CN111331467A - Robot high-precision lens polishing head and control method - Google Patents

Abstract

The invention relates to a robot high-precision lens polishing head and a control method thereof, and the robot high-precision lens polishing head comprises a revolution motor, a planetary reducer, a bottom plate, a revolution motor mounting seat, an autorotation mechanism, a revolution motor adjusting mechanism, a revolution guide rail and a polishing head, wherein the autorotation mechanism is connected with the revolution guide rail, the revolution guide rail is mounted on the bottom plate, the upper part of the autorotation mechanism is connected with the revolution motor adjusting mechanism, the polishing head is connected with the autorotation mechanism, the revolution motor is mounted on the revolution motor mounting seat, the revolution motor is connected with the planetary reducer, the planetary reducer is connected with the revolution motor adjusting mechanism, the revolution mechanism is driven by the revolution motor and the planetary reducer to rotate on the revolution guide. The polishing uniformity is good, and the precision is high; the automatic polishing of the optical lens full coverage can be realized; the flexible polishing can be realized during polishing, and the lens can not be damaged.

Description

A kind of robot high-precision lens polishing head and control method

technical field

The invention relates to an optical lens polishing device, in particular to a robot high-precision lens polishing head and a control method.

Background technique

Existing optical lens polishing devices include manual polishing and mechanical polishing. However, the polishing uniformity is not ideal; it is difficult to achieve automatic polishing with full coverage of the optical lens; flexible polishing cannot be achieved during polishing, which is easy to damage the lens.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide a robot high-precision lens polishing head and a control method, which has good polishing uniformity and high precision; can realize automatic polishing of full coverage of optical lens; can achieve flexible polishing during polishing without damaging the lens.

In order to achieve the above object, the present invention has the following technical solutions:

A robot high-precision lens polishing head of the present invention comprises a revolution motor, a planetary reducer, a base plate, a revolution motor mounting seat, a self-rotation mechanism, a revolution motor adjusting mechanism, a revolution guide rail, and a polishing head, wherein the self-rotation mechanism is connected with the revolution guide rail, The revolution guide rail is installed on the bottom plate, the upper part of the rotation mechanism is connected with the adjustment mechanism of the revolution motor, the polishing head is connected with the rotation mechanism, the revolution motor is installed on the mounting seat of the revolution motor, the revolution motor is connected with the planetary reducer, and the planetary reducer is connected with the adjustment mechanism of the revolution motor Connect, use a revolution motor and a planetary reducer to drive the autorotation mechanism on the revolution guide rail to achieve revolution, and the polishing head is driven to rotate by the autorotation mechanism.

Wherein, the rotation mechanism includes a rotation mechanism shell, rotation servo motor, rotation motor mounting plate, low friction cylinder, polishing head connecting bracket, spline shaft, pressure proportional valve, and the rotation servo motor is located in the upper part of the rotation mechanism shell, The output shaft of the rotation servo motor is connected to the spline, the spline is connected to the spline shaft, and the spline shaft is connected to the polishing head. The polishing head is connected to the two low-friction cylinders through the polishing head connecting bracket. The valve is connected to the gas storage tank through the gas pipe, the rotation servo motor drives the spline shaft to rotate, and the spline shaft and the polishing head are driven by the spline.

The adjustment mechanism of the revolution motor is a dovetail groove structure, the top of the upper shaft of the rotation mechanism is connected to the dovetail groove structure, the bottom end of the upper shaft of the rotation mechanism is connected to the top of the rotation mechanism through a bearing, and the top of the upper part of the rotation mechanism slides in the dovetail groove. To adjust the eccentric distance of the polishing head, the eccentric distance adjustment range is 0-30mm.

The revolving guide rail includes six linear guide rails and four sliding blocks, wherein the first guide rail and the second guide rail are respectively fixed on the left side of the rotation mechanism, the first guide rail and the second guide rail are parallel; the fifth guide rail and the sixth guide rail are respectively Fixed on the bottom plate, the fifth guide rail and the sixth guide rail are parallel; the front end of the first slider is slidably connected to the first guide rail, the rear end of the first slider is slidably connected to the fifth guide rail; the front end of the second slider is slidably connected to the second guide rail. The guide rail is slidably connected, and the rear end of the second slider is slidably connected to the sixth guide rail; the third guide rail and the fourth guide rail are respectively fixed on the right side of the rotation mechanism, and the third guide rail and the fourth guide rail are parallel; The three guide rails are slidably connected, the rear end of the third slider is slidably connected with the fifth guide rail; the front end of the fourth slider is slidably connected with the fourth guide rail, and the rear end of the fourth slider is slidably connected with the sixth guide rail.

The slider is an L-shaped structure, and a reinforcing rib is arranged between the two branches of the L-shaped structure, so that the slider of the L-shaped structure forms an integrated structure, and the front and rear ends of the slider are door-shaped. It is used to hang on the revolving guide rail to realize sliding connection.

A control method of a robot high-precision lens polishing head of the present invention includes the following steps:

1) Start the revolution motor to rotate, the revolution motor drives the revolution motor adjustment mechanism to rotate, the top of the upper shaft of the rotation mechanism slides in the dovetail groove of the revolution motor adjustment mechanism, and at the same time, the upper shaft of the rotation mechanism also rotates accordingly;

2) The bottom end of the upper shaft of the rotation mechanism is connected to the top of the rotation mechanism through a bearing, and the upper shaft of the rotation mechanism rotates, so that a torsion force in the rotation direction is generated on the rotation mechanism;

3) Due to the bearing connection in step 2), the torsion force in the rotation direction will not make the autorotation mechanism rotate rapidly; it is only through this torsion force that the autorotation mechanism can move linearly in the front-rear direction and the left-right direction on the revolving guide rail;

4) In step 3), the rotation mechanism performs linear movement in the front-rear direction and the left-right direction on the revolution guide rail, so that the polishing head at the bottom of the rotation mechanism forms a circular motion track on the lens workpiece;

5) In step 1), the top of the upper shaft of the rotation mechanism slides in the dovetail groove of the adjustment mechanism of the revolution motor, so that the rotation mechanism together with the polishing head can realize the eccentric movement of the adjustment polishing head, and the sliding length of the dovetail groove can be set, that is, the eccentricity can be controlled distance;

6) Through the motion control of steps 1) to 5), a polishing process in which the polishing head forms a flexible, fully covered circular track on the lens workpiece.

The advantages of the invention are: good polishing uniformity and high precision; automatic polishing with full coverage of the optical lens; flexible polishing during polishing without damaging the lens.

Description of drawings

Fig. 1 is the three-dimensional schematic diagram of the overall structure of the present invention;

Fig. 2 is the schematic diagram of the front view of the present invention;

FIG. 3 is an enlarged schematic view of the rotation mechanism of the present invention.

In the figure, 1, revolution motor; 2, planetary reducer; 3, base plate; 4, revolution motor mount; 5, revolution motor adjustment mechanism; 6, rotation mechanism; 7, polishing head; 8, revolution guide rail; 9, No. A guide rail; 10, the second guide rail; 11, the third guide rail; 12, the fourth guide rail; 13, the fifth guide rail; 14, the sixth guide rail; 15, the first slider; 16, the second slider; 17, the first Three sliders; 18, the fourth slider; 19, the shell of the rotation mechanism; 20, the rotation servo motor; 21, the low friction cylinder; 22, the installation plate of the rotation motor; 23, the polishing head connecting bracket; 24, the dovetail groove; 25, Spline shaft; 26. The upper shaft of the rotation mechanism.

Detailed ways

The following examples are intended to illustrate the present invention, but not to limit the scope of the present invention.

1-3, a robot high-precision lens polishing head of the present invention includes a revolution motor, a planetary reducer, a base plate, a revolution motor mounting seat, an autorotation mechanism, a revolution motor adjustment mechanism, a revolution guide rail, a polishing head, and the autorotation The mechanism is connected with the revolving guide rail, the revolving guide rail is installed on the bottom plate, the upper part of the rotation mechanism is connected with the adjustment mechanism of the revolving motor, the polishing head is connected with the revolving mechanism, the revolving motor is installed on the revolving motor mounting seat, the revolving motor is connected with the planetary reducer, and the planetary deceleration The machine is connected with the revolving motor adjusting mechanism, and the revolving motor and the planetary reducer are used to drive the revolving mechanism on the revolving guide rail to realize revolving, and the polishing head is driven to rotate by the revolving mechanism. The revolution motor is a servo motor.

The autorotation mechanism includes the autorotation mechanism housing, the autorotation servo motor, the autorotation motor mounting plate, the low friction cylinder, the polishing head connecting bracket, the spline shaft, and the pressure proportional valve. The autorotation servo motor is located in the upper part of the autorotation mechanism housing. The motor output shaft is connected to the spline, the spline is connected to the spline shaft, and the spline shaft is connected to the polishing head. The polishing head is connected to two low-friction cylinders through the polishing head connecting bracket. The low-friction cylinder is connected to the pressure proportional valve through the air pipe, and the pressure proportional valve passes through The air pipe is connected to the air storage tank, the rotation servo motor drives the spline shaft to rotate, and the spline shaft and the polishing head are driven by splines; the pressure of the polishing head is ensured by two low-friction cylinders, and the pressure proportional valve is used to maintain the pressure constant.

The adjustment mechanism of the revolution motor is a dovetail groove structure, the top of the upper shaft of the rotation mechanism is connected to the dovetail groove structure, the bottom end of the upper shaft of the rotation mechanism is connected to the top of the rotation mechanism through a bearing, and the top of the upper part of the rotation mechanism is adjusted by sliding in the dovetail groove. The eccentric distance of the polishing head, the eccentric distance adjustment range is 0-30mm. The dovetail groove is a groove with a trapezoidal cross-sectional shape.

The revolving guide rail includes six linear guide rails and four sliders, wherein the first guide rail and the second guide rail are respectively fixed on the left side of the rotation mechanism, the first guide rail and the second guide rail are parallel; the fifth guide rail and the sixth guide rail are respectively fixed on the left side of the rotation mechanism. On the bottom plate, the fifth guide rail and the sixth guide rail are parallel; the front end of the first slider is slidably connected with the first guide rail, the rear end of the first slider is slidably connected with the fifth guide rail; the front end of the second slider is slidably connected with the second guide rail The rear end of the second slider is slidably connected with the sixth guide rail; the third guide rail and the fourth guide rail are respectively fixed on the right side of the rotation mechanism, and the third guide rail and the fourth guide rail are parallel; the front end of the third slider is connected with the third guide rail The rear end of the third slider is slidably connected with the fifth guide rail; the front end of the fourth slider is slidably connected with the fourth guide rail, and the rear end of the fourth slider is slidably connected with the sixth guide rail.

The slider is an L-shaped structure, and a reinforcing rib is arranged between the two branches of the L-shaped structure, so that the slider of the L-shaped structure forms an integrated structure. Hang on the revolving guide rail to realize sliding connection.

A control method of a robot high-precision lens polishing head of the present invention includes the following steps:

1) Start the revolution motor to rotate, the revolution motor drives the revolution motor adjustment mechanism to rotate, the top of the upper shaft of the rotation mechanism slides in the dovetail groove of the revolution motor adjustment mechanism, and at the same time, the upper shaft of the rotation mechanism also rotates accordingly;

2) The bottom end of the upper shaft of the rotation mechanism is connected to the top of the rotation mechanism through a bearing, and the upper shaft of the rotation mechanism rotates, so that a torsion force in the rotation direction is generated on the rotation mechanism;

3) Due to the bearing connection in step 2), the torsion force in the rotation direction will not make the autorotation mechanism rotate rapidly; it is only through this torsion force that the autorotation mechanism can move linearly in the front-rear direction and the left-right direction on the revolving guide rail;

4) In step 3), the rotation mechanism performs linear movement in the front-rear direction and the left-right direction on the revolution guide rail, so that the polishing head at the bottom of the rotation mechanism forms a circular motion track on the lens workpiece;

5) In step 1), the top of the upper shaft of the rotation mechanism slides in the dovetail groove of the adjustment mechanism of the revolution motor, so that the rotation mechanism together with the polishing head can realize the eccentric movement of the adjustment polishing head, and the sliding length of the dovetail groove can be set, that is, the eccentricity can be controlled distance;

6) Through the motion control of steps 1) to 5), a polishing process in which the polishing head forms a flexible, fully covered circular track on the lens workpiece.

Revolution motor: Panasonic, MHMF042L1U2 servo motor;

Rotation motor: Panasonic, MHMF042L1U2 servo motor;

Low friction cylinder: Japanese SMC brand, model MQQTB10.

As described above, the present invention can be fully realized. The above is only a reasonable implementation example of the present invention, and the protection scope of the present invention includes but is not limited to this. Any non-substantial modification changes based on the technical solution of the present invention by those skilled in the art are included in the present invention. within the range.

Claims (6)

1. The utility model provides a high accuracy lens rubbing head of robot which characterized in that: the polishing head is driven to rotate by the rotation mechanism.

2. A robotic high precision lens polishing head as defined in claim 1, wherein: the rotation mechanism comprises a rotation mechanism shell, a rotation servo motor, a rotation motor mounting plate, a low-friction air cylinder, a polishing head connecting support, a spline shaft and a pressure proportional valve, wherein the rotation servo motor is located at the upper part in the rotation mechanism shell, the rotation servo motor outputs a shaft connecting spline, the spline shaft is connected with the spline shaft, the spline shaft is connected with the polishing head, the polishing head is connected with the two low-friction air cylinders through the polishing head connecting support, the low-friction air cylinder is connected with the pressure proportional valve through an air pipe, the pressure proportional valve is connected with an air storage tank through an air pipe, the rotation servo motor drives the spline shaft to rotate, and.

3. A robotic high precision lens polishing head as defined in claim 1, wherein: the revolution motor adjusting mechanism is of a dovetail groove structure, the top end of an upper shaft of the rotation mechanism is connected with the dovetail groove structure, the bottom end of the upper shaft of the rotation mechanism is connected with the top of the rotation mechanism through a bearing, the top end of the upper part of the rotation mechanism slides in the dovetail groove to adjust the eccentric distance of the polishing head, and the eccentric distance adjusting range is 0-30 mm.

4. A robotic high precision lens polishing head as defined in claim 1, wherein: the revolution guide rail comprises six linear guide rails and four sliding blocks, wherein a first guide rail and a second guide rail are respectively fixed on the left side of the rotation mechanism, and the first guide rail and the second guide rail are parallel; the fifth guide rail and the sixth guide rail are respectively fixed on the bottom plate and are parallel; the front end of the first sliding block is connected with the first guide rail in a sliding manner, and the rear end of the first sliding block is connected with the fifth guide rail in a sliding manner; the front end of the second sliding block is connected with the second guide rail in a sliding manner, and the rear end of the second sliding block is connected with the sixth guide rail in a sliding manner; the third guide rail and the fourth guide rail are respectively fixed on the right side of the rotation mechanism and are parallel; the front end of the third sliding block is connected with the third guide rail in a sliding manner, and the rear end of the third sliding block is connected with the fifth guide rail in a sliding manner; the front end of the fourth sliding block is connected with the fourth guide rail in a sliding mode, and the rear end of the fourth sliding block is connected with the sixth guide rail in a sliding mode.

5. A robotic high precision lens polishing head as defined in claim 4, wherein: the slider is L-shaped structure, and is equipped with the strengthening rib between two branches of L-shaped structure, makes the slider of L-shaped structure form an organic whole structure, and slider front end and rear end are door style of calligraphy for hang on revolution guide rail, realize sliding connection.

6. A method of controlling a robotic high precision lens polishing head as defined in claim 1, comprising the steps of:

1) starting the revolution motor to rotate, driving the revolution motor adjusting mechanism to rotate by the revolution motor, sliding the top end of the upper shaft of the rotation mechanism in a dovetail groove of the revolution motor adjusting mechanism, and simultaneously rotating the upper shaft of the rotation mechanism;

2) the bottom end of the upper shaft of the rotation mechanism is connected with the top of the rotation mechanism through a bearing, and the upper shaft of the rotation mechanism rotates to generate torsion in the rotation direction on the rotation mechanism;

3) due to the bearing connection in the step 2), the torque force in the rotating direction can not enable the self-rotating mechanism to rotate rapidly; the rotation mechanism is made to move linearly in the front-back direction and the left-right direction on the revolution guide rail only through the torsion;

4) in the step 3), the rotation mechanism linearly moves on the revolution guide rail in the front-back direction and the left-right direction, so that a polishing head at the bottom of the rotation mechanism forms a circular motion track on the lens workpiece;

5) in the step 1), the top end of the upper shaft of the rotation mechanism slides in a dovetail groove of the revolution motor adjusting mechanism, so that the rotation mechanism and the polishing head together realize the adjustment of the eccentric motion of the polishing head, and the eccentric distance can be controlled by setting the sliding length of the dovetail groove;

6) and (5) enabling the polishing head to form a flexible and full-coverage circular track polishing process on the lens workpiece through the motion control of the step 1) to the step 5).

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