CN105643393A - Optical grinding mechanical arm - Google Patents
Optical grinding mechanical arm Download PDFInfo
- Publication number
- CN105643393A CN105643393A CN201410631711.9A CN201410631711A CN105643393A CN 105643393 A CN105643393 A CN 105643393A CN 201410631711 A CN201410631711 A CN 201410631711A CN 105643393 A CN105643393 A CN 105643393A
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- axle
- mechanical arm
- spindle motor
- reductor
- optical grinding
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- Constituent Portions Of Griding Lathes, Driving, Sensing And Control (AREA)
Abstract
The invention relates to an optical grinding mechanical arm which comprises a first mechanical arm shaft, and the top of the first mechanical arm shaft is rotatably connected with a stand-column-shaped second mechanical arm shaft. The optical grinding mechanical arm further comprises a third mechanical arm shaft which is connected to one side face of the second mechanical arm shaft in a sliding mode, the tail end of the third mechanical arm shaft is rotatably connected with a fourth mechanical arm shaft, and the tail end of the fourth mechanical arm shaft is rotatably connected with a fifth mechanical arm shaft. The optical grinding mechanical arm also comprises a sixth mechanical arm shaft which is connected with the tail end of the fifth mechanical arm shaft in a swinging mode and used for driving a grinding tool. According to the optical grinding mechanical arm, through mechanical cooperation of the six shafts, the grinding tool is quickly driven to an accurate position for grinding; due to the fact that the six shafts are matched, the whole mechanical arm can meet the requirements for grinding different lenses.
Description
Technical field
The present invention relates to robotics, more particularly, it relates to a kind of optical grinding mechanical arm.
Background technology
In the grinding technique of optical glass, the shape need according to eyeglass is needed for optical glass, control bistrique and be ground in different positions, thus need the mechanical arm driving bistrique can quickly switch different positions. And the design that existing mechanical arm carries out typically to specific eyeglass, the degree of freedom of mechanical arm is less, produces product single, grinding inefficient.
Summary of the invention
The present invention is directed to the design that existing mechanical arm carries out for specific eyeglass, the degree of freedom of mechanical arm is less, produces product single, the inefficient defect of grinding, one is provided to can adapt to various lens grinding demand and the optical grinding mechanical arm that grinding efficiency is higher.
This invention address that the scheme of the problems referred to above is, a kind of optical grinding mechanical arm of structure, mechanical arm the second axle including mechanical arm the first axle, described mechanical arm the first axle top and column-type is rotationally connected; Also including mechanical arm the 3rd axle being slidably connected on one side of mechanical arm the second axle, described mechanical arm the 3rd the tip of the axis and mechanical arm the 4th axle are rotationally connected, and described mechanical arm the 4th the tip of the axis and mechanical arm the 5th axle are rotationally connected; Described optical grinding mechanical arm also include with mechanical arm the 5th shaft end swing be connected, for driving mechanical arm the 6th axle of milling tool.
The optical grinding mechanical arm of the present invention, described mechanical arm the first axle includes axle base and the first spindle motor being fixed on axle base, the axial line of described first spindle motor off-axis base; Described mechanical arm the first axle also includes the first axle reductor being in transmission connection with the first spindle motor, and described first axle reductor is hollow structure, and the hollow space of described first axle reductor is provided with installation spool.
The optical grinding mechanical arm of the present invention, described mechanical arm the second axle includes the second axle main body of cube cylindricality, one side of described second axle main body is fixed with two line slideways being vertically arranged, being provided with ball screw between two described line slideways, described ball screw and the second spindle motor being positioned at the second axle body top are in transmission connection.
The optical grinding mechanical arm of the present invention, described mechanical arm the 3rd axle includes the 3rd axle body, one end of 3rd axle body is connected on the line slideway of mechanical arm the second axle by nut seat, and the other end is provided with the 3rd spindle motor, and described 3rd spindle motor is used for driving described mechanical arm the 4th axle to rotate.
The optical grinding mechanical arm of the present invention, described mechanical arm the 4th axle includes the 4th axle body being rotationally connected with the 3rd spindle motor; Described 4th axle is originally internal is fixed with the 4th spindle motor, and the outfan of the 4th spindle motor and the engagement of the 4th axle reduction gearing connect, and described 4th axle reduction gearing is connected with the 4th axle speed reducer drive; Described mechanical arm the 4th axle also includes being positioned at described 4th axle body tip, the 4th axle output flange being connected with described 4th axle speed reducer drive.
The optical grinding mechanical arm of the present invention, described mechanical arm the 5th axle includes the 5th axle body of concave shape; Described this internal the 5th spindle motor that is provided with of 5th axle, the described 5th intrinsic indent of axle is also equipped with engaging, with described 5th spindle motor gear, the 5th axle reductor being connected.
The optical grinding mechanical arm of the present invention, described mechanical arm the 6th axle is arranged on described 5th axle body indent, is connected with described 5th axle speed reducer drive; Described mechanical arm the 6th axle includes the 6th spindle motor, also includes the 6th axle reductor being in transmission connection by spline and described 6th spindle motor.
Implement the optical grinding mechanical arm of the present invention, by the mechanical engagement of six axles, it is achieved quickly driven by milling tool and be ground to position accurately; Owing to whole mechanical arm is coordinated by six axles, it is possible to adapt to different lens grinding needs.
Accompanying drawing explanation
Below in conjunction with accompanying drawing, the present invention will be described, wherein:
Fig. 1 is the overall structure schematic diagram of the optical grinding mechanical arm of the present invention;
Fig. 2 is the structural representation of Fig. 1 optical grinding mechanical arm base portion;
Fig. 3 is the structural representation that Fig. 1 optical grinding mechanical arm the second axle part divides;
Fig. 4 is the structural scheme of mechanism of Fig. 1 optical grinding mechanical arm the 3rd shaft portion;
Fig. 5 is the structural scheme of mechanism of Fig. 1 optical grinding mechanical arm the 4th shaft portion;
Fig. 6 is the structural scheme of mechanism of Fig. 1 optical grinding mechanical arm the 5th axle and the 6th shaft portion.
Detailed description of the invention
The present invention is directed to the defect being rapidly switched to correct position that existing mechanical arm cannot meet in optical grinding process, by the mechanical arm of six axle cascaded structures, it is achieved moved quickly on the correct position of eyeglass by bistrique.
For the mechanical arm of this six axles cascaded structure of clearer explanation, below in conjunction with the drawings and specific embodiments, the present invention is described in detail.
Being illustrated in figure 1 the overall structure schematic diagram of the optical grinding mechanical arm of the present invention, the optical grinding mechanical arm of the present invention includes fixed pedestal, i.e. mechanical arm the first axle 100; It is positioned on fixed pedestal and mechanical arm stand column that fixed pedestal is rotationally connected, i.e. the second axle 200 of mechanical arm; Along mechanical arm the 3rd axle 300 that a side of mechanical arm stand column slides up and down; At the end of mechanical arm the 3rd axle 300, rotating it is connected to mechanical arm the 4th axle 400; The end of mechanical arm the 4th axle 400 mode by being rotationally connected, connects mechanical arm the 5th axle 500; Last mechanical arm the 6th axle 600 is then connected on the end of mechanical arm the 5th axle 500 by the mode swung.
Will be detailed below the relative motion mode between each axle, in order to clearly demonstrate the direction of each motion, the X-direction of horizontal direction defined below and Y-direction, vertical direction is Z-direction.Mechanical arm the first axle 100 is fixed pedestal, and itself does not move, and is typically secured on ground, other machinerys. And mechanical arm the second axle 200 by Flange joint on mechanical arm the first axle 1O0 so that mechanical arm the second axle 200 can relative to mechanical arm the first axle 100 carry out on X/Y plane 360 �� freely rotatable. And on a side of mechanical arm the second axle 200, it being provided with line slideway, mechanical arm the 3rd axle 300 is slidably connected on this line slideway so that mechanical arm the 3rd axle 300 can be limited with the height of mechanical arm the second axle 200 in z-direction and move. Mechanical arm the 3rd axle 300 is fixed with motor, by motor-driven mode so that mechanical arm the 4th axle 400 rotates on X/Y plane relative to mechanical arm the 3rd axle 300. Mechanical arm the 5th axle 500 then rotates relative to the axial direction of mechanical arm the 4th axle 400; Mechanical arm the 6th axle 600 is arranged on the end of mechanical arm the 5th axle 500 by the mode swung. And the end of mechanical arm the 6th axle 600 installs the machinery of grind spectacle lens. By cooperating of six above axles, it is possible to quickly drive the machinery of grind spectacle lens spatially to move to suitable position. And owing to this mode moved has been cooperated by 6 mechanical axis, compared to existing mechanical arm, its degree of freedom moved increases substantially, it is possible to adapt to the grinding requirement of variously-shaped eyeglass.
For the structure of six axles in clearer explanation mechanical arm, below the structure of each parts is described in detail.
It is illustrated in figure 2 the sectional view of mechanical arm the first axle. Mechanical arm the first axle 100 includes the axle base 102 being positioned at bottom, and this axle base 102 is for supporting the miscellaneous part of mechanical arm; Also including the first spindle motor 101, the first spindle motor 101 biases, the axial line of off-axis base 102; First spindle motor 101 and the first axle reductor 104 are in transmission connection, and the first axle reductor 104 is hollow type structure, and the part of hollow is used for placing installation spool 105, for various wires, data wire traverse; First spindle motor 101 is connected by the input gear of gear and the first axle reductor, the output shaft flange 103 of the first axle reductor 104 is connected with the output flange of mechanical arm the first axle, and the base flange of mechanical arm the second axle axle is connected with the output flange of mechanical arm the first axle; First spindle motor 101 is connected with the output flange seat of mechanical arm the first axle. When motor rotates, motor input gear drives reductor input gear to rotate, and is connected by the output flange of reductor deceleration rear output shaft with mechanical arm the first axle. Joint adopts the rotation of motor to be directly inputted to reductor, and reductor output part drives the column of mechanical arm the second axle to rotate, and this drive scheme decreases the driving-chain of motor and speed reducer output shaft, reduces driving error, improves transmission efficiency. When mechanical arm the first axle 100 is attached with mechanical arm the second axle 200 time, the first spindle motor 101 is by positioning output flange 103 location and installation in hole and mechanical arm the first axle. This output flange is designed to cylinder, its lower end cylindrical has been equally spaced multiple reinforcement, play the effect strengthening intensity and spacing calibration, outfan is connected by the column flange of screw with mechanical arm the second axle 200, the upper body of robot or mechanical arm is supported, the output flange 103 of mechanical arm the first axle and the submount material of mechanical arm the first axle are spheroidal graphite cast-iron, adopt foundry engieering, are beneficial to batch production in the future.
It is presented above the connected mode between structure and itself and mechanical arm second axle of mechanical arm the first axle, below with reference to accompanying drawing 3, mechanical arm the second axle 200 is described in detail, to resolve the connection between itself and mechanical arm the 3rd axle.
As it is shown on figure 3, mechanical arm the second axle 200 includes the second axle main body of a square columns structure, the side of one vertical direction is installed with the line slideway 202 being vertically arranged. Ball screw 203 is installed between two upright guide rails 202. The second spindle motor 201 at the second axle body top is directly connected to by shaft coupling and ball-screw 203, ensures precision and improves transmission efficiency. What line slideway 202 was arranged on mechanical arm the second axle 200 stands up on cylinder, supports load and transmitting movement by the two groups of slide blocks 203 being arranged on guide rail. The nut seat that moves through of ball-screw 203 exports to mechanical arm the 3rd axle. Mechanical arm is connected cable and is connected on drag chain by column inner space. Ball screw 203 adopts two ends to support, and upper end supports with two groups of tapered roller bearings, and lower end adopts regulation of mental activities ball bearing, while ensureing transmission accuracy, can effectively reduce noise and vibration.
By such structure, mechanical arm the 3rd axle can linearly slide up and down by guide rail, and the power of the second spindle motor 201 can pass through ball screw 203 and be sent on mechanical arm the 3rd axle. The rotary motion of the second spindle motor 201 is input to ball-screw 203 by shaft coupling, and the rotary motion of ball-screw 203 converts rectilinear motion to by nut seat, exports to mechanical arm the 3rd axle 300, drives mechanical arm the 3rd arm 300 to move up and down. The stud materials of mechanical arm the second axle 200 is spheroidal graphite cast-iron, generally bores tower structure, and less bottom, top is bigger, column internal one-tenth " mouth " type structure, interior layout cross reinforcing rib, increase its intensity and adopt reinforcing plate type structure, improve its structural strength, also can alleviate its weight simultaneously. The important installed surfaces such as column lower end flange installed surface, guide rails assembling face, lead screw shaft bearing add and are clamped one time man-hour and machine, ensure that machining accuracy. in casting and the course of processing, done stress relief annealing process, eliminate internal stress, after ensureing column processing, design accuracy requirement can be reached. Material is spheroidal graphite cast-iron, adopts foundry engieering, is beneficial to and produces in batches in the future.
It is illustrated in figure 4 the structural representation of mechanical arm the 3rd axle 300, mechanical arm the 3rd axle 300 includes the 3rd axle body 301, one end of 3rd axle body 301 is connected on the line slideway 202 of mechanical arm the second axle 200 by nut seat 302, another termination reductor and the 3rd spindle motor 303. 3rd spindle motor 303 output shaft and reductor input gear axle are directly connected to, and reductor output flange is connected with the armshaft of mechanical arm the 4th axle 400. Reductor mounting flange and the 3rd arm connect. Three axle joints are positioned at robot middle part, and its precision and rigid requirements are higher, adopt motor direct-connected herein, directly drive mode, reduce driving-chain as far as possible, improve the precision of the 3rd axle.
It is illustrated in figure 5 the structural representation of mechanical arm the 4th axle. Mechanical arm the 5th axle of mechanical arm the 4th axle and rear end, mechanical arm the 6th axle constitute mechanical arm tail end wrist structure, and version is RBR type arm, are rotation-swing-rotation layout, and wrist compact quality of trying one's best is minimum in the design. Concrete, mechanical arm the 4th axle includes the 4th axle body 401, is connected by the 3rd spindle motor between the 4th axle body 401 with mechanical arm the 3rd axle 300, and this driven by motor the 4th axle body 401 rotates.4th axle body 401 is the metal structure of hollow, and its inside is provided with the 4th spindle motor 402 by subterminal position, and the 4th spindle motor 402 is used for producing rotary driving force, drives the rotation of mechanical arm the 5th axle 500. Outfan and the 4th axle reduction gearing 403 engagement of the 4th spindle motor 402 connect, and the 4th axle reduction gearing 403 is further in transmission connection with the 4th axle reductor 404. The amplification by reduction gearing and accelerator of the output power of the 4th spindle motor 402, it is sent on the output flange of mechanical arm the 4th shaft end, when this output flange is connected with mechanical arm the 5th axle, the output power of the 4th spindle motor 402 can be transferred on mechanical arm the 5th axle.
It is illustrated in figure 6 mechanical arm the 5th axle and the structural representation of mechanical arm the 6th axle. Mechanical arm the 5th axle 500 is from the appearance the parts of a U shape, and mechanical arm the 6th axle 600 is positioned at " recessed " mouth and swings. Mechanical arm the 5th axle 500 includes the 5th axle body 501,5th axle body 501 is the hollow part of " recessed " type, inside is fixed with the 5th spindle motor 502,5th spindle motor 502 is by a series of reduction gearing and travelling gear, it is in transmission connection with the 5th axle reductor 503 being positioned at " recessed " mouth place, 5th axle reductor 503 is fixing with mechanical arm the 6th axle 600 further to be connected, and driving mechanical arm the 6th axle 600 swings at " recessed " mouth place.
Mechanical arm the 6th axle 600 is the least significant end of whole mechanical arm, for driving milling tool that the surface of eyeglass is processed. Mechanical arm the 6th axle is for rotating output, and its internal main to include the 6th spindle motor 601, is directly connected to by spline and the 6th axle reductor 602, produces the power output rotated. When the 6th spindle motor 601 within mechanical arm the 6th axle rotates time, by the decelerating effect of reductor, the rotary power of mechanical arm the 6th axle 600 is amplified output, 6th axle output flange 603 of driving mechanical arm the 6th axle least significant end rotates, when milling tool is connected with the output flange 603 of mechanical arm the 6th axle by flange time, it becomes possible to realize rotating the effect ground.
It is presented above the concrete structure of each axle of mechanical arm and the mode of its driving, according to the mechanical arm that the above embodiment of the present invention manufactures, by the mechanical engagement of six axles, it is achieved quickly driven by milling tool and be ground to position accurately; Owing to whole mechanical arm is coordinated by six axles, it is possible to adapt to different lens grinding needs.
These are only the specific embodiment of the invention, the scope of the present invention can not be limited with this, the impartial change that those skilled in the art in the art make according to this creation, and the change that those skilled in that art know, all should still belong to the scope that the present invention contains.
Claims (7)
1. an optical grinding mechanical arm, it is characterised in that the mechanical arm the second axle (200) including mechanical arm the first axle (100), described mechanical arm the first axle (100) top and column-type is rotationally connected; Also include the mechanical arm the 3rd axle (300) being slidably connected on (200) sides of described mechanical arm the second axle, the end of described mechanical arm the 3rd axle (300) and mechanical arm the 4th axle (400) are rotationally connected, and the end of described mechanical arm the 4th axle (400) and mechanical arm the 5th axle (500) are rotationally connected; Described optical grinding mechanical arm also includes swinging the mechanical arm the 6th axle (600) being connected, be used for driving milling tool with mechanical arm the 5th axle (500) end.
2. optical grinding mechanical arm according to claim 1, it is characterized in that, described mechanical arm the first axle (100) includes axle base (102) and the first spindle motor (101) being fixed on described axle base (102), and described first spindle motor (101) deviates the axial line of described axle base (102); Described mechanical arm the first axle (100) also includes the first axle reductor (104) being in transmission connection with described first spindle motor (101), described first axle reductor (104) is hollow structure, and the hollow space of described first axle reductor (104) is provided with installation spool (105).
3. optical grinding mechanical arm according to claim 1, it is characterized in that, described mechanical arm the second axle (200) includes the second axle main body of cube cylindricality, one side of described second axle main body is fixed with two line slideways (202) being vertically arranged, being provided with ball screw (203) between two described line slideways (202), described ball screw (203) and the second spindle motor (201) being positioned at the second axle body top are in transmission connection.
4. optical grinding mechanical arm according to claim 3, it is characterised in that described mechanical arm the 3rd axle (300) includes the 3rd axle body (301); One end of described 3rd axle body (301) is connected on the line slideway (202) of described mechanical arm the second axle by nut seat (302), the other end is provided with the 3rd spindle motor (303), and described 3rd spindle motor (303) is used for driving described mechanical arm the 4th axle (400) to rotate.
5. optical grinding mechanical arm according to claim 4, it is characterised in that described mechanical arm the 4th axle (300) includes the 4th axle body (401) being rotationally connected with described 3rd spindle motor (303); It is fixed with the 4th spindle motor (402) in described 4th axle body (401), the outfan of described 4th spindle motor (402) and the engagement of the 4th axle reduction gearing (403) connect, and described 4th axle reduction gearing (403) and the 4th axle reductor (404) are in transmission connection; Described mechanical arm the 4th axle (400) also includes being positioned at described 4th axle body (401) end, the 4th axle output flange being in transmission connection with described 4th axle reductor (404).
6. optical grinding mechanical arm according to claim 1, it is characterised in that described mechanical arm the 5th axle includes the 5th axle body (501) of concave shape; Being provided with the 5th spindle motor (502) in described 5th axle body (501), the indent in described 5th axle body (501) is also equipped with engaging, with described 5th spindle motor (502) gear, the 5th axle reductor (503) being connected.
7. optical grinding mechanical arm according to claim 6, it is characterized in that, described mechanical arm the 6th axle (600) is arranged on described 5th axle body (501) indent, is in transmission connection with described 5th axle reductor (503); Described mechanical arm the 6th axle includes the 6th spindle motor (601), also includes the 6th axle reductor (602) being in transmission connection by spline and described 6th spindle motor (601).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410631711.9A CN105643393A (en) | 2014-11-11 | 2014-11-11 | Optical grinding mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410631711.9A CN105643393A (en) | 2014-11-11 | 2014-11-11 | Optical grinding mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105643393A true CN105643393A (en) | 2016-06-08 |
Family
ID=56483397
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410631711.9A Pending CN105643393A (en) | 2014-11-11 | 2014-11-11 | Optical grinding mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105643393A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113385992A (en) * | 2021-06-25 | 2021-09-14 | 北京燕山粉研精机有限公司 | Multifunctional metal surface treatment equipment |
| CN113664677A (en) * | 2021-07-26 | 2021-11-19 | 甘肃博睿交通重型装备制造有限公司 | A grinding device for wave form steel web steel box girder baffle |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2009077270A2 (en) * | 2007-12-14 | 2009-06-25 | Siemens Aktiengesellschaft | Assembly arrangement |
| GB2481249A (en) * | 2010-06-20 | 2011-12-21 | Innovations Ltd M | Three dimensional selective compliant robot |
| CN203305214U (en) * | 2013-06-28 | 2013-11-27 | 国家电网公司 | Plane multi-joint robot |
| CN203752149U (en) * | 2014-03-25 | 2014-08-06 | 宁波摩科机器人科技有限公司 | Six-axis robot |
-
2014
- 2014-11-11 CN CN201410631711.9A patent/CN105643393A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2009077270A2 (en) * | 2007-12-14 | 2009-06-25 | Siemens Aktiengesellschaft | Assembly arrangement |
| GB2481249A (en) * | 2010-06-20 | 2011-12-21 | Innovations Ltd M | Three dimensional selective compliant robot |
| CN203305214U (en) * | 2013-06-28 | 2013-11-27 | 国家电网公司 | Plane multi-joint robot |
| CN203752149U (en) * | 2014-03-25 | 2014-08-06 | 宁波摩科机器人科技有限公司 | Six-axis robot |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113385992A (en) * | 2021-06-25 | 2021-09-14 | 北京燕山粉研精机有限公司 | Multifunctional metal surface treatment equipment |
| CN113664677A (en) * | 2021-07-26 | 2021-11-19 | 甘肃博睿交通重型装备制造有限公司 | A grinding device for wave form steel web steel box girder baffle |
| CN113664677B (en) * | 2021-07-26 | 2024-05-31 | 甘肃博睿交通重型装备制造有限公司 | Polishing device for corrugated steel web steel box girder partition plate |
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Application publication date: 20160608 |
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