A human-robot collaborative optical lens blanking method

Abstract

The present application relates to the technical field of optical lens manufacturing, and provides a kind of man-machine cooperation's optical lens blanking method.The method is by mold transmission mechanism to send mirror carrying mold to the mold taking position, by manipulator to remove sleeve from the mold taking position, and remove sleeve from the mold taking position;Manipulator then moves the mold core assembly one by one to the assembly handling sliding table to arrange in a row;Sliding table moves to the positioning station and is clamped and positioned by main and auxiliary positioning mechanisms, and the upper mold core suction and placement mechanism sucks the whole row of upper mold cores at one time, and exposes the lens in the lower mold core;After the upper mold core is placed back to the specified position of sliding table, sliding table moves to the manual lens taking station, and the operator takes out the lens uniformly.The present application divides the lens taking process into the automatic link of non-contact lens and the manual link of final lens taking, and the automatic part only operates rigid mold carrier to avoid damaging fragile lens;At the same time, the mold core is arranged neatly by sliding table, which improves the orderliness and efficiency of manual lens taking, prevents omission, and realizes the balance of efficiency and yield.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical fields of optical lens manufacturing, electric digital data processing, design automation model, etc., and particularly relates to a human-machine collaborative optical lens unloading method. BACKGROUND

[0002] In optical lens production, first, lens production raw materials are put into a lens loading mold, and the lens loading mold loaded with raw materials is loaded into a molding machine by a loading mechanism for molding forming. The optical lens molded and formed is loaded in the lens loading mold, and after the lens loading mold is discharged from the discharge station of the molding machine, the lens loaded in the lens loading mold needs to be taken out. In the prior art, the lens taking process mainly includes full manual lens taking and full automatic lens taking. The full manual lens taking has low efficiency, high cost, and is prone to errors. The full automatic lens taking is prone to damage the lens due to the thinness, fragility and adhesion of the lens, resulting in a decrease in the yield rate.

[0003] In summary, the existing optical lens unloading technology has the technical problems of a decrease in the yield rate of the lens, low lens taking efficiency, high cost, and errors. SUMMARY

[0004] In view of the deficiencies of the prior art, the present application provides a human-machine collaborative optical lens unloading method to protect the lens in the lens unloading process, improve the yield rate of the lens, improve the lens taking efficiency, and reduce the lens taking cost.

[0005] The human-machine collaborative optical lens unloading method provided by the present application comprises the following steps:

[0006] When it is detected that the mold receiving station of the mold conveying mechanism receives the lens loading mold from the molding machine, the lens loading mold is conveyed to the mold taking station on one side of the mold dividing stage by the mold conveying mechanism; the lens loading mold comprises an outer sleeve on a base, the outer sleeve sleeves a group of mold core assemblies, the mold core assembly comprises a mold core sleeve and an upper mold core and a lower mold core sleeved by the mold core sleeve, and the upper mold core and the lower mold core are lenses molded and formed by the molding machine;

[0007] The mechanical hand above the mold dividing stage is controlled to grasp and move the lens loading mold of the mold taking station to the mold dividing stage by the mold gripper thereof, grasp and move the outer sleeve to the sleeve temporary storage table, and grasp the mold core assemblies separated from the sleeve one by one by the mold core gripper thereof, and move in parallel and place the mold core assemblies on the assembly carrying sliding table on one side of the mold placing station of the mold dividing stage, so that a row of mold core placing stations on the assembly carrying sliding table load the group of mold core assemblies;

[0008] The component carrying slide table is controlled to move to a slide table positioning station, the main and auxiliary positioning mechanisms of the slide table positioning station are used to position and clamp the component carrying slide table, and after positioning is completed, an upper mold core suction and placing mechanism above the slide table positioning station is controlled to suction an upper mold core of a row of mold core assemblies on the slide table at one time to expose a lens inside a lower mold core;

[0009] After the upper mold core suctioning is completed, the main and auxiliary positioning mechanisms are controlled to be released, the upper mold core suction and placing mechanism is controlled to place the suctioned row of upper mold cores on a row of upper mold core placing positions on the component carrying slide table at one time, and after the upper mold core placing is completed, the component carrying slide table is controlled to move to a manual lens taking station to take out the lens exposed in the lower mold core by manual operation.

[0010] Compared with the prior art, the present application has the following beneficial effects:

[0011] The present application provides a man-machine cooperative optical lens unloading method. The method comprises: when a mold receiving station of a mold transmission mechanism detects that a lens carrying mold from a mold pressing machine is received, the mold transmission mechanism is controlled to transmit the lens carrying mold to a mold taking position on one side of a mold separating table; the lens carrying mold comprises an outer sleeve on a base, the outer sleeve sleeving a group of mold core assemblies, the mold core assembly comprising a mold core sleeve and an upper mold core and a lower mold core sleeved by the mold core sleeve, and the upper mold core and the lower mold core being a lens formed by a mold pressing machine; a manipulator above the mold separating table is controlled to grasp and move the lens carrying mold of the mold taking position to the mold separating table by a mold clamping jaw thereof, and grasp and move the outer sleeve to a sleeve temporary storage table, the manipulator is controlled to grasp the mold core assemblies separated from the sleeve one by one by a mold core clamping jaw thereof, and place the mold core assemblies on a component carrying slide table on one side of a mold placing position of the mold separating table in parallel movement, so that a row of mold core placing positions on the component carrying slide table are loaded with the group of mold core assemblies; the component carrying slide table is controlled to move to a slide table positioning station, the main and auxiliary positioning mechanisms of the slide table positioning station are used to position and clamp the component carrying slide table, and after positioning is completed, an upper mold core suction and placing mechanism above the slide table positioning station is controlled to suction an upper mold core of a row of mold core assemblies on the slide table at one time to expose a lens inside a lower mold core; after the upper mold core suctioning is completed, the main and auxiliary positioning mechanisms are controlled to be released, the upper mold core suction and placing mechanism is controlled to place the suctioned row of upper mold cores on a row of upper mold core placing positions on the component carrying slide table at one time, and after the upper mold core placing is completed, the component carrying slide table is controlled to move to a manual lens taking station to take out the lens exposed in the lower mold core by manual operation. The present application can protect the lens during the unloading process of the lens, improve the yield of the lens, improve the lens taking efficiency, and reduce the lens taking cost. BRIEF DESCRIPTION OF DRAWINGS

[0012] The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiments of the application and together with the description serve to explain the principles of the application. In the drawings:

[0013] Figure 1 is a flowchart of a method for cutting optical lens blanks according to an embodiment of the present application;

[0014] Figure 2 is a system architecture diagram of a cutting module according to an embodiment of the present application;

[0015] Figure 3 is a structure diagram of a mold transmission mechanism according to an embodiment of the present application;

[0016] Figure 4 is a structure diagram of a main and auxiliary positioning mechanism according to an embodiment of the present application;

[0017] Figure 5 is a structure diagram of an upper mold core suction and release mechanism according to an embodiment of the present application;

[0018] Figure 6 is an exploded structure diagram of a lens carrying mold according to an embodiment of the present application;

[0019] Figure 7 is a structure diagram of a mold split carrier according to an embodiment of the present application;

[0020] Figure 8 is another structure diagram of a mold split carrier according to an embodiment of the present application;

[0021] Figure 9 is a structure diagram of a mold core gripper according to an embodiment of the present application;

[0022] Figure 10 is a structure diagram of a mold gripper according to an embodiment of the present application;

[0023] Figure 11 is a structure diagram of an assembly carrying slide according to an embodiment of the present application.

[0024] BRIEF DESCRIPTION OF THE DRAWINGS

[0025] 10, mold core assembly; 100, upper mold core; 101, lower mold core; 102, mold core sleeve; 11, spacer; 12, base; 13, outer sleeve;

[0026] 30, split die carrier; 300, mounting plate; 301, rotary stepper motor; 302, lifting screw motor; 303, vacuum air pressure connector; 304, hollow rotary gear platform; 305, floating connector; 306, mold fixing base; 31, component carrying sliding table; 310, mold core component placement position; 311, upper mold core placement position; 32, manipulator; 320, mold core gripper; 321, mold gripper; 33, sleeve temporary storage table; 34, limit gripper mechanism; 35, mold number recognition device; 36, mold transmission mechanism; 360, first mold transmission mechanism; 361, first mold pushing mechanism; 362, second mold pushing mechanism; 37, main and auxiliary positioning mechanism; 370, auxiliary positioning mechanism; 371, main positioning mechanism. DETAILED DESCRIPTION

[0027] In order for those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present application. All other embodiments obtained by those skilled in the art on the basis of the embodiments in the present application without creative labor shall belong to the scope of protection of the present application.

[0028] Reference Figures 1-11 The present embodiment provides a man-machine cooperative optical lens blanking method, comprising:

[0029] S101, when it is detected that a mold receiving station of a mold transmission mechanism 36 receives a mirror carrying mold from a mold pressing machine, the mold transmission mechanism 36 is controlled to transmit the mirror carrying mold to a mold taking position on one side of a split die carrier 30; the mirror carrying mold comprises an outer sleeve 13 located on a base 12, the outer sleeve 13 sleeves a group of mold core assemblies 10, the mold core assembly 10 comprises a mold core sleeve 102 and an upper mold core 100 and a lower mold core 101 sleeved on the mold core sleeve 102, and the upper mold core 100 and the lower mold core 101 are mirror lenses formed by a mold pressing machine;

[0030] S102, a manipulator 32 above the split die carrier 30 is controlled to grab and move the mirror carrying mold of the mold taking position to the split die carrier 30 through a mold gripper 321 thereof, and grab and move the outer sleeve 13 to a sleeve temporary storage table 33, the manipulator 32 is controlled to grab the mold core assemblies 10 after sleeve separation one by one through a mold core gripper 320 thereof, and move in parallel to place on a component carrying sliding table 31 on one side of a mold placement position of the split die carrier 30, so that a row of mold core placement positions on the component carrying sliding table 31 load the group of mold core assemblies 10;

[0031] S103, control the assembly carrying slide table 31 to move to the slide table positioning station, the main and auxiliary positioning mechanisms 37 of the slide table positioning station are used for positioning and clamping the assembly carrying slide table 31, and after positioning is completed, the upper die core 100 suction and placing mechanism above the slide table positioning station is controlled to suction one row of upper die cores 100 of the slide table once, so as to expose the lens in the lower die core 101;

[0032] S104, after the upper die core 100 suction is completed, the main and auxiliary positioning mechanisms 37 are controlled to be loosened, the upper die core 100 suction and placing mechanism is controlled to place the suctioned one row of upper die cores 100 on one row of upper die core placing positions 311 of the assembly carrying slide table 31 once, after the upper die core 100 is placed, the assembly carrying slide table 31 is controlled to move to the manual lens taking station, so as to take out the lens exposed in the lower die core 101 by manual. Wherein, the main and auxiliary positioning mechanisms 37 include the auxiliary positioning mechanism 370 and the main positioning mechanism 371, the auxiliary positioning mechanism 370 and the main positioning mechanism 371 are oppositely arranged on the slide table positioning station, move towards each other after the assembly carrying slide table 31 moves to the slide table positioning station, clamp the assembly carrying slide table 31 on the slide table positioning station, and realize the alignment of the assembly carrying slide table 31.

[0033] It should be noted that when the full-automatic lens taking is performed, the mechanical hand 32 or the clamp needs to directly contact, grab or adsorb the fragile lens body, which is easy to scratch, break or contaminate due to the force, position deviation or adhesion. At the same time, if the lens taking process is fully manual, all the heavy and repetitive labor such as loading the lens mold, demolding, taking the upper die and taking the lens need to be completed by manual, which is low in efficiency and high in labor cost.

[0034] In this embodiment, the whole lens taking process is divided into an automatic non-contact lens part and a final contact lens manual part. The automatic part (transmission mechanism, mechanical hand 32, suction mechanism, etc.) only handles rigid and solid carriers such as lens mold, outer sleeve 13, mold sleeve 102, upper mold 100 and lower mold 101, without directly touching the lens itself, fundamentally eliminating the possibility of physical damage to the lens by automatic machinery, and leaving the control of lens yield mainly to gentle and flexible manual operation. In addition, in this embodiment, a row of mold components 10 is loaded on the component carrying slide table 31, the upper mold 100 suction and placement mechanism sucks the upper mold 100 of a row of mold components 10 on the slide table at one time, to expose the lens inside the lower mold 101, and then places the sucked row of upper molds 100 on a row of upper mold placement positions 311 on the component carrying slide table 31, and then controls the component carrying slide table 31 to move to the manual lens taking station, to take out the lens exposed in the lower mold 101 by manual, thereby greatly improving the overall operation efficiency and reducing the comprehensive cost. It should be noted that when facing the disordered and individual processing of the lens in the lower mold 101, the operator is easy to be tired and cause missing. In this embodiment, the component carrying slide table 31 automatically arranges a group of mold components 10 into a whole row, and after separating the upper mold 100, the lower mold 101 and the lens inside it remain in the arranged whole row queue on the component carrying slide table 31, and move to the fixed manual station with the component carrying slide table 31, to provide a clear, neat and orderly working interface for the operator, eliminate the confusion of finding and identifying, and make the lens state (taken / untaken) obvious at a glance, effectively prevent missing. In addition, in this embodiment, the parallel movement of the mold component 10 is to ensure that the lower mold 101 is always stable in the mold sleeve 102 during the automatic carrying and moving of the mold component 10, and the lens is safely packaged in the cavity of the lower mold 101, to avoid the lens scattering caused by the lower mold 101 falling out of the mold sleeve 102, resulting in lens taking failure.

[0035] Preferably, the base 12 is disc-shaped, and the plurality of mold components 10 in the group of mold components 10 are distributed on the upper surface of the base 12 along the circumferential direction of the base 12 around the center of the disc-shaped base 12, and the outer sleeve 13 is sleeved with the base 12 to limit the group of mold components 10 on the base 12.

[0036] It should be noted that the disc-shaped base 12, the outer sleeve 13 and the circumferentially distributed mold core assembly 10 can form a symmetrical and compact mirror-carrying mold layout, which is beneficial for the automatic mechanism to quickly and accurately handle and grasp the mold during mold transmission and mold core separation. In addition, the outer sleeve 13 exerts a centripetal and uniform surrounding restraint force on all circumferentially distributed mold core assemblies 10, which is more stable than one-way or two-way limiting, can effectively resist the risk of the mirror-carrying mold bearing pressure in the molding machine, and can effectively resist the risk of radial displacement or tilting of the mold core assembly 10 when vibration or inertia occurs during transmission.

[0037] Preferably, the mold transmission mechanism 36 comprises a first mold transmission mechanism 360, a first mold pushing mechanism 361 and a second mold pushing mechanism 362; the first mold transmission mechanism 360, the first mold pushing mechanism 361 and the second mold pushing mechanism 362 constitute a U-shaped mold buffer transmission path; the mold receiving station is arranged on the first mold transmission mechanism 360, and when it is detected that the mold receiving station receives the mirror-carrying mold from the molding machine, the first mold transmission mechanism 360 is controlled to transmit the mirror-carrying mold to the first mold pushing mechanism 361, the mirror-carrying mold is pushed to the second mold pushing mechanism 362 through the first mold pushing mechanism 361, and the mirror-carrying mold is pushed to the mold taking position on one side of the mold separating platform 30 through the second mold pushing mechanism 362.

[0038] It should be noted that the discharge rhythm of the molding machine and the processing rhythm of the mold separating platform 30 may not be consistent. In this embodiment, the U-shaped mold buffer transmission path can temporarily accommodate multiple mirror-carrying molds continuously discharged from the molding machine, avoiding the situation that the molding machine must be stopped due to temporary busy or failure of the rear mold separating operation, thereby decoupling the front and rear processes and improving the flexibility, continuity and overall equipment utilization rate of the entire lens production system. The U-shaped mold buffer transmission path integrates mold receiving, buffering and discharging functions, saves equipment floor area, and makes the mold flow clear and orderly, which is convenient for management. It should be noted that in this embodiment, two independent mold pushing mechanisms (the first and second mold pushing mechanisms 362) are used for relay pushing of the mold, rather than single long-distance transmission, and each mold pushing mechanism only needs to be responsible for a short-stroke linear pushing, which is easier to control the pushing end position and ensure that the mold can accurately reach the next station (such as the connection position of the second mold pushing mechanism 362 and the mold taking position).

[0039] Preferably, the mold stripping platform 30 comprises a first mold stripping platform 30 and a second mold stripping platform 30 arranged in parallel. Before moving the mold carrier in the mold taking position, the idle states of the first mold stripping platform 30 and the second mold stripping platform 30 are determined. When the first mold stripping platform 30 is idle, the mold carrier in the mold taking position is moved to the first mold stripping platform 30. When the second mold stripping platform 30 is idle, the mold carrier in the mold taking position is moved to the second mold stripping platform 30.

[0040] It should be noted that a single mold stripping platform 30 needs a certain period of time to perform the mold stripping operation (grabbing, removing the outer sleeve 13, and carrying the mold core assembly 10). During this period, the next mold delivered by the U-shaped mold buffer conveying path needs to wait in the mold taking position, causing congestion at the front end. In the embodiment, by arranging two parallel mold stripping platforms 30 and determining the states, parallel flow production can be realized, and the throughput capacity of the mold stripping process link can be improved to match the efficient feeding capacity of the U-shaped buffer path, so that the entire process from mold receiving to manual film taking can be realized in a continuous and efficient flow production.

[0041] Preferably, the sleeve temporary storage table 33 comprises a first sleeve temporary storage table 33 and a second sleeve temporary storage table 33 arranged in parallel. The first sleeve temporary storage table 33 is located on one side of the first mold stripping platform 30, and the second sleeve temporary storage table 33 is located on one side of the second mold stripping platform 30. Before moving the outer sleeve 13, the idle states of the first sleeve temporary storage table 33 and the second sleeve temporary storage table 33 are determined. When the first sleeve temporary storage table 33 is idle, the outer sleeve 13 is moved to the first sleeve temporary storage table 33. When the second sleeve temporary storage table 33 is idle, the outer sleeve 13 is moved to the second sleeve temporary storage table 33.

[0042] It should be noted that the outer sleeve 13 removed from the first mold stripping platform 30 is temporarily stored in the first sleeve temporary storage table 33 on the same side, and the outer sleeve 13 removed from the second mold stripping platform 30 is temporarily stored in the second sleeve temporary storage table 33, so as to avoid mixing of the outer sleeves 13 of different batches of molds and ensure the clarity of the production process. After the manipulator 32 grabs the outer sleeve 13 on a certain mold stripping platform 30, it only needs to move a very short distance to place it on the temporary storage table on the same side, thereby shortening the moving distance and time of the manipulator 32.

[0043] Preferably, the lens carrier mold contains a unique mold number corresponding to the mold number of the different height mold segment assembly 10 in the set of mold segment assemblies 10; the lens carrier mold also includes shims 11 of different heights on the upper surface of the base 12, each shim 11 has a shim 11 number, and the shims 11 of different shim 11 numbers are used to correspond to the different height mold segment assemblies 10 in the set of mold segment assemblies 10 with different heights, so that the heights of all the mold segment assemblies 10 on the base 12 remain the same.

[0044] It should be noted that due to long-term production and maintenance, the height of the mold segment assembly 10 will vary. The height of each mold segment assembly 10 can be understood as the total height from the reference surface of the base 12 to the upper surface of the upper mold segment 100. In this embodiment, by matching thicker shims 11 for mold segment assemblies 10 with insufficient height, and matching thinner shims 11 for mold segment assemblies 10 with less wear, the effective working height of all mold segment assemblies 10 can be accurately pulled to the same standard plane, ensuring that all mold segment assemblies 10 in the molding machine bear uniform pressure and the lens forming conditions are consistent, thereby eliminating a series of quality problems such as uneven lens thickness and pressure imbalance caused by inconsistent height from the source. In addition, the mold number serves as a unique identity, binding a specific set of mold segment assemblies 10 with known height parameters. The shim 11 number corresponds to its precise compensation thickness. When the mold enters the maintenance period, the corresponding numbered shims 11 combination can be quickly found and accurately configured according to the mold number, realizing the transition from experience-based maintenance to data-based maintenance. It should be noted that the shims 11 are standard parts, and their production cost is much lower than that of complex molds. In this embodiment, by replacing or adjusting the shims 11, a set of expensive mold segment assemblies 10 can be restored to their standard working state and continue to be put into production, allowing the enterprise to maintain high yield without replacing the mold segment assemblies 10, thereby reducing the production cost of lenses.

[0045] Preferably, before the mold segment assembly 10 separated by the sleeve by the mold segment clamp 320 is placed on the assembly carrying slide 31 by parallel movement, the pre-set identity mark on the lens carrier mold is identified to identify the mold number of the lens carrier mold. After identifying the mold number, the lifting of the mold separation carrier 30 is controlled according to the height of the different numbered shims 11 corresponding to the different numbered mold segment assemblies 10 under the specific mold number, so that during the process of placing the mold segment assembly 10 separated by the sleeve by the mold segment clamp 320 on the placing position of the mold segment 100 assembly on the assembly carrying slide 31, the lower mold segment 101 of the mold segment assembly 10 does not fall off or interfere with the assembly carrying slide 31.

[0046] It should be noted that the gasket 11 compensates for the height of the mold core assembly 10, which can solve the problem of the mold core assembly 10 being level in the lens mold forming, but it causes obstacles to the subsequent parallel movement of the mold core assembly 10. In the embodiment, through the lifting control of the mold separation carrier 30, the mold core assembly 10 with a unique bottom height due to the compensation of the different height gaskets 11 is adapted, and it is ensured that the bottom of the mold core assembly 10 is always in a safe translation interval between the mold core 100 assembly on the assembly carrying slide 31 and the placement position on the assembly carrying slide 31 during the parallel movement of the mold core assembly 10, that is, there is no suspended gap or interference collision, which effectively avoids the two problems of the mold core 101 falling off or mechanical collision and damage to the mold or the slide due to the height mismatch during the parallel movement of the mold core assembly 10. It should be noted that the mold number enables each set of lens mold to obtain customized carrying conditions regardless of the wear compensation state of the mold core assembly 10.

[0047] Preferably, the recognition of the identity mark preset on the lens mold is performed by the mold number recognition device 35 on the side of the mold taking position. After the mold number recognition device 35 recognizes the identity mark of a specific lens mold, it transmits the identity mark to the main control system. The main control system matches the mold number according to the identity mark to identify the mold number of the lens mold. Before the lens mold at the mold taking position is transferred to the mold separation carrier 30, the lifting of the mold separation carrier 30 is controlled according to the height of the first number gasket 11 corresponding to the first number mold core assembly 10 by default under the specific mold number.

[0048] It should be noted that if the mold is placed on the mold separation carrier 30 by the manipulator 32, the mold separation carrier 30 starts to adjust the lifting, and the manipulator 32 and the mold core clamp 320 may need to wait. In the embodiment, before the lens mold at the mold taking position is transferred to the mold separation carrier 30, the mold separation carrier 30 has been pre-adjusted according to the mold information to be grabbed, so that when the manipulator 32 moves to the top of the mold separation carrier 30 with the mold, the carrier is already at the correct meeting height, thereby improving the mold separation efficiency.

[0049] Preferably, if the height of the mold core assembly 10 is high after the gaskets 11 of different heights correspond to the mold core assemblies 10 of different heights, the height of the gasket 11 below the mold core assembly 10 is low, and the mold separation carrier 30 is controlled to rise, so that the upper surface of the gasket 11 with low height is level with the placement position of the mold core 100 assembly on the assembly carrying slide 31; if the height of the mold core assembly 10 is low, the height of the gasket 11 below the mold core assembly 10 is high, and the mold separation carrier 30 is controlled to descend, so that the upper surface of the gasket 11 with high height is level with the placement position of the mold core 100 assembly on the assembly carrying slide 31.

[0050] It should be noted that when the die assembly 10 is relatively high, in order to make the working surface (the upper surface of the upper die 100) of the die assembly 10 level with other dies, only a thin gasket 11 can be used, which will result in a relatively low bottom of the die assembly 10 (the upper surface of the gasket 11). Therefore, the mold splitting carrier 30 must be raised to lift the bottom of the relatively low die assembly 10 to a position level with the slide placement position. When the die is relatively low, in order to reach the standard height, a thick gasket 11 needs to be used, which will result in a relatively high bottom of the die assembly 10 (the upper surface of the gasket 11). Therefore, the mold splitting carrier 30 needs to be lowered to lower the bottom of the relatively high die assembly 10 to a position level with the slide placement position. In this embodiment, through the precise adjustment of the above and below, it can be ensured that no matter how complex the height compensation of the gasket 11 is, the bottom of the die assembly 10 is basically level with the target position when it is transferred, and the die assembly 10 can be translated without interference.

[0051] Further, after the mold carrier of the mold taking position is moved to the mold splitting carrier 30, the mold splitting carrier 30 opens the vacuum to adsorb the base 12 of the mold carrier on the carrier, and after the base 12 is adsorbed, the mold jaw 321 moves the outer sleeve 13 on the base 12 adsorbed by vacuum to the sleeve temporary storage table 33 for temporary storage.

[0052] It should be noted that the base 12 is fixed on the mold splitting carrier 30 by vacuum adsorption, which can provide a stable and non-moving reference for the subsequent operation of the manipulator 32 to grab the outer sleeve 13, and ensure that the base 12 will not shake or move when the outer sleeve 13 is vertically lifted and moved out. Moving the outer sleeve 13 out of the mold splitting carrier 30 area provides a non-interference working space for the subsequent manipulator 32 to switch the die jaw 320 and perform operations such as grabbing the die assembly 10, separating from the gasket 11, and transferring, so that the process connection is smoother. The sleeve temporary storage table 33 provides an orderly temporary storage position for the moved outer sleeve 13, avoiding the confusion, scratches or loss caused by random placement.

[0053] Preferably, a limiting jaw mechanism 34 is arranged on one side of the split mold carrier 30. After the outer sleeve 13 is removed from the base 12, the limiting jaw mechanism 34 closes the jaws to surround the mold core assembly 10 and the gasket 11 on the base 12, forming an assembly removal outlet through which the mold core assembly 10 can be removed in parallel. The split mold carrier 30 rotates the mold core assembly 10 on the base 12 under vacuum adsorption, and rotates each mold core assembly 10 to align with the assembly removal outlet. The limiting jaw mechanism 34 limits all the mold core assemblies 10 during the rotation of the mold core assembly 10 on the base 12 to avoid being thrown out. After the single mold core assembly 10 is rotated to align with the assembly removal outlet, the mold core jaw 320 on the mechanical hand 32 above the split mold carrier 30 moves to grab the mold core assembly 10 aligned with the assembly removal outlet, and moves the mold core assembly 10 from the assembly removal outlet to the placement position 310 of the current mold core assembly on the assembly carrying slide 31. After the assembly carrying slide 31 places the current mold core assembly 10, it slides to give the placement position 310 of the next mold core assembly.

[0054] It should be noted that the rotatable split mold carrier 30 rotates the mold core assembly 10 on the base 12, and rotates each mold core assembly 10 to align with the assembly removal outlet, so that the processing mode of the mold core assembly 10 is sequential processing in a single fixed station, avoiding the need to set multiple parallel complex grabbing mechanisms for multiple mold core assemblies 10, making the equipment layout more compact, saving space, and reducing the complexity and manufacturing cost of the equipment. In addition, by rotating the carrier, the mold core assembly 10 on the base 12 under vacuum adsorption can be precisely positioned to the same assembly removal outlet, creating conditions for the mechanical hand 32 to grab and move each assembly in a unified and repeated manner, simplifying the design of the mechanical hand 32, and improving the orderliness, reliability, and beat controllability of the processing. In addition, after the outer sleeve 13 is removed, the multiple mold core assemblies 10 and their gaskets 11 are in a loose state on the base 12. Although the base 12 is fixed in a vacuum adsorption state, if the carrier is rotated directly at this time, the centrifugal force can easily cause the components and gaskets 11 on the base 12 to be thrown out, causing serious damage and chaos. In the present embodiment, the closing and surrounding action of the limiting jaw mechanism 34 builds a safe physical fence before the rotation starts, and the assembly removal outlet formed thereby is the only channel that allows the components to be removed. The limiting jaw mechanism 34 continuously provides circumferential limitation during the rotation of the base 12, eliminating the risk of the mold core assemblies 10 flying due to rotation. In addition, the assembly removal outlet restricts the mold core assembly 10 on one side and provides a fixed, centered, and obstacle-free channel for the parallel movement and grabbing of the mold core jaw 320 on the mechanical hand 32, ensuring that each mold core assembly 10 rotated into position can be safely removed in the same way and path, achieving highly consistent automated operation.

[0055] It should be noted that the mold core clamping jaw 320 moves to grab the mold core assembly 10 aligned with the assembly removal outlet, and parallelly transfers it from the assembly removal outlet to the placement position 310 of the current mold core assembly of the assembly carrying slide table 31, to achieve the movement caching of the mold core assembly 10, and to establish an efficient and orderly transfer path for the mold core assembly 10 after it leaves the mold separation station to go to the next process (such as the lens taking station). After receiving a mold core assembly 10, the assembly carrying slide table 31 actively slides to vacate the next empty placement position, so that the robot 32 can immediately return to the assembly removal outlet of the mold separation station 30 to grab the next aligned mold core assembly 10 after completing a placement, without waiting for the assembly on the slide table to be taken away by the downstream process. The action of sliding to vacate the next placement position can be parallel or efficiently connected in time with the action of the mold separation station 30 rotating to align the next mold core assembly 10, so that the alignment, grabbing, transferring and placement cycle can be continuously performed at the shortest interval, optimizing the production rhythm of the entire mold separation and material taking process, and eliminating intermittent waiting. The assembly carrying slide table 31 is a linear and step-by-step conveying cache queue. All the mold core assemblies 10 taken out from the mold separation station 30 are arranged in sequence on the slide table according to the order of taking out, to provide a stable and controllable mold core assembly 10 supply source for the downstream lens taking station, and to improve the stability and predictability of the entire system operation.

[0056] Further, the mold separation station 30 can include a mounting plate 300, a lifting screw motor 302 mounted on the mounting plate 300, and a mold fixing seat 306. The lifting screw motor 302 is connected to a hollow rotating gear platform 304 through a floating joint 305. The hollow rotating gear platform 304 is provided with a vacuum air pressure connector 303 and is connected to a rotating stepper motor 301. The hollow rotating gear platform 304 is driven to rotate under the drive of the rotating stepper motor 301, the mold fixing seat 306 is driven to rotate when the hollow rotating gear platform 304 rotates, the base 12 of the lens carrying mold carried by the mold fixing seat 306 is driven to rotate when the mold fixing seat 306 rotates, and the gasket 11 and the mold core assembly 10 on the base 12 are driven to rotate.

[0057] It should be noted that in the above embodiments, the mold separation station 30, the assembly carrying slide table 31, the robot 32, the limiting clamping jaw mechanism 34, the mold number recognition device 35, the mold transmission mechanism 36, the main and auxiliary positioning mechanisms 37 and other unloading related mechanisms are all in communication with the main control system, forming a system architecture that acts under the unified control of the main control system.

[0058] It should be noted that the above embodiments are only preferred specific embodiments of the present application, and the protection scope of the present application is not limited thereto. Any changes or replacements within the technical scope disclosed by the present application can be easily thought of by those skilled in the art, and should be covered within the protection scope of the present application. The protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A human-machine collaborative method for cutting optical lenses, characterized in that, include: When the mold receiving station of the mold transfer mechanism receives a lens mold from the molding machine, the mold transfer mechanism is controlled to transfer the lens mold to the mold taking position on one side of the mold splitting platform. The lens mold includes an outer sleeve located on the base, and the outer sleeve is fitted with a set of mold core components. The mold core components include a mold core sleeve and an upper mold core and a lower mold core fitted by the mold core sleeve. The lens is molded by the molding machine between the upper mold core and the lower mold core. The robot arm above the mold-separating platform is controlled to grab and move the mirror mold at the mold-taking position to the mold-separating platform through its mold gripper, and to grab and move the outer sleeve to the sleeve storage platform. The robot arm is controlled to grab the mold core components after the sleeve is separated one by one through its mold core gripper, and move them parallel to place them on the component transport slide on one side of the mold placement position of the mold-separating platform, so that a row of mold core placement positions on the component transport slide can load the set of mold core components. The component transport slide is controlled to move to the slide positioning station. The main and auxiliary positioning mechanisms of the slide positioning station are used to position and clamp the component transport slide. After positioning, the upper mold core suction and release mechanism above the slide positioning station is controlled to pick up the upper mold core of a row of mold core components on the component transport slide in one go, so as to expose the lens inside the lower mold core. After the upper mold core is picked up, the main and auxiliary positioning mechanisms are released, and the upper mold core picking and placing mechanism is controlled to place the picked-up row of upper mold cores into the row of upper mold core placement positions on the component transport slide at one time. After the upper mold cores are placed, the component transport slide is controlled to move to the manual lens removal station so that the lens exposed in the lower mold core can be removed manually. The mold transfer mechanism includes a first mold transfer mechanism, a first mold pushing mechanism, and a second mold pushing mechanism; the first mold transfer mechanism, the first mold pushing mechanism, and the second mold pushing mechanism form a U-shaped mold buffer transfer path; the first mold transfer mechanism is provided with a mold receiving station; when the mold receiving station detects that a lens mold from the molding press is received, the first mold transfer mechanism is controlled to transfer the lens mold to the first mold pushing mechanism, the first mold pushing mechanism pushes the lens mold to the second mold pushing mechanism, and the second mold pushing mechanism pushes the lens mold to the mold taking position on one side of the mold splitting platform; The mold-separating platform includes a first mold-separating platform and a second mold-separating platform arranged in parallel. Before transferring the lens mold at the mold-taking position, the idle status of the first mold-separating platform and the second mold-separating platform is first determined. When it is determined that the first mold-separating platform is idle, the lens mold at the mold-taking position is grabbed and transferred to the first mold-separating platform. When it is determined that the second mold-separating platform is idle, the lens mold at the mold-taking position is grabbed and transferred to the second mold-separating platform.

2. The method according to claim 1, characterized in that, The base is disc-shaped, and multiple mold core components in the set of mold core assemblies are distributed around the center of the disc-shaped base and along the circumference of the base on the upper surface of the base. The outer sleeve is fitted onto the base to provide circumferential positioning for the set of mold core assemblies on the base.

3. The method according to claim 1, characterized in that, The sleeve temporary storage platform includes a first sleeve temporary storage platform and a second sleeve temporary storage platform arranged in parallel. The first sleeve temporary storage platform is located on one side of the first mold parting platform, and the second sleeve temporary storage platform is located on one side of the second mold parting platform. Before transferring the outer sleeve, the idle status of the first sleeve temporary storage platform and the second sleeve temporary storage platform is first determined. When it is determined that the first sleeve temporary storage platform is idle, the outer sleeve is grabbed and transferred to the first sleeve temporary storage platform. When it is determined that the second sleeve temporary storage platform is idle, the outer sleeve is grabbed and transferred to the second sleeve temporary storage platform.

4. The method according to claim 2, characterized in that, The lens mold has a unique mold number, which corresponds to the mold core assembly number of the group of mold core assemblies with different heights; the lens mold also includes shims of different heights located on the upper surface of the base, each shim having a shim number, and the shims with different shim numbers are used to raise the mold core assemblies of different heights in the group of mold core assemblies, so that the height of all raised mold core assemblies on the base remains the same.

5. The method according to claim 4, characterized in that, Before the mold core assembly, after being separated from the sleeve, is moved parallel to the component transport slide, the preset identification mark on the lens mold is first identified to determine the mold number of the lens mold. After the mold number is identified, the lifting and lowering of the mold parting platform is controlled according to the height of the different numbered shims corresponding to the different numbered mold core assemblies under the specific mold number. This ensures that during the process of the mold core assembly, after being separated from the sleeve, being moved parallel to the placement position of the mold core assembly on the component transport slide, the mold core assembly does not fall off or obstruct or interfere with the component transport slide.

6. The method according to claim 5, characterized in that, The identification of the preset identification mark on the lens mold is performed by the mold number identification device on one side of the mold taking position. After the mold number identification device identifies the identification mark of the specific lens mold, it transmits it to the main control system. The main control system performs mold number matching according to the identification mark to identify the mold number of the lens mold. Before the lens mold at the mold taking position is transferred to the mold parting platform, the lifting and lowering of the mold parting platform is controlled according to the height of the first numbered shim corresponding to the first numbered mold core assembly under the specific mold number.

7. The method according to claim 6, characterized in that, Different height shims are used to elevate mold core assemblies of different heights. If the mold core assembly is tall and the shims below it are short, the parting platform is raised so that the upper surface of the shorter shim is at the same height as the mold core assembly on the component transport slide. If the mold core assembly is short and the shims below it are tall, the parting platform is lowered so that the upper surface of the taller shim is at the same height as the mold core assembly on the component transport slide.

8. The method according to claim 7, characterized in that, Also includes: A limiting gripper mechanism is provided on one side of the mold parting platform. After the outer sleeve leaves the base, the limiting gripper mechanism closes its grippers to surround the mold core assembly and gasket on the base, forming a component removal outlet that allows individual mold core assemblies to move out in parallel. The mold parting platform drives the mold core assemblies on the base to rotate, aligning each mold core assembly with the component removal outlet one by one. During the rotation of the mold core assemblies on the base, the limiting gripper mechanism limits all mold core assemblies to prevent them from being thrown out. After the current individual mold core assembly is aligned with the component removal outlet, the mold core gripper on the robot arm above the mold parting platform moves to grab the mold core assembly aligned with the component removal outlet and transfers it in parallel from the component removal outlet to the current mold core assembly placement position on the component transport slide. After the component transport slide places the current mold core assembly, it slides to provide the placement position for the next mold core assembly.

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