A hollow motor-driven coaxial spherical parallel mechanism lens coupling device

Abstract

The application discloses a hollow motor driven coaxial spherical parallel mechanism lens coupling device, and relates to the technical field of lens coupling, which comprises a three-axis moving device, a base, a moving platform, three branch chain assemblies, three groups of hollow motor driving assemblies and a clamping device, the base is in transmission connection with the three-axis moving device; each branch chain assembly comprises a first transmission member and a second transmission member, the first transmission member is in rotational connection with the second transmission member and forms a rotation axis A, the first transmission member is in rotational connection with the moving platform and forms a rotation axis B, and the second transmission member is in rotational connection with the base and forms a rotation axis C; the rotation axis A, the rotation axis B and the rotation axis C can be prolonged to intersect at a point in space, and the point is defined as a motion center point, and the motion center points in the three branch chain assemblies are coincident. The hollow motor driven coaxial spherical parallel mechanism lens coupling device can improve the efficiency of adjusting the lens coupling position, and can also improve the lens coupling precision.

Description

Technical Field

[0001] This invention relates to the field of lens coupling technology, and in particular to a lens coupling device with a hollow motor-driven coaxial spherical parallel mechanism. Background Technology

[0002] With the development of practical engineering, the output power requirements for semiconductor lasers are becoming increasingly stringent. Semiconductor lasers typically incorporate fast-axis collimating lenses (FACs). To ensure output power, these FACs require high coupling precision, necessitating precise adjustment of the coupling position in various directions—sometimes involving up to six degrees of freedom in space. The FACs are pre-stored in a tray. After being gripped by a clamping device, they are moved to the approximate coupling position of the optical device, and then precisely adjusted in various directions until the FACs are correctly coupled to the optical device.

[0003] In existing lens coupling devices, the structure used to drive the movement of the clamping device typically employs a combination of a three-axis translating device and multiple corner stages to achieve six degrees of freedom movement of the clamping device in space, thereby enabling adjustment of the coupling position of the fast-axis collimating lens in various directions. However, after the translational adjustment of the coupling position of the fast-axis collimating lens is completed using the three-axis translating device, when the coupling position of the fast-axis collimating lens is rotated using the corner stages, it is still necessary to use the three-axis translating device to correct the translational adjustment of the coupling position of the fast-axis collimating lens. As a result, repeated fine adjustments are required to complete the adjustment of the coupling position of the fast-axis collimating lens. Summary of the Invention

[0004] This invention aims to at least solve one of the technical problems existing in the prior art. To this end, this invention proposes a lens coupling device with a hollow motor-driven coaxial spherical parallel mechanism, which can improve the efficiency of adjusting the lens coupling position and at the same time improve the lens coupling accuracy.

[0005] According to an embodiment of the present invention, a lens coupling device with a hollow motor driving a coaxial spherical parallel mechanism includes a three-axis moving device, wherein the three-axis moving device has a moving stroke in the X-axis, Y-axis and Z-axis directions; The base is connected to the three-axis moving device via a transmission connection. Dynamic platform; Three branch chain components, each of which is disposed between the moving platform and the base, are evenly distributed around the circumference of the moving platform. Each branch chain component includes a first transmission component and a second transmission component. The first transmission component and the second transmission component are rotatably connected to form a rotation axis A. The first transmission component is rotatably connected to the moving platform to form a rotation axis B. The second transmission component is rotatably connected to the base to form a rotation axis C. In any of the branch components, the rotation axis A, the rotation axis B and the rotation axis C can intersect at a point when extended in space, and this point is defined as the center of motion. The center of motion is located on the side of the moving platform away from the base, and the center of motion in the three branch components coincides. Three sets of hollow motor drive components, each corresponding to one of the three branch components. In the corresponding hollow motor drive components and branch components, the hollow motor drive components are connected to the second transmission component. The hollow motor drive components are used to drive the second transmission component to rotate around the rotation axis C. The second transmission component can drive the first transmission component to rotate around the rotation axis A. The first transmission component can drive the moving platform to rotate around the rotation axis B. A clamping device is provided on the moving platform, and the clamping center of the clamping device coincides with the center of motion. The clamping device is used to clamp a lens.

[0006] The lens coupling device with a hollow motor-driven coaxial spherical parallel mechanism according to embodiments of the present invention has at least the following beneficial effects: the three-axis moving device provides translational adjustment capability in three degrees of freedom; the moving platform, the base, and the three branch components constitute the coaxial spherical parallel mechanism, and the rotational adjustment capability in three degrees of freedom can be realized through the independent drive of the three sets of hollow motor drive components; the coaxial spherical parallel mechanism has the characteristic of rotating only around the center point of motion without parasitic displacement, and aligning the clamping center of the clamping device with the center point of motion can reduce the mutual interference between the translational and rotational changes of the lens, thus reducing the number of times the lens coupling position needs to be adjusted, improving the efficiency of adjusting the lens coupling position, and also improving the lens coupling accuracy; using hollow motor drive components, the power is directly applied to the nested shaft system by the motor rotor, without the need to add an intermediate transmission mechanism, eliminating mechanical backlash and return at the physical level, greatly improving the repeatability positioning accuracy of the end moving platform; combined with the high-frequency response characteristics of the brushless motor, dynamic compensation at the kHz level can be achieved, ensuring extremely rapid convergence in the lens coupling alignment process.

[0007] According to some embodiments of the present invention, the end of the first transmission member is provided with a first transmission shaft, the end of the second transmission member is provided with a first connecting seat, the first transmission shaft is inserted into the first connecting seat, at least two first bearings are provided between the outer side wall of the first transmission shaft and the inner side wall of the first connecting seat, and a plurality of first bearings are distributed at intervals along the axial direction of the first transmission shaft.

[0008] According to some embodiments of the present invention, the inner sidewall of the first connecting seat is provided with a first positioning shoulder, the first positioning shoulder is located between the two first bearings, the outer rings of the two first bearings abut against the first positioning shoulder, the first drive shaft is provided with a second positioning shoulder, the end of the first drive shaft is covered with a first positioning cover plate, the first positioning cover plate is provided with a third positioning shoulder, the two first bearings are located between the second positioning shoulder and the third positioning shoulder, and the inner ring of one of the first bearings abuts against the second positioning shoulder, and the inner ring of the other first bearing abuts against the third positioning shoulder.

[0009] According to some embodiments of the present invention, the moving platform is provided with a second drive shaft, and the first transmission member is provided with a second connecting seat at one end near the moving platform. The second drive shaft is inserted into the second connecting seat, and at least two second bearings are provided between the outer side wall of the second drive shaft and the inner side wall of the second connecting seat. A plurality of second bearings are distributed at intervals along the axial direction of the second drive shaft.

[0010] According to some embodiments of the present invention, the inner sidewall of the second connecting seat is provided with a fourth positioning shoulder, the fourth positioning shoulder is located between the two second bearings, the outer rings of the two second bearings abut against the fourth positioning shoulder, the second drive shaft is provided with a fifth positioning shoulder, the end of the second drive shaft is covered with a second positioning cover plate, the second positioning cover plate is provided with a sixth positioning shoulder, the two second bearings are located between the fifth positioning shoulder and the sixth positioning shoulder, and the inner ring of one of the second bearings abuts against the fifth positioning shoulder, and the inner ring of the other second bearing abuts against the sixth positioning shoulder.

[0011] According to some embodiments of the present invention, the hollow motor drive assembly includes a first motor assembly, a second motor assembly, and a third motor assembly. The first motor assembly, the second motor assembly, and the third motor assembly are stacked and fixed sequentially along a first direction. The first motor assembly is disposed on the base and is connected to a first shaft. The axial direction of the first shaft is parallel to the first direction. The second motor assembly is connected to a hollow second shaft, which is fitted onto the outside of the first shaft. The length of the second shaft is less than the length of the first shaft. The third motor assembly is connected to a hollow third shaft, which is fitted onto the outside of the second shaft. The length of the third shaft is less than the length of the second shaft. The first shaft, the second shaft, and the third shaft are coaxially arranged, and each of the first shaft, the second shaft, and the third shaft is connected to a branch assembly.

[0012] According to some embodiments of the present invention, a first collar is fixed to the end of the first shaft away from the base, a second collar is fixed to the end of the second shaft away from the base, and a third collar is fixed to the end of the third shaft away from the base. Each of the first collar, the second collar, and the third collar is fixed with a second transmission member.

[0013] According to some embodiments of the present invention, the first shaft is provided with a first shoulder, the first collar is fitted onto the first shaft and abuts against the first shoulder, and the first shaft is also provided with a third positioning cover plate, the third positioning cover plate is located on the opposite side of the first shoulder and abuts against the first collar.

[0014] According to some embodiments of the present invention, the first motor assembly includes a fixed base, a rotating component, a worm gear, a worm, and a drive motor. The rotating component is rotatably connected to the fixed base, the worm gear is fixed to the rotating component, the worm is disposed on the fixed base, the drive motor is drively connected to the worm, and the worm meshes with the worm gear to drive the rotating component to rotate.

[0015] According to some embodiments of the present invention, the base is arranged vertically such that the rotation axis C is parallel to the horizontal plane.

[0016] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0017] The present invention will be further described below with reference to the accompanying drawings and embodiments, wherein: Figure 1 This is a schematic diagram of the lens coupling device of the coaxial spherical parallel mechanism driven by the empty motor in an embodiment of the present invention; Figure 2 This is a schematic diagram of the coaxial spherical parallel mechanism according to an embodiment of the present invention; Figure 3 This is a schematic diagram of the coaxial spherical parallel mechanism according to an embodiment of the present invention; Figure 4 This is a cross-sectional view of the first drive shaft and the first connecting seat according to an embodiment of the present invention; Figure 5 This is a schematic diagram of the structure of the moving platform according to an embodiment of the present invention; Figure 6 This is a cross-sectional view of the second drive shaft and the second connecting seat according to an embodiment of the present invention; Figure 7 This is a cross-sectional view of the hollow motor drive assembly according to an embodiment of the present invention; Figure 8This is a schematic diagram of the assembly structure of the first, second, and third rings according to an embodiment of the present invention; Figure 9 This is a cross-sectional view of the first motor assembly according to an embodiment of the present invention.

[0018] Icon labels: Three-axis moving device 100, base 200, moving platform 300, second transmission shaft 310, fifth positioning shoulder 311; Branch chain assembly 400, first transmission component 410, first transmission shaft 411, second positioning shoulder 412, second connecting seat 413, fourth positioning shoulder 414, second transmission component 420, first connecting seat 421, first positioning shoulder 422, first bearing 430, first positioning cover plate 440, third positioning shoulder 441, fixing screw 450, second bearing 460, second positioning cover plate 470, sixth positioning shoulder 471; Hollow motor drive assembly 500, first motor assembly 510, fixed base 511, rotating component 512, rotor 513, stator 514, third bearing 515, second motor assembly 520, third motor assembly 530, first shaft 540, first shaft shoulder 541, third positioning cover plate 542, second shaft 550, second shaft shoulder 551, second retaining ring 552, third shaft 560, third shaft shoulder 561, third retaining ring 562; Clamping device 600, first collar 710, second collar 720, third collar 730. Detailed Implementation

[0019] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0020] In the description of this invention, it should be understood that the orientation descriptions, such as up, down, etc., are based on the orientation or positional relationship shown in the drawings and are only for the convenience of describing this invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0021] In the description of this invention, "multiple" refers to two or more. The use of "first" and "second" is for distinguishing technical features only and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features or their sequential relationship.

[0022] In the description of this invention, unless otherwise explicitly defined, terms such as "set up," "install," and "connect" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this invention in conjunction with the specific content of the technical solution.

[0023] As described in the background section, existing lens coupling devices typically employ a combination of a three-axis translator and multiple corner stages to drive the movement of the clamping device, achieving six degrees of freedom movement of the clamping device in space. Specifically, multiple corner stages are connected in series to achieve three degrees of rotational adjustment. However, in the series structure of the corner stages, the rotation centers of each corner stage do not coincide. As a result, when one corner stage is rotated, the clamping device experiences parasitic parallel displacement. Consequently, it is still necessary to use the three-axis translator to correct the translational position of the lens coupling, requiring repeated fine-tuning to adjust the lens coupling position to the set state.

[0024] The inventors discovered that when adjusting the coupling position of a lens, if translational adjustment is performed without changing the lens angle, and angle adjustment is performed without causing translational changes in the lens, the mutual interference between translational and rotational changes can be reduced. Therefore, the number of times the lens coupling position can be adjusted can be reduced, the efficiency of adjusting the lens coupling position can be improved, and the lens coupling accuracy can also be improved.

[0025] Reference Figure 1 and Figure 2 As shown, a lens coupling device with a hollow motor driven coaxial spherical parallel mechanism according to an embodiment of the present invention includes a three-axis moving device 100, a base 200, a moving platform 300, three branch chain assemblies 400, three sets of hollow motor drive assemblies 500, and a clamping device 600.

[0026] The three-axis moving device 100 has travel distances in the X, Y, and Z axes; the base 200 is connected to the three-axis moving device 100 via a transmission; each branch assembly 400 is disposed between the moving platform 300 and the base 200, and the three branch assemblies 400 are evenly distributed around the circumference of the moving platform 300. Each branch assembly 400 includes a first transmission member 410 and a second transmission member 420. The first transmission member 410 and the second transmission member 420 are rotatably connected to form a rotation axis A, the first transmission member 410 is rotatably connected to the moving platform 300 to form a rotation axis B, and the second transmission member 420 is rotatably connected to the base 200 to form a rotation axis C; in any branch assembly 400, rotation axes A, B, and C can intersect at a point when extended in space, and this point is defined as the point of motion. The center of motion is located on the side of the moving platform 300 away from the base 200, and the center of motion of the three branch assembly 400s all coincide. The three sets of hollow motor drive assemblies 500 correspond one-to-one with the three branch assembly 400s. In the corresponding hollow motor drive assembly 500 and branch assembly 400, the hollow motor drive assembly 500 is connected to the second transmission member 420 for transmission. The hollow motor drive assembly 500 is used to drive the second transmission member 420 to rotate around the rotation axis C. The second transmission member 420 can drive the first transmission member 410 to rotate around the rotation axis A. The first transmission member 410 can drive the moving platform 300 to rotate around the rotation axis B. The clamping device 600 is set on the moving platform 300, and the clamping center of the clamping device 600 coincides with the center of motion. The clamping device 600 is used to clamp the lens.

[0027] The three-axis motion device 100 provides translational adjustment capability in three degrees of freedom, manifested in travel distances along the X, Y, and Z axes. The moving platform 300, base 200, and three branch assembly 400 constitute a coaxial spherical parallel mechanism, and rotational adjustment capability in three degrees of freedom can be achieved by independently driving one branch assembly 400 through a set of hollow motor drive components 500. Figure 3 As shown, the coaxial spherical parallel mechanism has the characteristic of rotating only around the center of motion and having no parasitic displacement. By aligning the clamping center of the clamping device 600 with the center of motion, the mutual interference between the translational and rotational changes of the lens can be reduced. Therefore, the number of times the lens coupling position needs to be adjusted can be reduced, the efficiency of adjusting the lens coupling position can be improved, and the lens coupling accuracy can also be improved. Figure 3The diagram shown is a simplified representation of a coaxial spherical parallel mechanism. The kinematic principle of this mechanism lies in the fact that the rotation axes A, B, and C in each branch assembly 400 extend strictly into space and converge at the same fixed geometric point, defined as the center of motion. This geometric constraint feature of multiple intersecting axes restricts the motion trajectory of the moving platform 300 to a sphere centered at the center of motion by a single branch assembly 400. When three branch assemblies 400 are connected in parallel, their synergistic spherical constraint effectively eliminates the three translational degrees of freedom of the moving platform 300 in the Cartesian coordinate system, which is only considered when considering the moving platform and the coaxial spherical parallel mechanism.

[0028] Preferably, the hollow motor drive assembly 500 uses a brushless motor. By using the hollow motor drive assembly 500 to drive the branch assembly 400 to rotate, the power is directly applied to the nested shaft system by the motor rotor, eliminating the need for intermediate transmission mechanisms. This physically eliminates mechanical backlash and free return, greatly improving the repeatability of the end-effector dynamic platform 300. Combined with the high-frequency response characteristics of the brushless motor, kHz-level dynamic compensation can be achieved, ensuring extremely rapid convergence during the lens coupling alignment process.

[0029] In some embodiments, preferably, the moving platform 300 is a circular plate, and the connection points between the moving platform 300 and the first transmission member 410 are evenly distributed circumferentially around the center of the moving platform 300, that is, the three first transmission members 410 are evenly distributed circumferentially at 120° intervals around the moving platform 300. The moving platform 300 is used to fix the clamping device 600, so multiple threaded holes for fixing can be provided on the table surface of the moving platform 300.

[0030] Reference Figure 4 As shown, it can be understood that the end of the first transmission member 410 is provided with a first transmission shaft 411, the end of the second transmission member 420 is provided with a first connecting seat 421, the first transmission shaft 411 is inserted into the first connecting seat 421, at least two first bearings 430 are provided between the outer side wall of the first transmission shaft 411 and the inner side wall of the first connecting seat 421, and the multiple first bearings 430 are distributed at intervals along the axial direction of the first transmission shaft 411.

[0031] For smaller lenses, even minute displacement deviations during lens coupling position adjustment can lead to poor lens coupling. Therefore, it is necessary to further improve the anti-overturning moment capability of the coaxial spherical parallel mechanism, specifically in terms of the anti-overturning moment capability of each rotating joint. The first drive shaft 411 is inserted into the first connecting seat 421, thus forming a rotating joint. At least two first bearings 430 are provided between the first drive shaft 411 and the first connecting seat 421 to improve the anti-overturning moment capability of this rotating joint.

[0032] Reference Figure 4As shown, it can be understood that the inner wall of the first connecting seat 421 is provided with a first positioning shoulder 422, which is located between two first bearings 430. The outer rings of the two first bearings 430 abut against the first positioning shoulder 422. The first drive shaft 411 is provided with a second positioning shoulder 412. The end of the first drive shaft 411 is covered with a first positioning cover plate 440. The first positioning cover plate 440 is provided with a third positioning shoulder 441. The two first bearings 430 are located between the second positioning shoulder 412 and the third positioning shoulder 441. The inner ring of one of the first bearings 430 abuts against the second positioning shoulder 412, and the inner ring of the other first bearing 430 abuts against the third positioning shoulder 441.

[0033] In the aforementioned structure, force is transmitted from the third positioning shoulder 441 on the first positioning cover plate 440 to the inner ring of a first bearing 430, then from the outer ring of the first bearing 430 to the first positioning shoulder 422, and then from the first positioning shoulder 422 to the outer ring of another first bearing 430. Finally, the inner ring of the first bearing 430 abuts against the second positioning shoulder 412. Adjusting the force exerted by the first positioning cover plate 440 on the first bearing 430 allows for reliable axial locking and limiting of the shaft system in a fully closed loop.

[0034] Preferably, the first positioning cover plate 440 and the first drive shaft 411 are connected by fixing screws 450, which pass through the first positioning cover plate 440 and are screwed into the first drive shaft 411. In some embodiments, a gap is left between the end faces of the first positioning cover plate 440 and the first drive shaft 411 to ensure that the first positioning cover plate 440 contacts the inner ring of the first bearing 430, thereby transmitting the clamping force of the first positioning cover plate 440 to the first bearing 430. Preferably, there are three fixing screws 450, which are evenly distributed along the circumference of the first drive shaft 411, i.e., the included angle between two adjacent fixing screws 450 is 120°.

[0035] Similarly, in some embodiments, the rotational connection between the first transmission member 410 and the moving platform 300 can also adopt the same structure as the rotational connection between the first transmission member 410 and the second transmission member 420. Specifically, refer to... Figure 5 and Figure 6As shown, the moving platform 300 is provided with a second drive shaft 310, and a second connecting seat 413 is provided at one end of the first transmission member 410 near the moving platform 300. The second drive shaft 310 is inserted into the second connecting seat 413. At least two second bearings 460 are provided between the outer side wall of the second drive shaft 310 and the inner side wall of the second connecting seat 413. The multiple second bearings 460 are distributed at intervals along the axial direction of the second drive shaft 310. Preferably, the number of second bearings 460 is set to two. Furthermore, the inner wall of the second connecting seat 413 is provided with a fourth positioning shoulder 414, which is located between the two second bearings 460. The outer rings of the two second bearings 460 abut against the fourth positioning shoulder 414. The second drive shaft 310 is provided with a fifth positioning shoulder 311. The end of the second drive shaft 310 is covered with a second positioning cover plate 470, which is provided with a sixth positioning shoulder 471. The two second bearings 460 are located between the fifth positioning shoulder 311 and the sixth positioning shoulder 471, and the inner ring of one of the second bearings 460 abuts against the fifth positioning shoulder 311, while the inner ring of the other second bearing 460 abuts against the sixth positioning shoulder 471.

[0036] Reference Figure 7 As shown, it can be understood that the direction from the base 200 to the moving platform 300 is defined as the first direction. The base 200 is provided with a first motor assembly 510, a second motor assembly 520, and a third motor assembly 530 stacked sequentially along the first direction. The first motor assembly 510, second motor assembly 520, and third motor assembly 530 are all hollow motor drive assemblies 500. The first motor assembly 510 is disposed on the base 200 and is connected to a first shaft 540. The axis of the first shaft 540 is parallel to the first direction. The second motor assembly 510... The motor assembly 520 is connected to a hollow second shaft 550, which is fitted onto the outside of the first shaft 540. The length of the second shaft 550 is less than the length of the first shaft 540. The third motor assembly 530 is connected to a hollow third shaft 560, which is fitted onto the outside of the second shaft 550. The length of the third shaft 560 is less than the length of the second shaft 550. The first shaft 540, the second shaft 550, and the third shaft 560 are coaxially arranged. Each of the first shaft 540, the second shaft 550, and the third shaft 560 is connected to a branch assembly 400.

[0037] The first motor assembly 510, the second motor assembly 520, and the third motor assembly 530 are all hollow motor drive assemblies 500. This means that among the three sets of hollow motor drive assemblies 500, the first motor assembly 510 is the first set of hollow motor drive assemblies 500, the second motor assembly 520 is the second set of hollow motor drive assemblies 500, and the third motor assembly 530 is the third set of hollow motor drive assemblies 500.

[0038] The second shaft 550 is fitted onto the first shaft 540, and the second shaft 550 is coaxial with the first shaft 540. The third shaft 560 is fitted onto the second shaft 550, and the third shaft 560 is coaxial with the second shaft 550, meaning the third shaft 560 is coaxial with the first shaft 540. With this structure, the rotation axis C of each branch assembly 400 is coaxial. Since the second shaft 550 needs to be fitted onto the first shaft 540, it is designed as a hollow structure; similarly, the third shaft 560 needs to be fitted onto the second shaft 550, so it is also designed as a hollow structure. The first shaft 540 can also be designed as a hollow structure to reduce its weight.

[0039] The length of the second shaft 550 is set to be less than the length of the first shaft 540, so that both ends of the first shaft 540 can extend beyond the second shaft 550. This ensures that one end of the first shaft 540 is connected to the first motor assembly 510 and the other end is connected to a branch assembly 400. Similarly, the length of the third shaft 560 is also set to be less than the length of the second shaft 550, so that both ends of the second shaft 550 can extend beyond the third shaft 560.

[0040] Reference Figure 8 As shown, it can be understood that the first shaft 540 is fixed with a first collar 710 at the end away from the base 200, the second shaft 550 is fixed with a second collar 720 at the end away from the base 200, and the third shaft 560 is fixed with a third collar 730 at the end away from the base 200. A second transmission member 420 is fixed to each of the first collar 710, the second collar 720, and the third collar 730.

[0041] Specifically, it can be understood that the first shaft 540 is provided with a first shaft shoulder 541, a first collar 710 is fitted onto the first shaft 540 and abuts against the first shaft shoulder 541, and the first shaft 540 is also provided with a third positioning cover plate 542, which is located on the opposite side of the first shaft shoulder 541 and abuts against the first collar 710.

[0042] The third positioning cover plate 542 cooperates with the first shoulder 541 to restrict the axial movement of the first collar 710. It should be understood that in some embodiments, the third positioning cover plate 542 can be replaced by the first retaining ring. Similarly, the second shaft 550 is provided with a second shoulder 551, the second collar 720 is fitted onto the second shaft 550 and abuts against the second shoulder 551, and the second shaft 550 is also provided with a second retaining ring 552, which is located on the opposite side of the second shoulder 551 and abuts against the second collar 720.

[0043] Similarly, the third shaft 560 is provided with a third shaft shoulder 561, and a third collar 730 is fitted onto the third shaft 560 and abuts against the third shaft shoulder 561. The third shaft 560 is also provided with a third retaining ring 562, which is located on the opposite side of the third shaft shoulder 561 and abuts against the third collar 730.

[0044] Reference Figure 9 As shown, the first motor assembly 510 includes a fixed base 511, a rotating member 512, a rotor 513, and a stator 514. The rotating member 512 is rotatably connected to the fixed base 511, and the stator 514 is fixed to the fixed base 511. The rotor 513 is disposed on the central side of the stator 514, and the rotor 513 is fixed to the outer side wall of the rotating member 512. The first shaft 540 is fixedly connected to the rotating member 512.

[0045] Specifically, rotor 513 is a permanent magnet, stator 514 is a coil, stator 514 generates a changing magnetic field to drive rotor 513 to rotate, and rotor 513 in turn drives rotating component 512 to rotate. First shaft 540 is fixedly connected to rotating component 512 and rotates synchronously.

[0046] When the first motor assembly 510, the second motor assembly 520 and the third motor assembly 530 are stacked, in order to meet the connection of the first shaft 540, the second shaft 550 and the third shaft 560, the rotating member 512 is provided with a through channel, which is set along the rotation center axis of the rotating member 512.

[0047] The rotating component 512 is rotatably connected to the fixed base 511. Preferably, at least two third bearings 515 are provided between the rotating component 512 and the fixed base 511. When two third bearings 515 are provided, the two third bearings 515 are distributed at both ends of the rotor 513 in the axial direction.

[0048] In the embodiments of this application, the base 200 is preferably vertically positioned so that the rotation axis C is parallel to the horizontal plane. This structure allows the three-axis moving device 100 and the coaxial spherical parallel mechanism to be positioned to the side of the optical device to be coupled, thus providing greater adjustment space. If the base 200 is horizontally positioned, i.e., the rotation axis C is perpendicular to the horizontal plane, the three-axis moving device 100 and the coaxial spherical parallel mechanism can only be positioned above the optical device to be coupled, thus requiring more vertical space. Vertical space is limited in most production environments, and maintenance of the three-axis moving device 100 and the coaxial spherical parallel mechanism requires working at height.

[0049] It should be understood that because the base 200 is vertically oriented, the rotation axis C is parallel to the horizontal plane, thus requiring the coaxial spherical parallel mechanism to have a higher resistance to overturning moment. The rotational connection structure between the first transmission member 410 and the second transmission member 420 in this application has been correspondingly improved, resulting in a higher resistance to overturning moment; the rotational connection structure between the moving platform 300 and the first transmission member 410 can also be correspondingly improved to have a higher resistance to overturning moment.

[0050] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of the present invention.

Claims

1. A lens coupling device with a hollow motor-driven coaxial spherical parallel mechanism, characterized in that, include: A three-axis moving device (100) has a travel distance in the X-axis, Y-axis and Z-axis directions; A base (200) is connected to the three-axis moving device (100) via a transmission connection. Dynamic platform (300); Three branch components (400) are disposed between the moving platform (300) and the base (200). The three branch components (400) are evenly distributed around the circumference of the moving platform (300). Each branch component (400) includes a first transmission member (410) and a second transmission member (420). The first transmission member (410) and the second transmission member (420) are rotatably connected to form a rotating shaft A. The first transmission member (410) is rotatably connected to the moving platform (300) to form a rotating shaft B. The second transmission member (420) is rotatably connected to the base (200) to form a rotating shaft C. In any of the branch components (400), the rotation axis A, the rotation axis B and the rotation axis C can intersect at a point when extended in space, and this point is defined as the center of motion. The center of motion is located on the side of the moving platform (300) away from the base (200), and the center of motion in the three branch components (400) coincide. Three sets of hollow motor drive assemblies (500), each set of hollow motor drive assemblies (500) corresponds one-to-one with three branch assemblies (400). In the corresponding hollow motor drive assemblies (500) and branch assemblies (400), the hollow motor drive assembly (500) is connected to the second transmission member (420) for transmission. The hollow motor drive assembly (500) is used to drive the second transmission member (420) to rotate around the rotation axis C. The second transmission member (420) can drive the first transmission member (410) to rotate around the rotation axis A. The first transmission member (410) can drive the moving platform (300) to rotate around the rotation axis B. A clamping device (600) is disposed on the moving platform (300), and the clamping center of the clamping device (600) coincides with the motion center point. The clamping device (600) is used to clamp a lens.

2. The lens coupling device with a hollow motor-driven coaxial spherical parallel mechanism according to claim 1, characterized in that, The first transmission member (410) has a first transmission shaft (411) at its end, and the second transmission member (420) has a first connecting seat (421) at its end. The first transmission shaft (411) is inserted into the first connecting seat (421). At least two first bearings (430) are provided between the outer side wall of the first transmission shaft (411) and the inner side wall of the first connecting seat (421). The plurality of first bearings (430) are distributed at intervals along the axial direction of the first transmission shaft (411).

3. The lens coupling device with a hollow motor-driven coaxial spherical parallel mechanism according to claim 2, characterized in that, The inner wall of the first connecting seat (421) is provided with a first positioning shoulder (422). The first positioning shoulder (422) is located between the two first bearings (430). The outer rings of the two first bearings (430) abut against the first positioning shoulder (422). The first drive shaft (411) is provided with a second positioning shoulder (412). The end of the first drive shaft (411) is covered with a first positioning cover plate (440). The first positioning cover plate (440) is provided with a third positioning shoulder (441). The two first bearings (430) are located between the second positioning shoulder (412) and the third positioning shoulder (441). The inner ring of one of the first bearings (430) abuts against the second positioning shoulder (412), and the inner ring of the other first bearing (430) abuts against the third positioning shoulder (441).

4. The lens coupling device with a hollow motor-driven coaxial spherical parallel mechanism according to claim 1, characterized in that, The moving platform (300) is provided with a second drive shaft (310). The first transmission member (410) is provided with a second connecting seat (413) at one end near the moving platform (300). The second drive shaft (310) is inserted into the second connecting seat (413). At least two second bearings (460) are provided between the outer side wall of the second drive shaft (310) and the inner side wall of the second connecting seat (413). The multiple second bearings (460) are distributed at intervals along the axial direction of the second drive shaft (310).

5. The lens coupling device with a hollow motor-driven coaxial spherical parallel mechanism according to claim 4, characterized in that, The inner wall of the second connecting seat (413) is provided with a fourth positioning shoulder (414), which is located between the two second bearings (460). The outer rings of the two second bearings (460) abut against the fourth positioning shoulder (414). The second drive shaft (310) is provided with a fifth positioning shoulder (311). The end of the second drive shaft (310) is covered with a second positioning cover plate (470). The second positioning cover plate (470) is provided with a sixth positioning shoulder (471). The two second bearings (460) are located between the fifth positioning shoulder (311) and the sixth positioning shoulder (471). The inner ring of one of the second bearings (460) abuts against the fifth positioning shoulder (311), and the inner ring of the other second bearing (460) abuts against the sixth positioning shoulder (471).

6. The lens coupling device with a hollow motor-driven coaxial spherical parallel mechanism according to claim 1, characterized in that, The direction from the base (200) to the moving platform (300) is defined as a first direction. The base (200) is stacked along this first direction with a first motor assembly (510), a second motor assembly (520), and a third motor assembly (530). The first motor assembly (510), the second motor assembly (520), and the third motor assembly (530) are all hollow motor drive assemblies (500). The first motor assembly (510) is disposed on the base (200) and is connected to a first shaft (540). The axial direction of the first shaft (540) is parallel to the first direction. The second motor assembly (520) is connected to... A hollow second shaft (550) is fitted onto the outside of the first shaft (540), and the length of the second shaft (550) is less than the length of the first shaft (540). The third motor assembly (530) is connected to a hollow third shaft (560), which is fitted onto the outside of the second shaft (550). The length of the third shaft (560) is less than the length of the second shaft (550). The first shaft (540), the second shaft (550), and the third shaft (560) are coaxially arranged, and each of the first shaft (540), the second shaft (550), and the third shaft (560) is connected to a branch assembly (400).

7. The lens coupling device with a hollow motor-driven coaxial spherical parallel mechanism according to claim 6, characterized in that, A first collar (710) is fixed to one end of the first shaft (540) away from the base (200), a second collar (720) is fixed to one end of the second shaft (550) away from the base (200), and a third collar (730) is fixed to one end of the third shaft (560) away from the base (200). A second transmission member (420) is fixed to each of the first collar (710), the second collar (720) and the third collar (730).

8. The lens coupling device with a hollow motor-driven coaxial spherical parallel mechanism according to claim 7, characterized in that, The first shaft (540) is provided with a first shoulder (541), and the first collar (710) is fitted onto the first shaft (540), and the first collar (710) abuts against the first shoulder (541). The first shaft (540) is also provided with a third positioning cover plate (542), which is located on the opposite side of the first shoulder (541), and the third positioning cover plate (542) abuts against the first collar (710).

9. The lens coupling device with a hollow motor-driven coaxial spherical parallel mechanism according to claim 6, characterized in that, The first motor assembly (510) includes a fixed base (511), a rotating component (512), a rotor (513), and a stator (514). The rotating component (512) is rotatably connected to the fixed base (511), the stator (514) is fixed to the fixed base (511), the rotor (513) is disposed on the center side of the stator (514), and the rotor (513) is fixed to the outer side wall of the rotating component (512). The first shaft (540) is fixedly connected to the rotating component (512).

10. The lens coupling device with a hollow motor-driven coaxial spherical parallel mechanism according to claim 1, characterized in that, The base (200) is vertically arranged so that the rotation axis C is parallel to the horizontal plane.

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