Free-form surface multi-grinding-disc self-adaptive machining device

Abstract

The invention relates to the field of optical element machining, in particular to a free-form surface multi-grinding-disc self-adaptive machining device which comprises an electric control cabinet, a mechanical arm, a control panel and at least three grinding mechanisms, the mechanical arm is connected with the upper surface of the control panel through a connecting rod, the grinding mechanisms are connected with the control panel, and each grinding mechanism comprises a driving device, a transmission rod and grinding discs. The millstone is connected with the driving device through the transmission rod, and the electric control cabinet controls the driving device to output constant pressure. The millstone comprises a millstone seat, an elastic piece, a millstone base body and a plurality of grinding units, the millstone seat is connected with the transmission rod, the plurality of grinding units are correspondingly arranged in the mounting holes of the millstone base body, and the elastic piece assists the grinding units in reciprocating motion in the direction perpendicular to the upper surface and the lower surface of the millstone base body. Synchronous machining of multiple areas of the workpiece is achieved, the constant machining pressure can be accurately controlled, and the machining efficiency, the machining quality and the machining stability are remarkably improved.

Description

Technical Field

[0001] The invention belongs to the field of optical element processing, and in particular relates to a free-form surface multi-grinding disc adaptive processing device. Background Art

[0002] In the field of optical component processing, polishing technology is a key link to improve the surface quality of products. Polishing can not only significantly improve the surface finish of products and reduce roughness, but also significantly enhance the overall aesthetics and durability of products, which is of great significance to improving the market competitiveness of products. However, with the continuous development of the manufacturing industry, the application of complex curved surface workpieces is becoming more and more extensive, which puts higher requirements on polishing technology. Traditional machine tools are usually equipped with a single polishing disc. When facing curved surface workpieces with variable shapes and complex curvatures, this design cannot fit every contour of the workpiece surface tightly, resulting in many problems in the polishing process. On the one hand, the polishing efficiency of a single polishing disc is low, and it is difficult to complete the polishing of large areas or complex curved surfaces in a short time; on the other hand, it cannot automatically adjust the polishing shape and strength according to the changes in the workpiece surface, so it is difficult to ensure the uniformity and consistency of the polishing effect, and it is easy to have insufficient or excessive polishing, which seriously affects the final quality of the product. In addition, when a single polishing disc is used to process large areas or complex free-form surfaces, the operator needs to frequently adjust the shape and position of the polishing disc to cover the entire surface as much as possible. This mode of operation is not only time-consuming and labor-intensive, increasing labor costs and labor intensity, but also it is difficult to ensure the uniformity and efficiency of the polishing process even after careful adjustment. Summary of the invention

[0003] To achieve the above-mentioned purpose, the technical solution created by the present invention is: a free-form surface multi-grinding disc adaptive processing device, comprising an electric control cabinet, a mechanical arm, a control panel and at least three grinding mechanisms, wherein the mechanical arm is connected to the upper surface of the control panel via a connecting rod, and the grinding mechanism is connected to the control panel, and the grinding mechanism comprises a driving device, a transmission rod and a grinding disc, and the grinding disc is connected to the driving device via a transmission rod, and the electric control cabinet controls the driving device to output a constant pressure; the grinding disc comprises a grinding disc seat, an elastic member, a grinding disc base and a grinding unit, the grinding disc seat is connected to the transmission rod, and a plurality of the grinding units are correspondingly arranged in the mounting holes of the grinding disc base, and the elastic member assists the grinding unit to reciprocate in a direction perpendicular to the upper and lower surfaces of the grinding disc base.

[0004] Preferably, the driving device comprises a retractable piston and a reduction motor, the electric control cabinet comprises an automatic pressure regulating valve, an air source and an air pipe, and the air source is connected to the retractable piston through the air pipe.

[0005] Preferably, the retractable piston includes an air pressure cabin, air holes arranged on the side wall of the air pressure cabin and a piston rod arranged in the air pressure cabin, each air hole is connected to the air source through an air pipe, and the electric control cabinet dynamically adjusts the air pressure in the retractable piston through the automatic pressure regulating valve, thereby controlling the linear reciprocating motion of the piston rod.

[0006] Preferably, the grinding mechanism further includes a quick-change mechanism, the retractable piston is connected to the control board via the quick-change mechanism, and the reduction motor is connected to the piston rod.

[0007] Preferably, the transmission rod is arranged to be parallel to and non-collinear with the rotation axis of the grinding disc, and the reduction motor drives the grinding disc to rotate eccentrically via the transmission rod.

[0008] Preferably, the grinding mechanism also includes an eccentric adjustment device, the reduction motor is arranged above the control panel, and the eccentric adjustment device is arranged below the control panel, one end of the eccentric adjustment device passes through the through hole on the control panel and is connected to the output shaft of the reduction motor, and the other end is connected to the retractable piston and drives the retractable piston to perform eccentric translation.

[0009] Preferably, the transmission rod is connected to the piston rod, and the telescopic piston drives the transmission rod and the grinding disc to perform eccentric translation.

[0010] Preferably, the grinding mechanism further comprises a first retaining mechanism respectively connected to the transmission rod and the grinding disc, for limiting the rotation of the grinding disc.

[0011] Preferably, the grinding mechanism further comprises a second retaining mechanism respectively connected to the control plate and the retractable piston, for limiting the rotation of the retractable piston.

[0012] Preferably, the grinding disc base is fixedly connected to the grinding disc seat, the grinding disc base is provided with a hexagonal mounting hole, the grinding units are arranged in an array on the grinding disc base, and the grinding units are connected to the grinding disc seat via the elastic member.

[0013] Compared with the prior art, the invention can achieve the following beneficial effects:

[0014] The free-form surface multi-grinding disc adaptive processing device created by the present invention realizes the synchronous processing of multiple areas of the workpiece by setting up multiple grinding mechanisms, significantly improving the processing efficiency, and the electric control cabinet can dynamically adjust the air pressure in the cylinder through the automatic pressure regulating valve, accurately control the processing pressure, ensure the smooth output of the processing pressure, and improve the processing quality and stability. At the same time, the deformable free-form surface grinding disc can flexibly adjust the height as the curvature of the free-form surface changes and can quickly restore to its original state. It can automatically adapt to the surfaces of workpieces of different shapes, curvatures and materials, ensuring uniform processing of the workpiece surface. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The drawings constituting part of the present invention are used to provide a further understanding of the present invention. The exemplary embodiments and descriptions of the present invention are used to explain the present invention and do not constitute an improper limitation on the present invention. In the drawings:

[0016] Figure 1 A schematic diagram of a free-form surface multi-grinding disc adaptive processing device according to the present invention;

[0017] Figure 2 This is a schematic diagram of a grinding mechanism in Embodiment 1 of the present invention;

[0018] Figure 3 Schematic diagram of a grinding disc in Embodiment 1 of the present invention;

[0019] Figure 4 It is a cross-sectional view of a workpiece processed by the grinding disc of the present invention;

[0020] Figure 5 It is a schematic diagram of the grinding unit moving along with the change of the curvature radius of the curved surface when the grinding disc of the present invention processes a workpiece;

[0021] Figure 6 This is a schematic diagram of a grinding mechanism in Embodiment 2 of the present invention;

[0022] Figure 7 is a schematic diagram of the connection between the first holding mechanism and the grinding mechanism in the second embodiment of the present invention, Figure 7 (b) Figure 7 (a) a cross-sectional view;

[0023] Figure 8 This is a schematic diagram of the grinding disc after flipping in the second embodiment of the present invention. Figure 8 (b) Figure 8 (a) a cross-sectional view;

[0024] Fig. 9 It is a schematic diagram of the second holding mechanism in the second embodiment of the present invention.

[0025] Description of reference numerals:

[0026] 1. Electric control cabinet; 11. Automatic pressure regulating valve; 12. Air source; 13. Air pipe; 2. Industrial robot; 21. Robotic arm; 3. Workpiece; 4. Connecting rod; 5. Control panel; 6. Grinding mechanism; 61. Quick change mechanism; 62. Retractable piston; 621. Air pressure chamber; 622. Piston rod; 623. Air hole; 63. Speed ​​reducer motor; 64. Transmission rod; 641. Universal ball; 65. Grinding disc; 651. Grinding disc seat; 652. Elastic part; 653. Grinding disc Disk base; 654, grinding unit; 655, first threaded hole; 66, eccentric adjustment device; 7, first holding mechanism; 71, auxiliary rod; 711, fixed ball head; 72, connecting rod; 73, movable joint; 731, movable ball head; 732, fixed rod; 74, adjustment structure; 741, adjustment cavity; 742, second threaded hole; 8, second holding mechanism; 81, "I" shaped support rod; 82, traction rod; 83, raised structure; 9, loading platform. DETAILED DESCRIPTION

[0027] In order to make the purpose, technical solution and advantages of the invention more clear, the invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described here are only used to explain the invention and do not constitute a limitation of the invention.

[0028] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. In addition, the terms "first", "second", etc. are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", etc. may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0029] In the description of the invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the invention can be understood according to specific circumstances.

[0030] The present invention will be described in detail below with reference to the accompanying drawings and in combination with embodiments.

[0031] Embodiment 1

[0032] like Figure 1 As shown, the free-form surface multi-grinding disc adaptive processing device of the present invention comprises: an electric control cabinet 1, a mechanical arm 21, and a control board 5. The mechanical arm 21 is connected to the upper surface of the control board 5 through a connecting rod 4, and a plurality of grinding mechanisms 6 are connected to the control board 5. The electric control cabinet 1 is provided with an air source 12, and an air pipe 13 is installed on the air source 12. An automatic pressure regulating valve 11 is installed at the connection between the air source 12 and the air pipe 13. The automatic pressure regulating valve 11 is used to adjust the gas flow rate delivered by the air source 12 to the air pipe 13; Figure 2 As shown, it is a schematic diagram of the grinding mechanism 6 in this embodiment. A plurality of grinding mechanisms 6 are arranged on the lower surface of the control panel 5. Each grinding mechanism 6 includes a quick-change mechanism 61, a retractable piston 62, a reduction motor 63, a transmission rod 64, and a grinding disc 65 from top to bottom. The piston rod 622 of the retractable piston 62 is connected to the reduction motor 63, and the guide column at the bottom of the outer shell of the retractable piston 62 and the guide hole at the top of the outer shell of the reduction motor 63 are arranged in cooperation, so that the reduction motor 63 can reciprocate with the piston rod 622; an air pressure cabin 621, a piston rod 622 and an air hole 623 are arranged inside the retractable piston 62, and the air hole 623 is connected to the air source 12 through an air pipe 13. The electric control cabinet 1 dynamically adjusts the air pressure in the retractable piston 62 through an automatic pressure regulating valve 11, thereby controlling the pressure of the grinding disc 65 processing the workpiece 3 to be constant.

[0033] Specifically, when the grinding wheel 65 contacts a higher position of the surface of the workpiece 3 on the stage 9, the piston rod 622 moves upward to change the air pressure in the air pressure chamber 621, and feeds back to the automatic pressure regulating valve 11. The automatic pressure regulating valve 11 adjusts the gas flow input by the gas source 12 to reduce the air pressure in the air pressure chamber 621. When the grinding wheel 65 contacts a lower position of the surface of the workpiece 3 on the stage 9, the piston rod 622 moves downward to change the air pressure in the air pressure chamber 621, and feeds back to the automatic pressure regulating valve 11. The automatic pressure regulating valve 11 adjusts the gas flow input by the gas source 12 to increase the air pressure in the air pressure chamber 621, so that the contact pressure between the grinding wheel 65 and the surface of the workpiece 3 on the stage 9 remains unchanged, thereby maintaining a constant force processing state.

[0034] In some embodiments, the transmission rod 64 is set to be parallel and non-colinear with the central axis of the grinding disc 65, and the reduction motor 63 drives the grinding disc 65 to rotate eccentrically through the transmission rod 64 to prevent the grinding disc 65 from having dead angles during processing.

[0035] In some embodiments, Figure 3 to Figure 5As shown, the grinding disc base 653 of the grinding disc 65 has upper and lower surfaces parallel to each other, the grinding disc seat 651 is arranged on the upper surface of the grinding disc base 653, the grinding disc base 653 has a plurality of mounting holes arranged in an array, the mounting holes are hexagonal, and the plurality of mounting holes are closely arranged in a honeycomb shape, the grinding units 654 are correspondingly installed in the mounting holes, the grinding disc base 653 is fixedly connected to the grinding disc seat 651, the upper surface of the grinding unit 654 is connected to the grinding disc seat 651 through an elastic member 652, the elastic member 652 assists the grinding unit 654 to reciprocate in a direction perpendicular to the upper and lower surfaces of the grinding disc base 653, the mounting holes arranged in a honeycomb shape in the grinding disc base 653 can make the arrangement of the grinding units 654 more dense, further solving the problem of processing dead angles.

[0036] In some embodiments, a trachea quick-change joint is provided between the air hole 623 and the trachea 13, and the trachea quick-change joint can facilitate the installation or removal of the trachea 13, ensuring accurate positioning during multiple removals and installations without the need for repeated positioning.

[0037] In some embodiments, the top of the retractable piston 62 is connected to the control board 5 through a quick-change mechanism 61. The quick-change mechanism 61 can be easily installed and disassembled, and the number of grinding mechanisms 6 can be controlled according to polishing requirements to ensure accurate positioning during multiple disassembly and installation without repeated positioning adjustment.

[0038] Specifically, in this embodiment, the mechanical arm 21 is disposed on the industrial robot 2 , and the industrial robot 2 controls the mechanical arm 21 to drive the grinding mechanism 6 to move relative to the workpiece 3 .

[0039] Embodiment 2

[0040] like Figure 6As shown, in the free-form surface multi-grinding disc adaptive processing device of the present invention, the grinding mechanism 6 includes a reduction motor 63 arranged above the control panel 5, an eccentric adjustment device 66 arranged below the control panel 5, a retractable piston 62, a transmission rod 64 and a grinding disc 65. A through hole is provided on the control panel 5, one end of the eccentric adjustment device 66 is connected to the output shaft of the reduction motor 63 through the through hole, and the other end of the eccentric adjustment device 66 is connected to the retractable piston 62, and the eccentric adjustment device 66 is eccentrically arranged to connect the output shaft of one end of the retractable piston 62, and the piston rod 622 of the retractable piston 62 and the rotation axis of the reduction motor 63 are adjusted to a non-coaxial and parallel state through the eccentric adjustment device 66, so as to drive the retractable piston 62 to make an eccentric translation, and the transmission rod 64 is connected to the piston rod 622, and the transmission rod 64 drives the grinding disc 65 to follow the retractable piston 62 to make an eccentric translation. In this embodiment, the retractable piston 62 also includes the three parts of the retractable piston 62 in the first embodiment: an air pressure chamber 621, a piston rod 622 and an air hole 623. The electric control cabinet 1 dynamically adjusts the air pressure in the retractable piston 62 through the automatic pressure regulating valve 11, thereby controlling the pressure of the grinding wheel 65 processing the workpiece 3 to be constant; the grinding wheel 65 also includes the four parts of the grinding wheel 65 in the embodiment: a grinding wheel seat 651, an elastic member 652, a grinding wheel base 653 and a grinding unit 654.

[0041] More specifically, a universal ball 641 is provided at the end of the transmission rod 64, and the universal ball 641 is movably connected to the grinding disc 65. While the grinding disc 65 is eccentrically translated, it can also be flipped at any angle along the universal ball 641. When processing the surface of the workpiece 3, the grinding disc 65 can adjust the flipping angle in real time according to the curvature of the surface of the workpiece 3, and effectively finely polish the surface of the workpiece 3; the transmission rod 64 is connected to the piston rod 622, and the piston rod 622 will not rotate around its own axis, thereby limiting the rotation of the transmission rod 64 around its own axis, and the retractable piston 62 drives the grinding disc 65 to perform eccentric translation. The eccentric translation in this embodiment means that the rotation center of the moving object does not coincide with the center of mass, and the straight line connecting any two points on the moving object remains parallel throughout the entire movement process.

[0042] In some embodiments, it also includes a first holding mechanism 7 respectively connecting the transmission rod 64 and the grinding disc 65. During the processing, when the grinding disc 65 contacts the surface of the workpiece 3 and performs eccentric translation, in order to prevent the grinding disc 65 from rotating along its own axis due to the reaction force of the surface of the workpiece 3, the first holding mechanism 7 is set to effectively limit the rotation of the grinding disc 65, and does not affect the flipping of the grinding disc 65 along the universal ball 641.

[0043] Specifically, Figure 7As shown, the first holding mechanism 7 includes a secondary rod 71, a connecting rod 72, two movable joints 73 and an adjusting structure 74. A spherical cavity is respectively arranged at both ends of the connecting rod 72. Each movable joint 73 includes a fixed rod 732 and an movable ball head 731 arranged at one end of the fixed rod 732. The fixed rod 732 is provided with an external thread. The grinding disc 65 is movably connected to the spherical cavity at one end of the connecting rod 72 through an movable joint 73. Specifically, the spherical cavity on one side of the connecting rod 72 connected to the grinding disc 65 is movably sleeved with the movable ball head 731. The outer periphery of the fixed rod 732 is provided with an external thread. The side wall of the grinding disc 65 is provided with a first threaded hole 655. 32 is fixed with the first threaded hole 655 of the grinding disc 65 through external threads; the auxiliary rod 71 is movably connected with the spherical cavity at the other end of the connecting rod 72 through the adjustment structure 74 and another movable joint 73. Specifically, a fixed ball head 711 is provided at the end of the auxiliary rod 71, and an adjustment cavity 741 is provided on the side of the adjustment structure 74 close to the auxiliary rod 71. The fixed ball head 711 is movably connected with the adjustment cavity 741. A second threaded hole 742 is provided on the side wall of the adjustment structure 74 close to the connecting rod 72. The fixed rod 732 is connected with the second threaded hole 742 through external threads, and the movable ball head 731 is movably connected with the spherical cavity on the other side of the connecting rod 72. Figure 8 As shown, when the grinding disc 65 is flipped at any angle along the universal ball 641, the two movable joints 73 drive the connecting rod 72 to adjust the angle as the flipping angle of the grinding disc 65 changes. At the same time, the adjustment structure 74 can transform the fixed rod 732 and the auxiliary rod 71 from being parallel to each other to a certain angle, thereby limiting the grinding disc 65 from rotating and not affecting the flipping of the grinding disc 65 at any angle.

[0044] In some embodiments, Figure 6 and Fig. 9 As shown, it also includes a second holding mechanism 8 connected to the control board 5 and the telescopic piston 62 respectively. The second holding mechanism 8 limits the rotation of the telescopic piston 62, so that the telescopic piston 62 only performs eccentric translation along a predetermined trajectory within a plane.

[0045] Specifically, the second retaining mechanism 8 includes an I-shaped support rod 81 and two traction rods 82. One side of the I-shaped support rod 81 is rotatably connected to the lower surface of the control panel 5, and the other side is rotatably connected to one end of the traction rod 82. The other end of the traction rod 82 is rotatably connected to the side wall of the retractable piston 62.

[0046] Furthermore, a protruding structure 83 is provided on the control panel 5, and a connecting hole is provided on the protruding structure 83. A pin is provided on the side where the "I"-shaped support rod 81 is connected to the control panel 5, and a connecting hole is provided at both ends of the traction rod 82. A pin is provided on the side where the "I"-shaped support rod 81 is connected to the traction rod 82, and a connecting hole is provided on the side where the "I"-shaped support rod 81 is connected to the traction rod 82, and a pin is provided on the side wall of the telescopic piston 62, and the "I"-shaped support rod 81 and the traction rod 82 cooperate with each other to limit the self-rotation of the telescopic piston 62 when the reduction motor 63 drives the telescopic piston 62 to make eccentric translation through the eccentric adjustment device 66.

[0047] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A free-form surface multi-grinding disc adaptive processing device, characterized in that: It includes an electric control cabinet, a mechanical arm, a control panel and at least three grinding mechanisms, wherein the mechanical arm is connected to the upper surface of the control panel via a connecting rod, the grinding mechanism is connected to the control panel, the grinding mechanism includes a driving device, a transmission rod and a grinding disc, the grinding disc is connected to the driving device via a transmission rod, and the electric control cabinet controls the driving device to output a constant pressure; the grinding disc includes a grinding disc seat, an elastic member, a grinding disc base and a grinding unit, the grinding disc seat is connected to the transmission rod, a plurality of the grinding units are correspondingly arranged in the mounting holes of the grinding disc base, and the elastic member assists the grinding unit to reciprocate in a direction perpendicular to the upper and lower surfaces of the grinding disc base.

2. The free-form surface multi-grinding disc adaptive processing device according to claim 1, characterized in that: The driving device comprises a telescopic piston and a reduction motor, the electric control cabinet comprises an automatic pressure regulating valve, an air source and an air pipe, and the air source is connected to the telescopic piston through the air pipe.

3. The free-form surface multi-grinding disc adaptive processing device according to claim 2, characterized in that: The retractable piston includes an air pressure cabin, air holes arranged on the side wall of the air pressure cabin, and a piston rod arranged in the air pressure cabin. Each air hole is connected to an air source through an air pipe. The electric control cabinet dynamically adjusts the air pressure in the retractable piston through the automatic pressure regulating valve, thereby controlling the linear reciprocating motion of the piston rod.

4. The free-form surface multi-grinding disc adaptive processing device according to claim 3, characterized in that: The grinding mechanism also includes a quick-change mechanism, the retractable piston is connected to the control board through the quick-change mechanism, and the reduction motor is connected to the piston rod.

5. The free-form surface multi-grinding disc adaptive processing device according to claim 4, characterized in that: The transmission rod is arranged to be parallel to and non-collinear with the central axis of the grinding disc, and the reduction motor drives the grinding disc to rotate eccentrically via the transmission rod.

6. The free-form surface multi-grinding disc adaptive processing device according to claim 3, characterized in that: The grinding mechanism also includes an eccentric adjustment device. The reduction motor is arranged above the control panel, and the eccentric adjustment device is arranged below the control panel. One end of the eccentric adjustment device passes through the through hole on the control panel and is connected to the output shaft of the reduction motor, and the other end is connected to the retractable piston and drives the retractable piston to perform eccentric translation.

7. The free-form surface multi-grinding disc adaptive processing device according to claim 6, characterized in that: The transmission rod is connected to the piston rod, and the telescopic piston drives the transmission rod and the grinding disc to perform eccentric translation.

8. The free-form surface multi-grinding disc adaptive processing device according to claim 6, characterized in that: The grinding mechanism also includes a first retaining mechanism connected to the transmission rod and the grinding disc respectively, and is used to limit the rotation of the grinding disc.

9. A free-form surface multi-grinding disc adaptive processing device according to any one of claims 6 to 8, characterized in that: The grinding mechanism also includes a second retaining mechanism connected to the control plate and the retractable piston respectively, and is used to limit the rotation of the retractable piston.

10. The free-form surface multi-grinding disc adaptive processing device according to claim 1, characterized in that: The grinding disc base is fixedly connected to the grinding disc seat, the grinding disc base is provided with a hexagonal mounting hole, the grinding units are arranged in an array on the grinding disc base, and the grinding units are connected to the grinding disc seat via the elastic member.

Images