A clamping device and clamping method integrating dual-stance laser-assisted calibration

Abstract

The present invention discloses a clamping device and a clamping method that integrate dual-posture laser assisted calibration, comprising a clamping mechanism, a shell and two identical calibration mechanisms, each of the calibration mechanisms comprising a laser, a yaw force source, a reflective mirror and a pitch motor arranged inside the shell, the yaw force source drives the laser to rotate in a planar direction, and the pitch motor drives the laser to pitch in a vertical direction; the reflective mirror is fixedly arranged on the inner wall of the shell, and the reflective mirror is arranged opposite to the laser; the present invention adds a function of assisting the clamping device to clamp according to the material form, solves the problem of unknown clamping position of opening and closing jaws in the prior art, greatly reduces the debugging workload, and reduces the debugging difficulty.

Description

Technical Field

[0001] The present invention relates to the technical field of automatic opening and closing clamping jaws, and in particular to a clamping device and a clamping method integrating dual-stance laser-assisted calibration. Background Art

[0002] Opening and closing jaws are a common type of gripper used in automated assembly processes and are widely used in various industrial scenarios in the electronics, automotive, and fast-moving consumer goods industries. This type of gripper has a simple and reliable structure, but the jaws must be opened before finding the clamping position, making it impossible to sense the center position and closed state. Currently, most industrial automation debugging is still done manually, and the debugging points of the opening and closing jaws often require repeated adjustments based on tooling or the experience of the debugger. This requires a lot of work to find the points, has poor point accuracy, and is prone to repetition, which has a significant impact on project cycle time and project costs.

[0003] In view of the above-mentioned defects, the inventors of the present invention finally obtained the present invention after a long period of research and practice. Summary of the Invention

[0004] In order to solve the technical problem that the debugging points of the opening and closing jaws often need to be repeatedly adjusted relying on tooling or the experience of the debugging personnel, which results in a large workload and poor precision, the present invention proposes a clamping device and a clamping method that integrates dual-posture laser-assisted calibration.

[0005] A clamping device that integrates dual-posture laser-assisted calibration includes a clamping mechanism, a shell and two identical calibration mechanisms. The clamping mechanism moves in the form of gears and double racks, and achieves clamping through opening and closing movements; the two calibration mechanisms are installed above the clamping mechanism, and use the changes in the incident angle during laser reflection to display different points to be calibrated to assist in finding points; the shell is the installation base of the entire clamp and can be connected to the upper-level motion system.

[0006] Each calibration mechanism includes a positioning cover, a first bearing, a rotating table, a yaw force source, a pitch motor, a motor connecting plate, a laser, a laser fixing block, a second bearing and two support seats arranged inside the shell. The positioning cover is connected to the clamping mechanism. The yaw force source is arranged in the inner cavity of the positioning cover. The output shaft of the yaw force source passes through the positioning cover and is connected to the rotating table. The first bearing is arranged between the positioning cover and the rotating table. The positioning cover is connected to the rotating table through the first bearing; the yaw force source is used to drive the laser to perform rotational motion within the plane of the rotating table. The two support seats are fixedly arranged on both sides of the rotating table. The laser fixing block is located between the two support seats. A positioning groove for mounting the laser is opened in the middle of the laser fixing block; the laser can emit a relatively thin low-power laser and is connected to the laser fixing block through an axial hole and locked with a set screw. End shafts are provided on both sides of the laser fixing block, and the end shafts on both sides of the laser fixing block are respectively connected to the corresponding support seats through second bearings. The pitch motor is connected to one side of the support seat via the motor connection plate, and the output shaft of the pitch motor is connected to the corresponding end shaft. The pitch motor is used to drive the laser to pitch vertically. The reflective mirror is disposed on the inner wall of the housing, with the reflective mirror of one calibration mechanism disposed on one inner wall of the housing, and the reflective mirror of the other calibration mechanism disposed on the other inner wall of the housing. The two reflective mirrors are symmetrically arranged and opposite to the lasers, and the emitted light from the two lasers respectively falls on the corresponding reflective mirrors.

[0007] In particular, the laser emission point of the laser is located on the central axis of the yaw force source, and its position remains unchanged during yaw rotation; because when the laser emission point is located on the central axis of the yaw force source, when the yaw force source drives the laser to rotate around the central axis, the center position of the laser remains unchanged; when the laser emission point deviates from the central axis of the yaw force source, when the yaw force source drives the laser to rotate around the central axis, the center position of the laser is constantly changing.

[0008] Particularly, the two calibration mechanisms are symmetrically mounted on the clamping and fixing plate.

[0009] The two gears are connected to each other via a plurality of gears, and the two gears are connected to each other via a plurality of gears, and the plurality of gears are connected to each other via a plurality of gears.

[0010] The shell is connected to the clamping plate in the clamping mechanism to fix the entire clamping mechanism and the calibration mechanism. The shell is a waist-shaped body with a rectangular hollow interior. The reflecting mirrors are pasted on the two short side walls, and square through holes are milled on the two long side walls, which can be penetrated by tools such as wrenches for tightening and maintenance. A boss is milled on the lower side of the inner wall of the shell, which can be locked with the clamping plate by screws. The upper part of the shell also reserves a screw hole position, which can be locked with the upper motion system.

[0011] A clamping method for clamping a material using the above-mentioned clamping device integrated with dual-posture laser-assisted calibration comprises the following steps:

[0012] S1: Establishing the coordinate system

[0013] Set the plane where the laser incident point T0 is located to O x plane, the plane where the reflector is located is O y Plane, O x , O y The plane is two mutually perpendicular planes, O x , O y The intersection line of the plane is S1. After the laser light is reflected by the reflector, it intersects with the object to produce the emission point T1. The plane where the incident point T0, the emission point T1 and the reflection point are located is the light path O' working plane. The O' working plane is connected to O y The intersection line of the planes is S0;

[0014] S2: Calculate the offset x and y

[0015] After determining the size of the material, the offset of the edge of the material relative to the center of the material is a known value, that is, the offset of the edge of the material relative to the center of the clamping device is a known value. Take two edge points of the material and convert the positions of the two edge points to the coordinate values ​​in the coordinate system to obtain two sets of offsets x and y, where: x is the offset value of the laser emission point T1 in the x direction; y is the offset value of the laser emission point T1 in the y direction;

[0016] S3: Calculate the deflection angle α and pitch angle θ when the laser is incident

[0017] The height value of the clamping device from the material surface is preset to be Z, and the deflection angle α and pitch angle θ of the two groups of lasers are calculated according to the height value Z, the offset x, and the y.

[0018] S4: Target Positioning

[0019] The clamping device moves to a height of Z from the material surface, and the yaw force source in the clamping device rotates α degrees, driving the laser to rotate horizontally α degrees; the pitch motor rotates θ degrees, driving the laser to rotate up and down θ degrees. The light from the two groups of lasers is respectively emitted into the reflecting mirrors on both sides, and is reflected to form two light spots on the surface of the material. The overall movement of the clamping device is controlled. When the two light spots coincide with the two edge points of the material, it means that the target position has been accurately found.

[0020] S5: Clamping material

[0021] The opening and closing power source is controlled to drive the gear to rotate, and the two sets of racks move toward each other. Under the positioning of the slider and the guide rail, the opening and closing power source drives the adapter plate and the clamping fixture to move, thereby clamping the material.

[0022] Furthermore, step S3 includes the following steps:

[0023] S31: According to the relationship of light reflection: but

[0024] according to: get

[0025] Where l0: The distance between the incident point T0 of the laser and the reflective mirror O y distance;

[0026] l1: The distance between the laser incident point T0 on the O' working surface and the intersection line S0;

[0027] l2: The distance between the laser emission point T1 on the O' working surface and the intersection line S0;

[0028] Z: the distance between the laser incident point T0 and the laser exit point T1 in the z direction;

[0029] S32: According to the plane geometric relationship:

[0030]

[0031]

[0032]

[0033] Obtain: Will Substitution middle,

[0034] get Obtain

[0035] Compared with the prior art, the beneficial effects of the present invention are:

[0036] 1. The two sets of calibration mechanisms and the lead-out space of the opening and closing power source are rationally arranged. Without increasing the original occupied space, the function of auxiliary clamping device for clamping according to the material shape is added, which solves the problem of unknown clamping position, greatly reduces the debugging workload and reduces the debugging difficulty.

[0037] 2. Based on the clear assembly relationship between the laser and the clamping plate, the different output results of the different yaw and pitch postures of multiple lasers under mirror reflection are used, and combined with the actual type of material, single center point and double edge point assistance are realized. It can perform assisted clamping on a variety of materials such as cylindrical materials, square materials, and special materials. The auxiliary positioning relationship is reliable and the structure is simple.

[0038] 3. The center of the laser is set on the yaw center axis. The relative position of the laser center and the reflective mirror is a constant during yaw motion. The reflection relationship during yaw and pitch is clearer, and the solution formula is simpler. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0040] Figure 2 It is an explosion diagram of the present invention;

[0041] Figure 3 Schematic diagram of the structure of the calibration mechanism of the present invention;

[0042] Figure 4 It is a structural schematic diagram of the clamping mechanism of the present invention;

[0043] Figure 5 This is a schematic diagram of the principle of dual-laser assistance in the present invention;

[0044] Figure 6This is a calculation diagram for solving the position of the light path reflection output point in the present invention.

[0045] The numbers in the figure represent:

[0046] 1-calibration mechanism; 2-clamping mechanism; 3-housing; 101-yaw force source; 102-positioning cover; 103-first bearing; 104-rotating table; 105-first support seat; 106-second bearing; 107-laser fixing block; 108-laser; 109-second support seat; 110-motor connecting plate; 111-pitch motor; 112-reflecting mirror; 201-clamping fixing plate; 202-opening and closing power source; 203-slider; 204-guide rail; 205-adapter plate; 206-gear; 207-rack; 208-clamping fixture. DETAILED DESCRIPTION

[0047] The above and other technical features and advantages of the present invention are described in more detail below with reference to the accompanying drawings.

[0048] Example 1

[0049] In this embodiment, Figure 1 、 Figure 2 As shown, a clamping device integrating dual-stance laser assisted calibration includes a clamping mechanism 2, a shell 3 and two calibration mechanisms 1, and the two calibration mechanisms 1 are both located inside the shell 3; the two calibration mechanisms 1 are fixedly arranged on both sides of the upper end surface of the clamping fixing plate 201 of the clamping mechanism 2, and the calibration mechanism 1 can assist the clamping action of the clamping mechanism 2 by light path reflection, and finally, is connected to the upper mechanism through the shell 3.

[0050] like Figure 3 As shown, the calibration mechanism 1 includes a laser 108, a yaw force source 101, a reflective mirror 112 and a pitch motor 111. The yaw force source 101 drives the laser 108 to yaw in a planar direction, and the pitch motor 111 drives the laser 108 to pitch in a vertical direction; the reflective mirror 112 is fixedly arranged on the inner wall of the shell 3, and the reflective mirror 112 is arranged opposite to the laser 108.

[0051] The calibration mechanism 1 also includes a positioning cover 102 and a rotating table 104. The positioning cover 102 is connected to the clamping plate 201. The yaw force source 101 is a flat motor and a reducer. The yaw force source 101 is arranged in the inner cavity of the positioning cover 102 and is locked and fixed thereto by screws. The rotating table 104 is a disc. A through hole is provided in the middle of the positioning cover 102 to match the output shaft of the yaw motor. The output shaft of the yaw motor extends out of the through hole of the positioning cover 102 and is connected to the rotating table 104. A tightening threaded hole is provided on the side wall of the rotating table 104, and a tightening screw can be inserted to lock the yaw force source 101.

[0052] The positioning cover 102 is cylindrical, hollow inside, and has a flange at the bottom. The flange is milled with threaded holes and can be locked with the clamping plate 201. In order to position the planar rotational motion, a first bearing 103 is also provided between the positioning cover 102 and the rotating table 104. The inner ring of the first bearing 103 is inserted into the upper positioning boss of the positioning cover 102, and the outer ring is clamped with the inner wall of the rotating table 104, and the axial positioning is achieved through the shaft shoulder.

[0053] The calibration mechanism 1 also includes two support seats, a laser fixing block 107 and a second bearing 106. The upper surface of the rotating table 104 is reversely milled with a stepped through hole, and a screw is passed through the inside of the hole. The two support seats are fixed on both sides of the upper surface of the rotating table 104 through the stepped through hole and the screw. The two support seats are respectively a first support seat 105 and a second support seat 109. The first support seat 105 and the second support seat 109 have similar structures and are symmetrically arranged. The laser fixing block 107 is located between the first support seat 105 and the second support seat 109. The middle portion of the fixed block 107 is a rectangular frame with a positioning groove milled in the center of the rectangular frame. The laser 108 is fixed in the positioning groove by a set screw. Both support seats are provided with through holes. End shafts are provided on both sides of the rectangular frame. One end shaft passes through the first support seat 105, is positioned by the second bearing 106, and is locked with a retaining spring. The other end shaft passes through the second support seat 109, is positioned by the second bearing 106, and is locked with the output shaft of the pitch motor 111. The pitch motor 111 is locked to the active support seat through the intermediate motor connecting plate 110. The reflective mirror 112 is a flat, thin mirror. The reflective mirror 112 is glued to the inner walls of the two sides of the housing 3. The reflective mirror 112 can reflect the laser light emitted by the lasers 108 of the two calibration mechanisms 1 onto the plane to be assembled.

[0054] like Figure 4As shown, the clamping mechanism 2 includes a clamping plate 201, two clamping fixtures 208, two adapter plates 205 and a driving assembly. The clamping plate 201 is a waist-shaped plate with horizontal front and rear end faces and arc-shaped left and right end faces. The surface of the clamping plate 201 is milled with various stepped holes and threaded holes. The upper end face of the clamping plate 201 is connected to the positioning cover 102 through a threaded hole. The two adapter plates 205 are slidably arranged on the lower end face of the clamping plate 201. The two adapter plates 205 are arranged relative to each other. The driving assembly The components drive the two adapter plates 205 to move in opposite directions, and the two clamping jigs 208 are respectively connected to the two adapter plates 205. The two clamping jigs 208 slide in opposite directions along with the two adapter plates 205, thereby realizing the opening and closing clamping function. The clamping jig 208 is determined according to the shape of the clamped object. The connecting end of the clamping jig 208 is provided with a pin hole and a screw through hole for fixing the clamping jig 208 to the adapter plate 205. The clamping end of the clamping jig 208 can clamp the object when opening and closing according to the characteristics of the positioning groove.

[0055] The driving assembly includes an opening and closing power source 202, a gear 206, a slider 203, a guide rail 204 and a rack 207. The center of the clamping plate 201 has a groove, and the opening and closing power source 202 is set in the groove. The two are locked by screws. The opening and closing power source 202 includes an opening and closing motor, a reducer and an encoder; the guide rail 204 and the rack 207 are respectively fixed on the lower end surface of the clamping plate 201, and the slider 203 is set on the guide rail 204 and slidably connected thereto. The two One end of the adapter plate 205 is fixedly connected to the slider 203, and the other ends of the two adapter plates 205 are connected to the rack 207 through screws. The two sides of the gear 206 are respectively engaged with the guide rail 204. The output shaft of the opening and closing power source 202 passes through the clamping fixed plate 201 and is connected to the gear 206. The opening and closing power source 202 drives the gear 206 to move, thereby driving the two adapter plates 205 to move in opposite directions, thereby driving the clamping fixture 208 to realize the opening and closing clamping function.

[0056] like Figure 2 As shown, the shell 3 is arranged on the outside of the calibration mechanism 1 and the clamping mechanism 2, the front and rear end faces of the shell 3 are flat, and the left and right end faces are arc-shaped faces. The shell 3 is a waist-shaped body with a rectangular hollow interior. The reflecting mirror surfaces 112 are attached to the left and right inner walls corresponding to the arc-shaped faces on both sides. A positioning boss is provided at the bottom of the shell 3, and a clamping portion for connecting the positioning boss is provided in the shell 3. The shell 3 is connected to the clamping fixing plate 201 through the positioning boss.

[0057] In order to facilitate maintenance, the front and rear walls of the housing 3 are further milled with square through holes, through which tools such as wrenches can be inserted for tightening and maintenance.

[0058] In addition, threaded holes and pin holes are reserved on the upper surface of the housing 3 so as to be connected to other mechanisms.

[0059] Example 2

[0060] A clamping method for clamping a material using the above-mentioned clamping device integrated with dual-posture laser-assisted calibration comprises the following steps:

[0061] S1: Establishing the coordinate system

[0062] like Figure 6 As shown, the plane where the laser incident point T0 is located is set as O x plane, the plane where the reflector is located is O y Plane, O x , O y The plane is two mutually perpendicular planes, corresponding to Figure 5 The working plane where x and y are located, O x , O y The intersection line of the plane is S1. After the laser light is reflected by the reflector, it intersects with the object to produce the emission point T1. The plane where the incident point T0, the emission point T1 and the reflection point are located is the light path O' working plane. The O' working plane is connected to O y The intersection line of the planes is S0;

[0063] S2: Calculate the offset x and y

[0064] For relatively regular materials, when the center of the clamping device coincides with the center of the material, the force on the material during clamping is most uniform, and the effect is best. Based on this principle, after determining the size of the material, the offset of the edge point of the material relative to the center of the material is a known value, that is, the offset of the edge point of the material relative to the center of the clamping device is a known value. Take two edge points of the material, convert the positions of the two edge points to the coordinate values ​​in the coordinate system, and obtain two sets of offsets x and y, where: x is the offset value of the laser emission point T1 in the x direction, which is a known value calculated based on the required scenario; y is the offset value of the laser emission point T1 in the y direction, which is a known value calculated based on the required scenario;

[0065] S3: Calculate the deflection angle α and pitch angle θ when the laser is incident

[0066] The height value of the clamping device from the material surface is preset to be Z, and the deflection angle α and the pitch angle θ of the two groups of lasers 108 are respectively calculated according to the height value Z, the offset x, and the y;

[0067] The specific calculation process is as follows:

[0068] According to the relationship of light reflection: but

[0069] according to: get

[0070] Where, l0: The distance between the laser incident point T0 and the reflective mirror O y The distance is a fixed value;

[0071] l1: The distance between the laser incident point T0 on the O' working surface and the intersection line S0;

[0072] l2: The distance between the laser emission point T1 on the O' working surface and the intersection line S0;

[0073] Z: The distance between the laser incident point T0 and the laser exit point T1 in the z direction, which is a preset known value;

[0074] According to the plane geometry relationship:

[0075]

[0076]

[0077]

[0078] Obtain: Will Substitution middle,

[0079] get Obtain

[0080] S4: Target Positioning

[0081] The upper motion mechanism connected to the housing 3 drives the clamping device to a height Z from the material surface. The yaw force source 101 in the clamping device rotates α degrees, driving the laser 108 to rotate horizontally α degrees. The pitch motor 111 rotates θ degrees, driving the laser 108 to rotate vertically θ degrees. The light from the two groups of lasers 108 is respectively emitted into the two side reflective mirrors and reflected onto the material surface to form two light spots, which control the overall movement of the clamping device. When the two light spots coincide with the two edge points of the material, it means that the target position has been accurately found.

[0082] S5: Clamping material

[0083] The opening and closing power source 202 is controlled to drive the gear 206 to rotate, and the two sets of racks 207 move toward each other. Under the positioning of the slider 203 and the guide rail 204, the opening and closing power source 202 drives the adapter plate 205 and the clamping fixture 208 to move, thereby clamping the material.

[0084] The above description is merely a preferred embodiment of the present invention and is intended to be illustrative rather than restrictive of the present invention. Those skilled in the art will appreciate that many changes, modifications, and even equivalents may be made to the present invention within the spirit and scope of the claims, all of which fall within the scope of protection of the present invention.

Claims

1. A clamping device integrating dual-stance laser-assisted calibration, characterized in that: The device comprises a clamping mechanism, a housing, and two identical calibration mechanisms. Each calibration mechanism comprises a laser, a yaw force source, a pitch motor, and a reflective mirror disposed within the housing. The yaw force source is used to drive the laser to rotate in a planar direction, and the pitch motor is used to drive the laser to pitch in a vertical direction. The reflective mirror is disposed on the inner wall of the housing, and is disposed opposite to the laser. The calibration mechanism further includes a positioning cover, a first bearing, and a rotating table. The positioning cover is connected to the clamping mechanism. The deflection force source is disposed in an inner cavity of the positioning cover. The output shaft of the deflection force source passes through the positioning cover and is connected to the rotating table. The first bearing is disposed between the positioning cover and the rotating table. The positioning cover is connected to the rotating table via the first bearing. The clamping mechanism includes a clamping fixed plate, a driving assembly, two clamping fixtures and two adapter plates, the upper end surface of the clamping fixed plate is connected to the positioning cover, the two adapter plates are slidably arranged on the lower end surface of the clamping fixed plate, the two clamping fixtures are respectively connected to the two adapter plates, the two adapter plates are arranged opposite to each other, and the driving assembly drives the two adapter plates to move in opposite directions; The driving assembly includes an opening and closing power source, a gear, a slider, a guide rail and a rack, the guide rail and the rack are respectively fixedly arranged on the lower end surface of the clamping and fixing plate, the slider is arranged on the guide rail and slidably connected thereto, one end of the two adapter plates is respectively fixedly connected to the slider, the other end of the two adapter plates is respectively connected to the rack, the two sides of the gear are respectively meshed with the guide rails, and the output shaft of the opening and closing power source passes through the clamping and fixing plate and is connected to the gear; A clamping method for clamping materials using the clamping device integrated with the dual-posture laser-assisted calibration method includes the following steps: S1: Establishing the coordinate system Set the plane where the laser incident point T0 is located to O x plane, the plane where the reflector is located is O y Plane, O x , O y The plane is two mutually perpendicular planes, O x , O y The intersection line of the plane is S1. After the laser light is reflected by the reflector, it intersects with the object to produce the emission point T1. The plane where the incident point T0, the emission point T1 and the reflection point are located is the light path O' working plane. The O' working plane is connected to O y The intersection line of the planes is S0; S2: Calculate the offset x and y After determining the size of the material, the offset of the edge of the material relative to the center of the material is a known value, that is, the offset of the edge of the material relative to the center of the clamping device is a known value. Take two edge points of the material and convert the positions of the two edge points to the coordinate values ​​in the coordinate system to obtain two sets of offsets x and y, where: x is the offset value of the laser emission point T1 in the x direction; y is the offset value of the laser emission point T1 in the y direction; S3: Calculate the deflection angle α and pitch angle θ when the laser is incident The height value of the clamping device from the material surface is preset to be Z, and the deflection angle α and pitch angle θ of the two groups of lasers are calculated according to the height value Z, the offset x, and the y. S4: Target Positioning The clamping device moves to a height of Z from the material surface, and the yaw force source in the clamping device rotates α degrees, driving the laser to rotate horizontally α degrees; the pitch motor rotates θ degrees, driving the laser to rotate up and down θ degrees. The light from the two groups of lasers is respectively emitted into the reflecting mirrors on both sides, and is reflected to form two light spots on the surface of the material. The overall movement of the clamping device is controlled. When the two light spots coincide with the two edge points of the material, it means that the target position has been accurately found. S5: Clamping material The opening and closing power source is controlled to drive the gear to rotate, and the two sets of racks move toward each other. Under the positioning of the slider and the guide rail, the opening and closing power source drives the adapter plate and the clamping fixture to move, thereby clamping the material; The step S3 comprises the following steps: S31: According to the light reflection relationship: but according to: get Where, l0: the incident point of the laser T0 and O y distance between planes; l1: The distance between the laser incident point T0 on the O' working surface and the intersection line S0; l2: The distance between the laser emission point T1 on the O' working surface and the intersection line S0; Z: the distance between the laser incident point T0 and the laser exit point T1 in the z direction; S32: According to the plane geometric relationship: According to the geometric relationship: Obtain: Will Substitution get Obtain 2. The clamping device for integrating dual-stance laser-assisted calibration according to claim 1, characterized in that: The calibration mechanism also includes a laser fixing block, a second bearing and two support seats. The two support seats are fixedly arranged on both sides of the rotating table. The laser fixing block is located between the two support seats. End shafts are provided on both sides of the laser fixing block. The end shafts on both sides of the laser fixing block are respectively connected to the corresponding support seats through the second bearings.

3. The clamping device for integrating dual-stance laser-assisted calibration as claimed in claim 2, characterized in that: The pitch motor is connected to a supporting seat on one side through a motor connecting plate, and the output shaft of the pitch motor is connected to the corresponding end shaft.

4. The clamping device for integrating dual-stance laser-assisted calibration as claimed in claim 2, characterized in that: A positioning groove for mounting the laser is provided in the middle of the laser fixing block.

5. The clamping device for integrating dual-stance laser-assisted calibration as claimed in claim 1, characterized in that: The reflecting mirror of one calibration mechanism is arranged on one inner wall of the shell, and the reflecting mirror of the other calibration mechanism is arranged on the other inner wall of the shell. The two reflecting mirrors are arranged symmetrically, and the emission light of the two lasers falls on the corresponding reflecting mirrors respectively.

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