Space micro-motion docking method

Abstract

The invention relates to a space micro-motion butt joint method, belongs to the technical field of product general assembly, and solves at least one of the problems of complex butt joint mounting process, low mounting efficiency and low butt joint precision of each laser transmitter component and a mounting rack during assembly of a beam concentration laser transmitter in the prior art. The method comprises the following steps: step S2, clamping a laser transmitter assembly by a spatial micro-motion docking device; s3, the laser transmitter assembly is carried to a butt joint installation station; s4, the laser transmitter assembly and the installation rack are installed in a butt joint mode; and S5, the spatial micro-motion docking device is withdrawn and is dislocated. The assembly process of the beam concentration laser transmitter is simplified, various auxiliary engineering equipment such as cranes and forklifts do not need to be adopted for cooperative operation, the butt joint precision does not need to be ensured by repeatedly adjusting the position and angle of each laser transmitter assembly, and the butt joint assembly efficiency and the butt joint assembly precision are improved.

Description

Technical Field

[0001] The invention relates to the technical field of product final assembly, and in particular to a spatial micro-motion docking method. Background Art

[0002] A beam laser emitter consists of multiple groups of laser emitter components and a mounting stand. When assembling a beam laser emitter, multiple groups of different laser emitter components need to be installed on the mounting stand at different orientations and angles, and the installation accuracy of each group of laser emitter components needs to be controlled at 0.1 mm. The laser emitter components are large in size, heavy in weight, and have high installation accuracy. At present, the assembly of a beam laser emitter usually uses cranes, forklifts and other engineering machinery and equipment to lift and assemble each laser emitter component. Since laser emitter components of different specifications or sizes need to be assembled on the mounting stand at different spatial positions and angles, a variety of engineering machinery and equipment are often required to assist in the assembly process. The assembly process is restricted by factors such as equipment accuracy and human operation. Therefore, the assembly process of the beam laser emitter needs to ensure the docking accuracy by repeatedly adjusting the docking position of each laser emitter component. The overall installation and debugging process is relatively complicated, the operation is not convenient, and the efficiency is not high. Summary of the invention

[0003] In view of the above analysis, the present invention aims to provide a spatial micro-motion docking method to solve at least one of the problems in the prior art of complex operation, low installation efficiency and low docking accuracy in the docking and installation process between each laser emitter component and the mounting frame when assembling a beam laser emitter.

[0004] The purpose of the present invention is mainly achieved through the following technical solutions:

[0005] A space micro-motion docking method, using a space micro-motion docking device to dock and install a laser transmitter assembly, comprises the following steps:

[0006] Step S2: the spatial micro-motion docking device clamps the laser transmitter assembly;

[0007] Step S3: transporting the laser transmitter assembly to a docking installation station;

[0008] Step S4: docking and installing the laser transmitter assembly with the mounting stand;

[0009] Step S5: withdrawing the spatial micro-motion docking device and leaving the position.

[0010] Furthermore, the method further comprises step S1: fixing the spatial micro-motion docking device on an external mobile device.

[0011] Furthermore, the step S2 includes: the spatial micro-motion docking device clamps the clamping portion of the laser emitting end of the laser emitter assembly, and makes the end face of the docking installation end of the laser emitter assembly parallel to the plane where the third load-bearing structure in the planar micro-motion mechanism is located.

[0012] Furthermore, the spatial micro-motion docking device clamps the laser emitter assembly, including: adjusting the distance between two chucks in the clamp in the spatial micro-motion docking device according to the size of the clamping part of the laser emitter assembly, so that the distance between the two chucks corresponds to the size of the clamping part of the laser emitter assembly.

[0013] Furthermore, the spatial micro-motion docking device clamps the laser emitter assembly and also includes: controlling an external mobile device to move the spatial micro-motion docking device to the clamping part of the laser emitting end of the laser emitter assembly, and inserting the positioning pin provided on the clamping part into the positioning hole provided on the chuck in the fixture for rapid positioning.

[0014] Furthermore, the spatial micro-motion docking device for clamping the laser emitter assembly also includes: rotating the crank to drive the worm to rotate, and driving the turbine belt transmission screw to rotate, thereby driving the first telescopic arm and the second telescopic arm to move toward each other simultaneously along the axis of the transmission screw, and driving the two cantilevers to move toward each other simultaneously, so that the chuck clamps the clamping part of the laser emitter assembly.

[0015] Furthermore, the step S4 includes: performing preliminary spatial docking of the laser emitter assembly and the mounting stand by controlling an external mobile device, so that the docking mounting end of the laser emitter assembly and the mounting end of the mounting stand are correspondingly fitted.

[0016] Furthermore, the step S4 also includes: controlling the spatial micro-motion docking device to perform spatial micro-motion docking on the laser emitter assembly and the mounting stand, and adjusting the position of the docking mounting end of the laser emitter assembly and the mounting end of the mounting stand in the plane.

[0017] Furthermore, the step S5 includes: controlling the spatial micro-motion docking device to return to its initial position, and controlling the external mobile device to evacuate the docking and installation station, parking the external mobile device to the daily placement position or to the placement position of the laser emitter assembly, and performing docking and installation of the next laser emitter assembly.

[0018] Furthermore, the clamp includes a clamp and a clamping adjustment mechanism, and the clamping adjustment mechanism is used to adjust the distance between the two clamps to quickly clamp or release the laser transmitter assembly.

[0019] The technical solution of the present invention can achieve at least one of the following effects:

[0020] (1) The present invention adopts a spatial micro-motion docking method and a spatial micro-motion docking device to dock and install the laser emitter assembly, including the following steps: Step S2: the spatial micro-motion docking device clamps the laser emitter assembly; Step S3: the laser emitter assembly is transported to the docking installation station; Step S4: the laser emitter assembly is docked and installed with the installation stand; Step S5: the spatial micro-motion docking device is withdrawn and left; The present invention simplifies the assembly process of the beam laser emitter, eliminates the need for cranes, forklifts and other auxiliary engineering equipment to work together, and eliminates the need to repeatedly adjust the position and angle of each laser emitter assembly to ensure docking accuracy, thereby improving the docking assembly efficiency and docking assembly accuracy.

[0021] (2) The present invention adopts a spatial micro-motion docking method to fix the spatial micro-motion docking device on an external mobile device, and then clamp and dock the laser emitter assembly to reduce the types and number of equipment used, simplifying the docking and installation process of the beam laser emitter. Since the coordinated operation of multiple devices is not required, the efficiency of the docking and installation of the beam laser emitter is improved, and at the same time, the docking and installation accuracy and reliability of the beam laser emitter are improved.

[0022] In the present invention, the above-mentioned technical solutions can also be combined with each other to achieve more preferred combination solutions. Other features and advantages of the present invention will be described in the subsequent description, and some advantages can become obvious from the description, or can be understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained through the contents particularly pointed out in the description and the drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The drawings are only for the purpose of illustrating particular embodiments and are not to be considered limiting of the present invention. Like reference symbols denote like components throughout the drawings.

[0024] Figure 1 This is a flow chart of spatial micro-motion docking in Example 1 of the present invention;

[0025] Figure 2 Schematic diagram of the structure of the spatial micro-motion docking device in Example 2 of the present invention;

[0026] Figure 3 The structure of the rotary micro-motion mechanism in Example 2 of the present invention is shown in FIG. Figure 1 ;

[0027] Figure 4 The structure of the rotary micro-motion mechanism in Example 2 of the present invention is shown in FIG. Figure 2 ;

[0028] Figure 5 Schematic diagram of the structure of the planar micro-motion mechanism in Example 2 of the present invention;

[0029] Figure 6 is a structural schematic diagram of the second load-bearing structure in Embodiment 2 of the present invention;

[0030] Figure 7 is a structural schematic diagram of the third load-bearing structure in Embodiment 2 of the present invention;

[0031] Figure 8 Schematic diagram of the structure of the micro-motion slider in Embodiment 2 of the present invention;

[0032] Fig. 9 Schematic diagram of the structure of the clamp in Example 2 of the present invention;

[0033] Fig.10 The structure of the clamping adjustment mechanism in Example 2 of the present invention is shown in FIG. Figure 1 ;

[0034] Fig.11 The structure of the clamping adjustment mechanism in Example 2 of the present invention is shown in FIG. Figure 2 ;

[0035] Fig.12 It is a schematic diagram of the structure of the installation platform in Example 2 of the present invention.

[0036] Reference numerals:

[0037] 1- Rotary micro-motion mechanism;

[0038] 11-first load-bearing structure; 111-first support frame; 112-connecting beam; 113-first reinforcing beam; 12-first driving device; 121-rotation driving motor; 13-support seat;

[0039] 2- Planar micro-motion mechanism;

[0040] 21- micro-motion slider; 211- first slide slot; 212- second slide slot; 22- second load-bearing structure; 221- second support frame; 2211- connection ear; 2212- first mounting joint; 2213- vertical micro-motion guide rail; 23- third load-bearing structure; 231- third support frame; 2311- horizontal micro-motion guide rail; 2312- second mounting joint; 2313- third mounting joint; 232- second reinforcement beam; 233- third reinforcement beam; 24- second drive device; 241- vertical drive motor; 242- horizontal drive motor;

[0041] 3-Clamp;

[0042] 31-cantilever; 32-chuck; 33-adjusting arm; 34-clamping adjustment mechanism; 341-first telescopic arm; 342-second telescopic arm; 343-crank handle; 344-worm; 345-turbine; 346-drive screw; 347-mounting table; 3471-first guide groove; 3472-second guide groove; 3473-mounting groove. DETAILED DESCRIPTION

[0043] The preferred embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings, wherein the accompanying drawings constitute a part of the present invention and are used together with the embodiments of the present invention to illustrate the principles of the present invention, but are not used to limit the scope of the present invention.

[0044] Example 1

[0045] A specific embodiment of the present invention discloses a spatial micro-motion docking method for docking and assembling a laser transmitter assembly onto a mounting stand to form a beam laser transmitter; Figure 1 As shown, the following steps are included:

[0046] Step S1: The spatial micro-motion docking device is fixedly installed on an external mobile device;

[0047] Specifically, the external mobile device adopts an AGV trolley or a forklift in the prior art, and the AGV trolley or the forklift has lifting and angle adjustment functions; the external mobile device is used to transport the laser emitter assembly, and can also be used to preliminarily adjust the spatial docking position of the laser emitter assembly and the mounting stand;

[0048] Compared with the prior art method that often requires the use of multiple engineering machinery equipment to assist in space docking, the present invention can reduce the types and number of equipment used by fixing the space micro-motion docking device on an external mobile device, and then clamping and docking the laser emitter assembly, thereby simplifying the docking and installation process of the beam laser emitter. Since the coordinated operation of multiple equipment is not required, the efficiency of the docking and installation of the beam laser emitter is improved, and the docking and installation accuracy and reliability of the beam laser emitter are also improved.

[0049] Step S2: the spatial micro-motion docking device clamps the laser transmitter assembly;

[0050] Specifically, the spatial micro-motion docking device clamps the clamping portion of the laser emitting end of the laser emitter assembly, and makes the end surface of the docking installation end of the laser emitter assembly parallel to the plane where the third load-bearing structure 23 in the planar micro-motion mechanism 2 is located, thereby maintaining the clamping accuracy of the spatial micro-motion docking device clamping the laser emitter assembly;

[0051] Furthermore, the distance between the two clamps 32 in the clamp 3 in the spatial micro-motion docking device is adjusted according to the size of the clamping portion of the laser emitter assembly, so that the distance between the two clamps 32 corresponds to the size of the clamping portion of the laser emitter assembly; the external mobile device is controlled to move the spatial micro-motion docking device to the clamping portion of the laser emitting end of the laser emitter assembly, and the positioning pin provided on the clamping portion is inserted into the positioning hole provided on the clamp 32 in the clamp 3 for rapid positioning, so that the end face of the docking installation end of the laser emitter assembly is parallel to the plane where the third load-bearing structure 23 in the planar micro-motion mechanism 2 is located;

[0052] Furthermore, the crank 343 is turned to drive the worm 344 to rotate, and the turbine 345 drives the transmission screw 346 to rotate, thereby driving the first telescopic arm 341 and the second telescopic arm 342 to move toward each other simultaneously along the axis of the transmission screw 346, and driving the two cantilevers 31 to move toward each other simultaneously, so that the clamp 32 clamps the clamping part of the laser emitter assembly, and the clamp 3 quickly clamps the laser emitter assembly;

[0053] Further, the laser emitter assembly has a laser emitting end and a docking mounting end, the laser emitting end is provided with a clamping portion, an alignment structure (such as a docking point) is provided on the end face of the docking mounting end, and the alignment structure is preferably arranged at the center of the end face of the docking mounting end; the mounting stand is provided with a plurality of mounting ends with different mounting angles, a reference structure (such as a docking reference point) is provided on the end face of the mounting end, and the reference structure is preferably arranged at the center of the end face of the mounting end;

[0054] Compared with the prior art method of clamping the laser emitter assembly by fixing the position of the cantilever 31 with screws, the present invention can quickly clamp the laser emitter assembly by setting a clamping adjustment mechanism 34, thereby improving the assembly efficiency of the beam laser emitter; the clamping adjustment mechanism 34 can also drive the two cantilevers 31 to move toward each other at the same time, so that the two clamps 32 can clamp the laser emitter assembly at the same time, and make the laser emitter assembly in the middle of the two cantilevers 31, thereby improving the stability of the spatial micro-motion docking device clamping the laser emitter assembly, and at the same time also improving the clamping accuracy of the spatial micro-motion docking device, thereby improving the assembly accuracy of the beam laser emitter; the spatial micro-motion docking device also forms a turbine mechanism through a worm 344 and a turbine 345, the axis of the worm 344 is perpendicular to the axis of the turbine 345, the worm 344 is an active transmission shaft, and the turbine 345 is a driven transmission wheel, thereby realizing the reverse self-locking of the clamping adjustment mechanism 34, realizing the self-locking after the fixture 3 clamps the laser emitter assembly, thereby realizing the fast and high-precision docking and clamping of the laser emitter assembly by the spatial micro-motion docking device;

[0055] Step S3: transporting the laser transmitter assembly to a docking installation station;

[0056] Specifically, the laser transmitter assembly is moved from a parking position to a docking installation station by an external mobile device;

[0057] Step S4: docking and installing the laser transmitter assembly with the mounting stand;

[0058] Specifically, the laser emitter assembly is preliminarily docked with the mounting stand in space by controlling an external mobile device, so that the docking mounting end of the laser emitter assembly and the mounting end of the mounting stand are correspondingly fitted; the spatial micro-motion docking device is controlled to perform spatial micro-motion docking on the laser emitter assembly and the mounting stand, and the spatial position of the docking mounting end of the laser emitter assembly and the mounting end of the mounting stand is precisely adjusted to ensure the assembly accuracy of the beam laser emitter; specifically, the following steps are included:

[0059] Step S401: Preliminary docking of the laser transmitter assembly with the mounting stand;

[0060] Specifically, first, the external mobile device is controlled to lift the laser emitter assembly to a certain height, and then the external mobile device is controlled to rotate the laser emitter assembly by a certain angle with the spatial micro-motion docking device as a fulcrum, so that the docking mounting end of the laser emitter assembly is preliminarily aligned with the mounting end of the mounting platform, and the end face of the docking mounting end of the laser emitter assembly is in contact with the end face of the mounting end of the mounting platform;

[0061] Step S402: the laser transmitter assembly is slightly docked with the mounting stand;

[0062] Specifically, the first driving device 12 in the rotary micro-motion mechanism 1 is controlled to drive the planar micro-motion mechanism 2 to rotate with the support seat 13 as a fulcrum, and the angle between the end surface of the docking installation end of the laser emitter assembly and the end surface of the installation end of the mounting platform is adjusted to keep the two end surfaces parallel;

[0063] Specifically, the vertical drive motor 241 in the plane micro-motion mechanism 2 is controlled to drive the third support frame 231 to move along the Y-axis direction within the plane, thereby controlling the docking installation end of the laser emitter assembly to move along the Y-axis direction, so that the docking point set on the end surface of the docking installation end of the laser emitter assembly and the docking reference point set on the end surface of the installation end of the mounting platform are coaxial on the X-axis, thereby completing the docking positioning in the Y-axis direction, that is, completing the docking positioning of the laser emitter assembly and the mounting platform in the vertical direction;

[0064] Specifically, the horizontal driving motor 242 in the plane micro-motion mechanism 2 is controlled to drive the third support frame 231 to move along the X-axis direction in the plane, thereby controlling the docking installation end of the laser emitter assembly to move along the X-axis direction, so that the docking point set on the end surface of the docking installation end of the laser emitter assembly and the docking reference point on the end surface of the installation end on the mounting platform are coaxial on the Y-axis, completing the docking positioning in the X-axis direction, that is, completing the docking positioning of the laser emitter assembly and the mounting platform in the horizontal direction;

[0065] Furthermore, in order to ensure the docking installation accuracy of the laser emitter assembly, a plurality of laser ranging sensors are also provided on the docking installation end of the laser emitter assembly and the installation end of the installation stand. The laser ranging sensors are connected to an external controller and are used to test the position data of the docking installation end of the laser emitter assembly and the installation end of the installation stand, and feed back to the controller, and the controller controls the signal light. When the signal light is on, it indicates that the docking requirement is met. At this time, the spatial micro-motion docking device is locked to fix the laser emitter assembly in the spatial position; otherwise, it is necessary to continue to adjust until the signal light is on.

[0066] Step S403: The laser transmitter assembly is micro-fixed and installed on the mounting stand;

[0067] Specifically, the spatial micro-motion docking device is locked, the laser emitter assembly is fixed at the spatial position, and then the laser emitter assembly is fixedly mounted on the mounting end of the mounting stand by a connecting member (such as a bolt, etc.);

[0068] Compared with the prior art, by clamping the laser emitter assembly for spatial docking installation using the spatial micro-motion docking device, the types and quantities of auxiliary engineering machinery and equipment used can be reduced, and there is no need to coordinate operations between a variety of auxiliary engineering machinery and equipment, which simplifies the assembly process of the beam laser emitter and improves assembly efficiency; in addition, by clamping the laser emitter assembly for spatial docking installation using the spatial micro-motion docking device, there is no need to repeatedly adjust the docking position of the docking installation end of each laser emitter assembly and the installation end of the mounting stand to ensure docking accuracy, which simplifies the assembly process of the beam laser emitter and improves docking accuracy at the same time;

[0069] Step S5: withdrawing the spatial micro-motion docking device and leaving the position;

[0070] Specifically, the spatial micro-motion docking device is controlled to return to the initial position, and the external mobile device is controlled to evacuate the docking installation station, and the external mobile device is parked at the daily placement position or the placement position of the laser emitter assembly to perform docking installation of the next laser emitter assembly;

[0071] Furthermore, the rocker 343 of the clamping adjustment mechanism 34 in the shaking fixture 3 drives the worm 344 to rotate in the opposite direction, and drives the turbine 345 to rotate with the transmission screw 346, thereby driving the first telescopic arm 341 and the second telescopic arm 342 to move in opposite directions simultaneously along the axis of the transmission screw 346, and then drives the two cantilevers 31 to move in opposite directions simultaneously, so that the fixture 3 quickly releases the laser transmitter assembly;

[0072] Further, the rotary drive motor 121 is controlled to rotate the planar micro-motion mechanism 2 to the initial position; the vertical drive motor 241 and the horizontal drive motor 242 are controlled to restore the third load-bearing structure 23 to the initial position, that is, the clamp 3 is restored to the initial position;

[0073] Furthermore, the external mobile device is controlled to restore the spatial micro-motion docking device as a whole to the initial position, and then the external mobile device is controlled to evacuate the installation station and move to the daily parking position or to the laser emitter assembly placement position to carry out the docking installation of the next laser emitter assembly.

[0074] Example 2

[0075] Another specific embodiment of the present invention discloses a spatial micro-motion docking device for implementing embodiment 1; Figure 2 As shown, it includes a rotary micro-motion mechanism 1, a planar micro-motion mechanism 2 and a clamp 3, wherein the rotary micro-motion mechanism 1 is detachably connected to an external mobile device, the planar micro-motion mechanism 2 is rotatably mounted on the rotary micro-motion mechanism 1, and the clamp 3 is slidably mounted on the planar micro-motion mechanism 2, and the rotary micro-motion mechanism 1 is used to drive the planar micro-motion mechanism 2 to rotate, thereby driving the clamp 3 to rotate, so that the spatial micro-motion docking device can adjust the installation angle of the beam laser emitter assembly, so that the end face of the docking installation end of the laser emitter assembly is parallel to the end face of the installation end of the mounting stand; the planar micro-motion mechanism 2 is used to drive the clamp 3 to move horizontally and vertically in a plane parallel to the plane where the planar micro-motion mechanism 2 is located. The laser emitter assembly is fine-tuned by translational micro-motion adjustment, so that the laser emitter assembly can be fine-tuned with the mounting end of the mounting platform in the plane, and the laser emitter assembly can be precisely docked with the mounting platform and installed. Compared with the prior art that uses a variety of auxiliary engineering equipment such as cranes and forklifts to work together for docking and assembly, the spatial micro-motion docking device clamps the laser emitter assembly by the clamp 3, and adjusts the spatial position and angle of the laser emitter assembly clamped by the clamp 3 and the mounting platform by rotating the micro-motion mechanism 1 and the plane micro-motion mechanism 2 for precise docking. There is no need to repeatedly adjust the position and angle of each laser emitter assembly to ensure the docking accuracy. The docking operation process is simple and fast, and the docking accuracy is high.

[0076] Preferably, the external mobile device can be an AGV trolley or forklift in the prior art, and the AGV trolley or forklift has lifting and angle adjustment functions; the external mobile device is used to transport the laser emitter assembly, and can also be used to preliminarily adjust the spatial docking position between the laser emitter assembly and the mounting stand, which can improve the efficiency of assembling the beam laser emitter.

[0077] Preferably, if Figure 3 As shown, the rotary micro-motion mechanism 1 includes a first load-bearing structure 11, a first driving device 12 and a support seat 13. The first load-bearing structure 11 can be detachably installed on an external mobile device. The first driving device 12 and the support seat 13 are both installed on the first load-bearing structure 11. The support seat 13 is hinged to the planar micro-motion mechanism 2. The first driving device 12 is connected to the planar micro-motion mechanism 2 to drive the planar micro-motion mechanism 2 to rotate with the support seat 13 as a fulcrum, thereby adjusting the angle between the plane where the planar micro-motion mechanism 2 is located and the plane where the rotary micro-motion mechanism 1 is located, thereby realizing the spatial micro-motion docking device to adjust the installation angle of the laser emitter assembly and the mounting stand, so that the end face of the docking mounting end of the laser emitter assembly is parallel to the end face of the mounting end of the mounting stand.

[0078] Preferably, if Figure 4 As shown, the first load-bearing structure 11 includes two first support frames 111 and a connecting beam 112. The two first support frames 111 are fixedly connected by the connecting beam 112, so that the two first support frames 111 form a whole, thereby improving the supporting strength of the first load-bearing structure 11; in order to further improve the supporting strength of the first load-bearing structure 11, the first load-bearing structure 11 also includes a first reinforcing beam 113, and two first reinforcing beams 113 are provided, which are fixedly installed in the first support frame 111 in a V shape; by providing the first reinforcing beam 113, the supporting strength of the first load-bearing structure 11 can be further enhanced, thereby improving the stability of the space micro-motion docking device during use, and further improving the docking accuracy of the space micro-motion docking device during the assembly process of the beam laser emitter.

[0079] Preferably, the support seat 13 is fixedly mounted on the lower cross beam of the first support frame 111 .

[0080] Preferably, the first driving device 12 includes at least one rotary driving motor 121, which is installed on the upper crossbeam of the first supporting frame 111 and hinged to the first supporting frame 111; the push rod of the rotary driving motor 121 is connected to the planar micro-motion mechanism 2, and is used to drive the planar micro-motion mechanism 2 to rotate with the support seat 13 as the fulcrum, so as to adjust the angle between the plane where the planar micro-motion mechanism 2 is located and the plane where the rotary micro-motion mechanism 1 is located, so as to realize the spatial micro-motion docking device to adjust the installation angle of the laser emitter assembly and the mounting stand, so that the end face of the docking mounting end of the laser emitter assembly is parallel to the end face of the mounting end of the mounting stand; in this embodiment, two rotary driving motors 121 are preferably arranged. Compared with setting one rotary driving motor 121, setting two rotary driving motors 121 can make the spatial micro-motion docking device run more stably and improve the docking accuracy of the spatial micro-motion docking device; compared with setting three or more rotary driving motors 121, the coordinated control of two rotary driving motors 121 is simpler and more efficient, and the operation is also more convenient.

[0081] Preferably, the rotation accuracy of the planar fine-motion mechanism 2 driven by the rotary drive motor 121 is 0.1°, so as to achieve precise control of the fine-motion rotation of the planar fine-motion mechanism 2 with the support base 13 as the fulcrum.

[0082] Preferably, if Figure 5 As shown, the planar micro-motion mechanism 2 includes a micro-motion slider 21, a second load-bearing structure 22, a third load-bearing structure 23 and a second driving device 24. The second load-bearing structure 22 is rotatably installed on the first load-bearing structure 11 in the rotary micro-motion mechanism 1. The third load-bearing structure 23 is slidably connected to the second load-bearing structure 22 through the micro-motion slider 21 and is parallel to the second load-bearing structure 22. The plane where the third load-bearing structure 23 is located is parallel to the docking end face of the docking mounting end of the laser emitter assembly; the second driving device 24 is installed on the second load-bearing structure 22, and is used to drive the third load-bearing structure 23 to move within the plane where it is located, so as to realize the spatial micro-motion docking device to adjust the installation position of the docking mounting end of the laser emitter assembly and the mounting end on the mounting stand within the plane, that is, to realize the docking in the X-axis direction and the Y-axis direction within the plane.

[0083] Preferably, in this embodiment, a coordinate system is established in the plane where the third load-bearing structure 23 is located, with the center of the third load-bearing structure 23 as the coordinate origin, and the extension and retraction direction of the push rod of the vertical drive motor 241 as the Y-axis, wherein the direction in which the push rod of the vertical drive motor 241 extends is the positive direction of the Y-axis, and the direction in which the push rod of the vertical drive motor 241 is retracted is the negative direction of the Y-axis; the extension and retraction direction of the push rod of the horizontal drive motor 242 is the X-axis, wherein the direction in which the push rod of the horizontal drive motor 242 extends is the positive direction of the X-axis, and the direction in which the push rod of the horizontal drive motor 242 is retracted is the negative direction of the X-axis.

[0084] Preferably, if Figure 6 As shown, the second load-bearing structure 22 includes a second support frame 221, and the second support frame 221 is provided with a connecting ear 2211, a first mounting joint 2212 and a vertical micro-motion guide rail 2213. The connecting ear 2211 is arranged on the lower cross beam of the second support frame 221, and is arranged corresponding to the support seat 13 in the rotary micro-motion mechanism 1; the connecting ear 2211 is rotatably connected with the support seat 13 through a pin shaft, so that the second support frame 221 and the first support frame 111 are hinged, and then the planar micro-motion mechanism 2 and the rotary micro-motion mechanism 1 are hinged; the first mounting joints 2212 are arranged in total of two, which are respectively fixedly mounted on the vertical beams on both sides of the second support frame 221, and are respectively arranged corresponding to the two rotary drive motors 121 in the rotary micro-motion mechanism 1; the two first mounting joints 2212 are respectively connected to the two rotary drive motors 121 The push rod is connected, and by controlling the extension and retraction of the push rod of the rotary drive motor 121, the planar micro-motion mechanism 2 can be rotated with the support seat 13 in the rotary micro-motion mechanism 1 as the fulcrum, thereby realizing the spatial micro-motion docking device to adjust the installation angle of the laser emitter assembly and the mounting stand, so that the end face of the docking mounting end of the laser emitter assembly is parallel to the end face of the mounting end on the mounting stand; at least two vertical micro-motion guide rails 2213 are arranged, and are respectively fixedly mounted on the vertical beams on both sides of the second support frame 221; in this embodiment, four vertical micro-motion guide rails 2213 are preferably arranged, and are respectively fixedly mounted on the vertical beams on both sides of the second support frame 221 in pairs, and the vertical micro-motion guide rails 2213 are slidably connected to the micro-motion slider 21, and are used to guide the micro-motion slider 21 to slide in the vertical direction, driving the third support frame 231 to slide in the vertical direction, that is, to move in the Y-axis direction.

[0085] Preferably, the second driving device 24 includes a vertical driving motor 241 and a horizontal driving motor 242. The vertical driving motor 241 is installed on the lower beam of the second supporting frame 221 and is slidably connected to the second supporting frame 221. The push rod of the vertical driving motor 241 is connected to the third load-bearing structure 23. By controlling the extension and retraction of the push rod of the vertical driving motor 241, the third load-bearing structure 23 can be controlled to move on the Y-axis of the plane. At least one vertical driving motor 241 is provided, and two are preferably provided in this embodiment. The horizontal driving motor 242 is installed on one of the vertical beams of the second supporting frame 221 and is slidably connected to the second supporting frame 221. The push rod of the horizontal driving motor 242 is connected to the third load-bearing structure 23. By controlling the extension and retraction of the push rod of the horizontal driving motor 242, the third load-bearing structure 23 can be controlled to move on the X-axis of the plane.

[0086] Preferably, the vertical drive motor 241 and the horizontal drive motor 242 drive the third load-bearing structure 23 to move in the horizontal plane with an accuracy of 0.01 mm, thereby achieving precise control of the micro-motion movement of the third load-bearing structure 23 in the planar micro-motion mechanism 2 in the plane where it is located.

[0087] Preferably, if Figure 7 As shown, the third load-bearing structure 23 includes a third support frame 231, a second reinforcement beam 232 and a third reinforcement beam 233, the second reinforcement beam 232 is mounted on the vertical beams on both sides of the third support frame 231, and its two ends are respectively fixedly connected to the vertical beams on both sides of the third support frame 231; the third reinforcement beam 233 is mounted on the upper cross beam of the third support frame 231 and the second reinforcement beam 232, and its two ends are respectively fixedly connected to the upper cross beam of the third support frame 231 and the second reinforcement beam 232; the second reinforcement beam 232 and the third reinforcement beam 233 are used to further enhance the supporting strength of the third load-bearing structure 23, enhance the stability of the space micro-motion docking device during use, and thereby improve the docking accuracy of the space micro-motion docking device during the assembly process of the beam laser emitter.

[0088] Preferably, the third support frame 231 is provided with a horizontal fine-motion guide rail 2311, a second mounting joint 2312 and a third mounting joint 2313, at least two of the horizontal fine-motion guide rails 2311 are arranged, and are respectively fixedly mounted on the upper and lower beams of the third support frame 231; in this embodiment, four horizontal fine-motion guide rails 2311 are preferably arranged, and are respectively fixedly mounted on the upper and lower beams of the third support frame 231 in pairs; the four horizontal fine-motion guide rails 2311 are respectively arranged corresponding to the four vertical fine-motion guide rails 2213 on the second support frame 221; the horizontal fine-motion guide rail 2311 is slidably connected to the fine-motion slider 21, and is used to guide the third support frame 231 to slide in the horizontal direction, that is, to move in the Y-axis direction; at least one of the second mounting joints 2312 is arranged, and in this embodiment, two of them are preferably arranged, and the two second mounting joints 2312 are both fixedly mounted on the second reinforcing beam 232, and are respectively arranged corresponding to the two vertical drive motors 241 in the planar micro-motion mechanism 2; the two second mounting joints 2312 are respectively connected to the push rods of the two vertical drive motors 241, and the third load-bearing structure 23 is controlled to move along the Y-axis direction in the plane by controlling the extension and retraction of the push rod of the vertical drive motor 241, so as to realize the adjustment of the docking position of the laser emitter assembly in the Y-axis direction by the spatial micro-motion docking device; the third mounting joint 2313 is fixedly installed on the upper crossbeam of the third support frame 231, and is respectively arranged corresponding to the horizontal drive motor 242 in the planar micro-motion mechanism 2; the third mounting joint 2313 is connected to the push rod of the horizontal drive motor 242, and the third load-bearing structure 23 is controlled to move along the X-axis direction in the plane by controlling the extension and retraction of the push rod of the horizontal drive motor 242, so as to realize the adjustment of the docking position of the laser emitter assembly in the X-axis direction by the spatial micro-motion docking device.

[0089] Preferably, if Figure 8 As shown, a first slide groove 211 and a second slide groove 212 are respectively arranged on two opposite surfaces of the micro-motion slider 21, and the first slide groove 211 and the second slide groove 212 are arranged in a cross shape; the first slide groove 211 is slidably connected to the vertical micro-motion guide rail 2213, and the second slide groove 212 is slidably connected to the horizontal micro-motion guide rail 2311, so that the third support frame 231 and the second support frame 221 are slidably connected, and the third support frame 231 slides in the horizontal and vertical directions in the plane where it is located, that is, the third support frame 231 moves along the X-axis direction and the Y-axis direction in the plane where it is located, thereby adjusting the docking position of the laser emitter assembly in the horizontal and vertical directions in the plane to achieve precise docking; a total of four micro-motion sliders 21 are arranged, and the four micro-motion sliders 21 are respectively arranged corresponding to the four vertical micro-motion guide rails 2213 and the four horizontal micro-motion guide rails 2311, and are slidably connected thereto respectively.

[0090] Preferably, if Fig. 9As shown, the clamp 3 includes a cantilever 31, a chuck 32, an adjustment arm 33 and a clamping adjustment mechanism 34. The chuck 32 and the adjustment arm 33 are fixedly mounted at both ends of the cantilever 31. The adjustment arm 33 is mounted on the upper and lower beams of the third support frame 231 and slides in the upper and lower beams of the third support frame 231; the clamping adjustment mechanism 34 is fixedly mounted on the third support frame 231 and fixedly connected to the cantilever 31. The distance between the two chucks 32 can be adjusted by adjusting the clamping adjustment mechanism 34, so that the clamp 3 can clamp laser emitter components of different specifications and sizes, thereby improving the versatility of the space micro-motion docking device; in addition, the clamping adjustment mechanism 34 can also enable the space micro-motion docking device to quickly clamp or loosen the laser emitter component, thereby improving the assembly efficiency of the beam laser emitter.

[0091] Preferably, if Fig.10 and Fig.11As shown, the clamping adjustment mechanism 34 includes a mounting platform 347 and a first telescopic arm 341, a second telescopic arm 342, a crank 343, a worm 344, a turbine 345 and a transmission screw 346 mounted on the mounting platform 347. The end of the first telescopic arm 341 is fixedly connected to one of the cantilevers 31, and the end of the second telescopic arm 342 is fixedly connected to the other cantilever 31; the first telescopic arm 341 and the second telescopic arm 342 are symmetrically sleeved on the transmission screw 346 and are both threadedly connected to the transmission screw 346; The transmission screw 346 is passed through the turbine 345 and is fixedly connected to the turbine 345; the turbine 345 is meshedly connected to one end of the worm 344; the other end of the worm 344 is fixedly connected to the crank 343; when implemented, the crank 343 is turned to drive the worm 344 to rotate, and the turbine 345 drives the transmission screw 346 to rotate, thereby driving the first telescopic arm 341 and the second telescopic arm 342 to move toward or away from each other simultaneously along the axis of the transmission screw 346, thereby driving the two cantilevers 31 to move toward or away from each other simultaneously. The clamp 3 can be moved to realize the fast clamping or releasing of the laser emitter assembly by the clamp 3; compared with the prior art, the laser emitter assembly can be quickly clamped by the clamping adjustment mechanism 34, thereby improving the assembly efficiency of the beam laser emitter; in addition, the clamping adjustment mechanism 34 can also drive the two cantilevers 31 to move towards each other at the same time, so that the two clamps 32 can clamp the laser emitter assembly at the same time, and the laser emitter assembly is placed in the middle of the two cantilevers 31, thereby improving the stability of the laser emitter assembly clamped by the spatial micro-motion docking device, and also improving the The clamping accuracy of the spatial micro-motion docking device is improved, thereby improving the assembly accuracy of the beam laser emitter; the spatial micro-motion docking device also forms a turbine mechanism through a worm 344 and a turbine 345, the axis of the worm 344 is perpendicular to the axis of the turbine 345, the worm 344 is the active transmission shaft, and the turbine 345 is the driven transmission wheel, thereby realizing the reverse self-locking of the clamping adjustment mechanism 34, realizing the self-locking of the fixture 3 after clamping the laser emitter assembly, and thus realizing the rapid and high-precision docking and clamping of the laser emitter assembly by the spatial micro-motion docking device.

[0092] Preferably, if Fig.12 As shown, the mounting platform 347 is provided with a first guide groove 3471, a second guide groove 3472 and a mounting groove 3473, the first guide groove 3471 and the second guide groove 3472 are arranged in the same line and symmetrically arranged on both sides of the mounting groove 3473, and extend to the edge of the mounting platform 347; the first guide groove 3471 and the second guide groove 3472 are both provided with limit grooves along their length directions.

[0093] Preferably, the first telescopic arm 341 and the second telescopic arm 342 are respectively arranged in the first guide groove 3471 and the second guide groove 3472, the first telescopic arm 341 is slidably connected to the first guide groove 3471, and the second telescopic arm 342 is slidably connected to the second guide groove 3472; the first telescopic arm 341 and the second telescopic arm 342 are both provided with threaded through holes along their length directions; the first telescopic arm 341 is provided with limiting protrusions on two opposite side surfaces along its length direction, and the limiting protrusions cooperate with the limiting grooves in the first guide groove 3471 to limit the first telescopic arm 341 to only slide along the length direction of the first guide groove 3471; the second telescopic arm 342 is provided with limiting protrusions on two opposite side surfaces along its length direction, and the limiting protrusions cooperate with the limiting grooves in the second guide groove 3472 to limit the second telescopic arm 342 to only slide along the length direction of the second guide groove 3472.

[0094] Preferably, the worm 344 is mounted in the mounting groove 3473 along the long side of the mounting groove 3473 and is rotatably connected to the mounting groove 3473, one end of which extends out of the edge of the mounting platform 347 and is fixedly connected to the crank 343; the turbine 345 is mounted in the mounting groove 3473 along the short side of the mounting groove 3473 and is rotatably connected to the mounting groove 3473, and is meshingly connected to the other end of the worm 344; the worm 344 and the turbine 345 form a turbine mechanism, the axis of the worm 344 is perpendicular to the axis of the turbine 345, the worm 344 is the active transmission shaft, and the turbine 345 is the driven transmission wheel, thereby realizing the reverse self-locking of the clamping adjustment mechanism 34 and realizing the clamping excitation of the clamp 3 The light emitter assembly is self-locking at the back; the turbine 345 is sleeved on the transmission screw 346 and fixedly installed in the middle of the transmission screw 346, and the threads on both sides of the transmission screw 346 are reverse threads to each other; the first telescopic arm 341 is sleeved on one end of the transmission screw 346 through its threaded through hole and is threadedly connected to the transmission screw 346; the second telescopic arm 342 is sleeved on the other end of the transmission screw 346 through its threaded through hole and is threadedly connected to the transmission screw 346; the end of the first telescopic arm 341 extending out of the first guide groove 3471 is fixedly connected to one of the cantilevers 31, and the end of the second telescopic arm 342 extending out of the second guide groove 3473 is fixedly connected to the other cantilever 31.

[0095] Preferably, a positioning hole is provided on the end face of the chuck 32 opposite to the laser emitter assembly, and the positioning hole is arranged corresponding to the positioning pin provided on the clamping part of the laser emitter assembly, and the positioning pin can be inserted into the positioning hole, and the positioning hole and the positioning pin cooperate to quickly locate the clamping position of the spatial micro-motion docking device and the laser emitter assembly, so that the end face of the docking installation end of the laser emitter assembly remains parallel to the plane where the third load-bearing structure 23 in the spatial micro-motion docking device is located.

[0096] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by any technician familiar with the technical field within the technical scope disclosed by the present invention should be covered within the protection scope of the present invention.

Claims

1. A spatial micro-motion docking method, characterized in that: The laser transmitter assembly is docked and installed using a spatial micro-motion docking device, including the following steps: Step S2: the spatial micro-motion docking device clamps the laser transmitter assembly; Step S3: transporting the laser transmitter assembly to a docking installation station; Step S4: docking and installing the laser transmitter assembly with the mounting stand; Step S5: withdrawing the spatial micro-motion docking device and leaving the position.

2. A spatial micro-motion docking method according to claim 1, characterized in that: The method further comprises step S1: fixing the spatial micro-motion docking device on an external mobile device.

3. A spatial micro-motion docking method according to claim 1 or 2, characterized in that: The step S2 comprises: the spatial micro-motion docking device clamps the clamping portion of the laser emitting end of the laser emitter assembly, and makes the end surface of the docking installation end of the laser emitter assembly parallel to the plane where the third load-bearing structure (23) in the planar micro-motion mechanism (2) is located.

4. A spatial micro-motion docking method according to claim 3, characterized in that: The spatial micro-motion docking device clamps the laser emitter assembly, comprising: adjusting the distance between two clamps (32) in a clamp (3) in the spatial micro-motion docking device according to the size of the clamping portion of the laser emitter assembly, so that the distance between the two clamps (32) corresponds to the size of the clamping portion of the laser emitter assembly.

5. A spatial micro-motion docking method according to claim 4, characterized in that: The spatial micro-motion docking device clamps the laser emitter assembly, and further comprises: controlling an external mobile device to move the spatial micro-motion docking device to a clamping portion of the laser emitting end of the laser emitter assembly, and inserting a positioning pin provided on the clamping portion into a positioning hole provided on a clamp (32) in a clamp (3) for rapid positioning.

6. A spatial micro-motion docking method according to claim 5, characterized in that: The spatial micro-motion docking device clamps the laser emitter assembly and further comprises: rotating the crank (343) to drive the worm (344) to rotate, and driving the turbine (345) to rotate with the transmission screw (346), thereby driving the first telescopic arm (341) and the second telescopic arm (342) to move toward each other simultaneously along the axis of the transmission screw (346), and driving the two cantilevers (31) to move toward each other simultaneously, so that the clamp (32) clamps the clamping part of the laser emitter assembly.

7. A spatial micro-motion docking method according to claim 1 or 2, characterized in that: The step S4 includes: controlling the external mobile device to preliminarily dock the laser emitter assembly with the mounting stand in space, so that the docking mounting end of the laser emitter assembly is correspondingly fitted with the mounting end of the mounting stand.

8. A spatial micro-motion docking method according to claim 7, characterized in that: The step S4 also includes: controlling the spatial micro-motion docking device to perform spatial micro-motion docking on the laser emitter assembly and the mounting platform, and adjusting the position of the docking mounting end of the laser emitter assembly and the mounting end of the mounting platform in the plane.

9. A spatial micro-motion docking method according to claim 1 or 2, characterized in that: The step S5 includes: controlling the spatial micro-motion docking device to return to the initial position, and controlling the external mobile device to evacuate the docking installation station, parking the external mobile device to the daily placement position or to the placement position of the laser emitter assembly, and performing docking installation of the next laser emitter assembly.

10. A spatial micro-motion docking method according to claim 4, characterized in that: The clamp (3) comprises a clamp (32) and a clamping adjustment mechanism (34), wherein the clamping adjustment mechanism (34) is used to adjust the distance between the two clamps (32) to quickly clamp or release the laser transmitter assembly.

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