Precision angle adjustment mechanism

Abstract

The present application relates to the technical field of precision rotation, and particularly relates to a precision angle adjusting mechanism, which comprises a fixed mounting base, a roll angle adjusting mechanism, a pitch angle adjusting mechanism and a load mounting plate. The fixed mounting base comprises opposite side plates. The roll angle adjusting mechanism comprises a roll angle flexible hinge, and a roll angle flexible hinge fixing part is fixed in parallel to the side plates. The pitch angle adjusting mechanism comprises a pitch angle flexible hinge, and the pitch angle flexible hinge is arranged perpendicularly to the roll angle flexible hinge. A pitch angle flexible hinge fixing part is connected to a roll angle flexible hinge rotating part. The load mounting plate is used for mounting a load, and is connected to the pitch angle flexible hinge rotating part, so that the load is adjusted in the roll angle and the pitch angle directions through the angle adjustment of the roll angle adjusting mechanism and the pitch angle adjusting mechanism. The roll angle flexible hinge and the pitch angle flexible hinge are used, and the flexible hinge fixing part and the rotating part do not contact each other to cause abrasion, so that long-term use is facilitated. The adjusting mode of the present application can also meet the increasingly common large-stroke movement requirement.

Description

Technical Field

[0001] This invention relates to the field of precision rotation technology, and more particularly to a precision angle adjustment mechanism. Background Technology

[0002] Precision rotation, as a typical motion mode in precision motion positioning, has important applications in optical scanning, medical cell manipulation, micro-manufacturing, and precision measurement. Generally, a precision rotation platform uses a specially designed mechanism to convert the linear motion of the actuator into the rotational motion required by the end effector, thereby realizing motion output or carrier control.

[0003] Existing precision angle adjustment platforms have many shortcomings, as follows:

[0004] First, for precision angle adjustment platforms capable of large-angle rotation, piezoelectric ceramic actuators are generally used, utilizing stick-slip or inchworm-driven principles to indirectly drive the mover in the platform to rotate a full circle. Due to limitations in the principle, the resolution of this mode is unstable, and there is significant wear between the mover and stator, resulting in a substantial decrease in motion precision after long-term use.

[0005] Secondly, for platforms that can achieve continuous rotational motion or positioning within a fixed range, the actuator can directly drive the mover to rotate. When the actuator is selected as a piezoelectric ceramic or voice coil motor, the platform can achieve an infinitesimally small motion resolution. However, currently, such platforms are limited by their structural design, with the structural stress and deformation basically in the same direction. Relying solely on the small deformation of material elasticity, the stroke is relatively small, making it difficult to meet the increasingly common need for large-stroke motion. Summary of the Invention

[0006] This invention provides a precision angle adjustment mechanism to overcome the above-mentioned defects of the precision angle adjustment platform in the prior art, realize high-resolution angle adjustment or positioning, and has a compact overall structure, is easy to process and assemble, has long-term motion stability, and has extremely high vibration stability.

[0007] This invention provides a precision angle adjustment mechanism, comprising:

[0008] A fixed mounting base, including a set of opposing side plates;

[0009] The roll angle adjustment mechanism includes a roll angle flexible hinge, wherein the fixed part of the roll angle flexible hinge is fixed parallel to the side plate, and is adapted to provide adjustment of a first angle through the rotating part of the roll angle flexible hinge;

[0010] Angle adjustment mechanism includes an angle adjustment flexible hinge, wherein the angle adjustment flexible hinge is arranged perpendicularly to the roll angle flexible hinge, and the fixed part of the angle adjustment flexible hinge is connected to the rotating part of the roll angle flexible hinge, and is adapted to provide a second angle adjustment through the rotating part of the angle adjustment flexible hinge;

[0011] A load mounting plate is used to mount a load. The load mounting plate is connected to the rotating part of the projection angle flexible hinge so that the load can be adjusted at a first angle and a second angle through the angle adjustment mechanism of the roll angle adjustment mechanism and the projection angle adjustment mechanism.

[0012] According to a precision angle adjustment mechanism provided by the present invention, the roll angle adjustment mechanism further includes:

[0013] Roll angle adjustment fixing bracket, wherein the roll angle adjustment fixing bracket is fixedly connected between two opposite side plates;

[0014] An angle-adjustable movable bracket is provided, wherein the angle-adjustable movable bracket is connected to the fixed part of the angle-adjustable flexible hinge, and the angle-adjustable movable bracket is parallel to the angle-adjustable fixed bracket.

[0015] The first adjustment device is used to adjust the distance between the roll angle adjustment fixed bracket and the roll angle adjustment movable bracket.

[0016] According to a precision angle adjustment mechanism provided by the present invention, the projection angle adjustment mechanism further includes:

[0017] A connecting plate is fixedly connected to the fixing part of the rolling angle flexible hinge, and the connecting plate is also connected to the rotating part of the rolling angle flexible hinge;

[0018] Angle adjustment fixing bracket, wherein the angle adjustment fixing bracket is fixed to the connecting plate;

[0019] Angle-adjustable movable bracket, which is mounted on the load mounting plate and is parallel to the angle-adjustable fixed bracket;

[0020] The second adjustment device is used to adjust the distance between the fixed support for adjusting the projection angle and the movable support for adjusting the projection angle.

[0021] According to the present invention, a precision angle adjustment mechanism is provided, wherein both the roll angle flexible hinge and the projection angle flexible hinge are large-stroke flexible hinge structures, comprising:

[0022] The fixing part is a plate with a hollowed-out hinge area;

[0023] A rotating part (located within the hinge area) is used to connect the component to be rotated;

[0024] Connecting spokes, a plurality of connecting spokes are distributed in a divergent manner within the hinge area, and the connecting spokes connect the rotating part and the hollow wall surface of the hinge area.

[0025] According to the present invention, a precision angle adjustment mechanism is provided, wherein the hinge area is a circular structure, a semi-circular structure, or a fan-shaped structure.

[0026] According to the present invention, a precision angle adjustment mechanism is provided in which a U-shaped limiting block is provided in the hinge area and a limiting strip is connected to the rotating part;

[0027] One end of the limiting strip is connected to the rotating part, and the other end is located inside the U-shaped opening of the U-shaped limiting block, which is used to cooperate with the U-shaped limiting block to limit the circumferential deflection angle of the rotating part.

[0028] According to a precision angle adjustment mechanism provided by the present invention, the first adjustment device includes a first coarse adjustment actuator and a first fine adjustment actuator disposed opposite each other, the first coarse adjustment actuator being fixed on the roll angle adjustment movable bracket, and the first fine adjustment actuator being fixed on the roll angle adjustment fixed bracket;

[0029] The second adjustment device includes a second coarse adjustment actuator and a second fine adjustment actuator arranged opposite each other. The second coarse adjustment actuator is fixed on the projection angle adjustment moving bracket, and the second fine adjustment actuator is fixed on the projection angle adjustment fixed bracket.

[0030] According to a precision angle adjustment mechanism provided by the present invention, the first adjustment device further includes a roll angle spring seat, a roll angle flexible screw, a roll angle spring, a roll angle spring buckle, and a roll angle locking nut; the roll angle spring seat is disposed on the roll angle adjustment fixed bracket, the roll angle flexible screw is sequentially passed through the roll angle adjustment fixed bracket and the roll angle adjustment movable bracket, and is fixed to the roll angle spring seat; the roll angle spring is sleeved on the roll angle flexible screw and is located on the side of the roll angle adjustment movable bracket away from the roll angle adjustment fixed bracket; the roll angle spring buckle and the roll angle locking nut are sleeved on the end of the roll angle flexible screw to limit the roll angle spring;

[0031] The second adjustment device further includes a projection angle spring seat, a projection angle flexible screw, a projection angle spring, a projection angle spring buckle, and a projection angle locking nut; the projection angle spring seat is disposed on the projection angle adjustment fixed bracket, the projection angle flexible screw passes sequentially through the projection angle adjustment fixed bracket and the projection angle adjustment movable bracket, and is fixed to the projection angle spring seat; the projection angle spring is sleeved on the projection angle flexible screw and is located on the side of the projection angle adjustment movable bracket away from the projection angle adjustment fixed bracket; the projection angle spring buckle and the projection angle locking nut are sleeved on the end of the projection angle flexible screw to limit the movement of the projection angle spring.

[0032] According to a precision angle adjustment mechanism provided by the present invention, the roll angle adjustment mechanism further includes a roll angle monitoring device, which includes a roll angle grating ruler, a roll angle grating ruler reading head, and a roll angle light shield; the roll angle grating ruler is fixed on the roll angle adjustment movable bracket; the roll angle grating ruler reading head is fixed on the roll angle adjustment fixed bracket and overlaps with the roll angle grating ruler in the vertical direction, for reading the corresponding scale on the roll angle grating ruler; the roll angle light shield is fixed on the roll angle adjustment fixed bracket for protecting the roll angle grating ruler reading head;

[0033] The projection angle adjustment mechanism also includes a projection angle monitoring device, which includes a projection angle grating ruler, a projection angle grating ruler reading head, and a projection angle shielding plate. The projection angle grating ruler is fixed on the projection angle adjustment moving bracket. The projection angle grating ruler reading head is fixed on the projection angle adjustment fixed bracket and overlaps with the projection angle grating ruler in the vertical direction, for reading the corresponding scale on the projection angle grating ruler. The projection angle shielding plate is fixed on the projection angle adjustment fixed bracket for protecting the projection angle grating ruler reading head.

[0034] According to a precision angle adjustment mechanism provided by the present invention, a laser head mounting base is further connected to the bottom of the load mounting plate. The laser head mounting base includes multiple fixed seats, which are fixed to the bottom of the load mounting plate. A laser head roll angle connecting rod is connected between two of the fixed seats. The laser head roll angle connecting rod is arranged parallel to the roll angle flexible hinge and is used to install the laser head to monitor the adjustment of the first angle. A laser head projection angle connecting rod is connected between the other two fixed seats. The laser head projection angle connecting rod is arranged parallel to the projection angle flexible hinge and is used to install the laser head to monitor the adjustment of the second angle.

[0035] This invention provides a precision angle adjustment mechanism. The roll angle adjustment mechanism adjusts the roll angle (rotation about the Y-axis) of the load mounting plate as a whole by adjusting the projection angle adjustment mechanism, and the projection angle adjustment mechanism adjusts the projection angle (rotation about the X-axis) of the load mounting plate. The superposition of these two adjustment methods achieves the rotation of the load about the XY axis of the planar coordinate system. The roll angle adjustment mechanism uses a roll angle flexible hinge, and the projection angle adjustment mechanism uses a projection angle flexible hinge. The flexible hinge prevents the mover and stator (fixed and rotating parts) from contacting each other and causing wear, facilitating long-term use. Moreover, this adjustment method provides a large-stroke flexible angle adjustment for precision rotation, meeting the increasingly common demand for large-stroke motion. Attached Figure Description

[0036] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0037] Figure 1 This is a schematic diagram of the overall structure of the precision angle adjustment mechanism provided by the present invention;

[0038] Figure 2 This is a top view schematic diagram of the precision angle adjustment mechanism provided by the present invention (excluding the top cover of the fixed mounting base);

[0039] Figure 3 This is a bottom view schematic diagram of the precision angle adjustment mechanism provided by the present invention;

[0040] Figure 4 This is a schematic diagram of the internal structure of the fixed mounting base of the precision angle adjustment mechanism provided by the present invention;

[0041] Figure 5 This is a schematic diagram of the projection angle adjustment structure of the precision angle adjustment mechanism provided by the present invention;

[0042] Figure 6 This is a front view of the projection angle adjustment structure of the precision angle adjustment mechanism provided by the present invention;

[0043] Figure 7 This is a rear view of the projection angle adjustment structure of the precision angle adjustment mechanism provided by the present invention;

[0044] Figure 8 This is a top view of the projection angle adjustment structure of the precision angle adjustment mechanism provided by the present invention;

[0045] Figure 9 This is a left view of the projection angle adjustment structure of the precision angle adjustment mechanism provided by the present invention;

[0046] Figure 10 This is a right view of the projection angle adjustment structure of the precision angle adjustment mechanism provided by the present invention;

[0047] Figure 11 This is a schematic diagram of an embodiment of the roll angle flexible hinge and the projection angle flexible hinge provided by the present invention;

[0048] Figure 12 This is a schematic diagram of another embodiment of the roll angle flexible hinge and the throw angle flexible hinge provided by the present invention;

[0049] Figure 13 This is a schematic diagram of the laser head mounting base structure of the precision angle adjustment mechanism provided by the present invention.

[0050] Figure label:

[0051] 1. Fixed mounting base; 11. Side plate; 2. Roll angle adjustment mechanism; 21. Roll angle flexible hinge; 22. Roll angle adjustment fixed bracket; 23. Roll angle adjustment moving bracket; 24. First adjustment device; 241. First coarse adjustment actuator; 242. First fine adjustment actuator; 243. Roll angle spring seat; 244. Roll angle flexible screw; 245. Roll angle spring; 246. Roll angle spring buckle; 247. Roll angle locking nut; 25. Roll angle angle monitoring device; 251. Roll angle grating ruler; 252. Roll angle grating ruler reading head; 253. Roll angle light shield; 3. Projection angle adjustment mechanism; 31. Projection angle flexible hinge; 32. Connecting plate; 33. Projection angle adjustment fixed bracket; 34. Projection angle adjustment moving bracket 35. Moving bracket; 35. Second adjustment device; 351. Second coarse adjustment actuator; 352. Second fine adjustment actuator; 353. Projection angle spring seat; 354. Projection angle flexible screw; 355. Projection angle spring; 356. Projection angle spring buckle; 357. Projection angle locking nut; 36. Projection angle monitoring device; 361. Projection angle grating ruler; 362. Projection angle grating ruler reading head; 363. Projection angle light shield; 231. Fixed part; 232. Hinge area; 233. Rotating part; 234. Connecting spoke; 235. U-shaped limit block; 236. Limiting strip; 4. Load mounting plate; 5. Laser head mounting base; 51. Fixed base; 52. Laser head roll angle connecting rod; 53. Laser head projection angle connecting rod. Detailed Implementation

[0052] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0053] In the description of the embodiments of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of the present invention.

[0054] In the description of the embodiments of the present invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of the present invention based on the specific circumstances.

[0055] In embodiments of the present invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0056] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0057] The following is combined with Figures 1 to 13 The adjustment process and principle structure of the precision angle adjustment mechanism of the present invention are described.

[0058] In one specific embodiment of the present invention, a precision angle adjustment mechanism is combined with... Figure 1 , Figure 2 and Figure 3As shown, the system includes a fixed mounting base 1, a roll angle adjustment mechanism 2, a projection angle adjustment mechanism 3, and a load mounting plate 4. The fixed mounting base 1 includes a set of opposing side plates 11; the roll angle adjustment mechanism 2 includes two opposing roll angle flexible hinges 21, with the fixed portion of the roll angle flexible hinge 21 fixed parallel to the side plate 11, suitable for adjusting a first angle (roll angle direction) through the rotating portion of the roll angle flexible hinge 21; the projection angle adjustment mechanism 3 includes two opposing projection angle flexible hinges 31, with the projection angle flexible hinges 31 arranged perpendicularly to the roll angle flexible hinges 21, and the fixed portion of the projection angle flexible hinge 31 connected to the rotating portion of the roll angle flexible hinge 21, suitable for adjusting a second angle (projection angle direction) through the rotating portion of the projection angle flexible hinge 31; the load mounting plate 4 is used to mount the load, and the load mounting plate 4 is connected to the rotating portion of the projection angle flexible hinge 31, so that the load can be adjusted in the first angle (roll angle direction) and the second angle (projection angle direction) through the angle adjustment of the roll angle adjustment mechanism 2 and the projection angle adjustment mechanism 3.

[0059] Understandably, the load is mounted on the load mounting plate 4, which is then mounted on the projection angle adjustment mechanism 3, which is designed to be integrated with the roll angle adjustment mechanism 2. The roll angle (rotation around the Y axis) is adjusted by the roll angle adjustment mechanism 2, and the projection angle (rotation around the X axis) is adjusted by the projection angle adjustment mechanism 3, which in turn adjusts the load mounting plate 4. The combination of these two adjustment methods achieves the rotation of the load around the XY axes of the planar coordinate system.

[0060] Among them, the roll angle adjustment mechanism 2, used for roll angle adjustment, uses a roll angle flexible hinge 21, and the projection angle adjustment mechanism 3, used for projection angle adjustment, uses a projection angle flexible hinge 31. The flexible hinge prevents the moving part and the stator (fixed part and rotating part) from contacting each other and causing wear, which facilitates long-term use. Moreover, this adjustment method provides a flexible angle adjustment with a large stroke for precision rotation, which can meet the increasingly common demand for large stroke motion.

[0061] Specifically, in some embodiments of a precision angle adjustment mechanism of the present invention, see [link to relevant documentation]. Figure 4 As shown, the roll angle adjustment mechanism 2 also includes a roll angle adjustment fixed bracket 22, a roll angle adjustment movable bracket 23, and a first adjustment device 24. The roll angle adjustment fixed bracket 22 is fixedly connected between two opposing side plates 11; the roll angle adjustment movable bracket 23 is connected to the fixed part of the roll angle flexible hinge 31, and the roll angle adjustment movable bracket 23 is parallel to the roll angle adjustment fixed bracket 22; the first adjustment device 24 is used to adjust the distance between the roll angle adjustment fixed bracket 22 and the roll angle adjustment movable bracket 23.

[0062] It is understood that in the structure of the roll angle adjustment mechanism 2 in this embodiment, the roll angle is adjusted by the first adjustment device 24. Specifically, the roll angle is adjusted by adjusting the distance between the roll angle adjustment fixed bracket 22 and the roll angle adjustment movable bracket 23. When the distance between the roll angle adjustment fixed bracket 22 and the roll angle adjustment movable bracket 23 is increased or decreased by the first adjustment device 24, since the roll angle adjustment fixed bracket 22 is fixed between the two side plates 11 and cannot move, the roll angle adjustment movable bracket 23 rotates in the roll angle direction. After the roll angle adjustment movable bracket 23 rotates, it drives the roll angle flexible hinge 31 connected to it to rotate in the roll angle direction, thereby adjusting the load mounting plate 4 connected to the roll angle flexible hinge 31 to rotate in the roll angle direction, so that the load connected to the load mounting plate 4 rotates in the roll angle direction.

[0063] In some other embodiments of a precision angle adjustment mechanism of the present invention, combined with Figure 5 , Figure 6 and Figure 7 As shown, the projection angle adjustment mechanism 3 also includes a connecting plate 32, a projection angle adjustment fixed bracket 33, a projection angle adjustment movable bracket 34, and a second adjustment device 35. The connecting plate 32 is fixedly connected to the fixed part of the projection angle flexible hinge 31, and the connecting plate 32 is also connected to the rotating part of the rolling angle flexible hinge 21; the projection angle adjustment fixed bracket 33 is fixed to the connecting plate 32; the projection angle adjustment movable bracket 34 is installed on the load mounting plate 4, and the projection angle adjustment movable bracket 34 is parallel to the projection angle adjustment fixed bracket 33; the second adjustment device 35 is used to adjust the distance between the projection angle adjustment fixed bracket 33 and the projection angle adjustment movable bracket 34.

[0064] It is understood that in the structure of the projection angle adjustment mechanism 3 in this embodiment, the projection angle is adjusted by the second adjustment device 35. Specifically, the projection angle is adjusted by adjusting the distance between the projection angle adjustment fixed bracket 33 and the projection angle adjustment movable bracket 34. When the distance between the projection angle adjustment fixed bracket 33 and the projection angle adjustment movable bracket 34 is increased or decreased by the second adjustment device 35, since the connecting plate 32 is fixedly connected to the fixed part of the projection angle flexible hinge 31, and the projection angle adjustment fixed bracket 33 is fixed to the connecting plate 32, when the distance between the projection angle adjustment fixed bracket 33 and the projection angle adjustment movable bracket 34 changes, the projection angle adjustment fixed bracket 33 will not move in the projection angle direction. On the contrary, the projection angle adjustment movable bracket 34 will rotate in the projection angle direction. After the projection angle adjustment movable bracket 34 rotates, it drives the load mounting plate 4 connected to it to rotate in the projection angle direction, thereby realizing the rotation of the load connected to the load mounting plate 4 in the projection angle direction.

[0065] In some specific examples of a precision angle adjustment mechanism provided by this invention, both the roll angle flexible hinge 21 and the projection angle flexible hinge 31 are large-stroke flexible hinge structures. See [link / reference] Figure 11 As shown, it includes a fixing part 231, a rotating part 233, and connecting spokes 234. The fixing part 231 is a plate with a hollowed-out hinge area 232; the rotating part 233 is located in the hinge area 232 and is used to connect the part to be rotated; multiple connecting spokes 234 are distributed in a radiating manner in the hinge area 232, and the connecting spokes 234 connect the rotating part 233 and the hollowed-out wall surface of the hinge area 232.

[0066] It is understandable that the hinge area 232 of the fixing part 231 has a circular structure (e.g., Figure 12 As shown), the structure is either semi-circular or fan-shaped. Taking the circular structure as an example, the rolling angle flexible hinge 21 and the projection angle flexible hinge 31 are integrally processed and formed, which can effectively reduce the offset of the rotation center and have a large movement stroke under a small driving force. The stress should meet the yield strength of the material itself. Both the rolling angle flexible hinge 21 and the projection angle flexible hinge 31 can be made of heat-treated 7075 aluminum alloy. The rotating part 233 is used to connect to the external drive end (connecting plate 32) or the final destination implementation end (load mounting plate 4). The drive end or the final destination implementation end is connected to the rotating part 233, so that the rotating part 233 rotates circumferentially with the drive end or the final destination implementation end and deflects at an angle. As the rotating part 233 deflects circumferentially, the multiple connecting spokes 234 will generate elastic deformation along the deflection direction of the rotating part 233. After reaching the maximum elastic deformation position, it will reset under the action of its own elastic restoring force. Then it can deform again in the opposite direction, and after reaching the maximum elastic deformation position, it will reset again under the action of its own elastic restoring force, thus completing one cycle of the hinge structure's hinge operation.

[0067] In this embodiment, the flexible hinge structure is fixed by the fixing part 231. The actual size and shape of the fixing part 231 can be adjusted according to the actual application. The rotating part 233 and the connecting spokes 234 within the hinge area 232 of the fixing part 231 are the core structures of the flexible hinge structure. The core structure is small in volume, and the smaller the volume of the core structure, the less stress it experiences during movement, the larger the range of motion, and the greater the stroke. On the other hand, making the volume of the rotating part 233 relatively large provides a large installation area, which enhances the expandability for subsequent actuators.

[0068] The connecting spokes 234 are plate-shaped spokes, and the number of radially diverging plate-shaped spokes can be increased or decreased according to actual needs. The thickness of the plate-shaped spokes can be selected as 0.5mm, and a thickened area can be set in the middle section of the plate-shaped spokes. The thickened area can increase rigidity and improve the hinge's load-bearing capacity. The thickened area can be set in various shapes, such as cylindrical, rectangular, ellipsoidal, etc. In some specific examples of flexible hinge structures, the plate-shaped spokes can include two thin segments and a rectangular block segment located between and connecting the two thin segments. This structure adds a central rectangular segment (rectangular block segment) to the thin-plate hinge (thin segment), increasing rigidity, improving the hinge's load-bearing capacity, and is easy to manufacture. It can have a large stroke under a small driving force.

[0069] According to the precision angle adjustment mechanism provided by the present invention, a U-shaped limiting block 235 is provided in the hinge area 232, and a limiting strip 236 is connected to the rotating part 233; one end of the limiting strip 236 is connected to the rotating part 233, and the other end is located in the U-shaped opening of the U-shaped limiting block 235, for cooperating with the U-shaped limiting block 235 to limit the circumferential deflection angle of the rotating part 233.

[0070] At least one U-shaped limiting block 235 is provided at the edge of the hinge area 232. The U-shaped limiting block 235, in conjunction with the limiting strip 236, restricts the rotation range of the rotating part 233, protecting the flexible hinge and increasing its service life. In particular, it limits the elastic deformation range of the connecting spokes 234, ensuring that the connecting spokes 234 will not be damaged by excessive rotation of the rotating part 233. In principle, providing one U-shaped limiting block 235 and limiting strip 236 is sufficient. Using multiple U-shaped limiting blocks 235 and limiting strip 236 in conjunction ensures successful limiting. In some specific examples, multiple U-shaped limiting blocks 235 and limiting strips 236 are used, arranged in a one-to-one correspondence. The multiple limiting strips 236 are evenly distributed along the circumference of the rotating part 233, forming either a straight line or a cross shape.

[0071] Understandably, the limiting gap formed between the side of the limiting strip 236 and the inner wall of the U-shaped opening of the U-shaped limiting block 235 is the limiting range. In the initial position, there is a gap between the side of the limiting strip 236 and the inner wall of the U-shaped opening of the U-shaped limiting block 235. As the rotating part 233 deflects, the side of the limiting strip 236 moves towards the inner wall of the U-shaped opening of the U-shaped limiting block 235, and the limiting gap gradually decreases. When the limiting strip 236 contacts the U-shaped limiting block 235, it reaches its maximum deflection position, and the limiting strip 236 performs a hard limit, preventing the rotating part 233 from continuing to deflect. The width of the limiting gap between the side of the limiting strip 236 and the inner wall of the U-shaped opening of the U-shaped limiting block 235 can be adjusted according to the required range of motion of the flexible hinge and the maximum deformation of the connecting spokes 234.

[0072] The roll angle flexible hinge 21 and the projection angle flexible hinge 31 can also be equipped with counterweights, which are installed in the corresponding holes on the outside of the corresponding rotating part 233. After calculation, the counterweights can make the rotation center of the overall rotating part coincide with the central axis of the rotating part 233, thus achieving structural optimization. In addition, the counterweights installed in the corresponding holes on the outside of the rotating part 233 can also protect the flexible hinges to prevent the hinges from being damaged due to excessive driving force.

[0073] See also some other examples of a precision angle adjustment mechanism of the present invention. Figure 2 As shown, the first adjustment device 24 includes a first coarse adjustment actuator 241 and a first fine adjustment actuator 242 arranged opposite each other. The first coarse adjustment actuator 241 is fixed on the roll angle adjustment moving bracket 23, and the first fine adjustment actuator 242 is fixed on the roll angle adjustment fixed bracket 22. The second adjustment device 35 includes a second coarse adjustment actuator 351 and a second fine adjustment actuator 352 arranged opposite each other. The second coarse adjustment actuator 351 is fixed on the roll angle adjustment moving bracket 34, and the second fine adjustment actuator 352 is fixed on the roll angle adjustment fixed bracket 33.

[0074] Taking the adjustment process of the first adjustment device 24 as an example, the first adjustment device 24 can realize the coarse and fine two-step adjustment of the rolling angle rotation part of the rolling angle adjustment mechanism 2. First, the first coarse adjustment actuator 241) realizes the coarse adjustment to reach a certain required range, and then the first fine adjustment actuator 242 realizes the fine adjustment. The first coarse adjustment actuator 241 and the first fine adjustment actuator 242 are both linear actuators such as voice coil motors, piezoelectric ceramics, or pneumatic actuators. The first coarse adjustment actuator 241 moves forward, and due to the reaction force of its contact with the first fine adjustment actuator 242 at the top, it rotates the roll angle adjustment moving bracket 23 where the first coarse adjustment actuator 241 is located. The first coarse adjustment actuator 241 moves backward, and due to the restoring force of the spring preload device (roll angle spring seat 243, roll angle flexible screw 244, roll angle spring 245, roll angle spring buckle 246 and roll angle locking nut 247 mentioned below), it rotates the roll angle adjustment moving bracket 23 where the first coarse adjustment actuator 241 is located. The first fine adjustment actuator 242 moves forward, and due to the contact with the first coarse adjustment actuator 241 at the top, it rotates the roll angle adjustment moving bracket 23. The first fine adjustment actuator 242 moves backward, and due to the restoring force of the spring preload device, it rotates the roll angle adjustment moving bracket 23 where the first coarse adjustment actuator 241 at the top is located. The adjustment principle of the second adjustment device 35 is the same as that of the first adjustment device 24, which can be found in [reference]. Figure 8 As shown, no further details will be provided here.

[0075] To ensure optimal performance during roll angle rotation and prevent the generation of additional torque, a radial surface at the center of the roll angle flexible hinge 21 coincides with the plane at the intersection of the first coarse adjustment actuator 241 and the first fine adjustment actuator 242. Similarly, to ensure optimal performance during projection angle rotation and prevent the generation of additional torque, a radial surface at the center of the projection angle flexible hinge 31 coincides with the plane at the intersection of the second coarse adjustment actuator 351 and the second fine adjustment actuator 352.

[0076] As illustrated by the spring preload device in the adjustment process of the first coarse adjustment actuator 241 and the first fine adjustment actuator 242 described above, see again in some examples of precision angle adjustment mechanisms. Figure 2As shown, the first adjusting device 24 further includes a roll angle spring seat 243, a roll angle flexible screw 244, a roll angle spring 245, a roll angle spring buckle 246, and a roll angle locking nut 247. The roll angle spring seat 243 is disposed on the roll angle adjusting fixed bracket 22. The roll angle flexible screw 244 passes sequentially through the roll angle adjusting fixed bracket 22 and the roll angle adjusting movable bracket 23, and is fixed to the roll angle spring seat 243. The roll angle spring 245 is sleeved on the roll angle flexible screw 244 and is located on the side of the roll angle adjusting movable bracket 23 opposite to the roll angle adjusting fixed bracket 22. The roll angle spring buckle 246 and the roll angle locking nut 247 are sleeved on the end of the roll angle flexible screw 244 to limit the movement of the roll angle spring 245. See also Figure 8 As shown, the second adjustment device 35 also includes a projection angle spring seat 353, a projection angle flexible screw 354, a projection angle spring 355, a projection angle spring buckle 356, and a projection angle locking nut 357. The projection angle spring seat 353 is disposed on the projection angle adjustment fixed bracket 33. The projection angle flexible screw 354 passes through the projection angle adjustment fixed bracket 33 and the projection angle adjustment movable bracket 34 in sequence and is fixed to the projection angle spring seat 353. The projection angle spring 355 is sleeved on the projection angle flexible screw 354 and is located on the side of the projection angle adjustment movable bracket 34 away from the projection angle adjustment fixed bracket 33. The projection angle spring buckle 356 and the projection angle locking nut 357 are sleeved on the end of the projection angle flexible screw 354 to limit the projection angle spring 355.

[0077] Taking the adjustment process of the first adjusting device 24 as an example, combined with Figure 4 and Figure 9 As shown, the roll angle flexible screw 244 passes through the corresponding holes of the roll angle adjusting fixed bracket 22 and the roll angle adjusting movable bracket 23. The roll angle spring 245 is sleeved over the roll angle flexible screw 244, with one end pressed against the corresponding slot of the roll angle adjusting movable bracket 23 and the other end in contact with the roll angle spring buckle 246. The roll angle spring buckle 246 is connected to the roll angle flexible screw 244 by threads, and finally locked by the roll angle locking nut 247. The roll angle spring 245 is a compression spring. By adjusting the compression amount, the preload of the roll angle portion can be adjusted, providing the required preload and restoring force for the roll angle portion. This ensures that the first coarse adjustment actuator 241 on the roll angle adjusting movable bracket 23 and the first fine adjustment actuator 242 on the roll angle adjusting fixed bracket 22 are always in point contact at their respective abutments.

[0078] In some further examples of a precision angle adjustment mechanism of the present invention, referring again to Figure 2, the roll angle adjustment mechanism 2 further includes a roll angle monitoring device 25, which includes a roll angle grating ruler 251, a roll angle grating ruler reading head 252, and a roll angle light shield 253; the roll angle grating ruler 251 is fixed on the roll angle adjustment moving bracket 23; the roll angle grating ruler reading head 252 is fixed on the roll angle adjustment fixed bracket 22 and overlaps with the roll angle grating ruler 251 in the vertical direction, for reading the corresponding scale on the roll angle grating ruler 251; the roll angle light shield 253 is fixed on the roll angle adjustment fixed bracket 22 for protecting the roll angle grating ruler reading head 252.

[0079] Understandably, the roll angle grating ruler 251 is installed at the corresponding hole position of the roll angle adjustment moving bracket 23 and rotates with the rotation of the roll angle adjustment moving bracket 23. The roll angle grating ruler reading head 252 is installed at the corresponding hole position of the roll angle adjustment fixed bracket 22 and is protected by a roll angle light shield 253, thus achieving the monitoring of the roll angle adjustment.

[0080] Similarly, the projection angle adjustment mechanism 3 also includes a projection angle monitoring device 36, see [link to documentation]. Figure 10 As shown, the projection angle monitoring device 36 includes a projection angle grating ruler 361, a projection angle grating ruler reading head 362, and a projection angle shielding plate 363; the projection angle grating ruler 361 is fixed on the projection angle adjustment moving bracket 34; the projection angle grating ruler reading head 362 is fixed on the projection angle adjustment fixed bracket 33 and overlaps with the projection angle grating ruler 361 in the vertical direction, and is used to read the corresponding scale on the projection angle grating ruler 361; the projection angle shielding plate 363 is fixed on the projection angle adjustment fixed bracket 33 and is used to protect the projection angle grating ruler reading head 362.

[0081] Angle grating ruler 361 is installed at the corresponding hole of the angle spring seat 353 on the angle adjustment moving bracket 34 and rotates with the rotation of the angle adjustment moving bracket 34. Angle grating ruler reading head 362 is installed at the corresponding hole of the angle adjustment fixed bracket 33 and is protected by an angle shielding plate 363, thus achieving the monitoring of the angle adjustment.

[0082] In addition to using the aforementioned roll angle monitoring device 25 and projection angle monitoring device 36 to monitor the adjustment of the roll angle, in some other embodiments, a laser head mounting base 5 is also connected to the bottom of the load mounting plate 4, see [link to relevant documentation]. Figure 13As shown, the laser head mounting base 5 includes multiple fixing bases 51, which are fixed to the bottom of the load mounting plate 4. A laser head roll angle connecting rod 52 is connected between two fixing bases 51. The laser head roll angle connecting rod 52 is arranged parallel to the roll angle flexible hinge 21 and is used to install the laser head to monitor the adjustment of the first angle. A laser head projection angle connecting rod 53 is connected between the other two fixing bases 51. The laser head projection angle connecting rod 53 is arranged parallel to the projection angle flexible hinge 31 and is used to install the laser head to monitor the adjustment of the second angle.

[0083] It is understandable that by installing the laser head on the laser head roll angle connecting rod 52 and the laser head projection angle connecting rod 53, and using a stationary object as the mounting position for the reflector, the movement of the irradiation point after the laser emitted from the laser head is reflected is used to determine the roll angle adjustment angle.

[0084] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A precision angle adjustment mechanism, characterized in that, include: The fixed mounting base (1) includes a set of opposing side plates (11); The roll angle adjustment mechanism (2) includes a roll angle flexible hinge (21), the fixed part of which is fixed parallel to the side plate (11), and is adapted to provide adjustment of a first angle through the rotating part of the roll angle flexible hinge (21); Angle adjustment mechanism (3) includes a flexible hinge (31) for angle projection, which is arranged perpendicularly to the flexible hinge (21) for rolling angle. The fixed part of the flexible hinge (31) is connected to the rotating part of the flexible hinge (21) for rolling angle. It is suitable for providing a second angle adjustment through the rotating part of the flexible hinge (31). The load mounting plate (4) is used to mount the load. The load mounting plate (4) is connected to the rotating part of the projection angle flexible hinge (31) so that the load can be adjusted at the first angle and the second angle by the angle adjustment mechanism (2) and the projection angle adjustment mechanism (3). The roll angle adjustment mechanism (2) further includes a roll angle adjustment fixed bracket (22), a roll angle adjustment movable bracket (23), and a first adjustment device (24). The roll angle adjustment fixed bracket (22) is fixedly connected between two opposite side plates (11). The roll angle adjustment movable bracket (23) is connected to the fixed part of the roll angle flexible hinge (31), and the roll angle adjustment movable bracket (23) is parallel to the roll angle adjustment fixed bracket (22). The first adjustment device (24) is used to adjust the distance between the roll angle adjustment fixed bracket (22) and the roll angle adjustment movable bracket (23).

2. The precision angle adjustment mechanism according to claim 1, characterized in that, The projection angle adjustment mechanism (3) also includes: A connecting plate (32) is fixedly connected to the fixing part of the rolling angle flexible hinge (31), and the connecting plate (32) is also connected to the rotating part of the rolling angle flexible hinge (21); Angle adjustment fixing bracket (33) is fixed to the connecting plate (32); Angle adjustment movable bracket (34) is mounted on the load mounting plate (4) and is parallel to the angle adjustment fixed bracket (33). The second adjustment device (35) is used to adjust the distance between the fixed support (33) for adjusting the projection angle and the movable support (34) for adjusting the projection angle.

3. The precision angle adjustment mechanism according to claim 1 or 2, characterized in that, Both the roll angle flexible hinge (21) and the projection angle flexible hinge (31) are large-stroke flexible hinge structures, including: The fixing part (231) is a plate with a hollowed-out hinge area (232); A rotating part (233) is located within the hinge area (232) and is used to connect the component to be rotated; Connecting spokes (234) are distributed in a radiating manner within the hinge area (232), and the connecting spokes (234) connect the rotating part (233) and the hollow wall surface of the hinge area (232).

4. The precision angle adjustment mechanism according to claim 3, characterized in that, The hinged area (232) is a circular structure, a semi-circular structure, or a fan-shaped structure.

5. The precision angle adjustment mechanism according to claim 3, characterized in that, The hinge area (232) is provided with a U-shaped limiting block (235), and the rotating part (233) is connected to a limiting strip (236). One end of the limiting strip (236) is connected to the rotating part (233), and the other end is located in the U-shaped opening of the U-shaped limiting block (235), which is used to cooperate with the U-shaped limiting block (235) to limit the circumferential deflection angle of the rotating part (233).

6. The precision angle adjustment mechanism according to claim 2, characterized in that, The first adjustment device (24) includes a first coarse adjustment actuator (241) and a first fine adjustment actuator (242) disposed opposite each other. The first coarse adjustment actuator (241) is fixed on the roll angle adjustment moving bracket (23), and the first fine adjustment actuator (242) is fixed on the roll angle adjustment fixed bracket (22). The second adjustment device (35) includes a second coarse adjustment actuator (351) and a second fine adjustment actuator (352) disposed opposite each other. The second coarse adjustment actuator (351) is fixed on the projection angle adjustment moving bracket (34), and the second fine adjustment actuator (352) is fixed on the projection angle adjustment fixed bracket (33).

7. The precision angle adjustment mechanism according to claim 6, characterized in that, The first adjusting device (24) further includes a roll angle spring seat (243), a roll angle flexible screw (244), a roll angle spring (245), a roll angle spring buckle (246), and a roll angle locking nut (247); the roll angle spring seat (243) is disposed on the roll angle adjusting fixed bracket (22), the roll angle flexible screw (244) passes through the roll angle adjusting fixed bracket (22) and the roll angle adjusting movable bracket (23) in sequence, and is fixed to the roll angle spring seat (243); the roll angle spring (245) is sleeved on the roll angle flexible screw (244) and is located on the side of the roll angle adjusting movable bracket (23) away from the roll angle adjusting fixed bracket (22); the roll angle spring buckle (246) and the roll angle locking nut (247) are sleeved on the end of the roll angle flexible screw (244) to limit the roll angle spring (245); The second adjustment device (35) further includes a projection angle spring seat (353), a projection angle flexible screw (354), a projection angle spring (355), a projection angle spring buckle (356), and a projection angle locking nut (357). The projection angle spring seat (353) is disposed on the projection angle adjustment fixed bracket (33). The projection angle flexible screw (354) passes through the projection angle adjustment fixed bracket (33) and the projection angle adjustment movable bracket (34) in sequence and is fixed to the projection angle spring seat (353). The projection angle spring (355) is sleeved on the projection angle flexible screw (354) and is located on the side of the projection angle adjustment movable bracket (34) away from the projection angle adjustment fixed bracket (33). The projection angle spring buckle (356) and the projection angle locking nut (357) are sleeved on the end of the projection angle flexible screw (354) to limit the projection angle spring (355).

8. The precision angle adjustment mechanism according to claim 2, characterized in that, The roll angle adjustment mechanism (2) further includes a roll angle monitoring device (25), which includes a roll angle grating ruler (251), a roll angle grating ruler reading head (252), and a roll angle light shield (253). The roll angle grating ruler (251) is fixed on the roll angle adjustment moving bracket (23). The roll angle grating ruler reading head (252) is fixed on the roll angle adjustment fixed bracket (22) and overlaps with the roll angle grating ruler (251) in the vertical direction, for reading the corresponding scale on the roll angle grating ruler (251). The roll angle light shield (253) is fixed on the roll angle adjustment fixed bracket (22) for protecting the roll angle grating ruler reading head (252). The projection angle adjustment mechanism (3) further includes a projection angle monitoring device (36), which includes a projection angle grating ruler (361), a projection angle grating ruler reading head (362), and a projection angle shielding plate (363). The projection angle grating ruler (361) is fixed on the projection angle adjustment moving bracket (34). The projection angle grating ruler reading head (362) is fixed on the projection angle adjustment fixed bracket (33) and overlaps with the projection angle grating ruler (361) in the vertical direction, and is used to read the corresponding scale on the projection angle grating ruler (361). The projection angle shielding plate (363) is fixed on the projection angle adjustment fixed bracket (33) and is used to protect the projection angle grating ruler reading head (362).

9. The precision angle adjustment mechanism according to claim 1 or 2, characterized in that, The load mounting plate (4) is also connected to a laser head mounting base (5) at its bottom. The laser head mounting base (5) includes multiple fixing bases (51). The fixing bases (51) are fixed to the bottom of the load mounting plate (4). A laser head roll angle connecting rod (52) is connected between two of the fixing bases (51). The laser head roll angle connecting rod (52) is arranged parallel to the roll angle flexible hinge (21) and is used to install the laser head to monitor the adjustment of the first angle. A laser head projection angle connecting rod (53) is connected between the other two fixing bases (51). The laser head projection angle connecting rod (53) is arranged parallel to the projection angle flexible hinge (31) and is used to install the laser head to monitor the adjustment of the second angle.

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