Flexible device and method for assembling a photoelectric tracking and sighting head to a two-way shaft hole

Abstract

A flexible device and assembly method for photoelectric tracking and sighting host bidirectional shaft hole assembly, relates to the field of photoelectric tracking and sighting host bidirectional shaft hole assembly, including a lifting appliance, an unloading assembly and two rigid beam components, the two rigid beam components are used for connecting to the two sides of the optical machine body, each rigid beam component is connected with an unloading assembly at both ends, the other end of the unloading assembly is connected with the lifting appliance, and the lifting appliance is used for connecting a travelling crane; the unloading assembly comprises a rotating assembly, a height adjusting assembly and a spring scale, one end of the rotating assembly is connected with the lifting appliance, the other end is connected with the height adjusting assembly, one end of the height adjusting assembly is connected with the rotating assembly, the other end is connected with the spring scale, and the other end of the spring scale is connected with the rigid beam component; counterweights are arranged on the rigid beam components to make the readings of the four spring scales consistent. High-precision shaft hole matching fast and accurate assembly is realized, the assembly difficulty of high-precision bidirectional shaft hole matching of large-mass optical machine body and two-dimensional turntable is solved, and the assembly efficiency and safety are improved.

Description

Technical Field

[0001] This invention belongs to the field of precision assembly technology of optomechanical body and two-dimensional turntable mechanism of aerospace optoelectronic tracking main unit, and relates to a flexible device for bidirectional shaft hole assembly of optoelectronic tracking main unit. Background Technology

[0002] Space-based optoelectronic tracking and aiming mainframes are used for high-precision tracking and monitoring of space targets. They typically consist of an optomechanical main body and a two-dimensional turntable mechanism. The optomechanical main body usually comprises optoelectronic imaging, detection, and laser ranging modules, enabling high-definition imaging, angle measurement, and ranging of space targets. The two-dimensional turntable mechanism consists of a U-shaped frame, an azimuth axis system, a pitch drive axis system, and a pitch brake axis system. These systems are connected to the U-shaped frame via high-precision bearings. The pitch drive and pitch brake axes have holes (shafts) forming a bidirectional hole (shaft) mechanical interface for the two-dimensional turntable mechanism. The optomechanical main body has symmetrical bidirectional shafts (holes) that achieve high-precision shaft-hole fit and fixation with the holes (shafts) on the two-dimensional tracking turntable. This ensures that the relative positional relationship between the optomechanical main body and the two-dimensional turntable mechanism remains unchanged after the rocket launch's active phase and orbit insertion, thus enabling the optomechanical main body to rotate with the two-dimensional turntable mechanism along its pitch and azimuth axes with high precision.

[0003] In the actual development of optoelectronic tracking mainframe products, the optomechanical body and the two-dimensional turntable mechanism are designed, assembled, and tested separately. Then, the optomechanical body is assembled with the shaft holes of the two-dimensional turntable mechanism. During assembly, the two-dimensional turntable mechanism is placed stationary on the ground. Assembly personnel lift it to the vicinity of the turntable mechanism and manually adjust the positional deviation of the bidirectional shaft holes of the two components to ensure precise insertion of the shaft into the hole, thus completing the shaft hole assembly. This method can be used for lightweight optomechanical bodies, but it is inefficient. However, for heavy optomechanical bodies, a crane is required for hoisting. During hoisting, it is impossible to guarantee accurate alignment between the shaft (hole) of the optomechanical body and the hole of the two-dimensional turntable mechanism, resulting in shaft hole jamming and wedging. Forcing installation will create shaft hole assembly stress, damaging the bearings of the turntable's pitch axis system.

[0004] Existing shaft and hole assembly methods mostly utilize industrial robots. Patent CN114012716A discloses a shaft and hole assembly method using an industrial robot based on vision positioning and force control. Even when the shaft and hole positions are unclear, it acquires positional information for both the shaft and hole. During insertion, a force control algorithm maintains the contact force within an appropriate range, ultimately completing the shaft and hole assembly task. Patent CN113878323A (A Dual-Axis Hole Assembly Robot Device and Method Based on Force Control Sensors) uses a clamping and mounting mechanism. Clamping components inside a mounting plate hold the shaft workpiece. When the shaft workpiece aligns with the mounting hole inside the dual-hole workpiece, it suddenly drops. A pressure sensor detects this sudden increase in pressure and pushes the shaft workpiece into the mounting hole via a hydraulic rod, achieving precise installation. However, these methods are complex, requiring the purchase of industrial robots and the development of corresponding devices, resulting in high costs.

[0005] To address the problems of shaft hole jamming, wedging, and damage to the pitch axis bearings caused by shaft hole assembly stress during the above-mentioned shaft hole assembly process, this invention designs a flexible device for bidirectional shaft hole assembly between the optomechanical body and the two-dimensional turntable in an optoelectronic tracking main unit. This flexible device includes four sets of adjustable elastic unloading components, one lifting device, and two rigid rods. The four unloading components are connected to the optomechanical body via the two rigid rods, and the lifting device is connected to the unloading components via shackles. During the lifting process, the elastic unloading components unload the gravity of the optomechanical body, reducing the assembly stress with the bearings at both ends of the two-dimensional tracking turntable, avoiding damage to the high-precision bearings, and achieving rapid and accurate assembly of high-precision shaft holes. This solves the assembly problem of high-precision bidirectional shaft hole fit between a large-mass optomechanical body and the two-dimensional turntable, improving assembly efficiency and safety. Summary of the Invention

[0006] The technical problem solved by this application is to overcome the shortcomings of the prior art and provide a flexible device for bidirectional shaft hole assembly of an optoelectronic tracking main unit. The device utilizes an elastic unloading component to unload the main body of the optomechanical system by gravity. The operator can make slight adjustments to the position and posture of the main body of the optomechanical system to achieve shaft hole assembly. This reduces the assembly stress of the bearings at both ends of the two-dimensional tracking turntable, avoids damage to the high-precision bearings, and achieves rapid and accurate assembly of high-precision shaft hole mating. It solves the assembly problem of high-mass optomechanical system mating with high-precision bidirectional shaft holes of the two-dimensional turntable, and improves assembly efficiency and safety.

[0007] The technical solution provided in this application is as follows:

[0008] In the first aspect, a flexible device for bidirectional shaft hole assembly of an optoelectronic tracking and aiming host is provided, including a lifting device, an unloading assembly and two rigid beam components. The two rigid beam components are used to connect to both sides of the optomechanical body of the optoelectronic tracking and aiming host. Each rigid beam component is connected to an unloading assembly at both ends. The other end of the unloading assembly is connected to the lifting device. The lifting device is used to connect to a crane.

[0009] The unloading assembly includes a rotating assembly, a height adjusting assembly, and a spring scale. One end of the rotating assembly is connected to the lifting device, and the other end is connected to the height adjusting assembly. One end of the height adjusting assembly is connected to the rotating assembly, and the other end is connected to the spring scale. The other end of the spring scale is connected to the rigid beam component.

[0010] The rigid beam component is equipped with counterweights to ensure that the readings of the four spring scales are consistent.

[0011] The rotating assembly includes an outer cylinder screw rotor, a large bearing housing, a bearing, an inner shaft upper rod, a small bearing housing, a bearing, and an inner cylinder screw rotor. The large and small bearing housings are located inside the outer cylinder screw rotor. The bottom end of the inner shaft upper rod and the top end of the inner cylinder screw rotor are located inside the outer cylinder screw rotor. The inner shaft upper rod is located above the inner cylinder screw rotor and is coaxial. The large bearing housing is sleeved on the outside of the inner shaft upper rod and is fixedly connected to the outer cylinder screw rotor. The bearing is disposed between the large bearing housing and the inner shaft upper rod to allow the inner shaft upper rod to rotate relative to the large bearing housing. The small bearing housing is fixedly connected to the end face of the inner shaft upper rod and is connected between the small bearing housing and the inner cylinder screw rotor to allow the inner cylinder screw rotor to rotate relative to the small bearing housing. The inner shaft upper rod is used to connect a lifting device, and the inner cylinder screw rotor is used to connect a height adjustment assembly.

[0012] The outer cylinder lead screw rotor has notches on both sides.

[0013] The height adjustment assembly includes a spring scale frame and an inner cylinder screw stator. The spring scale frame is connected to the end of the outer cylinder screw rotor, and the end of the inner cylinder screw rotor away from the inner shaft rod extends into the spring scale frame. The top of the inner cylinder screw stator is sleeved on the outside of the inner cylinder screw rotor and threadedly connected to the inner cylinder screw rotor. The bottom end of the inner cylinder screw stator is used to connect to the rigid beam component.

[0014] A long opening is provided on one side of the spring scale frame.

[0015] The bottom end of the spring scale frame is connected to the outer limiting cylinder, and the bottom end of the inner cylinder screw stator is connected to the inner cylinder lower rod. The bottom end of the inner cylinder lower rod passes through the bottom circular hole of the outer limiting cylinder and is connected to the rigid beam component. An annular boss is connected to the inner cylinder lower rod. The annular boss is located inside the outer limiting cylinder, and the outer diameter of the annular boss is larger than the diameter of the bottom circular hole of the outer limiting cylinder.

[0016] The inner cylinder screw rotor includes a main body section and a threaded section located at the bottom of the main body section. The inner cylinder screw stator is threadedly connected to the outer threaded section of the inner cylinder screw rotor via its own internal thread. An inner cylinder screw limiting plate is connected to the top of the inner cylinder screw stator, and the inner cylinder screw limiting plate is in contact with the outer wall of the main body section.

[0017] The outer cylinder screw rotor is fitted with an outer cylinder screw stator, and the outer cylinder screw rotor and the outer cylinder screw stator are threadedly connected. The spring scale frame is connected to the bottom end of the outer cylinder screw stator.

[0018] The outer cylinder screw rotor includes an outer cylinder main body section and an outer cylinder threaded section located at the bottom of the outer cylinder main body section. The outer diameter of the outer cylinder threaded section is larger than the outer diameter of the outer cylinder main body section. An outer cylinder limiting sleeve is installed at the top of the outer cylinder screw stator, and the outer cylinder limiting sleeve is in contact with the outer wall of the outer cylinder main body section.

[0019] The lifting device is a rigid rod connecting component; the lifting device includes four adapter sleeves and four rigid rods. Each adapter sleeve has an upper connecting hole and a lower connecting hole arranged vertically. The four rigid rods include two parallel rigid rods located at the top and two parallel rigid rods located at the bottom. The upper rigid rods are perpendicular to the lower rigid rods. Two adapter sleeves are inserted through the upper connecting hole on each upper rigid rod, and two adapter sleeves are inserted through the lower connecting hole on each lower rigid rod. Eye bolts are connected to the rigid rods. The eye bolts include upper eye bolts and lower eye bolts. The upper eye bolts are used to connect to the crane, and the lower eye bolts are used to connect to the unloading assembly.

[0020] The rigid rod has symmetrical screw holes with different spacings at both ends, and the screws pass through the screw holes to connect with the adapter sleeve.

[0021] Secondly, an assembly method for bidirectional shaft hole assembly of an optoelectronic tracking and aiming main unit is provided, comprising: assembly using any of the aforementioned flexible devices for bidirectional shaft hole assembly of an optoelectronic tracking and aiming main unit, including:

[0022] S1: A two-dimensional turntable mechanism U-shaped frame, and a pitch drive shaft system and a pitch brake shaft system connected to the U-shaped frame. The main body of the optical engine has symmetrical first bidirectional holes and second first bidirectional holes. The two-dimensional turntable mechanism to be assembled is placed on the ground, and the pitch brake shaft system 33 is pushed to move along its own axis until the distance between the end faces of the pitch drive shaft system and the pitch brake shaft system is greater than the distance between the two end faces of the main body of the optical engine along the axis of the first bidirectional hole.

[0023] S2: Connect the rigid beam component to the unloading assembly, connect the unloading assembly to the lifting device, connect the lifting device to the hook of the crane through the sling, then lift the entire flexible device, adjust the relative position of the adapter sleeve and the rigid rod so that the span of the lifting device is consistent with the span of the optical engine body;

[0024] S3: Fix the inner cylinder screw stator in place by the long opening, rotate the inner cylinder screw rotor until there is a gap between the annular boss of the inner cylinder lower rod and the end face of the bottom round hole of the outer limit cylinder, and the four inner cylinder lower rods of the four unloading components extend out of the outer limit cylinder by the same length.

[0025] S4: Connect the rigid beam components to the main body of the optical engine, and lift the main body of the optical engine. Adjust the position and size of the counterweights on the two sets of rigid beam components so that the readings of the four spring scales are consistent, and the readings of the four spring scales change when the main body of the optical engine is pressed.

[0026] If the reading of any spring scale does not change, repeat step S3 to increase the distance between the annular boss of the lower inner cylinder rod and the end face of the bottom circular hole of the outer limit cylinder until the readings of the four spring scales are consistent and the readings of the four spring scales change when the main body of the polishing machine is pressed.

[0027] S5: The overhead crane moves the main body of the optical engine to directly above the two-dimensional turntable mechanism, causing the main body of the optical engine to descend. Visually inspect until the first and second bidirectional holes of the main body of the optical engine are basically coaxial with the pitch drive shaft system and pitch brake shaft system of the two-dimensional turntable mechanism. Then, push the main body of the optical engine towards the pitch drive shaft system side. The four spring scales adaptively adjust the attitude of the main body of the optical engine. The shaft of the pitch drive shaft system is embedded in the first bidirectional hole. Then, push the pitch brake shaft system towards the pitch drive shaft system side, so that the shaft of the pitch brake shaft system is embedded in the second bidirectional hole, completing the bidirectional shaft hole assembly.

[0028] Compared with the prior art, the flexible device for bidirectional shaft hole assembly of an optoelectronic tracking and aiming host according to the present invention has beneficial technical effects, including:

[0029] 1. The flexible device of the present invention utilizes an elastic unloading component to unload the gravity of the optomechanical body during the bidirectional shaft hole assembly process of the optomechanical main body, ensuring accurate alignment between the hole of the optomechanical body and the shaft of the two-dimensional turntable mechanism, avoiding shaft hole jamming and wedging, reducing the assembly stress with the bearings at both ends of the two-dimensional tracking turntable, avoiding damage to the high-precision bearings, realizing rapid and accurate assembly of high-precision shaft hole fit, solving the assembly problem of high-mass optomechanical body and high-precision bidirectional shaft hole fit of the two-dimensional turntable, and improving assembly efficiency and safety;

[0030] 2. In the lifting device structure of the present invention, the design of threaded holes with different spacings on the rigid rod and orthogonal holes on the adapter sleeve is adapted to the vertical lifting of the optomechanical body with different spans.

[0031] 3. In the unloading component structure of the present invention, the overall structure consisting of the outer cylinder screw rotor, the outer cylinder screw stator, the spring scale frame, and the outer limiting cylinder, along with the annular boss design in the middle of the inner cylinder lower rod, avoids damage to the main body of the workpiece hoisted by the flexible device from falling when the spring scale breaks during the hoisting process, thus ensuring the safety of the product.

[0032] 4. In the rigid beam component of the present invention, the counterweight mounting holes on the counterweight block and rigid rod realize the balancing of the main body of the optical engine during the hoisting process, ensuring that the four spring scales are subjected to uniform force. Attached Figure Description

[0033] Figure 1 This is an overall schematic diagram of the flexible device in an embodiment of the present invention;

[0034] Figure 2 This is a schematic diagram of the lifting device in an embodiment of the present invention;

[0035] Figure 3 This is a schematic diagram of the rigid rod component structure in an embodiment of the present invention;

[0036] Figure 4 This is a schematic diagram of the unloading component in an embodiment of the present invention;

[0037] Figure 5 This is a schematic diagram of the optical-electric tracking and aiming host axis system in an embodiment of the present invention;

[0038] Figure 6 This is a schematic diagram of the bidirectional shaft hole features of the optoelectronic tracking host in an embodiment of the present invention;

[0039] Figure 7 This is a schematic diagram of the flexible device before hoisting in an embodiment of the present invention;

[0040] Figure 8 This is a schematic diagram of the shaft hole assembly process of the flexible device in an embodiment of the present invention. Detailed Implementation

[0041] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0042] This application discloses a flexible device for bidirectional shaft hole assembly of an optoelectronic tracking and aiming host, such as... Figure 1 As shown, it includes a lifting device 1, an unloading assembly 2, a rigid beam component 3, and an optoelectronic tracking and aiming host. The optoelectronic tracking and aiming host is the object being operated. According to the assembly requirements of the bidirectional shaft holes of the optoelectronic tracking and aiming host, the lifting device 1 is connected to one end of each of the four unloading assemblies 2 through a universal shackle. The other end of the four unloading assemblies 2 is connected to both ends of the two rigid beam components 3 through shackles, thus forming the entire flexible device.

[0043] like Figure 2As shown, the lifting device 1 is a rigid rod connecting component, consisting of four rigid rods 5, four adapter sleeves 6, and eye bolts. The rigid rods 5 have symmetrical screw holes at different intervals at both ends. The adapter sleeves 6 have two holes 6a and 6b at a 90° angle on both sides, and screw holes are provided on the upper and lower bottom surfaces of the adapter sleeves 6. The four rigid rods 5 pass through the holes 6a or 6b of the four adapter sleeves 6 and are fixed to the adapter sleeves 6 by screws. The four eye bolts are installed on two of the rigid rods 5, and the other four eye bolts are installed on the other two rigid rods 5.

[0044] like Figure 3 As shown, the rigid beam component 3 consists of a rigid rod 7, a shackle, and a counterweight 8. The rigid rod 7 has threaded holes at both ends for connecting eye bolts. The rigid rod 7 has screw holes at both ends and in the middle for installing the counterweight 8. The screw holes on the side of the middle part of the rigid rod 7 are used to connect the workpiece optical engine body 29. The optical engine body 29 and the rigid rod 7 are rigidly connected.

[0045] like Figure 4As shown, the unloading assembly 2 is the core component of the entire flexible device, consisting of the large bearing inner pressure ring 9, the outer cylinder screw rotor 10, the large bearing seat 11, the bearing 12, the large bearing outer pressure ring 13, the inner shaft upper rod 14, the small bearing seat 15, the small bearing outer pressure ring 16, the bearing 17, the small bearing inner pressure ring 18, the inner cylinder screw rotor 19, the outer screw limit sleeve 20, the outer cylinder screw stator 21, the spring scale frame 22, the inner screw limit plate 23, the inner cylinder screw stator 24, the connecting screw 25, the spring scale 26, the outer limit cylinder 27, and the inner cylinder lower rod 28. The outer ring of bearing 12 is fixed to the large bearing housing 11 via the large bearing outer pressure ring 13, and the inner ring of bearing 12 is fixed to the inner shaft upper rod 14 via the large bearing inner pressure ring 9, so that the inner shaft upper rod 14 can rotate relative to the large bearing housing 11; the outer ring of bearing 17 is fixed to the small bearing housing 15 via the small bearing outer pressure ring 16, and the inner ring of bearing 17 is fixed to the inner cylinder screw rotor 19 via the small bearing inner pressure ring 18, so that the inner cylinder screw rotor 19 can rotate relative to the small bearing housing 15; the end face of the small bearing housing 15 is fixed to the end face of the inner shaft upper rod 14 via screws, so that the inner cylinder screw rotor 19 can rotate relative to the inner shaft upper rod 14. The end face of the large bearing housing 11 is fixed to the outer cylinder screw rotor 10 by screws. The outer cylinder screw rotor 10 is connected to the inner thread of the outer cylinder screw stator 21 via its own external thread. The outer cylinder screw rotor 10 includes an outer cylinder main body section and an outer cylinder threaded section located at the bottom of the outer cylinder main body section. The outer diameter of the outer cylinder threaded section is larger than the outer diameter of the outer cylinder main body section. An outer cylinder limiting sleeve 20 is installed at the top of the outer cylinder screw stator 21. The outer cylinder limiting sleeve 20 contacts the outer wall of the outer cylinder main body section. The axial limiting of the outer cylinder screw rotor 10 is achieved by installing the outer cylinder limiting sleeve 20 on the end face of the outer cylinder screw stator 21. The inner cylinder screw rotor 19 has a threaded section with a larger diameter at its bottom. The inner cylinder screw stator 24 is connected to the outer threaded section of the inner cylinder screw rotor 19 via its own internal thread. The inner cylinder screw limiting plate 23 is fixed to the end face of the inner cylinder screw stator 24 by screws. The inner cylinder screw limiting plate 23 contacts the smaller diameter part in the middle of the inner cylinder screw rotor 19, which is used to limit the axial limit position of the inner cylinder screw stator 24 relative to the inner cylinder screw rotor 19. The other end of the inner cylinder screw stator 24 is connected to one end of the spring scale 26 by connecting screws 25. The other end of the spring scale 26 is connected to the inner cylinder lower rod 28 by connecting screws 25. The top of the spring scale frame 22 is fixed to the end face of the outer cylinder screw stator 21 by screws. The bottom of the spring scale frame 22 is fixed to the outer limiting cylinder 27 by screws to form an integral unit. The inner cylinder screw rotor 19 and the inner cylinder screw stator 24 are located inside the spring scale frame 22. The inner cylinder lower rod 28 passes through the lower end of the outer limiting cylinder 27. The outer cylinder screw rotor 10 has notches on both sides, and the spring scale frame 22 has a long opening on one side. The operator can read the value of the spring scale 26 through the long opening of the spring scale frame 22.

[0046] like Figure 5 , Figure 6As shown, the workpiece photoelectric tracking main unit consists of a two-dimensional turntable mechanism and an optomechanical body 29. The two-dimensional turntable mechanism comprises a U-shaped frame 31, an azimuth axis system 32, a pitch drive axis system 30, and a pitch brake axis system 33. The azimuth axis system 32, the pitch drive axis system 30, and the pitch brake axis system 33 are connected to the U-shaped frame 31 via high-precision bearings. Shafts 30a and 33a are provided on the pitch drive axis system 30 and the pitch brake axis system 33, forming a bidirectional axis of the two-dimensional tracking turntable. Symmetrical bidirectional holes 29a and 29b are provided on the optomechanical body 29 to achieve high-precision shaft-hole fit with the shafts on the two-dimensional turntable mechanism. The pitch drive axis system 30 and the pitch brake axis system 33 are coaxial, and their axis is the pitch axis 35.

[0047] like Figure 7 , Figure 8 As shown, the assembly process of the bidirectional shaft hole of the workpiece photoelectric tracking main unit (4) is as follows:

[0048] (1) The two-dimensional turntable mechanism to be assembled is placed on the ground and remains stationary. The operator pushes the pitch brake shaft system 33 to move a certain distance along the pitch axis 35 to ensure that the distance between the two-way shaft end faces of the two-dimensional turntable mechanism is greater than the distance between the two-way hole end faces of the optical engine body 29.

[0049] (2) The operator connects the lifting device 1 to the hook of the crane through the sling, and then lifts the entire flexible device. By adjusting the different spacing screw holes of the adapter sleeve 6 of the lifting device 1 and the rigid rod 5 and the installation spacing of the eye screws on the rigid rod 5, the spacing combination adjustment of the eye screws is realized so that the span of the lifting device 1 is consistent with the span of the optical engine body 29, ensuring that the four unloading parts 2 of the flexible device are naturally and evenly subjected to gravity.

[0050] (3) The operator uses the open handle to hold the inner cylinder screw stator 24 still through the long opening of the spring scale frame 22, and at the same time uses the ratchet open wrench to hold the inner cylinder screw rotor 19 through the notch of the outer cylinder screw rotor 10. Then the inner cylinder screw rotor 19 is rotated, so that the inner cylinder screw stator 24, spring scale 26 and inner cylinder lower rod 28 move axially as a whole, so that the annular boss in the middle of the inner cylinder lower rod 28 is at a certain distance from the end face of the bottom round hole of the outer limit cylinder 27. The spring scale 26 plays the role of gravity unloading, ensuring that the four inner cylinder lower rods 28 of the four unloading components 2 extend out of the outer limit cylinder 27 by the same length.

[0051] (4) Move the gantry crane to the vicinity of the optical machine body 29 to be assembled. Connect the two rigid beam components 3 to the optical machine body 29 with screws. Lift the optical machine body 29. Adjust the position and size of the counterweights 8 on the two sets of rigid beam components 3 so that the readings of the four spring scales 26 are consistent. When the optical machine body 29 is pressed slightly by hand, the readings of the four spring scales 26 will change. If any spring scale 26 does not change, repeat step 3 to ensure that the unloading values ​​of the four spring scales 26 on the optical machine body 29 are equal.

[0052] (5) The operator moves the crane to lift the optical engine body 29 directly above the two-dimensional turntable mechanism, and slowly lowers the optical engine body 29 until the bidirectional holes 29a and 29b of the optical engine body 29 are basically coaxial with the bidirectional shafts 30a and 33a of the two-dimensional turntable mechanism. Then, the operator pushes the optical engine body 29 to move towards the pitch drive shaft system 30. At the same time, the operator uses the elasticity of the four spring scales 26 to adaptively adjust the posture of the optical engine body 29 to ensure that the shaft 30a is embedded in the hole 29a. Then, the operator manually pushes the pitch brake shaft system 33 to move along the pitch axis 4a towards the pitch drive shaft system 30 so that the shaft 33a is embedded in the hole 29b, thereby completing the bidirectional shaft hole assembly.

[0053] According to the present invention, a flexible device for bidirectional shaft hole assembly of an optoelectronic tracking host has been successfully used for assembling 20KG and 90KG optomechanical bodies with two-dimensional turntable mechanisms. During the assembly process, the holes of the optomechanical body and the shafts of the two-dimensional turntable mechanism are accurately aligned, and there is no shaft hole jamming or wedging. This reduces the assembly stress of the bearings at both ends of the two-dimensional tracking turntable, and the high-precision bearings are not damaged. It achieves rapid and accurate assembly of high-precision shaft hole fit, solves the assembly problem of high-precision bidirectional shaft hole fit between a large-mass optomechanical body and a two-dimensional turntable, and improves assembly efficiency and safety.

[0054] It should be noted that the contents not described in detail in this specification are those that can be implemented by those skilled in the art through the descriptions in this specification and the prior art, and therefore will not be elaborated upon.

[0055] The above description is merely a preferred embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Those skilled in the art can make various modifications and substitutions to the present invention without creative effort, and all such modifications and substitutions should be covered within the scope of protection of the present invention.

[0056] The contents not described in detail in this application specification are common knowledge to those skilled in the art.

[0057] The present application has been described in detail above with reference to specific embodiments and exemplary examples; however, these descriptions should not be construed as limiting the present application. Those skilled in the art will understand that various equivalent substitutions, modifications, or improvements can be made to the technical solutions and implementation methods of the present application without departing from the spirit and scope of the present application, and all such modifications and improvements fall within the scope of the present application. The scope of protection of the present application is determined by the appended claims.

Claims

1. A flexible device for bidirectional shaft hole assembly of an optoelectronic tracking and aiming main unit, characterized in that: It includes a lifting device (1), an unloading assembly (2) and two rigid beam components (3). The two rigid beam components (3) are used to connect to both sides of the optomechanical body (29) of the optoelectronic tracking host. Each end of the rigid beam component (3) is connected to an unloading assembly (2). The other end of the unloading assembly (2) is connected to the lifting device (1). The lifting device (1) is used to connect to the crane. The unloading component (2) includes a rotating component, a height adjusting component and a spring scale (26). One end of the rotating component is connected to the lifting device (1) and the other end is connected to the height adjusting component. One end of the height adjusting component is connected to the rotating component and the other end is connected to the spring scale (26). A counterweight (8) is provided on the rigid beam component (3) to make the readings of the four spring scales (26) consistent; The rotating assembly includes an outer cylinder screw rotor (10), a large bearing housing (11), a large bearing (12), an inner shaft upper rod (14), a small bearing housing (15), a small bearing (17), and an inner cylinder screw rotor (19). The large bearing housing (11) and the small bearing housing (15) are located inside the outer cylinder screw rotor (10). The bottom end of the inner shaft upper rod (14) and the top end of the inner cylinder screw rotor (19) are located inside the outer cylinder screw rotor (10). The inner shaft upper rod (14) is located above the inner cylinder screw rotor (19) and is coaxial. The large bearing housing (11) is sleeved on the outside of the inner shaft upper rod (14). The bearing seat (11) is fixedly connected to the outer cylinder screw rotor (10); the large bearing (12) is disposed between the large bearing seat (11) and the inner shaft upper rod (14) so ​​that the inner shaft upper rod (14) rotates relative to the large bearing seat (11); the small bearing seat (15) is fixedly connected to the end face of the inner shaft upper rod (14), and the small bearing (17) is connected between the small bearing seat (15) and the inner cylinder screw rotor (19) so that the inner cylinder screw rotor (19) rotates relative to the small bearing seat (15); the inner shaft upper rod (14) is used to connect the lifting device (1), and the inner cylinder screw rotor (19) is used to connect the height adjustment assembly; The outer cylinder lead screw rotor (10) has notches on both sides; The height adjustment assembly includes a spring scale frame (22) and an inner cylinder screw stator (24). The spring scale frame (22) is connected to the end of the outer cylinder screw rotor (10), and the end of the inner cylinder screw rotor (19) away from the inner shaft rod (14) extends into the spring scale frame (22). The top of the inner cylinder screw stator (24) is sleeved on the outside of the inner cylinder screw rotor (19) and threadedly connected to the inner cylinder screw rotor (19). The spring scale frame (22) has a long strip opening on one side; The bottom end of the spring scale frame (22) is connected to the outer limiting cylinder (27). The bottom end of the inner cylinder screw stator (24) is connected to one end of the spring scale (26) through the connecting screw (25). The other end of the spring scale (26) is connected to the inner cylinder lower rod (28) through the connecting screw (25). The bottom end of the inner cylinder lower rod (28) passes through the bottom round hole of the outer limiting cylinder (27) and the bottom end of the inner cylinder lower rod (28) is connected to the rigid beam component (3). An annular boss is connected on the inner cylinder lower rod (28). The annular boss is located inside the outer limiting cylinder (27). The outer diameter of the annular boss is larger than the diameter of the bottom round hole of the outer limiting cylinder (27).

2. The flexible device for bidirectional shaft hole assembly of an optoelectronic tracking and aiming host according to claim 1, characterized in that: The inner cylinder screw rotor (19) includes a main body section and an external thread section located at the bottom of the main body section. The diameter of the external thread section is larger than that of the main body section. The inner cylinder screw stator (24) is threadedly connected to the external thread section of the inner cylinder screw rotor (19) via its own internal thread. An inner screw limiting plate (23) is connected to the top of the inner cylinder screw stator (24), and the inner screw limiting plate (23) is in contact with the outer wall of the main body section.

3. The flexible device for bidirectional shaft hole assembly of an optoelectronic tracking and aiming host according to claim 1, characterized in that: The outer cylinder screw rotor (10) is fitted with an outer cylinder screw stator (21), and the outer cylinder screw rotor (10) is threadedly connected to the outer cylinder screw stator (21). The spring scale frame (22) is connected to the bottom end of the outer cylinder screw stator (21).

4. The flexible device for bidirectional shaft hole assembly of an optoelectronic tracking and aiming host according to claim 3, characterized in that: The outer cylinder screw rotor (10) includes an outer cylinder main body section and an outer cylinder threaded section located at the bottom of the outer cylinder main body section. The outer diameter of the outer cylinder threaded section is larger than the outer diameter of the outer cylinder main body section. The outer cylinder screw stator (21) is threadedly connected to the outer cylinder threaded section. An outer cylinder limit sleeve (20) is installed at the top of the outer cylinder screw stator (21). The outer cylinder limit sleeve (20) is in contact with the outer wall of the outer cylinder main body section.

5. The flexible device for bidirectional shaft hole assembly of an optoelectronic tracking and aiming host according to claim 1, characterized in that: The lifting device (1) is a rigid rod connecting component; the lifting device (1) includes four adapter sleeves (6) and four rigid rods (5). Each adapter sleeve (6) has an upper connecting hole (6a) and a lower connecting hole (6b) arranged vertically. The four rigid rods (5) include two parallel rigid rods (5) located at the top and two parallel rigid rods (5) located at the bottom. The upper rigid rods (5) are perpendicular to the lower rigid rods (5). Two adapter sleeves (6) are respectively inserted through the upper connecting hole (6a) on each upper rigid rod (5). Two adapter sleeves (6) are inserted through the lower connecting hole (6b) on each lower rigid rod (5). An eye bolt is connected to the rigid rod (5). The eye bolt includes an upper eye bolt and a lower eye bolt. The upper eye bolt is used to connect the crane, and the lower eye bolt is used to connect the unloading assembly (2).

6. The flexible device for bidirectional shaft hole assembly of an optoelectronic tracking and aiming host according to claim 5, characterized in that: The rigid rod (5) has symmetrical screw holes with different spacings at both ends, and the screws pass through the screw holes to connect with the adapter sleeve (6).

7. An assembly method for bidirectional shaft hole assembly of an optoelectronic tracking and aiming main unit, characterized in that, The assembly is performed using a flexible device for bidirectional shaft hole assembly of an optoelectronic tracking main unit as described in any one of claims 5-6. The optoelectronic tracking main unit consists of an optomechanical body and a two-dimensional turntable mechanism. The two-dimensional turntable mechanism includes a two-dimensional turntable mechanism U-shaped frame (31), and a pitch drive shaft system (30) and a pitch brake shaft system (33) connected to the U-shaped frame (31). The optomechanical body (29) has symmetrical first bidirectional holes (29a) and second bidirectional holes (29b). The assembly method includes: S1: The two-dimensional turntable mechanism to be assembled is placed on the ground, and the pitch brake shaft system (33) is pushed to move along its own axis until the distance between the end faces of the pitch drive shaft system (30) and the pitch brake shaft system (33) is greater than the distance between the two end faces of the optomechanical body (29) along the axis of the first bidirectional hole (29a); S2: Connect the rigid beam component (3) to the unloading assembly (2), connect the unloading assembly (2) to the lifting device (1), connect the lifting device (1) to the hook of the crane through the sling, then lift the entire flexible device, adjust the relative position of the adapter sleeve (6) and the rigid rod (5) so that the span of the lifting device (1) is consistent with the span of the optical engine body (29); S3: Fix the inner cylinder screw stator (24) in place by the long strip opening, rotate the inner cylinder screw rotor (19) until there is a gap between the annular boss of the inner cylinder lower rod (28) and the bottom round hole end face of the outer limit cylinder (27), and the four inner cylinder lower rods (28) of the four unloading components (2) extend out of the outer limit cylinder (27) by the same length. S4: Connect the rigid beam component (3) to the optical engine body (29), and lift the optical engine body (29). Adjust the position and size of the counterweights (8) on the two sets of rigid beam components (3) so that the readings of the four spring scales (26) are consistent, and the readings of the four spring scales (26) change when the optical engine body (29) is pressed. If the reading of any spring scale (26) does not change, repeat step S3, increase the distance between the annular boss of the lower rod of the inner cylinder (28) and the end face of the bottom round hole of the outer limiting cylinder (27) until the readings of the four spring scales (26) are consistent, and the readings of the four spring scales (26) change when the main body of the polishing machine (29) is pressed. S5: The crane lifts the optical engine body (29) and moves it directly above the two-dimensional turntable mechanism, causing the optical engine body (29) to descend. Visually inspect until the first bidirectional hole (29a) and the second bidirectional hole (29b) of the optical engine body (29) are basically coaxial with the pitch drive shaft system (30) and the pitch brake shaft system (33) of the two-dimensional turntable mechanism. Then, push the optical engine body (29) to move towards the pitch drive shaft system (30). The four spring scales (26) adaptively adjust the posture of the optical engine body (29). The shaft of the pitch drive shaft system (30) is embedded in the first bidirectional hole (29a). Then, push the pitch brake shaft system (33) to move closer to the pitch drive shaft system (30) so that the shaft of the pitch brake shaft system (33) is embedded in the second bidirectional hole (29b), completing the bidirectional shaft hole assembly.

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