A drone ND lens frame feeding device

Abstract

This utility model discloses a drone-based ND lens frame loading device that can improve the efficiency of lens frame loading operations. It includes a transfer track, a loading assembly, a cover plate removal and placement assembly, and a gripping assembly. One side of the transfer track has a first loading position, a loading operation position, and a first unloading position; the other side of the transfer track has a second loading position and a second unloading position. The first loading position has a lens frame tray with a protective film covering its surface. The loading assembly includes a mounting bracket slidably mounted on the transfer track, a lens frame fixture mounted on top of the mounting bracket, and a positioning cover plate mounted on the lens frame fixture. The transfer track has a first driving component that drives the mounting bracket to move. The cover plate removal and placement assembly includes a support frame, a movable frame located at the top of the support frame, and a first gripping structure mounted on the movable frame for picking up the positioning cover plate. The gripping assembly includes a four-axis manipulator and a second gripping structure, a third gripping structure, and at least one vacuum suction head fixed to the movable end of the four-axis manipulator.

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 frame loading device. Background Technology

[0002] Neutral Density (ND) filters are a crucial component of drones. As a type of light-reducing filter 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 element, and steel plate using adhesive. The feeding of the frame is a critical aspect of ND filter assembly. Because the frame surface is irregularly curved and there is a protective film between the material trays, the protective film needs to be removed before the frame is loaded. Therefore, currently, ND filter frames are mainly loaded manually. This manual loading process is inefficient, resulting in low overall assembly efficiency for drone ND filters and consequently impacting drone production capacity. Utility Model Content

[0003] Therefore, it is necessary to provide a drone-based ND lens frame loading device that can improve the efficiency of frame loading operations, addressing the aforementioned shortcomings.

[0004] A drone-based ND lens frame loading device includes:

[0005] The transplanting track extends along the X-axis, and one side of the transplanting track is provided with a first loading position, a loading operation position and a first unloading position in sequence along its length. The other side of the transplanting track is provided with a second loading position corresponding to the first loading position and a second unloading position corresponding to the first unloading position. A mirror frame tray is provided at the first loading position, and the surface of the mirror frame on the mirror frame tray is covered with a protective film.

[0006] The material loading assembly includes a mounting bracket slidably disposed on a transfer track, a mirror frame fixture disposed on top of the mounting bracket, and a positioning cover plate mounted on the mirror frame fixture. The mirror frame fixture has several limiting grooves for receiving mirror frames. The transfer track is provided with a first driving component that drives the mounting bracket to move between a first loading position, a loading operation position, and a unloading position.

[0007] The cover plate removal and placement assembly includes a support frame, a movable frame located at the top of the support frame and extending towards the transplanting track, a second drive unit fixed to the support frame and driving the movable frame to rise and fall, and a first gripping structure installed on the movable frame near one end of the transplanting track for gripping the positioning cover plate from the mirror frame fixture or placing the positioning cover plate on the mirror frame fixture; and

[0008] The material handling assembly includes a four-axis robot arm and a second gripping structure fixed to the movable end of the four-axis robot arm for gripping and placing the frame from the frame tray into the limiting groove, a third gripping structure for gripping and placing the empty frame tray from the first loading position to the first unloading position, and at least one vacuum suction head for picking up the protective film from the frame tray at the first loading position and placing the protective film at the first unloading position.

[0009] In one embodiment, the frame fixture has at least one through hole penetrating its upper and lower surfaces, and the material loading assembly further includes a lifting cylinder fixed on the mounting bracket and located below the frame fixture. The telescopic end of the lifting cylinder is provided with at least one lifting column corresponding to the through hole, and the lifting column abuts against the lower surface of the positioning cover to lift the positioning cover.

[0010] In one embodiment, the upper surface of the frame fixture is provided with an installation area in the middle, and a plurality of limiting grooves are provided in the installation area. The positioning cover plate is provided with a plurality of operating holes that penetrate its upper and lower surfaces and are connected to each limiting groove in a corresponding manner. The inner edge of the operating hole is provided with a limiting protrusion for abutting against the upper surface edge of the frame in the limiting groove.

[0011] In one embodiment, the upper surface of the frame fixture is provided with a guide post and at least one first magnetic attraction part, and the positioning cover plate is provided with a guide hole for passing through the guide post and at least one second magnetic attraction part corresponding to the first magnetic attraction part.

[0012] In one embodiment, the material loading assembly further includes two fixing plates that are disposed opposite to each other and fixed to the top of the mounting bracket, two support rails that are disposed opposite to each other between the two fixing plates and fixedly connected to the upper inner sidewall of the mounting bracket, a top plate located between the two support rails and fixedly connected to the two support rails respectively, and a conveying structure.

[0013] Both the fixing plate and the support rail extend along the Y-axis. The two fixing plates are symmetrically arranged and have an inverted L-shaped structure. Each fixing plate includes a vertical part extending along the Z-axis, a horizontal part fixed at the top of the vertical part and extending along the X-axis towards the area between the two fixing plates, and a baffle located on the vertical part near the first loading position and fixedly connected to the vertical part and the horizontal part. The fixing plate has a through-hole at the end near the second loading position to form a jig loading port. The top plate has at least one through hole for the lifting column to pass through.

[0014] The transmission structure includes two belts that wrap around two support rails in a vertical plane, a connecting shaft at one end of the two belts, two first pulleys fixed at both ends of the connecting shaft and passing through one end of the two belts, a first motor driven by one of the first pulleys, and two second pulleys passing through the other end of the two belts. The first and second pulleys are rotatably connected to the mounting bracket. A limiting insertion area for inserting the edge of the frame fixture is formed between the upper surface of the belt and the lower surface of the horizontal part.

[0015] In one embodiment, the UAV ND lens frame loading device further includes a cabinet, and the transfer track, support frame and four-axis robot are all fixed to the upper surface of the cabinet; the first loading position is also provided with a tray feeding assembly, which includes a plurality of first tray baffles fixed to the upper surface of the cabinet and distributed along a ring path, a first tray located in the area surrounded by the plurality of first tray baffles and used to receive the stacked lens frame trays, a first lifting drive unit located below the first tray and driving the first tray to rise and fall, and a plurality of first guide rods arranged at intervals below the first tray and fixedly connected to the lower surface of the first tray. The first guide rods slide with the upper surface of the cabinet and can rise and fall relative to the cabinet in the Z-axis direction.

[0016] In one embodiment, the first unloading position is further provided with a tray unloading assembly. The tray unloading assembly includes a plurality of second tray baffles fixed to the upper surface of the cabinet and distributed along a circular path, a second tray located in the area surrounded by the plurality of second tray baffles and used to receive empty mirror frame trays and protective films, a second lifting drive unit located below the second tray and driving the second tray to rise and fall, and a plurality of second guide rods arranged at intervals below the second tray and fixedly connected to the lower surface of the second tray. The second guide rods slide in cooperation with the upper surface of the cabinet and can rise and fall relative to the cabinet along the Z-axis direction.

[0017] In one embodiment, both the first tray and the second tray are provided with a plurality of weight-reducing holes; the side of the first tray baffle facing away from the first tray is provided with a first reinforcing rib, and the side of the second tray baffle facing away from the second tray is provided with a second reinforcing rib; a first linear bearing that slides with the first guide rod and a second linear bearing that slides with the second guide rod are fixed on the cabinet.

[0018] In one embodiment, both the first and second lifting drive components are cylinders; or the first lifting drive component includes a first hollow servo motor fixed to the cabinet, a first lead screw passing through the output shaft of the first hollow servo motor and threadedly engaged with the output shaft of the first hollow servo motor, the top end of the first lead screw abutting against the lower surface of the first tray and rotatable relative to the first tray; the second lifting drive component includes a second hollow servo motor fixed to the cabinet, a second lead screw passing through the output shaft of the second hollow servo motor and threadedly engaged with the output shaft of the second hollow servo motor, the top end of the second lead screw abutting against the lower surface of the second tray and rotatable relative to the second tray.

[0019] In one embodiment, the drone ND lens frame loading device further includes a first camera fixed between the transfer track and the four-axis robot for acquiring images of the lens frames on the four-axis robot, a lens frame throwing box located next to the first camera, and a second camera suspended above the first loading position for acquiring images of the lens frames inside the lens frame fixture at the first loading position. Both the first camera and the second camera are electrically connected to the four-axis robot.

[0020] The drone ND lens frame loading equipment of this invention uses a first driving component to drive the mounting bracket to move, allowing the frame fixture to move between a first loading position, a loading operation position, and a first unloading position. A first gripping structure removes the positioning cover plate from the frame fixture. A vacuum suction head on a four-axis robotic arm picks up the protective film from the frame tray at the first loading position and places it at the first unloading position. A second gripping structure places the frame into the limiting groove of the frame fixture. After the frame fixture is full, the first gripping structure returns the positioning cover plate to the frame fixture. After all the frames on the frame tray are removed, a third gripping structure places the empty frame tray at the first unloading position. This completes the loading and clamping of the frames within the frame fixture, replacing manual loading. It can automatically remove the protective film from the frame surface, improving the loading efficiency of the frames, thereby increasing the assembly efficiency of drone ND lenses and the production capacity of drones. Attached Figure Description

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

[0022] Figure 2 This is a schematic diagram of the structure of the transfer track, the material loading assembly, and the cover plate disassembly assembly in one embodiment of the present invention;

[0023] Figure 3 This is a schematic diagram of the structure of the frame fixture and the positioning cover plate when they are disassembled in one embodiment of this utility model;

[0024] Figure 4This is a schematic diagram of the material gripping assembly in one embodiment of the present invention;

[0025] Figure 5 This is a schematic diagram of the structure of the material tray feeding assembly in one embodiment of the present invention. Detailed Implementation

[0026] 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.

[0027] Please combine Figure 1-4 This utility model discloses a drone-based ND lens frame loading device that can improve the efficiency of lens frame loading operations. The drone-based ND lens frame loading device includes a transfer track 100, a loading assembly 200, a cover plate disassembly and placement assembly 300, and a gripping assembly 400. The transfer track 100 extends along the X-axis direction, and one side of the transfer track 100 is provided with a first loading position, a loading operation position, and a first unloading position in sequence along its length direction. The other side of the transfer track 100 is provided with a second loading position corresponding to the first loading position and a second unloading position corresponding to the first unloading position. A lens frame tray 500 is provided at the first loading position. Several lens frames to be loaded are laid flat on the lens frame tray 500. The surface of the lens frames on the lens frame tray 500 is covered with a protective film 600. The protective film 600 is used to protect the surface of the lens frames to prevent the tray-loaded lens frames from being contaminated or scratched during transportation. Before the eyeglass frames are removed from the eyeglass frame tray 500 and loaded, the protective film 600 covering the surface of the eyeglass frames needs to be removed to facilitate the gluing, assembly, and other operations after loading. The loading assembly 200 includes a mounting bracket 210 slidably mounted on the transfer track 100, an eyeglass frame fixture 220 mounted on top of the mounting bracket 210, and a positioning cover plate 230 mounted on the eyeglass frame fixture 220. The eyeglass frame fixture 220 has several limiting grooves 221 for receiving eyeglass frames to achieve batch loading of eyeglass frames. In this embodiment, the inner contour shape of the limiting groove 221 is adapted to the outer contour shape of the eyeglass frame to prevent the eyeglass frame from shaking in the limiting groove 221, thereby improving the stability and reliability of the eyeglass frames installed on the eyeglass frame fixture 220. The transfer track 100 is provided with a first driving member 110 for driving the mounting bracket 210 to move between the first loading position, the loading operation position, and the unloading position.

[0028] The cover plate removal and placement assembly 300 includes a support frame 310, a movable frame 320 located at the top of the support frame 310 and extending towards the transfer track 100, a second drive member 330 fixed to the support frame 310 and driving the movable frame 320 to rise and fall, and a first gripping structure 340 installed on the movable frame 320 near one end of the transfer track 100 for gripping the positioning cover plate 230 from the mirror frame fixture 220 or placing the positioning cover plate 230 on the mirror frame fixture 220. In this embodiment, the support frame 310 extends along the Z-axis and is located at one end of the transfer track 100 away from the first loading position, and the movable frame 320 is located above the transfer track 100 to avoid interference between the removal and placement of the positioning cover plate 230 and the unloading operations of the mirror frame fixture 220, the mirror frame tray 500, and the protective film 600. The second drive member 330 is used to drive the movable frame 320 and the first gripping structure to descend when the frame fixture 220 moves below the movable frame 320, so that the first gripping structure can pick up the positioning cover plate 230 from the frame fixture 220. Then the second drive member 330 drives the movable frame 320 and the first gripping structure to rise, so as to take the positioning cover plate 230 away from the frame fixture 220, so as to facilitate the insertion of the frame into the frame fixture 220. The material gripping assembly 400 includes a four-axis robot 410 and a second gripping structure 420 fixed to the movable end of the four-axis robot 410 for gripping and placing the frame from the frame tray 500 into the limiting groove 221, a third gripping structure 430 for gripping and placing the empty frame tray 500 from the first loading position to the first unloading position, and at least one vacuum suction head 440 for picking up the protective film 600 from the frame tray 500 at the first loading position and placing the protective film 600 at the first unloading position. The vacuum suction head 440 is connected to a pneumatic device so that the vacuum suction head 440 generates air pressure or releases negative pressure under the action of the pneumatic device, thereby adsorbing or releasing the protective film 600. The four-axis robot 410 can achieve positioning in the horizontal plane, positioning in the vertical direction, and rotation in the horizontal plane. By setting a second gripping structure 420, a third gripping structure 430, and a vacuum suction head 440 at the movable end of the four-axis robot 410, the movable end of the four-axis robot 410 can move between the first loading position, the loading operation position, and the first unloading position, so as to put the lens frame into the lens frame fixture 220 and realize the tearing and unloading of the protective film 600 and the unloading of the empty lens frame tray 500.

[0029] In this embodiment, the second loading position is used to receive or place an empty frame fixture 220, and the empty frame fixture 220 is covered with a positioning cover plate 230 to provide a carrier for loading frames; the second unloading position is used to remove or output a frame fixture 220 filled with frames and covered with the positioning cover plate 230. In actual operation, the frame fixture 220 covered with the positioning cover plate 230 can be manually placed on the top of the mounting bracket 210 via the second loading position, or the top of the mounting bracket 210 can be connected to an external frame fixture 220 loading mechanism to achieve automatic loading of the frame fixture 220. Similarly, the eyeglass frame fixture 220, which is covered by the positioning cover plate 230 and filled with eyeglass frames, can be manually removed via the second unloading position. Alternatively, an unloading mechanism for the eyeglass frame fixture 220 can be set at the second unloading position so that when the mounting bracket 210 moves to the first unloading position, the eyeglass frame fixture 220 enters the unloading mechanism of the eyeglass frame fixture 220 through an external or internal drive mechanism, thereby realizing the automatic unloading of the eyeglass frame fixture 220.

[0030] During the loading process of the eyeglass frames, the empty eyeglass frame fixture 220, covered with the positioning cover plate 230, is first placed on top of the mounting bracket 210. Then, the first driving member 110 drives the mounting bracket 210 to move, causing the mounting bracket 210 to move the eyeglass frame fixture 220 and the positioning cover plate 230 to below the movable frame 320. The second driving member 330 then drives the movable frame 320 to descend, causing the first gripping structure 340 to descend to the same height as the eyeglass frame fixture 220. The first gripping structure 340 then grips the positioning cover plate 230 on the eyeglass frame fixture 220. Then, the second driving member 330 drives the movable frame 320 to rise, so that the first gripping structure 340 removes the positioning cover plate 230 from the eyeglass frame fixture 220, creating a loading operation space between the positioning cover plate 230 and the eyeglass frame fixture 220. The four-axis robot 410 operates and moves the vacuum suction head 440 to the frame tray 500, bringing it close to or against the protective film 600 on the frame surface. The vacuum suction head 440 then connects to a pneumatic device, creating a negative pressure at the suction head 440. Under this negative pressure, the protective film 600 adheres to the vacuum suction head 440. The four-axis robot 410 then transfers the protective film 600 to the first unloading position, removing it. After the protective film 600 is removed, the four-axis robot 410 again controls its movable end to move the second gripper structure 420 to the frame tray 500. The second gripper structure 420, with the assistance of the four-axis robot 410, grips the frames on the frame tray 500 and places them one by one into the limiting groove 221 of the frame fixture 220 until all frames on a single frame tray 500 are removed. In this scenario, the third gripper structure 430, driven by the four-axis robot 410, grips an empty frame tray 500 from the first loading position and transfers it to the first unloading position. This allows the vacuum suction head 440 to pick up the protective film 600 from the next frame tray 500, and the second gripper structure 420 then grips the frames from the next tray. Once the frame fixture 220 is full of frames, the second drive unit 330 drives the movable frame 320 to descend, allowing the first gripper structure 340 to place the positioning cover 230 back into the frame fixture 220 and position the frames within it. Finally, the frame fixture 220, now full of frames, is removed from the second unloading position.

[0031] The aforementioned drone-mounted ND lens frame loading equipment, driven by the first driving component 110, moves the mounting bracket 210, allowing the frame fixture 220 to move between the first loading position, the loading operation position, and the first unloading position. The positioning cover plate 230 on the frame fixture 220 is removed by the first gripping structure 340. The vacuum suction head 440 on the four-axis robot 410 picks up the protective film 600 from the frame tray 500 at the first loading position and places it at the first unloading position. The second gripping structure 420 then places the frame into the limiting position of the frame fixture 220. After the lens frames are placed in the slot 221 and the lens frame fixture 220 is filled, the first gripping structure 340 puts the positioning cover plate 230 back into the lens frame fixture 220. After all the lens frames on the lens frame tray 500 are removed, the third gripping structure 430 puts the empty lens frame tray 500 into the first unloading position. This realizes the loading and clamping of lens frames in the lens frame fixture 220, which replaces the manual loading method and can automatically remove the protective film 600 on the surface of the lens frame, improving the loading efficiency of the lens frames, thereby improving the assembly efficiency of the ND lens for the drone and the production capacity of the drone.

[0032] In one embodiment, the UAV ND lens frame loading equipment further includes a cabinet 700 and a housing 800 (i.e., Figure 1(The dotted line section) The transfer track 100, support frame 310, and four-axis robot 410 are all fixed to the upper surface of the cabinet 700. The cabinet 700 houses a controller (not shown) that is electrically connected to and controls the operation of the first drive unit 110, second drive unit 330, first gripper structure 340, second gripper structure 420, third gripper structure 430, and four-axis robot 410; a vacuum pump (not shown) that provides negative pressure to the pneumatic components of the whole machine (such as vacuum suction head 440); and a power module (not shown) that provides the working voltage to the whole machine. The controller is a PLC controller or a microcontroller. The outer cover 800 is fixed to the upper surface of the cabinet 700 and covers the transfer track 100, material loading assembly 200, cover plate removal and placement assembly 300, and material gripping assembly 400 to isolate the picture frame loading operation from the environment and improve the safety of the operation. The outer casing 800 may also be equipped with a control panel electrically connected to the controller and power module, and related controls for controlling the start and stop of the vacuum pump. An audible and visual alarm electrically connected to the controller may also be installed on the top of the outer casing 800 to promptly alert operators in case of equipment malfunction. The bottom of the cabinet 700 is fixed with support legs 710 to raise the overall height of the equipment, preventing water from entering the cabinet 700 and thus preventing electrical leakage accidents. In this embodiment, a solenoid valve electrically connected to the controller is installed on the pipeline connecting the vacuum pump and the vacuum suction head 440. Thus, by controlling the opening and closing of the solenoid valve, a negative pressure can be generated at the vacuum suction head 440 to adsorb the protective film 600, or the negative pressure at the vacuum suction head 440 can be released to allow the protective film 600 to be lowered. Additionally, it should be noted that the X-axis direction referred to in this solution is the length direction of the cabinet 700 (i.e., the left and right side direction of the cabinet 700), the Y-axis direction is the width direction of the cabinet 700 (i.e., the front and back side direction of the cabinet 700), and the Z-axis direction is the height direction of the cabinet 700 (i.e., the top and bottom side direction of the cabinet 700). This explanation can be used as a reference in all embodiments.

[0033] Please combine Figure 1 and Figure 5The first loading position is also provided with a tray feeding assembly 900. The tray feeding assembly 900 includes a plurality of first tray baffles 910 fixed on the upper surface of the cabinet 700 and distributed along a circular path, a first tray 920 located in the area surrounded by the plurality of first tray baffles 910 and used to receive stacked picture frame trays 500, a first lifting drive 930 located below the first tray 920 and driving the first tray 920 to rise and fall, and a plurality of first guide rods 940 arranged at intervals below the first tray 920 and fixedly connected to the lower surface of the first tray 920. The first guide rods 940 slide in cooperation with the upper surface of the cabinet 700 and can rise and fall relative to the cabinet 700 along the Z-axis direction. Preferably, in this embodiment, four first tray baffles 910 are evenly distributed along a circular path on the upper surface of the cabinet 700. The four first tray baffles 910 together form a tray loading and clamping area. The inner side of the first tray baffle 910 (the side of the first tray baffle 910 located in the tray loading and clamping area) is a vertical surface. Through the cooperation of multiple first tray baffles 910, the horizontal direction can be limited when the mirror frame tray 500 is raised and lowered in the vertical direction, so as to prevent the mirror frame picking position from changing due to the displacement of the mirror frame tray 500. When loading mirror frames, multiple mirror frame trays 500 stacked on the first tray 920 are loaded at one time in the tray loading and clamping area. Each mirror frame tray 500 is equipped with a mirror frame to be loaded and is covered with a protective film 600. After the topmost frame tray 500 is removed by the third gripping structure 430, the first lifting drive 930 drives the first tray 920 to rise, so that the topmost frame tray 500 among the remaining frame trays 500 reaches the preset picking height. When all the frame trays 500 on the first tray 920 have been removed, the first lifting drive 930 drives the first tray 920 to fall, so that the stacked frame trays 500 can be reloaded onto the first tray 920. In this embodiment, the first guide rod 940 is used to further restrict the horizontal movement of the first tray 920 to improve the smoothness of the lifting of the first tray 920.

[0034] In addition, a tray unloading assembly 1000 is provided at the first unloading position. The tray unloading assembly 1000 includes a plurality of second tray baffles 1010 fixed to the upper surface of the cabinet 700 and distributed along a circular path, a second tray 1020 located within the area enclosed by the plurality of second tray baffles 1010 and used to receive empty mirror frame trays 500 and protective films 600, a second lifting drive unit located below the second tray 1020 and driving the second tray 1020 to rise and fall, and a plurality of second guide rods arranged at intervals below the second tray 1020 and fixedly connected to the lower surface of the second tray 1020. The second guide rods slide in engagement with the upper surface of the cabinet 700 and can rise and fall relative to the cabinet 700 along the Z-axis direction. In this embodiment, the structure of the tray unloading assembly 1000 is exactly the same as the structure of the tray feeding assembly 900, the only difference between the two is their different positions. When the four-axis robot 410 controls the third gripping structure 430 to place an empty lens frame tray 500 onto the second tray 1020 or the protective film 600 on the second tray 1020, or when the four-axis robot 410 controls the vacuum suction head 440 to place the protective film 600 onto the second tray 1020 or the lens frame tray 500 on the second tray 1020, the second lifting drive unit drives the second tray 1020 to descend each time a protective film 600 or lens frame tray 500 is placed, so that the second tray 1020 or the second tray 1020 containing the protective film 600 and the lens frame tray 500 always receives materials at the same receiving height. After all the protective films 600 and lens frame trays 500 on the second tray 1020 have been removed, the second lifting drive unit drives the second tray 1020 to rise so as to receive the protective films 600 and lens frame trays 500 at the upper part of the second tray baffle 1010.

[0035] In this embodiment, both the first tray 920 and the second tray 1020 are provided with a plurality of weight-reducing holes 921. The weight-reducing holes 921 reduce the weight of the first tray 920 and the second tray 1020, thereby reducing the load on the first lifting drive 930 and the second lifting drive. On the other hand, the weight-reducing holes 921 can vent the air between the first tray 920 and the frame tray 500, and vent the air between the second tray 1020 and the frame tray 500, so as to prevent the frame tray 500 from being adsorbed on the first tray 920 or the second tray 1020 under the action of this part of air, thereby reducing the difficulty of removing the frame tray 500. The first tray baffle 910 has a first reinforcing rib 911 on the side facing away from the first tray 920, and the second tray baffle 1010 has a second reinforcing rib 1011 on the side facing away from the second tray 1020. When the mirror frame trays 500 are stacked between the first tray baffles 910 or between the second tray baffles 1010, the sides of the mirror frame trays 500 also exert pressure on the first tray baffles 910 and the second tray baffles 1010. The setting of the first reinforcing ribs 911 and the second reinforcing ribs 1011 can improve the mechanical strength of the first tray baffles 910 and the second tray baffles 1010, so as to avoid the deformation of the first tray baffles 910 and the second tray baffles 1010 under the pressure of the mirror frame trays 500. The cabinet 700 is fixed with a first linear bearing 720 that slides with the first guide rod 940 and a second linear bearing that slides with the second guide rod. By setting the first linear bearing 720 and the second linear bearing, the lifting and lowering process of the first guide rod 940 and the second guide rod is limited, which further reduces the horizontal sway of the first tray 920 and the second tray 1020 and improves the stability of the lifting and lowering of the first tray 920 and the second tray 1020.

[0036] In one embodiment, both the first lifting drive component 930 and the second lifting drive component are cylinders, meaning that both the first tray 920 and the second tray 1020 are driven to lift by cylinders to adapt to the loading and unloading heights of the frame tray 500. In another embodiment, the first lifting drive component 930 includes a first hollow servo motor 931 fixed on the cabinet 700, and a first lead screw 932 passing through the output shaft of the first hollow servo motor 931 and threadedly engaging with the output shaft of the first hollow servo motor 931. The top end of the first lead screw 932 abuts against the lower surface of the first tray 920 and can rotate relative to the first tray 920. When the first hollow servo motor 931 operates, its output shaft rotates. Through the threaded engagement between the output shaft and the first lead screw 932, the first lead screw 932 moves up and down in the vertical direction (Z-axis direction) to lift the first tray 920, or it moves down in the vertical direction to lower the first tray 920 under its own weight and the support of the lead screw 932. Similarly, the second lifting drive includes a second hollow servo motor fixed to the cabinet 700, a second lead screw passing through and threadedly engaged with the output shaft of the second hollow servo motor, and the top end of the second lead screw abutting against the lower surface of the second tray 1020 and rotatable relative to the second tray 1020. When the second hollow servo motor operates, its output shaft rotates. Through the threaded engagement between the output shaft and the second lead screw, the second lead screw is raised and lowered in the vertical direction (Z-axis direction) to lift the second tray 1020, or lowered in the vertical direction to move the second tray 1020 downwards under its own weight and the support of the second lead screw. Of course, in other embodiments, the first lifting drive 930 and the second lifting drive can also be other commonly available lifting mechanisms, such as hydraulic supports, which will not be described in detail here.

[0037] Please combine Figure 1 and Figure 3The frame fixture 220 has at least one through hole 222 penetrating its upper and lower surfaces. The material loading assembly 200 also includes a lifting cylinder 240 fixed on the mounting bracket 210 and located below the frame fixture 220. The telescopic end of the lifting cylinder 240 has at least one lifting column 241 corresponding to the through hole 222. The lifting column 241 abuts against the lower surface of the positioning cover plate 230 to lift the positioning cover plate 230. In this embodiment, a mounting plate is fixed to the top of the piston rod of the lifting cylinder 240, and four evenly distributed lifting columns 241 are fixed on the mounting plate. The frame fixture 220 has four through holes 222 corresponding to each lifting column 241. The lifting cylinder 240 is connected to a vacuum pump through an air pipe assembly, and the air pipe assembly is equipped with a solenoid valve electrically connected to a controller. The controller controls the opening and closing of the solenoid valve, thereby controlling the operation of the lifting cylinder 240. The lifting cylinder 240 drives the lifting column 241 to rise, which in turn pushes the positioning cover plate 230 upward, so that the positioning cover plate 230 is separated from the frame fixture 220. This prevents the first gripping structure 340 from simultaneously gripping the frame fixture 220 when it grips the positioning cover plate 230, making it easier for the positioning cover plate 230 to separate from the frame fixture 220 and reducing the difficulty of gripping the positioning cover plate 230 from the frame fixture 220.

[0038] In one embodiment, the upper surface of the frame fixture 220 has a mounting area in the middle, and a plurality of limiting grooves 221 arranged in an array are formed in the mounting area. The limiting grooves 221 penetrate at least through the upper surface of the frame fixture 220. The positioning cover plate 230 has a plurality of operating holes 231 that penetrate its upper and lower surfaces and communicate with each limiting groove 221 in a corresponding manner. The operating holes 231 are used as operating windows for applying adhesive to the frame and for assembling the frame with the lens and steel plate, so that adhesive can be dripped onto the frame in the limiting groove 221 through the operating holes 231, or the lens and steel plate can be placed on the frame through the operating holes 231. In this embodiment, the inner edge of the operating hole 231 is provided with a limiting protrusion 232 for abutting against the edge of the upper surface of the frame in the limiting groove 221. Furthermore, the edge of the groove of the limiting groove 221 is provided with an inclined guide surface. In this way, if the frame is placed in the limiting groove 221 and shifts, such as the upper edge of the frame being outside the limiting groove 221, when the positioning cover plate 230 is pressed onto the frame fixture 220, the lower surface of the positioning cover plate 230 presses the edge of the frame outside the limiting groove 221, pressing the frame into the limiting groove 221 to achieve precise positioning. At the same time, the limiting protrusion 232 abuts against the upper surface edge of the frame inside the limiting groove 221 to limit the frame in the vertical upward direction, preventing the frame from leaving the limiting groove 221 through the operating hole 231.

[0039] In this embodiment, the upper surface of the frame fixture 220 is provided with guide posts 223 and at least one first magnetic attraction part 224. The positioning cover plate 230 is provided with guide holes 233 for passing through the guide posts 223 and at least one second magnetic attraction part corresponding to the first magnetic attraction part 224. Furthermore, four first magnetic attraction parts 224 are evenly arranged on the edge of the upper surface of the frame fixture 220, and four second magnetic attraction parts are provided on the lower surface of the positioning cover plate 230, each corresponding to one of the first magnetic attraction parts 224. Through the magnetic connection between the first magnetic attraction parts 224 and the second magnetic attraction parts, the positioning cover plate 230 and the frame fixture 220 can be positioned, preventing the positioning cover plate 230 from shaking relative to the frame fixture 220 and ensuring reliable positioning of the frame within the limiting groove 221 by the positioning cover plate 230. By cooperating with the guide post 223 on the frame fixture 220 and the guide hole 233 on the positioning cover plate 230, the relative movement of the positioning cover plate 230 and the frame fixture 220 in the horizontal direction can be further restricted, and the installation position of the positioning cover plate 230 on the frame fixture 220 can be quickly located, reducing the difficulty of installing the positioning cover plate 230.

[0040] In one embodiment, the material loading assembly 200 further includes two fixing plates 250 that are disposed opposite to each other and fixed to the top of the mounting bracket 210, two support rails 260 that are disposed opposite to each other between the two fixing plates 250 and fixedly connected to the upper inner sidewall of the mounting bracket 210, a top plate 270 located between the two support rails 260 and fixedly connected to the two support rails 260 respectively, and a conveying structure 280. Both the fixing plate 250 and the support rail 260 extend along the Y-axis direction. The two fixing plates 250 are symmetrically arranged and have an inverted L-shaped structure. The fixing plate 250 includes a vertical part 251 extending along the Z-axis direction, a horizontal part 252 fixed to the top of the vertical part 251 and extending along the X-axis direction towards the area between the two fixing plates 250, and a baffle 253 located on the vertical part 251 near the first loading position and fixedly connected to the vertical part 251 and the horizontal part 252. The fixing plate 250 has a through-hole at the end near the second loading position to form a jig loading port. The top plate 270 has at least one through hole 271 for passing through the lifting column 241. The transmission structure 280 includes two belts that wrap around two support rails 260 in a vertical plane, a connecting shaft at one end of the two belts, two first pulleys fixed at both ends of the connecting shaft and passing through one end of the two belts, a first motor driven by one of the first pulleys, and two second pulleys passing through the other end of the two belts. Both the first pulleys and the second pulleys are rotatably connected to the mounting bracket 210. A limiting insertion area for inserting the edge of the frame fixture 220 is formed between the upper surface of the belt and the lower surface of the horizontal part 252. In this embodiment, by setting up the conveyor structure 280, the picture frame fixture 220 can be placed on the second loading position and the picture frame fixture 220 can be placed on the second unloading position. By connecting the mounting bracket 210 on the transfer track 100 with the picture frame fixture 220 loading or unloading track, the picture frame fixture 220 can be moved to the top of the mounting bracket 210 or from the top of the mounting bracket 210 to the picture frame fixture 220 unloading track under the traction of the belt, thereby realizing the fully automatic loading and unloading of the picture frame fixture 220. By setting two support rails 260 and a top plate 270 connecting the two support rails 260, the support rails 260 on both sides of the eyeglass frame fixture 220 are connected as one unit. At the same time, the support rails 260 also serve to assist the belt in supporting the eyeglass frame fixture 220 to avoid belt overload and breakage. The vertical parts 251 of the two fixing plates 250 jointly limit the two sides of the eyeglass frame fixture 220 to prevent the eyeglass frame fixture 220 from swaying horizontally at the top of the mounting bracket 210. The horizontal parts 252 of the two fixing plates 250 jointly limit the upper surface edge of the eyeglass frame fixture 220 to prevent the eyeglass frame fixture 220 from swaying vertically. By setting a baffle 253 at the end of the fixing plate 250, the maximum distance that the eyeglass frame fixture 220 slides on the belt can be limited. In this way, the fixing plates 250 limit the eyeglass frame fixture 220 in multiple dimensions, improving the positioning accuracy of the eyeglass frame fixture 220.

[0041] In one embodiment, the first driving component 110 includes a second motor 111 fixed to the upper surface of the cabinet 700 and arranged along the X-axis; a belt drive mechanism 112 drivenly connected to the output shaft of the second motor 111 and arranged along the Y-axis; a lead screw rotatably mounted on the transplanting track 100 and extending along the X-axis; two guide rails oppositely arranged at both ends of the lead screw and fixedly connected to the transplanting track 100; and a nut sleeved on the lead screw and threadedly connected to the lead screw. The two sides of the nut are slidably sleeved on the two guide rails, and the bottom end of the mounting bracket 210 is fixedly connected to the nut. In this embodiment, the transplanting track is provided with a cover, which covers the lead screw, guide rails, and nut. The cover has a through groove for connecting the nut and the mounting bracket. The belt drive mechanism 112 includes a mounting box fixed to the upper surface of the cabinet 700, a drive pulley rotatably disposed at one end of the mounting box and driven and connected to the output shaft of the second motor 111 to rotate coaxially with the output shaft of the second motor 111, a driven pulley rotatably disposed at the other end of the mounting box and fixedly connected to the lead screw, and a transmission belt straddling the drive pulley and the driven pulley. Thus, during the operation of the second motor 111, the output shaft of the second motor 111 drives the lead screw to rotate via the belt drive mechanism 112. Through the threaded engagement between the lead screw and the nut, and the engagement between the nut and the guide rails on both sides, the nut can move along the length of the lead screw, thereby causing the mounting bracket 210 fixed on the nut to move along the X-axis. In other embodiments, the belt drive mechanism 112 can be replaced with a variable speed gear set formed by the meshing of multiple gears. The variable speed gear set controls the rotational speed of the lead screw, thereby controlling the moving speed of the mirror frame fixture 220 in the X-axis direction. Alternatively, the first drive member 110 and the transfer track can be replaced with other linear drive mechanisms, which will not be elaborated here.

[0042] In this embodiment, the second driving component 330 is a cylinder connected to a vacuum pump, and a solenoid valve electrically connected to the controller is provided on the pipeline connecting the second driving component 330 to the vacuum pump. Alternatively, the second driving component 330 can be replaced with a combination of a motor and a lead screw and nut. The first gripping structure 340 includes a double-headed cylinder and two clamping plates fixed to the ends of the two piston rods of the double-headed cylinder. The double-headed cylinder is connected to the vacuum pump via an air pipe assembly, and this air pipe assembly is equipped with a solenoid valve electrically connected to the controller. The controller controls the on / off state of the solenoid valve, thereby controlling the operation of the double-headed cylinder. When air is supplied to the double-headed cylinder, the two clamping plates move away from the cylinder barrel under the action of the piston rod, increasing the width between the two clamping plates to allow the positioning cover plate 230 to be lowered. Conversely, when air is discharged from the double-headed cylinder, the two clamping plates move closer to the cylinder barrel under the action of the piston rod, decreasing the width between the two clamping plates to clamp the positioning cover plate 230.

[0043] In this embodiment, the four-axis robot 410 is a commercially available robot capable of positioning in the horizontal plane, positioning in the vertical direction, and rotating in the horizontal plane. For example, in this embodiment, the four-axis robot 410 includes a base 411, a first axis 412 mounted on the top of the base 411 and rotatable relative to the base 411 in the horizontal plane (used to control the basic orientation of the robot in the working area), a second axis 413 mounted on the movable end of the first axis 412 and rotatable relative to the first axis 412 in the horizontal plane (used to control the radial extension and retraction of the robot in the horizontal plane), a third axis 414 mounted on the movable end of the second axis 413 and movable relative to the second axis 413 (used to control the position of the robot in the vertical direction), and a fourth axis 415 mounted on the bottom end of the third axis 414 and rotatable relative to the third axis 414 in the horizontal plane (used to control the direction angle of the movable end of the four-axis robot 410, so as to adjust the angle of the mirror frame in the horizontal plane so that the mirror frame is aligned with the limiting groove 221). In this embodiment, the specific structure and operating principle of the second gripping structure 420 and the third gripping structure 430 are the same as those of the first gripping structure 340. For details, please refer to the description of the first gripping structure 340, which will not be repeated here. The movable end of the four-axis manipulator 410 is also equipped with a lifting cylinder 450 that drives the second gripping structure 420 to rise and fall. This lifting cylinder 450 is used to fine-tune the vertical height of the second gripping structure 420 to accurately grasp the mirror frame. Four vacuum suction heads 440 are evenly distributed on the movable end of the four-axis manipulator 410 to increase the area where the protective film 600 is adsorbed, preventing the protective film 600 from failing to adhere.

[0044] In one embodiment, the UAV ND lens frame loading device further includes a first camera 1100 fixed between the transfer track 100 and the four-axis robot 410 for acquiring images of the lens frames on the four-axis robot 410, a lens frame throwing box 1200 located next to the first camera 1100, and a second camera 1300 suspended above the first loading position for acquiring images of the lens frames inside the lens frame fixture 220 at the first loading position. Both the first camera 1100 and the second camera 1300 are electrically connected to the four-axis robot 410. In this embodiment, both the first camera 1100 and the second camera 1300 are CCD cameras, and the first camera 1100 is mounted on a stand on the upper surface of the cabinet 700. To ensure the reliability of image acquisition, in this embodiment, both the shooting ends of the first camera 1100 and the second camera 1300 are equipped with autofocus auxiliary illuminators to emit auxiliary beams in low light conditions, thereby improving the camera's autofocus capability.

[0045] After the second gripping structure 420 on the four-axis robot 410 picks up the lens frame from the lens frame tray 500, the four-axis robot 410 sends the picked-up lens frame to the first camera 1100 to take a picture. The first camera 1100 has a YOLO-based visual inspection model built in it, which can compare and classify the captured lens frame image with the product image in the visual inspection model. When the category of the picked-up lens frame does not match the category of the lens frame to be loaded and clamped, the four-axis robot 410 receives the signal sent by the first camera 1100 and sends the lens frame to the lens frame discard box 1200. Then the second gripping structure 420 puts the lens frame into the lens frame discard box 1200 to prevent the lens frame from flowing into the production process. This avoids the lens frame loading error caused by mixed incoming lens frames, thereby improving the yield rate of the UAV ND lens assembly operation. The second camera 1300 collects the orientation and position information of the frames within the frame tray 500 and feeds this information back to the four-axis robot 410. The four-axis robot 410 then adjusts the position and angle of its movable end so that the second gripping structure 420 adapts to the position and orientation of the frames within the frame tray 500 to accurately grip the frames.

[0046] 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.

[0047] 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 frame feeding device, characterized in that, include: The transplanting track extends along the X-axis, and one side of the transplanting track is provided with a first loading position, a loading operation position and a first unloading position in sequence along its length. The other side of the transplanting track is provided with a second loading position corresponding to the first loading position and a second unloading position corresponding to the first unloading position. A mirror frame tray is provided at the first loading position, and the surface of the mirror frame on the mirror frame tray is covered with a protective film. The material loading assembly includes a mounting bracket slidably disposed on a transfer track, a mirror frame fixture disposed on top of the mounting bracket, and a positioning cover plate mounted on the mirror frame fixture. The mirror frame fixture has several limiting grooves for receiving mirror frames. The transfer track is provided with a first driving component that drives the mounting bracket to move between a first loading position, a loading operation position, and a unloading position. The cover plate removal and placement assembly includes a support frame, a movable frame located at the top of the support frame and extending toward the transplanting track, a second drive unit fixed on the support frame and driving the movable frame to rise and fall, and a first gripping structure installed on the movable frame adjacent to the transplanting track for gripping the positioning cover plate from the mirror frame fixture or placing the positioning cover plate on the mirror frame fixture. as well as The material handling assembly includes a four-axis robot arm and a second gripping structure fixed to the movable end of the four-axis robot arm for gripping and placing the frame from the frame tray into the limiting groove, a third gripping structure for gripping and placing the empty frame tray from the first loading position to the first unloading position, and at least one vacuum suction head for picking up the protective film from the frame tray at the first loading position and placing the protective film at the first unloading position.

2. The UAV ND lens frame feeding device according to claim 1, characterized in that, The frame fixture has at least one through hole penetrating its upper and lower surfaces. The material loading assembly also includes a lifting cylinder fixed on the mounting bracket and located below the frame fixture. The telescopic end of the lifting cylinder has at least one lifting column corresponding to the through hole. The lifting column abuts against the lower surface of the positioning cover plate to lift the positioning cover plate.

3. The UAV ND lens frame feeding device according to claim 1, characterized in that, The upper surface of the frame fixture has an installation area in the middle, and a plurality of limiting grooves are arranged in an array in the installation area. The positioning cover plate has a plurality of operating holes that penetrate its upper and lower surfaces and are connected to each limiting groove in a corresponding manner. The inner edge of the operating hole has a limiting protrusion for abutting against the upper surface edge of the frame in the limiting groove.

4. The UAV ND lens frame feeding device according to claim 3, characterized in that, The upper surface of the frame fixture is provided with a guide post and at least one first magnetic attraction part. The positioning cover plate is provided with a guide hole for passing through the guide post and at least one second magnetic attraction part corresponding to the first magnetic attraction part.

5. The UAV ND lens frame feeding device according to claim 2, characterized in that, The material loading assembly also includes two fixed plates that are arranged opposite to each other and fixed to the top of the mounting bracket, two support rails that are arranged opposite to each other between the two fixed plates and fixedly connected to the upper inner sidewall of the mounting bracket, a top plate located between the two support rails and fixedly connected to the two support rails respectively, and a conveying structure. Both the fixing plate and the support rail extend along the Y-axis. The two fixing plates are symmetrically arranged and have an inverted L-shaped structure. Each fixing plate includes a vertical part extending along the Z-axis, a horizontal part fixed at the top of the vertical part and extending along the X-axis towards the area between the two fixing plates, and a baffle located on the vertical part near the first loading position and fixedly connected to the vertical part and the horizontal part. The fixing plate has a through-hole at the end near the second loading position to form a jig loading port. The top plate has at least one through hole for the lifting column to pass through. The transmission structure includes two belts that wrap around two support rails in a vertical plane, a connecting shaft at one end of the two belts, two first pulleys fixed at both ends of the connecting shaft and passing through one end of the two belts, a first motor driven by one of the first pulleys, and two second pulleys passing through the other end of the two belts. The first and second pulleys are rotatably connected to the mounting bracket. A limiting insertion area for inserting the edge of the frame fixture is formed between the upper surface of the belt and the lower surface of the horizontal part.

6. The UAV ND lens frame feeding device according to claim 1, characterized in that, It also includes a cabinet, and the transfer track, support frame and four-axis robot are all fixed to the upper surface of the cabinet; the first loading position is also provided with a tray feeding assembly, which includes a plurality of first tray baffles fixed to the upper surface of the cabinet and distributed along a circular path, a first tray located in the area surrounded by the plurality of first tray baffles and used to receive the stacked picture frame trays, a first lifting drive unit located below the first tray and driving the first tray to rise and fall, and a plurality of first guide rods arranged at intervals below the first tray and fixedly connected to the lower surface of the first tray. The first guide rods slide with the upper surface of the cabinet and can rise and fall relative to the cabinet in the Z-axis direction.

7. The UAV ND lens frame feeding device according to claim 6, characterized in that, The first unloading position is also provided with a tray unloading assembly. The tray unloading assembly includes a plurality of second tray baffles fixed on the upper surface of the cabinet and distributed along a circular path, a second tray located in the area surrounded by the plurality of second tray baffles and used to receive empty mirror frame trays and protective films, a second lifting drive unit located below the second tray and driving the second tray to rise and fall, and a plurality of second guide rods arranged at intervals below the second tray and fixedly connected to the lower surface of the second tray. The second guide rods slide in cooperation with the upper surface of the cabinet and can rise and fall relative to the cabinet along the Z-axis direction.

8. The UAV ND lens frame feeding device according to claim 7, characterized in that, Both the first and second trays have several weight-reducing holes; the side of the first tray baffle facing away from the first tray has a first reinforcing rib, and the side of the second tray baffle facing away from the second tray has a second reinforcing rib; a first linear bearing that slides with the first guide rod and a second linear bearing that slides with the second guide rod are fixed on the cabinet.

9. The UAV ND lens frame feeding device according to claim 7, characterized in that, Both the first and second lifting drive components are cylinders; or the first lifting drive component includes a first hollow servo motor fixed on the cabinet, a first lead screw passing through the output shaft of the first hollow servo motor and threadedly engaged with the output shaft of the first hollow servo motor, the top end of the first lead screw abutting against the lower surface of the first tray and rotatable relative to the first tray; the second lifting drive component includes a second hollow servo motor fixed on the cabinet, a second lead screw passing through the output shaft of the second hollow servo motor and threadedly engaged with the output shaft of the second hollow servo motor, the top end of the second lead screw abutting against the lower surface of the second tray and rotatable relative to the second tray.

10. The UAV ND lens frame feeding device according to claim 1, characterized in that, It also includes a first camera fixed between the transfer track and the four-axis robot for acquiring images of the lens frames on the four-axis robot, a lens frame throwing box located next to the first camera, and a second camera suspended above the first loading position for acquiring images of the lens frames inside the lens frame fixture at the first loading position. Both the first camera and the second camera are connected to the four-axis robot.

Images