Unmanned aerial vehicle nd mirror assembly device

Abstract

The utility model discloses a can improve the equipment of unmanned aerial vehicle ND mirror assembly, reduce ND mirror assembly difficulty and be favorable to quality management and control, including feeding subassembly, transport material subassembly, snatch material subassembly, pressure -maintaining mechanism and wipe glue detection subassembly, and feeding subassembly includes stock bin, feeding platform, the first material receiving shaft of winding protective film, the second material receiving shaft of winding bottom membrane, first motor, second motor, the vibration disc of steel sheet bearing, and transport material subassembly includes transport material track, assembly fixture, drive mechanism, and snatch material subassembly includes four -axis manipulator, the vacuum suction head group of fixed four -axis manipulator mobile end, and vacuum suction head group includes lens vacuum suction head, steel sheet vacuum suction head, and pressure -maintaining mechanism includes the pressure -maintaining plate of being established above transport material track, is used to push the first cylinder of assembly fixture to pressure -maintaining plate, and the lower surface of pressure -maintaining plate is equipped with pressure -maintaining head, and wipe glue detection subassembly includes the wipe glue mechanism that can move relative to assembly fixture in horizontal direction, and wipe glue mechanism includes the wipe glue head that can move along vertical direction.

Description

Technical Field

[0001] This utility model relates to the field of unmanned aerial vehicle (UAV) processing technology, and in particular to a UAV ND lens assembly device. Background Technology

[0002] Neutral Density (ND) filters are a crucial component of drones. As light-reducing filters mounted in front of the drone's lens, they uniformly reduce the amount of light entering the lens without altering its color, thus preventing overexposure. ND filters are primarily assembled from a frame, lens elements, and a steel plate using adhesive. The assembly of the lens and steel plate is the core technology of ND filter assembly. Currently, the industry mainly uses manual assembly. Due to the small size of the steel plate and the need to distinguish between the front and back during assembly, manual handling is difficult, leading to errors and increasing the assembly difficulty. Furthermore, manual work is inefficient, resulting in insufficient assembly efficiency for ND filters. In addition, after assembly, the lens and steel plate need to be pressurized, and excess adhesive needs to be cleaned. Manual work is prone to omissions in cleaning excess adhesive and inadequate pressurization, increasing the difficulty of product quality control. Utility Model Content

[0003] Therefore, it is necessary to address the above-mentioned shortcomings by providing a drone ND lens assembly equipment that can improve assembly efficiency, reduce the difficulty of ND lens assembly, and facilitate product quality control.

[0004] A drone ND lens assembly device, comprising:

[0005] The feeding assembly includes a hopper containing folded sheets, a feeding platform, a first take-up shaft disposed above the feeding platform for winding up a protective film, a second take-up shaft disposed below the feeding platform for winding up a base film, a first motor for driving the first take-up shaft to rotate, a second motor for driving the second take-up shaft to rotate, and a vibratory feeder located beside the feeding platform for receiving and assembling steel sheets. The folded sheets include a base film, a plurality of lenses distributed on the upper surface of the base film, and a protective film that is attached to the upper surface of the base film and covers the lenses.

[0006] The material conveying assembly includes a material conveying track, an assembly fixture slidably mounted on the material conveying track, and a drive mechanism for driving the assembly fixture to slide on the material conveying track. The upper surface of the assembly fixture is provided with several mounting slots, and each mounting slot is pre-installed with a glued mirror frame. The material conveying track is provided with a feeding position, a pressure holding position, and a glue wiping position in sequence along its length.

[0007] The material handling assembly includes a four-axis robot and a vacuum suction head assembly fixed to the movable end of the four-axis robot. The vacuum suction head assembly includes at least one lens vacuum suction head for picking up lenses on the feeding platform and at least one steel sheet vacuum suction head for picking up steel sheets in the vibratory feeder. The movable end of the four-axis robot moves between the feeding platform, the vibratory feeder and the loading position to load the lenses and steel sheets into the assembly fixture at the loading position.

[0008] The pressure holding mechanism includes a pressure holding plate located at the pressure holding position and above the material conveying track, and a first cylinder located below the material conveying track for pushing the assembly fixture at the pressure holding position toward the pressure holding plate. The lower surface of the pressure holding plate is provided with a plurality of pressure holding heads corresponding to the mounting grooves inside the assembly fixture.

[0009] The adhesive removal detection assembly, located at the adhesive removal position, includes an adhesive removal mechanism suspended above the material conveying track and movable in the horizontal direction relative to the assembly fixture at the adhesive removal position. The adhesive removal mechanism includes an adhesive removal head that can move in the vertical direction and contact the product inside the assembly fixture to remove excess adhesive from the product.

[0010] In one embodiment, the feeding assembly further includes a frame, a feeding shaft disposed below the feeding platform, and a third motor for driving the feeding shaft to rotate. The frame includes a horizontal section located below the feeding platform and a vertical section connected to the end of the horizontal section and located at the discharge end of the feeding platform. The feeding shaft is rotatably mounted on the horizontal section and located between the second receiving shaft and the vertical section. A first channel is provided between the feeding platform and the vertical section. The end of the bottom film passes through the first channel and is wrapped around the second receiving shaft. The bottom film also wraps around the lower part of the feeding shaft and slides against the feeding shaft. The width of the first channel is smaller than the width of the lens.

[0011] In one embodiment, the feeding assembly further includes a material sensor fixed to the top of the vertical section and electrically connected to a third motor to detect the material condition at the end of the feeding platform, a film-separating plate fixed to the feeding platform and adjacent to the discharge end of the feeding platform, a pressure plate disposed at the feed end of the feeding platform, and a first camera disposed above the vibratory feeder and acquiring images of the steel sheet inside the vibratory feeder. The film-separating plate has a second channel between itself and the upper surface of the feeding platform, and the side of the film-separating plate adjacent to the discharge end of the feeding platform has a wedge-shaped structure. The protective film passes through the second channel and its end is wound in the opposite direction around the first take-up shaft. The bottom end of the pressure plate abuts against the upper surface of the folded material sheet. The first camera is connected to the vibratory feeder and a four-axis robotic arm.

[0012] In one embodiment, the material conveying track includes a first part corresponding to the loading position and the pressure holding position, and a second part corresponding to the adhesive wiping position, with the first part and the second part extending along the same straight line direction; the first part includes two first baffles arranged opposite to each other and two first slide rails located between the two first baffles and corresponding one-to-one with the two first baffles; the second part includes two second baffles arranged opposite to each other and two second slide rails located between the two second baffles and corresponding one-to-one with the two second baffles;

[0013] The driving mechanism includes two first belts that wrap around two first slide rails in a vertical plane, a first connecting shaft at one end of the two first belts, two first pulleys fixed at both ends of the first connecting shaft and passing through one end of the two first belts, a fourth motor driven by one of the first pulleys, two second pulleys that pass through the other end of the two first belts and are rotatably connected to the inner wall of the first stop bar, two second belts that wrap around two second slide rails in a vertical plane, a second connecting shaft at one end of the two second belts, two third pulleys fixed at both ends of the second connecting shaft and passing through one end of the two second belts, a fifth motor driven by one of the third pulleys, and two fourth pulleys that pass through the other end of the two second belts and are rotatably connected to the inner wall of the second stop bar.

[0014] In one embodiment, the second part further includes a first linear guide rail disposed below the second slide rail, a first slider slidably disposed on the first linear guide rail, a sixth motor for driving the first slider to move along the length direction of the first linear guide rail, a mounting bracket fixed on the first slider, a second cylinder fixed on the mounting bracket and used to push the assembly fixture at the glue-wiping position, a third cylinder fixed on the mounting bracket and located on the second slide rail away from the end of the first slide rail, and a limiting block fixed on the piston rod at the top of the third cylinder and used to abut against the side edge of the assembly fixture at the glue-wiping position, wherein the length direction of the first linear guide rail is perpendicular to the length direction of the second slide rail.

[0015] In one embodiment, the adhesive wiping detection assembly further includes a second linear guide rail located beside and parallel to the second slide rail, a second slider slidably disposed on the second linear guide rail, and a seventh motor for driving the second slider to move along the length direction of the second linear guide rail, wherein the installation height of the second linear guide rail is higher than the installation height of the second slide rail.

[0016] In one embodiment, the adhesive wiping mechanism further includes a bracket fixed to the second slider, with its side adjacent to the second slide rail forming a mounting surface; a turntable located on the mounting surface and rotatably connected to the bracket; a rotating core located on the mounting surface away from the turntable and rotatably connected to the bracket; an eighth motor mounted on the bracket on the side facing away from the mounting surface and driven by the rotating core; multiple rollers located between the turntable and the rotating core and mounted on the lower part of the mounting surface; a fourth cylinder fixed on the lower part of the mounting surface; and an adhesive wiping belt. The multiple rollers are arranged at different heights. One end of the adhesive wiping belt is fixed to the turntable and wound around the turntable. The other end of the adhesive wiping belt passes around each roller in sequence along an S-shaped path and is connected to the rotating core. The adhesive wiping head is fixed to the piston rod at the bottom of the fourth cylinder and presses down on the adhesive wiping belt under the drive of the fourth cylinder so that the adhesive wiping belt contacts the product in the assembly fixture.

[0017] In one embodiment, the adhesive wiping mechanism further includes a fifth cylinder fixed to the bracket and located above the rotating core, a movable core fixed to the bottom of the fifth cylinder and located above the rotating core, a guide groove fixed to the bracket and located on the rotating core facing away from the turntable to allow the adhesive wiping tape to pass through, and a tape collection box fixed to the bracket and located below the guide groove to receive the adhesive wiping tape. The fifth cylinder drives the movable core to descend so that the movable core presses the adhesive wiping tape wound on the rotating core.

[0018] In one embodiment, the material gripping assembly further includes a second camera fixed to the movable end of the four-axis robot and for acquiring images of the inner lens frame of the assembly fixture, and a third camera located below the movable end of the four-axis robot and for acquiring images of the lens on the lens vacuum suction head and the steel sheet on the steel sheet vacuum suction head. The second camera is located beside the vacuum suction head assembly.

[0019] In one embodiment, the adhesive removal detection assembly further includes a fourth camera fixed on a bracket and used to acquire images of the product within the assembly fixture at the adhesive removal location.

[0020] The drone ND lens assembly equipment of this invention uses a first and second take-up shaft to tear the film, and a four-axis robotic arm to grab the steel sheet and the lens after film tearing. The lens and steel sheet are placed into an assembly fixture containing an adhesive-coated lens frame. The lens and steel sheet are firmly assembled to the lens frame by the combined compression of the assembly fixture by a first cylinder and a pressure-holding head. Then, the excess adhesive on the surface of the product is wiped off by an adhesive-wiping head. This method replaces the manual assembly of drone ND lenses, significantly improving assembly efficiency. The vacuum adsorption method for grabbing the lens and steel sheet avoids the difficulty of grabbing the small size of the steel sheet, reduces misassembly, and lowers the difficulty of grabbing and assembling the lens and steel sheet. By controlling the first cylinder, each product can be kept under constant pressure, and the adhesive-wiping head wipes each product one by one, avoiding missed cleaning, excess adhesive, and substandard pressure holding, which is conducive to product quality control. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the structure of a drone ND mirror assembly device in one embodiment of the present invention;

[0022] Figure 2 This is a schematic diagram of the structure of the UAV ND lens assembly equipment after removing the outer shell in one embodiment of the present invention;

[0023] Figure 3 This is a schematic diagram of the lens feeding unit in one embodiment of the present invention;

[0024] Figure 4 This is a schematic diagram of the steel sheet feeding unit in one embodiment of the present invention;

[0025] Figure 5 This is a schematic diagram of the material conveying component from one perspective in one embodiment of the present invention;

[0026] Figure 6 This is a schematic diagram of the material conveying component from another perspective in one embodiment of the present invention;

[0027] Figure 7 This is a schematic diagram of the material gripping assembly in one embodiment of the present invention;

[0028] Figure 8 This is a schematic diagram of the adhesive removal detection component from one perspective in one embodiment of the present invention;

[0029] Figure 9 This is a schematic diagram of the adhesive wiping detection component from another perspective in one embodiment of the present invention. Detailed Implementation

[0030] To make the above-mentioned objects, features, and advantages of this utility model more apparent and understandable, the specific embodiments of this utility model will be described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a full understanding of this utility model. However, this utility model can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this utility model. Therefore, this utility model is not limited to the specific embodiments disclosed below.

[0031] Please combine Figure 1 and Figure 2This utility model discloses a drone ND lens assembly equipment that can improve assembly efficiency, reduce the difficulty of ND lens assembly, and facilitate product quality control. The drone ND lens assembly equipment includes a feeding component 100, a conveying component 200, a gripping component 300, a pressure holding mechanism 400, and an adhesive wiping detection component 500. The feeding component 100 includes a hopper 120 containing a folded sheet 110, a feeding platform 130, and a first [unclear - possibly a device or mechanism] positioned above the feeding platform 130 for winding up the protective film 111. The system comprises a take-up shaft 140, a second take-up shaft 150 positioned below the feeding platform 130 for winding the base film 112, a first motor driving the first take-up shaft 140, a second motor driving the second take-up shaft 150, and a vibratory feeder 160 located beside the feeding platform 130 for receiving and assembling steel sheets. The folded sheet 110 includes a base film 112, several lenses 113 distributed on the upper surface of the base film 112, and a protective film 111 covering the upper surface of the base film 112 and the lenses 113. The hopper 120, feeding platform 130, first take-up shaft 140, second take-up shaft 150, first motor, and second motor together constitute the lens feeding unit of the feeding assembly 100, while the vibratory feeder 160 constitutes the steel sheet feeding unit of the feeding assembly 100. The sheet material is folded and stored in the hopper 120. The protective film 111 at the end of the sheet material entering the feeding platform 130 is wrapped around the first take-up shaft 140, causing the first take-up shaft 140 to rotate under the drive of the first motor and wind the protective film 111 to peel the protective film 111 off the lens surface. At the same time, the bottom film 112 at the end of the sheet material entering the feeding platform 130 is wrapped around the second take-up shaft 150, causing the second take-up shaft 150 to rotate under the drive of the second motor to peel the bottom film 112 off the lens 113 while pulling the entire sheet material forward, causing the upper part of the sheet material in the hopper 120 to unfold and move along the feeding platform 130 to realize the feeding of the sheet material. After the film is peeled off, the lens 113 stays at the end of the feeding platform 130 for grasping during assembly. The vibratory feeder 160 is used to vibrate and disperse the stacked steel sheets, so that the steel sheets are spread out for grasping one by one during assembly. The material handling assembly 200 includes a material handling track 210, an assembly fixture 220 slidably disposed on the material handling track 210, and a drive mechanism 230 for driving the assembly fixture 220 to slide on the material handling track 210. The upper surface of the assembly fixture 220 is provided with several mounting grooves 221, each corresponding to a pre-installed lens frame coated with adhesive. The material handling track 210 has a loading position, a pressure holding position, and an adhesive application position arranged sequentially along its length. In other words, in this embodiment, steel sheets and lenses are loaded into the assembly fixture 220 pre-loaded with lens frames, and the lens is installed on the lens frame using adhesive applied to the lens frame. By opening several mounting grooves 221 on the assembly fixture 220, batch assembly of UAV ND lenses can be achieved.The material handling assembly 300 includes a four-axis robot 310 and a vacuum suction head assembly fixed to the movable end of the four-axis robot 310. The vacuum suction head assembly includes at least one lens vacuum suction head 320 for picking up lenses from the feeding platform 130 and at least one steel sheet vacuum suction head 330 for picking up steel sheets from the vibratory feeder 160. The movable end of the four-axis robot 310 moves between the feeding platform 130, the vibratory feeder 160, and the loading position to load the lenses and steel sheets into the assembly fixture 220 at the loading position. The four-axis robot 310 can achieve positioning in the horizontal plane, positioning in the vertical direction, and rotation in the horizontal plane. By setting at least one steel sheet vacuum suction head 330 and at least one lens vacuum suction head 320 at the movable end of the four-axis robot 310, the four-axis robot 310 can simultaneously send the steel sheets and lenses to the assembly fixture 220 after picking up the lenses and steel sheets in sequence, thereby improving work efficiency. The pressure holding mechanism 400 includes a pressure holding plate 410 located at the pressure holding position and above the conveying track 210, and a first cylinder 420 located below the conveying track 210 for pushing the assembly fixture 220 at the pressure holding position toward the pressure holding plate 410. The lower surface of the pressure holding plate 410 is provided with a plurality of pressure holding heads 430 corresponding to the mounting grooves 221 inside the assembly fixture 220. In this embodiment, the first cylinder 420 pushes the assembly fixture 220 at the pressure holding position upward, so that the lens and steel sheet assembled in the assembly fixture 220 abut against the pressure holding heads 430 on the lower surface of the pressure holding plate 410, thereby pressing the steel sheet and lens onto the frame to ensure the stability of the lens, steel sheet and frame assembly structure. The adhesive removal detection component 500 is located at the adhesive removal position. The adhesive removal detection component 500 includes an adhesive removal mechanism suspended above the material conveying track 210 and movable in the horizontal direction relative to the assembly fixture 220 at the adhesive removal position. The adhesive removal mechanism includes an adhesive removal head 510 that can move in the vertical direction and contact the product in the assembly fixture 220 to remove excess adhesive from the product. In this way, by raising and lowering the adhesive removal head 510 and moving the adhesive removal mechanism in the horizontal direction relative to the assembly fixture 220, excess adhesive on the product in the assembly fixture 220 can be removed one by one to control product quality.

[0032] The aforementioned drone ND lens assembly equipment uses a first take-up shaft 140 and a second take-up shaft 150 to peel off the film. A four-axis robotic arm 310 picks up the steel sheet and the lens after the film has been peeled off, and places the lens and steel sheet into an assembly fixture 220 containing an adhesive-coated lens frame. The first cylinder 420 and the pressure-holding head 430 jointly compress the assembly fixture 220, firmly combining the lens and steel sheet with the lens frame. Then, the adhesive-wiping head 510 wipes off the excess adhesive on the surface of the product. This equipment replaces the manual assembly of drone ND lenses, significantly improving assembly efficiency. By using vacuum adsorption to pick up the lens and steel sheet, the equipment avoids the difficulty of picking up the small size of the steel sheet, reduces misassembly, and lowers the difficulty of picking up and assembling the lens and steel sheet. By controlling the first cylinder 420, each product can be kept under constant pressure, and the adhesive-wiping head 510 wipes the adhesive off each product one by one, avoiding missed cleaning of excess adhesive and failure to meet pressure requirements, which is beneficial for product quality control.

[0033] Please combine Figure 1-7 The drone ND lens assembly equipment also includes a control cabinet 600 and an outer casing 700. The feeding component 100, conveying component 200, gripping component 300, pressure holding mechanism 400, and adhesive wiping detection component 500 are all installed on the upper surface of the control cabinet 600. The control cabinet 600 is equipped with a control module that is electrically connected to the electrical components (such as various motors, vibratory feeder 160, drive mechanism 230, four-axis robot 310, etc.) in the feeding component 100, conveying component 200, gripping component 300, pressure holding mechanism 400, and adhesive wiping detection component 500; a power supply module that provides working voltage for the whole machine; and a vacuum pump that provides negative pressure for the pneumatic components (such as steel sheet vacuum suction head 330, lens vacuum suction head 320, and various cylinders) of the whole machine. The control module can be a PLC controller. The outer casing 700 is fixed to the upper surface of the control cabinet 600 and covers the feeding assembly 100, conveying assembly 200, gripping assembly 300, pressure holding mechanism 400, and adhesive wiping detection assembly 500 to isolate the assembly operation of the UAV ND lens from the environment and improve operational safety. The outer casing 700 is also equipped with a control panel 710 electrically connected to the control module and power module, and related controls for controlling the start and stop of the vacuum pump. The top of the outer casing 700 is equipped with an audible and visual alarm 720 electrically connected to the control module to promptly alert operators in case of equipment failure. The bottom of the control cabinet 600 is fixed with support legs 730 to raise the height of the entire equipment and prevent water from the factory from entering the control cabinet 600, thus preventing electrical leakage accidents.

[0034] In this embodiment, the first take-up shaft 140 is located above the feeding platform 130 and is disposed on the feeding end side of the feeding platform 130, and the second take-up shaft 150 is located below the feeding platform 130 and is disposed on the feeding end side of the feeding platform 130. Thus, when the first take-up shaft 140 and the second take-up shaft 150 rotate, they pull the protective film 111 and the bottom film 112 in the opposite direction of the material movement, so as to remove the protective film 111 and the bottom film 112 from the lens. The feeding assembly 100 also includes a frame 131, a feeding shaft 132 disposed below the feeding platform 130, and a third motor for driving the feeding shaft 132 to rotate. The frame 131 includes a horizontal part located below the feeding platform 130 and a vertical part connected to the end of the horizontal part and located at the discharge end of the feeding platform 130. The feeding shaft 132 is rotatably mounted on the horizontal part and located between the second receiving shaft 150 and the vertical part. A first channel is provided between the feeding platform 130 and the vertical part. The end of the bottom film 112 passes through the first channel and is wrapped around the second receiving shaft 150. The bottom film 112 also passes around the lower part of the feeding shaft 132 and slides against the feeding shaft 132. The width of the first channel is smaller than the width of the lens so that while the bottom film 112 passes through the first channel to peel off from the lens, the lens is trapped at the edge of the feeding platform 130. By setting a feeding shaft 132 driven by a third motor, which together with the second receiving shaft 150 pulls the bottom film 112, the entire sheet moves from the inlet end to the outlet end of the feeding platform 130, reducing the difficulty of sheet conveying. In this embodiment, the hopper 120, the first motor, the second motor, and the third motor are all mounted on the outer casing 700, the feeding platform 130 is connected to the frame 131, and the frame 131 is mounted on the upper surface of the control cabinet 600.

[0035] Furthermore, in this embodiment, the feeding assembly 100 also includes a material sensor 133 fixed to the top of the vertical section and electrically connected to the third motor to detect the material condition at the end of the feeding platform 130, a film separating plate 134 fixed on the feeding platform 130 and adjacent to the discharge end of the feeding platform 130, a film pressing plate 135 disposed at the feed end of the feeding platform 130, and a first camera 136 disposed above the vibratory feeder 160 and acquiring images of the steel sheet inside the vibratory feeder 160. The film separating plate 134 has a second channel between it and the upper surface of the feeding platform 130, and the side of the film separating plate 134 adjacent to the discharge end of the feeding platform 130 has a wedge-shaped structure. The protective film 111 passes through the second channel and its end is wound in the opposite direction around the first take-up shaft 140. The bottom end of the film pressing plate 135 abuts against the upper surface of the folded material sheet 110. The first camera 136 is electrically connected to the vibratory feeder 160 and the four-axis robot 310. In this embodiment, the material sensor 133 is an optical fiber sensor. By setting the material sensor 133, the material status at the discharge end of the feeding platform 130 can be detected. When a lens is detected at the discharge end of the feeding platform 130, the third motor pauses so that the four-axis robot 310 can pick up the material. When no lens is detected at the discharge end of the feeding platform 130, the third motor starts so that the feeding shaft 132 rotates and continues to feed. The film separating plate 134 is used to position the material sheet to prevent it from being pulled up during the film tearing process. The wedge-shaped structure design on the film separating plate 134 helps to guide the protective film 111 and prevents the protective film 111 from being cut by the corner of the film separating plate 134 under the pull of the first receiving shaft 140, so as to ensure continuous film tearing. The film pressing plate 135 is used to press the material sheet at the feed end of the feeding platform 130 onto the feeding platform 130 so as to guide the material sheet through the second channel below the film separating plate 134. In this embodiment, the first camera 136 is mounted on the top of the outer casing 700. After acquiring images of the steel sheets inside the vibratory feeder 160, the first camera 136 sends the images to the control module. The control module then controls the four-axis robot 310 to operate, so that the four-axis robot 310 can pick up the steel sheets facing up from the vibratory feeder 160. When all the steel sheets in the vibratory feeder 160 are facing down or when there are a large number of steel sheets facing down, the control module controls the vibratory feeder 160 to operate, so that the steel sheets vibrate and flip over within the vibratory feeder 160, ensuring that the steel sheets picked up by the four-axis robot 310 are all facing up. In addition, when the control module determines that the number of steel sheets in the vibratory feeder 160 is insufficient based on the images acquired by the first camera 136, the control module can alert the operator through an audible and visual alarm 720 or a corresponding display device, so that the operator can replenish the vibratory feeder 160 in a timely manner.

[0036] In this embodiment, the vibratory feeder 160 is composed of a linear vibrating hopper and a voice coil flexible vibration platform. The vibratory feeder 160 includes a feed tray 161 for holding steel sheets, a linear vibrator mounted on the feed tray 161, a tray 162 for receiving steel sheets output from the output end of the feed tray 161, a rigid base 163 mounted on the upper surface of the control cabinet 600, and a voice coil motor array mounted on the tray 162. The tray 162 is mounted on the rigid base 163 via flexible or elastic elements such as precision spring sheets, flexible hinges, or silicone pillars. The feed tray 161 is also mounted on the rigid base 163, and the height of the tray 162 is lower than that of the feed tray 161 to receive material from the output end of the feed tray 161. The steel sheets are fed through the linear vibrating hopper and the voice coil flexible vibration platform. The linear vibrating hopper smoothly transports the parts into the tray 162, while the voice coil flexible vibration platform, supported by multiple voice coil motors and elastic elements, generates complex, controllable, and micro-amplitude flexible vibrations to achieve the arrangement of small steel sheets.

[0037] The four-axis robot 310 is a common type of robot on the market that can achieve positioning in the horizontal plane, positioning in the vertical direction, and rotation in the horizontal plane. For example, in this embodiment, the four-axis robot 310 includes a base 311, a first axis 312 mounted on the top of the base 311 and rotatable in the horizontal plane relative to the base 311 (used to control the basic orientation of the robot in the working area), a second axis 313 mounted on the movable end of the first axis 312 and rotatable in the horizontal plane relative to the first axis 312 (used to control the radial extension and retraction of the robot in the horizontal plane), a third axis 314 mounted on the movable end of the second axis 313 and movable relative to the second axis 313 (used to control the position of the robot in the vertical direction), and a fourth axis 315 mounted on the bottom end of the third axis 314 and rotatable in the horizontal plane relative to the third axis 314 (used to control the direction angle of the overall movable end of the four-axis robot 310 so as to adjust the angle of the product in the horizontal plane so that the lens or steel plate is aligned with the frame).

[0038] In this embodiment, the material gripping assembly 300 also includes a second camera 340 fixed to the movable end of the four-axis robot 310 and for acquiring images of the inner frame of the assembly fixture 220, and a third camera 350 located below the movable end of the four-axis robot 310 and for acquiring images of the lens on the lens vacuum suction head 320 and the steel sheet on the steel sheet vacuum suction head 330. The second camera 340 is located beside the vacuum suction head assembly. Before assembly, the movable end of the quadcopter 310 approaches the assembly fixture 220 and captures images of the lens frame inside the assembly fixture 220 through the second camera 340 to obtain information such as the position and shape of the lens frame. Subsequently, each time the quadcopter 310 picks up a lens and a steel plate, it sends the lens and steel plate to the third camera 350 to take pictures, so that the control module can obtain images of the lens and steel plate from the third camera 350 and the lens frame from the second camera 340. In this way, the control module controls the quadcopter 310 to adjust the angle of the lens and steel plate according to the acquired images of the lens, steel plate and lens frame, so that the lens and steel plate can be aligned with the lens frame when placed into the assembly fixture 220, thereby ensuring the reliability of the UAV ND lens assembly. Since the assembly precision requirements for the steel sheet, lens, and frame are within 0.1mm, this embodiment improves the assembly yield and efficiency of UAV ND lenses by combining the second camera 340 and the third camera 350 to control and adjust the position and angle of the movable end of the four-axis robot 310 compared to manual operation. Furthermore, during assembly, the lens and frame must match in specifications. In manual assembly, lenses of different specifications can only be distinguished by light transmittance. This embodiment uses the second camera 340 and the third camera 350 to acquire images of the lens, steel sheet, and frame respectively, and uses image recognition to determine whether the models of the lens, steel sheet, and frame match, thus avoiding mixed materials and incorrect lens assembly and improving the assembly yield.

[0039] Both the lens vacuum suction head 320 and the steel sheet vacuum suction head 330 are connected to the vacuum pump inside the control cabinet 600 via independent air pipes. Each air pipe is equipped with a solenoid valve electrically connected to the control module, allowing the control module to open and close the solenoid valves, thereby controlling the corresponding vacuum suction head to pick up the lens or steel sheet. Furthermore, in this embodiment, since the steel sheet is smaller than the lens, to ensure reliable adsorption of the steel sheet and lens, the size of the lens vacuum suction head 320 is larger than that of the steel sheet vacuum suction head 330. The shape of the adsorption port of the lens vacuum suction head 320 is adapted to the shape of the lens, and the shape of the adsorption port of the steel sheet vacuum suction head 330 is adapted to the shape of the steel sheet. Preferably, the vacuum head assembly includes two lens vacuum heads 320 arranged side by side and two steel sheet vacuum heads 330 located next to the two lens vacuum heads 320. In this way, when one of the lens vacuum heads 320 or the steel sheet vacuum head 330 is blocked or damaged, the remaining lens vacuum head 320 or the steel sheet vacuum head 330 can be used to ensure the normal progress of the UAV ND lens assembly operation.

[0040] Please combine Figure 2 as well as Figure 5-6 The material conveying track 210 includes a first part corresponding to the loading position and the pressure holding position, and a second part corresponding to the adhesive application position. The first part and the second part extend along the same straight line so that the assembly fixture 220 can slide along the first part of the material conveying track 210 to the second part. The first part includes two first baffles 211 arranged opposite each other and two first slide rails 212 located between the two first baffles 211 and corresponding one-to-one with the two first baffles 211. The second part includes two second baffles 213 arranged opposite each other and two second slide rails 214 located between the two second baffles 213 and corresponding one-to-one with the two second baffles 213. In this embodiment, the first baffles 211 and the second baffles 213 are used to limit the sliding trajectory of the assembly fixture 220 to prevent the assembly fixture 220 from falling off the material conveying track 210; the first slide rails 212 and the second slide rails 214 are used to support the assembly fixture 220. The drive mechanism 230 includes two first belts 231 that wrap around the two first slide rails 212 in a vertical plane, a first connecting shaft 232 disposed at one end of the two first belts 231, two first pulleys 233 fixed at both ends of the first connecting shaft 232 and passing through one end of the two first belts 231, a fourth motor 234 drivenly connected to one of the first pulleys 233, two second pulleys that pass through the other end of the two first belts 231 and are rotatably connected to the inner wall of the first stop bar 211, two second belts 235 that wrap around the two second slide rails 214 in a vertical plane, a second connecting shaft 2351 disposed at one end of the two second belts 235, two third pulleys 2352 fixed at both ends of the second connecting shaft 2351 and passing through one end of the two second belts 235, a fifth motor 236 drivenly connected to one of the third pulleys 2352, and two fourth pulleys that pass through the other end of the two second belts 235 and are rotatably connected to the inner wall of the second stop bar 213. In this embodiment, the material conveying track 210 is divided into a first part and a second part, which are independently driven by a fourth motor 234 and a fifth motor 236, respectively. This facilitates a secondary adjustment of the assembly fixture 220's position when it moves to the glue-wiping position. The sliding process of the assembly fixture 220 on the first part is the same as its sliding process on the second part. The following description uses the sliding of the assembly fixture 220 on the first part as an example to illustrate the position transfer process of the material conveying component 200 on the assembly fixture 220. The sliding process of the assembly fixture 220 on the second part can be referred to this description.

[0041] Specifically, when the assembly fixture 220 with the glued frame is placed on the two first belts 231, the fourth motor 234 drives the two first pulleys 233 to rotate, and further drives the two first belts 231 to rotate, so that the first belts 231 drive the assembly fixture 220 to move along the length of the first slide rail 212 until it moves to the corresponding working position. In this embodiment, the purpose of setting two independently spaced first belts 231 between the two first slide rails 212 is to facilitate the piston rod of the first cylinder 420 to pass through the space between the two first belts 231 and push the assembly fixture 220 up and down when the assembly fixture 220 moves to the pressure holding position, so as to facilitate the normal operation of the product pressure holding operation.

[0042] Furthermore, the second part also includes a first linear guide rail 237 disposed below the second slide rail 214, a first slider 2371 slidably disposed on the first linear guide rail 237, a sixth motor 2372 for driving the first slider 2371 to move along the length direction of the first linear guide rail 237, a mounting bracket 2373 fixed on the first slider 2371, a second cylinder 2374 fixed on the mounting bracket 2373 and used to push the assembly fixture 220 at the glue application position, a third cylinder 2375 fixed on the mounting bracket 2373 and located on the second slide rail 214 away from the first slide rail 212, and a limiting block 2376 fixed on the piston rod at the top of the third cylinder 2375 and used to abut against the side edge of the assembly fixture 220 at the glue application position. The length direction of the first linear guide rail 237 is perpendicular to the length direction of the second slide rail 214. In this embodiment, the length direction of the first slide rail 212 and the second slide rail 214 is set to the Y-axis, and the length direction of the first linear guide rail 237 is the X-axis perpendicular to the Y-axis. The sixth motor 2372 is connected to the first slider 2371 through a lead screw and nut structure. Thus, through the rotation of the output shaft of the sixth motor 2372 and the cooperation of the lead screw and nut structure, the first slider 2371 can be moved along the X-axis, so that the assembly fixture 220 moves closer to or further away from the glue-applying head 510 along the X-axis. The second cylinder 2374 pushes the assembly fixture 220 at the glue-applying position to the glue-applying head 510, so that the glue-applying head 510 can perform glue-applying operations on the product in the assembly fixture 220. During the adhesive application process, the third cylinder 2375 pushes the limiting block 2376 upward, so that the limiting block 2376 presses against the edge of the assembly fixture 220, preventing the assembly fixture 220 from moving relative to the adhesive application head 510 during the adhesive application process, thus ensuring the normal progress of the adhesive application operation. When the adhesive application operation is completed, the piston rod of the third cylinder 2375 drives the limiting block 2376 to move downward, thereby releasing the constraint of the limiting block 2376 on the assembly fixture 220. At this time, as the assembly fixture 220 on the first part enters the second part, or as the second belt 235 rotates, the assembly fixture 220 that has completed the adhesive application operation will continue to move forward under the push of the subsequent assembly fixture 220 or under the drive of the second belt 235, so as to leave the assembly operation line. Preferably, in this embodiment, the second part is provided with an inclined receiving plate 2377 on the side away from the first part, and a limiting baffle is provided at the bottom end of the receiving plate 2377. In this way, the assembly jig 220 pushed off the second belt 235 will slide onto the receiving plate 2377 so that the operator can take out the assembled UAV ND lens.

[0043] In this embodiment, the adhesive application detection component 500 further includes a second linear guide rail 520 located beside and parallel to the second slide rail 214 (the second linear guide rail 520 extends along the Y-axis), a second slider 530 slidably disposed on the second linear guide rail 520, and a seventh motor 540 for driving the second slider 530 to move along the length direction of the second linear guide rail 520. The installation height of the second linear guide rail 520 is higher than the installation height of the second slide rail 214. The seventh motor 540 is connected to the second slider 530 through a screw and nut structure. Thus, by rotating the output shaft of the seventh motor 540 and engaging the screw and nut structure, the second slider 530 can move along the Y-axis, thereby causing the adhesive application mechanism to move along the Y-axis. Thus, through the combined action of the sixth motor 2372 and the seventh motor 540, the adhesive application mechanism can move horizontally relative to the assembly fixture 220 at the adhesive application position, so as to apply adhesive to each product arranged in an array within the assembly fixture 220. In other embodiments, the first linear guide 237 and the sixth motor 2372 can be omitted, and the mounting bracket 2373 can be directly fixed to the upper surface of the control cabinet 600. The adhesive application mechanism can be controlled to move in the horizontal plane relative to the assembly fixture 220 on the adhesive application position by the XY dual-axis drive mechanism 230. For example, the first linear guide 237 can be set next to the second slide rail 214 and extend along the X-axis direction, and the second linear guide 520 can be fixed on the first slider 2371.

[0044] Please combine Figure 2 , Figure 5-6 as well as Figure 8-9The adhesive application mechanism also includes a bracket 550 fixed to the second slider 530, with its side adjacent to the second slide rail 214 forming a mounting surface; a turntable 560 located on the mounting surface and rotatably connected to the bracket 550; a rotating core 570 located on the side of the mounting surface away from the turntable 560 and rotatably connected to the bracket 550; an eighth motor 571 mounted on the side of the bracket 550 facing away from the mounting surface and drivenly connected to the rotating core 570; and a plurality of rollers 560 located between the turntable 560 and the rotating core 570 and mounted on the lower part of the mounting surface. 80. A fourth cylinder 581 and an adhesive tape 582 are fixed to the lower part of the mounting surface. Multiple rollers 580 are arranged at different heights. One end of the adhesive tape 582 is fixed to a turntable 560 and wound around it. The other end of the adhesive tape 582 passes through each roller 580 in an S-shaped path and connects to the rotating core 570. The adhesive head 510 is fixed to the piston rod at the bottom of the fourth cylinder 581 and presses down on the adhesive tape 582 under the drive of the fourth cylinder 581, so that the adhesive tape 582 contacts the product inside the assembly fixture 220. By setting multiple rollers 580 at different heights and making the adhesive tape 582 pass through each roller 580 in an S-shaped path, tension of the adhesive tape 582 can be achieved. In order to make the adhesive head 510 press down on the adhesive tape 582, the bottom end of the adhesive head 510 is located above the adhesive tape 582. In order to prevent the bottom end of the wiping head 510 from puncturing or damaging the wiping tape 582, in this embodiment, the bottom end of the wiping head 510 is fitted with a hemispherical rubber sleeve to prevent scratching the wiping tape 582 and to avoid damaging the product.

[0045] During the adhesive application process, the eighth motor 571 operates and drives the rotating core 570 to rotate. The rotating core 570 rotates and pulls the end of the adhesive application belt 582 to move. Thus, as the end of the adhesive application belt 582 moves, the turntable 560 rotates under the traction of the adhesive application belt 582 to continuously supply adhesive application belt 582. When there is a product to be applied at the application position, the piston rod of the fourth cylinder 581 descends and pushes the adhesive application belt 582 closer to the product until the adhesive application belt 582 disengages from the product and removes excess adhesive from the product surface. In this embodiment, two adhesive wiping heads 510 are arranged side by side at the lower part of the turntable 560, and two fourth cylinders 581 that drive the two adhesive wiping heads 510 to rise and fall in a corresponding manner. In this way, when one fourth cylinder 581 drives one adhesive wiping head 510 to descend and wipe adhesive, the other adhesive wiping head 510 is raised. When the fourth cylinder 581 drives the adhesive wiping head 510 to rise, the other adhesive wiping head 510 descends and wipes adhesive. In this way, the two adhesive wiping heads 510 work alternately, which can improve the adhesive wiping efficiency of the product.

[0046] The adhesive application mechanism also includes a fifth cylinder 583 fixed to the bracket 550 and located above the rotating core 570; a movable core 584 fixed to the bottom of the fifth cylinder 583 and located above the rotating core 570; a guide groove 590 fixed to the bracket 550 and located on the rotating core 570 facing away from the turntable 560 to allow the adhesive application tape 582 to pass through; and a tape collection box 591 fixed to the bracket 550 and located below the guide groove 590 to collect the adhesive application tape 582. The fifth cylinder 583 drives the movable core 584 to descend, so that the movable core 584 presses the adhesive application tape 582 wound on the rotating core 570. The fifth cylinder 583 is used to drive the movable core 584 to approach or move away from the rotating core 570 so that it can work with the rotating core 570 to press the adhesive application tape 582 together during the adhesive application process, allowing the adhesive application tape 582 to move under the drive of the rotating core 570, thereby ensuring the cleanliness of the section of adhesive application tape 582 below the adhesive application head 510. When the fifth cylinder 583 drives the movable core 584 away from the rotating core 570, the wiping tape 582 can be adjusted. For example, before operation, the wiping tape 582 can be passed between the movable core 584 and the rotating core 570. By setting the guide groove 590 and the tape collection box 591, under the combined action of the rotating core 570 and the movable core 584, the length of the end of the wiping tape 582 extending out of the area between the movable core 584 and the rotating core 570 continuously increases. This extended tape segment enters the tape collection box 591 through the guide groove 590 so as to collect the used and discarded wiping tape 582 in a unified manner.

[0047] In one embodiment, the adhesive application detection component 500 further includes a fourth camera 592 fixed on the bracket 550 and used to acquire images of the product within the assembly fixture 220 at the adhesive application position. Thus, after the fourth camera 592 acquires the product image, it sends it to the control module. The control module can control the movement of the adhesive application head 510 according to the adhesive application status of the product to ensure that each product is properly adhesive applied. In this embodiment, the first camera 136, the second camera 340, the third camera 350, and the fourth camera 592 are all CCD cameras. To ensure the reliability of image acquisition, in this embodiment, the shooting ends of the first camera 136, the second camera 340, the third camera 350, and the fourth camera 592 are all equipped with autofocus auxiliary illuminators to emit auxiliary beams in low-light conditions, thereby improving the camera's autofocus capability.

[0048] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0049] The embodiments described above are merely illustrative of several implementations of this utility model, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the utility model patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this utility model, and these all fall within the protection scope of this utility model. Therefore, the protection scope of this utility model patent should be determined by the appended claims.

Claims

1. A drone ND lens assembly device, characterized in that, include: The feeding assembly includes a hopper containing folded sheets, a feeding platform, a first take-up shaft disposed above the feeding platform for winding up a protective film, a second take-up shaft disposed below the feeding platform for winding up a base film, a first motor for driving the first take-up shaft to rotate, a second motor for driving the second take-up shaft to rotate, and a vibratory feeder located beside the feeding platform for receiving and assembling steel sheets. The folded sheets include a base film, a plurality of lenses distributed on the upper surface of the base film, and a protective film that is attached to the upper surface of the base film and covers the lenses. The material conveying assembly includes a material conveying track, an assembly fixture slidably mounted on the material conveying track, and a drive mechanism for driving the assembly fixture to slide on the material conveying track. The upper surface of the assembly fixture is provided with several mounting slots, and each mounting slot is pre-installed with a glued mirror frame. The material conveying track is provided with a feeding position, a pressure holding position, and a glue wiping position in sequence along its length. The material handling assembly includes a four-axis robot and a vacuum suction head assembly fixed to the movable end of the four-axis robot. The vacuum suction head assembly includes at least one lens vacuum suction head for picking up lenses on the feeding platform and at least one steel sheet vacuum suction head for picking up steel sheets in the vibratory feeder. The movable end of the four-axis robot moves between the feeding platform, the vibratory feeder and the loading position to load the lenses and steel sheets into the assembly fixture at the loading position. The pressure holding mechanism includes a pressure holding plate located at the pressure holding position and above the material conveying track, and a first cylinder located below the material conveying track for pushing the assembly fixture at the pressure holding position toward the pressure holding plate. The lower surface of the pressure holding plate is provided with a plurality of pressure holding heads corresponding to the mounting grooves inside the assembly fixture. The adhesive removal detection assembly, located at the adhesive removal position, includes an adhesive removal mechanism suspended above the material conveying track and movable in the horizontal direction relative to the assembly fixture at the adhesive removal position. The adhesive removal mechanism includes an adhesive removal head that can move in the vertical direction and contact the product inside the assembly fixture to remove excess adhesive from the product.

2. The UAV ND lens assembly equipment according to claim 1, characterized in that, The feeding assembly also includes a frame, a feeding shaft disposed below the feeding platform, and a third motor for driving the feeding shaft to rotate. The frame includes a horizontal part located below the feeding platform and a vertical part connected to the end of the horizontal part and located at the discharge end of the feeding platform. The feeding shaft is rotatably mounted on the horizontal part and located between the second receiving shaft and the vertical part. A first channel is provided between the feeding platform and the vertical part. The end of the bottom film passes through the first channel and is wrapped around the second receiving shaft. The bottom film also wraps around the lower part of the feeding shaft and slides against the feeding shaft. The width of the first channel is smaller than the width of the lens.

3. The UAV ND lens assembly equipment according to claim 2, characterized in that, The feeding assembly also includes a material sensor fixed to the top of the vertical section and electrically connected to a third motor to detect the material condition at the end of the feeding platform, a film-separating plate fixed to the feeding platform and adjacent to the discharge end of the feeding platform, a pressure plate set at the feed end of the feeding platform, and a first camera set above the vibratory feeder to acquire images of the steel sheet inside the vibratory feeder. The film-separating plate has a second channel between itself and the upper surface of the feeding platform, and the side of the film-separating plate adjacent to the discharge end of the feeding platform has a wedge-shaped structure. The protective film passes through the second channel and its end is wound in the opposite direction around the first take-up shaft. The bottom end of the pressure plate abuts against the upper surface of the folded material sheet. The first camera is connected to the vibratory feeder and the four-axis robotic arm.

4. The UAV ND lens assembly equipment according to claim 1, characterized in that, The material conveying track includes a first part corresponding to the feeding position and the pressure holding position, and a second part corresponding to the adhesive wiping position. The first part and the second part extend along the same straight line direction. The first part includes two first baffles arranged opposite each other and two first slide rails located between the two first baffles and corresponding one-to-one with the two first baffles. The second part includes two second baffles arranged opposite each other and two second slide rails located between the two second baffles and corresponding one-to-one with the two second baffles. The driving mechanism includes two first belts that wrap around two first slide rails in a vertical plane, a first connecting shaft at one end of the two first belts, two first pulleys fixed at both ends of the first connecting shaft and passing through one end of the two first belts, a fourth motor driven by one of the first pulleys, two second pulleys that pass through the other end of the two first belts and are rotatably connected to the inner wall of the first stop bar, two second belts that wrap around two second slide rails in a vertical plane, a second connecting shaft at one end of the two second belts, two third pulleys fixed at both ends of the second connecting shaft and passing through one end of the two second belts, a fifth motor driven by one of the third pulleys, and two fourth pulleys that pass through the other end of the two second belts and are rotatably connected to the inner wall of the second stop bar.

5. The UAV ND lens assembly equipment according to claim 4, characterized in that, The second part also includes a first linear guide rail disposed below the second slide rail, a first slider slidably disposed on the first linear guide rail, a sixth motor for driving the first slider to move along the length direction of the first linear guide rail, a mounting bracket fixed on the first slider, a second cylinder fixed on the mounting bracket and used to push the assembly fixture at the glue-wiping position, a third cylinder fixed on the mounting bracket and located on the second slide rail away from the end of the first slide rail, and a limiting block fixed on the piston rod at the top of the third cylinder and used to abut against the side edge of the assembly fixture at the glue-wiping position, wherein the length direction of the first linear guide rail is perpendicular to the length direction of the second slide rail.

6. The UAV ND lens assembly equipment according to claim 5, characterized in that, The adhesive wiping detection assembly also includes a second linear guide rail located beside and parallel to the second slide rail, a second slider slidably disposed on the second linear guide rail, and a seventh motor for driving the second slider to move along the length direction of the second linear guide rail. The installation height of the second linear guide rail is higher than the installation height of the second slide rail.

7. The UAV ND lens assembly equipment according to claim 6, characterized in that, The adhesive wiping mechanism also includes a bracket fixed to the second slider, with its side adjacent to the second slide rail forming a mounting surface; a turntable located on the mounting surface and rotatably connected to the bracket; a rotating core located on the mounting surface away from the turntable and rotatably connected to the bracket; an eighth motor mounted on the bracket facing away from the mounting surface and driven by the rotating core; multiple rollers located between the turntable and the rotating core and mounted on the lower part of the mounting surface; a fourth cylinder fixed on the lower part of the mounting surface; and an adhesive wiping belt. The multiple rollers are arranged at different heights. One end of the adhesive wiping belt is fixed to the turntable and wound around the turntable. The other end of the adhesive wiping belt passes around each roller in sequence along an S-shaped path and connects to the rotating core. The adhesive wiping head is fixed to the piston rod at the bottom of the fourth cylinder and presses down on the adhesive wiping belt under the drive of the fourth cylinder so that the adhesive wiping belt contacts the product inside the assembly fixture.

8. The UAV ND lens assembly equipment according to claim 7, characterized in that, The adhesive wiping mechanism also includes a fifth cylinder fixed on the bracket and located above the rotating core, a movable core fixed at the bottom of the fifth cylinder and located above the rotating core, a guide groove fixed on the bracket and located on the rotating core facing away from the turntable to allow the adhesive tape to pass through, and a tape collection box fixed on the bracket and located below the guide groove to collect the adhesive tape. The fifth cylinder drives the movable core to descend so that the movable core presses the adhesive tape wound on the rotating core.

9. The UAV ND lens assembly equipment according to claim 1, characterized in that, The material gripping assembly also includes a second camera fixed to the movable end of the four-axis robot and for acquiring images of the inner lens frame of the assembly fixture, and a third camera located below the movable end of the four-axis robot and for acquiring images of the lens on the lens vacuum suction head and the steel sheet on the steel sheet vacuum suction head. The second camera is located beside the vacuum suction head assembly.

10. The UAV ND lens assembly equipment according to claim 7, characterized in that, The adhesive removal detection assembly also includes a fourth camera fixed on the bracket and used to acquire images of the product inside the assembly fixture at the adhesive removal location.

Images