Voice coil motor driving type fine pointing mechanism for space optical communication

Abstract

A voice coil motor driving type fine pointing mechanism for space optical communication relates to the field of space optical communication and comprises a mechanism base, a displacement sensor, a voice coil motor, a combined flexible hinge, a reflector and a reflector seat. The voice coil motor comprises a voice coil motor stator and a voice coil motor rotor; the mechanism base is provided with a mounting groove. The displacement sensor and the voice coil motor stator are fixedly connected to the bottom of the mounting groove. The voice coil motor stator sleeves the outer side of the voice coil motor rotor, and the voice coil motor rotor linearly moves along the depth direction of the mounting groove; the fixed end of the combined flexible hinge is connected with the middle position of the bottom of the mounting groove of the mechanism base; the back face of the reflector is connected with the side, away from the combined flexible hinge, of the reflector base, and the reflector base is fixedly connected with the moving end of the combined flexible hinge. And the voice coil motor rotor is connected with the reflector seat. According to the invention, high bandwidth and high precision can be realized while a large rotation angle is realized, and the requirement of high-link stability application of space optical communication is met.

Description

Technical Field

[0001] This application belongs to the technical field of space optical communication, and relates to a fine pointing mechanism that meets the precise pointing adjustment of a space optical communication system. It is driven by a voice coil motor and has the characteristics of high precision and high bandwidth. Background Art

[0002] Space optical communication has a short wavelength and a very small communication beam divergence angle. In order to ensure long-distance transmission of optical communication terminals, it is required that both communication parties must maintain extremely high dynamic alignment accuracy, and an acquisition, pointing, and tracking (APT) system with high tracking accuracy and high reliability is needed. Currently, a combined coarse and fine APT system is commonly used at home and abroad, mainly including a coarse pointing assembly (Coarse Pointing Assembly, abbreviated as CPA) and a fine pointing assembly (Fine Pointing Assembly, abbreviated as FPA). The FPA is an actuator that realizes high-precision pointing, scanning, and acquisition of the target terminal beam during the tracking process of a laser terminal, and at the same time performs small-angle dynamic compensation for the vibration interference of its own satellite.

[0003] According to different driving methods of the fine pointing mechanism, the commonly used FPA is divided into two types: piezoelectric ceramic-driven FPA and voice coil motor-driven FPA. The voice coil motor-driven FPA has the characteristics of large stroke, strong load-bearing capacity, and low driving voltage compared with the piezoelectric ceramic-driven FPA. In optical system applications, the mechanism that controls the rapid swing of a mirror to achieve pointing and tracking functions is also called a fast steering mirror (Fast Steering Mirror, abbreviated as FSM). The FPA for optical communication is a typical application of a fast steering mirror.

[0004] With the development of space optical communication and the increasing demand for communication link stability, the requirements for the motion stroke and bandwidth of the fine pointing mechanism are constantly increasing. The motion stroke and working bandwidth of traditional voice coil motor-driven fine pointing mechanisms are difficult to be compatible and cannot meet the requirements. Summary of the Invention

[0005] The technical problem solved by this application is: overcoming the deficiencies of the prior art, providing a voice coil motor-driven fine pointing mechanism that can achieve high bandwidth and high precision while having a large rotation angle, and meeting the requirements of high link stability applications in space optical communication.

[0006] The technical solution provided by this application is as follows:

[0007] A voice coil motor driven precision pointing mechanism for space optical communication comprises a mechanism base, a displacement sensor, a voice coil motor, a combined flexible hinge, a reflector and a reflector seat; the voice coil motor comprises a voice coil motor stator and a voice coil motor mover; the mechanism base is provided with a mounting groove, and the displacement sensor and the voice coil motor stator are both fixedly connected to the bottom of the mounting groove; the voice coil motor stator is sleeved on the outside of the voice coil motor mover, and the voice coil motor mover moves linearly along the depth direction of the mounting groove; the fixed end of the combined flexible hinge is connected to the middle position of the bottom of the mounting groove of the mechanism base; the back of the reflector is connected to the side of the reflector seat away from the combined flexible hinge, and the reflector seat is fixedly connected to the moving end of the combined flexible hinge; the voice coil motor mover is connected to the reflector seat; the depth direction of the mounting groove is taken as the Z axis, the X axis and the Y axis are both perpendicular to the Z axis, and the moving end of the combined flexible hinge has rotational freedom around the X axis and the Y axis relative to the center of the combined flexible hinge.

[0008] The voice coil motors and displacement sensors are both provided in four numbers, the four voice coil motors are evenly distributed around the axis of the mounting slot, the four displacement sensors are evenly distributed around the axis of the mounting slot, and each displacement sensor is located between two adjacent voice coil motors.

[0009] The combined flexible hinge includes a main support flexible hinge and an auxiliary support flexible hinge. The main support flexible hinge is a cylindrical cut double straight thin plate type flexible hinge, and the auxiliary support flexible hinge is a thin film cut flexible hinge. One end of the main support flexible hinge is the fixed end of the combined flexible hinge, and the other end is the moving end of the combined flexible hinge. The fixed end of the combined flexible hinge is fixed to the bottom of the mounting groove of the mechanism base, the moving end of the combined flexible hinge is fixedly connected to the auxiliary support flexible hinge and the reflector seat, and the auxiliary support flexible hinge is fixedly connected to the opening end of the mechanism base.

[0010] The main support flexible hinge comprises a cylinder and an end flange integrally connected to one end of the cylinder, and the end of the cylinder not connected to the end flange is connected to the inner bottom of the mechanism base; a groove is provided on the cylinder, and the groove comprises two upper U-shaped grooves and two lower U-shaped grooves, the opening directions of the upper U-shaped groove and the lower U-shaped groove are opposite, and the opening directions of the upper U-shaped groove and the lower U-shaped groove are along the axial direction of the cylinder; the two upper U-shaped grooves are arranged in sequence along the circumference of the cylinder, and the two lower U-shaped grooves are arranged in sequence along the circumference of the cylinder; the upper U-shaped groove and the lower U-shaped groove each comprise a first straight groove, a second straight groove and an arc groove The arc groove is connected to one end of the first straight groove and the second straight groove, the first straight groove of an upper U-shaped groove is adjacent to the second straight groove of another upper U-shaped groove, and the second straight groove of an upper U-shaped groove is adjacent to the first straight groove of another upper U-shaped groove; the two upper U-shaped grooves have two groups of adjacent first straight grooves and second straight grooves; the two groups of adjacent first straight grooves and second straight grooves are respectively opposite to two opposite voice coil motors; the two lower U-shaped grooves have two groups of adjacent first straight grooves and second straight grooves, and the two groups of adjacent first straight grooves and second straight grooves are respectively opposite to two opposite voice coil motors.

[0011] The auxiliary support flexible hinge includes a circular flange, a middle flange and connecting ribs. The circular flange is annular in shape and is fixedly connected to the open end of the mechanism base. The middle flange is located in the middle of the circular flange. The edge of the middle flange is provided with avoidance grooves corresponding to the voice coil motors one by one. The part between each two adjacent avoidance grooves on the edge of the middle flange is connected to the circular flange through two connecting ribs.

[0012] The direction from a group of adjacent first straight grooves and second straight grooves formed by the two upper U-shaped grooves to another group of adjacent first straight grooves and second straight grooves is the X-axis, and the direction from a group of adjacent first straight grooves and second straight grooves formed by the two lower U-shaped grooves to another group of adjacent first straight grooves and second straight grooves is the Y-axis; the two connecting ribs partially connecting two adjacent avoidance grooves are parallel to the X-axis and Y-axis directions, respectively.

[0013] The reflector seat includes a middle mirror seat and an adjustment flange. Four adjustment flanges are provided, and the four adjustment flanges are connected to the edge of the middle mirror seat in sequence. The reflector seat is located on the side of the auxiliary support flexible hinge away from the voice coil motor; the first fixing screw passes through the end flange, the middle mirror seat and the middle flange of the main support flexible hinge in sequence, and fixes the end flange, the middle mirror seat and the middle flange; each adjustment flange is directly opposite to a voice coil motor rotor and is fixedly connected thereto.

[0014] A mirror seat through hole for the cylinder to pass through is opened in the middle of the middle mirror seat, and an intermediate through hole for the cylinder to pass through is opened in the middle of the middle flange. The cylinder passes through the mirror seat through hole and the intermediate through hole of the auxiliary support flexible hinge in sequence, and is fixed to the bottom of the mounting groove of the mechanism base. The end flange is located on the side of the reflector seat away from the auxiliary support flexible hinge.

[0015] On the side of the mirror base facing away from the voice coil motor, a convex portion is provided. The height of the convex portion is greater than the thickness of the end flange, and the back of the mirror is connected to the convex portion; the mirror is a plane mirror.

[0016] It also includes an auxiliary hinge retaining ring and a mechanism cover plate. The fixing screw sequentially passes through the mechanism cover plate, the auxiliary hinge retaining ring, the circular flange of the auxiliary support flexible hinge, and is threadedly connected to the open end of the mechanism base; an installation through hole is provided in the middle of the mechanism cover plate, and the mirror is located within the installation through hole.

[0017] Beneficial effects of the implementation of the present invention:

[0018] (1) The present invention adopts a voice coil motor drive and a combined flexible hinge support method, in combination with a high-precision displacement sensor, to achieve the high-precision, large-angle rotation, and high-bandwidth characteristics of the fine pointing mechanism for optical communication.

[0019] (2) The mirror of the present invention is supported by a combined flexible support hinge. The degrees of freedom constraints in different pointing directions of the mechanism are realized through the support hinge and the auxiliary support hinge respectively, reducing the constraints of low stiffness in the moving direction and high stiffness in the non-moving direction of a single flexible hinge. It achieves low structural stiffness in the rotating working direction and high stiffness in other non-working directions, thus ensuring that the fine pointing mechanism has a high control bandwidth.

[0020] (3) The main support hinge of the present invention adopts a cylindrical cut double straight groove thin-walled beam flexible hinge, achieving large-angle rotation with low stress in two rotation directions and simultaneously reducing the driving force of the voice coil motor.

[0021] (4) The product is designed based on space applications and has characteristics such as a large driving force margin, a long working life, and good adaptability to the space environment. Description of the Drawings

[0022] Figure 1 Schematic diagram of the composition of the fine pointing mechanism disclosed by the present invention;

[0023] Figure 2 Explosion diagram of the fine pointing mechanism disclosed by the present invention;

[0024] Figure 3 Cross-sectional view of the fine pointing mechanism disclosed by the present invention;

[0025] Figure 4 Schematic diagram of the combined flexible hinge of the fine pointing mechanism disclosed by the present invention. Detailed Embodiment

[0026] To make the objectives, technical solutions, and advantages of the present invention clearer, the following will further describe in detail the disclosed embodiments of the present invention in conjunction with the drawings.

[0027] An embodiment of the present application discloses a voice coil motor-driven fine pointing mechanism for free space optical communication, as shown in Figure 1 and Figure 2 In this example, the voice coil motor-driven fine pointing mechanism includes components such as a mechanism base 1, a displacement sensor support 2, a displacement sensor, a voice coil motor, a combined flexible hinge, an auxiliary hinge retainer 8, a mirror mount 9, a mirror 10, and a mechanism cover plate 11. The combined flexible hinge includes a main support flexible hinge 6 and an auxiliary support flexible hinge 7. The displacement sensor has a displacement sensor probe 3. The voice coil motor includes a voice coil motor stator 4 and a voice coil motor mover 5. The voice coil motor stator 4 is a winding assembly containing a coil; the voice coil motor mover 5 is a magnet assembly containing a permanent magnet.

[0028] The connection relationships of the components are as follows: The mirror mount 9 and the mirror 10 are bonded with structural adhesive; four voice coil motor movers 5 and the auxiliary support flexible hinge 7 are both connected to the mirror mount 9 by screws; the moving end flange of the main support flexible hinge 6 is connected to the mirror mount 9 by screws; four voice coil motor stators 4 are respectively connected to four mounting holes on the bottom surface of the mechanism base 1 by screws; four displacement sensor probes 3 are connected to the displacement sensor support 2 by threads and locked with nuts; the displacement sensor support 2 with the position sensor probe 3 is connected to the mounting hole on the bottom surface of the mechanism base 1 by screws; the fixed end mounting hole of the main support flexible hinge 6 is connected to the central mounting hole on the bottom surface of the mechanism base 1 by screws; the auxiliary hinge retainer 8, the mechanism cover plate 11, and the peripheral flange of the auxiliary support flexible hinge 7 are connected by screws. The mechanism protection cover plate 11 is connected to the mechanism base 1.

[0029] Specifically, as shown in Figure 3 The mechanism base 1 is provided with a mounting groove, forming a box structure with one end open. The bottom of the mounting groove of the mechanism base 1 is fixedly connected with a displacement sensor support 2 and a voice coil motor stator 4. The displacement sensor is fixedly connected to the displacement sensor support 2 and is installed on the mechanism base 1 through the displacement sensor support 2 to directly measure the rotational displacement of the mirror. The voice coil motor stator 4 is sleeved outside the voice coil motor mover 5, and the voice coil motor mover 5 moves linearly along the depth direction of the mounting groove; there are 4 voice coil motors, which are symmetrically distributed in pairs around the main support flexible hinge 6, and the voice coil motor mover 5 is installed on the flange of the combined hinge. The displacement sensor uses 4 completely identical displacement sensors, which are symmetrically distributed in pairs in the 45° direction of the rotation direction of the combined flexible hinge (i.e., the X-axis and the Y-axis). The displacement sensor and the voice coil motor are evenly spaced around the main support flexible hinge 6. A total of 4 completely identical voice coil motors are symmetrically distributed in pairs in the rotation direction of the flexible hinge, enabling both rotation axes of the fine pointing mechanism to rotate within the range of ±1.5°. The displacement sensor is used to measure the angle of the mirror 10.

[0030] As shown in Figure 4As shown in the figure, the main support flexible hinge 6 is a cylindrical cut double straight thin plate type flexible hinge. Specifically, the main support flexible hinge 6 includes a cylinder and an end flange integrally connected to one end of the cylinder. The end of the cylinder without the connected end flange is connected to the inner bottom of the mechanism base 1; a cut groove is provided on the cylinder. The cut groove includes two upper U-shaped grooves and two lower U-shaped grooves. The opening directions of the upper U-shaped groove and the lower U-shaped groove are opposite, and the opening directions of the upper U-shaped groove and the lower U-shaped groove are along the axial direction of the cylinder; the two upper U-shaped grooves are arranged in sequence along the circumferential direction of the cylinder, and the two lower U-shaped grooves are arranged in sequence along the circumferential direction of the cylinder; both the upper U-shaped groove and the lower U-shaped groove include a first straight groove, a second straight groove and an arc groove. The arc groove is connected to one end of the first straight groove and the second straight groove. The first straight groove of one upper U-shaped groove is adjacent to the second straight groove of the other upper U-shaped groove. The stiffness and accuracy of the hinge are realized by adjusting the distance L between the upper U-shaped grooves, the width W and the height H of the groove. The second straight groove of one upper U-shaped groove is adjacent to the first straight groove of the other upper U-shaped groove, and the distance L, the width W and the height H therebetween are the same; the two upper U-shaped grooves have two groups of adjacent first straight grooves and second straight grooves; the two groups of adjacent first straight grooves and second straight grooves are respectively opposite to the two opposite voice coil motors; the two lower U-shaped grooves have two groups of adjacent first straight grooves and second straight grooves; the two groups of adjacent first straight grooves and second straight grooves are respectively opposite to the two opposite voice coil motors. Among them, the depth direction of the opening of the mechanism base 1 is defined as the Z axis, the direction from a group of adjacent first straight grooves and second straight grooves formed by the two upper U-shaped grooves to another group of adjacent first straight grooves and second straight grooves is defined as the X axis, and the direction from a group of adjacent first straight grooves and second straight grooves formed by the two lower U-shaped grooves to another group of adjacent first straight grooves and second straight grooves is defined as the Y axis.

[0031] As Figure 4 shown in the figure, the auxiliary support flexible hinge 7 is a thin plate cut flexible hinge. Specifically, the auxiliary support flexible hinge 7 includes a ring flange, a middle flange and connecting ribs. The ring flange is in a ring shape. The ring flange is fixedly connected to the opening end of the mechanism base 1. The inner diameter of the ring flange is not less than the inner diameter of the opening end of the mechanism base 1. The middle flange is located at the center position of the ring flange. Avoidance grooves corresponding to the voice coil motors one by one are provided on the edge of the middle flange to avoid position interference with the voice coil motors. The part between every two adjacent avoidance grooves on the edge of the middle flange is connected to the ring flange through two connecting ribs, and the two connecting ribs are respectively parallel to the XY direction and have low stiffness to avoid generating additional acting forces when rotating in the X / Y rotation direction. A middle through hole for the cylinder to pass through is provided in the middle of the middle flange.

[0032] The combined flexible hinge is composed of a cylindrical cut double straight groove thin-walled beam flexible hinge and a planar thin plate cut groove flexible hinge connected and combined, providing rotational degrees of freedom around the hinge center in two directions of X and Y and constraints on the other four degrees of freedom.

[0033] An auxiliary support flexure hinge 7, an auxiliary hinge retaining ring 8, and a mechanism cover plate 11 are sequentially arranged at the open end of the mechanism base 1. The fixing screws sequentially pass through the mechanism cover plate 11, the auxiliary hinge retaining ring 8, and the circular flange of the auxiliary support flexure hinge 7, and are threadedly connected to the open end of the mechanism base 1.

[0034] As Figure 3 shown, the mirror mount 9 includes a middle mirror mount and an adjustment flange. There are 4 adjustment flanges, and the 4 adjustment flanges are sequentially connected to the edge of the middle mirror mount. The mirror mount 9 is located on the side of the auxiliary support flexure hinge 7 away from the voice coil motor; a mirror mount through hole for the cylinder to pass through is provided in the middle of the mirror mount; the cylinder sequentially passes through the mirror mount through hole and the middle through hole of the auxiliary support flexure hinge 7, and is fixed to the bottom of the installation groove of the mechanism base 1; the end flange of the main support flexure hinge 6 is located on the side of the mirror mount 9 away from the auxiliary support flexure hinge 7, and the first fixing screw sequentially passes through the end flange of the main support flexure hinge 6, the middle mirror mount, and the middle flange, and fixes them therebetween. Each adjustment flange is directly opposite to and fixedly connected to a voice coil motor mover 5. The setting of the 4 adjustment flanges avoids the position interference between the mirror mount 9 and the connecting rib.

[0035] A reflecting plate is provided on the mirror mount 9, and the reflecting plate cooperates with the displacement sensor probe 3, so that the displacement sensor measures the angle of the mirror mount 9, and then the angle of the mirror 10 can be determined.

[0036] A cylinder is provided in the middle of the inner bottom of the mechanism base 1. The cylinder is provided with a through hole, and the hinge connection screw passes through the through hole and is threadedly connected to the cylindrical end of the main support flexure hinge 6.

[0037] The mirror 10 is a plane mirror, a plane mirror made of microcrystalline glass, which realizes the reflection of incident light. A convex part is provided on the side of the mirror mount 9 away from the voice coil motor, and the height of the convex part is greater than the thickness of the end flange. The back of the mirror 10 is connected to the convex part; an installation through hole is provided in the middle of the mechanism cover plate 11, and the mirror 10 is located in the installation through hole.

[0038] The mechanism base 1 is of an integral structure. The inner bottom surface is a combined flexure hinge, a voice coil motor stator 4, and a displacement sensor installation surface. The end face of the open end is a flexure hinge pressure plate installation surface, and the side face is a mechanism installation surface. The mirror mount 9 provides an installation interface for the mirror 10, an installation interface for the voice coil motor mover 5, a flexure hinge moving end installation interface, and an eddy current sensor reflecting plate.

[0039] The structure, material, and process of the mirror meet the requirements of space applications; the structure, material, and process of the voice coil motor meet the requirements of space applications; the structure, material, and process of the displacement sensor meet the requirements of space applications.

[0040] In the embodiment of the present invention, the voice coil motor mover 5, the mirror 10 and the mirror mount 9 are connected to form the moving part of the precise pointing mechanism of the present invention; the main support flexure hinge 6 and the auxiliary support flexure hinge 7 form a combined flexure support hinge to support the moving part, providing 2 degrees of freedom in the moving directions and 4 degrees of freedom constraints in the non-moving directions; the voice coil motor stator 4 and the voice coil motor mover 5 form the power driving part of the precise pointing mechanism of the present invention to realize the linear motion driving of the moving part; the displacement sensor probe 3 and the sensor reflector on the mirror mount form the position measurement feedback part to realize the precise measurement of the linear motion displacement of the moving part.

[0041] Based on the above example description, the working process of the voice coil motor-driven precise pointing mechanism of the present invention is as follows:

[0042] According to the angle of the mirror 10 measured by the displacement sensor, the required current is supplied to the four voice coil motors symmetrically distributed in pairs. The mover 5 of the voice coil motor pushes and pulls in the moving direction. The mirror mount 9 is subjected to the pushing and pulling force and rotates along the main support flexure hinge 6. During the rotation of the mirror mount 9, the mirror 10 rotates accordingly, thereby realizing the change of the incident and reflected light rays. By adjusting the magnitude, direction and frequency of the current of the voice coil motor, the magnitude, direction and speed of the mirror movement can be changed.

[0043] The content not described in detail in the specification of this application belongs to the well-known technology of those skilled in the art.

[0044] The above has described this application in detail in combination with specific implementation manners and exemplary examples. However, these descriptions should not be construed as limitations on this application. Those skilled in the art understand that without departing from the spirit and scope of this application, various equivalent replacements, modifications or improvements can be made to the technical solutions of this application and their implementation manners, and these all fall within the scope of this application. The protection scope of this application is subject to the appended claims.

Claims

1. A voice coil motor-driven fine pointing mechanism for free space optical communication, characterized in that: It comprises a mechanism base (1), a displacement sensor, a voice coil motor, a combined flexible hinge, a reflector (10) and a reflector seat (9); the voice coil motor comprises a voice coil motor stator (4) and a voice coil motor mover (5); The mechanism base (1) is provided with a mounting groove, and the displacement sensor and the voice coil motor stator (4) are both fixedly connected to the bottom of the mounting groove; the voice coil motor stator (4) is sleeved on the outside of the voice coil motor mover (5), and the voice coil motor mover (5) moves linearly along the depth direction of the mounting groove; The fixed end of the combined flexible hinge is connected to the middle position of the bottom of the mounting groove of the mechanism base (1); the back of the reflector (10) is connected to the side of the reflector seat (9) away from the combined flexible hinge, and the reflector seat (9) is fixedly connected to the moving end of the combined flexible hinge; the voice coil motor mover (5) is connected to the reflector seat (9); with the depth direction of the mounting groove as the Z axis, the X axis and the Y axis are both perpendicular to the Z axis, and the moving end of the combined flexible hinge has rotational freedom around the X axis and the Y axis relative to the center of the combined flexible hinge.

2. The voice coil motor-driven fine pointing mechanism for space optical communication according to claim 1, characterized in that: The voice coil motors and displacement sensors are both provided in four numbers, the four voice coil motors are evenly distributed around the axis of the mounting slot, the four displacement sensors are evenly distributed around the axis of the mounting slot, and each displacement sensor is located between two adjacent voice coil motors.

3. The voice coil motor-driven fine pointing mechanism for free space optical communication according to claim 1, wherein: The combined flexible hinge comprises a main support flexible hinge (6) and an auxiliary support flexible hinge (7); the main support flexible hinge (6) is a cylindrical cut double straight thin plate type flexible hinge, and the auxiliary support flexible hinge (7) is a thin plate type cut flexible hinge; one end of the main support flexible hinge (6) is a fixed end of the combined flexible hinge, and the other end is a moving end of the combined flexible hinge; the fixed end of the combined flexible hinge is fixed to the bottom of the mounting groove of the mechanism base (1), the moving end of the combined flexible hinge is fixedly connected to the auxiliary support flexible hinge (7) and the reflector seat (9), and the auxiliary support flexible hinge (7) is fixedly connected to the open end of the mechanism base (1).

4. The voice coil motor-driven fine pointing mechanism for free space optical communication according to claim 3, characterized in that: The main support flexible hinge (6) comprises a cylinder and an end flange integrally connected to one end of the cylinder, and the end of the cylinder not connected to the end flange is connected to the inner bottom of the mechanism base (1); the cylinder is provided with a groove, and the groove comprises two upper U-shaped grooves and two lower U-shaped grooves, the opening directions of the upper U-shaped grooves and the lower U-shaped grooves are opposite, and the opening directions of the upper U-shaped grooves and the lower U-shaped grooves are along the axis direction of the cylinder; the two upper U-shaped grooves are arranged in sequence along the circumference of the cylinder, and the two lower U-shaped grooves are arranged in sequence along the circumference of the cylinder; the upper U-shaped groove and the lower U-shaped groove each comprise a first straight groove, a second straight groove and an arc-shaped groove, the arc-shaped groove is connected to one end of the first straight groove and the second straight groove, the first straight groove of an upper U-shaped groove is adjacent to the second straight groove of another upper U-shaped groove, and the second straight groove of an upper U-shaped groove is adjacent to the first straight groove of another upper U-shaped groove; the two upper U-shaped grooves have two groups of adjacent first straight grooves and second straight grooves; the two groups of adjacent first straight grooves and second straight grooves are respectively opposite to two opposite voice coil motors; the two lower U-shaped grooves have two groups of adjacent first straight grooves and second straight grooves, and the two groups of adjacent first straight grooves and second straight grooves are respectively opposite to two opposite voice coil motors.

5. The voice coil motor-driven fine pointing mechanism for space optical communication according to claim 4, wherein: The auxiliary support flexible hinge (7) comprises a circular flange, a middle flange and connecting ribs. The circular flange is annular in shape and is fixedly connected to the open end of the mechanism base (1). The middle flange is located in the middle of the circular flange. The edge of the middle flange is provided with avoidance grooves corresponding to the voice coil motors one by one. The portion between each two adjacent avoidance grooves on the edge of the middle flange is connected to the circular flange via two connecting ribs.

6. The voice coil motor-driven fine pointing mechanism for free space optical communication according to claim 5, characterized in that: The direction from a group of adjacent first straight grooves and second straight grooves formed by the two upper U-shaped grooves to another group of adjacent first straight grooves and second straight grooves is the X-axis, and the direction from a group of adjacent first straight grooves and second straight grooves formed by the two lower U-shaped grooves to another group of adjacent first straight grooves and second straight grooves is the Y-axis; the two connecting ribs partially connecting two adjacent avoidance grooves are parallel to the X-axis and Y-axis directions, respectively.

7. The voice coil motor-driven fine pointing mechanism for free space optical communication according to claim 5, wherein: The reflector seat (9) comprises a middle mirror seat and an adjustment flange, wherein four adjustment flanges are provided and the four adjustment flanges are sequentially connected to the edge of the middle mirror seat, and the reflector seat (9) is located on the side of the auxiliary support flexible hinge (7) away from the voice coil motor; the first fixing screw passes through the end flange, the middle mirror seat and the middle flange of the main support flexible hinge (6) in sequence, and fixes the end flange, the middle mirror seat and the middle flange; each adjustment flange is aligned with and fixedly connected to a voice coil motor mover (5).

8. The voice coil motor-driven fine pointing mechanism for space optical communication according to claim 7, characterized in that: A mirror seat through hole for the cylinder to pass through is provided in the middle of the middle mirror seat, and a middle through hole for the cylinder to pass through is provided in the middle of the middle flange. The cylinder passes through the mirror seat through hole and the middle through hole of the auxiliary support flexible hinge (7) in sequence and is fixed to the bottom of the mounting groove of the mechanism base (1). The end flange is located on the side of the reflector seat (9) away from the auxiliary support flexible hinge (7).

9. The voice coil motor-driven fine pointing mechanism for space optical communication according to claim 1, characterized in that: A protrusion is provided on the side of the reflector seat (9) facing away from the voice coil motor, the height of the protrusion is greater than the thickness of the end flange, and the back of the reflector (10) is connected to the protrusion; the reflector (10) is a plane reflector.

10. The voice coil motor-driven fine pointing mechanism for space optical communication according to claim 1, characterized in that: It also includes an auxiliary hinge pressure ring (8) and a mechanism cover plate (11), wherein the fixing screws pass through the mechanism cover plate (11), the auxiliary hinge pressure ring (8), and the annular flange of the auxiliary supporting flexible hinge (7) in sequence, and are threadedly connected to the open end of the mechanism base (1); a mounting through hole is opened in the middle of the mechanism cover plate (11), and the reflector (10) is located in the mounting through hole.

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