Lens cleaning device

Abstract

The present invention discloses a lens cleaning device, comprising a multi-degree-of-freedom mechanical arm and an end-actuating mechanism assembled at the end of the multi-degree-of-freedom mechanical arm; the end-actuating mechanism comprises: a mounting seat fixedly connected to the end of the multi-degree-of-freedom mechanical arm; at least two three-finger clamps for automatically clamping the edge of the lens, the three-finger clamps being symmetrically mounted on the mounting seat; at least two blowing components matched one by one with the three-finger clamps and used for blowing away dust on the surface of the lens, so as to reduce the cleaning workload and improve the cleaning efficiency.

Description

Technical Field

[0001] The invention relates to the technical field of lens cleaning, in particular to a lens cleaning device. Background Art

[0002] Optical glass is made of high-purity oxides of silicon, boron, sodium, potassium, zinc, lead, magnesium, calcium, barium, etc. mixed according to a specific formula, melted at high temperature in a platinum crucible, stirred evenly with ultrasound to remove bubbles, and then slowly cooled for a long time. It must undergo a series of tests before it becomes an optical lens blank. During the processing of optical lenses, the lenses need to be cleaned.

[0003] In order to remove dust or other dirt on optical lenses, the traditional method is that people manually wipe the lenses one by one. This method is time-consuming and labor-intensive, and greatly increases people's workload. For the problem of blowing dust off cylindrical optical lenses, the common method is that workers wear gloves, pick up the lenses, blow on both sides with a dust gun, and put them back in place after blowing. This is time-consuming and inefficient, and there is a problem of contaminating the lenses through fingers. There are also some lens cleaning devices at present, but these devices can only clean one side of the mirror surface, and manual surface replacement is required, and the process is relatively cumbersome. Therefore, how to reasonably solve these problems is what we need to consider. Summary of the invention

[0004] The purpose of the present invention is to provide a lens cleaning device to reduce the cleaning workload and improve the cleaning efficiency.

[0005] The object of the present invention is achieved as follows: a lens cleaning device comprises a multi-degree-of-freedom mechanical arm and an end-actuating mechanism mounted on the end-actuating end of the multi-degree-of-freedom mechanical arm;

[0006] The end effector comprises:

[0007] A mounting base fixedly connected to the execution end of a multi-degree-of-freedom robotic arm;

[0008] At least two three-finger clamps for automatically clamping the edge of the lens, the three-finger clamps being installed on the mounting seat symmetrically;

[0009] At least two blowing assemblies matched one by one with the three-finger claws and used for blowing away dust on the surface of the lens.

[0010] Further, the three-finger claw comprises:

[0011] A first clamping claw rod and a second clamping claw rod respectively abut against two opposite sides of the lens when clamping, the first clamping claw rod and the second clamping claw rod are movably connected to a mounting seat, and a driving element is installed in a protective cover arranged on the mounting seat to drive the first clamping claw rod and the second clamping claw rod to move relative to each other in a horizontal direction to clamp / release the lens;

[0012] A limiting claw rod is staggered with the first claw rod and the second claw rod and limits the edge position of the lens, and the upper end of the limiting claw rod is connected to the mounting seat.

[0013] Furthermore, the clamping ends of the first clamping claw rod and the second clamping claw rod are both connected with suction cups, and the suction cups directly contact the edge of the lens.

[0014] Furthermore, the clamping ends of the first clamping claw rod and the second clamping claw rod are both rotatably connected to the suction cup, and the rotation axes of the two suction cups coincide to form a central axis for turning the clamped lens up and down.

[0015] Furthermore, the limiting claw rod is provided with a limiting protrusion that abuts against the mirror surface of the lens when clamping the lens, and the air outlet end of the blowing assembly faces downward directly to the mirror surface of the lens and maintains a preset distance from the mirror surface of the lens;

[0016] Assume that the two mirror surfaces of the lens are respectively the first mirror surface and the second mirror surface. During the first dust blowing, the first mirror surface faces upward and abuts against the limiting protrusion. During the second dust blowing, the lens is rotated around the central axis of the upside-down flip so that its second mirror surface faces upward, and the limiting protrusion supports the lens.

[0017] Furthermore, the limiting claw rod is configured as an electric telescopic rod portion, which has a fixed portion and a telescopic rod portion, the fixed portion is fixedly connected to a mounting seat, the telescopic rod portion is telescopically and movably connected to the fixed portion, and the limiting protrusion is arranged on the telescopic rod portion body.

[0018] Furthermore, the blowing assembly includes a first air nozzle and a second air nozzle, and the first air nozzle and the second air nozzle are respectively located on the left and right sides of the up and down flipping center axis of the lens. The first air nozzle is relatively close to the limiting claw rod and outputs air flow downward when the lens needs to be flipped, so that the lens rotates around its up and down flipping center axis and flips over.

[0019] The beneficial effects of the present invention are:

[0020] The mirror surface can be turned over during the dust removal process so that dust on both mirror surfaces of the lens can be removed. The whole process is automated, thus reducing the cleaning workload and improving cleaning efficiency.

[0021] By installing the end effector on a multi-degree-of-freedom robotic arm and completing a series of operations such as clamping, blowing dust, flipping, blowing dust and returning to the original position, the structure is simple and reliable with low overall cost. In addition, multiple three-finger claws can be installed on one robotic arm to be able to clean multiple lenses at the same time, thereby improving its work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0023] Figure 2 It is a structural diagram of the end effector.

[0024] Figure 3 It is a schematic diagram of the clamping of the three-finger clamp.

[0025] Figure 4 It is a schematic diagram of the flipping and cleaning principle of the lens.

[0026] In the figure, there are a multi-degree-of-freedom robot arm 10; an end actuator 20; a suction cup 201; a mounting seat 21; a three-finger claw 22; a first claw rod 221; a second claw rod 222; a limiting claw rod 223; a fixing portion 2231; a telescopic rod portion 2232; a limiting protrusion 2233; an air blowing assembly 23; a first air nozzle 231; a second air nozzle 232; a lens 101; a first mirror surface 101a; a second mirror surface 101b; and a protective cover 211. DETAILED DESCRIPTION

[0027] The following is combined with Figure 1-4 The present invention is further illustrated with reference to the accompanying drawings and specific embodiments.

[0028] like Figure 1-4 As shown, a lens cleaning device comprises a multi-degree-of-freedom robot arm 10 and an end actuator 20 mounted on the end of the multi-degree-of-freedom robot arm 10. The multi-degree-of-freedom robot arm 10 mentioned in this embodiment can perform multi-degree-of-freedom motions, outputting movements such as lifting, translation, horizontal rotation, and vertical rotation.

[0029] In this embodiment, a depth camera is also installed on the end effector 20, and the position of the lens to be cleaned is determined by the depth camera. The control unit then controls the multi-degree-of-freedom robotic arm 10 to move the end effector 20 above the lens to be cleaned, so that the end effector 20 can clamp the lens 101 to be cleaned for cleaning.

[0030] like Figure 2 As shown, the end effector 20 comprises:

[0031] A mounting base 21 fixedly connected to the execution end of the multi-degree-of-freedom robot arm 10;

[0032] Two three-finger claws 22 for automatically clamping the edge of the lens 101, the three-finger claws 22 are installed on the mounting seat 21 symmetrically, and a plurality of three-finger claws 22 can be installed;

[0033] Two blowing components 23 are matched with the three-finger claws 22 one by one and are used to blow away dust on the surface of the lens 101. The blowing components 23 are matched with the three-finger claws 22, and several blowing components 23 can also be provided to clean several lenses 101 at one time to improve efficiency.

[0034] Among them, during the working process, the three-finger claw 22 is used to clamp the lens 101 and blow air to clean the lens 101, and the end actuator 20 can change the height from the lens under the action of the multi-degree-of-freedom robotic arm 10, that is, the end actuator 20 can be raised and lowered under the action of the multi-degree-of-freedom robotic arm 10, so as to grab the lens 101 for cleaning or place the cleaned lens 101. In this embodiment, under the action of the multi-degree-of-freedom robotic arm 10, the height range of the end actuator 20 after grabbing the lens is set to, for example, between 50 mm and 100 mm, so as to prevent obstruction during the process of turning over the lens 101.

[0035] Among them, Figure 2-4 As shown, the three-finger claw 22 includes:

[0036] The first claw rod 221 and the second claw rod 222 respectively abut against two opposite sides of the lens 101 during clamping, and the first claw rod 221 and the second claw rod 222 are movably connected to the mounting seat 21. A driving element is installed in the protective cover 211 provided on the mounting seat 21 to drive the first claw rod 221 and the second claw rod 222 to move relative to each other in the horizontal direction to clamp / release the lens 101.

[0037] A limiting claw rod 223 is staggered with the first claw rod 221 and the second claw rod 222 and limits the edge position of the lens 101 , and the upper end of the limiting claw rod 223 is connected to the mounting seat 21 .

[0038] In addition, if Figure 3 As shown, the clamping ends of the first claw rod 221 and the second claw rod 222 are both connected with a suction cup 201, and the suction cup 201 directly contacts the edge of the lens 101. In this embodiment, the suction cup 201 is made of silicone to prevent the suction cup or the claw from expanding with the lens 101 during the process of clamping the lens 101 to be cleaned, thereby preventing the lens 101 to be cleaned from being damaged by the suction cup or the claw, so as to better protect the lens 101 to be cleaned.

[0039] The clamping ends of the first clamping claw rod 221 and the second clamping claw rod 222 are both rotatably connected to the suction cup 201 , and the rotation axes of the two suction cups 201 coincide with each other to form a central axis for the upside-down flipping of the clamped lens 101 .

[0040] like Figure 2 , 4 As shown, the above-mentioned limiting claw rod 223 is provided with a limiting protrusion 2233 that abuts against the mirror surface of the lens 101 when clamping the lens 101, and the air outlet end of the blowing component 23 faces downwardly the mirror surface of the lens 101 and maintains a preset distance from the mirror surface of the lens 101.

[0041] Assume that the two mirror surfaces of the lens 101 are the first mirror surface 101a and the second mirror surface 101b. During the first dust blowing, the first mirror surface 101a faces upward and abuts against the limiting protrusion 2233. During the second dust blowing, the lens 101 is rotated around the central axis of the upside-down flip so that the second mirror surface 101b faces upward, and the limiting protrusion 2233 supports the lens 101.

[0042] The above-mentioned limiting claw rod 223 is configured as an electric telescopic rod, which has a fixed part 2231 and a telescopic rod 2232. The fixed part 2231 is fixedly connected to the mounting seat 21, and the telescopic rod 2232 is telescopically and movably connected to the fixed part 2231. The limiting protrusion 2233 is arranged on the rod body of the telescopic rod 2232.

[0043] The above-mentioned blowing assembly 23 includes a first air nozzle 231 and a second air nozzle 232. The first air nozzle 231 and the second air nozzle 232 are respectively located on the left and right sides of the up and down flipping center axis of the lens 101. The first air nozzle 231 is relatively close to the limiting claw rod 223 and outputs air flow downward when the lens 101 needs to be flipped, so that the lens 101 rotates around its up and down flipping center axis and turns over.

[0044] It should be noted that, in the present embodiment, a protective cover 211 is provided on the upper cover of the mounting base 21, and a receiving chamber is formed between the protective cover 211 and the mounting base 21, and different driving components and a microcontroller are installed in the receiving chamber. The driving component includes, for example, a driving motor for driving the first claw rod 221 and the second claw rod 222 to clamp and release, a driving part for driving the limit claw rod 223 to lift and lower, and an air pump for controlling the first air nozzle 231 and the second air nozzle 232, and the above-mentioned driving motor and air pump are connected to the microcontroller to control the driving motor and the air pump to work.

[0045] like Figure 4 As shown, the working process of the lens cleaning device of this embodiment is as follows: first, the position of the lens 101 to be cleaned is determined. In this embodiment, the working tray on which the lens 101 to be cleaned is placed is photographed by a depth camera to determine the three-dimensional coordinates of the lens 101 to be cleaned; the end effector 20 is driven to the specified position by the multi-degree-of-freedom robot 10, and the first claw rod 221 and the second claw rod 222 are opened; the first claw rod 221 and the second claw rod 222 are tightened to grab the lens 101 to be cleaned, and the end effector 20 is lifted by the multi-degree-of-freedom robot 10, so as to lift the lens 101 to a certain height.

[0046] The telescopic rod portion 2232 of the limiting claw rod 223 descends, so that the limiting protrusion 2233 on the telescopic rod portion 2232 is tightly attached to the upper position of one side of the lens 101, and the air pump drives the second air nozzle 232 to work to blow away the dust on the first mirror surface 101a of the lens 101. At this time, the limiting protrusion 2233 is used to abut against and limit the first mirror surface 101a of the lens 101, which is equivalent to the limiting protrusion 2233 and the second air nozzle 232 The blowing force points are located on the left and right sides of the flip center axis of the lens 101 to prevent the lens 101 from rotating during the blowing process.

[0047] Then, the first air nozzle 231 blows air to turn the lens 101 over. At the same time, the telescopic rod 2232 of the limiting claw rod 223 descends, so that the limiting protrusion 2233 supports the lower side of the lens 101, so that the second mirror surface 101b faces upward. It should be noted that the descending height of the telescopic rod 2232 is the thickness of the lens 101, and then the first air nozzle 231 is used to blow the second mirror surface 101b of the lens 101. At this time, the blowing force point of the first air nozzle 231 is between the limiting protrusion 2233 and the flipping center axis of the lens 101 to prevent the lens 101 from flipping during the blowing process.

[0048] Finally, the multi-degree-of-freedom robot arm 10 drives the end effector 20 to a designated position, releases the three-finger gripper 22, and puts down the cleaned lens 101.

[0049] It should be noted that the force generated by the blowing of the first air nozzle 231 needs to be coordinated with the action of the limit claw rod 223 to ensure that the limit claw rod 223 has reached the specified height before the lens 101 is flipped over.

[0050] The above are preferred embodiments of the present invention. A person skilled in the art may make various changes or improvements on this basis. Without departing from the general concept of the present invention, these changes or improvements should fall within the scope of protection required by the present invention.

Claims

1. A lens cleaning device, characterized in that: It comprises a multi-degree-of-freedom mechanical arm (10) and an end-actuating mechanism (20) mounted on the end-actuating end of the multi-degree-of-freedom mechanical arm (10); The end effector (20) comprises: A mounting base (21) fixedly connected to the execution end of the multi-degree-of-freedom robotic arm (10); At least two three-finger clamping claws (22) for automatically clamping the edge of the lens (101), wherein the three-finger clamping claws (22) are installed on the mounting seat (21) in a bilaterally symmetrical manner; At least two blowing components (23) matched one-to-one with the three-finger claws (22) and used to blow away dust on the surface of the lens (101); Wherein, the three-finger claw (22) comprises: A first clamping claw rod (221) and a second clamping claw rod (222) respectively abut against two opposite sides of the lens (101) when clamping, the first clamping claw rod (221) and the second clamping claw rod (222) being movably connected to the mounting seat (21), and a driving element being installed in a protective cover (211) provided on the mounting seat (21) to drive the first clamping claw rod (221) and the second clamping claw rod (222) to move relative to each other in a horizontal direction to clamp / release the lens (101); a limiting claw rod (223) which is staggered with the first claw rod (221) and the second claw rod (222) and limits the edge position of the lens (101), wherein the upper end of the limiting claw rod (223) is connected to the mounting seat (21); In addition, the clamping ends of the first clamping claw rod (221) and the second clamping claw rod (222) are both connected to a suction cup (201), and the suction cup (201) directly contacts the edge of the lens (101). The clamping ends of the first clamping claw rod (221) and the second clamping claw rod (222) are both rotatably connected to the suction cup (201), and the rotation axes of the two suction cups (201) coincide, so as to form a central axis for the upside-down flipping of the clamped lens (101).

2. A lens cleaning device according to claim 1, characterized in that: The limiting claw rod (223) is provided with a limiting protrusion (2233) that abuts against the mirror surface of the lens (101) when clamping the lens (101), and the air outlet end of the blowing component (23) faces downward directly to the mirror surface of the lens (101) and maintains a preset distance from the mirror surface of the lens (101); Assuming that the two mirror surfaces of the lens (101) are respectively a first mirror surface (101a) and a second mirror surface (101b), during the first dust blowing, the first mirror surface (101a) faces upwards and abuts against a limiting protrusion (2233), and during the second dust blowing, the lens (101) rotates around the upside-down flipping center axis so that its second mirror surface (101b) faces upwards, and the limiting protrusion (2233) supports the lens (101).

3. A lens cleaning device according to claim 2, characterized in that: The limiting claw rod (223) is configured as an electric telescopic rod portion, comprising a fixed portion (2231) and a telescopic rod portion (2232), wherein the fixed portion (2231) is fixedly connected to the mounting seat (21), and the telescopic rod portion (2232) is telescopically and movably connected to the fixed portion (2231), and the limiting protrusion (2233) is provided on the rod body of the telescopic rod portion (2232).

4. A lens cleaning device according to claim 2 or 3, characterized in that: The blowing assembly (23) comprises a first air nozzle (231) and a second air nozzle (232), wherein the first air nozzle (231) and the second air nozzle (232) are respectively located on the left and right sides of the vertical flipping center axis of the lens (101), and the first air nozzle (231) is relatively close to the limit clamping claw rod (223) and outputs air flow downward when the lens (101) needs to be flipped, so that the lens (101) rotates around its vertical flipping center axis and turns over.

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