A robot high-precision lens polishing head and control method

Abstract

The present invention relates to a robot high-precision lens polishing head and control method, including a revolution motor, a planetary reducer, a base plate, a revolution motor mounting seat, a rotation mechanism, a revolution motor adjustment mechanism, a revolution guide rail, and a polishing head, wherein the rotation mechanism is connected to the revolution guide rail, the revolution guide rail is mounted on the base plate, the upper part of the rotation mechanism is connected to the revolution motor adjustment mechanism, the polishing head is connected to the rotation mechanism, the revolution motor is mounted on the revolution motor mounting seat, the revolution motor is connected to the planetary reducer, the planetary reducer is connected to the revolution motor adjustment mechanism, the revolution motor and the planetary reducer are used to drive the rotation mechanism to realize revolution on the revolution guide rail, and the polishing head is driven to rotate by the rotation mechanism. The present invention has good polishing uniformity and high precision; can realize automatic polishing of full coverage of optical lenses; can achieve flexible polishing during polishing without damaging the lenses.

Description

Technical Field

[0001] The invention relates to an optical lens polishing device, and in particular to a robot high-precision lens polishing head and a control method. Background Art

[0002] There are existing optical lens polishing devices, some of which use manual polishing and some use mechanical polishing. However, the polishing uniformity is not ideal; it is difficult to achieve automatic polishing of the entire optical lens; and flexible polishing cannot be achieved during polishing, which can easily damage the lens. Summary of the invention

[0003] The purpose of the present invention is to provide a robot high-precision lens polishing head and a control method, which has good polishing uniformity and high precision; can realize automatic polishing of full coverage of optical lenses; can achieve flexible polishing during polishing without damaging the lenses.

[0004] In order to achieve the above object, the present invention has the following technical solutions:

[0005] A robot high-precision lens polishing head of the present invention comprises a revolution motor, a planetary reducer, a base plate, a revolution motor mounting seat, a rotation mechanism, a revolution motor adjustment mechanism, a revolution guide rail, and a polishing head. The rotation mechanism is connected to the revolution guide rail, the revolution guide rail is mounted on the base plate, the upper part of the rotation mechanism is connected to the revolution motor adjustment mechanism, the polishing head is connected to the rotation mechanism, the revolution motor is mounted on the revolution motor mounting seat, the revolution motor is connected to the planetary reducer, the planetary reducer is connected to the revolution motor adjustment mechanism, the revolution motor and the planetary reducer are used to drive the rotation mechanism to realize revolution on the revolution guide rail, and the polishing head is driven to rotate by the rotation mechanism.

[0006] Among them, the rotation mechanism includes a rotation mechanism housing, a rotation servo motor, a rotation motor mounting plate, a low-friction cylinder, a polishing head connecting bracket, a spline shaft, and a pressure proportional valve. The rotation servo motor is located at the upper part of the rotation mechanism housing, the output shaft of the rotation servo motor is connected to the spline, the spline is connected to the spline shaft, the spline shaft is connected to the polishing head, the polishing head is connected to two low-friction cylinders through the polishing head connecting bracket, the low-friction cylinder is connected to the pressure proportional valve through the air pipe, the pressure proportional valve is connected to the air tank through the air pipe, the rotation servo motor drives the spline shaft to rotate, and the spline shaft and the polishing head are transmitted through the spline.

[0007] Among them, the revolving motor adjustment mechanism is a dovetail groove structure, the top end of the upper shaft of the rotation mechanism is connected to the dovetail groove structure, the bottom end of the upper shaft of the rotation mechanism is connected to the top of the rotation mechanism through a bearing, and the top end of the upper part of the rotation mechanism adjusts the eccentric distance of the polishing head by sliding in the dovetail groove, and the eccentricity adjustment range is 0-30mm.

[0008] Among them, the revolving guide rail includes six linear guide rails and four sliders, among which, the first guide rail and the second guide rail are respectively fixed on the left side of the rotation mechanism, and the first guide rail and the second guide rail are parallel; the fifth guide rail and the sixth guide rail are respectively fixed on the bottom plate, and the fifth guide rail and the sixth guide rail are parallel; the front end of the first slider is slidably connected to the first guide rail, and the rear end of the first slider is slidably connected to the fifth guide rail; the front end of the second slider is slidably connected to the second guide rail, and the rear end of the second slider is slidably connected to the sixth guide rail; the third guide rail and the fourth guide rail are respectively fixed on the right side of the rotation mechanism, and the third guide rail and the fourth guide rail are parallel; the front end of the third slider is slidably connected to the third guide rail, and the rear end of the third slider is slidably connected to the fifth guide rail; the front end of the fourth slider is slidably connected to the fourth guide rail, and the rear end of the fourth slider is slidably connected to the sixth guide rail.

[0009] Among them, the slider is an L-shaped structure, and a reinforcing rib is provided between the two branches of the L-shaped structure, so that the slider of the L-shaped structure forms an integrated structure. The front and rear ends of the slider are both door-shaped, which are used to hang on the revolving guide rail to achieve a sliding connection.

[0010] A control method of a robot high-precision lens polishing head of the present invention comprises the following steps:

[0011] 1) Start the revolution motor to rotate, the revolution motor drives the revolution motor adjustment mechanism to rotate, the top of the upper shaft of the rotation mechanism slides in the dovetail groove of the revolution motor adjustment mechanism, and at the same time, the upper shaft of the rotation mechanism also rotates;

[0012] 2) The bottom end of the upper shaft of the rotation mechanism is connected to the top of the rotation mechanism through a bearing, and the upper shaft of the rotation mechanism rotates, so that a torque in the rotation direction is generated on the rotation mechanism;

[0013] 3) Due to the bearing connection in step 2), the torque in the rotation direction will not cause the self-rotating mechanism to rotate quickly; it is only through this torque that the self-rotating mechanism moves linearly in the front-to-back direction and the left-to-right direction on the revolution guide rail;

[0014] 4) In step 3), the self-rotating mechanism moves linearly in the front-to-back direction and the left-to-right direction on the revolution guide rail, so that the polishing head at the bottom of the self-rotating mechanism forms a circular motion trajectory on the lens workpiece;

[0015] 5) In step 1), the top end of the upper shaft of the self-rotating mechanism slides in the dovetail groove of the revolving motor adjustment mechanism, so that the self-rotating mechanism together with the polishing head can adjust the eccentric movement of the polishing head, and the sliding length of the dovetail groove can be set to control the eccentric distance;

[0016] 6) Through the motion control of step 1) to step 5), the polishing head forms a flexible, fully covered circular track on the lens workpiece during the polishing process.

[0017] The advantages of the present invention are: good polishing uniformity and high precision; automatic polishing of full coverage of optical lenses can be realized; flexible polishing can be achieved during polishing without damaging the lenses. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a three-dimensional schematic diagram of the overall structure of the present invention;

[0019] Figure 2 It is a schematic diagram of the front view of the present invention;

[0020] Figure 3 It is an enlarged schematic diagram of the rotation mechanism of the present invention.

[0021] In the figure, 1. revolution motor; 2. planetary reducer; 3. base plate; 4. revolution motor mounting seat; 5. revolution motor adjustment mechanism; 6. rotation mechanism; 7. polishing head; 8. revolution guide rail; 9. first guide rail; 10. second guide rail; 11. third guide rail; 12. fourth guide rail; 13. fifth guide rail; 14. sixth guide rail; 15. first slider; 16. second slider; 17. third slider; 18. fourth slider; 19. rotation mechanism housing; 20. rotation servo motor; 21. low friction cylinder; 22. rotation motor mounting plate; 23. polishing head connecting bracket; 24. dovetail groove; 25. spline shaft; 26. rotation mechanism upper shaft. DETAILED DESCRIPTION

[0022] The following examples are used to illustrate the present invention but are not intended to limit the scope of the present invention.

[0023] See also Figure 1-3 A robot high-precision lens polishing head of the present invention comprises a revolution motor, a planetary reducer, a base plate, a revolution motor mounting seat, a self-rotation mechanism, a revolution motor adjustment mechanism, a revolution guide rail, and a polishing head. The self-rotation mechanism is connected to the revolution guide rail, the revolution guide rail is mounted on the base plate, the upper part of the self-rotation mechanism is connected to the revolution motor adjustment mechanism, the polishing head is connected to the self-rotation mechanism, the revolution motor is mounted on the revolution motor mounting seat, the revolution motor is connected to the planetary reducer, the planetary reducer is connected to the revolution motor adjustment mechanism, the revolution motor and the planetary reducer are used to drive the self-rotation mechanism to realize revolution on the revolution guide rail, and the polishing head is driven to rotate by the self-rotation mechanism. The revolution motor is a servo motor.

[0024] The self-rotation mechanism includes a self-rotation mechanism housing, a self-rotation servo motor, a self-rotation motor mounting plate, a low-friction cylinder, a polishing head connecting bracket, a spline shaft, and a pressure proportional valve. The self-rotation servo motor is located at the upper part of the self-rotation mechanism housing, the self-rotation servo motor output shaft is connected to the spline, the spline is connected to the spline shaft, the spline shaft is connected to the polishing head, the polishing head is connected to two low-friction cylinders through the polishing head connecting bracket, the low-friction cylinder is connected to the pressure proportional valve through an air pipe, the pressure proportional valve is connected to the air storage tank through an air pipe, the self-rotation servo motor drives the spline shaft to rotate, and the spline shaft and the polishing head are transmitted through the spline; the pressure of the polishing head is guaranteed by two low-friction cylinders, and the pressure proportional valve is used to maintain a constant pressure.

[0025] The revolving motor adjustment mechanism is a dovetail groove structure, the top end of the upper shaft of the rotation mechanism is connected to the dovetail groove structure, the bottom end of the upper shaft of the rotation mechanism is connected to the top of the rotation mechanism through a bearing, and the top end of the upper part of the rotation mechanism adjusts the eccentric distance of the polishing head by sliding in the dovetail groove, and the eccentric distance adjustment range is 0-30mm. The dovetail groove is a groove with a trapezoidal cross-section shape.

[0026] The revolving guide rails include six linear guide rails and four sliders, wherein the first guide rail and the second guide rail are respectively fixed on the left side of the rotation mechanism, and the first guide rail and the second guide rail are parallel; the fifth guide rail and the sixth guide rail are respectively fixed on the bottom plate, and the fifth guide rail and the sixth guide rail are parallel; the front end of the first slider is slidably connected to the first guide rail, and the rear end of the first slider is slidably connected to the fifth guide rail; the front end of the second slider is slidably connected to the second guide rail, and the rear end of the second slider is slidably connected to the sixth guide rail; the third guide rail and the fourth guide rail are respectively fixed on the right side of the rotation mechanism, and the third guide rail and the fourth guide rail are parallel; the front end of the third slider is slidably connected to the third guide rail, and the rear end of the third slider is slidably connected to the fifth guide rail; the front end of the fourth slider is slidably connected to the fourth guide rail, and the rear end of the fourth slider is slidably connected to the sixth guide rail.

[0027] The slider is an L-shaped structure, and a reinforcing rib is provided between the two branches of the L-shaped structure, so that the slider of the L-shaped structure forms an integrated structure. The front and rear ends of the slider are both door-shaped and are used to hang on the revolving guide rail to achieve a sliding connection.

[0028] A control method of a robot high-precision lens polishing head of the present invention comprises the following steps:

[0029] 1) Start the revolution motor to rotate, the revolution motor drives the revolution motor adjustment mechanism to rotate, the top of the upper shaft of the rotation mechanism slides in the dovetail groove of the revolution motor adjustment mechanism, and at the same time, the upper shaft of the rotation mechanism also rotates;

[0030] 2) The bottom end of the upper shaft of the rotation mechanism is connected to the top of the rotation mechanism through a bearing, and the upper shaft of the rotation mechanism rotates, so that a torque in the rotation direction is generated on the rotation mechanism;

[0031] 3) Due to the bearing connection in step 2), the torque in the rotation direction will not cause the self-rotating mechanism to rotate quickly; it is only through this torque that the self-rotating mechanism moves linearly in the front-to-back direction and the left-to-right direction on the revolution guide rail;

[0032] 4) In step 3), the self-rotating mechanism moves linearly in the front-to-back direction and the left-to-right direction on the revolution guide rail, so that the polishing head at the bottom of the self-rotating mechanism forms a circular motion trajectory on the lens workpiece;

[0033] 5) In step 1), the top end of the upper shaft of the self-rotating mechanism slides in the dovetail groove of the revolving motor adjustment mechanism, so that the self-rotating mechanism together with the polishing head can adjust the eccentric movement of the polishing head, and the sliding length of the dovetail groove can be set to control the eccentric distance;

[0034] 6) Through the motion control of step 1) to step 5), the polishing head forms a flexible, fully covered circular track on the lens workpiece during the polishing process.

[0035] Revolution motor: Panasonic, MHMF042L1U2 servo motor;

[0036] Rotation motor: Panasonic, MHMF042L1U2 servo motor;

[0037] Low friction cylinder: Japan SMC brand, model MQQTB10.

[0038] As described above, the present invention can be more fully implemented. The above is only a more reasonable implementation example of the present invention, and the protection scope of the present invention includes but is not limited to this. Any non-substantial changes based on the technical solution of the present invention by a person skilled in the art are included in the scope of the present invention.

Claims

1. A robot high-precision lens polishing head, characterized in that: It includes a revolution motor, a planetary reducer, a base plate, a revolution motor mounting seat, a self-rotation mechanism, a revolution motor adjustment mechanism, a revolution guide rail, and a polishing head. The self-rotation mechanism is connected to the revolution guide rail, the revolution guide rail is mounted on the base plate, the upper part of the self-rotation mechanism is connected to the revolution motor adjustment mechanism, the polishing head is connected to the self-rotation mechanism, the revolution motor is mounted on the revolution motor mounting seat, the revolution motor is connected to the planetary reducer, the planetary reducer is connected to the revolution motor adjustment mechanism, the revolution motor and the planetary reducer are used to drive the self-rotation mechanism to realize revolution on the revolution guide rail, and the polishing head is driven to rotate by the self-rotation mechanism; The self-rotating mechanism comprises a self-rotating mechanism housing, a self-rotating servo motor, a self-rotating motor mounting plate, a low-friction cylinder, a polishing head connecting bracket, a spline shaft, and a pressure proportional valve. The self-rotating servo motor is located at the upper part of the self-rotating mechanism housing. The output shaft of the self-rotating servo motor is connected to the spline, the spline is connected to the spline shaft, the spline shaft is connected to the polishing head, the polishing head is connected to two low-friction cylinders through the polishing head connecting bracket, the low-friction cylinder is connected to the pressure proportional valve through the air pipe, the pressure proportional valve is connected to the air tank through the air pipe, the self-rotating servo motor drives the spline shaft to rotate, and the spline shaft and the polishing head are driven by the spline; The revolving motor adjustment mechanism is a dovetail groove structure, the top end of the upper shaft of the rotation mechanism is connected to the dovetail groove structure, the bottom end of the upper shaft of the rotation mechanism is connected to the top of the rotation mechanism through a bearing, and the top end of the upper part of the rotation mechanism adjusts the eccentric distance of the polishing head by sliding in the dovetail groove, and the eccentric distance adjustment range is 0-30mm; The revolution guide rail includes six linear guide rails and four sliders, wherein the first guide rail and the second guide rail are respectively fixed on the left side of the rotation mechanism, and the first guide rail and the second guide rail are parallel; the fifth guide rail and the sixth guide rail are respectively fixed on the bottom plate, and the fifth guide rail and the sixth guide rail are parallel; the front end of the first slider is slidably connected to the first guide rail, and the rear end of the first slider is slidably connected to the fifth guide rail; the front end of the second slider is slidably connected to the second guide rail, and the rear end of the second slider is slidably connected to the sixth guide rail; the third guide rail and the fourth guide rail are respectively fixed on the right side of the rotation mechanism, and the third guide rail and the fourth guide rail are parallel; the front end of the third slider is slidably connected to the third guide rail, and the rear end of the third slider is slidably connected to the fifth guide rail; the front end of the fourth slider is slidably connected to the fourth guide rail, and the rear end of the fourth slider is slidably connected to the sixth guide rail; The slider is an L-shaped structure, and a reinforcing rib is provided between the two branches of the L-shaped structure, so that the slider of the L-shaped structure forms an integrated structure. The front and rear ends of the slider are both door-shaped and are used to hang on the revolving guide rail to achieve a sliding connection.

2. The control method of a robot high-precision lens polishing head according to claim 1, characterized in that The following steps are involved: 1) Start the revolution motor to rotate, the revolution motor drives the revolution motor adjustment mechanism to rotate, the top of the upper shaft of the rotation mechanism slides in the dovetail groove of the revolution motor adjustment mechanism, and at the same time, the upper shaft of the rotation mechanism also rotates; 2) The bottom end of the upper shaft of the rotation mechanism is connected to the top of the rotation mechanism through a bearing, and the upper shaft of the rotation mechanism rotates, so that a torque in the rotation direction is generated on the rotation mechanism; 3) Due to the bearing connection in step 2), the torque in the rotation direction will not cause the self-rotating mechanism to rotate quickly; it is only through this torque that the self-rotating mechanism moves linearly in the front-to-back direction and the left-to-right direction on the revolution guide rail; 4) In step 3), the self-rotating mechanism moves linearly in the front-to-back direction and the left-to-right direction on the revolution guide rail, so that the polishing head at the bottom of the self-rotating mechanism forms a circular motion trajectory on the lens workpiece; 5) In step 1), the top end of the upper shaft of the self-rotating mechanism slides in the dovetail groove of the revolving motor adjustment mechanism, so that the self-rotating mechanism together with the polishing head can adjust the eccentric movement of the polishing head, and the sliding length of the dovetail groove can be set to control the eccentric distance; 6) Through the motion control from step 1) to step 5), the polishing head forms a flexible, fully covered circular track polishing process on the lens workpiece.

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