WO2022217738A1 - 一种组装棱镜的装置以及生产设备 - Google Patents
一种组装棱镜的装置以及生产设备 Download PDFInfo
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- WO2022217738A1 WO2022217738A1 PCT/CN2021/100654 CN2021100654W WO2022217738A1 WO 2022217738 A1 WO2022217738 A1 WO 2022217738A1 CN 2021100654 W CN2021100654 W CN 2021100654W WO 2022217738 A1 WO2022217738 A1 WO 2022217738A1
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- prism
- manipulator
- carrier
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- motorized unit
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- 238000009434 installation Methods 0.000 claims abstract description 31
- 238000001514 detection method Methods 0.000 claims description 14
- 230000009471 action Effects 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 5
- 230000003287 optical effect Effects 0.000 description 5
- 238000000034 method Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 2
- 230000001174 ascending effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 150000001875 compounds Chemical class 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000014509 gene expression Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B7/00—Mountings, adjusting means, or light-tight connections, for optical elements
- G02B7/18—Mountings, adjusting means, or light-tight connections, for optical elements for prisms; for mirrors
- G02B7/1805—Mountings, adjusting means, or light-tight connections, for optical elements for prisms; for mirrors for prisms
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
- G02B27/62—Optical apparatus specially adapted for adjusting optical elements during the assembly of optical systems
Definitions
- the embodiments of the present application relate to the technical field of prism assembly.
- Prism is an optical device made of transparent material with a triangular cross-section. It is used in optical instruments to decompose compound light into spectrum or to change the direction of light, also called triangular prism.
- the prism often needs to be assembled on the assembly body, so as to maintain the stable movement of the prism and ensure the accuracy of the prism, on the other hand, by assembling the prism on the assembly body, it can effectively prevent the prism from receiving external Object friction or collision, etc., so as to effectively protect the normal function of the prism.
- the applicant of the present application found that: at present, the traditional process of assembling the prism to the assembly body is performed manually, and the manual assembly method has low efficiency and high product defect rate.
- embodiments of the present application provide an apparatus for assembling prisms and production equipment, which overcome the above problems or at least partially solve the above problems.
- a device for assembling a prism which is used for assembling a prism to a mounting groove of an assembling body, including: a first station for placing the prism; a second station, used for placing the assembly body; a manipulator, used for grabbing the prism; a first motorized unit, connected with the manipulator, for driving the manipulator to ascend or descend; a second motorized unit, connected with the first The motorized unit is connected for driving the first motorized unit so that it can reciprocate between the first work station and the second work station; a clamping device is used for being arranged in the installation groove of the assembly body, The clamping device is used for clamping the prism; the controller is respectively connected with the manipulator, the first motorized unit and the second motorized unit.
- the clamping device includes a bearing member, a first elastic member, a clamping arm and a second elastic member;
- the first elastic member is configured to be disposed at the bottom of the installation groove, so One end of the first elastic member away from the assembly body is connected to the carrier, and one end of the carrier away from the first elastic member is used to carry the prism, and the carrier can move relative to the assembly body;
- the second elastic member is used to be arranged on the groove wall of the installation groove, one end of the second elastic member away from the assembling body is connected to one end of the clip arm, and the other end of the clip arm is connected to the
- the carrier is abutted, the other end of the clamp arm is used for abutting with the prism, and the clamp arm can move relative to the assembly body;
- the first motor unit drives the manipulator to descend, and the manipulator grabs the The taken prism exerts a force toward the carrier, the first elastic element is compressed, the second elastic element is compressed, the clamping arm moves in a direction away from the
- the distance from one end of the carrier away from the groove bottom of the installation groove to the groove bottom of the installation groove is not less than the distance from the other end of the clamp arm to the groove bottom of the installation groove distance from the bottom.
- the number of the second elastic members is three
- the number of the clamping arms is three
- the three second elastic members are distributed on the groove wall of the installation groove, and , one end of the second elastic piece away from the assembling body is connected with one end of the clamping arm.
- the other end of the clip arm is bent toward the carrier to form a hook, and when the prism is carried on the carrier, the hook is used to keep away from the prism.
- One end of the carrier is clamped.
- it further includes an in-position detection unit, the in-position detection unit is disposed in the installation groove, the in-position detection unit is connected to the controller, and the in-position detection unit detects the carrier
- the controller controls the manipulator to release the prism grasped by the manipulator, so that the hook abuts an end of the prism away from the carrier.
- the carrier is provided with a first inclined surface, the first inclined surface is provided facing the groove bottom of the installation groove, the other end of the clamping arm is provided with a second inclined surface, and the second inclined surface is provided It is disposed facing the first inclined surface, and the second inclined surface is in abutment with the first inclined surface.
- the clamping device further includes a buffer member, the buffer member is disposed at the other end of the clamp arm, and the buffer member is used for abutting with the prism.
- the manipulator includes a connecting arm, a vacuum generator and a vacuum suction cup; one end of the connecting arm is connected to the first motorized unit, and the other end of the manipulator is connected to the vacuum
- the vacuum generator is also connected with the vacuum suction cup; the vacuum generator is also connected with the controller, and the controller is used to control the vacuum generator to work, so that the vacuum suction cup can absorb all the Describe the prism.
- a production equipment including the above-mentioned apparatus for assembling prisms.
- a device for assembling prisms and a generating device includes a first station for placing the prisms; a second station for the assembly body a manipulator for grabbing the prism; a first motorized unit, connected with the manipulator, for driving the manipulator to ascend or descend; a second motorized unit, connected with the first motorized unit, for The first motorized unit is driven so that it can reciprocate between the first station and the second station; a clamping device is used to be arranged in the installation groove of the assembly, and the clamping device is used for for clamping the prism; the controller is respectively connected with the manipulator, the first motorized unit and the second motorized unit.
- the prism is grasped by the manipulator, and under the action of the first motorized unit and the second motorized unit, the prism is moved to the assembly body, so that the prism is assembled to the clamping device, so that the manipulator can assemble the prism to the assembly body, thereby No manual assembly is required, which is very convenient.
- Fig. 1 is the schematic diagram that the device for assembling prism provided by the embodiment of the present application is applied to prism assembly;
- FIG. 2 is a schematic diagram of the connection relationship between the components of the device for assembling prisms provided in an embodiment of the present application;
- FIG. 3 is a schematic diagram of a prism provided in an embodiment of the present application assembled to an assembly body
- FIG. 4 is a schematic diagram of a manipulator, a first motorized unit, and a second motorized unit provided by an embodiment of the present application;
- FIG. 5 is a schematic diagram of a clamping device provided in an embodiment of the present application being installed in an installation groove.
- the device for assembling prism A includes: a first station 10a , a second station 10b , a manipulator 10 , a first motorized unit 20 , a second motorized unit 30 , a clamping device 40 and a controller 50 .
- the first station 10a is used for the placement of the prism A.
- the second station 10b is used for the placement of the assembly body B.
- the manipulator 10 is used for grasping the prism A.
- the first motorized unit 20 is connected to the manipulator 10 and is used to drive the manipulator 10 to ascend or descend.
- the second motorized unit 30 is connected to the first motorized unit 20 and used to drive the first motorized unit 20 to reciprocate between the first work station 10a and the second work station 10b.
- the clamping device 40 is used for being disposed in the mounting groove B1 of the assembly body, and the clamping device 40 is used for clamping the prism A.
- the controller 50 is respectively connected with the manipulator 10 , the first motorized unit 20 and the second motorized unit 30 .
- the manipulator 10 grabs the prism A, and under the action of the first motorized unit 20 and the second motorized unit 30, the manipulator 10 moves the prism A to the assembly body B, the manipulator 10 releases the prism A, and the prism A is It is assembled to the clamping device 40 located on the assembly body B, so that the manipulator 10 can assemble the prism A to the assembly body B, so that manual assembly is not required, which is very convenient.
- the first station 10a is used for the placement of the prism A
- the second station 10b is used for the setting of the assembly body B.
- the first station 10a and the second station 10b have a preset distance, that is, the distance between the prism A and the clamping device 40 on which the prism A needs to be installed on the assembly body B is fixed , so that it is convenient for the manipulator 10 to move the prism A to the assembly body B and clamp it to the clamping device 40 .
- the manipulator 10 includes a connecting arm 101 , a vacuum generator 102 and a vacuum suction cup 103 .
- One end of the connecting arm 101 is connected to the first motorized unit 20 , and the other end of the mechanical arm is connected to the vacuum generator 102 , and the vacuum generator 102 is also connected to the vacuum suction cup 103 .
- the vacuum suction cup 103 can adsorb the prism A, and when the vacuum generator 102 is turned off, the vacuum suction cup 103 can release the prism A.
- the vacuum generator 102 may be integrally formed or separately designed, as long as the vacuum suction cup 103 can be controlled so that the vacuum suction cup 103 can adsorb or release the prism A.
- the vacuum suction cup 103 is made of rubber, so that when the vacuum suction cup 103 adsorbs or releases the prism A, the prism A is not easily scratched, so that the optical performance of the prism A can be effectively guaranteed.
- the first motorized unit 20 is connected to the manipulator 10 for driving the manipulator 10 to ascend or descend.
- the ascending refers to moving away from the first station 10a along a first direction, wherein the first direction is perpendicular to a surface of the prism A away from the first station 10a.
- the descending refers to approaching the first station 10a along the first direction.
- the first motorized unit 20 includes an air cylinder.
- the second motorized unit 30 is connected with the first motorized unit 20 for driving the first motorized unit 20, so that it can operate at the first work station 10a and the second work station Reciprocating movement between bits 10b.
- the manipulator 10 connected to the first motorized unit 20 and the prism A grasped by the manipulator 10 , can reciprocate between the first station 10a and the second station 10b.
- the second motorized unit 30 includes an air cylinder.
- the second motorized unit 30 includes When the cylinder is used, the function of the second motorized unit 30 can be realized.
- the second motorized unit 30 is fixed to the wall, or the second motorized unit 30 may also be fixed to the ground, or the second motorized unit 30 may also be fixed to the ceiling.
- the clamping device 40 includes a bearing member 401 , a first elastic member 402 , a clamping arm 403 , a second elastic member 404 and a buffer member 405 .
- the first elastic member 402 is configured to be disposed on the groove bottom B11 of the installation groove B1, and one end of the first elastic member 402 away from the assembly body B is connected to the bearing member 401, and the bearing member 401 is far away from the mounting body B.
- One end of the first elastic member 402 is used to carry the prism A, and the carrying member 401 can move relative to the assembly body B. As shown in FIG.
- the second elastic member 404 is used to be disposed on the groove wall B12 of the installation groove B1, and one end of the second elastic member 404 away from the assembly body B is connected to one end of the clip arm 403, and the clip arm The other end of 403 is in contact with the carrier 401 , the other end of the clip arm 403 is used for abutting with the prism A, and the clip arm 403 can move relative to the assembly body B.
- the clamping device 40 By arranging the clamping device 40, the clamping device 40 is used to clamp the prism A, when the prism A is assembled to the assembly body B, the prism A is not easy to shake relative to the assembly body B, so that the optical performance of the prism A can be guaranteed .
- the first motor unit 20 drives the manipulator 10 to descend, the prism A grasped by the manipulator 10 exerts a force toward the carrier 401 , and the first elastic member 402 compresses , the second elastic member 404 is compressed, the clamping arm 403 moves away from the bearing member 401 , the manipulator 10 releases the prism A, the first elastic member 402 rebounds, the second elastic member 402 The elastic member 404 springs back, the clamp arm 403 moves toward the direction close to the carrier 401 , and the prism A is clamped between the clamp arm 403 and the installation slot B1 .
- the size of a surface of the carrier 401 for contacting the prism A has a preset ratio with the prism A, so as to ensure that the prism A exerts a force toward the carrier 401 , the prism A is not easily damaged.
- the distance from the end of the carrier 401 away from the groove bottom B11 of the installation groove B1 to the groove bottom B11 of the installation groove B1 is not less than the length of the clip arm 403 .
- the distance from one end to the groove bottom B11 of the installation groove B1 is convenient for the prism A to press the carrier 401 .
- the number of the second elastic members 404 is three
- the number of the clamping arms 403 is three
- the three second elastic members 404 are distributed in the installation groove The groove wall B12 of B1, and one end of the second elastic member 404 away from the assembly body B is connected with one end of the clamping arm 403, so that the three clamping arms 403 can realize the connection to the prism A. stable grip.
- the other end of the clip arm 403 is bent toward the carrier 401 to form a hook 4031 .
- the hook 4031 It is used for clamping with the end of the prism A away from the carrier 401 , so as to further enable the clamping device 40 to clamp the prism A stably.
- the device for assembling the prism A further includes an in-position detection unit 60, the in-position detection unit 60 is disposed in the installation slot B1, and the in-position detection unit 60 is connected to the controller. 50 is connected, when the in-position detection unit 60 detects that the carrier 401 moves to a preset position, the controller 50 controls the manipulator 10 to release the prism A grasped by the manipulator 10, so that the The hook 4031 abuts the end of the prism A away from the carrier 401 .
- the preset position is that when the prism A presses the carrier 401 to move to the preset position, the end of the prism A away from the groove bottom B11 of the installation groove B1 reaches the installation groove B1
- the distance from the bottom B11 of the groove is not greater than the distance from the surface of the hook 4031 facing the bottom B11 of the mounting groove B1 to the bottom B11 of the mounting groove B1.
- the in-position detection unit 60 includes an infrared sensor.
- the in-position detection unit 60 is disposed on the groove wall B12 of the installation groove B1.
- the carrier 401 is provided with a first inclined surface 4011, the first inclined surface 4011 is provided facing the groove bottom B11 of the installation groove B1, and the other end of the clamping arm 403 is provided with a first inclined surface 4011.
- Two inclined surfaces 4032 , the second inclined surface 4032 is disposed facing the first inclined surface 4011 , and the second inclined surface 4032 abuts against the first inclined surface 4011 .
- the buffer member 405 is made of rubber.
- the buffer member 405 may not be provided, and the function of holding the prism A by the clamping device 40 is also realized.
- a buffer member 405 is provided between the prisms A, so that on the one hand, the friction force between the clamping arm 403 and the prism A is increased, and the clamping device 40 can hold the prism A firmly; on the other hand, the buffer member 405 can effectively protect the prism A, The prism A is not easily scratched by the clip arm 403, so that the optical performance of the prism A can be effectively protected.
- the controller 50 is respectively connected with the manipulator 10 , the first motorized unit 20 and the second motorized unit 30 .
- the controller 50 is specifically connected to the vacuum generator 102 .
- the controller 50 is used to control the vacuum generator 102 to work, so that the vacuum suction cup 103 can absorb the prism A, and to control the vacuum generation
- the valve 102 is closed, so that the vacuum suction cup 103 releases the prism A that is held by the vacuum suction cup 103 .
- the controller 50 is further configured to control the first motorized unit 20 to drive the manipulator 10 to ascend or descend.
- the controller 50 is also used to control the second motorized unit 30 to drive the first motorized unit 20 to reciprocate between the first work station 10a and the second work station 10b.
- program steps involved in the controller 50 use existing program steps, and the controller 50 also uses existing processors, such as Intel's I3 processor, AMD Ryzen processor, and so on.
- one way for the manipulator 10 to assemble the prism A to the assembly body B is that the controller 50 controls the manipulator 10 to grab the prism A located at the first station 10a, and the first motorized The unit 20 drives the manipulator 10 to rise, and the second motorized unit 30 drives the first motorized unit 20 to move the prism A captured on the manipulator 10 to the second station 10b.
- the prism A is moved to the top of the clamping device 40 provided on the assembly body B placed on the second work station 10b, and the first motorized unit 20 drives the prism A grasped by the manipulator 10
- the prism A exerts a force toward the carrier 401
- the first elastic member 402 is compressed
- the second elastic member 404 is compressed
- the three clamping arms 403 are respectively oriented toward the side away from the carrier 401 .
- the in-position monitoring unit detects that the carrier 401 moves to a preset position
- the controller 50 controls the manipulator 10 to release the prism A grasped by the manipulator 10
- the first elastic member 402 rebounds
- the second elastic member 404 rebounds
- the three clamping arms 403 move toward the direction close to the carrier 401 respectively
- the prism A is clamped between the three clamping arms 403 , when the clamping arm 403 is bent toward the carrier 401 to form a hook 4031, the prism A is clamped by the three clamping arms 403, and the three clamping arms 403 are bent to form three between the hooks 4031.
- the device for assembling the prism A includes a first station 10a for placing the prism A; a second station 10b for placing the assembly body B; a manipulator 10 for grasping Take the prism A; the first motorized unit 20, connected with the manipulator 10, is used to drive the manipulator 10 to rise or fall; the second motorized unit 30, connected with the first motorized unit 20, is used to drive the
- the first motorized unit 20 can be reciprocated between the first station 10a and the second station 10b;
- the clamping device 40 is used to be arranged in the installation groove B1 of the assembly, the clamp
- the holding device 40 is used for holding the prism A;
- the controller 50 is connected with the manipulator 10 , the first motor unit 20 and the second motor unit 30 respectively.
- the manipulator 10 grabs the prism A, and under the action of the first motorized unit 20 and the second motorized unit 30, the manipulator 10 moves the prism A to the assembly body B, the manipulator 10 releases the prism A, and the prism A is It is assembled to the clamping device 40 located on the assembly body B, so that the manipulator 10 can assemble the prism A to the assembly body B, so that manual assembly of the prism A is not required, which is very convenient.
- the embodiment of the present application also provides an embodiment of a production equipment, and the production equipment includes the device for assembling the prism A.
- the production equipment includes the device for assembling the prism A.
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Abstract
一种组装棱镜（A）的装置以及生产设备，组装棱镜（A）的装置包括第一工位（10a），用于棱镜（A）的放置；第二工位（10b），用于装配主体（B）的放置；机械手（10），用于抓取棱镜（A）；第一机动单元（20），与机械手（10）连接，用于驱动机械手（10）上升或者下降；第二机动单元（30），与第一机动单元（20）连接，用于驱动第一机动单元（20），使其可在第一工位（10a）和第二工位（10b）之间往复运动；夹持装置（40），用于设置于装配主体（B）的安装槽（B1），夹持装置（40）用于夹持棱镜（A）；控制器（50），分别与机械手（10）、第一机动单元（20）和第二机动单元（30）连接。通过机械手（10）将棱镜（A）抓取，并在第一机动单元（20）和第二机动单元（30）的作用下，将棱镜（A）移动至装配主体（B），以使棱镜（A）被装配于夹持装置（40），从而实现机械手（10）将棱镜（A）组装于装配主体（B），从而不需要人工手动的进行组装，非常方便。
Description
相关申请的交叉参考
本申请要求于2021年04月14日提交中国专利局，申请号为2021104019897，名称为“一种组装棱镜的装置以及生产设备”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
本申请实施例涉及棱镜组装技术领域。
棱镜是一种用透明材料做成的截面呈三角形的光学器件,在光学仪器中用来把复合光分解成光谱或用来改变光线的方向，也叫三棱镜。棱镜在使用中，往往需要装配到装配主体上，从而一方面维持棱镜的稳定行，从而保障棱镜的精确度，另一方面，通过将棱镜组装在装配主体上，则可有效避免棱镜收到外部物体的摩擦或者碰撞等，从而有效的保护棱镜功能的正常。
本申请的申请人在实现本申请的过程中，发现：目前，传统的将棱镜组装于装配主体的过程是通过人工进行的，人工组装的方式，其效率低且产品的不良率高。
申请内容
鉴于上述问题，本申请实施例提供了一种组装棱镜的装置以及生产设备，克服了上述问题或者至少部分地解决了上述问题。
根据本申请实施例的一个方面，提供了一种组装棱镜的装置，用于将棱镜组装至装配主体的安装槽，包括：第一工位，用于所述棱镜的放置；第二工位，用于所述装配主体的放置；机械手，用于抓取所述棱镜；第一机动单元，与所述机械手连接，用于驱动所述机械手上升或者下降；第二机动单元，与所述第一机动单元连接，用于驱动所述第一机动单元，使其可在所述第一工位和第二工位之间往复运动；夹持装置，用于设置于所述装配体的安装槽，所述夹持装置用于夹持所述棱镜；控制器，分 别与所述机械手、第一机动单元和第二机动单元连接。
在一种可选的方式中，所述夹持装置包括承载件、第一弹性件、夹臂和第二弹性件；所述第一弹性件用于设置于所述安装槽的槽底，所述第一弹性件远离所述装配主体的一端与所述承载件连接，所述承载件远离第一弹性件的一端用于承载所述棱镜，所述承载件可相对于所述装配主体运动；所述第二弹性件用于设置于所述安装槽的槽壁，所述第二弹性件远离所述装配主体的一端与所述夹臂的一端连接，所述夹臂的另一端与所述承载件抵接，所述夹臂的还一端用于与所述棱镜抵接，所述夹臂可相对于所述装配主体运动；所述第一机动单元驱动所述机械手下降，所述机械手抓取的所述棱镜朝向所述承载件施加作用力，所述第一弹性件压缩，所述第二弹性件压缩，所述夹臂朝向远离所述承载件的方向移动，所述机械手释放所述棱镜，所述第一弹性件回弹，所述第二弹性件回弹，所述夹臂朝向靠近所述承载件的方向移动，所述棱镜被夹持于所述夹臂与所述安装槽之间。
在一种可选的方式中，所述承载件远离所述安装槽的槽底的一端到所述安装槽的槽底的距离，不小于所述夹臂的还一端到所述安装槽的槽底的距离。
在一种可选的方式中，所述第二弹性件的数量为三个，所述夹臂的数量为三个，三个所述第二弹性件分布于所述安装槽的槽壁，且，一所述第二弹性件远离所述装配主体的一端与一所述夹臂的一端连接。
在一种可选的方式中，所述夹臂的还一端朝向所述承载件弯折形成卡勾，所述棱镜承载于所述承载件时，所述卡勾用于与所述棱镜远离所述承载件的一端卡接。
在一种可选的方式中，还包括到位检测单元，所述到位检测单元设置于所述安装槽，所述到位检测单元与所述控制器连接，所述到位检测单元检测到所述承载件运动到预设位置时，所述控制器控制所述机械手释放所述机械手抓取的所述棱镜，以使所述卡勾抵接所述棱镜远离所述承载件的一端。
在一种可选的方式中，所述承载件设置第一斜面，所述第一斜面面向所述安装槽的槽底设置，所述夹臂的另一端设置第二斜面，所述第二斜面面向所述第一斜面设置，且所述第二斜面与所述第一斜面抵接。
在一种可选的方式中，所述夹持装置还包括缓冲件，所述缓冲件设置于所述夹臂的还一端，所述缓冲件用于与所述棱镜抵接。
在一种可选的方式中，所述机械手包括连接臂、真空发生器和真空吸盘；所述连接臂的一端与所述第一机动单元连接，所述机械臂的另一 端与所述真空发生器连接，所述真空发生器还与所述真空吸盘连接；所述真空发生器还与所述控制器连接，所述控制器用于控制所述真空发生器工作，以使所述真空吸盘吸附所述棱镜。
根据本申请实施例的一个方面，提供了一种生产设备，包括上述组装棱镜的装置。
本申请实施例的有益效果是：提供了一种组装棱镜的装置和生成设备，组装棱镜的装置包括第一工位，用于所述棱镜的放置；第二工位，用于所述装配主体的放置；机械手，用于抓取所述棱镜；第一机动单元，与所述机械手连接，用于驱动所述机械手上升或者下降；第二机动单元，与所述第一机动单元连接，用于驱动所述第一机动单元，使其可在所述第一工位和第二工位之间往复运动；夹持装置，用于设置于所述装配体的安装槽，所述夹持装置用于夹持所述棱镜；控制器，分别与所述机械手、第一机动单元和第二机动单元连接。通过机械手将棱镜抓取，并在第一机动单元和第二机动单元的作用下，将棱镜移动至装配主体，以使棱镜被装配于夹持装置，从而实现机械手将棱镜组装于装配主体，从而不需要人工手动的进行组装，非常方便。
一个或多个实施例通过与之对应的附图中的图片进行示例性说明，这些示例性说明并不构成对实施例的限定，附图中具有相同参考数字标号的元件表示为类似的元件，除非有特别申明，附图中的图不构成比例限制。
图1是本申请实施例提供的组装棱镜的装置应用于棱镜组装的示意图；
图2是本申请实施例提供的组装棱镜的装置各部件之间的连接关系的示意图；
图3是本申请实施例提供的棱镜组装于装配主体的示意图；
图4是本申请实施例提供的机械手、第一机动单元和第二机动单元的示意图；
图5是本申请实施例提供的夹持装置安装于安装槽的示意图。
具体实施例方式
为了便于理解本申请，下面结合附图和具体实施例，对本申请进行更详细的说明。需要说明的是，当元件被表述“固定于”另一个元件， 它可以直接在另一个元件上、或者其间可以存在一个或多个居中的元件。当一个元件被表述“连接”另一个元件，它可以是直接连接到另一个元件、或者其间可以存在一个或多个居中的元件。本说明书所使用的术语“垂直的”、“水平的”、“左”、“右”、“内”、“外”以及类似的表述只是为了说明的目的。
除非另有定义，本说明书所使用的所有的技术和科学术语与属于本申请的技术领域的技术人员通常理解的含义相同。在本申请的说明书中所使用的术语只是为了描述具体实施例的目的，不是用于限制本申请。本说明书所使用的术语“和/或”包括一个或多个相关的所列项目的任意的和所有的组合。
请参阅图1-图3，组装棱镜A的装置包括：第一工位10a、第二工位10b、机械手10、第一机动单元20、第二机动单元30、夹持装置40和控制器50。第一工位10a用于所述棱镜A的放置。第二工位10b用于所述装配主体B的放置。机械手10用于抓取所述棱镜A。第一机动单元20，与所述机械手10连接，用于驱动所述机械手10上升或者下降。第二机动单元30，与所述第一机动单元20连接，用于驱动所述第一机动单元20，使其可在所述第一工位10a和第二工位10b之间往复运动。夹持装置40，用于设置于所述装配体的安装槽B1，所述夹持装置40用于夹持所述棱镜A。控制器50，分别与所述机械手10、第一机动单元20和第二机动单元30连接。通过机械手10将棱镜A抓取，并在第一机动单元20和第二机动单元30的作用下，机械手10将棱镜A移动至装配主体B，机械手10释放所述棱镜A，所述棱镜A被装配于位于装配主体B的夹持装置40，从而实现机械手10将棱镜A组装于装配主体B，从而不需要人工手动的进行组装，非常方便。
对于上述第一工位10a和第二工位10b，第一工位10a用于所述棱镜A的放置，第二工位10b用于所述装配主体B的设置。在一些实施例中，所述第一工位10a和第二工位10b具有预设距离，即所述棱镜A与装配主体B上棱镜A需要安装的夹持装置40之间的距离是固定的，从而方便机械手10将棱镜A移动至装配主体B并使其夹持于夹持装置40。
对于上述机械手10，在一些实施例中，请参阅图4，机械手10包括连接臂101、真空发生器102和真空吸盘103。其中，所述连接臂101的一端与所述第一机动单元20连接，所述机械臂的另一端与所述真空发生器102连接，所述真空发生器102还与所述真空吸盘103连接。所述真空发生器102启动时，所述真空吸盘103可吸附所述棱镜A，所述真空发生器102关闭时，所述真空吸盘103可释放所述棱镜A。
需要说明的是，所述真空发生器102可以是一体成型的，也可以是分体设计的，只要能够实现对真空吸盘103进行控制，以使真空吸盘103吸附或者释放所述棱镜A即可。
需要说明的是，在一些实施例中，所述真空吸盘103为橡胶材质，从而真空吸盘103在吸附或者释放棱镜A时，不容易刮花棱镜A，从而可有效保障棱镜A的光学性能。
对于上述第一机动单元20，第一机动单元20与所述机械手10连接，用于驱动所述机械手10上升或者下降。其中，所述上升是指沿着第一方向远离所述第一工位10a，其中，所述第一方向与所述棱镜A远离所述第一工位10a的一表面垂直。其中，所述下降是指沿着第一方向靠近所述第一工位10a。
需要说明的是，在一些实施例中，第一机动单元20包括气缸。
对于上述第二机动单元30，第二机动单元30与所述第一机动单元20连接，用于驱动所述第一机动单元20，以使其可在所述第一工位10a和第二工位10b之间往复运动。所述第一机动单元20在所述第一工位10a和第二工位10b之间往复运动时，与所述第一机动单元20连接的机械手10，以及所述机械手10抓取的棱镜A，可在所述第一工位10a和第二工位10b之间往复运动。
需要说明的是，在一些实施例中，第二机动单元30包括气缸，通过合理的设置第一工位10a、第二工位10b以及第二机动单元30的位置，从而第二机动单元30包括气缸时，即可实现第二机动单元30的功能。
需要说明的是，在一些实施例中，第二机动单元30固定于墙面，或者，第二机动单元30还可以固定于地面，或者，第二机动单元30还可以固定于天花板。
对于上述夹持装置40，请参阅图1和图5，夹持装置40包括承载件401、第一弹性件402、夹臂403、第二弹性件404和缓冲件405。所述第一弹性件402用于设置于所述安装槽B1的槽底B11，所述第一弹性件402远离所述装配主体B的一端与所述承载件401连接，所述承载件401远离第一弹性件402的一端用于承载所述棱镜A，所述承载件401可相对于所述装配主体B运动。所述第二弹性件404用于设置于所述安装槽B1的槽壁B12，所述第二弹性件404远离所述装配主体B的一端与所述夹臂403的一端连接，所述夹臂403的另一端与所述承载件401抵接，所述夹臂403的还一端用于与所述棱镜A抵接，所述夹臂403可相对于所述装配主体B运动。通过设置夹持装置40，夹持装置40用于对棱镜A进行夹持，则棱镜A被组装于装配主体B时，棱镜A不容易相对 于装配主体B晃动，从而可保障棱镜A的光学性能。
在本申请实施例中，所述第一机动单元20驱动所述机械手10下降，所述机械手10抓取的所述棱镜A朝向所述承载件401施加作用力，所述第一弹性件402压缩，所述第二弹性件404压缩，所述夹臂403朝向远离所述承载件401的方向移动，所述机械手10释放所述棱镜A，所述第一弹性件402回弹，所述第二弹性件404回弹，所述夹臂403朝向靠近所述承载件401的方向移动，所述棱镜A被夹持于所述夹臂403与所述安装槽B1之间。
需要说明的是，在一些实施例中，承载件401用于与所述棱镜A接触的一表面的尺寸与所述棱镜A具有预设比例，从而保障棱镜A朝向所述承载件401施加作用力时，棱镜A不容易破损。
需要说明的是，在一些实施例中，所述承载件401远离所述安装槽B1的槽底B11的一端到所述安装槽B1的槽底B11的距离，不小于所述夹臂403的还一端到所述安装槽B1的槽底B11的距离，从而便于棱镜A压迫承载件401。
需要说明的是，在一些实施例中，所述第二弹性件404的数量为三个，所述夹臂403的数量为三个，三个所述第二弹性件404分布于所述安装槽B1的槽壁B12，且，一所述第二弹性件404远离所述装配主体B的一端与一所述夹臂403的一端连接，从而三个所述夹臂403可实现对所述棱镜A的稳固夹持。
需要说明的是，在一些实施例中，所述夹臂403的还一端朝向所述承载件401弯折形成卡勾4031，所述棱镜A承载于所述承载件401时，所述卡勾4031用于与所述棱镜A远离所述承载件401的一端卡接，从而更进一步的使得夹持装置40稳固的夹持所述棱镜A。
需要说明的是，在一些实施例中，所述组装棱镜A的装置还包括到位检测单元60，所述到位检测单元60设置于所述安装槽B1，所述到位检测单元60与所述控制器50连接，所述到位检测单元60检测到所述承载件401运动到预设位置时，所述控制器50控制所述机械手10释放所述机械手10抓取的所述棱镜A，以使所述卡勾4031抵接所述棱镜A远离所述承载件401的一端。
其中，所述预设位置为，所述棱镜A压迫所述承载件401运动到所述预设位置时，所述棱镜A远离所述安装槽B1的槽底B11的一端到所述安装槽B1的槽底B11的距离，不大于所述卡勾4031朝向所述安装槽B1的槽底B11的一表面到所述安装槽B1的槽底B11的距离。
需要说明的是，在一些实施例中，所述到位检测单元60包括红外 传感器。
优选的，所述到位检测单元60设置于所述安装槽B1的槽壁B12。
值得说明的是，在一些实施例中，所述承载件401设置第一斜面4011，所述第一斜面4011面向所述安装槽B1的槽底B11设置，所述夹臂403的另一端设置第二斜面4032，所述第二斜面4032面向所述第一斜面4011设置，且所述第二斜面4032与所述第一斜面4011抵接。
可以理解的是，夹臂403的数量为三个时，所述第二斜面4032的数量为三个，则所述第一斜面4011的数量为三个，且一个所述第二斜面4032与一个所述第一斜面4011抵接。
需要说明的是，在一些实施例中，缓冲件405为橡胶材质。
值得说明的是，也可不设置所述缓冲件405，则也实现夹持装置40夹持所述棱镜A的功能，当然，设置缓冲件405，缓冲件405位于夹臂403的还一端与所述棱镜A之间，从而一方面，增加夹臂403与棱镜A之间的摩擦力，夹持装置40对棱镜A的夹持稳固，另一方面，缓冲件405可对棱镜A进行有效的防护，棱镜A不容易被夹臂403刮花，从而可有效的保护棱镜A的光学性能。
对于上述控制器50，请参阅图2，控制器50分别与所述机械手10、第一机动单元20和第二机动单元30连接。其中，机械手10包括机械臂、真空发生器102和真空吸盘103时，控制器50具体的与所述真空发生器102连接。所述控制器50与所述真空发生器102连接时，控制器50用于控制所述真空发生器102工作，以使所述真空吸盘103吸附所述棱镜A，以及用于控制所述真空发生器102关闭，以使所述真空吸盘103释放器所吸附的所述棱镜A。所述控制器50还用于控制所述第一机动单元20驱动所述机械手10上升或者下降。所述控制器50还用于控制所述第二机动单元30驱动所述第一机动单元20，使其可在所述第一工位10a和第二工位10b之间作往复运动。
值得说明的是，所述控制器50所涉及的程序步骤是采用现有程序步骤，控制器50也是采用现有的处理器，例如：英特尔的I3处理器、AMD锐龙处理器等等。
在本申请实施例中，机械手10将棱镜A组装于装配主体B的一种方式为，控制器50控制机械手10抓取位于所述第一工位10a的所述棱镜A，所述第一机动单元20驱动所述机械手10上升，所述第二机动单元30驱动所述第一机动单元20将所述机械手10上抓取的所述棱镜A移动至所述第二工位10b，具体的，将所述棱镜A移动至所述第二工位10b上放置的装配主体B上设置的夹持装置40的上方，所述第一机动单 元20驱动所述机械手10上抓取的所述棱镜A下降，所述棱镜A朝向所述承载件401施加作用力，所述第一弹性件402压缩，所述第二弹性件404压缩，三个所述夹臂403分别朝向远离所述承载件401的方向移动，所述到位监测单元检测到所述承载件401运动到预设位置，所述控制器50控制所述机械手10释放所述机械手10抓取的所述棱镜A，所述第一弹性件402回弹，所述第二弹性件404回弹，三个所述夹臂403分别朝向靠近所述承载件401的方向移动，所述棱镜A被夹持于三个所述夹臂403之间，所述夹臂403朝向所述承载件401弯折形成有卡勾4031时，所述棱镜A被夹持于三个所述夹臂403，以及三个所述夹臂403弯折形成的三个所述卡勾4031之间。
在本申请实施例中，组装棱镜A的装置包括第一工位10a，用于所述棱镜A的放置；第二工位10b，用于所述装配主体B的放置；机械手10，用于抓取所述棱镜A；第一机动单元20，与所述机械手10连接，用于驱动所述机械手10上升或者下降；第二机动单元30，与所述第一机动单元20连接，用于驱动所述第一机动单元20，使其可在所述第一工位10a和第二工位10b之间往复运动；夹持装置40，用于设置于所述装配体的安装槽B1，所述夹持装置40用于夹持所述棱镜A；控制器50，分别与所述机械手10、第一机动单元20和第二机动单元30连接。通过机械手10将棱镜A抓取，并在第一机动单元20和第二机动单元30的作用下，机械手10将棱镜A移动至装配主体B，机械手10释放所述棱镜A，所述棱镜A被装配于位于装配主体B的夹持装置40，从而实现机械手10将棱镜A组装于装配主体B，从而不需要人工手动的进行棱镜A的组装，非常方便。
本申请实施例还提供了一种生产设备的实施例，生产设备包括所述组装棱镜A的装置。对于组装棱镜A的装置的具体结构和功能可参阅上述实施例，此处不再一一赘述。
需要说明的是，本申请的说明书及其附图中给出了本申请的较佳的实施例，但是，本申请可以通过许多不同的形式来实现，并不限于本说明书所描述的实施例，这些实施例不作为对本申请内容的额外限制，提供这些实施例的目的是使对本申请的公开内容的理解更加透彻全面。并且，上述各技术特征继续相互组合，形成未在上面列举的各种实施例，均视为本申请说明书记载的范围；进一步地，对本领域普通技术人员来说，可以根据上述说明加以改进或变换，而所有这些改进和变换都应属于本申请所附权利要求的保护范围。
Claims (10)
- 一种组装棱镜的装置，用于将棱镜组装至装配主体的安装槽，其特征在于，包括：第一工位，用于所述棱镜的放置；第二工位，用于所述装配主体的放置；机械手，用于抓取所述棱镜；第一机动单元，与所述机械手连接，用于驱动所述机械手上升或者下降；第二机动单元，与所述第一机动单元连接，用于驱动所述第一机动单元，使其可在所述第一工位和第二工位之间往复运动；夹持装置，用于设置于所述装配体的安装槽，所述夹持装置用于夹持所述棱镜；控制器，分别与所述机械手、第一机动单元和第二机动单元连接。
- 根据权利要求1所述的组装棱镜的装置，其特征在于，所述夹持装置包括承载件、第一弹性件、夹臂和第二弹性件；所述第一弹性件用于设置于所述安装槽的槽底，所述第一弹性件远离所述装配主体的一端与所述承载件连接，所述承载件远离第一弹性件的一端用于承载所述棱镜，所述承载件可相对于所述装配主体运动；所述第二弹性件用于设置于所述安装槽的槽壁，所述第二弹性件远离所述装配主体的一端与所述夹臂的一端连接，所述夹臂的另一端与所述承载件抵接，所述夹臂的还一端用于与所述棱镜抵接，所述夹臂可相对于所述装配主体运动；所述第一机动单元驱动所述机械手下降，所述机械手抓取的所述棱镜朝向所述承载件施加作用力，所述第一弹性件压缩，所述第二弹性件压缩，所述夹臂朝向远离所述承载件的方向移动，所述机械手释放所述棱镜，所述第一弹性件回弹，所述第二弹性件回弹，所述夹臂朝向靠近所述承载件的方向移动，所述棱镜被夹持于所述夹臂与所述安装槽之间。
- 根据权利要求2所述的组装棱镜的装置，其特征在于，所述承载件远离所述安装槽的槽底的一端到所述安装槽的槽底的距离，不小于所述夹臂的还一端到所述安装槽的槽底的距离。
- 根据权利要求2或3任意一项所述的组装棱镜的装置，其特征在于，所述第二弹性件的数量为三个，所述夹臂的数量为三个，三个所述第二弹性件分布于所述安装槽的槽壁，且，一所述第二弹性件远离所述装配主体的一端与一所述夹臂的一端连接。
- 根据权利要求2或3任意一项所述的组装棱镜的装置，其特征在于，所述夹臂的还一端朝向所述承载件弯折形成卡勾，所述棱镜承载于所述承载件时，所述卡勾用于与所述棱镜远离所述承载件的一端卡接。
- 根据权利要求5所述的组装棱镜的装置，其特征在于，还包括到位检测单元，所述到位检测单元设置于所述安装槽，所述到位检测单元与所述控制器连接，所述到位检测单元检测到所述承载件运动到预设位置时，所述控制器控制所述机械手释放所述机械手抓取的所述棱镜，以使所述卡勾抵接所述棱镜远离所述承载件的一端。
- 根据权利要求2或3任意一项所述的组装棱镜的装置，其特征在于，所述承载件设置第一斜面，所述第一斜面面向所述安装槽的槽底设置，所述夹臂的另一端设置第二斜面，所述第二斜面面向所述第一斜面设置，且所述第二斜面与所述第一斜面抵接。
- 根据权利要求2或3任意一项所述的组装棱镜的装置，其特征在于，所述夹持装置还包括缓冲件，所述缓冲件设置于所述夹臂的还一端，所述缓冲件用于与所述棱镜抵接。
- 根据权利要求1所述的组装棱镜的装置，其特征在于，所述机械手包括连接臂、真空发生器和真空吸盘；所述连接臂的一端与所述第一机动单元连接，所述机械臂的另一端与所述真空发生器连接，所述真空发生器还与所述真空吸盘连接；所述真空发生器还与所述控制器连接，所述控制器用于控制所述真空发生器工作，以使所述真空吸盘吸附所述棱镜。
- 一种生产设备，其特征在于，包括如权利要求1-9中任意一项所述的组装棱镜的装置。
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| CN210488102U (zh) * | 2019-10-29 | 2020-05-08 | 科尔迅智能科技(深圳)有限公司 | 一种棱镜转移的自动化设备 |
| CN111323420A (zh) * | 2020-04-17 | 2020-06-23 | 北极光电(深圳)有限公司 | 一种用于微光学组件的自动化组装测试装置 |
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| RU2050563C1 (ru) * | 1992-12-08 | 1995-12-20 | Владимир Павлович Васильев | Устройство крепления светоотражающей призмы |
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