A multi-tool dynamic time allocation and rotational speed adjustment collaborative polishing method

Abstract

The present application relates to the technical field of optical processing, and specifically provides a kind of multi-tool dynamic time distribution and rotational speed regulation collaborative polishing method, the surface shape error of the lens to be processed is calculated, the nominal residence time of each residence point is solved based on the removal function of processing tool and surface shape error, and the nominal residence time of residence point is distributed to processing tool according to preset proportion, the circumferential direction of the lens to be processed is divided into multiple dynamic processing zones, the machining track is divided into multiple dynamic control sections, the rotational speed of processing tool and the arc length of dynamic control section are adjusted, under the condition that the rotational speed of processing tool is ensured within the rotational speed adjustable interval, the actual residence time of each processing tool in the residence point processed in corresponding dynamic control section is equal, and the lens surface is processed according to the above determined processing parameters.The present application solves the problem that the processing time cannot be matched due to the large difference in residence time and the rotational speed ratio exceeding the rotational speed regulation capability in the existing multi-tool collaborative polishing.

Description

Technical Field

[0001] This invention belongs to the field of optical processing technology, and particularly relates to a collaborative polishing method with multi-tool dynamic time allocation and rotation speed adjustment. Background Technology

[0002] With the rapid development of modern optical technology, large-aperture aspherical and freeform optical elements are increasingly widely used in aerospace, astronomical observation, and high-end lithography systems. These optical systems are rapidly developing towards larger apertures, higher precision, higher resolution, and higher power, placing extremely high demands on the surface accuracy and quality of optical elements. For example, the primary mirrors of large astronomical telescopes have apertures exceeding meters, and their surface accuracy requirements have reached the nanometer level.

[0003] The fabrication process of optical components typically includes steps such as blank preparation, rough grinding, lapping, and polishing. This process demands stringent technical expertise and has a long cycle time. With increasing component diameter and surface complexity, traditional single-tool processing becomes inefficient. To address the high cost and lack of flexibility of traditional machine tools, industrial robot polishing systems combine deterministic polishing technologies such as CCOS (Computer-Controlled Optical Surfacing) and MRF (Magnetorheological Finishing) with a robotic platform, creating flexible and cost-effective multi-axis polishing equipment. Utilizing multi-robot collaboration increases the number of polishing tools, not only expanding the processing coverage but also significantly improving processing efficiency.

[0004] Currently, multi-robot collaborative processing uses the same tools to simultaneously execute the processing tasks of a single tool. The dwell time of the single tool is allocated to each tool, and speed matching between tools is achieved by controlling parameters such as pressure and rotation speed. Currently, speed matching is mainly achieved by adjusting the grinding wheel rotation speed point-to-point between multiple tools. This method cannot fully utilize the flexibility of robotic polishing systems and also requires a high level of real-time adjustment capability for the grinding wheel rotation speed of small grinding head tools. Summary of the Invention

[0005] In view of this, the present invention aims to provide a collaborative polishing method with dynamic time allocation and speed adjustment for multiple tools. Under the premise of ensuring a safe distance between the processing tools, the processing tools can move within the dynamic processing zone. This means that multiple processing tools do not need to have the same dwell time at each dwell point, but only need to have the same dwell time within a processing cycle. This avoids the problem of difficulty in matching processing time by adjusting the speed caused by large differences in processing time at corresponding processing points of each processing tool.

[0006] To achieve the above objectives, the technical solution created by this invention is implemented as follows: This invention provides a collaborative polishing method involving multi-tool dynamic time allocation and rotation speed adjustment, comprising: S1: Obtain the surface shape error of the lens to be processed, mount the lens to be processed on the rotating workpiece stage, and plan the circular machining trajectory on the lens to be processed; S2: Set multiple identical machining tools and obtain the adjustable speed range of the machining tools. The initial removal function of the machining tool under a preset rotation speed and a preset pressure is determined, and the safe machining distance between the machining tools is determined based on the machining tools. ; S3: Based on the initial removal function and surface error, the nominal dwell time of each dwell point on the circular ring machining trajectory is solved by the convolution removal model; and the nominal dwell time is allocated to each machining tool according to a preset ratio to obtain the theoretical dwell time of each machining tool at each dwell point; S4: Multiple dynamic processing zones are set in the circumferential direction of the processing trajectory of the lens to be processed. Each dynamic processing zone corresponds to a processing tool. There is a safety isolation zone between adjacent dynamic processing zones. The distance between the two endpoints of the safety isolation zone is greater than the safety processing distance. Multiple dynamic control segments are set on each trajectory circle of the circular ring machining path. By adjusting the rotation speed of the machining tool, the actual dwell time of the dwell point in each dynamic control segment is made equal. If the machining tool's rotation speed is within the adjustable range If the internal adjustment cannot make the actual dwell time of the dwell point in each dynamic control segment equal, then adjust the arc length of the dynamic control segment, and then adjust the rotation speed of the machining tool to make the actual dwell time of the dwell point in the adjusted dynamic control segment equal. S5: Process the lens to be processed according to the processing trajectory of the processing tool, the actual dwell time, the preset pressure, and the adjusted actual rotation speed.

[0007] The preferred convolution removal model is: ; in, This indicates the amount to be removed, which is the surface shape error of the lens to be processed. Indicates the initial removal function. This indicates the dwell time distribution of the machining tool.

[0008] Preferably, the initial removal function is measured in the following way: Using a processing tool at a preset rotation speed and a preset pressure, a test piece of the same material as the lens to be processed is processed to obtain the initial removal function of the processing tool.

[0009] Preferably, the starting point of each machining tool is located on a ring of the same radius and is evenly distributed along the machining trajectory of the ring.

[0010] Preferably, each dynamic processing zone includes a front safe processing zone, a rear safe processing zone, and a warning zone with equal arc lengths, and the starting dwell point corresponding to each processing tool is set at the boundary between the front safe processing zone and the rear safe processing zone.

[0011] Preferably, the arc length of the safety isolation zone Set to: ; in, , For safe processing distance In the The corresponding safety central angle on each trajectory circle For the first The radius of the trajectory circle.

[0012] Preferably, the method for adjusting the rotational speed of the machining tool and the arc length of the dynamic control segment is as follows: Each machining tool is set with the same initial dynamic control segment of the same arc length; Based on the theoretical dwell time and preset rotation speed at each dwell point, calculate the total number of rotations of each machining tool within the corresponding dynamic control segment. ; Calculate the rotational speed ratio of each machining tool ,in This represents the minimum total number of rotations for each machining tool within its corresponding dynamic control segment; like If the initial dynamic control segment is used as the final dynamic control segment of the machining tool, only the rotation speed of the machining tool is adjusted so that the actual dwell time of the dwell point processed by each machining tool in the corresponding dynamic control segment is equal. like Then adjust the arc length of the initial dynamic control segment of the machining tool until it meets the requirements. The adjusted dynamic control segment is taken as the final dynamic control segment of the machining tool, and the rotation speed of the machining tool is then adjusted so that the actual dwell time of the dwell point processed by each machining tool in the corresponding dynamic control segment is equal.

[0013] Preferably, the actual dwell time of each machining tool at the dwell point within the corresponding dynamic control segment is taken as follows: ,in This represents the maximum total number of rotations for each machining tool within its corresponding dynamic control segment.

[0014] Preferably, after all processing tools complete the processing of a dynamic control segment, the current position of all processing tools is calculated. If the current position of a processing tool is located in the front safe processing zone or the rear safe processing zone, then the processing tool participates in the processing of the next dynamic control segment; if the current position of a processing tool is located in the warning zone, then the processing tool is separated from the lens to be processed and does not participate in the calculation and processing of the next dynamic control segment.

[0015] Preferably, during the machining process of the machining tool at the dwell point within a dynamically controlled segment, the rotational speed of the machining tool remains constant. : .

[0016] Compared with existing technologies, this invention achieves the following beneficial effects: This invention divides the lens circumference into multiple dynamic processing zones and the processing trajectory into continuous dynamic control segments. The collaborative processing characteristic of each dynamic control segment is that the total processing time of each processing tool is the same. Within each dynamic control segment, the dwell time is unified based on the maximum total number of revolutions of the processing tool. First, by adjusting the rotation speed of the processing tools, the dwell time of all tools within the corresponding dynamic control segment is made strictly equal. When adjusting the rotation speed alone cannot achieve equal dwell time, the arc length of the dynamic control segment corresponding to each processing tool is adaptively adjusted according to the revolution speed ratio, allowing different processing tools to process different numbers of dwell points. This not only achieves equal dwell time but also ensures that the rotation speed of each processing tool remains within a pre-determined stable and adjustable range. This invention fundamentally solves the problem of mismatched processing times caused by large differences in dwell time and revolution speed ratios exceeding the speed adjustment capability in existing multi-tool collaborative polishing, avoiding frequent and significant real-time speed adjustments.

[0017] Furthermore, after adjustment in the dynamic control segment, the number of dwell points in each dynamic control segment is different, meaning the number of dwell points processed by each processing tool is different. Therefore, the final position of each processing tool will change. During the processing, each processing tool moves within its corresponding dynamic processing area. So, whenever all processing tools complete the processing of a dynamic control segment, it is necessary to calculate the new position of each processing tool and make a judgment. If the processing tool is in the safe zone, it will participate in the next segment of collaborative calculation and processing normally. If it enters the warning distance, the processing tool will separate from the lens to be processed and will not participate in the next segment of collaborative calculation and processing. At the same time, combined with the setting of the safe processing distance, active collision avoidance is realized, completely eliminating the interference risk in multi-tool collaborative processing. Attached Figure Description

[0018] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments and descriptions of the invention are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings: Figure 1 This is a flowchart of a collaborative polishing method for multi-tool dynamic time allocation and rotation speed adjustment provided in an embodiment of the present invention. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only for explaining the invention and do not constitute a limitation thereof. Similar elements in different embodiments are referred to by associated similar element reference numerals. In the following embodiments, many details are described to facilitate a better understanding of the invention. However, those skilled in the art will readily recognize that some features may be omitted in different situations, or may be replaced by other elements, materials, or methods. In some cases, some operations related to the invention are not shown or described in the specification. This is to avoid obscuring the core parts of the invention with excessive description. For those skilled in the art, detailed description of these related operations is not necessary; the relevant operations can be fully understood based on the description in the specification and general technical knowledge in the art.

[0020] It should be noted that, unless otherwise specified, the embodiments and features described in this invention can be combined to form various implementations. Furthermore, the order of the steps or actions in the method description can be changed or adjusted in a manner readily apparent to those skilled in the art. Therefore, the various orders in the specification and drawings are merely for the clear description of a particular embodiment and do not imply a mandatory order, unless otherwise stated that a particular order must be followed.

[0021] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on this invention. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, features defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0022] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art will understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0023] The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0024] Please see Figure 1 In one embodiment of the present invention, a collaborative polishing method for multi-tool dynamic time allocation and rotation speed adjustment is provided, comprising: Step S1: Obtain the surface shape error of the lens to be processed, mount the lens to be processed on the rotating workpiece stage, and plan the circular machining trajectory on the lens to be processed.

[0025] In step S1, the surface shape error of the lens to be processed needs to be obtained first. During the surface shape error measurement process, the initial surface shape of the lens to be processed and the workpiece dimensions before processing are measured using measuring equipment such as an interferometer to determine the target surface shape of the lens to be processed, that is, the surface shape that needs to be achieved after processing. The surface shape data measured by the interferometer is a series of discrete data points, and the surface shape of the workpiece is reflected by the vector height at the discrete data points. After obtaining the initial surface shape and the target surface shape, the difference between the two can be used to obtain the surface shape error of the lens to be processed.

[0026] The axis of the lens to be processed is precisely aligned with the rotation axis of the rotary workpiece stage and fixed on the stage. The origin O is defined by the intersection of the rotation center of the rotary workpiece stage and the theoretical vertex of the lens to be processed. The rotation axis of the rotary workpiece stage is the Z-axis (positive upwards), the radial horizontal direction of the lens to be processed is the X-axis, and the Y-axis is determined according to the right-hand rule, establishing a unified workpiece coordinate system. All subsequent trajectory planning and pose description are performed within this workpiece coordinate system.

[0027] Based on the surface shape error of the lens to be processed (aspherical formula or freeform surface point cloud), the grinding disc size of the small grinding head tool, and the allowable residual height, a processing trajectory is planned on the optical surface of the lens to be processed. This processing trajectory is a circular processing trajectory. By setting a reasonable circular spacing, a series of dwelling points are selected at equal intervals on each circular trajectory. The arc length distance between adjacent dwelling points is taken as 1 / 10 of the processing tool size.

[0028] Step S2: Set up multiple identical machining tools and obtain the adjustable speed range of the machining tools. The initial removal function of the machining tool under a preset rotation speed and a preset pressure is determined, and the safe machining distance between the machining tools is determined based on the machining tools. .

[0029] In step S2, I identical machining tools are selected, and each machining tool is controlled by a robotic arm. These I robotic arms are evenly distributed around the rotating workpiece stage. For all I machining tools participating in the machining in the multi-robotic arm collaborative polishing system based on the rotating workpiece stage, the tool center point is calibrated in their respective robotic arm base coordinate system using the four-point method or the six-point method. The three-dimensional coordinates and attitude matrix of the grinding wheel center at the end of each machining tool are accurately obtained, and an accurate kinematic model of each tool is established.

[0030] The processing tool is selected based on the surface shape error of the lens to be processed. In this embodiment of the invention, the processing tool is a small grinding head tool. This allows for the acquisition of a stable, adjustable rotational speed range for the small grinding head tool's grinding disc. Within this range, a suitable preset rotation speed is selected, and a preset pressure of a small grinding head on the lens to be processed is selected according to the processing conditions. In this embodiment of the invention, the preset rotation speed... Set as .

[0031] At the preset pressure and preset speed Next, a single-point processing of an experimental piece made of the same material as the lens to be processed is performed using a processing tool to obtain the initial removal function of the processing tool.

[0032] Step S3: Based on the initial removal function and surface error, the nominal dwell time of each dwell point on the circular ring machining trajectory is solved by the convolution removal model; and the nominal dwell time is allocated to each machining tool according to a preset ratio to obtain the theoretical dwell time of each machining tool at each dwell point.

[0033] In step S3, based on the surface shape error of the lens to be processed obtained in step S1 and the initial removal function obtained in step S2, the dwell time distribution of the processing tool on the processing trajectory is solved using a convolutional removal model. The convolutional removal model is as follows: ; in, This indicates the amount to be removed, which is the surface shape error of the lens to be processed. Indicates the initial removal function. This indicates the dwell time distribution of the machining tool.

[0034] In the process of solving for the dwell time, the face shape error is discretized, and the convolution removal equation is transformed into a system of linear equations. Algorithms such as nonnegative least squares, Bayesian iteration, or impulse iteration are used to solve for the nominal dwell time at each dwell point. And the nominal length of stay at each outpost. proportionally The theoretical dwell time for each machining tool at each dwell point is allocated as follows: ,in .

[0035] Step S4: Set multiple dynamic processing zones in the circumferential direction of the processing trajectory of the lens to be processed. Each dynamic processing zone corresponds to a processing tool. There is a safety isolation zone between adjacent dynamic processing zones. The distance between the two endpoints of the safety isolation zone is greater than the safe processing distance. Multiple dynamic control segments are set on each trajectory circle of the circular ring machining path. By adjusting the rotation speed of the machining tool, the actual dwell time of the dwell point in each dynamic control segment is made equal. If the machining tool's rotation speed is within the adjustable range If internal adjustment cannot make the actual dwell time of the dwell point in each dynamic control segment equal, then adjust the arc length of the dynamic control segment, and then adjust the rotation speed of the machining tool to make the actual dwell time of the dwell point in the adjusted dynamic control segment equal.

[0036] In step S4, multiple dynamic processing zones are divided along the circumference of the processing trajectory of the lens to be processed, and the safe working distance of the processing tool (or robotic arm) is determined accordingly. A safety isolation zone is set between adjacent dynamic processing zones, with the distance between the two endpoints of the safety isolation zone greater than the safe processing distance. The dynamic processing zone is an area where the robot is allowed to control the processing tools to move arbitrarily for processing; that is, the processing tools can reciprocate within this zone to process the lens. Strict control must be maintained to prevent the robot and processing tools from exceeding this zone. The dynamic processing zone is a spatial division that does not change with the rotation of the lens. The size of the dynamic processing zone is determined by the lens size and the number of processing tools selected. Each dynamic processing zone can be divided into a front safety processing zone, a rear safety processing zone, and a warning zone, with all three zones having equal arc lengths. As for the safety isolation zone, its arc length... The size is determined by the safe machining distance between machining tools. and the radius of the circle on the trajectory Decide.

[0037] ; in, , For safe processing distance In the The corresponding safety central angle on each trajectory circle For the first The radius of the trajectory circle.

[0038] It should be noted that the circular machining trajectory includes multiple trajectory circles with different radii. The distance between different trajectory circles is designed according to the selected machining tool. The safety isolation zone, dynamic machining zone and dynamic control segment corresponding to different trajectory circles need to be designed and calculated independently, but the design concept and calculation method are the same. Therefore, the following text only uses the safety isolation zone, dynamic machining zone and dynamic control segment of one trajectory circle as an example for explanation.

[0039] For the dynamic control segment, each machining tool is first assigned a dynamic control segment of the same arc length, and the starting dwell point of each dynamic control segment is located at the boundary between the front and rear safe machining zones. Furthermore, by adjusting the rotational speed of the machining tool corresponding to each dynamic machining zone, the dwell time at each dwell point within the corresponding dynamic control segment is redistributed. This ensures that, assuming the actual dwell time of each machining tool at each dwell point within its corresponding dynamic control segment is equal, the machining speed of the tool at each dwell point remains within the adjustable speed range. Within the dynamic machining zone, the rotational speed of the machining tool at each dwell point can be made the same, which reduces the difficulty of servo system control, or a different rotational speed can be designed for each dwell point. In this embodiment of the invention, during the machining process at each dwell point within a dynamic control segment, the rotational speed of each machining tool is designed to be constant, and the specific value is: .

[0040] The above process transforms the original point-to-point machining method where each machining tool is relatively stationary into a method where each machining tool moves continuously within its corresponding area. It transforms the problem of synchronizing the machining time of each machining tool at a single point into the problem of making the dwell time of each machining tool equal within a region. This avoids the problem that it is difficult to match the machining time by simply adjusting the rotation speed because the theoretical dwell time of each machining tool at its corresponding dwell point differs greatly.

[0041] The calculation process for the machining tool's rotational speed and the arc length of the dynamic control segment is as follows: S41: First, set the starting dwell point for each machining tool. The starting dwell point of each machining tool is located on a circular ring of the same radius, and is evenly distributed at equal intervals along the machining trajectory of the ring. The position can be represented as... , indicating the first The machining tool TOOLi is on the trajectory. The three-dimensional coordinates of the initial dwell point on each circle represent the initial point of the first dynamic control interval on the corresponding circular ring for each machining tool. The angle between the starting points of two adjacent machining tools in the XY plane for: ; in, , This represents the radius of the circular trajectory.

[0042] At this point, during the design of the dynamic control section, to avoid interference from machining tools during subsequent processing, a residual width is defined. It indicates that the machining tool TOOLi completes any first step. After each machining task in a dynamically controlled segment, the cumulative arc length offset of the center point of the machining tool from the starting point of the circle along the trajectory direction. For each machining tool, its residual width at the starting point. .

[0043] S42: Determine the safe working distance between two machining tools based on the physical dimensions of the selected machining tools (grinding disc size, outer contour of the robotic arm end effector) and the minimum allowable interference distance between machining tools by the system. Map it onto the current circular trajectory to obtain the corresponding safety central angle. for: ; The safety center angle This represents the minimum angular deviation between the polar coordinates of the centers of two adjacent machining tools on the trajectory circle during the machining process. When it is less than this safe central angle, the two adjacent machining tools will collide. Therefore, it is required that the included angle between the centers of adjacent machining tools be greater than the safe central angle throughout the entire machining process to ensure no risk of collision.

[0044] S43: Divide each dynamic machining zone into a front safe machining zone, a rear safe machining zone, and a warning zone with equal arc lengths. That is, take an area with equal arc length on both sides before and after the starting point of each machining tool, and express the arc length as an angle. These two zones are located one before and one after the initial stopping point, namely the front safe processing zone and the rear safe processing zone. The value is set as follows: ; in, It represents the included angle between two adjacent machining tools.

[0045] In addition, a warning zone is set up, which is an angle taken from the front safety processing zone in the opposite direction of lens rotation. The area, the angle occupied by the warning zone .

[0046] A safety isolation zone is set between two adjacent dynamic processing zones. The width of the safety isolation zone (the straight-line distance between the two ends of the arc of the safety isolation zone) must be at least greater than the safe working distance between the two processing tools. The arc length of the safety isolation zone... Set to: ; in, , For safe processing distance In the The corresponding safety central angle on each trajectory circle For the first The radius of the trajectory circle.

[0047] The warning zone and the safety isolation zone ensure that at any given time, the dynamic control areas of any two tools are separated by a safety isolation zone on the circumference to prevent tool collisions.

[0048] After setting the dynamic machining zone, the arc length of the dynamic control segment is designed and calculated. Specifically, each machining tool is first assigned a dynamic control segment of the same arc length, and the starting dwell point of each dynamic control segment is located at the boundary between the front and rear safe machining zones. Therefore, the number of dwell points within the initially equally divided dynamic control segments of each machining tool on the trajectory is equal. The specific number can be expressed as... ,in The trajectory step distance is the arc length between adjacent dwell points. This indicates the arc length of the initial dynamic control segment. The operation represents rounding down.

[0049] S44: Calculate the initial machining point of the dynamic control segment for each machining tool. Backwards Total number of millstone revolutions at each station : ; in, For the machining tool TOOLi, within this control zone, the first Theoretical dwell time at each station.

[0050] Define lap time ratio: ,in , which represents the minimum total number of rotations of each machining tool within the corresponding dynamic control segment.

[0051] Based on the rotational speed ratio, it is determined whether adjusting only the rotational speed of the machining tool within the initial dynamic control segment can achieve speed matching, ensuring that the actual dwell time of each machining tool at the corresponding dwell point within the dynamic control segment is equal. The specific determination process is as follows: like This indicates that each machining tool can complete the machining within the dynamic control range in the same time period by adjusting its rotation speed, and the arc length of the dynamic control range of tool TOOLi. Equal to the initial dynamic control interval arc length Then the initial dynamic control segment is taken as the final dynamic control segment of the machining tool, and only the rotation speed of the machining tool is adjusted so that the actual dwell time of the dwell point processed by each machining tool in the corresponding dynamic control segment is equal.

[0052] like This indicates that each machining tool cannot complete the machining of the corresponding dwell point within the initial dynamic control segment in the same time by simply adjusting the rotation speed. Therefore, it is necessary to adjust the arc length of the initial dynamic control segment step by step. Reduce the dynamic control arc length of the machining tool TOOLi and update the total number of grinding wheel revolutions at the dwell point within that arc length. until the condition is met within that interval. At this point, the arc length of the dynamic adjustment segment of the tool TOOLi is... ,in The reduction factor is... When the number is non-negative and no reduction is needed, the reduction factor is... At this point, the adjusted dynamic control segment is taken as the final dynamic control segment of the machining tool, and the rotation speed of the machining tool is adjusted so that the actual dwell time of the dwell point processed by each machining tool in the corresponding dynamic control segment is equal.

[0053] The arc length of the final b-th dynamic control segment for each machining tool is determined through the above operations. .

[0054] S45: At this point, it is necessary to set the processing time required for the dynamic control segment of this round, that is, the actual dwell time of the processing dwell point in the dynamic control processing area, where the actual dwell time is... , , This represents the maximum total number of rotations for each machining tool within its corresponding dynamic control segment.

[0055] After determining the actual dwell time, the angle corresponding to the rotating workpiece stage can be calculated. and angular velocity : ; ; in, Indicates the rotating workpiece stage at the 1st The first on the trajectory circle The rotation angle of each dynamically adjustable segment; Indicates the rotating workpiece stage at the 1st The first on the trajectory circle The angular velocity of the dynamically adjustable segment.

[0056] Then calculate the rotational speed of the grinding disc for each machining tool. And the actual dwell time of the processing tool at each dwell point within the corresponding dynamic control segment. The time is: .

[0057] S46: Based on the rotational angular velocity of the rotary worktable and actual stay time at each stop Calculate the motion trajectory and travel speed of the robotic arm tool at the corresponding dwell point during the dynamic control segment. The first of the orbital circles At each dwell point, the polar coordinate position on the workpiece coordinate system established in step 1. for: ; ; in, The polar coordinates of the dwell point when the lens to be processed is initially placed; speed of travel satisfy: ; in, Indicates the machining tool from the first The first outpost moved to the first The processing distance of each station.

[0058] S47: Update the residual width of each machining tool : ; judge The size, if This indicates that the tool TOOLi is in the dynamic control segment and can continue to perform the next range of control processing; like This indicates that the tool TOOLi is located in the warning zone, and the current position of the processing tool has entered the warning distance. There is a risk of tool collision if it participates in the next interval of control processing. Therefore, the processing tool is separated from the lens to be processed, and this processing tool will not participate in the next interval of control processing. The width of the control range for this processing tool is adjusted by the sub-range control. The robotic arm control tool TOOLi leaves the machining surface and moves to the next... The starting point position of the next interval adjustment processing, i.e., the first interval of this tool The location of the processing termination point of the secondary interval regulation is after the [number]th [period]. Sub-range control of lens rotation After the angle is adjusted, the new coordinates are used as the tool TOOLi. The starting point position of the secondary interval control processing.

[0059] S48: Transfer each machining tool... The last point of the first control processing zone is used as the first Starting from the control processing zone, repeat steps S44, S45, S46, and S47 to complete the processing of subsequent positions on the trajectory circle.

[0060] S49: When machining reaches the last segment of the trajectory circle, the remaining trajectory length to be machined varies for each machining tool, but is always less than [a certain value]. Each machining tool operates at a rotational speed After completing the subsequent processing, the rotation speed of the turntable remains unchanged in the previous range of control. The motion trajectory and travel speed of each processing tool are solved in the same way as in step S46. After each processing tool completes the processing of the trajectory circle, it separates from the lens surface and moves to the next trajectory circle.

[0061] S410: After all machining tools are in place, repeat S41~S49 to complete the division of the machining area for the next trajectory circle and the calculation of tool movement trajectory, speed, machining time and machining parameters (grinding disc speed).

[0062] It also includes S5: Based on the circular machining trajectory, dwell point distribution, dynamic machining area, dynamic control section adjustment, feed speed of the robotic arm driving the machining tool, machining time, machining tool speed, pressure, and rotary workpiece table speed obtained in steps S1 to S4, generate corresponding robotic arm control files, machining tool control files, rotary workpiece table control files, and control files for the coordination of the three, so as to perform coordinated machining of the lens to be machined.

[0063] In summary, the above description is merely a preferred embodiment of this specification and is not intended to limit the scope of protection of this specification. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this specification should be included within the scope of protection of this specification.

[0064] The systems, apparatuses, modules, or units described in one or more of the above embodiments may be implemented by a computer chip or entity, or by a product having a certain function. A typical implementation device is a computer. Specifically, a computer may be, for example, a personal computer, a laptop computer, a cellular phone, a camera phone, a smartphone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or any combination of these devices.

[0065] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0066] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to interchangeably. Each embodiment focuses on describing the differences from other embodiments. In particular, the system embodiments are basically similar to the method embodiments, so the description is relatively simple; relevant parts can be referred to the descriptions in the method embodiments.

Claims

1. A multi-tool dynamic time allocation and rotation speed adjustment synergistic polishing method, characterized in that, include: S1: Obtain the surface shape error of the lens to be processed, mount the lens to be processed on the rotating workpiece stage, and plan a circular processing trajectory on the lens to be processed; S2: Set multiple identical machining tools and obtain the adjustable speed range of the machining tools. The initial removal function of the machining tool under a preset rotation speed and a preset pressure is determined, and the safe machining distance between the machining tools is determined based on the machining tools. ; S3: Based on the initial removal function and surface error, the nominal dwell time of each dwell point on the circular ring machining trajectory is solved by the convolution removal model; and the nominal dwell time is allocated to each machining tool according to a preset ratio to obtain the theoretical dwell time of each machining tool at each dwell point; S4: Multiple dynamic processing zones are set in the circumferential direction of the processing trajectory of the lens to be processed. Each dynamic processing zone corresponds to a processing tool. There is a safety isolation zone between adjacent dynamic processing zones. The distance between the two endpoints of the safety isolation zone is greater than the safety processing distance. Multiple dynamic control segments are set on each trajectory circle of the circular ring machining path. By adjusting the rotation speed of the machining tool, the actual dwell time of the dwell point in each dynamic control segment is made equal. If the machining tool's rotation speed is within the adjustable range If the internal adjustment cannot make the actual dwell time of the dwell point in each dynamic control segment equal, then adjust the arc length of the dynamic control segment, and then adjust the rotation speed of the machining tool to make the actual dwell time of the dwell point in the adjusted dynamic control segment equal. S5: Process the lens to be processed according to the processing trajectory of the processing tool, the actual dwell time, the preset pressure, and the adjusted actual rotation speed.

2. The multi-tool dynamic time allocation and rotation speed adjustment synergistic polishing method according to claim 1, characterized in that, The convolution removal model is as follows: ； in, This indicates the amount to be removed, which is the surface shape error of the lens to be processed. Indicates the initial removal function. This indicates the dwell time distribution of the machining tool.

3. The multi-tool dynamic time allocation and rotation speed adjustment synergistic polishing method according to claim 1, characterized in that, The initial removal function is measured as follows: Using a processing tool at a preset rotation speed and a preset pressure, a test piece of the same material as the lens to be processed is processed to obtain the initial removal function of the processing tool.

4. The multi-tool dynamic time allocation and rotation speed adjustment synergistic polishing method according to claim 1, characterized in that, The starting point of each machining tool is located on a circular ring of the same radius and is evenly distributed along the machining trajectory of the ring.

5. The multi-tool dynamic time allocation and rotation speed adjustment coordinated polishing method according to claim 4, characterized in that, Each dynamic machining zone includes a front safe machining zone, a rear safe machining zone, and a warning zone with equal arc lengths. The starting dwell point for each machining tool is set at the boundary between the front and rear safe machining zones.

6. The multi-tool dynamic time allocation and rotation speed adjustment synergistic polishing method according to claim 5, characterized in that, Arc length of the safety isolation zone Set to: ； in, , For safe processing distance In the The corresponding safety central angle on each trajectory circle For the first The radius of the trajectory circle.

7. The multi-tool dynamic time allocation and rotation speed adjustment synergistic polishing method according to claim 6, characterized in that, The adjustment methods for the machining tool's rotational speed and the arc length of the dynamic control segment are as follows: Each machining tool is set with the same initial dynamic control segment of the same arc length; Based on the theoretical dwell time and preset rotation speed at each dwell point, calculate the total number of rotations of each machining tool within the corresponding dynamic control segment. ; Calculate the rotational speed ratio of each machining tool ,in This represents the minimum total number of rotations for each machining tool within its corresponding dynamic control segment; like If the initial dynamic control segment is used as the final dynamic control segment of the machining tool, only the rotation speed of the machining tool is adjusted so that the actual dwell time of the dwell point processed by each machining tool in the corresponding dynamic control segment is equal. like Then adjust the arc length of the initial dynamic control segment of the machining tool until it meets the requirements. The adjusted dynamic control segment is taken as the final dynamic control segment of the machining tool, and the rotation speed of the machining tool is then adjusted so that the actual dwell time of the dwell point processed by each machining tool in the corresponding dynamic control segment is equal.

8. The multi-tool dynamic time allocation and rotation speed adjustment synergistic polishing method according to claim 7, characterized in that, The actual dwell time and value of each machining tool at the dwell point within the corresponding dynamic control segment are... ,in This represents the maximum total number of rotations for each machining tool within its corresponding dynamic control segment.

9. The multi-tool dynamic time allocation and rotation speed adjustment synergistic polishing method according to claim 5, characterized in that, After all processing tools complete a dynamic control segment, the current position of all processing tools is calculated. If the current position of a processing tool is in the front safe processing zone or the rear safe processing zone, then the processing tool participates in the processing of the next dynamic control segment. If the current position of a processing tool is in the warning zone, then the processing tool is separated from the lens to be processed and does not participate in the calculation and processing of the next dynamic control segment.

10. The multi-tool dynamic time allocation and rotation speed adjustment synergistic polishing method according to claim 8, characterized in that, During the machining process of the machining tool at the dwell point within a dynamically controlled range, the rotational speed of the machining tool remains constant. : 。

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