High-precision double-shaft turntable for large-inertia load in vacuum and low-temperature environment

Abstract

The application discloses a high-precision double-shaft rotary table of a large-inertia load under a vacuum low-temperature environment, which comprises an azimuth mechanism, an elevation mechanism and a control system; the rotary table azimuth mechanism adopts a double-lead worm gear backlash elimination structure design, and the elevation mechanism adopts a double-screw elevator counter-thrust backlash elimination structure design, so that the driving requirements of the large-inertia load are met, the influence of the structural transmission gap on the positioning accuracy is eliminated, and the surface of the electrical equipment is attached with heat control components such as heat-sensitive resistors for heat control coating treatment; the control system is responsible for rotary table power supply, rotary table angle acquisition and temperature sensor feedback signal, through closed-loop control, the power of the rotary table servo motor is adjusted to control the rotary speed and the positioning angle of the rotary table, and the heating power of the heat control component is adjusted to control the temperature of the heat preservation area; so as to realize the high-precision posture adjustment function of the two degrees of freedom of the azimuth and the elevation of the large-inertia load in the vacuum low-temperature tank.

Description

TECHNICAL FIELD

[0001] The present application relates to space exploration equipment attitude adjustment testing technology, and in particular to a high-precision dual-axis turntable for large-inertia load in a vacuum low-temperature environment. BACKGROUND

[0002] With the deepening and broadening of human space exploration, the precision requirements for space exploration equipment are becoming more and more stringent. More and more space exploration equipment needs to be tested in a vacuum low-temperature tank on the ground during the research and development process to simulate the influence of high-precision movement in space environment on the detection performance, which has driven the rapid development of space exploration equipment attitude adjustment testing turntables.

[0003] However, the traditional attitude adjustment testing turntable has many problems in adjusting the attitude of large-inertia load in a vacuum low-temperature environment: 1) the thermal expansion and contraction of structural materials caused by ultra-low temperature and the inability to use conventional lubrication will cause the movement mechanism to jam; 2) conventional electrical elements such as motors, angle sensors, and limit switches cannot be directly used in this environment; 3) large-inertia load usually adopts a driving mode of motor + transmission mechanism, and the backlash of the transmission mechanism will reduce the positioning accuracy; these factors will cause the turntable to be unable to smoothly complete the multi-degree-of-freedom rotation and accurate adjustment of the position of large-inertia load. Therefore, in order to meet the requirements of large-inertia space exploration equipment for high-precision motion testing in a vacuum tank on the ground, a large-inertia high-precision attitude adjustment testing turntable capable of accurately completing multi-degree-of-freedom rotation in a vacuum low-temperature environment is needed. SUMMARY

[0004] The purpose of the present application is to provide a large-inertia high-precision dual-axis turntable for large-inertia load in a vacuum low-temperature environment, which realizes the high-precision attitude adjustment function of the turntable in a vacuum low-temperature tank in two degrees of freedom of azimuth and pitch.

[0005] The technical solution for achieving the purpose of the present application is: a large-inertia high-precision dual-axis turntable for large-inertia load in a vacuum low-temperature environment, comprising an azimuth mechanism, a pitch mechanism, and a control system.

[0006] The azimuth mechanism includes an azimuth base, leveling legs, a hoisting adapter plate, an azimuth axis system assembly, an azimuth motion platform, an azimuth angle measuring assembly, and an azimuth drive transmission mechanism, used to achieve azimuth motion within a load range of ±180°. The azimuth base is a frame structure, providing load support for the entire turntable. The leveling legs are ball joint structures, installed below the azimuth base for leveling. The hoisting adapter plate is installed on both sides of the azimuth base. The azimuth motion platform is a frame structure, positioned and installed via the azimuth axis system assembly, providing load support for the pitch mechanism. The azimuth angle measuring assembly is installed at the end of the azimuth axis system assembly for feeding back azimuth angle data. The azimuth drive transmission mechanism is installed above the azimuth motion platform to provide azimuth drive for the platform.

[0007] The pitch mechanism includes a pitch drive transmission mechanism, a lower hinge support, an upper hinge support, a fixed pitch axis system assembly, a floating pitch axis system assembly, a pitch support arm, a pitch motion platform, and a pitch angle measuring assembly, enabling pitch motion within a load range of ±6.5°.

[0008] The pitch drive transmission mechanism includes a pitch motor, a pitch reducer, and a screw jack, which are sequentially connected by bolts. The pitch drive transmission mechanism is hinged to the azimuth platform via a lower hinge support and to the pitch platform via an upper hinge support, and is symmetrically arranged in pairs on both sides below the pitch platform to provide pitch drive for the platform. A master and slave double screw jack eliminates backlash at the top. The pitch motor is a brushless AC servo motor with a built-in rotary transformer; the pitch reducer is a corner-type high-precision reducer.

[0009] The fixed pitch axis assembly consists of a first pitch axis, a second angular contact ball bearing, a first pitch bearing housing, a pitch retaining ring, and a pitch locking nut. The first pitch axis is fixed to the azimuth motion platform, and the second angular contact ball bearing, the first pitch bearing housing, the pitch retaining ring, and the pitch locking nut are sequentially fixed along the axial direction. The floating pitch axis assembly consists of a second pitch axis, a self-aligning roller bearing, a second pitch bearing housing, a pitch retaining ring, and a pitch locking nut. The second pitch axis is fixed to the azimuth motion platform, and the self-aligning roller bearing, the second pitch bearing housing, the pitch retaining ring, and the pitch locking nut are sequentially fixed along the axial direction.

[0010] The pitch arms are symmetrically arranged in pairs on both sides below the pitch motion platform to provide load support for the platform; the pitch motion platform has a frame structure; the pitch angle measuring component is used to feed back pitch angle data.

[0011] The control system is used to control the power supply of the turntable, collect feedback signals from the turntable angle and temperature sensors, and control the rotation speed and positioning angle of the turntable by adjusting the power of the turntable servo motor through closed-loop control, and control the temperature of the heat preservation area by adjusting the heating power of the thermal control element.

[0012] Compared with the prior art, the beneficial effects of the present invention are as follows: (1) The dual-axis rotary table system designed in the present invention has the characteristics of being adaptable to vacuum low temperature environment, high load capacity, and high positioning accuracy. Through the local temperature control of electrical components and the backlash elimination structure design of transmission mechanism, it can realize the function of high-precision motion positioning in two-dimensional directions of azimuth and pitch under vacuum low temperature environment to drive a large inertia load; (2) The azimuth mechanism has the structural characteristics of mechanical self-locking and adjustable backlash. The drive transmission mechanism adopts the design of motor + reducer + double lead worm gear transmission pair, which can output large driving torque. A backlash adjustment mechanism is designed, which is simple to operate. The worm gear is driven axially by rotating the adjusting nut. The movement can quickly eliminate the influence of the backlash in the worm gear transmission, ensuring that the positioning accuracy of the orientation mechanism can reach 2″; (3) The pitch mechanism has structural features such as mechanical self-locking, adjustable backlash, and adaptive deformation compensation. The drive transmission mechanism adopts a design of dual motor + reducer + screw jack, which can output a large driving torque. By eliminating the backlash between the main and slave dual motors + reducer + screw jack, the influence of the backlash in the pitch transmission mechanism is eliminated, ensuring that the positioning accuracy of the pitch mechanism can reach 2″. The pitch shaft system assembly adopts a structure design with one end fixed and the other end floating, which can adaptively compensate for the structural deformation of the transmission mechanism caused by low temperature and eliminate the phenomenon of motion jamming. Attached Figure Description

[0013] Figure 1 This is a perspective view of a high-precision dual-axis rotary table with large inertia load under vacuum and low temperature conditions, according to the present invention.

[0014] Figure 2 This is a two-dimensional cross-sectional view of the orientation mechanism of the present invention.

[0015] Figure 3 This is a partial enlarged view (I) of the two-dimensional cross-sectional view of the orientation mechanism of the present invention.

[0016] Figure 4 This is a two-dimensional cross-sectional view of the orientation drive transmission mechanism of the present invention.

[0017] Figure 5 This is a two-dimensional front view of the pitch mechanism of the present invention.

[0018] Figure 6 This is a two-dimensional left sectional view of the pitch mechanism of the present invention. Detailed Implementation

[0019] This invention proposes a method for low-temperature applications down to -173℃ and 3×10 -4This high-precision dual-axis turntable, designed for use in a vacuum environment with a high inertia load, includes an orientation mechanism, a pitch mechanism, and a control system. The orientation mechanism employs a double-lead worm gear backlash-free structure, while the pitch mechanism utilizes a double-screw jack backlash-free structure. This design meets the requirements of driving high inertia loads while eliminating the impact of transmission backlash on positioning accuracy. Thermal insulation components and thermistors are applied to the surfaces of motors, reducers, gratings, limit switches, and other equipment for thermal control. The control system, located outside the vacuum chamber, is electrically connected to the turntable structure via a canister connector. It is responsible for powering the turntable, collecting feedback signals from angle and temperature sensors, and using closed-loop control to adjust the turntable's rotation speed and positioning angle by regulating the power of the servo motors. The temperature of the insulated area is controlled by adjusting the heating power of the thermal control components. This enables high-precision orientation and pitch adjustment of the turntable within the vacuum chamber under high inertia loads.

[0020] like Figure 1 As shown, a high-precision dual-axis rotary table with large inertia load in a vacuum cryogenic environment includes an orientation mechanism 1, a pitch mechanism 2, and a control system 3.

[0021] like Figure 2 , 3As shown, the orientation mechanism 1 includes an orientation base 1-1, a leveling leg 1-2, a hoisting adapter plate 1-3, an orientation shaft system assembly 1-4, an orientation motion platform 1-5, an orientation angle measuring assembly 1-6, and an orientation drive transmission mechanism 1-7, which can realize high-precision orientation movement within a load range of ±180°. The azimuth base 1-1 is a frame structure welded from sheet metal, providing load support for the entire turntable. The leveling legs 1-2 are ball joint structures, comprising four legs evenly distributed at four points below the azimuth base 1-1 for leveling. The lifting adapter plate 1-3 comprises four legs evenly distributed at four points on both sides of the azimuth base 1-1, fitted with eye bolts for easy lifting and transportation of the entire product. The azimuth shaft assembly 1-4 includes an azimuth shaft 1-4-1, a first angular contact ball bearing 1-4-2, a thrust ball bearing 1-4-3, an azimuth bushing 1-4-4, an azimuth locking nut 1-4-5, and an azimuth retaining ring 1-4-6. The azimuth shaft 1-4-1 is bolted to the azimuth base 1-1, and the first angular contact ball bearings 1-4-2 are sequentially fixed along the axial direction. The azimuth bushing 1-4-4, azimuth retaining ring 1-4-6, and azimuth locking nut 1-4-5, along with the thrust ball bearing 1-4-3, are installed between the azimuth base 1-1 and the azimuth motion platform 1-5. The azimuth shaft system assembly 1-4 can effectively withstand overturning moment, axial force, radial force, and other loads, providing rotational support for the azimuth motion platform 1-5. The azimuth motion platform 1-5 is a frame structure welded from sheet metal and is positioned and installed through the azimuth shaft system assembly 1-4, providing load support for the pitch mechanism 2. The azimuth angle measuring assembly 1-6 includes a first grating 1-6-1, a first reading head 1-6-2, a first grating support 1-6-3, and a first reading head support 1-6-4, which are sequentially installed at the end of the azimuth shaft system assembly 1-4 for feeding back high-precision azimuth angle data.

[0022] like Figure 4As shown, the azimuth drive transmission mechanism 1-7 includes an azimuth motor 1-7-1, an azimuth reducer 1-7-2, a coupling 1-7-3, a worm gear 1-7-4, a worm wheel 1-7-5, a worm gear mounting base 1-7-6, a worm gear shaft assembly 1-7-7, and an adjusting nut 1-7-8. It is installed above the azimuth motion platform 1-5 to provide azimuth drive for the platform. The azimuth motor 1-7-1 is a brushless AC servo motor with a built-in rotary transformer, bolted to the azimuth reducer 1-7-2, providing stable, precise, and controllable driving force and speed. The azimuth reducer 1-7-2 is a high-precision planetary reducer, bolted to the worm gear mounting base 1-7-6, providing speed reduction and torque amplification. The worm gear 1-7-4 and worm wheel 1-7-5 are a pair of double-lead components. The worm gear transmission pair adjusts the meshing clearance by adjusting the axial position of the worm. The worm 1-7-4 is connected to the coupling 1-7-3, and the worm wheel 1-7-5 is fixed to the azimuth shaft 1-4-1 by bolts. The worm gear transmission pair together transmits torque, reverses direction, and reduces speed and increases torque, while ensuring reliable mechanical self-locking after power failure. The worm shaft assembly 1-7-7, including the bushing and bearing parts, is installed sequentially on the worm mounting seat 1-7-6 and can effectively withstand axial and radial loads, providing rotational support for the worm 1-7-4. The adjusting nut 1-7-8 engages with the end thread of the worm 1-7-4. By rotating the adjusting nut 1-7-8, the axial position of the worm 1-7-4 is adjusted, eliminating the influence of the worm gear clearance on the positioning accuracy.

[0023] like Figure 5 , 6 As shown, the pitch mechanism 2 includes a pitch drive transmission mechanism 2-1, a lower hinge support 2-2, an upper hinge support 2-3, a fixed pitch axis system assembly 2-4, a floating pitch axis system assembly 2-5, a pitch support arm 2-6, a pitch motion platform 2-7, and a pitch angle measuring assembly 2-8, which can realize high-precision pitch motion within a load range of ±6.5°.

[0024] The pitch drive transmission mechanism 2-1 includes a pitch motor 2-1-1, a pitch reducer 2-1-2, and a screw jack 2-1-3. The pitch motor 2-1-1, pitch reducer 2-1-2, and screw jack 2-1-3 are sequentially connected by bolts. The pitch drive transmission mechanism 2-1 is hinged to the azimuth motion platform 1-5 via a lower hinge support 2-2 and to the pitch motion platform 2-7 via an upper hinge support 2-1. They are symmetrically arranged in pairs on both sides below the pitch motion platform 2-7, providing pitch drive for the platform. This is achieved through a master-slave dual-drive transmission mechanism. The screw jack 2-1-3 features a top-end backlash elimination mechanism to eliminate the impact of backlash in the pitch transmission mechanism on positioning accuracy. The pitch motor 2-1-1 is a brushless AC servo motor with a built-in rotary transformer, providing stable, precise, and controllable driving force and speed. The pitch reducer 2-1-2 is a corner-type high-precision reducer, facilitating structural layout and providing speed reduction and torque amplification. The screw jack 2-1-3 integrates transmission mechanisms such as a worm gear pair and a trapezoidal lead screw pair, serving to transmit torque, reverse direction, reduce speed, and amplify torque, while ensuring reliable mechanical self-locking after power failure.

[0025] The fixed pitch axis assembly 2-4 consists of a first pitch shaft 2-4-1, a second angular contact ball bearing 2-4-2, a first pitch bearing housing 2-4-3, a pitch retaining ring 2-4-4, and a pitch locking nut 2-4-5. The first pitch shaft 2-4-1 is fixed to the azimuth motion platform 1-5 by bolts. The second angular contact ball bearing 2-4-2, the first pitch bearing housing 2-4-3, the pitch retaining ring 2-4-4, and the pitch locking nut 2-4-5 are sequentially fixed along the axial direction. The fixed pitch axis assembly 2-4 can effectively withstand axial and radial loads, providing rotational support at one end of the pitch motion platform 2-7. The floating pitch axis assembly 2-5 consists of a second pitch shaft 2-5-1... 1. The system consists of a self-aligning roller bearing 2-5-2, a second pitch bearing housing 2-5-3, a pitch retaining ring 2-4-4, and a pitch locking nut 2-4-5. The second pitch shaft 2-5-1 is fixed to the azimuth motion platform 1-5 by bolts. The self-aligning roller bearing 2-5-2, the second pitch bearing housing 2-5-3, the pitch retaining ring 2-4-5, and the pitch locking nut 2-4-4 are fixed sequentially along the axial direction. The floating pitch shaft system assembly 2-5 can effectively withstand axial force, radial force, and other loads, providing rotational support for the other end of the pitch motion platform 2-7. At the same time, due to the presence of the self-aligning roller bearing 2-5-2, it can adaptively compensate for the structural deformation of the transmission mechanism caused by low temperature and eliminate motion jamming.

[0026] The pitch support arms 2-6 are inverted triangular structures, welded from sheet metal, and are arranged in pairs symmetrically on both sides below the pitch motion platform 2-7 to provide load support for the platform. The pitch motion platform 2-7 is a frame structure, welded from sheet metal, with a series of M12 mounting array holes with a hole spacing of 200×200mm pre-drilled on the top for different types of load installation and load support.

[0027] The pitch angle measuring component 2-8 includes a second grating 2-8-1, a second reading head 2-8-2, a second grating support 2-8-3, and a second reading head support 2-8-4, which are sequentially installed at the end of the fixed pitch axis component 2-4 to provide feedback of high-precision pitch angle data.

[0028] The drive motor, reducer, screw jack, encoder, grating, reading head, limit switch, and other components on the platform all utilize specialized vacuum equipment with an operating temperature range of -20℃ to +50℃. Thermal insulation components and thermistors are attached to the surfaces of these electrical devices, followed by thermal control coating. An external thermal control system ensures that these devices operate at approximately 0 degrees Celsius, meeting their operating conditions. Temperature-controlled equipment and the platform structure are connected via PTFE gaskets to minimize heat exchange.

[0029] All bearings, worm gears, trapezoidal lead screws, gears and other transmission components are lubricated without oil and coated with molybdenum disulfide or other vacuum low-temperature special solid grease.

[0030] All bearing cages have been replaced with the same material as the bearings to ensure consistent expansion and contraction and prevent seizing.

[0031] The platform and main supporting structural components are all made of stainless steel with good low-temperature performance. The surface of the structure is sandblasted to clean the surface oil and reduce the material outgassing rate.

[0032] The control system 3 is located outside the vacuum chamber and is electrically connected to the turntable structure via a canister connector. It is responsible for powering the turntable, collecting feedback signals from the turntable angle and temperature sensors, and controlling the turntable's rotation speed and positioning angle through closed-loop control by adjusting the power of the turntable servo motor. It also controls the temperature of the insulation zone by adjusting the heating power of the thermal control element. This enables the turntable to achieve high-precision attitude adjustment with both azimuth and pitch degrees of freedom under high inertia loads within the vacuum cryogenic chamber.

[0033] The present invention will now be described in detail in the specific application of a high-precision dual-axis rotary table with large inertia load in a vacuum cryogenic environment.

[0034] First, the azimuth and pitch mechanisms are assembled and installed sequentially, then hoisted and placed inside the vacuum tank. The pitch platform is leveled using the leveling outriggers, and the load equipment is hoisted onto the platform and secured with bolts. Then, the turntable motor, reducer, grating, limit switches, and other components undergo heat-sealing treatment. The entire control system cabinet is placed outside the vacuum tank and electrically connected to the turntable structure via through-tank connectors.

[0035] The control system uses high-precision angle data fed back by gratings to control the rotation speed and positioning angle of the turntable in a closed loop, and uses temperature data fed back by thermal sensors to control the temperature of the insulation area in a closed loop, thereby realizing the control functions of the turntable such as positioning, zeroing, speed adjustment, and temperature control.

[0036] In summary, the high-precision dual-axis turntable for large inertia loads in a vacuum cryogenic environment of the present invention provides structural support and high-precision attitude adjustment functions for both azimuth and pitch degrees of freedom for large inertia loads. Compared with the prior art, the advantages of the present invention are that it can adapt to vacuum cryogenic environments, has high load capacity, and high positioning accuracy, meeting the requirements of high-precision motion simulation testing of large inertia aerospace exploration equipment in ground vacuum tanks.

[0037] The above description only outlines the main features, working principles, and advantages of the present invention. For those skilled in the art, the present invention is not limited to the above embodiments. Without departing from its basic principles, the present invention can be flexibly modified and varied for different embodiments. Such modifications and variations, if within the spirit and scope of the present invention, should fall within the protection scope of the present invention.

Claims

1. A high-precision dual-axis rotary table with large inertia load under vacuum and cryogenic conditions, characterized in that, It includes an orientation mechanism (1), a pitch mechanism (2), and a control system (3); The orientation mechanism (1) includes an orientation base (1-1), leveling legs (1-2), a hoisting adapter plate (1-3), an orientation shaft system assembly (1-4), an orientation motion platform (1-5), an orientation angle measuring assembly (1-6), and an orientation drive transmission mechanism (1-7), used to achieve orientation movement within a load range of ±180°; the orientation base (1-1) is a frame structure, providing load support for the entire turntable; the leveling legs (1-2) are ball joint structures, installed on the orientation base (1-1). Below, it is leveled; the hoisting adapter plate (1-3) is installed on both sides of the azimuth base (1-1); the azimuth motion platform (1-5) is a frame structure, positioned and installed through the azimuth axis system assembly (1-4), providing load support for the pitch mechanism (2); the azimuth angle measuring assembly (1-6) is installed at the end of the azimuth axis system assembly (1-4) to provide feedback azimuth angle data; the azimuth drive transmission mechanism (1-7) is installed above the azimuth motion platform (1-5) to provide azimuth drive for the platform; The pitch mechanism (2) includes a pitch drive transmission mechanism (2-1), a lower hinge support (2-2), an upper hinge support (2-3), a fixed pitch axis assembly (2-4), a floating pitch axis assembly (2-5), a pitch support arm (2-6), a pitch motion platform (2-7), and a pitch angle measuring assembly (2-8), to achieve pitch motion within a load range of ±6.5°; The pitch drive transmission mechanism (2-1) includes a pitch motor (2-1-1), a pitch reducer (2-1-2), and a screw jack (2-1-3). The pitch motor (2-1-1), pitch reducer (2-1-2), and screw jack (2-1-3) are sequentially connected by bolts. The pitch drive transmission mechanism (2-1) is hinged to the azimuth motion platform (1-5) via a lower hinge support (2-2) and to the pitch motion platform (2-7) via an upper hinge support (2-1). They are arranged in pairs symmetrically on both sides below the pitch motion platform (2-7) to provide pitch drive for the platform. One screw jack is the master screw jack, and the other is the slave screw jack. The master and slave double screw jacks (2-1-3) are aligned to eliminate backlash. The pitch motor (2-1-1) is a brushless AC servo motor with a built-in rotary transformer. The pitch reducer (2-1-2) is a corner-type high-precision reducer. The fixed pitch axis assembly (2-4) consists of a first pitch shaft (2-4-1), a second angular contact ball bearing (2-4-2), a first pitch bearing housing (2-4-3), a pitch retaining ring (2-4-4), and a pitch locking nut (2-4-5). The first pitch shaft (2-4-1) is fixed to the azimuth motion platform (1-5), and the second angular contact ball bearing (2-4-2), the first pitch bearing housing (2-4-3), the pitch retaining ring (2-4-4), and the pitch locking nut (2-4-5) are sequentially fixed along the axial direction. The floating pitch axis assembly (2-5) consists of a second pitch shaft (2-5-1), a self-aligning roller bearing (2-5-2), a second pitch bearing housing (2-5-3), a pitch retaining ring (2-4-4), and a pitch locking nut (2-4-5). The second pitch shaft (2-5-1) is fixed to the azimuth motion platform (1-5), and the self-aligning roller bearing (2-5-2), the second pitch bearing housing (2-5-3), the pitch retaining ring (2-4-5), and the pitch locking nut (2-4-4) are fixed sequentially along the axial direction. The pitch support arms (2-6) are arranged in pairs symmetrically on both sides below the pitch motion platform (2-7) to provide load support for the platform; the pitch motion platform (2-7) is a frame structure; the pitch angle measuring component (2-8) is used to feed back pitch angle data; The control system (3) is used to control the power supply of the turntable, collect the turntable angle and temperature sensor feedback signals, and control the rotation speed and positioning angle of the turntable by adjusting the power of the turntable servo motor through closed-loop control, and control the temperature of the heat preservation area by adjusting the heating power of the thermal control element.

2. The high-precision dual-axis rotary table with large inertia load under vacuum cryogenic environment according to claim 1, characterized in that, The number of leveling support legs (1-2) is 4, and they are evenly distributed at four points under the azimuth base (1-1) for leveling. The number of lifting adapter plates (1-3) is 4, and they are evenly distributed at four points on both sides of the azimuth base (1-1) for installing lifting eye screws.

3. The high-precision dual-axis rotary table with large inertia load under vacuum cryogenic environment according to claim 1, characterized in that, The azimuth axis system assembly (1-4) includes an azimuth shaft (1-4-1), a first angular contact ball bearing (1-4-2), a thrust ball bearing (1-4-3), an azimuth bushing (1-4-4), an azimuth locking nut (1-4-5), and an azimuth retaining ring (1-4-6). The azimuth shaft (1-4-1) is fixed to the azimuth base (1-1). The first angular contact ball bearing (1-4-2), the azimuth bushing (1-4-4), the azimuth retaining ring (1-4-6), and the azimuth locking nut (1-4-5) are fixed sequentially along the axial direction. The thrust ball bearing (1-4-3) is installed between the azimuth base (1-1) and the azimuth motion platform (1-5). The azimuth axis system assembly (1-4) provides rotational support for the azimuth motion platform (1-5).

4. The high-precision dual-axis rotary table with large inertia load under vacuum cryogenic environment according to claim 3, characterized in that, The azimuth axis (1-4-1) is fixed to the azimuth base (1-1) by bolts.

5. The high-precision dual-axis rotary table with large inertia load under vacuum cryogenic environment according to claim 1, characterized in that, The azimuth angle measuring component (1-6) includes a first grating (1-6-1), a first reading head (1-6-2), a first grating support (1-6-3), and a first reading head support (1-6-4), which are sequentially installed at the end of the azimuth axis system component (1-4) for feeding back azimuth angle data.

6. The high-precision dual-axis rotary table with large inertia load under vacuum cryogenic environment according to claim 1, characterized in that, The azimuth drive transmission mechanism (1-7) includes an azimuth motor (1-7-1), an azimuth reducer (1-7-2), a coupling (1-7-3), a worm gear (1-7-4), a worm wheel (1-7-5), a worm gear mounting base (1-7-6), a worm gear shaft assembly (1-7-7), and an adjusting nut (1-7-8). The azimuth motor (1-7-1) is a brushless AC servo motor with a built-in rotary transformer and is bolted to the azimuth reducer (1-7-2). The azimuth reducer (1-7-2) is bolted to the worm gear mounting base (1-7-6) to provide speed reduction and torque amplification. The worm gear (1-7-4) and the worm wheel (1-7-5) are a pair of double-lead worms. The worm gear drive pair adjusts the meshing clearance by adjusting the axial position of the worm. The worm (1-7-4) is connected to the coupling (1-7-3), and the worm wheel (1-7-5) is fixed to the azimuth shaft (1-4-1) by bolts. The worm gear drive pair together transmits torque, reverses direction, and reduces speed and increases torque. The worm shaft assembly (1-7-7), including the bushing and bearing parts, is installed sequentially on the worm mounting seat (1-7-6) to provide rotational support for the worm (1-7-4). The adjusting nut (1-7-8) engages with the end thread of the worm (1-7-4). By rotating the adjusting nut (1-7-8), the axial position of the worm (1-7-4) is adjusted.

7. The high-precision dual-axis rotary table with large inertia load under vacuum cryogenic environment according to claim 1, characterized in that, The first pitch axis (2-4-1) and the second pitch axis (2-5-1) are fixed to the azimuth motion platform (1-5) by bolts.

8. The high-precision dual-axis rotary table with large inertia load under vacuum cryogenic environment according to claim 1, characterized in that, The pitch angle measuring assembly (2-8) includes a second grating (2-8-1), a second reading head (2-8-2), a second grating support (2-8-3), and a second reading head support (2-8-4), which are sequentially installed at the end of the fixed pitch axis assembly (2-4).

9. The high-precision dual-axis rotary table with large inertia load under vacuum cryogenic environment according to claim 1, characterized in that, The pitch motion platform (2-7) has pre-drilled mounting array holes for different types of load installation and load support.

10. The high-precision dual-axis rotary table with large inertia load under vacuum cryogenic environment according to claim 1, characterized in that, The control system (3) is placed outside the vacuum tank and is electrically connected to the turntable structure body through the tank-penetrating connector.

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