CN104215173B - Increment type grating scale indication grating automatic adhesive device - Google Patents
Increment type grating scale indication grating automatic adhesive device Download PDFInfo
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- CN104215173B CN104215173B CN201410427292.7A CN201410427292A CN104215173B CN 104215173 B CN104215173 B CN 104215173B CN 201410427292 A CN201410427292 A CN 201410427292A CN 104215173 B CN104215173 B CN 104215173B
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Abstract
Increment type grating scale indication grating automatic adhesive device, relate to grating scale manufacturing process field, the manually adhered termination process of indication grating of the positioning bonding device existence solving existing indication grating causes, owing to cannot accurately control the three-dimensional adjustment amount of indication grating, the thrust of balladeur train and the contractility of glue, the problem that bonding concordance is poor, yield rate is low, certainty of measurement is low.Three upper bearing (metal) contact areas of the main grating upper surface in this device and balladeur train form the depressed area that the degree of depth are 0.03～0.04mm, including draw indication grating grating pickup assembly indication grating being positioned on key light grid, gripping balladeur train and balladeur train is positioned over the movement that realizes balladeur train on key light grid and the balladeur train positioning component of location, realize the closed loop control that indication grating Three Degree Of Freedom adjusts three-dimensional adjust assembly, realize the some glue point adhesive curing assembly with solidification.Bonding adhesive reinforcement, certainty of measurement and the yield rate of improve of the full-automation of the present invention, bonding concordance is preferable.
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 instruction light
Grid automatic adhesive device.
Background technology
The grating scale used on Digit Control Machine Tool is made up of with indication grating 2 key light grid 1, and wherein key light grid 1 glue
Being connected on chi shell, indication grating 2 is bonded on balladeur train 3, and the structure of indication grating 2 is as in figure 2 it is shown, slide
Frame 3 acts on key light grid 1 by five bearings (three upper bearing (metal) 3-1 and two side bearing 3-2), sliding
The structure of frame 3 is as it is shown on figure 3, when balladeur train 3 drives indication grating 2 to move on key light grid 1, utilize
The Moire effect of light, moves the movement being transformed into light and dark Moire fringe by position, then by opto-electronic receiver
Device is converted into digital quantity signal.
Indication grating 2 is bonded on balladeur train 3 needs to meet two technical specifications: first, indication grating 2 with
Gap between key light grid 1 is 0.03～0.04mm, and gap is the least, the DC level of photosignal is the least,
Signal amplitude is the highest, beneficially the process of Subsequent electronic, if gap is too small, when grating scale should in reality
When inevitably having particle contamination in, the abrasion between key light grid 1 and indication grating 2 can be caused, fall
The service life of low grating scale；Second, the Moire fringe width that indication grating 2 is formed with key light grid 1 to reach
To 50～70mm, this just requires that the angle of two grating grids is approximately less than 1 ', if angle is excessive, then can drop
Low increment signal segmentation quality, and then affect certainty of measurement.
Existing indication grating bonding way relies primarily on manual bonding, by the length of eye-observation Moire fringe
Degree judges whether indication grating 2 aligns with the grid line of key light grid 1.Publication No. CN102607419A
Chinese patent discloses the positioning bonding device of a kind of indication grating, this device use a kind of micro-adjusting mechanism and
CCD camera obtains Moire fringe image and realizes bonding to indication grating 2.This device is bonding compared to pure craft
There is certain superiority, but its key step still uses manual operations, in manually adhered termination process, indicate light
The contractility of the three-dimensional adjustment amount of grid 2, the thrust of balladeur train 3 and glue cannot accurately control, and then leads
Causing bonding concordance can not be guaranteed, yield rate is low, reduces the overall measurement accuracy of grating scale.
Summary of the invention
In order to solve existing indication grating positioning bonding device exist the manually adhered termination process of indication grating in by
Lead in cannot accurately control the three-dimensional adjustment amount of indication grating, the thrust of balladeur train and the contractility of glue
Causing the problem that bonding concordance is poor, yield rate is low, certainty of measurement is low, the present invention provides a kind of increment type light
Grid chi indication grating automatic adhesive device.
The present invention solves that the technical scheme that technical problem is used is as follows:
The increment type grating scale indication grating automatic adhesive device of the present invention, including multiple indication gratings, multiple
Balladeur train, pedestal, the support being fixed on pedestal, the key light grid that are fixed on support, table on described key light grid
Face forms, with three upper bearing (metal) contact areas of balladeur train, the depressed area that the degree of depth is 0.03～0.04mm；Also include:
The guide rail, the grating that are arranged on pedestal pick up assembly, balladeur train positioning component, three-dimensional adjustment assembly, are fixed on
Point adhesive curing assembly on support；
Described grating pickup assembly is used for drawing indication grating and indication grating being positioned over key light grid；
Described balladeur train positioning component is for gripping balladeur train and balladeur train being positioned over the shifting realizing balladeur train on key light grid
Move, compress and position, including the balladeur train rotating disk being arranged on pedestal and balladeur train rotary tray motor, be fixed on guide rail
The second slide block on electricity driving displacement platform, be fixed on the slide block of electricity driving displacement platform and can be with slide block along electronic position
Balladeur train arm that moving stage is perpendicular to move in guide rail direction, it is fixed on balladeur train arm one end and for gripping the balladeur train of balladeur train
Clamper, be fixed on guide rail and be connected with the second slide block balladeur train servomotor, be fixed on key light grid following table
Three Magnet in face；Described balladeur train rotating disk is connected with balladeur train rotary tray motor and can be in the driving of balladeur train rotary tray motor
Lower rotation one fixed angle every time, multiple balladeur trains are distributed on balladeur train rotating disk, described balladeur train driven by servomotor
Second slide block of guide rail moves driving electric displacement platform and balladeur train arm simultaneously along guide rail and moves along being parallel to guide rail direction
Dynamic, described three Magnet are corresponding with the three of balladeur train upper bearing (metal)s respectively, when balladeur train is near key light grid, logical
Cross three Magnet to adsorb balladeur train at main grating upper surface；
The described three-dimensional assembly that adjusts is for realizing the closed loop control that indication grating Three Degree Of Freedom adjusts, including installing
Three-dimensional on pedestal adjusts platform, is fixed on three-dimensional adjustment on platform and for gripping the grating clamping of indication grating
Device, the CCD camera being separately mounted to key light grid both sides and CCD light source；Described key light grid are positioned at grating folder
Holder front end, realizes instruction light after described grating clamper gripping indication grating under three-dimensional adjusts the drive of platform
The Three Degree Of Freedom of grid adjusts, and described grating clamper clamps indication grating during an adhesive curing all the time, logical
Cross CCD camera obtain Moire fringe image data and calculate adjustment amount, adjust indication grating according to adjustment amount
Position, until the Moire fringe width formed between indication grating and key light grid reaches 50～70mm；
Described some adhesive curing assembly is for realizing the some glue between indication grating and balladeur train and solidification, by a glue
Curing assembly realizes once motion just can complete a glue and solidification overall process.
Also include being arranged on pedestal and be positioned at key light grid front end for placing the pallet of balladeur train, described guide rail position
Outside pallet.
Described grating pickup assembly includes the grating rotating disk being arranged on pedestal and grating rotary tray motor, is fixed on
Grating arms on first slide block of guide rail, it is fixed on the linear electric motors of grating arms one end and the spiral shell of linear electric motors
Parent phase even and for draw with the sucker lifting indication grating, be fixed on guide rail and be connected with the first slide block
Grating servomotor；Described grating rotating disk is connected with grating rotary tray motor and can be in the driving of grating rotary tray motor
Lower rotation one fixed angle every time, multiple indication gratings are distributed on grating rotating disk, described grating servomotor
The first slide block driving guide rail moves along guide rail and drives grating arms, linear electric motors, sucker and indication grating simultaneously
Mobile.
Described some adhesive curing assembly includes the miniature guide rail being fixed on support, is fixed on miniature guide rail one end
Put glue servomotor, be sequentially fixed on the slide block of miniature guide rail two some glue side by side for a ultraviolet glue
Head, for shoot balladeur train with obtain exact point glue position photographic head and for ultra-vioket radiation solidification ultraviolet light
Source；The slide block of described miniature guide rail is positioned at above key light grid, described some glue driven by servomotor miniature guide rail
Slide block moves and drives two Glue dripping heads, photographic head and ultraviolet source to move along miniature guide rail simultaneously.
The number of described indication grating is N1Individual, N1Individual indication grating is distributed on grating rotating disk, described grating
Rotating disk rotates a fixed angle θ every time1, andN1For positive integer.
The number of described balladeur train is N2Individual, N2Individual balladeur train is distributed on balladeur train rotating disk, and described balladeur train rotating disk is each
Rotate a fixed angle θ2, andN2For positive integer.
The number of described balladeur train is identical with the number of indication grating and described balladeur train rotating disk rotates angle and grating
The angle that rotating disk rotates is identical.
Described CCD camera is arranged on pedestal and is positioned at below key light grid, and the most described CCD light source is installed
On the slide block of miniature guide rail and be positioned at above key light grid, utilize the Moire fringe image number that CCD camera obtains
The closed loop control that indication grating Three Degree Of Freedom adjusts is achieved according to as feedback quantity.
Described CCD camera and CCD light source all can be fixed on pedestal by mounting seat, and described CCD
Camera is located at above key light grid, and the most described CCD light source is positioned at below key light grid, utilizes CCD camera
The Moire fringe image data obtained achieve, as feedback quantity, the closed loop control that indication grating Three Degree Of Freedom adjusts
System.
The described three-dimensional platform that adjusts is two one-movement-freedom-degrees and a rotary freedom, and two one-movement-freedom-degrees are used
In the relative position of regulation indication grating with balladeur train, one-movement-freedom-degree resolution is below 0.1mm, rotates from
By degree for regulating the Moire fringe width that CCD camera obtains, rotary freedom resolution is 20 ".
The invention has the beneficial effects as follows: the increment type grating scale indication grating automatic adhesive device of the present invention realizes
The full-automation that indication grating is bonding: by the Moire fringe image data conduct utilizing CCD camera to obtain
Feedback quantity, to realize the closed loop control that indication grating Three Degree Of Freedom adjusts, improves the Adjustment precision of indication grating；
Magnet adsorption is utilized to realize balladeur train location, it is ensured that the bearing of balladeur train is in close contact with key light grid；Whole bonding mistake
Cheng Zhong, grating clamper clamps indication grating all the time, it is to avoid cause due to the contractility of glue between two gratings
Gap does not reaches requirement, improves adhesive reinforcement and yield rate, ensure that bonding concordance 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 the increment type grating scale indication grating automatic adhesive device of the present invention.
Fig. 5 is the normal axomometric drawing of the grating pickup assembly of the present invention.
Fig. 6 is the normal axomometric drawing of the balladeur train positioning component of the present invention.
Fig. 7 is the three-dimensional normal axomometric drawing adjusting assembly of the present invention.
Fig. 8 is the normal axomometric drawing of the some adhesive curing assembly of the present invention.
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, upper bearing (metal),
3-2, side bearing, 4, grating pickup assembly, 5, balladeur train positioning component, 6, the three-dimensional assembly that adjusts, 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, the first slide block, 13-2, the second slide block, 14, grating servomotor, 15, balladeur train turns
Dish, 16, balladeur train clamper, 17, balladeur train arm, 18, electricity driving displacement platform, 19, balladeur train servomotor, 20,
Magnet, 21, grating clamper, 22, the three-dimensional platform that adjusts, 23, CCD camera, 24, CCD light source, 25,
Glue dripping head, 26, photographic head, 27, ultraviolet source, 28, miniature guide rail, 29, some glue servomotor, 30,
Pedestal, 31, support, 32, grating rotary tray motor, 33, balladeur train rotary tray motor.
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention is described in further detail.
The 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 is on balladeur train 3, as shown in Figure 4, and the increment type grating scale instruction of the present invention
Grating automatic adhesive device is fixed by key light grid 1, indication grating 2, balladeur train 3, grating pickup assembly 4, balladeur train
Hyte part 5, three-dimensional adjustment assembly 6, some adhesive curing assembly 7, pallet 8, guide rail 13, pedestal 30 and support
31 compositions, key light grid 1 are fixed on support 31, support 31, grating pickup assembly 4, balladeur train positioning component
5, three-dimensional assembly 6, pallet 8 and the guide rail 13 of adjusting is arranged on pedestal 30, and grating pickup assembly 4 He
Balladeur train positioning component 5 lays respectively at the three-dimensional both sides adjusting assembly 6, and the three-dimensional assembly 6 that adjusts is positioned at key light grid 1
Near, some adhesive curing assembly 7 is fixed on key light grid 1, and pallet 8 is positioned at key light grid 1 front end, is used for putting
Putting balladeur train 3, guide rail 13 is positioned at outside pallet 8.
In present embodiment, indication grating 2 is bonding needs to meet two indices: (1) indication grating 2 is with main
Gap between grating 1 is 0.03～0.04mm；(2) More's bar that indication grating 2 is formed with key light grid 1
Stricture of vagina width is 50～70mm, and the angle of i.e. two grating grids is approximately less than 1 '.In order to meet first index,
Needing special key light grid 1, the structure of key light grid 1 is as it is shown in figure 1, by the upper surface of key light grid 1 and balladeur train
Three upper bearing (metal) 3-1 contact areas of 3 grind off 0.03～0.04mm, form depressed area 1-1, i.e. a depressed area
The degree of depth of 1-1 is 0.03～0.04mm, and the length and width size of depressed area 1-1 meets makes three of balladeur train 3
Upper bearing (metal) 3-1 just falls in the 1-1 of depressed area, the most bonding complete after, when balladeur train 3 is placed on this
Time on bright special key light grid 1, so that it may ensure the gap between indication grating 2 and key light grid 1 be 0.03～
0.04mm.In order to meet second index, need the Moire fringe image number utilizing CCD camera 23 to obtain
According to adjusting the position of indication grating 2 so that two grating grid angles are approximately less than 1 '.
Indication grating 2 is bonding is always divided into six big operations: (1) puts into indication grating 2；(2) put into and compress
Balladeur train 3；(3) indication grating 2 is adjusted；(4) some ultraviolet glue；(5) solidification is irradiated；(6) after bonding
Take out.In order to realize the automatization often walked, there are four assemblies accordingly: grating pickup assembly 4, balladeur train position
Assembly 5, three-dimensional adjustment assembly 6, some adhesive curing assembly 7.
Grating pickup assembly 4 is used for drawing indication grating 2 and indication grating 2 being positioned over key light grid 1.
As it is shown in figure 5, grating pickup assembly 4 by grating rotating disk 9, linear electric motors 10, sucker 11, grating arms 12,
Grating servomotor 14 and grating rotary tray motor 32 form.Grating rotating disk 9 and grating rotary tray motor 32 are all pacified
Being contained on pedestal 30, grating rotating disk 9 is connected with grating rotary tray motor 32 and driving at grating rotary tray motor 32
Dynamic lower rotation, N1Individual indication grating 2 is distributed on grating rotating disk 9, and grating rotating disk 9 rotates one every time to be fixed
Angle, θ1, andN1For positive integer, the radius increasing grating rotating disk 9 that can be suitable is more to accommodate
Indication grating 2.One end of grating arms 12 is fixed on the first slide block 13-1 of guide rail 13, grating servo
Motor 14 is fixed on guide rail 13 and is connected by the nut of screw mandrel and the first slide block 13-1, grating servo electricity
Machine 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, and sucker 11 is connected with the nut of linear electric motors 10, uses
In drawing and lifting indication grating 2.Linear electric motors 10 drive sucker 11 to decline by nut, and sucker 11 is inhaled
Taking indication grating 2, linear electric motors 10 drive sucker 11 to rise by nut again, and grating servomotor 14 drives
First slide block 13-1 of dynamic guide rail 13 moves along guide rail 13 and drives grating arms 12 to move simultaneously, linear electric motors
10, sucker 11 and indication grating 2 move along with grating arms 12 simultaneously, until indication grating 2 is moved to
Above key light grid 1, putting down indication grating 2, grating arms 12 is according to backtracking.
Balladeur train positioning component 5 is used for gripping balladeur train 3 and balladeur train 3 being positioned over key light grid 1, it is achieved balladeur train 3
Movement, compress and position.As shown in Figure 6, balladeur train positioning component 5 is by balladeur train rotating disk 15, balladeur train clamping
Device 16, balladeur train arm 17, electricity driving displacement platform 18,19, three Magnet 20 of balladeur train servomotor and balladeur train rotating disk
Motor 33 forms.Balladeur train rotating disk 15 and balladeur train rotary tray motor 33 are installed on pedestal 30, balladeur train rotating disk
15 are connected and being rotated by balladeur train rotary tray motor 33, N with balladeur train rotary tray motor 332Individual balladeur train 3 is equal
Cloth is on balladeur train rotating disk 15, and balladeur train rotating disk 15 rotates a fixed angle θ every time2, andN2For just
Integer, the radius increasing balladeur train rotating disk 15 that can be suitable is to accommodate more balladeur train 3, and the number of balladeur train 3 should
The angle phase that the angle that and balladeur train rotating disk 15 identical with the number of indication grating 2 rotates rotates with grating rotating disk 9
With, i.e. N1=N2And θ1=θ2, balladeur train 3 requires design according to technology, no with the concrete number of indication grating 2
It is construed as limiting.One end of balladeur train arm 17 is fixed on the slide block of electricity driving displacement platform 18 and with slide block along electronic position
Moving stage 18 moves, and moving direction is perpendicular to guide rail 13, and electricity driving displacement platform 18 is fixed on the second cunning of guide rail 13
On block 13-2, balladeur train servomotor 19 is fixed on guide rail 13 and by screw mandrel and the spiral shell of the second slide block 13-2
Even, balladeur train servomotor 19 drives the second slide block 13-2 of guide rail 13 to move along guide rail 13 and carries simultaneously parent phase
Galvanic electricity moves displacement platform 18 and balladeur train arm 17 thereon moves along the direction being parallel to guide rail 13, in electronic position
The two degrees of freedom realizing balladeur train 3 under the drive of moving stage 18 and balladeur train servomotor 19 moves and positions, balladeur train
Clamper 16 is fixed on the other end of balladeur train arm 17, and balladeur train clamper 16 is used for gripping balladeur train 3.Key light grid
The lower surface of 1 is provided with three Magnet 20, the position of these three Magnet 20 respectively with three upper shaft of balladeur train 3
The position holding 3-1 is corresponding, when balladeur train 3 moves near key light grid 1, and will by these three Magnet 20
Balladeur train 3 adsorbs on the upper surface of key light grid 1, thus can guarantee that three upper bearing (metal) 3-1 and two of balladeur train 3
Individual side bearing 3-2 is in close contact with the upper surface of key light grid 1 and side surface respectively.Balladeur train clamper 16 grips
Balladeur train 3, balladeur train servomotor 19 and electricity driving displacement platform 18 simultaneously drive balladeur train arm 17 and move and drive cunning simultaneously
Frame clamper 16 moves, and balladeur train 3 moves near key light grid 1 upper surface along with balladeur train clamper 16, sliding
Frame clamper 16 unclamps balladeur train 3, and balladeur train 3 is adsorbed at key light grid 1 by three Magnet 20 on key light grid 1
On upper surface, balladeur train arm 17 retreats mobile along the direction being 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 to grip next time.Existing
Have in manual operations, typically directly balladeur train 3 is placed on key light grid 1, do not have any fixing or compress
Device, in subsequent operation, balladeur train 3 is easy to off normal, and causes adhesive reinforcement to reduce, and concordance can not get
Ensure, and the balladeur train positioning component 5 of the present invention well solve this problem in that, makes balladeur train 3 be difficult to off normal,
Improve adhesive reinforcement, it is ensured that bonding concordance.
The three-dimensional assembly 6 that adjusts is for realizing the closed loop control that indication grating 2 Three Degree Of Freedom adjusts.Such as Fig. 7 and
Shown in Fig. 8, the three-dimensional assembly 6 that adjusts is by grating clamper 21, three-dimensional adjustment platform 22, CCD camera 23 and
CCD light source 24 forms.The three-dimensional platform 22 that adjusts is arranged on pedestal 30, and grating clamper 21 is fixed on three
Dimension adjusts on platform 22, is used for gripping and clamping indication grating 2, and key light grid 1 are fixed on pedestal by support 31
On 30 and be positioned at grating clamper 21 front end.The three-dimensional platform 22 that adjusts is two one-movement-freedom-degrees and a rotation
Degree of freedom, two one-movement-freedom-degrees are the relative positions in order to regulate indication grating 2 and balladeur train 3, and it is differentiated
Rate should be at below 0.1mm, and rotary freedom is to regulate the Moire fringe width that CCD camera 23 obtains,
According to Precision Theory, wanting accurately to realize the regulated quantity of 1 ', resolution at least should be the 1/3 of regulated quantity, because of
The resolution of this rotary freedom should be 20 ".Grating clamper 21 adjusts in three-dimensional after gripping indication grating 2
The Three Degree Of Freedom realizing indication grating 2 under the drive of platform 22 adjusts.As it is shown in fig. 7, CCD camera 23 is pacified
Being contained on pedestal 30 and be positioned at the lower section of key light grid 1, the most as shown in Figure 8, CCD light source 24 is arranged on
On the slide block of miniature guide rail 28 and be positioned at the top of key light grid 1, what such CCD camera 23 received is
Penetrating light, transmitted intensity relatively reflects wide, and therefore CCD camera 23 can obtain Moire fringe image clearly,
CCD camera 23 can also be arranged on the top of key light grid 1 according to this principle and CCD light source 24 is pacified
It is contained in the lower section of key light grid 1, as long as steric requirements allows, when CCD camera 23 is positioned at key light grid 1
When top and CCD light source 24 are positioned at below key light grid 1, CCD camera 23 and CCD light source 24 is the most permissible
Being fixed on pedestal 30 by a mounting seat, the structure of mounting seat does not limits, as long as can be by CCD camera 23
Fix with CCD light source 24.Grating clamper 21 grips indication grating 2, opens CCD light source 24
With CCD camera 23, obtain Moire fringe image data by CCD camera 23 and calculate adjustment amount, according to
Adjustment amount adjusts the position of indication grating 2, until the More's bar formed between indication grating 2 and key light grid 1
Stricture of vagina width reaches 50～70mm, and now, Moire fringe image meets key light grid 1 and indication grating 2 grid line
Angle is approximately less than 1 ', and the Moire fringe image data utilizing CCD camera 23 to obtain achieve as feedback quantity
The closed loop control that indication grating 2 Three Degree Of Freedom adjusts.
Point adhesive curing assembly 7 is for realizing the some glue between indication grating 2 and balladeur train 3 and solidification.Such as Fig. 4
Shown in Fig. 8, some adhesive curing assembly 7 is by two Glue dripping heads 25, photographic head 26, ultraviolet source 27, miniature
Guide rail 28 and some glue servomotor 29 form.The slide block of miniature guide rail 28 can be at the silk of miniature guide rail 28
Horizontally slipping on bar, the installing plate at miniature guide rail 28 two ends is vertically fixed on support 31 and miniature guide rail 28
Slide block be positioned at above key light grid 1, some glue servomotor 29 is fixed on the installing plate of miniature guide rail 28 one end
On, some glue servomotor 29 is fixing with the screw mandrel of miniature guide rail 28 to be connected.As shown in Figure 4, two some glue
The 25 slide block high order ends being mounted side by side on miniature guide rail 28, the slide block of miniature guide rail 28 the most from left to right
On be fixed with photographic head 26 and ultraviolet source 27 successively, or two Glue dripping heads 25 are mounted side by side on miniature leading
The slide block low order end of rail 28, is fixed with photographic head 26 on the slide block of miniature guide rail 28 the most from right to left successively
It is always positioned between Glue dripping head 25 and ultraviolet source 27 with ultraviolet source 27, i.e. photographic head 26.Two some glue
25 for a some ultraviolet glue, and photographic head 26 is used for shooting balladeur train 3 to obtain some glue position, ultraviolet accurately
Light source 27 solidifies for ultra-vioket radiation.Point glue servomotor 29 drives the slide block of miniature guide rail 28 to move simultaneously
Two Glue dripping heads 25, photographic head 26 and ultraviolet source 27 is driven to move along miniature guide rail 28.Such as Fig. 9 institute
Show, at four five-pointed stars, represent four some glue positions, in order to simplify a glue process, it is achieved once motion just can point
At glue two, use two Glue dripping heads 25 side by side.It is mounted side by side on miniature guide rail 28 with two Glue dripping heads 25
Slide block high order end and miniature guide rail 28 from left to right slide block on be fixed with photographic head 26 and ultraviolet light successively
As a example by the mounting means in source 27, during point glue, first some glue servomotor 29 drives the slide block of miniature guide rail 28
Moving right, two Glue dripping heads 25, photographic head 26 and ultraviolet source 27 drive at the slide block of miniature guide rail 28
Under also move right, during moving right, two Glue dripping heads 25 and ultraviolet source 27 do not work,
Photographic head 26 shoots balladeur train 3 and puts glue position accurately to obtain, and some glue servomotor 29 drives miniature guide rail
The slide block of 28 continues to move right until two Glue dripping heads 25 are positioned at outside balladeur train 3 right hand edge, and then some glue is watched
Take motor 29 to invert, 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, and ultraviolet glue is solid after the ultraviolet light that ultraviolet source 27 sends irradiates
Changing, until completing the some glue of four some glue positions, after ultraviolet glue solidifies, grating clamper 21 unclamps instruction
Grating 2, balladeur train arm 17 advances along the direction being perpendicular to guide rail 13 under the driving of electricity driving displacement platform 18 and moves
Dynamic, drive balladeur train clamper 16 to move above balladeur train 3 simultaneously, grip balladeur train 3, balladeur train arm 17 is electronic
Movement is retreated along the direction being perpendicular to guide rail 13 under the driving of displacement platform 18, time above movement to pallet 8,
Balladeur train clamper 16 unclamps balladeur train 3 and puts in pallet 8 by balladeur train 3, and the most whole bonding flow process terminates.
In ultraviolet glue solidification process, move owing to the contractility of glue may make indication grating 2 produce, existing
In manual operations, it is difficult to indication grating 2 is applied pressure, causes in use indication grating 2 and master
The gap of grating 1 does not reaches requirement；Furthermore, the inhomogeneities that glue shrinks also results in two grating gaps
Concordance is very poor, and in order to avoid indication grating 2 moves, in automatically dropping glue solidification process, grating clamper 21 needs
All the time indication grating 2 is clamped, until solidifying complete, it is ensured that the gap of indication grating 2 and key light grid 1 reaches
Specify requirement, improve adhesive reinforcement, it is ensured that bonding concordance.Realized once by an adhesive curing assembly 7
Motion just can complete a glue and solidification overall process.
Indication grating 2 is carried out automatically by the increment type grating scale indication grating automatic adhesive device using the present invention
Bonding idiographic flow is:
1) linear electric motors 10 drive sucker 11 to decline by nut, and sucker 11 draws indication grating 2, straight line
Motor 10 drives sucker 11 to rise by nut again, and grating servomotor 14 drives the first of guide rail 13 to slide
Block 13-1 moves along guide rail 13 and drives grating arms 12 to move simultaneously, linear electric motors 10, sucker 11 and refer to
Show that grating 2, simultaneously along with grating arms 12 moves, until being moved above key light grid 1 by indication grating 2, is put
Lower indication grating 2, grating arms 12 is according to backtracking；
2) balladeur train clamper 16 grips balladeur train 3, balladeur train servomotor 19 and electricity driving displacement platform 18 and simultaneously drives
Balladeur train arm 17 move simultaneously drive balladeur train clamper 16 move, balladeur train 3 along with balladeur train clamper 16 move to
Near key light grid 1 upper surface, balladeur train clamper 16 unclamps balladeur train 3, and three Magnet 20 on key light grid 1 will
Balladeur train 3 adsorbs on the upper surface of key light grid 1, balladeur train arm 17 on electricity driving displacement platform 18 along being perpendicular to
The direction of guide rail 13 retreats mobile, drives balladeur train clamper 16 to retreat simultaneously and moves to next balladeur train 3
Top, prepares to grip next time；
3) grating clamper 21 grips indication grating 2, opens CCD camera 23 and CCD light source 24, logical
Cross CCD camera 23 obtain Moire fringe image data and calculate adjustment amount, adjust instruction light according to adjustment amount
The position of grid 2, until between indication grating 2 and key light grid 1 formed Moire fringe width reach 50～
70mm, now, Moire fringe image meets the angle of key light grid 1 and indication grating 2 grid line and is approximately less than 1 ',
The Moire fringe image data utilizing CCD camera 23 to obtain achieve indication grating 2 three certainly as feedback quantity
The closed loop control adjusted by degree；
4) it is mounted side by side on the slide block high order end of miniature guide rail 28 and the most miniature with two Glue dripping heads 25
As a example by being fixed with the mounting means of photographic head 26 and ultraviolet source 27 on the slide block of guide rail 28 successively, during point glue,
First some glue servomotor 29 drives the slide block of miniature guide rail 28 to move right, two Glue dripping heads 25, shootings
26 and ultraviolet source 27 also move right, in the mistake moved right under the slide block of miniature guide rail 28 drives
Cheng Zhong, two Glue dripping heads 25 and ultraviolet source 27 do not work, and photographic head 26 shoots balladeur train 3 to obtain accurately
Some glue position, some glue servomotor 29 drives the slide block of miniature guide rail 28 to continue to move right until two
Glue dripping head 25 is positioned at outside balladeur train 3 right hand edge, and then some glue servomotor 29 inverts, and when backhaul, beats
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,
Ultraviolet glue solidifies, until completing the point of four some glue positions after the ultraviolet light that ultraviolet source 27 sends irradiates
Glue；During automatically dropping glue, grating clamper 21 clamps indication grating 2 all the time, until solidifying complete；
5) after ultraviolet glue solidifies, grating clamper 21 unclamps indication grating 2, and balladeur train arm 17 is in electronic position
Advance mobile along the direction being perpendicular to guide rail 13 under the driving of moving stage 18, drive balladeur train clamper 16 simultaneously
Mobile above balladeur train 3, grip balladeur train 3, balladeur train arm 17 under the driving of electricity driving displacement platform 18 along vertically
Retreat movement in the direction of guide rail 13, time above movement to pallet 8, balladeur train clamper 16 unclamps balladeur train 3
And balladeur train 3 is put in pallet 8, the most whole bonding flow process terminates.
Claims (10)
1. increment type grating scale indication grating automatic adhesive device, including multiple indication gratings (2), multiple cunning
Frame (3), pedestal (30), the support (31) being fixed on pedestal (30), it is fixed on support (31)
Key light grid (1), described key light grid (1) upper surface contacts with three upper bearing (metal)s (3-1) of balladeur train (3)
Region forms the depressed area (1-1) that the degree of depth is 0.03～0.04mm；It is characterized in that, also include: be arranged on
Guide rail (13) on pedestal (30), grating pickup assembly (4), balladeur train positioning component (5), three-dimensional adjustment
Assembly (6), some adhesive curing assembly (7) being fixed on support (31)；
Described grating pickup assembly (4) is used for drawing indication grating (2) and being positioned over by indication grating (2)
On key light grid (1)；
Described balladeur train positioning component (5) is used for gripping balladeur train (3) and balladeur train (3) being positioned over key light grid (1)
On realize the movement of balladeur train (3), compress and position, including the balladeur train rotating disk (15) being arranged on pedestal (30)
With balladeur train rotary tray motor (33), the electricity driving displacement platform that is fixed on second slide block (13-2) of guide rail (13)
(18), it is fixed on the slide block of electricity driving displacement platform (18) and can be vertical along electricity driving displacement platform (18) with slide block
The balladeur train arm (17) that moves in guide rail (13) direction, it is fixed on balladeur train arm (17) one end and is used for gripping cunning
The balladeur train clamper (16) of frame (3), to be fixed on guide rail (13) upper and be connected with the second slide block (13-2)
Balladeur train servomotor (19), it is fixed on three Magnet (20) of key light grid (1) lower surface；Described balladeur train turns
Dish (15) is connected with balladeur train rotary tray motor (33) and can under the driving of balladeur train rotary tray motor (33) every time
Rotating a fixed angle, multiple balladeur trains (3) are distributed on balladeur train rotating disk (15), described balladeur train servomotor
(19) drive second slide block (13-2) of guide rail (13) along the mobile driving electric displacement simultaneously of guide rail (13)
Platform (18) and balladeur train arm (17) edge are parallel to guide rail (13) direction and move, described three Magnet (20)
Corresponding with three upper bearing (metal)s (3-1) of balladeur train (3) respectively, when balladeur train (3) is near key light grid (1),
By three Magnet (20), balladeur train (3) is adsorbed at key light grid (1) upper surface；
The described three-dimensional assembly (6) that adjusts is used for realizing the closed loop control that indication grating (2) Three Degree Of Freedom adjusts,
Including be arranged on pedestal (30) three-dimensional adjust platform (22), to be fixed on the three-dimensional platform (22) that adjusts upper and use
In gripping the grating clamper (21) of indication grating (2), being separately mounted to the CCD of key light grid (1) both sides
Camera (23) and CCD light source (24)；Described key light grid (1) are positioned at grating clamper (21) front end,
Adjust in three-dimensional after described grating clamper (21) gripping indication grating (2) and realize under the drive of platform (22)
The Three Degree Of Freedom of indication grating (2) adjusts, described grating clamper (21) during an adhesive curing all the time
Clamping indication grating (2), obtains Moire fringe image data by CCD camera (23) and calculates adjustment amount,
The position of indication grating (2) is adjusted according to adjustment amount, until between indication grating (2) and key light grid (1)
The Moire fringe width formed reaches 50～70mm；
The point glue that described some adhesive curing assembly (7) is used for realizing between indication grating (2) and balladeur train (3) with
Solidification, realizes once motion 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 the most according to claim 1, its feature exists
In, also include being arranged on pedestal (30) and being positioned at key light grid (1) front end being used for placing balladeur train (3)
Pallet (8), described guide rail (13) is positioned at pallet (8) outside.
Increment type grating scale indication grating automatic adhesive device the most according to claim 1, its feature exists
In, described grating pickup assembly (4) includes grating rotating disk (9) and the grating being arranged on pedestal (30)
Rotary tray motor (32), the grating arms (12) being fixed on first slide block (13-1) of guide rail (13), fixing
It is connected at the linear electric motors (10) of grating arms (12) one end with the nut of linear electric motors (10) and is used for inhaling
Take and lift indication grating (2) sucker (11), be fixed on guide rail (13) upper and with the first slide block (13-1)
The grating servomotor (14) being connected；Described grating rotating disk (9) be connected with grating rotary tray motor (32) and
Can rotate a fixed angle under the driving of grating rotary tray motor (32), multiple indication gratings (2) are equal every time
Cloth is on grating rotating disk (9), and described grating servomotor (14) drives first slide block (13-1) of guide rail (13)
Drive grating arms (12), linear electric motors (10), sucker (11) and instruction along guide rail (13) is mobile simultaneously
Grating (2) is mobile.
Increment type grating scale indication grating automatic adhesive device the most according to claim 1, its feature exists
In, described some adhesive curing assembly (7) includes the miniature guide rail (28) being fixed on support (31), fixes
Point glue servomotor (29) in miniature guide rail (28) one end, it is sequentially fixed at the cunning of miniature guide rail (28)
For some two of ultraviolet glue Glue dripping head (25) side by side on block, it is used for shooting balladeur train (3) to obtain accurately
The photographic head (26) putting glue position and the ultraviolet source (27) solidified for ultra-vioket radiation；Described miniature guide rail
(28) slide block is positioned at key light grid (1) top, and described some glue servomotor (29) drives miniature guide rail (28)
Slide block move and drive two Glue dripping heads (25), photographic head (26) and ultraviolet source (27) along miniature simultaneously
Guide rail (28) is mobile.
Increment type grating scale indication grating automatic adhesive device the most according to claim 3, its feature exists
In, the number of described indication grating (2) is N1Individual, N1Individual indication grating (2) is distributed on grating rotating disk (9)
On, described grating rotating disk (9) rotates a fixed angle θ every time1, andN1For positive integer.
Increment type grating scale indication grating automatic adhesive device the most according to claim 1, its feature exists
In, the number of described balladeur train (3) is N2Individual, N2Individual balladeur train (3) is distributed on balladeur train rotating disk (15),
Described balladeur train rotating disk (15) rotates a fixed angle θ every time2, andN2For positive integer.
Increment type grating scale indication grating automatic adhesive device the most according to claim 3, its feature exists
And the described balladeur train rotating disk (15) identical with the number of indication grating (2) in, the number of described balladeur train (3)
The angle rotated is identical with the angle that grating rotating disk (9) rotates.
Increment type grating scale indication grating automatic adhesive device the most according to claim 1, its feature exists
In, described CCD camera (23) is arranged on pedestal (30) and above and is positioned at key light grid (1) lower section, simultaneously
Described CCD light source (24) is arranged on the slide block of miniature guide rail (28) and is positioned at key light grid (1) top,
The Moire fringe image data utilizing CCD camera (23) to obtain achieve indication grating (2) as feedback quantity
The closed loop control that Three Degree Of Freedom adjusts.
Increment type grating scale indication grating automatic adhesive device the most according to claim 1, its feature exists
In, described CCD camera (23) and CCD light source (24) all can be fixed on pedestal (30) by mounting seat
On, and described CCD camera (23) be located at key light grid (1) top, the most described CCD light source (24)
It is positioned at key light grid (1) lower section, utilizes the Moire fringe image data that CCD camera (23) obtains as instead
Feedback amount achieves the closed loop control that indication grating (2) Three Degree Of Freedom adjusts.
Increment type grating scale indication grating automatic adhesive device the most according to claim 1, its feature
Being, the described three-dimensional platform (22) that adjusts is two one-movement-freedom-degrees and a rotary freedom, two movements
Degree of freedom is used for the relative position regulating indication grating (2) with balladeur train (3), and one-movement-freedom-degree resolution is
Below 0.1mm, rotary freedom is used for regulating the Moire fringe width that CCD camera (23) obtains, and rotates
Degree of freedom resolution is 20 ".
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| Application Number | Priority Date | Filing Date | Title |
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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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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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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 |
| CN106767413B (en) * | 2016-12-27 | 2019-03-19 | 中国科学院长春光学精密机械与物理研究所 | A kind of the lighting mechanism adhering device and its adhering method of grating scale |
| CN112762836B (en) * | 2020-12-23 | 2023-02-28 | 长春汇通光电技术有限公司 | Grating scale, grating scale reading method and device and computer storage medium |
| 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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|---|---|---|---|---|
| RU2197713C2 (en) * | 2000-08-07 | 2003-01-27 | Турухано Борис Ганьевич | Linear movement pickup |
| CN102519367A (en) * | 2011-12-26 | 2012-06-27 | 中国科学院长春光学精密机械与物理研究所 | Sliding framework apparatus of grating ruler |
| CN102607419A (en) * | 2012-03-30 | 2012-07-25 | 中国科学院长春光学精密机械与物理研究所 | Positioning and splicing device of indicating grating |
| CN103925873A (en) * | 2014-03-27 | 2014-07-16 | 中国科学院长春光学精密机械与物理研究所 | Indication optical grating positioning and bonding device |
| CN103940347A (en) * | 2014-04-25 | 2014-07-23 | 浙江大学 | Fault detecting device for incremental grating ruler and detecting method thereof |
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2014
- 2014-08-26 CN CN201410427292.7A patent/CN104215173B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU2197713C2 (en) * | 2000-08-07 | 2003-01-27 | Турухано Борис Ганьевич | Linear movement pickup |
| CN102519367A (en) * | 2011-12-26 | 2012-06-27 | 中国科学院长春光学精密机械与物理研究所 | Sliding framework apparatus of grating ruler |
| CN102607419A (en) * | 2012-03-30 | 2012-07-25 | 中国科学院长春光学精密机械与物理研究所 | Positioning and splicing device of indicating grating |
| CN103925873A (en) * | 2014-03-27 | 2014-07-16 | 中国科学院长春光学精密机械与物理研究所 | Indication optical grating positioning and bonding device |
| CN103940347A (en) * | 2014-04-25 | 2014-07-23 | 浙江大学 | Fault detecting device for incremental grating ruler and detecting method thereof |
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