CN115625420A

CN115625420A - Method and equipment for automatically assembling lens and sensor

Info

Publication number: CN115625420A
Application number: CN202211471734.9A
Authority: CN
Inventors: 谢煜; 何岗
Original assignee: Shenzhen Yotta Image Automation Technology Co ltd
Current assignee: Shenzhen Yotta Image Automation Technology Co ltd
Priority date: 2022-11-23
Filing date: 2022-11-23
Publication date: 2023-01-20
Anticipated expiration: 2042-11-23
Also published as: CN115625420B

Abstract

The invention discloses a method and equipment for automatically assembling a lens and a sensor, relates to the technical field of instrument precision assembly, and solves the technical problem of low automation degree in the prior art. The equipment comprises a first adjusting mechanism, a feeding and discharging device, a second adjusting mechanism, an assembling mechanism and a shock-proof device; the first adjusting mechanism and the second adjusting mechanism are movably connected with the shockproof device, the loading and unloading device is fixedly connected with the shockproof device, and the assembling mechanism is arranged above the first adjusting mechanism and the second adjusting mechanism. The invention is used for realizing real-time monitoring in the assembly process with high automation degree and ensures the quality and the qualification rate of the assembled products.

Description

Method and equipment for automatically assembling lens and sensor

Technical Field

The invention relates to the technical field of instrument precision assembly, in particular to a method and equipment for automatically assembling a lens and a sensor.

Background

In high-precision automatic assembly applications of an image sensor and a lens, the requirements on the posture of the lens relative to the inclination and translation positions of the sensor are high. After adjusting the relative position of the image sensor and the lens to a suitable position using a high precision device, a general process uses gluing as a technical means for fixing the positions of both. The use of gluing poses reliability risks for some high temperature, high reliability applications, such as in-vehicle applications; meanwhile, in the process of high-precision active alignment, the real-time monitoring and adjustment of definition imaging are very important.

The automation devices currently used do not allow monitoring of the position between the sensor and the lens from adjustment to relative fixing, for example for the definition of the gluing process. Thereby causing loss of traceable information and loss of process data reaching higher yield; in addition, the existing assembly scheme is slow in speed and needs frequent manual intervention, and cannot meet the current application requirements.

Disclosure of Invention

The invention aims to provide a method and equipment for automatically assembling a lens and a sensor, which aim to solve the technical problems of low automation degree and lack of monitoring in an assembling process in the prior art. The technical effects that can be produced by the preferred technical scheme in the technical schemes provided by the invention are described in detail in the following.

In order to realize the purpose, the invention provides the following technical scheme:

the invention provides equipment for automatically assembling a lens and a sensor, which comprises a first adjusting mechanism, a feeding and discharging device, a second adjusting mechanism, an assembling mechanism and a shockproof device, wherein the first adjusting mechanism is arranged on the feeding and discharging device; the first adjusting mechanism and the second adjusting mechanism are movably connected with the shockproof device, the loading and unloading device is fixedly connected with the shockproof device, and the assembling mechanism is arranged above the first adjusting mechanism and the second adjusting mechanism; the first adjusting mechanism is matched with the feeding and discharging device and used for pre-assembling the loaded lens to be assembled and discharging the unqualified lens to be assembled; the second adjusting mechanism is used for adjusting the position of the loaded sensor to be assembled and discharging the assembled module; the assembling mechanism is used for assembling and monitoring the lens to be assembled and the sensor to be assembled which are all in the optimal positions and postures in real time.

Preferably, the first adjusting mechanism comprises a first X-axis moving mechanism, a first Y-axis moving mechanism, a Z-axis moving mechanism, an X-axis rotating mechanism, a Y-axis rotating mechanism and a clamping jaw; the shock-proof device, the first X-axis moving mechanism, the first Y-axis moving mechanism, the Z-axis moving mechanism, the Y-axis rotating mechanism, the X-axis rotating mechanism and the clamping jaw are sequentially and movably connected; the rotating mechanism around the Y axis is an off-axis rotating mechanism.

Preferably, the feeding and discharging device comprises a fixed support, and a rotary jig, a feeding jig and a discharging jig which are fixedly connected with the fixed support; the feeding jig is used for placing the lens to be assembled, and the discharging jig is used for placing the unqualified lens to be assembled.

Preferably, the equipment for automatically assembling the lens and the sensor further comprises a first positioning vision and a second positioning vision which are arranged near the rotating jig and are connected with each other; the first positioning vision is connected with the rotary jig and used for acquiring the position and posture information of the lens to be assembled placed on the rotary jig and controlling the rotary jig to adjust the lens to be assembled to a standard pre-assembling position and posture through the acquired position and posture information; the second positioning vision is connected with the first X-axis moving mechanism, the first Y-axis moving mechanism, the Z-axis moving mechanism, the X-axis rotating mechanism, the Y-axis rotating mechanism and the clamping jaw, and is used for controlling the clamping jaw to act in five directions, transplanting the lens to be assembled from the feeding jig to the rotating jig, moving the lens to be assembled from the rotating jig to the second positioning vision for pre-assembly, and moving the pre-assembled lens to be assembled to the assembling mechanism.

Preferably, the second adjusting machine comprises a second X-axis moving mechanism, a second Y-axis moving mechanism and a rotating platform; the shock-proof device, the second X-axis moving mechanism, the second Y-axis moving mechanism and the rotating platform are sequentially and movably connected; the rotary platform comprises a rotary body, a first force arm, a second force arm, a first fixing jig and a second fixing jig which are of an integrated structure; one end of the rotating body is movably connected with the second Y-axis moving mechanism, and the first force arm and the second force arm are respectively and fixedly connected to the other end of the rotating body; the first fixing jig is fixedly connected with the first force arm, and the second fixing jig is fixedly connected with the second force arm.

Preferably, the device for automatically assembling the lens and the sensor further comprises a third positioning vision, and the third positioning vision is connected with the second X-axis moving mechanism, the second Y-axis moving mechanism and the rotary platform; when the sensor to be assembled is fixed on the first fixing jig or the second fixing jig, the third positioning vision acquires the position information of the sensor to be assembled, controls the second X-axis moving mechanism and the second Y-axis moving mechanism to move according to the acquired position information, and adjusts the sensor to be assembled fixed on the first fixing jig or the second fixing jig to a standard assembling position; when the sensor to be assembled is positioned at a standard assembling position, the third positioning vision controls the rotating platform to rotate by a certain angle so as to transfer the sensor to be assembled to an assembling mechanism; after the assembly is finished, the third positioning vision is also used for controlling the rotating platform to rotate for a certain angle, and the assembled module is moved out of the assembly mechanism; or when the sensor to be assembled is fixed on the first fixing jig or the second fixing jig, the third positioning vision controls the rotating platform to rotate by a certain angle to the assembling mechanism; the third positioning vision acquires the position information of the sensor to be assembled, controls the second X-axis moving mechanism and the second Y-axis moving mechanism to move according to the acquired position information, and adjusts the first fixed jig or the second fixed jig to a standard assembling position; after the assembly is finished, the third positioning vision is also used for controlling the rotating platform to rotate for a certain angle, and the assembled module is moved out of the assembly mechanism.

Preferably, the assembling mechanism comprises a laser welding swinging mechanism, a pair of collimator tubes, a laser welding positioning and monitoring vision, a laser welding head and a laser head moving block; the laser welding swing mechanism is connected with the laser welding positioning and monitoring vision, the laser welding head and the laser head moving block; the laser head moving block is fixedly connected with the laser welding positioning and monitoring vision and the laser welding head and used for focusing and adjusting the height of the laser welding positioning and monitoring vision.

Preferably, the number of the laser welding heads is multiple, and each laser welding head is provided with a laser welding positioning and monitoring vision and a laser head moving block; the laser welding heads are arranged in a circumferential manner, and the center of the circumference is superposed with or deviated from the set value of the center of the lens to be assembled; the central axis of one of the pair of parallel light pipes is coaxial with the central axis of the circumference.

Preferably, the laser welding swing mechanism comprises a driving motor, a swing sliding block, a connecting rod and a fixing plate; a screw rod of the driving motor is fixedly connected with the swinging sliding block, and the swinging sliding block is fixedly connected with the fixed plate through the connecting rod; the fixing plate is of a hollow structure in the middle, and the pair of collimator tubes are arranged in the middle of the hollow structure; the fixing plate comprises an upper plate and a lower plate which are movably connected, the connecting rod is fixedly connected with the upper plate, and the laser welding positioning and monitoring vision, the laser welding head and the laser head moving block are fixedly connected with the lower plate.

The invention also provides a method for automatically assembling the lens and the sensor, which is characterized in that the equipment for automatically assembling the lens and the sensor based on the method comprises the following steps:

s10, feeding a lens to be assembled and a sensor to be assembled;

s20, preparing the loaded lens to be assembled and the sensor to be assembled before assembling; the preparation before assembly comprises the steps of carrying out position adjustment on a loaded lens to be assembled, pre-assembling the lens to be assembled after the position adjustment, transferring the lens to be assembled which is qualified in pre-assembly to the assembly mechanism, blanking the lens to be assembled which is unqualified in pre-assembly, carrying out position adjustment on a loaded sensor to be assembled, and transferring the sensor to be assembled after the position adjustment to the assembly mechanism;

s30, assembling the lens to be assembled and the sensor to be assembled which are transmitted to the assembling mechanism, and blanking the assembled module; the assembly is laser welding.

The implementation of one of the technical schemes of the invention has the following advantages or beneficial effects:

according to the invention, a fixing process with high precision and reliability is adopted, and a plurality of materials to be assembled are assembled after being aligned in a high-precision manner before being assembled, so that the materials reach the optimal positions and postures and are cured and combined, and the high precision and high quality of assembly are ensured. In the whole assembling process, the invention also realizes high-definition monitoring of the whole assembling process, and the monitoring and observation of the real-time position and posture can be used for more position and posture adjustment. Therefore, the materials are preassembled before being assembled, so that the time for subsequent assembly is shortened, and manual intervention is reduced; in the assembling process, the quality and the qualified rate of the assembled product are ensured through real-time monitoring.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without inventive efforts, wherein:

FIG. 1 is a perspective view of an apparatus for automatically assembling lenses and sensors in accordance with an embodiment of the present invention;

FIG. 2 is a perspective view of a first adjustment mechanism of the present invention;

fig. 3 is a perspective view of a loading and unloading device according to an embodiment of the present invention;

FIG. 4 is a perspective view of a second adjustment mechanism of the present invention;

FIG. 5 is a perspective view of an assembly mechanism of an embodiment of the present invention;

FIG. 6 is a perspective view of a 120 degree layout of 3 laser welding heads of an embodiment of the present invention;

FIG. 7 is a schematic diagram of an assembled position of a camera to be assembled and a sensor to be assembled according to an embodiment of the present invention;

fig. 8 is a flow chart of a method for automatically assembling a lens and a sensor according to an embodiment of the invention.

In the figure: 1. a first adjustment mechanism; 11. a first X-axis moving mechanism; 12. a first Y-axis moving mechanism; 13. a Z-axis moving mechanism; 14. rotating the mechanism around the X axis; 15. rotating the mechanism around the Y axis; 16. a clamping jaw; 2. a loading and unloading device; 21. fixing a bracket; 22. rotating the jig; 23. a feeding jig; 24. blanking jigs; 3. a second adjustment mechanism; 31. a second X-axis moving mechanism; 32. a second Y-axis moving mechanism; 33. rotating the platform; 331. rotating the body; 332. a first force arm; 333. a second moment arm; 334. a first fixing jig; 335. a second fixing jig; 4. an assembly mechanism; 41. a laser welding swing mechanism; 411. a drive motor; 412. a swing slider; 413. a connecting rod; 414; a fixing plate; 4141. an upper plate; 4142. a lower layer plate; 42. a collimator; 43. laser welding positioning and vision monitoring; 44. a laser welding head; 45. a laser head moving block; 5. a shock-proof device; 6. a first positioning vision; 7. a second positioning vision; 8. and thirdly, positioning vision.

Detailed Description

In order that the objects, aspects and advantages of the present invention will become more apparent, various exemplary embodiments will be described below with reference to the accompanying drawings, which form a part hereof, and in which are shown by way of illustration various exemplary embodiments in which the invention may be practiced. The same numbers in different drawings identify the same or similar elements unless otherwise indicated. The implementations described in the exemplary embodiments below do not represent all implementations consistent with the present disclosure. It is to be understood that they are merely examples of processes, methods, apparatus, etc. consistent with certain aspects of the present disclosure as detailed in the appended claims, and that other embodiments may be used or structural and functional modifications may be made to the embodiments set forth herein without departing from the scope and spirit of the present disclosure.

In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," and the like are used in the orientations and positional relationships illustrated in the accompanying drawings for the purpose of facilitating the description of the present invention and simplifying the description, and do not indicate or imply that the elements so referred to must have a particular orientation, be constructed in a particular orientation, and be operated. The terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. The term "plurality" means two or more. The terms "connected" and "coupled" are to be construed broadly and may include, for example, a fixed connection, a removable connection, an integral connection, a mechanical connection, an electrical connection, a communicative connection, a direct connection, an indirect connection via intermediate media, and may include, for example, a connection between two elements or an interaction between two elements. The term "and/or" includes any and all combinations of one or more of the associated listed items. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In order to explain the technical solution of the present invention, the following description is made by way of specific examples, which only show the relevant portions of the embodiments of the present invention.

The first embodiment is as follows:

as shown in fig. 1, the present invention provides an apparatus for automatically assembling a lens and a sensor, which includes a first adjusting mechanism 1, a loading and unloading device 2, a second adjusting mechanism 3, an assembling mechanism 4, and a shock-proof device 5. Specifically, the first adjusting mechanism 1 and the second adjusting mechanism 3 are movably connected with the anti-vibration device 5, the loading and unloading device 2 is fixedly connected with the anti-vibration device 5, and the assembling mechanism 4 is arranged above the first adjusting mechanism 1 and the second adjusting mechanism 3. Further, the first adjusting mechanism 1 is matched with the feeding and discharging device 2 to pre-assemble the loaded lens to be assembled, and the unqualified lens to be assembled is discharged; the second adjusting mechanism 3 is used for adjusting the position of the loaded sensor to be assembled and unloading the assembled module (imaging module); the assembling mechanism 4 is used for assembling and monitoring the lens to be assembled and the sensor to be assembled which are all in the best position and posture in real time.

Further, the first adjusting mechanism 1 is a five-axis motion mechanism, and can realize five-direction adjustment of the material (the lens to be assembled). The five directions are transverse movement along an X axis, longitudinal movement along a Y axis, up-and-down movement along a Z axis, rotation around the X axis and rotation around the Y axis. It is emphasized that the first adjustment mechanism 1 is provided with an off-axis rotation mechanism, in particular a rotation mechanism about the Y-axis 15 as described below. Of course, the first adjusting mechanism 1 of the present invention may also be provided with a six-axis movement mechanism, which is additionally rotated around the Z-axis on the basis of the above-mentioned directions. The five directions or six directions can realize the omnibearing adjustment of the materials on the micron-order precision, so that the materials to be assembled are in the optimal positions and postures. The optimal position and posture refer to the relative position and posture of each material when the combination of the materials can realize a preset function (such as high-definition shooting by a combined imaging module). The attitude of one material may be the inclination (in terms of inclination angle) of the material relative to another material, and the position of one material may be the relative distance of the material relative to another material.

The invention adopts a fixing process with high precision and reliability, and a plurality of materials (such as a sensor and a lens) to be assembled are assembled after being aligned with high precision before being assembled, so that the materials reach the optimal position and posture and are cured and combined, and the high precision and high quality of the assembly are ensured. In the whole assembling process, the invention also realizes high-definition monitoring of the whole assembling process, and the monitoring and observation of the real-time position and posture can be used for more position and posture adjustment. Therefore, the materials are preassembled before being assembled, so that the time for subsequent assembly is shortened, and manual intervention is reduced; in the assembling process, the assembling quality is ensured through real-time monitoring.

As shown in fig. 2, as an alternative embodiment, the first adjustment mechanism 1 provided with a five-axis movement mechanism includes a first X-axis movement mechanism 11, a first Y-axis movement mechanism 12, a Z-axis movement mechanism 13, an X-axis rotation mechanism 14, a Y-axis rotation mechanism 15, and a gripping jaw 16. Specifically, the shock-proof device 5, the first X-axis moving mechanism 11, the first Y-axis moving mechanism 12, the Z-axis moving mechanism 13, the Y-axis rotating mechanism 15, the X-axis rotating mechanism 14, and the clamping jaws 16 are movably connected in sequence.

Preferably, the rotation mechanism 15 around the Y axis is an off-axis rotation mechanism, and is designed in an off-axis manner. That is, the rotation center of the rotation mechanism 15 around the Y axis is not coaxial with the Y axis, but has a certain offset angle with respect to the Y axis, so that a space can be made for a laser head (see below) of the assembling mechanism 4 disposed above the first adjusting mechanism 1, and welding between the lens and the sensor can be facilitated. In the prior art, a rotating table or a swinging table is arranged, the rotating or swinging center of the rotating table or the swinging table is positioned at the center of a table top of the rotating table or the swinging table, and the design of a mode of deviating from the axis is not adopted.

As shown in fig. 3, as an alternative embodiment, the loading and unloading device 2 includes a fixing bracket 21, and a rotating fixture 22, a loading fixture 23, and a unloading fixture 24, which are fixedly connected to the fixing bracket 21. The feeding jig 23 is used for placing the lens to be assembled, and the discharging jig 24 is used for placing the unqualified lens to be assembled.

As an example, the apparatus for automatically assembling a lens and a sensor of the present embodiment further includes a first positioning vision 6 and a second positioning vision 7 connected to each other and disposed near the rotating jig 22. The first positioning vision 6 is connected with the rotating jig 22 and used for collecting the position and posture information of the lens to be assembled placed on the rotating jig 22 and controlling the rotating jig 22 to rotate the lens to be assembled to the standard pre-assembling position and posture through the collected position and posture information; the second positioning vision 7 is connected with the first X-axis moving mechanism 11, the first Y-axis moving mechanism 12, the Z-axis moving mechanism 13, the X-axis rotating mechanism 14, the Y-axis rotating mechanism 15 and the clamping jaw 16, and is used for controlling the clamping jaw 16 to move in five directions (along the X-axis transverse movement, along the Y-axis longitudinal movement, along the Z-axis vertical movement, around the X-axis rotation, around the Y-axis rotation), and transplanting the lens to be assembled from the loading jig 23 to the rotating jig 22, and moving the lens to be assembled from the rotating jig 22 to the second positioning vision 7 for pre-assembly, and moving the pre-assembled lens to be assembled to the assembling mechanism 4.

It should be noted that, before the lens to be assembled and the sensor to be assembled are assembled formally, the second positioning vision 7 (such as an industrial camera) is used for pre-assembling, the parameter specification of the second positioning vision 7 and the specification of the sensor to be assembled are similar or have positive correlation, that is, the image acquisition result of the second positioning vision 7 and the image acquisition result of the sensor to be assembled should have consistency or positive correlation, then the second positioning vision 7 can be used for calculating after acquiring the image of the lens to be assembled at high speed, and the second positioning vision 7 is moved to a pre-aligned position and posture (such as a standard pre-assembling position and posture) in advance according to the calculation result. The clamping jaw 16 moves the lens to be assembled, which is adjusted by the standard position and the posture, from the rotating jig 22 to the position above the second positioning vision 7, when the parameter specification of the lens to be assembled and the specification of the sensor to be assembled are similar or have positive correlation, the lens to be assembled is qualified, the pre-assembly is successful, and then the clamping jaw 16 drives the lens to be assembled to move to the position above the sensor to be assembled in the assembling mechanism 4 through five-direction actions to carry out formal active alignment assembly; when the parameter specification of the lens to be assembled and the specification of the sensor to be assembled are not similar or have no positive correlation, the lens to be assembled is unqualified, the pre-assembly fails, and then the clamping jaw 16 moves the lens to be assembled to move to the blanking jig 24 through five-direction actions. Therefore, the assembly speed can be greatly increased and the speed can be increased by times.

It should be noted that the first positioning vision 6 and the second positioning vision 7 can be fixedly connected to the loading and unloading device 2, or fixedly connected to the shock-proof device 5 or the housing (see below) through a fixing structure (such as a connecting rod or a bracket).

As shown in fig. 4, as an alternative embodiment, the second adjusting mechanism 3 includes a second X-axis moving mechanism 31, a second Y-axis moving mechanism 32, and a rotating platform 33, and the anti-vibration device 5, the second X-axis moving mechanism 31, the second Y-axis moving mechanism 32, and the rotating platform 33 are movably connected in sequence. The rotary platform 33 includes a rotary body 331, a first arm 332, a second arm 333, a first fixing fixture 334, and a second fixing fixture 335. One end of the rotating body 331 is movably connected to the second Y-axis moving mechanism 32, and the first force arm 332 and the second force arm 333 are respectively and fixedly connected to the other end of the rotating body 331; the first fixing jig 334 is fixedly connected with the first force arm 332, the second fixing jig 335 is fixedly connected with the second force arm 333, and the rotating body 331, the first force arm 332 and the second force arm 333 are integrated.

As shown in fig. 6, as an example, the apparatus for automatically assembling a lens and a sensor of the present embodiment further includes a third positioning vision 8 (the third positioning vision is disposed at the assembling mechanism in fig. 6), and the third positioning vision 8 is connected to the second X-axis moving mechanism 31, the second Y-axis moving mechanism 32, and the rotary platform 33. Specifically, when the sensor to be assembled is fixed on the first fixing jig 334 or the second fixing jig 335, the third positioning vision 8 collects the position information of the sensor to be assembled, controls the second X-axis moving mechanism 31 and the second Y-axis moving mechanism 32 to move according to the collected position information, and adjusts the sensor to be assembled fixed on the first fixing jig 334 or the second fixing jig 335 to a standard assembling position; when the sensor to be assembled is positioned at the standard assembling position, the third positioning vision 8 controls the rotating platform 33 to rotate for a certain angle to transfer the sensor to be assembled to the assembling mechanism 4; after the assembly is finished, the third positioning vision 8 is also used for controlling the rotating platform 33 to rotate for a certain angle, and the assembled module is moved out of the assembly mechanism 4; or, when the sensor to be assembled is fixed on the first fixing jig 334 or the second fixing jig 335, the third positioning vision 8 controls the rotating platform 33 to rotate a certain angle to the assembling mechanism 4; the third positioning vision 8 collects the position information of the sensor to be assembled, controls the second X-axis moving mechanism 31 and the second Y-axis moving mechanism 32 to move according to the collected position information, and adjusts the first fixing jig 334 or the second fixing jig 335 to the standard assembling position; after the assembly is finished, the third positioning vision 8 is further used for controlling the rotating platform 33 to rotate for a certain angle, so that the assembled module is removed from the assembly mechanism 4.

It should be noted that the third positioning vision 8 is used for photographing the position of the target surface of the sensor to be assembled, then calculating the central position of the sensor to be assembled, and controlling the second X-axis moving mechanism 31 and the second Y-axis moving mechanism 32 to move in the X-axis direction and the Y-axis direction according to the central position, so that the positions of the target surfaces of the sensors to be assembled are all the same, thereby obtaining the best consistency of the assembled product, and simultaneously reducing the possibility of collision of the lens to be assembled when extending into the housing of the sensor assembly to be assembled (once collision occurs, the lens and the clamping jaw 16 may be damaged), where the visual positioning of the third positioning vision 8 is closed-loop positioning, that is, the central position must be moved to a certain position range, and the allowable range is usually several micrometers plus or minus.

It should be noted that the sensor to be assembled may be adjusted in position at the loading position (the loading position and the discharging position may be the same, that is, the above certain angle is 180 °), or may be adjusted in position at a preset position of the assembling mechanism 4. Thus, the position of the third positioning vision 8 is not necessarily fixed. Of course, the third positioning vision 8 can be fixedly connected with the shock absorbing device 5 or a housing (see below) through a fixing structure (e.g., a connecting rod or a bracket).

As shown in fig. 5, as an alternative embodiment, this embodiment provides an embodiment in which the assembly of the assembly mechanism is laser welding, and of course, the assembly manner of the assembly mechanism 4 is not limited to laser welding. Specifically, the assembling mechanism 4 includes a laser welding swing mechanism 41, a pair of collimator tubes 42, a laser welding positioning and monitoring vision 43, a laser welding head 44, and a laser head moving block 45, wherein the laser welding swing mechanism 41 is connected with the laser welding positioning and monitoring vision 43, the laser welding head 44, and the laser head moving block 45; the laser head moving block 45 is fixedly connected with the laser welding positioning and monitoring vision 43 and the laser welding head 44 and is used for focusing and adjusting the height of the laser welding positioning and monitoring vision 43.

As an alternative embodiment, the laser welding heads 44 are plural, and each laser welding head 44 is provided with a laser welding positioning and monitoring vision 43 and a laser head moving block 45. The laser welding heads 44 are arranged in a circle, the center of the circle coincides with or deviates from the set value of the center of the lens to be assembled, and the central axis of one of the pair of collimator tubes 42 is coaxial with the central axis of the circle. Specifically, as shown in fig. 6, the laser welding heads 44 are 3 and arranged in a 120-degree circle, the center of the circle coincides with (or is within 10mm of) the center of the lens to be assembled, and is coaxial with the parallel light pipe 42, which is the key to achieve real-time monitoring of the definition. Of course, the laser welding heads 44 could also be 4 and present a 90 degree circumferential arrangement (not illustrated).

As an alternative embodiment, the laser welding swing mechanism 41 includes a driving motor 411, a swing slider 412, a link 413, and a fixing plate 414, a lead screw of the driving motor 411 is fixedly connected to the swing slider 412, and the swing slider 412 is fixedly connected to the fixing plate 414 through the link 413. Further, the fixing plate 414 is a hollow structure, and the pair of collimator 42 is disposed in the middle of the hollow structure. The fixing plate 414 comprises an upper plate 4141 and a lower plate 4142 which are movably connected, the connecting rod 413 is fixedly connected with the upper plate 4141, and the laser welding positioning and monitoring vision 43, the laser welding head 44 and the laser head moving block 45 are fixedly connected with the lower plate 4142. It should be noted that the assembly mechanism 4 of this embodiment further includes a control module, and the control module is connected to the driving motor 411, each laser welding head 44, each laser head moving block 45, and each laser welding positioning and monitoring vision 43, and is configured to control welding of the lens to be assembled and the sensor to be assembled.

It should be noted that the driving motor 411 may be fixedly connected to a housing described below. Of course, the driving motor 411 may not be fixedly connected to the housing, and the upper plate 4141 may be fixedly connected to the housing as described below.

The apparatus for automatically assembling a lens and a sensor of this embodiment further includes a housing (not shown), the first adjusting mechanism 1, the feeding and discharging device 2, the second adjusting mechanism 3, and the assembling mechanism 4 are all disposed in the housing, and the shock-proof device 5 is fixedly connected to the housing. In order to ensure good shock-proof effect, the shock-proof device 5 is preferably marble and air-float shock-proof device.

To sum up, this embodiment adopts the fixed technology that the precision reliability is high, assembles a plurality of materials that will wait to assemble again after high accuracy aligns before the equipment for reach best position and gesture and carry out the solidification combination between the material, ensured the high accuracy and the high quality of equipment. In the whole assembling process, the invention also realizes high-definition monitoring of the whole assembling process, and the monitoring and observation of the real-time position and posture can be used for more position and posture adjustment. Therefore, the equipment of this embodiment assembles the fast, the precision is high of material, the quality of equipment product is good, can also effectively reduce manual intervention.

The embodiment is only a specific example and does not indicate such an implementation of the invention. In addition, the present invention relates to the fixed connection, which may be, but not limited to, a screw connection, a welding connection, or a snap connection, and the connection other than the fixed connection is not limited to an electrical connection or a communication connection.

Example two:

as shown in fig. 8, the present invention further provides an embodiment of a method for automatically assembling a lens and a sensor, and an apparatus for automatically assembling a lens and a sensor according to the first embodiment includes the following steps:

s10, feeding a lens to be assembled and a sensor to be assembled;

the materials input by the method are the lenses to be assembled and the sensors to be assembled, and the lenses to be assembled are placed on the feeding jig 23 in batches. The sensor to be assembled is placed on the first fixture 334 or the second fixture 335, and both the first fixture 334 and the second fixture 335 can be used as a feeding device for the lens to be assembled and a discharging device for the assembled module. It should be noted that, when the sensor to be assembled of the present embodiment is assembled at one time, one sensor to be assembled is loaded, and certainly, a plurality of sensors to be assembled can be loaded in batch at one time.

S20, preparing the loaded lens to be assembled and the sensor to be assembled before assembling; the preparation before assembly comprises the steps of carrying out position adjustment on a loaded lens to be assembled, pre-assembling the lens to be assembled after the position adjustment, transferring the lens to be assembled which is qualified in pre-assembly to an assembly mechanism 4, carrying out blanking on the lens to be assembled which is unqualified in pre-assembly, carrying out position adjustment on a loaded sensor to be assembled, and transferring the sensor to be assembled after the position adjustment to the assembly mechanism 4;

in this step, the preparation before assembling the lens to be assembled and the sensor to be assembled is simultaneously realized. Specifically, the preparation before assembly for the lens to be assembled is: under the control of the second positioning vision 7, the first X-axis moving mechanism 11, the first Y-axis moving mechanism 12, the Z-axis moving mechanism 13, the X-axis rotating mechanism 14 and the Y-axis rotating mechanism 15 cooperate with each other to drive the clamping jaws 16 to grab the lens to be assembled, and the lens to be assembled is transplanted from the feeding jig 23 to the rotating jig 22; the first positioning vision 6 detects a lens to be assembled on the rotary jig 22, acquires position and posture information of the lens to be assembled on the rotary jig 22, compares the position and posture information with a standard pre-assembly position and posture, controls the rotary jig 22 to adjust the position and posture of the lens to be assembled to the standard pre-assembly position and posture, and sends the pre-assembly information to the second positioning vision 7 after the position and posture information is adjusted; after the second positioning vision 7 receives the pre-assembly signal, the first X-axis moving mechanism 11, the first Y-axis moving mechanism 12, the Z-axis moving mechanism 13, the X-axis rotating mechanism 14 and the Y-axis rotating mechanism 15 are controlled to be adjusted to the standard pre-assembly position and posture, and the clamping jaw 16 is driven to move the lens to be assembled from the rotary jig 22 to the position above the second positioning vision 7; the second vision compares the parameter specification of the lens to be assembled with the parameter specification of the lens to be assembled, and when the comparison is consistent, the clamping jaw 16 is controlled to move the lens to be assembled to a standard assembling position preset by the assembling mechanism 4. The preset standard assembly position is a standard position corresponding to the assembly that the first fixing jig 334 of the rotating platform 33 reaches after rotating a certain angle from the loading position. Of course, the standard position of assembly correspondence is correspondingly consistent with the standard pre-assembly position.

The preparation before assembly for the sensor to be assembled is: the third positioning vision 8 detects that the fixed sensor to be assembled is placed on the first fixing jig 334 or the second fixing jig 335 at the feeding position, controls the rotating platform 33 to rotate for a certain angle, and moves the sensor to be assembled to a preset standard assembling position; according to the position and the posture of the lens to be assembled in the assembling mechanism 4 (which can be identified according to shooting, and the position and the posture information of the lens to be assembled can also be set in the third positioning vision 8 in advance), the third positioning vision 8 controls the second X-axis moving mechanism 31 and the second Y-axis moving mechanism 32 to move to drive the sensor to be assembled to move to the standard position corresponding to the assembling. Of course, the position of the sensor to be assembled may also be adjusted at the loading position by referring to the preparation steps before the assembly of the sensor to be assembled, which are not described herein again.

S30, assembling the lens to be assembled and the sensor to be assembled which are transmitted to the assembling mechanism 4, and blanking the assembled module; the assembly is laser welding.

The method comprises the following steps: when each laser welding positioning and monitoring vision 43 detects that the lens to be assembled and the sensor to be assembled are both in the optimal assembly position (as shown in fig. 7, 9 represents the lens to be assembled and 10 represents the sensor to be assembled), a welding signal is fed back to the control module, the control module receives the welding signal, starts the laser welding head 44, the laser head moving block 45 and the driving motor 411, the driving motor 411 drives each laser welding head 44, the laser head moving block 45 and the laser welding positioning and monitoring vision 43 to perform laser welding, and real-time monitoring is performed through the laser welding positioning and monitoring vision 43. Because laser welding can be treated the equipment camera lens and produce little (micron order) effect, whole process can be treated the equipment sensor through laser welding location and control vision 43 and export high definition image in real time, discerns little effect and adjusts through third location vision 8 through control module to reduce the module high qualification rate of little effect assurance after the equipment.

The embodiment provides a high-reliability fixing process flow based on laser spot welding, the sensor and the lens are aligned and then are subjected to laser welding, and the optimal position and posture are achieved and solidified. In the process, the assembly process is monitored in real time with high definition, so that the high quality and high qualification rate of welding products are ensured, and the manual participation is greatly reduced.

While the invention has been described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes may be made and equivalents may be substituted for elements thereof without departing from the spirit and scope of the invention. In addition, many modifications may be made to adapt a particular situation or material to the teachings of the invention without departing from the essential scope thereof. Therefore, it is intended that the invention not be limited to the particular embodiment disclosed, but that the invention will include all embodiments falling within the scope of the appended claims.

Claims

1. An apparatus for automatically assembling a lens and a sensor is characterized by comprising a first adjusting mechanism (1), a loading and unloading device (2), a second adjusting mechanism (3), an assembling mechanism (4) and a shockproof device (5);

the first adjusting mechanism (1) and the second adjusting mechanism (3) are movably connected with the shockproof device (5), the loading and unloading device (2) is fixedly connected with the shockproof device (5), and the assembling mechanism (4) is arranged above the first adjusting mechanism (1) and the second adjusting mechanism (3);

the first adjusting mechanism (1) is matched with the feeding and discharging device (2) and is used for pre-assembling the loaded lens to be assembled and discharging the unqualified lens to be assembled; the second adjusting mechanism (3) is used for adjusting the position of the loaded sensor to be assembled and discharging the assembled module; the assembling mechanism (4) is used for assembling and monitoring the lens to be assembled and the sensor to be assembled which are both in the optimal position and posture in real time.

2. An apparatus for automatically assembling a lens and a sensor according to claim 1, wherein the first adjusting mechanism (1) comprises a first X-axis moving mechanism (11), a first Y-axis moving mechanism (12), a Z-axis moving mechanism (13), a rotation mechanism (14) around an X-axis, a rotation mechanism (15) around a Y-axis, and a holding jaw (16); the rotating mechanism (15) around the Y axis is an eccentric rotating mechanism;

the shock-proof device (5), the first X-axis moving mechanism (11), the first Y-axis moving mechanism (12), the Z-axis moving mechanism (13), the Y-axis rotating mechanism (15), the X-axis rotating mechanism (14) and the clamping jaw (16) are sequentially and movably connected.

3. The apparatus for automatically assembling a lens and a sensor according to claim 2, wherein the loading and unloading device (2) comprises a fixed support (21), a rotary jig (22), a loading jig (23) and an unloading jig (24) which are fixedly connected with the fixed support (21);

the feeding jig (23) is used for placing lenses to be assembled, and the discharging jig (24) is used for placing unqualified lenses to be assembled.

4. The apparatus for automatically assembling a lens and a sensor according to claim 3, further comprising a first positioning vision (6), a second positioning vision (7) connected with each other and arranged near the rotating jig (22);

the first positioning vision (6) is connected with the rotary fixture (22) and is used for acquiring the position and posture information of the lens to be assembled placed on the rotary fixture (22) and controlling the rotary fixture (22) to adjust the lens to be assembled to a standard pre-assembling position and posture according to the acquired position and posture information;

the second positioning vision (7) is connected with the first X-axis moving mechanism (11), the first Y-axis moving mechanism (12), the Z-axis moving mechanism (13), the X-axis rotating mechanism (14), the Y-axis rotating mechanism (15) and the clamping jaw (16) and used for controlling the clamping jaw (16) to act in five directions, transplanting the lens to be assembled from the feeding jig (23) to the rotating jig (22) and moving the lens to be assembled from the rotating jig (22) to the second positioning vision (7) for pre-assembling, and moving the pre-assembled lens to be assembled to the assembling mechanism (4).

5. An apparatus for automatically assembling a lens and a sensor according to claim 1, wherein the second adjusting mechanism (3) comprises a second X-axis moving mechanism (31), a second Y-axis moving mechanism (32), a rotary table (33); the shockproof device (5), the second X-axis moving mechanism (31), the second Y-axis moving mechanism (32) and the rotary platform (33) are sequentially and movably connected;

the rotary platform (33) comprises a rotary body (331), a first force arm (332), a second force arm (333), a first fixing jig (334) and a second fixing jig (335);

one end of the rotating body (331) is movably connected with the second Y-axis moving mechanism (32), and the first force arm (332) and the second force arm (333) are respectively and fixedly connected with the other end of the rotating body (331);

the first fixing jig (334) is fixedly connected with the first force arm (332), the second fixing jig (335) is fixedly connected with the second force arm (333), and the rotating body (331), the first force arm (332) and the second force arm (333) are of an integrated structure.

6. The apparatus for automatically assembling lens and sensor according to claim 5, further comprising a third positioning vision (8), wherein said third positioning vision (8) is connected to said second X-axis moving mechanism (31), said second Y-axis moving mechanism (32) and said rotating platform (33);

when the sensor to be assembled is fixed on the first fixing jig (334) or the second fixing jig (335), the third positioning vision (8) collects the position information of the sensor to be assembled, controls the second X-axis moving mechanism (31) and the second Y-axis moving mechanism (32) to move according to the collected position information, and adjusts the sensor to be assembled fixed on the first fixing jig (334) or the second fixing jig (335) to a standard assembling position; when the sensor to be assembled is positioned at a standard assembling position, the third positioning vision (8) controls the rotating platform (33) to rotate for a certain angle to transfer the sensor to be assembled to the assembling mechanism (4); after the assembly is finished, the third positioning vision (8) is also used for controlling the rotating platform (33) to rotate for a certain angle, and the assembled module is moved out of the assembly mechanism (4);

or when the sensor to be assembled is fixed on the first fixing jig (334) or the second fixing jig (335), the third positioning vision (8) controls the rotating platform (33) to rotate for a certain angle to the assembling mechanism (4); the third positioning vision (8) collects the position information of the sensor to be assembled, controls the second X-axis moving mechanism (31) and the second Y-axis moving mechanism (32) to move according to the collected position information, and adjusts the first fixing jig (334) or the second fixing jig (335) to a standard assembling position; after the assembly is finished, the third positioning vision (8) is also used for controlling the rotating platform (33) to rotate for a certain angle, and the assembled module is moved out of the assembly mechanism (4).

7. The apparatus for automatically assembling a lens and a sensor according to claim 1, wherein the assembling mechanism (4) comprises a laser welding swing mechanism (41), a pair of collimator tubes (42), a laser welding positioning and monitoring vision (43), a laser welding head (44), a laser head moving block (45);

the laser welding swing mechanism (41) is connected with the laser welding positioning and monitoring vision (43), the laser welding head (44) and the laser head moving block (45);

the laser head moving block (45) is fixedly connected with the laser welding positioning and monitoring vision (43) and the laser welding head (44) and is used for focusing and adjusting the height of the laser welding positioning and monitoring vision (43).

8. The device for the automatic assembly of lenses and sensors according to claim 7, characterized in that said laser welding heads (44) are plural, each laser welding head (44) being equipped with a laser welding positioning and monitoring vision (43) and a laser head moving block (45);

the laser welding heads (44) are arranged in a circumferential manner, and the center of the circumference is overlapped with or deviates from the set value of the lens to be assembled; the central axis of one of the pair of collimator tubes (42) is coaxial with the central axis of the circumference.

9. The apparatus for automatically assembling a lens and a sensor according to claim 7, wherein the laser welding swing mechanism (41) comprises a driving motor (411), a swing slider (412), a link (413), a fixing plate (414);

a screw rod of the driving motor (411) is fixedly connected with the swinging sliding block (412), and the swinging sliding block (412) is fixedly connected with the fixing plate (414) through the connecting rod (413);

the fixing plate (414) is of a hollow structure, and the pair of collimator tubes (42) are arranged in the middle of the hollow structure; the fixing plate (414) comprises an upper plate (4141) and a lower plate (4142) which are movably connected, the connecting rod (413) is fixedly connected with the upper plate (4141), and the laser welding positioning and monitoring vision (43), the laser welding head (44) and the laser head moving block (45) are fixedly connected with the lower plate (4142).

10. A method for automatically assembling a lens and a sensor, characterized in that an apparatus for automatically assembling a lens and a sensor according to any one of claims 1 to 9 comprises the following steps:

s10, feeding a lens to be assembled and a sensor to be assembled;

s20, preparing the loaded lens to be assembled and the sensor to be assembled before assembling; the preparation before assembly comprises the steps of carrying out position adjustment on a loaded lens to be assembled, pre-assembling the lens to be assembled after the position adjustment, transferring the lens to be assembled which is qualified in pre-assembly to the assembly mechanism (4), blanking the lens to be assembled which is unqualified in pre-assembly, carrying out position adjustment on a loaded sensor to be assembled, and transferring the sensor to be assembled after the position adjustment to the assembly mechanism (4);

s30, assembling the lens to be assembled and the sensor to be assembled which are transmitted to the assembling mechanism (4), and blanking the assembled module; the assembly is laser welding.