Machining device and machining method for high-gradient aspheric workpiece

Abstract

The invention relates to the technical field of aspheric optical element machining, and discloses a high-gradient aspheric workpiece machining device and method.The high-gradient aspheric workpiece machining device comprises a driving mechanism used for being connected with a robotic arm of a robot; the processing mechanism is detachably connected with the driving mechanism, and the driving mechanism is used for driving the processing mechanism to rotate and revolve; the tool setting mechanism is detachably connected with the driving mechanism; the rotary worktable is used for mounting a high-gradient aspheric workpiece or a tool setting tip; the acquisition module is used for being connected with a control system of the robot; wherein the obtaining module can obtain a tool coordinate system of a machining mechanism; acquiring a user coordinate system of the high-gradient aspheric workpiece; acquiring a machining angle of a machining mechanism; and a machining program of the robot is obtained and converted into an online machining language of the robot.

Description

Technical Field

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

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

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

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

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

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

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

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

[0009] An acquisition module, used for connecting with the control system of the robot;

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

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

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

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

[0014] Optionally, the driving mechanism includes:

[0015] A support body, used to connect with the robot's mechanical arm;

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

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

[0018] Optionally, the driver includes:

[0019] Drive motor;

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

[0021] Optionally, the transmission mechanism includes:

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

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

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

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

[0026] Optionally, the processing mechanism includes:

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

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

[0029] Optionally, the cantilever mechanism comprises:

[0030] A first arm section is rotatably connected to the support body, and the first arm section is connected to the driving spindle;

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

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

[0033] Optionally, the tool setting mechanism includes:

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

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

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

[0037] Optionally, the contact wheel comprises:

[0038] A wheel axle, used for being detachably connected to the cantilever mechanism;

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

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

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

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

[0043] According to a preset relationship between the machining mechanism and the high-steepness aspheric workpiece, a user coordinate system of the high-steepness aspheric workpiece is acquired;

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

[0045] A processing program of the robot is obtained according to the processing angle of the processing mechanism and converted into an online processing language of the robot;

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

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

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

[0049] 1. The present invention obtains the tool coordinate system of the processing mechanism, the user coordinate system of the high-steepness aspheric workpiece, and the processing angle of the processing mechanism through the rotation and revolution of the processing mechanism and the acquisition module, and obtains the robot's processing program and converts it into the robot's online processing language, thereby realizing full-aperture processing of the inner surface of the high-steepness aspheric optical element, avoiding the interference of the tool in the traditional processing method, improving the tool setting accuracy, and improving the processing efficiency.

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

[0051] The drawings constituting a part of the present application are used to provide a further understanding of the present application. The illustrative embodiments and descriptions of the present application are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

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

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

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

[0055] Figure 4 It is a schematic diagram of the cantilever mechanism and the measuring needle installation of the present invention;

[0056] Figure 5 It is a schematic diagram of the contact wheel structure of the present invention.

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

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

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

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

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

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

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

[0064] A rotating worktable 1 is used for mounting a high-steepness aspheric workpiece or setting a tool tip 2;

[0065] An acquisition module, used for connecting with the control system of the robot;

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

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

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

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

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

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

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

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

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

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

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

[0077] Driving motor 4;

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

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

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

[0081] A first bevel gear 6 is arranged on the supporting body 3;

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

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

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

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

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

[0087]

[0088] Among them, V is the belt circumferential speed, D is the pitch diameter of the active speed regulating wheel, and N is the rotation speed;

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

[0090]

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

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

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

[0094]

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

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

[0097]

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

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

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

[0101] The third transmission wheel 13 is connected to the second rotating shaft 11 , and the third transmission wheel 13 and the contact wheel 12 are matched with each other through a processing belt 14 so that the contact wheel 12 rotates.

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

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

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

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

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

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

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

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

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

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

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

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

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

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

[0116]

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

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

[0119] The grinding belt is a diamond belt, and the diamond abrasive grains are fixed on the cloth base with a resin binder; the polishing belt is an inelastic velvet polishing belt, which is equipped with polishing fluids of different particle sizes.

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

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

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

[0123] A wheel axle 20, used to be detachably connected to the cantilever mechanism;

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

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

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

[0127]

[0128] in,

[0129]

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

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

[0132] According to the preset relationship between the tool setting mechanism and the tool setting tip, the tool coordinate system of the processing mechanism is obtained, the cantilever mechanism is installed on the supporting body 3, the tool setting mechanism is installed at the end of the cantilever mechanism, the tool setting tip 2 is placed on the rotating worktable 1, and the tip of the stylus 19 is aligned with the tip of the tool setting tip 2 by using the robot teaching pendant, and the position and posture of the tip of the stylus 19 at this time are recorded; the position of the tool setting tip 2 remains unchanged, and the robot teaching pendant is operated in sequence to make the posture of the supporting body 3 change significantly, and the position and posture of the stylus 19 are recorded ten times, so as to establish that the position of the stylus 19 is equivalent to the position of the flange at the end of the robot, and then establish a tool coordinate system based on the stylus 19, the overall cantilever rod length Lr when the contact wheel 12 is installed at the end of the cantilever mechanism is equal to the overall cantilever mechanism length Lc after the tool setting mechanism is installed, and thus the tool coordinate system based on the contact wheel 12 is established according to the above;

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

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

[0135]

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

[0137] The processing angle θ is:

[0138]

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

[0140]

[0141] The processing program of the robot is obtained according to the processing angle of the processing mechanism and converted into the online processing language of the robot. Specifically, according to the processing position of any point A determined above and the cantilever mechanism angle at this time, the processing program of the robot is written offline and further converted into the online processing language of the robot.

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

[0143] The inner surface of the high-steepness aspheric workpiece is processed, the drive motor 4 is turned on, the initial rotation speed is set, the speed ratio of the transmission mechanism is adjusted according to different high-steepness aspheric processing errors, the robot regeneration mode is turned on, and the robot rotation belt processing facing the inner surface of the high-steepness aspheric surface is realized according to the robot processing program established above;

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

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

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

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

[0148] The embodiments described above are only descriptions of the preferred modes of the present invention, and are not intended to limit the scope of the present invention. Without departing from the design spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary technicians in this field should all fall within the protection scope determined by the claims of the present invention.

Claims

1. A processing device for a high-steepness aspheric workpiece, characterized in that: include: A driving mechanism, used for connecting with a robot arm; A processing mechanism, detachably connected to the driving mechanism, the driving mechanism is used to drive the processing mechanism to rotate and revolve; A tool setting mechanism, detachably connected to the driving mechanism; A rotary table (1) is used for mounting a high-steepness non-spherical workpiece or a tool tip (2); An acquisition module, used for connecting with the control system of the robot; The acquisition module is capable of acquiring a tool coordinate system of a machining mechanism according to a preset relationship between the tool setting mechanism and the tool setting tip (2); The acquisition module can acquire the user coordinate system of the high-steepness aspheric workpiece according to the preset relationship between the processing mechanism and the high-steepness aspheric workpiece; The acquisition module can acquire the processing angle of the processing mechanism according to the preset relationship between the processing mechanism and the high-steepness aspheric workpiece; The acquisition module can obtain the robot's processing program according to the processing angle of the processing mechanism and convert it into the robot's online processing language.

2. The processing device for a high-steepness aspheric workpiece according to claim 1, characterized in that: The driving mechanism comprises: A supporting body (3) for connecting to a mechanical arm of the robot; A cantilever mechanism is arranged on the supporting body (3), and the cantilever mechanism is used to be detachably connected to the processing mechanism or the tool setting mechanism; The driver is used to drive the processing mechanism to rotate and revolve.

3. The processing device for a high-steepness aspheric workpiece according to claim 2, characterized in that: The driver comprises: Drive motor (4); A driving spindle (5) is connected to the output shaft of the driving motor (4), and the driving spindle (5) is connected to the cantilever mechanism and is used to drive the cantilever mechanism to revolve. A transmission mechanism is provided on the driving spindle (5), and the transmission mechanism is used to drive the processing mechanism to rotate.

4. The processing device for a high-steepness aspheric workpiece according to claim 3, characterized in that: The transmission mechanism comprises: A first bevel gear (6) is arranged on the supporting body (3); A second bevel gear (7) is rotationally connected to the driving main shaft (5) via a first rotating shaft (8), and the second bevel gear (7) is meshed with the first bevel gear (6); A first transmission wheel (9), connected to the first rotating shaft (8); The second transmission wheel (10) is rotationally connected to the driving spindle (5) via a second rotating shaft (11); the second transmission wheel (10) and the first transmission wheel (9) are transmission-coordinated via a transmission belt (24); and the second rotating shaft (11) and the processing mechanism are transmission-coordinated.

5. The processing device for a high-steepness aspheric workpiece according to claim 4, characterized in that: The processing mechanism comprises: A contact wheel (12) detachably connected to the cantilever mechanism; The third transmission wheel (13) is connected to the second rotating shaft (11), and the third transmission wheel (13) and the contact wheel (12) are matched with each other through a processing belt (14) so ​​that the contact wheel (12) rotates.

6. The processing device for a high-steepness aspheric workpiece according to claim 3, characterized in that: The cantilever mechanism comprises: A first arm section (15) is rotatably connected to the support body (3), and the first arm section (15) is connected to the driving spindle (5); A second arm section (16) connected to an end of the first arm section (15) away from the driving spindle (5); The third arm section (17) is connected to the end of the second arm section (16) away from the first arm section (15), and the end of the third arm section (17) away from the second arm section (16) is detachably connected to the processing mechanism or the tool setting mechanism.

7. The high-steepness aspheric workpiece processing device according to claim 2, characterized in that: The tool setting mechanism comprises: A tool setting connecting piece (18) detachably connected to the cantilever mechanism; A measuring needle (19) is detachably connected to the tool setting connecting piece (18).

8. The high-steepness aspheric workpiece processing device according to claim 5, characterized in that: The processing belt (14) is a grinding belt or a polishing belt.

9. The high-steepness aspheric workpiece processing device according to claim 5, characterized in that: The contact wheel (12) comprises: A wheel axle (20) used for being detachably connected to the cantilever mechanism; A support frame (22) rotatably connected to the wheel shaft (20) via a bearing (21); A polyurethane coating layer (23) is coated on the support frame (22).

10. A method for processing a high-steepness aspheric workpiece, based on a processing device for a high-steepness aspheric workpiece according to any one of claims 1 to 9, characterized in that: The following steps are involved: Acquiring a tool coordinate system of a machining mechanism according to a preset relationship between the tool setting mechanism and the tool setting tip; According to a preset relationship between the machining mechanism and the high-steepness aspheric workpiece, a user coordinate system of the high-steepness aspheric workpiece is acquired; Acquiring a processing angle of the processing mechanism according to a preset relationship between the processing mechanism and the high-steepness aspheric workpiece; A processing program of the robot is obtained according to the processing angle of the processing mechanism and converted into an online processing language of the robot; Processing the inner surface of high-steepness aspheric workpieces; Machining the outer surface of high-steepness aspheric workpieces.

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