CN104215173A - Automatic adhering device for indication gratings of incremental grating ruler - Google Patents
Automatic adhering device for indication gratings of incremental grating ruler Download PDFInfo
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- CN104215173A CN104215173A CN201410427292.7A CN201410427292A CN104215173A CN 104215173 A CN104215173 A CN 104215173A CN 201410427292 A CN201410427292 A CN 201410427292A CN 104215173 A CN104215173 A CN 104215173A
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Abstract
The invention discloses an automatic adhering device for indication gratings of an incremental grating ruler, relates to the field of manufacturing process of grating rulers and solves the problem that an existing indication grating adhering device is poor in adhering uniformity and low in yield and measuring accuracy due to the fact that three-dimensional adjustment, pressing force of carriages and contractility of glue cannot be accurately controlled during manual adhering of the indication grating. A recess area 0.03-0.04mm in depth is formed in a contact area of the upper surface of a main grating and three upper bearings of carriages of the automatic adhering device. The automatic adhering device further comprises a grating pickup component, a carriage positioning component, a three-dimensional adjusting component and an adhesive dispensing and curing component, wherein the grating pickup component is used for picking up and disposing the indication gratings on the main grating, the carriage positioning component is used for clamping the carriages and disposing the carriages on the main grating so as to enable the carriages to move and be positioned, the three-dimensional adjusting component is used for realizing closed-loop control of three-degree-of-freedom adjustment of the indication gratings, and the adhesive dispensing and curing component is used for dispensing and curing of adhesives. The automatic adhering device is capable of fully automatically adhering and improving accuracy, measuring accuracy and yield, and good in adhering uniformity.
Description
Technical field
The present invention relates to grating scale manufacturing process technology field, be specifically related to a kind of increment type grating scale indication grating automatic adhesive device.
Background technology
The grating scale that numerically-controlled machine uses is made up of key light grid 1 and indication grating 2, wherein key light grid 1 are bonded on chi shell, indication grating 2 is bonded on balladeur train 3, the structure of indication grating 2 as shown in Figure 2, balladeur train 3 acts on key light grid 1 by five bearings (three head bearing 3-1 and two side bearing 3-2), the structure of balladeur train 3 as shown in Figure 3, when balladeur train 3 drives indication grating 2 to move on key light grid 1, utilize the Moire effect of light, position is moved the movement being transformed into light and dark Moire fringe, then convert digital quantity signal to by photoelectric receiving device.
Indication grating 2 is bonded in demand fulfillment two technical indicators on balladeur train 3: first, gap between indication grating 2 and key light grid 1 is 0.03 ~ 0.04mm, gap is less, the DC level of photosignal is less, signal amplitude is higher, be conducive to the process of Subsequent electronic, if gap is too small, when grating scale inevitably has particle contamination in actual applications, the wearing and tearing between key light grid 1 and indication grating 2 can be caused, reduce the serviceable life of grating scale; The second, the Moire fringe width that indication grating 2 and key light grid 1 are formed will reach 50 ~ 70mm, and this just requires that the angle of two grating grids is about less than 1 ', if angle is excessive, then can reduces increment signal segmentation quality, and then affect measuring accuracy.
Existing indication grating bonding way mainly relies on manual bonding, judges whether indication grating 2 aligns with the grid line of key light grid 1 by the length of eye-observation Moire fringe.Publication number is the positioning bonding device that the Chinese patent of CN102607419A discloses a kind of indication grating, and it is bonding to indication grating 2 that this device adopts a kind of micro-adjusting mechanism and CCD camera to obtain the realization of Moire fringe image.This device is manually adheredly connected to certain superiority compared to pure, but its key step still adopts manual operations, in manually adhered termination process, the convergent force of the three-dimensional adjustment amount of indication grating 2, the snap-in force of balladeur train 3 and glue cannot accurately control, and then cause bonding consistance can not be guaranteed, yield rate is low, reduces the overall measurement accuracy of grating scale.
Summary of the invention
Cause due to the three-dimensional adjustment amount of indication grating, the snap-in force of balladeur train and the convergent force of glue accurately cannot be controlled the problem that bonding consistance is poor, yield rate is low, measuring accuracy is low in order in the manually adhered termination process of indication grating that the positioning bonding device solving existing indication grating exists, the invention provides a kind of increment type grating scale indication grating automatic adhesive device.
The technical scheme that the present invention adopts for technical solution problem is as follows:
Increment type grating scale indication grating automatic adhesive device of the present invention, comprise multiple indication grating, multiple balladeur train, pedestal, the support be fixed on pedestal, the key light grid be fixed on support, three head bearing contact area Formation Depth of described main grating upper surface and balladeur train are the depressed area of 0.03 ~ 0.04mm; Also comprise: be arranged on the guide rail on pedestal, grating picking up assembly, balladeur train positioning component, three-dimensional adjustment assembly, be fixed on the some adhesive curing assembly on support;
Described grating picking up assembly is for drawing indication grating and indication grating being positioned over key light grid;
Described balladeur train positioning component be positioned over for gripping balladeur train and by balladeur train key light grid realize balladeur train movement, compression and location, comprise be arranged on balladeur train rotating disk on pedestal and balladeur train rotary tray motor, the electricity driving displacement platform be fixed on the second slide block of guide rail, be fixed on electricity driving displacement platform slide block on and can with slide block along electricity driving displacement platform perpendicular to the movement of guide rail direction balladeur train arm, be fixed on balladeur train arm one end and for gripping balladeur train balladeur train clamper, be fixed on guide rail and the balladeur train servomotor be connected with the second slide block, three magnet being fixed on key light grid lower surface; Described balladeur train rotating disk is connected with balladeur train rotary tray motor and under the driving of balladeur train rotary tray motor, can rotates a fixed angle at every turn, multiple balladeur train is distributed on balladeur train rotating disk, second slide block of described balladeur train driven by servomotor guide rail moves driving electric displacement platform and balladeur train arm simultaneously along guide rail and moves along being parallel to guide rail direction, described three magnet are corresponding with three head bearings of balladeur train respectively, when balladeur train is near key light grid, by three magnet, balladeur train is adsorbed on main grating upper surface;
Described three-dimensional adjustment assembly, for realizing the closed-loop control of indication grating Three Degree Of Freedom adjustment, comprises the three-dimensional adjustment platform be arranged on pedestal, to be fixed on three-dimensional adjustment platform and for the grating clamper of gripping indication grating, the CCD camera being arranged on key light grid both sides respectively and CCD light source; Described key light grid are positioned at grating clamper front end, under the drive of three-dimensional adjustment platform, the Three Degree Of Freedom adjustment of indication grating is realized after described grating clamper gripping indication grating, described grating clamper clamps indication grating all the time in an adhesive curing process, obtain Moire fringe image data by CCD camera and calculate adjustment amount, according to the position of adjustment amount adjustment indication grating, until the Moire fringe width formed between indication grating and key light grid reaches 50 ~ 70mm;
Described some adhesive curing assembly, for realizing some glue between indication grating and balladeur train and solidification, realizes once motion by an adhesive curing assembly and just can complete a glue and solidify overall process.
Also comprise and be arranged on pedestal and be positioned at key light grid front end for placing the pallet of balladeur train, described guide rail is positioned at outside pallet.
Described grating picking up assembly comprise be arranged on grating rotating disk on pedestal and grating rotary tray motor, the grating arms be fixed on the first slide block of guide rail, be fixed on grating arms one end linear electric motors, to be connected with the nut of linear electric motors and for the sucker drawn be elevated indication grating, be fixed on guide rail and the grating servomotor be connected with the first slide block; Described grating rotating disk is connected with grating rotary tray motor and under the driving of grating rotary tray motor, can rotates a fixed angle at every turn, multiple indication grating is distributed on grating rotating disk, and the first slide block of described grating driven by servomotor guide rail moves along guide rail and drives grating arms, linear electric motors, sucker and indication grating to move simultaneously.
Described some adhesive curing assembly comprise the miniature guide rail be fixed on support, be fixed on the some glue servomotor of miniature guide rail one end, to be fixed on successively on the slide block of miniature guide rail for two of ultraviolet glue Glue dripping heads side by side, for taking balladeur train to obtain the accurately camera of some glue position and the ultraviolet source for ultraviolet irradiation solidification; The slide block of described miniature guide rail is positioned at above key light grid, and the slide block of described some glue driven by servomotor miniature guide rail moves and drives two Glue dripping heads, camera and ultraviolet sources to move along miniature guide rail simultaneously.
The number of described indication grating is N
1individual, N
1individual indication grating is distributed on grating rotating disk, and described grating rotating disk rotates a fixed angle θ at every turn
1, and
n
1for positive integer.
The number of described balladeur train is N
2individual, N
2individual balladeur train is distributed on balladeur train rotating disk, and described balladeur train rotating disk rotates a fixed angle θ at every turn
2, and
n
2for positive integer.
The number of described balladeur train is identical with the number of indication grating and the angle of described balladeur train dial rotation is identical with the angle of grating dial rotation.
Described CCD camera to be arranged on pedestal and to be positioned at below key light grid, simultaneously described CCD light source be arranged on miniature guide rail slide block on and be positioned at above key light grid, the Moire fringe image data utilizing CCD camera to obtain achieve as feedback quantity the closed-loop control that indication grating Three Degree Of Freedom adjusts.
Described CCD camera and CCD light source all can be fixed on pedestal by mount pad, and described CCD camera is located at above key light grid, described CCD light source is positioned at below key light grid simultaneously, and the Moire fringe image data utilizing CCD camera to obtain achieve the closed-loop control of indication grating Three Degree Of Freedom adjustment as feedback quantity.
Described three-dimensional adjustment platform is two one-movement-freedom-degrees and a rotary freedom, two one-movement-freedom-degrees are for regulating the relative position of indication grating and balladeur train, one-movement-freedom-degree resolution is below 0.1mm, the Moire fringe width of rotary freedom for regulating CCD camera to obtain, rotary freedom resolution is 20 ".
The invention has the beneficial effects as follows: increment type grating scale indication grating automatic adhesive device of the present invention achieves the bonding full-automation of indication grating: the Moire fringe image data obtained by utilizing CCD camera to realize the closed-loop control of indication grating Three Degree Of Freedom adjustment, improve the Adjustment precision of indication grating as feedback quantity; Utilize magnet adsorption to realize balladeur train location, guarantee bearing and the key light grid close contact of balladeur train; In whole bonding process, grating clamper clamps indication grating all the time, avoids causing two grating gaps not reach requirement due to the convergent force of glue, improves adhesive reinforcement and yield rate, ensure that bonding consistance simultaneously.
Accompanying drawing explanation
Fig. 1 is the structural representation of the key light grid in the present invention.
Fig. 2 is the structural representation of existing indication grating.
Fig. 3 is the structural representation of existing balladeur train.
Fig. 4 is the normal axomometric drawing of increment type grating scale indication grating automatic adhesive device of the present invention.
Fig. 5 is the normal axomometric drawing of grating picking up assembly of the present invention.
Fig. 6 is the normal axomometric drawing of balladeur train positioning component of the present invention.
Fig. 7 is the normal axomometric drawing of three-dimensional adjustment assembly of the present invention.
Fig. 8 is the normal axomometric drawing of of the present invention some adhesive curing assembly.
Fig. 9 is a glue position view.
In figure: 1, key light grid, 1-1, depressed area, 2, indication grating, 3, balladeur train, 3-1, head bearing, 3-2, side bearing, 4, grating picking up assembly, 5, balladeur train positioning component, 6, three-dimensional adjustment assembly, 7, point adhesive curing assembly, 8, pallet, 9, grating rotating disk, 10, linear electric motors, 11, sucker, 12, grating arms, 13, guide rail, 13-1, first slide block, 13-2, second slide block, 14, grating servomotor, 15, balladeur train rotating disk, 16, balladeur train clamper, 17, balladeur train arm, 18, electricity driving displacement platform, 19, balladeur train servomotor, 20, magnet, 21, grating clamper, 22, three-dimensional adjustment platform, 23, CCD camera, 24, CCD light source, 25, Glue dripping head, 26, camera, 27, ultraviolet source, 28, miniature guide rail, 29, point glue servomotor, 30, pedestal, 31, support, 32, grating rotary tray motor, 33, balladeur train rotary tray motor.
Embodiment
Below in conjunction with accompanying drawing, the present invention is described in further detail.
Increment type grating scale indication grating automatic adhesive device of the present invention be mainly used in by indication grating 2 according to technical requirement automatic adhesive on balladeur train 3, as shown in Figure 4, increment type grating scale indication grating automatic adhesive device of the present invention is by key light grid 1, indication grating 2, balladeur train 3, grating picking up assembly 4, balladeur train positioning component 5, three-dimensional adjustment assembly 6, point adhesive curing assembly 7, pallet 8, guide rail 13, pedestal 30 and support 31 form, key light grid 1 are fixed on support 31, support 31, grating picking up assembly 4, balladeur train positioning component 5, three-dimensional adjustment assembly 6, pallet 8 and guide rail 13 are arranged on pedestal 30, and grating picking up assembly 4 and balladeur train positioning component 5 lay respectively at the both sides of three-dimensional adjustment assembly 6, three-dimensional adjustment assembly 6 is positioned near key light grid 1, point adhesive curing assembly 7 is fixed on key light grid 1, pallet 8 is positioned at key light grid 1 front end, for placing balladeur train 3, guide rail 13 is positioned at outside pallet 8.
In present embodiment, the bonding demand fulfillment two indices of indication grating 2: the gap between (1) indication grating 2 and key light grid 1 is 0.03 ~ 0.04mm; (2) the Moire fringe width that indication grating 2 and key light grid 1 are formed is 50 ~ 70mm, and namely the angle of two grating grids is about less than 1 '.In order to meet first index, need special key light grid 1, the structure of key light grid 1 as shown in Figure 1, three head bearing 3-1 contact areas of the upper surface of key light grid 1 and balladeur train 3 are ground off 0.03 ~ 0.04mm, form a depressed area 1-1, namely the degree of depth of depressed area 1-1 is 0.03 ~ 0.04mm, the length of depressed area 1-1 and width dimensions meet makes three of balladeur train 3 head bearing 3-1 just fall in the 1-1 of depressed area, bonding so complete after, when balladeur train 3 being placed on the special key light grid 1 of the present invention, just can ensure that the gap between indication grating 2 and key light grid 1 is 0.03 ~ 0.04mm.In order to meet second index, the position of the Moire fringe image data point reuse indication grating 2 utilizing CCD camera 23 to obtain is needed about to be less than 1 ' to make two grating grid angles.
Indication grating 2 is bonding is always divided into six large operations: (1) puts into indication grating 2; (2) put into and compress balladeur train 3; (3) indication grating 2 is adjusted; (4) ultraviolet glue is put; (5) solidification is irradiated; (6) take out after bonding.In order to realize the robotization often walked, there are four assemblies accordingly: grating picking up assembly 4, balladeur train positioning component 5, three-dimensional adjustment assembly 6, some adhesive curing assembly 7.
Grating picking up assembly 4 is for drawing indication grating 2 and indication grating 2 being positioned over key light grid 1.As shown in Figure 5, grating picking up assembly 4 is made up of grating rotating disk 9, linear electric motors 10, sucker 11, grating arms 12, grating servomotor 14 and grating rotary tray motor 32.Grating rotating disk 9 and grating rotary tray motor 32 are installed on pedestal 30, and grating rotating disk 9 is connected with grating rotary tray motor 32 and rotates under the driving of grating rotary tray motor 32, N
1individual indication grating 2 is distributed on grating rotating disk 9, and grating rotating disk 9 rotates a fixed angle θ at every turn
1, and
n
1for positive integer, the radius of increase grating rotating disk 9 that can be suitable is to hold more indication grating 2.One end of grating arms 12 is fixed on the first slide block 13-1 of guide rail 13, grating servomotor 14 to be fixed on guide rail 13 and to be connected by the nut of screw mandrel with the first slide block 13-1, grating servomotor 14 drives the first slide block 13-1 of guide rail 13 to move drive grating arms 12 simultaneously along guide rail 13 and moves, the other end of grating arms 12 is fixed with linear electric motors 10, sucker 11 is connected with the nut of linear electric motors 10, for drawing and lifting indication grating 2.Linear electric motors 10 drive sucker 11 to decline by nut, indication grating 2 drawn by sucker 11, linear electric motors 10 drive sucker 11 to rise by nut again, grating servomotor 14 drives the first slide block 13-1 of guide rail 13 to move drive grating arms 12 simultaneously along guide rail 13 and moves, linear electric motors 10, sucker 11 and indication grating 2 are simultaneously along with grating arms 12 moves, until moved to above key light grid 1 by indication grating 2, put down indication grating 2, grating arms 12 returns according to former road.
Balladeur train positioning component 5 is for gripping balladeur train 3 and balladeur train 3 is positioned over key light grid 1, realizes the movement of balladeur train 3, compression and location.As shown in Figure 6, balladeur train positioning component 5 is made up of balladeur train rotating disk 15, balladeur train clamper 16, balladeur train arm 17, electricity driving displacement platform 18, balladeur train servomotor 19, three magnet 20 and balladeur train rotary tray motor 33.Balladeur train rotating disk 15 and balladeur train rotary tray motor 33 are installed on pedestal 30, and balladeur train rotating disk 15 is connected with balladeur train rotary tray motor 33 and rotates under the driving of balladeur train rotary tray motor 33, N
2individual balladeur train 3 is distributed on balladeur train rotating disk 15, and balladeur train rotating disk 15 rotates a fixed angle θ at every turn
2, and
n
2for positive integer, the radius of increase balladeur train rotating disk 15 that can be suitable to hold more balladeur train 3, the number of balladeur train 3 should and balladeur train rotating disk 15 identical with the number of indication grating 2 angle of rotating and grating rotating disk 9 angle of rotating identical, i.e. N
1=N
2and θ
1=θ
2, balladeur train 3 designs according to technical requirement with the concrete number of indication grating 2, is not construed as limiting.The slide block that one end of balladeur train arm 17 is fixed on electricity driving displacement platform 18 moves along electricity driving displacement platform 18 with slide block, moving direction is perpendicular to guide rail 13, electricity driving displacement platform 18 is fixed on the second slide block 13-2 of guide rail 13, balladeur train servomotor 19 to be fixed on guide rail 13 and to be connected by the nut of screw mandrel with the second slide block 13-2, balladeur train servomotor 19 drives the second slide block 13-2 of guide rail 13 to move driving electric displacement platform 18 and the balladeur train arm 17 on it simultaneously along guide rail 13 and moves along the direction being parallel to guide rail 13, the two degrees of freedom realizing balladeur train 3 under the drive of electricity driving displacement platform 18 and balladeur train servomotor 19 moves and location, balladeur train clamper 16 is fixed on the other end of balladeur train arm 17, balladeur train clamper 16 is for gripping balladeur train 3.The lower surface of key light grid 1 is provided with three magnet 20, the position of these three magnet 20 is corresponding with the position of three head bearing 3-1 of balladeur train 3 respectively, when balladeur train 3 moves near key light grid 1, by these three magnet 20, balladeur train 3 is adsorbed on the upper surface of key light grid 1, three head bearing 3-1 and two the side bearing 3-2 that so just can ensure balladeur train 3 respectively with upper surface and the side surface close contact of key light grid 1.Balladeur train clamper 16 gripping balladeur train 3, balladeur train servomotor 19 and electricity driving displacement platform 18 drive balladeur train arm 17 to move drive balladeur train clamper 16 simultaneously simultaneously and move, balladeur train 3 moves near key light grid 1 upper surface along with balladeur train clamper 16, balladeur train clamper 16 unclamps balladeur train 3, balladeur train 3 is adsorbed on the upper surface of key light grid 1 by three magnet 20 on key light grid 1, balladeur train arm 17 retreats mobile along the direction perpendicular to guide rail 13 on electricity driving displacement platform 18, drive balladeur train clamper 16 to retreat the top moving to next balladeur train 3 simultaneously, prepare gripping next time.In existing manual operations, generally direct balladeur train 3 is placed on key light grid 1, without any fixing or hold down gag, in subsequent operation, balladeur train 3 is easy to off normal, adhesive reinforcement is caused to reduce, consistance can not be guaranteed, and balladeur train positioning component 5 of the present invention well solves this problem, and balladeur train 3 is not easily offed normal, improve adhesive reinforcement, ensure that bonding consistance.
Three-dimensional adjustment assembly 6 is for realizing the closed-loop control of indication grating 2 Three Degree Of Freedom adjustment.As shown in Figure 7 and Figure 8, three-dimensional adjustment assembly 6 is made up of grating clamper 21, three-dimensional adjustment platform 22, CCD camera 23 and CCD light source 24.Three-dimensional adjustment platform 22 is arranged on pedestal 30, and grating clamper 21 is fixed on three-dimensional adjustment platform 22, and for gripping and clamping indication grating 2, key light grid 1 to be fixed on pedestal 30 by support 31 and to be positioned at grating clamper 21 front end.Three-dimensional adjustment platform 22 is two one-movement-freedom-degrees and a rotary freedom, two one-movement-freedom-degrees are the relative positions in order to regulate indication grating 2 and balladeur train 3, its resolution should at below 0.1mm, rotary freedom is the Moire fringe width in order to regulate CCD camera 23 to obtain, according to Precision Theory, want the regulated quantity accurately realizing 1 ', resolution at least should be 1/3 of regulated quantity, and therefore the resolution of rotary freedom should be 20 ".Under the drive of three-dimensional adjustment platform 22, the Three Degree Of Freedom adjustment of indication grating 2 is realized after grating clamper 21 gripping indication grating 2.As shown in Figure 7, CCD camera 23 to be arranged on pedestal 30 and to be positioned at the below of key light grid 1, as shown in Figure 8 simultaneously, the slide block that CCD light source 24 is arranged on miniature guide rail 28 is positioned at the top of key light grid 1, what such CCD camera 23 received is transmitted light, transmitted intensity comparatively reflects wide, therefore CCD camera 23 can obtain Moire fringe image clearly, also CCD camera 23 can be arranged on the top of key light grid 1 according to this principle and CCD light source 24 be arranged on the below of key light grid 1, as long as space condition allows, when above CCD camera 23 is positioned at key light grid 1 and CCD light source 24 is positioned at below key light grid 1 time, CCD camera 23 and CCD light source 24 all can be fixed on pedestal 30 by a mount pad, the structure of mount pad is not limit, as long as CCD camera 23 and CCD light source 24 can be fixed.Grating clamper 21 gripping indication grating 2, open CCD light source 24 and CCD camera 23, obtain Moire fringe image data by CCD camera 23 and calculate adjustment amount, according to the position of adjustment amount adjustment indication grating 2, until the Moire fringe width formed between indication grating 2 and key light grid 1 reaches 50 ~ 70mm, now, Moire fringe image meets key light grid 1 and is about less than 1 ' with the angle of indication grating 2 grid line, and the Moire fringe image data utilizing CCD camera 23 to obtain achieve the closed-loop control of indication grating 2 Three Degree Of Freedom adjustment as feedback quantity.
Point adhesive curing assembly 7 is for realizing some glue between indication grating 2 and balladeur train 3 and solidification.As shown in Figure 4 and Figure 8, put adhesive curing assembly 7 to be made up of two Glue dripping heads 25, camera 26, ultraviolet source 27, miniature guide rail 28 and some glue servomotor 29.The slide block of miniature guide rail 28 can horizontally slip on the screw mandrel of miniature guide rail 28, the installing plate at miniature guide rail 28 two ends is vertically fixed on support 31 and the slide block of miniature guide rail 28 is positioned at above key light grid 1, point glue servomotor 29 is fixed on the installing plate of miniature guide rail 28 one end, and some glue servomotor 29 is fixedly connected with the screw mandrel of miniature guide rail 28.As shown in Figure 4, two Glue dripping heads 25 are arranged on the slide block high order end of miniature guide rail 28 side by side, the slide block of then miniature guide rail 28 is from left to right fixed with camera 26 and ultraviolet source 27 successively, or two Glue dripping heads 25 are arranged on the slide block low order end of miniature guide rail 28 side by side, the slide block of then miniature guide rail 28 is from right to left fixed with camera 26 and ultraviolet source 27 successively, and namely camera 26 is all the time between Glue dripping head 25 and ultraviolet source 27.Two Glue dripping heads 25 are for a ultraviolet glue, and camera 26 puts glue position for taking balladeur train 3 accurately to obtain, and ultraviolet source 27 solidifies for ultraviolet irradiation.Point glue servomotor 29 drives the slide block of miniature guide rail 28 to move drive two Glue dripping heads 25, camera 26 and ultraviolet sources 27 simultaneously and moves along miniature guide rail 28.As shown in Figure 9, four five-pointed star places represent four some glue positions, in order to simplify a glue process, realizing once motion and just can put glue two place, adopting two Glue dripping heads 25 side by side.Be arranged on the slide block high order end of miniature guide rail 28 side by side for two Glue dripping heads 25 and the slide block of miniature guide rail 28 be from left to right fixed with successively the mounting means of camera 26 and ultraviolet source 27, during point glue, first putting glue servomotor 29 drives the slide block of miniature guide rail 28 to move right, two Glue dripping heads 25, camera 26 and ultraviolet source 27 also move right under the slide block of miniature guide rail 28 drives, in the process moved right, two Glue dripping heads 25 and ultraviolet source 27 do not work, camera 26 is taken balladeur train 3 and is put glue position accurately to obtain, point glue servomotor 29 drives the slide block of miniature guide rail 28 to continue to move right until two Glue dripping heads 25 are positioned at outside balladeur train 3 right hand edge, then put glue servomotor 29 to reverse, when backhaul, open two Glue dripping heads 25 and ultraviolet source 27, when two Glue dripping heads 25 move to a glue position time point ultraviolet glue, the UV-irradiation Post RDBMS that ultraviolet glue sends through ultraviolet source 27, until complete the some glue of four some glue positions, when after ultraviolet glue solidification, grating clamper 21 unclamps indication grating 2, balladeur train arm 17 advances mobile along the direction perpendicular to guide rail 13 under the driving of electricity driving displacement platform 18, drive balladeur train clamper 16 to move to above balladeur train 3 simultaneously, gripping balladeur train 3, balladeur train arm 17 retreats mobile along the direction perpendicular to guide rail 13 under the driving of electricity driving displacement platform 18, when moving to above pallet 8, balladeur train clamper 16 unclamps balladeur train 3 and balladeur train 3 is put into pallet 8, so far whole bonding flow process terminates.In ultraviolet glue solidification process, it is mobile that the convergent force due to glue may make indication grating 2 produce, and in existing manual operations, is difficult to apply pressure to indication grating 2, causes the gap of in use indication grating 2 and key light grid 1 not reach requirement; Moreover, the unevenness that glue shrinks also can cause the consistance in two grating gaps very poor, in order to avoid indication grating 2 moves, in automatically dropping glue solidification process, grating clamper 21 needs to clamp indication grating 2 all the time, until solidify complete, ensure that the gap of indication grating 2 and key light grid 1 reaches appointment requirement, improve adhesive reinforcement, ensure bonding consistance.Realize once moving by an adhesive curing assembly 7 and just can complete a glue and solidification overall process.
Increment type grating scale indication grating automatic adhesive device of the present invention is adopted to the idiographic flow that indication grating 2 carries out automatic adhesive to be:
1) linear electric motors 10 drive sucker 11 to decline by nut, indication grating 2 drawn by sucker 11, linear electric motors 10 drive sucker 11 to rise by nut again, grating servomotor 14 drives the first slide block 13-1 of guide rail 13 to move drive grating arms 12 simultaneously along guide rail 13 and moves, linear electric motors 10, sucker 11 and indication grating 2 are simultaneously along with grating arms 12 moves, until moved to above key light grid 1 by indication grating 2, put down indication grating 2, grating arms 12 returns according to former road;
2) balladeur train clamper 16 gripping balladeur train 3, balladeur train servomotor 19 and electricity driving displacement platform 18 drive balladeur train arm 17 to move drive balladeur train clamper 16 simultaneously simultaneously and move, balladeur train 3 moves near key light grid 1 upper surface along with balladeur train clamper 16, balladeur train clamper 16 unclamps balladeur train 3, balladeur train 3 is adsorbed on the upper surface of key light grid 1 by three magnet 20 on key light grid 1, balladeur train arm 17 retreats mobile along the direction perpendicular to guide rail 13 on electricity driving displacement platform 18, drive balladeur train clamper 16 to retreat the top moving to next balladeur train 3 simultaneously, prepare gripping next time;
3) grating clamper 21 gripping indication grating 2, open CCD camera 23 and CCD light source 24, obtain Moire fringe image data by CCD camera 23 and calculate adjustment amount, according to the position of adjustment amount adjustment indication grating 2, until the Moire fringe width formed between indication grating 2 and key light grid 1 reaches 50 ~ 70mm, now, Moire fringe image meets key light grid 1 and is about less than 1 ' with the angle of indication grating 2 grid line, and the Moire fringe image data utilizing CCD camera 23 to obtain achieve the closed-loop control of indication grating 2 Three Degree Of Freedom adjustment as feedback quantity;
4) be arranged on the slide block high order end of miniature guide rail 28 side by side for two Glue dripping heads 25 and the slide block of miniature guide rail 28 be from left to right fixed with successively the mounting means of camera 26 and ultraviolet source 27, during point glue, first putting glue servomotor 29 drives the slide block of miniature guide rail 28 to move right, two Glue dripping heads 25, camera 26 and ultraviolet source 27 also move right under the slide block of miniature guide rail 28 drives, in the process moved right, two Glue dripping heads 25 and ultraviolet source 27 do not work, camera 26 is taken balladeur train 3 and is put glue position accurately to obtain, point glue servomotor 29 drives the slide block of miniature guide rail 28 to continue to move right until two Glue dripping heads 25 are positioned at outside balladeur train 3 right hand edge, then put glue servomotor 29 to reverse, when backhaul, open two Glue dripping heads 25 and ultraviolet source 27, when two Glue dripping heads 25 move to a glue position time point ultraviolet glue, the UV-irradiation Post RDBMS that ultraviolet glue sends through ultraviolet source 27, until complete the some glue of four some glue positions, in automatically dropping glue process, grating clamper 21 clamps indication grating 2 all the time, until solidify complete,
5) when after ultraviolet glue solidification, grating clamper 21 unclamps indication grating 2, balladeur train arm 17 advances mobile along the direction perpendicular to guide rail 13 under the driving of electricity driving displacement platform 18, drive balladeur train clamper 16 to move to above balladeur train 3 simultaneously, gripping balladeur train 3, balladeur train arm 17 retreats mobile, when moving to above pallet 8 along the direction perpendicular to guide rail 13 under the driving of electricity driving displacement platform 18, balladeur train clamper 16 unclamps balladeur train 3 and balladeur train 3 is put into pallet 8, and so far whole bonding flow process terminates.
Claims (10)
1. increment type grating scale indication grating automatic adhesive device, comprise multiple indication grating (2), multiple balladeur train (3), pedestal (30), the support (31) be fixed on pedestal (30), the key light grid (1) be fixed on support (31), three head bearing (3-1) contact area Formation Depth of described key light grid (1) upper surface and balladeur train (3) are the depressed area (1-1) of 0.03 ~ 0.04mm; It is characterized in that, also comprise: be arranged on the guide rail (13) on pedestal (30), grating picking up assembly (4), balladeur train positioning component (5), three-dimensional adjustment assembly (6), be fixed on some adhesive curing assembly (7) on support (31);
Described grating picking up assembly (4) is for drawing indication grating (2) and indication grating (2) being positioned over key light grid (1);
Described balladeur train positioning component (5) is for gripping balladeur train (3) and balladeur train (3) is positioned over movement key light grid (1) realizing balladeur train (3), compress and location, comprise and be arranged on balladeur train rotating disk (15) on pedestal (30) and balladeur train rotary tray motor (33), be fixed on the electricity driving displacement platform (18) on second slide block (13-2) of guide rail (13), on the slide block being fixed on electricity driving displacement platform (18) and can with slide block along the balladeur train arm (17) of electricity driving displacement platform (18) perpendicular to guide rail (13) direction movement, be fixed on balladeur train arm (17) one end and for the balladeur train clamper (16) of gripping balladeur train (3), be fixed on guide rail (13) to go up and the balladeur train servomotor (19) be connected with the second slide block (13-2), be fixed on three magnet (20) of key light grid (1) lower surface, described balladeur train rotating disk (15) is connected with balladeur train rotary tray motor (33) and under the driving of balladeur train rotary tray motor (33), can rotates a fixed angle at every turn, multiple balladeur train (3) is distributed on balladeur train rotating disk (15), described balladeur train servomotor (19) drives second slide block (13-2) of guide rail (13) to move along mobile driving electric displacement platform (18) simultaneously of guide rail (13) and balladeur train arm (17) along being parallel to guide rail (13) direction, described three magnet (20) are corresponding with three head bearings (3-1) of balladeur train (3) respectively, when balladeur train (3) close key light grid (1), by three magnet (20), balladeur train (3) is adsorbed on key light grid (1) upper surface,
Described three-dimensional adjustment assembly (6), for realizing the closed-loop control of indication grating (2) Three Degree Of Freedom adjustment, comprises three-dimensional adjustment platform (22) be arranged on pedestal (30), to be fixed on three-dimensional adjustment platform (22) upper and for the grating clamper (21) of gripping indication grating (2), the CCD camera (23) being arranged on key light grid (1) both sides respectively and CCD light source (24), described key light grid (1) are positioned at grating clamper (21) front end, under the drive of three-dimensional adjustment platform (22), the Three Degree Of Freedom adjustment of indication grating (2) is realized after described grating clamper (21) gripping indication grating (2), described grating clamper (21) clamps indication grating (2) all the time in an adhesive curing process, obtain Moire fringe image data by CCD camera (23) and calculate adjustment amount, according to the position of adjustment amount adjustment indication grating (2), until the Moire fringe width formed between indication grating (2) and key light grid (1) reaches 50 ~ 70mm,
Described some adhesive curing assembly (7) is for realizing some glue between indication grating (2) and balladeur train (3) and solidification, and realizing once moving by an adhesive curing assembly 7 just to complete a glue and solidification overall process.
2. increment type grating scale indication grating automatic adhesive device according to claim 1, it is characterized in that, also comprise and be arranged on pedestal (30) and be positioned at key light grid (1) front end for placing the pallet (8) of balladeur train (3), described guide rail (13) is positioned at pallet (8) outside.
3. increment type grating scale indication grating automatic adhesive device according to claim 1, it is characterized in that, described grating picking up assembly (4) comprises and is arranged on grating rotating disk (9) on pedestal (30) and grating rotary tray motor (32), be fixed on the grating arms (12) on first slide block (13-1) of guide rail (13), be fixed on the linear electric motors (10) of grating arms (12) one end, be connected with the nut of linear electric motors (10) and sucker (11) for drawing and be elevated indication grating (2), be fixed on guide rail (13) to go up and the grating servomotor (14) be connected with the first slide block (13-1), described grating rotating disk (9) is connected with grating rotary tray motor (32) and under the driving of grating rotary tray motor (32), can rotates a fixed angle at every turn, multiple indication grating (2) is distributed on grating rotating disk (9), and described grating servomotor (14) drives first slide block (13-1) of guide rail (13) mobile along mobile grating arms (12), linear electric motors (10), sucker (11) and the indication grating (2) of driving of guide rail (13) simultaneously.
4. increment type grating scale indication grating automatic adhesive device according to claim 1, it is characterized in that, described some adhesive curing assembly (7) comprise the miniature guide rail (28) be fixed on support (31), be fixed on some glue servomotor (29) of miniature guide rail (28) one end, being fixed on successively on the slide block of miniature guide rail (28) for two of ultraviolet glue Glue dripping heads (25) side by side, for taking balladeur train (3) to obtain the accurately camera (26) of some glue position and the ultraviolet source (27) for ultraviolet irradiation solidification; The slide block of described miniature guide rail (28) is positioned at key light grid (1) top, and described some glue servomotor (29) drives the slide block of miniature guide rail (28) to move drive two Glue dripping heads (25), camera (26) and ultraviolet sources (27) simultaneously and move along miniature guide rail (28).
5. increment type grating scale indication grating automatic adhesive device according to claim 1, it is characterized in that, the number of described indication grating (2) is N
1individual, N
1individual indication grating (2) is distributed on grating rotating disk (9), and described grating rotating disk (9) rotates a fixed angle θ at every turn
1, and
n
1for positive integer.
6. increment type grating scale indication grating automatic adhesive device according to claim 1, it is characterized in that, the number of described balladeur train (3) is N
2individual, N
2individual balladeur train (3) is distributed on balladeur train rotating disk (15), and described balladeur train rotating disk (15) rotates a fixed angle θ at every turn
2, and
n
2for positive integer.
7. increment type grating scale indication grating automatic adhesive device according to claim 1, it is characterized in that, the angle that the number of described balladeur train (3) and described balladeur train rotating disk (15) identical with the number of indication grating (2) is rotated is identical with the angle that grating rotating disk (9) rotates.
8. increment type grating scale indication grating automatic adhesive device according to claim 1, it is characterized in that, described CCD camera (23) is arranged on pedestal (30) and goes up and be positioned at key light grid (1) below, simultaneously described CCD light source (24) be arranged on miniature guide rail (28) slide block on and be positioned at key light grid (1) top, the Moire fringe image data utilizing CCD camera (23) to obtain achieve the closed-loop control of indication grating (2) Three Degree Of Freedom adjustment as feedback quantity.
9. increment type grating scale indication grating automatic adhesive device according to claim 1, it is characterized in that, described CCD camera (23) and CCD light source (24) all can be fixed on pedestal (30) by mount pad, and described CCD camera (23) is located at key light grid (1) top, described CCD light source (24) is positioned at key light grid (1) below simultaneously, and the Moire fringe image data utilizing CCD camera (23) to obtain achieve the closed-loop control of indication grating (2) Three Degree Of Freedom adjustment as feedback quantity.
10. increment type grating scale indication grating automatic adhesive device according to claim 1, it is characterized in that, described three-dimensional adjustment platform (22) is two one-movement-freedom-degrees and a rotary freedom, two one-movement-freedom-degrees are for regulating the relative position of indication grating (2) and balladeur train (3), one-movement-freedom-degree resolution is below 0.1mm, the Moire fringe width that rotary freedom obtains for regulating CCD camera (23), rotary freedom resolution is 20 ".
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| CN201410427292.7A CN104215173B (en) | 2014-08-26 | 2014-08-26 | Increment type grating scale indication grating automatic adhesive device |
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| CN201410427292.7A CN104215173B (en) | 2014-08-26 | 2014-08-26 | Increment type grating scale indication grating automatic adhesive device |
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| CN104792260A (en) * | 2015-02-12 | 2015-07-22 | 中国科学院长春光学精密机械与物理研究所 | Accurate regulation and adhesion device for indication gratings |
| CN106767413A (en) * | 2016-12-27 | 2017-05-31 | 中国科学院长春光学精密机械与物理研究所 | The lighting mechanism adhering device and its adhering method of a kind of grating scale |
| CN112762836A (en) * | 2020-12-23 | 2021-05-07 | 长春汇通光电技术有限公司 | Grating scale, grating scale reading method and device and computer storage medium |
| CN115900558A (en) * | 2022-11-11 | 2023-04-04 | 长光（沧州）光栅传感技术有限公司 | Device for bonding and aligning grating indicator of grating scale reading head of bending machine and main grating |
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| CN115900558A (en) * | 2022-11-11 | 2023-04-04 | 长光（沧州）光栅传感技术有限公司 | Device for bonding and aligning grating indicator of grating scale reading head of bending machine and main grating |
| CN115900558B (en) * | 2022-11-11 | 2023-11-03 | 长光（沧州）光栅传感技术有限公司 | Bending machine grating ruler reading head indication grating and main grating bonding alignment device |
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| CN104215173B (en) | 2016-11-23 |
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