A processing device and method for high-steepness aspheric workpiece

Abstract

The present invention relates to the technical field of aspheric optical element processing, and discloses a processing device and a processing method for a high-steepness aspheric workpiece, comprising a driving mechanism for connecting to a robot arm; a processing mechanism detachably connected to the driving mechanism, the driving mechanism for driving the processing mechanism to rotate and revolve; a tool setting mechanism detachably connected to the driving mechanism; a rotary table for mounting a high-steepness aspheric workpiece or a tool setting tip; an acquisition module for connecting to a control system of the robot; wherein the acquisition module is capable of acquiring a tool coordinate system of the processing mechanism; acquiring a user coordinate system of the high-steepness aspheric workpiece; acquiring a processing angle of the processing mechanism; and deriving a processing program of the robot and converting it into an online processing language of the robot.

Description

Technical Field

[0001] The present invention relates to the technical field of aspheric optical element processing, and in particular to a processing device and method for a high-steepness aspheric workpiece. Background Art

[0002] With the development of science and technology, various optical components are widely used in different types of optoelectronic systems. The huge demand for high-precision processing has also put forward higher requirements for the processing surface accuracy and surface complexity of related optical components. Due to the limited equipment and backward technology, traditional processing methods are difficult to meet the processing needs of high precision and complex curved surfaces. The current mainstream processing method is computer-controlled surface forming technology, which improves the processing accuracy and efficiency of optical components through the precise control of process parameters such as processing time and feed speed by computer. Polishing tools based on computer-controlled surface forming technology are mostly small grinding head polishing devices. Their advantage is high polishing accuracy, but their movement method is simple, the structure is complex, and the polishing efficiency is low. Summary of the Invention

[0003] The object of the present invention is to provide a processing device and a processing method for a high-steepness aspheric workpiece, aiming to solve or improve at least one of the above-mentioned technical problems.

[0004] To achieve the above-mentioned object, the present invention provides the following solution: The present invention provides a processing device for a high-steepness aspheric workpiece, comprising:

[0005] A driving mechanism, used for connecting with the robot arm;

[0006] a processing mechanism detachably connected to the driving mechanism, wherein the driving mechanism is used to drive the processing mechanism to rotate and revolve;

[0007] a tool setting mechanism, detachably connected to the driving mechanism;

[0008] Rotating worktable, used for mounting high-steepness aspheric workpieces or tool setting tips;

[0009] An acquisition module for connecting to the control system of the robot;

[0010] Wherein, the acquisition module can acquire the tool coordinate system of the machining mechanism according to the preset relationship between the tool setting mechanism and the tool setting tip;

[0011] The acquisition module can acquire the user coordinate system of the high-steepness aspheric workpiece according to the preset relationship between the processing mechanism and the high-steepness aspheric workpiece;

[0012] The acquisition module can acquire the processing angle of the processing mechanism according to a preset relationship between the processing mechanism and the high-steepness aspheric workpiece;

[0013] The acquisition module can obtain the robot's processing program according to the processing angle of the processing mechanism and convert it into the robot's online processing language.

[0014] Optionally, the driving mechanism includes:

[0015] A supporting body, used for connecting to the robot's mechanical arm;

[0016] a cantilever mechanism, provided on the supporting body, the cantilever mechanism being used to be detachably connected to the processing mechanism or the tool setting mechanism;

[0017] A driver is used to drive the processing mechanism to rotate and revolve.

[0018] Optionally, the driver includes:

[0019] Drive motor;

[0020] The driving spindle is connected to the output shaft of the driving motor. The driving spindle is connected to the cantilever mechanism and is used to drive the cantilever mechanism to revolve. The driving spindle is equipped with a transmission mechanism, and the transmission mechanism is used to drive the processing mechanism to rotate.

[0021] Optionally, the transmission mechanism includes:

[0022] A first bevel gear is provided on the supporting body;

[0023] a second bevel gear, rotatably connected to the driving main shaft via the first rotating shaft, the second bevel gear meshing with the first bevel gear;

[0024] a first transmission wheel connected to the first rotating shaft;

[0025] The second transmission wheel is rotatably connected to the driving spindle through a second rotating shaft. The second transmission wheel and the first transmission wheel are matched through a transmission belt. The second rotating shaft is matched with the processing mechanism.

[0026] Optionally, the processing mechanism includes:

[0027] a contact wheel, detachably connected to the cantilever mechanism;

[0028] The third transmission wheel is connected to the second rotating shaft. The third transmission wheel and the contact wheel are matched through a processing belt transmission, so that the contact wheel rotates.

[0029] Optionally, the cantilever mechanism includes:

[0030] a first arm section, rotatably connected to the support body, the first arm section being connected to the driving spindle;

[0031] a second arm section connected to an end of the first arm section away from the driving spindle;

[0032] The third arm section is connected to the end of the second arm section away from the first arm section, and the end of the third arm section away from the second arm section is detachably connected to the processing mechanism or the tool setting mechanism.

[0033] Optionally, the tool setting mechanism includes:

[0034] a tool setting connecting piece, detachably connected to the cantilever mechanism;

[0035] The measuring needle is detachably connected to the tool setting connecting piece.

[0036] Optionally, the processing belt is a grinding belt or a polishing belt.

[0037] Optionally, the contact wheel includes:

[0038] an axle, configured to be detachably connected to the cantilever mechanism;

[0039] a support frame, rotatably connected to the wheel axle via a bearing;

[0040] The polyurethane coating layer is coated on the support frame.

[0041] The present invention also provides a method for processing a high-steepness aspheric workpiece, comprising the following steps:

[0042] Acquiring a tool coordinate system of a machining mechanism according to a preset relationship between the tool setting mechanism and the tool setting tip;

[0043] Acquiring a user coordinate system of the high-steepness aspheric workpiece according to a preset relationship between the machining mechanism and the high-steepness aspheric workpiece;

[0044] Obtaining a processing angle of the processing mechanism according to a preset relationship between the processing mechanism and the high-steepness aspheric workpiece;

[0045] Determining a robot processing program based on the processing angle of the processing mechanism and converting the program into an online processing language of the robot;

[0046] Processing the inner surface of high-steepness aspheric workpieces;

[0047] Machining the outer surface of high-steepness aspheric workpieces.

[0048] The present invention discloses the following technical effects:

[0049] 1. The present invention realizes full-aperture processing of the inner surface of a high-steepness aspheric optical element by rotating and revolving the processing mechanism and acquiring the tool coordinate system of the processing mechanism, the user coordinate system of the high-steepness aspheric workpiece, and the processing angle of the processing mechanism through an acquisition module, deriving a processing program of the robot and converting it into the robot's online processing language, thereby avoiding the interference of the tool in the traditional processing method, improving the tool setting accuracy, and improving the processing efficiency.

[0050] 2. The present invention has a compact structure and good versatility, is suitable for processing optical elements of various shapes, and can be installed in a variety of industrial robots and CNC machine tools. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] The accompanying drawings, which constitute part of this application, are intended to provide a further understanding of this application. The exemplary embodiments and descriptions of this application are intended to explain this application and do not constitute an improper limitation on this application. In the accompanying drawings:

[0052] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0053] Figure 2 is a cross-sectional view of the support body of the present invention;

[0054] Figure 3 This is a schematic diagram of the installation of the cantilever mechanism and the contact wheel of the present invention;

[0055] Figure 4 This is a schematic diagram of the cantilever mechanism and the stylus installation of the present invention;

[0056] Figure 5 Schematic diagram of the contact wheel structure of the present invention.

[0057] In the figure: 1. Rotary worktable; 2. Tool setting tip; 3. Support body; 4. Drive motor; 5. Drive spindle; 6. First bevel gear; 7. Second bevel gear; 8. First rotating shaft; 9. First transmission wheel; 10. Second transmission wheel; 11. Second rotating shaft; 12. Contact wheel; 13. Third transmission wheel; 14. Processing belt; 15. First arm section; 16. Second arm section; 17. Third arm section; 18. Tool setting connector; 19. Probe; 20. Wheel axle; 21. Bearing; 22. Support frame; 23. Polyurethane coating; 24. Drive belt. DETAILED DESCRIPTION

[0058] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0059] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0060] Reference Figure 1-Figure 5 The present invention provides a processing device for a high-steepness aspheric workpiece, comprising:

[0061] A driving mechanism, used for connecting with the robot arm;

[0062] The processing mechanism is detachably connected to the driving mechanism, and the driving mechanism is used to drive the processing mechanism to rotate and revolve;

[0063] A tool setting mechanism is detachably connected to the driving mechanism;

[0064] Rotating table 1, used for mounting high-steepness aspheric workpieces or tool setting tips 2;

[0065] An acquisition module for connecting to the control system of the robot;

[0066] Among them, the acquisition module can obtain the tool coordinate system of the machining mechanism according to the preset relationship between the tool setting mechanism and the tool setting tip 2;

[0067] The acquisition module can acquire the user coordinate system of the high-steepness aspheric workpiece according to the preset relationship between the processing mechanism and the high-steepness aspheric workpiece;

[0068] The acquisition module can obtain the processing angle of the processing mechanism according to the preset relationship between the processing mechanism and the high-steepness aspheric workpiece;

[0069] The acquisition module can derive the robot's machining program according to the machining angle of the machining mechanism and convert it into the robot's online machining language.

[0070] Through the rotation and revolution of the processing mechanism and the acquisition module, the tool coordinate system of the processing mechanism, the user coordinate system of the high-steepness aspheric workpiece, and the processing angle of the processing mechanism are respectively obtained, and the robot's processing program is obtained and converted into the robot's online processing language, thereby realizing full-aperture processing of the inner surface of the high-steepness aspheric optical element, avoiding the interference of the tool in the traditional processing method, improving the tool setting accuracy, and improving the processing efficiency.

[0071] The rotary table 1 drives the workpiece to rotate, and its rated speed is 66.6 rpm, the permissible torque is 85 N·m, the maximum workpiece load is 50 kg, and the circular runout of the rotary table is less than 20 μm.

[0072] In one embodiment of the present invention, the driving mechanism comprises:

[0073] Support body 3, used to connect with the robot's mechanical arm;

[0074] A cantilever mechanism is provided on the supporting body 3 and is used to be detachably connected to the processing mechanism or the tool setting mechanism;

[0075] The driver is used to drive the processing mechanism to rotate and revolve.

[0076] In one embodiment of the present invention, the driver comprises:

[0077] Drive motor 4;

[0078] The driving spindle 5 is connected to the output shaft of the driving motor 4. The driving spindle 5 is connected to the cantilever mechanism and is used to drive the cantilever mechanism to revolve. The driving spindle 5 is equipped with a transmission mechanism, which is used to drive the processing mechanism to rotate.

[0079] The drive motor 4 is driven by a reduction stepper motor with a basic step angle of 0.045°, a torque of 20 N·m, a rated power of 48 W, a reduction ratio of 1:40, and a no-load speed of 1000 rpm.

[0080] In one embodiment of the present invention, the transmission mechanism includes:

[0081] The first bevel gear 6 is provided on the supporting body 3;

[0082] The second bevel gear 7 is rotatably connected to the driving main shaft 5 through the first rotating shaft 8, and the second bevel gear 7 is meshed with the first bevel gear 6;

[0083] A first transmission wheel 9 is connected to the first rotating shaft 8;

[0084] The second transmission wheel 10 is rotationally connected to the driving spindle 5 through the second rotating shaft 11. The second transmission wheel 10 and the first transmission wheel 9 are driven by a transmission belt 24. The second rotating shaft 11 is driven by the processing mechanism.

[0085] The first bevel gear 6 is fixedly mounted on the support body 3 through a threaded connection. The second bevel gear 7 rotates with the drive spindle 5. The mounting hole of the first transmission wheel 9 is a straight hole. It is coaxially mounted with the second bevel gear 7 through a standard key and a set screw and is located at the end position of the second bevel gear 7. The rated speed is 2000r / min. The second transmission wheel 10 is mounted parallel to the first transmission wheel 9. The transmission belt 24 is preferably a V-belt with a thickness of δ The outer diameter D of the first transmission wheel is 4 mm and the circumference is 190.92 mm. The distance between the axes of the first transmission wheel 9 and the second transmission wheel 10 does not need to be changed. Instead, the speed is changed by changing the center distance between the first transmission wheel 9 and the second transmission wheel 10. ze 46mm, maximum pitch D zpThe outer diameter D of the second transmission wheel 10 is 38 mm. ce and the outer diameter D of the first transmission wheel 9 ze Equal, maximum pitch D cp The speed of the driving spindle 5 is transmitted to the first transmission wheel 9 by the first bevel gear 6 and the second bevel gear 7. After adjustment by the second transmission wheel 10, the speed ratio of the driving spindle 5 to the third transmission wheel is finally in the range of 1-8.

[0086] The first transmission wheel 9 belt peripheral speed V1:

[0087]

[0088] Where V is the belt circumferential speed, D is the pitch diameter of the active flywheel, and N is the rotation speed;

[0089] The second transmission wheel 10 rotation speed V2:

[0090]

[0091] Wherein, n is the rotation speed of the first transmission wheel 9, dmax is the maximum pitch diameter of the first transmission wheel 9, D is the pitch diameter of the second transmission wheel 10, α is the transmission mechanism speed ratio;

[0092] The distance C between the mounting axes of the first transmission wheel 9 and the second transmission wheel 10 is:

[0093] C max =1.5(D1+D2)

[0094]

[0095] Among them, the maximum installation axis distance is Cmax , the minimum installation distance between axes is Cmin , D1 is the outer diameter of the first transmission wheel 9, and D2 is the outer diameter of the second transmission wheel 10;

[0096] The length of the transmission belt 24 is L:

[0097]

[0098] Wherein, L is the circumference of the transmission belt at 24 sections, d min is the minimum pitch diameter of the first transmission wheel 9, and D is the pitch diameter of the second transmission wheel 10.

[0099] In one embodiment of the present invention, the processing mechanism comprises:

[0100] a contact wheel 12 detachably connected to the cantilever mechanism;

[0101] The third transmission wheel 13 is connected to the second rotating shaft 11 . The third transmission wheel 13 and the contact wheel 12 are coupled via a processing belt 14 so that the contact wheel 12 rotates.

[0102] The contact wheel 12 squeezes the third transmission wheel 13 to form a stable contact area on the surface of the workpiece being processed, thereby removing the surface of the workpiece being processed.

[0103] In one embodiment of the present invention, the cantilever mechanism comprises:

[0104] The first arm section 15 is rotatably connected to the support body 3 and is connected to the driving spindle 5;

[0105] The second arm section 16 is connected to the end of the first arm section 15 away from the driving spindle 5;

[0106] The third arm section 17 is connected to the end of the second arm section 16 away from the first arm section 15 . The end of the third arm section 17 away from the second arm section 16 is detachably connected to the processing mechanism or the tool setting mechanism.

[0107] The length L of the first arm section 15 t1 According to the installation position of the support body 3, the length L of the second arm section 16 should be greater than 100 mm. t2 Determined according to the depth H of the inner surface of the high-steepness aspheric workpiece, in order to avoid collision interference L t It should be at least 20mm greater than the depth H. The second arm section 16 is connected to the first arm section 15 by plug bolts. The length of the third arm section 17 is L t3 According to the installation position of the two bolts, it is determined to be no less than 40mm. The length of the third arm section 17 is also connected to the second arm section 16 by plug bolts. The plug bolt connection can be tightened and positioned. The total length of the cantilever mechanism after installation is L t , according to the minimum curvature R of the high-steepness aspheric surface min The diameter D of the second arm section 16 and the third arm section 17 is determined to be 20 mm according to the installation position of the cantilever mechanism; the first arm section 15 and the third arm section 17 are made of aluminum alloy, and the second arm section 16 is made of titanium alloy; when the cantilever mechanism as a whole is subjected to a lateral force of 5 N, the maximum deformation of the cantilever mechanism should be less than 50 μm.

[0108] In one embodiment of the present invention, the tool setting mechanism includes:

[0109] The tool setting connecting member 18 is detachably connected to the cantilever mechanism;

[0110] The measuring needle 19 is detachably connected to the tool setting connector 18 .

[0111] Tool setting connector 18 length L t4The material is aluminum alloy. The tool connection piece 18 is threaded and installed at the end of the third arm section 17. The total length of the probe 19 is L t5 The top of the stylus 19 is an external thread with a thread length of L. t6 , stylus 19 tip length L t7 The cantilever mechanism is connected to the tool connection piece 18 by a thread; when the cantilever mechanism is installed with the contact wheel 12, the overall cantilever mechanism length L r , the tool setting mechanism is installed on the cantilever mechanism, and the overall cantilever mechanism length is L c , the lengths of both satisfy L r =L c ;

[0112] The meridian section equation of a high-steepness aspheric workpiece is:

[0113] Z=(A1·x 2 ) / (1+sqrt(1-((1-k)·A1 2 ·x 2 )))+A2·x 4 +A3·x 6

[0114] Among them, A1, A2, A3, and K are the coefficients of the high-steepness aspheric parameter equation.

[0115] The length of the cantilever mechanism L t Calculated as:

[0116]

[0117] Among them, X A ,X C ,Z A , Zc is the coordinate of point A and point C on the inner surface of the high steepness aspheric surface.

[0118] In one embodiment of the present invention, the processing belt 14 is a grinding belt or a polishing belt.

[0119] The grinding belt is a diamond abrasive belt, and the diamond abrasive grains are fixed to the cloth base with a resin bond; the polishing belt is a non-elastic velvet polishing belt, which is equipped with polishing fluid of different particle sizes.

[0120] The length of the grinding or polishing belt is constant at L d :

[0121] L d =2×(a1+l1+a2+l2+a3+l3+a4+l4++a5+l5+a6).

[0122] In one embodiment of the present invention, the contact wheel 12 comprises:

[0123] A wheel axle 20, used for detachably connecting to the cantilever mechanism;

[0124] The support frame 22 is rotatably connected to the wheel shaft 20 through the bearing 21;

[0125] The polyurethane coating layer 23 is coated on the support frame 22 .

[0126] The circular runout of the bearing 21 is less than 10 μm; the end face of the bearing 21 adopts a waterproof and dustproof rubber ring, and the polyurethane rubber layer 23 has a Shore hardness of A60, A70, and A80. The inner surface curvature R1 of the high-steepness aspheric surface is:

[0127]

[0128] in,

[0129]

[0130] According to the curvature change of the inner surface of the high-steep aspheric surface, the contact wheel 12 is designed as a constant-curvature polyurethane contact wheel with equal radius and arc radius. The radius and arc radius are the minimum curvature R of the inner surface of the high-steep aspheric surface. 1min The width between the two end faces of the contact wheel 12 is 12 mm.

[0131] The present invention also provides a method for processing a high-steepness aspheric workpiece, comprising the following steps:

[0132] According to the preset relationship between the tool setting mechanism and the tool setting tip, the tool coordinate system of the machining mechanism is obtained, the cantilever mechanism is installed on the supporting body 3, the tool setting mechanism is installed at the end of the cantilever mechanism, the tool setting tip 2 is placed on the rotary worktable 1, and the robot teaching pendant is used to align the tip of the stylus 19 with the tip of the tool setting tip 2, and the position and posture of the tip of the stylus 19 at this time are recorded; the position of the tool setting tip 2 remains unchanged, and the robot teaching pendant is operated in sequence to greatly change the posture of the supporting body 3, and the position and posture of the stylus 19 are recorded ten times, thereby establishing that the position of the stylus 19 is equivalent to the position of the flange at the end of the robot, and then establishing a tool coordinate system based on the stylus 19, the overall cantilever rod length Lr when the contact wheel 12 is installed at the end of the cantilever mechanism is equal to the overall cantilever mechanism length Lc after the tool setting mechanism is installed, thereby establishing a tool coordinate system based on the contact wheel 12 according to the above;

[0133] According to the preset relationship between the machining mechanism and the high-steepness aspheric workpiece, the user coordinate system of the high-steepness aspheric workpiece is obtained, the high-steepness aspheric workpiece is installed, and its position is adjusted to be coaxial with the rotary table 1. The robot is operated so that the contact wheel 12 is vertically located directly above the high-steepness aspheric workpiece. The robot is operated so that the contact wheel 12 contacts the lowest center point of the inner surface of the high-steepness aspheric workpiece, and the user coordinate system at this time is established;

[0134] According to the preset relationship between the machining mechanism and the high-steepness aspheric workpiece, the machining angle of the machining mechanism is obtained. For the machining of the inner surface of the high-steepness aspheric workpiece, the angle of any point A(X A ,Z A ) relative to the lowest point of the inner surface center, and the angle θ with the minimum normal angle α of any point A under the condition of ensuring the safety distance d, which is used as the processing angle of the cantilever mechanism; the normal angle α is:

[0135]

[0136] Where Z′ is the normal angle of any point A on the generatrix on one side of the inner surface of the high steepness aspheric surface;

[0137] The processing angle θ is:

[0138]

[0139] Among them, d is the safety distance, and the coordinates of point O are (X O ,Z O ), C is the coordinate of the upper left end point of the inner surface of the high steepness aspheric surface

[0140]

[0141] The robot processing program is derived based on the processing angle of the processing mechanism and converted into the robot's online processing language. Specifically, based on the processing position of any point A determined above and the cantilever mechanism angle at that time, the robot processing program is written offline and further converted into the robot's online processing language.

[0142] Furthermore, according to the different surface errors of the inner surface of the high-steepness aspheric surface, for the high-steepness aspheric surface blank, the main surface error is the low-frequency error. First, use a large-grained grinding belt for processing to reduce the low-frequency error as much as possible, and most of the remaining medium-frequency and high-frequency errors. Then use medium and small-grained grinding belts to converge the medium-frequency error, and finally use a velvet polishing belt with polishing liquid to remove the high-frequency error.

[0143] The inner surface of the high-steepness aspheric workpiece is machined by turning on the drive motor 4, setting the initial speed, adjusting the speed ratio of the transmission mechanism according to different high-steepness aspheric machining errors, turning on the robot regeneration mode, and implementing the robot rotational belt machining of the inner surface of the high-steepness aspheric workpiece according to the established robot machining program.

[0144] The outer surface of the high-steepness aspheric workpiece is processed, and after the inner surface of the high-steepness aspheric surface is processed, the outer surface of the high-steepness aspheric surface is processed again. At this time, the contact wheel 12 needs to be replaced. When processing the outer surface, a contact wheel 12 with a radius and an arc radius greater than 10 mm is selected. At the same time, a constant length of the grinding or polishing belt is maintained to increase the contact area of ​​the processing, improve the processing efficiency, and further shorten the entire processing cycle of the inner and outer surfaces of the high-steepness aspheric surface.

[0145] The present invention is driven by a drive motor 4, and the drive motor 4 is installed outside the support body 3, which has high safety and reliability, and can achieve multi-stage speed regulation and speed change, corresponding to different processing efficiencies, and adapting to different processing requirements and processing quality;

[0146] The present invention is easy to operate and can realize high-precision tool setting operation. At the same time, the contact wheels 12 with different hardness can be replaced, the belt transmission length is constant, and different types of grinding belts and polishing belts can be replaced to adapt to different processing objects.

[0147] In the description of the present invention, it should be understood that the terms "longitudinal", "transverse", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0148] The embodiments described above are merely descriptions of preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Without departing from the spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by persons skilled in the art should fall within the scope of protection defined by the claims of the present invention.

Claims

1. A method for machining a high-steepness aspheric workpiece, comprising the following steps: According to the preset relationship between the tool setting mechanism and the tool setting center, the tool coordinate system of the machining mechanism is obtained; Acquiring a user coordinate system of the high-steepness aspheric workpiece according to a preset relationship between the machining mechanism and the high-steepness aspheric workpiece; Obtaining a processing angle of the processing mechanism according to a preset relationship between the processing mechanism and the high-steepness aspheric workpiece; Determining a robot processing program based on the processing angle of the processing mechanism and converting the program into an online processing language of the robot; Processing the inner surface of high-steepness aspheric workpieces; Processing the outer surface of high-steepness aspheric workpieces; The processing device for implementing the processing method includes: A driving mechanism, used for connecting with the robot arm; a processing mechanism detachably connected to the driving mechanism, wherein the driving mechanism is used to drive the processing mechanism to rotate and revolve; a tool setting mechanism, detachably connected to the driving mechanism; A rotary table (1) for mounting a high-steepness aspheric workpiece or a tool tip (2); An acquisition module for connecting to the control system of the robot; The acquisition module is capable of acquiring a tool coordinate system of a machining mechanism according to a preset relationship between the tool setting mechanism and the tool setting tip (2); The acquisition module can acquire the user coordinate system of the high-steepness aspheric workpiece according to the preset relationship between the processing mechanism and the high-steepness aspheric workpiece; The acquisition module can acquire the processing angle of the processing mechanism according to a preset relationship between the processing mechanism and the high-steepness aspheric workpiece; The acquisition module can obtain the robot's processing program according to the processing angle of the processing mechanism and convert it into the robot's online processing language; The driving mechanism comprises: A supporting body (3) for connecting to the robot's mechanical arm; A cantilever mechanism is provided on the supporting body (3), and the cantilever mechanism is used to be detachably connected to the processing mechanism or the tool setting mechanism; A driver, used for driving the processing mechanism to rotate and revolve; The driver includes: Drive motor (4); A driving spindle (5) is connected to the output shaft of the driving motor (4), and the driving spindle (5) is connected to the cantilever mechanism and is used to drive the cantilever mechanism to revolve. The driving spindle (5) is equipped with a transmission mechanism, and the transmission mechanism is used to drive the processing mechanism to rotate. The transmission mechanism comprises: A first bevel gear (6) is provided on the supporting body (3); a second bevel gear (7) rotatably connected to the driving main shaft (5) via a first rotating shaft (8), the second bevel gear (7) being meshed with the first bevel gear (6); A first transmission wheel (9) connected to the first rotating shaft (8); A second transmission wheel (10) is rotatably connected to the driving spindle (5) via a second rotating shaft (11), the second transmission wheel (10) and the first transmission wheel (9) are coupled to each other via a transmission belt (24), and the second rotating shaft (11) is coupled to the processing mechanism; The processing mechanism includes: A contact wheel (12) detachably connected to the cantilever mechanism; A third transmission wheel (13) is connected to the second rotating shaft (11), and the third transmission wheel (13) and the contact wheel (12) are coupled via a processing belt (14) to enable the contact wheel (12) to rotate. The cantilever mechanism comprises: A first arm section (15) is rotatably connected to the support body (3), and the first arm section (15) is connected to the driving spindle (5); A second arm section (16) connected to an end of the first arm section (15) away from the driving spindle (5); a third arm section (17) connected to an end of the second arm section (16) away from the first arm section (15), and an end of the third arm section (17) away from the second arm section (16) is detachably connected to the processing mechanism or the tool setting mechanism; The tool setting mechanism comprises: A tool setting connection member (18) detachably connected to the cantilever mechanism; The measuring needle (19) is detachably connected to the tool setting connector (18).

2. The method for machining a high-steepness aspheric workpiece according to claim 1, characterized in that: The processing belt (14) is a grinding belt or a polishing belt.

3. The method for machining a high-steepness aspheric workpiece according to claim 1, characterized in that: The contact wheel (12) comprises: A wheel axle (20) for being detachably connected to the cantilever mechanism; A support frame (22) is rotatably connected to the wheel shaft (20) via a bearing (21); A polyurethane encapsulating layer (23) is coated on the support frame (22).

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