CN107214515A - A kind of grasping system and clamper towards precision optics - Google Patents
A kind of grasping system and clamper towards precision optics Download PDFInfo
- Publication number
- CN107214515A CN107214515A CN201710428218.0A CN201710428218A CN107214515A CN 107214515 A CN107214515 A CN 107214515A CN 201710428218 A CN201710428218 A CN 201710428218A CN 107214515 A CN107214515 A CN 107214515A
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- Prior art keywords
- clamper
- lens barrel
- optics
- wrist
- turntable
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P21/00—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/001—Article feeders for assembling machines
- B23P19/006—Holding or positioning the article in front of the applying tool
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Lens Barrels (AREA)
- Holding Or Fastening Of Disk On Rotational Shaft (AREA)
Abstract
The invention provides a kind of grasping system towards precision optics, it is main to be laid frock, five major parts of optics clamper and air-channel system by clamper turntable, manipulator motion component, lens barrel and constituted, by the coordination of various pieces, debuging for high-precision optical camera lens can be automatically performed.Clip type spacer ring clamper in the grasping system that the present invention is provided is used as power source by the use of motor, the opening and closing campaign of clamping jaw is completed by leading screw connecting plate and linkage, the clamping radius of claw can be obtained by the amount of spin of controlled motor, so as to clamp corresponding spacer ring, so as to realize the reliable retention of a variety of spacer rings in the range of certain size.The problem of the system can overcome the disadvantages that more optical element type and quantity, uncontrollable and poor uniformity hand-manipulated；The efficiency of assembling and assembly precision of optical element can be greatly improved, is a set of adjustable automatic grasping system, copes with debuging for a variety of high-precision optical devices.
Description
Technical field
The present invention relates to microoperation and field of micro electromechanical technology, and in particular to a kind of clamping system towards precision optics
System and clamper.
Background technology
With developing rapidly for television imaging technology, optical lens is widely used in the production and living of people.For light
Electric system resolving power and the higher optical lens of precision, the clamping and assembling of its precision optics are particularly important.However,
In the assembling process of optical element, because the precision optics such as eyeglass, packing ring are not of uniform size, quantity is more and more easy to wear,
Assembling process is extremely difficult to high-precision requirement.In order to improve the efficiency and precision of assembling process, a set of automatic adaptation is needed badly
Property grasping system.
At home, the integration techno logy development of high-precision optical system is slower.Debuging for past optical instrument is all using biography
The integration techno logy of system, relies primarily on personnel and debugs experience and better simply resetting equipment to complete, will for image quality
Asking can realize than relatively low optical system.Simultaneously these methods be that comparison is clumsy, one, the efficiency low cycle it is long；2nd, Hen Duofang
Method is all experimental, and the precision debug will not be very high.Therefore, these methods are not suitable for debuging high-precision optical system.Closely
In the past few years, with the development of advanced optical detective technology, make it possible that high-precision optical camera lens is felt relieved assembly system, and is carried
Higher requirement is gone out.
《A kind of design of oil cooler reinforcing washer clamper》(a kind of machine oil of Weng Lingling, Zhu Xinglong, Sun Zhao is cold
But design [J] machine design and manufacture engineerings of device reinforcing washer clamper, 2014 (2):A kind of be somebody's turn to do is devised in 70-73.)
Reinforcing washer clamper, Mobile base forms confined space with clamper inner chamber, is vacuumized using vavuum pump, changes the position of tension plate
Put, so as to change the position of claw, it is supported in the crawl that reinforcing washer inner ring surface realizes part.However, the clamper is sharp
The clamping of different size spacer rings is realized with the rotation of three claws, clamping range is smaller；And it is used as clamping power by the use of pneumatic
Source, easily produces impact to accurate fragile spacer ring, influences the performance of spacer ring.
The content of the invention
In view of this, the invention provides a kind of grasping system towards precision optics, mainly by clamper turntable,
Manipulator motion component, lens barrel lay frock, five major part compositions of optics clamper and air-channel system.By each
Partial coordination, can be automatically performed debuging for high-precision optical camera lens.
The invention provides a kind of clip type packing ring clamper, including clamping jaw clamper quick-changing mechanism, installation housing, stepping
Motor, shaft coupling, polished rod, connecting plate, leading screw, connecting rod, claw guide rail and claw；
Wherein stepper motor is fixedly mounted in mounting shell body, and clamping jaw clamper quick-changing mechanism is fixedly connected on installation housing
Top, the lower section for installing housing is fixedly connected with one end of polished rod, and the other end of polished rod is fixedly connected with claw guide rail, connecting plate
Connected by connecting rod and claw, the guide groove of claw and claw guide rail is slidably matched, and the output shaft of stepper motor passes through shaft coupling
It is connected with leading screw one end, the core of the other end and claw guide rail of leading screw is rotatably assorted, the screwed hole and leading screw of connecting plate
Secure fit, while the via of connecting plate is to be slidably matched with polished rod.
The present invention the grasping system towards precision optics mainly include clamper turntable, manipulator motion component,
Lens barrel lays frock, optics clamper and air-channel system；
Clamper turntable is mainly made up of stepper motor, clamper rotating disk and base, is provided with clamper turntable multiple
Optics clamper, the turntable carries out gyration, and specified clamper is turned into relevant position；
Manipulator motion component includes wrist and the Mobile Slide in X/Y/Z directions, and manipulator motion component is responsible for optics
Motor execution during device is debug is performed with assembling, and optics clamper takes out from clamper turntable, changes to machine
On the wrist of tool arm moving parts, wrist moves to lens barrel and lays frock, carries out debuging for lens barrel and optics；
Lens barrel, which lays frock, includes the adjustment platform of lens barrel fixture and lens barrel, and lens barrel fixture carries out reliable location simultaneously to lens barrel
Clamp, the pose of lens barrel adjustment platform adjustment lens barrel ensures the axis and wrist and the registration of the axis of clamper of lens barrel；
Optics clamper includes vacuum adsorption type eyeglass clamper and vacuum adsorption type spacer ring clamper and right will
Seek the clip type packing ring clamper described in 1；
Air-channel system provides source of the gas for pneumatic clamps holder.
The clamp method of the grasping system towards precision optics of the present invention is as follows：
Step 1, control system makes manipulator motion component movement, and it is corresponding that wrist disposed thereon reaches clamper rotating disk
Above clamper, the wrist quick-changing mechanism on wrist coordinates with the clamper quick-changing mechanism on clamper, and wrist is changed
Clamper needed for upper；
Step 2, the required clamper in the step 1 on wrist is gripped after optical element to be assembled, in mechanical arm fortune
Continue to move to lens barrel placement frock position under the drive of dynamic component；
Step 3, optics and lens barrel are laid frock position in lens barrel and debug, and adjust flat by lens barrel while debuging
Platform adjusts the pose of lens barrel so that the assembling of optical element reaches the requirement of assembly precision；
Step 4, wrist is back to clamper rotating disk after the completion of assembling, changes next clamper.So circulation, until complete
Into clamping requirement.
Beneficial effect：
The clip type spacer ring clamper that the present invention is provided passes through leading screw-connecting plate and connecting rod by the use of motor as power source
Mechanism completes the opening and closing campaign of clamping jaw, the clamping radius of claw can be obtained by the amount of spin of controlled motor, so as to clamp
Corresponding spacer ring, so as to realize the reliable retention of a variety of spacer rings in the range of certain size.
The grasping system towards precision optics that the present invention is provided can overcome the disadvantages that optical element type and quantity are more, hand
Work operates the problem of uncontrollable and uniformity is poor；The efficiency of assembling and assembly precision of optical element can be greatly improved, is a set of
Adjustable automatic grasping system, copes with debuging for a variety of high-precision optical devices.
Brief description of the drawings
Fig. 1 is the grasping system structure chart towards precision optics；
Fig. 2 is that lens barrel lays frock schematic diagram；
Fig. 3 is manipulator motion component diagram；
Fig. 4 is clamper turntable schematic diagram；
Fig. 5 is clip type packing ring clamper schematic diagram；
Fig. 6 is vacuum adsorption type eyeglass clamper schematic diagram；
Fig. 7 is vacuum adsorption type spacer ring clamper schematic diagram；
Fig. 8 is the grasping system workflow diagram towards precision optics.
Wherein 1- bases, 2- lens barrels lay frock, 3- manipulator motion components, 4- clamper turntables, 5- clip types
Packing ring clamper, 6- vacuum adsorption type eyeglass clampers；
2-1- lens barrel fixtures, 2-2- lens barrels adjustment platform；
3-1- wrists, the Mobile Slide in 3-2-X/Y/Z directions；3-3- wrist quick-changing mechanisms；
5-1 clamping jaw clamper quick-changing mechanisms；5-2 stepper motors；5-3 shaft couplings；5-4 polished rods；5-5 connecting plates；5-6
Thick stick；5-7 connecting rods；5-8 claw guide rails；5-9 claws.
Embodiment
The present invention will now be described in detail with reference to the accompanying drawings and examples.
The invention provides a kind of grasping system towards precision optics.This grasping system mainly turns including clamper
Platform, manipulator motion component, lens barrel lay frock, optics clamper and air-channel system；Clamper turntable is main by stepping
Multiple optics clampers are installed on motor, clamper rotating disk and base composition, clamper turntable, clamper turntable is placed
The corresponding clampers of many optics, are " clamper storehouse " that the function of being realized is to carry out gyration, by specified folder
Holder turns to relevant position；Manipulator motion component includes wrist and the Mobile Slide in X/Y/Z directions；Lens barrel lays frock
Adjustment platform including lens barrel fixture and lens barrel, main function is to position and clamp lens barrel, while the pose for adjusting lens barrel causes
The registration of the axis of lens barrel and wrist and the axis of clamper is maintained in certain accuracy rating；Optics clamper
Mainly it is made up of vacuum adsorption type eyeglass clamper, clip type packing ring clamper and vacuum adsorption type packing ring clamper；Gas circuit system
System is then to provide source of the gas for pneumatic clamps holder.
Manipulator motion component is mainly responsible for Motor execution and assembling execution during optics is debug, optics
Clamper from " clamper storehouse " be clamper turntable in take out, change on the wrist of manipulator motion component；It is mechanical afterwards
Wrist moves to lens barrel and lays frock, completes debuging for lens barrel and optics.
Referring to the drawings 8, workflow of the present invention is as follows：During start-up operation, control system makes manipulator motion component movement,
Wrist disposed thereon is reached above clamper rotating disk respective clamp device, wrist quick-changing mechanism and clamper on wrist
On clamper quick-changing mechanism coordinate, wrist just replaces with required clamper；The clamper is gripped after optical element to be assembled,
Continue to move to lens barrel placement frock position under the drive of manipulator motion component, optics and lens barrel enter luggage herein
Adjust, the pose that platform adjusts lens barrel is adjusted by lens barrel while debuging so that the assembling of optical element reaches wanting for assembly precision
Ask；Wrist is back to clamper rotating disk after the completion of assembling, changes next clamper.So circulation, until completing clamping requirement.
For variety classes and the part of size, rotated by the clamper turntable equipped with multiple corresponding clampers, using changing planes soon
Structure completes quick-replaceable scheme with wrist.Quick-replaceable is applied to the clamper of the different size parts of same type, realizes suitable
Answering property is clamped, and improves clamping efficiency.
Clamper turntable by each gripper it is different types of it is to be installed replace the spare parts, clamper turntable can accommodate many
Individual clamper, needs the clamper of the part assembled to rotate by corresponding such as optical mirror slip, optical spacer, ceramic polished rod
To position is changed, efficiency of assembling is greatly improved.
Referring to the drawings 1, towards the grasping system of precision optics, lens barrel, which lays frock 2, includes lens barrel fixture 2-1 and mirror
Cylinder adjustment platform 2-2, as shown in Figure 2.Lens barrel fixture 2-1 effects are that reliable location is carried out to lens barrel and is clamped, and lens barrel adjustment is flat
The pose that platform 2-2 adjusts lens barrel simultaneously causes the axis of lens barrel and the registration of wrist and the axis of clamper to be maintained at certain
Accuracy rating in.As shown in figure 3, the manipulator motion component 3 in Fig. 1 includes the mobile cunning in wrist 3-1 and X/Y/Z directions
There is wrist quick-changing mechanism 3-3 on platform 3-2, wrist 3-1.The function that clamper turntable 6 is realized in Fig. 1 is to carry out revolution fortune
It is dynamic, specified clamper is turned into relevant position；Eyeglass clamper 4 uses vacuum suction to eyeglass, so as to real to optical mirror slip
Now reliable not damaged clamping and gripping；For the clamping of packing ring, using vacuum adsorption type packing ring clamper and clip type
Packing ring clamper 5, these clampers are all arranged on clamper turntable.
When grasping system is started working, manipulator motion component 3 is moved, and wrist reaches clamper turntable respective clamp device
Position, changes required clamper；Continue to move to lens barrel placement frock 2, debug, adjusted while debuging by adjustment platform
Lens barrel pose, and by certain method to assemble the requirement for reaching assembly precision；Wrist returns to clamper after the completion of assembling
Turntable 6, changes next clamper, so circulation, until completing clamping requirement.For the precision optics zero of different sizes and species
Part, selects different clampers, by taking clip type packing ring clamper as an example, passes through wrist quick-changing mechanism 3-3 and clamping jaw clamper
Quick-changing mechanism 5-1 handling complete the quick-replaceable of clip type packing ring clamper, efficient adaptability clamping are realized, on above-mentioned basis
On, the position of clamper is adjusted with clamper turntable, corresponding holding action is completed, and then order completes assembling, realizes process
Concentrate, improve assembly precision efficiency.
It is clip type packing ring clamper schematic diagram, clamping jaw clamper quick-changing mechanism 5-1 main functions are easy for such as accompanying drawing 5
Handling of the clamper between clamper turntable and mechanical arm, turntable is as shown in figure 4, mechanical arm is as shown in Figure 3.Stepper motor 5-
2 major functions are to be rotated, and the rotating and reverse of stepper motor can control opening and closing for clamping jaw, further
Ground, by setting the amount of spin of motor to control the opening and closing amount of clamping jaw.Shaft coupling 5-3 one end connects the output of stepper motor
Axle, other end connection leading screw 5-6, so that the rotation of motor is passed into leading screw.Polished rod 5-4 plays a part of to be oriented to, connecting plate 5-5
Sliding over.Connecting rod 5-7 connection connecting plate 5-5 and claw guide rail 5-8, claw 5-9 are slided in claw guide rail 5-8.
Clip type packing ring clamper realizes the fast quick-detach of clamper, clamper by clamping jaw clamper quick-changing mechanism 5-1
During work, motor 5-2 is rotated, and leading screw 5-6 is rotated under shaft coupling 5-3 drive, and connecting plate 5-5 makees in feed rod 5-4 guiding
Along its axis translation under, translations of the connecting rod 5-7 by connecting plate along leading screw axis direction is converted into claw 5-9 along claw guide rail
Translation in 5-8 planes.Generally speaking, the rotation of stepper motor, by a series of conversion be changed into four claws perpendicular to
The translation of motor shaft axis, realizes the opening and closing of claw, and the clamping radius of claw can be obtained by the amount of spin of controlled motor, from
And corresponding spacer ring is clamped, complete the reliable retention of each size spacer ring.
In summary, presently preferred embodiments of the present invention is these are only, is not intended to limit the scope of the present invention.
Within the spirit and principles of the invention, any modification, equivalent substitution and improvements made etc., should be included in the present invention's
Within protection domain.
Claims (3)
1. a kind of clip type packing ring clamper, it is characterised in that the clip type packing ring clamper, including clamping jaw clamper quick change
Mechanism (5-1), installation housing (5-10), stepper motor (5-2), shaft coupling (5-3), polished rod (5-4), connecting plate (5-5), leading screw
(5-6), connecting rod (5-7), claw guide rail (5-8) and claw (5-9)；
Wherein stepper motor (5-2) is fixedly mounted in installation housing (5-10), and clamping jaw clamper quick-changing mechanism (5-1) is fixed to be connected
It is connected on above installation housing (5-10), the lower section for installing housing (5-10) is fixedly connected with one end of polished rod (5-4), polished rod (5-
4) the other end is fixedly connected with claw guide rail (5-8), and connecting plate (5-5) is connected by connecting rod (5-7) and claw (5-9), card
The guide groove of pawl (5-9) and claw guide rail (5-8) is slidably matched, the output shaft of stepper motor (5-2) by shaft coupling (5-3) with
Leading screw (5-6) one end is connected, and the core of the other end and claw guide rail (5-8) of leading screw (5-6) is rotatably assorted, connecting plate
The screwed hole of (5-5) and leading screw (5-6) secure fit, while the via of connecting plate (5-5) is to be slidably matched with polished rod (5-4).
2. a kind of grasping system towards precision optics, it is characterised in that the grasping system mainly turns including clamper
Platform, manipulator motion component, lens barrel lay frock, optics clamper and air-channel system；
Clamper turntable is mainly made up of stepper motor, clamper rotating disk and base, and multiple optics are provided with clamper turntable
Device clamper, the turntable carries out gyration, and specified clamper is turned into relevant position；
Manipulator motion component includes wrist and the Mobile Slide in X/Y/Z directions, and manipulator motion component is responsible for optics
Motor execution and assembling during debuging are performed, and optics clamper takes out from clamper turntable, changes to mechanical arm
On the wrist of moving parts, wrist moves to lens barrel and lays frock, carries out debuging for lens barrel and optics；
Lens barrel, which lays frock, includes the adjustment platform of lens barrel fixture and lens barrel, and lens barrel fixture carries out reliable location to lens barrel and pressed from both sides
Tightly, the pose of lens barrel adjustment platform adjustment lens barrel ensures the axis and wrist and the registration of the axis of clamper of lens barrel；
Optics clamper includes vacuum adsorption type eyeglass clamper and vacuum adsorption type spacer ring clamper and claim 1 institute
The clip type packing ring clamper stated；
Air-channel system provides source of the gas for pneumatic clamps holder.
3. a kind of clamp method of grasping system towards precision optics as claimed in claim 2 is as follows：
Step 1, control system makes manipulator motion component movement, and wrist disposed thereon reaches clamper rotating disk respective clamp
Above device, the wrist quick-changing mechanism on wrist coordinates with the clamper quick-changing mechanism on clamper, and wrist replaces with institute
Need clamper；
Step 2, the required clamper in the step 1 on wrist is gripped after optical element to be assembled, in manipulator motion group
Continue to move to lens barrel placement frock position under the drive of part；
Step 3, optics and lens barrel are laid frock position in lens barrel and debug, and are adjusted while debuging by lens barrel adjustment platform
The pose of whole lens barrel so that the assembling of optical element reaches the requirement of assembly precision；
Step 4, wrist is back to clamper rotating disk after the completion of assembling, changes next clamper.So circulation, until completing folder
Hold requirement.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611103482 | 2016-12-05 | ||
| CN2016111034829 | 2016-12-05 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107214515A true CN107214515A (en) | 2017-09-29 |
| CN107214515B CN107214515B (en) | 2018-12-28 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710428218.0A Active CN107214515B (en) | 2016-12-05 | 2017-06-08 | A kind of grasping system and clamper towards precision optics |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107984270A (en) * | 2017-11-22 | 2018-05-04 | 上海理工大学 | The Pneumatic flexible fixture of curved surface class Thin-walled Workpiece |
| CN108732780A (en) * | 2018-03-07 | 2018-11-02 | 北京理工大学 | A kind of automatic debugging device of optical lens and method |
| CN110058406A (en) * | 2019-04-19 | 2019-07-26 | 同济大学 | A kind of rotating mirror system of automatic replacement prism |
| CN110058403A (en) * | 2019-04-19 | 2019-07-26 | 同济大学 | It is a kind of can automatic combined prism rotating mirror system |
| CN110554472A (en) * | 2018-05-30 | 2019-12-10 | 宁波舜宇车载光学技术有限公司 | Spacer ring, optical lens and assembling method thereof |
| CN110561540A (en) * | 2019-08-23 | 2019-12-13 | 中国科学院西安光学精密机械研究所 | adjusting device for optical centering instrument |
| CN111421317A (en) * | 2020-06-09 | 2020-07-17 | 宁波丞达精机有限公司 | Lens assembling equipment |
| CN114290268A (en) * | 2021-12-11 | 2022-04-08 | 中航洛阳光电技术有限公司 | Fast-assembly zero point positioning device and method for automatic assembly of optical element |
| CN116810366A (en) * | 2021-12-28 | 2023-09-29 | 西安和其光电科技股份有限公司 | Robot-based optical module accurate assembly system and method |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107984270A (en) * | 2017-11-22 | 2018-05-04 | 上海理工大学 | The Pneumatic flexible fixture of curved surface class Thin-walled Workpiece |
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| CN108732780B (en) * | 2018-03-07 | 2021-01-26 | 北京理工大学 | Automatic optical lens adjusting device and method |
| CN110554472A (en) * | 2018-05-30 | 2019-12-10 | 宁波舜宇车载光学技术有限公司 | Spacer ring, optical lens and assembling method thereof |
| CN110058403A (en) * | 2019-04-19 | 2019-07-26 | 同济大学 | It is a kind of can automatic combined prism rotating mirror system |
| CN110058406B (en) * | 2019-04-19 | 2020-11-27 | 同济大学 | Rotating mirror system capable of automatically replacing prism |
| CN110058403B (en) * | 2019-04-19 | 2020-11-27 | 同济大学 | Rotating mirror system capable of automatically combining prisms |
| CN110058406A (en) * | 2019-04-19 | 2019-07-26 | 同济大学 | A kind of rotating mirror system of automatic replacement prism |
| CN110561540A (en) * | 2019-08-23 | 2019-12-13 | 中国科学院西安光学精密机械研究所 | adjusting device for optical centering instrument |
| CN110561540B (en) * | 2019-08-23 | 2024-04-05 | 中国科学院西安光学精密机械研究所 | Adjusting device for optical centering instrument |
| CN111421317A (en) * | 2020-06-09 | 2020-07-17 | 宁波丞达精机有限公司 | Lens assembling equipment |
| CN114290268A (en) * | 2021-12-11 | 2022-04-08 | 中航洛阳光电技术有限公司 | Fast-assembly zero point positioning device and method for automatic assembly of optical element |
| CN114290268B (en) * | 2021-12-11 | 2023-05-02 | 中航洛阳光电技术有限公司 | Quick-mounting zero point positioning device and method for automatic assembly of optical element |
| CN116810366A (en) * | 2021-12-28 | 2023-09-29 | 西安和其光电科技股份有限公司 | Robot-based optical module accurate assembly system and method |
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|---|---|
| CN107214515B (en) | 2018-12-28 |
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