CN208847920U - Material system in place for the offline accurate dress school of optical elements of large caliber - Google Patents

Abstract

The utility model discloses a kind of material systems in place for the offline accurate dress school of optical elements of large caliber, including automatic carriage, lustration type Multi-freedom-degreemanipulator manipulator and clean temporary storage platform, the automatic carriage includes the AGV trolley navigator fix mechanism for transporting the AGV trolley of material He being arranged in region of plugging into.Using the above structure, by AGV trolley navigator fix mechanism, AGV trolley can be coupled, realize the automatic butt of AGV trolley and lustration type Multi-freedom-degreemanipulator manipulator, the process absolutely not human interaction improves the cleanliness of environment and optical element surface to greatly reduce the generation of dust；Meanwhile being able to solve using lustration type Multi-freedom-degreemanipulator manipulator in cleanliness is the problem of heavy load logistics is plugged into clean power-assisted in ISO3 grades of environment；The optical element with packing box is kept in using clean temporary storage platform, optical element surface state confirmation, the process procedures such as accurate positioning before assembly, it is reliable and stable, it is high-efficient.

Description

Material system in place for the offline accurate dress school of optical elements of large caliber

Technical field

The utility model relates to the logistics systems in the offline accurate dress school of optical elements of large caliber, and in particular to one kind is used for The material system in place in the offline accurate dress school of optical elements of large caliber.

Background technique

Optical elements of large caliber in high power solid-state laser device is needed by offline accurate dress school, and formation can be replaced online Change the modularization bare engine module of unit.During offline accurate dress school, optical elements of large caliber carry out assembly be previously required into Row material prepare, material preparation process generally include to packing box optical element carry out logistics transhipment, plug into, feeding, The process procedures such as the accurate positioning before temporary, optical element surface state confirmation, assembly.Since optical element material is special, valence Lattice are expensive, in order to promote operating flux and extend the service life of optical element under high operating flux, the type high power solid Laser aid is extremely harsh to optical element surface cleanliness index request.Currently, the correlation that the U.S., France, China etc. build up High power solid-state laser device in optical elements of large caliber cleanliness be 5 grades of ISO or 3 grades of local I SO of dress school Dress school or assembly are carried out in clean environment.Discovery is verified by long-term clean room environment operation and maintenance, flow of personnel, friction produce Dirt, material volatilization, lubricating oil/lubricating grease volatilization etc. are the masters of influence optical element surface cleanliness during bare engine module dress school Want factor, wherein the most serious with flow of personnel dust.

Currently, in China's high power solid-state laser device during the offline accurate dress school of most of optical element, material The degree of automation for preparing link is lower, completes mainly by manual work, leads to operating personnel's flowing frequently, seriously affects optics Element surface cleanliness increases cleanliness processing and control difficulty, be difficult to meet the purity requirements of Optical element manufacturing and Optical element surface cleanliness control consistency is difficult to ensure；Also, meets 3 grades of ISO there has been no cleanliness at present and load is big It can be directly applied in high power solid-state laser device in the logistics docking power assisting device (containing clean-room robot etc.) of 150Kg Automatic feeding, discharge process during the offline accurate dress school of optical elements of large caliber；Meanwhile optical element needs height before assembly Effect is accurately taken out inside packing case, and taking-up process proposes high requirement to the accurate positioning of optical element.In view of This, be badly in need of designing a kind of material for the offline accurate dress school of optical elements of large caliber for being able to solve the above problem is in place System.

Utility model content

To solve optical elements of large caliber material preparation process substantially by being accomplished manually, operating personnel's flowing frequently results in light Learn element surface cleanliness is difficult to control, optical element automation cleaning is plugged into and kept in, assembles the accurate positioning before crawl etc. The technical problem of engineering problem and clean environment transloading equipment carrying capacity deficiency, the utility model provide a kind of for big The material system in place in the offline accurate dress school of bore optical element.

To achieve the above object, technical solutions of the utility model are as follows:

A kind of material system in place for the offline accurate dress school of optical elements of large caliber, is characterized by: including automatic Transport device, lustration type Multi-freedom-degreemanipulator manipulator and clean temporary storage platform, the lustration type Multi-freedom-degreemanipulator manipulator are located at cleaning The side of temporary storage platform is provided with region of plugging into, the automatic carriage in the side of the lustration type Multi-freedom-degreemanipulator manipulator Including the AGV trolley for transporting material and the AGV trolley navigator fix mechanism being arranged in region of plugging into, when AGV trolley is led Boat positioning mechanism plug into the AGV trolley equipped with material when, the lustration type Multi-freedom-degreemanipulator manipulator can will be on AGV trolley Material grabs in clean temporary storage platform.

Using the above structure, AGV trolley has the ability of the optical elements of large caliber of self-navigation conveyer belt packing case, benefit With the setting of AGV trolley navigator fix mechanism, AGV trolley can be coupled, is plugged into platform as material, realizes that automatic material flow turns It transports and plugs into, then by lustration type Multi-freedom-degreemanipulator manipulator, the optical elements of large caliber with packing case can be grabbed cleaning In temporary storage platform, solve the problems, such as in cleanliness to be that heavy load (> 150Kg) logistics is plugged into clean power-assisted in ISO3 grades of environment； Above procedure is automatically finished, absolutely not human interaction, to greatly reduce the generation of dust, improves environment and optics The cleanliness of element surface；Finally, being kept in using clean temporary storage platform to the optical element with packing box, optical element The process procedures such as the accurate positioning before surface state confirmation, assembly, it is reliable and stable, it is high-efficient.

As preferred: the AGV trolley navigator fix mechanism includes the navigation sector mounting rack being arranged in region of plugging into, On the navigation sector mounting rack be arranged for reflect AGV trolley sending laser navigation signal AGV laser navigation reflecting plate, The AGV that material whether is carried for detecting AGV trolley has material detection sensor and for positioning the material carried on AGV trolley Mechanical localization mechanism.Using the above structure, pass through AGV laser navigation reflecting plate, the AGV in AGV trolley navigator fix mechanism There are material detection sensor and mechanical localization mechanism, can be realized the automatic butt of AGV trolley and lustration type Multi-freedom-degreemanipulator manipulator.

As preferred: the navigation sector mounting rack is portal structures, the AGV laser navigation reflecting plate, machinery positioning Structure and AGV have material detection sensor to be installed on the crossbeam of navigation sector mounting rack, wherein the mechanical localization mechanism position It is outwardly protruded in the middle part of crossbeam, and away from the direction of lustration type Multi-freedom-degreemanipulator manipulator, the AGV has material detection sensing Device is located at the side of mechanical localization mechanism, and the AGV laser navigation reflecting plate has two pieces, and is located at mechanical localization mechanism Two sides, and close to the end of crossbeam.Using the above structure, AGV trolley uses laser navigation, passes through the AGV laser at crossbeam both ends Navigation reflecting plate can realize real-time communication with AGV trolley to correct the position error of AGV trolley, guarantee that AGV trolley is accurate to Up to predetermined position；Mechanical localization mechanism can position the material position carried on AGV trolley, in order to lustration type multiple degrees of freedom machine Tool hand is grabbed；And AGV has material detection sensor that can accurately detect the presence or absence of material, is lustration type Multi-freedom-degreemanipulator manipulator Enabling signal is provided.

As preferred: the lustration type Multi-freedom-degreemanipulator manipulator includes two handgrips facing each other, for driving respectively Two articulated arms that corresponding handgrip rotates on perpendicular, for driving two articulated arms close to each other in the horizontal direction or Separate clamp drive mechanism and the portal frame for driving clamp drive mechanism to go up and down, the portal frame are mounted on two phases It in the translational slide of mutual face, and can be moved in the horizontal direction under the drive of two translational slides, two translations are slided Region between platform is plugged into region described in constituting, and is provided in the articulated arm for driving articulated arm is opposite to clamp driving Rotary drive mechanism mechanism rotation or handgrip is driven to rotate relative to articulated arm, the articulated arm, clamp drive mechanism, portal frame Clean packaging technology is all made of with translational slide to be encapsulated.Using the above structure, the position of handgrip is able to carry out four freely Degree is adjusted, and substantially increases the using flexible of handgrip, meanwhile, lustration type multiple degrees of freedom machine can be greatly improved using portal frame The delivered payload capability (> 150Kg) of tool hand, be competent at massive optics loading and unloading, also, articulated arm, clamp drive mechanism, Portal frame and translational slide are encapsulated, and when work is not easy dust, ensure that the cleanliness of environment.

As preferred: the clamp drive mechanism includes installation clamping device mounting rack on the gantry, is mounted on folder The horizontal sliding guide held the clamp assemblies installs case in the middle part of mechanism mounting rack, be oppositely disposed at clamp assemblies installs case both ends And it can be provided in the clamp assemblies installs case for driving along two grip blocks of the horizontal sliding guide sliding of correspondence Two grip blocks synchronize the clamping driving assembly close to or far from clamp assemblies installs case.Using the above structure, structure is simple, It is reliable and stable, reliably holding capability is provided for handgrip.

As preferred: the clamping driving assembly includes clamping driving motor and two rack gears being parallel to each other, described It clamps and is installed with the driving gear engaged with two toothed racks on the motor shaft of driving motor, be fixedly connected in every toothed rack Drive leader, each drive leader are fixedly connected after being pierced by from clamp assemblies installs case respectively with corresponding grip block.Using The above structure reliablely and stablely ensure that synchronizing for two grip blocks is close or separate.

As preferred: the grip block includes grip block shell and the link block that is fixedly mounted in grip block shell, institute It states link block to be slidably mounted on corresponding horizontal sliding guide by clean sliding sleeve, and is driven by clamping driving assembly, The cleaning sliding sleeve includes cylindrical circular sliding sleeve mounting cylinder, is equipped at least one and water in the inner cavity of the sliding sleeve mounting cylinder The sliding sleeve matrix that flat sliding guide is slidably matched is mounted on dedusting at the both ends of the sliding sleeve mounting cylinder and lengthens ring, described Sliding sleeve mounting cylinder and dedusting lengthen and are mounted on the dust discharge air inlet being connected to respective inner cavity on ring, and it is remote to lengthen ring in the dedusting A side end face upper cover from sliding sleeve mounting cylinder has seal cover board.Using the above structure, structure is simple, stable and reliable in work, passes through The clean sliding sleeve added prevents sliding friction dust, wherein the design by dust discharge air inlet of clean sliding sleeve is prevented to environment Middle dust makes dust be stored in dedusting and lengthens in the inner cavity of ring.

As preferred: the rotary drive mechanism includes being fixedly mounted on carrier bar in articulated arm, the upper end of the carrier bar Portion is installed in rotation on clamp drive mechanism by first rotating shaft, the upper end of the carrier bar be fixedly installed with and its The first drive rod rotated synchronously, the middle part of the handgrip is installed in rotation on the lower end of carrier bar by the second shaft On, it is fixedly installed with the second drive rod of synchronous rotation in the middle part of the handgrip, is equipped with and is used on the carrier bar The first rotary motive power component for driving the first drive rod to rotate relative to clamp drive mechanism and for driving the second drive rod phase To the second rotary motive power component of carrier bar rotation.Using the above structure, it is turned round and is designed by two-stage, there is handgrip bigger The radius of gyration, thus more flexible.

As preferred: the cleaning temporary storage platform has upper discharge position and lower discharge position, which includes bottom Seat and the revolving platform that is installed in rotation on the pedestal, at least one is provided on the revolving platform can be with returning The temporary station for turning platform synchronous rotation is provided with testing agency at the corresponding upper discharge position of the pedestal and lower discharge position, The testing agency includes the testing agency's mounting bracket being mounted on the base and is mounted in testing agency's mounting bracket Detection panel is provided with primary calibration device and use for detecting whether temporary station rotate in place in the detection panel In the secondary calibration device calibrated with transfer device.Using the above structure, it can not only be detected by primary calibration device The practical stop position of turntable out, by the difference of turntable practical stop position and theoretical position, and is capable of detecting when heavy caliber The feeding location error of optical element；After being capable of detecting when that optical elements of large caliber is crawled by robots using secondary calibration device Physical location；Three above control information is fed back, the accurate crawl of robot is not only convenient for, but also is convenient for eliminating when subsequent assembly Error favorably accomplishes assembly.

As preferred: the primary calibration device is at least two laser displacement sensors, the laser displacement sensor It is disposed side by side on detection panel in the horizontal direction on a side surface of revolving platform, the secondary calibration device includes being used for It is remote that the luminescent panel and vision-based detection camera of vision-based detection, the luminescent panel and vision-based detection camera are arranged at detection panel From on a side surface of revolving platform.Using the above structure, by laser displacement sensor arranged side by side, according to each laser The distance between each point on optical elements of large caliber that displacement sensor detects is poor, can accurately calculate that turntable is practical to stop Difference by position and theoretical position, feeds back to robot, in order to the accurate crawl of robot；Utilize the hair in detection panel Optic panel is matched with the vision-based detection camera in robot, allows the robot to the position for accurately finding clean temporary storage platform, benefit It is matched with the vision-based detection camera in detection panel with the luminescent panel in robot, can accurately determine optical elements of large caliber Accurate location in robot facilitates subsequent assembly.

Compared with prior art, the utility model has the beneficial effects that

Using the material system in place provided by the utility model for the offline accurate dress school of optical elements of large caliber, structure Novelty, it is ingenious in design, by AGV trolley navigator fix mechanism, AGV trolley can be coupled, realizes AGV trolley and lustration type mostly certainly By the automatic butt of degree manipulator, the process absolutely not human interaction improves ring to greatly reduce the generation of dust The cleanliness in border and optical element surface；Meanwhile being able to solve using lustration type Multi-freedom-degreemanipulator manipulator in cleanliness is ISO3 The problem of heavy load (> 150Kg) logistics is plugged into clean power-assisted in grade environment；Using clean temporary storage platform to packing box Optical element kept in, optical element surface state confirmation, the process procedures such as accurate positioning before assembly, it is reliable and stable, It is high-efficient.

Detailed description of the invention

Fig. 1 is the structural schematic diagram of the utility model；

Fig. 2 is the matching relationship schematic diagram of AGV trolley navigator fix mechanism and lustration type Multi-freedom-degreemanipulator manipulator；

Fig. 3 is the schematic diagram of AGV trolley navigator fix mechanism；

Fig. 4 is the structural schematic diagram of lustration type Multi-freedom-degreemanipulator manipulator major architectural；

Fig. 5 is the mounting structure schematic diagram of handgrip, articulated arm and driving mechanism；

Fig. 6 is the connection relationship diagram of driving mechanism；

Fig. 7 is the connection relationship diagram of rotary drive mechanism；

Fig. 8 is the schematic diagram of internal structure of clean sliding sleeve；

Fig. 9 is the structural schematic diagram of clean temporary storage platform；

Figure 10 is the structural schematic diagram at the one of visual angle of testing agency；

Figure 11 is the structural schematic diagram at another visual angle of testing agency；

Figure 12 is the structural schematic diagram at the temporary one of visual angle of station；

Figure 13 is the structural schematic diagram at temporary another visual angle of station.

Specific embodiment

The utility model is described in further detail with attached drawing with reference to embodiments.

As depicted in figs. 1 and 2, a kind of material system in place for the offline accurate dress school of optical elements of large caliber, including Automatic carriage b, lustration type Multi-freedom-degreemanipulator manipulator c and clean temporary storage platform d, the lustration type Multi-freedom-degreemanipulator manipulator c Positioned at the side of clean temporary storage platform d, the other side of lustration type Multi-freedom-degreemanipulator manipulator c is provided with region of plugging into, it is described Automatic carriage b includes the AGV trolley navigator fix for transporting the AGV trolley b1 of material a He being arranged in region of plugging into Mechanism b2, when AGV trolley navigator fix mechanism b2 plugs into the AGV trolley b1 equipped with material a, the lustration type multiple degrees of freedom Manipulator c can grab the material a on AGV trolley b1 on clean temporary storage platform d.

Using lustration type Multi-freedom-degreemanipulator manipulator c, the loading and unloading of massive optics can be competent at, solved in cleanliness height The problem of heavy load (> 150Kg) logistics is plugged into clean power-assisted in ISO3 environment.Pass through AGV trolley navigator fix mechanism b2 Setting, AGV trolley b1 can be coupled, plugged into platform as material, substantially increase in material a transport process logistics to being connected to Dynamicization degree reduces human interaction to reduce the generation of dust and improves the cleanliness of environment and optical element surface.This In embodiment, material a can be the optical elements of large caliber with packing case, be also possible to other objects.

Referring to Figure 1, it is provided with the supporting plate b11 for loaded material a at the top of the AGV trolley b1, passes through supporting plate The setting of b11 can be securely fixed optical elements of large caliber, prevent from occurring to slide during transportation unexpected.

Referring to Figure 1~Fig. 3, the AGV trolley navigator fix mechanism b2 include navigation sector mounting rack b21, mechanical fixed Bit architecture b24, AGV have material detection sensor b23 and two pieces of AGV laser navigation reflecting plate b22.Wherein, the navigation sector peace Shelving b21 includes surrounding the two root posts to form portal structures and a crossbeam b211, and navigation sector mounting rack b21 setting exists By lustration type Multi-freedom-degreemanipulator manipulator c, specific location is as detailed below.The mechanical localization mechanism b24 is for positioning AGV trolley b1 The material a of upper carrying, specifically, being provided with the supporting plate b11 for consigning material a at the top of AGV trolley b1, material a is carried On supporting plate b11, mechanical localization mechanism b24 is located at the middle part of crossbeam b211, and away from lustration type Multi-freedom-degreemanipulator manipulator c Direction outwardly protrude, can be abutted with material a.The AGV laser navigation reflecting plate b22 is for reflecting AGV trolley b1 sending Laser navigation signal, and the two sides of mechanical localization mechanism b24 are located at, and close to the end of crossbeam b211, with AGV trolley B1 realizes communication, in order to which AGV trolley b1 carries out position correction.The material detection sensor b23 is for detecting AGV trolley b1's Whether material a is carried on supporting plate b11, which has material detection sensor b23 to be located at the side of mechanical localization mechanism b24, can adopt There is the sensor of similar functions with infrared sensor, proximity sensor etc..

Fig. 3 is referred to, the mechanical localization mechanism b24 includes being retractably installed at navigation sector installation in the horizontal direction Locating piece on frame b21, which stretches, guide rod b241 and to be mounted on locating piece and stretches the material locating piece b242 of the outer end guide rod b241, The material locating piece b242 can locating piece stretch guide rod b241 drive under in the horizontal direction close to or far from navigation Mechanism mounting rack b21.Locating piece stretch guide rod b241 collapsing length can using manually, electrically or starting adjusting by the way of into Row control.

Refer to Fig. 2, Fig. 4~Fig. 7, the lustration type Multi-freedom-degreemanipulator manipulator c include two handgrip c1 facing each other, Two articulated arm c2 for driving corresponding handgrip c1 to rotate on perpendicular respectively, for driving two articulated arm c2 along water Portal frame square to clamp drive mechanism c3 close to each other or separate and for driving clamp drive mechanism c3 to go up and down C4, the portal frame c4 are mounted on two translational slide c5 facing each other, and can be in the drive of two translational slide c5 Under move in the horizontal direction, the navigation sector mounting rack b21 is located between two translational slide c5, in the articulated arm c2 It is provided with for driving articulated arm c2 to rotate relative to clamp drive mechanism c3 or handgrip c1 being driven to rotate relative to articulated arm c2 Rotary drive mechanism c6, the articulated arm c2, clamp drive mechanism c3, portal frame c4 and translational slide c5 are all made of clean encapsulation Technique is encapsulated.Specifically, articulated arm c2 is used to control the rotation of handgrip c1, clamp drive mechanism c3 is grabbed for controlling The clamping or release of hand c1, portal frame c4 are used to control the lifting of handgrip c1, and translational slide c5 is used to control the front and back of handgrip c1 It is mobile.

Fig. 5 and Fig. 6 are referred to, the clamp drive mechanism c3 includes the clamping device mounting rack being mounted on portal frame c4 C31, the clamp assemblies installs case c32 being mounted in the middle part of clamping device mounting rack c31, it is oppositely disposed at clamp assemblies installs case The horizontal sliding guide c33 at the both ends c32 and can be along two grip block c34 of correspondence horizontal sliding guide c33 sliding, described It is provided in clamp assemblies installs case c32 for driving two grip block c34 to synchronize close to or far from clamp assemblies installs case The clamping driving assembly c35 of c32.Specifically, clamping driving assembly c35 is for driving grip block c34 along horizontal sliding guide C33 sliding, realizes that two grip block c34 are close to each other or separate.

Fig. 6 is referred to, the clamping driving assembly c35 includes clamping driving motor c351 and two rack gears being parallel to each other C352 is installed with the driving gear c353 engaged with two toothed rack c352 on the motor shaft of the clamping driving motor c351, Drive leader c354 is fixedly connected on every toothed rack c352, each drive leader c354 is respectively from clamp assemblies installs case It is fixedly connected after being pierced by c32 with corresponding grip block c34.Driving motor c351 starting is clamped, driving gear is able to drive C353 is rotated forward or overturning, to drive gear c353 to drive two toothed rack c352 close to each other or separate, eventually by two Rack gear c352 pulls or pushes corresponding drive leader c354, realizes and drives two grip block c34 close to each other or separate.

Fig. 6 and Fig. 8 are referred to, to prevent sliding friction dust, the grip block c34 includes grip block shell c341 and consolidates Link block c342, the link block c342 of the Dingan County in grip block shell c341 are slideably pacified by cleaning sliding sleeve c36 It is driven on corresponding horizontal sliding guide c33, and by clamping driving assembly c35.

Specifically, the cleaning sliding sleeve c36 includes cylindrical circular sliding sleeve mounting cylinder c361, in the sliding sleeve mounting cylinder At least one sliding sleeve matrix c362 being slidably matched with horizontal sliding guide c33 is installed, in the sliding sleeve in the inner cavity of c361 The both ends of mounting cylinder c361 are mounted on dedusting and lengthen ring c363, lengthen on ring c363 in the sliding sleeve mounting cylinder c361 and dedusting It is mounted on the dust discharge air inlet c364 being connected to respective inner cavity, lengthens ring c363 far from sliding sleeve mounting cylinder c361 in the dedusting A side end face upper cover have seal cover board c365 further, for guarantee seal cover board c365 to dedusting lengthen ring c363 sealing Property, the seal cover board c365 is lengthened with corresponding dedusting and is provided with sealing ring c366 between ring c363, prevents from producing environment Dirt.Wherein, sliding sleeve mounting cylinder c361 and horizontal sliding guide c33 is slidably matched, and dedusting lengthens ring c363 and sliding sleeve mounting cylinder C361 is fixedly and coaxially connected.

Fig. 7 is referred to, the rotary drive mechanism c6 includes being fixedly mounted on carrier bar c61 in articulated arm c2, the carrying The upper end of bar c61 is installed in rotation on clamp drive mechanism c3 by first rotating shaft, in the upper end of the carrier bar c61 The middle part that portion is fixedly installed with the first drive rod c62, the handgrip c1 of synchronous rotation passes through the second shaft rotationally It is mounted on the lower end of carrier bar c61, the second drive rod of synchronous rotation is fixedly installed in the middle part of handgrip c1 C63 is equipped with first for driving that the first drive rod c62 rotates relative to clamp drive mechanism c3 on the carrier bar c61 Rotary motive power component c64 and the second rotary motive power component for driving the second drive rod c63 to rotate relative to carrier bar c61 c65.In the present embodiment, the first rotary motive power component c64 and the second rotary motive power component c65 preferably use electric cylinders, when first When rotary motive power component c64 starts, the first rotary motive power component c64 pulls the first drive rod c62, the first drive rod c62 pulling Carrier bar c61 keeps carrier bar c61 synchronous with articulated arm c2 and rotates relative to grip block c34, when the second rotary motive power component c65 is opened When dynamic, the second rotary motive power component c65 pulls the second drive rod c63, the second drive rod c63 pulling handgrip c1, makes handgrip c1 phase Articulated arm c2 is rotated.

Fig. 2 and Fig. 4 are referred to, the portal frame c4 and translational slide c5 are all made of lustration type straight line mould group c7, lustration type Straight line mould group c7 is the straight line mould group for using clean encapsulation.In addition, it may also be noted that between two translational slide c5 Region is region of plugging into, and plugging on region between two translational slide c5 is arranged in AGV trolley navigator fix mechanism b2, is navigated Mechanism mounting rack b21 is preferably provided at the center between two translational slide c5.At least one is provided on portal frame c4 A balance cylinder c41 bears system gravity itself by balance cylinder c41, it is straight can to effectively reduce lustration type on portal frame c4 The load of line mould group c7, to substantially increase the delivered payload capability of lustration type Multi-freedom-degreemanipulator manipulator c, solution is higher than in cleanliness The problem of heavy load (> 150Kg) logistics is plugged into clean power-assisted in ISO3 environment.

Referring to Figure 1 and Fig. 9, the cleaning temporary storage platform d have upper discharge position and lower discharge position, the cleaning temporary storage platform D includes pedestal d1, the revolving platform d2 being installed in rotation on pedestal d1 and for driving revolving platform d2 in pedestal The turntable power mechanism d5 rotated on d1 is provided at least one temporary station d3, the present embodiment on the revolving platform d2 In, the four temporary station d3 that can be rotated synchronously with revolving platform d2 are preferably provided on the revolving platform d2.Described It is provided with testing agency d4 at discharge position and lower discharge position in pedestal d1 correspondence, the testing agency d4 includes being mounted on pedestal Testing agency mounting bracket d41 on the d1 and detection panel d42 being mounted on testing agency mounting bracket d41, described Detection panel d42 is provided with one whether to rotate in place for detecting temporary station d3 on a side surface of revolving platform d2 Secondary calibrating installation d43, be provided on a side surface of the detection panel d42 far from revolving platform d2 be used for and transfer device into The secondary calibration device d44 of row calibration, wherein in the present embodiment, transfer device is robot.

Fig. 9 and Figure 11 are referred to, the primary calibration device d43 is at least two laser displacement sensors, the laser Displacement sensor is disposed side by side in the horizontal direction on detection panel d42.In the present embodiment, laser displacement sensor is two, Two laser displacement sensors detect that the distance apart from optical elements of large caliber is A and B respectively, can not only by distance A and B The difference for enough calculating revolving platform d2 practical stop position and theoretical position, feeds back to robot, so that robot is accurately grabbed Left-right position error when taking, and can calculate optical elements of large caliber feeding, in order to eliminate error when subsequent assembly, Favorably accomplish assembly.

Fig. 9 and Figure 10 are referred to, the secondary calibration device d44 includes the luminescent panel d441 and view for vision-based detection Feel detection camera d442, wherein the vision-based detection camera d442 is CCD camera.Utilize the luminescent panel on detection panel d42 D441 is matched with the vision-based detection camera in robot, allows the robot to the position for accurately finding clean temporary storage platform, is utilized Vision-based detection camera d442 on detection panel d42 is matched with the luminescent panel in robot, can accurately determine heavy caliber light Accurate location of the element in robot is learned, subsequent assembly is facilitated.

Fig. 9, Figure 12 and Figure 13 are referred to, the temporary station d3 includes that the supporting back board d31 being obliquely installed and setting exist The support base d32, the supporting back board d31 and support base d32 of the lower end supporting back board d31 collectively form L shape structure. The positive d311 and back side d312 of the supporting back board d31 is provided at least one in the positive d311 of the supporting back board d31 A support base d33, the lower part that each support base d33 is respectively positioned on, in the present embodiment, support base d33 is two, and is all made of rubber Material, frictional force is big, can reliablely and stablely support optical elements of large caliber, and simultaneous buffering effect is good.In the back side d312 Top be provided with positioning fixture d34, positioning fixture d34 includes that positioning cylinder d341 and setting are living in positioning cylinder d341 The extended line of the locating piece d342 of stopper rod upper end, the positioning cylinder d341 piston rod intersect with the extended surface of front d311, The locating piece d342 can be moved up and down under the drive of positioning cylinder d341, thus close to or far from the supporting back board The positive d311 of d31.

Referring to Fig. 9, the turntable power mechanism d5 includes turntable power motor d51 and turntable speed reducer d52, and described turn Platform power motor d51 drives revolving platform d2 rotation by turntable speed reducer d52.Turntable power motor d51 starting, can pass through Turntable speed reducer d52 drives revolving platform d2 rotation, converts the position of each temporary station d3.

The course of work of the utility model is as follows:

After AGV trolley b1 loads the optical elements of large caliber with packing case, according to the navigation of AGV laser navigation reflecting plate b2 It guides, optical element is transported to region of plugging into locating for navigation sector mounting rack b21, meanwhile, mechanical localization mechanism b24 will Optical element on AGV trolley b1 supporting plate b11 navigates to predetermined position, and AGV has material detection sensor b23 to detect optical element Positioned at predetermined position, the optical element grabbed on AGV trolley b1 is grabbed cleaning by lustration type Multi-freedom-degreemanipulator manipulator c starting On the temporary station d3 of one of temporary storage platform d.

Finally, it should be noted that foregoing description is only the preferred embodiment of the utility model, the common skill of this field Art personnel are under the enlightenment of the utility model, under the premise of without prejudice to the utility model aims and claim, can make Multiple similar expressions, such transformation are each fallen within the protection scope of the utility model.

Claims (10)

1. a kind of material system in place for the offline accurate dress school of optical elements of large caliber, it is characterised in that: including transporting automatically Defeated device (b), lustration type Multi-freedom-degreemanipulator manipulator (c) and clean temporary storage platform (d), the lustration type Multi-freedom-degreemanipulator manipulator (c) it is located at the side of clean temporary storage platform (d), the side of the lustration type Multi-freedom-degreemanipulator manipulator (c) is provided with region of plugging into, The automatic carriage (b) includes the AGV for transporting the AGV trolley (b1) of material (a) and being arranged in region of plugging into small Vehicle navigator fix mechanism (b2), when AGV trolley navigator fix mechanism (b2) plugs into AGV trolley (b1) equipped with material (a), The lustration type Multi-freedom-degreemanipulator manipulator (c) can be by the material on AGV trolley (b1)

(a) it grabs on clean temporary storage platform (d).

2. the material system in place according to claim 1 for the offline accurate dress school of optical elements of large caliber, feature Be: the AGV trolley navigator fix mechanism (b2) includes the navigation sector mounting rack (b21) being arranged in region of plugging into, The AGV laser navigation of laser navigation signal for reflecting AGV trolley (b1) sending is set on the navigation sector mounting rack (b21) Reflecting plate (b22), the AGV that material (a) whether is carried for detecting AGV trolley (b1) have material detection sensor (b23) and use In the mechanical localization mechanism (b24) of the material (a) carried in positioning AGV trolley (b1).

3. the material system in place according to claim 2 for the offline accurate dress school of optical elements of large caliber, feature Be: the navigation sector mounting rack (b21) is portal structures, the AGV laser navigation reflecting plate (b22), machinery positioning knot Structure (b24) and AGV have material detection sensor (b23) to be installed on the crossbeam (b211) of navigation sector mounting rack (b21), In, the mechanical localization mechanism (b24) is located at the middle part of crossbeam (b211), and away from lustration type Multi-freedom-degreemanipulator manipulator (c) direction outwardly protrudes, the side that the AGV has material detection sensor (b23) to be located at mechanical localization mechanism (b24), described AGV laser navigation reflecting plate (b22) has two pieces, and is located at the two sides of mechanical localization mechanism (b24), and close to crossbeam (b211) end.

4. the material system in place according to claim 1 for the offline accurate dress school of optical elements of large caliber, feature Be: the lustration type Multi-freedom-degreemanipulator manipulator (c) includes two handgrips facing each other (c1), for driving correspondence to grab respectively Two articulated arms (c2) that hand (c1) rotates on perpendicular, for driving two articulated arms (c2) mutually to lean in the horizontal direction Close or separate clamp drive mechanism (c3) and the portal frame (c4) for driving clamp drive mechanism (c3) to go up and down, it is described Portal frame (c4) is mounted in two translational slides (c5) facing each other, and can be under the drive of two translational slides (c5) It moves in the horizontal direction, region of plugging into described in the region composition between two translational slides (c5), in the articulated arm (c2) it is provided in for driving articulated arm (c2) to rotate or drive handgrip (c1) is opposite to return relative to clamp drive mechanism (c3) The rotary drive mechanism (c6) of pivoted arm (c2) rotation, the articulated arm (c2), clamp drive mechanism (c3), portal frame (c4) peace Shifting slide unit (c5) is all made of clean packaging technology and is encapsulated.

5. the material system in place according to claim 4 for the offline accurate dress school of optical elements of large caliber, feature Be: the clamp drive mechanism (c3) includes the clamping device mounting rack (c31) being mounted on portal frame (c4), is mounted on folder It holds the clamp assemblies installs case (c32) in the middle part of mechanism mounting rack (c31), be oppositely disposed at clamp assemblies installs case (c32) two The horizontal sliding guide (c33) at end and two grip blocks (c34) that can be slided along the horizontal sliding guide of correspondence (c33), in institute It states and is provided in clamp assemblies installs case (c32) for driving two grip blocks (c34) to synchronize close to or far from clamp assemblies The clamping driving assembly (c35) of installs case (c32).

6. the material system in place according to claim 5 for the offline accurate dress school of optical elements of large caliber, feature Be: clamping driving assembly (c35) includes the rack gear (c352) that clamping driving motor (c351) He Lianggen is parallel to each other, It is installed with the driving gear (c353) engaged with two toothed racks (c352) on the motor shaft of clamping driving motor (c351), It is fixedly connected to drive leader (c354) on every toothed rack (c352), each drive leader (c354) is pacified from clamp assemblies respectively It is fixedly connected after being pierced by vanning (c32) with corresponding grip block (c34).

7. the material system in place according to claim 5 for the offline accurate dress school of optical elements of large caliber, feature Be: the grip block (c34) includes grip block shell (c341) and the connection that is fixedly mounted in grip block shell (c341) Block (c342), the link block (c342) pass through clean sliding sleeve (c36) and are slidably mounted in corresponding horizontal sliding guide (c33) it on, and is driven by clamping driving assembly (c35), the cleaning sliding sleeve (c36) includes cylindrical circular sliding sleeve mounting cylinder (c361), at least one is installed to be slidably matched with horizontal sliding guide (c33) in the inner cavity of the sliding sleeve mounting cylinder (c361) Sliding sleeve matrix (c362), the both ends of the sliding sleeve mounting cylinder (c361) be mounted on dedusting lengthen ring (c363), described Sliding sleeve mounting cylinder (c361) and dedusting lengthen and are mounted on the dust discharge air inlet (c364) being connected to respective inner cavity on ring (c363), Lengthening ring (c363) in the dedusting has seal cover board (c 365) far from a side end face upper cover of sliding sleeve mounting cylinder (c361).

8. the material system in place according to claim 4 for the offline accurate dress school of optical elements of large caliber, feature Be: the rotary drive mechanism (c6) includes being fixedly mounted on carrier bar (c61) in articulated arm (c2), the carrier bar (c61) Upper end be installed in rotation on clamp drive mechanism (c3) by first rotating shaft, in the upper end of the carrier bar (c61) Portion is fixedly installed with the first drive rod (c62) of synchronous rotation, and the middle part of the handgrip (c1) can be turned by the second shaft It is mounted on the lower end of carrier bar (c61) dynamicly, the of synchronous rotation is fixedly installed in the middle part of the handgrip (c1) Two drive rods (c63) are equipped with for driving the first drive rod (c62) opposite clamping driving machine on the carrier bar (c61) The the first rotary motive power component (c64) and turn for drive the second drive rod (c63) with respect to carrier bar (c61) that structure (c3) rotates The second dynamic rotary motive power component (c65).

9. the material system in place according to claim 1 for the offline accurate dress school of optical elements of large caliber, feature Be: the cleaning temporary storage platform (d) has upper discharge position and lower discharge position, which includes pedestal (d1) And it is installed in rotation on the revolving platform (d2) on the pedestal (d1), at least one is provided on the revolving platform (d2) A temporary station (d3) that can be rotated synchronously with revolving platform (d2), discharge position and lower material position in the pedestal (d1) correspondence The place of setting is provided with testing agency (d4), and the testing agency (d4) includes the testing agency's installation branch being mounted on pedestal (d1) Frame (d41) and the detection panel (d42) being mounted in testing agency's mounting bracket (d41), on the detection panel (d42) It is provided with the primary calibration device (d43) and be used to carry out with transfer device for detecting whether temporary station (d3) rotate in place The secondary calibration device (d44) of calibration.

10. the material system in place according to claim 9 for the offline accurate dress school of optical elements of large caliber, feature Be: the primary calibration device (d43) is at least two laser displacement sensors, and the laser displacement sensor is along level side To detection panel (d42) is disposed side by side on a side surface of revolving platform (d2), the secondary calibration device (d44) is wrapped Include the luminescent panel (d441) and vision-based detection camera (d442) for vision-based detection, the luminescent panel (d441) and vision inspection It surveys camera (d442) and is arranged at detection panel (d42) far from a side surface of revolving platform (d2).