Laser tracking and pointing device

Abstract

The laser tracking and pointing device comprises a first rotating assembly, the first rotating assembly comprises a first seat body, a first driver, a first rotating shaft and a first measuring device, the first rotating shaft is rotatably arranged on the first seat body, the first driver can drive the first rotating shaft to rotate, and the first measuring device is used for measuring the rotating angle of the first rotating shaft; the second rotating assembly comprises a second seat body, a second driver, a second measuring device, a second rotating shaft and a third rotating shaft, the first rotating shaft is connected with the second seat body and can drive the second seat body to rotate, and the second rotating shaft and the third rotating shaft are rotatably arranged on the second seat body; the optical assembly can rotate relative to the second seat body, and the two sides, in the second direction, of an outer shell of the optical assembly are connected with the second rotating shaft and the third rotating shaft respectively; the laser tracking and pointing device is further provided with a controller. Therefore, the laser tracking and pointing device has the advantages of being high in capturing capacity and high in alignment precision.

Description

Technical Field

[0001] The present invention relates to the technical field of space laser communication, and in particular to a laser tracking and aiming device. Background Art

[0002] As the core component of space laser communication, the tracking and aiming system is an instrument that integrates optics, mechanics, electricity and other disciplines. Its main task is to carry optical loads to achieve information transmission with the sub-optical path system, and to ensure that the optical communication terminal can accurately, stably and reliably aim, capture and track in a variety of environments, thereby completing the inter-satellite laser communication task. In related technologies, the tracking and aiming system of ground-orbit satellites has low alignment accuracy and tracking accuracy, and poor capture capability. Summary of the invention

[0003] The present invention aims to solve one of the technical problems in the related art at least to a certain extent. To this end, an embodiment of the present invention provides a laser tracking device.

[0004] The laser tracking and aiming device according to an embodiment of the present invention comprises:

[0005] a first rotating assembly, the first rotating assembly comprising a first base, a first driver, a first rotating shaft and a first measuring device, the first rotating shaft being rotatably disposed on the first base, the first driver being capable of driving the first rotating shaft to rotate, the axial direction of the first rotating shaft being a first direction, and the first measuring device being used for measuring a rotation angle of the first rotating shaft;

[0006] a second rotating assembly, wherein the second rotating assembly comprises a second seat, a second driver, a second measuring device, a second rotating shaft and a third rotating shaft, wherein the first rotating shaft is connected to the second seat and can drive the second seat to rotate, the second rotating shaft and the third rotating shaft are rotatably arranged on the second seat, the second driver can drive at least one of the second rotating shaft and the third rotating shaft to rotate, the second measuring device is used to measure the rotation angle of at least one of the second rotating shaft and the third rotating shaft, and the axial directions of the second rotating shaft and the third rotating shaft are both in a second direction, and the second direction is perpendicular to the first direction;

[0007] An optical component, wherein the optical component can rotate relative to the second base, the rotation axis of the optical component is the second direction, and the outer shell of the optical component is connected to the second rotation axis and the third rotation axis on both sides in the second direction respectively;

[0008] The laser tracking device is also provided with a controller, and the first measuring device, the second measuring device, the first driver and the second driver are all electrically connected to the controller.

[0009] Therefore, the laser tracking and aiming device according to the embodiment of the present invention has the advantages of strong capture capability and high alignment accuracy.

[0010] In some embodiments, the first rotating assembly further includes a first bearing, the axial direction of the first bearing is the first direction, the outer ring of the first bearing is disposed in the first seat body, the first rotating shaft is annular, and the first rotating shaft is connected to the inner ring of the first bearing;

[0011] The second rotating assembly also includes a second bearing and a third bearing, the outer ring of the second bearing and the outer ring of the third bearing are both arranged on the second seat body, the inner ring of the second bearing is connected to the second rotating shaft, and the inner ring of the third bearing is connected to the third rotating shaft.

[0012] In some embodiments, a first thrust member is disposed on the first seat body, the first thrust member can move relative to the first seat body, and the first thrust member can be used to prevent the first rotating shaft from rotating;

[0013] The second seat body is provided with a second thrust member, the second thrust member can move relative to the second seat body, and the second thrust member can be used to block the rotation of at least one of the second rotating shaft and the third rotating shaft.

[0014] In some embodiments, the second rotating shaft and the third rotating shaft are both annular;

[0015] The first driver and the second driver are torque motors, the first driver is connected to the first rotating shaft, the second driver is connected to the second rotating shaft, and the third rotating shaft is movably disposed on the second base in the second direction;

[0016] The first thrust member includes at least one flexible member abutting against the first rotating shaft;

[0017] The second thrust member includes at least one flexible member abutting against the third rotating shaft;

[0018] The second measuring device is used to measure the rotation angle of the third rotating shaft.

[0019] In some embodiments, the first seat body has a mounting groove, the notch of the mounting groove faces the second seat body in the first direction, and the first measuring device, the first driver, the first bearing and the first rotating shaft are all arranged in the mounting groove;

[0020] The second seat body comprises

[0021] A first frame, wherein the first frame has a first installation cavity, the second driver, the second rotating shaft and the second bearing are located in the first installation cavity, and the second driver is connected to the second rotating shaft;

[0022] a second frame, wherein the first frame and the second frame are arranged opposite to each other in a second direction, the second frame has a second mounting cavity, the second measuring device, the third rotating shaft and the third bearing are located in the second mounting cavity, and the second measuring device is used to measure the rotation angle of the third rotating shaft;

[0023] A connecting frame, the first frame body and the second frame body are both arranged on the connecting frame, the connecting frame extends into the installation groove and is connected to the first rotating shaft, and the axial direction of the connecting frame is the first direction.

[0024] In some embodiments, a portion of the connecting frame extends into the installation groove and covers the notch of the installation groove, the first seat body is provided with a first annular groove, the connecting frame is provided with a first annular protrusion, the axial directions of the first annular protrusion and the first annular groove are both in the first direction, and the first annular protrusion is located in the first annular groove and can slide relative to the first annular groove;

[0025] The first frame is provided with a first cover for covering the first installation cavity, and the second rotating shaft is provided with a second annular protrusion on the outer peripheral surface of one end away from the first cover in the second direction;

[0026] The second frame is provided with a second cover for covering the second installation cavity, and the outer peripheral surface of the third rotating shaft at one end away from the second cover in the second direction is provided with a third annular protrusion;

[0027] The housing of the optical component has a first connecting part and a second connecting part on both sides in the second direction, the first connecting part has a second annular groove, the second connecting part has a third annular groove, the second annular protrusion, the third annular protrusion, the second annular groove and the third annular groove are all axially in the second direction, the second annular protrusion is located in the second annular groove, and the third annular protrusion is located in the third annular groove.

[0028] In some embodiments, a first positioning member and a positioning plate are provided at the bottom of the mounting groove, the first positioning member extends along the first direction, a portion of the first positioning member extends into the inner side of the first rotating shaft, the thickness direction of the positioning plate is the first direction, the positioning plate and the first rotating shaft are arranged opposite to each other in the first direction, the positioning plate has a positioning hole, and the first positioning member is located in the positioning hole;

[0029] The first cover is provided with a second positioning member extending into the second rotating shaft, and the second positioning member extends along the second direction.

[0030] In some embodiments, the second rotating shaft includes a first part, a second part and a third part which are sequentially connected in the second direction, the outer diameters of the first part, the second part and the third part are sequentially increased, the second part is fixed on the inner ring of the second bearing, the first part is connected to the second driver, the second annular protrusion is provided on the third part, and the third part is connected to the first connecting portion;

[0031] The third rotating shaft includes a fourth part, a fifth part and a sixth part which are sequentially connected in the second direction, the outer diameters of the fourth part, the fifth part and the sixth part are increased sequentially, the fifth part is fixed on the inner ring of the third bearing, the second thrust member can be moved in the second direction to abut against the fourth part, the second measuring device is arranged on the circumferential side of the fourth part, the third annular protrusion is arranged on the sixth part, and the sixth part is connected to the second connecting part.

[0032] In some embodiments, the first bearing is a deep groove ball bearing

[0033] The second bearing and the third bearing are both angular contact bearings;

[0034] The first seat body and the second seat body are both made of aluminum alloy;

[0035] The first rotating shaft, the second rotating shaft and the third rotating shaft are all made of titanium alloy or steel;

[0036] An outer surface of each of the first rotating shaft and the second rotating shaft is provided with a solid lubricating layer.

[0037] In some embodiments, the solid lubricating layer includes a first coating layer located on the inner side and a second coating layer located on the outer side, the first coating layer includes polyimide, and the second coating layer includes molybdenum disulfide;

[0038] The distance between the second bearing and the third bearing is greater than or equal to 81 mm and less than or equal to 85 mm;

[0039] The mass of the laser tracking and aiming device is less than or equal to 5 kg. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 is a stereoscopic diagram of a laser tracking and aiming device according to an embodiment of the present invention.

[0041] Figure 2 2 is a side view of a laser tracking and aiming device according to an embodiment of the present invention.

[0042] Figure 3 is a wireframe diagram of a laser tracking and aiming device according to an embodiment of the present invention.

[0043] Figure 4 is a cross-sectional view of a first seat body according to an embodiment of the present invention.

[0044] Figure 5 is a schematic diagram of a second seat body according to an embodiment of the present invention.

[0045] Figure 6 is a cross-sectional view of a second seat body according to an embodiment of the present invention.

[0046] Reference numerals:

[0047] Laser tracking and aiming device 100;

[0048] A first seat body 1, a mounting groove 11, a first driver 12, a first rotating shaft 13, a first bearing 14, a first measuring device 15, a first thrust member 16, a first positioning member 17, a positioning plate 18, and a first annular groove 19;

[0049] The second base body 2, the first frame body 21, the first cover 22, the second positioning member 23, the first installation cavity 24, the second frame body 25, the second cover 26, the second installation cavity 27, and the connecting frame 28;

[0050] A second driver 31, a second rotating shaft 32, a first portion 321, a second portion 322, a third portion 323, a second annular protrusion 324, a third rotating shaft 33, a fourth portion 331, a fifth portion 332, a sixth portion 333, a second bearing 34, a third bearing 35, a third annular protrusion 36, a second measuring device 37, and a second thrust member 38;

[0051] Optical component 4, first connecting portion 41, second connecting portion 42;

[0052] Controller 5. DETAILED DESCRIPTION

[0053] Embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and intended to be used to explain the present invention, but should not be understood as limiting the present invention.

[0054] The laser tracking device 100 according to an embodiment of the present invention is described below with reference to the accompanying drawings. Figures 1 to 6 As shown, the laser tracking device 100 according to an embodiment of the present invention includes a first rotating component, a second rotating component, an optical component 4 and a controller 5.

[0055] The first rotating assembly includes a first base body 1, a first driver 12, a first rotating shaft 13 and a first measuring device 15. The first rotating shaft 13 is rotatably disposed on the first base body 1. The first driver 12 can drive the first rotating shaft 13 to rotate. The axial direction of the first rotating shaft 13 is a first direction. The first measuring device 15 is used to measure the rotation angle of the first rotating shaft 13.

[0056] The second rotating assembly includes a second base body 2, a second driver 31, a second measuring device 37, a second rotating shaft 32 and a third rotating shaft 33. The first rotating shaft 13 is connected to the second base body 2 and can drive the second base body 2 to rotate. The second rotating shaft 32 and the third rotating shaft 33 are rotatably arranged on the second base body 2. The second driver 31 can drive the third rotating shaft 33 and at least one of the third rotating shaft 33 to rotate. The second measuring device 37 is used to measure the rotation angle of at least one of the second rotating shaft 32 and the third rotating shaft 33. The axial directions of the second rotating shaft 32 and the second rotating shaft 32 are both in the second direction, and the second direction is perpendicular to the first direction.

[0057] The optical assembly 4 can rotate relative to the second base 2, the rotation axis of the optical assembly 4 is the second direction, and the outer shell of the optical assembly 4 is respectively connected to the second rotating shaft 32 and the third rotating shaft 33 on both sides in the second direction. The first measuring device 15, the second measuring device 37, the first driver 12 and the second driver 31 are all electrically connected to the controller 5.

[0058] The laser tracking and aiming device 100 according to the embodiment of the present invention is provided with a first rotating assembly and a second rotating assembly, so that the first driver 12 can drive the first rotating shaft 13 to rotate, thereby driving the second base 2 to rotate around the first rotating shaft 13, and the second driver 31 can drive at least one of the second rotating shaft 32 and the third rotating shaft 33 to rotate, thereby driving the optical component 4 to rotate around the second rotating shaft 32 and the third rotating shaft 33. The axial direction of the first rotating shaft 13 is the first direction, and the axial directions of the second rotating shaft 32 and the second rotating shaft 32 are both the second direction, and the second direction is perpendicular to the first direction, so that the light component 4 can capture the target at multiple angles, thereby improving the capture capability of the laser tracking and aiming device 100.

[0059] The outer shell of the optical component 4 is connected to the second rotating shaft 32 and the third rotating shaft 33 on both sides in the second direction, respectively, so that the optical component 4 can be more stable when rotating, thereby improving the alignment accuracy of the optical component 4.

[0060] The first measuring device 15, the second measuring device 37, the first driver 12 and the second driver 31 are all electrically connected to the controller 5. Specifically, the first measuring device 15 is used to measure the rotation angle of the first rotating shaft 13, that is, the first measuring device 15 is used to measure the rotation angle of the optical component 4 around the first rotating shaft 13 and send the information to the controller 5; the second measuring device 37 is used to measure the rotation angle of at least one of the second rotating shaft 32 and the third rotating shaft 33, that is, the second measuring device 37 is used to measure the rotation angle of the optical component 4 around the second rotating shaft 32 and the third rotating shaft 33 and send the information to the controller 5. The controller 5 can control the opening and closing of the first driver 12 and the second driver 31 through the feedback information of the first measuring device 15 and the second measuring device 37, so that the alignment accuracy of the optical component 4 is high.

[0061] Therefore, the laser tracking and aiming device 100 according to the embodiment of the present invention has the advantages of strong capture capability and high alignment accuracy.

[0062] like Figures 1 to 6 As shown, in some embodiments, the first rotating assembly further includes a first bearing 14, the axial direction of the first bearing 14 is a first direction, the outer ring of the first bearing 14 is arranged in the first seat body 1, the first rotating shaft 13 is annular, and the first rotating shaft 13 is connected to the inner ring of the first bearing 14. Thus, the first rotating shaft 13 can rotate smoothly. The first direction can be an up-down direction, and the up-down direction is shown by the arrows in the figure. For example, the axial direction of the first rotating shaft 13 and the axial direction of the first bearing 14 are both up-down directions.

[0063] In some embodiments, the first base body 1 has a mounting groove 11, and the notch of the mounting groove 11 faces the second base body 2 in the first direction. The first measuring device 15, the first driver 12, the first bearing 14 and the first rotating shaft 13 are all arranged in the mounting groove 11, so that the first base body 1 can protect the first measuring device 15, the first driver 12, the first bearing 14 and the first rotating shaft 13. For example, the notch of the mounting groove 11 faces the upper side.

[0064] like Figure 4 As shown, in some embodiments, a first thrust member 16 is provided on the first base body 1, and the first thrust member 16 can move relative to the first base body 1, and the first thrust member 16 can be used to block the rotation of the first rotating shaft 13. Specifically, the moving direction of the first thrust member 16 is perpendicular to the first direction, and the first thrust member 16 can block the rotation of the first rotating shaft 13 after abutting against the first rotating shaft 13, thereby limiting the first rotating shaft 13, so that the optical component 4 has a high alignment accuracy. For example, the first thrust member 16 can extend into the installation groove 11 and abut against the outer surface of the first rotating shaft 13.

[0065] like Figures 1 to 6As shown, in some embodiments, the second rotating assembly further includes a second bearing 34 and a third bearing 35, the outer ring of the second bearing 34 and the outer ring of the third bearing 35 are both arranged on the second seat body 2, the inner ring of the second bearing 34 is connected to the second rotating shaft 32, and the inner ring of the third bearing 35 is connected to the third rotating shaft 33. Thus, the second rotating shaft 32 and the third rotating shaft 33 can be rotated stably. The second rotating shaft 32 and the third rotating shaft 33 are coaxially arranged, and the second direction can be a horizontal direction. For example, the axial directions of the second rotating shaft 32 and the third rotating shaft 33 are both left-right directions.

[0066] like Figure 5 and Figure 6 As shown, in some embodiments, the second base body 2 includes a first frame body 21 , a second frame body 25 and a connecting frame 28 .

[0067] The first frame 21 has a first installation cavity 24, and the second driver 31, the second rotating shaft 32 and the second bearing 34 are located in the first installation cavity 24. Therefore, the first frame 21 can protect the second driver 31, the second rotating shaft 32 and the second bearing 34.

[0068] The first frame 21 and the second frame 25 are arranged opposite to each other in the second direction, and the second frame 25 has a second installation cavity 27, and the second measuring device 37, the third rotating shaft 33 and the third bearing 35 are located in the second installation cavity 27. Thus, the second frame 25 can protect the second measuring device 37, the third rotating shaft 33 and the third bearing 35. For example, the first frame 21 and the second frame 25 are arranged opposite to each other in the left-right direction.

[0069] The first frame 21 and the second frame 25 are both arranged on the connecting frame 28, the connecting frame 28 extends into the installation groove 11 and is connected to the first rotating shaft 13, and the axial direction of the connecting frame 28 is the first direction. Therefore, when the first rotating shaft 13 rotates, it can drive the connecting frame 28 to rotate, thereby driving the first frame 21 and the second frame 25 (the second seat 2) to rotate. For example, the second seat 2 is a U-shaped seat, the first frame 21 and the second frame 25 are connected to the top of the connecting frame 28, and the first frame 21 is located on the left side of the second frame 25.

[0070] like Figure 1 and Figure 2As shown, in some embodiments, a portion of the connecting frame 28 extends into the mounting groove 11 and covers the notch of the mounting groove 11, a first annular groove 19 is provided on the first seat body 1, and a first annular protrusion is provided on the connecting frame 28. The axial directions of the first annular protrusion and the first annular groove 19 are both in the first direction, and the first annular protrusion is located in the first annular groove 19 and can slide relative to the first annular groove 19. In this way, the second seat body 2 can seal the mounting groove 11, and the second seat body 2 can be more stable when rotating relative to the first seat body 1. For example, the first annular groove 19 is arranged on the outer peripheral side of the mounting groove 11, the first annular groove 19 is opened on the top surface of the first seat body 1, and the first annular protrusion is arranged on the bottom surface of the connecting frame 28.

[0071] In some embodiments, the second rotating shaft 32 and the third rotating shaft 33 are both annular, and the first driver 12 and the second driver 31 are both torque motors. The first driver 12 is connected to the first rotating shaft 13, and the second driver 31 is connected to the second rotating shaft 32. For example, the first driver 12 is connected to the lower part of the first rotating shaft 13, and the upper part of the first rotating shaft 13 is connected to the second seat 2. The first measuring device 15 is a bulk split photoelectric encoder, and the bulk split photoelectric encoder is arranged on the first driver 12.

[0072] like Figure 1 and Figure 2 As shown, in some embodiments, the first frame 21 is provided with a first cover 22 covering the first installation cavity 24, and the second rotating shaft 32 is provided with a second annular protrusion 324 on the outer circumference of one end away from the first cover 22 in the second direction. The second frame 25 is provided with a second cover 26 covering the second installation cavity 27, and the third rotating shaft 33 is provided with a third annular protrusion 36 on the outer circumference of one end away from the second cover 26 in the second direction.

[0073] The housing of the optical component 4 has a first connection part 41 and a second connection part 42 on both sides in the second direction, the first connection part 41 has a second annular groove, the second connection part 42 has a third annular groove, the second annular protrusion 324, the third annular protrusion 36, the second annular groove and the third annular groove are all axially in the second direction, the second annular protrusion 324 is located in the second annular groove, and the third annular protrusion 36 is located in the third annular groove. Thus, the optical component 4 can cooperate with the first cover 22 and the second cover 26 to close the first installation cavity 24 and the second installation cavity 27.

[0074] like Figure 5 and Figure 6 As shown, the second driver 31 is connected to the second rotating shaft 32 , so that the first driver 12 can drive the second rotating shaft 32 and the optical component 4 to rotate.

[0075] Specifically, the second rotating shaft 32 includes a first portion 321, a second portion 322, and a third portion 323 which are sequentially connected in the second direction, and the outer diameters (and inner diameters) of the first portion 321, the second portion 322, and the third portion 323 are sequentially increased, thereby improving the structural strength of the second rotating shaft 32. The second portion 322 is fixed on the inner ring of the second bearing 34, the first portion 321 is connected to the second driver 31, the second annular protrusion 324 is provided on the third portion 323, and the third portion 323 is connected to the first connecting portion 41. For example, the first portion 321, the second portion 322, and the third portion 323 are sequentially arranged from left to right.

[0076] The second measuring device 37 is used to measure the rotation angle of the third rotation shaft 33 , so as to monitor the rotation angle of the optical component 4 .

[0077] In some embodiments, the third rotating shaft 33 includes a fourth part 331, a fifth part 332 and a sixth part 333 which are sequentially connected in the second direction, and the outer diameters (and inner diameters) of the fourth part 331, the fifth part 332 and the sixth part 333 are sequentially increased, so that the structural strength of the third rotating shaft 33 can be improved. The second measuring device 37 is arranged around the circumference of the fourth part 331, so as to facilitate the measurement of the rotation angle of the third rotating shaft 33. The fifth part 332 is fixed on the inner ring of the third bearing 35, and the third annular protrusion 36 is arranged on the sixth part 333, and the sixth part 333 is connected to the second connecting part 42. That is, the third rotating shaft 33 is a passive rotating shaft, and the third rotating shaft 33 can be driven to rotate when the optical component 4 rotates. For example, the fourth part 331, the fifth part 332 and the sixth part 333 are arranged sequentially from right to left. For example, the second measuring device 37 is a photoelectric encoder of a bulk split structure, and the bulk split photoelectric encoder is arranged on the fourth part 331.

[0078] like Figure 5 and Figure 6 As shown, the second seat body 2 is provided with a second thrust member 38, which can move relative to the second seat body 2, and the second thrust member 38 can be used to block the rotation of at least one of the second rotating shaft 32 and the third rotating shaft 33. Specifically, the second thrust member 38 can move in the second direction so as to abut against the fourth part 331, that is, the second thrust member 38 can be used to rotate the third rotating shaft 33, thereby limiting the position of the optical component 4, so that the alignment accuracy of the optical component 4 is high. The second driver 31 drives the second rotating shaft 32 to rotate, the second thrust member 38 can abut against the third rotating shaft 33, and the second measuring device 37 is arranged in the second frame 25, so that the second seat body 2 device can be evenly distributed, so that the mass distribution of the second seat body 2 is even, and then the rotation of the optical component 4 is stable.

[0079] In some embodiments, the first thrust member 16 includes at least one flexible member abutting against the first rotating shaft 13, and the second thrust member 38 includes at least one flexible member abutting against the third rotating shaft 33. Specifically, the flexible member is the end of the first thrust member 16 and the second thrust member 38 abutting against the rotating shaft, and the first thrust member 16 and the second thrust member 38 can be driven to move respectively by a driving device or a telescopic device, so that the flexible members on the first thrust member 16 and the second thrust member 38 abut against the rotating shaft. The first thrust member 16 includes a plurality of flexible members abutting against the first rotating shaft 13, and the second thrust member 38 includes a plurality of flexible members abutting against the third rotating shaft 33. The flexible member is made of a flexible material, so that the first thrust member 16 and the second thrust member 3 can cause less damage to the accuracy of the first rotating shaft 13 and the third rotating shaft 33 respectively. For example, the hydraulic rod can drive the first thrust member 16 to move in the left and right directions.

[0080] like Figure 4 As shown, in some embodiments, a first positioning member 17 and a positioning plate 18 are provided at the bottom of the installation groove 11, the first positioning member 17 extends along the first direction, a portion of the first positioning member 17 extends into the inner side of the first rotating shaft 13, the thickness direction of the positioning plate 18 is the first direction, the positioning plate 18 and the first rotating shaft 13 are arranged opposite to each other in the first direction, the positioning plate 18 has a positioning hole, and the first positioning member 17 is located in the positioning hole. Specifically, the first positioning member 17 is a cylinder, the positioning hole is a round hole and passes through the positioning plate 18, the positioning plate 18 can limit the first positioning member 17, thereby ensuring that the first positioning member 17 is accurately installed, and the first positioning member 17 can limit the first rotating shaft 13.

[0081] In some embodiments, the first cover 22 is provided with a second positioning member 23 extending into the second rotating shaft 32, and the second positioning member 23 extends along the second direction, so that the first cover 22 can be easily installed.

[0082] In some embodiments, in some embodiments, the first bearing 14 is a deep groove ball bearing. Under the premise of ensuring that the first rotating shaft 13 maintains a high precision rotation, it can also expand and contract to a certain extent in the axial direction to adapt to larger temperature changes in the working environment (on the earth-orbiting satellite).

[0083] The third rotating shaft 33 is movably arranged on the second seat body 2 (second frame body 25) in the second direction, that is, the third rotating shaft 33 can be moved in its axial direction, and the third rotating shaft 33 has a telescopic amount that can adapt to a large change in the working environment temperature. For example, the third rotating shaft 33 can slide relative to the inner ring of the third bearing 35 in the second direction. In some embodiments, the second bearing 34 and the third bearing 35 are both angular contact bearings. Specifically, the second bearing 34 and the third bearing 35 adopt a combined structural form of angular contact bearings installed back to back, which has the advantages of good transmission stiffness, large load-bearing capacity and high rotation accuracy. The combined structural form of the second bearing 34 and the third bearing 35 installed back to back is a commonly used angular contact bearing installation method. The wide end faces of the two angular contact bearings (the second bearing 34 and the third bearing 35) are opposite, and their contact angle lines will be diffused along the direction of the rotation axis, which can well withstand the bidirectional axial load force and have a strong anti-deformation ability. This assembly method can provide the equipment with higher rigidity and certain anti-overturning moment performance.

[0084] When the temperature changes, the angular contact bearing (the second bearing 34 and the third bearing 35) can freely extend or shorten, so that the third shaft 33 can be movably arranged on the second seat body 2 (the second frame 25) in the second direction, thereby avoiding deformation effects on the optical load and ensuring high shaft system accuracy and working stability under different ambient temperature conditions. Since the temperature changes greatly during the day in the low-orbit space environment (-70℃~100℃), a certain amount of expansion and contraction should be reserved in the actual design of the terminal while ensuring the high-precision rotation of the third shaft 33 in the radial direction, so as to avoid irreversible permanent deformation caused by thermal expansion and contraction in the actual low-orbit space environment, which affects the overall accuracy of the shaft system.

[0085] In some embodiments, the distance between the second bearing 34 and the third bearing 35 is greater than or equal to 81 mm and less than or equal to 85 mm. For example, the distance between the second bearing 34 and the third bearing 35 is 83 mm.

[0086] In some embodiments, the first base body 1 and the second base body 2 are made of aluminum alloy, and the first rotating shaft 13, the second rotating shaft 32 and the third rotating shaft 33 are made of titanium alloy or steel. Thus, the first base body 1 and the second base body 2 can be made lighter and the first rotating shaft 13, the second rotating shaft 32 and the third rotating shaft 33 can have higher strength. The mass of the laser tracking device 100 is less than or equal to 5 kg. For example, the mass of the laser tracking device 100 is 2 kg.

[0087] The outer surface of each of the first rotating shaft 13 and the second rotating shaft 32 is provided with a solid lubricating layer. Specifically, the solid lubricating layer includes a first coating located on the inner side and a second coating located on the outer side, the first coating includes polyimide, and the second coating includes molybdenum disulfide. In the low-orbit space environment, each rotating component must have high rigidity and precision. Solid lubrication by providing a solid lubricating layer can increase reliability so that each component can operate stably in a temperature environment of -70°C to 100°C.

[0088] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0089] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0090] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection, an electrical connection, or communication with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0091] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0092] In the present invention, the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" etc. mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the described specific features, structures, materials or characteristics may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0093] Although the above embodiments have been shown and described, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations on the present invention. Changes, modifications, substitutions and variations of the above embodiments by those of ordinary skill in the art are all within the scope of protection of the present invention.

Claims

1. A laser tracking and aiming device, characterized in that: include: a first rotating assembly, the first rotating assembly comprising a first base, a first driver, a first rotating shaft and a first measuring device, the first rotating shaft being rotatably disposed on the first base, the first driver being capable of driving the first rotating shaft to rotate, the axial direction of the first rotating shaft being a first direction, and the first measuring device being used for measuring a rotation angle of the first rotating shaft; a second rotating assembly, wherein the second rotating assembly comprises a second seat, a second driver, a second measuring device, a second rotating shaft and a third rotating shaft, wherein the first rotating shaft is connected to the second seat and can drive the second seat to rotate, the second rotating shaft and the third rotating shaft are rotatably arranged on the second seat, the second driver can drive at least one of the second rotating shaft and the third rotating shaft to rotate, the second measuring device is used to measure the rotation angle of at least one of the second rotating shaft and the third rotating shaft, and the axial directions of the second rotating shaft and the third rotating shaft are both in a second direction, and the second direction is perpendicular to the first direction; An optical component, wherein the optical component can rotate relative to the second base, the rotation axis of the optical component is the second direction, and the outer shell of the optical component is connected to the second rotation axis and the third rotation axis on both sides in the second direction respectively; The laser tracking device is also provided with a controller, and the first measuring device, the second measuring device, the first driver and the second driver are all electrically connected to the controller.

2. The laser tracking and aiming device according to claim 1, characterized in that: The first rotating assembly further includes a first bearing, the axial direction of the first bearing is the first direction, the outer ring of the first bearing is arranged in the first seat body, the first rotating shaft is annular, and the first rotating shaft is connected to the inner ring of the first bearing; The second rotating assembly also includes a second bearing and a third bearing, the outer ring of the second bearing and the outer ring of the third bearing are both arranged on the second seat body, the inner ring of the second bearing is connected to the second rotating shaft, and the inner ring of the third bearing is connected to the third rotating shaft.

3. The laser tracking and aiming device according to claim 2, characterized in that: A first thrust member is disposed on the first seat body, the first thrust member can move relative to the first seat body, and the first thrust member can be used to prevent the first rotating shaft from rotating; The second seat body is provided with a second thrust member, the second thrust member can move relative to the second seat body, and the second thrust member can be used to block the rotation of at least one of the second rotating shaft and the third rotating shaft.

4. The laser tracking and aiming device according to claim 3, characterized in that: The second rotating shaft and the third rotating shaft are both annular; The first driver and the second driver are torque motors, the first driver is connected to the first rotating shaft, the second driver is connected to the second rotating shaft, and the third rotating shaft is movably disposed on the second base in the second direction; The first thrust member includes at least one flexible member abutting against the first rotating shaft; The second thrust member includes at least one flexible member abutting against the third rotating shaft; The second measuring device is used to measure the rotation angle of the third rotating shaft.

5. The laser tracking and aiming device according to claim 4, characterized in that: The first seat body has a mounting groove, the notch of the mounting groove faces the second seat body in the first direction, and the first measuring device, the first driver, the first bearing and the first rotating shaft are all arranged in the mounting groove; The second seat body comprises A first frame, wherein the first frame has a first installation cavity, the second driver, the second rotating shaft and the second bearing are located in the first installation cavity, and the second driver is connected to the second rotating shaft; a second frame, wherein the first frame and the second frame are arranged opposite to each other in a second direction, the second frame has a second mounting cavity, the second measuring device, the third rotating shaft and the third bearing are located in the second mounting cavity, and the second measuring device is used to measure the rotation angle of the third rotating shaft; A connecting frame, the first frame body and the second frame body are both arranged on the connecting frame, the connecting frame extends into the installation groove and is connected to the first rotating shaft, and the axial direction of the connecting frame is the first direction.

6. The laser tracking and aiming device according to claim 5, characterized in that: A portion of the connecting frame extends into the installation groove and covers the notch of the installation groove, a first annular groove is provided on the first seat body, a first annular protrusion is provided on the connecting frame, the axial directions of the first annular protrusion and the first annular groove are both in the first direction, and the first annular protrusion is located in the first annular groove and can slide relative to the first annular groove; The first frame is provided with a first cover for covering the first installation cavity, and the second rotating shaft is provided with a second annular protrusion on the outer peripheral surface of one end away from the first cover in the second direction; The second frame is provided with a second cover for covering the second installation cavity, and the outer peripheral surface of the third rotating shaft at one end away from the second cover in the second direction is provided with a third annular protrusion; The housing of the optical component has a first connecting part and a second connecting part on both sides in the second direction, the first connecting part has a second annular groove, the second connecting part has a third annular groove, the second annular protrusion, the third annular protrusion, the second annular groove and the third annular groove are all axially in the second direction, the second annular protrusion is located in the second annular groove, and the third annular protrusion is located in the third annular groove.

7. The laser tracking and aiming device according to claim 6, characterized in that: A first positioning member and a positioning plate are provided at the bottom of the mounting groove, the first positioning member extends along the first direction, a portion of the first positioning member extends into the inner side of the first rotating shaft, the thickness direction of the positioning plate is the first direction, the positioning plate and the first rotating shaft are arranged opposite to each other in the first direction, the positioning plate has a positioning hole, and the first positioning member is located in the positioning hole; The first cover is provided with a second positioning member extending into the second rotating shaft, and the second positioning member extends along the second direction.

8. The laser tracking and aiming device according to claim 7, characterized in that: The second rotating shaft includes a first part, a second part and a third part which are sequentially connected in the second direction, the outer diameters of the first part, the second part and the third part are sequentially increased, the second part is fixed on the inner ring of the second bearing, the first part is connected to the second driver, the second annular protrusion is provided on the third part, and the third part is connected to the first connecting portion; The third rotating shaft includes a fourth part, a fifth part and a sixth part which are sequentially connected in the second direction, the outer diameters of the fourth part, the fifth part and the sixth part are increased sequentially, the fifth part is fixed on the inner ring of the third bearing, the second thrust member can be moved in the second direction to abut against the fourth part, the second measuring device is arranged on the circumferential side of the fourth part, the third annular protrusion is arranged on the sixth part, and the sixth part is connected to the second connecting part.

9. The laser tracking and aiming device according to any one of claims 2 to 8, characterized in that: The first bearing is a deep groove ball bearing The second bearing and the third bearing are both angular contact bearings; The first seat body and the second seat body are both made of aluminum alloy; The first rotating shaft, the second rotating shaft and the third rotating shaft are all made of titanium alloy or steel; An outer surface of each of the first rotating shaft and the second rotating shaft is provided with a solid lubricating layer.

10. The laser tracking and aiming device according to claim 9, characterized in that: The solid lubricating layer comprises a first coating layer located on the inner side and a second coating layer located on the outer side, the first coating layer comprises polyimide, and the second coating layer comprises molybdenum disulfide; The distance between the second bearing and the third bearing is greater than or equal to 81 mm and less than or equal to 85 mm; The mass of the laser tracking and aiming device is less than or equal to 5 kg.

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