Reflector deflection device and method for laser light path control

Abstract

The invention discloses a reflector deflection device and method for laser light path control. The reflector deflection device comprises a chassis, the sleeve type telescopic rod structure is arranged on one side of the chassis, and the sleeve type telescopic rod structure is connected with the chassis through a first spherical hinge; the reflecting mirror is arranged on the side, away from the base plate, of the sleeve type telescopic rod structure and connected with the sleeve type telescopic rod structure through a second spherical hinge; the transmission assembly is arranged on the outer side of the sleeve type telescopic rod structure and used for stretching or compressing the sleeve type telescopic rod structure; the supporting rod is arranged between the chassis and the reflecting mirror, is connected with the reflecting mirror through a third spherical hinge and is used for stabilizing the reflecting mirror; the single-chip microcomputer is arranged on one side of the chassis and used for controlling the transmission assembly. According to the invention, by using one reflector, light path errors caused by lens position deviation of a plurality of reflector structures are reduced, and energy attenuation and light spot distortion caused by multiple reflections are effectively avoided in the light path transmission process, so that the light energy utilization rate is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of laser beam path control, and more particularly to a mirror deflection device for laser beam path control and a mirror deflection method for laser beam path control. BACKGROUND

[0002] Laser beam path control technology is one of the technologies in the field of laser applications, aiming to achieve precise control of the transmission direction of the laser beam through optical element and system design. However, the existing laser beam path control still cannot meet the use scenarios, and the common laser beam path control devices, such as the universal laser beam path control window, the single-axis galvanometer mirror, and the double-axis galvanometer mirror, have different limitations in different aspects. For example, the universal laser beam path control window can realize the adjustment of the laser beam path in the horizontal and vertical directions by any angle, thereby enabling the angle range of the light path to reach 360° to meet the precise control requirements of the light path direction in different application scenarios. However, because the universal laser beam path control window needs to be equipped with multiple joint structures to realize flexible guidance and multi-angle adjustment of the light path, it has high requirements on the supporting requirements of the driving device. The single-axis galvanometer mirror has a simple structure and is convenient to use, but it is limited to one-axis angle control. The double-axis galvanometer mirror increases an additional axis on the basis of the single-axis galvanometer mirror, thereby increasing the range of the light path landing point. However, the additional mirror surface causes additional potential light path errors, energy attenuation, and light spot distortion problems.

[0003] Therefore, the existing technology needs to be improved and developed. SUMMARY

[0004] The purpose of the present application is to provide a mirror deflection device and method for laser beam path control, which solves the problems of insufficient optical deflection angle and slow adjustment speed of the existing laser beam path control technology, resulting in low light energy utilization.

[0005] The above technical purpose of the present application is achieved by the following technical scheme:

[0006] A mirror deflection device for laser beam path control, comprising:

[0007] a chassis;

[0008] a sleeve type telescopic rod structure arranged on one side of the chassis and connected to the chassis through a first spherical hinge;

[0009] a mirror arranged on the side of the sleeve type telescopic rod structure away from the chassis and connected to the sleeve type telescopic rod structure through a second spherical hinge;

[0010] A transmission assembly is arranged outside the telescopic sleeve structure, and is used to stretch or compress the telescopic sleeve structure to adjust the deflection angle of the mirror.

[0011] A support rod is arranged between the base plate and the mirror, and is connected to the mirror through a third spherical hinge to stabilize the mirror.

[0012] A single-chip microcomputer is arranged on one side of the base plate to control the transmission assembly.

[0013] Optionally, the laser light path control mirror deflection device, wherein the telescopic sleeve structure includes four, respectively symmetrically located on one side of the base plate, the telescopic sleeve structure includes: telescopic sleeve structure inside the rod and telescopic sleeve structure outside the rod which forms a sleeve structure with the telescopic sleeve structure inside the rod.

[0014] The side wall of the telescopic sleeve structure outside the rod is provided with the transmission assembly, and one end of the telescopic sleeve structure outside the rod is movably connected to the base plate through the first spherical hinge.

[0015] One end of the telescopic sleeve structure inside the rod is movably connected to the mirror through the second spherical hinge to adjust the deflection angle of the mirror, so that the mirror is at the target laser light path falling point corresponding to the reflection angle.

[0016] Optionally, the laser light path control mirror deflection device, wherein the transmission assembly includes:

[0017] A servo motor device is arranged outside the telescopic sleeve structure outside the rod.

[0018] A servo motor support frame is arranged outside the telescopic sleeve structure outside the rod to fix the servo motor device.

[0019] A transmission device is arranged between the servo motor device and the telescopic sleeve structure inside the rod to receive the mechanical energy provided by the servo motor device, and to stretch or compress the telescopic sleeve structure inside the rod through the mechanical energy.

[0020] Optionally, the laser light path control mirror deflection device, wherein the servo motor device includes:

[0021] A servo motor;

[0022] A motor shaft is located inside the servo motor to receive the mechanical energy provided by the servo motor.

[0023] A second gear shaft is located inside the servo motor and is parallel to the motor shaft, for receiving the mechanical energy transmitted by the motor shaft and transmitting the mechanical energy to the transmission device.

[0024] Optionally, the laser light path control mirror deflection device comprises a single-chip microcomputer.

[0025] A first gear is arranged at one end of the motor shaft and is concentric with the motor shaft.

[0026] A second gear is arranged at one end of the second gear shaft, is engaged with the first gear, and is concentric with the second gear shaft.

[0027] A third gear is engaged with the second gear.

[0028] A lead screw is connected at one end to the third gear and at the other end to the inner rod of the telescopic sleeve rod structure, for stretching or compressing the inner rod of the telescopic sleeve rod structure.

[0029] Optionally, the laser light path control mirror deflection device comprises a single-chip microcomputer.

[0030] A coordinate receiving module is configured to receive a laser light path target coordinate input by a user.

[0031] A parameter calculation module is configured to calculate a telescopic parameter corresponding to the laser light path target coordinate and convert the telescopic parameter into a corresponding pulse signal.

[0032] A data sending module is connected to the servo motor through a wireless connection mode and is configured to send the pulse signal to the servo motor.

[0033] Optionally, the laser light path control mirror deflection device comprises a single-chip microcomputer.

[0034] Optionally, the laser light path control mirror deflection device comprises a single-chip microcomputer.

[0035] In addition, to achieve the above object, the application further provides a mirror deflection method for laser light path control, wherein the mirror deflection method for laser light path control comprises the following steps.

[0036] The single-chip microcomputer acquires the laser light path target coordinates input by a user and verifies the effectiveness of the laser light path target coordinates.

[0037] If the laser light path target coordinates are verified to be effective, the single-chip microcomputer performs parameter calculation on the laser light path target coordinates, obtains a telescopic parameter, performs signal conversion on the telescopic parameter, obtains a pulse signal, and sends the pulse signal to the transmission assembly.

[0038] The transmission assembly controls the sleeve telescopic rod structure to perform telescopic processing according to the pulse signal.

[0039] The sleeve telescopic rod structure deflects the mirror through the second spherical hinge to complete the deflection of the mirror.

[0040] Optionally, the mirror deflection method for laser light path control, wherein the parameter calculation of the single-chip microcomputer on the laser light path target coordinates to obtain the telescopic parameter specifically comprises the following steps.

[0041] The single-chip microcomputer acquires laser light source coordinates, performs vector calculation on the laser light source coordinates and the laser light path target coordinates, and obtains an incident vector and a reflection vector.

[0042] The mirror normal vector is obtained according to the incident vector and the reflection vector, the deflection angle calculation is performed according to the mirror normal vector, the first deflection angle and the second deflection angle are obtained.

[0043] The height of the sleeve telescopic rod structure is obtained according to the first deflection angle and the second deflection angle, and the corresponding telescopic parameter is obtained according to the height.

[0044] In summary, the application discloses a mirror deflection device and method for laser beam path control, which comprises a base plate, a telescopic sleeve rod structure arranged on one side of the base plate and connected to the base plate through a first spherical hinge, a mirror arranged on the side of the telescopic sleeve rod structure away from the base plate and connected to the telescopic sleeve rod structure through a second spherical hinge, a transmission assembly arranged on the outside of the telescopic sleeve rod structure and used for stretching or compressing the telescopic sleeve rod structure to adjust the deflection angle of the mirror, a support rod arranged between the base plate and the mirror and connected to the mirror through a third spherical hinge and used for stabilizing the mirror, and a single-chip microcomputer arranged on one side of the base plate and used for controlling the transmission assembly. The application uses one mirror, reduces the light path error caused by the position deviation of multiple mirror structures, effectively avoids the energy attenuation and spot distortion caused by multiple reflections in the light path transmission process, and thus improves the light energy utilization rate. BRIEF DESCRIPTION OF DRAWINGS

[0045] Figure 1 It is a whole structure schematic diagram of a mirror deflection device for laser beam path control in the embodiment.

[0046] Figure 2 It is a connection mode schematic diagram of the inside rod and the outside rod of the telescopic sleeve rod structure of the mirror deflection device for laser beam path control provided in the embodiment.

[0047] Figure 3 It is a structure schematic diagram of the first spherical hinge of the mirror deflection device for laser beam path control provided in the embodiment.

[0048] Figure 4 It is a structure schematic diagram of the servo motor device of the mirror deflection device for laser beam path control provided in the embodiment.

[0049] Figure 5 It is a structure schematic diagram of the transmission device of the mirror deflection device for laser beam path control provided in the embodiment.

[0050] Figure 6 It is a structure schematic diagram of the connection mode of the lead screw and the inside rod of the telescopic sleeve rod structure of the mirror deflection device for laser beam path control provided in the embodiment.

[0051] Figure 7 It is a whole flowchart of the mirror deflection method for laser beam path control in the embodiment.

[0052] Figure 8 It is a whole schematic diagram of the right deflection of the mirror in the embodiment.

[0053] In the figure: 10, base; 20, telescopic sleeve structure; 21, inner rod of telescopic sleeve structure; 22, outer rod of telescopic sleeve structure; 30, reflector; 40, transmission assembly; 41, servo motor device; 411, servo motor; 412, motor shaft; 413, second gear shaft; 42, servo motor support frame; 43, transmission device; 431, first gear; 432, second gear; 433, third gear; 434, screw rod; 50, support rod; 60, single-chip microcomputer; 70, first spherical hinge; 71, first spherical part; 72, first spherical socket part; 80, second spherical hinge. DETAILED DESCRIPTION

[0054] Embodiments of the present application are described below in detail, examples of which are shown in the drawings, wherein the same or similar notations represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary only, and are only used to explain the present application, and cannot be understood as a limitation on the present application.

[0055] In the description of the present application, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first", "second" are only for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined as "first", "second" can be explicitly or implicitly included one or more. In the description of the present application, unless otherwise specified, the meaning of "a plurality of" is two or more.

[0056] In the description of the present application, it should be noted that, unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connection" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0057] In addition, the technical features involved in the different embodiments of the application described above can be combined with each other as long as there is no conflict between them.

[0058] This application provides a laser optical path controlled mirror deflection device, which will be described below in conjunction with... Figures 1-8 The reflector deflection device and method for laser optical path control in the embodiments of this application are described in detail.

[0059] Example: A laser-guided mirror deflection device, such as... Figure 1 As shown, Figure 1 This is a schematic diagram of the overall structure of a laser optical path controlled reflector deflection device, including a chassis 10; a sleeve-type telescopic rod structure 20, disposed on one side of the chassis 10, and connected to the chassis 10 via a first ball joint 70; a reflector 30, disposed on the side of the sleeve-type telescopic rod structure 20 away from the chassis 10, and connected to the sleeve-type telescopic rod structure 20 via a second ball joint 80; a transmission assembly 40, disposed on the outside of the sleeve-type telescopic rod structure 20, used to stretch or compress the sleeve-type telescopic rod structure 20 to adjust the deflection angle of the reflector 30; and a support rod 50, disposed between the chassis 10 and the reflector 30, and connected via a third ball joint (…). Figure 1 (Not shown) is connected to the reflector 30 to stabilize the reflector 30; a microcontroller 60 is located on one side of the chassis 10 to control the transmission assembly 40.

[0060] In this embodiment of the invention, the chassis 10 is a rectangular metal substrate, serving as the supporting base for the overall structure; the sleeve-type telescopic rod structure 20 includes four units, symmetrically located on one side of the chassis 10, for example, the four sleeve-type telescopic rod structures 20 are respectively arranged at the four corners of the chassis 10. The sleeve-type telescopic rod structure 20 can be adjusted vertically to adjust the deflection angle of the reflector 30; the first ball joint 70 enables the sleeve-type telescopic rod structure 20 to achieve multi-angle rotation within a certain range while restricting some degrees of freedom; the second ball joint 80 enables... The reflector 30 allows for multi-angle rotation within a certain range while restricting some degrees of freedom; the transmission assembly 40 includes four components, each located on the outside of the sleeve-type telescopic rod structure 20; the support rod 50 is located at the center of the chassis 10; the microcontroller 60 controls the four transmission assemblies 40 to generate mechanical energy and transmits the generated mechanical energy to the corresponding sleeve-type telescopic rod structure 20, thereby driving the sleeve-type telescopic rod structure 20 to move upward or downward, thereby causing the reflector 30 to deflect so that the reflector 30 is at the reflection angle corresponding to the desired laser beam path landing point.

[0061] Further, the sleeve telescopic rod structure 20 comprises a sleeve telescopic rod structure inner rod 21 and a sleeve telescopic rod structure outer rod 22 which forms a sleeving structure with the sleeve telescopic rod structure inner rod 21; the transmission assembly 40 is arranged on the side wall of the sleeve telescopic rod structure outer rod 22, and one end of the sleeve telescopic rod structure outer rod 22 is movably connected with the chassis 10 through the first spherical hinge 70; one end of the sleeve telescopic rod structure inner rod 21 is movably connected with the reflector 30 through the second spherical hinge 80, which is used to adjust the deflection angle of the reflector 30 so that the reflector 30 is at the corresponding reflection angle of the target laser light path falling point (i.e. the required laser light path falling point).

[0062] Optionally, as shown in the figure, the sleeve telescopic rod structure inner rod 21 is connected with the sleeve telescopic rod structure outer rod 22 by means of clearance fit of base hole or base shaft, and the clearance fit is achieved by precisely controlling the size tolerance of the sleeve telescopic rod structure inner rod 21 and the sleeve telescopic rod structure outer rod 22, so that the sleeve telescopic rod structure inner rod 21 can smoothly move in the sleeve telescopic rod structure outer rod 22. Figure 2

[0063] Optionally, the sleeve telescopic rod structure outer rod 22 can be made of aluminum alloy material, because aluminum alloy material has the characteristics of high strength and low density, which can effectively reduce the mass of the sleeve telescopic rod structure outer rod 22, thereby reducing the motion inertia of the sleeve telescopic rod structure outer rod 22 and making the operation of the sleeve telescopic rod structure 20 more sensitive.

[0064] Further, as shown in the figure, the first spherical hinge 70 comprises a first spherical component 71 and a first spherical socket component 72, the first spherical component 71 is located inside the first spherical socket component 72, and the first spherical component 71 and the first spherical socket component 72 are concentric spheres. Figure 3

[0065] Optionally, the first spherical hinge 70 can be made of alloy material (such as titanium alloy, etc.), which can effectively reduce thermal deformation, ensure the stability and accuracy of the light path, and has certain corrosion resistance; the first spherical component 71 and the first spherical socket component 72 can be combined by interference fit, which can provide high connection strength and positioning accuracy, effectively reduce the fitting gap between the first spherical component 71 and the first spherical socket component 72, and ensure the stability and accuracy of the first spherical hinge 70 during movement.

[0066] Further, the structures of the second spherical hinge 80 and the third spherical hinge are consistent with those of the first spherical hinge 70, which will not be described here. ​​

[0067] Further, the transmission assembly 40 comprises: a servo motor device 41, a servo motor support frame 42 and a transmission device 43.

[0068] The servo motor device 41 is arranged outside the outer side rod 22 of the sleeve telescopic rod structure. Figure 4 As shown in the drawings, the servo motor device 41 comprises: a servo motor 411 for generating mechanical energy; a motor shaft 412 located inside the servo motor 411 for receiving the mechanical energy provided by the servo motor 411; and a second gear shaft 413 located inside the servo motor 411 and in parallel with the motor shaft 412 for receiving the mechanical energy transmitted by the motor shaft 412 and transmitting the mechanical energy to the transmission device 43.

[0069] Optionally, the second gear shaft 413 can be made of carbon steel material in the form of a cylinder, which has the advantages of low price and good processability; and the motor shaft 412 can be made of low-carbon alloy carburizing steel material, which has the advantages of high strength, high wear resistance, high dimensional accuracy and fatigue resistance, and is suitable for the high-precision control scenarios required by the embodiment.

[0070] The servo motor support frame 42 is arranged outside the outer side rod 22 of the sleeve telescopic rod structure and is used for fixing the servo motor device 41.

[0071] Optionally, the servo motor support frame 42 can be made of aluminum alloy material, which has the characteristics of high strength and low density, and also has excellent heat conductivity, which can help dissipate the heat generated by the servo motor 411 during operation, ensure the normal operation of the servo motor 411, improve the service life of the servo motor 411, effectively reduce the mass of the servo motor support frame 42, thereby reducing the motion inertia of the servo motor support frame 42 and making the operation of the sleeve telescopic rod structure 20 more sensitive; and the servo motor support frame 42 can be connected with the sleeve telescopic rod structure 20 in a standard motor flange mounting manner, which has good anti-vibration ability and also has positioning accuracy, facilitating installation and maintenance.

[0072] The transmission device 43 is arranged between the servo motor device 41 and the inner side rod 21 of the sleeve telescopic rod structure and is used for receiving the mechanical energy provided by the servo motor device 41 and stretching or compressing the inner side rod 21 of the sleeve telescopic rod structure through the mechanical energy. Figure 5As shown, the transmission device 43 comprises: a first gear 431 arranged at one end of the motor shaft 412, and the first gear 431 and the motor shaft 412 are concentric circles; a second gear 432 arranged at one end of the second gear shaft 413, the second gear 432 is engaged with the first gear 431, and the second gear 432 and the second gear shaft 413 are concentric circles; a third gear 433 engaged with the second gear 432; a lead screw 434, one end of the lead screw 434 is connected with the third gear 433, and the other end of the lead screw 434 is connected with the sleeve telescopic rod structure inner rod 21, for stretching or compressing the sleeve telescopic rod structure inner rod 21.

[0073] Optionally, the first gear 431, the second gear 432 and the third gear 433 are arranged near the output end of the servo motor 411, power is transmitted by engagement, the second gear 432 is located between the third gear 433 and the first gear 431, one end of the lead screw 434 is connected with the third gear 433 and is concentric with the third gear 433, converting rotary motion into linear motion.

[0074] Optionally, the first gear 431, the second gear 432, the third gear 433 and the lead screw 434 can adopt alloy structural steel material, which has the advantages of high strength, good wear resistance and high transmission precision, and the lead screw 434 can adopt a ball screw, which is an improved type of trapezoidal screw, and has better transmission efficiency and higher positioning accuracy.

[0075] Optionally, as shown Figure 6 Optionally, the lead screw 434 and the sleeve telescopic rod structure inner rod 21 can be threadedly connected, the sleeve telescopic rod structure inner rod 21 is provided with an internal thread at one end, one end of the lead screw 434 (i.e. the end away from the third gear 433) is provided with an external thread, and the sleeve telescopic rod structure inner rod 21 and the lead screw 434 are connected by thread rotation, and thread fastening glue can be used during assembly to increase the reliability and anti-loosening performance of the connection.

[0076] Further, the single-chip microcomputer 60 comprises: a coordinate receiving module for receiving a laser light path target coordinate input by a user; a parameter calculation module for calculating an expansion and contraction parameter corresponding to the laser light path target coordinate and converting the expansion and contraction parameter into a corresponding pulse signal; and a data sending module connected with the servo motor 411 through a wireless connection mode (such as Bluetooth) for sending the pulse signal to the servo motor 411.

[0077] Based on the same inventive concept, as Figure 7 shown in the description, the embodiment of the present application also provides a laser beam path control mirror deflection method based on the laser beam path control mirror deflection device, which comprises the following steps:

[0078] In step S10, the single-chip microcomputer acquires the laser beam path target coordinates input by a user and verifies the validity of the laser beam path target coordinates.

[0079] Specifically, first, the mirror deflection device is fixed on the path of the laser beam path, then the connection between the external input (for example, a computer) and the single-chip microcomputer is turned on, and the single-chip microcomputer and the laser emitter start to work; as Figure 8 shown, taking the right deflection of the mirror as an example, the first telescopic sleeve rod structure (i.e. the telescopic sleeve rod structure corresponding to the upward arrow in Figure 8 ) is stretched, the fourth telescopic sleeve rod structure (i.e. the telescopic sleeve rod structure corresponding to the downward arrow in Figure 8 ) is contracted, the lengths of the second telescopic sleeve rod structure and the third telescopic sleeve rod structure remain unchanged, the two end spherical hinges of the first telescopic sleeve rod structure, the two end spherical hinges of the fourth telescopic sleeve rod structure, the two end spherical hinges of the second telescopic sleeve rod structure, the two end spherical hinges of the third telescopic sleeve rod structure and the spherical hinge at the top of the support rod (i.e. the spherical hinge connecting the support rod and the mirror) all rotate; thus, taking the center of the chassis in the embodiment of the present application as the origin O and establishing a Cartesian coordinate system, i.e. generating an x-axis, a y-axis and a z-axis, the heights of the four telescopic sleeve rod structures are h1, h2, h3 and h4 respectively, and the initial heights of the four telescopic sleeve rod structures are all h0. Among them, the heights of the two telescopic sleeve rod structures parallel to the x-axis direction are 2 and 4 respectively, the heights of the two telescopic sleeve rod structures parallel to the y-axis direction are h1 and 3 respectively, the initial state of the mirror is parallel to the xoy plane and located in the positive direction of the z-axis, and the coordinates of the laser light source are (x s ,y s ,z s ).

[0080] Then, the single-chip microcomputer is started, the servo motors of the four transmission assemblies are initialized, the heights of the four telescopic sleeve rod structures are set to the initial height 0, the laser beam path target coordinates (x t ,y t ,z t ) input by a user are received through a serial port, wherein z t >0, the purpose is to ensure that the laser beam path target is above the mirror, and the validity of the laser beam path target coordinates is verified.

[0081] Step S20, if the laser light path target coordinate is verified to be valid, the single-chip microcomputer performs parameter calculation on the laser light path target coordinate, obtains a telescopic parameter, performs signal conversion on the telescopic parameter, obtains a pulse signal, and sends the pulse signal to the transmission assembly.

[0082] Specifically, if the laser light path target coordinate is above the mirror, it is determined that the laser light path target coordinate is verified to be valid, and the single-chip microcomputer performs parameter calculation on the laser light path target coordinate. Specifically, the incident vector and the reflection vector can be calculated through the laser light source coordinate and the laser light path target coordinate, so as to obtain the mirror normal vector according to the incident vector and the reflection vector. The expression of the incident vector is:

[0083]

[0084] The expression of the reflection vector is:

[0085]

[0086] The expression of the mirror normal vector is:

[0087]

[0088] The mirror normal vector can calculate the deflection angle θ (i.e. the first deflection angle) around the x-axis and the deflection angle μ (i.e. the second deflection angle) around the y-axis. The deflection of the mirror can be described by the first deflection angle and the second deflection angle. The expression of the first deflection angle is:

[0089]

[0090] The expression of the second deflection angle is:

[0091] μ=arcsin(-N x ).

[0092] Then, the height of the four telescopic sleeve rod structures needs to be obtained according to the first deflection angle and the second deflection angle. Different deflection angles are classified according to the required deflection angle θ and deflection angle μ. In the embodiment of the present application, they can be divided into three categories. The first category is deflection around the x-axis only, the second category is deflection around the y-axis only, and the third category is composite deflection of the x-axis and the y-axis.

[0093] ​Wherein, the first type is only around the x-axis deflection, this type only exists deflection x-axis deflection angle θ, deflection y-axis deflection angle μ is 0, the height of the two sleeve telescopic rod structure parallel to the x-axis direction is h2 and h4 respectively, no height change, and h2=h4=h0, there is h1=h0+L×sinθ, h3=h0-L×sinθ, wherein, L is the horizontal distance of sleeve telescopic rod structure and the center of the chassis;

[0094] The second type is only around the y-axis deflection, this type only exists deflection y-axis deflection angle μ, deflection x-axis deflection angle θ is 0, the height of the two sleeve telescopic rod structure parallel to the y-axis direction is h1 and h3 respectively, no height change, and h1=h3=h0, there is h2=h0+L×sinμ, h4=h0-L×sinμ;

[0095] The third type is x-axis and y-axis compound deflection, at this time there is deflection x-axis deflection angle θ and deflection y-axis deflection angle μ, the rotation matrix R x (θ) of the establishment of x-axis deflection angle θ, the corresponding expression is:

[0096]

[0097] The rotation matrix R y (μ) of the establishment of y-axis deflection angle μ, the corresponding expression is:

[0098]

[0099] According to the rotation matrix R x (θ) and the rotation matrix R y (μ), the total rotation matrix R can be obtained, and the corresponding expression is:

[0100]

[0101] It can be seen that the total rotation matrix completely describes the spatial form of the mirror under the third type of compound deflection; thereafter, through the formula Wherein, is the coordinate vector after rotation, is the coordinate vector before rotation, the coordinate vector before rotation of any sleeve telescopic rod structure can be obtained, and the coordinate vector after rotation is obtained. Thus the height of the four sleeve telescopic rod structures after rotation is obtained. The relationship between the height (h i of the sleeve telescopic rod structure and the rotation angle α i of the servo motor is:

[0102]

[0103] Wherein, p is the lead screw pitch; according to the above relationship, the required servo motor rotation parameters (i.e. the rotation parameters of the servo motor corresponding to the four sleeve telescopic rod structures, i.e. the telescopic parameters, including the rotation angle and speed of the servo motor) can be obtained; then, the servo motor rotation parameters are signal-converted to obtain pulse signals, and the pulse signals are sent to the transmission assembly.

[0104] Step S30, the transmission assembly controls the sleeve telescopic rod structure to perform telescopic processing according to the pulse signals.

[0105] Specifically, when the transmission assemblies on the four sleeve telescopic rod structures all receive the corresponding telescopic parameters, the servo motors corresponding to the four sleeve telescopic rod structures are adjusted to rotate, so that the four sleeve telescopic rod structures are telescoped as required.

[0106] Step S40, the sleeve telescopic rod structure deflects the reflector through the second spherical hinge to complete the deflection of the reflector.

[0107] Specifically, when the four sleeve telescopic rod structures are telescoped as required, the second spherical hinge connected with the reflector deflects the reflector, so that the reflector is deflected.

[0108] The sleeve telescopic rod structure is provided with a servo motor, the corresponding sleeve telescopic rod structure is controlled to telescope through the servo motor, the rotation angle and speed of the motor can be accurately controlled at a set value, the servo motor has good dynamic response characteristics, the inner rod of the sleeve telescopic rod structure can reach the set position in a short time, the response time is between a few milliseconds and a few tens of milliseconds, compared with the existing reflector deflection device using two or more reflectors, only one reflector is used, the light path error caused by the position deviation of the multiple reflectors is reduced, the interference is reduced, and in the light path transmission process, there is only one emission contact with the reflector, the energy attenuation and spot distortion problems caused by multiple reflections can be effectively avoided, so that the light energy utilization rate is improved.

[0109] It should be understood that the application of the present application is not limited to the above examples, and those skilled in the art can make improvements or changes according to the above description, and all these improvements and changes shall belong to the protection scope of the appended claims of the present application.

Claims

1. A mirror deflection device for laser beam path control, characterized in that The utility model relates to a laser deflection device, including: Chassis; Telescopic sleeve structure is arranged in one side of chassis, and the telescopic sleeve structure is connected with the chassis through the first ball hinge; Mirror is arranged in the side of telescopic sleeve structure away from the chassis, and is connected with the telescopic sleeve structure through the second ball hinge; Transmission assembly is arranged in the outside of telescopic sleeve structure, is used for making telescopic sleeve structure stretch or compress to adjust the deflection angle of mirror; Supporting rod is arranged between the chassis and mirror, and is connected with mirror through the third ball hinge, is used for stabilizing mirror; Single-chip microcomputer is arranged in one side of chassis, is used for controlling transmission assembly.

2. The laser beam path controlled mirror deflection device according to claim 1, characterized in that The telescopic sleeve structure includes four, is located in one side of chassis symmetrically respectively, and the telescopic sleeve structure includes telescopic sleeve structure inside rod and telescopic sleeve structure outside rod with the telescopic sleeve structure inside rod forms the sleeve structure; The side wall of telescopic sleeve structure outside rod is equipped with transmission assembly, and one end of telescopic sleeve structure outside rod is movably connected with the chassis through the first ball hinge; One end of telescopic sleeve structure inside rod is movably connected with mirror through the second ball hinge, is used for adjusting the deflection angle of mirror, makes mirror be in the reflection angle corresponding to target laser light path drop point.

3. The laser beam path controlled mirror deflection device according to claim 2, characterized in that The transmission assembly includes: Servo motor device is arranged in the outside of telescopic sleeve structure outside rod; Servo motor support frame is arranged in the outside of telescopic sleeve structure outside rod, is used for fixing servo motor device; Transmission device is arranged between servo motor device and telescopic sleeve structure inside rod, is used for receiving the mechanical energy provided by servo motor device, and the telescopic sleeve structure inside rod is stretched or compressed through the mechanical energy.

4. The laser beam path controlled mirror deflection device according to claim 3, characterized in that The servo motor device includes: Servo motor; Motor shaft is located in the inside of servo motor, is used for receiving the mechanical energy provided by servo motor; Second gear shaft is located in the inside of servo motor, and the second gear shaft is in parallel position with the motor shaft, is used for receiving the mechanical energy transmission of motor shaft, and the mechanical energy is transmitted to transmission device.

5. The laser beam path controlled mirror deflection device according to claim 4, characterized in that The transmission device includes: First gear is arranged in one end of motor shaft, and the first gear and motor shaft are concentric circles; Second gear is arranged in one end of second gear shaft, and the second gear is engaged with the first gear, and the second gear and second gear shaft are concentric circles; Third gear, the third gear is engaged with the second gear; Lead screw, one end of lead screw is connected with third gear, and the other end of lead screw is connected with telescopic sleeve structure inside rod, is used for making telescopic sleeve structure inside rod stretch or compress.

6. The laser beam path controlled mirror deflection device according to claim 4, characterized in that The single-chip microcomputer includes: Coordinate receiving module is used for receiving the laser light path target coordinate of user input; A parameter calculation module is configured to calculate a telescopic parameter corresponding to the laser light path target coordinate and convert the telescopic parameter into a corresponding pulse signal. A data sending module is configured to be connected to the servo motor through a wireless connection mode and send the pulse signal to the servo motor.

7. The laser beam path controlled mirror deflection device according to claim 2, characterized in that The inner rod of the sleeve telescopic rod structure is connected to the outer rod of the sleeve telescopic rod structure in a clearance fit of base hole or base shaft, so that the inner rod of the sleeve telescopic rod structure moves smoothly in the outer rod of the sleeve telescopic rod structure.

8. The laser beam path controlled mirror deflection device according to claim 5, characterized in that One end of the inner rod of the sleeve telescopic rod structure is provided with an internal thread, one end of the screw rod is provided with an external thread, and the inner rod of the sleeve telescopic rod structure is connected to the screw rod in a threaded screwing manner.

9. A laser beam path control mirror deflection method based on the laser beam path control mirror deflection apparatus according to any one of claims 1 to 8, characterized by, The laser light path control mirror deflection method comprises the following steps: The single-chip microcomputer acquires the laser light path target coordinate input by a user and verifies the validity of the laser light path target coordinate. If the laser light path target coordinate is verified to be valid, the single-chip microcomputer performs parameter calculation on the laser light path target coordinate to obtain a telescopic parameter, performs signal conversion on the telescopic parameter to obtain a pulse signal, and sends the pulse signal to the transmission assembly. The transmission assembly controls the sleeve telescopic rod structure to perform telescopic processing according to the pulse signal. The sleeve telescopic rod structure deflects the mirror through the second spherical hinge to complete the deflection of the mirror.

10. The laser beam path controlled mirror deflection method of claim 9, wherein, The single-chip microcomputer performs parameter calculation on the laser light path target coordinate to obtain a telescopic parameter, and the parameter calculation specifically comprises: The single-chip microcomputer acquires a laser light source coordinate, performs vector calculation on the laser light source coordinate and the laser light path target coordinate to obtain an incident vector and a reflection vector, and performs deflection angle calculation on the mirror normal vector obtained according to the incident vector and the reflection vector to obtain a first deflection angle and a second deflection angle. The height of the sleeve telescopic rod structure is obtained according to the first deflection angle and the second deflection angle, and the corresponding telescopic parameter is obtained according to the height. ​

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