Optical lens fine grinding and polishing mechanical arm device

Abstract

The invention relates to an optical lens fine grinding and polishing mechanical arm device, and relates to the technical field of optical lens machining equipment, the optical lens fine grinding and polishing mechanical arm device comprises a mechanical arm mechanism and a grinding seat arranged on the mechanical arm mechanism, a grinding disc is rotationally connected to the grinding seat, and the mechanical arm mechanism can drive the grinding disc to move on an optical lens. The grinding disc can grind the optical lens; a cleaning pipe is arranged on the grinding base and arranged in the radial direction of the grinding disc, the cleaning pipe is externally connected with a cleaning medium supply system, the cleaning pipe is provided with a spray head unit, and the spray head unit can obliquely spray a cleaning medium to the surface of the optical lens so that grinding liquid on the surface of the optical lens can flow towards the edge of the optical lens. The grinding and polishing device has the effects that the grinding liquid left on the surface of the optical lens is removed, tiny abrasive particles in the residual grinding liquid are prevented from rubbing the surface of the lens, and the grinding and polishing quality of the optical lens is improved.

Description

Technical Field

[0001] The present application relates to the technical field of optical lens processing equipment, and in particular to a mechanical arm device for fine grinding and polishing of optical lenses. Background Art

[0002] Domestic large-aperture optical lenses (D>300mm) are mainly used in high-end fields such as astronomical telescopes, space remote sensing, and laser nuclear fusion. During use, the surface of the optical lens needs to be ground and polished to process it into different types of optical lenses.

[0003] In the existing optical lens grinding and polishing process, a grinding disc is used to grind and polish the surface of the optical lens, and grinding fluid is sprayed on the contact point between the grinding disc and the optical lens during the grinding and polishing process to remove debris generated during the grinding and polishing process. However, due to the large surface area of ​​large-diameter optical lenses, the used grinding fluid remains on the surface of the optical lens. When the grinding disc grinds and polishes the optical lens again, the tiny abrasive particles in the residual grinding fluid will rub against the lens surface, causing scratches or microcracks, thereby reducing the quality of the optical lens grinding and polishing. Summary of the Invention

[0004] In order to improve the problem that the used grinding fluid remains on the surface of the optical lens and reduces the quality of the optical lens grinding and polishing, the present application provides a mechanical arm device for fine grinding and polishing of optical lenses.

[0005] The present application provides an optical lens fine grinding and polishing robot arm device that adopts the following technical solutions: A mechanical arm device for fine grinding and polishing an optical lens comprises a mechanical arm mechanism and a grinding seat provided on the mechanical arm mechanism, wherein a grinding disc is rotatably connected to the grinding seat, and the mechanical arm mechanism can drive the grinding disc to move on the optical lens, and the grinding disc can grind the optical lens; A cleaning tube is provided on the grinding seat, and the cleaning tube is arranged along the radial direction of the grinding disk. The cleaning tube is externally connected to a cleaning medium supply system. The cleaning tube is provided with a nozzle unit, and the nozzle unit can spray the cleaning medium obliquely onto the surface of the optical lens so that the grinding liquid on the surface of the optical lens flows toward the edge of the optical lens.

[0006] By adopting the above technical solution, during the grinding and polishing process of the optical lens, the robotic arm mechanism drives the grinding disc to grind the optical lens. When the grinding disc grinds the optical lens, the cleaning medium supply system sprays the cleaning medium onto the surface of the optical lens, so that the grinding liquid on the surface of the optical lens flows toward the edge, and then the grinding liquid remaining on the surface of the optical lens is removed, thereby effectively avoiding the tiny abrasive particles in the residual grinding liquid from rubbing against the lens surface, causing scratches or microcracks, thereby improving the quality of grinding and polishing of the optical lens.

[0007] Preferably, the nozzle unit includes a plurality of nozzles, and the plurality of nozzles are spaced apart along the length direction of the cleaning tube. The cleaning tube is provided with connecting holes corresponding one to one to the nozzles, and the nozzle is provided with a medium through hole. A first ball hinge is fixedly provided on the nozzle, and the first ball hinge is arranged in the connecting hole and is slidingly and sealingly connected to the hole wall of the connecting hole so as to be able to adjust the angle between the nozzle and the direction perpendicular to the optical lens. The cleaning medium in the cleaning tube can be sprayed onto the optical lens through the medium through hole.

[0008] By adopting the above technical solution, the spray angles of multiple nozzles can be flexibly adjusted so that the cleaning medium can be sprayed onto the surface of the optical lens at different angles. This can more effectively push the grinding fluid on the surface of the optical lens toward the edge, enhance the effect of removing residual grinding fluid, and further improve the grinding and polishing quality of the optical lens.

[0009] Preferably, a control tube is sleeved on the cleaning tube, and the control tube is provided with a strip through hole for several of the nozzles to pass through, the width of the strip through hole is greater than the maximum width of the first ball hinge part, and the control tube is provided with a support part on the side of the strip through hole, and the support part is provided with a sliding groove corresponding to the nozzle one by one, and the nozzle is provided with a sliding part that can be inserted into the sliding groove and slide, so that the sliding of the control tube on the cleaning tube can be converted into the swing of the nozzle.

[0010] By adopting the above technical solution, the direction of multiple nozzles is controlled simultaneously by moving the control tube, and the spray angle of the nozzle can be conveniently adjusted so that the cleaning medium can be sprayed onto the surface of the optical lens more accurately, thereby more effectively causing the grinding liquid on the surface of the optical lens to flow toward the edge, making the nozzle angle control more consistent.

[0011] Preferably, two sets of fixing rings are provided on the threaded sleeve of the cleaning tube, and the two sets of fixing rings are respectively provided on both sides of the control tube so as to fix the control tube.

[0012] By adopting the above technical solution and using two sets of fixing rings, the position of the control tube can be firmly fixed to ensure that the control tube does not slide at will, thereby ensuring the stability of the nozzle swing state.

[0013] Preferably, the cleaning tube and the grinding seat are connected via a rotating unit and a tilt adjustment unit, the rotating unit can drive the cleaning tube to rotate around the rotation axis of the grinding disc, and the tilt adjustment unit can adjust the rotation plane of the cleaning tube to be parallel to the surface of the optical lens.

[0014] By adopting the above technical solution, the rotating unit is used to drive the cleaning tube to rotate around the rotation axis of the grinding disk, which can change the spray position and range of the cleaning medium, so that the grinding liquid at various positions on the surface of the optical lens can be cleaned; by adjusting the rotation plane of the cleaning tube to be parallel to the surface of the optical lens through the tilt adjustment unit, it can be ensured that the cleaning medium acts evenly on the surface of the optical lens, so that the grinding liquid remaining on the surface of the optical lens can be removed more thoroughly.

[0015] Preferably, the rotating unit includes a bearing seat and a driving member. The bearing seat is fixedly connected to the cleaning tube. The bearing seat is connected to the tilt adjustment unit through a bearing. The driving member is arranged on the tilt adjustment unit and connected to the bearing seat so as to drive the cleaning tube to rotate.

[0016] By adopting the above technical solution, the cleaning tube can be rotated around the rotation axis of the grinding disc, the spray position and range of the cleaning medium can be adjusted, and the grinding liquid on the surface of the optical lens can be more comprehensively flowed toward the edge.

[0017] Preferably, the driving member includes a driving motor, a driving gear and a ring gear. The driving motor is arranged on the tilt adjustment unit, the driving gear is coaxially fixed on the output shaft of the driving motor, the ring gear is fixed on the bearing seat, and the driving gear is meshed with the ring gear.

[0018] By adopting the above technical solution, the driving motor is used to drive the driving gear to rotate, and the driving gear is meshed with the gear ring, which can accurately drive the bearing seat to rotate, thereby driving the cleaning tube to rotate stably around the rotation axis of the grinding disc.

[0019] Preferably, a first box plate is fixedly provided on the bearing seat, and a second box plate is provided on the tilt adjustment unit. The first box plate and the second box plate are slidingly and sealingly connected and can be assembled into a closed intermediate cavity. A medium pipe connected to the intermediate cavity is fixedly provided on the second box plate, and the medium pipe is connected to the cleaning medium supply system. An intermediate channel connected to the cleaning pipe and the intermediate cavity is opened on the bearing seat.

[0020] By adopting the above technical solution, the cleaning medium in the cleaning medium supply system can be smoothly transported to the cleaning pipe through the medium pipe, the intermediate cavity and the intermediate channel, and the sliding sealing connection between the first box plate and the second box plate can ensure that the cleaning medium does not leak during the transportation process, thereby achieving a stable supply of cleaning medium.

[0021] Preferably, the tilt adjustment unit includes a second ball hinge and an articulated seat, the second ball hinge is fixedly arranged on the grinding seat, the bearing is arranged on the articulated seat, and the articulated seat is slidably sleeved on the second ball hinge to be able to adjust the rotation plane of the cleaning tube to be parallel to the surface of the optical lens.

[0022] By adopting the above technical solution, using the second ball hinge part and the hinge seat of the tilt adjustment unit, the rotation plane of the cleaning tube can be conveniently and flexibly adjusted to keep it parallel to the surface of the optical lens, so that the cleaning medium sprayed by the nozzle unit acts more evenly on the surface of the optical lens.

[0023] Preferably, a fixing bolt is threadedly inserted into the hinge seat, and the fixing bolt can be abutted and fixed on the second ball hinge part, so that the hinge seat and the second ball hinge part are fixed.

[0024] By adopting the above technical solution, after adjusting the rotation plane of the cleaning tube to be parallel to the surface of the optical lens, the second ball hinge is fixed with a fixing bolt, which can firmly fix the hinge seat and the second ball hinge to prevent unnecessary displacement and shaking of the cleaning tube during operation, ensure that the cleaning medium is sprayed stably and accurately onto the surface of the optical lens, maintain the grinding liquid in a good state of flowing toward the edge, and further ensure the quality of grinding and polishing of the optical lens.

[0025] In summary, this application includes at least one of the following beneficial technical effects: 1. Use the manipulator mechanism to drive the grinding disc to polish the optical lens. At the same time, the cleaning medium is sprayed onto the lens surface through the cleaning tube and nozzle unit, prompting the grinding fluid to flow to the edge, removing residual grinding fluid, preventing tiny abrasive particles from rubbing the lens, and improving the grinding and polishing quality of the optical lens; 2. The multiple nozzles of the nozzle unit can adjust the angle perpendicular to the optical lens, flexibly changing the spray angle of the cleaning medium and enhancing the drainage effect of the grinding liquid; 3. With the help of the rotating unit, the cleaning tube rotates around the rotation axis of the grinding disc, and with the help of the tilt adjustment unit, the rotation plane of the cleaning tube is made parallel to the lens surface, thereby expanding the cleaning range and completely removing residual grinding fluid. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a structural schematic diagram of a mechanical arm device for fine grinding and polishing an optical lens according to an embodiment of the present application.

[0027] Figure 2 yes Figure 1 Enlarged view of part A in the middle.

[0028] Figure 3 yes Figure 1 Enlarged view of part B in the middle.

[0029] Figure 4 It is a structural diagram used to show the position relationship of the cleaning pipe.

[0030] Figure 5 It is a top view showing the end device of the robotic arm.

[0031] Figure 6 It is along Figure 5 Cross-sectional view along the CC line.

[0032] Figure 7 yes Figure 6 Enlarged view of part D in the middle.

[0033] Figure 8 yes Figure 6 Enlarged view of middle part E.

[0034] Figure 9 yes Figure 6 Enlarged view of part F in the middle.

[0035] Figure 10 It is along Figure 5 Cross-sectional view along the GG line.

[0036] Explanation of reference numerals: 1. Manipulator mechanism; 2. Grinding seat; 31. Grinding disc; 32. Rotating motor; 33. Driving shaft; 34. Grinding liquid nozzle; 41. Collecting cylinder; 42. Chassis; 43. Clamping device; 431. Support plate; 432. Fastening bolt; 433. Clamping plate; 44. Filter membrane; 5. Cleaning pipe; 6. Spray head unit; 61. Nozzle; 62. Connecting hole; 63. Medium through hole; 64. First ball hinge; 65. Control pipe; 651. Strip through hole; 652. Support part; 66. Fixing ring; 67. Sliding Groove; 68, sliding part; 7, rotating unit; 71, bearing seat; 72, driving part; 721, driving motor; 722, driving gear; 723, gear ring; 73, bearing mounting groove; 74, bearing; 75, bearing mounting ring; 761, first box plate; 762, first sealing ring; 763, second box plate; 764, second sealing ring; 765, intermediate cavity; 766, medium pipe; 767, intermediate channel; 8, tilt adjustment unit; 81, second ball hinge; 82, hinge seat; 83, fixing bolt; 9, optical lens. DETAILED DESCRIPTION

[0037] The following is combined with Figure 1-10 This application is described in further detail.

[0038] The embodiment of the present application discloses a mechanical arm device for fine grinding and polishing an optical lens.

[0039] Reference Figure 1 、 Figure 2 A mechanical arm device for fine grinding and polishing an optical lens includes a manipulator mechanism 1 and a grinding seat 2 arranged at the end of the manipulator mechanism 1, a grinding disc 31 is rotatably connected to the grinding seat 2, a rotating motor 32 is fixed on the grinding seat 2, and the rotating motor 32 is embedded in the grinding seat 2, a driving shaft 33 is coaxially fixed on the grinding disc 31, and the driving shaft 33 is passed through the grinding seat 2, and the output shaft of the rotating motor 32 is connected to the driving shaft 33 through a reducer, so that the rotating motor 32 drives the grinding disc 31 to rotate, and the manipulator mechanism 1 drives the grinding disc 31 to move on the surface of the optical lens 9 to achieve grinding and polishing of the entire optical lens 9, and a grinding liquid nozzle 34 is passed through the grinding seat 2, one end of the grinding liquid nozzle 34 faces the grinding disc 31, and the other end is connected to the grinding liquid supply system in the system to provide grinding liquid when the grinding disc 31 grinds the optical lens 9. In the grinding liquid supply system, the mud pump cooperates with the grinding liquid storage tank to first supply the grinding liquid during the polishing and grinding process of the optical lens 9.

[0040] Reference Figure 1 、 Figure 3 A collecting cylinder 41 is provided on the base, a chassis 42 is fixed on the bottom wall of the collecting cylinder 41, and four clamping devices 43 are provided on the chassis 42. A clamping space is formed between the four clamping devices 43. The optical lens 9 is placed in the clamping space on the chassis 42, and the optical lens 9 is clamped and fixed by the four clamping devices 43. Each clamping device 43 includes a support plate 431, a fastening bolt 432 and a clamping plate 433. The support plate 431 is fixed on the chassis 42 in a direction perpendicular to the surface of the chassis 42. The fastening bolt 432 is threaded through the support plate 431 in a direction parallel to the surface of the chassis 42, so that one end of the fastening bolt 432 points to the center of the clamping space. The clamping plate 433 is fixed on one end of the fastening bolt 432 pointing to the clamping space. By rotating the four fastening bolts 432, the fastening bolts 432 drive the clamping plate 433 to press against the peripheral side wall of the optical lens 9, thereby completing the clamping and fixing of the chassis 42 and the optical lens 9.

[0041] Reference Figure 1 Filter membranes 44 are laid on the bottom wall and side walls of the collecting cylinder 41. The bottom of the collecting cylinder 41 is connected to the grinding liquid supply system through a grinding liquid filtration system. The sprayed grinding liquid is filtered through the filter membrane 44 to filter out impurities in the grinding liquid. The filtered grinding liquid is returned to the grinding liquid supply system through the grinding liquid circulation system to achieve the recycling of the grinding liquid.

[0042] Reference Figure 4A cleaning tube 5 is provided on the grinding seat 2, and the cleaning tube 5 is arranged along the radial direction of the grinding disc 31. The cleaning tube 5 is externally connected to a cleaning medium supply system. In this embodiment, the cleaning medium in the cleaning tube 5 is a grinding liquid, and the corresponding cleaning medium supply system is a grinding liquid supply system. In other embodiments, the cleaning medium can also be air. A nozzle unit 6 is provided on the cleaning tube 5, and the nozzle unit 6 can spray the grinding liquid obliquely onto the surface of the optical lens 9, so that the grinding liquid on the surface of the optical lens 9 flows toward the edge of the optical lens 9.

[0043] During the grinding and polishing process of the optical lens 9, the robot mechanism 1 drives the grinding disc 31 to grind the optical lens 9. When the grinding disc 31 grinds the optical lens 9, on the one hand, the grinding liquid supply system sprays the grinding liquid to the grinding disc 31 through the grinding liquid nozzle 34 to lubricate the grinding and polishing of the lens and clean the grinding debris. The grinding liquid with mixed debris remains on the surface of the optical lens 9 after grinding. On the other hand, the grinding liquid supply system supplies grinding liquid into the cleaning tube 5, and the grinding liquid is sprayed onto the surface of the optical lens 9 through the nozzle unit 6, so that the grinding liquid on the surface of the optical lens 9 flows toward the edge, and then the grinding liquid remaining on the surface of the optical lens 9 is removed, thereby effectively avoiding the tiny abrasive particles in the residual grinding liquid from rubbing against the lens surface, causing scratches or microcracks, thereby improving the quality of grinding and polishing of the optical lens 9.

[0044] Reference Figure 4 The cleaning tube 5 and the grinding seat 2 are connected through the rotating unit 7 and the tilt adjusting unit 8.

[0045] Reference Figure 5 、 Figure 6 The tilt adjustment unit 8 includes a second ball hinge 81 and an articulated seat 82. The second ball hinge 81 is fixedly mounted on the grinding base 2, and the articulated seat 82 is slidably mounted on the second ball hinge 81, forming a ball hinge structure between the articulated seat 82 and the second ball hinge 81. The deflection angle between the articulated seat 82 and the second ball hinge 81 is 30°. The cooperation between the second ball hinge 81 and the articulated seat 82 allows for convenient and flexible adjustment of the rotation plane of the cleaning tube 5 to maintain parallelism with the surface of the optical lens 9, thereby ensuring that the polishing fluid sprayed from the nozzle unit 6 acts more evenly on the surface of the optical lens 9.

[0046] Reference Figure 5 、 Figure 6A fixing bolt 83 is threadedly inserted on the hinge seat 82. After the deflection angle of the hinge seat 82 is adjusted, the fixing bolt 83 is rotated to press against the second ball hinge part 81, so that the hinge seat 82 and the second ball hinge part 81 are fixed, and the fixation after the deflection angle adjustment of the hinge seat 82 is completed is completed, preventing the cleaning tube 5 from unnecessary displacement and shaking during operation, ensuring that the grinding liquid is stably and accurately sprayed onto the surface of the optical lens 9, maintaining a good state of the grinding liquid flowing toward the edge, and further ensuring the quality of the grinding and polishing of the optical lens 9.

[0047] Reference Figure 6 、 Figure 7 The rotating unit 7 in this embodiment includes a bearing seat 71 and a driving member 72. The bearing seat 71 is annular and is sleeved on the hinge seat 82. The cleaning tube 5 is fixedly mounted on the outer wall of the bearing seat 71 and is arranged along the radial direction of the bearing seat 71. There is a space between the bearing seat 71 and the hinge seat 82. Bearing mounting grooves 73 are formed on the opposite sides of the bearing seat 71 and the hinge seat 82. The bearing mounting grooves 73 extend through the top walls of the bearing seat 71 and the hinge seat 82. A bearing 74 is mounted in both bearing mounting grooves 73, so that the bearing seat 71 and the hinge seat 82 are rotatably connected through the bearing 74. The bearing 74 in this embodiment is a double tapered roller bearing. A bearing mounting ring 75 is provided in each bearing mounting groove 73. One bearing mounting ring 75 is sleeved on the hinge seat 82 and threadedly connected to the hinge seat 82. The other bearing mounting ring 75 is threadedly connected to the bearing seat 71. After the bearing 74 is installed in the two bearing mounting grooves 73, the two bearing mounting rings 75 are respectively screwed into the two bearing mounting grooves 73. The two bearing mounting rings 75 are respectively pressed against the two outer rings on the same side of the bearing 74 to complete the installation and fixation of the bearing 74.

[0048] Reference Figure 6 、 Figure 8 The driving member 72 includes a driving motor 721, a driving gear 722, and a ring gear 723. The driving motor 721 is fixedly mounted on the hinged base 82. The driving gear 722 is coaxially fixedly mounted on the output shaft of the driving motor 721. The ring gear 723 is fixedly mounted on the bearing base 71. The driving gear 722 and the ring gear 723 are internally meshed. The driving motor 721 drives the driving gear 722 to rotate. The driving gear 722 and the ring gear 723 are internally meshed, which can accurately drive the bearing seat of the shaft 33 to rotate, thereby driving the cleaning tube 5 to stably rotate about the rotation axis of the grinding disc 31.

[0049] Reference Figure 6 、 Figure 7A first box plate 761 is fixed to the bearing seat 71. The first box plate 761 is located between the bearing seat 71 and the hinge seat 82 and below the bearing 74. The first box plate 761 is arranged around the circumference of the bearing seat 71. A first sealing ring 762 is provided on the hinge seat 82, opposing the first box plate 761. The first sealing ring 762 and the first box plate 761 are in sliding and sealing connection. A second box plate 763 is fixed to the hinge seat 82. The second box plate 763 is located between the hinge seat 82 and the bearing seat 71 and below the first box plate 761. The second box plate 763 is arranged around the circumference of the hinge seat 82. A second sealing ring 764 is fixed to the inner wall of the bearing seat 71, opposing the second box plate 763. The second sealing ring 764 and the second box plate 763 are in sliding and sealing connection. A sealed intermediate cavity 765 is formed between the first box plate 761 and the second box plate 763. A medium tube 766 is fixedly mounted on the second box plate 763. The medium tube 766 is connected to the intermediate cavity 765 and to the grinding liquid supply system, so that the grinding liquid supply system supplies grinding liquid into the intermediate cavity 765. An intermediate channel 767 is defined within the bearing housing 71. One end of the intermediate channel 767 is connected to the cleaning tube 5, and the other end is connected to the intermediate cavity 765. The grinding liquid in the intermediate cavity 765 flows along the intermediate channel 767 into the cleaning tube 5.

[0050] Through the intermediate cavity 765 formed by the first box plate 761 and the second box plate 763, the grinding liquid in the grinding liquid supply system can be smoothly transported to the cleaning tube 5 through the medium tube 766, the intermediate cavity 765 and the intermediate channel 767, and the sliding sealing connection between the first box plate 761 and the second box plate 763 can ensure that the grinding liquid does not leak during the transportation process, thereby achieving a stable supply of grinding liquid.

[0051] Reference Figure 6 、 Figure 9 The nozzle unit 6 in this embodiment includes a plurality of nozzles 61, which are spaced apart along the length direction of the cleaning tube 5. The cleaning tube 5 is provided with connection holes 62 corresponding to the nozzles 61 one by one, and each connection hole 62 faces the surface of the optical lens 9. The nozzle 61 is provided with a medium through hole 63, which passes through both end faces of the nozzle 61 along the length direction of the nozzle 61. The end of the nozzle 61 is convex to form a first ball hinge 64, which is arranged in the connection hole 62 and is slidably and sealedly connected to the hole wall of the connection hole 62, so that a universal ball hinge structure is formed between the first ball hinge 64 and the connection hole 62. The maximum deflection angle of the nozzle 61 is 35 degrees. The cleaning medium in the cleaning tube 5 is sprayed onto the optical lens 9 through the medium through hole 63.

[0052] When cleaning the grinding liquid remaining on the surface of the optical lens 9, each nozzle 61 is adjusted to rotate in the direction away from the grinding disk 31, so that the nozzle 61 is tilted with respect to the vertical direction, and then the grinding liquid supply system supplies grinding liquid into the cleaning tube 5, and the grinding liquid is sprayed onto the surface of the optical lens 9 along the tilted direction of the nozzle 61, so that the grinding liquid will flow the grinding liquid remaining on the surface of the optical lens 9 toward the edge of the optical lens 9, thereby cleaning the grinding liquid remaining on the optical lens 9.

[0053] Reference Figure 5 、 Figure 9 and Figure 10 The cleaning tube 5 is sleeved with a control tube 65. The inner wall of the control tube 65 is provided with a limit strip arranged along its own axial direction. The outer wall of the cleaning tube 5 is provided with a limit groove arranged along its own axial direction. The limit strip is slidably inserted into the limit groove, so that the control tube 65 can only slide axially on the cleaning tube 5. Two sets of fixing rings 66 are threadedly sleeved on the cleaning tube 5. The control tube 65 is located between the two sets of fixing rings 66. The two fixing rings 66 fix the control tube 65 by clamping it. The two fixing rings 66 can firmly fix the position of the control tube 65 and ensure that the control tube 65 does not slide at will.

[0054] Reference Figure 9 、 Figure 10 The control tube 65 is provided with a strip through hole 651 for a number of nozzles 61 to pass through. The strip through hole 651 is arranged along the length direction of the control tube 65. The width of the strip through hole 651 is greater than the maximum width of the first ball hinge part 64. The control tube 65 is fixed with support parts 652 on both sides of the strip through hole 651. The nozzle 61 passes between the two support parts 652. Each support part 652 is provided with a sliding groove 67 corresponding to the nozzle 61 one by one. The sliding groove 67 is arranged along the width direction of the support part 652. Each nozzle 61 is provided with a sliding part 68 that can be inserted into the sliding groove 67 and slide. The sliding part 68 corresponds to the sliding groove 67 one by one, and the sliding part 68 is a round rod shape.

[0055] When adjusting the inclination angle of the nozzle and the vertical direction, the operator drives the control tube 65 to slide along the axial direction of the cleaning tube 5. The control tube 65 drives the nozzle 61 to rotate while the sliding portion 68 slides along the sliding groove 67 through the cooperation of the sliding portion 68 and the sliding groove 67, so that the inclination angle of the nozzle 61 can be adjusted, and the spray angles of multiple nozzles 61 can be flexibly adjusted, so that the cleaning medium is sprayed onto the surface of the optical lens 9 at different angles, which can more effectively push the grinding liquid on the surface of the optical lens 9 toward the edge, enhance the effect of removing residual grinding liquid, and further improve the grinding and polishing quality of the optical lens 9. By using the movement of the control tube 65 to simultaneously control the direction of multiple nozzles 61, the spray angle of the nozzle 61 can be conveniently adjusted, so that the cleaning medium can be sprayed onto the surface of the optical lens 9 more accurately, thereby more effectively pushing the grinding liquid on the surface of the optical lens 9 toward the edge, and making the angle control of the nozzle 61 more consistent.

[0056] The implementation principle of an optical lens fine grinding and polishing robotic arm device in an embodiment of the present application is as follows: first, the operator drives the articulated seat 82 to rotate around the second ball hinge 81 so that the cleaning tube 5 remains parallel to the surface of the optical lens 9, and then rotates the fixing bolt 83 to fix the articulated seat 82.

[0057] Secondly, the operator drives the control tube 65 to slide along the axial direction of the cleaning tube 5. The control tube 65 drives the nozzle 61 to rotate through the cooperation of the sliding part 68 and the sliding groove 67. At the same time, the sliding part 68 slides along the sliding groove 67, so that the inclination angle of the nozzle 61 is adjusted so that the nozzle 61 is directed to the side away from the grinding disk 31.

[0058] Finally, the grinding liquid in the grinding liquid supply system can be smoothly transported to the cleaning tube 5 through the medium tube 766, the intermediate cavity 765 and the intermediate channel 767, and the grinding liquid is sprayed onto the surface of the optical lens 9 through the nozzle 61. The driving motor 721 drives the shaft 33 to rotate, and the bearing seat 71 drives the cleaning tube 5 to rotate around the hinge seat 82, so that the grinding liquid on the surface of the optical lens 9 flows toward the edge, and then the grinding liquid remaining on the surface of the optical lens 9 is removed, thereby effectively avoiding the tiny abrasive particles in the residual grinding liquid from rubbing against the lens surface, causing scratches or microcracks, thereby improving the quality of grinding and polishing of the optical lens 9.

[0059] The above are all preferred embodiments of the present application, and are not intended to limit the scope of protection of the present application. Therefore, any equivalent changes made based on the structure, shape, and principle of the present application should be included in the scope of protection of the present application.

Claims

1. A mechanical arm device for fine grinding and polishing of optical lenses, characterized by: The invention comprises a manipulator mechanism (1) and a grinding seat (2) arranged on the manipulator mechanism (1); a grinding disc (31) is rotatably connected to the grinding seat (2); the manipulator mechanism (1) can drive the grinding disc (31) to move on the optical lens (9); and the grinding disc (31) can grind the optical lens (9); The grinding seat (2) is provided with a cleaning pipe (5), the cleaning pipe (5) is arranged along the radial direction of the grinding disc (31), the cleaning pipe (5) is externally connected to a cleaning medium supply system, and the cleaning pipe (5) is provided with a nozzle unit (6), and the nozzle unit (6) can spray the cleaning medium obliquely onto the surface of the optical lens (9), so that the grinding liquid on the surface of the optical lens (9) flows toward the edge of the optical lens (9).

2. The optical lens fine grinding and polishing mechanical arm device according to claim 1, characterized in that: The nozzle unit (6) includes a plurality of nozzles (61), and the plurality of nozzles (61) are spaced apart along the length direction of the cleaning tube (5). The cleaning tube (5) is provided with connection holes (62) corresponding to the nozzles (61) one by one, and the nozzles (61) are provided with medium through holes (63). The nozzles (61) are fixed with a first ball hinge (64), and the first ball hinge (64) is arranged in the connection hole (62) and is slidably and sealedly connected to the hole wall of the connection hole (62) so as to be able to adjust the angle between the nozzle (61) and the direction perpendicular to the optical lens (9). The cleaning medium in the cleaning tube (5) can be sprayed onto the optical lens (9) through the medium through hole (63).

3. The optical lens fine grinding and polishing mechanical arm device according to claim 2, characterized in that: The cleaning tube (5) is sleeved with a control tube (65), and the control tube (65) is provided with a strip through hole (651) for a plurality of the nozzles (61) to pass through, and the width of the strip through hole (651) is greater than the maximum width of the first ball hinge (64), and the control tube (65) is provided with a support portion (652) on the side of the strip through hole (651), and the support portion (652) is provided with a sliding groove (67) corresponding to the nozzle (61) one by one, and the nozzle (61) is provided with a sliding portion (68) that can be inserted into the sliding groove (67) and slide, so that the sliding of the control tube (65) on the cleaning tube (5) can be converted into the swing of the nozzle (61).

4. The optical lens fine grinding and polishing mechanical arm device according to claim 3, characterized in that: The cleaning tube (5) is threadedly sleeved with two sets of fixing rings (66), and the two sets of fixing rings (66) are respectively arranged on both sides of the control tube (65) to fix the control tube (65).

5. The optical lens fine grinding and polishing mechanical arm device according to claim 1, characterized in that: The cleaning tube (5) and the grinding seat (2) are connected via a rotating unit (7) and a tilt adjustment unit (8); the rotating unit (7) can drive the cleaning tube (5) to rotate around the rotation axis of the grinding disc (31); and the tilt adjustment unit (8) can adjust the rotation plane of the cleaning tube (5) to be parallel to the surface of the optical lens (9).

6. The optical lens fine grinding and polishing mechanical arm device according to claim 5, characterized in that: The rotating unit (7) comprises a bearing seat (71) and a driving member (72); the bearing seat (71) is fixedly connected to the cleaning tube (5); the bearing seat (71) is connected to the tilt adjustment unit (8) via a bearing (74); the driving member (72) is arranged on the tilt adjustment unit (8) and connected to the bearing seat (71) so as to be able to drive the cleaning tube (5) to rotate.

7. The optical lens fine grinding and polishing mechanical arm device according to claim 6, characterized in that: The driving member (72) comprises a driving motor (721), a driving gear (722) and a ring gear (723); the driving motor (721) is arranged on the tilt adjustment unit (8); the driving gear (722) is coaxially fixed on the output shaft of the driving motor (721); the ring gear (723) is fixed on the bearing seat (71); and the driving gear (722) is internally meshed with the ring gear (723).

8. The optical lens fine grinding and polishing mechanical arm device according to claim 6, characterized in that: A first box plate (761) is fixedly provided on the bearing seat (71), and a second box plate (763) is provided on the tilt adjustment unit (8). The first box plate (761) and the second box plate (763) are slidingly and sealingly connected and can be assembled into a closed intermediate cavity (765). A medium pipe (766) communicating with the intermediate cavity (765) is fixedly provided on the second box plate (763), and the medium pipe (766) is connected to the cleaning medium supply system. An intermediate channel (767) communicating with the cleaning pipe (5) and the intermediate cavity (765) is opened on the bearing seat (71).

9. The optical lens (9) fine grinding and polishing mechanical arm device according to claim 6, characterized in that: The tilt adjustment unit (8) comprises a second ball hinge (81) and an articulated seat (82), wherein the second ball hinge (81) is fixedly arranged on the grinding seat (2), the bearing (74) is arranged on the articulated seat (82), and the articulated seat (82) is slidably sleeved on the second ball hinge (81) so as to be able to adjust the rotation plane of the cleaning tube (5) to be parallel to the surface of the optical lens (9).

10. The optical lens fine grinding and polishing mechanical arm device according to claim 9, characterized in that: A fixing bolt (83) is threadedly inserted into the hinge seat (82), and the fixing bolt (83) can be abutted and fixed on the second ball hinge portion (81), so that the hinge seat (82) and the second ball hinge portion (81) are fixed.

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