CN106607731A - Five-degree-of-freedom polishing manipulator for large aperture optical component - Google Patents
Five-degree-of-freedom polishing manipulator for large aperture optical component Download PDFInfo
- Publication number
- CN106607731A CN106607731A CN201510693159.0A CN201510693159A CN106607731A CN 106607731 A CN106607731 A CN 106607731A CN 201510693159 A CN201510693159 A CN 201510693159A CN 106607731 A CN106607731 A CN 106607731A
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- China
- Prior art keywords
- polishing
- degree
- mechanical hand
- freedom
- optical elements
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B13/00—Machines or devices designed for grinding or polishing optical surfaces on lenses or surfaces of similar shape on other work; Accessories therefor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
- B25J11/0065—Polishing or grinding
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Grinding And Polishing Of Tertiary Curved Surfaces And Surfaces With Complex Shapes (AREA)
Abstract
The invention discloses a five-degree-of-freedom polishing manipulator for a large aperture optical component. A motion mode of horizontal rotation, pneumatic pressurizing and Z-axis floatation are adopted; a polishing die is flexibly connected with a grinding head shaft by a spherical hinge and a pulling pin; and the eccentric distance can be adjusted by a screw positioned above the grinding head shaft. The five-degree-of-freedom linkage of the manipulator can provide a motion mode and a path required by an MCM technology; and by adoption of a cylindrical coordinate structure, the occupied spatial position is small, and the work is favorably developed by multiple stations.
Description
Technical field
The present invention relates to a kind of optical elements of large caliber five degree of freedom polishing mechanical hand, it is adaptable to optical field.
Background technology
As space optics technology, Beam Control technology and large-scale astronomical are looked in the distance the continuous development of technology, the demand that aperture aspherical optical elements are particularly to optical elements of large caliber is more and more.At present, the mainstream processing technology of domestic large-scale aspherical optical element is still traditional classics and repaiies band polishing technology, but its process-cycle is longer.The appearance of the process technologies such as modern computer controls polishing (CCOS) technology, strain disc, the crudy and efficiency of optical elements of large caliber can to a certain extent be improved, but these methods are largely dependent upon without exception the precision of lathe, become one of factor of restriction Chinese large-sized aspheric surface processing technology development.
The multi-mode Combined machining technology (Multi-mode Combine Manufacturing, MCM) that Li Junfeng et al. are proposed for 2007 opens a new path for the processing of optical elements of large caliber.According to the error result that optical component surface shape detection draws, MCM technologies are in the appropriate rubbing head number of corresponding regional choice, motor pattern and parameter, it is combined into suitable polishing and removes function, and the convergence of successive ignition finished surface shape, be conducive to the various errors for controlling to be produced in the course of processing, polishing efficiency and machining accuracy are effectively improved, the grinding and polishing of optical elements of large caliber is particularly well-suited to.It is different from existing monotype processing method, multistation processing is carried out to workpiece, full frequency band control error is the distinguishing feature of MCM technologies.Therefore it provides various rubbing head motor patterns and motion path, and the relevant device processed suitable for multistation is the important guarantee of multi-mode Combined machining technology.
The content of the invention
The present invention proposes a kind of optical elements of large caliber five degree of freedom polishing mechanical hand, and the mechanical hand five degree of freedom linkage can provide MCM technology desirable movement patterns and path, little using locus shared by cylindrical coordinatess structure, be easy to multiple stations while organizing work.
The technical solution adopted in the present invention is：
The motion mode that the polishing head system of the mechanical hand is moved using flat turn, Pneumatic Pressure, Z axis float, and polished die adds finger to be flexibly connected with grinding head shaft using ball pivot, and the screw rod above grinding head shaft can adjust eccentric throw.First the dynamic motion mode of flat turn can not only produce center a smoothed curve of peak value, and the graded of the optical surface covered in a rotation period due to polishing disk translation, polishing disk is minimum, is conducive to polishing disk to coincide with surface of the work；Pneumatic Pressure floats with Z axis, while stable polish pressure is produced, makes polished die with surface of the work rise real-time change, and this axle simplifies the structure and control system of mechanical hand body without the need for numerical control；Ball pivot adds the flexible connection of finger to ensure that polished die coincide in real time with surface of the work between polished die and grinding head shaft, and in design, on the premise of polished die matrix degree of cutting to pieces is ensured, h values should be as little as possible, and the change of pressure direction is reduced to into minima.
Z axis floating structure is adopted in the polishing head system, therefore the linear motion of Z-direction is not considered in operation machine body design.Whole buffing machine body adopts cylindrical coordinatess mode, rotates parameterθ 1, mobile parameterd 3With Z axis amount of floatingd 5Determine the position of rubbing head；Rotate parameterθ 2Withθ 4Only determine the attitude of rubbing head.
The waist is rotatedθ 1The secondary realization of harmonic gear is driven by servomotor；Waist upper end is equipped with servomotor, drives worm couple to drive arm fixed cover to realize rotatingθ 2；Arm left end servomotor drives the pair of nut of precision ball screw one to realize the movement between arm fixed cover and movable sleeving, and to prevent from having relative rotation therebetween, the cylindrical spline that is milled with of movable sleeving constitutes guider with fixed cover inner circle upper spline；Movable sleeving right-hand member Jing hinges are connected with polishing head system, and by motor the transmission of screw mandrel screw is driven, and by the flexible realization of screw mandrel the rotation of head system is polished；Whole mechanical hand is arranged on mobile foundation top, and pedestal can be with hand-operated lifting, to adapt to the optical element of different operating platform height and different-thickness.
Pass throughθ 1,θ 2,d 3,θ 4, C links and floats can realize the processing of various optical surfaces.When annulus processing radial motion is carried outθ 1,θ 2,θ 4Only play auxiliary positioning effect, only need arm to move d3.Therefore it is simple to repair band polishing machine tool handss and can rotateθ 2Cancel, rotation is shouted and is changed to manually, so can greatly simplify the mechanical construction and control system of polishing mechanical hand.
The invention has the beneficial effects as follows：The mechanical hand five degree of freedom linkage can provide MCM technology desirable movement patterns and path, little using locus shared by cylindrical coordinatess structure, be easy to multiple stations while organizing work.
Description of the drawings
With reference to the accompanying drawings and examples the present invention is further described.
Fig. 1 is the rubbing head system structure sketch of the present invention.
Fig. 2 is the robot manipulator structure sketch of the present invention.
Specific embodiment
With reference to the accompanying drawings and examples the invention will be further described.
Such as Fig. 1, using the dynamic motion mode of flat turn, Pneumatic Pressure, Z axis float the polishing head system of mechanical hand, and polished die adds finger to be flexibly connected with grinding head shaft using ball pivot, and the screw rod above grinding head shaft can adjust eccentric throw.First the dynamic motion mode of flat turn can not only produce center a smoothed curve of peak value, and the graded of the optical surface covered in a rotation period due to polishing disk translation, polishing disk is minimum, is conducive to polishing disk to coincide with surface of the work；Pneumatic Pressure floats with Z axis, while stable polish pressure is produced, makes polished die with surface of the work rise real-time change, and this axle simplifies the structure and control system of mechanical hand body without the need for numerical control；Ball pivot adds the flexible connection of finger to ensure that polished die coincide in real time with surface of the work between polished die and grinding head shaft, and in design, on the premise of polished die matrix degree of cutting to pieces is ensured, h values should be as little as possible, and the change of pressure direction is reduced to into minima.
Such as Fig. 2, Z axis floating structure is adopted in polishing head system, therefore the linear motion of Z-direction is not considered in operation machine body design.Whole buffing machine body adopts cylindrical coordinatess mode, rotates parameterθ 1, mobile parameterd 3.With Z axis amount of floatingd 5.Determine the position of rubbing head；Rotate parameterθ 2Withθ 4Only determine the attitude of rubbing head.
Waist is rotatedθ 1The secondary realization of harmonic gear is driven by servomotor；Waist upper end is equipped with servomotor, drives worm couple to drive arm fixed cover to realize rotatingθ 2；Arm left end servomotor drives the pair of nut of precision ball screw one to realize the movement between arm fixed cover and movable sleeving, and to prevent from having relative rotation therebetween, the cylindrical spline that is milled with of movable sleeving constitutes guider with fixed cover inner circle upper spline；Movable sleeving right-hand member Jing hinges are connected with polishing head system, and by motor the transmission of screw mandrel screw is driven, and by the flexible realization of screw mandrel the rotation of head system is polished；Whole mechanical hand is arranged on mobile foundation top, and pedestal can be with hand-operated lifting, to adapt to the optical element of different operating platform height and different-thickness.
Pass throughθ 1,θ 2,d 3,θ 4, C links and floats can realize the processing of various optical surfaces.When annulus processing radial motion is carried outθ 1,θ 2,θ 4Only play auxiliary positioning effect, only need arm to move d3.Therefore it is simple to repair band polishing machine tool handss and can rotateθ 2Cancel, rotation is shouted and is changed to manually, so can greatly simplify the mechanical construction and control system of polishing mechanical hand.
Claims (3)
1. a kind of optical elements of large caliber five degree of freedom polishing mechanical hand, is characterized in that：The motion mode that the polishing head system of the mechanical hand is moved using flat turn, Pneumatic Pressure, Z axis float, and polished die adds finger to be flexibly connected with grinding head shaft using ball pivot, and the screw rod above grinding head shaft can adjust eccentric throw.
2. a kind of optical elements of large caliber five degree of freedom polishing mechanical hand according to claim 1, is characterized in that：Z axis floating structure is adopted in the polishing head system, therefore the linear motion of Z-direction is not considered in operation machine body design, whole buffing machine body adopts cylindrical coordinatess mode, rotates parameterθ 1, mobile parameterd 3With Z axis amount of floatingd 5Determine the position of rubbing head；Rotate parameterθ 2Withθ 4Only determine the attitude of rubbing head.
3. a kind of optical elements of large caliber five degree of freedom polishing mechanical hand according to claim 1, is characterized in that：The waist is rotatedθ 1The secondary realization of harmonic gear is driven by servomotor；Waist upper end is equipped with servomotor, drives worm couple to drive arm fixed cover to realize rotatingθ 2；Arm left end servomotor drives the pair of nut of precision ball screw one to realize the movement between arm fixed cover and movable sleeving, and to prevent from having relative rotation therebetween, the cylindrical spline that is milled with of movable sleeving constitutes guider with fixed cover inner circle upper spline；Movable sleeving right-hand member Jing hinges are connected with polishing head system, and by motor the transmission of screw mandrel screw is driven, and by the flexible realization of screw mandrel the rotation of head system is polished；Whole mechanical hand is arranged on mobile foundation top, and pedestal can be with hand-operated lifting, to adapt to the optical element of different operating platform height and different-thickness.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510693159.0A CN106607731A (en) | 2015-10-21 | 2015-10-21 | Five-degree-of-freedom polishing manipulator for large aperture optical component |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510693159.0A CN106607731A (en) | 2015-10-21 | 2015-10-21 | Five-degree-of-freedom polishing manipulator for large aperture optical component |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106607731A true CN106607731A (en) | 2017-05-03 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510693159.0A Pending CN106607731A (en) | 2015-10-21 | 2015-10-21 | Five-degree-of-freedom polishing manipulator for large aperture optical component |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110026903A (en) * | 2019-04-03 | 2019-07-19 | 大连理工大学 | A kind of multiplexing position adaptive executive device for the polishing of micro- water mist |
| CN111590640A (en) * | 2020-06-09 | 2020-08-28 | 武汉臻迪智能技术有限公司 | Auxiliary mechanism for improving eccentricity of four-axis robot |
| CN111618688A (en) * | 2020-06-09 | 2020-09-04 | 上海诺玛液压***有限公司 | Servo valve core precision match grinding synchronous deburring tool |
-
2015
- 2015-10-21 CN CN201510693159.0A patent/CN106607731A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110026903A (en) * | 2019-04-03 | 2019-07-19 | 大连理工大学 | A kind of multiplexing position adaptive executive device for the polishing of micro- water mist |
| CN111590640A (en) * | 2020-06-09 | 2020-08-28 | 武汉臻迪智能技术有限公司 | Auxiliary mechanism for improving eccentricity of four-axis robot |
| CN111618688A (en) * | 2020-06-09 | 2020-09-04 | 上海诺玛液压***有限公司 | Servo valve core precision match grinding synchronous deburring tool |
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Application publication date: 20170503 |