Assembly device and assembly method of binocular lens optical module

Abstract

The present invention discloses an assembly device and an assembly method for a binocular lens optical module. The device is characterized in that, for the binocular module, a core adjustment mechanism uses a double-group adjustment mechanism and an active alignment technology, and a visual detection mechanism for acquiring a status image of the lens in real time is provided above the core adjustment mechanism. A virtual frame of an outer mirror tube generated by software simulation is pre-installed in the visual detection mechanism, and the binocular lens optical module is adjusted into the virtual frame of the outer mirror tube. The device has the advantage of realizing coordinated debugging of optical performance and mechanical assembly requirements, thereby improving assembly efficiency and product yield.

Description

Technical Field

[0001] The present invention relates to an assembly device and an assembly method for an optical lens, and in particular to an assembly device and an assembly method for a binocular lens optical module. Background Art

[0002] Binocular lenses can provide users with more intuitive and accurate stereo images, including the internal structure and depth information of the observed object. Compared with traditional two-dimensional lenses, binocular lenses have two significant structural features:

[0003] 1) The binocular lens system consists of two lenses, a left and right lens, and their corresponding modules. Three-dimensional imaging is achieved by precisely controlling the interpupillary distance and focusing accuracy of the binoculars. This design, which conforms to human visual principles, effectively prevents user dizziness and visual fatigue. To overcome the resolution limitations of traditional binocular lenses and achieve ultra-high-definition imaging, a 90° turning prism is introduced while maintaining the device's outer diameter. This structure adjusts the relative position of the lens' mechanical axis to the chip surface from perpendicular to parallel, enabling the installation of large imaging chips back-to-back between the left and right prisms. Furthermore, the integration of a 30° or 45° viewing prism at the front of the lens expands the endoscope's lateral viewing range. However, due to the multiple deflections of light in the viewing and turning prisms, the cumulative tolerances of individual components increase the sensitivity of the imaging system, making assembly and commissioning of the binocular lens more challenging.

[0004] 2) The tip of the binocular lens needs to be inserted into confined areas, such as the human body, and the entire assembly must withstand sterilization requirements. Once the binocular lens, prism, and chip are assembled into an optical module, the entire assembly must be installed in the outer tube. A sapphire window is located at the front of the outer tube, and its position must strictly align with the optical axis of the binocular lens. If there is a misalignment between the binocular lens and the sapphire window, such as an abnormal spacing or an outward-facing "eight" shape of the optical axis, two problems may arise: mechanical interference, which could hinder the proper assembly of the outer tube; and optical obstruction, where the outer tube blocks light and causes dark corners in the image.

[0005] These two characteristics place higher precision control requirements on the assembly and performance testing of binocular lenses.

[0006] A Chinese invention patent application, patent application number 202111608462.8, entitled "A Binocular Lens Assembly and Debugging Device and Assembly and Debugging Method," discloses a binocular lens assembly and debugging device that utilizes a lens adjustment component and a target component to address the issues of monocular lens imaging lacking stereoscopic perception and low binocular lens assembly and debugging accuracy. The device uses multiple movable probes to adjust the lens position and determines the debugging effect through target surface imaging. While the lens assembly and debugging accuracy is high, it fails to consider the subsequent assembly of the outer lens barrel and fails to control the mechanical assembly and positioning of the lens, which can cause mechanical interference or optical occlusion of the outer lens barrel.

[0007] Chinese invention patent application number 201811200439.3, titled "A Three-Station Automatic AA Assembly Machine for Cameras and Its Operating Method," discloses a multi-station automatic AA assembly machine for cameras. This machine uses an AA assembly mechanism and a test card to adjust the relative position of the lens and chip, achieving precise assembly. This device addresses the optical occlusion issues in traditional camera packaging, where large component tolerances lead to image deviation and uneven sharpness at all four corners. However, it does not address the issue of mechanical interference. Summary of the Invention

[0008] The technical problem to be solved by the present invention is to provide an assembly device and an assembly method for a binocular lens optical module that can ensure optimal optical performance during the assembly process.

[0009] The technical solution adopted by the present invention to solve the above technical problems is: an assembly device for a binocular lens optical module, including a working platform, on which a core adjustment mechanism, a target mechanism for providing an imaging target and a control device for controlling the core adjustment mechanism are provided. The feature is that the core adjustment mechanism includes a fixed seat and a movable seat rotatably mounted via a connecting shaft, the connecting shaft at at least one end is provided with a driving motor, a six-dimensionally adjustable module clamping device for clamping the imaging module is provided on the movable seat, a six-dimensionally adjustable left lens clamping device for clamping the left lens and a six-dimensionally adjustable right lens clamping device for clamping the right lens are symmetrically provided on both sides of the module clamping device, and the module clamping device and the left lens clamping device are symmetrically provided with a six-dimensionally adjustable left lens clamping device for clamping the left lens and a six-dimensionally adjustable right lens clamping device for clamping the right lens. A visual detection mechanism for acquiring status images of the left lens and the right lens in real time is provided above the device and the right lens clamping device. The visual detection mechanism is pre-installed with a virtual frame of an outer mirror tube generated by software simulation. When the left lens and the right lens are assembled with the imaging module, the drive motor drives the movable seat to rotate so that the light emitted by the target mechanism is vertically incident on the incident surface of the left lens or the right lens. The control device is configured to: adjust the positions of the left lens and the right lens according to the optical information received by the imaging module, and adjust the binocular lens optical module to the virtual frame of the outer mirror tube according to the image information acquired by the visual detection mechanism.

[0010] Compared with the existing technology, the advantage of the present invention is that it uses a dual-group adjustment mechanism and active alignment technology to achieve coordinated debugging of optical performance and mechanical assembly requirements for the binocular lens optical module, thereby improving assembly efficiency and product yield.

[0011] Preferably, the visual inspection mechanism includes a door-shaped frame and a camera, the door-shaped frame consists of two fixed rods and a cross bar, the two fixed rods are respectively located on both sides of the fixed seat and are vertically fixed on the working platform, the two ends of the cross bar are respectively connected to the two fixed rods, the camera is arranged on the multi-dimensional adjustment seat, and the multi-dimensional adjustment seat is slidably arranged on the cross bar and can move along the cross bar.

[0012] Preferably, the module clamping device is composed of a symmetrically arranged six-dimensionally adjustable left module clamping device and a six-dimensionally adjustable right module clamping device.

[0013] The method for assembling a binocular lens optical module using the above-mentioned assembly device, wherein the binocular lens optical module is composed of an imaging module, a left lens, and a right lens, specifically comprises the following steps:

[0014] Step 1: Equipment debugging;

[0015] Step 2: Loading the imaging module, the left lens, and the right lens onto the module clamping device, the left lens clamping device, and the right lens clamping device, respectively, and assembling the left lens, the right lens, and the imaging module together through the movement of the left lens clamping device and the right lens clamping device;

[0016] Step 3: The binocular lens optical module is powered on, and the drive motor drives the movable seat to rotate around the connecting shaft, while controlling the target mechanism to move accordingly, so that the light emitted by the target mechanism is vertically incident on the incident surface of the left lens or the right lens;

[0017] Step 4: The control device controls the movement of the left lens clamping device and the right lens clamping device according to the optical information received by the imaging module to perform binocular alignment;

[0018] Step 5: The control device controls the movement of the left lens holding device and the right lens holding device according to the optical information received by the imaging module to perform binocular focusing;

[0019] Step 6: The control device controls the movement of the module clamping device according to the image information obtained by the visual detection mechanism, and adjusts the binocular lens optical module into the virtual frame of the outer mirror tube;

[0020] Step 7: Product performance test, if the performance is qualified, proceed to the next step, otherwise return to step 4;

[0021] Step 8: Fix the left lens, the right lens and the imaging module together through a dispensing and curing process to form the binocular lens optical module, and then loosen the left lens clamping device and the right lens clamping device;

[0022] Step 9: Remove the binocular lens optical module from the module clamping device, perform performance testing, remove unqualified products, and assemble qualified products with the outer mirror tube to obtain the final product of the 3D electronic laparoscope.

[0023] Preferably, the specific method of step 4 is:

[0024] Step 4-1: In monocular display mode, adjust the two lenses to rotate around the x-axis, y-axis, and z-axis so that the center of the target surface is always aligned with the center of the display crosshairs when the target surface moves at different object distances;

[0025] Step 4-2: Switch to binocular mode and move one lens horizontally to align the left vertical line in the left lens image with the right vertical line in the right lens image.

[0026] Step 4-3: Complete binocular alignment and proceed to step 5. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 This is a schematic diagram of the three-dimensional structure of the binocular lens optical module after assembly according to an embodiment of the present invention;

[0028] Figure 2 Schematic diagram of the three-dimensional structure of the binocular lens optical module of the present invention;

[0029] Figure 3 Schematic diagram of the three-dimensional structure of the binocular lens optical module assembly equipment according to an embodiment of the present invention;

[0030] Figure 4 A partial enlarged view of the assembly equipment when assembling the binocular lens optical module according to an embodiment of the present invention;

[0031] Figure 5 Schematic diagram of the three-dimensional structure of the centering mechanism of the assembly equipment of the binocular lens optical module according to an embodiment of the present invention;

[0032] Figure 6 This is a schematic diagram of the three-dimensional structure of the left module clamping device of the centering mechanism of the binocular lens optical module according to an embodiment of the present invention;

[0033] Figure 7 This is a schematic diagram of the three-dimensional structure of the left lens clamping device of the centering mechanism of the binocular lens optical module according to an embodiment of the present invention;

[0034] Figure 8This is a schematic diagram of the three-dimensional structure of the left lens clamping claw in the left lens clamping device of the centering mechanism of the binocular lens optical module according to an embodiment of the present invention;

[0035] Figure 9 Schematic diagram of the three-dimensional structure of the target mechanism of the assembly equipment of the binocular lens optical module according to an embodiment of the present invention;

[0036] Figure 10 This is a schematic diagram of the three-dimensional structure of the visual inspection mechanism of the binocular lens optical module assembly equipment according to an embodiment of the present invention;

[0037] Figure 11 Flowchart of a method for assembling a binocular lens optical module according to an embodiment of the present invention;

[0038] Figure 12 Schematic diagram of the target surface alignment used in the binocular lens optical module assembly method according to an embodiment of the present invention;

[0039] Figure 13 Schematic diagram of binocular centering imaging in a binocular lens optical module assembly method according to an embodiment of the present invention.

[0040] Description of reference numerals:

[0041] 10. Work platform;

[0042] 1. Alignment mechanism; 11. Left module clamping device; 111. Left module clamping claw; 112. Left module clamping six-dimensional base; 12. Right module clamping device; 13. Left lens clamping device; 131. Left lens clamping six-dimensional base; 132. Left lens clamping claw; 14. Right lens clamping device; 15. Movable seat; 16. Fixed seat; 17. Connecting shaft; 18. Drive motor;

[0043] 2. Target structure; 21. Target surface; 22. Target six-dimensional base;

[0044] 3. Visual inspection mechanism; 31. Camera; 32. Multi-dimensional adjustment seat; 33. Door-shaped frame; 331. Fixing rod; 332. Crossbar;

[0045] 4. Display screen of the control device;

[0046] L, binocular lens optical module; L1-1, left lens; L1-2, right lens; L2, imaging module; L21, auxiliary parts; L22, steering prism; L23, imaging chip. DETAILED DESCRIPTION

[0047] The following describes the embodiments of the present invention in detail with reference to the accompanying drawings, which are for reference and illustration only and do not limit the scope of patent protection of the present invention. Example

[0048] In this embodiment, the term "six-dimensionally adjustable" means that the device can translate in the x, y, and z axes and can rotate around the x, y, and z axes.

[0049] In this embodiment, the binocular lens optical module L is as follows: Figure 1 and Figure 2 As shown, Figure 1 The figure shows the assembled binocular lens optical module L, where the left lens L1-1 and the right lens L1-2 are symmetrically arranged on the imaging module L2. Figure 2 The figure shows the internal structure of the binocular lens optical module L. Since the left lens L1-1 and the right lens L1-2 are symmetrically arranged on the imaging module L2, Figure 2 Only one side of the internal structure is disclosed; Figure 2 It can be seen that one side of the imaging module L2 corresponds to a lens and has an auxiliary part L21, a steering prism L22 and an imaging chip L23. The light incident from the corresponding lens is deflected by the steering prism L22 and imaged onto the imaging chip L23.

[0050] An assembly device for a binocular lens optical module of this embodiment is as follows Figures 3 to 10 As shown, it mainly consists of a centering mechanism 1, a target mechanism 2 for providing an imaging target, a visual detection mechanism 3 for acquiring status images of the left lens and the right lens in real time, and a control device for controlling the centering mechanism.

[0051] Figure 3 The figure shows a working platform 10 and an alignment mechanism 1, a target mechanism 2, a visual detection mechanism 3 and a display screen 4 of a control device arranged on the working platform 10. The alignment mechanism 1 clamps and debugs the binocular lens optical module L, and the display screen 4 of the control device displays the assembly status.

[0052] Figure 4 It is shown that the left module clamping device 11 and the right module clamping device 12 clamp the imaging module L2, the left lens clamping device 13 clamps the left lens L1-1, and the right lens clamping device 14 clamps the right lens L1-2.

[0053] Figure 5The centering mechanism 1 shown in the figure includes a fixed seat 16 and a movable seat 15. The two ends of the movable seat 15 are connected to the fixed seat 16 through a connecting shaft 17. A driving motor 18 is provided on the connecting shaft 17 at one end. The rotation of the driving motor 18 is controlled by a control device, which can drive the movable seat 15 to rotate around the connecting shaft 17, and adjust the light emitted by the target mechanism to be vertically incident on the left lens or the right lens. The movable seat 15 is symmetrically provided with a left module clamping device 11 and a right module clamping device 12 with the same structure and six-dimensional motion function. The left module clamping device 11 and the right module clamping device 12 jointly clamp the imaging module L2, which can make the clamping of the imaging module more stable during assembly. The specific structure of the left module clamping device 11 is shown in FIG. Figure 6 As shown, it is composed of a left module clamping six-dimensional base 112 arranged on a movable seat 15 and a left module clamping claw 111 arranged on the left module clamping six-dimensional base 112, and the right module clamping device 12 has the same structure. Therefore, when the control device controls the corresponding six-dimensional base to make corresponding movements, the posture of the imaging module L2 can be adjusted. A left lens clamping device 13 with a six-dimensional motion function for clamping the left lens L1-1 is provided on the outside of the left module clamping device 11, and a right lens clamping device 14 with a six-dimensional motion function for clamping the right lens L1-2 is provided on the outside of the right module clamping device 12. The left lens clamping device 13 and the right lens clamping device 14 have the same structure and are also symmetrically arranged. The specific structure of the left lens clamping device 13 is as follows Figure 7 As shown, it is composed of a left lens clamping six-dimensional base 131 provided on the movable seat 15 and a left lens clamping claw 132 provided on the left lens clamping six-dimensional base 131. The structure of the left lens clamping claw 132 is as shown in FIG. Figure 8 As shown, the right lens holding device 14 also has the same structure. Therefore, when the control device controls the corresponding six-dimensional base to make corresponding movements, the posture of the left lens L1-1 or the right lens L1-2 can be adjusted.

[0054] Target mechanism 2 Figure 9 As shown, it includes a target surface 21 and a target six-dimensional base 22. The target surface 21 is set on the target six-dimensional base 22. The control device can align the target surface 21 with the left lens L1-1 or the right lens L1-2 by controlling the target six-dimensional base 22 to make corresponding movements, and can also adjust the distance between the target surface 21 and the left lens L1-1 or the right lens L1-2 and the angle of the light emitted from the target surface 21.

[0055] Figure 10The visual inspection mechanism 3 is shown. The visual inspection mechanism 3 includes a door-shaped frame 33 and a camera 31. The door-shaped frame 33 is composed of two fixed rods 331 and a crossbar 332 arranged between the two fixed rods 331. The two fixed rods 331 are respectively located on either side of the fixed seat 16 and are vertically fixed to the work platform 10. The crossbar 332 is located above the centering mechanism 1. The two ends of the crossbar 332 are respectively fixedly connected to the two fixed rods 331. The camera 31 is set on the multi-dimensional adjustment seat 32, which is set on the crossbar 332 and can move back and forth along the crossbar 332. The camera 31 is set above the left lens clamping device 13 and the right lens clamping device 14 to obtain real-time status images of the left lens L1-1 and the right lens L1-2. The camera 31 is connected to a control device, which is usually a computer. The computer has a pre-installed virtual frame of the outer mirror tube generated by software simulation, which is displayed on the display screen 4 of the control device during assembly.

[0056] When the left lens holding device 13 and the right lens holding device 14 respectively assemble the left lens L1-1 and the right lens L1-2 with the imaging module L2, before the left lens holding device 13 and the right lens holding device 14 are separated from the left lens L1-1 and the right lens L1-2, the driving motor 18 drives the movable seat 15 to rotate around the connecting shaft 17, and at the same time controls the target six-dimensional base 22 to move accordingly, so that the light emitted from the target surface 21 is perpendicular to the incident surface of the left lens L1-1 or the right lens L1-2. The control device can control the movement of the left lens clamping device 13 or the right lens clamping device 14 according to the optical information of the imaging target emitted by the target surface 21 and received by the imaging chip L23 in the imaging module L2, and adjust the optical performance of the left lens L1-1 or the right lens L1-2. The control device controls the movement of the left module clamping device 11 and the right module clamping device 12 according to the image information obtained by the camera 31, and adjusts the binocular lens optical module L to the inside of the virtual frame diagram of the outer mirror tube displayed on the display screen 4 of the control device.

[0057] The assembly method of the present invention is as follows Figure 11 As shown, the following steps are included:

[0058] Step 1: Equipment debugging; During equipment debugging, use an angle meter to confirm that the movable seat 15 is in the initial position, that is, the surface is parallel to the work platform 10, place the calibration light source on the work platform 10, place a reflector on the target surface 21 of the target mechanism 2, and adjust the target six-dimensional base 22 so that the light beam emitted by the calibration light source is reflected by the reflector and returns to the original path; adjust the calibration light source so that the light beam passes through the gap between the left module clamping jaws 111 of the left module clamping device 11, and adjust the left module clamping six-dimensional base 112 so that the light beam is not blocked by the left module clamping jaw 111 and still returns to the original path. At this time, the left module clamping six-dimensional base 112 can be fixed and locked; move the calibration light source, and the right module clamping device 12 can be adjusted in the same way.

[0059] In specific applications, the six-dimensional base can be electrically driven or manually adjusted. In the trial production stage, manual adjustment is preferred for the purpose of prototyping; in the mass production stage, electrical drive is preferred to ensure production efficiency.

[0060] Step 2: Load the imaging module L2, the left lens L1-1 and the right lens L1-2 onto the left module clamping device 11 and the right module clamping device 12, the left lens clamping device 13 and the right lens clamping device 14 respectively, and assemble the left lens L1-1 and the right lens L1-2 with the imaging module L2 through the movement of the left lens clamping device 13 and the right lens clamping device 14; the part where the left lens clamping device 13 and the right lens clamping device 14 clamp the left lens L1-1 and the right lens L1-2 is the front end of the lens, and the rear end of the lens is placed in the imaging module L2, reserving the middle end of the lens for subsequent gluing operations.

[0061] Step 3: Power on the binocular lens optical module L; the driving motor 18 drives the movable seat 15 to rotate around the connecting shaft 17, and at the same time controls the target six-dimensional base 22 to make corresponding movements, so that the light emitted from the target surface 21 is vertically incident on the incident surface of the left lens L1-1 or the right lens L1-2. The imaging chip L23 of the imaging module L2 projects the imaging target emitted from the target surface 21 onto the display screen 4 of the control device. A crosshair that evenly divides the screen appears on the display screen 4, and the center of the crosshair is the center, completing the preparation work.

[0062] Step 4: The control device controls the movement of the left lens clamping device 13 or the right lens clamping device 14 to perform binocular alignment according to the optical information of the imaging target emitted by the target surface 21 and received by the imaging chip L23 of the imaging module L2; the binocular lens simulates the imaging of the human eye's two pupils and outputs a stereoscopic image through an algorithm. The center and direction of the binocular imaging picture need to be consistent so that the binocular imaging of the same object has the same effect. Only then will the superimposed image have a strong three-dimensional sense and will not cause dizziness. The binocular lens must also match the distance between the user's eyes, allowing the pupil distance to be adjusted to improve user comfort and provide better operational convenience. Figure 12As shown in the figure, to adjust the binocular consistency to meet the needs of the human eye, a centering target surface is required. The key information on the centering target surface is the target center and the pupil distance. The target center is represented by a crosshair or a crosshair, while the pupil distance is represented by the distance between two short vertical lines. The pupil distance is d, expressed in mm. To provide more functionality, the target surface can be supplemented with multiple concentric circles centered on the target center and multiple axially symmetrical circles. In addition to consistency, the binocular lens's image clarity, such as resolution and distortion, also needs to be tested. This can be done using targets with varying sizes and line thicknesses, such as the USAF1951 and A2 targets. Two object distances can be set to achieve optimal imaging performance at both near and far focus. Similarly, the other lens can be adjusted at different object distances to maintain a relative position that provides optimal imaging.

[0063] Therefore, binocular alignment is first required to ensure that the imaging centers of the two optical paths remain relatively unchanged when the object distance changes. The specific method is:

[0064] Step 4-1: In monocular display mode, by adjusting the two lenses to rotate around the x-axis, the y-axis, and the z-axis, the target surface 21 of the target mechanism 2 is always aligned with the center of the crosshairs of the display screen 4 when the target surface 21 moves at different object distances;

[0065] Step 4-2: Switch to binocular mode, move one lens horizontally, and align the left short vertical line in the image of the left lens L1-1 with the right short vertical line in the image of the right lens L1-2, as shown in the figure below. Figure 13 shown.

[0066] Step 4-3: Complete binocular alignment and proceed to step 5.

[0067] After completing the centering and debugging of the binocular lens, if resolution adjustment is required, the centering target surface can be removed and replaced with a USAF1951 resolution target or A2 resolution target for resolution adjustment.

[0068] Step 5: The control device controls the movement of the left lens clamping device 13 or the right lens clamping device 14 according to the optical information of the imaging target emitted by the target surface 21 received by the imaging chip L23 of the imaging module L2, performs binocular focusing, and ensures that the resolution and pupil distance of the two light paths meet the requirements when the object distance changes.

[0069] The aforementioned centering and focusing adjustments are all completed based on the imaging of the target surface 21 and fall within the scope of lens optical performance adjustment. Complete lens assembly also requires simultaneous consideration of mechanical positioning requirements.

[0070] Step 6: Based on the image information captured by camera 31, the control device controls the movement of the left and right module clamping devices 11 and 12, adjusting the binocular lens optical module L within the virtual frame of the outer lens tube. Camera 31 is mounted vertically downward, with its optical axis extending to alignment mechanism 1, to observe the lens clamped therein. Because camera 31 has an inherent field of view, the requirement for the image center to align with the lens is relatively relaxed. The multi-dimensional adjustment mount 32 can be one-, two-, or three-dimensional. However, to improve the accuracy of lens posture determination, a multi-dimensional adjustment mount 32 with as many degrees of freedom as possible is preferred.

[0071] Step 7: Perform a product performance test on the binocular lens optical module L. If the performance is qualified, proceed to the next step; otherwise, return to step 4;

[0072] Step 8: Inject glue through the hole on the auxiliary part L21 (not shown in the figure, belonging to the prior art) for preliminary curing, fix the left lens L1-1 and the right lens L1-2 together with the imaging module L2 with fixing glue to form the binocular lens optical module L, then loosen the left module clamping device 11, the right module clamping device 12, the left lens clamping device 13 and the right lens clamping device 14, remove the binocular lens optical module L, and then perform additional glue curing on the outer surface.

[0073] Step 9: After assembly and debugging are completed, further test whether the performance of the binocular lens optical module L meets the use requirements, remove unqualified products, and assemble qualified products with the external mirror tube to obtain the final product of the 3D electronic laparoscope.

Claims

1. An assembly device for a binocular lens optical module, comprising a work platform, on which is provided a centering mechanism, a target mechanism for providing an imaging target, and a control device for controlling the centering mechanism, characterized in that The centering mechanism includes a fixed seat and a movable seat rotatably mounted via a connecting shaft, the connecting shaft at at least one end of which is provided with a driving motor, the movable seat is provided with a six-dimensionally adjustable module clamping device for clamping the imaging module, and the two sides of the module clamping device are symmetrically provided with a six-dimensionally adjustable left lens clamping device for clamping the left lens and a six-dimensionally adjustable right lens clamping device for clamping the right lens, and a visual detection mechanism for obtaining real-time status images of the left lens and the right lens is provided above the module clamping device, the left lens clamping device and the right lens clamping device. The visual detection mechanism is pre-installed with an outer mirror tube virtual frame generated by software simulation. When the left lens and the right lens are assembled with the imaging module, the drive motor drives the movable seat to rotate so that the light emitted by the target mechanism is vertically incident on the incident surface of the left lens or the right lens. The control device is configured to: adjust the positions of the left lens and the right lens according to the optical information received by the imaging module, and adjust the binocular lens optical module to the outer mirror tube virtual frame according to the image information obtained by the visual detection mechanism.

2. The assembly device of a binocular lens optical module according to claim 1, characterized in that The visual inspection mechanism includes a door-shaped frame and a camera. The door-shaped frame consists of two fixed rods and a cross bar. The two fixed rods are respectively located on both sides of the fixed seat and are vertically fixed on the working platform. The two ends of the cross bar are respectively connected to the two fixed rods. The camera is set on the multi-dimensional adjustment seat, and the multi-dimensional adjustment seat is slidably set on the cross bar and can move along the cross bar.

3. The assembly device of a binocular lens optical module according to claim 1, characterized in that The module clamping device is composed of a symmetrically arranged six-dimensionally adjustable left module clamping device and a six-dimensionally adjustable right module clamping device.

4. A method for assembling a binocular lens optical module using the assembly device of claim 1, wherein the binocular lens optical module is composed of an imaging module, a left lens, and a right lens, characterized in that The assembly method specifically comprises the following steps: Step 1: Equipment debugging; Step 2: Loading the imaging module, the left lens, and the right lens onto the module clamping device, the left lens clamping device, and the right lens clamping device, respectively, and assembling the left lens, the right lens, and the imaging module together through the movement of the left lens clamping device and the right lens clamping device; Step 3: The binocular lens optical module is powered on; the drive motor drives the movable seat to rotate around the connecting axis, and at the same time controls the target mechanism to move accordingly, so that the light emitted by the target mechanism is vertically incident on the incident surface of the left lens or the right lens; Step 4: The control device controls the movement of the left lens clamping device and the right lens clamping device according to the optical information received by the imaging module to perform binocular alignment; Step 5: The control device controls the movement of the left lens holding device and the right lens holding device according to the optical information received by the imaging module to perform binocular focusing; Step 6: The control device controls the movement of the module clamping device according to the image information obtained by the visual detection mechanism, and adjusts the binocular lens optical module into the virtual frame of the outer mirror tube; Step 7: Product performance test, if the performance is qualified, proceed to the next step, otherwise return to step 4; Step 8: Fix the left lens, the right lens and the imaging module together through a dispensing and curing process to form the binocular lens optical module, and then loosen the left lens clamping device and the right lens clamping device; Step 9: Remove the binocular lens optical module from the module clamping device, perform performance testing, remove unqualified products, and assemble qualified products with the outer mirror tube to obtain the final product of the 3D electronic laparoscope.

5. The method for assembling a binocular lens optical module using the assembly device according to claim 1 according to claim 4, characterized in that The specific method of step 4 is: Step 4-1: In monocular display mode, adjust the two lenses to rotate around the x-axis, y-axis, and z-axis so that the center of the target surface is always aligned with the center of the display crosshairs when the target surface moves at different object distances; Step 4-2: Switch to binocular mode and move one lens horizontally to align the left vertical line in the left lens image with the right vertical line in the right lens image. Step 4-3: Complete binocular alignment and proceed to step 5.

Images