Displacement table driving device for intelligent laser system and manufacturing method

Abstract

The invention provides a displacement table driving device for an intelligent laser system and a manufacturing method. The displacement table driving device comprises a driving control module, a transmission module, a sensing module and a fixed shell. The drive control module provides bias voltage for the whole system, converts a received motion instruction into a stepping motor control signal and sends the stepping motor control signal to the transmission module, and a stepping motor in the transmission module rotates after receiving the control instruction and transmits rotation to a differential roller and a knob of the displacement table through a one-way telescopic transmission shaft. The sensing module is used for returning the rotation angles of the differential roller and the knob and limiting the linear movement range of the differential roller and the knob through the microswitch. The fixed shell fixes the modules to the fixed end of the displacement table and is provided with a small window, so that direct reading is facilitated. All structures except for electronic elements are built through the 3D printing technology, the problems that a traditional electric displacement table is large in weight, direct reading is difficult and the like are solved, and meanwhile the electric displacement table is high in plasticity, wide in application range, low in cost and easy to popularize.

Description

Technical Field

[0001] The present invention relates to the technical field of optical displacement stages, and specifically to a displacement stage driving device and manufacturing method for an intelligent laser system. Background Art

[0002] Precision displacement stages are one of the essential components in optical machinery for fixing and adjusting optical elements in optical experiments or optical instruments; traditional displacement stages mostly rely on manually adjusting micrometer handwheels or knobs to achieve displacement control, which have problems such as low operation efficiency, poor repeatability, and limited precision. Existing automated electric displacement stages usually adopt customized motor direct drive solutions, which have problems such as high cost, small movement range, difficulty in adapting to different models of displacement stages, and most of them cannot directly read the values anymore. In addition, the switching between manual and electric modes is inconvenient, and there is a lack of real-time feedback and limit protection functions, which easily lead to equipment damage.

[0003] In recent years, 3D printing technology has provided a low-cost solution for personalized mechanical structure design. How to be compatible with the existing displacement stage structure through modular design and achieve high-precision closed-loop control is a technical problem that urgently needs to be solved in this field. Summary of the Invention

[0004] Aiming at the above-mentioned technical deficiencies, the purpose of the present invention is to provide a displacement stage driving device and manufacturing method for an intelligent laser system, which are applicable to scenarios such as optical experiments, precision machining, and micromanipulation that require high-precision multi-axis displacement control.

[0005] To achieve the above purpose, the present invention adopts the following technical solutions:

[0006] A displacement stage driving device for an intelligent laser system, comprising:

[0007] A drive and control module, which receives motion instructions from the PC side through a TTL serial port and converts them into control signals;

[0008] A transmission module, including a stepper motor, a telescopic transmission shaft, and a manual adjustment knob; the stepper motor is electrically connected to the drive and control module; one end of the telescopic transmission shaft is fixed on the displacement stage, and the other end is in transmission connection with the output shaft of the stepper motor; the manual adjustment knob is arranged at one end of the stepper motor away from the telescopic transmission shaft and is in transmission connection with the output shaft of the stepper motor; when the stepper motor receives the control signal sent by the drive and control module, it drives one end of the telescopic transmission shaft and the manual adjustment knob to rotate synchronously;

[0009] A sensing module, including an angle sensor and a microswitch; the angle sensor and the microswitch are respectively electrically connected to the drive and control module; the angle sensor is used to monitor the rotation angle of the telescopic transmission shaft and the manual adjustment knob; the microswitch is used to limit the movement range of the telescopic transmission shaft and the manual adjustment knob;

[0010] A fixed housing for mounting the drive control module, the transmission module and the sensing module on the fixed end of the displacement stage.

[0011] Preferably, the drive control module includes a DC regulated power supply, an ESP32 development board, a TTL communication serial port, an electromagnetic relay, and a motor driver; the DC regulated power supply provides a bias voltage for the ESP32 development board, the TTL communication serial port, the electromagnetic relay, the motor driver, and the transmission module;

[0012] The ESP32 development board controls the opening and closing of the electromagnetic relay through a GPIO port, controls the PUL and DIR ports of the motor driver through two GPIO ports, and receives the sensing signals of the micro switch and the angle sensor in the sensing module through two GPIO ports;

[0013] The motor driver controls the stepper motor through four interfaces A+, A-, B+, and B-;

[0014] In the initial state, the electromagnetic relay is in the normally open state, and the enable port of the motor driver receives a high level to lock the motor driver;

[0015] The ESP32 development board receives the rotation signal from the PC end through the TTL communication serial port. After converting it into a drive signal, it first controls the electromagnetic relay to switch from the normally open state to the normally closed state through a GPIO port, so that the motor driver starts to receive the drive signal, and then sends it to the PUL and DIR ports of the motor driver through two other GPIO ports to control the corresponding numbered stepper motor to rotate a certain angle, direction, and speed;

[0016] The angle sensor transmits the angle state of the rotation of the stepper motor to the ESP32 development board, and the ESP32 development board then transmits it back to the PC end;

[0017] The micro switch is triggered passively after the stepper motor rotates to the edge. After the ESP32 development board receives the trigger signal of the micro switch, it makes the GPIO port controlling the electromagnetic relay become low level, and the electromagnetic relay switches from the normally closed state to the normally open state to lock the motor driver; after the rotation process ends, all GPIO ports of the ESP32 development board remain in the low level state, and the electromagnetic relay switches from the normally closed state to the normally open state to lock the motor driver to receive the next rotation signal from the PC end.

[0018] Preferably, the stepper motor is a double-output-shaft planetary reduction two-phase four-wire stepper motor; the telescopic transmission shaft includes a differential roller and a roller sleeve; one end of the differential roller is fixed to the fixed end of the displacement table, and the other end is inserted into the roller sleeve; the outer side surface of the differential roller is threadedly connected to the inner side surface of the roller sleeve; one end of the output shaft of the stepper motor is fixedly connected to the roller sleeve, and the manual adjustment knob and the angle sensor are installed at the other end of the output shaft of the stepper motor; the transmission module further includes a linear telescopic sleeve; the fixed housing is provided with mounting holes for accommodating the differential roller, the roller sleeve and the linear telescopic sleeve, the differential roller is fixed in the mounting holes, the roller sleeve is rotatably arranged in the mounting holes, and the linear telescopic sleeve is slidably arranged in the mounting holes; the linear telescopic sleeve is sleeved and fixed on the stepper motor; the microswitch is fixed in the mounting hole and is in sliding contact with the linear telescopic sleeve; after the stepper motor is started, it drives the angle sensor, the manual adjustment knob and the roller sleeve to rotate synchronously. While the roller sleeve rotates on the differential roller, it moves along the axis direction of the differential roller, and the stepper motor and the linear telescopic sleeve are pulled along the axis direction of the differential roller through the roller sleeve.

[0019] Preferably, the microswitch is a double-trigger reset switch. During the process of the linear telescopic sleeve moving along the axis of the stepper motor, it triggers the initial moving position at the right end of the microswitch and the maximum stroke position at the left end of the microswitch; when the microswitch is triggered at either end, it will transmit a limit signal to the drive control module and lock the stepper motor.

[0020] Preferably, the fixed housing includes an upper housing, a lower housing, a first buckle, a second buckle, a third buckle and a fourth buckle; the upper housing and the lower housing are symmetrical; the first buckle, the second buckle, the third buckle and the fourth buckle are arranged outside the upper housing and the lower housing to fixedly connect the upper housing and the lower housing; the upper housing and the lower housing are provided with guide grooves adapted to the linear telescopic sleeve, and the linear telescopic sleeve is slidably installed in the guide grooves.

[0021] Preferably, a fixed notch adapted to the fixed end of the displacement table is provided inside the fixed housing, and the fixed housing is installed on the fixed end of the displacement table through the fixed notch.

[0022] A manufacturing method of a displacement table driving device for an intelligent laser system includes the following steps:

[0023] S1. Model the fixed end of the displacement table, the differential roller and the stepper motor by means of scanning or software drawing;

[0024] S2. Cut out a cylindrical groove as the roller sleeve from the center of the cylindrical two circular surfaces according to the diameter of the differential roller and the shaft diameter of the stepper motor. The diameter of the roller sleeve is 4 mm larger than the maximum value of the diameter of the differential roller and the shaft diameter of the stepper motor.

[0025] S3. Cut out a cylindrical groove as a linear telescopic sleeve by concentrically cutting a cylindrical single circular surface according to the shaft diameter and housing diameter of the stepper motor, and make prismatic protrusions in four directions perpendicular to the axis of the linear telescopic sleeve as limit grooves, and the direction of the limit grooves is parallel to the axis direction of the displacement stage;

[0026] S4. According to the size of the specific displacement stage, use modeling software to draw a cuboid as the prototype of the upper housing and the lower housing; use modeling software to coaxially assemble parts in the order of the fixed end of the displacement stage, differential roller, roller sleeve, microswitch, and linear telescopic sleeve, place the cuboid as the prototype of the upper housing and the lower housing coaxially with the differential roller, subtract the parts occupied by the fixed end of the displacement stage, differential roller, roller sleeve, microswitch, and linear telescopic sleeve from the inside of the cuboid using Boolean operations, and reserve a buckle for fixing; according to the reserved parts of the upper housing and the lower housing, draw three-dimensional models of the first buckle, the second buckle, the third buckle, and the fourth buckle;

[0027] S5. Print the above models using a 3D printer according to the three-dimensional models of the roller sleeve, linear telescopic sleeve, first buckle, second buckle, third buckle, fourth buckle, upper housing, and lower housing;

[0028] S6. Install the drive and control module, including a 220V AC to 12V DC regulated power supply, an ESP32 development board with built-in WiFi and Bluetooth modules, a TTL communication serial port, an electromagnetic relay, and a motor driver;

[0029] S7. Coaxially assemble in the order of the roller sleeve, microswitch, linear telescopic sleeve, angle sensor, and manual adjustment knob;

[0030] S8. Install the upper housing, lower housing, first buckle, second buckle, third buckle, and fourth buckle; connect the stepper motor sensing module to the drive and control module, connect the microswitch and the angle sensor to the drive and control module, and connect the drive and control module to the PC side to complete the production.

[0031] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0032] It solves the problem of state adjustment of the intelligent solid laser system in the mid-infrared band, has a high degree of freedom and high precision. Based on 3D printing, it is suitable for personalized customization, applicable to displacement stages of different types and manufacturers, and has the advantages of personalized customization and wide application range. The production cost is low and it can be widely promoted in the time domain. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 is the structural block diagram of the present invention;

[0034] Figure 2 is the structural schematic diagram of the present invention;

[0035] Figure 3 It is a schematic structural diagram of the drive module in the present invention;

[0036] Figure 4 It is a schematic diagram of the usage state of the present invention;

[0037] Figure 5 It is a three-dimensional structure diagram of Embodiment 2 in the present invention;

[0038] Figure 6 It is a schematic structural diagram of Embodiment 2 in the present invention;

[0039] Figure 7 It is the optical power feedback diagram after the Embodiment 1 in the present invention is put into the laser system for operation;

[0040] Figure 8 It is the optical power feedback diagram after the Embodiment 2 in the present invention is put into the laser system for operation.

[0041] Wherein:

[0042] 1. Drive and control module; 2. Transmission module; 21. Stepper motor; 22. Telescopic transmission shaft; 221. Differential roller; 222. Roller sleeve; 3. Fixed housing; 4. Fixed end; 41. First buckle; 42. Second buckle; 43. Third buckle; 44. Fourth buckle; 5. PC terminal; 6. Sensing module; 61. Microswitch, 62. Angle sensor; 71. Upper housing; 72. Lower housing; 8. Manual adjustment knob; 9. Linear telescopic sleeve; 10. DC regulated power supply; 11. ESP32 development board; 12. TTL communication serial port; 13. Electromagnetic relay; 14. Motor driver;

[0043] 01. Two-axis adjustment frame fixed end; 021. Two-axis adjustment frame pitch angle adjustment knob; 022. Two-axis adjustment frame yaw angle adjustment knob; 031. Pitch angle drive device fixed housing; 032. Pitch angle drive device fixed housing; 041. Pitch angle adjustment knob sleeve; 042. Yaw angle adjustment knob sleeve; 051. Pitch angle limit microswitch; 052. Yaw angle limit microswitch; 061. Pitch angle telescopic sleeve; 062. Yaw angle telescopic sleeve; 071. First stepper motor; 072. Second stepper motor; 081; Pitch angle sensor; 082; Yaw angle sensor; 091. Yaw angle manual adjustment knob; 092. Pitch angle manual adjustment knob. Detailed implementation manners

[0044] The present invention will be further described below with reference to the accompanying drawings.

[0045] As Figures 1 to 8 shown, a displacement stage drive device for an intelligent laser system includes:

[0046] The drive control module 1 receives the motion command of the PC terminal 5 through the TTL serial port and converts it into a control signal;

[0047] The transmission module 2 includes a stepper motor 21, a telescopic transmission shaft 22 and a manual adjustment knob 8; the stepper motor 21 is electrically connected to the drive control module 1; one end of the telescopic transmission shaft 22 is fixed on the displacement table, and the other end is transmission-connected to the output shaft of the stepper motor 21; the manual adjustment knob 8 is arranged on the end of the stepper motor 21 away from the telescopic transmission shaft 22 and is transmission-connected to the output shaft of the stepper motor 21; the stepper motor 21 receives the control signal from the drive control module 1 to drive one end of the telescopic transmission shaft 22 and the manual adjustment knob 8 to rotate synchronously;

[0048] The sensing module 6 includes an angle sensor 62 and a micro switch 61; the angle sensor 62 and the micro switch 61 are electrically connected to the control module 1 respectively; the angle sensor 62 is used to monitor the rotation angle of the telescopic transmission shaft 22 and the manual adjustment knob 8; the micro switch 61 is used to limit the movement range of the telescopic transmission shaft 22 and the manual adjustment knob 8; the angle sensor 62 and the manual adjustment knob 8 can manually adjust the translation stage to move forward and backward along the rotation axis direction of the stepper motor 21 when the stepper motor 21 is not electrically controlled, and transmit the angle data back to the PC end 5.

[0049] The fixed housing 3 is used to install the driving and controlling module 1 , the transmission module 2 and the sensor module 6 on the fixed end 4 of the displacement stage.

[0050] Furthermore, the drive control module 1 includes a DC regulated power supply 10, an ESP32 development board 11, a TTL communication serial port 12, an electromagnetic relay 13, and a motor driver 14; the DC regulated power supply 10 provides a bias voltage for the ESP32 development board 11, the TTL communication serial port 12, the electromagnetic relay 13, the motor driver 14, and the transmission module 2;

[0051] The ESP32 development board 11 has built-in WiFi and Bluetooth modules, and can communicate with the PC end 5 via WiFi, Bluetooth or TTL serial port; the ESP32 development board 11 is used to receive the rotation command of the stepper motor 21 of the PC end 5 and convert it into a driving command of the stepper motor 21, and after the rotation is completed, send the angle sensor 62 to the PC end 5 to return the displacement stage indication converted from the angle.

[0052] The ESP32 development board 11 controls the opening and closing of the electromagnetic relay 13 through one GPIO port, controls the PUL and DIR ports of the motor driver 14 through two GPIO ports, and receives the sensor signals of the micro switch 61 and the angle sensor 62 in the sensor module 6 through two GPIO ports;

[0053] The motor driver 14 controls the stepper motor 21 through four interfaces A+, A-, B+, and B-;

[0054] In the initial state, the electromagnetic relay 13 is in the normally open state, and the enable port of the motor driver 14 receives a high level to lock the motor driver 14 in the locked state;

[0055] The ESP32 development board 11 receives the rotation signal from the PC side 5 through the TTL communication serial port 12. After converting it into a drive signal, it first controls the electromagnetic relay 13 to switch from the normally open state to the normally closed state through a GPIO port, enabling the motor driver 14 to start receiving the drive signal. Then, it sends the signal to the PUL and DIR ports of the motor driver 14 through two other GPIO ports to control the rotation of the corresponding numbered stepper motor 21 by a certain angle, direction, and speed;

[0056] The angle sensor 62 transmits the angle state of the rotation of the stepper motor 21 to the ESP32 development board 11, and the ESP32 development board 11 then transmits it back to the PC side 5;

[0057] The micro switch 61 is triggered passively after the stepper motor 21 rotates to the edge. After the ESP32 development board 11 receives the trigger signal of the micro switch 61, it makes the GPIO port controlling the electromagnetic relay 13 become low level, and the electromagnetic relay 13 switches from the normally closed state to the normally open state to lock the motor driver 14 in the locked state; after the rotation process ends, all GPIO ports of the ESP32 development board 11 remain in the low level state, and the electromagnetic relay 13 switches from the normally closed state to the normally open state to lock the motor driver 14 in the locked state to receive the next rotation signal from the PC side 5.

[0058] Further, the stepper motor 21 is a double-output-shaft planetary reduction two-phase four-wire stepper motor 21; the telescopic transmission shaft 22 includes a differential roller 221 and a roller sleeve 222; one end of the differential roller 221 is fixed to the fixed end 4 of the displacement table, and the other end is inserted into the roller sleeve 222; the outer side surface of the differential roller 221 is threadedly connected to the inner side surface of the roller sleeve 222; one end of the output shaft of the stepper motor 21 is fixedly connected to the roller sleeve 222, and the manual adjustment knob 8 and the angle sensor 62 are installed at the other end of the output shaft of the stepper motor 21; the transmission module 2 further includes a linear telescopic sleeve 9; the fixed housing 3 is provided with mounting holes for accommodating the differential roller 221, the roller sleeve 222, and the linear telescopic sleeve 9, the differential roller 221 is fixed in the mounting hole, the roller sleeve 222 is rotatably arranged in the mounting hole, and the linear telescopic sleeve 9 is slidably arranged in the mounting hole; the linear telescopic sleeve 9 is sleeved and fixed on the stepper motor 21; the micro switch 61 is fixed in the mounting hole and is in sliding contact with the linear telescopic sleeve 9; after the stepper motor 21 is started, it drives the angle sensor 62, the manual adjustment knob 8, and the roller sleeve 222 to rotate synchronously. While the roller sleeve 222 rotates on the differential roller 221, it moves along the axial direction of the differential roller 221, and pulls the stepper motor 21 and the linear telescopic sleeve 9 to move along the axial direction of the differential roller 221 through the roller sleeve 222.

[0059] Further, the micro switch 61 is a double-trigger reset switch. During the process of the linear telescopic sleeve moving along the axis of the stepper motor 21, it triggers the initial moving position at the right end of the micro switch 61 and the maximum stroke position at the left end of the micro switch 61; when the micro switch 61 is triggered at either end, it will transmit a limit signal to the drive control module 1 and lock the stepper motor 21.

[0060] Further, the fixed housing 3 includes an upper housing 71, a lower housing 72, a first buckle 41, a second buckle 42, a third buckle 43, and a fourth buckle 44; the upper housing 71 and the lower housing 72 are symmetrical; the first buckle 41, the second buckle 42, the third buckle 43, and the fourth buckle 44 are arranged outside the upper housing 71 and the lower housing 72 to fixedly connect the upper housing 71 and the lower housing 72; the upper housing 71 and the lower housing 72 are provided with guide grooves adapted to the linear telescopic sleeve 9, and the linear telescopic sleeve 9 is slidably installed in the guide grooves.

[0061] Further, a fixed notch adapted to the fixed end 4 of the displacement table is provided inside the fixed housing 3, and the fixed housing 3 is installed on the fixed end 4 of the displacement table through the fixed notch.

[0062] In the initial state, the electromagnetic relay 13 is in the normally open state. The enable port of the motor driver 14 receives a high level to lock the motor driver 14. The ESP32 development board 11 receives the rotation signal (including: motor number, rotation angle, direction, and speed) from the PC side 5 through the TTL communication serial port 12. After being converted into a drive signal, it first controls the electromagnetic relay 13 to switch from the normally open state to the normally closed state through a GPIO port, enabling the motor driver 14 to start receiving the drive signal. Then, it is sent to the PUL and DIR ports of the motor driver 14 through two other GPIO ports to control the corresponding numbered stepper motor 21 to rotate at a certain angle, direction, and speed. The angle sensor 62 transmits the angle state of the rotation of the stepper motor 21 to the ESP32 development board 11, and the ESP32 development board 11 then transmits it back to the PC side 5. The micro switch 61 is triggered passively after the stepper motor 21 rotates to the edge. After the ESP32 development board 11 receives the trigger signal of the micro switch 61, it makes the GPIO port controlling the electromagnetic relay 13 become low level, and the electromagnetic relay 13 switches from the normally closed state to the normally open state to lock the motor driver 14. After the rotation process ends, all GPIO ports of the ESP32 development board 11 remain in the low level state, and the electromagnetic relay 13 switches from the normally closed state to the normally open state to lock the motor driver 14 to receive the next rotation signal from the PC side 5.

[0063] A method for manufacturing a displacement stage driving device for an intelligent laser system includes the following steps:

[0064] S1. Model the fixed end 4 of the displacement stage, the differential roller 221, and the stepper motor 21 by scanning or software drawing.

[0065] S2. Cut out a cylindrical groove as the roller sleeve 222 on the center of the cylindrical two circular surfaces according to the diameter of the differential roller 221 and the shaft diameter of the stepper motor 21. The diameter of the roller sleeve 222 is 4 mm larger than the maximum value of the diameter of the differential roller 221 and the shaft diameter of the stepper motor 21, and the size can be adjusted according to the properties of the 3D printing consumables.

[0066] S3. Cut out a cylindrical groove as the linear telescopic sleeve concentrically on the single circular surface of the cylinder according to the shaft diameter and the outer shell diameter of the stepper motor 21, and make four prismatic protrusions in four directions perpendicular to the vertical axis of the linear telescopic sleeve as the limit grooves. The direction of the limit grooves is parallel to the axis direction of the displacement stage.

[0067] S4. According to the dimensions of the specific displacement stage, use modeling software to draw a cuboid as the prototype of the upper shell 71 and the lower shell 72; use the modeling software to coaxially assemble the parts in the order of the fixed end 4 of the displacement stage, differential roller 221, roller sleeve 222, microswitch 61, and linear telescopic sleeve. Place the cuboid, which is the prototype of the upper shell 71 and the lower shell 72, coaxially with the differential roller 221. Subtract the parts occupied by the fixed end 4 of the displacement stage, differential roller 221, roller sleeve 222, microswitch 61, and linear telescopic sleeve from the inside of the cuboid using Boolean operations, and reserve the buckles for fixing; according to the reserved parts of the upper shell 71 and the lower shell 72, draw the 3D models of the first buckle 41, the second buckle 42, the third buckle 43, and the fourth buckle 44.

[0068] S5. Use a 3D printer to print the above models according to the 3D models of the roller sleeve 222, linear telescopic sleeve, first buckle 41, second buckle 42, third buckle 43, fourth buckle 44, upper shell 71, and lower shell 72.

[0069] S6. Install the drive and control module 1, including a 220V AC to 12V DC regulated power supply 10, an ESP32 development board 11 with built-in WiFi and Bluetooth modules, a TTL communication serial port 12, an electromagnetic relay 13, and a motor driver 14.

[0070] S7. Coaxially assemble in the order of the roller sleeve 222, microswitch 61, linear telescopic sleeve, angle sensor 62, and manual adjustment knob 8.

[0071] S8. Install the upper shell 71, lower shell 72, first buckle 41, second buckle 42, third buckle 43, and fourth buckle 44; connect the stepping motor 21 sensing module 6 to the drive and control module 1, connect the microswitch 61 and the angle sensor 62 to the drive and control module 1, and connect the drive and control module 1 to the PC terminal 5 to complete the production.

[0072] Example 1

[0073] The existing three-dimensional manual displacement stage is the Thorlabs MT3-Z9 three-dimensional manual optical displacement stage, and the manual adjustment range is 0 - 25 mm.

[0074] In the PC terminal of Example 1 of the present invention, a laptop computer with the spyder software installed uses the python language to send stepping motor rotation commands to the ESP32 through the TTL serial port.

[0075] For the drive and control module, among them, the constant voltage power supply is a Mean Well 220V to 12V DC switching power supply box transformer module, with a maximum current of 12A, and is powered by 220V household electricity.

[0076] The ESP32 development board is the ESP32-DecKitC development board with a CH340C WiFi + Bluetooth dual-core USB port in cooperation with an expansion board;

[0077] The electromagnetic relay is a 12V relay with opto-isolation that supports high and low level triggering. In this embodiment, high level triggering is adopted;

[0078] The motor driver is a TB6600 20 motor driver with a maximum current of 4.0A, a working voltage of 12V, and a maximum support for 32 microsteps. In this embodiment, it is adjusted to 16 microsteps, that is, the stepping motor rotates 360° with 1600 pulses;

[0079] Furthermore, the V+ of the constant voltage power supply is connected to the VIN port of the ESP32 development board and the COM port of the electromagnetic relay. The V+ of the constant voltage power supply is connected to the VCC ports of the electromagnetic relay, motor driver, microswitch, angle sensor, and TTL serial port. The V- is connected to the GND of the ESP32 development board, electromagnetic relay, motor driver, microswitch, angle sensor, TTL serial port, and the PUL-, DIR-, and ENA- ports of the motor driver; The RX1 and TX1 ports of the ESP32 development board are respectively connected to the TX and RX ports of the TTL serial port. D15 (GPIO15) is connected to the IN port of the electromagnetic relay. D12 (GPIO12) and D13 (GPIO13) are respectively connected to the PUL+ and DIR+ ports of the motor driver. The NO port of the electromagnetic relay is connected to the ENA+ port of the motor driver; The A+, A-, B+, and B- of the motor driver are respectively connected to the A+, A-, B+, and B- of the stepping motor.

[0080] Transmission module. Among them, the stepping motor is a double-output shaft planetary gear reduction two-phase four-wire 20 stepping motor, the diameter of the planetary gear reducer is 20mm, and the reduction ratio is fixed at 100:1;

[0081] Sensing module. Among them, the microswitch is a Japanese ALPS micro bidirectional detection SSCM120100 travel limit switch, and the angle sensor is a WDD35D4 angular displacement sensor.

[0082] In this embodiment, the fixed ends and differential rollers of each axis of the three-dimensional displacement stage for driving are the same. Only a single-axis driving device needs to be designed to complete the driving of the three degrees of freedom of the entire displacement stage. The steps for designing, manufacturing, and installing the driving device in this embodiment are as follows:

[0083] (1) Use SolidWorks software to model the fixed end and differential roller of the y-axis of the displacement stage. The differential roller can be simplified into a cylinder with a diameter of 19mm as Figure 2 shown;

[0084] (2) Use SolidWorks software to draw a cylinder with a diameter of 22 mm and a length of 25 mm as the original part of the roller sleeve. Then, cut out cylinder grooves with diameters of 19 mm (+0.2 mm) and 4 mm (+0.2 mm) on both end faces respectively. One end is tightly fitted with the differential roller, and the other end is tightly fitted with the stepping motor shaft;

[0085] (3) Use SolidWorks software to draw an open-top cylinder with a diameter of 26 mm, a height of 30 mm, and a wall thickness of 2 mm as the telescopic sleeve. And draw cuboid protrusions with a height of 1.5 mm and a width of 2 mm along the axis on the side of the cylinder at intervals of 90°; Draw a cylinder manual adjustment knob with an inner diameter of 4 mm and a depth of 5 mm according to the diameter of the rear shaft of the stepping motor and draw corresponding patterns to increase friction;

[0086] (4) Use SolidWorks software to axially assemble the parts of the fixed end, differential roller, roller sleeve, and linear telescopic sleeve in sequence. The triggering direction of the microswitch is parallel to the axis, and the triggering end and the center of the linear telescopic sleeve are in the same plane; Draw a cuboid of 30×30×150 mm as the original fixed housing. The bottom surface of the original fixed housing is coplanarly assembled with the bottom surface of the fixed end of the displacement table, and the axis is collinear with the axis of the differential roller; Perform a Boolean operation on all models. The original fixed housing is the main body, and the fixed end of the displacement table, differential roller, roller sleeve, microswitch, and linear telescopic sleeve are the subtracted parts. Then, draw a protrusion of 30×10×10 on the side of the original fixed housing for installing the fixing buckle. Finally, open a 40×15 rectangular window at the midline position on the side of the displacement table to facilitate reading the data of the differential roller and divide the displacement table into upper and lower parts along the horizontal plane where the axis is located; Draw four hollow cuboids with dimensions of 34×14×10 and a shell thickness of 2 mm as the first fixing buckle, second fixing buckle, third fixing buckle, and fourth fixing buckle;

[0087] (5) Use a Bambu A1 FDM printer to print the roller sleeve, linear telescopic sleeve, upper housing, lower housing, first fixing buckle, second fixing buckle, third fixing buckle, and fourth fixing buckle. The consumable is black PLA material, and 3 copies of each model are printed; Main parameters of the 3D printer: layer height: 0.2 mm, top surface / outer shell pattern: single line, internal filling density: 30%, internal filling pattern: 3D honeycomb, support structure: tree-like support, support threshold: 45°;

[0088] (6) Install the drive and control module, including a 220V AC to 12V DC regulated power supply, an ESP32 development board with built-in WiFi and Bluetooth modules, a TTL communication serial port, an electromagnetic relay, and a motor driver; Connect the V+ of the constant voltage power supply to the VIN port of the ESP32 development board and the COM port of the electromagnetic relay. Connect the V+ of the constant voltage power supply to the VCC ports of the electromagnetic relay, the motor driver, the micro switch, the angle sensor, and the TTL serial port. Connect the V- to the GND of the ESP32 development board, the electromagnetic relay, the motor driver, the micro switch, the angle sensor, the TTL serial port, and the PUL-, DIR-, and ENA- ports of the motor driver; Connect the RX1 port and the TX1 port of the ESP32 development board to the TX port and the RX port of the TTL serial port respectively. Connect D15 (GPIO15) to the IN port of the electromagnetic relay. Connect D12 (GPIO12) and D13 (GPIO13) to the PUL+ and DIR+ ports of the motor driver respectively. Connect the NO port of the electromagnetic relay to the ENA+ port of the motor driver; Connect the A+, A-, B+, and B- of the motor driver to the A+, A-, B+, and B- of the stepper motor respectively; Use Thonny software to burn the MicroPython program into the ESP32 development board;

[0089] (7) Assemble the displacement table fixed end and the differential roller coaxially in the order of the roller sleeve, the micro switch, the linear telescopic sleeve, the angle sensor, and the manual knob; Further, install the upper shell, the lower shell, the first buckle, the second buckle, the third buckle, and the fourth buckle; Connect the sensing module of the stepper motor to the drive and control module. Connect the micro switch and the angle sensor to the drive and control module. Connect the drive and control module to the PC through the TTL serial port; Assemble the drive and control module, the transmission module, the sensing module, and the fixed housing of the xyz axes in sequence;

[0090] (8) Use the spyder software in the python language on the PC to send the motor number, rotation angle, direction, and speed to the drive and control module as rotation signals through the TTL serial port. Rotate the three axes in sequence. The angle sensors of the three axes record the absolute angles of the rotation of each stepper motor in sequence, and the ESP32 development board converts the absolute angles into the position coordinates of the current three-axis displacement table;

[0091] Finally, put it into the light power feedback after the laser system test as Figure 7 shown.

[0092] Embodiment 2

[0093] In this embodiment, the existing two-dimensional optical mirror mount is the Thorlabs KM05DR series D-shaped two-dimensional optical adjustment mount;

[0094] Based on the structure of Embodiment 1, the steps for designing, manufacturing, and installing the driving device are as follows:

[0095] (1) Use SolidWorks software to model the fixed end 01 of the two-axis adjustment frame, the pitch angle adjustment knob 021 of the two-axis adjustment frame, and the yaw angle adjustment knob 022 of the two-axis adjustment frame. The pitch angle adjustment knob 021 and the yaw angle adjustment knob 022 of the two-axis adjustment frame can be simplified into cylinders with a diameter of 16 mm.

[0096] (2) Use SolidWorks software to draw a cylinder with a diameter of 18 mm and a height of 22 mm as the original part of the pitch angle adjustment knob sleeve 041 and the yaw angle adjustment knob sleeve 042. Then, cut out cylinder grooves with diameters of 19 mm (+0.2 mm) and 12 mm (+0.2 mm) at both end faces respectively. One end fits tightly with the pitch angle adjustment knob 021 and the yaw angle adjustment knob 022 of the two-axis adjustment frame, and the other end fits tightly with the stepping motor shaft. Cut out notches with a length of 10 mm and a diameter of 6 mm at symmetric positions on the side surface of the cylinder, and then cut out a cylindrical groove with an outer diameter of 18 mm and an inner diameter of 16 mm. The two ends are used to trigger the first micro switch and the second micro switch respectively.

[0097] (3) Use SolidWorks software to draw a hollow cylinder with a diameter of 12 mm, a height of 12 mm, and a wall thickness of 4 mm as the pitch angle telescopic sleeve 061 and the yaw angle telescopic sleeve 062, and draw cylindrical protrusions with a height of 6 mm and a height of 2.5 mm at symmetric positions at the top of the side surface. Draw a cylinder with an inner diameter of 4 mm and a depth of 5 mm as the manual adjustment knob according to the diameter of the rear shaft of the stepping motor, and draw corresponding patterns to increase the friction force.

[0098] (4) Use SolidWorks software to coaxially assemble the parts of the pitch angle adjustment knob 021, the pitch angle adjustment knob sleeve 041, the pitch angle telescopic sleeve 061, and the first stepping motor 071 of the two-dimensional adjustment frame with the yaw angle adjustment knob 022, the yaw angle adjustment knob sleeve 042, the yaw angle telescopic sleeve 062, and the second stepping motor 072. The triggering directions of the pitch angle micro switch 01 and the yaw angle micro switch 01 are parallel to the axis, and the triggering ends are in the same plane as the centers of the grooves of the pitch angle telescopic sleeve 061 and the yaw angle telescopic sleeve 062. Draw a cylinder with a diameter of 20 mm and a height of 50 mm as the original pitch angle fixed housing and the original yaw angle fixed housing. The bottom surface of the original fixed housing is assembled coplanarly with the bottom surface of the two-dimensional adjustment frame. Perform Boolean operations on all models. The original pitch angle fixed housing and the original yaw angle fixed housing are used as the main body, and the pitch angle adjustment knob 021, the pitch angle adjustment knob sleeve 041, the pitch angle telescopic sleeve 061, the first stepping motor 071, and the pitch angle micro switch and the two-axis adjustment frame of the yaw angle adjustment knob 022, the yaw angle adjustment knob sleeve 042, the yaw angle telescopic sleeve 062, the second stepping motor 072, and the yaw angle micro switch are used as the deleted parts.

[0099] (5) Use 3D printing of the same type, parameters, and consumable types as in Embodiment 1 to print the pitch angle adjustment knob 021 of the two-axis adjustment frame, the pitch angle adjustment knob sleeve 041, the pitch angle telescopic sleeve 061, the first stepping motor 071, the pitch angle microswitch, and the pitch angle manual adjustment knob 091, and the yaw angle adjustment knob 022 of the two-axis adjustment frame, the yaw angle adjustment knob sleeve 042, the yaw angle telescopic sleeve 062, the second stepping motor 072, the yaw angle microswitch, and the yaw angle manual adjustment knob 092;

[0100] (6) Install the drive and control module with the same structure as in Embodiment 1, and connect the transmission module, the sensing module, and the PC terminal;

[0101] (7) According to the pitch angle adjustment knob 021 of the two-axis adjustment frame, the pitch angle adjustment knob sleeve 041, the pitch angle telescopic sleeve 061, and the first stepping motor 071, the pitch angle sensor 081, the pitch angle manual adjustment knob 091, and the pitch angle fixed housing 031 are concentrically assembled to form a two-dimensional adjustment frame drive device. The yaw angle adjustment knob 022 of the two-axis adjustment frame, the yaw angle adjustment knob sleeve 042, the yaw angle telescopic sleeve 062, and the first stepping motor 072, the yaw angle sensor 082, the yaw angle manual adjustment knob 092, and the yaw angle fixed housing 032 are concentrically assembled to form a two-dimensional adjustment frame drive device;

[0102] (8) The PC terminal uses the python language of the spyder software to send the motor number, rotation angle, direction, and speed to the drive and control module through the TTL serial port as rotation signals, and sequentially sends the angle rotation commands for the pitch angle and the yaw angle. The angle sensors of the two record the absolute angles of the rotation of each stepping motor in sequence, and the ESP32 development board converts the absolute angles into the position coordinates of the current three-axis displacement stage;

[0103] Finally, the optical power feedback after being put into the laser system test is as Figure 8 shown.

[0104] The above-described embodiments only represent several implementation manners of the present application. The description is relatively specific and detailed, but it should not be construed as a limitation on the scope of the invention patent. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present application, several deformations and improvements can still be made, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the appended claims.

Claims

1. A displacement stage driving device for an intelligent laser system, characterized in that, Including: A drive and control module (1) that receives motion instructions from a PC (5) through a TTL serial port and converts them into control signals; A transmission module (2), including a stepper motor (21), a telescopic transmission shaft (22), and a manual adjustment knob (8); the stepper motor (21) is electrically connected to the drive and control module (1); one end of the telescopic transmission shaft (22) is fixed to the displacement table, and the other end is drivingly connected to the output shaft of the stepper motor (21); the manual adjustment knob (8) is arranged at one end of the stepper motor (21) away from the telescopic transmission shaft (22) and is drivingly connected to the output shaft of the stepper motor (21); when the stepper motor (21) receives the control signal sent by the drive and control module (1), it drives one end of the telescopic transmission shaft (22) and the manual adjustment knob (8) to rotate synchronously; A sensing module (6), including an angle sensor (62) and a microswitch (61); the angle sensor (62) and the microswitch (61) are respectively electrically connected to the drive and control module (1); the angle sensor (62) is used to monitor the rotation angles of the telescopic transmission shaft (22) and the manual adjustment knob (8); the microswitch (61) is used to limit the movement range of the telescopic transmission shaft (22) and the manual adjustment knob (8); A fixed housing (3) for mounting the drive and control module (1), the transmission module (2), and the sensing module (6) on the fixed end (4) of the displacement table.

2. The displacement stage driving device for an intelligent laser system according to claim 1, wherein, The drive and control module (1) includes a DC regulated power supply (10), an ESP32 development board (11), a TTL communication serial port (12), an electromagnetic relay (13), and a motor driver (14); the DC regulated power supply (10) provides a bias voltage for the ESP32 development board (11), the TTL communication serial port (12), the electromagnetic relay (13), the motor driver (14), and the transmission module (2); The ESP32 development board (11) controls the opening and closing of the electromagnetic relay (13) through a GPIO port, controls the PUL and DIR ports of the motor driver (14) through two GPIO ports, and receives the sensing signals of the microswitch (61) and the angle sensor (62) in the sensing module (6) through two GPIO ports; The motor driver (14) controls the stepper motor (21) through four interfaces A+, A-, B+, and B-; In the initial state, the electromagnetic relay (13) is in the normally open state, and the enable port of the motor driver (14) receives a high level to lock the motor driver (14); The ESP32 development board (11) receives the rotation signal from the PC (5) through the TTL communication serial port (12), converts it into a drive signal, first controls the electromagnetic relay (13) to switch from the normally open state to the normally closed state through a GPIO port, so that the motor driver (14) starts to receive the drive signal, and then sends it to the PUL and DIR ports of the motor driver (14) through two other GPIO ports to control the corresponding numbered stepper motor (21) to rotate a certain angle, direction, and speed; The angle sensor (62) transmits the angle state of the rotation of the stepper motor (21) to the ESP32 development board (11), and the ESP32 development board (11) then transmits it back to the PC (5). The microswitch (61) is triggered passively after the stepper motor (21) rotates to the edge. After the ESP32 development board (11) receives the trigger signal of the microswitch (61), it makes the GPIO port controlling the electromagnetic relay (13) become low level, and the electromagnetic relay (13) switches from the normally closed state to the normally open state, making the motor driver (14) in a locked state. After the rotation process ends, all GPIOs of the ESP32 development board (11) remain in the low level state, and the electromagnetic relay (13) switches from the normally closed state to the normally open state, making the motor driver (14) in a locked state to receive the next rotation signal from the PC (5).

3. The displacement stage driving device for an intelligent laser system according to claim 1, characterized in that, The stepper motor (21) is a double-output shaft planetary reduction two-phase four-wire stepper motor (21); the telescopic transmission shaft (22) includes a differential roller (221) and a roller sleeve (222); one end of the differential roller (221) is fixed to the fixed end (4) of the displacement table, and the other end is inserted into the roller sleeve (222); the outer side surface of the differential roller (221) is threadedly connected to the inner side surface of the roller sleeve (222); one end of the output shaft of the stepper motor (21) is fixedly connected to the roller sleeve (222), and the manual adjustment knob (8) and the angle sensor (62) are installed at the other end of the output shaft of the stepper motor (21); the transmission module (2) further includes a linear telescopic sleeve (9); the fixed housing (3) is provided with mounting holes for accommodating the differential roller (221), the roller sleeve (222) and the linear telescopic sleeve (9), the differential roller (221) is fixed in the mounting hole, the roller sleeve (222) is rotatably arranged in the mounting hole, and the linear telescopic sleeve (9) is slidably arranged in the mounting hole; the linear telescopic sleeve (9) is sleeved and fixed on the stepper motor (21); the microswitch (61) is fixed in the mounting hole and is in sliding contact with the linear telescopic sleeve (9); after the stepper motor (21) starts, it drives the angle sensor (62), the manual adjustment knob (8) and the roller sleeve (222) to rotate synchronously. While the roller sleeve (222) rotates on the differential roller (221), it moves along the axis direction of the differential roller (221), and pulls the stepper motor (21) and the linear telescopic sleeve (9) to move along the axis direction of the differential roller (221).

4. The displacement stage driving device for an intelligent laser system according to claim 3, characterized in that, The microswitch (61) is a double-trigger reset switch. During the movement of the linear telescopic sleeve along the axis of the stepper motor (21), it triggers the initial movement position at the right end of the microswitch (61) and the maximum stroke position at the left end of the microswitch (61); when the microswitch (61) is triggered at either end, it transmits a limit signal to the drive control module (1) and locks the stepper motor (21).

5. The displacement stage driving device for an intelligent laser system according to claim 3, characterized in that, The fixed housing (3) includes an upper housing (71), a lower housing (72), a first buckle (41), a second buckle (42), a third buckle (43), and a fourth buckle (44); the upper housing (71) and the lower housing (72) are symmetrical; the first buckle (41), the second buckle (42), the third buckle (43), and the fourth buckle (44) are arranged outside the upper housing (71) and the lower housing (72) to fixedly connect the upper housing (71) and the lower housing (72); guide grooves adapted to the linear telescopic sleeve (9) are provided on the upper housing (71) and the lower housing (72), and the linear telescopic sleeve (9) is slidably installed in the guide grooves.

6. The displacement stage driving device for an intelligent laser system according to claim 3, characterized in that, A fixed notch adapted to the fixed end (4) of the displacement table is provided inside the fixed housing (3), and the fixed housing (3) is installed on the fixed end (4) of the displacement table through the fixed notch.

7. A manufacturing method of a displacement stage driving device for an intelligent laser system, characterized in that, It includes the following steps: S1. Model the fixed end (4) of the displacement table, the differential roller (221), and the stepping motor (21) by means of scanning or software drawing. S2. Cut out a cylindrical groove as the roller sleeve (222) from the center of the cylindrical two circular surfaces according to the diameter of the differential roller (221) and the shaft diameter of the stepping motor (21). The diameter of the roller sleeve (222) is 4 mm larger than the maximum value of the diameter of the differential roller (221) and the shaft diameter of the stepping motor (21). S3. Cut out a cylindrical groove as the linear telescopic sleeve concentrically from the single circular surface of the cylinder according to the shaft diameter of the stepping motor (21) and the housing diameter, and make prismatic protrusions in four directions perpendicular to the axis of the linear telescopic sleeve as limit grooves. The direction of the limit grooves is parallel to the axis direction of the displacement table. S4. Draw a cuboid as the prototype of the upper housing (71) and the lower housing (72) using modeling software according to the size of the specific displacement table; use the modeling software to axially assemble the parts in the order of the fixed end (4) of the displacement table, the differential roller (221), the roller sleeve (222), the microswitch (61), and the linear telescopic sleeve. Place the cuboid, which is the prototype of the upper housing (71) and the lower housing (72), coaxially with the differential roller (221). Subtract the parts occupied by the fixed end (4) of the displacement table, the differential roller (221), the roller sleeve (222), the microswitch (61), and the linear telescopic sleeve from the inside of the cuboid using Boolean operations, and reserve the buckles for fixing; draw the three-dimensional models of the first buckle (41), the second buckle (42), the third buckle (43), and the fourth buckle (44) according to the reserved parts of the upper housing (71) and the lower housing (72). S5. Print the above models using a 3D printer according to the three-dimensional models of the roller sleeve (222), the linear telescopic sleeve, the first buckle (41), the second buckle (42), the third buckle (43), the fourth buckle (44), the upper housing (71), and the lower housing (72). S6. Install the drive and control module (1), including a 220V AC to 12V DC regulated power supply (10), an ESP32 development board (11) with built-in WiFi and Bluetooth modules, a TTL communication serial port (12), an electromagnetic relay (13), and a motor driver (14); S7. Perform coaxial assembly in the order of the roller sleeve (222), microswitch (61), linear telescopic sleeve, angle sensor (62), and manual adjustment knob (8); S8. Install the upper housing (71), lower housing (72), first buckle (41), second buckle (42), third buckle (43), and fourth buckle (44); Connect the sensing module (6) of the stepper motor (21) to the drive and control module (1), connect the microswitch (61) and the angle sensor (62) to the drive and control module (1), and connect the drive and control module (1) to the PC terminal (5) to complete the production.

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