Lens surface polishing liquid pouring device and lens processing method

Abstract

The present application relates to the technical field of optical processing, and particularly provides a lens surface polishing liquid pouring device and a lens processing method, which comprises an industrial robot, a lens bearing table and a polishing liquid supply and collection system. The lens bearing table is used for overturning the lens to pour the polishing liquid into a collection tank. The polishing liquid supply and collection system is connected to the collection tank and a polishing liquid nozzle through a pipeline to collect the polishing liquid in the collection tank, and after filtration, the polishing liquid is sprayed to the lens surface through the polishing liquid nozzle. In the lens processing process, the original processing track is combined with the lens overturning posture to achieve the purpose of pouring the polishing liquid on the lens surface during the processing. The lens surface polishing liquid pouring device cooperates with the lens processing method to timely remove the polishing liquid on the lens surface and realize stable circulation of the polishing liquid.

Description

Technical Field

[0001] This invention relates to the field of optical processing technology, specifically providing a lens surface polishing liquid pouring device and a lens processing method. Background Technology

[0002] In the deterministic polishing process of high-precision optical components such as large-aperture astronomical telescope lenses and lithography machine projection lenses, polishing fluid needs to be continuously supplied to the lens surface. On the one hand, this avoids local overheating caused by friction and protects the lens surface and polishing tools. On the other hand, it can remove material debris generated during polishing in a timely manner to prevent secondary scratches on the lens.

[0003] As the diameter and surface complexity of processed lenses continue to increase, the demand for processing special surface shapes such as deeply concave aspherical and off-axis aspherical surfaces is growing. Polishing slurry tends to accumulate on the mirror surface during processing, creating a "hydraulic mask" effect. This not only leads to unstable material removal rates and severely reduces processing accuracy but also hinders the normal circulation of the polishing slurry. Currently, the main method used in the industry to address this problem is manual intervention by operators during processing, using a water pump and hoses to extract and drain the slurry from the mirror surface. This solution has several limitations: first, extraction cannot be performed simultaneously when processing areas with accumulated slurry, and the slurry problem cannot be resolved in real time; second, manual operation of the hoses increases labor costs and is prone to causing the hoses to come into contact with the lens, resulting in scratches; third, external hoses can easily conflict with the processing path of polishing tools, interfering with the normal processing flow. Therefore, a new method is urgently needed to solve these problems. Summary of the Invention

[0004] To solve the above problems, the present invention provides a lens surface polishing fluid pouring device and a lens processing method. During the lens processing, the lens posture bar is adjusted in real time so that the polishing fluid on the lens surface leaves the lens surface in a timely manner, ensuring stable circulation of the polishing fluid without affecting the lens processing.

[0005] The lens surface polishing liquid pouring device provided by the present invention includes: Industrial robot, lens support platform and polishing slurry supply and collection system, the lens support platform includes a workpiece table and multiple electric telescopic cylinders, the polishing slurry supply and collection system includes a collection tank; The lens is placed on the workpiece stage, and multiple electric telescopic cylinders are connected to the lower surface of the workpiece stage via hinges; the collection tank is circular, and the workpiece stage is located at the center of the collection tank; the length of the multiple electric telescopic cylinders is adjusted to adjust the posture of the workpiece stage, so that the polishing liquid on the surface of the lens flows into the collection tank. The industrial robot is equipped with a polishing slurry nozzle. The polishing slurry supply and collection system connects the collection tank and the polishing slurry nozzle through a pipeline. The polishing slurry supply and collection system collects the polishing slurry in the collection tank, filters it, and then sprays it onto the surface of the lens through the polishing slurry nozzle.

[0006] Preferably, it also includes a collaborative control system, which includes an industrial robot control module, a lens carrier platform control module, and a real-time synchronization control module; the industrial robot control module is used to control the industrial robot to spray polishing fluid, the lens carrier platform control module is used to control the workpiece platform posture, and the real-time synchronization control module is used to control the workpiece platform flipping sequence.

[0007] Preferably, the workpiece stage is provided with multiple sliding grooves, which are distributed circumferentially along the workpiece stage and extend radially along the workpiece stage.

[0008] Preferably, a vacuum suction cup is provided at the center of the workpiece stage, which is used to fix the lens; multiple lens fixing blocks are provided circumferentially on the upper surface of the workpiece stage, which fit against the outer periphery of the lens to fix the lens.

[0009] A lens processing method, based on a lens surface polishing liquid pouring device, includes the following steps: S1: Obtain the target surface shape of the lens to be processed, and obtain discretized surface shape residual data based on the target surface shape and the current surface shape of the lens to be processed; S2: Install and adjust the lens to be processed to a horizontal position, and establish the initial workpiece coordinate system; calculate the coordinates of the connection points between the two ends of the multiple electric telescopic rods and the workpiece table and the chassis, respectively, under the initial workpiece coordinate system; S3: Determine the machining trajectory based on the discretized surface residual data, and calculate the normal direction and dwell time of the dwell point on the machining trajectory; S4: Calculate the lens orientation for pourable polishing fluid. Calculate lens attitude Corresponding location of the outpost Normal direction Location of the connection point between the electric telescopic cylinder and the workpiece table : ; in, Denotes the homogeneous transformation matrix. This indicates that the dwell point on the machining trajectory is in the initial workpiece coordinate system. The three-dimensional coordinates below Indicates the coordinates of the connection point between the electric telescopic rod and the workpiece table; Find the inverse kinematics of the lens support stage to obtain the lengths of the six electric telescopic cylinders. : ; in, This refers to any one of the six electric telescopic cylinders. This indicates the coordinates of the connection point between the electric telescopic pole and the chassis. This indicates the position of the connection point between the electric telescopic cylinder and the workpiece stage after the lens posture is updated.

[0010] Utilizing lens posture Corresponding location of the outpost Normal direction Dwell time T and length of electric telescopic cylinder The lens to be processed is processed; during the processing, the length of the electric telescopic cylinder is adjusted by a lens surface polishing liquid pouring device, thereby adjusting the lens posture. These represent the lengths of the six electric telescopic cylinders.

[0011] Preferably, the XY plane of the initial workpiece coordinate system is parallel to the workpiece stage surface, the Z-axis direction is perpendicular to the workpiece stage surface and upwards, and the origin of the coordinate system is located at the center point of the surface to be processed of the lens.

[0012] The preferred model for calculating dwell time is expressed as follows: ; in, This represents convolution calculation. This represents the tool removal function. Indicates the amount of material removed. This indicates the dwell time of the machining tool.

[0013] Preferred lens orientation for pouring polishing fluid Represented as: ; in, This represents the initial workpiece coordinate system.

[0014] Preferably, the lens to be processed is in the posture The corresponding location of the next stop Normal direction Duration of stay and the length of the electric telescopic cylinder Generate processing documents and process the lenses to be processed according to the processing documents.

[0015] Compared with the prior art, the present invention can achieve the following beneficial effects: This invention utilizes a workpiece stage to control the lens's posture in real time during processing, changing the position of the polishing fluid points on the original lens surface, thereby achieving automatic removal of polishing fluid during lens processing. This method effectively reduces manual intervention, ensures normal circulation of polishing fluid, avoids the impact of fluid accumulation on processing, and prevents mirror surface scratches and conflicts with tool processing trajectories caused by the introduction of external drainage equipment. Furthermore, it is applicable to the entire mirror surface processing. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the lens surface polishing liquid pouring device provided in an embodiment of the present invention; Figure 2 This is a schematic diagram of the lens support platform structure provided in an embodiment of the present invention; Figure 3 This is a schematic diagram of the collection tank structure provided according to an embodiment of the present invention; Figure 4 This is a flowchart of a lens processing method provided according to an embodiment of the present invention.

[0017] The reference numerals in the figures include: 1. Base, 2. Industrial robot, 21. Polishing head, 22. Polishing fluid nozzle, 31. Workpiece table, 32. Slide, 33. Lens fixing block, 34. Vacuum suction cup, 35. Electric telescopic cylinder, 36. Chassis, 4. Polishing fluid supply and collection system, 41. Collection tank, 411. Inner tank wall, 412. Outer tank wall, 5. Collaborative control system, 6. Lens. Detailed Implementation

[0018] 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; they can fully understand the related operations based on the description in the specification and general technical knowledge in the art.

[0019] 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.

[0020] 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.

[0021] 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.

[0022] The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0023] like Figure 1 , Figure 2 and Figure 3As shown, this embodiment of the invention provides a lens surface polishing slurry pouring device, including a base 1, an industrial robot 2, a lens support platform, a polishing slurry supply and collection system 4, a collaborative control system 5, and a lens 6. The industrial robot 2 and the lens support platform are disposed on the upper surface of the base 1. The industrial robot 2 is a device similar to a robotic arm or manipulator, and its end effector is equipped with a polishing head 21 and a polishing slurry nozzle 22. The polishing slurry nozzle 22 provides polishing slurry to the polishing head 21 in real time. The range of motion of the end effector covers the lens 6 and the workpiece stage 31 supporting the lens 6. The polishing head 21 is used to polish the lens 6, and the polishing slurry nozzle 22 is used to spray polishing slurry. The lens support platform is a six-degree-of-freedom platform, including six degrees of freedom: x-axis, y-axis, z-axis, rotation around the x-axis, rotation around the y-axis, and rotation around the z-axis. In this embodiment of the invention, the polishing head 21 can be a wheel-type polishing head, a small grinding head, or an airbag polishing head, etc. The lens support stage includes a workpiece stage 31, a slide 32, a lens fixing block 33, a vacuum suction cup 34, an electric telescopic cylinder 35, and a base 36. The base 36 is located on the upper surface of the base 1 and is approximately triangular in shape. The electric telescopic cylinder 35 is located on the upper surface of the base 36. There are multiple electric telescopic cylinders 35; in this embodiment, six electric telescopic cylinders 35 are used. One end of each of the six electric telescopic cylinders 35 is connected to the upper surface of the base 36, and the other end is connected to the lower surface of the workpiece stage 31. Specifically, the six electric telescopic cylinders 35 are arranged in pairs. The two electric telescopic cylinders 35 in each pair are hinged adjacent to each other at one corner of the base 36, forming a V-shape. The other ends of the two electric telescopic cylinders 35 in each pair are hinged adjacent to each other on the lower surface of the workpiece stage 31. The six electric telescopic cylinders 35 are connected end-to-end. Each electric telescopic cylinder 35 can extend and retract independently, and the cooperation of multiple electric telescopic cylinders 35 allows the workpiece stage 31 to be tilted and rotated in multiple postures.

[0024] The workpiece stage 31 is circular in shape, with a vacuum suction cup 34 at its center. The vacuum suction cup 34 adheres to the back of the lens 6 to fix the lens 6 in place. The vacuum suction cup 34 is concentric with the workpiece stage 31 and rotates synchronously, thereby causing the lens 6 to rotate. Multiple grooves 32 are provided on the upper surface of the workpiece stage 31, all located on the outer periphery of the lens 6 and distributed circumferentially along the workpiece stage 31. Each groove 32 extends radially along the workpiece stage 31. When the workpiece stage 31 rotates, tilting the lens 6, the polishing liquid on the lens 6 is poured outwards.

[0025] The upper surface of the workpiece stage 31 is also provided with multiple lens fixing blocks 33, which are distributed around the circumference of the workpiece stage 31 and are set in the slide groove 32. The bottom surface of the multiple lens fixing blocks 33 is separated from the bottom of the corresponding slide groove 32 by a certain distance, so it will not obstruct the flow of polishing fluid. The multiple lens fixing blocks 33 are attached to the outer periphery of the lens 6 and cooperate with the vacuum suction cup 34 to fix the lens 6.

[0026] The polishing slurry supply and collection system 4 includes a collection tank 41, connecting pipes, a filter device, a circulation pump, a detection and replenishment module, and a storage tank. The collection tank 41 is located around the workpiece stage 31 and connected to the base 1; the workpiece stage 31 can rotate within the collection tank 41. The collection tank 41 includes an inner tank wall 411 and an outer tank wall 412, with the outer tank wall 412 higher than the inner tank wall 411 to effectively prevent polishing slurry from splashing into the collection tank 41. A pipe is provided on the lower surface of the collection tank 41, connecting to the polishing slurry supply and collection system 4, allowing polishing slurry spilled from the lens 6 to be collected and returned to the system. The polishing slurry supply and collection system 4 contains a filter device and a storage tank, allowing the collected polishing slurry to be filtered and stored in the storage tank. A pipe connects the polishing slurry supply and collection system 4 to the polishing slurry nozzle 22, supplying polishing slurry from the storage tank to the nozzle 22 via this pipe. Polishing slurry nozzle 22 sprays polishing slurry onto the surface of lens 6, enabling polishing slurry recycling. A circulation pump is connected to the pipeline to provide power for polishing slurry circulation. The detection and replenishment module is used to detect the amount of polishing slurry in the storage tank to indicate whether the polishing slurry is low, enabling timely replenishment and timely identification of abnormal conditions.

[0027] The lens surface polishing slurry pouring device also includes a collaborative control system 5, which comprises an industrial robot control module, a lens support platform control module, and a real-time synchronization control module. The industrial robot control module controls the industrial robot 2 to spray polishing slurry or polish the lens 6, while the lens support platform control module controls the flipping posture of the workpiece platform 31. To avoid interference between the processing trajectory of the lens 6 and the polishing slurry pouring structure, the real-time synchronization control module strictly synchronizes the planned tool path point sequence and lens posture point sequence in time and sends them to the industrial robot control module and the lens support platform control module. This achieves precise coordinated movement between the industrial robot 2 and the lens support platform, clarifying the flipping rhythm and method of the workpiece platform 31 during lens 6 processing. Specifically, the path point sequence of the polishing head 21 and the posture point sequence of the lens 6 correspond strictly one-to-one; that is, each time a position point on the lens 6 is processed, it corresponds to the position of a polishing head 21 and the posture of a lens 6, represented as... The real-time synchronization control module simultaneously sends signals. The industrial robot control module and the lens carrier stage control module will position the polishing head 21 at the corresponding location. The signal is sent to the industrial robot control module to set the lens orientation. The signal is sent to the lens carrier platform control module. The industrial robot control module receives the position signal. After the signal, the polishing head 21 is moved to... During processing, the lens carrier platform control module receives the lens posture information. The signal controls the lens carrier stage to move lens 6 to Posture. Polishing head 21 reaches position. After processing is completed, a completion signal is sent back to the real-time synchronous control module, and lens 6 moves to... The attitude control module sends a completion signal back to the real-time synchronization control module. The real-time synchronization control module then sends the next step signal after receiving two completion signals. .

[0028] Based on the above-mentioned lens surface polishing fluid pouring device, this embodiment of the invention also provides a corresponding lens processing method. This method allows for the real-time pouring of polishing fluid during lens processing without affecting the normal processing of the lens. For example... Figure 4 As shown, the lens processing method includes: S1: Obtain the target surface shape and size of the lens to be processed, and obtain discretized surface shape residual data based on the target surface shape and size and the current surface shape of the lens to be processed.

[0029] Before processing the lens to be processed, the target surface shape of the lens must be obtained using measuring equipment such as an interferometer. The discretized surface shape data corresponding to the discrete surface shape points on the target surface shape are obtained. The target surface shape refers to the ideal surface shape that the surface of the lens to be processed will obtain. In this embodiment of the invention... The function representing the target surface shape is... Represents discretized surface data. .in, This represents the total number of discrete surface points. Represents the discrete surface point index. This represents the three-dimensional spatial coordinates of a discrete surface point on the lens to be processed.

[0030] The residuals between the points containing the discretized surface shape data and the corresponding points of the target surface shape are called discretized surface shape residual data. , ,in, This indicates the distribution of the surface profile residual of the lens to be processed at the location. The residual vector height at the location is Discrete surface shape data corresponding to discrete surface shape points on the target surface shape can be obtained based on the target surface shape and size of the lens to be processed. Then, discrete surface shape residual data is calculated based on the discrete surface shape data and the current surface shape of the lens to be processed. The portion of the lens body corresponding to the sag difference of the residual is the part that needs to be processed during the lens processing. Discrete surface shape points on the lens to be processed. The difference in elevation relative to the target surface is expressed as: .

[0031] S2: Install and adjust the lens to be processed to a horizontal position, and establish an initial workpiece coordinate system; calculate the coordinates of the connection points between the two ends of the multiple electric telescopic rods and the workpiece table and the chassis, respectively, under the initial workpiece coordinate system.

[0032] Before processing, the lens to be processed is mounted on the workpiece stage, and the extension rod of the electric cylinder is adjusted to make the workpiece stage horizontal, thereby keeping the lens to be processed horizontal. In this state, an initial workpiece coordinate system is established. The initial workpiece coordinate system has its XY plane parallel to the workpiece stage surface, its Z-axis perpendicular to the workpiece stage surface and pointing upwards, and its origin located at the center point of the surface to be machined on the lens. This initial workpiece coordinate system will be established... It is then transported to the industrial robot control module.

[0033] Calculate the coordinates of each connection point between the electric telescopic rod and the worktable in the initial workpiece coordinate system. And calculate the coordinates of each electric telescopic pole's connection point with the chassis. ,in Represents the three-dimensional coordinates of the connection point. This indicates the serial number index of the electric telescopic pole.

[0034] S3: Determine the machining trajectory based on the discretized surface residual data, and calculate the normal direction and dwell time of the dwell point on the machining trajectory.

[0035] Suitable processing tools need to be selected in advance before processing. Polishing heads, also known as polishing heads, commonly include wheel polishing heads, airbag polishing heads, and small grinding heads.

[0036] The sag difference can be obtained from the discretized surface residual data. In order to plan the processing trajectory , This indicates that the dwell point on the machining trajectory is in the initial workpiece coordinate system. The three-dimensional coordinates below , Indicates the total number of outposts. This indicates the index of the dwell point.

[0037] A dwell point refers to a specific position on the lens surface during optical lens polishing, where the polishing head stops as it moves along a predetermined machining trajectory. Each dwell point has definite three-dimensional coordinates in the initial workpiece coordinate system, which determine the specific position of the polishing head on the lens surface to be processed. The normal direction at the dwell point position on the machining trajectory is represented as... Then calculate the processing tools at the dwell point. The dwell time, the calculation model for dwell time is expressed as: , in, This represents convolution calculation. This represents the tool removal function. Indicates the amount of material removed. Indicates the dwell time of the machining tool. This represents the projection components of the corresponding normal direction vector onto the X, Y, and Z axes.

[0038] Once the processing tools, processing trajectory, dwell point, and dwell time are confirmed, the mirror surface of the lens to be processed in static condition can be processed according to these parameters.

[0039] S4: Preset lens orientation for pouring polishing fluid Calculate lens attitude Corresponding location of the outpost Normal direction Location of the connection point between the electric telescopic cylinder and the workpiece table : ; Then, the inverse kinematics of the lens support platform is calculated to obtain the lengths of the six electric telescopic cylinders. : , Utilizing lens posture Corresponding location of the outpost Normal direction Dwell time T and length of electric telescopic cylinder Processing the lens to be processed; during the processing, the length of the electric telescopic cylinder is adjusted by the lens surface polishing liquid pouring device, thereby adjusting the lens posture.

[0040] First, calculate the dwell points on the machining trajectory. The corresponding lens orientation facilitates the pouring of polishing fluid. : , in, This represents the homogeneous transformation matrix. The formula represents the initial workpiece coordinate system. go through After transformation, relative to the workpiece coordinate system coincide.

[0041] This represents the workpiece coordinate system after the workpiece stage posture change, that is, the workpiece coordinate system after the change relative to the initial workpiece coordinate system. The change method is to keep the position of the origin of the initial workpiece coordinate system unchanged and tilt it towards the dwell point. Angle. That is, when the dwell point of the machining tool is... At that time, the initial coordinates of the lens bypass the origin and the unit direction vector. Linear L Rotation Angle, among them and Represented as: , Homogeneous transformation matrix Represented as: , Rotation angle The specific orientation of the lens should be determined based on its shape, ensuring smooth liquid drainage without excessive accumulation. The new orientation of the lens indicates the target rotation of the workpiece stage. When adjusting its orientation, lens 6 only tilts at a certain angle and will not rotate more than 90° or even 180°.

[0042] Secondly, when the mirror's posture changes, the position of the dwell point also changes accordingly, and the subsequent end effector of the industrial robot is based on the initial workpiece coordinate system. The motion will proceed downwards, therefore the data needs to be updated to the initial workpiece coordinate system. The three-dimensional coordinates and vectors below ensure accurate coordination of the six-degree-of-freedom platform of the industrial robot.

[0043] The dwell point remains at its position relative to lens 6, but due to the lens tilting at a certain angle to a new orientation, the dwell point's position in the coordinate system will change. The dwell point position of the lens in the new orientation will then be recalculated. Normal direction Location of the connection point between the electric telescopic cylinder and the workpiece table : ; Finally, the inverse kinematics of the lens support stage is solved based on the updated connection point between the electric telescopic cylinder and the workpiece stage. Calculate the length of the six electric telescopic cylinders. ,Right now . Indicates the processing of the first At the location of the first dwelling point, the first lens bearing platform Length of each electric telescopic cylinder: , The calculated lengths of the six electric telescopic cylinders represent the desired lens orientation for easy pouring of polishing fluid. The target length for each electric telescopic cylinder.

[0044] Position of the lens at its corresponding dwell point in the new orientation. Normal direction Duration of stay and the length of the electric telescopic cylinder The processing file is compiled and generated. This processing file is used to guide the extension and retraction of the electric telescopic lever during lens processing, so that the workpiece stage can be flipped according to the target posture, and finally the polishing fluid can be poured out during the processing.

[0045] The processing file is input into the collaborative control system to begin processing. The collaborative control system will synchronously drive the industrial robot and the lens carrier: the industrial robot controls the polishing head to follow the updated processing trajectory. Move and remain stationary. Simultaneously, control the six electric telescopic cylinders to extend and retract to the specified length. This allows the lens to flip in real time to the preset position where anti-polishing fluid accumulates. Throughout the entire processing, the lens posture changes continuously and smoothly with the processing point, thereby continuously guiding the polishing fluid to flow naturally to the collection tank, achieving high-precision polishing without interruption or fluid accumulation.

[0046] Although embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present invention.

[0047] The specific embodiments of the present invention described above do not constitute a limitation on the scope of protection of the present invention. Any other corresponding changes and modifications made in accordance with the technical concept of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. A lens processing method, characterized in that, The system is based on a lens surface polishing slurry pouring device, which includes an industrial robot, a lens support platform, and a polishing slurry supply and collection system. The lens support platform includes a workpiece table and multiple electric telescopic cylinders, and the polishing slurry supply and collection system includes a collection tank. The lens is placed on the workpiece stage, and multiple electric telescopic cylinders are connected to the lower surface of the workpiece stage via hinges; the collection groove is annular, and the workpiece stage is located at the center of the collection groove; the length of the multiple electric telescopic cylinders is adjusted to adjust the posture of the workpiece stage, so that the polishing liquid on the surface of the lens flows into the collection groove; The industrial robot is equipped with a polishing slurry nozzle, and the polishing slurry supply and collection system is connected to the collection tank and the polishing slurry nozzle through a pipeline; the polishing slurry supply and collection system collects the polishing slurry in the collection tank, filters it, and then sprays it onto the surface of the lens through the polishing slurry nozzle; Lens processing methods include: S1: Obtain the target surface shape of the lens to be processed, and obtain discretized surface shape residual data based on the target surface shape and the current surface shape of the lens to be processed; S2: Install and adjust the lens to be processed to a horizontal position, and establish the initial workpiece coordinate system; calculate the coordinates of the connection points between the two ends of the multiple electric telescopic rods and the workpiece table and the chassis, respectively, under the initial workpiece coordinate system; S3: Determine the machining trajectory based on the discretized surface residual data, and calculate the normal direction and dwell time of the dwell point position on the machining trajectory; S4: Preset lens orientation for pouring polishing fluid Calculate lens attitude Corresponding location of the outpost Normal direction Location of the connection point between the electric telescopic cylinder and the workpiece table : ； in, Denotes the homogeneous transformation matrix. This indicates that the dwell point on the machining trajectory is in the initial workpiece coordinate system. The three-dimensional coordinates below Indicates the coordinates of the connection point between the electric telescopic rod and the workpiece table; Find the inverse kinematics of the lens support stage to obtain the lengths of the six electric telescopic cylinders. : ； in, This refers to any one of the six electric telescopic cylinders. This indicates the coordinates of the connection point between the electric telescopic pole and the chassis. This indicates the position of the connection point between the electric telescopic cylinder and the workpiece stage after the lens attitude is updated. Utilizing lens posture Corresponding location of the outpost Normal direction Dwell time T and length of electric telescopic cylinder The lens to be processed is processed; during the processing, the length of the electric telescopic cylinder is adjusted by a lens surface polishing liquid pouring device, thereby adjusting the lens posture. These represent the lengths of the six electric telescopic cylinders.

2. The lens processing method according to claim 1, characterized in that, It also includes a collaborative control system, which includes an industrial robot control module, a lens carrier platform control module, and a real-time synchronization control module; the industrial robot control module is used to control the industrial robot to spray polishing fluid, the lens carrier platform control module is used to control the posture of the workpiece platform, and the real-time synchronization control module is used to control the flipping sequence of the workpiece platform.

3. The lens processing method according to claim 1, characterized in that, The workpiece stage is provided with multiple sliding grooves, which are distributed circumferentially along the workpiece stage and extend radially along the workpiece stage.

4. The lens processing method according to claim 1, characterized in that, A vacuum suction cup is provided at the center of the workpiece stage, which is used to fix the lens; multiple lens fixing blocks are arranged circumferentially on the upper surface of the workpiece stage, and the multiple lens fixing blocks are attached to the outer periphery of the lens for fixing the lens.

5. The lens processing method according to claim 1, characterized in that, The XY plane of the initial workpiece coordinate system is parallel to the workpiece stage surface, the Z-axis is perpendicular to the workpiece stage surface and pointing upwards, and the origin of the coordinate system is located at the center point of the surface to be processed of the lens.

6. The lens processing method according to claim 1, characterized in that, The calculation model for the dwell time is expressed as follows: ； in, This represents convolution calculation. This represents the tool removal function. Indicates the amount of material removed. This indicates the dwell time of the machining tool.

7. The lens processing method according to claim 1, characterized in that, Lens orientation for pouring polishing fluid Represented as: ； in, This represents the initial workpiece coordinate system.

8. The lens processing method according to claim 1, characterized in that, Using the lens to be processed in attitude The corresponding location of the next stop Normal direction Duration of stay and the length of the electric telescopic cylinder Generate processing documents and process the lenses to be processed according to the processing documents.

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