Full-automatic lens centering adjustment equipment and control method thereof

Abstract

The invention discloses full-automatic lens centering adjustment equipment and a control method thereof, and relates to the technical field of optical lens centering, and the full-automatic lens centering adjustment equipment comprises a base, a lens fixing mechanism, a rotary centering mechanism, a detection mechanism and a control system; the lens fixing mechanism is arranged on the base and used for fixing lenses to be centered and adjusted of different specifications through flexible clamping and cooperating with other mechanisms to work; the rotary aligning mechanisms are symmetrically arranged on the two sides of the lens fixing mechanism and used for carrying out all-directional centering adjustment on the lens to be centered and adjusted; the detection mechanism is used for acquiring lens state information in real time through multi-dimensional perception; and the control system is used for generating a control instruction according to the lens state information acquired by the detection mechanism, controlling actions of the lens fixing mechanism and the rotary aligning mechanism, and completing full-automatic centering adjustment of the optical lens. According to the invention, automation, high precision and high consistency of centering adjustment of the lens can be realized, the imaging quality of the lens is improved, and maintenance and upgrading of equipment are facilitated.

Description

Technical Field

[0001] The present invention relates to the technical field of optical lens centering, and more particularly to a fully automatic lens centering and adjusting device and a control method thereof. Background Art

[0002] Centering accuracy is a crucial parameter in optical lens assembly and adjustment, characterizing the consistency of each optical axis of the lens. Due to clearance, the optical axis of each lens can experience center deviation relative to the reference axis, either offset, tilt, or both. This lens center deviation directly impacts centering accuracy, disrupting the coaxiality and symmetry of the optical system, and even severely affecting the system's optical quality. Therefore, after the optical lens and lens barrel are aligned and assembled, centering adjustment of the lens is necessary.

[0003] At present, the centering and adjustment technologies commonly used in the industry are mainly divided into the following two categories: one is manually assisted mechanical centering, in which the operator uses tools such as micrometers and optical autocollimators to detect the eccentricity of the lens, and manually adjusts the lens position or rotates the lens mount to achieve centering. However, this method relies on the operator's experience and is limited by his or her skill level. It is difficult to ensure consistency and the random errors introduced by manual intervention are difficult to eliminate. In addition, repeated disassembly and inspection are required during adjustment, which is inefficient. The second is the use of semi-automatic equipment, which uses a motor to drive the clamping mechanism and cooperates with offline detection data to achieve position correction. This improves efficiency to a certain extent, but most equipment only supports single-angle adjustment and cannot correct dynamic deformation during the installation process in real time. When it comes to aspheric, ultra-thin lenses or special-shaped lens barrels, traditional mechanical fixtures are prone to cause lens barrel distortion.

[0004] With the rapid development of the optical industry, the requirements for the accuracy, efficiency and consistency of lens barrel centering and adjustment are becoming increasingly higher. Therefore, how to obtain a device and its control method that can achieve fully automatic, high-precision lens centering and adjustment and break through the existing process bottleneck is a technical problem that technical personnel in this field urgently need to solve. Summary of the Invention

[0005] In view of this, the present invention provides a fully automatic lens centering and adjusting device and a control method thereof, which solves the problems existing in the background technology.

[0006] In order to achieve the above object, the present invention provides the following technical solutions: A fully automatic lens centering and adjusting device, comprising: a base, a lens fixing mechanism, a rotating centering mechanism, a detection mechanism, and a control system; The lens fixing mechanism is provided on the base and is used to fix lenses of different specifications to be centered and adjusted through flexible clamping and to work in conjunction with other mechanisms; The rotating centering mechanism is symmetrically arranged on both sides of the lens fixing mechanism, and is used to perform all-round centering adjustment on the lens to be centered; A detection mechanism for obtaining the lens status information in real time through multi-dimensional perception; A control system for generating control instructions according to the lens status information collected by the detection mechanism, controlling the actions of the lens fixing mechanism and the rotary centering mechanism, and completing the full-automatic centering and alignment of the optical lens.

[0007] Optionally, the base includes: a frame body and a vibration isolation platform; The frame body is made of carbon fiber composite material, and the internal is a honeycomb support structure; The vibration isolation platform adopts an air-floating active vibration isolation system to suppress the vertical and horizontal vibrations of the base through air pressure adjustment.

[0008] Optionally, the lens fixing mechanism includes: a flexible clamping device and a lifting platform; The flexible clamping device is used to fix lenses of different specifications through an adaptive contact force and suppress the mechanical stress on the optical elements during the clamping process; The lifting platform is used to adjust the axial height and tilt angle of the lens according to the real-time feedback data of the detection mechanism to cooperate with the rotary centering mechanism to complete the centering and alignment.

[0009] Optionally, the flexible clamping device includes: a pneumatic adsorption fixture and a radial elastic limiting ring; The pneumatic adsorption fixture is arranged on the end face of the lens fixing mechanism and is used to adsorb and fix the end face of the lens through vacuum negative pressure; The radial elastic limiting ring is made of silicone rubber material, and the inner wall is a profiling surface adapted to the outer contour of the lens, and is used to provide a uniformly distributed contact force through radial elastic deformation.

[0010] Optionally, the rotary centering mechanism is a six-degree-of-freedom parallel platform, which is used to drive the lens to realize the translation along the X / Y / Z axes and the rotation adjustment around the X / Y / Z axes through the coordinated expansion and contraction of six groups of electric chains.

[0011] Optionally, the detection mechanism includes: an optical detection unit and a sensor unit; The optical detection unit includes a laser displacement sensor and an interferometer distributed in a ring shape; among them, the laser displacement sensors are arranged at equal angles along the circumferential direction of the lens and are used to measure the radial eccentricity and local curvature change of the lens in real time; the optical path of the interferometer is coaxial with the optical axis of the lens and is used to obtain the surface shape error and axial tilt angle of the lens surface; The sensor unit includes a multi-axis sensor, a strain sensor and a temperature sensor integrated in the lens fixing mechanism, and is used to monitor the attitude micro-changes, clamping stress and thermal drift of the lens during the centering and alignment process.

[0012] Optionally, the control system includes: an industrial computer and a programmable logic device; An industrial computer is used to receive multi-dimensional perception data from a detection mechanism, and adopts an adaptive control algorithm to generate multi-degree-of-freedom adjustment parameters for a rotary centering mechanism and a clamping force correction instruction for a lens fixing mechanism. A programmable logic device is used to convert the adjustment parameters and correction instructions of the industrial computer into motor drive signals, control the rotary centering mechanism and the lens fixing mechanism to perform actions, and dynamically correct the motor drive signals based on feedback signals.

[0013] A control method for a full-automatic lens centering and assembling and adjusting device according to any one of the above, comprising the following steps: Place the lens to be centered and assembled on the lens fixing mechanism, and control the lens fixing mechanism to clamp the lens and adjust it to a suitable height through a control system. Use the detection mechanism to perform multi-dimensional perception on the lens, obtain the lens state information and transmit it to the control system. The control system obtains the displacement and angle amounts that the lens needs to be adjusted according to the lens state information, generates a control instruction, controls the rotary centering mechanism to act, and performs centering adjustment on the lens. During the adjustment process, the detection mechanism continuously detects the parameter changes of the lens and the action state of the rotary centering mechanism and feeds them back to the control system. The control system continuously adjusts the control instruction according to the feedback data until the lens reaches the preset centering accuracy requirement. When the lens centering adjustment is completed, the control system controls the lens fixing mechanism to release the lens, and completes a lens centering and assembling and adjusting operation.

[0014] Optionally, controlling the lens fixing mechanism to clamp the lens and adjust it to a suitable height through a control system specifically includes the following steps: Collect the end face image and outer contour image of the lens and perform feature extraction to identify the model identification of the lens. According to the identified lens identification, call the corresponding standard initial height, clamping force threshold and centering path planning parameters from the assembling and adjusting parameter database. Control the lens fixing mechanism to move the lens to the standard initial height, and compensate the positioning error according to the deviation between the actual outer contour size of the lens and the standard parameters until the initial positioning accuracy is met.

[0015] It can be seen from the above technical solutions that compared with the prior art, the present invention discloses a full-automatic lens centering and assembling and adjusting device and its control method, which has the following beneficial effects: The present invention realizes the full automation of lens centering and assembling and adjusting, without manual intervention, greatly improves the assembling and adjusting efficiency, and reduces the labor cost. The present invention utilizes a high-precision detection mechanism and an advanced control system, which can achieve precise measurement and control of the lens state parameters, ensure high precision and high consistency in lens centering and alignment, and improve the imaging quality of the lens. The lens fixing mechanism of the present invention can adapt to the alignment of lenses of different specifications and has strong adaptability; the rotary centering mechanism can adjust the lens in all directions, improving the adaptability and flexibility of the equipment. The control system of the present invention combines an industrial computer and a PLC, which has the advantages of high stability, strong reliability, easy programming and expansion, etc., facilitating the maintenance and upgrade of the equipment. Generally speaking, based on the above solutions, the present invention can combine the automation, high precision and high consistency of lens centering and alignment, improve the imaging quality of the lens, and facilitate the maintenance and upgrade of the equipment. Brief Description of the Drawings

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only the embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained according to the provided drawings.

[0017] Figure 1 It is a structural diagram of the full-automatic lens centering and alignment equipment provided by the present invention. Figure 2 It is a flow chart of the control method of the full-automatic lens centering and alignment equipment provided by the present invention. Detailed Embodiments

[0018] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.

[0019] In the production and manufacturing process of optical lenses, the centering and alignment of lenses is a key link to ensure the imaging quality of lenses. To achieve the automation, high precision and high consistency of lens centering and alignment, the embodiments of the present invention disclose a full-automatic lens centering and alignment equipment, as Figure 1 shown, including: a base, a lens fixing mechanism, a rotary centering mechanism, a detection mechanism, and a control system; The lens fixing mechanism is arranged on the base and is used to fixedly clamp different specifications of lenses to be centered and aligned through flexible clamping and cooperate with other mechanisms. The rotation centering mechanism is symmetrically arranged on both sides of the lens fixing mechanism and is used for performing full - range centering adjustment on the lens to be centered and adjusted. The detection mechanism is used to obtain the lens state information in real - time through multi - dimensional perception. The control system is used to generate control commands according to the lens state information collected by the detection mechanism, control the actions of the lens fixing mechanism and the rotation centering mechanism, and complete the full - automatic centering and adjustment of the optical lens.

[0020] Furthermore, the base, as the basic support structure of the equipment, has a decisive impact on the overall adjustment accuracy and stability. In this embodiment, to ensure stability under environmental interference, the base includes: a frame body and a vibration isolation platform; The frame body is made of carbon fiber composite material, and the internal structure is a honeycomb - shaped support structure, which can improve rigidity while reducing weight. The vibration isolation platform adopts an air - floating active vibration isolation system, which suppresses the vertical and horizontal vibrations of the base through air pressure adjustment and isolates external vibrations.

[0021] In addition, a deformation monitoring module can be further integrated inside the base. The temperature gradient and strain distribution of the base are detected in real - time by fiber Bragg grating sensors distributed at the four corners and the center of the base. The control system dynamically corrects the adjustment amount of the rotation centering mechanism according to the deformation monitoring data, compensates for the adjustment error caused by the deformation of the base, and can break through the accuracy limit of the traditional rigid base.

[0022] Furthermore, the lens fixing mechanism includes: a flexible clamp and a lifting platform; The flexible clamp is used to fix lenses of different specifications through an adaptive contact force and suppress the mechanical stress on the optical elements during the clamping process. The lifting platform is used to adjust the axial height and tilt angle of the lens according to the real - time feedback data of the detection mechanism to cooperate with the rotation centering mechanism to complete the centering adjustment.

[0023] In this embodiment, the lifting platform is a ball screw mechanism driven by a servo motor, which can ensure high - precision linear motion; the vertical stroke is 0 - 200mm, which can cover the height requirements of common lens barrels; the repeat positioning accuracy is ≤1μm, which can ensure the stability of the lens axial positioning and meet the adjustment requirements at the sub - micron level. In addition, the lifting platform can cooperate with the detection mechanism to preliminarily correct the lens tilt during the clamping stage, reduce the adjustment amount of the subsequent rotation centering mechanism, and improve the overall efficiency.

[0024] Even further, to achieve the composite constraint of the lens in the axial and radial directions, the flexible clamp in this embodiment includes: a pneumatic adsorption clamp and a radial elastic limit ring; The pneumatic adsorption fixture is provided at the end face of the lens fixing mechanism and is used to adsorb and fix the end face of the lens through vacuum negative pressure, avoiding interference with other mechanisms. Among them, the pneumatic adsorption fixture includes annularly distributed vacuum adsorption holes and a negative pressure cavity connected to a vacuum generating device. Vacuum negative pressure adsorption can provide non-mechanical contact fixing, avoiding the occlusion or contamination of the optical surface by traditional clamping jaws. The radial elastic limit ring is made of silicone rubber material, and its inner wall is a profiling curved surface adapted to the outer contour of the lens, which is used to provide uniformly distributed contact force through radial elastic deformation. Among them, the low-modulus silicone rubber material can ensure the flexibility and anti-wear performance of the contact surface, avoiding lens scratches or stress concentration caused by hard contact. The design of the profiling curved surface can increase the contact area and evenly distribute the clamping force, which is suitable for aspherical or ultra-thin lenses.

[0025] Furthermore, the rotary alignment mechanism is a six-degree-of-freedom parallel platform, which is used to drive the lens to achieve translation along the X / Y / Z axes and rotation adjustment around the X / Y / Z axes through the coordinated telescoping of six groups of electric chains.

[0026] In this embodiment, each group of electric chains includes a linear motor, a high-precision ball joint and a force sensor. The linear motor realizes the adjustment of the chain length through servo control. The moving platform of the rotary alignment mechanism is connected to the lens fixing mechanism. Through the coordinated telescoping of six groups of chains, high-precision multi-degree-of-freedom coordinated adjustment can be achieved, with a positioning accuracy of ≤0.1μm and an angular resolution of ≤1μrad.

[0027] Furthermore, in order to obtain multi-dimensional perception information of the lens state, the detection mechanism of this embodiment includes: an optical detection unit and a sensor unit; The optical detection unit includes annularly distributed laser displacement sensors and interferometers, which can cover the 360° circumferential detection of the lens, avoiding single-point detection blind spots. Among them, the laser displacement sensors are arranged at equal angles along the circumferential direction of the lens to ensure the uniformity of data, and are used to measure the radial eccentricity (offset in the X / Y directions) and local curvature change (lens deformation or assembly misalignment) of the lens in real time. The optical path of the interferometer is coaxial with the optical axis of the lens, and is used to obtain the surface shape error and axial tilt angle of the lens surface, which can avoid off-axis interference from introducing aberrations and improve the measurement accuracy of the tilt angle. The sensor unit includes a multi-axis sensor, a strain sensor and a temperature sensor integrated in the lens fixing mechanism, which are used to monitor the micro-variation of the lens attitude, clamping stress and thermal drift during the centering and alignment process. Among them, the multi-axis sensor monitors the overall attitude of the lens and compensates for the local measurement error of the optical detection unit. The strain sensor is embedded in the clamping surface of the lens fixing mechanism to feedback the clamping stress distribution in real time and prevent the lens from cracking due to overload. The temperature sensor detects the ambient temperature and the thermal expansion caused by the motor heating during the alignment process, and provides temperature drift compensation parameters for the control system.

[0028] Based on the above design, the optical detection unit of this embodiment covers geometric errors such as eccentricity, tilt, and surface shape, and the sensor unit captures physical field interferences such as stress, temperature, and vibration, realizing full-state monitoring of the alignment process. By fusing multi-source data, the reliability of state perception is improved to meet the real-time closed-loop control requirements of dynamic alignment.

[0029] Furthermore, to achieve dynamic control of lens centering and alignment, the control system of this embodiment includes: an industrial computer and a programmable logic device (PLC). The industrial computer communicates with the PLC through an industrial Ethernet, and the data interaction period ≤ 1 ms, which can ensure real-time performance and meet the requirements of high-dynamic alignment; The industrial computer is used to receive multi-dimensional perception data from the detection mechanism, and adopts an adaptive control algorithm (such as an adaptive PID based on Lyapunov stability theory) to generate multi-degree-of-freedom adjustment parameters for the rotary centering mechanism and clamping force correction instructions for the lens fixing mechanism; The programmable logic device is used to convert the adjustment parameters and correction instructions of the industrial computer into motor drive signals, control the rotary centering mechanism and the lens fixing mechanism to perform actions, and dynamically correct the motor drive signals based on feedback signals.

[0030] Corresponding to Figure 1 the device shown, the embodiment of the present invention also discloses a control method for a full-automatic lens centering and alignment device, as Figure 2 shown, including the following steps: Place the lens to be centered and aligned on the lens fixing mechanism, and control the lens fixing mechanism to clamp the lens and adjust it to a suitable height through the control system; Use the detection mechanism to perform multi-dimensional perception on the lens, obtain the lens state information and transmit it to the control system; The control system obtains the displacement and angle amounts that the lens needs to be adjusted according to the lens state information, generates control instructions, controls the rotary centering mechanism to act, and performs centering adjustment on the lens; During the adjustment process, the detection mechanism real-time detects the parameter changes of the lens and the action state of the rotary centering mechanism and feeds them back to the control system. The control system continuously adjusts the control instructions according to the feedback data until the lens reaches the preset centering accuracy requirements; When the lens centering adjustment is completed, the control system controls the lens fixing mechanism to release the lens, completing one lens centering and alignment operation.

[0031] Furthermore, controlling the lens fixing mechanism to clamp the lens and adjust it to a suitable height through the control system specifically includes the following steps: Collect the end face image and outer contour image of the acquisition lens and perform feature extraction to identify the model identification of the lens; in this embodiment, a convolutional neural network can be used to perform feature extraction on the image. Different from traditional template matching, the use of deep learning algorithms can improve the recognition robustness for blurred, damaged or abnormal identifiers. According to the identified lens identifier, call the corresponding standard initial height, clamping force threshold and centering path planning parameters from the alignment parameter database. Control the lens fixing mechanism to move the lens to the standard initial height, and compensate for the positioning error according to the deviation between the actual outer contour size of the lens and the standard parameters until the initial positioning accuracy is met.

[0032] In addition, to achieve the balanced optimization of accuracy, efficiency and reliability, when the control system generates control instructions according to the lens status information, the following steps are executed: Based on the current eccentricity, tilt angle and surface shape error of the lens, simulate multiple adjustment paths through a kinematic model, and predict the centering residuals and time consumption of each path. Call the pre-stored expert knowledge base, and assign dynamic weight coefficients to each adjustment path according to the type, material characteristics and historical alignment data of the lens. Use a multi-objective optimization algorithm to comprehensively evaluate the prediction results and weight coefficients of each path to generate an optimal solution set; select the final adjustment strategy from the optimal solution set according to the requirements of the real-time alignment stage. During the adjustment process, trigger strategy replanning according to the real-time error change rate feedback by the detection mechanism, and adaptively correct the adjustment path and step size.

[0033] Based on the above design scheme, in this embodiment, multiple adjustment paths are simulated through a kinematic model, which can avoid repeated corrections caused by blind adjustment and improve the adjustment efficiency; an optimal solution set is generated based on a multi-objective optimization algorithm to ensure the best balance among accuracy, efficiency and reliability; through a closed-loop control process of multi-path simulation prediction, expert knowledge fusion, multi-objective optimization decision-making and real-time dynamic correction, the long-existing technical contradiction of "high precision - high efficiency - high versatility" in the field of optical alignment is solved.

[0034] The various embodiments in this specification are described in a progressive manner. The key points of each embodiment are the differences from other embodiments. The same or similar parts among the various embodiments can be referred to each other. For the methods disclosed in the embodiments, since they correspond to the devices disclosed in the embodiments, the description is relatively simple, and the relevant parts can be referred to the description in the method part.

[0035] The foregoing description of the disclosed embodiments enables those skilled in the art to practice or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An automatic lens centering and alignment device, characterized in that, Including: A base, a lens fixing mechanism, a rotary centering mechanism, a detection mechanism, and a control system; The lens fixing mechanism is arranged on the base and is used to fixedly clamp and adjust lenses of different specifications that need centering through flexible clamping and cooperate with other mechanisms; The rotary centering mechanism is symmetrically arranged on both sides of the lens fixing mechanism and is used to perform all-round centering adjustment on the lenses that need centering and adjustment; The detection mechanism is used to obtain the lens state information in real time through multi-dimensional perception; The control system is used to generate control instructions according to the lens state information collected by the detection mechanism, control the actions of the lens fixing mechanism and the rotary centering mechanism, and complete the full-automatic centering and adjustment of the optical lens.

2. The fully automatic lens centering and alignment device according to claim 1, wherein The base includes: A frame body and a vibration isolation platform; The frame body is made of carbon fiber composite material, and the inside is a honeycomb support structure; The vibration isolation platform adopts an air-floating active vibration isolation system, and suppresses the vertical and horizontal vibrations of the base through air pressure adjustment.

3. The fully automatic lens centering and alignment device according to claim 1, characterized in that, The lens fixing mechanism includes: a flexible clamp and a lifting platform; The flexible clamp is used to fix lenses of different specifications through adaptive contact force and suppress the mechanical stress on the optical elements during the clamping process; The lifting platform is used to adjust the axial height and tilt angle of the lens according to the real-time feedback data of the detection mechanism to cooperate with the rotary centering mechanism to complete centering and adjustment.

4. The fully automatic lens centering and alignment device according to claim 3, wherein, The flexible clamp includes: a pneumatic adsorption clamp and a radial elastic limit ring; The pneumatic adsorption clamp is arranged on the end face of the lens fixing mechanism and is used to adsorb and fix the end face of the lens through vacuum negative pressure; The radial elastic limit ring is made of silicone rubber material, and the inner wall is a profiling curved surface adapted to the outer contour of the lens, and is used to provide uniformly distributed contact force through radial elastic deformation.

5. The fully automatic lens centering and alignment equipment according to claim 1, characterized in that The rotary centering mechanism is a six-degree-of-freedom parallel platform, and is used to drive the lens to perform X / Y / Z-axis translation and rotation adjustment around the X / Y / Z axes through the coordinated telescoping of six groups of electric support chains.

6. The fully automatic lens centering and alignment device according to claim 1, characterized in that, The detection mechanism includes: an optical detection unit and a sensor unit; The optical detection unit includes a laser displacement sensor and an interferometer distributed in a ring shape; among them, the laser displacement sensors are arranged at equal angles along the circumferential direction of the lens and are used to measure the radial eccentricity and local curvature change of the lens in real time; the optical path of the interferometer is coaxial with the optical axis of the lens and is used to obtain the surface shape error and axial tilt angle of the lens surface; The sensor unit includes a multi-axis sensor, a strain sensor, and a temperature sensor integrated in the lens fixing mechanism, and is used to monitor the attitude micro-variation, clamping stress, and thermal drift of the lens during the centering and adjustment process.

7. The full-automatic lens centering and alignment device according to claim 1, characterized in that, The control system includes: an industrial computer and a programmable logic device; The industrial computer is used to receive the multi-dimensional perception data of the detection mechanism, adopt an adaptive control algorithm, and generate multi-degree-of-freedom adjustment parameters of the rotary centering mechanism and a clamping force correction instruction for the lens fixing mechanism; The programmable logic device is used to convert the adjustment parameters and correction instructions of the industrial computer into motor drive signals, control the rotary centering mechanism and the lens fixing mechanism to execute actions, and dynamically correct the motor drive signals based on the feedback signals.

8. A control method for a full-automatic lens centering and alignment device according to any one of claims 1-7, characterized in that, Including the following steps: Place the lens that needs centering and adjustment on the lens fixing mechanism, and control the lens fixing mechanism to clamp the lens and adjust it to a suitable height through the control system; The detection mechanism is used to perform multi-dimensional perception on the lens, obtain the lens status information and transmit it to the control system; The control system obtains the displacement and angle amounts that the lens needs to be adjusted according to the lens status information, generates control commands, controls the rotation and centering mechanism to act, and performs centering adjustment on the lens; During the adjustment process, the detection mechanism detects the parameter changes of the lens and the action status of the rotation and centering mechanism in real time and feeds them back to the control system. The control system continuously adjusts the control commands according to the feedback data until the lens meets the preset centering accuracy requirements; When the centering adjustment of the lens is completed, the control system controls the lens fixing mechanism to release the lens, completing one centering installation and adjustment operation of the lens.

9. The control method according to claim 8, characterized in that, The control system controls the lens fixing mechanism to clamp the lens and adjust it to a suitable height, specifically including the following steps: Collect the end face image and outer contour image of the lens and perform feature extraction to identify the model identification of the lens; According to the identified lens identification, call the corresponding standard initial height, clamping force threshold and centering path planning parameters from the installation and adjustment parameter database; Control the lens fixing mechanism to move the lens to the standard initial height, compensate for the positioning error according to the deviation between the actual outer contour size of the lens and the standard parameters until the initial positioning accuracy is met.

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