws. 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 to the inner pitch flexible support fixed seat bearing 2.11 by screw pre-tightening. The load side bearing fixed seat 2.13 is similar in structure to the azimuth flexible support seat 2.6 and is fixed by pre-tightening to the inner pitch flexible support 2.12. At the same time, the inner pitch flexible support fixed seat bearing 2.11 is fixed to the load bracket 2.14 by screws.

[0067] The load bracket 2.14 is provided with a driving force arm, which is connected to the rotor of the voice coil motor by screws, and the stator of the voice coil motor 2.11 is connected to 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 performs real-time angle feedback through the sensor to achieve precise angle control.

[0068] The load bracket 2.14 is provided with a driving force arm, which is connected to the rotor of the inner pitch voice coil motor 2.10 by screws, and the stator of the inner pitch voice coil motor 2.10 is connected to the inner pitch frame 2.9 by screws.

[0069] The present 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 rapid response within a small angle range through the control of the voice coil motor. By controlling the brushless motor, large-angle rotation in the external azimuth and external pitch direction can be realized. The present invention satisfies the large-angle azimuth rotation of the existing rotating structure, and can also improve the rapid and accurate rotation within a small angle range. The stability accuracy is improved without changing the original angle range.

[0070] Brushless motor is a type of motor. External azimuth motor 1.2 and external pitch drive motor 1.7 are both brushless motors.

[0071] Rolling bearings are a type of bearing. Rotary bearings 3 and external pitch bearings 1.11 belong to this category.

[0072] The voice coil motor is another type of motor, and the inward-facing voice coil motor 2.4 belongs to this category.

[0073] Obviously, the above implementation is only an example for clear description and is not a limitation to the implementation method.

[0074] The above is only a specific implementation of the present invention, but the protection scope of the present invention is not limited thereto. Any modification, equivalent replacement and improvement made by any person skilled in the art within the technical scope disclosed by the present invention and within the spirit and principle of the present invention shall be covered within the protection scope of the present invention. At the same time, the contents not described in detail in this specification belong to the prior art known to those skilled in the art.

Claims

1. A two-axis four-frame rotation mechanism based on flexible support and voice coil motor, characterized in that: It includes four axis systems: outer pitch axis system, outer azimuth axis system, inner pitch axis system and inner azimuth axis system. The outer pitch axis system and the outer azimuth axis system adopt brushless motor and rolling bearing design, while the inner azimuth axis system and the inner pitch axis system adopt voice coil motor and flexible support design. The outer azimuth axis system is fixed, the outer pitch axis system is mounted on the outer azimuth axis system, the inner azimuth axis system is mounted on the outer pitch axis system, and the inner pitch axis system is mounted on the inner azimuth axis system; The external position uses a rotating bearing and a brushless motor to achieve angular rotation; Angle sensors are installed on the four shaft systems, and accurate angle control is achieved through angle sensor signals; The external azimuth axis system comprises an external azimuth base (1.1), an external azimuth motor (1.2), a rotary bearing (1.3), an external azimuth axis (1.4), and an azimuth angle sensor (1.6); The external azimuth shaft (1.4) is fixed to the external azimuth base (1.1) via a rotary bearing (1.3) and a pressure cover, and the other end of the external azimuth shaft (1.4) is fixed to the rotor of the external azimuth motor (1.2) via screws; the stator of the external azimuth motor is fixed to the external azimuth base (1.1), and an azimuth angle sensor (1.6) is installed on the extension section of the external azimuth shaft (1.4); It also includes an external pitch angle sensor (1.9) and an external pitch bearing (1.11); The output end of the outer azimuth axis (1.4) is fixed to the outer pitch frame (1.5) by means of screws, and the outer pitch axis (1.8) is fixed to the outer pitch frame (1.5) by means of an outer pitch bearing (1.11) on one side of the outer pitch frame (1.5); the outer pitch axis (1.8) is fixed to the outer pitch frame (1.5) by means of an outer pitch bearing (1.11) on the other side of the outer pitch frame (1.5), and one end of the outer pitch axis (1.8) is connected to the outer pitch drive motor (1.7) by means of screws; The external orientation base (1.1) is connected to a scene of actual application, and the external orientation shaft (1.4) is connected to the external orientation base (1.1), the rotary bearing (1.3) and the external orientation motor (1.2) to complete the external orientation drive; The outer pitch frame (1.5) is connected to the outer azimuth axis (1.4), and the outer pitch axis (1.8) is connected to the outer pitch frame (1.5), the outer pitch bearing (1.11) and the outer pitch drive motor (1.7) to complete the drive of the outer pitch; The inner azimuth axis system comprises 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 to the inner frame (2.1) by screws to achieve the connection between the inner and outer frames; Symmetrical shock absorbers (2.2) are installed at the upper and lower ends of the inner frame (2.1); the inner position fixing seat (2.3) is fixed on the shock absorber (2.2) by screws.

2. The two-axis four-frame rotation mechanism based on flexible support and voice coil motor according to claim 1 is characterized in that: The inner pitch axis system comprises 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), a load side bearing fixing seat (2.13), and a load bracket (2.14); The pitch frame side bearing fixing seat (2.8) is fixed by being pre-tightened to the flexible support (2.5); the pitch frame side bearing fixing seat (2.8) is fixed to the inner pitch frame (2.9) by screws; The inner pitch frame (2.9) is provided with a driving force arm, the driving force arm is connected to the rotor of the inner azimuth voice coil motor (2.4) through screws, and the stator of the voice coil motor is connected to the azimuth fixing seat (2.3) through 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 to the inner pitch flexible support fixed seat bearing (2.11) by screw pre-tightening; the load side bearing fixed seat (2.13) is fixed by pre-tightening to the inner pitch flexible support (2.12); the inner pitch flexible support fixed seat bearing (2.11) is fixed to the load bracket (2.14) by screws.

3. The two-axis four-frame rotating mechanism based on flexible support and voice coil motor according to claim 2 is characterized in that: An external pitch angle sensor (1.9) is installed between the external pitch axis (1.8) and the external pitch frame (1.5); the shock absorber fixing seat is connected to the external pitch frame (1.5) via the shock absorber (2.2); and the internal azimuth voice coil motor (2.4) is fixed on the shock absorber fixing seat.

4. The two-axis four-frame rotating mechanism based on flexible support and voice coil motor according to claim 3 is characterized in that: The azimuth flexible support seat (2.6) is fixed to the inner azimuth fixed seat (2.3) by means of 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 seat (2.6) by pre-tightening the azimuth flexible support seat (2.6) with screws; The inner pitch frame (2.9) is equipped with an inner pitch angle sensor (2.15).

5. The two-axis four-frame rotating mechanism based on flexible support and voice coil motor according to claim 4 is characterized in that: The inner pitch frame (2.9) and the load bracket (2.14) are both provided with a driving force arm, which is connected to the inner pitch voice coil motor (2.10). The stator of the inner pitch voice coil motor (2.10) is connected to the inner pitch frame (2.9) via screws, and the inner pitch voice coil motor (2.10) drives the shaft system to rotate via the driving force arm.

6. The two-axis four-frame rotating mechanism based on flexible support and voice coil motor according to claim 5, characterized in that: Also includes a harmonic wheel reducer (1.10); The harmonic wheel reducer (1.10) is connected to the inner frame (2.1); The outer pitch axis is driven by an outer pitch drive motor (1.7) and a harmonic wheel reducer (1.10).

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