A dual-axis turntable mechanism based on differential principle

Abstract

The application provides a double-shaft rotary table mechanism based on differential principle, which comprises a base and an output flange, and further comprises a first driving member, a second driving member and a transmission assembly; the first driving member and the second driving member are arranged on the base; the transmission assembly comprises an azimuth bevel gear, a pitch bevel gear meshing with the azimuth bevel gear and a supporting member; the pitch bevel gear is in transmission connection with the first driving member and the second driving member respectively; the azimuth bevel gear is fixedly connected with the output flange; the pitch axis of the pitch bevel gear and the azimuth axis of the azimuth bevel gear are arranged orthogonally; the azimuth bevel gear and the pitch bevel gear are rotatably arranged on the supporting member; the driving axes of the first driving member and the second driving member are parallel to the pitch axis; by adjusting the rotation direction and the rotation speed of the first driving member and the second driving member respectively, the transmission assembly is driven, so that the output flange can output pure azimuth rotation, pure pitch rotation or compound motion coupled with azimuth and pitch.

Description

Technical Field

[0001] This invention relates to the field of precision mechanical transmission and turntable technology. More specifically, it relates to a dual-axis turntable mechanism based on the differential speed principle. Background Technology

[0002] Currently, traditional dual-axis turntables typically employ two independent drive systems: one for the azimuth axis and the other for the pitch axis. These are connected via orthogonal transmission chains and complex structural components. This approach has the following drawbacks: it occupies space in two directions, making it unsuitable for applications in compact spaces such as pods; it requires two independent power sources and their transmission systems, resulting in higher costs; and it necessitates additional backlash elimination mechanisms. Therefore, a simpler, smaller, and more directly controllable dual-axis turntable mechanism is needed. Summary of the Invention

[0003] The purpose of this invention is to provide a dual-axis rotary table mechanism based on the differential speed principle to solve at least one of the above-mentioned technical problems.

[0004] To achieve the above objectives, the present invention adopts the following technical solution: The present invention provides a dual-axis rotary table mechanism based on the differential principle, including a base and an output flange for bearing load, and also including a first driving component, a second driving component and a transmission assembly; Both the first driving member and the second driving member are disposed on the base; The transmission assembly includes an azimuth bevel gear, a pitch bevel gear meshing with the azimuth bevel gear, and a support member; the pitch bevel gear is connected to a first driving member and a second driving member respectively; the azimuth bevel gear is fixedly connected to the output flange; the pitch axis of the pitch bevel gear is orthogonal to the azimuth axis of the azimuth bevel gear; both the azimuth bevel gear and the pitch bevel gear are rotatably mounted on the support member. The drive axes of the first and second drive components are both parallel to the pitch axis. By adjusting the direction and speed of the first and second drive components respectively, and through the transmission assembly, the output flange can output pure azimuth rotation, pure pitch rotation, or a composite motion coupled with azimuth and pitch.

[0005] The preferred embodiment is that there are two pitch bevel gears and one azimuth bevel gear; the two pitch bevel gears are symmetrically arranged on both sides of the azimuth bevel gear along the pitch axis and the two pitch bevel gears are coaxially arranged.

[0006] A preferred embodiment is that the support member comprises an integrally formed T-shaped frame, the T-shaped frame comprising a horizontal support portion extending along the pitch axis and a vertical support portion extending along the azimuth axis; the horizontal support portion rotatably supports the pitch bevel gears on both sides via rolling bearings, and the vertical support portion rotatably supports the azimuth bevel gear via rolling bearings.

[0007] A preferred embodiment is that the dual-axis turntable mechanism further includes two pitch shafts connected to the pitch bevel gear and an azimuth shaft connected to the azimuth bevel gear. The pitch shafts are rotatably disposed on the outer circumferential surface of the horizontal support via rolling bearings, and the outer circumferential surface of the pitch shafts is rotatably connected to the base via rolling bearings. The azimuth axis is rotatably mounted on the outer circumferential surface of the vertical support via a rolling bearing.

[0008] The preferred embodiment is that pitch bevel gears are fixedly installed at the close ends of the two pitch axes, and transmission gears are fixedly installed at the opposite ends; an azimuth bevel gear for meshing with the two pitch bevel gears is fixedly installed at the end of the azimuth axis close to the pitch bevel gears, and the end away from the pitch bevel gears is fixedly connected to the output flange. Both the first and second driving components are drive motors, and drive gears are provided on the drive shafts of the drive motors. The two drive gears mesh with the two transmission gears respectively; the axes of the two drive shafts are parallel to the pitch axis.

[0009] A preferred embodiment is that the dual-axis turntable mechanism further includes a U-shaped connecting frame, which includes a middle section and two side arms connected to both ends of the middle section. The two side arms are rotatably connected to the outer circumferential surfaces of the two pitch axes, and the azimuth axis is rotatably located at the middle position of the middle section.

[0010] In a preferred embodiment, the dual-axis turntable mechanism further includes an azimuth angle measuring unit and a pitch angle measuring unit; the azimuth angle measuring unit is used to detect the rotation angle of the azimuth bevel gear; and the pitch angle measuring unit is used to detect the rotation angle of the pitch bevel gear.

[0011] The preferred embodiment is that when the first driving component and the second driving component output at the same speed in opposite directions, the two pitch bevel gears rotate synchronously in opposite directions, and the azimuth bevel gear does not pitch or swing relative to the base, but only rotates around the azimuth axis, driving the output flange to output pure azimuth rotational motion.

[0012] The preferred solution is that when the first driving component and the second driving component output in the same direction and at the same speed, the two pitch bevel gears rotate synchronously in the same direction, and the azimuth bevel gear does not rotate relative to the base, causing the output flange to swing around the pitch axis and output pure pitch rotational motion.

[0013] The preferred embodiment is that when there is a speed difference between the first driving component and the second driving component, the azimuth bevel gear simultaneously obtains the rotational angular velocity component around the azimuth axis and the oscillating angular velocity component around the pitch axis, thereby synthesizing a two-degree-of-freedom composite motion of the output flange with azimuth and pitch coupling.

[0014] The beneficial effects of this invention are as follows: This invention provides a dual-axis rotary table mechanism based on the differential principle, including a base and an output flange for bearing the load, and further including a first driving member, a second driving member, and a transmission assembly; the first and second driving members are both mounted on the base; the transmission assembly includes an azimuth bevel gear, a pitch bevel gear meshing with the azimuth bevel gear, and a support member; the pitch bevel gear is driven by the first and second driving members respectively; the azimuth bevel gear is fixedly connected to the output flange; the pitch axis of the pitch bevel gear is orthogonal to the azimuth axis of the azimuth bevel gear; both the azimuth bevel gear and the pitch bevel gear are rotatably mounted on the support member; the drive axes of the first and second driving members are parallel to the pitch axis; by adjusting the direction and speed of the first and second driving members respectively, and through the transmission assembly, the output flange can output pure azimuth rotation, pure pitch rotation, or a composite motion of azimuth and pitch coupling. Compared to the traditional dual-axis turntable design where two drive systems are distributed along orthogonal axes, occupying installation space in both the horizontal and vertical directions, this invention centrally arranges the two drive units along the pitch axis, concentrating all power input on the horizontal axis. Only the azimuth axis and output flange are retained in the vertical direction, significantly reducing the overall spatial envelope of the turntable and minimizing installation space requirements. This is particularly suitable for applications with demanding installation space requirements, such as optoelectronic pods. Furthermore, this invention achieves motion synthesis solely by adjusting the steering and speed difference of the two drive units, relying on a single bevel gear differential system composed of transmission components. This allows the output flange to directly output pure azimuth rotation, pure pitch oscillation, and a coupled azimuth-pitch motion. The overall structure is simplified, the transmission path is short and the transmission relationship is clear, the servo control logic is concise, and motion control is more direct and efficient. Attached Figure Description

[0015] The specific embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.

[0016] Figure 1 This is a schematic diagram of the overall structure of the dual-axis rotary table mechanism of the present invention.

[0017] Figure 2 This is a front view of the dual-axis rotary table mechanism of the present invention.

[0018] Figure 3 This is a cross-sectional view of the dual-axis rotary table mechanism of the present invention.

[0019] Figure 4This is a simulation diagram showing the change of the output azimuth angle over time under the pure azimuth motion condition of this invention.

[0020] Figure 5 This is a simulation diagram showing the change of the output pitch angle over time under the pure pitch motion condition of this invention.

[0021] Figure 6 This is a simulation diagram showing the change of the output pitch angle over time under the combined azimuth and pitch motion conditions of this invention.

[0022] Figure descriptions: 1. Base; 2. Output flange; 3. First drive component; 31. Drive gear; 4. Second drive component; 51. Azimuth bevel gear; 52. Azimuth shaft; 61. Pitch bevel gear; 62. Pitch shaft; 63. Transmission gear; 7. Support component; 71. Horizontal support part; 72. Vertical support part; 8. Connecting frame; 81. Middle part; 82. Side arm part; 91. Azimuth angle measuring unit; 92. Pitch angle measuring unit. Detailed Implementation

[0023] Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that, unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of the invention.

[0024] The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the invention or its application or use.

[0025] Technologies and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, such technologies and equipment should be considered part of the specification.

[0026] In all the examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values.

[0027] It should be noted that similar labels and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be discussed further in subsequent figures.

[0028] This invention provides a dual-axis rotary table mechanism based on the differential speed principle, combined with... Figures 1 to 6As shown, the dual-axis turntable mechanism based on the differential principle specifically includes a base 1 and an output flange 2 for bearing the load. The dual-axis turntable mechanism also includes a first drive member 3, a second drive member 4, and a transmission assembly. Both the first drive member 3 and the second drive member 4 are mounted on the base 1; the transmission assembly includes an azimuth bevel gear 51, a pitch bevel gear 61 meshing with the azimuth bevel gear 51, and a support member 7; the pitch bevel gear 61 is connected to the first drive member 3 and the second drive member 4 respectively; the azimuth bevel gear 51 is fixedly connected to the output flange 2; the pitch axis of the pitch bevel gear 61 is orthogonal to the azimuth axis of the azimuth bevel gear 51; both the azimuth bevel gear 51 and the pitch bevel gear 61 are rotatably mounted on the support member 7. Specifically, in... Figure 1 In the initial state of the mechanism shown, the pitch axis is set horizontally and the azimuth axis is set vertically. Furthermore, the drive axes of the first drive member 3 and the second drive member 4 are both parallel to the pitch axis. By adjusting the direction and speed of the first drive member 3 and the second drive member 4 respectively, and through the transmission assembly, the output flange 2 can output pure azimuth rotation, pure pitch rotation, or a composite motion coupled with azimuth and pitch. This invention provides a dual-axis turntable mechanism based on the differential principle, which uses a single-stage bevel gear differential system paired with two coaxially arranged drive motors. It can output pure azimuth rotation, pure pitch oscillation, and a composite motion coupled with azimuth and pitch, effectively solving the technical problems of existing dual-axis turntables with dispersed transmission chains, large bidirectional space occupation, and low structural integration.

[0029] In the above embodiment, there are two pitch bevel gears 61 and one azimuth bevel gear 51. The two pitch bevel gears 61 are symmetrically arranged on both sides of the azimuth bevel gear 51 along the pitch axis, and the two pitch bevel gears 61 are coaxially arranged. The above-mentioned complete transmission assembly constitutes a single-stage bevel gear differential gear train (also known as a single-stage bevel gear differential speed gear train). The core transmission of this invention is a single-stage bevel gear differential transmission, which has a short power transmission path, reduces the efficiency loss caused by multi-stage transmission, and at the same time reduces the probability of failure of multi-component linkage, thereby improving the long-term stability and service life of the turntable.

[0030] In one specific embodiment, the support member 7 includes an integrally formed T-shaped frame, which includes a horizontal support portion 71 extending along the pitch axis and a vertical support portion 72 extending along the azimuth axis. The horizontal support portion 71 rotatably supports the pitch bevel gears 61 on both sides via rolling bearings, and the vertical support portion 72 rotatably supports the azimuth bevel gear 51 via rolling bearings. This T-shaped frame integrates the rotational support functions of both the pitch bevel gear 61 and the azimuth bevel gear 51.

[0031] More specifically, the dual-axis turntable mechanism further includes two pitch shafts 62 connected to the pitch bevel gear 61 and an azimuth shaft 52 connected to the azimuth bevel gear 51. The pitch shafts 62 are rotatably disposed on the outer circumferential surface of the horizontal support portion 71 via rolling bearings, and the outer circumferential surface of the pitch shafts 62 is rotatably connected to the base 1 via rolling bearings. The azimuth shaft 52 is rotatably disposed on the outer circumferential surface of the vertical support portion 72 via rolling bearings. Pitch bevel gears 61 are fixedly installed at the adjacent ends of the two pitch shafts 62, and transmission gears 63 are fixedly installed at the opposite ends. An azimuth shaft 52 is fixedly installed at the end near the pitch bevel gears 61 for meshing with the two pitch bevel gears 61, and the end away from the pitch bevel gears 61 is fixedly connected to the output flange 2. Both the first driving component 3 and the second driving component 4 are drive motors. Each drive motor has a drive gear 31 mounted on its drive shaft, and the two drive gears 31 mesh with two corresponding transmission gears 63. The axes of both drive shafts are parallel to the pitch axis, and the two drive gears 31 are fixed to opposite ends of the two drive shafts. Specifically, a receiving space is formed inside the base 1, and the two drive motors are housed within this space. Depending on the size of the receiving space, the two drive motors can be coaxially or offset. The power drive and motion transmission process of the drive motors is as follows: the two drive motors can independently control their speed and direction. After power output, the power is transmitted through a single-stage bevel gear differential gear train, and finally, the output flange outputs a two-degree-of-freedom motion. After the drive motors start, their drive shafts drive the drive gears 31 to rotate synchronously. The drive gears 31 mesh with the corresponding transmission gears 63, transmitting power to the pitch axis 61, causing the pitch axis 61 to rotate stably around the pitch axis. The two drive motors can be arranged in a parallel offset configuration to flexibly adapt to the installation space inside the base. Whether the two drive motors are coaxial or staggered, the stability of the transmission meshing can be ensured. By adjusting the direction and speed ratio of the two drive motors, the turntable's motion mode can be precisely switched: when the two drive motors output in the same direction at the same speed, pure pitch motion is output; when the two drive motors output in opposite directions at the same speed, pure azimuth motion is output; when there is a speed difference between the two drive motors, a combined motion of azimuth and pitch is output.

[0032] Furthermore, the dual-axis turntable mechanism also includes a U-shaped connecting frame 8. The connecting frame 8 includes a central section 81 and two side arms 82 connected to both ends of the central section 81. The two side arms 82 are rotatably connected to the outer circumferential surfaces of the two pitch axes 62 around the pitch axis. The azimuth axis 52 is rotatably positioned in the middle of the central section 81. The outer circumferential surface of the azimuth axis 52 is rotatably connected to the central section 81 via rolling bearings. When the two drive motors output at the same speed in the same direction and the output flange 2 performs pure pitch motion, the connecting frame 8 swings synchronously around the pitch axis with the output flange 2. When the two drive motors output at the same speed in opposite directions and the output flange 2 performs pure azimuth motion, the connecting frame 8 remains stationary relative to the base 1. When there is a speed difference between the outputs of the two drive motors and the output flange 2 performs a combined motion of azimuth and pitch coupling, the connecting frame 8 completes the pitch swing synchronously with the output flange 2, and the azimuth axis 52 can rotate relative to the connecting frame 8.

[0033] In one specific embodiment, to achieve real-time angle detection of azimuth and pitch dual-degree-of-freedom motion, the dual-axis turntable mechanism further includes an azimuth angle measuring unit 91 and a pitch angle measuring unit 92. The azimuth angle measuring unit 91 is located on the outer side of the top of the azimuth axis 52 and is used to detect the rotation angle of the azimuth bevel gear 51; the pitch angle measuring unit 92 is disposed on the circumferential outer side of the transmission gear 63 and is used to detect the rotation angle of the pitch bevel gear 61.

[0034] The specific working process of the dual-axis turntable mechanism of this invention is as follows: When the first driving member 3 and the second driving member 4 output at the same speed in opposite directions, the two pitch bevel gears 61 rotate synchronously in opposite directions, and the azimuth bevel gear 51 does not pitch or oscillate relative to the base 1, but only rotates around the azimuth axis, driving the output flange 2 to output pure azimuth rotational motion. When the first driving member 3 and the second driving member 4 output at the same speed in the same direction, the two pitch bevel gears 61 rotate synchronously in the same direction, and the azimuth bevel gear 51 does not rotate relative to the base 1, driving the output flange 2 to oscillate around the pitch axis, outputting pure pitch rotational motion. When there is a speed difference between the first driving member 3 and the second driving member 4, the azimuth bevel gear 51 simultaneously obtains the rotational angular velocity component around the azimuth axis and the oscillation angular velocity component around the pitch axis, thereby synthesizing a two-degree-of-freedom composite motion of the output flange 2 with azimuth and pitch coupling. More specifically, when the two drive motors rotate at the same speed in the same direction, the azimuth bevel gear 51 rotates around the vertical axis, driving the load to achieve pure azimuth rotational motion. When the two drive motors rotate in opposite directions at the same speed, the azimuth bevel gear 51 does not rotate relative to the base 1, and the T-shaped frame oscillates around the pitch direction, driving the load to achieve a pure pitch rotational motion. When there is a speed difference between the two drive motors, the load simultaneously obtains both azimuth and pitch motion components, achieving a composite motion of azimuth and pitch. That is, when the two drive motors rotate at different speeds in the same direction, a composite motion of azimuth and pitch can be achieved; when the two drive motors rotate at different speeds in opposite directions, a composite motion of azimuth and pitch can also be achieved.

[0035] In addition, to further verify the motion synthesis law and motion accuracy of the bevel gear differential gear train of the present invention, kinematic simulations were performed on typical working conditions. This simulation only verifies the principle law of differential transmission, ignoring engineering constraints such as mechanical interference and mechanical limits; the pitch angle is defined as the rotation angle of the connecting frame relative to the base around the pitch axis, and the azimuth angle is defined as the rotation angle of the output flange relative to the connecting frame around the azimuth axis. When the first and second driving components output in opposite directions at equal speeds, the two pitch bevel gears rotate synchronously in opposite directions. Under this condition, the connecting frame has no pitch oscillation relative to the base, the azimuth bevel gear only rotates uniformly around its own azimuth axis, and the output flange outputs pure azimuth rotational motion. The simulation results are as follows: Figure 4 As shown: the output azimuth angle changes linearly with time from 0 to 10 seconds, with a cumulative angle of -1000°, corresponding to a constant angular velocity of -100° / s; there is no additional pitch offset component throughout the motion, verifying the accuracy of the motion under pure azimuth conditions and the smoothness of the azimuth transmission. When the first and second driving components output at the same speed and in the same direction, the two pitch bevel gears rotate synchronously and in the same direction. Under this condition, the azimuth bevel gear does not rotate relative to the connecting frame, but only oscillates uniformly around the pitch axis with the connecting frame as a whole, and the output flange outputs pure pitch rotational motion. The simulation results are as follows. Figure 5As shown: the pitch angle of the output end changes linearly with time from 0 to 10 seconds, with a cumulative rotation angle of 1000°, corresponding to a constant angular velocity of 100° / s; there is no additional azimuth rotation component throughout the motion, verifying the accuracy of the motion under pure pitch conditions and the smoothness of the pitch transmission. When the first and second driving components output in the same direction but at different speeds, through the motion synthesis of the bevel gear differential gear train, the output end simultaneously obtains two independent angular velocity components, namely the pitch angular velocity component and the azimuth angular velocity component. Under this condition, the output flange simultaneously completes azimuth rotation and pitch oscillation, forming a two-degree-of-freedom coupled motion. The simulation results are as follows. Figure 6 As shown, the pitch angle of the output end changes linearly with time from 0 to 10 seconds, with a cumulative angle of -550°, corresponding to an angular velocity of -55° / s; this verifies the accuracy and stability of the motion under the composite motion mode. Those skilled in the art will understand that the above large-angle rotation results are a principle verification conclusion of ideal kinematics. In practical engineering applications, due to mechanical interference from the output flange, load, base, and surrounding components, the pitch axis cannot achieve continuous full-circle rotation; its effective working angle range can be specifically designed according to the overall structural dimensions and usage requirements.

[0036] In summary, this invention provides a dual-axis rotary table mechanism based on the differential principle, including a base and an output flange for bearing the load, and further including a first driving member, a second driving member, and a transmission assembly; the first and second driving members are both mounted on the base; the transmission assembly includes an azimuth bevel gear, a pitch bevel gear meshing with the azimuth bevel gear, and a support member; the pitch bevel gear is driven by the first and second driving members respectively; the azimuth bevel gear is fixedly connected to the output flange; the pitch axis of the pitch bevel gear is orthogonal to the azimuth axis of the azimuth bevel gear; both the azimuth bevel gear and the pitch bevel gear are rotatably mounted on the support member; the driving axes of the first and second driving members are parallel to the pitch axis; by adjusting the direction and speed of the first and second driving members respectively, and through the transmission assembly, the output flange can output pure azimuth rotational motion, pure pitch rotational motion, or a composite motion of azimuth and pitch coupled. Compared to the traditional dual-axis turntable design where two drive systems are distributed along orthogonal axes, occupying installation space in both the horizontal and vertical directions, this invention centrally arranges the two drive units along the pitch axis, concentrating all power input on the horizontal axis. Only the azimuth axis and output flange are retained in the vertical direction, significantly reducing the overall spatial envelope of the turntable and minimizing installation space requirements. This is particularly suitable for applications with demanding installation space requirements, such as optoelectronic pods. Furthermore, this invention achieves motion synthesis solely by adjusting the steering and speed difference of the two drive units, relying on a single bevel gear differential system composed of transmission components. This allows the output flange to directly output pure azimuth rotation, pure pitch oscillation, and a coupled azimuth-pitch motion. The overall structure is simplified, the transmission path is short and the transmission relationship is clear, the servo control logic is concise, and motion control is more direct and efficient.

[0037] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation of the present invention. For those skilled in the art, other variations or modifications can be made based on the above description. It is impossible to exhaustively list all the implementation methods here. All obvious variations or modifications derived from the technical solutions of the present invention are still within the protection scope of the present invention.

Claims

1. A dual-axis rotary table mechanism based on the differential speed principle, comprising a base and an output flange for bearing the load, characterized in that, It also includes a first drive component, a second drive component, and a transmission assembly; Both the first driving member and the second driving member are disposed on the base; The transmission assembly includes an azimuth bevel gear, a pitch bevel gear meshing with the azimuth bevel gear, and a support member; the pitch bevel gear is connected to a first driving member and a second driving member respectively; the azimuth bevel gear is fixedly connected to the output flange; the pitch axis of the pitch bevel gear is orthogonal to the azimuth axis of the azimuth bevel gear; both the azimuth bevel gear and the pitch bevel gear are rotatably mounted on the support member. The drive axes of the first and second drive components are both parallel to the pitch axis. By adjusting the direction and speed of the first and second drive components respectively, and through the transmission assembly, the output flange can output pure azimuth rotation, pure pitch rotation, or a composite motion coupled with azimuth and pitch.

2. The dual-axis rotary table mechanism according to claim 1, characterized in that, The number of pitch bevel gears is two, and the number of azimuth bevel gears is one; the two pitch bevel gears are symmetrically arranged on both sides of the azimuth bevel gear along the pitch axis and the two pitch bevel gears are coaxially arranged.

3. The dual-axis rotary table mechanism according to claim 2, characterized in that, The support component includes an integrally formed T-shaped frame, which includes a horizontal support portion extending along the pitch axis and a vertical support portion extending along the azimuth axis. The horizontal support portion rotatably supports the pitch bevel gears on both sides via rolling bearings, and the vertical support portion rotatably supports the azimuth bevel gear via rolling bearings.

4. The dual-axis rotary table mechanism according to claim 3, characterized in that, The dual-axis turntable mechanism also includes two pitch axes connected to the pitch bevel gear and an azimuth axis connected to the azimuth bevel gear. The pitch axes are rotatably disposed on the outer circumferential surface of the horizontal support via rolling bearings, and the outer circumferential surface of the pitch axes is rotatably connected to the base via rolling bearings. The azimuth axis is rotatably mounted on the outer circumferential surface of the vertical support via a rolling bearing.

5. The dual-axis rotary table mechanism according to claim 4, characterized in that, Both pitch axes are fixedly equipped with pitch bevel gears at their close ends and transmission gears at their opposite ends; the azimuth axis is fixedly equipped with an azimuth bevel gear for meshing with the two pitch bevel gears at one end close to the pitch bevel gear, and the end away from the pitch bevel gear is fixedly connected to the output flange. Both the first and second driving components are drive motors, and drive gears are provided on the drive shafts of the drive motors. The two drive gears mesh with the two transmission gears respectively; the axes of the two drive shafts are parallel to the pitch axis.

6. The dual-axis rotary table mechanism according to claim 4, characterized in that, The dual-axis turntable mechanism also includes a U-shaped connecting frame, which includes a middle part and two side arms connected to both ends of the middle part. The two side arms are rotatably connected to the outer circumferential surfaces of the two pitch axes, and the azimuth axis is rotatably located at the middle position of the middle part.

7. The dual-axis rotary table mechanism according to claim 1, characterized in that, The dual-axis turntable mechanism further includes an azimuth angle measuring unit and a pitch angle measuring unit; the azimuth angle measuring unit is used to detect the rotation angle of the azimuth bevel gear; the pitch angle measuring unit is used to detect the rotation angle of the pitch bevel gear.

8. The dual-axis rotary table mechanism according to claim 1, characterized in that, When the first and second driving components output at the same speed in opposite directions, the two pitch bevel gears rotate synchronously in opposite directions, while the azimuth bevel gear does not pitch or swing relative to the base, but only rotates around the azimuth axis, driving the output flange to output pure azimuth rotational motion.

9. The dual-axis rotary table mechanism according to claim 1, characterized in that, When the first and second driving components output at the same speed in the same direction, the two pitch bevel gears rotate synchronously in the same direction, while the azimuth bevel gear does not rotate relative to the base, causing the output flange to swing around the pitch axis and output pure pitch rotational motion.

10. The dual-axis rotary table mechanism according to claim 1, characterized in that, When there is a speed difference between the first driving component and the second driving component, the azimuth bevel gear simultaneously obtains the rotational angular velocity component around the azimuth axis and the oscillating angular velocity component around the pitch axis, thus synthesizing into a two-degree-of-freedom composite motion of the output flange with azimuth and pitch coupling.

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