Manipulator for automatic bonding of optical fiber ring

Abstract

The utility model discloses a manipulator for automatically bonding an optical fiber ring, which is characterized by comprising a first suction cup clamp and a second suction cup clamp, the first suction cup clamp is used for sucking a shell base tray or a pre-coating tray. The second suction cup clamp is used for sucking the optical fiber ring; the first suction cup clamp comprises a first suction cup mounting plate and a first suction cup arranged on the first suction cup mounting plate; the second suction cup clamp comprises a second suction cup mounting plate and a second suction cup arranged on the second suction cup mounting plate; a driving cylinder is arranged between the first suction cup clamp and the second suction cup clamp and used for driving the first suction cup clamp and the second suction cup clamp to move up and down relatively. According to the utility model, the technical requirements of independently sucking the shell seat tray or the pre-coating tray and independently sucking the optical fiber ring during automatic bonding of the optical fiber ring can be met, and meanwhile, the problems of collision and interference are avoided, so that the optical fiber ring automatic bonding device is very safe.

Description

Technical Field

[0001] The utility model belongs to the technical field of fiber optic gyroscope production, in particular to a manipulator used for automatic bonding of fiber optic rings. Background Art

[0002] Fiber optic gyroscopes have inherent characteristics such as simple structure, wide precision coverage, high reliability and long design life. They are one of the mainstream instruments of inertial systems and have been widely used in space vehicles such as missile weapon systems, ships, satellites and spacecraft. The bonding of the optical fiber ring and the shell seat in the production process of optical modules for fiber optic gyroscopes is a very important special process. The bonding reliability and consistency directly affect the yield of optical modules.

[0003] In order to realize the automatic bonding requirements of optical fiber rings, it is necessary to design a robot (or fixture) that can meet the following two technical requirements at the same time:

[0004] (1) It is necessary to bring the shell base tray or pre-coated tray from the workbench to the dispensing platform of the dispensing machine for dispensing and be able to suck it separately;

[0005] (2) It is necessary to bring the optical fiber ring to the top of the shell tray and bond it to the shell seat and be able to hold it separately. Utility Model Content

[0006] The utility model provides a manipulator for automatic bonding of optical fiber rings, which solves the technical problem of how to meet the above two technical requirements when the optical fiber rings are automatically bonded.

[0007] In order to achieve the above-mentioned object, the scheme of the utility model is: a manipulator for automatic bonding of optical fiber loops, characterized in that it includes a first suction cup clamp and a second suction cup clamp;

[0008] The first suction cup fixture is used to suck the housing tray or the pre-coating tray; the second suction cup fixture is used to suck the optical fiber ring;

[0009] The first suction cup fixture comprises a first suction cup mounting plate and a first suction cup arranged on the first suction cup mounting plate;

[0010] The second suction cup fixture comprises a second suction cup mounting plate and a second suction cup arranged on the second suction cup mounting plate;

[0011] A driving cylinder is arranged between the first suction cup clamp and the second suction cup clamp, and the driving cylinder is used to drive the first suction cup clamp and the second suction cup clamp to move up and down relative to each other.

[0012] Furthermore, the driving cylinder is vertically fixedly mounted on the first suction cup mounting plate, and the output end of the driving cylinder is fixedly connected to the second suction cup mounting plate.

[0013] Furthermore, the driving cylinder is vertically fixedly mounted on the second suction cup mounting plate, and the output end of the driving cylinder is fixedly connected to the first suction cup mounting plate.

[0014] Furthermore, four first suction cups are arranged on the first suction cup mounting plate and the four first suction cups are distributed in a rectangular shape.

[0015] Furthermore, the first suction cup mounting plate is a cross plate, and each of the four ears of the cross plate is provided with one of the first suction cups.

[0016] Furthermore, four second suction cups are arranged on the second suction cup mounting plate and the four second suction cups are distributed in a rectangular shape.

[0017] Furthermore, the driving cylinder is a telescopic air cylinder or a telescopic hydraulic cylinder.

[0018] Furthermore, the first suction cup mounting plate is fixed on the execution end of the four-axis robot through a jacket.

[0019] Furthermore, an axially through slit is provided on one side wall of the jacket; a left connecting hole and a right connecting hole are symmetrically provided on both sides of the slit, and the left connecting hole and the right connecting hole can be fixedly connected by bolts.

[0020] Beneficial effects of the utility model:

[0021] First, the utility model can realize that when the shell seat tray or the pre-coating tray is brought from the workbench to the glue dispensing platform of the glue dispensing machine for dispensing, it can be sucked separately, and at the same time, when the optical fiber ring is brought to the top of the shell seat tray and bonded to the shell seat, it can be sucked separately;

[0022] Second, the utility model drives the first suction cup fixture and the second suction cup fixture to move up and down relatively by means of a driving cylinder, so that no collision or interference problems will occur when the first suction cup fixture sucks the housing tray or the pre-coating tray, or when the second suction cup fixture sucks the optical fiber ring, and is very safe;

[0023] Thirdly, the first suction cup fixture and the second suction cup of the manipulator of the utility model both adopt the suction cup suction method to grab, and the suction force can be adjusted according to the set air pressure to ensure that the sucked object is not damaged; then the robot and the glue dispenser work together to ensure better automatic operation and make the sticking ring position, sticking ring movement amplitude, sticking ring strength, sticking ring glue amount, uniform distribution and other aspects have stability and consistency, thereby ensuring the sticking ring accuracy. Compared with manual sticking ring, the sticking ring efficiency of the utility model is faster, and the sticking ring error is smaller and more controllable. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1-4It is a schematic structural diagram of a manipulator for automatic bonding of optical fiber loops in the first embodiment in the first working state.

[0025] Figure 5-7 It is a schematic structural diagram of a manipulator for automatic bonding of optical fiber loops in the first embodiment in a second working state.

[0026] Figure 8 It is a schematic diagram of the structure of a robot for automatic bonding of optical fiber rings in the second embodiment.

[0027] Figure 9-10 It is a structural schematic diagram of a manipulator for automatic bonding of optical fiber loops in Embodiment 1 or 2 when it is configured on an automatic bonding device for optical fiber loops and is in a normal state.

[0028] Fig.11 It is a schematic diagram of the structure of a manipulator for automatic bonding of optical fiber rings in embodiment one or two, which is arranged on an automatic bonding device for optical fiber rings, and when a first suction cup fixture 1 is separated from a workbench and sucks a shell tray K-1.

[0029] Fig.12 It is a structural schematic diagram of a manipulator for automatic bonding of optical fiber rings in embodiment one or two, which is configured on an automatic bonding device for optical fiber rings, and a shell base tray is brought from a workbench to a dispensing platform of a three-axis dispensing machine through the coordinated work of a four-axis robot and the manipulator.

[0030] Fig.13 It is a schematic structural diagram of a manipulator for automatic bonding of optical fiber rings in embodiment one or two, which is arranged on an automatic bonding device for optical fiber rings and when the pre-coating tray is sucked separately from the workbench.

[0031] Fig.14 It is a structural schematic diagram of a manipulator for automatic bonding of optical fiber rings in embodiment one or two, which is configured on an automatic bonding device for optical fiber rings, and a pre-coated tray is brought from a workbench to a dispensing platform of a three-axis dispensing machine through the coordinated work of a four-axis robot and the manipulator.

[0032] Fig.15 It is a structural schematic diagram of a manipulator for automatic bonding of optical fiber loops in embodiment one or two configured on an automatic bonding device for optical fiber loops, and the second suction cup fixture independently sucks the optical fiber loop belt placed on the optical fiber loop tray.

[0033] Fig.16 It is a structural schematic diagram of a manipulator for automatic bonding of optical fiber rings in embodiment one or two, which is configured on an automatic bonding device for optical fiber rings, and the four-axis robot and the manipulator work together to bring the optical fiber ring belt to the glue-coated countersunk hole on the pre-coating tray, where the sponge layer or cloth layer is pre-coated with glue on the bottom surface of the optical fiber ring.

[0034] Fig.17 A schematic diagram of the structure in which a manipulator for automatic bonding of optical fiber rings in embodiment one or two is arranged on an automatic bonding device for optical fiber rings, and a four-axis robot and the manipulator work together to bring the optical fiber ring to the top of the shell seat tray for bonding with the shell seat to obtain a finished optical fiber ring. DETAILED DESCRIPTION

[0035] The utility model is further described below in conjunction with the accompanying drawings and embodiments:

[0036] Example 1: See Figure 1-7 A robot for automatic bonding of optical fiber rings, comprising a first suction cup fixture 1 and a second suction cup fixture 2; the first suction cup fixture 1 is used to suck the shell seat tray K-1 or the pre-coating tray K-3; the second suction cup fixture 2 is used to suck the optical fiber ring K-22.

[0037] See also Figure 1-3 Specifically, the first suction cup fixture 1 includes a first suction cup mounting plate 1-1 and a first suction cup 1-2 arranged on the first suction cup mounting plate 1-1; wherein the first suction cup mounting plate 1-1 adopts a cross plate, and each of the four ears of the cross plate is provided with a first suction cup 1-2. Four first suction cups 1-2 are installed on the first suction cup mounting plate 1-1, and the four first suction cups 1-2 work simultaneously and suck four positions on the shell seat tray K-1 or the pre-coating tray K-3, with balanced force, and are not easy to fall off.

[0038] Specifically, the first suction cup 1-2 is a vacuum suction cup, which is an existing structure and can be directly purchased and installed according to the required model, so it is not described in detail.

[0039] See also Figure 1-3 Specifically, the second suction cup fixture 2 includes a second suction cup mounting plate 2-1 and a second suction cup 2-2 disposed on the second suction cup mounting plate 2-1; wherein, the second suction cup mounting plate 2-1 is provided with four second suction cups 2-2 and the four second suction cups 2-2 are distributed in a rectangular shape. The four second suction cups 2-2 work simultaneously and will suck four positions on the optical fiber ring K-22, with balanced force, and are not easy to fall off.

[0040] Specifically, the second suction cup 2-2 is a vacuum suction cup, which is an existing structure and can be directly purchased and installed according to the required model, so it is not described in detail.

[0041] See also Figure 1-3 A driving cylinder 3 is arranged between the first suction cup clamp 1 and the second suction cup clamp 2, and the driving cylinder 3 is used to drive the first suction cup clamp 1 and the second suction cup clamp 2 to move up and down relative to each other.

[0042] In this embodiment, the driving cylinder 3 is vertically fixedly mounted on the first suction cup mounting plate 1-1, and the output end of the driving cylinder 3 is fixedly connected to the second suction cup mounting plate 2-1. The driving cylinder 3 is a telescopic air cylinder or a telescopic hydraulic cylinder.

[0043] When the present embodiment is in use, as the first working state, the driving cylinder 3 first drives the second suction cup mounting plate 2-1 to move upward into position. Since the second suction cup mounting plate 2-1 moves upward relative to the first suction cup mounting plate 1-1, the second suction cup fixture 2 moves upward relative to the first suction cup fixture 1. The working position of the second suction cup 2-2 on the second suction cup mounting plate 2-1 will be higher than the working position of the first suction cup 1-2 on the first suction cup mounting plate 1-1, resulting in a height difference. At this time, the first suction cup 1-2 is started to work and can independently suck the shell seat tray or the pre-coating tray, thereby meeting the working requirement that the shell seat tray or the pre-coating tray can be independently sucked when it is brought from the workbench to the glue dispensing platform of the glue dispensing machine for glue dispensing. At this time, the second suction cup 2-2 is in a high position and will not touch the shell seat tray K-1 (on which the shell seat K-12 is placed) or the pre-coating tray, and will not cause interference problems (see Figure 4 ).

[0044] As the second working state, when the driving cylinder 3 first drives the second suction cup mounting plate 2-1 to move downward into position, since the second suction cup mounting plate 2-1 moves downward relative to the first suction cup mounting plate 1-1, the second suction cup fixture 2 moves downward relative to the first suction cup fixture 1, and the working position of the second suction cup 2-2 on the second suction cup mounting plate 2-1 will be lower than the working position of the first suction cup 1-2 on the first suction cup mounting plate 1-1, resulting in a height difference. At this time, the second suction cup 2-2 is started to work and can independently suck the optical fiber ring K-21 placed on the optical fiber ring tray K-2. Therefore, it can meet the need to bring the optical fiber ring K-22 to the top of the shell seat tray K-1 for bonding with the shell seat K-12 and can independently suck the optical fiber ring K-22. At this time, the first suction cup 1-2 is in a high position and will not touch the optical fiber ring tray K-2, and will not cause interference problems (see Figure 5 ).

[0045] Therefore, the robot arm of this embodiment can simultaneously meet the following two functional and technical requirements: (1) It is necessary to be able to independently suck the shell seat tray or pre-coating tray when it is brought from the workbench to the glue dispensing platform of the glue dispensing machine for glue dispensing; (2) It is necessary to be able to independently suck the optical fiber ring when it is brought to the top of the shell seat tray for bonding with the shell seat.

[0046] When used on the optical fiber ring automatic bonding device, the first suction cup mounting plate 1-1 is fixed to the execution end of the four-axis robot K-4 through the jacket 4. Specifically, an axially through slot 4-1 is provided on one side wall of the jacket 4; a left connection hole 4-2 and a right connection hole 4-3 are symmetrically provided on both sides of the slot 4-1, and the left connection hole 4-2 and the right connection hole 4-3 can be fixedly connected by bolts 4-4. The four-axis robot K-4 is used to control the manipulator K-6 of this embodiment to perform spatial displacement according to the set trajectory path.

[0047] See also Figure 9-10 The optical fiber ring automatic bonding device includes a workbench K-5, a shell base tray K-1, an optical fiber ring tray K-2, a pre-coating tray K-3, a four-axis robot K-4, a manipulator K-6 of this embodiment and a three-axis dispensing machine K-7.

[0048] See also Figure 9-10 , wherein the workbench is positioned with a shell tray, an optical fiber ring tray and a pre-coating tray. Since the shell tray, the optical fiber ring tray and the pre-coating tray are positioned at fixed points, it is ensured that the shell tray and the pre-coating tray can be grabbed (or sucked) at fixed points, and the optical fiber rings on the optical fiber ring tray can also be grabbed (or sucked) at fixed points, so as to ensure that the four-axis robot K-4 and the manipulator K-6 can realize the grabbing and releasing at fixed points, and the precise displacement between the set movement routes when working together.

[0049] See also Figure 9-10 In this embodiment, specifically, the shell base tray K-1, the optical fiber ring tray K-2, the pre-coating tray K-3 and the three-axis dispensing machine K-7 are arranged in sequence from left to right, and the four-axis robot K-4 is located behind the optical fiber ring tray K-2.

[0050] See also Figure 9-10 , wherein the shell seat tray K-1 is provided with a shell seat positioning countersunk hole K-11 for positioning and placing the shell seat K-12. The optical fiber ring tray K-2 is provided with a ring positioning countersunk hole K-21 for positioning and placing the optical fiber ring K-22. The pre-coating tray k-3 is provided with a glue coating countersunk hole K-31, and a sponge layer or a cloth layer K-32 is padded in the glue coating countersunk hole K-31;

[0051] See also Figure 9-10The four-axis robot K-4 has four axes and four degrees of freedom (including rotation around the X, Y, and Z axes and translational freedom along the Z axis). The four-axis robot K-4 can drive the manipulator K-6 to move between the workbench K-5 and the dispensing machine K-7, and can also drive the manipulator K-6 to move between the optical fiber ring tray K-3 and the shell tray K-2. In other embodiments, the four-axis robot K-4 can be a five-axis robot or a six-axis robot that is larger than four axes; the above functions can also be achieved.

[0052] See also Figure 9-10 In this embodiment, the three-axis dispensing machine K-7 includes a machine base, an X-axis transfer mechanism, a Y-axis transfer mechanism, a z-axis transfer mechanism and a dispensing mechanism. The Y-axis transfer mechanism is placed on the machine base; a dispensing platform for positioning and placing a tray (or an object to be dispensed) is provided on the Y-axis transfer mechanism, and the Y-axis transfer mechanism drives the dispensing platform to move along the Y-axis; the z-axis transfer mechanism is placed on the X-axis transfer mechanism; the dispensing mechanism is placed on the z-axis transfer mechanism; the z-axis transfer mechanism drives the dispensing mechanism to move along the Z-axis; the X-axis transfer mechanism is used to drive the dispensing mechanism to move along the X-axis. The three-axis dispensing machine K-7 can be purchased and assembled directly, and belongs to the prior art (also refer to CN206794040U), so it is not repeated here.

[0053] In other embodiments, the three-axis dispensing machine K-7 can adopt a four-axis dispensing machine or a five-axis dispensing machine with more than three axes, and the above functions can also be achieved.

[0054] As a working method using the above-mentioned optical fiber ring automatic bonding device, it may include the following steps:

[0055] S10, place the shell base tray with the shell base installed, the optical fiber ring tray with the optical fiber ring installed, and the pre-coating tray on the workbench (see Figure 9-10 );

[0056] S20, first start the four-axis robot K-4 and the manipulator K-6 to work together and bring the shell tray from the workbench to the dispensing platform of the three-axis dispensing machine (see Figure 11-12 ); then start the three-axis dispensing machine to work and automatically dispense glue on the upper surface of the shell seat on the shell seat tray; when the dispensing is completed, start the four-axis robot and the manipulator K-6 to work together and take the shell seat tray from the dispensing platform of the three-axis dispensing machine back to the workbench;

[0057] S30, first start the four-axis robot K-4 and the manipulator K-6 to work together and bring the pre-coated tray from the workbench 1 to the dispensing platform of the three-axis dispensing machine (see Figure 13-14); then start the three-axis dispensing machine to work and automatically dispense glue to the sponge layer or cloth layer K-32 inside the glue countersunk hole K-31 on the pre-coated tray; when the dispensing is completed, start the four-axis robot and the manipulator K-6 to work together and take the pre-coated tray from the dispensing platform of the three-axis dispensing machine back to the workbench;

[0058] S40, first start the four-axis robot K-4 and the manipulator K-6 to work together and bring the optical fiber ring K-22 on the optical fiber ring tray K-2 to the inner surface of the sponge layer or cloth layer K-32 in the glue-coated countersunk hole K-31 on the pre-coating tray K-3 to pre-coat the bottom surface of the optical fiber ring with glue (see Figure 15-16 ); then the optical fiber ring is brought to the shell tray and bonded to the shell seat to obtain a finished optical fiber ring (see Fig.17 ).

[0059] In addition, after the bonding is completed, the shell seat tray with the finished optical fiber ring and the empty optical fiber ring tray are taken out from the workbench, and the pre-coated tray is cleaned; and the finished optical fiber ring is finally placed in an electric heated air drying oven (or oven) for thermal curing according to the process requirements.

[0060] The utility model has the following features and is described as follows:

[0061] (1) Since the second suction cup fixture of the robot K-6 uses a suction cup to grab the optical fiber ring, and the grabbing force can be adjusted according to the set air pressure, it ensures that the grabbed object is not damaged;

[0062] (2) Due to the mutual cooperation between the four-axis robot K-4, the manipulator K-6 and the three-axis dispensing machine, they work together and automatically operate to ensure the stability and consistency of the ring sticking position, ring sticking movement amplitude, ring sticking force, ring sticking glue amount, uniform distribution, etc., thereby ensuring the ring sticking accuracy. Compared with manual ring sticking, the ring sticking efficiency of the utility model device is faster, and the ring sticking error is smaller and more controllable.

[0063] (3) Since the shell seats are placed in batches on the shell seat tray and the optical fiber rings are placed in batches on the optical fiber ring tray, the rings can be glued in batches with the cooperation of the robot and the three-axis dispensing machine, and the work efficiency is higher than that of manual gluing.

[0064] Embodiment 2: This embodiment is basically the same as Embodiment 1, except that the specific installation method of the driving cylinder 3 is different.

[0065] In this embodiment, see Figure 8The driving cylinder 3 is vertically fixedly mounted on the second suction cup mounting plate 2-1, and the output end of the driving cylinder 3 is fixedly connected to the first suction cup mounting plate 1-1. When the output end of the driving cylinder 3 moves telescopically, the first suction cup mounting plate 1-1 will move up and down relative to the second suction cup mounting plate 2-1. Similarly, the driving cylinder 3 can also drive the first suction cup fixture 1 and the second suction cup fixture 2 to move up and down relative to each other.

[0066] The preferred specific embodiments of the utility model are described in detail above. It should be understood that ordinary technicians in this field can make many modifications and changes based on the concept of the utility model without creative work. Therefore, all technical solutions that can be obtained by technicians in this technical field based on the concept of the utility model through logical analysis, reasoning or limited experiments on the basis of the existing technology should be within the scope of protection determined by the claims.

Claims

1. A manipulator for automatic bonding of optical fiber loops, characterized in that: It comprises a first suction cup clamp (1) and a second suction cup clamp (2); The first suction cup fixture (1) is used to suck the housing tray (K-1) or the pre-coating tray (K-3); the second suction cup fixture (2) is used to suck the optical fiber ring (K-22); The first suction cup fixture (1) comprises a first suction cup mounting plate (1-1) and a first suction cup (1-2) arranged on the first suction cup mounting plate (1-1); The second suction cup fixture (2) comprises a second suction cup mounting plate (2-1) and a second suction cup (2-2) arranged on the second suction cup mounting plate (2-1); A driving cylinder (3) is provided between the first suction cup clamp (1) and the second suction cup clamp (2), and the driving cylinder (3) is used to drive the first suction cup clamp (1) and the second suction cup clamp (2) to move up and down relative to each other.

2. A robot for automatic bonding of optical fiber loops as claimed in claim 1, characterized in that: The driving cylinder (3) is vertically fixedly mounted on the first suction cup mounting plate (1-1), and the output end of the driving cylinder (3) is fixedly connected to the second suction cup mounting plate (2-1).

3. A robot for automatic bonding of optical fiber loops as claimed in claim 1, characterized in that: The driving cylinder (3) is vertically fixedly mounted on the second suction cup mounting plate (2-1), and the output end of the driving cylinder (3) is fixedly connected to the first suction cup mounting plate (1-1).

4. A robot for automatic bonding of optical fiber loops as claimed in claim 1, characterized in that: Four first suction cups (1-2) are arranged on the first suction cup mounting plate (1-1), and the four first suction cups (1-2) are distributed in a rectangular shape.

5. A robot for automatic bonding of optical fiber loops as claimed in claim 4, characterized in that: The first suction cup mounting plate (1-1) is a cross plate, and each of the four supporting ears of the cross plate is provided with a first suction cup (1-2).

6. A robot for automatic bonding of optical fiber loops as claimed in claim 1, characterized in that: Four second suction cups (2-2) are arranged on the second suction cup mounting plate (2-1), and the four second suction cups (2-2) are distributed in a rectangular shape.

7. A robot for automatic bonding of optical fiber loops as claimed in claim 1, characterized in that: The driving cylinder (3) is a telescopic air cylinder or a telescopic hydraulic cylinder.

8. A robot for automatic bonding of optical fiber loops as claimed in claim 1, characterized in that: The first suction cup mounting plate (1-1) is fixed on the execution end of the four-axis robot (K-4) via a clamping sleeve (4).

9. A robot for automatic bonding of optical fiber loops as claimed in claim 8, characterized in that: A slit (4-1) is provided on one side wall of the jacket (4); a left connecting hole (4-2) and a right connecting hole (4-3) are symmetrically provided on both sides of the slit (4-1); and the left connecting hole (4-2) and the right connecting hole (4-3) can be fixedly connected by bolts (4-4).

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