Hybrid reduction drive equatorial mount based on crossed roller bearings

Abstract

The utility model relates to a kind of hybrid reduction drive equatorial telescope based on cross roller bearing, including shell, right ascension shaft hybrid reduction drive assembly, declination shaft reduction drive assembly, cross roller bearing, laser beam parallelism adjusting mechanism, pedestal;Right ascension shaft hybrid reduction drive assembly includes right ascension shaft motor, right ascension primary reducer and right ascension secondary reducer, and right ascension primary reducer is harmonic reducer, and right ascension secondary reducer is worm gear transmission pair;Declination shaft reduction drive assembly includes declination shaft motor, declination shaft reducer;The outer ring of cross roller bearing is fixed on rear shell, the end surface of inner ring is fixed with the output end of right ascension shaft hybrid reduction drive assembly, and the other end surface of inner ring is fixed with right ascension output seat;Declination shaft reduction drive assembly is fixed on right ascension output seat.The utility model, with high degree of freedom, small, light weight, the characteristics of strong carrying capacity, and the reduction ratio of this equatorial telescope is high, tracking is stable, tracking precision is high, and power consumption is low.

Description

Technical Field

[0001] This utility model relates to the field of astronomical observation instrument technology, and in particular to an equatorial instrument based on a hybrid reduction transmission using crossed roller bearings. Background Technology

[0002] The equatorial mount is the core component of an astronomical observation system. It mainly consists of the right ascension axis, the declination axis, and the base. It is used to achieve long-term, precise observations by tracking the apparent motion of celestial bodies on the celestial sphere. When tracking celestial bodies, the right ascension axis of the equatorial mount operates at an extremely low speed, the same as the Earth's rotation speed. Therefore, the input speed of the drive motor of the right ascension axis of the equatorial mount generally needs to be reduced to an extremely low speed through a high reduction ratio or the drive motor needs to be kept at an extremely low speed to operate with extremely high precision. The declination axis is mainly used to point to targets at different latitudes in the celestial coordinate system.

[0003] However, traditional equatorial mounts often use worm gears or a combination of gear train reduction transmission and worm gears as the main reduction scheme, resulting in complex structure, large size, heavy weight, and low output torque due to the combined effects of transmission efficiency and low reduction ratio (generally 300:1 to 900:1) for the same volume. They require weight balance during use, have low overall structural design freedom and integration, large backlash on the declination axis, resulting in inaccurate pointing and slow response time in guiding scenarios. Furthermore, since traditional equatorial mounts often use several deep groove ball bearings or a combination of deep groove ball bearings and tapered roller bearings to fix the right ascension axis, the installation accuracy and bearing clearance are limited, which can easily lead to axis coaxiality deviation, thereby amplifying polar axis error and reducing tracking accuracy, while also limiting its axial load capacity.

[0004] While the rapidly developing harmonic equatorial mounts of recent years have solved the problems of traditional worm gear equatorial mounts—such as excessive size and weight, low transmission efficiency leading to low output torque, large backlash on the declination axis resulting in inaccurate pointing and slow response time in guiding scenarios—their reduction schemes typically employ single-stage harmonic reducers or a combination of gear reduction and harmonic reducers. The reduction ratio remains limited by size (generally 100:1 to 500:1). Furthermore, the design must consider the flexspline diameter and wave generator rigidity, making it difficult to achieve high-resolution tracking and low-power operation in miniaturized designs. Additionally, the right ascension axis of the equatorial mount requires long-term stability. When tracking celestial bodies, the system may be subject to slight external vibrations (such as wind or equipment fine-tuning). Since the harmonic reducer relies on the elastic deformation of the flex wheel for normal operation, in applications with unidirectional transmission such as the right ascension axis, the slight rebound of the flex wheel may lead to "creep." Long-term repeated deformation can also make the flex wheel material more prone to fatigue, causing the accuracy to decrease with the accumulation of usage time, thus affecting the stability and accuracy of tracking. At the same time, under ultra-low speed operating conditions, the flex wheel of the harmonic reducer may experience "jamming," resulting in unstable torque transmission. The elastic hysteresis of the flex wheel may also cause instantaneous transmission ratio fluctuations, thus affecting the smoothness of tracking.

[0005] Furthermore, the polar calibration procedure before using an equatorial mount is particularly important for astronomical observations. The polar axis error of the equatorial mount's right ascension axis should be controlled within 5 arcminutes to minimize the impact on tracking accuracy caused by polar axis error during the process of compensating for Earth's rotation and tracking celestial bodies. The polar axis calibration methods mentioned above mostly employ optical polar mirrors or lasers without parallelism adjustment mechanisms. Both methods have numerous inconveniences in use. When calibrating the polar axis with an optical polar mirror, the user needs to bend down or squat to observe the relative positions of stars in the polar mirror's field of view and the scale on the mirror. The calibration time is generally 3-5 minutes. Due to the user's limited posture, observing the position of stars in the optical polar mirror and adjusting the latitude and azimuth adjustment mechanisms is difficult, especially if the user is wearing glasses. While lasers without a parallelism adjustment mechanism are relatively intuitive and convenient to use when calibrating the polar axis with their laser beam, the accuracy of polar axis calibration is greatly limited because the parallelism between the laser beam and the right ascension axis is not reasonably guaranteed. The error of this method of polar axis calibration is highly dependent on the installation method of the laser and the coaxiality between the laser beam and the laser itself (usually the coaxiality error is in the range of 0.5-2°), which is far from meeting the accuracy requirements of polar axis error when the equatorial mount performs high-precision tracking. Utility Model Content

[0006] To address the problems existing in the prior art, the purpose of this utility model is to provide a hybrid reduction transmission equatorial instrument based on crossed roller bearings. It has high design freedom, small size, light weight, strong load-bearing capacity, high reduction ratio, stable tracking, high tracking accuracy, low power consumption, and intuitive, accurate, and convenient polar axis calibration, in order to meet the requirements of modern astronomical observation for portability, ease of use, and high precision.

[0007] To achieve the above-mentioned utility model objectives, this utility model provides a hybrid reduction transmission equatorial instrument based on crossed roller bearings, including a housing, a right ascension axis hybrid reduction transmission assembly, a declination axis reduction transmission assembly, and a base. The output end of the right ascension axis hybrid reduction transmission assembly is perpendicular to the output end of the declination axis reduction transmission assembly. It also includes crossed roller bearings and a laser beam parallelism adjustment mechanism.

[0008] The housing includes a rear housing for mounting the right ascension axis hybrid reduction gear assembly and a front housing for mounting the declination axis reduction gear assembly;

[0009] The right ascension axis hybrid reduction transmission assembly includes a right ascension axis motor, a first-stage right ascension reducer, and a second-stage right ascension reducer. The first-stage right ascension reducer is a harmonic reducer, and the second-stage right ascension reducer is a worm gear transmission pair.

[0010] The declination axis reduction transmission assembly includes a declination axis motor and a declination axis reducer.

[0011] The outer ring of the crossed roller bearing is fixed to the rear housing, one end face of the inner ring is fixed to the output end of the right ascension axis hybrid reduction transmission assembly, and the other end face of the inner ring is fixed to the right ascension axis output seat; the declination axis reduction transmission assembly is fixed to the right ascension axis output seat.

[0012] According to one technical solution of this utility model, the base includes a latitude and azimuth adjustment mechanism, which is used to adjust the azimuth and latitude of the entire hybrid deceleration transmission equatorial mount and align the right ascension axis of the equatorial mount with the Earth's rotation axis.

[0013] According to one technical solution of this utility model, the latitude adjustment mechanism includes:

[0014] The first base plate and the left and right side plates vertically fixed to the first base plate;

[0015] A support base for adjusting latitude is provided between the left side plate and the right side plate. The support base and the two sides corresponding to the left side plate and the right side plate are provided with two blind holes, and the central axes of the two blind holes are on a straight line.

[0016] Two opposing first hand-tightening screws pass through the through holes of the left side plate and the right side plate, respectively, and extend into the corresponding blind holes;

[0017] A guide plate is rotatably disposed between the left side plate and the right side plate;

[0018] The second screw is tightened perpendicularly to the threaded hole that passes through the guide plate and extends into the rotating short shaft; the support base is provided with a U-shaped groove on the side near the first base plate, the two vertical parts of the U-shaped groove are parallel to the left side plate and the right side plate, and the rotating short shaft is perpendicular to the vertical part of the U-shaped groove and is located in the U-shaped groove.

[0019] According to one technical solution of this utility model, the azimuth adjustment mechanism includes:

[0020] The second base plate is disposed below the first base plate. The first base plate is provided with a plurality of first arc-shaped grooves, and the second base plate is provided with a plurality of second arc-shaped grooves.

[0021] The first limiting rod passes through the second arc-shaped groove from bottom to top and is fixed to the first base plate;

[0022] The second limiting rod, which passes through the first arc-shaped groove from top to bottom, is equipped with an adjusting handle for locking the first base plate and the second base plate.

[0023] An azimuth adjustment column is fixedly mounted on the second base plate;

[0024] Two opposing third hand-tightening screws pass through the threaded holes of the left side plate and the right side plate, respectively, and abut against the azimuth adjustment column.

[0025] According to one technical solution of this utility model, the right ascension shaft hybrid reduction transmission assembly is fixed to the support base via a connecting seat;

[0026] The right ascension shaft hybrid reduction transmission assembly is disposed inside the rear housing, and the rear housing is provided with a first trapezoidal boss;

[0027] The connecting seat includes a detachable first L-shaped portion and a second L-shaped portion, which are combined to form a first trapezoidal groove that is adapted to the first trapezoidal boss.

[0028] The first L-shaped portion and the second L-shaped portion are interlocked and locked together by bolts.

[0029] According to one technical solution of this utility model, the right ascension shaft hybrid reduction transmission assembly includes:

[0030] The right ascension axis motor is mounted in the rear housing via a fixed bracket, and the right ascension axis motor is connected to the right ascension primary reducer via a first adapter flange;

[0031] The output shaft of the first-stage right ascension reducer is connected to the worm gear of the second-stage right ascension reducer via a power transmission device. The worm gear of the second-stage right ascension reducer is parallel to the output end of the right ascension shaft motor.

[0032] The worm gear of the right ascension two-stage reducer is fixed to the inner ring of the crossed roller bearing, and the plane of the worm gear of the right ascension two-stage reducer is directly opposite one side of the right ascension shaft motor.

[0033] According to one technical solution of this utility model, the right ascension axis output seat is provided with a second trapezoidal groove that is adapted to and connected with the second trapezoidal boss of the front housing;

[0034] The second trapezoidal groove is equipped with a clamping block and an adjusting bolt. The clamping block has a through hole, and the adjusting bolt passes through the through hole of the clamping block and is engaged with the threaded hole of the second trapezoidal boss.

[0035] One end of the second trapezoidal boss is provided with a limiting boss, which is limited by the right ascension shaft output seat.

[0036] According to one technical solution of this utility model, the declination axis motor is fixed in the front housing by a fixed bracket, and the declination axis motor is connected to the declination axis reducer through a second adapter flange;

[0037] The declination axis reducer is a harmonic reducer, and its output end is equipped with a declination axis output clamp.

[0038] According to one technical solution of this utility model, the laser beam parallelism adjustment mechanism includes: a laser, an elastic fixing ring, and a laser beam parallelism adjustment block;

[0039] The laser beam parallelism adjustment block is disposed inside the rear housing, near the side wall of the rear housing, and the laser is fixed in the cavity of the laser beam parallelism adjustment block by the elastic retaining ring;

[0040] The elastic retaining ring, the laser beam parallelism adjustment block, and the rear housing all have through holes on their end faces corresponding to the beam emitting end of the laser.

[0041] According to one technical solution of this utility model, the power transmission device includes:

[0042] The first synchronous pulley is fixed to the output shaft of the first-stage right ascension reducer by screws;

[0043] The second synchronous pulley is fixed to the worm gear of the right ascension two-stage reducer by screws;

[0044] Tensioner wheel;

[0045] The first synchronous pulley and the second synchronous pulley are connected by a synchronous belt drive.

[0046] Compared with the prior art, the hybrid reduction transmission equatorial instrument based on crossed roller bearings provided by this utility model has the following significant technical effects:

[0047] This invention employs a hybrid two-stage reduction transmission scheme combining a harmonic reducer and a worm gear. The first-stage harmonic reducer achieves low backlash, high precision, high transmission efficiency, small size, and high response speed. The second-stage worm gear provides an extremely high final reduction ratio (up to tens of thousands to one), stronger impact resistance, and excellent transmission smoothness. This combination fully leverages the advantages of both reduction mechanisms while avoiding their respective disadvantages, ultimately achieving a reduction ratio, theoretical tracking resolution, load-bearing capacity and power consumption performance far exceeding existing equatorial mounts, significantly improving the imaging quality and portability of astrophotography. Simultaneously, the worm gear transmission pair, under specific parameter design, possesses a natural self-locking function, effectively locking the position when the motor is powered off, preventing the load from slipping due to its own gravity driving the motor, thus improving the safety of the equipment.

[0048] This invention employs crossed roller bearings as the core support for the right ascension axis. The crossed roller bearings feature an internal cross-arrangement structure, capable of simultaneously withstanding radial force, axial force, and overturning moment. Their load-bearing capacity and rigidity are far superior to those of traditional paired angular contact bearings, deep groove ball bearings, and tapered roller bearings. This greatly simplifies the support structure of the right ascension axis, eliminating the need for complex bearing housings. While reducing size and weight, it significantly improves the load-bearing capacity and torsional stiffness of the entire equatorial mount, greatly reducing the coaxiality deviation of the shaft system. This enables the equatorial mount to stably drive heavier astronomical telescopes for tracking.

[0049] Thanks to the simplified structure achieved by the use of crossed roller bearings and the highly integrated design of the hybrid reduction gear assembly, the equatorial mount of this invention boasts a very compact overall structure and a high degree of integration. Compared to traditional equatorial mounts of the same specifications, its size and weight are significantly reduced, greatly enhancing the portability of the equipment and meeting the portability requirements for field astronomical observations.

[0050] This invention features an integrated laser beam parallelism adjustment mechanism. By emitting a laser beam precisely parallel to the right ascension axis, users can intuitively align the laser beam with the North Celestial Pole (or South Celestial Pole), thus quickly and accurately completing polar axis calibration and completely eliminating reliance on polar mirrors and computer-based polar axis analysis. Furthermore, the use of laser beam parallelism adjustment blocks and elastic fixing rings makes the laser parallelism calibration operation extremely simple and stable, requiring only one calibration for extended use, significantly reducing dependence on peripheral astronomical observation equipment.

[0051] In this invention, both the harmonic reducer and the worm gear are sealed within the equatorial mount housing, providing excellent protection and reducing the impact of environmental factors such as dust and moisture. The unique lubrication design also provides long-term, stable, and reliable lubrication conditions between the transmission components, ensuring reliable long-term maintenance-free operation of the equipment. Simultaneously, the rational structural layout and heat dissipation design ensure that the heat generated by the motor and circuitry is promptly conducted and dissipated, effectively preventing accuracy degradation or equipment damage due to overheating, thereby extending the overall service life of the machine. Attached Figure Description

[0052] To more clearly illustrate the embodiments of this utility model or the technical solutions in the prior art, the drawings used in the embodiments will be briefly described below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without any creative effort.

[0053] Figure 1 A perspective view of the first angle of a hybrid reduction gear equatorial instrument based on crossed roller bearings according to the present invention is shown (part of the rear housing cover is not shown);

[0054] Figure 2 A perspective view of the second angle of an equatorial mount based on a hybrid reduction transmission using crossed roller bearings according to the present invention is shown.

[0055] Figure 3 A perspective view of the base of the hybrid deceleration transmission equatorial mount according to the present invention is shown from a first angle.

[0056] Figure 4 A second perspective view of the base of the hybrid deceleration transmission equatorial mount according to the present invention is shown;

[0057] Figure 5 A perspective view of the base of the hybrid deceleration transmission equatorial mount according to the present invention is shown from a third angle.

[0058] Figure 6A perspective view of the base of the hybrid deceleration transmission equatorial mount according to the present invention is shown from the fourth angle.

[0059] Figure 7 A perspective view of the rear housing of the hybrid reduction gear equatorial instrument according to the present invention is shown;

[0060] Figure 8 A perspective view of the first angle of the hybrid reduction drive assembly of the right ascension shaft of the hybrid reduction drive equatorial mount according to the present invention is shown.

[0061] Figure 9 A perspective view of the right ascension axis hybrid reduction drive assembly of the hybrid reduction drive equatorial mount according to the present invention is shown from a second angle.

[0062] Figure 10 A perspective view of the front housing of the hybrid reduction gear equatorial instrument according to the present invention is shown;

[0063] Figure 11 A perspective view of the declination axis reduction transmission assembly of the hybrid reduction transmission equatorial mount according to the present invention is shown.

[0064] Figure 12 A partial perspective view of the rear housing of the hybrid deceleration transmission equatorial instrument according to the present invention is shown at a first angle.

[0065] Figure 13 A partial perspective view of the rear housing of the hybrid deceleration transmission equatorial instrument according to the present invention is shown at a second angle;

[0066] Figure 14 A perspective view of the crossed roller bearing of the hybrid reduction gear equatorial instrument according to the present invention is shown.

[0067] in, Figures 1 to 14 The correspondence between the reference numerals and component names in the attached drawings is as follows:

[0068] 1. Housing; 2. Right ascension axis hybrid reduction transmission assembly; 3. Declination axis reduction transmission assembly; 4. Base; 5. Crossed roller bearing; 6. Laser beam parallelism adjustment mechanism; 7. Power transmission device; 8. Counterweight rod;

[0069] 101. Rear housing; 102. Front housing; 102a. Limiting boss;

[0070] 201. Right ascension shaft motor; 202. First-stage right ascension reducer; 203. Second-stage right ascension reducer; 204. Right ascension shaft output seat; 205. First transition flange; 203a. Worm gear; 203b. Worm wheel; 204a. Clamping block; 204b. Adjusting bolt;

[0071] 301. Declination shaft motor; 302. Declination shaft reducer; 303. Second adapter flange; 304. Declination shaft output clamp;

[0072] 401. Latitude adjustment mechanism; 402. Azimuth adjustment mechanism; 401a. First base plate; 401b. Left side plate; 401c. Right side plate; 401d. Support base; 401e. First hand-tightening screw; 401f. Guide plate; 401g. Second hand-tightening screw; 401h. Rotating short shaft; 401j. U-shaped groove; 401k. First arc-shaped groove; 401m. First L-shaped section; 401n. Second L-shaped section; 402a. Second base plate; 402b. Second arc-shaped groove; 402c. First limiting rod; 402d. Second limiting rod; 402e. Adjustment handle; 402f. Azimuth adjustment column; 402g. Third hand-tightening screw;

[0073] 601. Laser; 602. Elastic retaining ring; 603. Laser beam parallelism adjustment block;

[0074] 701. First synchronous pulley; 702. Second synchronous pulley; 703. Synchronous belt; 704. Tensioner pulley. Detailed Implementation

[0075] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0076] In the description of this utility model, it should be understood that the terms "outer ring", "inner ring", "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "parallel", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "end face", "side", "input end", "output end", "between", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and are not intended to indicate or imply that the device or component referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.

[0077] Furthermore, the terms "first-level," "second-level," "first," and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first-level," "second-level," "first," or "second" may explicitly or implicitly include one, one, or multiple levels of that feature. Further, in the description of this utility model, "hybrid reduction transmission" means combining two or more different types of transmission methods, including features embodied in some transmission components of this utility model as well as features embodied in the overall transmission scheme of this utility model, unless otherwise explicitly specified.

[0078] It should be noted that, unless otherwise specified, the embodiments and features described in the embodiments of this application can be combined with each other. The following embodiments only illustrate several implementation methods of this application, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the patent application. It should be pointed out that, for those skilled in the art, several modifications and improvements can be made without departing from the concept of this application, and these all fall within the protection scope of this application.

[0079] like Figures 1 to 14 As shown, the equatorial mount based on a cross roller bearing according to an exemplary embodiment of this utility model includes a housing 1, a right ascension axis hybrid reduction transmission assembly 2, a declination axis reduction transmission assembly 3, and a base 4. The output end of the right ascension axis hybrid reduction transmission assembly 2 and the output end of the declination axis reduction transmission assembly 3 are perpendicular to each other, ensuring that the movement of the right ascension axis (to compensate for the Earth's rotation) and the declination axis (to adjust the declination direction of the equatorial mount) do not interfere with each other. The base 4 supports the main body of the equatorial mount. For the right ascension axis hybrid reduction drive assembly 2, the right ascension axis must be parallel to the Earth's rotation axis (aligned with the North Celestial Pole via the laser beam, and with the South Celestial Pole in the Southern Hemisphere). It is driven by a motor to rotate in the opposite direction to the Earth's rotation at the same angular velocity (the Earth's rotation is the cause of the apparent motion of celestial bodies appearing to rise in the east and set in the west; the reverse rotation of the right ascension axis cancels out this motion). This prevents celestial bodies in the telescope's field of view from "running away" due to the Earth's rotation, thus enabling long-term stable tracking of the celestial body. For the declination axis reduction drive assembly 3, the declination axis is perpendicular to the right ascension axis and is used to adjust the telescope's angle in the north-south direction (corresponding to the declination coordinates in the celestial coordinate system). By rotating the declination axis, celestial bodies at different declination positions can be targeted.

[0080] The hybrid reduction transmission equatorial instrument based on crossed roller bearings in this invention also includes crossed roller bearings 5 ​​and laser beam parallelism adjustment mechanism 6. The laser beam parallelism adjustment mechanism 6 can adjust the laser beam emitted by the laser to be parallel to the right ascension axis of the equatorial instrument, thereby providing a visual guide to the position of the right ascension axis during the polar axis calibration stage before use, providing users with a more accurate, intuitive and convenient polar axis calibration experience, and giving full play to the accuracy of the equatorial instrument.

[0081] The housing 1 includes a rear housing 101 for mounting the right ascension axis hybrid reduction transmission assembly 2 and a front housing 102 for mounting the declination axis reduction transmission assembly 3. The front housing 102 and the rear housing 101 can protect the core structure of the equatorial mount and provide structural support for the equatorial mount and its load. Each surface of the housing 1 is made of two detachable parts, and the two parts are detachably connected by the right ascension axis output seat 204, which facilitates the installation and maintenance of internal components and makes the equatorial mount highly versatile in different application scenarios.

[0082] The right ascension axis hybrid reduction transmission assembly 2 includes a right ascension axis motor 201, a first-stage right ascension reducer 202, and a second-stage right ascension reducer 203. The first-stage right ascension reducer 202 is a harmonic reducer, which features low backlash, high precision, high transmission efficiency, small size, and high response speed. It can initially improve tracking resolution and increase the output torque of the motor. The second-stage right ascension reducer 203 is a worm gear 203b and worm 203a transmission pair, which provides the right ascension axis with an extremely high final reduction ratio (up to tens of thousands to one) while also possessing strong impact resistance and excellent transmission smoothness.

[0083] The hybrid reduction drive system allows this equatorial mount, while maintaining the same size and weight as existing equatorial mounts, to fully leverage the characteristics and advantages of different drive methods. It provides an ultra-high reduction ratio for the right ascension axis, ranging from several thousand to tens of thousands of times, significantly improving the output torque and theoretical tracking resolution of the right ascension axis, reducing the overall power consumption of the equatorial mount, enhancing the torque transmission stability of the right ascension axis, and improving the tracking accuracy and smoothness of the equatorial mount. This allows it to meet the user's tracking accuracy requirements even in applications without the use of guide stars and counterweights for balancing, greatly simplifying reliance on peripheral equipment. Furthermore, because the two-stage right ascension reducer uses a worm gear transmission pair, it possesses a natural self-locking function under specific parameter design. This effectively locks the position when the motor is powered off, preventing the load from slipping due to its own gravity driving the motor, thus improving the safety of the equipment.

[0084] The declination axis reduction transmission assembly 3 includes a declination axis motor 301 and a declination axis reducer 302. The declination axis adopts a direct-drive motor reducer, which enables the equatorial instrument to respond quickly to frequent reversal corrections of the declination axis under guiding conditions, and enables it to obtain excellent image quality even under long exposure conditions.

[0085] The outer ring of the crossed roller bearing 5 is fixed to the rear housing 101, one end face of the inner ring is fixed to the output end of the right ascension axis hybrid reduction transmission assembly 2, and the other end face of the inner ring is fixed to the right ascension axis output seat 204; the declination axis reduction transmission assembly 3 is fixed to the right ascension axis output seat 204.

[0086] The use of crossed roller bearings 5 ​​for fixing and rotating the right ascension axis reduces the coaxiality deviation of the right ascension axis and improves its load-bearing capacity. It also simplifies the overall structure of the equatorial mount, increases the design freedom of the overall structure, reduces the size and weight of the equatorial mount, and makes the equatorial mount have better polar axis deviation control during operation and easier to carry.

[0087] Furthermore, based on the basic structure of this application, other reducers can be used for the first-stage right ascension reducer 202 and the second-stage right ascension reducer 203. This example is only one possible embodiment.

[0088] In some embodiments of this utility model, the base 4 includes a latitude adjustment mechanism 401 and an azimuth adjustment mechanism 402, which are used to adjust the latitude and azimuth of the entire equatorial mount by the hybrid deceleration transmission and to align the right ascension axis of the equatorial mount with the Earth's rotation axis.

[0089] In some embodiments of this utility model, the latitude adjustment mechanism 401 includes:

[0090] The first base plate 401a and the left side plate 401b and right side plate 401c, which are vertically fixed on the first base plate 401a, serve as the basic support structure of the latitude adjustment mechanism 401.

[0091] The support 401d for adjusting latitude is located between the left side plate 401b and the right side plate 401c. The support 401d and the two sides corresponding to the left side plate 401b and the right side plate 401c are provided with two blind holes, and the central axes of the two blind holes are on a straight line.

[0092] Two opposing first-hand screws 401e pass through the through holes in the left side plate 401b and the right side plate 401c, respectively, and extend into corresponding blind holes. The blind holes are non-through holes, and a backing plate is formed between the two blind holes. The two blind holes are threaded to fit the first-hand screws 401e. After latitude adjustment, the two first-hand screws 401e are screwed in and pressed against the backing plate, locking and fixing the support 401d. This eliminates the backlash in the threaded connection and the gaps between components, preventing structural backlash and gaps from affecting the directional stability of the support 401d.

[0093] Guide plate 401f is rotatably disposed between left side plate 401b and right side plate 401c;

[0094] The second hand-tightened screw 401g is perpendicular to the threaded hole that passes through the guide plate 401f and extends into the rotating short shaft 401h; the support base 401d is provided with a U-shaped groove 401J on the side near the first base plate 401a. The two vertical parts of the U-shaped groove 401J are parallel to the left side plate 401b and the right side plate 401c. The rotating short shaft 401h is perpendicular to the vertical part of the U-shaped groove 401J and is located in the U-shaped groove 401J.

[0095] When latitude adjustment is required, the two first hand-tightened screws 401e are loosened so that they do not rest against the abutment plate. At this time, the two blind holes corresponding to the left side plate 401b and the right side plate 401c serve as the rotation axis of the support 401d. During the rotation of the second hand-tightened screw 401g, the rotating short axis 401h will move along the second hand-tightened screw 401g. Since there is rotation between the rotating short axis 401h and the support 401d during the movement of the rotating short axis 401h, the rotating short axis 401h is rotatably set in the U-shaped groove 401J. Similarly, during the rotation of the second hand-tightened screw 401g, the angle between it and the first base plate 401a will also change. The guide plate 401f rotates between the left side plate 401b and the right side plate 401c to adapt to this angle change, so that the overall mechanism can operate normally. Therefore, when the second hand-tightening screw 401g rotates, the rotating short shaft 401h moves along the second hand-tightening screw 401g, causing the support 401d to rotate around the rotating shaft, thereby achieving latitude adjustment.

[0096] This latitude adjustment structure features high stability and requires only the adjustment of a single hand-tightened screw, eliminating the need for complicated operations and disassembling any parts to complete the fine adjustment. This solves the problems of high difficulty and poor accuracy in fine adjustment of existing equatorial mount bases, providing a guarantee for accurate latitude pointing for precise alignment of the right ascension axis with the Earth's rotation axis.

[0097] All adjustments are made by hand-tightening screws, requiring no special tools. During the adjustment process, the movement trajectory of the support base 401d and guide plate 401f is constrained by the structure, avoiding over-adjustment or misalignment, thus lowering the operating threshold and making it suitable for users with different experience levels.

[0098] In some embodiments of this utility model, the azimuth adjustment mechanism 402 includes:

[0099] The second base plate 402a is disposed below the first base plate 401a. The first base plate 401a is provided with a plurality of first arc-shaped grooves 401k, and the second base plate 402a is provided with a plurality of second arc-shaped grooves 402b.

[0100] The first limiting rod 402c passes through the second arc-shaped groove 402b from bottom to top and is fixed to the first base plate 401a;

[0101] The second limiting rod 402d, which passes through the first arc-shaped groove 401k from top to bottom, is equipped with an adjusting handle 402e for locking the first base plate 401a and the second base plate 402a.

[0102] An azimuth adjustment column 402f is fixedly installed on the second base plate 402a;

[0103] Two opposing third hand-tightening screws 402g pass through the threaded holes of the left side plate 401b and the right side plate 401c, respectively, and abut against the azimuth adjustment column 402f.

[0104] The second base plate 402a is generally disc-shaped and has a notch to avoid the third hand-tightening screw 402g; the first base plate 401a and the second base plate 402a are size-matched and have avoidance notches at the corresponding positions of the left side plate 401b, the right side plate 401c and the azimuth adjustment column 402f.

[0105] The first base plate 401a and the second base plate 402a are respectively provided with a plurality of first arc-shaped grooves 401k and a plurality of second arc-shaped grooves 402b. Each first arc-shaped groove 401k is equipped with a second limiting rod 402d, and similarly, each second arc-shaped groove 402b is equipped with a first limiting rod 402c. The plurality of first arc-shaped grooves 401k and the plurality of second arc-shaped grooves 402b are concentric. Typically, the plurality of first arc-shaped grooves 401k are designed symmetrically. For example, two first arc-shaped grooves 401k are provided, and the two arc-shaped grooves are symmetrical with respect to the center lines of the left side plate 401b and the right side plate 401c. The plurality of second arc-shaped grooves 402b are designed similarly. Furthermore, the curvature of the first arc-shaped grooves 401k and the second arc-shaped grooves 402b is approximately the same, about 20° to 40°. It can be understood that the plurality of first arc-shaped grooves 401k and the plurality of second arc-shaped grooves 402b are staggered. By utilizing the limiting effect of the first limiting rod 402c and the second limiting rod 402d, the first base plate 401a and the second base plate 402a can move along the circumferential direction of the first arc groove 401k and the second arc groove 402b.

[0106] Specifically, the two third hand-tightening screws 402g pass through the threaded holes of the left side plate 401b and the right side plate 401c respectively, and abut against the azimuth adjustment column 402f. The threaded holes here are not the same as the threaded holes through which the first hand-tightening screw 401e passes. The first hand-tightening screw 401e is located in the upper part of the left side plate 401b and the right side plate 401c, while the third hand-tightening screw 402g is located in the lower part of the left side plate 401b and the right side plate 401c. When the azimuth angle needs to be adjusted, firstly, use the adjusting handle 402e to loosen all the second limit rods 402d. Then, based on the direction of the required azimuth angle adjustment, loosen one of the third hand-tightening screws 402g. Next, rotate the other third hand-tightening screw 402g to make the first base plate 401a rotate relative to the second base plate 402a. After the azimuth angle adjustment is completed, rotate the loosened third hand-tightening screw 402g again to make it rest against the azimuth angle adjusting column 402f to complete the locking. Finally, tighten all the second limit rods 402d.

[0107] In addition, a limiting groove is provided at the mating point between the first arc-shaped groove 401k and the adjusting handle 402e. The adjusting handle 402e is locked in the limiting groove, and the second limiting rod 402d extends into the first arc-shaped groove 401k. The adjusting handle 402e is tightened onto the second base plate 402a via the second limiting rod 402d. Locking the adjusting handle 402e can fix the relative positions of the first and second base plates 402a, ensuring that the overall azimuth angle position of the equatorial mount is stable after adjustment, and it is not easy to shift even when the equipment needs to be adjusted.

[0108] In some embodiments of this utility model, the right ascension shaft hybrid reduction transmission assembly 2 is fixed to the support base 401d via a connecting seat;

[0109] The right ascension shaft hybrid reduction transmission assembly 2 is disposed inside the rear housing 101, and the rear housing 101 is provided with a first trapezoidal boss;

[0110] The connector includes a detachable first L-shaped portion 401m and a second L-shaped portion 401n, which combine to form a first trapezoidal groove that is adapted to the first trapezoidal boss.

[0111] The first L-shaped part 401m and the second L-shaped part 401n are interlocked and locked together by bolts.

[0112] like Figure 3 As shown, the horizontal sections of the first L-shaped part 401m and the second L-shaped part 401n are interlocked, which increases the stability of adjustment and improves the connection strength compared with the traditional planar bonding connection. With the bolt locking, it can effectively prevent the connection between the device and the housing from loosening and causing the device to slip and be damaged. The vertical section forms the inclined side of the first trapezoidal groove. During disassembly and assembly, the two L-shaped parts can be separated by simply loosening the bolts, which can realize the quick separation of the housing 1 and the support 401d, making the storage of the equatorial instrument more flexible.

[0113] For example Figure 3 As shown, the horizontal section of the first L-shaped part 401m is provided with an embedding slot, and the horizontal section of the second L-shaped part 401n is provided with an embedding boss, so that the two can be embedded and connected to each other.

[0114] In some embodiments of this utility model, the right ascension shaft hybrid reduction transmission assembly 2 includes:

[0115] The right ascension axis motor 201 is installed in the rear housing 101 by a fixed bracket, and the right ascension axis motor 201 is connected to the right ascension first stage reducer 202 through the first adapter flange 205;

[0116] The output shaft of the first-stage right ascension reducer 202 is connected to the worm 203a of the second-stage right ascension reducer 203 via the power transmission device 7. The worm 203a of the second-stage right ascension reducer 203 is parallel to the output end of the right ascension shaft motor 201.

[0117] The worm gear 203b of the right ascension two-stage reducer 203 is fixed to the inner ring of the crossed roller bearing 5, and the plane of the worm gear 203b of the right ascension two-stage reducer 203 is set opposite to one side of the right ascension shaft motor 201.

[0118] The right ascension axis motor 201 is connected to the input end of the harmonic reducer via an adapter flange. The output end of the harmonic reducer transmits power to the worm gear 203a via the reducer power transmission device 7 (which can be a coupling or a precision gear mechanism, etc.). The worm gear 203a drives the turbine, forming the second stage of reduction. The reducer's fixed bracket is connected to the housing 1 through a circular slot. The meshing center distance of the worm gear 203b and worm gear 203a pair can be precisely adjusted by finely adjusting the bracket position to ensure smooth transmission without excessive tightness.

[0119] The right ascension axis motor 201 is mounted inside the rear housing 101 via a fixed bracket. The worm 203a of the right ascension two-stage reducer 203 is parallel to the output end of the right ascension axis motor 201, and the plane of the worm wheel 203b is directly opposite one side of the right ascension axis motor 201. Based on the above layout of the various components in the right ascension axis hybrid reduction transmission assembly 2, the arrangement between the components is more compact, thereby reducing the radial dimension, significantly compressing the overall volume of the equatorial mount, reducing the probability of interference between the main structure of the equipment and the surrounding equipment, and improving portability.

[0120] like Figure 8 and Figure 9 As shown, the right ascension axis motor is located on the side wall of the rear housing 101 and is equipped with a motor cover. A laser beam parallelism adjustment mechanism 6 is also located directly below the right ascension axis motor 201. The output end of the right ascension axis motor 201 is equipped with a first adapter flange 205, which is then connected to a first-stage right ascension reducer 202. The first-stage right ascension reducer 202 is equipped with a fixed bracket, the bottom of which is fixed to the front end of the rear housing 101. The output shaft of the first-stage right ascension reducer 202 is connected to the worm 203a of the second-stage right ascension reducer 203 via the power transmission device 7. Both ends of the worm 203a are also supported and fixed by fixed brackets. Bearings are provided between the worm 203a and the fixed brackets, allowing the worm 203a to rotate within the fixed brackets. The worm 203a is parallel to the output shaft of the first-stage right ascension reducer 202, located below the first-stage right ascension reducer 202, and has a certain angle, thereby freeing up some space for the installation of the worm wheel 203b, thus optimizing the space utilization of the rear housing 101 and reducing the size of the equatorial mount.

[0121] Based on the structural design of the right ascension axis hybrid reduction transmission component 2 of this utility model, the equatorial mount of this utility model can provide an ultra-high reduction ratio of thousands to tens of thousands to one for the right ascension axis under the same volume or weight, compared with existing equatorial mounts. This solves the contradiction between the size, accuracy and torque of existing equatorial mounts, greatly improves the output torque and theoretical tracking resolution of the right ascension axis, reduces the overall power consumption of the equatorial mount, improves the torque transmission stability of the right ascension axis, and also improves the tracking accuracy and tracking smoothness of the equatorial mount. This allows it to meet the user's tracking accuracy requirements even in applications without the use of guide stars and counterweights for balancing, and greatly simplifies the dependence on peripheral equipment.

[0122] The output shaft of the right ascension two-stage reducer 203 is the final output end of the right ascension shaft hybrid reduction transmission assembly 2, and is connected to the right ascension shaft output seat 204 via the crossed roller bearing 5, which can reduce the motor power after two-stage reduction and increase torque output.

[0123] In addition, a control motherboard, power supply, etc. are also provided inside the rear housing 101 of the right ascension shaft hybrid reduction transmission assembly 2. Therefore, a switch button, charging interface, data interface and other structures are also provided on the rear housing 101.

[0124] In some embodiments of this utility model, the right ascension shaft output seat 204 is provided with a second trapezoidal groove that is adapted to and connected to the second trapezoidal boss of the front housing 102;

[0125] The second trapezoidal groove is equipped with a clamping block 204a and an adjusting bolt 204b. The clamping block 204a has a through hole, and the adjusting bolt 204b passes through the through hole of the clamping block 204a and is connected to the threaded hole of the second trapezoidal boss.

[0126] One end of the second trapezoidal boss is provided with a limiting boss 102a, which is limited by the right ascension shaft output seat 204.

[0127] Similar to the connection between the rear housing 101 and the support base 401d, the right ascension shaft output base 204 is connected to the front housing 102 using a trapezoidal groove and trapezoidal boss structure. It features a stable structure and convenient connection. The specific function can be referred to the function of the connection between the rear housing 101 and the support base 401d, which will not be elaborated here.

[0128] The second trapezoidal groove is equipped with a clamping block 204a and an adjusting bolt 204b. The adjusting bolt 204b is used to adjust the distance between the clamping block 204a and the main body of the right ascension axis output seat 204, thereby achieving the purpose of locking. Compared with the first trapezoidal boss, the second trapezoidal boss is also provided with a limiting boss 102a. The limiting boss 102a can limit the installation direction of the front housing 102 and also limit the installation position, which also improves the installation stability and ensures that the position of the declination axis output clamp 304 is stable and does not affect the pointing accuracy of the load.

[0129] In some embodiments of this utility model, the declination axis motor 301 is installed in the front housing 102, and the declination axis motor 301 is connected to the declination axis reducer 302 through the second adapter flange 303;

[0130] The declination axis reducer 302 is a harmonic reducer, and its output end is equipped with a declination axis output clamp 304.

[0131] The declination axis motor 301 is mounted on the declination axis reducer 302 via the declination axis motor adapter flange 303 and a connecting piece, and has the advantages of low backlash, high response speed and precise positioning. The output end of the declination axis motor 301 is connected to the input end of the declination axis reducer 302 to improve the rotation resolution of the motor output shaft and increase the output torque. The declination axis output clamp 304 is mounted on the output end of the declination axis reducer 302 via a connecting piece for connecting the working load.

[0132] In addition, a counterweight rod 8 is provided on the front housing 102, which can balance the torque generated by gravity by adding counterweight (such as a counterweight), thereby further improving the effective load of the equatorial mount and ensuring that the equatorial mount can give full play to its performance.

[0133] In some embodiments of this utility model, the laser beam parallelism adjustment mechanism 6 includes: a laser 601, an elastic fixing ring 602, and a laser beam parallelism adjustment block 603.

[0134] The laser beam parallelism adjustment block 603 is disposed inside the rear housing 101, close to the side wall of the rear housing 101, and the laser 601 is fixed in the cavity of the laser beam parallelism adjustment block 603 by the elastic retaining ring 602.

[0135] A through hole is provided on the end face of the laser beam parallelism adjustment block 603 and the rear housing 101 corresponding to the beam emitting end, at the position corresponding to the beam emitting end of the laser 601.

[0136] The tail end of the laser 601 is placed in the inner ring of the elastic fixing ring 602 and installed in the laser beam parallelism adjustment block 603 through the outer ring of the elastic fixing ring 602 to provide the laser 601 with elastic reset capability. The laser beam parallelism adjustment block 603 is provided with a two-dimensional adjustable position structure, which can be used to adjust the position of the front end of the laser 601 in two dimensions. At the same time, the laser beam parallelism adjustment block 603 is provided with mounting holes, which can be installed on the rear cavity side wall of the equatorial instrument housing 1 through the connector. The front end of the rear cavity of the equatorial instrument housing 1 is provided with a circular micro-through hole, which allows the laser beam to pass through the through hole for indirect correction of the parallelism error between the laser beam and the right ascension axis.

[0137] By emitting a laser beam precisely parallel to the right ascension axis, users can intuitively align the laser beam with the North Celestial Pole (or South Celestial Pole), thus quickly and accurately completing polar axis calibration and completely eliminating the reliance on polar axis mirrors and computer-based polar axis analysis. Simultaneously, the use of the laser beam parallelism adjustment block 603 and the elastic fixing ring 602 makes the parallelism calibration operation of the laser 601 simple and stable, requiring only one calibration for extended use, significantly simplifying the peripheral configuration of astronomical observation equipment.

[0138] The two-dimensional adjustable structure typically consists of two sets of set screws. The corresponding rear housing 101 is provided with set screw through holes. By tightening / loosening the set screws, the front end of the laser 601 can be moved along the X-axis and Y-axis directions to achieve a parallelism adjustment range of approximately ±4°.

[0139] In some embodiments of this utility model, the power transmission device 7 includes:

[0140] The first synchronous pulley 701 is fixed to the output shaft of the first-stage right ascension reducer 202 by screws;

[0141] The second synchronous pulley 702 is fixed to the worm gear 203a of the right ascension two-stage reducer 203 by screws;

[0142] The first synchronous pulley 701 and the second synchronous pulley 702 are connected by a synchronous belt 703.

[0143] The 703 synchronous belt drive features smooth transmission, high transmission accuracy, high efficiency, strong load-bearing capacity, simple maintenance, and long service life. It can minimize the impact on tracking accuracy when the power transmission space layout is limited.

[0144] Furthermore, the power transmission device 7 also includes a tension wheel 704, which is fixed on a bracket, which may be a fixed bracket for the right ascension first-stage reducer 202.

[0145] It is understandable that the power transmission device 7 can also be configured as other devices capable of transmitting power, such as couplings, precision gear mechanisms, sprockets and chains, etc.

[0146] In summary, using synchronous pulleys 701 and 702 and synchronous belt 703 as power transmission device 7 can solve the technical limitations of introducing other transmission devices when the power transmission space layout is limited, which introduces large errors and cannot guarantee transmission accuracy.

[0147] The above description is merely one embodiment of this application and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of the utility model involved in this application is not limited to the technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the inventive concept. For example, technical solutions formed by substituting the above features with (but not limited to) technical features with similar functions disclosed in this application.

Claims

1. An equatorial instrument based on a hybrid reduction transmission using crossed roller bearings, comprising a housing (1), a right ascension axis hybrid reduction transmission assembly (2), a declination axis reduction transmission assembly (3), and a base (4), wherein the output end of the right ascension axis hybrid reduction transmission assembly (2) is perpendicular to the output end of the declination axis reduction transmission assembly (3), characterized in that, It also includes a cross roller bearing (5) and a laser beam parallelism adjustment mechanism (6); The housing (1) includes a rear housing (101) for mounting the right ascension axis hybrid reduction transmission assembly (2) and a front housing (102) for mounting the declination axis reduction transmission assembly (3); The right ascension axis hybrid reduction transmission assembly (2) includes a right ascension axis motor (201), a right ascension first-stage reducer (202) and a right ascension second-stage reducer (203). The right ascension first-stage reducer (202) is a harmonic reducer, and the right ascension second-stage reducer (203) is a worm gear transmission pair. The declination axis reduction transmission assembly (3) includes a declination axis motor (301) and a declination axis reducer (302); The outer ring of the crossed roller bearing (5) is fixed to the rear housing (101), one end face of the inner ring is fixed to the output end of the right ascension axis hybrid reduction transmission assembly (2), and the other end face of the inner ring is fixed to the right ascension axis output seat (204); the declination axis reduction transmission assembly (3) is fixed to the right ascension axis output seat (204).

2. The equatorial instrument based on a hybrid reduction transmission using crossed roller bearings according to claim 1, characterized in that, The base (4) includes a latitude adjustment mechanism (401) and an azimuth adjustment mechanism (402), which are used to adjust the azimuth and latitude of the hybrid deceleration transmission equatorial mount as a whole and align the right ascension axis of the equatorial mount with the Earth's rotation axis.

3. The equatorial instrument based on a hybrid reduction transmission using crossed roller bearings according to claim 2, characterized in that, The latitude adjustment mechanism (401) includes: The first base plate (401a) and the left side plate (401b) and right side plate (401c) are vertically fixed to the first base plate (401a); A support base (401d) for adjusting latitude is provided between the left side plate (401b) and the right side plate (401c). The support base (401d) and the two sides corresponding to the left side plate (401b) and the right side plate (401c) are provided with two blind holes, and the central axes of the two blind holes are on a straight line. Two opposing first hand-tightening screws (401e) pass through the through holes of the left side plate (401b) and the right side plate (401c), respectively, and extend into the corresponding blind holes; A guide plate (401f) is rotatably disposed between the left side plate (401b) and the right side plate (401c); The second hand-tightened screw (401g) is perpendicular to the threaded hole that passes through the guide plate (401f) and extends into the rotating short shaft (401h); the support base (401d) is provided with a U-shaped groove (401J) on the side near the first base plate (401a), the two vertical parts of the U-shaped groove (401J) are parallel to the left side plate (401b) and the right side plate (401c), and the rotating short shaft (401h) is perpendicular to the vertical part of the U-shaped groove (401J) and is provided in the U-shaped groove (401J).

4. The equatorial instrument based on a hybrid reduction transmission using crossed roller bearings according to claim 3, characterized in that, The azimuth adjustment mechanism (402) includes: The second base plate (402a) is disposed below the first base plate (401a). The first base plate (401a) is provided with a plurality of first arc-shaped grooves (401k), and the second base plate (402a) is provided with a plurality of second arc-shaped grooves (402b). The first limiting rod (402c) passes through the second arc-shaped groove (402b) from bottom to top and is fixed to the first base plate (401a); The second limiting rod (402d) passes through the first arc-shaped groove (401k) from top to bottom and is equipped with an adjusting handle (402e) for locking the first base plate (401a) and the second base plate (402a). An azimuth adjustment column (402f) is fixedly mounted on the second base plate (402a); Two opposing third hand-tightening screws (402g) pass through the threaded holes of the left side plate (401b) and the right side plate (401c), respectively, and abut against the azimuth adjustment column (402f).

5. The equatorial instrument based on a hybrid reduction transmission using crossed roller bearings according to claim 3, characterized in that, The right ascension shaft hybrid reduction transmission assembly (2) is fixed to the support base (401d) via a connecting seat; The right ascension shaft hybrid reduction transmission assembly (2) is disposed inside the rear housing (101), and the rear housing (101) is provided with a first trapezoidal boss; The connecting seat includes a detachable first L-shaped portion (401m) and a second L-shaped portion (401n), wherein the first L-shaped portion (401m) and the second L-shaped portion (401n) are combined to form a first trapezoidal groove that is adapted to the first trapezoidal boss. The first L-shaped portion (401m) and the second L-shaped portion (401n) are interlocked and locked together by bolts.

6. The equatorial instrument based on a hybrid reduction transmission using crossed roller bearings according to claim 1, characterized in that, The right ascension shaft hybrid reduction transmission assembly (2) includes: The right ascension axis motor (201) is installed in the rear housing (101) by a fixed bracket, and the right ascension axis motor (201) is connected to the right ascension first stage reducer (202) through the first adapter flange (205); The output shaft of the first-stage right ascension reducer (202) is connected to the worm (203a) of the second-stage right ascension reducer (203) via a power transmission device (7). The worm (203a) of the second-stage right ascension reducer (203) is parallel to the output end of the right ascension axis motor (201). The worm wheel (203b) of the second-stage right ascension reducer (203) is fixed to the inner ring of the crossed roller bearing (5). The plane of the worm wheel (203b) of the second-stage right ascension reducer (203) is directly opposite to one side of the right ascension axis motor (201).

7. The equatorial instrument based on a hybrid reduction transmission using crossed roller bearings according to claim 2, characterized in that, The right ascension shaft output seat (204) is provided with a second trapezoidal groove that is adapted to and connected to the second trapezoidal boss of the front housing (102); The second trapezoidal groove is equipped with a clamping block (204a) and an adjusting bolt (204b). The clamping block (204a) has a through hole, and the adjusting bolt (204b) passes through the through hole of the clamping block (204a) and is engaged with the threaded hole of the second trapezoidal boss. One end of the second trapezoidal boss is provided with a limiting boss (102a), which is limited by the right ascension shaft output seat (204).

8. The equatorial instrument based on a hybrid reduction transmission using crossed roller bearings according to claim 1, characterized in that, The declination axis motor (301) is fixed in the front housing (102) by a fixed bracket, and the declination axis motor (301) is connected to the declination axis reducer (302) through the second adapter flange (303); The declination axis reducer (302) is a harmonic reducer, and its output end is provided with a declination axis output clamp (304).

9. The equatorial instrument based on a hybrid reduction transmission using crossed roller bearings according to claim 1, characterized in that, The laser beam parallelism adjustment mechanism (6) includes: a laser (601), an elastic fixing ring (602), and a laser beam parallelism adjustment block (603); The laser beam parallelism adjustment block (603) is disposed inside the rear housing (101) and close to the side wall of the rear housing (101). The laser (601) is fixed in the cavity of the laser beam parallelism adjustment block (603) by the elastic fixing ring (602). Through holes are provided on the end faces of the elastic retaining ring (602), the laser beam parallelism adjustment block (603), and the rear housing (101) corresponding to the beam emitting end, at positions corresponding to the beam emitting end of the laser (601).

10. The equatorial instrument based on a hybrid reduction transmission using crossed roller bearings according to claim 6, characterized in that, The power transmission device (7) includes: The first synchronous pulley (701) is fixed to the output shaft of the first-stage right ascension reducer (202) by screws; The second synchronous pulley (702) is fixed to the worm (203a) of the right ascension two-stage reducer (203) by screws; Tensioner wheel (704); The first synchronous pulley (701) and the second synchronous pulley (702) are connected by a synchronous belt (703).

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