A Milling Cutter Wear Measurement and Compensation Device Applicable to an Optical Spherical Milling Robot

Abstract

The present invention discloses a cutter wear measurement and compensation device applicable to an optical spherical milling robot, which comprises a slide base, a compensation stepping motor fixed to the top end of the slide base, a lead screw with its top end fixedly connected to the output shaft of the compensation stepping motor, a lifting slide plate connected to the lead screw, a cutter motor fixed to the lifting slide plate, a cutter fixedly connected to the output shaft of the cutter motor, a fixed mounting plate fixed to the bottom end of the slide base, a measurement stepping motor and an encoder fixed to the fixed mounting plate, as well as an elastic transmission belt, a measurement swing rod and a controller. The output shaft of the stepping motor drives the rotating shaft of the encoder to rotate synchronously through the elastic transmission belt. The inner end of the measurement swing rod is fixedly connected to the rotating shaft of the encoder. The compensation stepping motor, the measurement stepping motor and the encoder are all connected to the controller. The present invention can automatically realize the rapid measurement and debugging operation of cutter wear, and solve the problem of low production efficiency caused by difficult cutter debugging in optical element production.

Description

Technical Field

[0001] The present invention relates to the field of optical element processing, and particularly to a milling cutter wear measurement and compensation device applicable to an optical spherical milling robot. Background Art

[0002] Currently, in optical spherical milling, before processing, the equipment needs to be debugged according to the sphericity required by the product. However, during the production process, as the tool wears, the sphericity also changes. When the change in sphericity is greater than the production standard range, the tool position must be readjusted to compensate for the wear amount. Due to the tiny wear amount, it is very difficult to adjust it accurately, and multiple repeated adjustments and repeated measurements of the sphericity are required to complete. During the production process of each set of products, adjustments need to be made multiple times, which not only increases the labor intensity of the operators, but also is a major problem restricting the production efficiency, especially on the automated production line. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to provide a milling cutter wear measurement and compensation device applicable to an optical spherical milling robot, which can automatically realize the rapid measurement and debugging operation of the milling cutter wear, and solve the problem of low production efficiency caused by difficult milling cutter debugging in optical element production.

[0004] The technical solution of the present invention is as follows:

[0005] A milling cutter wear measurement and compensation device applicable to an optical spherical milling robot includes a slide base, a compensation stepping motor fixed to the top end of the slide base, a lead screw whose top end is fixedly connected to the output shaft of the compensation stepping motor, a lifting slide connected to the lead screw, a milling cutter motor fixed to the lifting slide, a milling cutter fixedly connected to the output shaft of the milling cutter motor, a fixed mounting plate fixed to the bottom end of the slide base, a measurement stepping motor and an encoder fixed to the fixed mounting plate, as well as an elastic transmission belt, a measurement swing rod and a controller. A lifting guide rail is provided on the slide base, and the lifting slide is slidably connected to the lifting guide rail and moves up and down along the lifting guide rail. The output shaft of the measurement stepping motor and the rotating shaft of the encoder are both horizontally arranged and parallel to each other. The elastic transmission belt is wound around the output shaft of the stepping motor and the rotating shaft of the encoder, so that the output shaft of the stepping motor drives the rotating shaft of the encoder to rotate synchronously through the elastic transmission belt. The encoder is located on the side of the milling cutter. The inner end of the measurement swing rod is fixedly connected to the rotating shaft of the encoder, and the inner end of the measurement swing rod faces the center of the rotating shaft of the encoder. The compensation stepping motor, the measurement stepping motor and the encoder are all connected to the controller.

[0006] The controller includes a single-chip microcomputer IC1, an encoder reading circuit, a display screen, a communication circuit, a key circuit, a measurement stepping motor driving circuit and a compensation stepping motor driving circuit respectively connected to the single-chip microcomputer IC1.

[0007] The described encoder reading circuit includes an RS485 chip IC3, a resistor R6, a resistor R7, a resistor R8, a resistor R9, a resistor R10, a zener diode D3, and a zener diode D4. The RS485 chip IC3 is correspondingly connected to the P1.0 pin, P1.1 pin, and P1.2 pin of the single-chip microcomputer IC1. One end of the resistor R6, one end of the resistor R7, and one end of the resistor R9 are connected to each other and connected to a pin of the RS485 chip IC3. One end of the resistor R8, the other end of the resistor R7, and one end of the resistor R10 are connected to each other and connected to a pin of the RS485 chip IC3. The other end of the resistor R6, the power supply terminal of the RS485 chip IC3, and the power supply terminal of the encoder are all connected to the positive power supply. The other end of the resistor R8, the ground terminal of the RS485 chip IC3, and the ground terminal of the encoder are all grounded. The A1 signal output interface of the encoder and the positive pole of the zener diode D3 are both connected to the other end of the resistor R9. The B1 signal output interface of the encoder and the positive pole of the zener diode D4 are both connected to the other end of the resistor R10. The negative poles of the zener diode D3 and the zener diode D4 are connected.

[0008] The described communication circuit includes an RS485 chip IC2, a resistor R1, a resistor R2, a resistor R3, a resistor R4, a resistor R5, a zener diode D1, a zener diode D2, and a communication interface J1. The RS485 chip IC2 is correspondingly connected to the P3.0 pin, P3.1 pin, and P3.2 pin of the single-chip microcomputer IC1. One end of the resistor R1, one end of the resistor R2, and one end of the resistor R4 are connected to each other and connected to a pin of the RS485 chip IC2. One end of the resistor R3, the other end of the resistor R2, and one end of the resistor R5 are connected to each other and connected to a pin of the RS485 chip IC2. The other end of the resistor R1 and the power supply terminal of the RS485 chip IC2 are both connected to the positive power supply. The other end of the resistor R3 and the ground terminal of the RS485 chip IC2 are both grounded. The B port of the communication interface J1 and the positive pole of the zener diode D1 are both connected to the other end of the resistor R4. The A port of the communication interface J1 and the positive pole of the zener diode D2 are both connected to the other end of the resistor R5. The negative poles of the zener diode D1 and the zener diode D2 are connected.

[0009] The described key circuit includes a measurement compensation start key SQ1, an encoder reset measurement key SQ2, a measurement start key SQ3, a milling cutter descending start key SQ4, and a milling cutter ascending start key SQ5. One ends of the measurement compensation start key SQ1, the encoder reset detection key SQ2, the measurement start key SQ3, the milling cutter descending start key SQ4, and the milling cutter ascending start key SQ5 are respectively connected to the pins of the single-chip microcomputer IC1 in one-to-one correspondence, and the other ends of the measurement compensation start key SQ1, the encoder reset detection key SQ2, the measurement start key SQ3, the milling cutter descending start key SQ4, and the milling cutter ascending start key SQ5 are all grounded.

[0010] The described measurement stepping motor drive circuit includes a measurement stepping motor driver QD1 connected to the single-chip microcomputer IC1, and the measurement stepping motor is connected to the drive end of the measurement stepping motor driver QD1.

[0011] The described compensation stepping motor drive circuit includes a compensation stepping motor driver QD2 connected to the single-chip microcomputer IC1, and the compensation stepping motor is connected to the drive end of the compensation stepping motor driver QD2.

[0012] Advantages of the present invention:

[0013] In the present invention, the position of the initial milling surface of the milling cutter is measured by a measurement swing rod driven by an encoder, and the zero point of the encoder is set. When measurement compensation is required, the position of the milling surface of the milling cutter is measured again by the measurement swing rod driven by the encoder. When the measured value of the encoder is not zero, a compensation operation is performed. The wear value of the milling surface of the milling cutter is determined by the measured value of the encoder, and then the compensation stepping motor is driven to drive the milling cutter to move up and down to achieve the compensation debugging of the milling surface of the milling cutter. Description of the drawings

[0014] Figure 1 is a schematic structural diagram of the present invention.

[0015] Figure 2 is a connection structure diagram of the measurement swing rod of the present invention.

[0016] Figure 3 is a control principle block diagram of the present invention.

[0017] Figure 4 is a pin wiring diagram of the single-chip microcomputer IC1 of the present invention.

[0018] Figure 5 is a circuit diagram of the encoder reading circuit of the present invention.

[0019] Figure 6 is a pin wiring diagram of the display screen.

[0020] Figure 7 is a circuit diagram of the communication circuit of the present invention.

[0021] Figure 8 This is the circuit diagram of the key circuit of the present invention.

[0022] Figure 9 This is the circuit diagram of the measurement stepping motor drive circuit of the present invention.

[0023] Figure 10 This is the circuit diagram of the compensation stepping motor drive circuit of the present invention. Specific embodiments

[0024] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0025] See Figure 1 and Figure 2 , a milling cutter wear measurement and compensation device applicable to an optical spherical milling robot, comprising a slide base 1, a compensation stepping motor 2 fixed to the top end of the slide base 1, a lead screw 3 whose top end is fixedly connected to the output shaft of the compensation stepping motor 2, a lifting slide plate 4 connected to the lead screw 3, a milling cutter motor 5 fixed to the lifting slide plate 4, a milling cutter 6 fixedly connected to the output shaft of the milling cutter motor 5, a fixed mounting plate 7 fixed to the bottom end of the slide base 1, a measurement stepping motor 8 and an encoder 9 fixed to the fixed mounting plate 7, and an elastic transmission belt 10, a measurement swing rod 11 and a controller. A lifting guide rail is provided on the slide base 1, and the lifting slide plate 4 is slidably connected to the lifting guide rail and moves up and down along the lifting guide rail. The output shaft of the measurement stepping motor 8 and the rotating shaft of the encoder 9 are both horizontally arranged and parallel to each other. The elastic transmission belt 10 is wound around the output shaft of the stepping motor 8 and the rotating shaft of the encoder 9, so that the output shaft of the stepping motor 8 drives the rotating shaft of the encoder 9 to rotate synchronously through the elastic transmission belt 10. The encoder 9 is located on the side of the milling cutter 6. The inner end of the measurement swing rod 11 is fixedly connected to the rotating shaft of the encoder 9 and the inner end of the measurement swing rod 11 faces the center of the rotating shaft of the encoder 9. The compensation stepping motor 2, the measurement stepping motor 8, and the encoder 9 are all connected to the controller.

[0026] See Figures 3 - 10 , the controller includes a single-chip microcomputer IC1, an encoder reading circuit, a display screen IC4, a communication circuit, a key circuit, a measurement stepping motor drive circuit, and a compensation stepping motor drive circuit respectively connected to the single-chip microcomputer IC1;

[0027] See Figure 5, the encoder reading circuit includes an RS485 chip IC3, resistors R6, R7, R8, R9, R10, zener diodes D3 and D4. The RS485 chip IC3 is correspondingly connected to the P1.0 pin, P1.1 pin, and P1.2 pin of the single-chip microcomputer IC1. One end of resistor R6, one end of resistor R7, and one end of resistor R9 are connected to each other and connected to pin 7 of the RS485 chip IC3. One end of resistor R8, the other end of resistor R7, and one end of resistor R10 are connected to each other and connected to pin 6 of the RS485 chip IC3. The other end of resistor R6, the power supply terminal of the RS485 chip IC3, and the power supply terminal of the encoder are all connected to the positive power supply. The other end of resistor R8, the ground terminal of the RS485 chip IC3, and the ground terminal of the encoder are all grounded. The A1 signal output interface of the encoder 9 and the positive electrode of the zener diode D3 are both connected to the other end of the resistor R9. The B1 signal output interface of the encoder 9 and the positive electrode of the zener diode D4 are both connected to the other end of the resistor R10. The negative electrodes of the zener diode D3 and the zener diode D4 are connected.

[0028] See Figure 7 , the communication circuit includes an RS485 chip IC2, resistors R1, R2, R3, R4, R5, zener diodes D1, D2 and a communication interface J1. The RS485 chip IC2 is correspondingly connected to the P3.0 pin, P3.1 pin, and P3.2 pin of the single-chip microcomputer IC1. One end of resistor R1, one end of resistor R2, and one end of resistor R4 are connected to each other and connected to pin 7 of the RS485 chip IC2. One end of resistor R3, the other end of resistor R2, and one end of resistor R5 are connected to each other and connected to pin 6 of the RS485 chip IC2. The other end of resistor R1 and the power supply terminal of the RS485 chip IC2 are both connected to the positive power supply. The other end of resistor R3 and the ground terminal of the RS485 chip IC2 are both grounded. The B port of the communication interface J1 and the positive electrode of the zener diode D1 are both connected to the other end of the resistor R4. The A port of the communication interface J1 and the positive electrode of the zener diode D2 are both connected to the other end of the resistor R5. The negative electrodes of the zener diode D1 and the zener diode D2 are connected.

[0029] See Figure 8The button circuit includes a measurement compensation start button SQ1, an encoder reset measurement button SQ2, a measurement start button SQ3, a milling cutter descending start button SQ4 and a milling cutter rising start button SQ5. One ends of the measurement compensation start button SQ1, the encoder reset detection button SQ2, the measurement start button SQ3, the milling cutter descending start button SQ4 and the milling cutter rising start button SQ5 are respectively connected to the P3.3-P3.7 pins of the microcontroller IC1 in a one-to-one correspondence, and the other ends of the measurement compensation start button SQ1, the encoder reset detection button SQ2, the measurement start button SQ3, the milling cutter descending start button SQ4 and the milling cutter rising start button SQ5 are all grounded.

[0030] See Figure 9 The measuring stepper motor driving circuit includes a measuring stepper motor driver QD1 connected to the P2.5-P2.7 pins of the single chip computer IC1, and the measuring stepper motor 8 is connected to the driving end of the measuring stepper motor driver QD1.

[0031] See Figure 10 The compensation stepper motor driving circuit includes a compensation stepper motor driver QD2 connected to the P1.3-P1.5 pins of the single chip microcomputer IC1, and the compensation stepper motor 2 is connected to the driving end of the compensation stepper motor driver QD2.

[0032] The present invention performs the process of measuring and compensating the milling cutter wear:

[0033] (1) After debugging determines that the optical sphericity meets the requirements and the position of the milling surface of the milling cutter has been determined, press the encoder reset detection button SQ2, and the measuring stepper motor 8 drives the measuring pendulum 11 on the rotating shaft of the encoder 9 to rotate synchronously through the elastic transmission belt 10. The measuring pendulum 11 rotates from the rest position (vertical state) to the milling position of the milling cutter. The elastic transmission belt 10 makes the measuring pendulum 11 and the wear surface of the milling cutter 6 have a certain pressure to ensure that the bonding surface fits. Then the single-chip microcomputer IC1 resets the encoder 9 to zero point. This zero point is both the original milling surface position of the milling cutter 6 and the reference point for compensation. After resetting, the single-chip microcomputer IC1 drives the measuring stepper motor 8 to drive the measuring pendulum 11 to return to the rest position;

[0034] (2) There are two ways to measure and compensate milling cutter wear: automatic and manual.

[0035] (a). The automatic state is used on the milling and grinding robot. The milling and grinding robot is connected to the communication interface J1 of the bus and communication circuit. The milling and grinding robot automatically enters the measurement compensation operation according to the set number of milling and grinding times. The specific process is as follows: First, the milling and grinding robot sets the corresponding number of milling and grinding times according to the changes in the hardness of the milling and grinding material and the tool wear amount, and then sends it to the single-chip microcomputer IC1. When the number of milling and grinding times in the production of the optical spherical surface reaches the set number, the single-chip microcomputer IC1 drives the measurement stepping motor 8. The measurement stepping motor 8 drives the measurement swing rod 11 on the encoder 9 shaft to rotate synchronously through the elastic transmission belt 10. The measurement swing rod 11 rotates from the stop position (vertical state) to the milling part of the milling cutter. The encoder value is read through the display screen IC4. When the encoder value is zero, that is, there is no wear. When the encoder value is not zero, the encoder value is the wear value. After the single-chip microcomputer IC1 converts the wear value into the adjustment value of the height of the milling cutter 6, it drives the compensation stepping motor 2 to drive the milling cutter 6 to perform position adjustment, and completes the milling cutter wear compensation operation;

[0036] (b). In the manual state, press the measurement compensation start button SQ1, and the single-chip microcomputer IC1 repeats the steps in (a) to perform the measurement compensation operation. Pressing the measurement start button SQ3 only measures the wear amount once; pressing the milling cutter descent start button SQ4, the milling cutter will descend once according to the distance set by the single-chip microcomputer IC1. Pressing the milling cutter ascent start button SQ5, the milling cutter will ascend once according to the distance set by the single-chip microcomputer IC1.

[0037] Although the embodiments of the present invention have been shown and described, for those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A milling cutter wear measurement and compensation device applicable to an optical spherical milling robot, characterized in that: It includes a skateboard base, a compensation stepping motor fixed to the top of the skateboard base, a lead screw with its top fixedly connected to the output shaft of the compensation stepping motor, a lifting skateboard connected to the lead screw, a milling cutter motor fixed to the lifting skateboard, a milling cutter fixedly connected to the output shaft of the milling cutter motor, a fixed mounting plate fixed to the bottom end of the skateboard base, a measuring stepping motor and an encoder fixed to the fixed mounting plate, as well as an elastic transmission belt, a measuring swing rod and a controller. A lifting guide rail is provided on the skateboard base, and the lifting skateboard is slidably connected to the lifting guide rail and moves up and down along the lifting guide rail. The output shaft of the measuring stepping motor and the rotating shaft of the encoder are both horizontally arranged and parallel to each other. The elastic transmission belt is wound around the output shaft of the stepping motor and the rotating shaft of the encoder, so that the output shaft of the stepping motor drives the rotating shaft of the encoder to rotate synchronously through the elastic transmission belt. The encoder is located on the side of the milling cutter. The inner end of the measuring swing rod is fixedly connected to the rotating shaft of the encoder, and the inner end of the measuring swing rod faces the center of the rotating shaft of the encoder. The compensation stepping motor, the measuring stepping motor and the encoder are all connected to the controller; The controller includes a single-chip microcomputer IC1, an encoder reading circuit, a display screen, a communication circuit, a key circuit, a measuring stepping motor driving circuit and a compensation stepping motor driving circuit respectively connected to the single-chip microcomputer IC1; The key circuit includes a measurement compensation start key SQ1, an encoder reset measurement key SQ2, a measurement start key SQ3, a milling cutter descent start key SQ4 and a milling cutter ascent start key SQ5. One ends of the measurement compensation start key SQ1, the encoder reset detection key SQ2, the measurement start key SQ3, the milling cutter descent start key SQ4 and the milling cutter ascent start key SQ5 are respectively connected to the pins of the single-chip microcomputer IC1 in one-to-one correspondence, and the other ends of the measurement compensation start key SQ1, the encoder reset detection key SQ2, the measurement start key SQ3, the milling cutter descent start key SQ4 and the milling cutter ascent start key SQ5 are all grounded; The described encoder reading circuit includes an RS485 chip IC3, a resistor R6, a resistor R7, a resistor R8, a resistor R9, a resistor R10, a zener diode D3, and a zener diode D4. The RS485 chip IC3 is correspondingly connected to the P1.0 pin, P1.1 pin, and P1.2 pin of the single-chip microcomputer IC1. One end of the resistor R6, one end of the resistor R7, and one end of the resistor R9 are interconnected and connected to a pin of the RS485 chip IC3. One end of the resistor R8, the other end of the resistor R7, and one end of the resistor R10 are interconnected and connected to a pin of the RS485 chip IC3. The other end of the resistor R6, the power supply terminal of the RS485 chip IC3, and the power supply terminal of the encoder are all connected to the positive power supply. The other end of the resistor R8, the grounding terminal of the RS485 chip IC3, and the grounding terminal of the encoder are all grounded. The A1 signal output interface of the encoder and the positive pole of the zener diode D3 are both connected to the other end of the resistor R9. The B1 signal output interface of the encoder and the positive pole of the zener diode D4 are both connected to the other end of the resistor R10. The negative poles of the zener diode D3 and the zener diode D4 are connected.

2. The milling cutter wear measurement and compensation device applicable to an optical spherical milling robot according to claim 1, characterized in that: The described communication circuit includes an RS485 chip IC2, a resistor R1, a resistor R2, a resistor R3, a resistor R4, a resistor R5, a zener diode D1, a zener diode D2, and a communication interface J1. The RS485 chip IC2 is correspondingly connected to the P3.0 pin, P3.1 pin, and P3.2 pin of the single-chip microcomputer IC1. One end of the resistor R1, one end of the resistor R2, and one end of the resistor R4 are interconnected and connected to a pin of the RS485 chip IC2. One end of the resistor R3, the other end of the resistor R2, and one end of the resistor R5 are interconnected and connected to a pin of the RS485 chip IC2. The other end of the resistor R1 and the power supply terminal of the RS485 chip IC2 are both connected to the positive power supply. The other end of the resistor R3 and the grounding terminal of the RS485 chip IC2 are both grounded. The B port of the communication interface J1 and the positive pole of the zener diode D1 are both connected to the other end of the resistor R4. The A port of the communication interface J1 and the positive pole of the zener diode D2 are both connected to the other end of the resistor R5. The negative poles of the zener diode D1 and the zener diode D2 are connected.

3. The milling cutter wear measurement and compensation device applicable to an optical spherical milling robot according to claim 1, characterized in that: The described measuring stepping motor drive circuit includes a measuring stepping motor driver QD1 connected to the single-chip microcomputer IC1. The measuring stepping motor is connected to the drive end of the measuring stepping motor driver QD1.

4. The milling cutter wear measurement and compensation device applicable to an optical spherical milling robot according to claim 1, characterized in that: The described compensating stepping motor drive circuit includes a compensating stepping motor driver QD2 connected to the single-chip microcomputer IC1. The compensating stepping motor is connected to the drive end of the compensating stepping motor driver QD2.

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