CN111113330A - Grating folding mechanism - Google Patents
Grating folding mechanism Download PDFInfo
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- CN111113330A CN111113330A CN202010020873.4A CN202010020873A CN111113330A CN 111113330 A CN111113330 A CN 111113330A CN 202010020873 A CN202010020873 A CN 202010020873A CN 111113330 A CN111113330 A CN 111113330A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
- B25B27/00—Hand tools, specially adapted for fitting together or separating parts or objects whether or not involving some deformation, not otherwise provided for
- B25B27/02—Hand tools, specially adapted for fitting together or separating parts or objects whether or not involving some deformation, not otherwise provided for for connecting objects by press fit or detaching same
Abstract
The invention discloses a grating superposition mechanism, which comprises a rack, wherein a workbench is arranged on the rack, and at least one grating positioning piece is arranged on the workbench; the first image acquisition part is positioned on the rack and acquires image information of the grating from the side surface of the grating positioning part; the extraction piece is movably connected with the rack and is used for extracting the grating to be superposed; the controller is connected with the extracting part and the first image collecting part, and controls the extracting part according to the image information collected by the first image collecting part and enables the grating to be superposed on the grating positioning part. The grating overlapping mechanism carries out edge-to-edge positioning by collecting the edge position of the grating, thereby improving the positioning precision of grating overlapping.
Description
Technical Field
The invention relates to the technical field of assembly, in particular to a grating superposition mechanism.
Background
With the development of science and technology, the requirement on the precision of a product is higher and higher, so that manufacturers generally have higher requirements on the precision of each part of the product in the production and assembly processes. When the gratings are overlapped, the gap and the position degree of the grating sheets are required to be in micron-order precision, and in the existing grating overlapping process, a jig is adopted to position the gratings, however, the jig has errors and the overlapping precision is not high in the positioning mode.
Disclosure of Invention
The invention mainly aims to provide a grating overlapping mechanism, and aims to solve the technical problems of mechanical errors and low overlapping precision in the grating overlapping process of the conventional grating overlapping mechanism.
In order to achieve the above object, the present invention provides a grating laminating mechanism, including:
the grating positioning device comprises a rack, wherein a workbench is arranged on the rack, and at least one grating positioning piece is arranged on the workbench;
the first image acquisition part is positioned on the rack and acquires image information of the grating from the side surface of the grating positioning part;
the extraction piece is movably connected with the rack and is used for extracting the grating to be superposed;
the controller is connected with the extracting part and the first image collecting part, and controls the extracting part according to the image information collected by the first image collecting part and enables the grating to be superposed on the grating positioning part.
In an embodiment, the first image capturing element includes three cameras, the three cameras are distributed on three sides of the grating positioning element, and the image of the grating is captured from the three sides of the grating positioning element.
In one embodiment, the grating superimposing mechanism further comprises three camera mounting assemblies, and one camera is mounted on each camera mounting assembly;
the camera mounting assembly comprises a support frame, a camera mounting frame and a driving piece, the support frame is arranged on the rack, the camera mounting frame is movably arranged on the support frame, and the driving piece is connected with the camera mounting frame and used for driving the camera mounting frame to move along the support frame.
In one embodiment, the grating laminating mechanism further includes a second image capturing element, the second image capturing element is located on the frame and connected to the controller, and the second image capturing element is used for capturing image information of the grating and the adhesive from above the grating positioning element;
the extraction piece is further used for extracting gum, and the controller controls the extraction piece to superpose the gum on the grating positioning piece according to the image information acquired by the second image acquisition piece.
In an embodiment, draw the piece including drawing the sucking disc, it is light-transmitting piece to draw the sucking disc, perhaps it runs through to be equipped with on the sucking disc to draw the light trap of sucking disc, the area of light trap is more than or equal to the area of gum.
In one embodiment, the grating laminating mechanism further comprises a movable support, the movable support is movably arranged on the rack, and the second image acquisition part is arranged on the movable support;
the movable support is provided with a lens positioning frame, the lens positioning frame is located below a lens of the second image acquisition part, and the area of the lens positioning frame is larger than that of the extraction part.
In one embodiment, the extraction part further comprises a mechanical arm, the extraction suction cup is arranged on the mechanical arm, the mechanical arm comprises a horizontal moving part and a vertical moving part, the vertical moving part is arranged on the horizontal moving part, and the extraction suction cup is arranged on the vertical moving part.
In one embodiment, the grating laminating mechanism includes a plurality of grating positioning members, and each grating positioning member is configured with a group of the first image capturing element, the second image capturing element, and the extracting element.
In one embodiment, the grating positioning part comprises a rotating platform and a positioning sucker, the rotating platform is rotatably connected with the workbench, and the positioning sucker is arranged on the rotating platform.
In one embodiment, the grating laminating mechanism further includes a third image capturing element, the third image capturing element is located below the grating positioning element, and a capturing port of the third image capturing element faces the grating positioning element;
the positioning sucker is a light-transmitting piece, or a light-transmitting hole is formed in the positioning sucker, and the area of the light-transmitting hole is larger than or equal to that of the grating.
In the grating overlapping mechanism in the embodiment of the invention, the grating overlapping mechanism acquires the image information of the grating on the grating positioning part through the first image acquisition part, the controller determines the edge position of the grating according to the image information, and then controls the extraction part to extract the grating to be overlapped along the edge position for alignment, and then overlaps the grating to be overlapped on the grating fixed by the grating positioning part, so that the overlapping of a plurality of gratings is realized, and the side edge position overlapping is carried out through the guide grating, so that the overlapping precision is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
FIG. 1 is a schematic structural diagram of a grating laminating mechanism provided in the present invention;
FIG. 2 is a schematic diagram of a first viewing angle in a case where the grating stacking mechanism of the present invention includes two extracting members;
fig. 3 is a schematic structural diagram of a second viewing angle in a case where the grating stacking mechanism provided by the present invention includes two extracting members.
The reference numbers illustrate:
| reference numerals | Name (R) | Reference numerals | Name (R) |
| 10 | Working table | 20 | First |
| 30 | |
40 | Camera mounting assembly |
| 31 | |
41 | Supporting frame |
| 32 | |
42 | |
| 50 | Second |
70 | |
| 60 | |
71 | Rotary table |
| 61 | |
72 | |
| 80 | Third |
90 | Grating |
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that, if directional indications (such as up, down, left, right, front, and back … …) are involved in the embodiment of the present invention, the directional indications are only used to explain the relative positional relationship between the components, the movement situation, and the like in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indications are changed accordingly.
In addition, if there is a description of "first", "second", etc. in an embodiment of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions between various embodiments may be combined with each other, but on the basis of the realization of the technical solutions by a person skilled in the art, when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be considered to be absent, and the technical solutions are not within the protection scope of the present invention.
The invention provides a grating overlapping mechanism which is used for overlapping a plurality of gratings to form a grating assembly, and particularly, the overlapping efficiency and the overlapping precision are improved through high-precision image alignment and automatic overlapping.
Referring to fig. 1, the optical grating stacking mechanism includes a frame (not shown), a first image capturing component 20, an extracting component 30, and a controller (not shown).
The grating positioning device comprises a rack, and is characterized in that a workbench 10 is arranged on the rack, at least one grating positioning part 70 is arranged on the workbench 10, and the grating positioning part 70 is used for fixing a first grating 90 or a superposed grating 90. The grating positioning piece 70 is a high-precision positioning piece, and the reference precision in the grating overlapping process is high, so that the grating overlapping precision is improved.
The first image acquisition part 20 is located on the rack, the first image acquisition part 20 is used for acquiring image information of the grating 90 fixed by the grating positioning part 70, specifically, the first image acquisition part 20 is located in the circumferential direction of the grating positioning part 70, and the image information of the grating 90 is acquired from the side surface of the grating positioning part 70.
The extracting member 30 is movably connected to the frame, and the extracting member 30 is configured to extract the grating 90 to be stacked and press the grating 90 to be stacked on the grating 90 fixed by the grating positioning member 70. The extraction element 30 can move horizontally and vertically relative to the frame, the extraction element 30 moves horizontally along the frame to be extracted from the feeding station of the grating 90 to be superimposed to the upper part of the grating positioning element 70, and the extraction element 30 moves vertically along the frame to press the grating 90 to be superimposed on the grating 90 fixed by the grating positioning element 70.
The controller with extract 30 with first image acquisition 20 is connected, the controller is according to the image information control that first image acquisition 20 gathered extract 30 and draw the grating 90 of treating the coincide, and control extract 30 will the grating coincide of treating the coincide is in on the grating 90 of grating setting element 70, realize the automatic coincide of grating 90 more than two.
It can be understood that the first image capturing element 20 captures images of each edge of the grating 90 from the circumferential direction of the grating positioning element 70, and the controller analyzes information such as the shape and the position of the grating 90 on the grating positioning element 70 according to the image information captured by the first image capturing element 20, so as to determine the position of each edge of the grating 90, and control the extracting element 30 to perform alignment according to the position of each edge, so that after the grating 90 to be superimposed on the extracting element 30 is aligned with the grating 90 on the grating positioning element 70, two gratings are superimposed together.
The first image acquisition part 20 acquires the image information of the grating 90 from the side surface of the grating positioning part 70, the image information acquired from the side surface is clearer in outline compared with the image acquired from the front surface because the grating 90 is made of glass, and the controller extracts the edge position of the grating 90 according to the image information of the grating 90 acquired from the side surface, so that the accuracy is higher.
In this embodiment, grating coincide mechanism gathers grating 90's on the grating setting element 70 image information through first image acquisition 20, and the controller is according to image information confirms grating 90's border position, and then control extraction 30 draws and treats coincide grating 90 edge border position is counterpointed, then will treat to coincide the grating coincide and be in on the grating 90 that grating setting element 70 is fixed, carry out border position location based on the image, can eliminate the error that the tool counterpointed and exist, and carry out the coincide of side position degree through leading grating 90, coincide precision height.
Further, in this embodiment, the first image capturing element 20 includes three cameras, the three cameras are distributed on three sides of the grating positioning element 70, and the three sides of the grating positioning element 70 capture the image of the grating 90, so as to capture the image information from the side surface of the grating 90.
The grating positioning member 70 may be square, circular or oval, and may be configured according to the shape of the grating 90. If the grating positioning member 70 is circular, the grating positioning member 70 is divided into four regions, three cameras are distributed in at least three regions, and images of three side surfaces of the grating 90 are collected from the three regions.
The camera in this embodiment is a 3D camera, the 3D camera obtains the image information of the grating 90 in a manner of scanning the profile of the grating 90, and at least the position information of the three edges of the grating 90 can be obtained by the three cameras, so that in the alignment process, the deviation of the horizontal position and the deviation of the spatial position can be avoided in a three-edge alignment manner, and high-precision alignment is realized.
In the process of acquiring image information by the 3D camera, the profile of the grating 90 may be scanned by rotating the camera, or the profile of the grating 90 may be scanned by moving the camera, specifically, the grating overlapping mechanism further includes three camera mounting assemblies 40, and each camera mounting assembly 40 mounts one first image acquiring element 20 (i.e., the camera); the camera mounting assembly 40 includes a support frame 41, a camera mounting frame 42 and a driving member (not shown), the support frame 41 is disposed on the frame, the camera mounting frame 42 is movably disposed on the support frame 41, the driving member is connected to the camera mounting frame 42 for driving the camera mounting frame 42 to move along the support frame 41, the camera mounting frame 42 is driven to move in the moving process, and the camera moves to scan the grating 90 fixed by the grating positioning member 70 in the moving process.
Wherein, support frame 41 is bar support frame 41, be equipped with on support frame 41 and remove the guide slot (not mark in the figure), the extending direction that removes the guide slot with the length direction of the relative side of grating setting element 70 is the same, camera mounting bracket 42 is installed in removing the guide slot, and can follow the extending direction that removes the guide slot removes, camera mounting bracket 42 is followed remove the in-process that the guide slot removed, the camera scans the profile at grating 90 edges in proper order.
In this embodiment, three support frames 41 are provided, wherein two opposite support frames 41 are parallel, and the adjacent support frames 41 are perpendicular to each other, so that the three cameras move in a frame enclosed by the support frames 41 to scan three sides of the grating 90 located in the frame.
The grating assembly is generally formed by overlapping a plurality of gratings, and a back adhesive is generally overlapped between each grating 90, wherein the back adhesive can be manually overlapped on the grating 90, and then the grating 90 overlapped with the back adhesive is overlapped with each other by using the grating overlapping mechanism in the embodiment. Or the back adhesive may be laminated on the grating 90 by other mechanisms, and then the grating laminating mechanism in this embodiment is used to laminate the gratings 90 laminated with the back adhesive.
However, in order to reduce labor cost and equipment cost and improve the laminating efficiency and laminating accuracy, the present invention provides another embodiment of the optical grating laminating mechanism, in this embodiment, the optical grating laminating mechanism further includes a second image capturing element 50, the second image capturing element 50 is located on the rack and connected to the controller, and the second image capturing element 50 is used for capturing the image information of the optical grating 90 and the adhesive from above the optical grating positioning element 70. The extracting member 30 is further configured to extract a back glue, and the controller controls the extracting member 30 to superimpose the back glue on the grating 90 on the grating positioning member 70 according to the image information acquired by the second image acquiring member 50.
The grating overlapping mechanism is provided with two image acquisition parts, namely a first image acquisition part 20 and a second image acquisition part 50, wherein the first image acquisition part 20 acquires images from the side edge of the grating positioning part 70 and is used for positioning during grating overlapping, and the second image acquisition part 50 acquires images from the upper part of the grating positioning part 70 and is used for back glue overlapping and positioning. When being based on grating 90 and grating coincide, grating 90 is glass, gather the image from the top and be unfavorable for the opposite side, and the gum is fashionable with the grating coincide, and gum thickness is less, is unfavorable for gathering the image from the side, unable opposite side, therefore this embodiment carries out image acquisition to the coincide of difference through two image acquisition pieces, the controller adopts different image information to fix a position at the coincide in-process of difference for the coincide precision of every coincide process all keeps on higher precision, improves the precision of whole grating subassembly.
Second image acquisition element 50 in this embodiment includes the CCD camera, the camera lens of CCD camera is down, when the CCD camera moved to grating setting element 70 top, through the CCD camera gathers grating 90 that grating setting element 70 is fixed and draws the gum on the piece 30, through grating 90 with the image information of gum is counterpointed, and then will the gum coincide is in on grating 90.
It is understood that the grating laminating mechanism may include one extracting member 30, or may include two extracting members 30, please refer to fig. 2 and 3, in which one of the grating laminating mechanisms is used for extracting the grating 90, and the other is used for extracting the back glue. In the present embodiment, the grating laminating mechanism includes an extracting element 30 as an example, that is, the extracting element 30 is used to extract the grating 90 when laminating the grating 90, and is used to extract the back glue when laminating the back glue.
The extractor 30 is movable relative to the frame to effect the opposite side extraction of the grating 90 or the gum. Specifically, the extraction member 30 includes an extraction suction cup 31 and a robot arm (not shown), the extraction suction cup 31 is disposed on the robot arm, the robot arm includes a horizontal movement portion and a vertical movement portion, the vertical movement portion is disposed on the horizontal movement portion, and the extraction suction cup 31 is disposed on the vertical movement portion. The horizontal movement portion drives the extraction sucker 31 to move between the grating positioning piece 70 and a feeding station for laminating the grating 90 or the gum, and the vertical movement portion drives the grating 90 or the gum to be laminated downwards on the grating 90 from the top.
In this embodiment, in order to eliminate the deviation generated by the mechanical structure, when the back adhesive lamination is set, the back adhesive is moved to the visual field range of the second image capturing element 50 for position degree lamination, specifically, the extraction suction cup 31 is set as a light-transmitting element, or the extraction suction cup 31 is provided with a light-transmitting hole 32 penetrating through the extraction suction cup 31, the area of the light-transmitting hole 32 is greater than or equal to the area of the back adhesive, and the light source of the second image capturing element 50 can transmit the light-transmitting hole 32 to photograph the back adhesive, so that the image of the back adhesive falls into the visual field range of the second image capturing element 50.
Alternatively, in order to more accurately move the adhesive tape into the field of view of the second image capturing element 50, the grating laminating mechanism in this embodiment further includes a movable bracket 60, the movable bracket 60 is movably disposed on the frame, and the second image capturing element 50 is disposed on the movable bracket 60; the movable bracket 60 is provided with a lens positioning frame 61, the lens positioning frame 61 is located below the lens of the second image capturing element 50, and the area of the lens positioning frame 61 is larger than that of the extracting element 30.
When the moving bracket 60 moves the second image capturing element 50 to the position above the grating positioning element 70, the lens of the second image capturing element 50 is positioned with the grating positioning element 70 by the lens positioning frame 61. Specifically, the centers of the lens and the grating positioning member 70 are located on the same straight line.
In the process of gum alignment, firstly, the gum is moved to the inside of the lens positioning frame 61, based on that the lens positioning frame 61 is located below the lens of the second image acquisition part 50 and is right opposite to the lens, and the lower part of the lens positioning frame 61 is the grating positioning part 70, so that the grating positioning part 70 and the gum are both located in the field range of the second image acquisition part 50, based on that the image information acquired in the same field of view of the second image acquisition part 50 determines the grating 90 and the edge position of the gum, and then controls the extraction part 30 to move, and drives the gum to position the opposite side. The image information collected in the same view field can eliminate the deviation caused by the mechanical structure, and the positioning precision is further improved.
It is understood that the extraction suction cup 31 includes a suction portion including a groove concavely formed on the suction cup and a suction port formed in the groove, and the size of the groove is adapted to the size of the grating 90 or the back adhesive. The light hole 32 follows the sucking disc deviates from the one end of adsorption part toward the adsorption part extends, wherein, the light hole 32 in the area of the hole section of adsorption part is less than grating 90 or the area of gum.
Further, in order to improve the efficiency of the grating lamination, the grating lamination mechanism may include a plurality of lamination stations, and a plurality of lamination stations are simultaneously laminated or cooperate with each other to realize the rapid and efficient lamination of the grating 90.
Specifically, the grating overlapping mechanism includes a plurality of grating positioning members 70, each grating positioning member 70 is an overlapping station, each grating positioning member 70 is configured with a set of the first image capturing member 20, the second image capturing member 50 and the extracting member 30, and a plurality of stations overlap a plurality of grating assemblies at the same time.
Alternatively, the grating laminating mechanism comprises a plurality of grating positioning members 70, and two adjacent grating positioning members 70 can move to exchange the working positions. One of two adjacent grating positioning pieces 70 is provided with a first image acquisition piece 20 and an extraction piece 30, the other is provided with a second image acquisition piece 50 and an extraction piece 30, two adjacent grating positioning pieces 70 are respectively used for overlapping the grating 90 and the overlapping gum, and two adjacent grating positioning pieces 70 exchange stations and are mutually matched to quickly overlap the grating 90 and the gum. If in the superposition process of the grating component comprising three gratings 90 and two back adhesives, the grating superposition mechanism is provided with four superposition stations, each superposition station is provided with a grating positioning piece 70, and the grating positioning pieces 70 on the four superposition stations can move on each superposition station to form cyclic movement from the first superposition station to the fourth superposition station and then from the fourth superposition station to the first superposition station. The first laminating station is used for laminating the first back glue and the first grating 90, the second laminating station is used for laminating the first back glue and the second grating 90, the third laminating station is used for laminating the second grating 90 and the second back glue, and the fourth laminating station is used for laminating the second back glue and the third grating 90, so that the laminating of one grating assembly is completed, a plurality of grating assemblies can be simultaneously laminated, and the laminating efficiency is improved.
Based on all the above embodiments, a further embodiment of the grating laminating mechanism is provided, in this embodiment, the angle of the grating positioning member 70 is adjustable, and based on the angle adjustment of the grating positioning member 70, the positioning accuracy of the grating 90 is further improved.
Specifically, the grating positioning member 70 includes a rotating table 71 and a positioning suction cup 72, the rotating table 71 is rotatably connected to the working table 10, and the positioning suction cup 72 is disposed on the rotating table 71.
It can be understood that the grating positioning member 70 further includes a motor, an output shaft of the motor is connected to a central shaft of the rotating platform 71, and the rotating platform 71 is driven to rotate when the motor rotates.
In this embodiment, the grating positioning element 70 is located on the high-precision workbench 10, and based on this, when the positioning element rotates along the workbench 10, the spatial angular deviation can be avoided relative to the rotation of the extracting element 30. In the process of aligning the grating 90 by the controller according to the image information acquired by the first image acquisition part 20, if an angle deviation exists between the upper grating 90 and the lower grating 90, the motor is started to drive the rotating table 71 to rotate, so that the grating 90 on the grating positioning part 70 is aligned with the grating 90 to be superposed on the extraction part 30. Or, the controller aligns the grating 90 and the gum according to the image information collected by the second image collecting element 50, and if an angle deviation exists between the lower grating 90 and the gum, the motor is started to drive the rotating table 71 to rotate, so that the grating 90 on the grating positioning element 70 is aligned with the gum on the extracting element 30.
Further, the grating laminating mechanism further includes a third image capturing element 80, the third image capturing element 80 is located below the grating positioning element 70, and a capturing opening of the third image capturing element 80 faces the grating positioning element 70. The third image capturing element 80 is also a CCD camera, the third image capturing element 80 is configured to capture an image of the grating positioning element 70, and the controller positions the grating 90 according to image information captured by the third image capturing element 80. Specifically, the image that third image acquisition part 80 gathered can be applied to first piece grating 90 location, is first piece grating 90 location when grating location part 70, through third image acquisition part 80 gathers grating location part 70's positioning suction cup 72's profile, and then will first piece grating 90 counterpoints the positioning suction cup 72 is last, first piece grating 90 with positioning suction cup 72's position high accuracy is counterpointed, is favorable to the high accuracy of other gratings 90 and gum to be counterpointed. The image collected by the third image collector 80 can also be applied to the alignment of other gratings 90 and an adhesive, for example, the shape and position of the grating 90 are analyzed by combining the images collected by the first image collector 20 and the third image collector 80, the profile of the grating 90 is determined, and the extraction member 30 is controlled to overlay the grating to be overlaid on the grating 90.
It is understood that the positioning suction cup 72 is also a light-transmitting member, or the positioning suction cup 72 is also provided with a light-transmitting hole 32, and the area of the light-transmitting hole 32 is larger than or equal to the area of the grating 90. The third image capturing element 80 can directly capture the image information of the grating 90 on the positioning suction cup 72, or capture the image information of the grating 90 on the positioning suction cup 72 through the light hole 32.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A grating laminating mechanism, comprising:
the grating positioning device comprises a rack, wherein a workbench is arranged on the rack, and at least one grating positioning piece is arranged on the workbench;
the first image acquisition part is positioned on the rack and acquires image information of the grating from the side surface of the grating positioning part;
the extraction piece is movably connected with the rack and is used for extracting the grating to be superposed;
the controller is connected with the extracting part and the first image collecting part, and controls the extracting part according to the image information collected by the first image collecting part and enables the grating to be superposed on the grating positioning part.
2. The grating laminating mechanism of claim 1, wherein the first image capturing element comprises three cameras, the three cameras are distributed on three sides of the grating positioning element, and the images of the gratings are captured from the three sides of the grating positioning element.
3. The grating laminating mechanism of claim 2, further comprising three camera mounting assemblies, one camera mounted on each camera mounting assembly;
the camera mounting assembly comprises a support frame, a camera mounting frame and a driving piece, the support frame is arranged on the rack, the camera mounting frame is movably arranged on the support frame, and the driving piece is connected with the camera mounting frame and used for driving the camera mounting frame to move along the support frame.
4. The optical grating laminating mechanism according to any one of claims 1 to 3, further comprising a second image capturing element, wherein the second image capturing element is located on the frame and connected to the controller, and is configured to capture image information of the optical grating and the adhesive from above the optical grating positioning element;
the extraction piece is further used for extracting gum, and the controller controls the extraction piece to superpose the gum on the grating positioning piece according to the image information acquired by the second image acquisition piece.
5. The grating laminating mechanism of claim 4, wherein the extraction member comprises an extraction sucker, the extraction sucker is a light-transmitting member, or a light-transmitting hole penetrating through the extraction sucker is formed in the extraction sucker, and the area of the light-transmitting hole is larger than or equal to that of the back adhesive.
6. The raster folding mechanism of claim 5 further comprising a movable support, said movable support being movably disposed on said frame, said second image capture member being disposed on said movable support;
the movable support is provided with a lens positioning frame, the lens positioning frame is located below a lens of the second image acquisition part, and the area of the lens positioning frame is larger than that of the extraction part.
7. The reticle stacking mechanism of claim 6 wherein the extractor further comprises a robotic arm, the extractor chuck being disposed on the robotic arm, the robotic arm comprising a horizontal moving portion and a vertical moving portion, the vertical moving portion being disposed on the horizontal moving portion, the extractor chuck being disposed on the vertical moving portion.
8. The apparatus of claim 4, wherein the apparatus comprises a plurality of grating positioning members, each of the grating positioning members is configured with a set of the first image capturing element, the second image capturing element, and the extracting element.
9. The apparatus of claim 1, wherein the reticle positioning member comprises a turntable rotatably coupled to the stage and a positioning chuck disposed on the turntable.
10. The optical grating laminating mechanism of claim 9, further comprising a third image capturing element, wherein the third image capturing element is located below the optical grating positioning element, and a capturing port of the third image capturing element faces the optical grating positioning element;
the positioning sucker is a light-transmitting piece, or a light-transmitting hole is formed in the positioning sucker, and the area of the light-transmitting hole is larger than or equal to that of the grating.
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| CN202010020873.4A CN111113330B (en) | 2020-01-08 | 2020-01-08 | Grating folding mechanism |
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| CN202010020873.4A CN111113330B (en) | 2020-01-08 | 2020-01-08 | Grating folding mechanism |
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| CN111113330B CN111113330B (en) | 2021-08-20 |
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| CN104597055A (en) * | 2015-01-08 | 2015-05-06 | 北京凌云光技术有限责任公司 | Product appearance detection system with multiple parallel stations |
| KR20170005276A (en) * | 2015-07-02 | 2017-01-12 | 주식회사 엔티코아 | Apparatus for arrayed waveguide grating module assembling |
| CN106379030A (en) * | 2016-08-31 | 2017-02-08 | 深圳市集银科技有限公司 | 3D grating and LCD laminating machine, and laminating method using laminating machine |
| CN206645534U (en) * | 2017-03-30 | 2017-11-17 | 武汉库柏特科技有限公司 | A kind of unordered grabbing device of robot based on double camera |
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| CN111113330B (en) | 2021-08-20 |
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Effective date of registration: 20221123 Address after: 261031 workshop 1, phase III, Geer Photoelectric Industrial Park, 3999 Huixian Road, Yongchun community, Qingchi street, high tech Zone, Weifang City, Shandong Province Patentee after: GoerTek Optical Technology Co.,Ltd. Address before: 261031 No. 268 Dongfang Road, hi tech Industrial Development Zone, Shandong, Weifang Patentee before: GOERTEK Inc. |