CN109940360B - Lens clamping device and clamping method thereof - Google Patents
Lens clamping device and clamping method thereof Download PDFInfo
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- CN109940360B CN109940360B CN201910285985.XA CN201910285985A CN109940360B CN 109940360 B CN109940360 B CN 109940360B CN 201910285985 A CN201910285985 A CN 201910285985A CN 109940360 B CN109940360 B CN 109940360B
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- 239000004065 semiconductor Substances 0.000 abstract description 7
- 210000003128 head Anatomy 0.000 description 6
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Abstract
本发明实施例涉及半导体激光器技术领域，公开了一种透镜夹取装置及其夹取方法，透镜夹取装置包括料盘、夹头、夹头调整机构和视觉图像检测机构，料盘用于放置透镜；视觉图像检测机构的镜头朝向料盘，以测量透镜的位置；夹头调整机构的输入端连接于视觉图像检测机构，夹头调整机构的输出端连接于夹头，以根据透镜的位置调节夹头的位置。通过视觉图像检测机构测量透镜的位置，并将透镜的位置信息传递给夹头调整机构，夹头调整机构再根据测量所得的透镜的位置来调节夹头的位置，提高了夹取过程的精确度。该透镜夹取装置可以实现透镜夹取过程的自动化、连续化操作，提高了夹取过程的效率，节省了人力和时间。
The embodiment of the present invention relates to the technical field of semiconductor lasers, and discloses a lens clamping device and a clamping method thereof. The lens clamping device includes a material tray, a chuck, a chuck adjustment mechanism and a visual image detection mechanism, and the material tray is used for placing Lens; the lens of the visual image detection mechanism faces the tray to measure the position of the lens; the input end of the chuck adjustment mechanism is connected to the visual image detection mechanism, and the output end of the chuck adjustment mechanism is connected to the chuck to adjust according to the position of the lens position of the chuck. The position of the lens is measured by the visual image detection mechanism, and the position information of the lens is transmitted to the chuck adjustment mechanism. The chuck adjustment mechanism adjusts the position of the chuck according to the measured position of the lens, which improves the accuracy of the clamping process. . The lens clamping device can realize automatic and continuous operation of the lens clamping process, improve the efficiency of the clamping process, and save manpower and time.
Description
Technical Field
The embodiment of the invention relates to the technical field of semiconductor lasers, in particular to a lens clamping device and a clamping method thereof.
Background
The semiconductor laser is a P-N junction diode with optical feedback function using semiconductor material as working substance, and compared with solid laser and gas laser, it has the advantages of compact structure, high reliability, high efficiency and stability, etc., and has been widely used in the industries of machining, material processing, weapon manufacturing and laser display, etc. To achieve greater output power, a number of individual semiconductor lasers are typically combined together to form an array, resulting in a high power semiconductor laser. However, due to the influence of the asymmetric optical waveguide, the beam quality of the laser emitted by the array in the horizontal and vertical directions is greatly different, and astigmatism exists, so that the light emitting points are sparser in spatial distribution, and the energy of output light is not concentrated. Therefore, a beam shaping method is required to solve the problems of poor beam quality and low power density. The beam shaping method usually adopts a lens to adjust the divergence angle in the fast direction of the beam, and the lens has a small geometric size, so that the installation of the lens is difficult.
At present, in the prior art, the lens is usually clamped by manual clamping, tweezers are needed to be operated manually to clamp the lens, the clamping force is unstable, and the randomness is high. Moreover, the clamping position of manual clamping is uncertain, and the working surface of the lens is easily polluted. Particularly, for a high-power semiconductor laser, a plurality of lenses need to be mounted continuously, and if manual operation is adopted, the mounting efficiency is low, and time and labor are wasted.
Disclosure of Invention
The embodiment of the invention provides a lens clamping device and a clamping method thereof, which are used for solving the defect that a lens needs to be clamped manually in the prior art and realizing the automatic operation of clamping the lens.
The embodiment of the invention provides a lens clamping device, which comprises a material tray, a chuck adjusting mechanism and a visual image detection mechanism, wherein the material tray is used for placing lenses; the lens of the visual image detection mechanism faces the material tray to measure the position of the lens; the input end of the chuck adjusting mechanism is connected to the visual image detection mechanism, and the output end of the chuck adjusting mechanism is connected to the chuck so as to adjust the position of the chuck according to the position of the lens.
The material tray is provided with at least one lens placing groove, a first through hole is formed in the middle of the bottom of the lens placing groove, and a second through hole is formed in at least one side wall of the lens placing groove along the depth direction of the lens placing groove.
The visual image detection mechanism further comprises a light source, the light source faces the lens, and the distance between the light source and the lens is larger than or equal to the distance between the material tray and the lens.
The visual image detection mechanism further comprises an image sensor, the input end of the image sensor is connected to the lens, and the output end of the image sensor is connected to the chuck adjusting mechanism.
The chuck adjusting mechanism comprises a first X-axis sliding table, a Z-axis sliding table and a three-dimensional angular displacement platform; the guide rail of the Z-axis sliding table is connected with the sliding block of the first X-axis sliding table, the sliding block of the Z-axis sliding table is connected with the base of the three-dimensional angular displacement platform, and the output end of the three-dimensional angular displacement platform is connected with the chuck.
The automatic feeding device comprises a feeding disc adjusting mechanism, a first X-axis sliding table and a Y-axis sliding table, wherein the feeding disc adjusting mechanism comprises a second X-axis sliding table and a second Y-axis sliding table; the guide rail of the Y-axis sliding table is connected with the sliding block of the second X-axis sliding table, and the sliding block of the Y-axis sliding table is connected with the material tray.
The embodiment of the invention provides a lens clamping method by using the lens clamping device, which comprises the following steps:
placing the lens on a tray;
acquiring the position of the lens by using a visual image detection mechanism;
the visual image detection mechanism transmits the position information of the lens to a chuck adjusting mechanism, and the chuck adjusting mechanism calculates a clamping position according to the position of the lens;
the chuck adjusting mechanism adjusts the position of the chuck to the clamping position;
and clamping the lens by using the clamping head.
Wherein the acquiring the position of the lens by using the visual image detection mechanism comprises the following steps:
the method comprises the steps that light rays are transmitted through a first through hole, an image of the side face of a lens is obtained, an angle value between the side face of the lens and a preset reference line is calculated, and a lens inclination angle is obtained;
when the number of the second through holes is one, the second through holes are utilized to transmit light, the image of the first end face of the lens is obtained, the position information of the first end face of the lens is obtained, and the position information of the second end face of the lens is calculated according to the length of the lens;
and when the number of the second through holes is two, acquiring images of the first end surface and the second end surface of the lens by using the two second through holes to obtain position information of the first end surface and the second end surface of the lens.
Wherein, the position of chuck is adjusted to the position of getting to the chuck guiding mechanism, includes the following step:
moving the chuck from an initial position to a position above the lens, wherein the height difference between the chuck and the lens is a preset height;
acquiring the position of the chuck by using the visual image detection mechanism, and rotating the chuck according to the inclination angle of the lens to enable the clamping surface of the chuck to be parallel to the side surface of the lens;
calculating the distance between the clamping surface of the chuck and the side surface of the lens to obtain a translation distance;
and moving the chuck to the clamping position according to the translation distance and the preset height.
After the position of the lens is acquired by the visual image detection mechanism, and before the visual image detection mechanism transmits the position information of the lens to the chuck adjusting mechanism, the method further comprises the following steps:
acquiring a preset value of lens position deviation;
calculating a deviation value between the position of the lens and a standard lens position;
comparing the deviation value with the preset value of the lens position deviation;
if the deviation value is larger than the preset lens position deviation value, stopping the clamping operation, and sending prompt information to prompt a worker to replace the lens;
and if the deviation value is less than or equal to the preset value of the lens position deviation, transmitting the position information of the lens to the chuck adjusting mechanism by using the visual image detection mechanism.
According to the lens clamping device and the lens clamping method provided by the embodiment of the invention, the clamping head replaces manpower to clamp the lens, so that the randomness of the clamping process is reduced, and the clamping force is more stable. Meanwhile, the vision image detection mechanism replaces human eyes to measure and judge, the position information of the lens is transmitted to the chuck adjusting mechanism, and the chuck adjusting mechanism adjusts the position of the chuck according to the measured position of the lens, so that the accuracy of the clamping process is improved, and the pollution to the working surface of the lens is avoided. The chuck adjusting mechanism and the visual image detection mechanism supplement each other, so that the automatic and continuous operation of the lens clamping process can be realized, the efficiency of the clamping process is improved, the labor and the time are saved, and the position reference is provided for the subsequent lens installation.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
Fig. 1 is an isometric view of a lens gripper in an embodiment of the invention;
FIG. 2 is an isometric view of another perspective of the lens gripper of FIG. 1;
FIG. 3 is an enlarged schematic view of a tray in an embodiment of the invention;
FIG. 4 is a schematic view showing a relative positional relationship between a lens placement groove and a lens in an embodiment of the present invention;
FIG. 5 is a schematic illustration of an adjustment process for a chuck in an embodiment of the present invention;
description of reference numerals:
1: a material tray; 11: a lens placement groove; 12: a first through hole;
13: a second through hole; 14: a T-shaped slot; 2: a chuck;
2-1: a first position of the collet; 2-2: a second position of the collet; 2-3: a third position of the collet;
2-4: a fourth position of the collet; 3: a chuck adjusting mechanism; 31: a first X-axis slide;
32: a Z-axis sliding table; 33: a three-dimensional angular displacement platform; 4: a visual image detection mechanism;
41: a lens; 42: an image sensor; 43: a lens adjusting stage;
44: a light source; 5: a tray adjusting mechanism; 51: a second X-axis slide table;
52: a Y-axis sliding table; 53: a tray mounting base; 6: a base;
61: a vertical support; 7: a lens; 8: a gripping position.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the embodiments of the present invention, it should be noted that the terms "first", "second", "third" and "fourth" are used for the sake of clarity in describing the numbering of the product parts and do not represent any substantial difference, unless explicitly stated or limited otherwise. The directions of the upper, the lower, the front, the rear, the left and the right, the X axis, the Y axis and the Z axis are based on the directions shown in the attached drawings. Specific meanings of the above terms in the embodiments of the present invention can be understood by those of ordinary skill in the art according to specific situations.
It is to be understood that, unless otherwise expressly specified or limited, the term "coupled" is used broadly, and may, for example, refer to directly coupled devices or indirectly coupled devices through intervening media. Specific meanings of the above terms in the embodiments of the invention will be understood to those of ordinary skill in the art in specific cases.
Fig. 1 is an isometric view of a lens clamping device according to an embodiment of the present invention, and as shown in fig. 1, the lens clamping device according to an embodiment of the present invention includes a tray 1, a chuck 2, a chuck adjusting mechanism 3, and a visual image detecting mechanism 4, where the tray 1 is used for placing a lens 7. Specifically, the tray 1 is horizontally arranged, and one surface of the tray 1 for placing the lens 7 faces upwards.
The lens 41 of the visual image detection mechanism 4 is directed toward the tray 1 to measure the position of the lens 7. Specifically, the lens 41 is disposed above the tray 1 and spaced from the tray 1 by a certain distance.
The input end of the chuck adjusting mechanism 3 is connected to the visual image detection mechanism 4, and the visual image detection mechanism 4 transmits the measured position information of the lens 7 to the chuck adjusting mechanism 3. The output end of the chuck adjusting mechanism 3 is connected to the chuck 2 to adjust the position of the chuck 2 according to the position of the lens 7, so as to realize the clamping operation.
The lens clamping device provided by the embodiment replaces manual work by the chuck to clamp the lens, so that the randomness of the clamping process is reduced, and the clamping force is more stable. Meanwhile, the vision image detection mechanism replaces human eyes to measure and judge, the position information of the lens is transmitted to the chuck adjusting mechanism, and the chuck adjusting mechanism adjusts the position of the chuck according to the measured position of the lens, so that the accuracy of the clamping process is improved, and the pollution to the working surface of the lens is avoided. The chuck adjusting mechanism and the visual image detection mechanism supplement each other, so that the automatic and continuous operation of the lens clamping process can be realized, the efficiency of the clamping process is improved, the labor and the time are saved, and the position reference is provided for the subsequent lens installation.
Further, as shown in fig. 1 and 2, the visual image detecting mechanism 4 further includes a lens adjusting stage 43, and the lens adjusting stage 43 is fixed to the vertical stand 61. Before the gripping operation is performed, the distance between the lens 41 and the tray 1 is adjusted by the lens adjusting stage 43, so that the lens 7 can obtain a good image quality. During the gripping operation, the distance does not need to be adjusted.
Further, as shown in fig. 3, at least one lens placement groove 11 is provided on the tray 1, a first through hole 12 is provided in the middle of the bottom of the lens placement groove 11, and a second through hole 13 is provided in at least one sidewall of the lens placement groove 11 along the depth direction of the lens placement groove 11. Specifically, the number of the lens placement grooves 11 may be one or plural, and the present embodiment will be described by taking plural lens placement grooves as an example. As shown in fig. 3, the plurality of lens placement grooves 11 are arranged in a vertical and horizontal array.
As shown in fig. 4, the first through hole 12 has a long bar shape. The second through hole 13 is one in number, has a circular shape, and is provided at the front end of the lens placement groove 11. A T-shaped groove 14 is provided at the rear end of the lens placement groove 11. When the lens 7 is placed, the front end of the lens 7 is positioned on the second through hole 13, and the rear end of the lens 7 is positioned on the T-shaped groove 14.
In addition to the above, the number of the second through holes 13 may be two and symmetrically provided at the front end and the rear end of the lens placement groove 11.
Further, as shown in fig. 2, the visual image detection mechanism 4 further includes a light source 44, the light source 44 faces the lens 41, and the distance between the light source 44 and the lens 41 is greater than or equal to the distance between the tray 1 and the lens 41. Specifically, the light source 44 is disposed below the tray 1, and the light source 44 may be spaced from the tray 1 or disposed directly at the bottom of the tray 1. The light source 44 in this embodiment is fixed to the base 6 by an L-shaped bracket.
Further, the visual image detection mechanism 4 further includes an image sensor 42, an input end of the image sensor 42 is connected to the lens 41, and an output end of the image sensor 42 is connected to the chuck adjusting mechanism 3. Specifically, the image sensor 42 may employ an industrial camera, such as a CCD camera or a CMOS camera. The optical signal collected by the lens 41 can be converted into an electrical signal by an industrial camera and then transmitted to the chuck adjusting mechanism 3 through a signal line. The industrial camera data interface may employ an ethernet interface, a USB interface, or other signal interface.
Further, as shown in fig. 2, the chuck adjusting mechanism 3 includes a first X-axis sliding table 31, a Z-axis sliding table 32, and a three-dimensional angular displacement platform 33. The guide rail of first X axle slip table 31 is fixed on base 6, and the guide rail of Z axle slip table 32 is connected in the slider of first X axle slip table 31, and the slider of Z axle slip table 32 is connected in the base of three-dimensional angular displacement platform 33, and the output shaft of three-dimensional angular displacement platform 33 is connected in chuck 2. The position of the chuck 2 in the X-axis direction can be adjusted by the first X-axis sliding table 31, the position of the chuck 2 in the Z-axis direction can be adjusted by the Z-axis sliding table 32, and the three-dimensional angle of the chuck 2 can be adjusted by the three-dimensional angular displacement platform 33.
Specifically, the first X-axis slide table 31 and the Z-axis slide table 32 each include a displacement sensor. The three-dimensional angular displacement platform 33 comprises an X-axis rotating table, a Y-axis rotating table and a Z-axis rotating table, wherein each rotating table comprises a motor, a concave surface seat, a D-shaped plate and an angle sensor. In this embodiment, the concave base of the Y-axis turntable is connected to the slider of the Z-axis sliding table 32, the D-shaped plate of the Y-axis turntable is connected to the concave base of the X-axis turntable, the D-shaped plate of the X-axis turntable is connected to the concave base of the Z-axis turntable, and the D-shaped plate of the Z-axis turntable is connected to the chuck 2.
More specifically, the chuck 2 comprises an upper chuck and a lower chuck which are overlapped in a staggered manner, and the clamping hook of the upper chuck is positioned on the left side of the clamping hook of the lower chuck. The upper chuck and the lower chuck are driven by the cylinder, and when the cylinder works, the clamping hooks of the upper chuck and the clamping hooks of the lower chuck are close to each other to clamp the lens 7. The middle parts of the clamping hook of the upper chuck and the clamping hook of the lower chuck are synchronously provided with strip-shaped grooves so as to avoid the central part of the lens 7, namely the working part of the lens 7, in the clamping process.
Further, as shown in fig. 1 and 2, the tray adjusting mechanism 5 is further included, and the tray adjusting mechanism 5 includes a second X-axis sliding table 51 and a Y-axis sliding table 52. The guide rail of the second X-axis sliding table 51 is fixed on the base 6, the guide rail of the Y-axis sliding table 52 is connected to the slide block of the second X-axis sliding table 51, and the slide block of the Y-axis sliding table 52 is connected to the tray 1. The position of the tray 1 in the X-axis direction can be adjusted by the second X-axis slide table 51, and the position of the tray 1 in the Y-axis direction can be adjusted by the Y-axis slide table 52.
Furthermore, the tray adjusting mechanism 5 further comprises a tray mounting seat 53, the bottom end of the tray mounting seat 53 is connected to the slide block of the Y-axis sliding table 52, and the top end of the tray mounting seat 53 is connected to the tray 1 through a bolt. The position of the tray 1 is switched to below the lens 41 by the tray mount 53.
The lens clamping method using the lens clamping device provided by the embodiment of the invention comprises the following steps:
placing the lens 7 on the tray 1;
acquiring the position of the lens 7 by using the visual image detection mechanism 4;
the visual image detection mechanism 4 transmits the position information of the lens 7 to the chuck adjusting mechanism 3, and the chuck adjusting mechanism 3 calculates a clamping position 8 according to the position of the lens 7;
the chuck adjusting mechanism 3 adjusts the position of the chuck 2 to a clamping position 8;
the lens 7 is gripped by the collet 2.
Further, a in fig. 4 is an image of the lens and the lens placement groove captured by the visual image detection means, and b in fig. 4 is an image of the lens and the lens placement groove obtained by the visual image detection means after calculation processing. As shown in fig. 4, the step of acquiring the position of the lens 7 by the visual image detection mechanism 4 includes the following sub-steps:
transmitting light rays by using the first through hole 12, acquiring an image of the side surface of the lens 7, and calculating an angle value between the side surface of the lens 7 and a preset reference line to obtain a lens inclination angle α;
as shown in fig. 4, when the number of the second through holes 13 is one, the second through holes 13 transmit light, an image of the front end surface (i.e., the first end surface) of the lens 7 is obtained, position information of the front end surface of the lens 7 is obtained, and position information of the rear end surface (i.e., the second end surface) of the lens 7 is calculated according to the length H of the lens 7.
In addition, when the number of the second through holes 13 is two (not shown in the figure), images of the front end surface and the rear end surface of the lens 7 are acquired by using the two second through holes 13, and position information of the front end surface and the rear end surface of the lens 7 is obtained.
Specifically, the preset reference line in the present embodiment is a right side line of the lens placement groove 11.
Further, the placement image of the lens 7 in the lens placement groove 11 can be obtained according to the position information of the front end surface and the rear end surface of the lens 7 and the lens inclination angle α. according to the size of the collet 2, the center line of the strip-shaped groove of the collet 2 is overlapped with the center line of the lens 7 or has a certain offset, and then the final gripping position 8 of the collet 2 can be calculated.
Further, as shown in fig. 5, the step of adjusting the position of the collet 2 to the gripping position 8 by the collet adjusting mechanism 3 includes the following sub-steps:
and moving the chuck 2 to the position above the lens 7 from the initial position, wherein the height difference between the chuck 2 and the lens 7 is a preset height. Specifically, it may be set to 1 to 3 mm.
Acquiring the position of the chuck 2 by using the visual image detection mechanism 4, and rotating the chuck 2 according to the lens inclination angle α to enable the clamping surface of the chuck 2 to be parallel to the side surface of the lens 7;
the distance between the gripping surface of the collet 2 and the side surface of the lens 7 is calculated to obtain the translation distance L. Specifically, the component of the translation distance L along the Y-axis is L1Adjustment can be made by the Y-axis slide table 52. The component of the translation distance L along the X-axis is L2Adjustment can be performed by the first X-axis slide table 31.
And moving the chuck 2 to the clamping position 8 according to the translation distance L and the preset height.
Specifically, as shown in fig. 5, the adjustment process of the collet 2 is divided into four stages: first stageWhen the lens holding apparatus is in the first position 2-1, the grip surface of the grip 2 is parallel to the right side of the lens holding groove 11, and the angle between the grip surface of the grip 2 and the lens 7 is equal to the lens tilt angle α. the grip 2 is rotated by the lens tilt angle α, so that the grip 2 is in the second position 2-2, the grip surface of the grip 2 is parallel to the side of the lens 7. then, the L-axis slide 52 is moved1Such that the collet 2 is in the third position 2-3 of the collet and the centre line of the collet 2 coincides with the centre line of the lens 7. Then, L is moved by the first X-axis slide table 312So that the gripping head 2 is in the fourth position 2-4 of the gripping head and the gripping surface of the gripping head 2 is above the gripping position 8. Next, the chuck 2 is located at the gripping position 8 by moving down the Z-axis slide table 32 by a preset height. And finally, opening the air cylinder to enable the upper chuck and the lower chuck to be close to each other, and performing clamping operation.
Further, after the position of the lens 7 is acquired by the visual image detection mechanism 4, before the visual image detection mechanism 4 transmits the position information of the lens 7 to the chuck adjusting mechanism 3, the method further comprises the following steps:
acquiring a preset value of lens position deviation;
calculating a deviation value between the position of the lens 7 and the standard lens position;
comparing the deviation value with a preset value of the lens position deviation;
if the deviation value is larger than the preset value of the lens position deviation, stopping the clamping operation, and sending prompt information to prompt a worker to replace the lens;
if the deviation value is less than or equal to the preset lens position deviation value, the visual image detection mechanism 4 is used for transmitting the position information of the lens 7 to the chuck adjusting mechanism 3, and the subsequent operation is continuously executed.
According to the lens clamping device and the lens clamping method provided by the invention, the clamping head replaces manual work to clamp the lens, so that the randomness of the clamping process is reduced, and the clamping force is more stable. Meanwhile, the vision image detection mechanism replaces human eyes to measure and judge, the position information of the lens is transmitted to the chuck adjusting mechanism, and the chuck adjusting mechanism adjusts the position of the chuck according to the measured position of the lens, so that the accuracy of the clamping process is improved, and the pollution to the working surface of the lens is avoided. The chuck adjusting mechanism and the visual image detection mechanism supplement each other, so that the automatic and continuous operation of the lens clamping process can be realized, the efficiency of the clamping process is improved, the labor and the time are saved, and the position reference is provided for the subsequent lens installation.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (7)
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| CN112573187A (en) * | 2020-11-30 | 2021-03-30 | 中南大学 | Automatic lens identification and clamping device |
| CN113745966B (en) * | 2021-09-15 | 2024-03-19 | 中南大学 | Automatic coupling packaging method for array type reflecting mirror |
| CN113777724A (en) * | 2021-09-15 | 2021-12-10 | 中南大学 | Automatic coupling packaging method for collimating type micro-lens |
| CN115302445B (en) * | 2022-10-11 | 2023-02-10 | 昆山三智达自动化设备科技有限公司 | Efficient assembly process of laser pumping source based on module unit |
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