A flexible adjustment detection mechanism for a boarding door frame of a large aircraft

Abstract

The utility model belongs to large aircraft riveting type frame technical field, and a kind of large aircraft boarding door frame flexible adjustment detection mechanism.The technical solutions of the utility model are as follows: the docking platform, X direction adjusting platform, Y direction adjusting platform and bottom platform are sequentially arranged from top to bottom below boarding door frame preserving frame;the lower end of boarding door frame preserving frame is positioned and connected with the support seat fixed on the upper surface of docking platform by positioning assembly;four columns are symmetrically fixed on the upper surface of X direction adjusting platform, one slide rail is respectively fixed on the inner side of four columns along Z direction, and docking platform is slidably connected with four slide rails;the docking platform is driven to lift along Z direction by drive mechanism one and elevator;the screw rod two threadedly connected with X direction adjusting platform is driven to rotate by drive mechanism two, so that X direction adjusting platform moves along X direction;the screw rod three threadedly connected with Y direction adjusting platform is driven to rotate by drive mechanism three, so that Y direction adjusting platform moves along Y direction.The utility model is used for boarding door frame detection.

Description

Technical Field

[0001] This utility model belongs to the technical field of riveting frame for large aircraft, specifically relating to a flexible adjustment and detection mechanism for boarding door frames of large aircraft. Background Technology

[0002] Traditional boarding door frame assembly fixtures are widely used in the positioning of boarding door frames for aircraft of all sizes. However, due to environmental factors such as temperature and humidity, the size and position of aircraft panels can change. This can lead to situations where the panels cannot meet the docking requirements when assembling with the boarding door frame assembly fixtures, thus affecting the installation of the aircraft panels and the boarding door frame. Summary of the Invention

[0003] The purpose of this invention is to solve the aforementioned problems in the existing technology, and to provide a flexible adjustment and detection mechanism for large aircraft boarding gate frames. This detection mechanism can reduce detection time and improve efficiency. Through precise adjustment, errors are reduced, ensuring the accuracy of the aircraft boarding gate frame positioning and meeting the requirements for docking with aircraft panels.

[0004] The boarding door frame is carried by a conformal frame and docked with the adjustment and detection mechanism for positioning. After locking, the positioning is scanned by a laser tracker. Then, the adjustment mechanism (such as a lift, screw and movable support connected to the screw) is controlled by a servo motor to adjust and position each platform to the accurate position.

[0005] To achieve the above objectives, the technical solution adopted by this utility model is as follows: A flexible adjustment and detection mechanism for a large aircraft boarding door frame includes a boarding door frame conforming frame. Below the boarding door frame conforming frame, from top to bottom, are arranged a docking platform, an X-axis adjustment platform, a Y-axis adjustment platform, and a bottom platform. The lower end of the boarding door frame conforming frame is positioned and connected to a support fixed on the upper surface of the docking platform via a positioning component. Four columns are symmetrically fixed on the upper surface of the X-axis adjustment platform. A slide rail is fixed along the Z-axis on the inner side of each of the four columns. The four slide rails are symmetrically arranged, and the docking platform is slidably connected to the four slide rails. The lifting platform and drive mechanism one are both fixedly mounted on the upper surface of the X-axis adjustment platform. The docking platform is driven to rise and be positioned along the Z-axis by drive mechanism one and the lifting platform. Drive mechanism two is fixedly mounted on the upper surface of the Y-axis adjustment platform. Drive mechanism two drives screw two, which is threadedly connected to the X-axis adjustment platform, to rotate, thereby moving the X-axis adjustment platform along the X-axis. Drive mechanism three is fixedly mounted on the side of the bottom platform. Drive mechanism three drives screw three, which is threadedly connected to the Y-axis adjustment platform, to rotate, thereby moving the Y-axis adjustment platform along the Y-axis.

[0006] Furthermore, the output end of the drive mechanism is connected to the input end of the elevator, and the drive mechanism drives the lifting screw of the elevator to rotate. The lifting screw is threadedly connected to the threaded hole of the connecting support, and the connecting support is fixedly connected to the lower surface of the docking platform. The output shaft of the second drive mechanism is coaxially and fixedly connected to one end of the second screw arranged along the X direction. The second screw is threadedly connected to the threaded hole of the second movable support. The second movable support is fixedly connected to the upper surface of the X-direction adjustment platform. The output shaft of the drive mechanism is coaxially and fixedly connected to one end of the screw three arranged along the Y direction. The screw three is threadedly connected to the threaded hole three of the movable support three. The movable support three is fixedly connected to the lower surface of the Y-direction adjustment platform.

[0007] Furthermore, the positioning component includes a positioning pin and a positioning seat; the positioning seat is fixed to the lower end face of the boarding gate frame conformal frame, the positioning pin is fixedly disposed in the support seat, the positioning pin is matched and disposed in the positioning seat, the positioning seat is positioned and connected to the support seat through the positioning pin, and the positioning seat sits on the support seat.

[0008] Furthermore, the positioning component also includes a guide post; one end of the guide post is fixed to the upper surface of the docking platform, the guide post is slidably connected to the guide sleeve, and the guide sleeve is fixedly connected to the lower end of the boarding gate frame conformal bracket.

[0009] Furthermore, four locking mechanisms are evenly distributed and fixed between the lower surface of the boarding door frame conformal bracket and the upper surface of the docking platform.

[0010] Furthermore, the drive mechanism includes a servo motor, a reducer, a bearing housing, and a transmission shaft; the servo motor is fixedly connected to the reducer, the reducer is fixedly connected to the bearing housing, the bearing housing and the elevator are respectively fixedly connected to the upper surface of the X-axis adjustment platform, the bearing housing is mounted on the output shaft of the reducer, the output shaft of the reducer is connected to one end of the transmission shaft via a coupling, and the other end of the transmission shaft is connected to the input end of the elevator via a coupling.

[0011] Furthermore, the second drive mechanism includes a second servo motor and a second reducer; the second servo motor and the second reducer are fixedly connected, the second reducer is fixed on the second fixed support, the second fixed support is fixed on the upper surface of the Y-axis adjustment platform, and the output shaft of the second reducer rotates through the second fixed support and is coaxially fixedly connected to one end of the second screw.

[0012] Furthermore, the drive mechanism three includes a servo motor three and a reducer three; the servo motor three and the reducer three are fixedly connected, the reducer three is fixed on the fixed support three, the fixed support three is fixed on the upper surface of the bottom platform, and the output shaft of the reducer three rotates through the fixed support three and is coaxially fixedly connected to one end of the screw three.

[0013] Furthermore, the locking mechanism includes a locking support, a pin, a stud, a handle nut, and a baffle. The locking support is fixedly mounted on the upper surface of the docking platform. The lower end of the stud is located inside the locking support and connected to the locking support via the pin. The stud can rotate on the locking support via the pin. One end of the baffle is fixed to the lower surface of the boarding gate frame. The upper end of the stud is threadedly connected to the handle nut. The stud rotates via the pin until it is engaged in a slot provided in the baffle. The baffle is then pressed against the baffle by tightening the handle nut.

[0014] Furthermore, the flexible adjustment detection mechanism for the boarding door frame of the large aircraft also includes a laser tracker; the laser tracker is connected to the PLC signal, and the PLC is connected to the servo motor one, servo motor two, and servo motor three signal.

[0015] The advantages of this utility model over the prior art are: 1. This utility model is mainly used for the assembly of boarding door frames in the pre-assembly tooling of large aircraft wall panels. It has high precision, good retention and high efficiency during assembly.

[0016] 2. This utility model adopts a modular structure, and the boarding door frame conformal frame can be replaced according to the size and shape of the aircraft.

[0017] 3. This utility model has an adjustment mechanism with multiple degrees of freedom (such as moving along the X, Y, and Z directions) to adjust the material deformation caused by changes in environmental temperature, etc. Attached Figure Description

[0018] Figure 1 This is an isometric drawing of the flexible adjustment detection mechanism for the boarding door frame of a large aircraft, which is based on this utility model. Figure 2 This is the main view of the flexible adjustment detection mechanism for the boarding door frame of a large aircraft according to this utility model; Figure 3 yes Figure 2 Side view; Figure 4 yes Figure 2 Top view; Figure 5 This is a cross-sectional view of the positioning component; Figure 6 This is a sectional view of the locking mechanism; Figure 7 This is a block diagram showing the connection between the PLC and all servo motors.

[0019] The component names and reference numerals in the above figures are as follows: 1. Boarding door frame; 2. Boarding door frame retainer; 3. Docking platform; 4. X-axis adjustment platform; 5. Y-axis adjustment platform; 6. Column; 7. Positioning assembly; 8. Guide column; 9. Locking mechanism; 10. Slide rail; 11. Servo motor 1; 12. Reducer 1; 13. Bearing housing; 14. Drive shaft; 15. Lift; 16. Lifting screw; 17. Bottom platform; 18. Positioning pin; 19. Positioning seat; 20. Support seat; 1. Locking support; 22. Shaft pin; 23. Stud; 24. Handle nut; 25. Movable support two; 26. Screw two; 27. Fixed support two; 28. Screw three; 29. ​​Movable support three; 30. Fixed support three; 31. Connecting support; 32. Servo motor two; 33. Reducer two; 34. Servo motor three; 35. Reducer three; 36. Baffle; 37. Laser tracker; 38. PLC; 39. Drive mechanism one. Detailed Implementation

[0020] The technical solution of this utility model will be further described below with reference to the accompanying drawings, but it is not limited thereto. Any modifications or equivalent substitutions to the technical solution of this utility model that do not depart from the spirit and scope of the technical solution of this utility model shall be covered within the protection scope of this utility model.

[0021] like Figures 1-5 As shown, this embodiment discloses a flexible adjustment and detection mechanism for a large aircraft boarding door frame, including a boarding door frame conformal frame 2 (the boarding door frame 1 is installed on the boarding door frame conformal frame 2). A docking platform 3, an X-axis adjustment platform 4, a Y-axis adjustment platform 5, and a bottom platform 17 are arranged sequentially from top to bottom below the boarding door frame conformal frame 2. The lower end of the boarding door frame conformal frame 2 is positioned and connected to a support seat 20 fixed on the upper surface of the docking platform 3 through a positioning component 7. Four columns 6 are symmetrically fixed on the upper surface of the X-axis adjustment platform 4. A slide rail 10 is fixed along the Z-axis on the inner side of each of the four columns 6. The four slide rails 10 are symmetrically arranged, and the docking platform 3 is slidably connected to the four slide rails 10. The lifting platform 15 and the drive mechanism 39 are both fixedly mounted on the upper surface of the X-axis adjustment platform 4. The docking platform 3 is driven to lift and position along the Z-axis by the drive mechanism 39 and the lifting platform 15. The second drive mechanism is fixedly mounted on the upper surface of the Y-axis adjustment platform 5. The second drive mechanism drives the second screw 26, which is threadedly connected to the X-axis adjustment platform 4, to rotate, thereby causing the X-axis adjustment platform 4 to move along the X-axis. The drive mechanism three is fixedly mounted on the side of the bottom platform 17. The drive mechanism three drives the screw three 28, which is threadedly connected to the Y-axis adjustment platform 5, to rotate, thereby causing the Y-axis adjustment platform 5 to move along the Y-axis.

[0022] Furthermore, such as Figures 2-4As shown, the output end of the drive mechanism 39 is connected to the input end of the elevator 15. The drive mechanism 39 drives the lifting screw 16 of the elevator 15 to rotate. The lifting screw 16 is threadedly connected to the threaded hole of the connecting support 31. The connecting support 31 (by screws) is fixedly connected to the lower surface of the docking platform 3, thereby realizing the lifting and positioning of the docking platform 3 along the Z direction. The output shaft of the second drive mechanism is coaxially and fixedly connected to one end of the second screw 26 arranged along the X direction. The second screw 26 is threadedly connected to the threaded hole of the second movable support 25. The second movable support 25 (by screw) is fixedly connected to the upper surface of the X-direction adjustment platform 4, thereby realizing the movement of the X-direction adjustment platform 4 along the X direction.

[0023] The output shaft of the drive mechanism is coaxially and fixedly connected to one end of the screw 28 arranged along the Y direction. The screw 28 is threadedly connected to the threaded hole of the movable support 29. The movable support 29 (by screw) is fixedly connected to the lower surface of the Y-direction adjustment platform 5, thereby realizing the movement of the Y-direction adjustment platform 5 along the Y direction.

[0024] Furthermore, such as Figure 2 , Figure 3 and Figure 5 As shown, the positioning component 7 includes a positioning pin 18 and a positioning seat 19; the positioning seat 19 is fixed to the lower end face of the boarding door frame conformal frame 2 by screws, the positioning pin 18 is fixedly disposed in the support seat 20, the positioning pin 18 is matchedly disposed in the positioning seat 19, the positioning seat 19 is positioned and connected to the support seat 20 by the positioning pin 18, and the positioning seat 19 sits on the support seat 20.

[0025] Furthermore, such as Figure 3 As shown, the positioning component 7 also includes a guide post 8; one end of the guide post 8 is fixed to the upper surface of the docking platform 3, the guide post 8 is slidably connected to the guide sleeve, and the guide sleeve is fixedly connected to the lower end of the boarding gate frame conformal frame 2.

[0026] Furthermore, such as Figure 3 As shown, four locking mechanisms 9 are evenly distributed and fixed between the lower surface of the boarding gate frame retainer 2 and the upper surface of the docking platform 3. The locking mechanisms 9 lock the boarding gate frame retainer 2 to prevent displacement and detachment during assembly.

[0027] Furthermore, such as Figure 2 As shown, the drive mechanism 39 includes a servo motor 11, a reducer 12, a bearing housing 13, and a transmission shaft 14; Servo motor 11 is fixedly connected to reducer 12. Reducer 12 is fixedly connected to bearing housing 13 (by screws). Bearing housing 13 and lifting platform 15 are fixedly connected to the upper surface of X-axis adjustment platform 4 (by screws). Bearing housing 13 is mounted on the output shaft of reducer 12. The output shaft of reducer 12 is connected to one end of drive shaft 14 via coupling 1. The other end of drive shaft 14 is connected to the input end of lifting platform 15 via coupling 2.

[0028] Furthermore, such as Figure 4 As shown, the second drive mechanism includes a second servo motor 32 and a second reducer 33; the second servo motor 32 and the second reducer 33 are fixedly connected, the second reducer 33 is fixed on the second fixed support 27 (by screws), the second fixed support 27 is fixed on the upper surface of the Y-axis adjustment platform 5 (by screws), and the output shaft of the second reducer 33 rotates through the second fixed support 27 and is coaxially fixedly connected to one end of the second screw 26.

[0029] Servo motor 232 drives screw 26 to rotate after being reduced by reducer 23, which in turn drives movable support 25, which is threadedly connected to screw 26, to move along the X direction, thereby realizing the X-direction adjustment and positioning of X-direction adjustment platform 4.

[0030] Furthermore, such as Figure 4 As shown, the drive mechanism 3 includes a servo motor 34 and a reducer 35; the servo motor 34 and the reducer 35 are fixedly connected, the reducer 35 is fixed on the fixed support 30 (by screws), the fixed support 30 is fixed on the upper surface of the bottom platform 17 (by screws), and the output shaft of the reducer 35 rotates through the fixed support 30 and is coaxially fixedly connected to one end of the screw 3 28.

[0031] Servo motor 34 drives screw 326 to rotate after being reduced by reducer 35, which in turn drives movable support 325 to move along the Y direction, thereby realizing the Y-direction adjustment and positioning of Y-direction adjustment platform 5. Furthermore, such as Figure 3 , Figure 6 As shown, the locking mechanism 9 includes a locking support 21, a pin 22, a stud 23, a baffle 36, and a handle nut 24. The locking support 21 is fixedly mounted on the upper surface of the docking platform 3. The lower end of the stud 23 is located inside the locking support 21 and connected to the locking support 21 through the pin 22. The stud 23 can rotate on the locking support 21 through the pin 22. One end of the baffle 36 is fixed on the lower surface of the boarding gate frame retainer 2. The upper end of the stud 23 is threadedly connected to the handle nut 24. The stud 23 rotates through the pin 22 until it is engaged in the slot provided in the baffle 36. The handle nut 24 is tightened to abut against the baffle 36.

[0032] Furthermore, such as Figure 7As shown, the flexible adjustment detection mechanism for the large aircraft boarding gate frame also includes a laser tracker 37; the laser tracker 37 is connected to a PLC 38, and the PLC 38 is connected to servo motors 11, 32, and 34 (the laser tracker 37 is placed on the ground and can be moved at any time). The laser tracker 37 scans the target points on the conformal frame 2 of the boarding gate frame, and the signal is transmitted to the PLC 38, which then controls the start and stop of the three servo motors.

[0033] The working process of this utility model is as follows: like Figures 1-6 As shown, the boarding door frame retainer 2 carries the boarding door frame 1 and rests on the support base 20 through the guide post 8, positioning pin 18, and positioning seat 19. The locking mechanism 9 locks the boarding door frame retainer 2 to prevent displacement and detachment during assembly.

[0034] like Figure 2 , Figure 7 As shown, after scanning by the laser tracker 37, the signal is transmitted to the PLC 38, which controls the servo motor 11 to work. Specifically, the servo motor 11 on the X-axis adjustment platform 4 drives the reducer 12 and controls the lifting screw 16 of the elevator 15 through the transmission shaft 14 to adjust and position the docking platform 3 in the Z-axis.

[0035] like Figure 4 , Figure 7 As shown, the servo motor 32 on the Y-axis adjustment platform 5 drives the reducer 33, which in turn drives the movable support 25 via the screw 26 to adjust and position the X-axis adjustment platform 4 in the X direction. After scanning, the laser tracker 37 transmits the signal to the PLC 38, which then controls the servo motor 32 to operate.

[0036] like Figure 4 , Figure 7 As shown, the servo motor 34 on the bottom platform 31 drives the reducer 35, which in turn drives the movable support 329 via the screw 328 to adjust and position the Y-axis adjustment platform 5 in the Y direction. After scanning, the laser tracker 37 transmits the signal to the PLC 38, which then controls the servo motor 34 to operate.

[0037] The elevator, reducer, servo motor, coupling, laser tracker, etc. in this utility model are all purchased from the market.

[0038] It is understood that this utility model has been described through some embodiments, and those skilled in the art will recognize that various changes or equivalent substitutions can be made to these features and embodiments without departing from the spirit and scope of this utility model. Furthermore, under the teachings of this utility model, these features and embodiments can be modified to adapt to specific situations and materials without departing from the spirit and scope of this utility model. Therefore, this utility model is not limited to the specific embodiments disclosed herein, and all embodiments falling within the scope of the claims of this application are within the protection scope of this utility model.

Claims

1. A flexible adjustment detection mechanism for a large aircraft boarding door frame, characterized in that: The boarding gate frame conformal frame (2) includes a docking platform (3), an X-axis adjustment platform (4), a Y-axis adjustment platform (5) and a bottom platform (17) arranged from top to bottom below the boarding gate frame conformal frame (2); the lower end of the boarding gate frame conformal frame (2) is positioned and connected to the support base (20) fixed on the upper surface of the docking platform (3) through the positioning component (7); four columns (6) are symmetrically fixed on the upper surface of the X-axis adjustment platform (4); a slide rail (10) is fixed on the inner side of each of the four columns (6) along the Z direction; the four slide rails (10) are symmetrically arranged; the docking platform (3) is slidably connected to the four slide rails (10); The elevator (15) and drive mechanism one (39) are both fixedly mounted on the upper surface of the X-direction adjustment platform (4). The docking platform (3) is driven to rise and be positioned along the Z-direction by drive mechanism one (39) and elevator (15). Drive mechanism two is fixedly mounted on the upper surface of the Y-direction adjustment platform (5). Drive mechanism two drives screw two (26) threadedly connected to the X-direction adjustment platform (4) to rotate, thereby causing the X-direction adjustment platform (4) to move along the X-direction. Drive mechanism three is fixedly mounted on the side of the bottom platform (17). Drive mechanism three drives screw three (28) threadedly connected to the Y-direction adjustment platform (5) to rotate, thereby causing the Y-direction adjustment platform (5) to move along the Y-direction.

2. The flexible adjustment detection mechanism for the boarding door frame of a large aircraft according to claim 1, characterized in that: The output end of the drive mechanism (39) is connected to the input end of the elevator (15) for transmission. The drive mechanism (39) drives the lifting screw (16) of the elevator (15) to rotate. The lifting screw (16) is threadedly connected to the threaded hole of the connecting support (31). The connecting support (31) is fixedly connected to the lower surface of the docking platform (3). The output shaft of the second drive mechanism is coaxially and fixedly connected to one end of the second screw (26) set along the X direction. The second screw (26) is threadedly connected to the threaded hole of the second movable support (25). The second movable support (25) is fixedly connected to the upper surface of the X-direction adjustment platform (4). The output shaft of the drive mechanism is coaxially and fixedly connected to one end of the screw three (28) set along the Y direction. The screw three (28) is threadedly connected to the threaded hole three of the movable support three (29). The movable support three (29) is fixedly connected to the lower surface of the Y-direction adjustment platform (5).

3. The flexible adjustment detection mechanism for the boarding door frame of a large aircraft according to claim 1, characterized in that: The positioning component (7) includes a positioning pin (18) and a positioning seat (19); the positioning seat (19) is fixed on the lower end face of the boarding door frame conformal frame (2), the positioning pin (18) is fixedly set in the support seat (20), the positioning pin (18) is matched and set in the positioning seat (19), the positioning seat (19) is positioned and connected to the support seat (20) through the positioning pin (18), and the positioning seat (19) sits on the support seat (20).

4. The flexible adjustment detection mechanism for the boarding door frame of a large aircraft according to claim 3, characterized in that: The positioning component (7) also includes a guide post (8); one end of the guide post (8) is fixed on the upper surface of the docking platform (3), the guide post (8) is slidably connected to the guide sleeve, and the guide sleeve is fixedly connected to the lower end of the boarding door frame conformal frame (2).

5. The flexible adjustment detection mechanism for the boarding door frame of a large aircraft according to claim 1, characterized in that: Four locking mechanisms (9) are evenly distributed and fixed between the lower surface of the boarding gate frame conformal bracket (2) and the upper surface of the docking platform (3).

6. The flexible adjustment detection mechanism for the boarding door frame of a large aircraft according to claim 1, characterized in that: The drive mechanism 1 (39) includes a servo motor 1 (11), a reducer 1 (12), a bearing housing (13), and a transmission shaft (14). The servo motor 1 (11) is fixedly connected to the reducer 1 (12), the reducer 1 (12) is fixedly connected to the bearing housing (13), the bearing housing (13) and the elevator (15) are fixedly connected to the upper surface of the X-axis adjustment platform (4), the bearing housing (13) is mounted on the output shaft of the reducer 1 (12), the output shaft of the reducer 1 (12) is connected to one end of the transmission shaft (14) through a coupling 1, and the other end of the transmission shaft (14) is connected to the input end of the elevator (15) through a coupling 2.

7. The flexible adjustment detection mechanism for the boarding door frame of a large aircraft according to claim 1, characterized in that: The second drive mechanism includes a second servo motor (32) and a second reducer (33). Servo motor 2 (32) is fixedly connected to reducer 2 (33). Reducer 2 (33) is fixed on fixed support 2 (27). Fixed support 2 (27) is fixed on the upper surface of Y-axis adjustment platform (5). The output shaft of reducer 2 (33) rotates through fixed support 2 (27) and is coaxially fixedly connected to one end of screw 2 (26).

8. The flexible adjustment detection mechanism for the boarding door frame of a large aircraft according to claim 1, characterized in that: The drive mechanism three includes a servo motor three (34) and a reducer three (35). Servo motor three (34) is fixedly connected to reducer three (35). Reducer three (35) is fixed on fixed support three (30). Fixed support three (30) is fixed on the upper surface of bottom platform (17). The output shaft of reducer three (35) rotates through fixed support three (30) and is coaxially fixedly connected to one end of screw three (28).

9. The flexible adjustment detection mechanism for the boarding door frame of a large aircraft according to claim 5, characterized in that: The locking mechanism (9) includes a locking support (21), a pin (22), a stud (23), a handle nut (24), and a baffle (36). The locking support (21) is fixedly mounted on the upper surface of the docking platform (3). The lower end of the stud (23) is set in the locking support (21) and connected to the locking support (21) through the pin (22). The stud (23) can rotate on the locking support (21) through the pin (22). One end of the baffle (36) is fixed on the lower surface of the boarding door frame conformal frame (2). The upper end of the stud (23) is threadedly connected to the handle nut (24). The stud (23) rotates through the pin (22) to the upper part and is inserted into the slot provided in the baffle (36). The handle nut (24) is tightened and abuts against the baffle (36).

10. The flexible adjustment detection mechanism for the boarding door frame of a large aircraft according to claim 1, characterized in that: The flexible adjustment detection mechanism for the boarding gate of the large aircraft also includes a laser tracker (37); the laser tracker (37) is connected to the PLC (38) by signal, and the PLC (38) is connected to the servo motor one (11), servo motor two (32) and servo motor three (34) by signal.

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