CN102922388B - The accurate polishing robot system of the complicated optical mirror plane of heavy caliber - Google Patents
The accurate polishing robot system of the complicated optical mirror plane of heavy caliber Download PDFInfo
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- CN102922388B CN102922388B CN201210431704.5A CN201210431704A CN102922388B CN 102922388 B CN102922388 B CN 102922388B CN 201210431704 A CN201210431704 A CN 201210431704A CN 102922388 B CN102922388 B CN 102922388B
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Abstract
The invention discloses the accurate polishing robot system of the complicated optical mirror plane active compliance of a kind of heavy caliber, comprise: optical mirror plane polishing robot module, sensor assembly, signal transacting computer module and Active Compliance Control module, the integrated Polishing machining parts of described polishing robot, Active Compliance Control module controls polishing dish rotating speed and polishing robot trajectory.The error surface self adaptation trajectory planning module of signal transacting computer module makes removal curved surface and error surface approach as far as possible, effectively improves convergence rate.The present invention has the advantage of high integration and high convergence rate.
Description
Technical field
The present invention relates to a kind of device of Ultra-precision Turning field, be specifically related to a kind of accurate polishing robot system being applicable to the hard crisp difficult-to-machine materials such as the complicated optical mirror plane of heavy caliber.
Background technology
In recent years, the complicated optical mirror plane of heavy caliber is more and more extensive in the application in the field such as optical camera, space observation satellite, deep space scientific exploration of high-resolution earth observation satellite, but due to the hard crisp characteristic of specular material, its machining accuracy is high, difficulty is large, the cycle is long, have a strong impact on its application.In optical fabrication operation, polishing (grinding, polishing) is connected grinding and follow-up magnetorheological etc. important procedure, and its working (machining) efficiency and quality greatly affect quality and the efficiency of mirror finish.
Be different from the Polishing machining in traditional industry, the accurate polishing of optical mirror plane is quantitative polishing, the surperficial face shape in Surface Quality and roughness and sub-surface damage depth requirements high.
In the design of the complicated optical fabrication equipment of heavy caliber, should consider the complexity that machine tool structure increases along with minute surface bore on the one hand, the increase of lathe span reduces the rigidity of structure, adds occupation of land and cost.The convergence efficiency of minute surface should be taken into full account on the other hand, improve the working (machining) efficiency of subsequent handling.The existing accurate polishing lathe for complicated optical mirror plane adopts five-axis robot mode, and machine tool structure is complicated, expensive, and the rigidity of structure reduces along with the increase of minute surface bore; The stationarity of machine tool structure, the polishing forms of motion that birotor or flat turn are moved can not regulate in process, define fixing removal function, the convergence efficiency of the removal function corresponding to polishing forms of motion that this birotor or flat turn are moved is not high, cause the roughness of final minute surface larger, need the long-time removal of subsequent processing operations, extreme influence working (machining) efficiency; In addition, existing polishing lathe does not have the ability detected in real time to Polishing machining situation, cannot control in real time Polishing machining.
Find by prior art documents, application number be 200610151060.9 Chinese patent disclose a kind of five-axle linked tandem and parallel digital control polishing machine tool, by the motion of four shrinking connecting-rod brought into motion platforms in parallel, by the emery wheel on motion platform, workpiece is processed, but emery wheel processing mode be not suitable for the Polishing machining of the hard brittle materials such as optical mirror plane.
Application number be 91216385.2 Chinese patent disclose a kind of mirror polisher, surface finishing is carried out to potteries such as polycrystalline diamonds, but can only process the optical mirror plane of planar structure, the processing to complicated face shape minute surface cannot be realized.
Application number be 200810051133.6 Chinese patent disclose a kind of for numerical control polishing machine tool, be made up of support system, upright post system and transverse beam system, support system comprises base, X-axis feed system, the upset of A axle feed system, C axle swivel feeding system; Transverse beam system comprises crossbeam, Y-axis feed system, Z axis feed system, power planet rubbing head, polished die, realizes the numerical control polishing of medium/large-aperturaspheric aspheric optical element.Lathe obtains different revolution-radius by the position of adjusting screw(rod) adjustment polished die, to adapt to the polishing requirement of different workpieces, but this fixing version, making to remove function in process is fixing all the time, and the convergence efficiency of the removal function that this birotor form is corresponding is not high.
Application number be 201010506393.5 Chinese patent disclose a kind of milling burnishing device based on intelligent numerical control platform, comprise industrial robot and control module, driver module, human-computer interaction interface, work package etc.This invention overcomes large, the inflexible shortcoming of polishing precision machine tool floor space of traditional complicated optical mirror plane, but the rotary speed of its end does not meet the requirement of more than the two turns rotating speeds per second of polishing dish in Polishing machining, need extra work assembly, integrated level is low, efficiency is poor, driver module cannot realize the integrating control to robot trajectory and work package, need the control of drive system realization to robot trajectory by industrial robot, and need the industrial robot according to different brands model and work package adjustment control module.
Summary of the invention
Because the above-mentioned defect of prior art, technical problem to be solved by this invention is to provide the complicated optical mirror plane grinding-polishing system of a kind of high integration, high efficiency and high convergence rate.
For achieving the above object, the invention provides the accurate polishing robot system of the complicated optical mirror plane of a kind of heavy caliber, comprising:
Polishing robot, this polishing robot comprises: base, panoramic table, large arm, upper joint, forearm, wrist, first to the 3rd RV (RotateVector) decelerator, the first to third harmonic decelerator, first to fourth bearing, first bevel gear, second bevel gear, first to the 3rd Timing Belt wheels, wrist axis, forearm power shaft, spring, pin, polishing rotating shaft, polishing urceolus, polishing dish, first to the 6th servomotor, wherein, described panoramic table is connected by a described RV decelerator with described base, described first servomotor is connected with a described RV decelerator, described panoramic table is connected by described 2nd RV decelerator with described large arm, described second servomotor is connected with described 2nd RV decelerator, described large arm is connected by described 3rd RV decelerator with described upper joint, described 3rd servomotor is connected with described 3rd RV decelerator, described upper joint is connected with described 4th servomotor, be connected with described first harmonic decelerator by described first Timing Belt wheels, described first harmonic decelerator is connected with described forearm power shaft, described forearm is connected with described 5th servomotor, be connected with described second harmonic decelerator by described second Timing Belt wheels, described second harmonic decelerator is connected with described wrist axis, described wrist axis is by described first, second bearing is arranged in described wrist, described forearm is connected with described 6th servomotor, be connected with described first bevel gear by described 3rd Timing Belt wheels, described first bevel gear to be arranged in described wrist by described 3rd bearing and to be connected with described second bevel gear, described second bevel gear is connected with described polishing power shaft, described polishing power shaft is arranged in described wrist by described 4th bearing, described polishing power shaft is connected with described third harmonic decelerator, described third harmonic decelerator is connected with described polishing rotating shaft, described polishing rotating shaft coordinates with described polishing urceolus, the motion of described polishing urceolus is limited by described spring and pin, described polishing urceolus and described polishing dish are hinged.
Preferably, six-dimension force sensor and pressure sensor are connected to described signal transacting computer module by data collecting card.Error surface self adaptation trajectory planning module in signal transacting computer module compares the geometrical property of the error surface obtained according to the surface testing result of processed optical work and target face shape model, carry out error surface self adaptation trajectory planning.By more different removal function, thus select the polishing dish of shape and the diameter optimized and remove function, and obtaining corresponding machining locus, residence time and error prediction.
Multiple polishing robot of the present invention is placed in machining area, can realize the processing of heavy caliber minute surface, and can adapt to the processing of different bore minute surface fast by changing robot quantity, and cost is low, and floor space is little.
The lapping path planning of polishing robot of the present invention is integrated in controlling organization, can directly according to planning polishing robot trajectory and polishing end rotating speed, change control system without the need to the change according to robot and processing assembly, therefore polishing robot of the present invention integrated level is high.The motion mode that tradition polishing lathe adopts birotor or flat turn to move due to the constraint of lathe mechanism, there is the spike of sudden change in the removal function corresponding to it, therefore convergence efficiency is not high, and the polishing robot trajectory free degree of the present invention is high, the track of eccentricity change can be realized, tradition polishing adopts the track of scan line or parallel, the efficiency removed for complicated error curved surface is not high, error surface self adaptation trajectory planning module of the present invention is according to the lapping path of the geometrical property planning polishing robot of error surface, obtain machining locus respectively, residence time, remove function and error prediction, make processing curve close to target surface, improve working (machining) efficiency.
Be described further below with reference to the technique effect of accompanying drawing to design of the present invention, concrete structure and generation, understand object of the present invention, characteristic sum effect fully to make those skilled in the art.
Accompanying drawing explanation
Fig. 1 is a preferred embodiment schematic diagram of the present invention;
Fig. 2 is the polishing robot schematic diagram of a preferred embodiment of the present invention;
Fig. 3 is the polishing robot side view of a preferred embodiment of the present invention;
Fig. 4 is the polishing robot wrist schematic diagram of a preferred embodiment of the present invention;
Fig. 5 is the polishing robot wrist side view of a preferred embodiment of the present invention;
Fig. 6 is the polishing robot end schematic diagram of a preferred embodiment of the present invention;
Fig. 7 is the polishing robot system structured flowchart of a preferred embodiment of the present invention;
Fig. 8 is polishing robot system error surface self adaptation trajectory planning structured flowchart of the present invention.
Detailed description of the invention
Below in conjunction with accompanying drawing, embodiments of the invention are elaborated: the present embodiment is implemented under premised on technical solution of the present invention, give detailed embodiment and concrete operating process, but protection scope of the present invention is not limited to following embodiment.
As shown in Figure 1, the present embodiment comprises polishing robot 1.
As shown in figure 2 to figure 6, and polishing robot include: base 2, 3, 4 big arm, the rotary table 5 joints, forearm, wrist 6 7, the first to the third RV reducer 8 ~ 10, the first to the third harmonic reducer 11 ~ 13, the first to fourth bearing 14 ~ 17, 18, 19, the second bevel gear bevel gear first to third synchronous belt wheel 20 ~ 22, 23, forearm wrist axis input shaft, 24, 25, the first sixth and polishing input shaft servo motor 26 ~ 31, 32 lapping and axis of rotation, the external lapping and 33, 34, 35, spring pin 36 research selling, among them, the rotary table 2 and 3 base through the first RV reducer 8 connections, the first 8 connections, servo motor and the first 26 RV reducer rotary table 3 and 4 big arm through the RV reducer 9 connection, the servo motor and connected to the second RV reducer 9, 4 big arm connected to the joints on 5 through third RV reducer 10, 28 with third RV reducer 10 third servo motor connection, Third servo motor 28 with third RV reducer 10 connections, the joints are connected to the servo motor and 4, 5 in the first 20 synchronous belt wheel and the first harmonic gear reducer and connection, the first 11 lower harmonic reducer input shaft connection, forearm are connected to the servo motor 5 30 6, 21 by second synchronous belt wheel 12 connected with the second harmonic reducer, the second harmonic reducer 12 and 23 connection shaft, wrist wrist shaft through the first bearing 14 and 15 second bearing installed on the wrist 7, forearm are connected to the servo motor 31 6 6, 22 through a third synchronous belt wheel 18 connected with the first bevel gear, the bevel gear 18 through third bearing 16 second bevel gear installed on the wrist 7 and 19, the second 19 with bevel gear lapping and 25 connection, input shaft and input shaft 25 by the fourth bearing installed on the wrist 7, 17 and 25 with the third harmonic reducer input shaft connection, 13 third harmonic reducer 13 32 connection with lapping and axis of rotation, and rotation axis 32 communicate and coordinate with the external lapping and 33 by 35 and spring pin 36 limit external lapping and movement of 33, external lapping and 33 and grind selling 34 hinged connection.
When polishing robot 1 works, first servomotor 26 drives panoramic table 3 to rotate by a RV decelerator 8, second servomotor 27 drives large arm 4 swing by the 2nd RV decelerator 9, 3rd servomotor 28 drives upper joint 5 to rotate by the 3rd RV decelerator 10, 4th servomotor 29 connects first harmonic decelerator 11 by the first Timing Belt wheels 20 and drives forearm power shaft 24 and then drive forearm 6 to rotate, 5th servomotor 30 connects second harmonic decelerator 12 by the second Timing Belt wheels 21 and drives wrist 7 to rotate, 6th servomotor 31 connects the first bevel gear 18 by the 3rd Timing Belt wheels 22, the second bevel gear set 19 is driven to rotate with polishing power shaft 25, polishing rotating shaft 22 is driven to rotate by third harmonic decelerator 13, polishing rotating shaft 22 drives polishing dish 34 to rotate by pin 36, and provide polishing pressure by spring 35.
As Fig. 7 and Fig. 8, six-dimension force sensor and pressure sensor are connected to described signal transacting computer module by data collecting card.Error surface self adaptation trajectory planning module in signal transacting computer module compares the geometrical property of the error surface obtained according to the surface testing result of processed optical work and target face shape model, carry out error surface self adaptation trajectory planning.By more different removal function, thus select the polishing dish of shape and the diameter optimized and remove function, and obtaining corresponding machining locus, residence time and error prediction.
More than describe preferred embodiment of the present invention in detail.Should be appreciated that the ordinary skill of this area just design according to the present invention can make many modifications and variations without the need to creative work.Therefore, all technical staff in the art, all should by the determined protection domain of claims under this invention's idea on the basis of existing technology by the available technical scheme of logical analysis, reasoning, or a limited experiment.
Claims (4)
1. the accurate polishing robot system of the complicated optical mirror plane active compliance of heavy caliber, comprising: optical mirror plane polishing robot module, sensor assembly, signal transacting computer module and Active Compliance Control module, is characterized in that:
Described optical mirror plane polishing robot module comprises: base, panoramic table, large arm, upper joint, forearm, wrist, the first to the 3rd RV decelerator, the first to third harmonic decelerator, first to fourth bearing, the first bevel gear, the second bevel gear, the first to the 3rd Timing Belt wheels, wrist axis, forearm power shaft, spring, pin, polishing rotating shaft, polishing urceolus, polishing dish, the first to the 6th servomotor;
Described sensor assembly comprises: six-dimension force sensor and pressure sensor;
Described signal transacting computer module is used for signal transacting, Polishing machining status analysis and Active Compliance Control is counter separates; Described signal transacting computer module also comprises error surface self adaptation trajectory planning module, described error surface self adaptation trajectory planning module, for comparing the geometrical property of the error surface obtained with target face shape model according to the surface testing result of processed optical work, carries out error surface self adaptation trajectory planning; By more different removal function, thus select the polishing dish of shape and the diameter optimized and remove function, and obtaining corresponding machining locus, residence time and error prediction;
Multiple described polishing robot is arranged in machining area, by changing the processing of the corresponding different bore minute surface of robot quantity;
Described Active Compliance Control module is used for control track, polishing dish rotating speed and polishing air pressure.
2. the accurate polishing robot system of the complicated optical mirror plane active compliance of heavy caliber as claimed in claim 1, it is characterized in that, described panoramic table is connected by a described RV decelerator with described base, described first servomotor is connected with a described RV decelerator, described panoramic table is connected by described 2nd RV decelerator with described large arm, described second servomotor is connected with described 2nd RV decelerator, described large arm is connected by described 3rd RV decelerator with described upper joint, described 3rd servomotor is connected with described 3rd RV decelerator, described upper joint is connected with described 4th servomotor, be connected with described first harmonic decelerator by described first Timing Belt wheels, described first harmonic decelerator is connected with described forearm power shaft, described forearm is connected with described 5th servomotor, be connected with described second harmonic decelerator by described second Timing Belt wheels, described second harmonic decelerator is connected with described wrist axis, described wrist axis is by described first, second bearing is arranged in described wrist, described forearm is connected with described 6th servomotor, be connected with described first bevel gear by described 3rd Timing Belt wheels, described first bevel gear to be arranged in described wrist by described 3rd bearing and to be connected with described second bevel gear, described second bevel gear is connected with described polishing power shaft, described polishing power shaft is arranged in described wrist by described 4th bearing, described polishing power shaft is connected with described third harmonic decelerator, described third harmonic decelerator is connected with described polishing rotating shaft, described polishing rotating shaft coordinates with described polishing urceolus, the motion of described polishing urceolus is limited by described spring and pin, described polishing urceolus and described polishing dish are hinged.
3. the accurate polishing robot system of the complicated optical mirror plane active compliance of heavy caliber as claimed in claim 1, it is characterized in that, described six-dimension force sensor and pressure sensor are connected to described signal transacting computer module by data collecting card.
4. the accurate polishing robot system of the complicated optical mirror plane active compliance of heavy caliber as claimed in claim 1, it is characterized in that, described polishing robot end axle is connected with polishing rotating shaft, and polishing urceolus coordinates with polishing rotating shaft and drives polishing disc spins.
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| CN201210431704.5A CN102922388B (en) | 2012-11-01 | 2012-11-01 | The accurate polishing robot system of the complicated optical mirror plane of heavy caliber |
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| CN201210431704.5A CN102922388B (en) | 2012-11-01 | 2012-11-01 | The accurate polishing robot system of the complicated optical mirror plane of heavy caliber |
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| CN102922388B true CN102922388B (en) | 2015-11-25 |
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