Three-axis rotating mechanism and photoelectric tracking turntable

Abstract

The invention discloses a three-axis rotating mechanism and a photoelectric tracking turntable. The three-axis rotating mechanism comprises an adapter frame, the pitch axis system extends in the first direction and is rotatably arranged on the adapter frame. The bottom frame is rotatably connected with the adapter frame through the first azimuth shaft system; the top frame is rotatably connected with the adapter frame through a second azimuth shaft system, and the first azimuth shaft system and the second azimuth shaft system are coaxial and extend in a second direction parallel to the vertical direction; a first gear coaxial with the first azimuth shaft system is fixed to the bottom frame, a second gear coaxial with the second azimuth shaft system is fixed to the top frame, a transmission shaft with the extending direction parallel to the first azimuth shaft system is rotatably arranged on the transfer frame, and a third gear in transmission connection with the first gear is coaxially fixed to one end of the transmission shaft. And a fourth gear in transmission connection with the second gear is coaxially fixed at the other end. The transmission shaft is higher in reliability and does not shield a pitching view field, the transmission ratio of the first gear and the third gear or the second gear and the fourth gear is flexible in design, the structure is compact, and the cost is low.

Description

Technical Field

[0001] The invention relates to the technical field of photoelectric tracking turntables, and in particular to a three-axis rotation mechanism and a photoelectric tracking turntable. Background Art

[0002] The optoelectronic tracking turntable is a device that integrates optical, electronic and mechanical technologies. It can detect, identify and track targets through optoelectronic sensors. It usually has degrees of freedom such as azimuth and pitch, and can achieve high-precision pointing and stable tracking of targets. It is widely used in military reconnaissance, target tracking, security monitoring and other fields.

[0003] The three-axis optoelectronic tracking turntable is based on the traditional two-axis optoelectronic tracking turntable. In addition to the optoelectronic equipment at the pitch end, a second azimuth axis is added to the top of the rotating turntable to install antennas or other equipment. It is equivalent to having three axis systems: the pitch axis system, the lower azimuth axis system, and the upper azimuth axis system. The upper azimuth axis system may be fixed or rotate in different directions and speeds. However, in the development and design of the three-axis optoelectronic tracking turntable, no matter which two-axis optoelectronic tracking turntable layout is used, the 360° rotation of the lower azimuth axis system makes it difficult to install the axis system on the top of the turntable.

[0004] In the related technology, a more direct solution is to use a crankshaft connection on the basis of a two-axis optoelectronic tracking turntable, install the crankshaft from the fixed azimuth chassis, and run it around the azimuth and pitch rotation envelope to the top of the turntable, similar to a C-type crankshaft, so as to establish the base of the second azimuth axis. However, this method has obvious disadvantages: first, the crankshaft will inevitably block part of the field of view of the pitch optoelectronic device; second, the crankshaft is not rigid enough to install heavier or larger top loads; third, the processing and manufacturing processability and economy of the crankshaft are not good, and the accuracy is also difficult to guarantee. Summary of the invention

[0005] Based on this, it is necessary to provide a three-axis rotation mechanism and an optoelectronic tracking turntable to address the existing problems, aiming to solve or improve at least one of the above problems.

[0006] A first aspect of the present application provides a three-axis rotation mechanism, comprising:

[0007] Adapter frame;

[0008] A pitch axis system, rotatably disposed on the adapter frame, wherein the pitch axis system extends along a first direction;

[0009] A base frame and a first azimuth axis system, wherein the base frame is rotatably connected to the adapter frame via the first azimuth axis system;

[0010] A top frame and a second azimuth axis system, wherein the top frame is rotatably connected to the adapter frame through the second azimuth axis system, the first azimuth axis system and the second azimuth axis system are coaxial and extend along a second direction parallel to the vertical direction, and the first direction and the second direction are perpendicular to each other;

[0011] Among them, the base frame is fixed with a first gear coaxial with the first azimuth axis system, the top frame is fixed with a second gear coaxial with the second azimuth axis system, the adapter frame is rotatably provided with a transmission shaft extending in a direction parallel to the first azimuth axis system, one end of the transmission shaft is coaxially fixed with a third gear, the third gear is transmission-connected to the first gear, and the other end of the transmission shaft is coaxially fixed with a fourth gear, the fourth gear is transmission-connected to the second gear.

[0012] In some embodiments, the third gear is meshed with the first gear, and the fourth gear is meshed with the second gear; or,

[0013] The three-axis rotation mechanism also includes a transfer planetary gear, which is rotatably arranged on the transfer frame, and the fourth gear and the second gear are respectively meshed with the transfer planetary gear.

[0014] In some embodiments, the three-axis rotation mechanism further includes:

[0015] An azimuth brake, fixed to the adapter frame;

[0016] a fifth gear, fixedly connected to an output end of the azimuth brake;

[0017] The sixth gear is coaxially fixed to the transmission shaft and meshes with the fifth gear.

[0018] In some embodiments, the three-axis rotation mechanism further includes:

[0019] A bearing sleeve, the adapter frame is provided with a mounting hole, and the bearing sleeve is inserted and fixed in the mounting hole;

[0020] A plurality of bearings, the transmission shaft passes through the bearing sleeve and is rotatably matched with the bearing sleeve through the plurality of bearings.

[0021] In some embodiments, the three-axis rotation mechanism further includes:

[0022] The pitch drive source is fixed to the adapter frame, and the pitch drive source is drivingly connected to the pitch axis system.

[0023] In some embodiments, a pitch brake is further included, and the three-axis rotation mechanism further includes:

[0024] A seventh gear, coaxially and fixedly connected to the pitch axis system;

[0025] The eighth gear is coaxially fixedly connected to the output end of the pitch brake, and the eighth gear is meshed with the seventh gear.

[0026] In some embodiments, the first gear is detachably connected to the base frame, and the third gear is detachably connected to the transmission shaft.

[0027] In some embodiments, the second gear is detachably connected to the top frame, and the fourth gear is detachably connected to the transmission shaft; and / or, the three-axis rotation mechanism also includes an azimuth motor, which is fixed to the base frame, and the output shaft of the azimuth motor is connected to the first azimuth axis system, and the first azimuth axis system is fixedly connected to the adapter frame.

[0028] The second aspect of the present application provides an optoelectronic tracking turntable, which includes a first suspension frame, a second suspension frame and a three-axis rotation mechanism provided in any of the above embodiments, wherein the first suspension frame is detachably connected to one end of the pitch axis system, and the second suspension frame is detachably connected to the other end of the pitch axis system.

[0029] In some embodiments, the optoelectronic tracking turntable further comprises:

[0030] A first photoelectric device, detachably connected to the top frame;

[0031] A second photoelectric device, detachably connected to the first suspension frame;

[0032] The third photoelectric device is detachably connected to the second suspension frame.

[0033] Beneficial effects of the present invention:

[0034] Compared with the existing three-axis rotation mechanism for photoelectric tracking turntable, the three-axis rotation mechanism provided by the present invention has the following advantages:

[0035] 1. The extension direction of the transmission shaft is parallel to the first azimuth axis system, the crankshaft design is cancelled and a straight axis structure is adopted. The pitch axis system is rotatably arranged on the adapter frame, and the pitch axis system extends along the first direction, so that optoelectronic equipment that needs to be adjusted in pitch can be installed at both ends of the pitch axis system. Therefore, the transmission shaft will not block the pitch field of view, and the effect is better;

[0036] 2. The third gear is coaxially connected to the transmission shaft and is in transmission connection with the first gear, the fourth gear is coaxially connected to the transmission shaft and is in transmission connection with the second gear, the transmission of the third gear and the first gear has a first transmission ratio, and the transmission of the fourth gear and the second gear has a second transmission ratio. By matching different transmission ratios or indirect gear transmission, the top frame and the adapter frame can be designed to rotate forward, reverse, or be stationary relative to the bottom frame and have different speeds, which has richer and more powerful functions;

[0037] 3. The extension direction of the transmission shaft is parallel to the first axis and is rotatably arranged on the adapter frame. The crankshaft design structure is no longer adopted, and the structural reliability of the transmission shaft is higher;

[0038] 4. The three-axis rotation mechanism of this structure only needs to design a set of pitch drive for the pitch axis and a set of azimuth drive for the adapter frame and the top frame. The rotation or constraint of the top frame can be driven purely mechanically without power and feedback, which is equivalent to removing the control system of the top frame, avoiding the difficulty of two-way azimuth control and reducing unreliable factors;

[0039] 5. Compared with the traditional solution of combining a two-axis or three-axis rotating mechanism with a single-axis azimuth turntable, the actual method of the present application adopts a purely mechanical linkage method to perform azimuth adjustment linkage through a transmission shaft, which can greatly reduce manufacturing costs; on the one hand, it reduces expensive equipment such as controllers and reduces hardware costs; on the other hand, the mechanical structure is safe and reliable, reducing the trial and error costs in use and debugging. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only one embodiment of the present invention. For ordinary technicians in this field, drawings of other embodiments can be obtained based on these drawings without paying creative work.

[0041] Figure 1 A three-dimensional schematic diagram of a three-axis rotation mechanism provided in an embodiment of the present application;

[0042] Figure 2 A disassembled schematic diagram of a three-axis rotation mechanism provided in an embodiment of the present application;

[0043] Figure 3 A schematic diagram of components such as an adapter frame, a bearing sleeve, and a transmission shaft of a three-axis rotation mechanism provided in an embodiment of the present application;

[0044] Figure 4 A three-dimensional schematic diagram of an optoelectronic tracking turntable provided for an embodiment of the present application;

[0045] Figure 5A schematic diagram of the partial structural breakdown of an optoelectronic tracking turntable provided in an embodiment of the present application.

[0046] Reference numerals:

[0047] X, first direction; Y, second direction;

[0048] 1. Adapter frame; 101. Mounting hole; 2. Pitch axis system; 3. Base frame; 4. First azimuth axis system; 5. Top frame; 6. Second azimuth axis system; 7. First gear; 8. Second gear; 9. Transmission shaft; 10. Third gear; 11. Fourth gear; 12. Azimuth brake; 13. Fifth gear; 14. Sixth gear; 15. Load sleeve; 16. Bearing; 17. Pitch brake; 18. Seventh gear; 19. Eighth gear; 20. First suspension frame; 21. Second suspension frame; 22. First photoelectric device; 23. Second photoelectric device; 24. Third photoelectric device; 25. Azimuth motor; 26. Pitch motor. DETAILED DESCRIPTION

[0049] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present invention, so the present invention is not limited by the specific embodiments disclosed below.

[0050] 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.

[0051] 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 multiple features. In the description of the present invention, the meaning of "multiple" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0052] 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 connected, detachably connected, or integrated; it can be mechanically connected or electrically connected; it can be directly connected or indirectly connected 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.

[0053] In the present invention, unless otherwise clearly specified and limited, a feature "above" or "below" a second feature may be in direct contact with the second feature, or in indirect contact with the second feature through an intermediate medium. Moreover, a feature "above", "above" and "above" a second feature may mean that the feature is directly above or obliquely above the second feature, or simply means that the feature is higher in level than the second feature. A feature "below", "below" and "below" a second feature may mean that the feature is directly below or obliquely below the second feature, or simply means that the feature is lower in level than the second feature.

[0054] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used herein are for illustrative purposes only and are not intended to be the only implementation method.

[0055] refer to Figure 1-5 The embodiment of the present application provides a three-axis rotation mechanism, which includes an adapter frame 1, a pitch axis system 2, a base frame 3, a first azimuth axis system 4, a top frame 5 and a second azimuth axis system 6; wherein the pitch axis system 2 is rotatably arranged on the adapter frame 1, and the pitch axis system 2 extends along a first direction X; the base frame 3 is rotatably connected to the adapter frame 1 through the first azimuth axis system 4; the top frame 5 is rotatably connected to the adapter frame 1 through the second azimuth axis system 6, and the first azimuth axis system 4 and the second azimuth axis system 6 are coaxial and extend along a second azimuth axis system parallel to the vertical direction. The first direction X and the second direction Y extend perpendicular to each other; wherein, the base frame 3 is fixed with a first gear 7 coaxial with the first orientation axis system 4, the top frame 5 is fixed with a second gear 8 coaxial with the second orientation axis system 6, the adapter frame 1 is rotatably provided with a transmission shaft 9 extending in a direction parallel to the first orientation axis system 4, a third gear 10 is coaxially fixed to one end of the transmission shaft 9, the third gear 10 is transmission-connected to the first gear 7, and a fourth gear 11 is coaxially fixed to the other end of the transmission shaft 9, the fourth gear 11 is transmission-connected to the second gear 8.

[0056] Compared with the existing three-axis rotation mechanism for optoelectronic tracking turntable, the three-axis rotation mechanism provided in the embodiment of the present application has a transmission shaft 9 whose extension direction is parallel to the first azimuth axis 4, eliminates the crankshaft design and adopts a straight axis structure, and the pitch axis 2 is rotatably arranged on the adapter frame 1, and the pitch axis 2 extends along the first direction X, so that optoelectronic equipment that needs to be pitch adjusted can be installed at both ends of the pitch axis 2. Therefore, its transmission shaft 9 will not block the pitch field of view, and the efficiency is better; moreover, the third gear 10 is coaxially connected to the transmission shaft 9 and is transmission-connected to the first gear 7, the fourth gear 11 is coaxially connected to the transmission shaft 9 and is transmission-connected to the second gear 8, the transmission of the third gear 10 and the first gear 7 has a first transmission ratio, and the transmission of the fourth gear 11 and the second gear 8 has a second transmission ratio. By matching different transmission ratios or indirect gear transmission, the top frame 5 and the adapter frame 1 can be designed with forward rotation, reverse rotation, or relative stationary state relative to the bottom frame 3 and different speeds, which has richer and more powerful functions; moreover, the extension direction of the transmission shaft 9 is parallel to the first axis and is rotatably arranged on the adapter frame 1, and the crankshaft design structure is no longer adopted, and the structure of the transmission shaft 9 is reliable The three-axis rotation mechanism of this structure only needs to design a set of pitch drive of the pitch axis and a set of azimuth drive of the adapter frame 1 and the top frame 5. The rotation or constraint of the top frame 5 can be driven purely by mechanical means without power and feedback, which is equivalent to removing the control system of the top frame 5, avoiding the difficulty of two-axis azimuth control and reducing unreliable factors. Moreover, compared with the traditional two-axis three-axis rotation mechanism combined with a single-axis azimuth turntable, the actual method of the present application adopts a pure mechanical linkage method to perform azimuth adjustment linkage through the transmission shaft 9, which can greatly reduce the manufacturing cost. On the one hand, it reduces expensive equipment such as controllers and reduces hardware costs. On the other hand, the mechanical structure is safe and reliable, reducing the trial and error costs in use and debugging.

[0057] In some embodiments, reference Figure 1-3 The third gear 10 meshes with the first gear 7, and the fourth gear 11 meshes with the second gear 8. The meshing structure is simple and low in cost. The transmission structure at this time can make the adapter frame 1 and the top frame 5 have the same azimuth steering. Furthermore, by matching different transmission ratios or indirect gear transmission, the top frame 5 or the adapter frame 1 can be adjusted to be stationary or at different speeds relative to the bottom frame 3.

[0058] Of course, in some embodiments, the three-axis rotation mechanism further includes a transfer planetary gear, which is rotatably disposed on the transfer frame 1, and the fourth gear 11 and the second gear 8 are respectively engaged with the transfer planetary gear. At this time, the transmission structure can make the transfer frame 1 and the top frame 5 have opposite azimuths. Furthermore, by matching different transmission ratios or indirect gear transmission, the top frame 5 or the transfer frame 1 can be adjusted to be stationary or at different speeds relative to the bottom frame 3.

[0059] refer to Figure 1-3 In some embodiments, the three-axis rotation mechanism further includes an azimuth brake 12, a fifth gear 13, and a sixth gear 14. The azimuth brake 12 is fixed to the adapter 1; the fifth gear 13 is fixedly connected to the output end of the azimuth brake 12; the sixth gear 14 is coaxially fixed to the transmission shaft 9 and meshes with the fifth gear 13, and then the transmission shaft 9 is braked to rotate around its own axis by the azimuth brake 12. The structure is simple and the cost is low. The azimuth brake 12 can realize the shaft holding brake function when the power is off.

[0060] Of course, in order to drive the adapter 1 to rotate in position, refer to Figure 2 The three-axis rotation mechanism also includes an azimuth motor 25, which is fixed to the base frame 3. The output shaft of the azimuth motor 25 is connected to the first azimuth axis system 4, and the first azimuth axis system 4 is fixedly connected to the adapter frame 1, thereby driving the first azimuth axis system 4 to rotate. The azimuth motor 25 can be a reduction motor, a servo motor or other motors. Among them, the first gear 7 can be fixed to the base frame 3 directly or indirectly, and the indirect fixation can be fixed to the housing of the azimuth motor 25, for example.

[0061] In some embodiments, reference Figure 1-5 The three-axis rotation mechanism also includes a bearing sleeve 15 and a plurality of bearings 16. The adapter 1 is provided with a mounting hole 101, and the bearing sleeve 15 is inserted and fixed in the mounting hole 101; the transmission shaft 9 passes through the bearing sleeve 15 and is rotatably matched with the bearing sleeve 15 through a plurality of bearings 16. With such a design, the transmission shaft 9, the bearing sleeve 15 and the bearings 16 can be assembled with each other and quickly installed and removed from the adapter 1 as a whole, so that the bearing sleeve 15 can be quickly installed and removed from the mounting hole 101, and the installation and adjustment are convenient.

[0062] In some embodiments, reference Figure 1-5 The three-axis rotation mechanism also includes a pitch drive source. The pitch drive source is fixed to the adapter frame 1, and the pitch drive source is drivingly connected to the pitch axis system 2. The pitch drive source can be a pitch motor 26, which will not be described in detail.

[0063] More specifically, see Figure 1-5 In some embodiments, the three-axis rotation mechanism further includes a pitch brake 17, and the three-axis rotation mechanism further includes a seventh gear 18 and an eighth gear 19. The seventh gear 18 is coaxially fixedly connected to the pitch axis 2; the eighth gear 19 is coaxially fixedly connected to the output end of the pitch brake 17, and the eighth gear 19 is meshed with the seventh gear 18. The pitch brake 17 realizes the function of pitch axis braking after power failure.

[0064] refer to Figure 1-5In some embodiments, the first gear 7 is detachably connected to the chassis 3, and the third gear 10 is detachably connected to the transmission shaft 9, which is convenient for loading, unloading, replacement, and maintenance, and has a flexible structure. Specifically, the first gear 7 and the third gear 10 of different sizes can be flexibly adjusted to adjust the transmission ratio, and the maintenance and adjustment cost is low. Of course, the detachable connection can be a key connection.

[0065] In some embodiments, reference Figure 1-5 The second gear 8 is detachably connected to the top frame 5, and the fourth gear 11 is detachably connected to the transmission shaft 9, which is convenient for loading, unloading, replacement, and maintenance. The structure is flexible, and the second gear 8 and the fourth gear 11 of different sizes can be flexibly adjusted to adjust the transmission ratio, and the maintenance and adjustment cost is low. Of course, the detachable connection can be a key connection.

[0066] In addition, reference Figure 1-5 The present application also provides an optoelectronic tracking turntable, which includes a first suspension frame 20, a second suspension frame 21 and a three-axis rotation mechanism provided in any of the above-mentioned embodiments. The first suspension frame 20 is detachably connected to one end of the pitch axis system 2, and the second suspension frame 21 is detachably connected to the other end of the pitch axis system 2. The space at both ends of the pitch axis system 2 is fully utilized to arrange the first suspension frame 20 and the second suspension frame 21. The structural arrangement is compact, which is conducive to reducing the size in this direction.

[0067] In some embodiments, reference Figure 1-5 The photoelectric tracking turntable also includes a first photoelectric device 22, a second photoelectric device 23 and a third photoelectric device 24. The first photoelectric device 22 is detachably connected to the top frame 5; the second photoelectric device 23 is detachably connected to the first suspended frame 20; the third photoelectric device 24 is detachably connected to the second suspended frame 21. The azimuth rotation of the top frame 5 can drive the first photoelectric device 22 to rotate, and the adapter frame 1 drives the second photoelectric device 23 on the first suspended frame 20 and the third photoelectric device 24 on the second suspended frame 21 to adjust their azimuths by rotating relative to the bottom frame 3. The first photoelectric device 22, the second photoelectric device 23, and the third photoelectric device 24 can be configured with corresponding photoelectric equipment according to specific needs, such as infrared, laser, visible light and other photoelectric measurement equipment.

[0068] Finally, it should be noted that the various technical features of the above embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the various technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0069] The above-mentioned embodiment only expresses one implementation mode of the present invention, and its description is relatively specific and detailed, but it cannot be understood as limiting the scope of the invention patent. It should be pointed out that for ordinary technicians in this field, several modifications and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention. Therefore, the protection scope of the present invention shall be based on the attached claims.

Claims

1. A three-axis rotation mechanism, characterized in that: include: Adapter frame (1); A pitch axis system (2) rotatably arranged on the adapter frame (1), wherein the pitch axis system (2) extends along a first direction (X); A base frame (3) and a first azimuth axis system (4), wherein the base frame (3) is rotatably connected to the adapter frame (1) via the first azimuth axis system (4); A top frame (5) and a second azimuth axis system (6), wherein the top frame (5) is rotatably connected to the adapter frame (1) via the second azimuth axis system (6), the first azimuth axis system (4) and the second azimuth axis system (6) are coaxial and extend along a second direction (Y) parallel to the vertical direction, and the first direction (X) and the second direction (Y) are perpendicular to each other; The bottom frame (3) is fixed with a first gear (7) coaxial with the first azimuth axis system (4), the top frame (5) is fixed with a second gear (8) coaxial with the second azimuth axis system (6), the adapter frame (1) is rotatably provided with a transmission shaft (9) extending in a direction parallel to the first azimuth axis system (4), one end of the transmission shaft (9) is coaxially fixed with a third gear (10), the third gear (10) is transmission-connected with the first gear (7), the other end of the transmission shaft (9) is coaxially fixed with a fourth gear (11), the fourth gear (11) is transmission-connected with the second gear (8).

2. The three-axis rotation mechanism according to claim 1, characterized in that: The third gear (10) is meshed with the first gear (7), and the fourth gear (11) is meshed with the second gear (8); or, The three-axis rotation mechanism also includes a transfer planetary gear, which is rotatably arranged on the transfer frame (1), and the fourth gear (11) and the second gear (8) are respectively meshed with the transfer planetary gear.

3. The three-axis rotation mechanism according to claim 1, characterized in that: Also includes: An azimuth brake (12) fixed to the adapter frame (1); a fifth gear (13) fixedly connected to an output end of the azimuth brake (12); The sixth gear (14) is coaxially fixed to the transmission shaft (9) and meshes with the fifth gear (13).

4. The three-axis rotation mechanism according to claim 1, characterized in that: Also includes: A bearing sleeve (15), the adapter frame (1) is provided with a mounting hole (101), and the bearing sleeve (15) is inserted and fixed in the mounting hole (101); A plurality of bearings (16), the transmission shaft (9) passes through the bearing sleeve (15) and is rotatably matched with the bearing sleeve (15) through the plurality of bearings (16).

5. The three-axis rotation mechanism according to claim 1, characterized in that: Also includes: A pitch drive source is fixed to the adapter frame (1), and the pitch drive source is drivingly connected to the pitch axis system (2).

6. The three-axis rotation mechanism according to claim 5, characterized in that: It also includes a pitch brake (17), and the three-axis rotation mechanism also includes: a seventh gear (18) coaxially and fixedly connected to the pitch axis system (2); The eighth gear (19) is coaxially fixedly connected to the output end of the pitch brake (17), and the eighth gear (19) is meshed with the seventh gear (18).

7. The three-axis rotation mechanism according to claim 1, characterized in that: The first gear (7) is detachably connected to the base frame (3), and the third gear (10) is detachably connected to the transmission shaft (9).

8. The three-axis rotation mechanism according to claim 1, characterized in that: The second gear (8) is detachably connected to the top frame (5), and the fourth gear (11) is detachably connected to the transmission shaft (9); and / or the three-axis rotation mechanism further comprises an azimuth motor (25), the azimuth motor (25) is fixed to the bottom frame (3), the output shaft of the azimuth motor (25) is connected to the first azimuth axis system (4), and the first azimuth axis system (4) is fixedly connected to the adapter frame (1).

9. A photoelectric tracking turntable, characterized in that: It comprises a first suspension frame (20), a second suspension frame (21) and a three-axis rotation mechanism as described in any one of claims 1 to 8, wherein the first suspension frame (20) is detachably connected to one end of the pitch axis system (2), and the second suspension frame (21) is detachably connected to the other end of the pitch axis system (2).

10. The photoelectric tracking turntable according to claim 9, characterized in that: Also includes: A first photoelectric device (22) detachably connected to the top frame (5); A second photoelectric device (23) detachably connected to the first suspension frame (20); The third photoelectric device (24) is detachably connected to the second suspension frame (21).

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