CN107214515B - A kind of grasping system and clamper towards precision optics - Google Patents

A kind of grasping system and clamper towards precision optics Download PDF

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Publication number
CN107214515B
CN107214515B CN201710428218.0A CN201710428218A CN107214515B CN 107214515 B CN107214515 B CN 107214515B CN 201710428218 A CN201710428218 A CN 201710428218A CN 107214515 B CN107214515 B CN 107214515B
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China
Prior art keywords
clamper
lens barrel
wrist
turntable
adjustment
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CN107214515A (en
Inventor
张之敬
叶鑫
周登宇
邵超
金鑫
吴飞飞
何理
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Beijing Institute of Technology BIT
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Beijing Institute of Technology BIT
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23PMETAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P21/00Machines 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
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23PMETAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00Machines 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
    • B23P19/001Article feeders for assembling machines
    • B23P19/006Holding or positioning the article in front of the applying tool

Abstract

The present invention provides a kind of grasping systems towards precision optics, mainly by clamper turntable, manipulator motion component, lens barrel place tooling, five major parts of optical device clamper and air-channel system form, by the coordination of various pieces, the adjustment of high-precision optical camera lens can be automatically performed.Clip type spacer ring clamper in grasping system provided by the invention is using motor as power source, the opening and closing campaign of clamping jaw is completed by lead screw-connecting plate and link mechanism, by the clamping radius for controlling the available claw of amount of spin of motor, to clamp corresponding spacer ring, to realize the reliable retention of a variety of spacer rings within the scope of certain size.This system can overcome the disadvantages that the problem that optical element type and quantity are more, manual operations is uncontrollable and poor consistency;The assembly efficiency and assembly precision that optical element can be greatly improved are a set of adjustable automatic grasping systems, cope with the adjustment of a variety of high-precision optical devices.

Description

A kind of grasping system and clamper towards precision optics
Technical field
The present invention relates to microoperations and field of micro electromechanical technology, and in particular to a kind of clamping system towards precision optics System and clamper.
Background technique
With the rapid development of 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 assembly of precision optics are particularly important.However, In the assembling process of optical element, since the precision optics such as eyeglass, washer 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 Property grasping system.
At home, the integration techno logy development of high-precision optical system is slower.The adjustment of past optical instrument is all using biography The integration techno logy of system, the adjustment experience for relying primarily on personnel and better simply resetting equipment want image quality come what is completed Relatively low optical system is asked to may be implemented.Simultaneously these methods be that comparison is clumsy, one, the low efficiency period it is long;Two, Hen Duofang Method be all it is experimental, the precision of adjustment will not be very high.Therefore, these methods are not suitable for the high-precision optical system of adjustment.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 mention Higher requirement is gone out.
In " 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 engineering of device reinforcing washer clamper, 2014 (2): 70-73.) in devise it is a kind of should Reinforcing washer clamper, Mobile base and clamper inner cavity form confined space, are vacuumized using vacuum pump, change the position of tension plate It sets, to change the position of claw, it is made to be 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 using pneumatic as clamping power Source is easy to generate impact to accurate fragile spacer ring, influences the performance of spacer ring.
Summary of the invention
In view of this, the present invention provides a kind of grasping systems towards precision optics, mainly by clamper turntable, Manipulator motion component, lens barrel place five tooling, optical device clamper and air-channel system major part compositions.By each Partial coordination can be automatically performed the adjustment of high-precision optical camera lens.
The present invention provides a kind of clip type washer clampers, including clamping jaw clamper quick-changing mechanism, installation shell, stepping Motor, shaft coupling, polished rod, connecting plate, lead 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 shell Top, the lower section for installing shell are fixedly connected with one end of polished rod, and the other end of polished rod is fixedly connected with claw guide rail, connecting plate It is connected by connecting rod with claw, the guide-track groove of claw and claw guide rail is slidably matched, and the output shaft of stepper motor passes through shaft coupling It is connect with lead screw one end, the central part of the other end and claw guide rail of lead screw is rotatably assorted, the threaded hole and lead screw of connecting plate Secure fit, while the via hole of connecting plate is to be slidably matched with polished rod.
Grasping system towards precision optics of the invention mainly include clamper turntable, manipulator motion component, Lens barrel places tooling, optical device clamper and air-channel system;
Clamper turntable is mainly made of stepper motor, clamper turntable and pedestal, is equipped on clamper turntable multiple Optical device clamper, the turntable carry out rotary motion, specified clamper are turned to corresponding position;
Manipulator motion component includes the Mobile Slide of wrist and the direction X/Y/Z, and manipulator motion component is responsible for optics Motor execution and assembly during device adjustment execute, and optical device clamper takes out from clamper turntable, replacement to machine On the wrist of tool arm moving parts, wrist moves to lens barrel and places tooling, carries out the adjustment of lens barrel and optical device;
Lens barrel places the adjustment platform that tooling includes lens barrel fixture and lens barrel, and lens barrel fixture carries out reliable location simultaneously to lens barrel It clamps, the pose that lens barrel adjusts platform adjustment lens barrel guarantees the registration of the axis and wrist and the axis of clamper of lens barrel;
Optical device clamper includes that vacuum adsorption type eyeglass clamper and vacuum adsorption type spacer ring clamper and right are wanted Clip type washer clamper described in asking 1;
Air-channel system provides gas source for pneumatic clamps holder.
The clamp method of grasping system towards precision optics of the invention is as follows:
Step 1, control system makes manipulator motion component movement, and it is corresponding that wrist disposed thereon reaches clamper turntable Above clamper, the clamper quick-changing mechanism on wrist quick-changing mechanism and clamper on wrist cooperates, wrist replacement Clamper needed for upper;
Step 2, it after the required clamper in the step 1 on wrist clamps optical element to be assembled, is transported in mechanical arm Continue to move to lens barrel placement tooling position under the drive of dynamic component;
Step 3, optical device and lens barrel are adjusted while lens barrel placement tooling position progress adjustment, adjustment by lens barrel flat Platform adjusts the pose of lens barrel, so that the assembly of optical element reaches the requirement of assembly precision;
Step 4, wrist is back to clamper turntable after the assembly is completed, replaces next clamper.So circulation, until complete At clamping requirement.
The utility model has the advantages that
Clip type spacer ring clamper provided by the invention passes through lead screw-connecting plate and connecting rod using motor as power source Mechanism completes the opening and closing campaign of clamping jaw, the clamping radius of the available claw of amount of spin by controlling motor, to clamp Corresponding spacer ring, to realize the reliable retention of a variety of spacer rings within the scope of certain size.
Grasping system provided by the invention towards precision optics can overcome the disadvantages that optical element type and quantity are more, hand Work operates uncontrollable and consistency difference problem;The assembly efficiency and assembly precision that optical element can be greatly improved, are a set of Adjustable automatic grasping system copes with the adjustment of a variety of high-precision optical devices.
Detailed description of the invention
Fig. 1 is the grasping system structure chart towards precision optics;
Fig. 2 is that lens barrel places tooling schematic diagram;
Fig. 3 is manipulator motion component diagram;
Fig. 4 is clamper turntable schematic diagram;
Fig. 5 is clip type washer 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 work flow diagram towards precision optics.
Wherein 1- pedestal, 2- lens barrel place tooling, 3- manipulator motion component, 4- clamper turntable, 5- clip type Washer clamper, 6- vacuum adsorption type eyeglass clamper;
2-1- lens barrel fixture, 2-2- lens barrel adjust platform;
3-1- wrist, the Mobile Slide in the direction 3-2-X/Y/Z;3-3- wrist quick-changing mechanism;
5-1 clamping jaw clamper quick-changing mechanism;5-2 stepper motor;5-3 shaft coupling;5-4 polished rod;5-5 connecting plate;5-6 Thick stick;5-7 connecting rod;5-8 claw guide rail;5-9 claw.
Specific embodiment
The present invention will now be described in detail with reference to the accompanying drawings and examples.
The present invention provides a kind of grasping systems towards precision optics.This grasping system mainly turns including clamper Platform, manipulator motion component, lens barrel place tooling, optical device clamper and air-channel system;Clamper turntable is mainly by stepping Motor, clamper turntable and pedestal form, and multiple optical device clampers are equipped on clamper turntable, and clamper turntable is placed The corresponding clampers of many optical devices are " clamper library " that the function of being realized is to carry out rotary motion, by specified folder Holder turns to corresponding position;Manipulator motion component includes the Mobile Slide of wrist and the direction X/Y/Z;Lens barrel places tooling Adjustment platform including lens barrel fixture and lens barrel, main function are to position and clamp lens barrel, while the pose for adjusting lens barrel makes The registration of the axis of the axis and wrist and clamper of lens barrel is maintained in certain accuracy rating;Optical device clamper Mainly it is made of vacuum adsorption type eyeglass clamper, clip type washer clamper and vacuum adsorption type washer clamper;Gas circuit system System is then to provide gas source for pneumatic clamps holder.
Manipulator motion component is mainly responsible for Motor execution and assembly execution during optical device adjustment, optical device Clamper takes out from " clamper library " i.e. clamper turntable, in replacement to the wrist of manipulator motion component;It is mechanical later Wrist moves to lens barrel and places tooling, completes the adjustment of lens barrel and optical device.
Referring to attached drawing 8, workflow of the present invention is as follows: when start-up operation, control system makes manipulator motion component movement, Wrist disposed thereon reaches above clamper turntable respective clamp device, the wrist quick-changing mechanism and clamper on wrist On the cooperation of clamper quick-changing mechanism, wrist just replaces with required clamper;After the clamper clamps optical element to be assembled, Continue to move to lens barrel placement tooling position under the drive of manipulator motion component, optical device and lens barrel are filled herein It adjusts, by the pose of lens barrel adjustment platform adjustment lens barrel while adjustment, so that the assembly of optical element reaches wanting for assembly precision It asks;Wrist is back to clamper turntable after the assembly is completed, replaces next clamper.So circulation, until completing clamping requirement. It for the part of variety classes and size, is rotated by the clamper turntable equipped with multiple corresponding clampers, using changing planes fastly Structure and wrist complete quick-replaceable scheme.Quick-replaceable is suitable for the clamper of same type difference size parts, realizes suitable Answering property clamps, 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 more A clamper rotates the clamper for the part that the corresponding needs such as optical mirror slip, optical spacer, ceramic polished rod assemble To replacement position, assembly efficiency is greatly improved.
Referring to attached drawing 1, the grasping system towards precision optics, it includes lens barrel fixture 2-1 and mirror that lens barrel, which places tooling 2, Cylinder adjustment platform 2-2, as shown in Figure 2.Lens barrel fixture 2-1 effect is to carry out reliable location to lens barrel and clamp, and lens barrel adjustment is flat The pose that platform 2-2 adjusts lens barrel simultaneously makes the registration of the axis of lens barrel and wrist and the axis of clamper 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 the direction wrist 3-1 and X/Y/Z 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 corresponding position;Eyeglass clamper 4 uses vacuum suction to eyeglass, so as to optical mirror slip reality Now reliable not damaged clamping and clamping;For the clamping of washer, using vacuum adsorption type washer clamper and clip type Washer clamper 5, these clampers are all mounted on clamper turntable.
When grasping system is started to work, manipulator motion component 3 is moved, and wrist reaches clamper turntable respective clamp device Required clamper is changed in position;Continue to move to lens barrel and place tooling 2, carry out adjustment, adjustment while is adjusted by adjustment platform Lens barrel pose, and make to assemble the requirement for reaching assembly precision by certain method;Wrist returns to clamper after the assembly is completed Turntable 6 replaces next clamper, so recycles, until completing clamping requirement.For the precision optics zero of different sizes and type Part selects different clampers, by taking clip type washer clamper as an example, passes through wrist quick-changing mechanism 3-3 and clamping jaw clamper The quick-replaceable of clip type washer clamper is completed in the handling of quick-changing mechanism 5-1, efficient adaptability clamping is realized, on above-mentioned basis On, with the position of clamper turntable adjustment clamper, corresponding holding action is completed, and then sequence is completed to assemble, realizes process It concentrates, improves assembly precision efficiency.
It is clip type washer clamper schematic diagram such as attached drawing 5, clamping jaw clamper quick-changing mechanism 5-1 main function is easy for 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 stepper motor rotates and reverse the opening and closure that can control clamping jaw, further Ground, the amount of spin by the way that motor is arranged can control the opening and closing amount of clamping jaw.The output of the one end shaft coupling 5-3 connection stepper motor Axis, the other end connects lead screw 5-6, so that the rotation of motor is passed to lead screw.Polished rod 5-4 plays guiding, connecting plate 5-5 It is 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 washer clamper realizes the fast quick-detach of clamper, clamper by clamping jaw clamper quick-changing mechanism 5-1 When work, motor 5-2 rotation, lead screw 5-6 is rotated under the drive of shaft coupling 5-3, and guiding of the connecting plate 5-5 in feed rod 5-4 is made It is translatable under along its axis, connecting rod 5-7 converts claw 5-9 along claw guide rail along the translation of lead screw axis direction for connecting plate Translation in 5-8 plane.Generally speaking, the rotation of stepper motor, by it is a series of convert become four claws perpendicular to The opening and closing of claw are realized in the translation of motor shaft axis, the clamping radius of the available claw of amount of spin by controlling motor, from And corresponding spacer ring is clamped, complete the reliable retention of each size spacer ring.
In conclusion the above is merely preferred embodiments of the present invention, being not intended to limit the scope of the present invention. All within the spirits and principles of the present invention, any modification, equivalent replacement, improvement and so on should be included in of the invention Within protection scope.

Claims (2)

1. a kind of grasping system towards precision optics, which is characterized in that the grasping system mainly turns including clamper Platform, manipulator motion component, lens barrel place tooling, optical device clamper and air-channel system;
Clamper turntable is mainly made of stepper motor, clamper turntable and pedestal, and multiple optics are equipped on clamper turntable Device clamper, the turntable carry out rotary motion, specified clamper are turned to corresponding position;
Manipulator motion component includes the Mobile Slide of wrist and the direction X/Y/Z, and manipulator motion component is responsible for optical device Motor execution and assembly during adjustment execute, and optical device clamper takes out from clamper turntable, replacement to mechanical arm On the wrist of moving parts, wrist moves to lens barrel and places tooling, carries out the adjustment of lens barrel and optical device;
Lens barrel places the adjustment platform that tooling includes lens barrel fixture and lens barrel, and lens barrel fixture carries out reliable location to lens barrel and presss from both sides Tightly, the pose of lens barrel adjustment platform adjustment lens barrel guarantees the registration of the axis and wrist and the axis of clamper of lens barrel;
Optical device clamper includes vacuum adsorption type eyeglass clamper and vacuum adsorption type spacer ring clamper and clip type washer Clamper;
Air-channel system provides gas source for pneumatic clamps holder;
Wherein, the clip type washer clamper, including clamping jaw clamper quick-changing mechanism (5-1), installation shell (5-10), stepping Motor (5-2), shaft coupling (5-3), polished rod (5-4), connecting plate (5-5), lead screw (5-6), connecting rod (5-7), claw guide rail (5-8) With claw (5-9);
Wherein stepper motor (5-2) is fixedly mounted in installation shell (5-10), and clamping jaw clamper quick-changing mechanism (5-1) is fixed to be connected It connects above installation shell (5-10), the lower section of installation shell (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 Pawl (5-9) and the guide-track groove of claw guide rail (5-8) are slidably matched, the output shaft of stepper motor (5-2) by shaft coupling (5-3) with The connection of lead screw one end (5-6), the central part of the other end and claw guide rail (5-8) of lead screw (5-6) are rotatably assorted, connecting plate The threaded hole and lead screw (5-6) secure fit of (5-5), while the via hole of connecting plate (5-5) is to be slidably matched with polished rod (5-4).
2. a kind of clamp method of the grasping system towards precision optics as described in claim 1 is as follows:
Step 1, control system makes manipulator motion component movement, and wrist disposed thereon reaches clamper turntable respective clamp Above device, the clamper quick-changing mechanism on wrist quick-changing mechanism and clamper on wrist cooperates, and wrist replaces with institute Need clamper;
Step 2, after the required clamper in the step 1 on wrist clamps optical element to be assembled, in manipulator motion group Continue to move to lens barrel placement tooling position under the drive of part;
Step 3, optical device and lens barrel adjust platform tune by lens barrel while lens barrel placement tooling position progress adjustment, adjustment The pose of whole lens barrel, so that the assembly of optical element reaches the requirement of assembly precision;
Step 4, wrist is back to clamper turntable after the assembly is completed, replaces next clamper;So circulation, until completing folder Hold requirement.
CN201710428218.0A 2016-12-05 2017-06-08 A kind of grasping system and clamper towards precision optics Active CN107214515B (en)

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CN2016111034829 2016-12-05

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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
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
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
CN111421317B (en) * 2020-06-09 2020-10-02 宁波丞达精机有限公司 Lens assembling equipment
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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