CN113386015B - Multi-axis motion and series manipulator compound drive four-mirror polishing machine tool - Google Patents
Multi-axis motion and series manipulator compound drive four-mirror polishing machine tool Download PDFInfo
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- CN113386015B CN113386015B CN202110690352.4A CN202110690352A CN113386015B CN 113386015 B CN113386015 B CN 113386015B CN 202110690352 A CN202110690352 A CN 202110690352A CN 113386015 B CN113386015 B CN 113386015B
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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
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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
- B24B13/005—Blocking means, chucks or the like; Alignment devices
- B24B13/0052—Lens block moulding devices
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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
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
- B24B41/007—Weight compensation; Temperature compensation; Vibration damping
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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
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
- B24B41/02—Frames; Beds; Carriages
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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
- B24B47/00—Drives or gearings; Equipment therefor
- B24B47/10—Drives or gearings; Equipment therefor for rotating or reciprocating working-spindles carrying grinding wheels or workpieces
- B24B47/12—Drives or gearings; Equipment therefor for rotating or reciprocating working-spindles carrying grinding wheels or workpieces by mechanical gearing or electric power
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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
- B24B51/00—Arrangements for automatic control of a series of individual steps in grinding a workpiece
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- 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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Constituent Portions Of Griding Lathes, Driving, Sensing And Control (AREA)
Abstract
The invention discloses a multi-axis motion and series manipulator compound drive four-mirror polishing machine tool, which comprises an X-direction linear module, a Y-direction linear module, a Z-direction linear module, a B-direction rotating platform assembly, a C-direction rotating platform assembly, a machine tool body assembly, a cylinder counterweight device and a movable working platform, wherein the X-direction linear module is connected with the X-direction linear module; the X-direction linear module is fixed on a bottom plate of the lathe bed assembly, and the Z-direction linear module is fixed on the X-direction linear module; the C-direction rotating platform assembly is fixed on the Z-direction linear module; the Y-direction linear module is fixed on an upright post of the lathe bed component, the movable working platform is fixed on the Y-direction linear module, and the B-direction rotary platform component is fixed on the movable working platform; the workpiece clamp device is fixed on the B-direction rotating platform component; one end of the series mechanical arm tool is fixed on the C-direction rotating platform assembly, and the other end of the series mechanical arm tool is provided with a polishing tool head which is matched with the workpiece fixture device to polish and process the optical curved surface of the workpiece.
Description
Technical Field
The invention belongs to the field of machine manufacturing, and particularly relates to a multi-axis motion and series manipulator compound drive four-mirror polishing machine tool.
Background
In the modern society, with the continuous improvement of processing technology, more and more complex curved surface elements are widely applied to the fields of aerospace, national defense, biomedicine and the like. In terms of optical applications, the optical complex curved surface element has great advantages compared with the traditional optical element. Among many aerospace-related problems, high-precision complex curved surface elements are playing an increasingly important role. The manufacturing level of modern optical parts is a key factor influencing the core competitiveness of China.
Along with the continuous development of the industrial level in China, higher requirements are put forward on the machining quality of parts, and therefore the concept of ultra-smooth surface is generated. Some high-precision optical elements have very high precision requirements, the roughness requirement even reaches below 5nm, and the surface precision requirement is gradually increased to a few tenths of wavelength. Therefore, with the continuous improvement of the precision requirement of the parts, the great development of the super-precision machining technology is necessary. The polishing technology for complex curved surfaces becomes the most important technology in the field of superfinishing.
The polishing process mainly has the functions of removing damage of the processed surface, finishing the surface and correcting the surface type. However, due to the complexity of optical surfaces, manual polishing remains the dominant polishing method, but this is accompanied by problems of long cycle time and increased uncertainty of surface quality. While many different types of polishing have been developed with the development of technology, none have achieved universal applicability to optically complex surfaces.
Research related to ultra-precision machining technology has been directed to many fields, not just machining methods and manufacturability issues. Modern industrial development is bound to move towards intelligent manufacturing, which is not separated from advanced industrial robots and precision machining equipment.
Disclosure of Invention
In order to solve the problems of poor machining flexibility, uncertain surface quality, poor adaptability to optical complex curved surfaces and the like in the existing polishing machining, the invention provides the four-mirror polishing machine tool driven by the combination of multi-axis motion and serial manipulator, which has stable structure, combines the manipulator and the motion machine tool, increases the working space of polishing machining by reasonably distributing the multi-axis motion of the machine tool and the motion of the serial manipulator, has high flexibility, can be suitable for polishing machining in more occasions, and has good application value.
The purpose of the invention is realized by the following technical scheme:
a multi-axis motion and serial manipulator compound drive four-mirror polishing machine tool comprises a five-axis motion machine tool, a serial manipulator tool and a workpiece clamp device, wherein the five-axis motion machine tool comprises an X-direction linear module, a Y-direction linear module, a Z-direction linear module, a B-direction rotating platform assembly, a C-direction rotating platform assembly, a machine tool body assembly, an air cylinder counterweight device and a movable working platform; the X-direction linear module is fixed on a bottom plate of the lathe bed assembly, and the Z-direction linear module is fixed on the X-direction linear module and driven by the X-direction linear module to reciprocate along the X direction; the C-direction rotating platform assembly is fixed on the Z-direction linear module and driven by the Z-direction linear module to reciprocate along the Z direction; the Y-direction linear module is fixed on the stand column of the lathe bed component, the movable working platform is fixed on the Y-direction linear module and driven by the Y-direction linear module to reciprocate along the Y direction, and the B-direction rotary platform component is fixed on the movable working platform; the workpiece clamp device is fixed on the B-direction rotating platform component; one end of the serial mechanical arm tool is fixed on the C-direction rotating platform assembly, the other end of the serial mechanical arm tool is provided with a polishing tool head, and the serial mechanical arm tool is matched with the workpiece clamp device to polish the optical curved surface of the workpiece.
Furthermore, the X-direction linear module, the Y-direction linear module and the Z-direction linear module respectively comprise a linear motor, a grating ruler, an air floatation guide rail moving platform, an air floatation guide rail base, a limit switch and a reading head; the linear motor is fixed on the air-floating guide rail base, the grating ruler is fixed on the inner side of the air-floating guide rail base, the air-floating guide rail moving platform is connected on a sliding rail of the air-floating guide rail base in a sliding mode, the limit switch is fixed on the grating ruler, and the reading head is fixed on the air-floating guide rail moving platform; an air floatation guide rail base of the Y-direction linear module is fixed on a stand column of the lathe bed assembly; an air floatation guide rail base of the X-direction linear module is fixed on a bottom plate of the lathe bed assembly; and the air floatation guide rail base of the Z-direction linear module is fixed on the air floatation guide rail moving platform of the X-direction linear module.
Furthermore, the B-direction rotating platform assembly comprises a rotating platform support, a rotary table and a connecting disc; the rotary platform support is fixed on the movable working platform, the rotary platform is connected with the rotary platform support, the connecting disc is fixed on the rotary platform, and the connecting disc is connected with the workpiece clamp device.
Furthermore, the C-direction rotating platform assembly comprises a supporting seat, a rotating platform, a rotating disk, a planetary reducer, a reducer bracket and a supporting disk; the supporting seat is fixed on the Z-direction linear module, the rotary table is installed inside the supporting seat, the supporting disk is fixed on the supporting seat, the speed reducer support is positioned on the surface of the supporting disk, the planetary speed reducer is connected with the speed reducer support, the rotary table is connected with the input end of the planetary speed reducer through a connecting shaft, the rotary disk is installed on an output disk of the planetary speed reducer, and the series mechanical arm tool is fixed on the rotary disk.
Further, the serial mechanical arm tool comprises a base, a first joint, a second joint, a third joint, a first arm, a second arm and a polishing tool head, wherein the base is fixed on the C-direction rotating platform assembly, the first joint is fixedly connected to the base, the rotating output end of the first joint is fixedly connected with one end of the first arm, the other end of the first arm is fixedly connected with a joint outer shell, the rotating output end of the second joint is fixedly connected with one end of the second arm, the other end of the second arm is fixedly connected with a joint outer shell, and the rotating output end of the third joint is fixedly connected with the polishing tool head.
Furthermore, the first joint, the second joint and the third joint respectively comprise a joint motor shell, a rotary encoder, a KBM frameless motor rotor, a KBM frameless motor stator, a planetary reducer and a joint shaft system; the rotary encoder is rotationally connected to a joint motor shell, a KBM frameless motor stator is fixed inside the joint motor shell, and a joint shaft system and a KBM frameless motor rotor are arranged in an interference manner; the planetary reducer of the first joint is fixed on the base shell, the joint motor shell of the first joint is in clearance fit with the cylindrical hole in the base, and the output disc of the planetary reducer is fixedly connected with the first arm; a joint motor shell of the second joint is in clearance fit with the cylindrical hole of the first arm and is fixedly connected with the side wall of the first arm, and an output disc of a planetary reducer of the second joint is fixedly connected with the second arm; and a joint motor shell of the third joint is in clearance fit with the cylindrical hole of the second arm and is fixedly connected with the side wall of the second arm, and an output disc of a planetary reducer of the third joint is fixedly connected with the polishing tool head.
Further, the polishing tool head comprises a polishing head shell, a polishing head, a coupler and a servo motor; the servo motor is fixed in the polishing head shell, the polishing head is connected with an output shaft of the servo motor through a coupler, and the polishing head shell is fixedly connected with the rotating output end of the third joint.
The beneficial effects of the invention are:
1. the five-axis motion machine tool is combined with the serial mechanical arm, so that the working space is enlarged, the flexibility and the efficiency are improved, and the problems of poor processing flexibility, uncertain surface quality, poor adaptability to an optical complex curved surface and the like are solved.
2. The cylinder counterweight device is adopted to offset the load caused by part of gravity, and meanwhile, the stability of workpiece movement can be ensured in the machining process, and the stability of the surface quality of the machined workpiece is ensured.
3. The driving power form of the series mechanical arm tool is that a frameless motor performs speed reduction and torque increase driving through a planetary reducer, and the series mechanical arm has a plurality of joint structures, so that the flexibility of movement and the enough working range can be ensured. And the motion precision is high, and the response speed is high.
4. The linear module formed by the air-float guide rail, the linear motor and the grating ruler realizes high-precision closed-loop feedback, and enables the workpiece and the serial mechanical arm tool to have higher position precision, thereby ensuring the processing quality.
5. The invention can realize the polishing processing of the complex optical curved surface and improve the precision and the working efficiency. The planetary reducer is used as a speed reducing device, so that high precision can be kept. The five-axis motion machine tool adopts an X/Y/Z-direction linear module to realize high-precision translation, adopts a grating ruler to realize closed-loop feedback, and adopts a B/C-direction high-precision rotary table to realize high-precision rotation. The workpiece is fixed on the rotary table through the fixture device, the polishing tool head at the tail end of the serial mechanical arm provides polishing power, and adaptability to complex optical curved surfaces is achieved through different types of polishing tools. The invention has the advantages of stable structure, large working space, high flexibility, good adaptability to optical curved surfaces and higher application value and prospect.
Drawings
FIG. 1 is a schematic structural diagram of a multi-axis motion and tandem manipulator compound drive four-mirror polishing machine tool according to the present invention;
FIG. 2 is a schematic structural diagram of a five-axis motion machine tool according to the present invention;
FIG. 3(a) is a half sectional view and a partial sectional view of a Y-direction linear module according to the present invention;
FIG. 3(b) is a half sectional view and a partial sectional view of the Z-direction linear module according to the present invention;
FIG. 3(c) is a half sectional view and a partial sectional view of the X-direction linear module according to the present invention;
FIG. 4 is a partial cross-sectional view of the B-direction rotating platform assembly of the present invention;
FIG. 5 is a full cross-sectional view of the C-direction rotating platform assembly of the present invention;
FIG. 6 is a schematic view of a tandem robot tool configuration according to the present invention;
FIG. 7 is a cross-sectional view of the joint of the present invention;
FIG. 8 is a cross-sectional view of a second joint of the present invention;
FIG. 9 is a three-section view of a joint according to the present invention;
FIG. 10 is a partial view and a partial cross-sectional view of the polishing tool head of the present invention;
FIG. 11 is a block diagram of a serial robot control system;
FIG. 12 is a five axis motion machine control block diagram;
in the figure:
1-five-axis motion machine tool; 2-a serial mechanical arm tool; 3-a workpiece holder;
a 110-X direction linear module; a 111-Y directional linear module; 112-Z direction linear module; a 120-B directional rotating platform assembly; a 121-C directional rotating platform assembly; 130-a machine tool assembly; 140-marble floor; 150-cylinder counterweight means; 160-a mobile table;
1101-Y direction linear motor; a 1102-Y direction grating ruler; moving the platform in a 1103-Y direction air floatation guide rail; an 1104-Y direction air-floating guide rail base; 1105-Y direction limit switch; 1106-Y direction reading head; 1107-Z linear motor; 1108-Z direction grating ruler; 1109-Z direction air-float guide rail moving platform; 1110-Z direction air-floating guide rail base; a 1111-Z direction limit switch; 1112-Z reader head; a 1113-X linear motor; 1114-X direction grating ruler; 1115-X to the air-float guide rail moving platform; 1116-X direction air-floating guide rail base; a 1117-X direction limit switch; 1118-X direction reading head;
1201-rotating platform support; 1202-ABRT400 High-Accuracy turntable; 1203-thrust roller bearing; 1204-seal ring one; 1205-bearing cap one; 1206-a connection disc; 1207-support seat; 1208-ABRS turntable; 1209-thrust cylindrical bearing; 1210-sealing ring II; 1211-bearing cap two; 1212-diamond pin one; 1213-rotating disk; 1214-RV-E planetary reducer; 1215-deep groove ball bearing I; 1216-a connecting shaft; 1217-reducer carrier; 1218-cylindrical pin one; 1219-support disk; 1220-first inner hexagonal flower type cylindrical head screw;
210-a base; 220-joint one; 230-arm one; 240-joint two; 250-joint three; 260-arm two; 270-a polishing tool head;
2201-joint-motor housing; 2202-rotary encoder one; 2203-rotary encoder bracket one; 2204-coupler one; 2205-bearing cap three; 2206-deep groove ball bearing II; 2207-oil slinger I; 2208-shaft sleeve I; 2209-KBM frameless motor mover one; 2210-KBM frameless motor stator I; 2211-stator clamping sleeve I; 2212-RV-N planetary reducer I; 2213-joint axis; 2214-sealing ring three;
2401-a joint two motor housing; 2402-rotary encoder two; 2403-a rotary encoder bracket two; 2404-coupler two; 2405-bearing cap four; 2406-deep groove ball bearing III; 2407-oil slinger II; 2408-shaft sleeve II; 2409-KBM frameless motor mover II; 2410-KBM frameless motor stator II; 2411, arranging a stator reinforcing sleeve II; 2412-RV-N planetary reducer II; 2413-joint two-axis system; 2414-articulating second shell; 2415-sealing ring IV;
2601-joint three-motor housing; 2602-rotary encoder three; 2603-rotary encoder bracket three; 2604-coupler three; 2605-bearing cover five; 2606-a deep groove ball bearing IV; 2607-oil scraper ring III; 2608-shaft sleeve III; 2609-KBM frameless motor mover III; 2610-KBM frameless motor stator III; 2611-stator clamping sleeve III; 2612-RV-N planetary reducer III; 2613-joint triaxial system; 2614-articular tri-shell; 2615-seal ring five;
2701-polishing head housing; 2702-polishing head; 2703-bearing cap six; 2704-sealing ring six; 2705-deep groove ball bearing five; 2706-bond one; 2707-bond two; 2708-plum blossom shaped coupling; 2709-AKM servomotor.
Detailed Description
The technical scheme of the invention is further described by combining the drawings and the embodiment as follows:
a multi-axis motion and serial manipulator compound drive four-mirror polishing machine tool comprises a five-axis motion machine tool 1, a serial manipulator tool 2 and a workpiece fixture device 3, wherein the five-axis motion machine tool comprises an X-direction linear module 110, a Y-direction linear module 111, a Z-direction linear module 112, a B-direction rotating platform assembly 120, a C-direction rotating platform assembly 121, a machine tool body assembly 130, a cylinder counterweight device 150 and a movable working platform 160; the X-direction linear module 110 is fixed on a bottom plate of the lathe bed assembly 130, and the Z-direction linear module 112 is fixed on the X-direction linear module and driven by the X-direction linear module to reciprocate along the X direction; the C-direction rotating platform assembly 120 is fixed on the Z-direction linear module 112 and driven by the Z-direction linear module 112 to reciprocate along the Z-direction; the Y-direction linear module 111 is fixed on the upright post of the lathe bed assembly 130, the movable working platform 160 is fixed on the Y-direction linear module and driven by the Y-direction linear module to reciprocate along the Y direction, and the B-direction rotary platform assembly 121 is fixed on the movable working platform 160; the workpiece clamp device 3 is fixed on the B-direction rotating platform component 120; one end of the serial mechanical arm tool 2 is fixed on the C-direction rotating platform assembly 121, the other end of the serial mechanical arm tool 2 is provided with a polishing tool head 270, and the serial mechanical arm tool 2 is matched with the workpiece fixture device 3 to polish the optical curved surface of the workpiece.
Further, the X-direction linear module 110, the Y-direction linear module 111, and the Z-direction linear module 112 each include a linear motor, a grating ruler, an air-floating guide rail moving platform, an air-floating guide rail base, a limit switch, and a reading head; the linear motor is fixed on the air-floating guide rail base, the grating ruler is fixed on the inner side of the air-floating guide rail base, the air-floating guide rail moving platform is connected on a sliding rail of the air-floating guide rail base in a sliding mode, the limit switch is fixed on the grating ruler, and the reading head is fixed on the air-floating guide rail moving platform; an air floatation guide rail base of the Y-direction linear module 111 is fixed on a stand column of the lathe bed assembly; an air floatation guide rail base of the X-direction linear module 110 is fixed on a bottom plate of the lathe bed assembly; the air rail base of the Z-direction linear module 112 is fixed on the air rail moving platform of the X-direction linear module 110.
Further, the B-direction rotating platform assembly 120 includes a rotating platform support, a turntable, and a connecting disc; the rotary platform support is fixed on the movable working platform 160, the rotary platform is connected with the rotary platform support, the connecting disc is fixed on the rotary platform, and the connecting disc is connected with the workpiece clamp device 3.
Further, the C-direction rotating platform assembly 121 includes a supporting base, a turntable, a rotating disk, a planetary reducer, a reducer holder, and a supporting disk; the supporting seat is fixed on the Z-direction linear module 112, the rotary table is installed inside the supporting seat, the supporting disk is fixed on the supporting seat, the speed reducer support is positioned on the surface of the supporting disk, the planetary speed reducer is connected with the speed reducer support, the rotary table is connected with the input end of the planetary speed reducer through a connecting shaft, the rotary disk is installed on an output disk of the planetary speed reducer, and the series mechanical arm tool 2 is fixed on the rotary disk.
Further, the serial robot arm tool 2 includes a base 210, a first joint 220, a second joint 240, a third joint 260, a first arm 230, a second arm 250, and a polishing tool head 270, the base 210 is fixed on the C-direction rotating platform assembly 121, the first joint 220 is fixedly connected to the base 210 through screws, a rotation output end of the first joint 220 is fixedly connected to one end of the first arm 230, the other end of the first arm 230 is fixedly connected to a housing of the second joint 240, a rotation output end of the second joint 240 is fixedly connected to one end of the second arm 250, the other end of the second arm 250 is fixedly connected to a housing of the third joint 260, and a rotation output end of the third joint 260 is fixedly connected to the polishing tool head 270.
Furthermore, the first joint 220, the second joint 240 and the third joint 260 all comprise a joint motor shell, a rotary encoder, a KBM frameless motor rotor, a KBM frameless motor stator, a planetary reducer and a joint shaft system; the rotary encoder is rotationally connected to a joint motor shell, a KBM frameless motor stator is fixed inside the joint motor shell, and a joint shaft system and a KBM frameless motor rotor are arranged in an interference manner; the planetary reducer of the first joint 220 is fixed on the shell of the base 210, the shell of the joint motor of the first joint 220 is in clearance fit with the cylindrical hole in the base 210, and the output disc of the planetary reducer is fixedly connected with the first arm 230; a joint motor shell of the second joint is in clearance fit with the cylindrical hole of the first arm 230 and is fixedly connected with the side wall of the first arm 230, and an output disc of a planetary reducer of the second joint is fixedly connected with the second arm 250; and a shell of a joint motor of the third joint is in clearance fit with the cylindrical hole of the second arm and is fixedly connected with the side wall of the second arm 250, and an output disc of a planetary reducer of the third joint is fixedly connected with the polishing tool head 270.
Further, the polishing tool head 270 includes a polishing head housing, a polishing head, a coupler, and a servo motor; the servo motor is fixed in a polishing head shell, the polishing head is connected with an output shaft of the servo motor through a coupler, and the polishing head shell is fixedly connected with a rotation output end of the joint III 260.
Example 1
Referring to fig. 1, a multi-axis motion and serial manipulator compound drive four-mirror polishing machine comprises a five-axis motion machine 1, a serial manipulator tool 2 and a workpiece clamping device 3, wherein the five-axis motion machine 1 comprises five degrees of freedom, namely three translational degrees of freedom and two rotational degrees of freedom, and is horizontally arranged.
The workpiece clamp device 3 is fixedly arranged on a B-direction rotating platform component 120 of the moving machine tool through screws or bolts; one end of the serial mechanical arm tool 2 is fixedly mounted on the C-direction rotating platform assembly 121 of the moving machine tool through a screw or a bolt, the other end of the serial mechanical arm tool 2 is provided with a polishing tool head 270, and the serial mechanical arm tool 2 is matched with the workpiece fixture device 3 to polish the optical curved surface of the workpiece.
As shown in fig. 2, the five-axis motion machine tool includes an X-direction linear module 110, a Y-direction linear module 111, a Z-direction linear module 112, a B-direction rotary table assembly 120, a C-direction rotary table assembly 121, a bed assembly 130, a marble bottom plate 140, a cylinder counterweight device 150, and a moving work platform 160. The X-direction linear module 110 is fixedly mounted on a bottom plate of the bed component 130, the Z-direction linear module 112 is fixedly mounted on an X-direction air-floating guide rail moving platform 1115 of the X-direction linear module, the Y-direction linear module 111 is fixedly mounted on a column of the bed component 130, the C-direction rotary platform component 120 is fixedly mounted on a Z-direction air-floating guide rail moving platform 1109 of the Z-direction linear module 112, the B-direction rotary platform component 121 is fixedly mounted on a moving working platform 160, the bed component 130 is fixedly mounted on the marble base 140, and the moving working platform 160 is fixedly mounted on a Y-direction air-floating guide rail moving platform 1103 of the Y-direction linear module.
The lathe bed assembly 130 comprises a bottom plate and a pair of upright columns, wherein the pair of upright columns are fixed on the bottom plate, and the lathe bed bottom plate is fixed on the marble bottom plate 140.
As shown in fig. 3(a), the Y-direction linear module 111 includes a Y-direction linear motor 1101, a Y-direction linear scale 1102, a Y-direction air rail moving platform 1103, a Y-direction air rail base 1104, a Y-direction limit switch 1105, and a Y-direction reading head 1106, where the Y-direction linear motor 1101 is fixedly installed on the Y-direction air rail base 1104, the Y-direction linear scale 1102 is fixedly installed inside the Y-direction air rail base 1104, the Y-direction air rail moving platform 1103 is slidably connected to a slide rail of the Y-direction air rail base 1104, the Y-direction limit switch 1105 is fixedly installed on the Y-direction linear scale 1102, and the Y-direction reading head 1106 is fixedly installed on the Y-direction air rail moving platform 1103. The Y-direction air-bearing guide rail base 1104 is fixedly connected with the upright post in the bed assembly 130 through a screw.
As shown in fig. 3(b), the Z-directional linear module 112 includes a Z-directional linear motor 1107, a Z-directional linear scale 1108, a Z-directional air-floating rail moving platform 1109, a Z-directional air-floating rail base 1110, a Z-directional limit switch 1111, and a Z-directional reading head 1112, wherein the Z-directional linear motor 1107 is fixedly installed on the Z-directional air-floating rail base 1110, the Z-directional linear motor 1108 is fixedly installed on the inner side of the Z-directional air-floating rail base 1110, the Z-directional air-floating rail moving platform 1109 is slidably fitted on a sliding rail of the Z-directional air-floating rail base 1110, the Z-directional limit switch 1111 is fixedly installed on the Z-directional linear scale 1108, and the Z-directional reading head 1112 is fixedly installed on the Z-directional air-floating rail moving platform 1109. The Z-direction air-floating guide rail base 1110 is fixed on the X-direction air-floating guide rail moving platform 1115 in the X-direction linear module 110 through screw connection.
As shown in fig. 3(c), the X-direction linear module 110 includes an X-direction linear motor 1113, an X-direction grating ruler 1114, an X-direction air-floating rail moving platform 1115, an X-direction air-floating rail base 1116, an X-direction limit switch 1117, and an X-direction reading head 1118, where the X-direction linear motor 1113 is fixedly mounted on the X-direction air-floating rail base 1116, the X-direction grating ruler 1114 is fixedly mounted inside the X-direction air-floating rail base 1116, the X-direction air-floating rail moving platform 1115 is slidably engaged with a slide rail of the X-direction air-floating rail base 1116, the X-direction limit switch 1117 is fixedly mounted on the X-direction grating ruler 1114, and the X-direction reading head 1118 is fixedly mounted on the X-direction air-floating rail moving platform 1115. The X-direction air-floating rail mount 1116 is fixed to a bed bottom plate in the bed assembly 130 by screws.
As shown in fig. 4, the B-direction rotating platform assembly 120 includes a rotating platform support 1201, an ABRT400 High-Accuracy turntable 1202, a thrust roller bearing 1203, a seal ring 1204, a bearing cap 1205, and a connecting disc 1206, the rotating platform support 1201 is fixedly mounted on the mobile working platform 160, the ABRT400 High-Accuracy turntable 1202 is mounted on the rotating platform support 1201, the thrust roller bearing 1203 is fittingly mounted between the ABRT400 High-Accuracy turntable 1202 and the rotating platform support 1201, the bearing cap 1205 is fixedly mounted on the rotating platform support 1201, and the connecting disc 1206 is fixedly mounted on the surface of the ABRT400 High-Accuracy turntable 1202.
As shown in fig. 5, the C-direction rotating platform assembly 121 includes a supporting seat 1207, an ABRS turntable 1208, a thrust cylindrical bearing 1209, a sealing ring two 1210, a bearing cap two 1211, a diamond pin one 1212, a rotating disk 1213, an RV-E planetary reducer 1214, a deep groove ball bearing one 1215, a connecting shaft 1216, a reducer bracket 1217, a cylindrical pin one 1218, a supporting disk 1219, a hexagon socket head screw one 1220, the supporting seat 1207 is fixedly mounted on the Z-direction air rail moving platform 1109, the ABRS turntable 1208 is fixedly mounted inside the supporting seat 1216 by the hexagon socket head screw one 1220, the connecting shaft 1216 is fixedly mounted on the ABRS turntable 1208, the supporting disk 1219 is fixedly mounted on the supporting seat 1207, the reducer bracket 1217 is positioned on the surface of the supporting disk 1219 by the cylindrical pin one 1218 and the diamond pin one 1212, the thrust cylindrical bearing 1209 is mounted and positioned in cooperation with the reducer bracket 1217, the bearing cover 1211 is fixed on the support disc 1219, the RV-E planetary reducer 1214 is fixedly installed on the reducer bracket 1217, and the rotating disc 1213 is fixedly installed on the output disc of the RV-E planetary reducer 1214.
As shown in fig. 6, the serial robot arm tool 2 includes a base 210, a first joint 220, a second joint 240, a third joint 260, a first arm 230, a second arm 250, and a polishing tool head 270, wherein the base 210 is fixedly mounted on the rotating disk 1213 of the C-direction rotating platform assembly through screws, the first joint 220 is fixedly connected to the base 210 through screws, a rotation output end of the first joint 220 is fixedly connected to one end of the first arm 230, the other end of the first arm 230 is fixedly connected to a housing of the second joint 240, a rotation output end of the second joint 240 is fixedly connected to one end of the second arm 250, the other end of the second arm 250 is fixedly connected to a housing of the third joint 260, and a rotation output end of the third joint 260 is fixedly connected to the polishing tool head 270.
The first joint 220 comprises a first joint motor housing 2201, a first rotary encoder 2202, a first rotary encoder support 2203, a first coupler 2204, a third bearing cover 2205, a second deep groove ball bearing 2206, a first oil retainer 2207, a first shaft sleeve 2208, a first KBM frameless motor mover 2209, a first KBM frameless motor stator 2210, a first stator clamping sleeve 2211, a first RV-N planetary reducer 2212, a first joint shaft system 2213 and a third sealing ring 2214, wherein the first rotary encoder 2202 is fixedly arranged on the first rotary encoder support 2203, the rotary encoder support 2203 is fixedly arranged on the third bearing cover 2205, the third bearing cover 2205 is fixedly arranged on the first joint motor housing 2201, the first KBM frameless motor stator 2209 is fixedly arranged in the first joint motor housing 2201 through the first stator clamping sleeve 2211, and the first joint shaft system 2213 and the first KBM frameless motor mover 2209 are arranged in an interference mode. The RV-N planetary reducer I2212 is fixedly connected to the shell of the base 210 through screws, the joint-motor shell 2201 is in clearance fit with a cylindrical hole in the base 210, and an output disc of the RV-N planetary reducer I2212 and the arm I230 are fixedly installed through screws.
The second joint comprises a second joint motor shell 2401, a second rotary encoder 2402, a second rotary encoder bracket 2403, a second coupler 2404, a fourth bearing cover 2405, a third deep groove ball bearing 2406, a second oil retainer 2407, a second shaft sleeve 2408, a second KBM frameless motor mover 2409, a second KBM frameless motor stator 2410, a second stator reinforcing sleeve 2411, a second RV-N planetary reducer 2412, a second joint shaft system 2413, a second joint shell 2414 and a fourth sealing ring 2415, wherein the second rotary encoder 2402 is fixedly arranged on the second rotary encoder bracket 2403, the rotary encoder bracket 2403 is fixedly arranged on the fourth bearing cover 2405, the bearing cover IV 2405 is fixedly arranged on the joint II motor shell 2401, the KBM frameless motor stator II 2409 is fixedly arranged in the joint II motor shell 2401 through the stator reinforcing sleeve II 2411, the joint two-axis system 2413 and the KBM frameless motor rotor two 2412 are installed in an interference mode. The joint two motor shell 2401 is in clearance fit with a cylindrical hole in the arm one 230 and is fixedly connected with the side wall of the arm one 230 through a screw; and an output disc of the RV-N planetary reducer II 2412 and the arm II 250 are fixedly installed through screws.
The joint III 260 comprises a joint III motor shell 2601, a rotary encoder III 2602, a rotary encoder support III 2603, a coupler III 2604, a bearing cover V2605, a deep groove ball bearing IV 2606, an oil retainer ring III 2607, a shaft sleeve III 2608, a KBM frameless motor rotor III 2609, a KBM frameless motor stator III 2610, a stator clamping sleeve III 2611, an RV-N planetary reducer III 2612, a joint III shafting 2613, a joint III shell 2614 and a sealing ring V2615, wherein the rotary encoder bracket 2602 is fixedly mounted on the rotary encoder bracket 2603, the rotary encoder bracket 2603 is fixedly mounted on the bearing cap five 2605, the bearing cover five 2605 is fixedly installed on the joint three-motor housing 2601, the KBM frameless motor stator three 2609 is fixedly installed inside the joint three-motor housing 2601 through the stator reinforcing sleeve three 2611, the joint three-axis system 2613 and the KBM frameless motor rotor three 2609 are installed in an interference mode. The joint three-motor housing 2601 is in clearance fit with a cylindrical hole in the second arm 250 and is fixedly connected with the side wall of the second arm 250 through screws, and the output disc of the RV-N planetary reducer three 2612 is fixedly connected with the polishing head housing 2071 of the polishing tool head 270 through screws.
The polishing tool head 270 includes a polishing head housing 2701, a polishing head 2702, a bearing cover six 2703, a sealing ring six 2704, a deep groove ball bearing five 2705, a key one 2706, a key two 2707, a wobbler type coupler 2708, and an AKM servo motor 2709, wherein the AKM servo motor 2709 is fixedly installed on the polishing head housing 2701, the polishing head 2702 is connected with the wobbler type coupler 2708 through the key one 2706, the bearing cover six 2703 is fixedly installed on the polishing head housing 2701, the AKM servo motor 2709 is fixedly installed on the polishing head housing 2701, and the wobbler type coupler 2708 is connected with an output shaft of the AKM servo motor 2709 through the key two 2707. And the polishing head casing 2071 is fixedly connected with an output disc of the RV-N planetary reducer three 2612 of the joint three 260 through screws.
The working principle of the invention is briefly described as follows:
as shown in fig. 11 and 12, the serial mechanical arm tool and the five-axis motion machine tool realize multi-axis control through the motion controller, the PC is connected with the motion controller, the motion controller controls the motion of the motor through the servo driver, and part of the drivers can receive feedback signals, so that closed-loop control is realized at the positions of the drivers and the positions of the controllers, and the motion accuracy is improved.
The series mechanical arm tool moves to a station through a five-axis motion machine tool, the polishing tool head is placed at a designated position by the series mechanical arm tool, the clamp device rotates to the designated position, the polishing tool is ensured to be stably contacted with the optical curved surface, and polishing processing is started.
Claims (3)
1. A multi-axis motion and series manipulator compound drive four-mirror polishing machine tool is characterized by comprising a five-axis motion machine tool, a series mechanical arm tool and a workpiece clamp device, wherein the five-axis motion machine tool comprises an X-direction linear module, a Y-direction linear module, a Z-direction linear module, a B-direction rotating platform assembly, a C-direction rotating platform assembly, a machine tool body assembly, an air cylinder counterweight device and a movable working platform; the X-direction linear module is fixed on a bottom plate of the lathe bed assembly, and the Z-direction linear module is fixed on the X-direction linear module and driven by the X-direction linear module to reciprocate along the X direction; the C-direction rotating platform assembly is fixed on the Z-direction linear module and driven by the Z-direction linear module to reciprocate along the Z direction; the Y-direction linear module is fixed on the stand column of the lathe bed component, the movable working platform is fixed on the Y-direction linear module and driven by the Y-direction linear module to reciprocate along the Y direction, and the B-direction rotary platform component is fixed on the movable working platform; the workpiece clamp device is fixed on the B-direction rotating platform component; one end of the serial mechanical arm tool is fixed on the C-direction rotating platform assembly, the other end of the serial mechanical arm tool is provided with a polishing tool head, and the serial mechanical arm tool is matched with the workpiece clamp device to polish the optical curved surface of the workpiece;
the X-direction linear module, the Y-direction linear module and the Z-direction linear module respectively comprise a linear motor, a grating ruler, an air floatation guide rail moving platform, an air floatation guide rail base, a limit switch and a reading head; the linear motor is fixed on the air-floatation guide rail base, the grating ruler is fixed on the inner side of the air-floatation guide rail base, the air-floatation guide rail moving platform is connected on a slide rail of the air-floatation guide rail base in a sliding manner, the limit switch is fixed on the grating ruler, and the reading head is fixed on the air-floatation guide rail moving platform; an air floatation guide rail base of the Y-direction linear module is fixed on the upright post of the lathe bed component; an air floatation guide rail base of the X-direction linear module is fixed on a bottom plate of the lathe bed component; the air-floating guide rail base of the Z-direction linear module is fixed on the air-floating guide rail moving platform of the X-direction linear module;
the B-direction rotating platform assembly comprises a rotating platform support, a rotating platform and a connecting disc; the rotary platform support is fixed on the movable working platform, the rotary platform is connected with the rotary platform support, the connecting disc is fixed on the rotary platform, and the connecting disc is connected with the workpiece clamp device;
the C-direction rotating platform assembly comprises a supporting seat, a rotating table, a rotating disc, a planetary reducer, a reducer bracket and a supporting disc; the supporting seat is fixed on the Z-direction linear module, the rotary table is installed in the supporting seat, the supporting disc is fixed on the supporting seat, the speed reducer support is positioned on the surface of the supporting disc, the planetary speed reducer is connected with the speed reducer support, the rotary table is connected with the input end of the planetary speed reducer through a connecting shaft, the rotary disc is installed on an output disc of the planetary speed reducer, and the series mechanical arm tool is fixed on the rotary disc;
the series mechanical arm tool comprises a base, a first joint, a second joint, a third joint, a first arm, a second arm and a polishing tool head, wherein the base is fixed on the C-direction rotating platform assembly, the first joint is fixedly connected onto the base, the rotating output end of the first joint is fixedly connected with one end of the first arm, the other end of the first arm is fixedly connected with a joint outer shell, the rotating output end of the second joint is fixedly connected with one end of the second arm, the other end of the second arm is fixedly connected with the joint outer shell, and the rotating output end of the third joint is fixedly connected with the polishing tool head.
2. A multi-axis motion and tandem robot compound drive four mirror polishing machine tool as claimed in claim 1, wherein the first joint, the second joint and the third joint each comprise a joint motor housing, a rotary encoder, a KBM frameless motor mover, a KBM frameless motor stator, a planetary reducer, a joint shafting; the rotary encoder is rotationally connected to a joint motor shell, a KBM frameless motor stator is fixed inside the joint motor shell, and a joint shaft system and a KBM frameless motor rotor are arranged in an interference manner; the planetary reducer of the first joint is fixed on the base shell, the joint motor shell of the first joint is in clearance fit with the cylindrical hole in the base, and the output disc of the planetary reducer is fixedly connected with the first arm; a joint motor shell of the joint II is in clearance fit with the cylindrical hole of the arm I and is fixedly connected with the side wall of the arm I, and an output disc of a planetary reducer of the joint II is fixedly connected with the arm II; and a joint motor shell of the third joint is in clearance fit with the cylindrical hole of the second arm and is fixedly connected with the side wall of the second arm, and an output disc of a planetary reducer of the third joint is fixedly connected with the polishing tool head.
3. A multi-axis motion and tandem robot compound drive four mirror polishing machine as claimed in claim 1, wherein said polishing tool head comprises a polishing head housing, a polishing head, a coupling, a servo motor; the servo motor is fixed in a polishing head shell, the polishing head is connected with an output shaft of the servo motor through a coupler, and the polishing head shell is fixedly connected with a rotation output end of the joint III.
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| JP4825614B2 (en) * | 2006-08-02 | 2011-11-30 | 株式会社滋賀山下 | Trajectory control device for articulated link mechanism |
| CN101712151B (en) * | 2009-11-11 | 2015-07-01 | 哈尔滨工业大学深圳研究生院 | Large-inclination six-degree-of-freedom parallel robot |
| US8747188B2 (en) * | 2011-02-24 | 2014-06-10 | Apple Inc. | Smart automation of robotic surface finishing |
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