CN109212704B - Material positioning system for offline precise assembly and calibration of large-caliber optical element - Google Patents
Material positioning system for offline precise assembly and calibration of large-caliber optical element Download PDFInfo
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- CN109212704B CN109212704B CN201811315191.5A CN201811315191A CN109212704B CN 109212704 B CN109212704 B CN 109212704B CN 201811315191 A CN201811315191 A CN 201811315191A CN 109212704 B CN109212704 B CN 109212704B
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Abstract
The invention discloses a material positioning system for offline precise calibration of a large-caliber optical element, which comprises an automatic conveying device, a clean multi-degree-of-freedom manipulator and a clean temporary storage platform, wherein the automatic conveying device comprises an AGV trolley for conveying materials and an AGV trolley navigation positioning mechanism arranged in a connection area. By adopting the structure, the AGV trolley can be coupled through the AGV trolley navigation positioning mechanism, so that the automatic butt joint of the AGV trolley and the clean multi-degree-of-freedom manipulator is realized, and the process is completely free of personnel interference, so that the generation of dust is greatly reduced, and the cleanliness of the environment and the surfaces of optical elements is improved; meanwhile, the clean type multi-degree-of-freedom manipulator can solve the problem of clean assistance for large-load logistics connection in an environment with the cleanliness of ISO3 level; the optical element with the packaging box is temporarily stored by utilizing the clean temporary storage platform, the surface state of the optical element is confirmed, the optical element is precisely positioned before assembly, and the like, so that the optical element packaging box is stable and reliable and has high efficiency.
Description
Technical Field
The invention relates to a logistics system in offline precise assembly and calibration of a large-caliber optical element, in particular to a material positioning system in offline precise assembly and calibration of a large-caliber optical element.
Background
The large-caliber optical element in the high-power solid laser device needs to be subjected to off-line precise assembly and calibration to form the modularized optical-mechanical module of the on-line replaceable unit. In the off-line precise assembling and calibrating process, materials are required to be prepared before the large-caliber optical element is assembled, and the material preparation process generally comprises the process links of logistics transportation, connection, feeding, temporary storage, optical element surface state confirmation, precise positioning before the assembly and the like of the optical element with the packaging box. Because the optical element material is special and expensive, the high-power solid laser device has extremely severe requirements on the surface cleanliness index of the optical element in order to improve the operation flux and prolong the operation life of the optical element under the high operation flux. Currently, large-caliber optical elements in related high-power solid laser devices built in the united states, france, china and the like are all assembled or calibrated in an assembling clean environment with cleanliness of ISO 5 level or local ISO3 level. Through long-term operation and maintenance verification of the clean room environment, personnel flowing, friction dust generation, material volatilization, lubricating oil/lubricating grease volatilization and the like are found to be main factors influencing the surface cleanliness of the optical element in the process of assembling and calibrating the optical machine module, wherein the personnel flowing dust generation is the most serious.
At present, in the offline precise assembling and calibrating process of most optical elements in high-power solid laser devices in China, the automation degree of a material preparation link is low, and the material preparation link is mainly finished by manual operation, so that operators flow frequently, the surface cleanliness of the optical elements is seriously influenced, the cleanliness treatment and control difficulty is increased, the cleanliness requirement of the optical element manufacture is hardly met, and the consistency of the surface cleanliness control of the optical elements is hardly ensured; in addition, no logistics butt joint booster device (comprising a clean robot and the like) with cleanliness meeting ISO3 level and load more than 150Kg is currently available, and the logistics butt joint booster device can be directly applied to an automatic feeding and discharging procedure in an off-line precise assembling and calibrating process of a large-caliber optical element in a high-power solid laser device; meanwhile, the optical element needs to be efficiently and accurately taken out of the packaging box before being assembled, and the taking-out process puts high requirements on the accurate positioning of the optical element. In view of the foregoing, there is an urgent need to design a material positioning system for offline precise alignment of large-caliber optical elements, which can solve the above-mentioned problems.
Disclosure of Invention
The invention provides a material positioning system for offline precise installation and calibration of a large-caliber optical element, which aims to solve the engineering problems that the material preparation process of the large-caliber optical element is basically finished by manpower, the surface cleanliness of the optical element is difficult to control due to frequent flow of operators, the optical element is automatically and cleanly connected and temporarily stored, the accurate positioning is realized before assembly and grabbing, and the like, and the carrying capacity of clean environment transfer equipment is insufficient.
In order to achieve the above purpose, the technical scheme of the invention is as follows:
a material in-place system for off-line precise installation and calibration of large-caliber optical elements is characterized in that: including automatic conveyer, clean type multi freedom manipulator and clean platform of keeping in, clean type multi freedom manipulator is located one side of clean platform of keeping in, is provided with the region of plugging into in one side of this clean type multi freedom manipulator, automatic conveyer is including the AGV dolly that is used for transporting the material and the AGV dolly navigation positioning mechanism that sets up in the region of plugging into, when AGV dolly navigation positioning mechanism plugs into the AGV dolly that carries the material, clean type multi freedom manipulator can snatch the material on the AGV dolly on the clean platform of keeping in.
By adopting the structure, the AGV trolley has the capability of automatically navigating and transporting the large-caliber optical element with the packing box, and can be coupled with the AGV trolley by utilizing the arrangement of the navigation and positioning mechanism of the AGV trolley to serve as a material connection platform, so that automatic logistics transportation and connection are realized, and the large-caliber optical element with the packing box can be grabbed onto a clean temporary storage platform by a clean multi-degree-of-freedom manipulator, so that the problem of clean assistance for logistics connection with a large load (more than 150 Kg) in an ISO 3-level environment with cleanliness is solved; the above process is completed fully automatically, and no personnel interference is caused, so that the generation of dust is greatly reduced, and the cleanliness of the environment and the surfaces of optical elements is improved; and finally, the optical element with the packaging box is temporarily stored by utilizing the clean temporary storage platform, the surface state of the optical element is confirmed, the optical element is precisely positioned before assembly, and the like, so that the optical element packaging box is stable and reliable and has high efficiency.
As preferable: AGV dolly navigation positioning mechanism is including setting up the navigation mechanism mounting bracket in the region of plugging into, sets up the AGV laser navigation reflecting plate that is used for reflecting the laser navigation signal that the AGV dolly sent on this navigation mechanism mounting bracket, is used for detecting whether the AGV that the AGV dolly carried the material has the material to detect sensor and is used for the mechanical positioning structure of the material of carrying on the location AGV dolly. By adopting the structure, the automatic butt joint of the AGV trolley and the clean multi-degree-of-freedom manipulator can be realized through the AGV laser navigation reflecting plate on the AGV trolley navigation positioning mechanism, the AGV material detection sensor and the mechanical positioning structure.
As preferable: the utility model discloses a AGV laser navigation system, including navigation system mounting bracket, AGV laser navigation system mounting bracket, mechanical location structure and AGV, navigation system mounting bracket is door-shaped structure, AGV laser navigation reflecting plate, mechanical location structure and AGV have the material to detect sensor all to install on the crossbeam of navigation system mounting bracket, wherein, mechanical location structure is located the middle part of crossbeam to outwards bulge towards the direction of keeping away from clean multi freedom manipulator, AGV has the material to detect sensor to be located one side of mechanical location structure, AGV laser navigation reflecting plate has two to be located mechanical location structure's both sides respectively, and be close to the tip of crossbeam. By adopting the structure, the AGV trolley adopts laser navigation, and the AGV laser navigation reflecting plates at the two ends of the cross beam can realize real-time communication with the AGV trolley to correct the positioning error of the AGV trolley, so that the AGV trolley can accurately reach a preset position; the mechanical positioning structure can position the material carried on the AGV trolley so as to facilitate grabbing by the clean multi-degree-of-freedom manipulator; the AGV has a material detection sensor which can accurately detect whether materials exist or not and provide a starting signal for the clean multi-degree-of-freedom mechanical hand.
As preferable: the clean type multi-degree-of-freedom manipulator comprises two grippers which are opposite to each other, two rotary arms which are used for respectively driving the corresponding grippers to rotate on a vertical plane, a clamping driving mechanism which is used for driving the two rotary arms to mutually approach or separate along the horizontal direction, and a portal frame which is used for driving the clamping driving mechanism to lift. By adopting the structure, the position of the gripper can be adjusted in four degrees of freedom, so that the use flexibility of the gripper is greatly improved, meanwhile, the loading capacity (> 150 Kg) of the clean multi-degree-of-freedom manipulator can be greatly improved by using the portal frame, so that the manipulator is capable of loading and unloading large optical elements, and the rotary arm, the clamping driving mechanism, the portal frame and the translation sliding table are packaged, so that dust is not easy to produce during operation, and the cleanliness of the environment is ensured.
As preferable: the clamping driving mechanism comprises a clamping mechanism mounting frame mounted on the portal frame, a clamping assembly mounting box mounted in the middle of the clamping mechanism mounting frame, horizontal sliding guide rods oppositely arranged at two ends of the clamping assembly mounting box and two clamping blocks capable of sliding along the corresponding horizontal sliding guide rods, and a clamping driving assembly used for driving the two clamping blocks to synchronously approach or separate from the clamping assembly mounting box is arranged in the clamping assembly mounting box. By adopting the structure, the structure is simple, stable and reliable, and reliable clamping capability is provided for the gripper.
As preferable: the clamping driving assembly comprises a clamping driving motor and two racks which are parallel to each other, a driving gear meshed with the two racks is fixedly sleeved on a motor shaft of the clamping driving motor, driving guide rods are fixedly connected to each rack, and each driving guide rod is fixedly connected with a corresponding clamping block after penetrating out of a clamping assembly mounting box. By adopting the structure, the synchronous approaching or separating of the two clamping blocks is ensured stably and reliably.
As preferable: the clamping block comprises a clamping block shell and a connecting block fixedly installed in the clamping block shell, the connecting block is slidably installed on a corresponding horizontal sliding guide rod through a clean sliding sleeve and driven by a clamping driving assembly, the clean sliding sleeve comprises a cylindrical sliding sleeve installation cylinder, at least one sliding sleeve base body which is in sliding fit with the horizontal sliding guide rod is installed in an inner cavity of the sliding sleeve installation cylinder, dust removal lengthening rings are installed at two ends of the sliding sleeve installation cylinder, dust exhaust air inlets communicated with the inner cavities of the sliding sleeve installation cylinder and the dust removal lengthening rings are installed on the sliding sleeve installation cylinder and the dust removal lengthening rings, and a sealing cover plate is covered on one side end face of the dust removal lengthening rings, which is far away from the sliding sleeve installation cylinder. By adopting the structure, the structure is simple, the operation is stable and reliable, the sliding friction is prevented from producing dust through the additionally arranged clean sliding sleeve, wherein the dust is prevented from being produced into the environment through the design of the dust exhaust air inlet of the clean sliding sleeve, and the dust is stored in the inner cavity of the dust removal lengthening ring.
As preferable: the rotary driving mechanism comprises a bearing rod fixedly arranged in a rotary arm, the upper end part of the bearing rod is rotatably arranged on the clamping driving mechanism through a first rotating shaft, the upper end part of the bearing rod is fixedly provided with a first driving rod which rotates synchronously with the bearing rod, the middle part of the gripper is rotatably arranged on the lower end part of the bearing rod through a second rotating shaft, the middle part of the gripper is fixedly provided with a second driving rod which rotates synchronously with the gripper, and the bearing rod is provided with a first rotary power part which is used for driving the first driving rod to rotate relative to the clamping driving mechanism and a second rotary power part which is used for driving the second driving rod to rotate relative to the bearing rod. By adopting the structure, the gripper has larger turning radius through two-stage turning design, so that the gripper is more flexible.
As preferable: the clean temporary storage platform comprises a base and a rotary platform rotatably mounted on the base, at least one temporary storage station capable of synchronously rotating along with the rotary platform is arranged on the rotary platform, detection mechanisms are arranged at the positions, corresponding to the feeding position and the discharging position, of the base, each detection mechanism comprises a detection mechanism mounting bracket mounted on the base and a detection panel mounted on the detection mechanism mounting bracket, and a primary calibration device for detecting whether the temporary storage station rotates in place or not and a secondary calibration device for calibrating with the transfer device are arranged on the detection panel. With the adoption of the structure, the primary calibration device can detect the actual stop position of the turntable, the difference between the actual stop position and the theoretical position of the turntable, and the loading position error of the large-caliber optical element; the secondary calibration device is utilized to detect the actual position of the large-caliber optical element which is grabbed by the robot; the three error information are fed back, so that the robot can accurately grasp, errors can be eliminated during subsequent assembly, and the assembly can be successfully completed.
As preferable: the primary calibration device is at least two laser displacement sensors, the laser displacement sensors are arranged on one side surface of the detection panel, which is close to the rotary platform, along the horizontal direction side by side, the secondary calibration device comprises a light-emitting panel for visual detection and a visual detection camera, and the light-emitting panel and the visual detection camera are both arranged on one side surface of the detection panel, which is far away from the rotary platform. By adopting the structure, the difference between the actual parking position and the theoretical position of the turntable can be accurately calculated according to the distance difference between each laser displacement sensor and each point on the large-caliber optical element, which is detected by each laser displacement sensor, and the difference is fed back to the robot so as to facilitate accurate grabbing of the robot; the light-emitting panel on the detection panel is matched with the vision detection camera on the robot, so that the robot can accurately find the position of the clean temporary storage platform, and the vision detection camera on the detection panel is matched with the light-emitting panel on the robot, so that the accurate position of the large-caliber optical element on the robot can be accurately determined, and the subsequent assembly is convenient.
Compared with the prior art, the invention has the beneficial effects that:
the material positioning system for offline precise calibration of the large-caliber optical element, provided by the invention, has the advantages that the structure is novel, the design is ingenious, the AGV trolley can be coupled through the AGV trolley navigation positioning mechanism, the automatic butt joint of the AGV trolley and the clean multi-degree-of-freedom manipulator is realized, and the process is completely free from personnel interference, so that the generation of dust is greatly reduced, and the environment and the cleanliness of the surface of the optical element are improved; meanwhile, the clean type multi-degree-of-freedom manipulator can solve the problem of clean assistance for logistics connection with large load (more than 150 Kg) in an environment with the cleanliness of ISO3 level; the optical element with the packaging box is temporarily stored by utilizing the clean temporary storage platform, the surface state of the optical element is confirmed, the optical element is precisely positioned before assembly, and the like, so that the optical element packaging box is stable and reliable and has high efficiency.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a schematic diagram of the relationship between the AGV cart navigation positioning mechanism and the clean multi-degree of freedom manipulator;
FIG. 3 is a schematic illustration of an AGV cart navigation positioning mechanism;
FIG. 4 is a schematic structural view of a main frame of a clean multi-degree of freedom manipulator;
FIG. 5 is a schematic view of the mounting structure of the gripper, swing arm and drive mechanism;
FIG. 6 is a schematic diagram of the connection of the driving mechanism;
FIG. 7 is a schematic diagram of a connection relationship of a rotary driving mechanism;
FIG. 8 is a schematic view of the internal structure of the cleaning sleeve;
FIG. 9 is a schematic diagram of a clean staging platform;
FIG. 10 is a schematic diagram of a structure of one view of the detection mechanism;
FIG. 11 is a schematic view of another view of the detection mechanism;
FIG. 12 is a schematic view of one view of a temporary storage station;
FIG. 13 is a schematic view of another view of the temporary storage station.
Detailed Description
The invention is further described below with reference to examples and figures.
As shown in fig. 1 and 2, a material positioning system for offline precise loading and calibration of a large-caliber optical element comprises an automatic conveying device b, a clean multi-degree-of-freedom manipulator c and a clean temporary storage platform d, wherein the clean multi-degree-of-freedom manipulator c is located on one side of the clean temporary storage platform d, a connection area is formed on the other side of the clean multi-degree-of-freedom manipulator c, the automatic conveying device b comprises an AGV trolley b1 for conveying a material a and an AGV trolley navigation positioning mechanism b2 arranged in the connection area, and when the AGV trolley navigation positioning mechanism b2 is connected with the AGV trolley b1 carrying the material a, the clean multi-degree-of-freedom manipulator c can grab the material a on the AGV trolley b1 onto the clean temporary storage platform d.
The clean multi-degree-of-freedom manipulator c is used for loading and unloading large optical elements, and the problem of clean assistance for logistics connection with a large load (more than 150 Kg) in an environment with cleanliness higher than ISO3 is solved. Through AGV dolly navigation positioning mechanism b 2's setting, can couple AGV dolly b1, as the material platform of plugging into, improved material a transfer in-process commodity circulation butt joint degree of automation greatly, reduce personnel's interference to reduce the production of dust, improved the cleanliness factor on environment and optical element surface. In this embodiment, the material a may be a large-caliber optical element with a packaging box, or may be other objects.
Referring to fig. 1, a pallet b11 for loading a material a is provided on the top of the AGV carriage b1, and a large-caliber optical element can be reliably fixed by the provision of the pallet b11, so as to prevent the occurrence of a slip accident during transportation.
Referring to fig. 1 to 3, the AGV trolley navigation positioning mechanism b2 includes a navigation mechanism mounting frame b21, a mechanical positioning structure b24, an AGV material detection sensor b23, and two AGV laser navigation reflectors b22. The navigation mechanism mounting frame b21 comprises two upright posts and a cross beam b211 which form a door-shaped structure in a surrounding mode, and the navigation mechanism mounting frame b21 is arranged beside the clean multi-degree-of-freedom manipulator c, and the specific positions are described below. The mechanical positioning structure b24 is used for positioning a material a carried on the AGV trolley b1, specifically, a supporting plate b11 for carrying the material a is arranged at the top of the AGV trolley b1, the material a is carried on the supporting plate b11, the mechanical positioning structure b24 is located in the middle of the beam b211 and protrudes outwards in a direction away from the clean multi-degree-of-freedom manipulator c, and the mechanical positioning structure b24 can be abutted with the material a. The AGV laser navigation reflecting plate b22 is used for reflecting laser navigation signals sent by the AGV trolley b1, is located at two sides of the mechanical positioning structure b24 respectively, is close to the end of the beam b211, and is communicated with the AGV trolley b1 so that the AGV trolley b1 can carry out position correction. The material detection sensor b23 is used for detecting whether the supporting plate b11 of the AGV trolley b1 carries the material a, the AGV has the material detection sensor b23 positioned on one side of the mechanical positioning structure b24, and sensors with similar functions such as infrared sensors, proximity sensors and the like can be adopted.
Referring to fig. 3, the mechanical positioning structure b24 includes a positioning block telescopic guide rod b241 that is telescopically mounted on the navigation mechanism mounting frame b21 along a horizontal direction, and a material positioning block b242 that is mounted on an outer end of the positioning block telescopic guide rod b241, where the material positioning block b242 can be driven by the positioning block telescopic guide rod b241 to approach or depart from the navigation mechanism mounting frame b21 along the horizontal direction. The telescopic length of the positioning block telescopic guide rod b241 can be controlled manually, electrically or in a start adjustment mode.
Referring to fig. 2 and 4-7, the clean multi-degree-of-freedom manipulator c includes two opposite grippers c1, two rotary arms c2 for driving the corresponding grippers c1 to rotate on a vertical plane, a clamping driving mechanism c3 for driving the two rotary arms c2 to approach or depart from each other along a horizontal direction, and a gantry c4 for driving the clamping driving mechanism c3 to lift, wherein the gantry c4 is mounted on two opposite translation sliding tables c5 and can move along the horizontal direction under the driving of the two translation sliding tables c5, the navigation mechanism mounting frame b21 is located between the two translation sliding tables c5, and rotary driving mechanisms c6 for driving the rotary arms c2 to rotate relative to the clamping driving mechanisms c3 or driving the grippers c1 to rotate relative to the rotary arms c2 are arranged in the rotary arms c2, and the rotary arms c2, the clamping driving mechanisms c3, the gantry c4 and the translation sliding tables c5 are packaged by adopting a clean packaging process. Specifically, the rotary arm c2 is used for controlling rotation of the gripper c1, the clamping driving mechanism c3 is used for controlling clamping or releasing of the gripper c1, the portal frame c4 is used for controlling lifting of the gripper c1, and the translation sliding table c5 is used for controlling forward and backward movement of the gripper c 1.
Referring to fig. 5 and 6, the clamping driving mechanism c3 includes a clamping mechanism mounting frame c31 mounted on the gantry c4, a clamping assembly mounting box c32 mounted in the middle of the clamping mechanism mounting frame c31, horizontal sliding guide rods c33 oppositely disposed at two ends of the clamping assembly mounting box c32, and two clamping blocks c34 slidable along the corresponding horizontal sliding guide rods c33, and a clamping driving assembly c35 for driving the two clamping blocks c34 to synchronously approach or separate from the clamping assembly mounting box c32 is disposed in the clamping assembly mounting box c 32. Specifically, the clamping driving assembly c35 is used for driving the clamping blocks c34 to slide along the horizontal sliding guide rod c33, so as to achieve that the two clamping blocks c34 are close to or far away from each other.
Referring to fig. 6, the clamping driving assembly c35 includes a clamping driving motor c351 and two parallel racks c352, a driving gear c353 meshed with the two racks c352 is fixedly sleeved on a motor shaft of the clamping driving motor c351, each rack c352 is fixedly connected with a driving guide rod c354, and each driving guide rod c354 is fixedly connected with a corresponding clamping block c34 after penetrating out of the clamping assembly mounting box c 32. The clamping driving motor c351 is started to drive the driving gear c353 to rotate forward or turn over, so that the driving gear c353 drives the two racks c352 to approach or depart from each other, and finally the corresponding driving guide rod c354 is pulled or pushed through the two racks c352, so that the two clamping blocks c34 are driven to approach or depart from each other.
Referring to fig. 6 and 8, in order to prevent dust generation by sliding friction, the clamping block c34 includes a clamping block housing c341 and a connecting block c342 fixedly installed in the clamping block housing c341, wherein the connecting block c342 is slidably installed on a corresponding horizontal sliding guide c33 through a cleaning sliding sleeve c36 and is driven by a clamping driving assembly c35.
Specifically, the clean sliding sleeve c36 includes a cylindrical sliding sleeve mounting cylinder c361, at least one sliding sleeve base body c362 slidingly matched with the horizontal sliding guide rod c33 is mounted in an inner cavity of the sliding sleeve mounting cylinder c361, dust removing lengthening rings c363 are mounted at two ends of the sliding sleeve mounting cylinder c361, dust discharging air inlets c364 communicated with the respective inner cavities are mounted on the sliding sleeve mounting cylinder c361 and the dust removing lengthening rings c363, a sealing cover plate c365 is further covered on one side end surface of the dust removing lengthening rings c363 far away from the sliding sleeve mounting cylinder c361, and in order to ensure the tightness of the sealing cover plate c365 on the dust removing lengthening rings c363, sealing rings c366 are arranged between the sealing cover plate c365 and the corresponding dust removing lengthening rings c363 to prevent dust from being generated to the environment. Wherein, the sliding sleeve installation cylinder c361 is in sliding fit with the horizontal sliding guide rod c33, and the dust removal lengthening ring c363 is fixedly connected with the sliding sleeve installation cylinder c361 in a coaxial manner.
Referring to fig. 7, the rotary driving mechanism c6 includes a carrier rod c61 fixedly mounted in the rotary arm c2, an upper end portion of the carrier rod c61 is rotatably mounted on the clamping driving mechanism c3 through a first rotating shaft, a first driving rod c62 which rotates synchronously with the carrier rod c61 is fixedly mounted at an upper end portion of the carrier rod c61, a middle portion of the gripper c1 is rotatably mounted on a lower end portion of the carrier rod c61 through a second rotating shaft, a second driving rod c63 which rotates synchronously with the gripper c1 is fixedly mounted at a middle portion of the gripper c1, and a first rotary power component c64 for driving the first driving rod c62 to rotate relative to the clamping driving mechanism c3 and a second rotary power component c65 for driving the second driving rod c63 to rotate relative to the carrier rod c61 are mounted on the carrier rod c 61. In this embodiment, the first rotary power member c64 and the second rotary power member c65 are preferably electric cylinders, when the first rotary power member c64 is started, the first rotary power member c64 pulls the first driving rod c62, the first driving rod c62 pulls the carrying rod c61, the carrying rod c61 and the rotary arm c2 synchronously rotate relative to the clamping block c34, when the second rotary power member c65 is started, the second rotary power member c65 pulls the second driving rod c63, and the second driving rod c63 pulls the gripper c1, so that the gripper c1 rotates relative to the rotary arm c 2.
Referring to fig. 2 and 4, the gantry c4 and the translation sliding table c5 both adopt a clean type linear module c7, and the clean type linear module c7 is a clean type linear module. In addition, it should be noted that the area between the two translation sliding tables c5 is a connection area, the AGV trolley navigation positioning mechanism b2 is disposed on the connection area between the two translation sliding tables c5, and the navigation mechanism mounting frame b21 is preferably disposed at a central position between the two translation sliding tables c 5. The portal frame c4 is provided with at least one balance cylinder c41, the load of the clean linear module c7 on the portal frame c4 can be effectively reduced by bearing the gravity of the system through the balance cylinder c41, so that the loading capacity of the clean multi-degree-of-freedom manipulator c is greatly improved, and the problem of clean power assisting for logistics connection under the condition that the cleanliness is higher than that of a large load (more than 150 Kg) in an ISO3 environment is solved.
Referring to fig. 1 and 9, the clean temporary storage platform d has a loading position and a discharging position, the clean temporary storage platform d includes a base d1, a rotating platform d2 rotatably mounted on the base d1, and a turntable power mechanism d5 for driving the rotating platform d2 to rotate on the base d1, at least one temporary storage station d3 is disposed on the rotating platform d2, in this embodiment, four temporary storage stations d3 capable of synchronously rotating with the rotating platform d2 are preferably disposed on the rotating platform d 2. The base d1 is provided with a detection mechanism d4 corresponding to the feeding position and the discharging position, the detection mechanism d4 comprises a detection mechanism mounting bracket d41 mounted on the base d1 and a detection panel d42 mounted on the detection mechanism mounting bracket d41, a primary calibration device d43 for detecting whether the temporary storage station d3 rotates in place is arranged on the surface of one side of the detection panel d42, which is close to the rotary platform d2, and a secondary calibration device d44 for calibrating with the transfer device is arranged on the surface of one side of the detection panel d42, which is far away from the rotary platform d2, wherein in the embodiment, the transfer device is a robot.
Referring to fig. 9 and 11, the primary calibration device d43 is at least two laser displacement sensors, and the laser displacement sensors are disposed on the detection panel d42 side by side along the horizontal direction. In the embodiment, the two laser displacement sensors respectively detect that the distance between the two laser displacement sensors and the large-caliber optical element is A and B, the difference between the actual parking position and the theoretical position of the rotary platform d2 can be calculated through the distances A and B, and the difference is fed back to the robot so that the robot can accurately grasp the difference, and the left and right position errors during feeding of the large-caliber optical element can be calculated so as to eliminate errors during subsequent assembly and smoothly finish the assembly.
Referring to fig. 9 and 10, the secondary calibration device d44 includes a light emitting panel d441 for visual detection and a visual detection camera d442, wherein the visual detection camera d442 is a CCD camera. The light-emitting panel d441 on the detection panel d42 is matched with the visual detection camera on the robot, so that the robot can accurately find the position of the clean temporary storage platform, and the visual detection camera d442 on the detection panel d42 is matched with the light-emitting panel on the robot, so that the accurate position of the large-caliber optical element on the robot can be accurately determined, and the subsequent assembly is convenient.
Referring to fig. 9, 12 and 13, the temporary storage station d3 includes a support back plate d31 disposed obliquely and a support base d32 disposed at a lower end of the support back plate d31, and the support back plate d31 and the support base d32 together form an "L" structure. The front surface d311 and the back surface d312 of the support back plate d31 are respectively provided with at least one support seat d33, and the support seats d33 are respectively positioned at the lower parts of the support back plate d31, in the embodiment, the support seats d33 are two and are made of rubber materials, so that the friction force is large, the large-caliber optical element can be stably and reliably supported, and meanwhile, the buffer effect is good. A positioning fixture d34 is arranged on the upper portion of the back surface d312, the positioning fixture d34 comprises a positioning cylinder d341 and a positioning block d342 arranged on the upper end portion of a piston rod of the positioning cylinder d341, an extension line of the piston rod of the positioning cylinder d341 is intersected with an extension surface of the front surface d311, and the positioning block d342 can move up and down under the driving of the positioning cylinder d341 so as to be close to or far away from the front surface d311 of the support backboard d 31.
Referring to fig. 9, the turntable power mechanism d5 includes a turntable power motor d51 and a turntable speed reducer d52, and the turntable power motor d51 drives the rotary platform d2 to rotate through the turntable speed reducer d 52. The turntable power motor d51 is started, and the turntable speed reducer d52 can drive the rotary platform d2 to rotate, so that the positions of the temporary storage stations d3 are changed.
The working process of the invention is as follows:
after the AGV trolley b1 loads the large-caliber optical element with the packing box, the optical element is conveyed to a connection area where the navigation mechanism mounting frame b21 is located according to navigation guidance of the AGV laser navigation reflecting plate b2, meanwhile, the mechanical positioning structure b24 positions the optical element on the AGV trolley b1 supporting plate b11 to a preset position, the AGV has a material detection sensor b23 to detect that the optical element is located at the preset position, the clean multi-degree-of-freedom manipulator c is started, and the optical element on the grabbing AGV trolley b1 is grabbed onto a temporary storage station d3 of the clean temporary storage platform d.
Finally, it should be noted that the above description is only a preferred embodiment of the present invention, and that many similar changes can be made by those skilled in the art without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (7)
1. A material system of taking one's place of accurate dress of heavy-calibre optical element off-line school, its characterized in that: the automatic conveying device (b) comprises an AGV trolley (b 1) used for conveying a material (a) and an AGV trolley navigation positioning mechanism (b 2) arranged in the connection area, and when the AGV trolley navigation positioning mechanism (b 2) is connected with the AGV trolley (b 1) carrying the material (a), the clean multi-degree-of-freedom manipulator (c) can grab the material (a) on the AGV trolley (b 1) on the clean temporary storage platform (d);
the AGV trolley navigation positioning mechanism (b 2) comprises a navigation mechanism mounting frame (b 21) arranged in a connection area, an AGV laser navigation reflecting plate (b 22) used for reflecting a laser navigation signal sent by the AGV trolley (b 1), an AGV material detection sensor (b 23) used for detecting whether the AGV trolley (b 1) carries a material (a) or not, and a mechanical positioning structure (b 24) used for positioning the material (a) carried on the AGV trolley (b 1) are arranged on the navigation mechanism mounting frame (b 21);
the clean type multi-degree-of-freedom manipulator (c) comprises two opposite grippers (c 1), two rotary arms (c 2) for respectively driving the corresponding grippers (c 1) to rotate on a vertical plane, a clamping driving mechanism (c 3) for driving the two rotary arms (c 2) to be close to or far away from each other along the horizontal direction, and a portal frame (c 4) for driving the clamping driving mechanism (c 3) to lift, wherein the portal frame (c 4) is arranged on two opposite translation sliding tables (c 5) and can move along the horizontal direction under the driving of the two translation sliding tables (c 5), the connection area is formed in the area between the two translation sliding tables (c 5), and rotary driving mechanisms (c 6) for driving the rotary arms (c 2) to rotate relative to the clamping driving mechanism (c 3) or driving the grippers (c 1) to rotate relative to the rotary arms (c 2) are arranged in the rotary arms (c 2), and the portal frame (c 2), the clamping driving mechanism (c 3) and the translation sliding tables (c 4) are encapsulated by adopting a clean encapsulation process;
the cleaning temporary storage platform (d) is provided with a feeding position and a discharging position, the cleaning temporary storage platform (d) comprises a base (d 1) and a rotary platform (d 2) rotatably mounted on the base (d 1), at least one temporary storage station (d 3) capable of synchronously rotating along with the rotary platform (d 2) is arranged on the rotary platform (d 2), detection mechanisms (d 4) are arranged at the positions, corresponding to the feeding position and the discharging position, of the base (d 1), each detection mechanism (d 4) comprises a detection mechanism mounting bracket (d 41) mounted on the base (d 1) and a detection panel (d 42) mounted on the detection mechanism mounting bracket (d 41), and a primary calibration device (d 43) for detecting whether the temporary storage station (d 3) rotates in place or not and a secondary calibration device (d 44) for calibrating with the transfer device are arranged on the detection panel (d 42).
2. The material positioning system for off-line precision alignment of a large-caliber optical element according to claim 1, wherein the material positioning system is characterized in that: the utility model provides a AGV laser navigation reflecting plate, including guide mechanism mounting bracket (b 21), AGV laser navigation reflecting plate (b 22), mechanical positioning structure (b 24) and AGV have material to detect sensor (b 23) all install on crossbeam (b 211) of guide mechanism mounting bracket (b 21), wherein, mechanical positioning structure (b 24) are located the middle part of crossbeam (b 211) to outwards bulge towards the direction of keeping away from clean multi freedom manipulator (c), AGV has material to detect sensor (b 23) to be located one side of mechanical positioning structure (b 24), AGV laser navigation reflecting plate (b 22) have two to be located the both sides of mechanical positioning structure (b 24) respectively, and be close to the tip of crossbeam (b 211).
3. The material positioning system for off-line precision alignment of a large-caliber optical element according to claim 1, wherein the material positioning system is characterized in that: the clamping driving mechanism (c 3) comprises a clamping mechanism mounting frame (c 31) mounted on the portal frame (c 4), a clamping component mounting box (c 32) mounted in the middle of the clamping mechanism mounting frame (c 31), horizontal sliding guide rods (c 33) oppositely arranged at two ends of the clamping component mounting box (c 32) and two clamping blocks (c 34) capable of sliding along the corresponding horizontal sliding guide rods (c 33), wherein a clamping driving component (c 35) for driving the two clamping blocks (c 34) to synchronously approach or separate from the clamping component mounting box (c 32) is arranged in the clamping component mounting box (c 32).
4. A material placement system for off-line precision alignment of large caliber optical elements as claimed in claim 3, wherein: the clamping driving assembly (c 35) comprises a clamping driving motor (c 351) and two racks (c 352) which are parallel to each other, a driving gear (c 353) meshed with the two racks (c 352) is fixedly sleeved on a motor shaft of the clamping driving motor (c 351), driving guide rods (c 354) are fixedly connected to each rack (c 352), and each driving guide rod (c 354) is fixedly connected with a corresponding clamping block (c 34) after penetrating out of a clamping assembly mounting box (c 32).
5. A material placement system for off-line precision alignment of large caliber optical elements as claimed in claim 3, wherein: the clamping block (c 34) comprises a clamping block shell (c 341) and a connecting block (c 342) fixedly installed in the clamping block shell (c 341), the connecting block (c 342) is slidably installed on a corresponding horizontal sliding guide rod (c 33) through a clean sliding sleeve (c 36) and driven by a clamping driving assembly (c 35), the clean sliding sleeve (c 36) comprises a cylindrical sliding sleeve installation cylinder (c 361), at least one sliding sleeve base body (c 362) which is in sliding fit with the horizontal sliding guide rod (c 33) is installed in an inner cavity of the sliding sleeve installation cylinder (c 361), dust removing extension rings (c 363) are installed at two ends of the sliding sleeve installation cylinder (c 361), dust discharging air inlets (c 364) which are communicated with the inner cavities of the sliding sleeve installation cylinder (c 361) and the dust removing extension rings (c 363) are installed, and a sealing cover plate (c 361) is covered on one side end face of the dust removing extension rings (c 363) which is far away from the sliding sleeve installation cylinder (c).
6. The material positioning system for off-line precision alignment of a large-caliber optical element according to claim 1, wherein the material positioning system is characterized in that: the rotary driving mechanism (c 6) comprises a bearing rod (c 61) fixedly arranged in a rotary arm (c 2), the upper end part of the bearing rod (c 61) is rotatably arranged on the clamping driving mechanism (c 3) through a first rotating shaft, a first driving rod (c 62) synchronously rotating with the bearing rod (c 61) is fixedly arranged at the upper end part of the bearing rod (c 61), the middle part of the gripper (c 1) is rotatably arranged on the lower end part of the bearing rod (c 61) through a second rotating shaft, a second driving rod (c 63) synchronously rotating with the gripper (c 1) is fixedly arranged at the middle part of the gripper (c 1), and a first rotary power part (c 64) for driving the first driving rod (c 62) to rotate relative to the clamping driving mechanism (c 3) and a second rotary power part (c 65) for driving the second driving rod (c 63) to rotate relative to the bearing rod (c 61) are arranged on the bearing rod (c 61).
7. The material positioning system for off-line precision alignment of a large-caliber optical element according to claim 1, wherein the material positioning system is characterized in that: the primary calibration device (d 43) is at least two laser displacement sensors, the laser displacement sensors are arranged on one side surface of the detection panel (d 42) close to the rotary platform (d 2) side by side along the horizontal direction, the secondary calibration device (d 44) comprises a light-emitting panel (d 441) and a visual detection camera (d 442) which are used for visual detection, and the light-emitting panel (d 441) and the visual detection camera (d 442) are both arranged on one side surface of the detection panel (d 42) far away from the rotary platform (d 2).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811315191.5A CN109212704B (en) | 2018-11-06 | 2018-11-06 | Material positioning system for offline precise assembly and calibration of large-caliber optical element |
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| CN201811315191.5A CN109212704B (en) | 2018-11-06 | 2018-11-06 | Material positioning system for offline precise assembly and calibration of large-caliber optical element |
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| CN109212704B true CN109212704B (en) | 2023-06-23 |
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Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1906564A (en) * | 2004-01-23 | 2007-01-31 | 美国联合包裹服务公司 | Item tracking and processing systems and methods |
| WO2018119730A1 (en) * | 2016-12-28 | 2018-07-05 | 中国科学院长春光学精密机械与物理研究所 | Optical integrated testing platform |
| CN208847920U (en) * | 2018-11-06 | 2019-05-10 | 中国工程物理研究院激光聚变研究中心 | Material system in place for the offline accurate dress school of optical elements of large caliber |
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2018
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1906564A (en) * | 2004-01-23 | 2007-01-31 | 美国联合包裹服务公司 | Item tracking and processing systems and methods |
| WO2018119730A1 (en) * | 2016-12-28 | 2018-07-05 | 中国科学院长春光学精密机械与物理研究所 | Optical integrated testing platform |
| CN208847920U (en) * | 2018-11-06 | 2019-05-10 | 中国工程物理研究院激光聚变研究中心 | Material system in place for the offline accurate dress school of optical elements of large caliber |
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