CN213795727U - Automatic lens taking and placing device of optical spherical milling and grinding robot - Google Patents
Automatic lens taking and placing device of optical spherical milling and grinding robot Download PDFInfo
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- CN213795727U CN213795727U CN202022471953.XU CN202022471953U CN213795727U CN 213795727 U CN213795727 U CN 213795727U CN 202022471953 U CN202022471953 U CN 202022471953U CN 213795727 U CN213795727 U CN 213795727U
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Abstract
The utility model discloses an automatic lens device of getting of optical sphere milling robot, main shaft seat support including the level setting, the lens after the milling that is fixed in main shaft seat support both ends respectively deposits transition dish and the lens before the milling deposits transition dish, set up in the lens milling anchor clamps seat of main shaft seat support middle part side, be fixed in the rotatory step motor at main shaft seat support middle part, the encoder with rotatory step motor actuating shaft, the cylinder fixing base with rotatory step motor actuating shaft, be fixed in the lift cylinder on the cylinder fixing base, connect the sucking disc frame on lift cylinder piston rod, set up respectively that the lens after the milling on sucking disc frame both ends is got and is got sucking disc and the lens before the milling is got and put the sucking disc, get the negative pressure pipeline that the sucking disc is connected with lens sucking disc after the milling and the lens before the milling, get the negative pressure pipeline of getting and putting sucking disc connection, the cylinder control gas circuit of being connected with lift cylinder, get and put, And a controller. The utility model discloses a both arms move simultaneously, have shortened and have got the time of putting the lens, make production efficiency obtain improving greatly.
Description
Technical Field
The utility model relates to an optical element processing field specifically is an automatic lens device of getting of optics sphere milling and grinding robot.
Background
At present, most of the optical spherical milling and grinding rely on manual lens taking and placing, and because the milling and grinding time of each lens is short, the lens taking and placing are frequent, and the labor intensity of operators is very high. The labor intensity is improved by adding a few manipulators, but the cost is high, and in addition, because the single-arm manipulator needs two actions for taking and placing the lens, the lens taking and placing process consumes too long time, and the production efficiency is seriously influenced.
SUMMERY OF THE UTILITY MODEL
The to-be-solved technical problem of the utility model is to provide an optics sphere mills and grinds automatic lens device of getting of robot, adopts both arms action simultaneously, has shortened and has got and put the lens time, makes production efficiency obtain improving greatly.
The technical scheme of the utility model is that:
an automatic lens taking and placing device of an optical spherical milling robot comprises a spindle base support, a milled lens storage transition disc and a milled lens storage transition disc which are horizontally arranged, a lens milling fixture seat arranged on the side of the middle part of the spindle base support, a sucker rotating spindle base and a rotating stepping motor which are fixed on the middle part of the spindle base support, an encoder connected with a driving shaft of the rotating stepping motor, a cylinder fixing seat positioned above the sucker rotating spindle base and connected with the driving shaft of the rotating stepping motor, a lifting cylinder fixed on the cylinder fixing seat, a sucker frame connected to a piston rod of the lifting cylinder and in an L-shaped structure, a milled lens taking and placing sucker and a milled lens taking sucker which are respectively arranged on the two ends of the sucker frame, a negative pressure pipeline connected with the milled lens taking and placing sucker and the milled lens sucker, a negative pressure pipeline connected with the milled lens taking and placing sucker, a negative pressure pipeline connected with the sucker and the sucker connected with the lifting cylinder, The cylinder control gas circuit is connected with the lifting cylinder, and the controller is connected with the lifting cylinder;
the milling and grinding rear lens storage transition disc and the milling and grinding front lens storage transition disc are symmetrical along the axial direction of the main shaft seat support, the horizontal connecting line of the centers of the lens milling and grinding clamp seat and the main shaft seat support is perpendicular to the horizontal axis of the main shaft seat support, the vertical intersection point of the centers of the lens milling and grinding clamp seat and the main shaft seat support is positioned at the midpoint of the horizontal axis of the main shaft seat support, the air cylinder fixing seat is rotatably connected to the sucking disc rotating main shaft seat, the driving shaft of the rotating stepping motor extends upwards, and the air cylinder fixing seat is fixed at the top end of the driving shaft of the rotating stepping motor;
the horizontal distance between the axis of the piston rod of the lifting cylinder and the center of the lens milling and grinding clamp seat is equal to the horizontal distance between the axis of the piston rod of the lifting cylinder and the center of the lens taking and placing sucker before milling and grinding, the horizontal distance between the axis of the piston rod of the lifting cylinder and the center of the lens storing transition disk after milling and grinding, the horizontal distance between the axis of the piston rod of the lifting cylinder and the center of the lens milling and grinding clamp seat, namely, the rotary stepping motor drives the sucker frame to rotate through the cylinder fixing seat and the lifting cylinder until the lens picking and placing sucker before milling is arranged right above the lens storage transition disc before milling, the milled and milled lens taking and placing sucker is positioned right above the lens milling and milling clamp seat, and when the milled and milled lens taking and placing sucker is positioned right above the lens milling and milling clamp seat, the milled and milled lens taking and placing sucker is positioned right above the milled and milled lens storage transition disc;
and the vacuum electromagnetic valve on the negative pressure pipeline, the cylinder electromagnetic valve on the cylinder control gas circuit, the rotary stepping motor and the encoder are all connected with the controller.
The spindle drum support on fixedly connected with step motor support, rotatory step motor be fixed in on the step motor support and be located the below of spindle drum support, rotatory step motor's drive shaft up and rotatory step motor's drive shaft passes through the step motor shaft coupling and is connected with the pivot on the rotatory spindle drum of sucking disc, cylinder fixing base fixed connection realize the transmission in the pivot of the rotatory spindle drum of sucking disc and connect.
The rotary stepping motor on fixedly connected with encoder support, the encoder is fixed in on the encoder support and is located rotary stepping motor's below, the pivot of encoder pass through encoder shaft coupling and rotary stepping motor's drive shaft fixed connection.
And the lifting cylinder is provided with a sucker upper magnetic control switch and a sucker lower magnetic control switch which are respectively connected with the controller.
The air inlet of the negative pressure pipeline and the air inlet of the cylinder control air circuit are respectively connected with two output ports of the four-way valve, the air source pipe is connected with the input port of the four-way valve, and the other output port of the four-way valve is connected with a cylinder pressure sensor.
The negative pressure pipeline comprises a vacuum generator air inlet pipe, a vacuum electromagnetic valve, a vacuum generator, a three-way joint, a vacuum sensor and a sucker negative pressure pipe, wherein an air inlet of the vacuum generator air inlet pipe is connected with one of output ports of the four-way valve, an air outlet of the vacuum generator air inlet pipe is connected with an air inlet of the vacuum generator through the vacuum electromagnetic valve, an input port of the three-way joint is connected with an air outlet of the vacuum generator, one of output ports of the three-way joint is connected with an air inlet of the sucker negative pressure pipe, the sucker is taken and placed by a milled lens and the air outlet of the sucker is connected with the air outlet of the sucker negative pressure pipe before milling, the vacuum sensor is connected to the other output port of the three-way joint, and the vacuum electromagnetic valve and the vacuum sensor are connected with the controller.
The cylinder control gas circuit comprises a cylinder gas inlet pipe, a sucker uplink connecting gas pipe, a sucker downlink connecting gas pipe and a cylinder electromagnetic valve, wherein a gas inlet of the cylinder gas inlet pipe is connected with one of output ports of the four-way valve, a gas outlet of the cylinder gas inlet pipe, one end of the sucker uplink connecting gas pipe and one end of the sucker downlink connecting gas pipe are respectively connected with three interfaces of the cylinder electromagnetic valve, and the other end of the sucker uplink connecting gas pipe and the other end of the sucker downlink connecting gas pipe are connected with the lifting cylinder.
The controller comprises a singlechip, and a liquid crystal display screen, an operation key, a rotary stepping motor driver, a communication interface and an alarm indicator lamp which are respectively connected with the singlechip.
The operation keys comprise an encoder reset key, a sheet taking positioning key, a sheet placing positioning key, an encoder reading key and a taking and placing starting key which are respectively connected with the single chip microcomputer.
The utility model has the advantages that:
the utility model discloses being provided with the lens after the synchronous drive milling and grinding and getting and putting the sucking disc and the lens before the milling and grinding and getting and putting the sucking disc, the clamp of lens before the synchronous realization milling and grinding and the lens after the milling and grinding is got and is placed, has shortened and has got and put the lens time, has improved the lens greatly and has milled and ground the front and back and get and put efficiency; the utility model is provided with an encoder, which can accurately control the rotation angle of the sucker frame according to the collection value of the encoder, and ensure the accurate positioning of the sucker for taking and placing the lens after milling and the sucker for taking and placing the lens before milling; the negative pressure condition of the negative pressure pipeline of the utility model is controlled by the acquisition value of the vacuum sensor, and the air pressure of the air cylinder control air circuit is controlled by the acquisition value of the air cylinder pressure sensor, thereby ensuring the stable lifting of the sucker frame and the stability of the sucker sucking the lens; the utility model discloses be provided with the next magnetic control switch of sucking disc upper magnetic control switch and sucking disc, the height that the accurate control lift cylinder goes up and down has guaranteed that the accurate clamp of lens is got and is placed steadily.
Drawings
Fig. 1 is a schematic view of the structure of the present invention.
Fig. 2 is a plan view of the present invention.
Fig. 3 is a control schematic block diagram of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
Referring to fig. 1-3, an automatic lens taking and placing device of an optical spherical milling robot comprises a spindle base support 1 horizontally arranged, a milled lens storage transition disc 2 and a milled lens storage transition disc 3 respectively fixed at two ends of the spindle base support 1, a lens milling fixture base 4 arranged at the side of the middle part of the spindle base support 1, a sucker rotating spindle base 5 and a rotating stepping motor 6 fixed at the middle part of the spindle base support 1, an encoder 7 connected with a driving shaft of the rotating stepping motor 6, a cylinder fixing base 8 positioned above the sucker rotating spindle base 5 and connected with the driving shaft of the rotating stepping motor 6, a lifting cylinder 9 fixed on the cylinder fixing base 8, a sucker frame 10 connected on a piston rod of the lifting cylinder 9 and having an L-shaped structure, a milled lens taking and placing sucker 11 and a milled lens taking and placing sucker 12 respectively arranged at two ends of the sucker frame 10, a sucker rod of the sucker rod and a lens taking and placing sucker 12 before milling, A negative pressure pipeline connected with the milled and ground lens taking and placing sucker 11 and the milled and ground lens taking and placing sucker 12, a cylinder control gas circuit connected with the lifting cylinder 9 and a controller;
the lens milling and grinding clamp seat 4 and the spindle seat support 1 are in axial symmetry, a horizontal connecting line of the centers of the lens milling and grinding clamp seat 2 and the spindle seat support 1 is vertical to a horizontal axis of the spindle seat support 1, and a vertical intersection point of the two is located at the midpoint of the horizontal axis of the spindle seat support 1;
a stepping motor support 13 is fixedly connected to the spindle base support 1, a rotary stepping motor 6 is fixed to the stepping motor support 13 and located below the spindle base support 1, a driving shaft of the rotary stepping motor 6 faces upwards, the driving shaft of the rotary stepping motor 6 is connected with a rotating shaft on the sucking disc rotary spindle base 5 through a stepping motor coupler 14, and an air cylinder fixing seat 8 is fixedly connected to the rotating shaft of the sucking disc rotary spindle base 5 to realize transmission connection;
an encoder bracket 15 is fixedly connected to the rotary stepping motor 6, the encoder 7 is fixed on the encoder bracket 15 and is positioned below the rotary stepping motor 6, the encoder 7 adopts a single-turn absolute value encoder, and a rotating shaft of the encoder 7 is fixedly connected with a driving shaft of the rotary stepping motor 6 through an encoder coupler 16;
the horizontal distance between the axis of the piston rod of the lifting cylinder 9 and the center of the lens picking and placing sucker 11 after milling and grinding, the horizontal distance between the axis of the piston rod of the lifting cylinder 9 and the center of the lens picking and placing sucker 12 before milling and grinding, the horizontal distance between the axis of the piston rod of the lifting cylinder 9 and the center of the lens storage transition disc 2 after milling and grinding, the horizontal distance between the axis of the piston rod of the lifting cylinder 9 and the center of the lens storage transition disc 3 before milling and the horizontal distance between the axis of the piston rod of the lifting cylinder 9 and the center of the lens milling and grinding clamp seat 4 are all equal, namely, when the rotary stepping motor 6 drives the sucker frame 10 to rotate through the cylinder fixing seat 8 and the lifting cylinder 9 until the sucker frame 12 before milling and grinding is arranged right above the lens storage transition disc 3 before milling and grinding, the sucker 11 after milling and grinding is arranged right above the lens milling and grinding clamp seat 4, and the sucker 12 before milling and grinding is arranged right above the lens milling and grinding clamp seat 4, the milled and ground lens taking and placing sucker 11 is positioned right above the milled and ground lens storage transition disc 2;
the lifting cylinder 9 is provided with a magnetic control switch 17 at the upper part of the sucker and a magnetic control switch 18 at the lower part of the sucker;
an air inlet of the negative pressure pipeline and an air inlet of the cylinder control air path are respectively connected with two output ports of a four-way valve 19, an air source pipe 20 is connected with an input port of the four-way valve 19, and the other output port of the four-way valve 19 is connected with a pressure sensor 21;
the negative pressure pipeline comprises a vacuum generator air inlet pipe 22, a vacuum solenoid valve 23, a vacuum generator 24, a three-way joint 25, a vacuum sensor 26 and a sucker negative pressure pipe 27, an air inlet of the vacuum generator air inlet pipe 22 is connected with one of output ports of the four-way valve 19, an air outlet of the vacuum generator air inlet pipe 22 is connected with an air inlet of the vacuum generator 24 through the vacuum solenoid valve 23, an input port of the three-way joint 25 is connected with an air outlet of the vacuum generator 24, one of output ports of the three-way joint 25 is connected with an air inlet of the sucker negative pressure pipe 27, the milled lens taking and placing sucker 11 and the milled lens taking sucker 12 are both connected with an air outlet of the sucker negative pressure pipe 27, and the vacuum sensor 26 is connected to the other output port of the three-way joint 25;
the cylinder control gas circuit comprises a cylinder gas inlet pipe 28, a sucker uplink connecting gas pipe 29, a sucker downlink connecting gas pipe 30 and a cylinder electromagnetic valve 31, wherein a gas inlet of the cylinder gas inlet pipe 28 is connected with one of output ports of the four-way valve 19, a gas outlet of the cylinder gas inlet pipe 28, one end of the sucker uplink connecting gas pipe 29 and one end of the sucker downlink connecting gas pipe 30 are respectively connected with three interfaces of the cylinder electromagnetic valve 31, and the other end of the sucker uplink connecting gas pipe 29 and the other end of the sucker downlink connecting gas pipe 30 are connected with the lifting cylinder 9;
the controller comprises a singlechip 32, a liquid crystal display 33, an operation key 34, a rotary stepping motor driver 35, a communication interface 36 and an alarm indicator lamp 37 which are respectively connected with the singlechip 32;
the pressure sensor 21, the cylinder electromagnetic valve 31, the suction disc upper magnetic control switch 17, the suction disc lower magnetic control switch 18, the vacuum electromagnetic valve 23, the vacuum sensor 26 and the encoder 7 are all connected with a single chip microcomputer 32 of the controller, and the rotary stepping motor 6 is connected with a rotary stepping motor driver 35.
The operation keys 34 include an encoder reset key, a film taking positioning key, a film placing positioning key, an encoder reading key and a taking and placing start key which are respectively connected with the single chip microcomputer.
The utility model discloses a theory of operation:
(1) firstly, determining the stopping positions of the suckers in a normal state, namely symmetrically stopping the lens taking and placing sucker 11 after milling and the lens taking and placing sucker 12 before milling on two sides of the lens milling and grinding clamp seat 4;
(2) when the encoder reset button is pressed, the encoder 7 is automatically reset to a zero point by the system, then the chip taking positioning button is pressed, the rotary stepping motor 6 drives the sucker frame 10 to rotate through the air cylinder fixing seat 8 and the lifting air cylinder 9 until the lens picking and placing sucker 12 before milling and grinding is arranged right above the lens storage transition disc 3 before milling and grinding, the lens picking and placing sucker 11 after milling and grinding is arranged right above the lens milling and grinding clamp seat 4, the encoder reading button is pressed, the encoder value is displayed on the liquid crystal display screen 33 and is stored in the single chip microcomputer 32;
(3) when the positioning key for placing the lens is pressed down, the rotary stepping motor 6 drives the sucker frame 10 to rotate through the air cylinder fixing seat 8 and the lifting air cylinder 9 until the lens picking and placing sucker 12 before milling and grinding is placed right above the lens milling and grinding clamp seat 4, the lens picking and placing sucker 11 after milling and grinding is positioned right above the lens storage transition disc 2, the reading key of the encoder is pressed down, the value of the encoder is displayed on the liquid crystal display screen 33, and the value is a positioning value for placing the lens and is stored in the single chip microcomputer 32;
(4) after the preliminary adjustment is finished, a pick-and-place starting button is pressed, a pressure sensor 21 detects whether the management pressure is normal or not, when the judgment is abnormal, a single chip microcomputer 32 starts an alarm indicator lamp 37 to give an alarm, when the judgment is normal, the single chip microcomputer 32 immediately controls a rotary stepping motor 6 to drive a sucker frame 10 to rotate, when the acquisition value of an encoder 7 reaches a pick-and-place positioning value, the single chip microcomputer 32 controls the rotary stepping motor 6 to stop running, then the single chip microcomputer starts an air cylinder electromagnetic valve 31, a lifting air cylinder 9 drives the sucker frame 10 to go down until a sucker lower magnetic control switch 18 is started, at the moment, the single chip microcomputer 32 controls a lifting air cylinder 9 to stop, then the single chip microcomputer 32 starts a vacuum electromagnetic valve 23, a milled lens pick-and place sucker 11 and a milled lens pick-and place sucker 12 simultaneously adsorb lenses on a milling and grinding lens storage transition disc 3 and a lens milling and grinding clamp seat 4 through negative pressure, meanwhile, the vacuum sensor 26 detects the vacuum degree of the negative pressure pipeline, judges whether the negative pressure suction force is normal or not, when the judgment is abnormal, the single chip microcomputer 32 starts an alarm indicator lamp 37 to give an alarm, when the judgment is normal, the single chip microcomputer 32 closes the cylinder electromagnetic valve 31, the lifting cylinder 9 drives the sucker frame 10 to move upwards until the magnetic control switch 17 on the sucker is started, and at the moment, the single chip microcomputer 32 controls the lifting cylinder 9 to stop;
(5) the single chip microcomputer 32 controls the rotary stepping motor 6 to drive the sucker frame 10 to rotate, when the acquisition value of the encoder 7 reaches a plate placing positioning value, the single chip microcomputer 32 controls the rotary stepping motor 6 to stop running, then the single chip microcomputer starts the cylinder electromagnetic valve 31, the lifting cylinder 9 drives the sucker frame 10 to move downwards until the sucker lower magnetic control switch 18 is started, at the moment, the single chip microcomputer 32 controls the lifting cylinder 9 to stop running, then the single chip microcomputer 32 closes the vacuum electromagnetic valve 23, the milled lens taking and placing sucker 11 and the milled lens taking and placing sucker 12 simultaneously place lenses on the lens milling fixture seat 4 and the milled lens storage transition disc 2 respectively, then the single chip microcomputer 32 closes the cylinder electromagnetic valve 31, the lifting cylinder 9 drives the sucker frame 10 to move upwards until the sucker upper magnetic control switch 17 is started, and at the moment, the single chip microcomputer 32 controls the lifting cylinder 9 to stop running;
(6) the single chip microcomputer 32 controls the rotary stepping motor 6 to drive the suction disc frame 10 to rotate to an initial stop position, and meanwhile, the encoder detects whether the position is a zero position or not, and the process of taking and placing the lens is finished.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (9)
1. The utility model provides an automatic lens device of getting of optics sphere milling and grinding robot which characterized in that: comprises a spindle seat support horizontally arranged, a milling and grinding rear lens storage transition disc and a milling and grinding front lens storage transition disc which are respectively fixed at two ends of the spindle seat support, a lens milling and grinding clamp seat arranged at the side of the middle part of the spindle seat support, a sucking disc rotating spindle seat and a rotating stepping motor which are fixed at the middle part of the spindle seat support, an encoder connected with a driving shaft of the rotating stepping motor, and a cylinder fixing seat which is positioned above the sucking disc rotating spindle seat and connected with the driving shaft of the rotating stepping motor, the device comprises a lifting cylinder fixed on a cylinder fixing seat, a sucker frame which is connected to a piston rod of the lifting cylinder and is of an L-shaped structure, a post-milling lens taking and placing sucker and a pre-milling lens taking and placing sucker which are respectively arranged at two ends of the sucker frame, a negative pressure pipeline connected with the post-milling lens taking and placing sucker and the pre-milling lens taking and placing sucker, a cylinder control air circuit connected with the lifting cylinder and a controller;
the milling and grinding rear lens storage transition disc and the milling and grinding front lens storage transition disc are symmetrical along the axial direction of the main shaft seat support, the horizontal connecting line of the centers of the lens milling and grinding clamp seat and the main shaft seat support is perpendicular to the horizontal axis of the main shaft seat support, the vertical intersection point of the centers of the lens milling and grinding clamp seat and the main shaft seat support is positioned at the midpoint of the horizontal axis of the main shaft seat support, the air cylinder fixing seat is rotatably connected to the sucking disc rotating main shaft seat, the driving shaft of the rotating stepping motor extends upwards, and the air cylinder fixing seat is fixed at the top end of the driving shaft of the rotating stepping motor;
the horizontal distance between the axis of the piston rod of the lifting cylinder and the center of the lens milling and grinding clamp seat is equal to the horizontal distance between the axis of the piston rod of the lifting cylinder and the center of the lens taking and placing sucker before milling and grinding, the horizontal distance between the axis of the piston rod of the lifting cylinder and the center of the lens storing transition disk after milling and grinding, the horizontal distance between the axis of the piston rod of the lifting cylinder and the center of the lens milling and grinding clamp seat, namely, the rotary stepping motor drives the sucker frame to rotate through the cylinder fixing seat and the lifting cylinder until the lens picking and placing sucker before milling is arranged right above the lens storage transition disc before milling, the milled and milled lens taking and placing sucker is positioned right above the lens milling and milling clamp seat, and when the milled and milled lens taking and placing sucker is positioned right above the lens milling and milling clamp seat, the milled and milled lens taking and placing sucker is positioned right above the milled and milled lens storage transition disc;
and the vacuum electromagnetic valve on the negative pressure pipeline, the cylinder electromagnetic valve on the cylinder control gas circuit, the rotary stepping motor and the encoder are all connected with the controller.
2. The automatic lens taking and placing device of the optical spherical milling and grinding robot of claim 1, wherein: the spindle drum support on fixedly connected with step motor support, rotatory step motor be fixed in on the step motor support and be located the below of spindle drum support, rotatory step motor's drive shaft up and rotatory step motor's drive shaft passes through the step motor shaft coupling and is connected with the pivot on the rotatory spindle drum of sucking disc, cylinder fixing base fixed connection realize the transmission in the pivot of the rotatory spindle drum of sucking disc and connect.
3. The automatic lens taking and placing device of the optical spherical milling and grinding robot of claim 1, wherein: the rotary stepping motor on fixedly connected with encoder support, the encoder is fixed in on the encoder support and is located rotary stepping motor's below, the pivot of encoder pass through encoder shaft coupling and rotary stepping motor's drive shaft fixed connection.
4. The automatic lens taking and placing device of the optical spherical milling and grinding robot of claim 1, wherein: and the lifting cylinder is provided with a sucker upper magnetic control switch and a sucker lower magnetic control switch which are respectively connected with the controller.
5. The automatic lens taking and placing device of the optical spherical milling and grinding robot of claim 1, wherein: the air inlet of the negative pressure pipeline and the air inlet of the cylinder control air circuit are respectively connected with two output ports of the four-way valve, the air source pipe is connected with the input port of the four-way valve, and the other output port of the four-way valve is connected with a cylinder pressure sensor.
6. The automatic lens taking and placing device of the optical spherical milling robot as claimed in claim 5, wherein: the negative pressure pipeline comprises a vacuum generator air inlet pipe, a vacuum electromagnetic valve, a vacuum generator, a three-way joint, a vacuum sensor and a sucker negative pressure pipe, wherein an air inlet of the vacuum generator air inlet pipe is connected with one of output ports of the four-way valve, an air outlet of the vacuum generator air inlet pipe is connected with an air inlet of the vacuum generator through the vacuum electromagnetic valve, an input port of the three-way joint is connected with an air outlet of the vacuum generator, one of output ports of the three-way joint is connected with an air inlet of the sucker negative pressure pipe, the sucker is taken and placed by a milled lens and the air outlet of the sucker is connected with the air outlet of the sucker negative pressure pipe before milling, the vacuum sensor is connected to the other output port of the three-way joint, and the vacuum electromagnetic valve and the vacuum sensor are connected with the controller.
7. The automatic lens taking and placing device of the optical spherical milling robot as claimed in claim 5, wherein: the cylinder control gas circuit comprises a cylinder gas inlet pipe, a sucker uplink connecting gas pipe, a sucker downlink connecting gas pipe and a cylinder electromagnetic valve, wherein a gas inlet of the cylinder gas inlet pipe is connected with one of output ports of the four-way valve, a gas outlet of the cylinder gas inlet pipe, one end of the sucker uplink connecting gas pipe and one end of the sucker downlink connecting gas pipe are respectively connected with three interfaces of the cylinder electromagnetic valve, and the other end of the sucker uplink connecting gas pipe and the other end of the sucker downlink connecting gas pipe are connected with the lifting cylinder.
8. The automatic lens taking and placing device of the optical spherical milling and grinding robot of claim 1, wherein: the controller comprises a singlechip, and a liquid crystal display screen, an operation key, a rotary stepping motor driver, a communication interface and an alarm indicator lamp which are respectively connected with the singlechip.
9. The automatic lens taking and placing device of the optical spherical milling robot according to claim 8, wherein: the operation keys comprise an encoder reset key, a sheet taking positioning key, a sheet placing positioning key, an encoder reading key and a taking and placing starting key which are respectively connected with the single chip microcomputer.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202022471953.XU CN213795727U (en) | 2020-10-30 | 2020-10-30 | Automatic lens taking and placing device of optical spherical milling and grinding robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202022471953.XU CN213795727U (en) | 2020-10-30 | 2020-10-30 | Automatic lens taking and placing device of optical spherical milling and grinding robot |
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| CN213795727U true CN213795727U (en) | 2021-07-27 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112171435A (en) * | 2020-10-30 | 2021-01-05 | 安徽省振宇机械自动化有限公司 | Automatic lens taking and placing device of optical spherical milling and grinding robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112171435A (en) * | 2020-10-30 | 2021-01-05 | 安徽省振宇机械自动化有限公司 | Automatic lens taking and placing device of optical spherical milling and grinding robot |
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