CN111496580A - Multi-machine cooperative processing system and method for large-caliber aspheric optical element - Google Patents

Multi-machine cooperative processing system and method for large-caliber aspheric optical element Download PDF

Info

Publication number
CN111496580A
CN111496580A CN202010336919.3A CN202010336919A CN111496580A CN 111496580 A CN111496580 A CN 111496580A CN 202010336919 A CN202010336919 A CN 202010336919A CN 111496580 A CN111496580 A CN 111496580A
Authority
CN
China
Prior art keywords
robot body
polishing
area
optical element
robot
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202010336919.3A
Other languages
Chinese (zh)
Inventor
钟波
陈贤华
许乔
王健
张清华
邓文辉
郑楠
文中江
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Laser Fusion Research Center China Academy of Engineering Physics
Original Assignee
Laser Fusion Research Center China Academy of Engineering Physics
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Laser Fusion Research Center China Academy of Engineering Physics filed Critical Laser Fusion Research Center China Academy of Engineering Physics
Priority to CN202010336919.3A priority Critical patent/CN111496580A/en
Publication of CN111496580A publication Critical patent/CN111496580A/en
Pending legal-status Critical Current

Links

Images

Classifications

    • 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
    • B24B1/00—Processes of grinding or polishing; Use of auxiliary equipment in connection with such processes
    • 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
    • B24B13/00—Machines or devices designed for grinding or polishing optical surfaces on lenses or surfaces of similar shape on other work; Accessories therefor
    • B24B13/005—Blocking means, chucks or the like; Alignment devices
    • 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
    • B24B13/01—Specific tools, e.g. bowl-like; Production, dressing or fastening of these tools
    • 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
    • B24B51/00—Arrangements for automatic control of a series of individual steps in grinding a workpiece
    • 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
    • B24B57/00—Devices for feeding, applying, grading or recovering grinding, polishing or lapping agents
    • B24B57/02—Devices for feeding, applying, grading or recovering grinding, polishing or lapping agents for feeding of fluid, sprayed, pulverised, or liquefied grinding, polishing or lapping agents
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)

Abstract

The application provides a multi-machine cooperative processing system and method for large-caliber aspheric optical elements. The multi-machine cooperative processing system comprises a robot body, a controller of the robot body, a polishing tool, a workbench, a polishing solution supply system and a programming simulation test system. The invention discloses a multi-machine cooperative processing method, which realizes that a plurality of robots drive a polishing tool to polish workpieces according to a planned path through a control instruction, ensures that a safe interval is kept between devices, and realizes that the plurality of robots perform cooperative operation on a large-caliber aspheric optical element. The invention has the characteristics of high automation degree, high efficiency, high adaptability, safety, stability and the like, greatly reduces the labor intensity of workers, and improves the processing efficiency of the large-caliber aspheric optical element.

Description

Multi-machine cooperative processing system and method for large-caliber aspheric optical element
Technical Field
The application relates to the technical field of numerical control machining, in particular to a large-caliber aspheric optical element multi-machine cooperative machining system and method.
Background
With the development of scientific technology, it is required that the size of the optical element is larger in some fields. For example, in the optical field, the size of an optical element required for practical use thereof is becoming larger, and the demand for an optical element having a large aperture of a meter-order or larger aperture is increasing. Therefore, in the manufacturing process, it is necessary to efficiently process these large-sized optical elements. However, in response to the current large-sized optical element, the current single-machine processing can not meet the current high efficiency requirement gradually.
Disclosure of Invention
An object of the present invention is to provide a multi-machine cooperative processing system for large-diameter aspheric optical elements, so as to achieve high-efficiency processing of large-size optical elements.
In a first aspect, an embodiment of the present application provides a large-aperture aspheric optical element multi-machine collaborative processing system, which is composed of a plurality of robot bodies and control cabinets thereof, 2 sets of polishing tools, 1 set of working tables, 1 set of polishing solution supply system, and 1 set of programming simulation test system.
Optionally, the robot body is arranged around the workbench; the multiple robot bodies share 1 set of polishing solution supply system, the polishing solution supply system directly supplies the polishing solution to the optical element through a pipeline, and the polishing solution is recovered to a liquid storage barrel in the polishing solution supply system to be subjected to temperature control, stirring and filtering, and then is sprayed to the surface of the optical element, so that the polishing solution is recycled; the polishing tool comprises an air bag polishing tool and a numerical control polishing tool, the two polishing tools are used for obtaining different processing technologies, the air bag polishing tool is used for efficient removal, and the numerical control polishing tool is used for even polishing.
Optionally, the control cabinet is connected to the robot body and the polishing tool, and controls each joint of the robot body to move the polishing tool at the end of the robot body along a planned aspheric surface track on the surface of the optical element;
optionally, the programming simulation test system is used for programming a multi-machine collaborative machining CNC program and a CNC program virtual simulation test. The programming simulation test system is connected with the plurality of control cabinets and transmits the tested CNC program to the plurality of control cabinets. The control cabinet executes a CNC program to realize that a plurality of robots drive the polishing tool to polish workpieces according to a planned path, ensure that a safe interval is kept between equipment and realize that the plurality of robots perform cooperative operation on a large-caliber aspheric optical element.
In a second aspect, an embodiment of the present application provides a multi-machine cooperative processing method, where the method includes: the polishing tool is driven by the multiple robots to polish the workpiece according to the planned path through the control instruction, the safety interval between equipment is ensured, and the multiple robots can cooperatively work on the large-caliber aspheric optical element.
Optionally, the method includes: selecting a processing scheme, and determining time-sharing processing or partition processing; if the machining is time-sharing machining, determining a polishing path of each robot body in the area to be machined according to the coverage relation between the machining area of each robot body and the area to be machined, wherein the polishing path of each robot body completely covers the area to be machined; meanwhile, delay time is set for each robot body control program, and safety intervals among all the devices are guaranteed. If the sub-area machining is carried out, the area to be machined comprises a plurality of sub-areas, each robot body is responsible for machining a corresponding sub-area, and a polishing path of each robot body in the corresponding sub-area is determined according to the coverage relation between the machining area of each robot body and the corresponding sub-area, wherein the polishing path of each robot body completely covers the area to be machined.
Optionally, the method includes: compiling a multi-machine cooperative machining program according to physical parameters of the optical element to be machined and a machining tool to be used; when a plurality of robot processing programs are generated, the polishing point intervals of a plurality of robot bodies are ensured to be larger than the safe distance at any time.
Optionally, the method further includes: simulating each robot body to move along the polishing path of the robot body by using a programming simulation test system, and judging whether the distance between each processing machine and the other robot bodies is greater than a minimum distance in the moving process, wherein the minimum distance is the distance between the positions of the two robot bodies which are touched on the optical element respectively when the two robot bodies are connected; if so, a control program of the robot body is reprogrammed; and if not, sending the control program of each robot body to the robot body.
Optionally, before simulating that each robot body moves along its polishing path, the method further includes: and determining the minimum distance according to the size and the swing amplitude of the mechanical arm corresponding to the type of the plurality of robot bodies in the selected processing scheme.
Optionally, the method further includes a step of dividing the sub-regions during partitioning processing, and the method further includes: and determining a processing area of each robot body in the area to be processed according to the coverage relation between the coverage area of each robot body in the plurality of robot bodies and the area to be processed, wherein all the determined processing areas completely cover the area to be processed.
The large-caliber aspheric optical element polishing system has the advantages that the plurality of robots drive the polishing tool to polish workpieces according to a planned path through a control instruction, the safety interval among equipment is guaranteed, and the plurality of robots perform cooperative operation on a large-caliber aspheric optical element. The invention has the characteristics of high automation degree, high efficiency, high adaptability, safety, stability and the like, greatly reduces the labor intensity of workers, and improves the processing efficiency of the large-caliber aspheric optical element.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments of the present application will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and that those skilled in the art can also obtain other related drawings based on the drawings without inventive efforts.
Fig. 1 is a schematic structural diagram of a multi-machine cooperative processing system for large-aperture aspheric optical elements according to an embodiment of the present disclosure;
fig. 2 is a flowchart of a method for determining a processing path of an optical element according to an embodiment of the present disclosure.
Detailed Description
The technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application.
Referring to fig. 1, an embodiment of the present application provides a large-aperture aspheric optical element multi-machine cooperative processing system 10, where the large-aperture aspheric optical element multi-machine cooperative processing system 10 may include: the robot comprises a plurality of robot bodies 11, a control cabinet 12 of the plurality of robot bodies 11, 2 sets of polishing tools 13, a set of workbench 14 and a programming simulation test system 20.
In the present embodiment, the actual application scenario is generally optical polishing, and the optical element may be an optical element such as a large-aperture aspheric optical element. And, in case that the optical element is a large-caliber aspheric optical element, then the one set of polishing tool 13 for processing at the front end of the mechanical arm 111 of each robot body 11 may be two kinds of tools for optical polishing, such as a balloon polishing tool or a numerical control polishing tool, wherein the two kinds of polishing tools are used for obtaining different processing techniques, the balloon polishing tool is used for efficient removal, and the numerical control polishing tool is used for smooth polishing.
As shown in fig. 1, a plurality of robot bodies 11 are disposed around a table 14, and a control cabinet 12 of each robot body 11 is disposed beside it. The control cabinet 12 of each robot body 11 is connected to the robot body 11 and the polishing tool disposed on the robot body 11, and the control cabinet 12 of each robot body 11 controls each joint of the robot body 11 to move the polishing tool at the end of the robot body on the surface of the optical element along a planned aspheric track, so as to process the optical element.
Furthermore, in the embodiment of the present application, the programming simulation testing system 20 is used for programming the CNC program for multi-machine co-machining and the virtual simulation test of the CNC program. The programming simulation test system 20 is connected with the plurality of control cabinets 12, so that the tested CNC program is transmitted to the plurality of control cabinets 12. In this way, each control cabinet 12 controls a corresponding robot body 11 to drive a polishing tool to polish a workpiece according to a planned path by executing a CNC program, and ensures that a safety interval is kept between devices, thereby realizing that multiple robots perform cooperative operation on a large-diameter aspheric optical element.
The large-diameter aspherical optical element may be placed and fixed on a table of the table 14 so that the plurality of robot bodies 11 process it. In this embodiment, the working table 14 is further provided with a set of polishing liquid supply system, the plurality of robot bodies 11 share the set of polishing liquid supply system, and the set of polishing liquid supply system can spray the polishing liquid onto the optical element through a pipeline to promote polishing of the optical element. When the polishing solution drops on the optical element, the polishing solution supply system recovers the polishing solution to the internal liquid storage barrel for temperature control, stirring and filtering, and then the polishing solution is sprayed on the optical element so as to recycle the polishing solution.
The multi-machine cooperative processing method will be described in detail below.
Referring to fig. 2, an embodiment of the present application provides a multi-machine cooperative processing method, which may be executed by a programming simulation test system, and by executing the multi-machine cooperative processing method, it may be achieved that multiple robots drive a polishing tool to polish a workpiece according to a planned path through a control instruction, and ensure that a safe interval is maintained between devices, so that the multiple robots perform cooperative operations on a large-caliber aspheric optical element.
Specifically, the method flow of the multi-machine cooperative processing method may include:
step S100: selecting a processing scheme, and determining time-sharing processing or partition processing;
step S200: if the machining is time-sharing machining, determining a polishing path of each robot body in the area to be machined according to the coverage relation between the machining area of each robot body and the area to be machined, wherein the polishing path of each robot body completely covers the area to be machined; meanwhile, delay time is set for each robot body control program, and safety intervals among all the devices are guaranteed.
Step S300: if the sub-area machining is carried out, the area to be machined comprises a plurality of sub-areas, each robot body is responsible for machining a corresponding sub-area, and a polishing path of each robot body in the corresponding sub-area is determined according to the coverage relation between the machining area of each robot body and the corresponding sub-area, wherein the polishing path of each robot body completely covers the area to be machined.
In this embodiment, as an exemplary way to determine the shape and size of the region to be processed on the optical element, the host computer may obtain the shape parameters of the region to be processed, for example, obtain the shape parameters of the region to be processed through user input. And the host can determine the shape and size of the area to be processed according to the shape parameters of the area to be processed.
Of course, the shape parameters of the region to be machined may also be stored in advance in the memory of the host computer. When the optical element needs to be processed, the host computer can directly read the shape parameters of the area to be processed in the memory so as to determine the shape size of the area to be processed.
For example, if the optical element is a large-caliber aspheric optical element and the entire upper surface of the optical element is to be optically polished as a region to be processed, the shape parameters of the region to be processed, which are obtained by the programmed simulation test system, may be 1000mm in diameter, 3000mm in vertex radius of curvature and-1 in cone coefficient.
After the shape and the size of the area to be machined are determined, the programming simulation test system can select time-sharing machining or partition machining.
Specifically, in this embodiment, the programming simulation test system stores in advance the working parameters of each robot body, for example, the working parameters may include: the size of the mechanical arm of the robot body, the rotation angle of the mechanical arm of the robot body and the swing amplitude of the mechanical arm of the robot body.
The programming simulation test system can determine the processing area of each robot body according to the working parameters of each robot body, wherein the processing area is the maximum area which can be processed by the robot body moving on the optical element according to the working parameters of the robot body.
If the processing area of each robot body can cover the area to be processed of the optical element, time-sharing processing can be selected, and a polishing path of each robot body in the area to be processed can be generated.
On the contrary, if the machining area of the robot body cannot cover the area to be machined of the optical element, the partition machining can be selected. The programming simulation test system can determine the processing area of each robot body in the area to be processed according to the coverage relation between the coverage area of each robot body in the plurality of robot bodies and the area to be processed, and the processing area of each robot body in the area to be processed is one sub-area of the area to be processed, so that the area to be processed is divided into a plurality of sub-areas. And finally, programming the simulation test system to generate the polishing path of each robot body in a corresponding sub-area.
In this embodiment, after the moving path of each robot body is determined, in order to avoid collision of each robot body in the process of moving along the moving path of each robot body, the programming simulation test system needs to determine at what time point each robot body starts to move, so that each robot body does not collide.
In this embodiment, to avoid collision in the machining process, the programming simulation test system needs to calculate in advance a distance between two contact positions of the two robot bodies on the optical element when the robot arms of the two robot bodies collide, where the distance is the minimum distance between the robot bodies.
For example, the programmed simulation test system may determine a minimum distance between the robot bodies according to the size and the swing amplitude of the mechanical arm corresponding to the type of each robot body, where the minimum distance is a distance between positions where the two robot bodies touch the optical element when the two robot bodies are connected.
For example, the dimensions of the arm of the robot body a include a length of the front end of the arm 300 and a length of the processing tool at the front end of the arm 300mm, and a swing width of the arm up to 30 °, it can be determined that when the arm of the robot body a is at the maximum swing width, a distance L1 between a projected position of the edge of the front end of the arm on the optical element and a contact position of the arm on the optical element is 300 mm.
And the dimensions of the arm of the robot body B include 200 a length of the front end of the arm, 400mm a length of the machining tool of the front end of the arm, and 30 ° at the maximum swing width of the arm, it can be determined that the distance L2 between the projected position of the edge of the front end of the arm on the optical element and the contact position of the arm on the optical element when the arm of the robot body B is at the maximum swing width is 300 mm.
Therefore, the minimum distance between the robot body a and the robot body B is the sum of the distance L1 and the distance L2, which is 600mm, in other words, when the distance between the contact position of the robot arm of the robot body a on the optical element and the contact position of the robot arm of the robot body B on the optical element exceeds 600mm, the robot body a and the robot body B do not collide with each other by programming a multi-machine cooperative machining program according to the physical parameters of the optical element to be machined and the machining tool to be used.
For example, based on the predetermined minimum distance, the simulation test system is programmed to program the multi-machine cooperative machining program according to the physical parameters of the optical element to be machined and the machining tool to be used. Then, the programmed simulation test system runs a multi-machine cooperative machining program to simulate each robot body to move along the polishing path of the robot body, and judges whether the distance between each machining machine and other robot bodies is larger than the minimum distance in the moving process.
And if not, sending the control program of each robot body to the control cabinet of the robot body.
If so, adjusting the delay time of the control program to recompose the control program of the robot body, simulating again until the polishing point intervals of the plurality of robot bodies are larger than the safe distance at any moment, and sending the final control program to the control cabinet of the robot body.
Some embodiments of the present application further provide a computer-readable storage medium of a computer-executable nonvolatile program code, where the storage medium can be a general-purpose storage medium, such as a removable disk, a hard disk, and the like, and the computer-readable storage medium has a program code stored thereon, and when the program code is executed by a computer, the computer-executable nonvolatile program code performs any one of the above-mentioned multi-computer cooperative processing methods.
The program code product of the multi-machine cooperative processing method provided in the embodiment of the present application includes a computer-readable storage medium storing the program code, and instructions included in the program code may be used to execute the method in the foregoing method embodiment, and specific implementation may refer to the method embodiment, and details are not described here.
In conclusion, the plurality of robots drive the polishing tool to polish the workpiece according to the planned path through the control instruction, the safety interval between the devices is ensured, and the plurality of robots perform cooperative operation on the large-diameter aspheric optical element. The invention has the characteristics of high automation degree, high efficiency, high adaptability, safety, stability and the like, greatly reduces the labor intensity of workers, and improves the processing efficiency of the large-caliber aspheric optical element.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units is only one logical division, and there may be other divisions when actually implemented, and for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of devices or units through some communication interfaces, and may be in an electrical, mechanical or other form.
In addition, units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
Furthermore, the functional modules in the embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
In this document, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions.
The above description is only an example of the present application and is not intended to limit the scope of the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims (10)

1. A multi-machine cooperative processing system for large-diameter aspheric optical elements is characterized by comprising a plurality of robot bodies and control cabinets thereof, 2 sets of polishing tools, 1 set of workbench, 1 set of polishing liquid supply system and 1 programming simulation test system.
2. The large-caliber aspheric optical element multi-machine cooperative processing system as claimed in claim 1, wherein the robot body is arranged around a workbench; the multiple robot bodies share 1 set of polishing solution supply system, the polishing solution supply system directly supplies the polishing solution to the optical element through a pipeline, and the polishing solution is recovered to a liquid storage barrel in the polishing solution supply system to be subjected to temperature control, stirring and filtering, and then is sprayed to the surface of the optical element, so that the polishing solution is recycled; the polishing tool comprises an air bag polishing tool and a numerical control polishing tool, the two polishing tools are used for obtaining different processing technologies, the air bag polishing tool is used for efficient removal, and the numerical control polishing tool is used for even polishing.
3. The large-caliber aspheric optical element multi-machine cooperative processing system according to claim 1, wherein the control cabinet is connected with the robot body and the polishing tool, and controls each joint of the robot body to move the polishing tool at the tail end of the robot body along a planned aspheric track on the surface of the optical element.
4. The large-caliber aspheric optical element multi-machine cooperative processing system according to claim 1, wherein the programming simulation test system is used for programming a multi-machine cooperative processing CNC program and a CNC program virtual simulation test, the programming simulation test system is connected with a plurality of control cabinets, the tested CNC program is transmitted to the plurality of control cabinets, the control cabinets execute the CNC program to enable the plurality of robots to drive the polishing tools to polish the workpiece according to the planned path, and ensure that a safety interval is maintained between the devices, so that the plurality of robots perform cooperative operation on a large-caliber aspheric optical element.
5. A multi-machine cooperative processing method is characterized by comprising the following steps: the polishing tool is driven by the multiple robots to polish the workpiece according to the planned path through the control instruction, the safety interval between equipment is ensured, and the multiple robots can cooperatively work on the large-caliber aspheric optical element.
6. The multi-machine co-processing method according to claim 5, wherein the method comprises:
selecting a processing scheme, and determining time-sharing processing or partition processing;
if the machining is time-sharing machining, determining a polishing path of each robot body in the area to be machined according to the covering relation between the machining area of each robot body and the area to be machined, wherein the polishing path of each robot body completely covers the area to be machined; meanwhile, delay time is set for each robot body control program to ensure that safe intervals are kept among all the devices;
if the sub-area machining is carried out, the area to be machined comprises a plurality of sub-areas, each robot body is responsible for machining a corresponding sub-area, and the polishing path of each robot body in a corresponding sub-area is determined according to the coverage relation between the machining area of each robot body and the corresponding sub-area, wherein the polishing path of each robot body completely covers the area to be machined.
7. The multi-machine co-processing method according to claim 5, wherein the method comprises:
compiling a multi-machine cooperative machining program according to physical parameters of the optical element to be machined and a machining tool to be used; when the processing program of the plurality of robot bodies is generated, the polishing point intervals of the plurality of robot bodies are ensured to be larger than the safe distance at any time.
8. The multi-machine co-processing method as claimed in claim 5, further comprising:
simulating each robot body to move along the polishing path of the robot body by using a programming simulation test system, and judging whether the distance between each processing machine and other robot bodies is greater than a minimum distance in the moving process, wherein the minimum distance is the distance between the positions of the two robot bodies which are touched on the optical element respectively when the two robot bodies are connected;
if so, a control program of the robot body is reprogrammed; and if not, sending the control program of each robot body to the robot body.
9. The multi-machine collaborative processing method according to claim 5, wherein before simulating each robot body to move along its polishing path, the method further comprises:
and determining the minimum distance according to the size and the swing amplitude of the mechanical arm corresponding to the types of the plurality of robot bodies in the selected processing scheme.
10. The multi-machine cooperative processing method according to claim 5, wherein the step of dividing the sub-regions at the time of the divisional processing further comprises:
and determining a processing area of each robot body in the area to be processed according to the coverage relation between the coverage area of each robot body in the plurality of robot bodies and the area to be processed, wherein all the determined processing areas completely cover the area to be processed.
CN202010336919.3A 2020-04-24 2020-04-24 Multi-machine cooperative processing system and method for large-caliber aspheric optical element Pending CN111496580A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202010336919.3A CN111496580A (en) 2020-04-24 2020-04-24 Multi-machine cooperative processing system and method for large-caliber aspheric optical element

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202010336919.3A CN111496580A (en) 2020-04-24 2020-04-24 Multi-machine cooperative processing system and method for large-caliber aspheric optical element

Publications (1)

Publication Number Publication Date
CN111496580A true CN111496580A (en) 2020-08-07

Family

ID=71876378

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202010336919.3A Pending CN111496580A (en) 2020-04-24 2020-04-24 Multi-machine cooperative processing system and method for large-caliber aspheric optical element

Country Status (1)

Country Link
CN (1) CN111496580A (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114346800A (en) * 2022-01-10 2022-04-15 合肥微睿光电科技有限公司 Surface grinding method, workpiece, deposition apparatus and grinding station
CN114871858A (en) * 2022-04-25 2022-08-09 中国工程物理研究院激光聚变研究中心 Robot full-aperture grinding and polishing system and method

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2001219354A (en) * 2000-02-04 2001-08-14 Kawasaki Heavy Ind Ltd Polishing system
CN105538095A (en) * 2015-12-01 2016-05-04 华中科技大学无锡研究院 Large wind power blade multi-robot collaboration grinding system and method
CN107263255A (en) * 2017-08-02 2017-10-20 无锡中车时代智能装备有限公司 Large-scale blade class workpiece robot collaboration polishing system and method
CN109396841A (en) * 2018-12-11 2019-03-01 沈阳远大智能高科机器人有限公司 Large complicated carved blade intelligence milling grinding and polishing multi robot processing system and its operational method
CN109849019A (en) * 2019-04-04 2019-06-07 北京卫星制造厂有限公司 A kind of multirobot processing method for turning round class formation part
CN208977503U (en) * 2018-09-21 2019-06-14 成都鑫晨光学电子仪器有限责任公司 A kind of polishing machine

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2001219354A (en) * 2000-02-04 2001-08-14 Kawasaki Heavy Ind Ltd Polishing system
CN105538095A (en) * 2015-12-01 2016-05-04 华中科技大学无锡研究院 Large wind power blade multi-robot collaboration grinding system and method
CN107263255A (en) * 2017-08-02 2017-10-20 无锡中车时代智能装备有限公司 Large-scale blade class workpiece robot collaboration polishing system and method
CN208977503U (en) * 2018-09-21 2019-06-14 成都鑫晨光学电子仪器有限责任公司 A kind of polishing machine
CN109396841A (en) * 2018-12-11 2019-03-01 沈阳远大智能高科机器人有限公司 Large complicated carved blade intelligence milling grinding and polishing multi robot processing system and its operational method
CN109849019A (en) * 2019-04-04 2019-06-07 北京卫星制造厂有限公司 A kind of multirobot processing method for turning round class formation part

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114346800A (en) * 2022-01-10 2022-04-15 合肥微睿光电科技有限公司 Surface grinding method, workpiece, deposition apparatus and grinding station
CN114871858A (en) * 2022-04-25 2022-08-09 中国工程物理研究院激光聚变研究中心 Robot full-aperture grinding and polishing system and method

Similar Documents

Publication Publication Date Title
US10525594B2 (en) Teaching system, robot system, and teaching method
CN110694828A (en) Robot spraying track planning method based on large complex curved surface model
CN111496580A (en) Multi-machine cooperative processing system and method for large-caliber aspheric optical element
CN202336657U (en) Robot sectional steel cutting system
CN103116316B (en) Numerical control machining control method adapted to type or dimensional change of cutting tool
CN109664296B (en) Optimized track searching method for robot abrasive belt grinding
US11554489B2 (en) Robotic motion planning
CN105302959A (en) Offline programming method for six-axis grinding and polishing industrial robot
Nagata et al. Development of CAM system based on industrial robotic servo controller without using robot language
CN106003066B (en) A kind of robot program's control system
CN102658429A (en) Three-dimensional digital laser deposition system and laser repair method thereof based on robot
Leali et al. An offline programming method for the robotic deburring of aerospace components
CN110682292A (en) Robot stacking track generation method based on RT Toolbox
CN113894805B (en) Cooperative welding method, device, terminal and storage medium
CN104750025B (en) A kind of automatic backing method in robot abrasive belt grinding system
Subrin et al. Digital chain development for sanding application with a kinematically redundant robotic system
CN108544508A (en) Robot automatic programming method based on autonomous learning and system
Nemer et al. Off-line nominal path generation of 6-DoF robotic manipulator for edge finishing and inspection processes
Popescu et al. Virtual to real in robotic assembly/disassembly tasks
Daneshjo et al. Methodological Aspects of Modelling and Simulation of Robotized Workstations
JP5903440B2 (en) System and method for extending the reach of robotic arms
Novak-Marcincin et al. Effective use of CA system for control of water-jet cutting technology
TWI494724B (en) Numerical control system of coordinate synchronization and numerical controlling method thereof
Chen et al. Design and Analysis of a Compliant Parallel Polishing Toolhead
CN110682194B (en) Polishing workstation and modular operation method thereof

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
RJ01 Rejection of invention patent application after publication
RJ01 Rejection of invention patent application after publication

Application publication date: 20200807