Grinding and polishing robot for multi-layer lens

Abstract

The invention discloses a grinding and polishing robot for a multi-layer lens, and relates to the technical field of grinding and polishing, the grinding and polishing robot comprises a rack, a multi-layer lens workpiece is arranged in the middle of a grinding table, a fixing mechanism is arranged on the outer side of the multi-layer lens workpiece, a switching mechanism is arranged below a driving box, and a grinder is arranged below the switching mechanism; and a cooling mechanism is arranged on the outer side of the polisher. The multi-layer lens workpiece can be stably polished, so that the polishing effect of the multi-layer lens workpiece is improved; different types of polishers can be quickly switched, and specific polishers can be conveniently used according to hardness requirements of different materials of the multilayer lens workpiece; in addition, cooling liquid can be sprayed out in the process of polishing the multi-layer lens workpiece, friction resistance and temperature in the polishing process are reduced, and then the polishing effect of the multi-layer lens workpiece is improved. And in addition, cooling liquid of the corresponding type can be switched while the sanders are switched, and the matched cooling liquid can be conveniently used according to the requirements of different materials of the multi-layer lens workpiece.

Description

Technical Field

[0001] The invention belongs to the technical field of grinding and polishing, and in particular relates to a grinding and polishing robot for multi-layer lenses. Background Art

[0002] The grinding machine can remove the redundant part of the workpiece surface through the high-speed rotating grinding head, and realize the functions of grinding, polishing and trimming. The existing multi-layer lens needs to use a grinding machine for grinding and polishing operations during the processing process.

[0003] In the prior art, when grinding optical lenses, the cylinder runs to allow the piston rod to push the motor downward, and the motor runs through the rotating shaft to make the grinding disc rotate at high speed to grind the optical lens below. During the processing of the optical lens, the water pump runs to extract water from the cooling box through the water pump pipe and spray it out through the water spray pipe to cool the optical lens and reduce dust. However, the existing multi-layer lenses are made of different materials (such as resin, glass, polycarbonate, etc.), and different materials require the use of specific grinding heads to avoid material damage. The prior art cannot quickly replace the grinding head according to the material of the multi-layer lens, resulting in slow processing efficiency of the multi-layer lens. In addition, different materials require the use of matching coolants to cool down to avoid material damage, and the prior art cannot switch the matching coolant while replacing the grinding head, which affects the processing efficiency of the multi-layer lens. Summary of the invention

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

[0005] A grinding and polishing robot for multi-layer lenses comprises a frame, a grinding table is arranged on the top of the frame, a multi-layer lens workpiece is arranged in the middle of the grinding table, a fixing mechanism is arranged on the outer side of the multi-layer lens workpiece, a mechanical arm is arranged on the frame, one end of the mechanical arm is connected to a liquid storage mechanism, the liquid storage mechanism comprises a sealing shell, a liquid storage box and a second pipeline, a driving box is arranged at the bottom of the liquid storage mechanism, a switching mechanism is arranged below the driving box, a grinder is arranged below the switching mechanism, the grinder comprises a mounting shell, a driving motor and a grinding head, and a cooling mechanism is arranged on the outer side of the grinder.

[0006] Preferably, the fixing mechanism includes a protective shell fixedly installed on the inner side of the grinding table, a first electric cylinder is fixedly installed inside the protective shell, an output end of the first electric cylinder is fixedly connected to a first sliding plate, a top of the first sliding plate is fixedly connected to a splint, and an outer wall of the splint is fixedly connected to a baffle.

[0007] Preferably, the fixing mechanism further comprises a first guide groove formed on the inner side of the grinding table, and the first sliding plate is slidably connected to the first guide groove.

[0008] Preferably, the switching mechanism includes a tool holder fixedly connected to the bottom of the driving box, a second electric cylinder is fixedly installed inside the driving box, an output end of the second electric cylinder is fixedly connected to a first mounting plate, a third electric cylinder is fixedly installed on the bottom of the first mounting plate, an output end of the third electric cylinder is connected to a group of grinders, a fourth electric cylinder is fixedly installed inside the driving box, an output end of the fourth electric cylinder is fixedly connected to the second mounting plate, a fifth electric cylinder is fixedly connected to the bottom of the second mounting plate, and an output end of the fifth electric cylinder is connected to another group of grinders.

[0009] Preferably, the switching mechanism further comprises a second sliding plate fixedly connected to the bottom of the first mounting plate and the second mounting plate, a second guide groove is provided on the inner side of the driving box, and the second sliding plate is slidably connected to the second guide groove.

[0010] Preferably, the liquid storage mechanism further comprises a first pipeline connected to the top of the liquid storage tank, and a first control valve is installed on the first pipeline.

[0011] Preferably, the cooling mechanism includes a driving pump fixedly mounted on the outer wall of the sealing shell, one side of the driving pump is connected to the sealing shell through a third pipe, and the other side of the driving pump is connected to a nozzle through a fourth pipe. A liquid hopper is provided on the outside of the polishing table, and the bottom of the liquid hopper is connected to a fifth pipe, and a second control valve is installed on the fifth pipe.

[0012] Preferably, the switching mechanism also includes a rack fixedly connected to the first mounting plate and the top of the second mounting plate, the outer side of the rack is meshed with a spur gear, the inside of the spur gear is fixedly connected to a transmission shaft, the inside of the drive box is fixedly connected to a support seat, the transmission shaft is rotatably connected to the support seat, the outer side of the transmission shaft is fixedly connected to a first bevel gear, the outer side of the first bevel gear is provided with a second bevel gear, the inner side of the second bevel gear is fixedly connected to a transmission screw, the top of the drive box is fixedly connected to a support frame, the transmission screw is rotatably connected to the support frame, the outer side of the transmission screw is provided with a screw nut, the outer side of the screw nut is provided with a connecting plate, the connecting plate is slidably connected to the support frame, and one end of the connecting plate is fixedly connected to a sealing cover.

[0013] Compared with the prior art, the present invention has the following beneficial effects:

[0014] When grinding a multi-layer lens workpiece, the present invention first places the multi-layer lens workpiece in the middle of the grinding table, and then starts the first electric cylinder inside the protective shell. The output end of the first electric cylinder drives the first sliding plate in the first guide groove. Because the top of the first sliding plate is fixedly connected with a clamping plate, multiple clamping plates will move toward the multi-layer lens workpiece and clamp and fix the multi-layer lens workpiece in multiple directions. When the multi-layer lens workpiece is clamped and fixed, the robot arm drives the grinder under the switching mechanism to move around the multi-layer lens workpiece, and the output end of the driving motor can drive the grinding head to rotate. At the same time, the multi-layer lens workpiece is clamped and fixed, so that the grinding head can stably grind the multi-layer lens workpiece. The present invention can stably grind the multi-layer lens workpiece, thereby improving the grinding effect of the multi-layer lens workpiece.

[0015] When the present invention needs to switch different types of grinders during the process of grinding a multi-layer lens workpiece, the third electric cylinder fixedly installed at the bottom of the first mounting plate is first started, and the output end of the third electric cylinder drives the working grinder to move upward and shrink into the tool holder, and then the second electric cylinder is started, and the output end of the second electric cylinder drives the second sliding plate at the bottom of the first mounting plate to slide inside the second guide groove, and the first mounting plate located in the middle of the tool holder is pulled to the edge of the tool holder, so that the working grinder is reset in the tool holder. Then the corresponding fourth electric cylinder is started, and the output end of the fourth electric cylinder drives the second sliding plate at the bottom of the second mounting plate to slide inside the second guide groove, and the second mounting plate located at the edge of the tool holder is pushed to the middle of the tool holder, and then the fifth electric cylinder fixedly installed at the bottom of the second mounting plate is started, and the output end of the fifth electric cylinder drives the grinder to be switched to be ejected from the tool holder. The present invention can quickly switch different types of grinders, and is convenient for using specific grinders according to the hardness requirements of different materials of multi-layer lens workpieces.

[0016] Before grinding the multi-layer lens workpiece, the present invention can open the first control valve and convey the corresponding external coolant to the inside of the liquid storage tank through the first pipe. When grinding the multi-layer lens workpiece, the coolant inside the liquid storage tank will be conveyed to the inside of the sealed shell through the second pipe, and then the driving pump fixedly installed on the outer wall of the sealed shell will be started, so that the coolant inside the sealed shell will be conveyed to the inside of the fourth pipe through the third pipe. Because the nozzle corresponds to the grinding head, the coolant inside the fourth pipe can be sprayed to the grinding head through the nozzle. The present invention can spray coolant during the process of grinding the multi-layer lens workpiece, reducing the friction resistance and temperature during the grinding process, thereby improving the grinding effect of the multi-layer lens workpiece. After the coolant is sprayed to the grinding head, the coolant will flow into the liquid hopper through the grinding table. The second control valve can be opened to discharge the coolant in the liquid hopper through the fifth pipe to achieve the collection of the coolant.

[0017] During the process of switching the grinder, first, the output end of the second electric cylinder drives the first mounting plate to retract from the middle of the tool rest to the edge of the tool rest for resetting. As a result, the rack fixedly connected to the top of the first mounting plate moves towards the edge of the tool rest following the first mounting plate. During the movement of the rack, it drives the spur gear to rotate, and then drives the transmission shaft to rotate inside the support base. Since a first bevel gear is fixedly connected to the outer side of the transmission shaft and the first bevel gear meshes with the second bevel gear, the second bevel gear and the transmission lead screw fixedly connected to the inside of the second bevel gear can be driven to rotate. Subsequently, under the action of the lead screw nut, the connecting plate is driven to move downward. Since a sealing cover is fixedly connected to the bottom of the connecting plate, the sealing cover can move downward and block the second pipeline at the lower end of the corresponding liquid storage tank. When the output end of the fourth electric cylinder drives the second mounting plate to push from the edge of the tool rest to the middle position, the rack fixedly connected to the top of the second mounting plate moves towards the middle of the tool rest following the second mounting plate, thereby driving the sealing cover to move downward and opening the second pipeline at the lower end of the corresponding liquid storage tank. The present invention can switch the corresponding type of coolant while switching the grinder, which is convenient to use the matching coolant according to the requirements of different materials of multi-layer lens workpieces. BRIEF DESCRIPTION OF THE DRAWINGS

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

[0019] Figure 2 is a schematic diagram of a partial structure of the present invention Figure 1 ;

[0020] Figure 3 is a schematic diagram of the disassembly of a partial structure of the present invention;

[0021] Figure 4 is a schematic sectional view of a partial structure of the present invention;

[0022] Figure 5 is a schematic diagram of a partial structure of the present invention Figure 2 ;

[0023] Figure 6 is a schematic diagram of a partial structure of the present invention Figure 3 ;

[0024] Figure 7 is a schematic diagram of a partial structure of the present invention Figure 4 。

[0025] In the figure:

[0026] 1, frame; 2, grinding table; 3, multi-layer lens workpiece; 4, fixing mechanism; 5, robotic arm; 6, grinder; 7, switching mechanism; 8, drive box; 9, liquid storage mechanism; 10, cooling mechanism;

[0027] 401, protective shell; 402, first electric cylinder; 403, first sliding plate; 404, first guide groove; 405, clamping plate; 406, baffle plate;

[0028] 601, mounting shell; 602, driving motor; 603, grinding head;

[0029] 701, tool rest; 702, second electric cylinder; 703, first mounting plate; 704, third electric cylinder; 705, fourth electric cylinder; 706, second mounting plate; 707, fifth electric cylinder; 708, second sliding plate; 709, second guide groove; 710, rack; 711, spur gear; 712, transmission shaft; 713, support seat; 714, first bevel gear; 715, second bevel gear; 716, transmission screw; 717, support frame; 718, screw nut; 719, connecting plate; 720, sealing cover;

[0030] 901, liquid storage tank; 902, first pipeline; 903, first control valve; 904, second pipeline; 905, sealing shell;

[0031] 1001, third pipeline; 1002, driving pump; 1003, fourth pipeline; 1004, nozzle; 1005, liquid storage bucket; 1006, fifth pipeline; 1007, second control valve. DETAILED DESCRIPTION

[0032] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0033] The following electrical components are all electrically connected to the peripheral PLC controller.

[0034] Reference Figure 1 - Figure 7 A grinding and polishing robot for multi-layer lenses comprises a frame 1, a grinding table 2 is arranged on the top of the frame 1, a multi-layer lens workpiece 3 is arranged in the middle of the grinding table 2, a fixing mechanism 4 is arranged on the outer side of the multi-layer lens workpiece 3, a mechanical arm 5 is arranged on the frame 1, one end of the mechanical arm 5 is connected to a liquid storage mechanism 9, the liquid storage mechanism 9 comprises a sealing shell 905, a liquid storage tank 901 and a second pipeline 904, a driving box 8 is arranged at the bottom of the liquid storage mechanism 9, a switching mechanism 7 is arranged below the driving box 8, a grinder 6 is arranged below the switching mechanism 7, the grinder 6 comprises a mounting shell 601, a driving motor 602 and a grinding head 603, and a cooling mechanism 10 is arranged on the outer side of the grinder 6.

[0035] In the embodiment, refer to Figure 1-Figure 3In order to stably grind the multi-layer lens workpiece 3, the fixing mechanism 4 includes a protective shell 401 fixedly installed on the inner side of the grinding table 2, a first electric cylinder 402 is fixedly installed inside the protective shell 401, a first sliding plate 403 is fixedly connected to the output end of the first electric cylinder 402, a clamping plate 405 is fixedly connected to the top of the first sliding plate 403, and a baffle 406 is fixedly connected to the outer wall of the clamping plate 405. The fixing mechanism 4 also includes a first guide groove 404 opened on the inner side of the grinding table 2, and the first sliding plate 403 is slidably connected to the first guide groove 404.

[0036] Specifically, when polishing a multi-layer lens workpiece 3, the present invention first places the multi-layer lens workpiece 3 in the middle of the polishing table 2, and then starts the first electric cylinder 402 inside the protective shell 401. The output end of the first electric cylinder 402 will drive the first sliding plate 403 in the first guide groove 404. Because the top of the first sliding plate 403 is fixedly connected with a clamping plate 405, multiple clamping plates 405 will move toward the multi-layer lens workpiece 3 and clamp the multi-layer lens workpiece 3 in multiple directions.

[0037] In the present invention, when the multi-layer lens workpiece 3 is clamped and fixed, the mechanical arm 5 drives the grinder 6 under the switching mechanism 7 to move around the multi-layer lens workpiece 3, and the output end of the driving motor 602 can drive the grinding head 603 to rotate. At the same time, the multi-layer lens workpiece 3 is clamped and fixed, so that the grinding head 603 can stably grind the multi-layer lens workpiece 3. The present invention can stably grind the multi-layer lens workpiece 3, thereby improving the grinding effect of the multi-layer lens workpiece 3.

[0038] In the embodiment, refer to Figure 4 In order to quickly switch between different types of grinders 6, the present invention comprises a tool holder 701 fixedly connected to the bottom of a driving box 8, a second electric cylinder 702 is fixedly installed inside the driving box 8, an output end of the second electric cylinder 702 is fixedly connected to a first mounting plate 703, a third electric cylinder 704 is fixedly installed at the bottom of the first mounting plate 703, a group of grinders 6 are connected to the output end of the third electric cylinder 704, a fourth electric cylinder 705 is fixedly installed inside the driving box 8, an output end of the fourth electric cylinder 705 is fixedly connected to a second mounting plate 706, a fifth electric cylinder 707 is fixedly connected to the bottom of the second mounting plate 706, and another group of grinders 6 are connected to the output end of the fifth electric cylinder 707. The switching mechanism 7 also comprises a second sliding plate 708 fixedly connected to the bottom of the first mounting plate 703 and the second mounting plate 706, a second guide groove 709 is provided on the inner side of the driving box 8, and the second sliding plate 708 is slidably connected to the second guide groove 709.

[0039] Specifically, when the present invention needs to switch different types of grinders 6 during the process of grinding the multi-layer lens workpiece 3, the third electric cylinder 704 fixedly installed at the bottom of the first mounting plate 703 is first started, and the output end of the third electric cylinder 704 will drive the working grinder 6 to move upward and shrink into the tool holder 701, and then the second electric cylinder 702 is started, and the output end of the second electric cylinder 702 will drive the second sliding plate 708 at the bottom of the first mounting plate 703 to slide inside the second guide groove 709, and the first mounting plate 703 located in the middle of the tool holder 701 is pulled to the edge of the tool holder 701, so that the working grinder 6 is reset in the tool holder 701. Then, the corresponding fourth electric cylinder 705 is started, and the output end of the fourth electric cylinder 705 drives the second sliding plate 708 at the bottom of the second mounting plate 706 to slide inside the second guide groove 709, and the second mounting plate 706 located at the edge of the tool holder 701 is pushed to the middle of the tool holder 701, and then the fifth electric cylinder 707 fixedly installed at the bottom of the second mounting plate 706 is started, and the output end of the fifth electric cylinder 707 drives the grinder 6 to be switched to be ejected from the tool holder 701. The present invention can quickly switch different types of grinders 6, and is convenient for using a specific grinder 6 according to the hardness requirements of different materials of the multi-layer lens workpiece 3.

[0040] In the embodiment, refer to Figure 2 , Figure 5-Figure 6 In order to spray out cooling liquid during the process of polishing the multi-layer lens workpiece 3, the liquid storage mechanism 9 also includes a first pipe 902 connected to the top of the liquid storage tank 901, and a first control valve 903 is installed on the first pipe 902. The cooling mechanism 10 includes a driving pump 1002 fixedly installed on the outer wall of the sealing shell 905, one side of the driving pump 1002 is connected to the sealing shell 905 through a third pipe 1001, and the other side of the driving pump 1002 is connected to a nozzle 1004 through a fourth pipe 1003. A liquid hopper 1005 is arranged on the outer side of the polishing table 2, and the bottom of the liquid hopper 1005 is connected to a fifth pipe 1006, and a second control valve 1007 is installed on the fifth pipe 1006.

[0041] Specifically, before grinding the multi-layer lens workpiece 3 , the present invention can open the first control valve 903 and deliver the corresponding external cooling liquid to the inside of the liquid storage tank 901 through the first pipeline 902 .

[0042] When the present invention is grinding the multi-layer lens workpiece 3, the coolant in the liquid storage tank 901 is transported to the inside of the sealed shell 905 through the second pipe 904, and then the driving pump 1002 fixedly installed on the outer wall of the sealed shell 905 is started, so that the coolant in the sealed shell 905 is transported to the inside of the fourth pipe 1003 through the third pipe 1001. Because the nozzle 1004 corresponds to the grinding head 603, the coolant in the fourth pipe 1003 can be sprayed to the grinding head 603 through the nozzle 1004. The present invention can spray the coolant in the process of grinding the multi-layer lens workpiece 3, which reduces the friction resistance and temperature in the grinding process, thereby improving the grinding effect of the multi-layer lens workpiece 3.

[0043] In the present invention, after the coolant is sprayed onto the grinding head 603, the coolant will flow into the liquid storage bucket 1005 through the grinding table 2. The second control valve 1007 can be opened to discharge the coolant in the liquid storage bucket 1005 through the fifth pipe 1006, thereby collecting the coolant.

[0044] In the embodiment, refer to Figure 4-Figure 5 , Figure 7 In order to switch the corresponding type of coolant while switching the grinder 6, the switching mechanism 7 also includes a rack 710 fixedly connected to the top of the first mounting plate 703 and the second mounting plate 706, and the outer side of the rack 710 is meshed with a spur gear 711, and the inner part of the spur gear 711 is fixedly connected to a transmission shaft 712, and the inner part of the drive box 8 is fixedly connected to a support seat 713, and the transmission shaft 712 is rotatably connected to the support seat 713, and the outer side of the transmission shaft 712 is fixedly connected to the first bevel gear 71 4. A second bevel gear 715 is arranged on the outer side of the first bevel gear 714, a transmission screw 716 is fixedly connected to the inner side of the second bevel gear 715, a support frame 717 is fixedly connected to the top of the drive box 8, the transmission screw 716 is rotatably connected to the support frame 717, a screw nut 718 is arranged on the outer side of the transmission screw 716, a connecting plate 719 is arranged on the outer side of the screw nut 718, the connecting plate 719 is slidably connected to the support frame 717, and a sealing cover 720 is fixedly connected to one end of the connecting plate 719.

[0045] Specifically, in the process of switching the grinder 6 of the present invention, the output end of the second electric cylinder 702 will first drive the first mounting plate 703 to retract from the middle of the tool holder 701 to the edge of the tool holder 701 and reset, so that the rack 710 fixedly connected to the top of the first mounting plate 703 will follow the first mounting plate 703 to move toward the edge of the tool holder 701, and the rack 710 will drive the spur gear 711 to rotate during the movement, thereby driving the transmission shaft 712 to rotate inside the support seat 713. Because the first bevel gear 714 is fixedly connected to the outer side of the transmission shaft 712, and the first bevel gear 714 is meshed with the second bevel gear 715, the second bevel gear 715 and the transmission lead screw 716 fixedly connected to the inner side of the second bevel gear 715 can be driven to rotate, and then the connecting plate 719 will be driven to move downward under the action of the lead screw nut 718. Because the sealing cover 720 is fixedly connected to the bottom of the connecting plate 719, the sealing cover 720 can move downward and block the second pipeline 904 at the lower end of the corresponding liquid storage tank 901.

[0046] In the present invention, when the output end of the fourth electric cylinder 705 drives the second mounting plate 706 to move from the edge of the tool holder 701 to the middle position, the rack 710 fixedly connected to the top of the second mounting plate 706 will follow the second mounting plate 706 to move toward the middle of the tool holder 701, thereby driving the sealing cover 720 to move downward and open the second pipe 904 at the lower end of the corresponding liquid storage tank 901. The present invention can switch the corresponding type of coolant while switching the grinder 6, so as to facilitate the use of matching coolant according to the requirements of different materials of the multi-layer lens workpiece 3.

[0047] The above are only preferred specific implementation modes of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical solutions and inventive concepts of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A grinding and polishing robot for multi-layer lenses, characterized in that: The invention comprises a frame (1), a grinding table (2) is arranged on the top of the frame (1), a multi-layer lens workpiece (3) is arranged in the middle of the grinding table (2), a fixing mechanism (4) is arranged on the outer side of the multi-layer lens workpiece (3), a mechanical arm (5) is arranged on the frame (1), one end of the mechanical arm (5) is connected to a liquid storage mechanism (9), the liquid storage mechanism (9) comprises a sealing shell (905), a liquid storage box (901) and a second pipe (904), a driving box (8) is arranged at the bottom of the liquid storage mechanism (9), a switching mechanism (7) is arranged below the driving box (8), a grinder (6) is arranged below the switching mechanism (7), the grinder (6) comprises a mounting shell (601), a driving motor (602) and a grinding head (603), and a cooling mechanism (10) is arranged on the outer side of the grinder (6).

2. A multi-layer lens grinding and polishing robot according to claim 1, characterized in that: The fixing mechanism (4) comprises a protective shell (401) fixedly mounted on the inner side of the grinding table (2); a first electric cylinder (402) is fixedly mounted inside the protective shell (401); an output end of the first electric cylinder (402) is fixedly connected to a first sliding plate (403); a clamping plate (405) is fixedly connected to the top of the first sliding plate (403); and a baffle (406) is fixedly connected to the outer wall of the clamping plate (405).

3. A multi-layer lens grinding and polishing robot according to claim 2, characterized in that: The fixing mechanism (4) further comprises a first guide groove (404) formed on the inner side of the grinding table (2), and the first sliding plate (403) is slidably connected to the first guide groove (404).

4. The grinding and polishing robot for multi-layer lenses according to claim 1, characterized in that: The switching mechanism (7) comprises a tool holder (701) fixedly connected to the bottom of the driving box (8); a second electric cylinder (702) is fixedly installed inside the driving box (8); an output end of the second electric cylinder (702) is fixedly connected to a first mounting plate (703); a third electric cylinder (704) is fixedly installed at the bottom of the first mounting plate (703); an output end of the third electric cylinder (704) is connected to a group of grinders (6); a fourth electric cylinder (705) is fixedly installed inside the driving box (8); an output end of the fourth electric cylinder (705) is fixedly connected to a second mounting plate (706); a fifth electric cylinder (707) is fixedly connected to the bottom of the second mounting plate (706); an output end of the fifth electric cylinder (707) is connected to another group of grinders (6).

5. A multi-layer lens grinding and polishing robot according to claim 4, characterized in that: The switching mechanism (7) further comprises a second sliding plate (708) fixedly connected to the first mounting plate (703) and the bottom of the second mounting plate (706); a second guide groove (709) is provided on the inner side of the driving box (8); and the second sliding plate (708) is slidably connected to the second guide groove (709).

6. The grinding and polishing robot for multi-layer lenses according to claim 1, characterized in that: The liquid storage mechanism (9) further comprises a first pipeline (902) connected to the top of the liquid storage tank (901), and a first control valve (903) is installed on the first pipeline (902).

7. The grinding and polishing robot for multi-layer lenses according to claim 1, characterized in that: The cooling mechanism (10) comprises a driving pump (1002) fixedly mounted on the outer wall of the sealing shell (905); one side of the driving pump (1002) is connected to the sealing shell (905) via a third pipe (1001); the other side of the driving pump (1002) is connected to a nozzle (1004) via a fourth pipe (1003); a liquid hopper (1005) is arranged on the outer side of the polishing table (2); the bottom of the liquid hopper (1005) is connected to a fifth pipe (1006); and a second control valve (1007) is installed on the fifth pipe (1006).

8. The grinding and polishing robot for multi-layer lenses according to claim 4, characterized in that: The switching mechanism (7) further comprises a rack (710) fixedly connected to the top of the first mounting plate (703) and the second mounting plate (706); a spur gear (711) is meshedly arranged on the outer side of the rack (710); a transmission shaft (712) is fixedly connected inside the spur gear (711); a support seat (713) is fixedly connected inside the drive box (8); the transmission shaft (712) is rotatably connected to the support seat (713); a first bevel gear (714) is fixedly connected to the outer side of the transmission shaft (712); and a first bevel gear (714) is provided on the outer side of the first bevel gear (714). A second bevel gear (715) is arranged, a transmission screw (716) is fixedly connected to the inner side of the second bevel gear (715), a support frame (717) is fixedly connected to the top of the drive box (8), the transmission screw (716) is rotatably connected to the support frame (717), a screw nut (718) is arranged on the outer side of the transmission screw (716), a connecting plate (719) is arranged on the outer side of the screw nut (718), the connecting plate (719) is slidably connected to the support frame (717), and a sealing cover (720) is fixedly connected to one end of the connecting plate (719).

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