Apparatus and method for robotic driven multi-tool machining of optical elements

Abstract

The application relates to the technical field of optical processing, and particularly provides a device and method for robot-driven multi-tool processing of optical elements, which comprises the following steps: connecting the back surface of a connecting plate with a robot execution end; arranging a first processing tool in the middle of the front surface of the connecting plate; arranging guide rails on the two sides of the first processing tool, wherein the sliding direction of the guide rails is perpendicular to the front surface of the connecting plate; arranging a first driver on the first guide rail and a second driver on the second guide rail; connecting a second processing tool with the first driver; connecting a third processing tool with the second driver; and arranging the axis of the second processing tool and the third processing tool to be parallel to the axis of the first processing tool; driving the second processing tool to move along the sliding direction of the guide rail by the first driver; and driving the third processing tool to move along the sliding direction of the guide rail by the second driver. The application drives three processing tools to simultaneously process by using a single robot, thereby avoiding the collision risk in the multi-robot processing process.

Description

Technical Field

[0001] This invention belongs to the field of optical processing technology, and in particular relates to a device and method for robot-driven multi-tool processing of optical components. Background Technology

[0002] In high-end equipment such as space exploration, large-aperture optical systems have become a key indicator of a nation's technological level. To improve system performance, the aperture of a single lens or the combination of multiple lenses is typically used to increase the size of the primary mirror, thereby significantly enhancing imaging resolution, light-gathering ability, and photon capture efficiency. However, as the size and number of lenses increase, the requirements for processing efficiency become increasingly stringent.

[0003] Computer-controlled optical surface forming ( CCOS This technology uses computers to precisely manipulate small polishing tools, causing them to polish the surface of optical components along a predetermined trajectory. Compared to traditional machine tools, industrial robots offer significant advantages. CCOS It has significant advantages in application: compact structure, wide working range, high mobility, and low overall cost.

[0004] Currently, based on industrial robots CCOS Grinding and polishing are typically performed using a single robot with a single tool head. This method is inefficient for large-diameter components. While some research has proposed using multi-robot collaborative processing to improve efficiency, this approach not only requires more space and increases costs, but also places stringent demands on multi-robot collaborative control and path planning, increasing the risk of collisions. Summary of the Invention

[0005] In view of this, the present invention aims to provide a device and method for robot-driven multi-tool processing of optical components. By using a single robot to drive three processing tools to process simultaneously, there is no need for multi-robot collaborative control and processing trajectory planning, thus avoiding the risk of collisions during multi-robot processing. At the same time, it reduces costs, improves space utilization, and achieves higher processing efficiency.

[0006] To achieve the above objectives, the technical solution created by this invention is implemented as follows: This invention provides a robot-driven multi-tool processing device for optical components, comprising: a robot, a mechanical frame, a workpiece stage, and a control module. The mechanical frame includes: a connecting plate and processing tools. The processing tools include: a first processing tool, a second processing tool, and a third processing tool. The back of the connecting plate is connected to the robot's execution end, and the first processing tool is arranged in the middle of the front of the connecting plate; The first processing tool is provided with guide rails on both sides. The sliding direction of the guide rails is perpendicular to the front of the connecting plate, or is arranged at a preset angle on the front of the connecting plate. The guide rail includes: a first guide rail and a second guide rail. A first driver is arranged on the first guide rail, and a second driver is arranged on the second guide rail. The execution end of the first driver is connected to a second machining tool, and the execution end of the second driver is connected to a third machining tool. The axes of the second and third machining tools are parallel to the axis of the first machining tool. The first driver drives the second machining tool to move along the sliding direction of the guide rail, and the second driver drives the third machining tool to move along the sliding direction of the guide rail.

[0007] Another aspect of this invention provides a method for robot-driven multi-tool processing of optical components, comprising: S1: Fix the workpiece on the workpiece table and mark the position of the workpiece and the machine frame; S2: Obtain the surface shape error of the workpiece, the machining trajectory, and the initial removal function of the machining tool. Calculate the initial dwell time of the machining tool using the surface shape error of the workpiece and the initial removal function of the machining tool. Set a uniform dwell time. By adjusting the initial removal function of each machining tool, the dwell time of each machining tool becomes a uniform dwell time under the premise that the removal amount remains unchanged. S3: Input the workpiece's surface shape error, uniform dwell time, adjusted removal function, and machining trajectory into the control module. The control module generates a machining program based on the workpiece's surface shape error, uniform dwell time, adjusted removal function, and machining trajectory. S4: The machine frame moves down to the contact position between the machining tool and the workpiece's machining surface according to the position calibration. This is the starting point of the machining trajectory. The machining tool then processes the workpiece's machining surface according to the machining program.

[0008] Preferably, when the workpiece size exceeds the processing range of the robot-driven multi-tool optical element processing device, the workpiece's processing surface is divided. N Each area is rotated sequentially by rotating the workpiece table to the processing range of a robot-driven multi-tool optical component processing device for processing; When machining rotationally symmetric workpieces, the center of the rotationally symmetric workpiece is located on the axis of the workpiece stage.

[0009] Preferably, when machining workpieces of arbitrary surface shape using non-overlapping machining trajectories, the machining trajectory of one machining tool is first determined, and the trajectories of the other two machining tools are determined based on the adjustability of the relative positions of the first, second, and third machining tools and the surface shape of the workpiece.

[0010] Preferably, when machining rotationally symmetrical workpieces using overlapping machining trajectories, the machining trajectory of one machining tool is first determined, and the relative positions of the other two machining tools are adjusted by the mechanical frame so that the machining trajectories of the first, second, and third machining tools are all located on the same circular trajectory; the mechanical frame moves radially, and the workpiece table drives the workpiece to rotate.

[0011] Preferably, the distribution function of the amount of material removed from the machined surface of the workpiece. Represented as: ; in: It is a two-dimensional convolution symbol. Let be the initial removal function for the first machining tool. Let be the initial removal function for the second machining tool. This is the initial removal function for the third processing tool. The initial dwell time of the first machining tool. The initial dwell time of the second machining tool. The initial dwell time of the third machining tool; The ideal removal amount is consistent with the surface shape error. The initial dwell time of the first, second and third processing tools can be calculated according to the above formula.

[0012] Preferably, a coincident machining trajectory is used to process the rotationally symmetric workpiece. The workpiece table drives the workpiece to rotate, the rotation axis is the rotational symmetry axis of the rotationally symmetric workpiece, and the machining trajectory is a concentric circle trajectory, with the center of the circle located on the rotational symmetry axis of the rotationally symmetric workpiece. The first driver drives the second machining tool to move along the first guide rail. Δ1 The second driver drives the third machining tool to move along the second guide rail. Δ2 The dwell points of the first, second, and third machining tools are all located on the same circular trajectory, and the axes of the first, second, and third machining tools all point in their respective normal directions.

[0013] Preferably, the first driver drives the second machining tool to move along the first guide rail. Δ1 Represented as: ; in: The dwell points of the first, second, and third machining tools are all located within the radius of a circle centered at a point on the workpiece's rotation axis. It is the shortest distance between the straight line containing the first guide rail and the straight line containing the spindle of the first machining tool; The second drive unit moves the third machining tool along the second guide rail. Δ2 Represented as: ; in: The dwell points of the first, second, and third machining tools are all located within the radius of a circle centered at a point on the workpiece's rotation axis. It is the shortest distance between the straight line containing the second guide rail and the straight line containing the spindle of the first machining tool.

[0014] Preferably, by adjusting the rotational speeds of the first, second, and third machining tools, a unified dwell time for the tools is achieved. When the workpiece table does not cooperate with the machining tools, the adjustment of the rotational speeds of the first, second, and third machining tools is expressed as follows: ; in: For the first machining tool, the second machining tool, or the third machining tool on the first machining trajectory, the second machining trajectory, or the third machining trajectory, the first... Rotation speed during processing at each dwell point To control the movement speed of the robot's mechanical frame relative to the workpiece's machining surface, For the first machining tool, the second machining tool, or the third machining tool, on the first machining trajectory, the second machining trajectory, or the third machining trajectory, the first... The number of rotations during processing at each station point For adjacent stops, i.e. The first outpost and the first The distance between each station; When the workpiece stage is used in conjunction with machining tools, the rotational speeds of the first, second, and third machining tools are expressed as follows: ; in: Let be the angular velocity of the workpiece stage rotation. The radius of the machining circle trajectory where the machining tool is located.

[0015] Compared with the prior art, the present invention can achieve the following beneficial effects: This invention employs a single robot driving three processing tools to simultaneously machine the surface of a workpiece. Compared to traditional single-robot, single-tool processing, the amount of material removed per unit time increases under the same motion path and processing parameters. The three processing tools of this invention can work collaboratively along overlapping or non-overlapping processing trajectories. By independently controlling parameters such as the rotational speed and pressure of each tool, parallel processing with multiple tools is achieved. For large-aperture optical components, this invention utilizes multiple tools to remove material simultaneously, significantly reducing the total dwell time and making it suitable for efficient batch or single-piece processing of large-aperture lenses in the field of space exploration.

[0016] This invention uses only a single robot to drive three processing tools, eliminating the need for additional robots and complex multi-robot collision avoidance and collaborative processing trajectory planning. The guide rails and actuators on the mechanical frame are solely used to adjust the relative positions between the tools, resulting in simple and reliable control. This invention achieves parallel processing with three tools while reducing the number of robots, lowering control complexity, and improving space utilization.

[0017] This invention incorporates a rotatable workpiece stage, dividing the workpiece machining surface into... N The machine rotates sequentially through several areas to the processing range of the robot-driven multi-tool optical component processing device for processing. For circular workpieces, a coincident processing trajectory is used; the workpiece table rotates, and the machine frame moves radially to complete the processing of the entire circular workpiece.

[0018] The design of the guide rails and drives allows the machining tools to move on the machine frame, ensuring that the three tools are always within the required machining trajectory radius. This design reduces the reliance on oversized robots for machining large workpieces. Attached Figure Description

[0019] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments and descriptions of the invention are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings: Figure 1 This is a schematic diagram of a robot-driven multi-tool processing device for optical elements according to an embodiment of the present invention; Figure 2 This is a schematic diagram of the mechanical frame structure of a robot-driven multi-tool processing device for optical elements according to an embodiment of the present invention; Figure 3 This is a schematic diagram of the control module of a robot-driven multi-tool processing device for optical elements according to an embodiment of the present invention; Figure 4 This is a schematic diagram of the machining trajectory of the mechanical frame when the workpiece table is stationary, according to an embodiment of the present invention. Figure 5This is a schematic diagram of the circular workpiece machining trajectory of the robot-driven multi-tool machining optical element method provided in an embodiment of the present invention; Figure 6 This is a schematic diagram of a driver according to an embodiment of the present invention driving a machining tool to move along the sliding direction of a guide rail.

[0020] The reference numerals in the figures include: Robot 1, mechanical frame 2, workpiece table 3, workpiece 4, connecting plate 5, first machining tool 6, second machining tool 7, third machining tool 8, first guide rail 9, second guide rail 10, first driver 11, second driver 12. Detailed Implementation

[0021] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only for explaining the invention and do not constitute a limitation thereof. Similar elements in different embodiments are referred to by associated similar element reference numerals. In the following embodiments, many details are described to facilitate a better understanding of the invention. However, those skilled in the art will readily recognize that some features may be omitted in different situations, or may be replaced by other elements, materials, or methods. In some cases, some operations related to the invention are not shown or described in the specification. This is to avoid obscuring the core parts of the invention with excessive description. For those skilled in the art, detailed description of these related operations is not necessary; the relevant operations can be fully understood based on the description in the specification and general technical knowledge in the art.

[0022] It should be noted that, unless otherwise specified, the embodiments and features described in this invention can be combined to form various implementations. Furthermore, the order of the steps or actions in the method description can be changed or adjusted in a manner readily apparent to those skilled in the art. Therefore, the various orders in the specification and drawings are merely for the clear description of a particular embodiment and do not imply a mandatory order, unless otherwise stated that a particular order must be followed.

[0023] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on this invention. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, features defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0024] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art will understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0025] The invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0026] Please see Figure 1 and Figure 2 In one embodiment of the present invention, a robot-driven multi-tool processing device for optical elements is provided, comprising: a robot 1, a mechanical frame 2, a workpiece stage 3, and a control module. The mechanical frame 2 includes: a connecting plate 5 and processing tools. The processing tools include: a first processing tool 6, a second processing tool 7, and a third processing tool 8. The back of the connecting plate 5 is connected to the execution end of the robot 1, and the first processing tool 6 is arranged in the middle of the front of the connecting plate 5; The first processing tool 6 is provided with guide rails on both sides. The sliding direction of the guide rails is perpendicular to the front of the connecting plate 5, or is arranged at a preset angle on the front of the connecting plate 5. The guide rail includes: a first guide rail 9 and a second guide rail 10. A first driver 11 is arranged on the first guide rail 9, and a second driver 12 is arranged on the second guide rail 10. The execution end of the first driver 11 is connected to a second machining tool 7, and the execution end of the second driver 12 is connected to a third machining tool 8. The axes of the second machining tool 7 and the third machining tool 8 are parallel to the axis of the first machining tool 6. The first driver 11 drives the second machining tool 7 to move along the sliding direction of the guide rail, and the second driver 12 drives the third machining tool 8 to move along the sliding direction of the guide rail.

[0027] Robot 1 is located on the outer periphery of workpiece table 3. Workpiece table 3 includes a table surface, stops, fixing grooves, a column, a turbine, a harmonic reducer, a limit sensor, and an angle sensor. The table surface is mounted above the column, and the column is rotatably connected to the table surface, which supports workpiece 4. Fixing grooves are provided on the surface of the table surface to fix workpiece 4. Stops are provided around the circumference of the table surface to block workpiece 4, preventing it from falling off during table rotation or limiting its radial displacement. A turbine is located at the center of the column to drive the table surface to rotate. The harmonic reducer is positioned between the turbine and the table surface to improve rotational accuracy. Limit sensors are located below the table surface to detect whether the table surface rotation exceeds limits. An angle sensor is connected to the harmonic reducer to detect the table surface rotation angle in real time.

[0028] The workpiece 4 is placed on the workpiece table 3. The workpiece table 3 can drive the workpiece 4 to rotate at a specific speed or rotate at a specific angle to cooperate with the workpiece 4 for processing.

[0029] The machine frame 2 includes a connecting plate 5, guide rails, a driver, and machining tools. The guide rails include a first guide rail 9 and a second guide rail 10; the driver includes a first driver 11 and a second driver 12; the machining tools include a first machining tool 6, a second machining tool 7, and a third machining tool 8, and the rotational speed and pressure of the first machining tool 6, the second machining tool 7, and the third machining tool 8 are adjustable.

[0030] The back of the connecting plate 5 is connected to the execution end of the robot 1. A first processing tool 6 is fixedly arranged in the center of the front of the connecting plate 5, which can be used to calibrate the position of the mechanical frame 2. A first guide rail 9 and a second guide rail 10 are arranged on both sides of the first processing tool 6. The sliding direction of the first guide rail 9 and the second guide rail 10 is perpendicular to the front of the connecting plate 5, or arranged at a preset angle on the front of the connecting plate 5. A first driver 11 is arranged on the first guide rail 9, and a second driver 12 is arranged on the second guide rail 10. Both the first driver 11 and the second driver 12 include a linear motor and a displacement sensor. The linear motor is mounted on the guide rail and is used to drive the connected second processing tool 7 and third processing tool 8 to move along the sliding direction of the guide rail. The displacement sensor is arranged along the guide rail and is used to detect the sliding position of the processing tool in real time and feed back the position of the processing tool to the control module.

[0031] The execution end of the first driver 11 is connected to the second machining tool 7, and the execution end of the second driver 12 is connected to the third machining tool 8. The axes of the second machining tool 7 and the third machining tool 8 are parallel to the axis of the first machining tool 6.

[0032] The first machining tool 6, the second machining tool 7, and the third machining tool 8 each include a grinding disc, a cylinder, a motor, a pressure sensor, and a speed controller. All three tools can adjust either the rotational speed or the pressure. The motor housing of the first machining tool 6 is fixedly connected to the connecting plate 5, with the motor's output shaft facing the workpiece 4. The cylinder is positioned at the end of the motor's output shaft facing the workpiece 4. The grinding disc is positioned at the end of the cylinder facing the workpiece 4, with the polished surface of the grinding disc facing the surface of the workpiece 4. The pressure sensor is positioned between the cylinder and the grinding disc to detect the contact pressure of the grinding disc on the workpiece 4 in real time. The speed controller is connected to the motor to adjust the motor's rotational speed. The motor housings of the second machining tool 7 and the third machining tool 8 are respectively connected to the first driver 11 and the second driver 12. The connection relationships of the grinding disc, cylinder, pressure sensor, and speed controller are the same as those of the first machining tool 6.

[0033] Please see Figure 3 The control module includes: a machining program module, a robot control module, a machine frame control module, a machining tool control module, and a workpiece table control module.

[0034] Obtain the surface shape error, machining trajectory, and initial removal function of the machining tool for workpiece 4. Calculate the initial dwell time of each machining tool based on the surface shape error and the initial removal function of each machining tool. Set a uniform dwell time. By adjusting the initial removal function of each machining tool, the dwell time of each machining tool becomes a uniform dwell time while keeping the removal amount constant. The surface shape error, uniform dwell time, adjusted removal function, and machining trajectory of workpiece 4 are input into the machining program module. The machining program module generates a machining program based on the surface shape error, uniform dwell time, adjusted removal function, and machining trajectory of workpiece 4 to be processed, and sends the generated machining program to the robot control module, workpiece table control module, machine frame control module, and machining tool control module respectively.

[0035] The robot control module controls the running trajectory, the attitude of the robot's execution end, and the running speed of the robot 1 according to the generated processing program.

[0036] The mechanical frame control module can control the first driver 11 and the second driver 12 to drive the second machining tool 7 and the third machining tool 8 to move according to the generated machining program, so as to adjust the relative position and posture between the first machining tool 6, the second machining tool 7 and the third machining tool 8.

[0037] The machining tool control module can control the rotation speed and pressure of the first machining tool 6, the second machining tool 7, and the third machining tool 8 according to the generated machining program.

[0038] The workpiece stage control module can control the workpiece stage 3 to remain stationary or rotate, as well as the rotation speed, according to the machining program.

[0039] Please see Figure 4 and Figure 5 A method for machining optical components using a robot-driven multi-tool is provided, implemented using a device for machining optical components using a robot-driven multi-tool, comprising: S1: Fix the workpiece 4 on the workpiece table 3 and calibrate the positions of the workpiece 4 and the machine frame 2; S2: Obtain the surface shape error, machining trajectory, and initial removal function of the machining tool of workpiece 4. Calculate the initial dwell time of the machining tool using the surface shape error of workpiece 4 and the initial removal function of the machining tool. Set a uniform dwell time. By adjusting the initial removal function of each machining tool, the dwell time of each machining tool becomes a uniform dwell time under the premise that the removal amount remains unchanged. S3: Input the surface shape error of workpiece 4, the uniform dwell time, the adjusted removal function and the machining trajectory into the control module. The control module generates a machining program based on the surface shape error of workpiece 4, the uniform dwell time, the adjusted removal function and the machining trajectory. S4: The machine frame 2 moves down to the position where the machining tool contacts the machining surface of the workpiece 4 according to the position calibration. This is the starting point of the machining trajectory. The machining tool then processes the machining surface of the workpiece 4 according to the machining program.

[0040] S1: Place the workpiece 4 to be processed on the workpiece table 3, adjust and fix the position of the workpiece 4 on the workpiece table 3, ensuring that the processing surface of the workpiece 4 faces the machine frame 2. Perform precise positional calibration of the workpiece 4 with the first processing tool 6, the second processing tool 7, the third processing tool 8 and the machine frame 2.

[0041] S2: Obtain the surface shape parameters of workpiece 4 and the machining parameters of the machining tools, and input the surface shape parameters and machining parameters into the control module. The surface shape parameters of workpiece 4 include: surface shape error and position information. The machining parameters include: the initial removal function, machining trajectory, and initial dwell time of the first machining tool 6, the second machining tool 7, and the third machining tool 8. The initial dwell time is calculated using the surface shape error of workpiece 4 and the initial removal function of the machining tools. A uniform dwell time is set, and by adjusting the initial removal function of each machining tool, the initial dwell time of each machining tool becomes a uniform dwell time while keeping the removal amount constant. S3: Input the surface shape error of workpiece 4, the unified dwell time, the adjusted removal function, and the machining trajectory into the machining program module. The machining program module generates a machining program based on the surface shape error of workpiece 4, the unified dwell time, the adjusted removal function, and the machining trajectory, and sends the generated machining program to the robot control module, the workpiece table control module, the machine frame control module, and the machining tool control module respectively. Each module controls robot 1, machine frame 2, machining tool, and workpiece table 3 to start the machining process.

[0042] Robot 1 drives the mechanical frame 2 to move down to above the processing start position of the workpiece 4 according to the position calibration. After adjusting its posture, it slowly moves down until the first processing tool 6, the second processing tool 7, and the third processing tool 8 contact the processing surface of the workpiece 4. After the contact pressure stabilizes, the first processing tool 6, the second processing tool 7, and the third processing tool 8 are started. At the same time, the workpiece table 3 and the robot 1 are coordinated and controlled to move, so that the first processing tool 6, the second processing tool 7, and the third processing tool 8 process synchronously along the preset processing trajectory.

[0043] S4: After the processing task is completed, the processing of the first processing tool 6, the second processing tool 7 and the third processing tool 8 will stop, and the robot 1 will move the mechanical frame 2 back to the initial position.

[0044] Positioning of workpiece 4 and machine frame 2 is determined, and a coordinate system is established based on the surface of workpiece 4 to be machined. A In coordinate system A In the process, the center points of the first machining tool 6, the second machining tool 7, and the third machining tool 8 are determined. TCP ) Calibration, determining the center points of the first machining tool 6, the second machining tool 7, and the third machining tool 8 ( TCPThe position and orientation of the workpiece 4 can be determined by rotating the workpiece table 3 by a preset angle to keep the processed part of the workpiece 4 within the effective processing range of the robot 1. After rotation, the coordinate system of the workpiece 4 is recalculated by combining the position of the workpiece 4 relative to the workpiece table 3 and the rotation angle to ensure the continuity of processing.

[0045] For rotationally symmetric workpieces, when fixing the workpiece, it is necessary to ensure that the center of the workpiece is located on the rotation axis of the workpiece stage 3 in order to achieve overlapping machining trajectories. The rotationally symmetric workpiece is a circular workpiece.

[0046] Based on the different surface shapes of the workpiece 4, a machining trajectory is selected. For workpieces of arbitrary surface shapes, a non-overlapping machining trajectory is selected for machining. The machine frame 2 has a certain degree of adjustability, realizing multi-trajectory combination machining of three machining tools within a limited range. First, the machining trajectory of the first machining tool 6 is determined. L1 Then, based on the adjustability of the relative positions of each machining tool and the workpiece surface shape, the machining trajectories of the second machining tool 7 and the third machining tool 8 are determined. L2 , L3 The first processing tool 6, the second processing tool 7, and the third processing tool 8 move along their respective processing trajectories, and the amount of material removed is superimposed.

[0047] For rotationally symmetric workpieces, select the coincident machining trajectory and first determine the machining trajectory of the first machining tool 6. L1 By adjusting the machine frame 2, the first machining tool 6, the second machining tool 7, and the third machining tool 8 are all located on the same circular trajectory. At this time, the machining trajectory of the first machining tool 6 is... L1 The machining trajectory of the second machining tool 7 L2 and the machining trajectory of the third machining tool 8 L3 The machining trajectories overlap. During machining, robot 1 drives mechanical frame 2 to move radially from the outside to the inside (or from the inside to the outside), and workpiece table 3 drives workpiece 4 to rotate continuously, forming a spiral or concentric circle machining path. Circular trajectories include concentric circle trajectories.

[0048] After determining the machining trajectories of the first machining tool 6, the second machining tool 7, and the third machining tool 8, the initial removal function of the first machining tool 6 is used as the basis for the machining trajectory. R1 The initial removal function of the second processing tool 7 R2 and the initial removal function of the third machining tool 8 R3 Solve for the initial dwell time of the first machining tool 6. T1 Initial dwell time of the second machining tool 7 T2 and the initial dwell time of the third machining tool 8 T3 .

[0049] Optical processing is essentially a convolution process. The first processing tool 6, the second processing tool 7, and the third processing tool 8 move on the processing surface of the workpiece 4 and remain in different processing areas for corresponding periods. By superimposing the material removal amounts from each processing area, the optical processing material convolution removal model can be expressed as: (1) in: The distribution of material removal on the surface of workpiece 4. It is a two-dimensional convolution symbol. This is the initial removal function for the machining tool. This refers to the initial dwell time of the machining tool.

[0050] The processing method involves simultaneous processing using three processing tools. The material removal rate distribution on the processed surface of workpiece 4 is as follows: Represented as: (2) in: It is a two-dimensional convolution symbol. This is the initial removal function for the first machining tool 6. The initial removal function for the second processing tool 7. The initial removal function for the third machining tool 8. For the first processing tool 6, according to the initial removal function Initial dwell time during processing For the second processing tool 7, based on the initial removal function Initial dwell time during processing For the third processing tool 8, based on the initial removal function The initial dwell time during processing. The ideal removal amount is consistent with the surface shape error. The initial dwell time of the first processing tool 6, the second processing tool 7 and the third processing tool 8 can be calculated according to the above formula (adjust the removal function so that the initial dwell time of each processing tool becomes a uniform dwell time under the premise that the removal amount remains unchanged).

[0051] For single-tool machining, the machining trajectory is planned based on the shape and characteristics of workpiece 4 during the machining process. A series of evenly distributed dwell points are selected on the machining trajectory, and the number of dwell points is denoted as . The surface shape error of workpiece 4 is This is also the target removal amount, discretized to obtain several data points. Let the number of data points be... Record the first The coordinates of the data points are , No. The coordinates of each station are: In the The initial stay time at each stop is The amount of material removed by the machining tool is expressed as: (3) The amount of material removed from the machined surface of ideal workpiece 4 is consistent with the surface shape error, that is... Formula (3) becomes: (4) Known surface shape error and the initial removal function of the machining tool The initial dwell time of the machining tool can be calculated according to formula (4).

[0052] Formula (3) can be expressed in matrix-vector form as follows: (5) in: any element For the first The target material removal amount for each data point any element For machining tools in the first During processing at the first outpost, the first Material removal rate for each discrete data point any element For machining tools Initial dwell time when processing at each dwelling point.

[0053] Formula (5) can be used to solve the linear equation system model to determine the initial dwell time distribution, i.e., the time the machining tool spends at each dwell point on the surface of workpiece 4. Similarly, for parallel machining with three machining tools, formula (2) can be written in matrix-vector form as follows: (6) in: any element For the first The target material removal amount for each data point any element For the first machining tool 6 on the first machining trajectory During processing at the first outpost, the first Material removal rate for each discrete data point any element For the first machining tool 6 on the first machining trajectory Initial dwell time during processing at each dwell point any element For the second machining tool 7 on the second machining trajectory During processing at the first outpost, the first Material removal rate for each discrete data point any element For the second machining tool 7 on the second machining trajectory Initial dwell time during processing at each dwell point any element For the third machining tool 8 on the third machining trajectory During processing at the first outpost, the first Material removal rate for each discrete data point any element For the third machining tool 8 on the third machining trajectory Initial dwell time during processing at each dwelling point.

[0054] The initial dwell time of the first machining tool 6 can be obtained by solving formula (6). T1 Initial dwell time of the second machining tool 7 T2 and the initial dwell time of the third machining tool 8 T3 .

[0055] For the first machining tool 6, the second machining tool 7, and the third machining tool 8 with overlapping machining trajectories, they process the same dwell point successively. The machining tools are of the same model and have approximately the same initial removal function. The initial dwell time of a machining tool along the machining trajectory can be calculated using formula (5). T Then, the initial dwell time of the first machining tool 6, the second machining tool 7, and the third machining tool 8 is obtained by proportional allocation. T1 , T2 and T3 , is represented as; = = , = (7) ; in: The initial dwell time distribution is obtained based on formula (5), that is, assuming that only one machining tool is used to process along the same machining trajectory, at coordinate point Total stay time at the location The initial dwell time distribution assigned to the first machining tool 6 represents the dwell time distribution of the first machining tool 6 at the coordinate point. Initial stay on The initial dwell time distribution after the allocation of the second machining tool 7 represents the time distribution of the second machining tool 7 at the coordinate point. Initial stay on The initial dwell time distribution assigned to the third machining tool 8 represents the dwell time distribution of the third machining tool 8 at the coordinate point. Initial stay on and It is the initial dwell time allocation coefficient for the first machining tool 6, the second machining tool 7, and the third machining tool 8.

[0056] Please see Figure 6 The machining process utilizes a trajectory coincidence method to process rotationally symmetric workpieces. During machining, the workpiece stage 3 drives the workpiece 4 to rotate, with the rotation axis being the rotational symmetry axis of the rotationally symmetric workpiece. The coincidence machining trajectory is a concentric circular trajectory, with the center of the circular trajectory located on the rotational axis of the rotationally symmetric workpiece. The robot 1 drives the mechanical frame 2 to move radially from the outside to the inside (or from the inside to the outside), switching to circular trajectories with different radii. During this process, as the radius of the machining trajectory changes, the first driver 11 drives the second machining tool 7 to move along the first guide rail 9. Δ1 The second driver 12 drives the third machining tool 8 to move along the second guide rail 10. Δ2 The dwell points of the first machining tool 6, the second machining tool 7, and the third machining tool 8 are all located on the same circular trajectory, and the axes of the first machining tool 6, the second machining tool 7, and the third machining tool 8 all point to their respective normal directions.

[0057] The first driver 11 drives the second machining tool 7 to move along the first guide rail 9. Δ1 Represented as: (8) in: The dwell points of the first machining tool 6, the second machining tool 7, and the third machining tool 8 are all located within the radius of a circle centered at a point on the rotation axis of the workpiece 4. The shortest distance between the straight line where the first guide rail 9 is located and the straight line where the spindle of the first machining tool 6 is located; The second drive 12 drives the third machining tool 8 to move along the second guide rail 10. Δ2 Represented as: (9) in: The dwell points of the first machining tool 6, the second machining tool 7, and the third machining tool 8 are all located within the radius of a circle centered at a point on the rotation axis of the workpiece 4. It is the shortest distance between the straight line where the second guide rail 10 is located and the straight line where the spindle of the first machining tool 6 is located.

[0058] There is an inherent distance limitation between the machining tools. For the central area of ​​a rotationally symmetric workpiece, when the diameter of the circle centered on a point on the rotation axis of workpiece 4 is smaller than the inherent distance between the machining tools, it is impossible for two machining tools to process simultaneously. The angle adjustment device is used to increase the deflection angle of one machining tool, so that only one machining tool can perform the processing.

[0059] The Preston material removal model, the theoretical basis of modern CNC optical surface forming technology, indicates that the amount of surface material removed from workpiece 4 is linearly and positively correlated with the surface pressure of workpiece 4 and the relative motion speed between workpiece stage 3 and machining tool, expressed as: (10) in: For machining tools The amount of surface material removed from workpiece 4 per unit time. It is a comprehensive process factor (including abrasive characteristics, environmental parameters, etc.). The pressure at the contact surface between the machining tool and workpiece 4. It is the relative motion rate between the machining tool and the workpiece 4.

[0060] The positional relationship between the processing tools results in differences in the positions of their respective dwell points. The ideal material removal amount at different positions is generally different. Therefore, when the rotational speed and pressure of each processing tool are the same, the initial dwell time of the processing tools at different positions is different, corresponding to different total number of rotations of the grinding wheel during the initial dwell time at each dwell point. To ensure that the positions of the processing tools are relatively stationary during the processing process, the dwell time at the corresponding dwell point processed by each processing tool at the same moment must be the same. While ensuring that the surface material removal amount of workpiece 4 remains constant, a uniform dwell time can be achieved by adjusting the rotational speed or pressure to change the initial removal function. Taking the adjustment of rotational speed as an example, by adjusting the rotational speeds of the first processing tool 6, the second processing tool 7, and the third processing tool 8, a uniform dwell time can be achieved for the first processing tool 6, the second processing tool 7, and the third processing tool 8. When the workpiece stage 3 does not cooperate with the processing tools, the adjustment of the rotational speeds of the first processing tool 6, the second processing tool 7, and the third processing tool 8 is expressed as follows: (11) in: For the first machining tool 6, the second machining tool 7, or the third machining tool 8, on the first machining trajectory, the second machining trajectory, or the third machining trajectory, the... Rotation speed during processing at each dwell point To control the movement speed of the mechanical frame 2 relative to the machining surface of the workpiece 4 for robot 1, For the first machining tool 6, the second machining tool 7, or the third machining tool 8, on the first machining trajectory, the second machining trajectory, or the third machining trajectory, the... The number of rotations during processing at each station point For adjacent stops, i.e. The first outpost and the first The distance between each station; When the workpiece stage 3 is used in conjunction with the machining tools, the rotational speeds of the first machining tool 6, the second machining tool 7, and the third machining tool 8 are expressed as follows: (12) in: Let be the angular velocity of the workpiece stage 3. The radius of the machining circle trajectory where the machining tool is located.

[0061] As an optional embodiment, the number of guide rails can be N The number of processing tools can be [number]. N+1 indivual, N Greater than and equal to 1.

[0062] As an alternative embodiment, the connection angle between the guide rail and the connecting plate 5 can be changed to accommodate more shaped machining surfaces.

[0063] As an alternative embodiment, the processing tool can be a wheel grinding head, a small grinding head, or an airbag grinding head, etc.

[0064] As an alternative embodiment, the machine frame 2 can be a combination of processing tools of the same model or different models or different types.

[0065] In summary, the above description is merely a preferred embodiment of this specification and is not intended to limit the scope of protection of this specification. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this specification should be included within the scope of protection of this specification.

[0066] The systems, apparatuses, modules, or units described in one or more of the above embodiments may be implemented by a computer chip or entity, or by a product having a certain function. A typical implementation device is a computer. Specifically, a computer may be, for example, a personal computer, a laptop computer, a cellular phone, a camera phone, a smartphone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or any combination of these devices.

[0067] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0068] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to interchangeably. Each embodiment focuses on describing the differences from other embodiments. In particular, the system embodiments are basically similar to the method embodiments, so the description is relatively simple; relevant parts can be referred to the descriptions in the method embodiments.

Claims

1. A method for machining optical components using a robot-driven multi-tool, characterized in that, include: S1: Fix the workpiece on the workpiece table and calibrate the position of the workpiece and the machine frame; S2: Obtain the surface shape error, machining trajectory, and initial removal function of the machining tool of the workpiece; calculate the initial dwell time of the machining tool using the surface shape error of the workpiece and the initial removal function of the machining tool; set a uniform dwell time; and adjust the initial removal function of each machining tool so that the dwell time of each machining tool becomes a uniform dwell time under the premise that the removal amount remains unchanged. S3: Input the surface shape error, uniform dwell time, adjusted removal function and machining trajectory of the workpiece into the control module. The control module generates a machining program based on the surface shape error, uniform dwell time, adjusted removal function and machining trajectory of the workpiece. S4: The machine frame moves down to the position where the machining tool contacts the machining surface of the workpiece according to the position calibration, which is the starting point of the machining trajectory. The machining tool processes the machining surface of the workpiece according to the machining program. The method for processing optical components using a robot-driven multi-tool is implemented based on a device for processing optical components using a robot-driven multi-tool. The device includes a robot, a mechanical frame, a workpiece stage, and a control module. The mechanical frame includes a connecting plate and processing tools. The processing tools include a first processing tool, a second processing tool, and a third processing tool. The back of the connecting plate is connected to the robot's execution end, and the first processing tool is arranged in the middle of the front of the connecting plate; The first processing tool is provided with guide rails on both sides. The sliding direction of the guide rails is perpendicular to the front of the connecting plate, or is arranged at a preset angle on the front of the connecting plate. The guide rail includes: a first guide rail and a second guide rail. A first driver is arranged on the first guide rail, and a second driver is arranged on the second guide rail. The execution end of the first driver is connected to the second processing tool, and the execution end of the second driver is connected to the third processing tool. The axes of the second processing tool and the third processing tool are parallel to the axis of the first processing tool. The first driver drives the second machining tool to move along the sliding direction of the guide rail, and the second driver drives the third machining tool to move along the sliding direction of the guide rail; When the size of the workpiece exceeds the processing range of the robot-driven multi-tool optical element processing device, the processing surface of the workpiece is divided. N Each area is rotated sequentially by the workpiece table to the processing range of the robot-driven multi-tool optical element processing device for processing; When machining a rotationally symmetric workpiece, the center of the rotationally symmetric workpiece is located on the axis of the workpiece stage; When the machining tools process the rotationally symmetric workpiece using a coincident machining trajectory, the machining trajectory of one machining tool is first determined, and the relative positions of the other two machining tools are adjusted by the mechanical frame so that the machining trajectories of the first machining tool, the second machining tool, and the third machining tool are all located on the same circular trajectory; the mechanical frame moves radially, and the workpiece table drives the workpiece to rotate; The rotationally symmetric workpiece is machined using a coincident machining trajectory. The workpiece table drives the workpiece to rotate, and the rotation axis is the rotational symmetry axis of the rotationally symmetric workpiece. The machining trajectory is a concentric circle trajectory, and the center of the circle trajectory is located on the rotational symmetry axis of the rotationally symmetric workpiece. The first driver drives the second machining tool to move along the first guide rail. Δ1 The second driver drives the third machining tool to move along the second guide rail. Δ2 The dwell points of the first machining tool, the second machining tool, and the third machining tool are all located on the same circular trajectory, and the axes of the first machining tool, the second machining tool, and the third machining tool all point to their respective normal directions. The first driver drives the second machining tool to move along the first guide rail. Δ1 Represented as: ； in: The dwell points of the first machining tool, the second machining tool, and the third machining tool are all located within the radius of a circle centered at a point on the workpiece's rotation axis. The shortest distance between the straight line containing the first guide rail and the straight line containing the spindle of the first machining tool; The second driver drives the third machining tool to move along the second guide rail. Δ2 Represented as: ； in: The dwell points of the first, second, and third machining tools are all located within the radius of a circle centered at a point on the workpiece's rotation axis; that is, the radius of the machining circle trajectory where the machining tools are located. The shortest distance between the straight line containing the second guide rail and the straight line containing the spindle of the first machining tool; By adjusting the rotational speeds of the first, second, and third machining tools, a unified dwell time for the first, second, and third machining tools is achieved. When the workpiece table does not cooperate with the machining tools, the adjustment of the rotational speeds of the first, second, and third machining tools is expressed as follows: ； in: The first machining tool, the second machining tool, or the third machining tool are on the first machining trajectory, the second machining trajectory, or the third machining trajectory. Rotation speed during processing at each dwell point The robot controls the movement speed of the mechanical frame relative to the workpiece machining surface. For the first machining tool, the second machining tool, or the third machining tool, on the first machining trajectory, the second machining trajectory, or the third machining trajectory, the first... The number of rotations during processing at each station point For adjacent stops, i.e. The first outpost and the first The distance between each station; When the workpiece stage is used in conjunction with the machining tool, the rotational speeds of the first, second, and third machining tools are adjusted as follows: ； in: Let be the angular velocity of the workpiece stage rotation.

2. The method for machining optical components using a robot-driven multi-tool according to claim 1, characterized in that, When the machining tool processes a workpiece with an arbitrary surface shape using a non-overlapping machining trajectory, the machining trajectory of one machining tool is first determined, and the trajectories of the other two machining tools are determined based on the relative position adjustability between the first machining tool, the second machining tool, and the third machining tool, as well as the surface shape of the workpiece.

3. The method for machining optical components using a robot-driven multi-tool according to claim 1, characterized in that, The distribution function of the amount of material removed from the machined surface of the workpiece Represented as: ； in: It is a two-dimensional convolution symbol. Let be the initial removal function of the first processing tool. Let be the initial removal function of the second processing tool. The initial removal function for the third processing tool. The initial dwell time of the first machining tool. This refers to the initial dwell time of the second machining tool. The initial dwell time of the third processing tool.

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