The invention discloses a multi-parallel coexisting-cooperative-cognitive
robot large-scale optical mirror surface
machining device. The
machining device is characterized in that an L-shaped supporting frame is used for fixing and supporting two different parallel
machining robots and a to-be-machined mirror surface, a mirror surface inner ring machining unit 4 is a 5 UPS + UPU type parallel machining
robot, a mirror surface outer ring machining unit is a 4 UPS + PUU type parallel machining
robot, an active partitioning flexible hydraulic
supporting system is installed on a mirror surface rotary fixing unit, the
supporting system serves as a flexible support of the to-be-machined mirror surface in the
machining process, the output force of each supporting point is adjusted, and the opticalmirror surface is balanced in stress in the
machining process. The machining device is small in size, high in rigidity, small in accumulative error, high in machining precision and capable of improving the machining efficiency of the optical mirror surface; and meanwhile, the rigid
supporting system is improved, the output force of each supporting point can be adjusted, so that the optical mirrorsurface is balanced in stress in the
machining process, and is not prone to be deformed or damaged, and the machining device is more suitable for machining complex curved surface optical mirror surfaces.