Parallel space measurement pointing mechanism, its operation method, and space measurement instrument

Abstract

The present invention relates to a parallel type space measurement pointing mechanism, an operation method thereof, and a space measurement instrument, which mainly consist of a frame, a first motor, a second motor, a load mounting member, a rotating assembly, a swinging link assembly, etc. arranged on the frame. Among them, the load mounting member has a pitching rotating shaft for setting an external load device; one end of the rotating assembly is connected to a driving shaft, and the other end is rotatably connected to the pitching rotating shaft of the load mounting member; for the swinging link assembly, one end is connected to an output shaft, and the other end is connected to the load mounting member through a ball joint. The driving shaft of the first motor is arranged along the first azimuth axis and is coaxially collinear with the output shaft of the second motor; the load mounting member is used to rotate a preset angle along the second azimuth axis formed by the pitching rotating shaft under the combined drive of the first motor and the second motor, and to perform circumferential rotation following the rotating assembly. Compared with the prior art, the present application not only has a simple structure, but also can improve the measurement accuracy.

Description

Technical Field

[0001] The present invention relates to the field of machinery, and particularly to a parallel spatial measurement pointing mechanism. Background Art

[0002] In space measurement instruments such as spaceborne antennas and space optical remote sensors, a two-dimensional spatial measurement pointing mechanism is required to carry load components such as antennas, remote sensing instruments, and image acquisition devices to achieve positioning and detection functions. Generally, the load components inside the space measurement instrument not only need to have two mutually perpendicular rotational degrees of freedom, but also need to solve technical problems such as the spatial measurement pointing accuracy and stability of positioning and detection devices. Moreover, during the R & D process, whether the internal design structure of the space measurement instrument is compact is of great significance for improving the reliability of the system.

[0003] However, common spatial measurement pointing mechanisms mostly adopt a series structure form in which two rotational degrees of freedom are stacked step by step, but there are problems such as reduced stiffness and accuracy, poor frequency response, reduced load-bearing capacity and stability due to the accumulation of mechanism errors. Especially due to the superposition of the structure and the driving motor must be installed on the frame, therefore, the driving motor at the end of the spatial measurement pointing mechanism swings with the first rotational degree of freedom, resulting in problems of signal line and cable swing and winding. For example, the two-dimensional pointing mechanism disclosed in the patent (application number 201811358266.8) is a series structure, which has problems of drag force caused by cable swing affecting measurement accuracy and winding. At the same time, the cable is exposed and not easy to protect, reducing the pointing accuracy and system stability. Some spatial measurement pointing mechanisms, although adopting a parallel structure, are large in size and weight. For example, the parallel two-dimensional pointing structure of the invention patent (202111232894.3) is relatively complex, has a large moment of inertia, and uses complex mechanical elements such as bevel gears that are not easy to ensure accuracy and maintain.

[0004] Therefore, how to provide a parallel spatial measurement pointing mechanism that is not only simple in structure, but also can avoid affecting measurement accuracy due to cable swing and winding, and at the same time the motor and cable are easy to protect, is a technical problem that the present invention urgently needs to solve. Summary of the Invention

[0005] The purpose of the present invention is to provide a parallel spatial measurement pointing mechanism that is not only simple in structure, but also can avoid affecting measurement accuracy due to cable swing and winding, and at the same time is convenient for protecting the motor and cable to improve the reliability of the system.

[0006] To achieve the above purpose, the present invention proposes a parallel spatial measurement pointing mechanism, including:

[0007] Frame;

[0008] The first motor is disposed on the frame;

[0009] The second motor is disposed on the frame and arranged relative to the first motor;

[0010] The load mounting member has a pitching rotation shaft and is used for setting an external load device;

[0011] One end of the rotating assembly is connected to the driving shaft of the first motor, and the other end is rotatably connected to the pitching rotation shaft of the load mounting member;

[0012] One end of the swing link assembly is connected to the output shaft of the second motor, and the other end is connected to the load mounting member through a ball joint;

[0013] Wherein, the driving shaft of the first motor is arranged along the axial direction of the first azimuth and is coaxially collinear with the output shaft of the second motor; the load mounting member is used to rotate a preset angle along the axial direction of the second azimuth formed by the pitching rotation shaft under the combined drive of the first motor and the second motor, and to perform circumferential rotation following the rotating assembly; the axial direction of the second azimuth is set at a preset first included angle with the axial direction of the first azimuth.

[0014] Further preferably, the preset first included angle is 90 degrees;

[0015] Further preferably, the preset angle is 0 degree to 135 degrees.

[0016] Further preferably, the rotating assembly includes: a linkage rod coaxially connected to the driving shaft, and a rotating rod with one end connected to the linkage rod and the other end rotatably connected to the load mounting member; wherein, the linkage rod and the rotating rod are set at the preset first included angle.

[0017] Further preferably, the load mounting member includes: a shaft sleeve coaxially sleeved on the rotating rod and forming the pitching rotation shaft, and a mounting disc connected to the shaft sleeve and used for mounting the load device.

[0018] Further preferably, the swing link assembly includes: a first swing rod coaxially connected to the output shaft, a second swing rod connected to the first swing rod, a first ball joint, a second ball joint, and a third swing rod with one end hinged to the second swing rod through the first ball joint and the other end forming the ball joint connection with the load mounting member through the second ball joint; wherein, the second swing rod and the first swing rod are set at a preset second included angle.

[0019] Further preferably, the first swing rod and the linkage rod are coaxially arranged; the first swing rod and the linkage rod are connected and arranged in opposite extending directions; the second included angle is 90 degrees; the included angle between the second swing rod and the third swing rod changes dynamically when the first motor and the second motor operate at different speeds.

[0020] Further preferably, the distance between the connection point of the second ball joint and the rotating rod and its connection point with the third swing rod is L1: the distance between the connection point of the rotating rod and the second ball joint and its connection point with the linkage rod is the first distance L2; the distance between the connection point of the second swing rod and the first ball joint and its connection point with the first swing rod is L3; the distance between the rotating rod and the second swing rod is L4; wherein, the L2 is equal to the L3; the ratio of the L4 to the L2 is greater than or equal to 2; the ratio of the L4 to the L1 is greater than or equal to 6.

[0021] Further preferably, the frame includes: a base, a first fixing plate and a second fixing plate disposed on the base and located at opposite ends respectively; wherein, the first motor is disposed on the first fixing plate; the second motor is disposed on the second fixing plate; the rotating assembly further includes: a first slewing bearing for connecting the drive shaft and the linkage rod; the swing link assembly further includes: a second slewing bearing for connecting the output shaft and the first swing rod; and, a first through hole for installing the first slewing bearing is formed on the first fixing plate; a second through hole for installing the second slewing bearing is formed on the second fixing plate.

[0022] Further preferably, when the first motor and the second motor rotate in the same direction at the same speed, the load mounting member only rotates with the first azimuth axis as the rotation axis;

[0023] When the first motor locks and rotates, and the second motor rotates, the load mounting member only spins around the pitch rotation axis to the preset angle to form a reciprocating swing;

[0024] When the second motor locks and rotates, and the first motor rotates, the load mounting member rotates with the first azimuth axis as the rotation axis and simultaneously spins around the pitch rotation axis to the preset angle to form a reciprocating swing.

[0025] The present application also provides a spatial measurement instrument, including: the above-mentioned parallel spatial measurement pointing mechanism.

[0026] The present application also provides an operation method for controlling the operation of the above-mentioned parallel space measurement pointing mechanism, including the following steps:

[0027] Control the first motor and the second motor to rotate in the same direction at the same speed;

[0028] Control the first motor to lock and rotate, and at the same time control the second motor to rotate;

[0029] Control the second motor to lock and rotate, and at the same time control the first motor to rotate.

[0030] Compared with the prior art, the beneficial effects of the present invention are mainly reflected in that not only is the structure simple, but also the whole can be transmitted through the link assembly, so that the motors are all installed on the frame, which can avoid affecting the measurement accuracy due to the swing and winding of the cable. At the same time, the motors and the cable can be installed on the frame or in the cabin, which is easy to protect and improves the overall reliability. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 It is a schematic structural diagram of the parallel space measurement pointing mechanism in an embodiment of the present invention;

[0032] Figure 2 It is a state schematic diagram of the parallel space measurement pointing mechanism in an embodiment of the present invention Figure 1 ;

[0033] Figure 3 It is a state schematic diagram of the parallel space measurement pointing mechanism in an embodiment of the present invention Figure 2 ;

[0034] Figure 4 It is a state schematic diagram of the parallel space measurement pointing mechanism in an embodiment of the present invention Figure 3 ;

[0035] Figure 5 It is a state schematic diagram of the parallel space measurement pointing mechanism in an embodiment of the present invention Figure 4 ;

[0036] Figure 6 It is a state schematic diagram of the parallel space measurement pointing mechanism in an embodiment of the present invention Figure 5 ;

[0037] Figure 7 It is a state schematic diagram of the parallel space measurement pointing mechanism in an embodiment of the present invention Figure 6 ;

[0038] Figure 8 It is a flowchart of the control method of the parallel space measurement pointing mechanism in an embodiment of the present invention;

[0039] Figure 9This is a key mechanism ratio dimension diagram of the parallel spatial measurement pointing mechanism in an embodiment of the present invention;

[0040] Description of the drawings: The first motor 1, the second motor 2, the rotating assembly 3, the linkage rod 31, the rotating rod 32, the first slewing bearing 33, the swing link assembly 9, the first swing rod 91, the second swing rod 92, the third swing rod 93, the first ball hinge 94, the second ball hinge 95, the second slewing bearing 96, the load mounting member 8, the bushing 81, the mounting plate 82, the frame 12, the base 121, the first fixing plate 122, the second fixing plate 123. Detailed implementation manners

[0041] The parallel spatial measurement pointing mechanism of the present invention will be described in more detail below with reference to the schematic diagrams, in which the preferred embodiments of the present invention are shown. It should be understood that those skilled in the art can modify the present invention described herein while still achieving the advantageous effects of the present invention. Therefore, the following description should be understood as a broad guidance for those skilled in the art and not as a limitation to the present invention.

[0042] Please refer to Figures 1 to 7 , in this embodiment, a parallel spatial measurement pointing mechanism is provided, which mainly consists of a frame 12, a first motor 1 disposed on the frame 12, a second motor 2 disposed on the frame 12 and arranged opposite to the first motor 1, a load mounting member 8, a rotating assembly 3, and a swing link assembly 9, etc.

[0043] Among them, the load mounting member 8 has a pitch rotation axis and is used to set an external load device (not shown in the figure); one end of the rotating assembly 3 is connected to the drive shaft of the first motor (not marked in the figure), and the other end is rotatably connected to the pitch rotation axis of the load mounting member 8; one end of the swing link assembly 9 is connected to the output shaft of the second motor (not marked in the figure), and the other end is connected to the load mounting member 8 through a ball hinge. It should be noted that the parallel spatial measurement pointing mechanism in this embodiment can be applied to spatial measurement instruments such as spaceborne antennas and space optical remote sensors, for example, spatial measurement instruments of airborne vehicles such as satellites and space stations. The load device can preferably be a camera or a navigation locator, etc.

[0044] Among them, the drive shaft of the first motor 1 is arranged along the first azimuth axis; the output shaft of the second motor 2 is arranged along the first azimuth axis A; the load mounting member 8 is used to rotate a preset angle along the second azimuth axis B formed by the pitch rotation axis under the combined drive of the first motor 1 and the second motor 2, and to perform circumferential rotation following the rotating assembly 3; the second azimuth axis B is set at a preset first included angle with the first azimuth axis A.

[0045] As can be seen from the above, the pitch rotation shaft of the load mounting member 8 is connected to the first motor 1 through the rotating assembly 3, so that synchronous rotation along the first azimuth axis can be achieved. For example, Figure 1 it rotates in the direction indicated by arrow C in Figure 1 . At the same time, since the load mounting member 8 is also hinged to the swing link assembly 9, the load mounting member 8 can, under the cooperation of the first motor 1 and the second motor 2, not only achieve one full synchronous rotation along the first azimuth axis A, that is, rotate 360 degrees, but also rotate a preset angle along the second azimuth axis B formed by the axis of the pitch rotation shaft, for example

[0046] in the direction indicated by arrow D in

[0047] or in the direction opposite to arrow D, so as to realize the pointing movement of the load device provided on the load mounting member 8 with multiple degrees of freedom in space.

[0048] In order to illustrate the working principle and method of the parallel space measurement pointing mechanism and the corresponding working state, the following brief description is made:

[0049] When the first motor 1 and the second motor 2 rotate in the same direction at the same speed, the load mounting member 8 only makes a rotational motion with the first azimuth axis A as the rotation axis. For example, taking Figure 1 as the initial state, the states of the first motor 1 and the second motor 2 after synchronous rotation in the direction indicated by arrow C in Figure 1 can be referred to the two state diagrams corresponding to Figure 4 and Figure 5 .

[0050] When the first motor 1 is locked and rotates, and the second motor 2 rotates, the load mounting member 8 rotates only around the pitch rotation axis, that is, the second azimuth axis B, to spin to the preset angle to form a reciprocating swing; for example, taking Figure 1 as the initial state as an example, the first motor 1 is locked and rotates, and the second motor 2 rotates along Figure 1 the direction shown by the arrow C in Figure 8 and Figure 7 the two corresponding state schematic diagrams can be referred to.

[0051] When the second motor 2 is locked and rotates, and the first motor 1 rotates, while the load mounting member 8 rotates around the first azimuth axis, it also spins around the pitch rotation axis synchronously to the preset angle to form a reciprocating swing. For example, taking Figure 1 as the initial state as an example, the second motor 2 is locked and rotates, and the first motor 1 rotates along Figure 1 the direction shown by the arrow C in Figure 2 and Figure 3 the two corresponding state schematic diagrams can be referred to. Obviously, it should be noted that the above first motor 1 and second motor 2 can also rotate in the opposite direction of the arrow C, and no specific limitation and elaboration will be made here.

[0052] Specifically, the preset first included angle is preferably 90 degrees. Through the setting of this angle, the pitch rotation axis is perpendicular to the driving axis, which not only facilitates controlling the rotation direction of the load component, but also further helps to reduce the overall size and moment of inertia, and save power, etc. Obviously, it should be noted that the first angle in this embodiment is preferably other angles, such as 45 degrees, 60 degrees, etc., and no specific limitation and elaboration will be made here.

[0053] In detail, the preset angle is preferably 0 degrees to 135 degrees or 0 to 90°. Through the setting of this angle, the rotation range of the load mounting member 8 along the axis of its pitch rotation axis can be controlled, so as to control the swing amplitude of the load mounting member 8 around the axis of the pitch rotation axis. Obviously, it should be noted that the preset angle in this embodiment can be other angles in addition to preferably 0 degrees to 90 degrees, such as 45 degrees, 60 degrees, etc., and no specific limitation and elaboration will be made here.

[0054] Further preferably, the rotating assembly 3 in this embodiment may be composed of a linkage rod 31 coaxially connected to the drive shaft, a rotating rod 32 connected to one end of the linkage rod 31 and rotatably connected to the load mounting member 8 at the other end, etc. Among them, the linkage rod 31 and the linkage rod 31 are arranged at the above-mentioned preset first angle. The linkage rod 31 and the rotating rod 32 may be integrally formed linkages, such as right-angle rods or angled rods, or may be designed as detachable linkage rod 31 and rotating rod 32 according to actual needs, and specific limitations and descriptions will not be made here.

[0055] Further preferably, in order to meet the design and assembly requirements in actual applications, the load mounting member 8 may be composed of a bushing 81 coaxially sleeved on the rotating rod 32 and forming the pitching rotating shaft, a mounting disk 82 connected to the bushing 81 and used for mounting the load device, etc. Through this structure, while the load mounting member 8 can follow the rotation of the rotating rod 32, it can also rotate along the axis perpendicular to the first azimuth axis.

[0056] Further preferably, the swing link assembly 9 may be composed of a first swing rod 91 coaxially connected to the output shaft, a second swing rod 92 connected to the first swing rod 91, a first ball joint 94, a second ball joint 95, a third swing rod 93 whose one end is hinged to the second swing rod 92 through the first ball joint 94 and the other end is ball-joint connected to the load mounting member 8 through the second ball joint 95, etc. Among them, the second swing rod 92 and the first swing rod 91 are arranged at a preset second angle. Through the cooperation of multiple swing rods and ball joints, the swing link assembly 9 can control the load component to make reciprocating swings while avoiding jamming under the drive of the second motor 2.

[0057] Among them, it is worth mentioning that the first swing rod 91 and the second swing rod 92 in this embodiment may be integrally formed linkages, such as right-angle rods or angled rods, or may be designed as detachable first swing rod 91 and second swing rod 92 according to actual needs, and specific limitations and descriptions will not be made here. And the first ball joint 94 and the second ball joint 95 in this embodiment are both preferably spherical joints.

[0058] Further preferably, the second angle is 90 degrees; through the setting of this angle, the first swing rod 91 and the second swing rod 92 are perpendicular to each other, which not only facilitates controlling the rotation direction of the load component, but also further helps to reduce the overall size and moment of inertia and save power, etc. Obviously, it should be noted that the second angle in this embodiment is preferably other angles, such as 45 degrees, 60 degrees, etc., and specific limitations and descriptions will not be made here.

[0059] Further preferably, the first swing rod 91 is parallel to the linkage rod 31; the first swing rod 91 and the linkage rod 31 are arranged in opposite directions of extension. Through the arrangement of this structure, under the action of the rotation assembly 3 and the swing rod assembly on the load mounting member 8, a counteracting effect can be formed in the axial direction along the pitch rotation axis, and at the same time, the dead angle of no direction control at a certain angle can be avoided, so that the rotation direction cannot be well constrained and controlled.

[0060] Further preferably, the included angle between the second swing rod 92 and the third swing rod 93 changes dynamically when the first motor 1 and the second motor 2 operate at different speeds. Through the setting of this dynamic angle change, it is convenient to adjust the length ratios of the first swing rod 91, the second swing rod 92, the third swing rod 93, etc., so that the swing angle range of the pitch axis can be better adjusted.

[0061] Further preferably, referring to Figure 9 As shown, the distance between the connection point of the second ball joint 95 and the rotating rod 32 and its connection point with the third swing rod 93 is L1: the distance between the connection point of the rotating rod 32 and the second ball joint 95 and its connection point with the linkage rod 31 is the first distance L2; the distance between the connection point of the second swing rod 92 and the first ball joint 94 and its connection point with the first swing rod 91 is L3; the distance between the rotating rod 32 and the second swing rod 92 is L4. Among them, the L2 is equal to the L3; the ratio between the L4 and the L2 is greater than or equal to 2; the ratio between the L4 and the L1 is greater than or equal to 6. Through the ratio setting between the above-mentioned various connecting rods, power can be saved and large-angle swing can be achieved.

[0062] Further preferably, the frame 12 includes: a base 121, a first fixed plate 122 and a second fixed plate 123 which are arranged on the base 121 and located at opposite ends respectively, etc. Among them, the first motor 1 is arranged on the first fixed plate 122; the second motor 2 is arranged on the second fixed plate 123; the rotating assembly 3 further includes: a first slewing bearing 33 for connecting the drive shaft and the linkage rod; the swing link assembly 9 further includes: a second slewing bearing 96 for connecting the output shaft and the first swing rod 91; and, a first through hole for installing the first slewing bearing 33 is formed on the first fixed plate 122; a second through hole for installing the second slewing bearing 96 is formed on the second fixed plate 123. Through the cooperation of the above structures, the first motor 1 and the second motor 2 can respectively drive the rotating assembly 3 and the swing rod assembly to rotate axially under the action of the corresponding slewing bearings, while avoiding the motor itself from following rotation, thereby maximizing the avoidance of problems such as winding of the cable for supplying power or controlling the motor.

[0063] Embodiment 2

[0064] This embodiment also provides an operation method for controlling the operation of the parallel space measurement pointing mechanism in the above embodiment, as Figure 8 shown, which includes the following steps:

[0065] Step S1: Control the first motor 1 and the second motor 2 to rotate in the same direction at the same speed;

[0066] Step S2: Control the first motor 1 to lock and rotate, and at the same time control the second motor 2 to rotate;

[0067] Step S2: Control the second motor 2 to lock and rotate, and at the same time control the first motor 1 to rotate.

[0068] Through the combination of the above steps, the load mounting member 8 can drive the load device to rotate in multiple directions. Only the following three are taken as examples for illustration: 1. Spin only around the pitch rotation axis to the preset angle to form a reciprocating swing. 2. Spin only around the pitch rotation axis to the preset angle to form a reciprocating swing. 3. While rotating around the first azimuth axis, also spin around the pitch rotation axis synchronously to the preset angle to form a reciprocating swing.

[0069] As can be seen from the above: The operation method of the parallel spatial measurement pointing mechanism provided by this embodiment is not only simple to operate, but also during the operation process, it can achieve the pointing movement of multiple degrees of freedom in space for the load device provided on the load mounting member 8, and at the same time avoid the influence of the cable swing and winding on the measurement accuracy of the parallel spatial measurement pointing mechanism.

[0070] In addition, it is worth mentioning that the sequence of the above steps S1 to S3 is not specifically limited and elaborated in this embodiment.

[0071] In addition, it is worth mentioning that this embodiment can send corresponding signals to the first motor 1 and the second motor 2 through a control device, such as a PLC controller, which is electrically connected to the first motor 1 and the second motor 2, to achieve independent control of the first motor 1 and the second motor 2. For example, start signals for reverse rotation are sent to the first motor 1 and the second motor 2 respectively to achieve co-rotation control of the first motor 1 and the second motor 2. Or, by sending an independent start signal to the first motor 1 or the second motor 2, and a locking signal to the other motor, independent rotation control of a single motor is achieved.

[0072] Embodiment Three

[0073] This embodiment also provides a spatial measurement instrument, including the parallel spatial measurement pointing mechanism in the above embodiment.

[0074] As can be seen from the above content: In the parallel spatial measurement pointing mechanism of the spatial measurement instrument in this embodiment, the pitching rotating shaft of the load mounting member 8 is connected to the first motor 1 through the rotating assembly 3, and synchronous rotation along the first azimuth axis can be achieved, such as Figure 1 rotating in the direction shown by the arrow C in the figure. At the same time, since the load mounting member 8 is also hinged to the swing link assembly 9, the load mounting member 8 can not only achieve one full synchronous rotation along the first azimuth axis A, that is, rotate 360 degrees, but also rotate a preset angle along the second azimuth axis B formed by the axial direction of the pitching rotating shaft, for example Figure 1 rotating in the direction shown by the arrow D in the figure or in the direction opposite to the arrow D, so as to achieve the pointing movement of multiple degrees of freedom in space for the load device provided on the load mounting member 8.

[0075] Moreover, throughout the process, the cooperation of multiple connecting rods between the two motors can drive the operation of the load mounting member 8 without rotating the motors themselves. At the same time, complex mechanical components such as bevel gears, which are difficult to achieve high precision and difficult to maintain, can be avoided, thus solving systematic problems such as transmission, maintenance, and stability. Therefore, when setting up, the winding of the cable for power supply or control of the motor can be avoided, and the motor and the cable can be hidden inside the frame 12 or the protective housing for protection, etc. Therefore, not only is the structure simple, but also the influence of the swinging and winding of the cable on the measurement accuracy can be avoided, such as improving the tracking accuracy of the spatial measurement pointing mechanism, etc.

[0076] In addition, the parallel structure formed by the cooperation of the above-mentioned rotating component 3 and the swinging connecting rod component 9 also has advantages such as high precision and large load-bearing capacity. At the same time, the structure is relatively compact in design, and the overall size and moment of inertia can be reduced, etc.

[0077] The above are only the preferred embodiments of the present invention and do not impose any limitation on the present invention. Any person skilled in the art within the technical field, without departing from the technical solution of the present invention, makes any form of equivalent replacement or modification and other changes to the technical solution and technical content disclosed by the present invention, all of which fall within the content of the technical solution of the present invention and still belong to the protection scope of the present invention.

Claims

1. A parallel space measurement pointing mechanism, characterized in that, Comprising: A frame; A first motor, arranged on the frame; A second motor, arranged on the frame and disposed opposite to the first motor; A load mounting member, which has a pitching rotating shaft and is used for setting an external load device; A rotating assembly, one end of which is connected to the driving shaft of the first motor, and the other end of which is rotatably connected to the pitching rotating shaft of the load mounting member; A swing link assembly, one end of which is connected to the output shaft of the second motor, and the other end of which is connected to the load mounting member through a ball joint; Wherein, the driving shaft of the first motor is arranged along the axial direction of a first orientation and is coaxially collinear with the output shaft of the second motor; the load mounting member is used for being driven in cooperation by the first motor and the second motor to rotate a preset angle along the axial direction of a second orientation formed by the pitching rotating shaft, and for circumferentially rotating following the rotating assembly; the axial direction of the second orientation is set at a preset first included angle with the axial direction of the first orientation; The rotating assembly includes: a linkage rod coaxially connected to the driving shaft, and a rotating rod, one end of which is connected to the linkage rod and the other end of which is rotatably connected to the load mounting member; wherein, the linkage rod and the rotating rod are set at the preset first included angle; The swing link assembly includes: a first swing rod coaxially connected to the output shaft, a second swing rod connected to the first swing rod, a first ball joint, a second ball joint, and a third swing rod, one end of which is hinged to the second swing rod through the first ball joint and the other end of which forms the ball joint connection with the load mounting member through the second ball joint; wherein, the second swing rod and the first swing rod are set at a preset second included angle; 2. The parallel spatial measurement pointing mechanism according to claim 1, characterized in that The preset first included angle is 90 degrees; the preset angle is from 0 degree to 135 degrees.

3. The parallel spatial measurement pointing mechanism according to claim 1, characterized in that The load mounting member includes: a sleeve coaxially sleeved on the rotating rod and forming the pitching rotating shaft, and a mounting disc connected to the sleeve and used for mounting the load device.

4. The parallel space measurement pointing mechanism according to claim 1, wherein The first swing rod and the linkage rod are coaxially collinear; the first swing rod and the linkage rod are arranged in a direction opposite to each other in the extending direction; the second included angle is 90 degrees; And / or, the included angle between the second swing rod and the third swing rod presents a dynamic included angle change when the first motor and the second motor operate at different speeds.

5. The parallel spatial measurement pointing mechanism according to claim 4, characterized in that, The distance between the connection point of the second ball joint and the rotating rod and its connection point with the third swing rod is L1: the distance between the connection point of the rotating rod and the second ball joint and its connection point with the linkage rod is a first distance L2; the distance between the connection point of the second swing rod and the first ball joint and its connection point with the first swing rod is L3; the distance between the rotating rod and the second swing rod is L4; wherein, the L2 is equal to the L3; the ratio of the L4 to the L2 is greater than or equal to 2; the ratio of the L4 to the L1 is greater than or equal to 6.

6. The parallel spatial measurement pointing mechanism according to claim 5, characterized in that, The frame includes: a base, a first fixed plate and a second fixed plate which are arranged on the base and located at opposite ends respectively; wherein, the first motor is arranged on the first fixed plate; the second motor is arranged on the second fixed plate; the rotating assembly further includes: a first slewing bearing for connecting the drive shaft and the linkage rod; the swing link assembly further includes: a second slewing bearing for connecting the output shaft and the first swing rod; and, a first through hole for installing the first slewing bearing is formed on the first fixed plate; a second through hole for installing the second slewing bearing is formed on the second fixed plate.

7. The parallel spatial measurement pointing mechanism according to any one of claims 1 to 6, characterized in that When the first motor and the second motor rotate in the same direction at the same speed, the load mounting member only rotates with the first azimuth axis as the rotation axis. When the first motor stops rotating and the second motor rotates, the load mounting member only spins around the pitch rotation axis to the preset angle to form a reciprocating swing. When the second motor stops rotating and the first motor rotates, the load mounting member rotates with the first azimuth axis as the rotation axis and simultaneously spins around the pitch rotation axis to the preset angle to form a reciprocating swing.

8. A spatial measurement instrument, characterized in that, Comprising: The parallel spatial measurement pointing mechanism according to any one of claims 1 to 7.

9. An operating method, characterized in that, For controlling the operation of the parallel spatial measurement pointing mechanism according to any one of claims 1 to 7, comprising the following steps: Controlling the first motor and the second motor to rotate in the same direction at the same speed; Controlling the first motor to stop rotating and simultaneously controlling the second motor to rotate; Controlling the second motor to stop rotating and simultaneously controlling the first motor to rotate.

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