CN107957626B - A kind of six-freedom parallel automatic deflection adjusting system and method towards optical mirror slip - Google Patents
A kind of six-freedom parallel automatic deflection adjusting system and method towards optical mirror slip Download PDFInfo
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Abstract
A kind of six-freedom parallel automatic deflection adjusting system and method towards optical mirror slip, belongs to optical mirror slip precise automatic mounting technology field.The automatic deflection adjusting of eyeglass is realized based on the inclined measurement result in center and six-freedom parallel structure.Automatic deflection adjusting system is mainly made of lens barrel adjustment module, align measurement module and automatic deflection adjusting module.Automatic deflection adjusting method calculates two sphere centre coordinates of lens to be assembled based on align measurement data, six-degree-of-freedom parallel connection mechanism is driven to realize tuningout again, by the way of measurement and adjustment alternately, that is tuningout of every progress, center need to be re-measured partially to verify whether tuningout result meets the requirements, if being unsatisfactory for requiring, need to be fitted again optical axis again tuningout until precision reaches requirement.The present invention realizes the integration of align measurement and eyeglass adjust automatically, can rapid survey center of lens partially and adjustment offset, not only ensure that the tuningout precision of eyeglass met the requirements, but also substantially increase eyeglass adjustment efficiency.
Description
Technical Field
The invention relates to a six-degree-of-freedom parallel automatic deviation adjusting system and method for an optical lens, in particular to a six-degree-of-freedom parallel deviation adjusting system and an automatic efficient deviation adjusting algorithm for the optical lens, and belongs to the technical field of automatic assembly of precise assembly of the optical lens, the optical system and electromechanics.
Background
With the technology of aerospace and digital technology changing day by day, the optical lens group has been widely applied to the fields of spacecraft, unmanned aerial vehicles, intelligent robots, digital cameras, civil mobile phones and the like, and the assembly requirements for high efficiency and high reliability are increasingly strong. However, in the current common situation, the measurement and adjustment of the lens center deviation are basically performed manually, and the reliability of the assembly precision and the assembly efficiency are difficult to guarantee, so a more reliable and faster lens assembly system is urgently needed.
After literature and patent search, the following items are provided for the fitting system or apparatus related to lens decentration measurement and lens fitting:
(1) application number CN201310411023, invention name: a device and a method for detecting the center deviation of a lens to be detected are disclosed, the device and the method are simple in structure and can quickly and efficiently detect the center deviation of the lens to be detected, the problems that in a mechanical three-coordinate method, data reading in each measurement is labor-consuming, time consuming is long, efficiency is low, precision is low and the like are solved, but the method is only limited to quickly measuring the center deviation of the lens, and a deviation adjusting scheme is not provided.
(2) Application No. CN201410115050.4, entitled: an optical lens auxiliary adjusting device is disclosed, which solves the technical problems of low precision and high cost of measuring the center deviation and the lens interval of an optical lens respectively in the prior art, and improves the adjusting efficiency of the optical lens. However, although this device achieves a combination of both decentration and lens separation measurements, it is not suggested how to adjust the decentration after the lens decentration is measured.
In summary, although there are many measuring devices for decentration of an optical lens, it is usually only possible to automate the decentration measurement of the lens, and when there is decentration of the lens, it still needs to be manually adjusted, and although the efficiency is greatly improved compared with the pure manual assembly, it still cannot be automated for the whole process from the measurement to the decentration.
The automatic center deviation measuring and adjusting system for the optical lens, provided by the invention, realizes high integration of center deviation measurement and lens adjustment by adopting a mode of alternately performing measurement and adjustment, and similar research results are not seen at present.
Disclosure of Invention
The invention aims to provide a six-degree-of-freedom parallel automatic deviation adjusting system and method for an optical lens, aiming at the technical current situation that when the existing measuring equipment for the center deviation of the optical lens processes the center deviation of the lens, the center deviation still needs to be adjusted manually and the efficiency is lower.
A six-freedom-degree parallel automatic deviation adjusting system and method facing to an optical lens comprise a six-freedom-degree parallel automatic deviation adjusting system facing to the optical lens, which is called as an automatic deviation adjusting system for short; and a six-degree-of-freedom parallel automatic alignment method for optical lenses, which is called an automatic alignment method for short.
The automatic deviation adjusting system realizes the integration of center deviation measurement and automatic lens adjustment, not only can realize the rapid measurement of the center deviation of the lens, but also provides an automatic deviation adjusting method for realizing the deviation adjustment of the lens by adopting a six-degree-of-freedom parallel structure based on the measurement result of the center deviation; the automatic deviation adjusting system provides a mode of alternately performing measurement and adjustment in the lens assembling process, the center deviation needs to be measured again to verify whether the deviation adjusting result can meet the requirement or not every time the deviation adjustment is performed, if the deviation adjusting result cannot meet the precision requirement, the optical axis needs to be fitted again to perform deviation adjustment again until the precision meets the requirement, and therefore the deviation adjusting precision of the lens can be ensured to meet the requirement;
the automatic deviation adjusting system mainly comprises a lens cone adjusting module, a central deviation measuring module and an automatic deviation adjusting module; the automatic deviation adjusting system can realize the height integration of center deviation measurement and lens adjustment;
a reference shaft of the automatic deviation adjusting system is defined as a rotating shaft of a lower air-floating rotary table in the lens cone adjusting module; for a single lens with two spherical surfaces, the line connecting the two spherical centers is the optical axis of the lens.
The lens cone adjusting module comprises a lower air-flotation rotary table, a four-dimensional adjusting table, a lens cone clamping mechanism and a dial indicator measuring mechanism; the dial indicator measuring mechanism comprises a dial indicator moving platform, an upper dial indicator and a lower dial indicator; the lower air-floating rotary table is fixed on the equipment workbench, the four-dimensional adjusting table is fixed on the lower air-floating rotary table, and the dial indicator measuring mechanism is fixed on the equipment workbench. The lower air-floating rotary table is provided with a central through hole with the diameter ofThe through hole is positioned at the rotating shaft of the lower air-floating rotary table so as to enable the light beam to pass through the lower air-floating rotary table;
wherein the diameterIn the range ofTo
The four-dimensional adjusting platform comprises two linear displacement platforms, an adjusting platform and a lens cone clamp; the motion axes of the two linear displacement tables are vertically stacked in space, the leveling tables are fixed on the two linear displacement tables, and the lens cone fixture is fixed on the leveling table; the center of the four-dimensional adjusting table has a diameter ofThe through hole is formed in the lower air-bearing turntable, so that the light beam can pass through the four-dimensional adjusting table, and the through hole of the four-dimensional adjusting table is larger than that of the lower air-bearing turntable in consideration of the fact that the solid part of the straight-line displacement table, which is not provided with the through hole, can block the light path in the moving process;
wherein the diameterIn the range ofIn order to facilitate manual adjustment, the fine thread marked with scales is preferably used for driving the adjusting platform, namely the micrometer is used for driving the adjusting platform;
the leveling platform mainly comprises a working plate and a lower bottom plate; the rotary contact surface of the working plate and the lower bottom plate is a spherical surface, the center of the sphere cannot generate horizontal displacement when the leveling is carried out, the center of the sphere is designed to be h away from the table surface, if the lower dial indicator is just away from the table surface h, namely the lower dial indicator just points to the center of the sphere of which the leveling table contacts the spherical surface, the horizontal displacement cannot occur at the height of the lower dial indicator in the offset adjusting process, so that the horizontal displacement cannot be generated when the angle is adjusted, the separate adjustment of the angle and the offset is realized, and the error in the principle is avoided;
wherein the height h ranges from 40mm to 60 mm;
the dial indicator measuring mechanism mainly comprises an upper dial indicator, a lower dial indicator, a sliding rail and an x-y two-dimensional translation table;
the four parts are connected in the following way: the upper dial indicator and the lower dial indicator are locked on the sliding rail through screws, so that the measuring axes of the upper dial indicator and the lower dial indicator are ensured to be positioned in the same vertical plane; the slide rail is fixed on the x-y two-dimensional translation table through screws.
The center deviation measuring module mainly comprises an autocollimator adjusting mechanism, an autocollimator and a 45-degree reflector; when the autocollimator is installed, the coaxiality of the optical axis of the autocollimator and the reference axis of the system is ensured by adjusting the positions and postures of the autocollimator and the 45-degree reflecting mirror;
the autocollimator adjusting mechanism comprises a supporting plate and three screw adjusting mechanisms, wherein the supporting plate is horizontally arranged on the rack. The screw adjusting mechanism consists of three screws and a metal plate, one part of the metal plate is fixedly connected with the rack through two screws, the other part of the metal plate is fixedly connected with the supporting plate through one screw, and the position of the supporting plate on the rack can be adjusted through an adjusting screw; two screw adjusting mechanisms are arranged on two sides of the supporting plate, and one screw adjusting mechanism is arranged on the end surface of the supporting plate; the autocollimator is horizontally arranged on the supporting plate, wherein a ccd camera is fixed at the tail end of the autocollimator; the 45-degree reflecting mirror is used for turning light beams and turning horizontal light rays of the collimator into vertical light rays.
The automatic deviation adjusting module mainly comprises a z-axis displacement table, an upper air-bearing rotary table, a six-degree-of-freedom parallel mechanism, a six-degree-of-freedom force sensor and a pneumatic adsorption head; the connection mode of the five parts is as follows: the z-axis displacement table is vertically placed, and the motion axis of the z-axis displacement table is parallel to the reference axis of the system; the upper air-floating rotary table is fixedly connected with the z-axis displacement table through a transfer plate, and the coaxiality of a rotating shaft of the upper air-floating rotary table and a system reference shaft is ensured to be within the rangeThe content of the compound is less than the content of the compound; the base of the six-freedom-degree parallel mechanism is fixedly connected with the upper air-floating turntable through the adapter shaft, the six-freedom-degree parallel mechanism is placed in an inverted mode, and the coaxiality of the z axis of the six-freedom-degree parallel mechanism and the system reference axis is ensured to be within the rangeThe content of the compound is less than the content of the compound; one end of the six-freedom-degree force sensor is fixedly connected with the working surface of the six-freedom-degree parallel mechanism, and the coaxiality of the geometric axis of the six-freedom-degree force sensor and the system reference shaft is ensured to be within the rangeThe content of the compound is less than the content of the compound; one end of the pneumatic adsorption head is fixedly connected with a six-degree-of-freedom force sensor, and the coaxiality of the geometric axis of the pneumatic adsorption head and the system reference shaft is ensured to be withinThe content of the compound is less than the content of the compound;
the automatic deviation adjusting method mainly comprises the steps of collecting data, calculating coordinates of a sphere center and quickly adjusting deviation;
step 1, collecting data, wherein parameters mainly including curvature radius, diameter, material, thickness, lens interval and inner diameter of a lens barrel of a lens to be adjusted are collected in advance;
step 2, performing geometric calculation to determine the space coordinate of the spherical center of the lens to be adjusted through the acquired data;
if the lens to be adjusted is a single lens with two spherical surfaces, the coordinates of the two spherical centers corresponding to the single lens with two spherical surfaces are calculated as the following formulas (1) and (2):
the calculated sphere center coordinate values are all values in an offset coordinate system, and the offset coordinate system is specified as follows:
the x axis and the y axis of an offset coordinate system coincide with the x axis and the y axis of an autocollimator, the z axis of the offset coordinate system is vertically upward and coincides with a reference axis of an automatic offset system, and the origin of the z axis of the offset coordinate system is set as the intersection point of a first spherical surface of a first lens contacted with the autocollimator from bottom to top;
the steps of calculating the coordinates of the center of sphere are as follows:
step 2.1 adjusting the focal length of the autocollimator to focus the autocollimator on the center of the sphere O2The upper air-floating rotary table is rotated by 360 degrees, and then the center of the sphere is O2Drawing a circle on a reflection cursor on an autocollimator ccd camera, and determining a sphere center O according to the structural size of the pneumatic adsorption head and the curvature radius of the adsorbed sphere2Is given by the formula (1):
wherein,is a sphere center O2Z-axis coordinate of (d)xThe diameter of the contact surface between the lowest end of the pneumatic adsorption head and the lens is shown, L is the distance from the contact surface to the origin O after the lens is adsorbed, and R is2Represents the curvature radius of the absorbed mirror surface, and the absorbed mirror surface is called as a spherical surface 2;
step 2.2 adjusting the focal length of the autocollimator to focus the autocollimator to O1The upper air-floating rotary table is rotated by 360 degrees to form a sphere center O1The reflection cursor on the CCD camera of autocollimator draws a circle, at this moment, the central deviation χ of lens can be calculated, so that the centre of sphere O can be determined1Has the following formula (2):
wherein,is a sphere center O1Z-axis coordinate of (2), R1Denotes the radius of curvature of the unabsorbed lens sphere, and the unabsorbed lens sphere is referred to as "sphere 1", d12Represents the thickness of the lens, χ represents the decentration of the lens, cos χ represents the cosine of the decentration χ;
step 2.3, calculating the coordinates of the sphere center 1 and the sphere center 2 in the offset coordinate system according to the following formulas (3) and (4):
wherein, the ccd camera respectively collects the sphere center O twice1And O2The reflected cursor on the autocollimator ccd camera draws two circles, X1.0，X1.180，Y1.0And Y1.180Respectively represent the center of sphere O1Coordinate values of four points corresponding to the corresponding circles in the positive x-axis direction, the negative x-axis direction, the positive y-axis direction and the negative y-axis direction; x2.0、X2.180、Y2.0And Y2.180Respectively represent the center of sphere O2Coordinate values of four points corresponding to the corresponding circles in the positive x-axis direction, the negative x-axis direction, the positive y-axis direction and the negative y-axis direction;
βT(1) represents the center of sphere O1Vertical axis magnification during imaging onto the target surface of the detector, βT(2) Represents the center of sphere O2Vertical axis magnification in imaging process to the target surface of the detector, representing the sphere center O of the sphere 22With respect to the magnification of the imaging of the sphere 1,represents the center O of the spherical surface 22Image distance when imaging relative to the sphere 1;
step 3, realizing rapid offset adjustment by using the six-degree-of-freedom parallel mechanism, wherein the step 3.1 to the step 3.5 are a complete round of the rapid offset adjustment of the six-degree-of-freedom parallel mechanism, and the one-round offset adjustment mainly comprises the following steps:
(i 1, 2; j 1,2,3,4,5) represents the position of the center of the sphere i after the jth misalignment is completed; respectively representing the coordinates of the sphere center i on the x axis, the y axis and the z axis after the adjustment of the jth offset is finished; t isAjA motion matrix representing the jth misalignment;
step 3.1, adjusting the position of the lens in a horizontal plane consisting of an x axis and a y axis, wherein the translation amount in the x direction isTranslation in the y direction ofMake the center of the sphere O2Translating the parallel mechanism to a reference shaft of the automatic deviation adjusting system, wherein a motion matrix of the six-degree-of-freedom parallel mechanism is as follows (5):
is a sphere center O2Before the offset is started, the x-axis coordinate of the offset coordinate system is located,is a sphere center O2The y-axis coordinate of the offset coordinate system before the offset is started, and the center of the sphere is obtained after the first adjustment
Step 3.2, the six-degree-of-freedom parallel mechanism rotates around the x axis by the rotation angle theta2So thatThe connecting line is parallel to the xz plane, and the motion matrix of the six-freedom-degree parallel mechanism is as follows (6):
θ2is the optical axis of the lensThe included angle formed by the y axis of the offset coordinate system is calculated as (7):
step 3.3, the six-freedom-degree parallel mechanism moves along the y and z axes, and the movement amount in the y direction isZ-direction movement amount is Δ ZA3After the third adjustmentThe connecting line is in the xz plane, letGo back toThe location of the point; the motion matrix of the six-degree-of-freedom parallel mechanism is as follows (8):
-ΔZA3the calculation formulas (2) and (10):
step 3.4, the six-degree-of-freedom parallel mechanism rotates around the y axis at a rotation angle theta1So that after adjustment The connecting line is parallel to the yz plane, and the motion matrix of the six-freedom-degree parallel mechanism is as follows (11):
θ1is the optical axis of the lensThe included angle formed by the included angle and the x axis of the offset coordinate system is calculated according to the formula (12):
step 3.5, moving along the x and z axes, wherein the adjustment amount in the x axis direction isThe Z-axis direction adjustment amount is-Delta ZA5(ii) a Let after the fifth adjustmentThe connecting line coincides with the z-axis and letGo back toThe position of the point, the motion matrix of the six-freedom-degree parallel mechanism is as the formula (13):
-ΔZA5the calculation formula (2) is as follows:
so far, from step 1 to step 3, the automatic offset adjustment method is completed.
The implementation process of the automatic deviation adjusting system comprises the following steps:
step I, ensuring the coaxiality of the autocollimator, the rotating shaft of the lower air-floating rotary table and the rotating shaft of the upper air-floating rotary table to be within 3 microns when the equipment is installed;
step II, lifting the z-axis displacement table, and lifting the automatic deviation adjusting module to facilitate the placement of the lens cone;
step III, placing the lens cone on a four-dimensional adjusting table and clamping the lens cone by a lens cone clamping apparatus;
step IV, adjusting the position of the dial indicator measuring mechanism to enable the upper dial indicator and the lower dial indicator to point to the rotation axis of the lower air-floating turntable, and enabling the two dial indicators to simultaneously contact the outer surface of the lens cone to prepare for measuring the circle run-out tolerance of the lens cone;
v, rotating the lower air-floating turntable for a circle, fitting the axis of the lens cone according to the jump tolerance of the outer contour of the lens cone measured by the two dial gauges, and analyzing the deflection angle of the axis of the lens cone in space;
VI, enabling the axis of the lens cone to coincide with a reference shaft of the automatic deviation adjusting system by adjusting two linear displacement tables and one adjusting platform of the four-dimensional adjusting table;
step VII, the pneumatic adsorption head starts to work, and the lens is manually placed at the pneumatic adsorption head to be adsorbed;
step VIII, using an automatic deviation adjusting method to complete first deviation adjustment on the lens;
step IX, measuring whether the center deviation of the lens meets the precision requirement, and if the center deviation is still larger and exceeds the precision requirement, repeating the step VIII; if the center deviation meets the precision requirement, continuing to step X;
step X, a z-axis displacement table descends, the lens is slowly placed into the lens barrel, and when the six-degree-of-freedom force sensor detects that the lens touches the space ring, the movement is immediately stopped;
step XI, manually coating an ultraviolet light curing adhesive on the circumference of the lens by using a dispenser, and curing by using ultraviolet light to fix the lens; moving the automatic deviation adjusting module upwards to prepare for installing the next lens;
so far, from step I to step XI, an implementation process of a six-degree-of-freedom parallel automatic alignment system for an optical lens is completed.
Advantageous effects
Compared with the prior art, the six-degree-of-freedom parallel automatic deviation adjusting system and method for the optical lens have the following beneficial effects:
(A) compared with the traditional automatic central deviation measuring equipment, the automatic deviation adjusting system can not only realize the measurement of the central deviation of the lens, but also does not need manual adjustment when adjusting the lens, the six-freedom-degree parallel mechanism for automatic deviation adjustment has very high motion precision, the lens can basically meet the requirement of assembling and adjusting precision through one-time deviation adjustment, and meanwhile, the parallel mechanism can quickly respond, namely, the assembly realizes high automation and can greatly improve the assembling and adjusting efficiency of the lens;
(B) the offset algorithm can measure the center coordinates and center offset of the sphere of the surface to be adjusted in real time, adjust the lens according to the current measurement value, and alternately perform measurement and adjustment until the adjustment meets the precision; compared with the traditional manual lens assembling and adjusting method, the assembling and adjusting precision can be ensured;
(C) the input of the automatic deviation adjustment algorithm is the sphere center coordinate of the to-be-adjusted mirror surface measured by the autocollimator, and the output is the adjustment quantity of the six-degree-of-freedom parallel mechanism. The spherical center coordinate measured by the autocollimator directly reflects the center deviation, and the six-degree-of-freedom parallel mechanism is directly and fixedly connected with the lens, so that the deviation adjusting algorithm directly solves the problem of lens adjustment alignment by taking the center deviation as a target function;
(D) the automatic deviation adjusting system provides an inverted structure layout with an automatic deviation adjusting module above under an autocollimator, so that assembly of subsequent lenses is facilitated; compared with the traditional arrangement that the autocollimator is arranged above and the lens barrel is arranged below, the arrangement provides convenience for the automatic deviation adjusting module in operation space;
(E) compared with the traditional leveling platform, the lens cone adjusting module has the advantages that the fine adjustment of the angle can be realized, and the lens cone can always rotate around the position of the spherical center in the leveling process without generating offset errors in the leveling process by adopting a spherical contact mode; compared with the traditional leveling table, the leveling table has the advantages that the offset error is not generated when the angle is adjusted, the adjusting times are fewer, and the leveling efficiency is higher.
Drawings
FIG. 1 is a structural diagram of a six-degree-of-freedom parallel automatic alignment system for an optical lens according to the present invention;
FIG. 2 is a schematic diagram of a lens barrel adjusting module in a six-DOF parallel automatic alignment system according to the present invention;
FIG. 3 is a schematic diagram of a central deviation measurement module in a six-DOF parallel automatic deviation adjustment system according to the present invention;
FIG. 4 is a schematic diagram of an automatic deviation adjustment module in a six-degree-of-freedom parallel automatic deviation adjustment system for an optical lens according to the present invention;
FIG. 5 is a schematic diagram of solving z-axis coordinates of two spherical centers of a lens in a six-degree-of-freedom parallel automatic alignment method for an optical lens according to the present invention;
fig. 6 is a schematic diagram of a change process of a connecting line of two sphere centers in an offset coordinate system in a six-degree-of-freedom parallel automatic offset method for an optical lens according to the present invention.
Fig. 7 is a flowchart of an embodiment of a six-degree-of-freedom parallel auto-alignment method for an optical lens according to the present invention.
Description of the drawings
The system comprises a lens barrel, a lens barrel adjusting module, a central deviation measuring module and an automatic deviation adjusting module, wherein the lens barrel comprises 1-1-the lens barrel adjusting module, 1-2-the central deviation measuring module and 1-3-the automatic deviation adjusting module;
the device comprises a 2-1-dial indicator motion platform, a 2-2-upper dial indicator, a 2-3-lower dial indicator, a 2-4-lens cone, a 2-5-lens cone clamping mechanism, a 2-6-four-dimensional adjusting table and a 2-7-lower air-floating turntable, wherein the upper dial indicator is arranged on the lower dial indicator;
wherein, 3-1-autocollimator adjusting mechanism, 3-2-autocollimator, 3-45 degree reflector;
the device comprises a 4-1-Z axis displacement table, a 4-2-upper air floating turntable, a 4-3-six-degree-of-freedom parallel mechanism, a 4-six-degree-of-freedom force sensor and a 4-5-pneumatic adsorption head.
Wherein OXYZ in FIG. 5 constitutes the misalignment coordinate system, O1BAnd O2BIs the actual center position of two spherical surfaces, O1And O2Represents the theoretical sphere center position, i.e. the ideal position of the lens without decentration; all in the specification use O1And O2Instead, χ represents the decentration of the lens, dx represents the diameter size of the adsorption port of the pneumatic adsorption head, and L represents the length size of the pneumatic adsorption head;
where xyz in figure 6 is the misalignment coordinate system,means that the lens has obtained the position of the centre of sphere, theta, after the first adjustment1Is the optical axis of the lensAngle theta with the x-axis of the offset coordinate system2Is the optical axis of the lensAn included angle formed by the Y axis of the offset coordinate system;
wherein fig. 7 is a flow chart embodying automatic lens offset.
Detailed Description
The invention is described in detail below by way of example with reference to the accompanying drawings.
Example 1
Referring to fig. 1, the optical alignment system mainly comprises three main parts, namely a 1-1 lens barrel adjusting module, a 1-2 central deviation measuring module and a 1-3 automatic deviation adjusting module. Through the coordination of all parts, the high integration of the decentration measurement and the lens adjustment can be realized.
And the rotating shaft of the 4-2 upper air-floating rotary table is taken as a reference shaft of the whole system, and the coaxiality of the optical axis of the 2-7 lower air-floating rotary table and the 3-2 autocollimator and the reference shaft is respectively ensured to be within plus or minus 3 micrometers.
Referring to the attached figure 2, the position and the attitude of the lens cone are adjusted through a 1-1 lens cone adjusting module, wherein the 1-1 lens cone adjusting module comprises a dial indicator measuring mechanism and a 2-6 four-dimensional adjusting table. The lens cone is placed on a 2-6 four-dimensional adjusting table, the lens cone is fixed by a 2-5 lens cone clamping mechanism, the position of a dial indicator is adjusted by adjusting a displacement table of a dial indicator measuring mechanism, so that a dial indicator head is in contact with a bus of the lens cone, wherein 2-3 dial indicators are required to be exactly 40mm away from a table surface, namely 2-3 dial indicators are exactly pointed to the spherical center of a two-dimensional leveling table contact spherical surface, and horizontal displacement cannot occur at the height of 2-3 dial indicators in the deviation adjusting process.
And 2-7, rotating the air-floating turntable for one circle, measuring readings by two dial gauges, and judging the offset vector of the mechanical axis of the lens cone according to the jumping of the dial gauges, so that the position and the attitude of the lens cone are adjusted by using the 2-6 four-dimensional adjusting table, and the mechanical axis of the lens cone is coincided with the reference axis of the system.
Referring to fig. 3, the 3-2 autocollimator assembly is placed transversely under a workbench, and the coaxiality of the optical axis of the collimator and the reference axis of the system is within 3 micrometers by adjusting the 3-1 adjusting screw and the 3-3 reflecting mirror of the collimator. The information of curvature radius, material, lens interval and thickness of each lens to be assembled is input into a computer to calculate the theoretical position of the curvature center of each lens.
Referring to fig. 4, the lens is adjusted using the 1-3 automatic adjustment module. And lifting the 4-1Z-axis displacement table to lift the deviation adjusting module so as to place the lens cone. The pneumatic adsorption head starts to work, the lens is manually placed on the 4-5 pneumatic adsorption head to be adsorbed,
referring to FIG. 5, the spherical radius R of the spherical surface 2 of the lens is determined according to the diameter dimension dx and the length dimension L of the suction port of the pneumatic suction head2The center of sphere O can be calculated2Z-axis coordinate Z ofO2(ii) a Then according to the thickness of the lens and the spherical radius R of the spherical surface 2 of the lens1Calculating the center of the sphere O1Z-axis coordinate Z ofO1(ii) a Then controlling the 3-2 autocollimator by the computer, automatically adjusting the focal length of the 3-2 autocollimator, and focusing the focal point of the 3-2 autocollimator to the theoretical spherical center position of the measured spherical surface; 4-2, driving the lens to rotate for a circle by the air-floating turntable, if the lens has an eccentric center, a circular track will appear on the ccd camera photosurface of the collimator, and the 3-2 autocollimator can measure the actual sphere center position of the measured sphere according to the circular track data; adjusting the focal length of the 3-2 autocollimator again, repeating the above steps, and measuring the actual spherical center position of another spherical surface of the same lens; fitting the optical axis of the measured lens through a computer, and calculating the central deviation value of the lens;
referring to FIG. 6, after the coordinates of the two spherical centers of the single lens are calculated, the actual position O of the spherical center is obtained1O2The six-freedom parallel mechanism is used to realize fast deviation adjustment, and the sphere center O is firstly adjusted2Translating the image to a reference shaft of an automatic deviation adjusting system to obtain the state shown in the attached figure 6; then, adjusting the pose of the lens by using a six-degree-of-freedom parallel mechanism to ensure that the connecting line of the two spherical centers is finally superposed with a reference axis of the automatic deviation adjusting system;
referring to fig. 7, after completing a round of deflection adjustment by using a six-degree-of-freedom parallel mechanism, the center deflection of the lens needs to be measured to see whether the requirement is met, and if the center deflection is still larger and exceeds the requirement of precision, the deflection adjustment step is repeated; if the eccentricity of the center meets the requirement of precision, the 4-1Z axis displacement table descends, the lens is placed in the lens barrel, and in the process, if the lens touches the lens barrel, the six-degree-of-freedom force sensor can generate a signal to feed back to the system, and the descending motion of the 4-1Z axis displacement table is stopped.
After the lens is placed in the lens barrel installation position, measuring whether the center deviation of the lens meets the requirement or not again, if not, repeating the deviation adjusting step, if so, manually coating an ultraviolet light curing adhesive on the joint of the lens and the lens barrel, and curing by utilizing ultraviolet light illumination to fix the lens; the automatic deviation adjustment module moves upwards to prepare for installing the next lens.
In summary, the above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (8)
1. A six-freedom-degree parallel automatic deviation adjusting system for optical lenses is characterized in that: the automatic deviation adjusting system realizes the integration of center deviation measurement and automatic lens adjustment, not only can realize the rapid measurement of the center deviation of the lens, but also provides an automatic deviation adjusting method for realizing the deviation adjustment of the lens by adopting a six-degree-of-freedom parallel structure based on the measurement result of the center deviation; the automatic deviation adjusting system provides a mode of alternately performing measurement and adjustment in the lens assembling process, the center deviation needs to be measured again to verify whether the deviation adjusting result can meet the requirement or not every time the deviation adjustment is performed, if the deviation adjusting result cannot meet the precision requirement, the optical axis needs to be fitted again to perform deviation adjustment again until the precision meets the requirement, and therefore the deviation adjusting precision of the lens can be ensured to meet the requirement;
the automatic deviation adjusting system mainly comprises a lens cone adjusting module, a central deviation measuring module and an automatic deviation adjusting module; the automatic deviation adjusting system can realize the height integration of center deviation measurement and lens adjustment;
the lens cone adjusting module comprises a lower air-flotation rotary table, a four-dimensional adjusting table, a lens cone clamping mechanism and a dial indicator measuring mechanism; the dial indicator measuring mechanism comprises a dial indicator moving platform, an upper dial indicator and a lower dial indicator; the lower air-flotation rotary table is fixed on the equipment workbench, the four-dimensional adjusting table is fixed on the lower air-flotation rotary table, and the dial indicator measuring mechanism is fixed on the equipment workbench; the lower air-floating rotary table is provided with a central through hole with the diameter ofThe through hole is positioned at the rotating shaft of the lower air-floating rotary table so as to enable the light beam to pass through the lower air-floating rotary table;
the center deviation measuring module mainly comprises an autocollimator adjusting mechanism, an autocollimator and a 45-degree reflector; when the autocollimator is installed, the coaxiality of the optical axis of the autocollimator and the reference axis of the system is ensured by adjusting the positions and postures of the autocollimator and the 45-degree reflecting mirror; the automatic deviation adjusting module mainly comprises a z-axis displacement table, an upper air-bearing rotary table, a six-degree-of-freedom parallel mechanism, a six-degree-of-freedom force sensor and a pneumatic adsorption head; the connection mode of the five parts is as follows: the z-axis displacement table is vertically placed, and the motion axis of the z-axis displacement table is parallel to the reference axis of the system; the upper air-floating rotary table is fixedly connected with the z-axis displacement table through a transfer plate, and the coaxiality of a rotating shaft of the upper air-floating rotary table and a system reference shaft is ensured to be within the rangeThe content of the compound is less than the content of the compound; the base of the six-freedom-degree parallel mechanism is fixedly connected with the upper air-floating turntable through the adapter shaft, the six-freedom-degree parallel mechanism is placed in an inverted mode, and the coaxiality of the z axis of the six-freedom-degree parallel mechanism and the system reference axis is ensured to be within the rangeThe content of the compound is less than the content of the compound; one end of the six-freedom-degree force sensor is fixedly connected with the working surface of the six-freedom-degree parallel mechanism, and the coaxiality of the geometric axis of the six-freedom-degree force sensor and the system reference shaft is ensured to be within the rangeThe content of the compound is less than the content of the compound; one end of the pneumatic adsorption head is fixedly connected with a six-degree-of-freedom force sensor, and the coaxiality of the geometric axis of the pneumatic adsorption head and the system reference shaft is ensured to be withinWithin.
2. The six-degree-of-freedom parallel automatic alignment system for optical lenses according to claim 1, wherein: a reference shaft of the automatic deviation adjusting system is defined as a rotating shaft of a lower air-floating rotary table in the lens cone adjusting module; for a single lens with two spherical surfaces, the connecting line of the two spherical centers is the optical axis of the lens;
diameter of through hole of lower air-float rotary tableIn the range ofTo
3. The six-degree-of-freedom parallel automatic alignment system for optical lenses according to claim 1, wherein: the four-dimensional adjusting platform in the lens cone adjusting module comprises two linear displacement platforms, an adjusting platform and a lens cone clamp; the motion axes of the two linear displacement tables are vertically stacked in space, the leveling tables are fixed on the two linear displacement tables, and the mirrorThe barrel fixture is fixed on the adjusting platform; the center of the four-dimensional adjusting table has a diameter ofThe through hole is formed in the lower air-bearing turntable, so that the light beam can pass through the four-dimensional adjusting table, and the through hole of the four-dimensional adjusting table is larger than that of the lower air-bearing turntable in consideration of the fact that the solid part of the straight-line displacement table, which is not provided with the through hole, can block the light path in the moving process;
the leveling platform mainly comprises a working plate and a lower bottom plate; the rotary contact surface of the working plate and the lower bottom plate is a spherical surface, the center of the sphere cannot generate horizontal displacement when the leveling is carried out, the center of the sphere is designed to be h away from the table surface, if the lower dial indicator is just away from the table surface h, namely the lower dial indicator just points to the center of the sphere of which the leveling table contacts the spherical surface, the horizontal displacement cannot occur at the height of the lower dial indicator in the offset adjusting process, so that the horizontal displacement cannot be generated when the angle is adjusted, the separate adjustment of the angle and the offset is realized, and the error in the principle is avoided;
the dial indicator measuring mechanism mainly comprises an upper dial indicator, a lower dial indicator, a sliding rail and an x-y two-dimensional translation table;
the four parts are connected in the following way: the upper dial indicator and the lower dial indicator are locked on the sliding rail through screws, so that the measuring axes of the upper dial indicator and the lower dial indicator are ensured to be positioned in the same vertical plane; the slide rail is fixed on the x-y two-dimensional translation table through screws.
4. The six-degree-of-freedom parallel automatic alignment system for optical lenses according to claim 3, wherein:
center through hole diameter of four-dimensional adjusting tableIn the range ofIn order to facilitate manual adjustment, the adjusting platform is driven by fine threads marked with scales.
5. The six-degree-of-freedom parallel automatic alignment system for optical lenses according to claim 3, wherein: the lower dial indicator is in the range of 40mm to 60mm away from the table top h.
6. The six-degree-of-freedom parallel automatic alignment system for optical lenses according to claim 1, wherein:
the autocollimator adjusting mechanism comprises a supporting plate and three screw adjusting mechanisms, wherein the supporting plate is horizontally arranged on the rack; the screw adjusting mechanism consists of three screws and a metal plate, one part of the metal plate is fixedly connected with the rack through two screws, the other part of the metal plate is fixedly connected with the supporting plate through one screw, and the position of the supporting plate on the rack can be adjusted through an adjusting screw; two screw adjusting mechanisms are arranged on two sides of the supporting plate, and one screw adjusting mechanism is arranged on the end surface of the supporting plate; the autocollimator is horizontally arranged on the supporting plate, wherein a ccd camera is fixed at the tail end of the autocollimator; the 45-degree reflecting mirror is used for turning light beams and turning horizontal light rays of the collimator into vertical light rays.
7. A six-degree-of-freedom parallel automatic deviation adjusting method for optical lenses is characterized in that: mainly comprises data acquisition, calculation of coordinates of a sphere center and rapid deviation adjustment;
step 1, collecting data, wherein parameters mainly including curvature radius, diameter, material, thickness, lens interval and inner diameter of a lens barrel of a lens to be adjusted are collected in advance;
step 2, performing geometric calculation to determine the space coordinate of the spherical center of the lens to be adjusted through the acquired data;
wherein, assuming that the lens to be adjusted is a single lens with two spherical surfaces, the coordinates of two spherical centers corresponding to the single lens with two spherical surfaces are calculated as shown in formulas (1) and (2):
the calculated sphere center coordinate values are all values in an offset coordinate system, and the offset coordinate system is specified as follows:
the x axis and the y axis of an offset coordinate system coincide with the x axis and the y axis of an autocollimator, the z axis of the offset coordinate system is vertically upward and coincides with a reference axis of an automatic offset system, and the origin of the z axis of the offset coordinate system is set as the intersection point of a first spherical surface of a first lens contacted with the autocollimator from bottom to top;
the steps of calculating the coordinates of the center of sphere are as follows:
step 2.1 adjusting the focal length of the autocollimator to focus the autocollimator on the center of the sphere O2The upper air-floating rotary table is rotated by 360 degrees, and then the center of the sphere is O2Drawing a circle on a reflection cursor on an autocollimator ccd camera, and determining a sphere center O according to the structural size of the pneumatic adsorption head and the curvature radius of the adsorbed sphere2Is given by the formula (1):
wherein,is a sphere center O2Z-axis coordinate of (d)xThe diameter of the contact surface between the lowest end of the pneumatic adsorption head and the lens is shown, L is the distance from the contact surface to the origin O after the lens is adsorbed, and R is2Represents the curvature radius of the absorbed mirror surface, and the absorbed mirror surface is called as a spherical surface 2;
step 2.2 adjusting the focal length of the autocollimator to focus the autocollimator to O1The upper air-floating rotary table is rotated by 360 degrees to form a sphere center O1The reflection cursor on the CCD camera of autocollimator draws a circle, at this moment, the central deviation χ of lens can be calculated, so that the centre of sphere O can be determined1Has the following formula (2):
wherein,is a sphere center O1Z-axis coordinate of (2), R1Denotes the radius of curvature of the unabsorbed lens sphere, the unabsorbed lens sphereIs "sphere 1", d12Represents the thickness of the lens, χ represents the decentration of the lens, cos χ represents the cosine of the decentration χ;
step 2.3, calculating the coordinates of the sphere center 1 and the sphere center 2 in the offset coordinate system according to the following formulas (3) and (4):
wherein, the center 1 and the center 2 are O respectively1And O2Represents; spherical center O acquired by ccd camera twice respectively1And O2The reflected cursor on the autocollimator ccd camera draws two circles, X1.0，X1.180，Y1.0And Y1.180Respectively represent the center of sphere O1Coordinate values of four points corresponding to the corresponding circles in the positive x-axis direction, the negative x-axis direction, the positive y-axis direction and the negative y-axis direction; x2.0、X2.180、Y2.0And Y2.180Respectively represent the center of sphere O2Coordinate values of four points corresponding to the corresponding circles in the positive x-axis direction, the negative x-axis direction, the positive y-axis direction and the negative y-axis direction;
βT(1) represents the center of sphere O1Vertical axis magnification during imaging onto the target surface of the detector, βT(2) Represents the center of sphere O2Vertical axis magnification in imaging process to the target surface of the detector, representing the sphere center O of the sphere 22With respect to the magnification of the imaging of the sphere 1,represents the center O of the spherical surface 22Image distance when imaging relative to the sphere 1;
step 3, realizing rapid offset adjustment by using a six-degree-of-freedom parallel mechanism, specifically realizing a complete turn of rapid offset adjustment for the six-degree-of-freedom parallel mechanism through the steps 3.1 to 3.5; the method for adjusting the deviation in one turn mainly comprises the following steps:
representing the position of the sphere center i after the adjustment of the jth time is finished; respectively representing the coordinates of the sphere center i on the x axis, the y axis and the z axis after the adjustment of the jth offset is finished; t isAjA motion matrix representing the jth misalignment;
step 3.1, adjusting the position of the lens in a horizontal plane consisting of an x axis and a y axis, wherein the translation amount in the x direction isTranslation in the y direction ofMake the center of the sphere O2Translating the parallel mechanism to a reference shaft of the automatic deviation adjusting system, wherein a motion matrix of the six-degree-of-freedom parallel mechanism is as follows (5):
is a sphere center O2Before the offset is started, the x-axis coordinate of the offset coordinate system is located,is a sphere center O2The y-axis coordinate of the offset coordinate system before the offset is started, and the center of the sphere is obtained after the first adjustment
Step 3.2, the six-degree-of-freedom parallel mechanism rotates around the x axis by the rotation angle theta2So thatThe connecting line is parallel to the xz plane, and the motion matrix of the six-freedom-degree parallel mechanism is as follows (6):
θ2is the optical axis of the lensThe included angle formed by the y axis of the offset coordinate system is calculated as (7):
step 3.3, the six-freedom-degree parallel mechanism moves along the y and z axes, and the movement amount in the y direction isZ-direction movement amount is Δ ZA3After the third adjustmentThe connecting line is in the xz plane, letGo back toThe location of the point; the motion matrix of the six-degree-of-freedom parallel mechanism is as follows (8):
-ΔZA3the calculation formulas (2) and (10):
step 3.4, the six-degree-of-freedom parallel mechanism rotates around the y axis at a rotation angle theta1So that after adjustmentThe connecting line is parallel to the yz plane, and the motion matrix of the six-freedom-degree parallel mechanism is as follows (11):
θ1is the optical axis of the lensThe included angle formed by the included angle and the x axis of the offset coordinate system is calculated according to the formula (12):
step 3.5, moving along the x and z axes, wherein the adjustment amount in the x axis direction isThe Z-axis direction adjustment amount is-Delta ZA5(ii) a Let after the fifth adjustmentThe connecting line coincides with the z-axis and letGo back toThe position of the point, the motion matrix of the six-freedom-degree parallel mechanism is as the formula (13):
-ΔZA5the calculation formula (2) is as follows:
so far, from step 1 to step 3, the automatic offset adjustment method is completed.
8. The six-degree-of-freedom parallel automatic alignment system for optical lenses according to claim 1, wherein: the implementation process of the automatic deviation adjusting system comprises the following steps:
step I, ensuring the coaxiality of the autocollimator, the rotating shaft of the lower air-floating rotary table and the rotating shaft of the upper air-floating rotary table to be within 3 microns when the equipment is installed;
step II, lifting the z-axis displacement table, and lifting the automatic deviation adjusting module to facilitate the placement of the lens cone;
step III, placing the lens cone on a four-dimensional adjusting table and clamping the lens cone by a lens cone clamping apparatus;
step IV, adjusting the position of the dial indicator measuring mechanism to enable the upper dial indicator and the lower dial indicator to point to the rotation axis of the lower air-floating turntable, and enabling the two dial indicators to simultaneously contact the outer surface of the lens cone to prepare for measuring the circle run-out tolerance of the lens cone;
v, rotating the lower air-floating turntable for a circle, fitting the axis of the lens cone according to the jump tolerance of the outer contour of the lens cone measured by the two dial gauges, and analyzing the deflection angle of the axis of the lens cone in space;
VI, enabling the axis of the lens cone to coincide with a reference shaft of the automatic deviation adjusting system by adjusting two linear displacement tables and one adjusting platform of the four-dimensional adjusting table;
step VII, the pneumatic adsorption head starts to work, and the lens is manually placed at the pneumatic adsorption head to be adsorbed;
step VIII, using an automatic deviation adjusting method to complete first deviation adjustment on the lens;
step IX, measuring whether the center deviation of the lens meets the precision requirement, and if the center deviation is still larger and exceeds the precision requirement, repeating the step VIII; if the center deviation meets the precision requirement, continuing to step X;
step X, a z-axis displacement table descends, the lens is slowly placed into the lens barrel, and when the six-degree-of-freedom force sensor detects that the lens touches the space ring, the movement is immediately stopped;
step XI, manually coating an ultraviolet light curing adhesive on the circumference of the lens by using a dispenser, and curing by using ultraviolet light to fix the lens; moving the automatic deviation adjusting module upwards to prepare for installing the next lens;
so far, from step I to step XI, an implementation process of a six-degree-of-freedom parallel automatic alignment system for an optical lens is completed.
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| CN108705412B (en) * | 2018-06-05 | 2020-06-26 | 黄梅县云泰时代光学仪器有限公司 | Lens washing and grinding machine |
| CN108873369B (en) * | 2018-08-01 | 2023-12-26 | 珠海市运泰利自动化设备有限公司 | Multi-axis mechanism for adjusting optical device |
| CN111998803A (en) * | 2019-05-27 | 2020-11-27 | 昆山扬明光学有限公司 | Decentration instrument, lens manufacturing method and lens |
| CN110779686A (en) * | 2019-10-16 | 2020-02-11 | 中国航空工业集团公司洛阳电光设备研究所 | Non-contact real-time precise adjusting and mounting method for coaxial optical lens |
| CN110954084B (en) * | 2019-11-04 | 2021-06-22 | 中国科学院西安光学精密机械研究所 | Measuring method of moving lens group attitude measuring device |
| CN111193182B (en) * | 2020-01-08 | 2021-06-01 | 联耀光学(深圳)有限公司 | Multi-single-tube semiconductor laser coupled single-core optical fiber assembling and adjusting device |
| CN111895924B (en) * | 2020-07-15 | 2022-03-11 | 广州精点科技有限公司 | Automatic lens thickness measuring device |
| CN113917644B (en) * | 2021-10-29 | 2023-05-30 | 中国科学院光电技术研究所 | Six-degree-of-freedom micro-motion platform for lens |
| CN114527579B (en) * | 2022-03-16 | 2024-02-02 | 苏州凌云光工业智能技术有限公司 | Light machine assembling and adjusting device |
| CN115166969B (en) * | 2022-07-22 | 2024-03-22 | 中国科学院光电技术研究所光学元件厂 | High-precision control method based on lens eccentricity |
| CN115609027B (en) * | 2022-08-25 | 2024-09-03 | 北京遥感设备研究所 | Four-dimensional chuck device and method for automatically adjusting centering vehicle by utilizing moment clutch |
| CN115816391A (en) * | 2022-11-18 | 2023-03-21 | 茂莱（南京）仪器有限公司 | Precise positioning device and positioning method applied to lens |
| CN116697855B (en) * | 2023-08-07 | 2023-10-20 | 吉林交通职业技术学院 | Head-display eyepiece measuring system and measuring method thereof |
| CN117741903B (en) * | 2024-02-19 | 2024-06-21 | 中国科学院长春光学精密机械与物理研究所 | Device and method for detecting assembly interval surface of reflector main mirror |
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| CN104007560B (en) * | 2014-03-26 | 2016-10-12 | 中国科学院长春光学精密机械与物理研究所 | Optical lens assistant resetting device |
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