Optical-mechanical integrated hemispherical whole-airspace two-dimensional optical pointing device

Abstract

The invention relates to an optical-mechanical integrated hemispherical whole-airspace two-dimensional optical pointing device which comprises a main support, an azimuth mechanism, a supporting bottom plate, a relay reflector assembly, a pitching mechanism, a spherical outer cover and a window. According to the optical-mechanical integrated hemispherical whole-airspace two-dimensional optical pointing device, the scanning mirror and the relay reflecting mirror adopt optical-mechanical integrated design, the scanning mirror rotates around the 45-degree axis center in a pitching mode, the optical-mechanical integration degree can be high through various optical optical paths in the middle of the azimuth movement mechanism, various optical common-aperture pointing can be achieved, and the optical-mechanical integration degree is high. A rotary motion part is sealed by a hemispherical metal outer cover and a long-strip-shaped window, so that the full-airspace optical pointing function is realized on the basis of good sealing performance, reduced wind resistance, easiness in processing and low cost.

Description

Technical Field

[0001] The present invention relates to the field of optical technology, and in particular to an optical-mechanical integrated hemispherical full-space two-dimensional optical pointing device. Background Art

[0002] An optical pointing device is a device that indicates the direction or precisely positions the optical path of an optical system. Traditional optical pointing devices mostly mount the optical system on a turntable device to perform spatial pointing of the optical path. However, this device has the disadvantages of being large in size and mass, and having low precision. Currently, some pointing mechanisms have emerged that directly point the optical path. Some optical pointing mechanisms use a fairing design with a hemispherical optical material cover. However, the fairing design of the hemispherical optical material cover makes it extremely expensive and difficult to manufacture. In addition, the demand for optical pointing in various optical paths is increasing. In particular, in the application of multiple optical paths with a common aperture, optical pointing devices are required to have an integrated optical-mechanical design, a hemispherical shape to reduce air resistance, full-space pointing, simple manufacturing, and low cost. Traditional optical pointing devices find it difficult to fully meet these requirements. Summary of the Invention

[0003] To this end, the purpose of the present invention is to overcome the shortcomings of existing optical pointing devices that are difficult to simultaneously realize optical-mechanical integrated design and application, hemispherical appearance, full-space pointing, simple processing and low cost, and to provide an optical-mechanical integrated hemispherical full-space two-dimensional optical pointing device with simple structure, optical-mechanical integrated design, hemispherical appearance, full-space pointing and low cost, which is suitable for various optical common-aperture pointing applications or single pointing applications.

[0004] In order to solve the above technical problems, the present invention provides an optical-mechanical integrated hemispherical full-space two-dimensional optical pointing device, comprising: a bracket, an azimuth mechanism, a supporting base plate, a relay reflector assembly, a pitch mechanism, a spherical outer cover and a window, wherein the bracket serves as a supporting component, the azimuth mechanism and the supporting base plate are both mounted on the bracket, the relay reflector assembly and the pitch mechanism are arranged on the supporting base plate, the spherical outer cover is mounted on the supporting base plate, and the spherical outer cover covers the relay reflector assembly and the pitch mechanism, and the window is arranged on the spherical outer cover; wherein the azimuth mechanism comprises an azimuth base, an azimuth motor, an azimuth slip ring seat, an electric slip ring, an azimuth upper bearing, an azimuth lower bearing, an azimuth main shaft, an azimuth code disk seat, an azimuth code disk and an azimuth reading head, the azimuth motor is a split motor, the azimuth motor stator is fixedly mounted in the matching through hole in the middle of the azimuth base by screws, and the azimuth motor rotor is fixedly mounted in the matching through hole in the middle of the azimuth base by screws The electric slip ring is fixedly mounted on the middle part of the azimuth main shaft; the azimuth slip ring seat is fixedly mounted on the lower end surface of the azimuth base by screws, the electric slip ring is fixedly connected to the azimuth slip ring seat by screws, and the rotating end of the electric slip ring is fixedly mounted on the lower end position of the azimuth main shaft by screws; the upper end sleeve of the azimuth main shaft is mounted in the inner hole of the azimuth upper bearing, and the lower end sleeve of the azimuth main shaft is mounted in the inner hole of the azimuth lower bearing, and the azimuth main shaft is axially positioned up and down by the shaft shoulder and axially locked by the locking nut; the azimuth code disk seat is fixedly connected to the azimuth main shaft sleeve by a circumferential pin, and the upper end surface of the azimuth code disk seat is in close contact with the lower end surface of the inner ring of the azimuth lower bearing; the inner ring of the azimuth code disk is fixedly mounted on the azimuth code disk seat by screws, and the azimuth reading head is fixedly connected to the azimuth base by screws to read the position scale of the azimuth code disk.

[0005] In one embodiment of the present invention, the azimuth mechanism also includes an azimuth upper bearing seat, which is fixedly installed in the matching through hole at the upper end of the azimuth base by screws, and the azimuth upper bearing sleeve is installed in the azimuth upper bearing seat mounting hole, and the bearing outer ring is pressed by the bearing end cover to perform the upper and lower axial positioning of the azimuth upper bearing.

[0006] In one embodiment of the present invention, the azimuth mechanism also includes a lower azimuth bearing seat, which is fixedly installed in the matching through hole in the middle of the azimuth base by screws, and the lower azimuth bearing seat is installed below the azimuth motor. The lower azimuth bearing sleeve is installed in the mounting hole of the lower azimuth bearing seat, and the upper and lower axial positioning of the lower azimuth bearing is performed by pressing the outer ring of the bearing through the bearing end cover.

[0007] In one embodiment of the present invention, the orientation base of the orientation mechanism is fixedly mounted on the main bracket by screws, and the support base is fixedly mounted on the upper end surface of the orientation main shaft of the orientation mechanism by screws.

[0008] In one embodiment of the present invention, the relay reflector assembly includes a reflector and a reflector support, the reflector is an optical-mechanical integrated reflector made of metal material, and the left end face of the reflector is optical reflector surface 1, which is fixed to the reflector support by screws, and is installed in a state where the angle between the optical reflector surface 1 of the reflector and the bottom mounting surface of the reflector support is 45°.

[0009] In one embodiment of the present invention, the pitch mechanism includes a pitch base and a base, a pitch motor, a pitch right bearing seat, a pitch right bearing, a pitch left bearing seat, a pitch left bearing, a pitch spindle, a pitch code disk seat, a pitch code disk, a pitch reading head and a pitch mirror. The pitch motor is a split motor. The pitch motor stator is fixedly mounted in the matching through hole in the middle of the pitch base and the base by screws, and the pitch motor rotor is fixedly sleeved in the middle of the pitch spindle by screws; the pitch right bearing seat is fixedly mounted in the middle of the pitch spindle by screws. The nail is fixedly installed in the matching through-hole of the pitch base and the right end of the base, the pitch right bearing sleeve is installed in the mounting hole of the pitch right bearing seat, and the outer ring of the bearing is pressed by the bearing end cover to perform the left and right axial positioning of the pitch right bearing; the pitch left bearing seat is fixedly installed in the matching through-hole of the pitch base and the middle of the base by screws, the pitch left bearing seat is installed at the left end of the pitch motor, the pitch left bearing sleeve is installed in the mounting hole of the pitch left bearing seat, and the outer ring of the bearing is pressed by the bearing end cover to perform the left and right axial positioning of the pitch left bearing; the right end sleeve of the pitch main shaft is installed in the inner hole of the pitch right bearing, and the left end sleeve of the pitch main shaft is installed in the inner hole of the pitch left bearing, and the pitch main shaft is positioned in the left and right axial directions by the shaft shoulder and axially locked by the locking nuts at both ends; the pitch code disk seat is fixedly connected to the pitch main shaft sleeve by a circumferential pin, and the right end face of the pitch code disk seat is close to the left end face of the inner ring of the pitch left bearing; the inner ring of the pitch code disk is fixedly sleeved on the On the pitch code disc seat, the pitch reading head is fixedly mounted on the pitch base and the left part of the base by screws to read the position scale of the pitch code disc seat; the pitch mirror is an optical-mechanical integrated reflector made of metal material, the right end face of which is the second optical reflector surface, and the back of the second optical reflector surface is processed with a pitch axis and longitudinally and transversely arranged lightening grooves. The central axis of the pitch axis forms an angle of 45° with the second optical reflector surface, and the pitch axis of the pitch mirror is mounted on the right end of the pitch main shaft and fixedly connected by a circumferential pin.

[0010] In one embodiment of the present invention, the spherical outer cover has an approximately hemispherical shape and is fixed to the upper end surface of the supporting base plate by screws.

[0011] In one embodiment of the present invention, the window is an optical window installed in the window installation groove of the spherical cover, and the window is fixedly connected to the spherical cover by pressing the edge of a window press-fitting part.

[0012] In one embodiment of the present invention, the optical reflective mirror surface 1 of the relay reflector assembly and the optical reflective mirror surface 2 of the pitch mirror of the pitch mechanism respectively perform optical reflection to form a directional light path, and the directional light path is incident on the center hole of the azimuth main axis of the azimuth mechanism and exits through the window.

[0013] In one embodiment of the present invention, the bottom mounting surface of the reflector support of the relay reflector assembly is fixedly connected to the upper end surface of the support base plate by screws, and the pitch base and the bottom mounting surface of the base of the pitch mechanism are fixedly connected to the upper end surface of the support base plate by screws.

[0014] The above technical solution of the present invention has the following beneficial effects compared with the prior art: The optical-mechanical integrated hemispherical full-airspace two-dimensional optical pointing device described in the present invention has a reasonable, simple, compact structure, high reliability, easy manufacturing, simple installation, low cost, and easy use. The scanning mirror and the relay reflector adopt an optical-mechanical integrated design, the scanning mirror can pitch and rotate around the 45° axis center, and the middle part of the azimuth motion mechanism can pass through various optical light paths to achieve a high degree of optical-mechanical integration and realize various optical common-aperture pointing. The rotary motion part adopts a hemispherical metal outer cover and a long strip window seal to achieve full-airspace optical pointing function on the basis of good sealing, reduced wind resistance, easy processing and low cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to make the content of the present invention more clearly understood, the present invention is further described in detail below based on specific embodiments of the present invention in conjunction with the accompanying drawings, wherein: Figure 1 It is a schematic diagram of the overall structure of an embodiment of the present invention; Figure 2 yes Figure 1 A top view of Figure 3 yes Figure 1 Cross-sectional view at KK in the middle; Figure 4 is a front view of an orientation mechanism 2 according to an embodiment of the present invention; Figure 5 yes Figure 4 Cross-sectional view at LL; Figure 6 1 is a schematic diagram of the overall structure of a relay reflector assembly 4 according to an embodiment of the present invention; Figure 7 It is a left side view of the pitch mechanism 5 according to one embodiment of the present invention; Figure 8 yes Figure 7 Cross-sectional view at MM; Figure 9 It is a schematic diagram of the overall structure of the pitch mirror 5-10 of an embodiment of the present invention.

[0016] Description of the accompanying drawings: main bracket 1, azimuth mechanism 2, azimuth base 2-1, azimuth motor 2-2, azimuth slip ring seat 2-3, electric slip ring 2-4, azimuth upper bearing seat 2-5, azimuth upper bearing 2-6, azimuth lower bearing seat 2-7, azimuth lower bearing 2-8, azimuth main shaft 2-9, azimuth code disk seat 2-10, azimuth code disk 2-11, azimuth reading head 2-12, support base plate 3, relay feedback Mirror assembly 4, reflector 4-1, reflector support 4-2, pitch mechanism 5, pitch base and stand 5-1, pitch motor 5-2, pitch right bearing seat 5-3, pitch right bearing 5-4, pitch left bearing seat 5-5, pitch left bearing 5-6, pitch main shaft 5-7, pitch code disk seat 5-8, pitch code disk 5-9, pitch reading head 5-10, pitch mirror 5-11, spherical cover 6, window 7. DETAILED DESCRIPTION

[0017] The present invention will be further described below with reference to the accompanying drawings and specific embodiments so that those skilled in the art can better understand the present invention and implement it. However, the embodiments are not intended to limit the present invention.

[0018] See also Figure 1 、 Figure 2 and Figure 3 The optical-mechanical integrated hemispherical full-space two-dimensional optical pointing device includes: a main bracket 1, an azimuth mechanism 2, a supporting base plate 3, a relay reflector assembly 4, a pitch mechanism 5, a spherical outer cover 6 and a window 7. The bracket 1 serves as a supporting component, the azimuth mechanism 2 and the supporting base plate 3 are both installed on the bracket 1, the relay reflector assembly 4 and the pitch mechanism 5 are arranged on the supporting base plate 3, the spherical outer cover 6 is installed on the supporting base plate 3, and the spherical outer cover 6 covers the relay reflector assembly 4 and the pitch mechanism 5, and the window 7 is arranged on the spherical outer cover 6.

[0019] See also Figure 4 and Figure 5The azimuth mechanism 2 includes an azimuth base 2-1, an azimuth motor 2-2, an azimuth slip ring seat 2-3, an electric slip ring 2-4, an azimuth upper bearing seat 2-5, an azimuth upper bearing 2-6, an azimuth lower bearing seat 2-7, an azimuth lower bearing 2-8, an azimuth spindle 2-9, an azimuth code disk seat 2-10, an azimuth code disk 2-11, and an azimuth reading head 2-12; its structure is as follows: the azimuth motor 2-2 adopts the DDS27V-N4-A4-012A split motor of Shanghai Xidi Automation Technology Co., Ltd., the stator of the azimuth motor 2-2 is fixed in the matching through hole in the middle of the azimuth base 2-1 by screws, and the rotor of the azimuth motor 2-2 is fixed by screws It is mounted on the middle of the azimuth main shaft 2-9; the azimuth slip ring seat 2-3 is fixedly mounted on the lower end surface of the azimuth base 2-1 by screws, and the electric slip ring 2-4 adopts the DHK105-10 conductive slip ring of Jiujiang Yingzhi Technology Co., Ltd. The electric slip ring 2-4 is fixedly connected to the azimuth slip ring seat 2-3 by screws, and the rotating end of the electric slip ring 2-4 is fixedly mounted on the lower end position of the azimuth main shaft 2-9 by screws; the azimuth upper bearing 2-6 and the azimuth lower bearing 2-8 both adopt the 61821-2RS1 deep groove ball bearing of the Swedish SKF Group; the azimuth upper bearing seat 2-5 is fixedly mounted in the matching through hole at the upper end of the azimuth base 2-1 by screws, and the azimuth upper bearing 2 -6 sleeve is installed in the mounting hole of the azimuth upper bearing seat 2-5, and the bearing outer ring is pressed by the bearing end cover to perform the up-and-down axial positioning of the azimuth upper bearing 2-6; the azimuth lower bearing seat 2-7 is fixed in the matching through hole in the middle of the azimuth base 2-1 by screws, and the azimuth lower bearing seat 2-7 is installed under the azimuth motor 2-2, and the azimuth lower bearing 2-8 sleeve is installed in the mounting hole of the azimuth lower bearing seat 2-7, and the bearing outer ring is pressed by the bearing end cover to perform the up-and-down axial positioning of the azimuth lower bearing 2-8; the upper end sleeve of the azimuth main shaft 2-9 is installed in the inner hole of the azimuth upper bearing 2-6, and the lower end sleeve of the azimuth main shaft 2-9 is installed in the inner hole of the azimuth lower bearing 2-8. The azimuth main shaft 2-9 is axially positioned up and down by the shaft shoulder and axially locked by the locking nut; the azimuth code disk seat 2-10 is fixedly connected to the azimuth main shaft 2-9 by a circumferential pin, and the upper end face of the azimuth code disk seat 2-10 is in close contact with the lower end face of the inner ring of the azimuth lower bearing 2-8; the azimuth code disk 2-11 and the azimuth reading head 2-12 adopt the RCN226ID533110-03 circular grating encoder of Heidenhain Company of Germany; the inner ring of the azimuth code disk 2-11 is fixedly mounted on the azimuth code disk seat 2-10 by screws, and the azimuth reading head 2-12 is fixedly connected to the azimuth base 2-1 by screws to read the position scale of the azimuth code disk 2-11.

[0020] See also Figure 6The relay reflector assembly 4 includes a reflector 4-1 and a reflector support 4-2; its structure is as follows: the reflector 4-1 is an optical-mechanical integrated reflector made of metal material, and its left end face is an optical reflector surface 1, which is fixed to the reflector support 4-2 by screws, and is installed in a state where the angle between the optical reflector surface 1 of the reflector 4-1 and the bottom mounting surface of the reflector support 4-2 is 45°.

[0021] See also Figure 7 、 Figure 8 and Figure 9The pitch mechanism 5 includes a pitch base and a base 5-1, a pitch motor 5-2, a pitch right bearing seat 5-3, a pitch right bearing 5-4, a pitch left bearing seat 5-5, a pitch left bearing 5-6, a pitch spindle 5-7, a pitch code disk seat 5-8, a pitch code disk 5-9, a pitch reading head 5-10, and a pitch mirror 5-11; its structure is as follows: the pitch motor 5-2 adopts the DDS27V-N018-B09 split motor of Shanghai Xidi Automation Technology Co., Ltd., the stator of the pitch motor 5-2 is fixedly installed in the matching through hole in the middle of the pitch base and the base 5-1 by screws, and the rotor of the pitch motor 5-2 is fixedly sleeved on the pitch spindle 5-7 by screws. Middle; the pitch right bearing 5-4 and the pitch left bearing 5-6 both use 61900-2RS1 deep groove ball bearings from the Swedish SKF Group; the pitch right bearing seat 5-3 is fixedly installed in the matching through hole on the right end of the pitch base and the base 5-1 by screws, the pitch right bearing 5-4 sleeve is installed in the mounting hole of the pitch right bearing seat 5-3, and the bearing outer ring is pressed by the bearing end cover to perform the left and right axial positioning of the pitch right bearing 5-4; the pitch left bearing seat 5-5 is fixedly installed in the matching through hole in the middle of the pitch base and the base 5-1 by screws, the pitch left bearing seat 5-5 is installed on the left end of the pitch motor 5-2, and the pitch left bearing 5-6 sleeve is installed on the pitch left bearing seat 5-5 The outer ring of the bearing is pressed against the bearing end cover in the mounting hole to position the left and right axial position of the pitch left bearing 5-6; the right end sleeve of the pitch main shaft 5-7 is installed in the inner hole of the pitch right bearing 5-4, and the left end sleeve of the pitch main shaft 5-7 is installed in the inner hole of the pitch left bearing 5-6. The pitch main shaft 5-7 is positioned axially left and right through the shaft shoulder and axially locked through the locking nuts at both ends; the pitch code disk seat 5-8 is fixedly connected to the pitch main shaft 5-7 set through a circumferential pin, and the right end face of the pitch code disk seat 5-8 is close to the left end face of the inner ring of the pitch left bearing 5-6; the pitch code disk 5-9 and the pitch reading head 5-10 adopt the ROD431.025-1024 circular light of the German Heidenhain company. Grid encoder; the inner ring of the pitch code disk 5-9 is fixed on the pitch code disk seat 5-8 by screws, and the pitch reading head 5-10 is fixed on the pitch base and the left part of the base 5-1 by screws to read the position scale of the pitch code disk seat 5-8; the pitch mirror 5-11 is an optical-mechanical integrated reflector made of metal material, and the right end face is the optical reflector surface 2. The back of the optical reflector surface 2 is processed with a pitch axis 5-11-1 and lightening grooves arranged vertically and horizontally. The central axis of the pitch axis 5-11-1 forms an angle of 45° with the optical reflector surface 2. The pitch axis 5-11-1 of the pitch mirror 5-11 is mounted on the right end of the pitch main shaft 5-7 and is fixedly connected by a circumferential pin.

[0022] The azimuth base 2-1 of the azimuth mechanism 2 is fixedly mounted on the main bracket 1 by screws, and the supporting base plate 3 is fixedly mounted on the upper end surface of the azimuth main axis 2-9 of the azimuth mechanism 2 by screws; the bottom mounting surface of the reflector support 4-2 of the relay reflector assembly 4 is fixedly connected to the upper end surface of the supporting base plate 3 by screws, and the bottom mounting surfaces of the pitch base and the base 5-1 of the pitch mechanism 5 are fixedly connected to the upper end surface of the supporting base plate 3 by screws; the spherical outer cover 6 has an approximately hemispherical shape and is fixedly mounted on the upper end surface of the supporting base plate 3 by screws; the window 7 is an optical window, which is mounted in the window mounting groove of the spherical outer cover 6, and the window 7 is fixedly connected to the spherical outer cover 6 by tightening the edge of the window press-fitting part; the optical reflector surface 1 of the reflector 4-1 of the relay reflector assembly 4 and the optical reflector surface 2 of the pitch mirror 5-11 of the pitch mechanism 5 respectively perform optical reflection to form a directional light path, and the directional light path is incident from the center hole of the azimuth main axis 2-9 of the azimuth mechanism 2 and exits through the window 7.

[0023] The action flow of the embodiment: the optical-mechanical integrated hemispherical full-airspace two-dimensional optical pointing device is installed at the outward-pointing position of the optical path, and is installed in a state where the optical path passes through the center hole of the azimuth main axis 2-9 of the azimuth mechanism 2 and is incident on the optical reflector surface one of the reflector 4-1 of the relay reflector assembly 4, the azimuth motor 2-2 of the azimuth mechanism 2 is started to drive the relay reflector assembly 4 and the pitch mechanism 5 to rotate azimuthally within 360° around the center axis of the azimuth main axis 2-9 to perform azimuth optical pointing, the pitch motor 5-2 of the pitch mechanism 5 is started to drive the pitch mirror 5-11 of the pitch mechanism 5 to rotate pitch within 90° around the center axis of the pitch axis 5-11-1 of the pitch mirror 5-11 to perform pitch optical pointing, and the 360°×90° full-airspace two-dimensional optical pointing of the optical path is achieved through the azimuth rotation of the optical reflector surface one of the reflector 4-1 and the optical reflector surface two of the pitch mirror 5-11, and the pitch rotation of the optical reflector surface two of the pitch mirror 5-11.

[0024] Obviously, the above embodiments are merely examples for clarity of explanation and are not intended to limit the implementation methods. Those skilled in the art will appreciate that other variations or modifications can be made based on the above description. It is not necessary and impossible to enumerate all implementation methods here. Obvious variations or modifications arising therefrom remain within the scope of protection of the present invention.

Claims

1. An optical-mechanical integrated hemispherical full-space two-dimensional optical pointing device, characterized in that: include: A bracket, an azimuth mechanism, a supporting base, a relay reflector assembly, a pitch mechanism, a spherical cover, and a window. The bracket serves as a supporting component. The azimuth mechanism and the supporting base are both mounted on the bracket. The relay reflector assembly and the pitch mechanism are disposed on the supporting base. The spherical cover is mounted on the supporting base, and the spherical cover houses the relay reflector assembly and the pitch mechanism. The window is disposed on the spherical cover. Wherein, the azimuth mechanism includes an azimuth base, an azimuth motor, an azimuth slip ring seat, an electric slip ring, an azimuth upper bearing, an azimuth lower bearing, an azimuth main shaft, an azimuth code disk seat, an azimuth code disk and an azimuth reading head. The azimuth motor is a split motor. The azimuth motor stator is fixedly mounted in the matching through hole in the middle of the azimuth base by screws, and the azimuth motor rotor is fixedly sleeved in the middle of the azimuth main shaft by screws; the azimuth slip ring seat is fixedly mounted on the lower end surface of the azimuth base by screws, and the electric slip ring is fixedly connected to the azimuth slip ring seat by screws, and the rotating end of the electric slip ring is fixedly sleeved in the azimuth by screws. The lower end position of the main shaft; the upper end sleeve of the azimuth main shaft is installed in the inner hole of the azimuth upper bearing, and the lower end sleeve of the azimuth main shaft is installed in the inner hole of the azimuth lower bearing. The azimuth main shaft is axially positioned up and down by the shaft shoulder and axially locked by the locking nut; the azimuth code disk seat is fixedly connected to the azimuth main shaft sleeve by a circumferential pin, and the upper end face of the azimuth code disk seat is in close contact with the lower end face of the inner ring of the azimuth lower bearing; the inner ring of the azimuth code disk is fixedly sleeved on the azimuth code disk seat by screws, and the azimuth reading head is fixedly connected to the azimuth base by screws to read the position scale of the azimuth code disk.

2. The optical-mechanical integrated hemispherical full-space two-dimensional optical pointing device according to claim 1, characterized in that: The azimuth mechanism also includes an azimuth upper bearing seat, which is fixedly installed in the matching through hole at the upper end of the azimuth base by screws, and the azimuth upper bearing sleeve is installed in the azimuth upper bearing seat mounting hole, and the bearing outer ring is pressed by the bearing end cover to perform the upper and lower axial positioning of the azimuth upper bearing.

3. The optical-mechanical integrated hemispherical full-space two-dimensional optical pointing device according to claim 1 or 2, characterized in that: The azimuth mechanism also includes a lower azimuth bearing seat, which is fixedly installed in the matching through hole in the middle of the azimuth base by screws. The lower azimuth bearing seat is installed under the azimuth motor. The lower azimuth bearing sleeve is installed in the mounting hole of the lower azimuth bearing seat. The lower azimuth bearing is axially positioned up and down by pressing the outer ring of the bearing through the bearing end cover.

4. The optical-mechanical integrated hemispherical full-space two-dimensional optical pointing device according to claim 3, characterized in that: The orientation base of the orientation mechanism is fixedly mounted on the main bracket by screws, and the support base plate is fixedly mounted on the upper end surface of the orientation main shaft of the orientation mechanism by screws.

5. The optical-mechanical integrated hemispherical full-space two-dimensional optical pointing device according to claim 1, characterized in that: The relay reflector assembly includes a reflector and a reflector support. The reflector is an optical-mechanical integrated reflector made of metal material, and the left end face of the reflector is optical reflector surface 1, which is fixed to the reflector support by screws, and is installed in a state where the angle between the optical reflector surface 1 and the bottom mounting surface of the reflector support is 45°.

6. The optical-mechanical integrated hemispherical full-space two-dimensional optical pointing device according to claim 5, characterized in that: The pitch mechanism includes a pitch base and a base, a pitch motor, a pitch right bearing seat, a pitch right bearing, a pitch left bearing seat, a pitch left bearing, a pitch main shaft, a pitch code disk seat, a pitch code disk, a pitch reading head and a pitch mirror. The pitch motor is a split motor. The pitch motor stator is fixedly mounted in the matching through-hole in the middle of the pitch base and the base by screws, and the pitch motor rotor is fixedly sleeved in the middle of the pitch main shaft by screws; the pitch right bearing seat is fixedly mounted in the matching through-hole at the right end of the pitch base and the base by screws, the pitch right bearing sleeve is mounted in the mounting hole of the pitch right bearing seat, and the bearing end cover is used to press the outer ring of the bearing to perform the left and right axial positioning of the pitch right bearing; the pitch left bearing seat is fixedly mounted in the matching through-hole in the middle of the pitch base and the base by screws, the pitch left bearing seat is mounted on the left end of the pitch motor, the pitch left bearing sleeve is mounted in the mounting hole of the pitch left bearing seat, and the bearing end cover is used to press the outer ring of the bearing to perform the pitch The left pitch bearing is positioned in the left and right axial directions; the right end sliding sleeve of the pitch main shaft is installed in the inner hole of the right pitch bearing, and the left end sliding sleeve of the pitch main shaft is installed in the inner hole of the left pitch bearing. The pitch main shaft is positioned in the left and right axial directions by the shaft shoulder and is axially locked by the locking nuts at both ends; the pitch code disk seat is fixedly connected to the pitch main shaft sleeve by a circumferential pin, and the right end face of the pitch code disk seat is in close contact with the left end face of the inner ring of the left pitch bearing; the inner ring of the pitch code disk is fixed to the pitch main shaft sleeve by screws On the elevation code disc seat, the pitch reading head is fixedly mounted on the pitch base and the left part of the base by screws to read the position scale of the pitch code disc seat; the pitch mirror is an optical-mechanical integrated reflector made of metal material, the right end face of which is the second optical reflector surface, and the back of the second optical reflector surface is processed with a pitch axis and longitudinally and transversely arranged lightening grooves. The central axis of the pitch axis forms an angle of 45° with the second optical reflector surface, and the pitch axis of the pitch mirror is mounted on the right end of the pitch main shaft and fixedly connected by a circumferential pin.

7. The optical-mechanical integrated hemispherical full-space two-dimensional optical pointing device according to claim 1, characterized in that: The spherical outer cover is approximately hemispherical in shape and is fixedly mounted on the upper end surface of the supporting base plate by screws.

8. The optical-mechanical integrated hemispherical full-space two-dimensional optical pointing device according to claim 1, characterized in that: The window is an optical window, which is installed in the window installation groove of the spherical outer cover. The window is fixedly connected to the spherical outer cover by pressing the edge of the window pressing part.

9. The optical-mechanical integrated hemispherical full-space two-dimensional optical pointing device according to claim 6, characterized in that: The first optical reflective mirror surface of the relay reflector assembly and the second optical reflective mirror surface of the pitching mirror of the pitching mechanism respectively perform optical reflection to form a directional light path, and the directional light path is incident on the center hole of the azimuth main axis of the azimuth mechanism and is emitted through the window.

10. The optical-mechanical integrated hemispherical full-space two-dimensional optical pointing device according to claim 9, characterized in that: The bottom mounting surface of the reflector support of the relay reflector assembly is fixedly connected to the upper surface of the support base plate by screws, and the pitch base and the bottom mounting surface of the base of the pitch mechanism are fixedly connected to the upper surface of the support base plate by screws.

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