Optical processing device and method for controlling multi-tool cooperation of a robot

Abstract

The application relates to the technical field of optical processing, and specifically provides a robot-controlled optical processing device and method with multiple-tool cooperation, which comprises the following steps: connecting the back of a connecting plate with a robot execution end; arranging a guide rail in the middle of the front of the connecting plate; arranging a height adjuster on the guide rail, and moving the height adjuster along the vertical direction of the guide rail; connecting a first angle adjuster with the height adjuster, and arranging connecting rods on the two sides of the first angle adjuster; connecting a second angle adjuster and a third angle adjuster with the ends of the connecting rods; arranging a first processing tool below the guide rail; connecting a second processing tool and a third processing tool with the execution ends of the second angle adjuster and the third angle adjuster respectively; and arranging the axis of the first processing tool, the second processing tool and the third processing tool in parallel with the sliding direction of the guide rail. The application utilizes a single robot to drive three processing tools to simultaneously process, thereby reducing processing cost and improving processing efficiency.

Description

Technical Field

[0001] This invention belongs to the field of optical processing technology, and in particular relates to an optical processing device and method for robot-controlled multi-tool collaboration. Background Technology

[0002] As our understanding of the universe deepens, higher demands are placed on telescope technology, requiring greater surface accuracy and larger effective apertures. Increasing the aperture of the primary mirror, either by enlarging individual lenses or by combining multiple lenses, significantly improves system resolution. Simultaneously, to eliminate aberrations, the reflective surfaces of the lenses are designed as quadratic surfaces. The increased size and number of lenses, along with the more complex mirror surfaces, necessitates more time-consuming manufacturing processes using existing methods.

[0003] Compared to traditional machine tools, industrial robots exhibit significant advantages in computer-controlled optical surface forming (CCOS) applications, including smaller footprint, larger accessible workspace, higher degrees of freedom of movement (flexibility), and lower overall cost.

[0004] Currently, in the process of polishing optical mirrors using industrial robots, one robot drives a small tool head. For the aforementioned large-diameter, complex optical components, this method is inefficient. To improve efficiency, it has been proposed to use multiple robots for simultaneous polishing. However, in actual production, multiple robots require more space, increasing processing costs. Furthermore, interference between robots and collision avoidance must be considered. Summary of the Invention

[0005] In view of this, the present invention aims to provide an optical processing device and method for robot-controlled multi-tool collaboration, which uses a single robot to drive three processing tools to process simultaneously, eliminating the need to consider the collaborative control between multiple robots, thereby reducing processing costs and improving space utilization and processing efficiency.

[0006] To achieve the above objectives, the technical solution created by this invention is implemented as follows: This invention provides a robot-controlled multi-tool collaborative optical processing device, comprising: a robot, a mechanical frame, a workpiece stage, and a control module. The mechanical frame includes: a connecting plate and processing tools. The processing tools include: a first processing tool, a second processing tool, and a third processing tool. The back of the connecting plate is connected to the robot's execution end, and the front of the connecting plate is equipped with guide rails located in the middle of the connecting plate along its length. The guide rail is equipped with a height adjuster, which moves along the vertical direction of the guide rail; A first angle adjuster is connected to the height adjuster. The first angle adjuster is parallel to the axis of the guide rail. Linkage rods are connected to both sides of the actuator of the first angle adjuster. The ends of the linkage rods are connected to a second angle adjuster and a third angle adjuster. The axes of the second angle adjuster and the third angle adjuster are perpendicular to the axis of the first angle adjuster. A first machining tool is arranged below the guide rail. The first machining tool is fixedly connected to the connecting plate. The axis of the first machining tool is parallel to the sliding direction of the guide rail. The execution ends of the second angle adjuster and the third angle adjuster are respectively connected to the second machining tool and the third machining tool. The axes of the second machining tool and the third machining tool are parallel to the sliding direction of the guide rail.

[0007] Preferably, the first angle adjuster can drive the connecting rod to rotate the second and third machining tools around the axis of the first angle adjuster.

[0008] Another aspect of this invention provides a robot-controlled multi-tool collaborative optical processing method, comprising: S1: Fix the workpiece on the workpiece table and mark the position of the workpiece and the machine frame; S2: Obtain the surface shape error of the workpiece, the machining trajectory, and the initial removal function of the machining tool. Calculate the initial dwell time of the machining tool using the surface shape error of the workpiece and the initial removal function of the machining tool. Set a uniform dwell time. By adjusting the initial removal function of each machining tool, the dwell time of each machining tool becomes a uniform dwell time under the premise that the removal amount remains unchanged. S3: Input the workpiece's surface shape error, uniform dwell time, adjusted removal function, and machining trajectory into the control module. The control module generates a machining program based on the workpiece's surface shape error, uniform dwell time, adjusted removal function, and machining trajectory. S4: The machine frame moves down to the contact position between the machining tool and the workpiece's machining surface according to the position calibration. This is the starting point of the machining trajectory. The machining tool then processes the workpiece's machining surface according to the machining program.

[0009] Preferably, when the workpiece size exceeds the processing range of the robot-controlled multi-tool collaborative optical processing device, the workpiece's processing surface is divided. N Each area is rotated sequentially by rotating the workpiece table to the processing range of a robot-controlled, multi-tool collaborative optical processing device for processing. When machining rotationally symmetric workpieces, the center of the rotationally symmetric workpiece is located on the rotation axis of the workpiece stage.

[0010] Preferably, when machining workpieces of arbitrary surface shape using non-overlapping machining trajectories, the machining trajectory of one machining tool is first determined, and the trajectories of the other two machining tools are determined based on the adjustability of the relative positions of the first, second, and third machining tools and the surface shape of the workpiece. When machining a rotationally symmetrical workpiece using a coincident machining trajectory, the machine frame moves radially, and the workpiece table drives the workpiece to rotate.

[0011] Preferably, the distribution function of the amount of material removed from the machined surface of the workpiece. Represented as: ; in: It is a two-dimensional convolution symbol. Let be the initial removal function for the first machining tool. Let be the initial removal function for the second machining tool. This is the initial removal function for the third processing tool. The initial dwell time of the first machining tool. The initial dwell time of the second machining tool. The initial dwell time of the third machining tool; The ideal removal amount is consistent with the surface shape error. The initial dwell time of the first, second and third processing tools can be calculated according to the above formula.

[0012] Preferably, a coincident machining trajectory is used to process the rotationally symmetric workpiece. The workpiece table drives the workpiece to rotate, the rotation axis is the rotational symmetry axis of the rotationally symmetric workpiece, and the machining trajectory is a concentric circle trajectory, with the center of the circle located on the rotational symmetry axis of the rotationally symmetric workpiece. The attitudes of the first, second, and third machining tools are adjusted so that the dwell points of the first, second, and third machining tools are all located on the same circular trajectory, and the axes of the first, second, and third machining tools all point to the normal direction of their respective dwell points.

[0013] Preferably, the attitude adjustment of the second and third machining tools includes: A1: Use the height adjuster to adjust the height of the first angle adjuster so that the dwell point of the second machining tool is different from the dwell point of the first machining tool, and the dwell point of the third machining tool is different from the dwell point of the first machining tool. A2: Use the second angle adjuster to drive the second machining tool to rotate. α The degree is such that the axis of the second machining tool intersects the axis of the first machining tool at a certain angle. Q Point; using a third angle adjuster to drive the third machining tool to rotate.-α The degree is such that the axis of the third machining tool intersects the axis of the first machining tool at a certain angle. Q point; Q The distances from the dwell points of the second machining tool, the first machining tool, and the third machining tool are equal. A3: The machine frame rotates around the dwell point of the first machining tool. β Degree, make Q The common intersection of the normals of the point and the points where the point resides on the circular trajectory P coincide; A4: The first angle adjuster drives the connecting rod, which in turn drives the second machining tool to rotate around the axis of the first machining tool. θ The connecting rod drives the third machining tool to rotate around the axis of the first machining tool. -θ The dwell points of the first, second, and third machining tools are all located on the same circular trajectory.

[0014] Preferably, the dwell point of the second machining tool has a height difference from the dwell point of the first machining tool, or the dwell point of the third machining tool has a height difference from the dwell point of the first machining tool. Δ Represented as: ; in: for Q Point to the dwell point of the second machining tool or Q Point to the dwell point of the first machining tool or Q The distance from the point to the dwell point of the third machining tool. The distance between the dwelling point of the second machining tool and the dwelling point of the first machining tool, or the distance between the dwelling point of the third machining tool and the dwelling point of the first machining tool; The second angle adjuster drives the linkage, causing the second machining tool to rotate. α The angle adjustment mechanism or third angle adjuster drives the linkage, causing the third machining tool to rotate. -α Degree is expressed as: ; The machine frame rotates around the dwell point of the first machining tool. β Degree is expressed as: ; in: The radius of the circle containing the machining tool; The first angle adjuster drives the connecting rod, which in turn causes the second machining tool to rotate around the axis of the first machining tool. θ The angle or first angle adjuster drives the connecting rod, which in turn drives the third machining tool to rotate around the axis of the first machining tool. -θ Degree is expressed as: .

[0015] Preferably, by adjusting the rotational speeds of the first, second, and third machining tools, a unified dwell time for the tools is achieved. When the workpiece table does not cooperate with the machining tools, the adjustment of the rotational speeds of the first, second, and third machining tools is expressed as follows: ; in: For the first machining tool, the second machining tool, or the third machining tool on the first machining trajectory, the second machining trajectory, or the third machining trajectory, the first... j Rotation speed during processing at each dwell point To control the movement speed of the robot's mechanical frame relative to the workpiece's machining surface, For the first machining tool, the second machining tool, or the third machining tool, on the first machining trajectory, the second machining trajectory, or the third machining trajectory, the first... j The number of rotations during processing at each station point For adjacent stops, i.e. j The first outpost and the first j+1 The distance between each station; When the workpiece stage is used in conjunction with machining tools, the rotational speeds of the first, second, and third machining tools are expressed as follows: ; in: Let be the angular velocity of the workpiece stage rotation. The radius of the machining circle trajectory where the machining tool is located.

[0016] Compared with the prior art, the present invention can achieve the following beneficial effects: This invention provides a method in which a single robot drives three processing tools, increasing the number of processing tools while reducing the number of robots used. It eliminates the need for multi-robot collaborative control and processing trajectory planning, and avoids the risk of collisions during multi-robot processing.

[0017] This invention allows a single robot to carry three processing tools simultaneously, significantly shortening the processing cycle. When processing rotationally symmetric workpieces using overlapping processing trajectories, the dwell points of the three processing tools are all located on the same circular trajectory for processing. When processing workpieces of arbitrary surface shape using non-overlapping processing trajectories, the three processing tools independently plan their processing trajectories for processing.

[0018] This invention enables lower processing costs, higher space utilization, and higher processing efficiency. The mechanical frame of this invention possesses high flexibility, allowing for multi-tool posture adjustment and can be used to process components with various surface shapes, such as planes, spheres, and rotationally symmetric surfaces. Attached Figure Description

[0019] 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 schematic diagram of the structure of a robot-controlled multi-tool collaborative optical processing device according to an embodiment of the present invention; Figure 2 This is a schematic diagram of the mechanical frame structure of a robot-controlled multi-tool collaborative optical processing device according to an embodiment of the present invention; Figure 3 This is a schematic diagram of the control module of a robot-controlled multi-tool collaborative optical processing device provided in an embodiment of the present invention; Figure 4 This is a schematic diagram of the rotationally symmetric workpiece machining trajectory of the robot-controlled multi-tool collaborative optical processing method provided in an embodiment of the present invention.

[0020] The reference numerals in the figures include: 1. Connecting plate; 2. Guide rail; 3. Height adjuster; 4. First angle adjuster; 5. First link; 6. Second link; 7. Second angle adjuster; 8. Third angle adjuster; 9. First machining tool; 10. Second machining tool; 11. Third machining tool; 12. Robot; 13. Mechanical frame; 14. Workpiece table; 15. Workpiece. Detailed Implementation

[0021] 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.

[0022] 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.

[0023] 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.

[0024] 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.

[0025] The invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0026] Please see Figure 1 and Figure 2 In one embodiment of the present invention, a robot-controlled multi-tool collaborative optical processing device is provided, comprising: a robot 12, a mechanical frame 13, a workpiece stage 14 and a control module, characterized in that the mechanical frame 13 comprises: a connecting plate 1 and processing tools, the processing tools comprising: a first processing tool 9, a second processing tool 10 and a third processing tool 11; The back of the connecting plate 1 is connected to the execution end of the robot 12, and the front of the connecting plate 1 is provided with a guide rail 2, which is located in the middle of the connecting plate 1 along its length. A height adjuster 3 is provided on the guide rail 2, and the height adjuster 3 moves along the vertical direction of the guide rail 2; A first angle adjuster 4 is connected to the height adjuster 3. The first angle adjuster 4 is parallel to the axis of the guide rail 2. Linkage rods are connected to both sides of the execution end of the first angle adjuster 4. The ends of the linkage rods are connected to a second angle adjuster 7 and a third angle adjuster 8. The axes of the second angle adjuster 7 and the third angle adjuster 8 are perpendicular to the axis of the first angle adjuster 4. A first processing tool 9 is arranged below the guide rail 2. The first processing tool 9 is fixedly connected to the connecting plate 1. The axis of the first processing tool 9 is parallel to the sliding direction of the guide rail 2. The execution ends of the second angle adjuster 7 and the third angle adjuster 8 are respectively connected to the second processing tool 10 and the third processing tool 11. The axes of the second processing tool 10 and the third processing tool 11 are parallel to the sliding direction of the guide rail 2.

[0027] The robot 12 is located on the outer periphery of the workpiece table 14. The workpiece table 14 includes a table surface, stops, fixing grooves, a column, a turbine, a harmonic reducer, a limit sensor, and an angle sensor. A table surface is mounted above the column, and the column is rotatably connected to the table surface, which supports the workpiece 15. Fixing grooves are provided on the surface of the table surface to fix the workpiece 15. Stops are provided around the circumference of the table surface to block the workpiece 15, preventing it from falling off during table rotation or limiting its radial displacement. A turbine is located at the center of the column to drive the table surface to rotate. The harmonic reducer is positioned between the turbine and the table surface to improve rotational accuracy. Limit sensors are located below the table surface to detect whether the table surface rotation exceeds limits. An angle sensor is connected to the harmonic reducer to detect the table surface rotation angle in real time.

[0028] The workpiece 15 is placed on the workpiece table 14, which can drive the workpiece 15 to rotate at a specific speed or rotate at a specific angle to cooperate with the workpiece 15 for processing.

[0029] The machine frame 13 includes a connecting plate 1, a guide rail 2, a height adjuster 3, a first angle adjuster 4, a second angle adjuster 7, a third angle adjuster 8, connecting rods, and machining tools. The connecting rods include a first connecting rod 5 and a second connecting rod 6; the machining tools include a first machining tool 9, a second machining tool 10, and a third machining tool 11, and the rotational speed and pressure of the first machining tool 9, the second machining tool 10, and the third machining tool 11 are adjustable.

[0030] A flange is provided on the back of the connecting plate 1, which is fixedly connected to the flange of the actuator end of the robot 12. A guide rail 2 is provided in the middle of the front of the connecting plate 1 along the length direction, and the sliding direction of the guide rail 2 is parallel to the plane of the connecting plate 1.

[0031] A height adjuster 3 is installed on the guide rail 2. The height adjuster 3 can move vertically along the guide rail 2. The height adjuster 3 includes: a slider, a locking device, a linear motor, and a displacement sensor. The slider is slidably mounted on the guide rail 2. The linear motor drives the slider to move along the guide rail 2. The displacement sensor is used to detect the position of the slider. The locking device is used to lock the slider in the relative position with respect to the guide rail 2.

[0032] A first angle adjuster 4 is fixedly connected to the height adjuster 3, and the axis of the first angle adjuster 4 is parallel to the sliding direction of the guide rail 2.

[0033] The first angle adjuster 4 has a first connecting rod 5 and a second connecting rod 6 connected to its two ends respectively. A second angle adjuster 7 is fixed to the end of the first connecting rod 5, and a third angle adjuster 8 is fixed to the end of the second connecting rod 6. The axes of the second angle adjuster 7 and the third angle adjuster 8 are perpendicular to the axis of the first angle adjuster 4. Each of the first angle adjuster 4, the second angle adjuster 7, and the third angle adjuster 8 includes a servo camera, a reducer, and an angle sensor. The servo motor provides the driving force, the reducer increases the output torque and improves control accuracy, and the angle sensor detects the actual rotation angle of the first angle adjuster 4, the second angle adjuster 7, and the third angle adjuster 8 in real time.

[0034] A first processing tool 9 is fixed on the front of the connecting plate 1 below the guide rail 2, and the axis of the first processing tool 9 is parallel to the sliding direction of the guide rail 2.

[0035] The execution ends of the second angle adjuster 7 and the third angle adjuster 8 are respectively connected to the second machining tool 10 and the third machining tool 11. The axes of the second machining tool 10 and the third machining tool 11 in the initial state are also parallel to the sliding direction of the guide rail 2.

[0036] The first machining tool 9, the second machining tool 10, and the third machining tool 11 each include a grinding disc, a cylinder, a motor, a pressure sensor, and a speed controller, all capable of adjusting speed or pressure. The motor housing of the first machining tool 9 is fixedly connected to the connecting plate 1, with the motor's output shaft facing the workpiece 15. The cylinder is positioned at the end of the motor's output shaft facing the workpiece 15. The grinding disc is positioned at the end of the cylinder facing the workpiece 15, with the polished surface of the grinding disc facing the surface of the workpiece 15. The pressure sensor is positioned between the cylinder and the grinding disc to detect the contact pressure of the grinding disc on the workpiece 15 in real time. The speed controller is connected to the motor to adjust the motor's rotation speed. The motor housings of the second machining tool 10 and the third machining tool 11 are respectively connected to the second angle adjuster 7 and the third angle adjuster 8. The connection relationships of the grinding disc, cylinder, pressure sensor, and speed controller are the same as those of the first machining tool 9.

[0037] The initial state of the machine frame 13 is that the dwelling points of the first machining tool 9, the second machining tool 10, and the third machining tool 11 are at the same height and on the same straight line, while the axes of the first machining tool 9, the second machining tool 10, and the third machining tool 11 are parallel to each other and in the same plane. The height adjuster 3 can adjust the height of the first angle adjuster 4, thereby causing the second machining tool 10 and the third machining tool 11 to have a height difference relative to the first machining tool 9. The first angle adjuster 4 can drive the first link 5 and the second link 6, causing the second machining tool 10 and the third machining tool 11 to rotate around the axis of the first machining tool 9. In conjunction with the second angle adjuster 7 and the third angle adjuster 8, the relative posture of the second machining tool 10 and the third machining tool 11 with the first machining tool 9 is adjusted.

[0038] Please see Figure 3 The control module includes: a machining program module, a robot control module, a machine frame control module, a machining tool control module, and a workpiece table control module.

[0039] Obtain the surface shape error, machining trajectory, and initial removal function of the machining tool for workpiece 15. Calculate the initial dwell time of each machining tool based on the surface shape error and the initial removal function of each machining tool. Set a uniform dwell time. By adjusting the initial removal function of each machining tool, the dwell time of each machining tool becomes a uniform dwell time while keeping the removal amount constant. The surface shape error, uniform dwell time, adjusted removal function, and machining trajectory of workpiece 15 are input into the machining program module. The machining program module generates a machining program based on the surface shape error, uniform dwell time, adjusted removal function, and machining trajectory of workpiece 15 to be processed, and sends the generated machining program to the robot control module, workpiece table control module, machine frame control module, and machining tool control module respectively.

[0040] The robot control module controls the motion trajectory, the attitude of the robot 12's execution end, and the running speed according to the generated machining program.

[0041] The machine frame control module can control the first angle adjuster 4, the second angle adjuster 7 and the third angle adjuster 8 according to the generated machining program to adjust the relative position and posture between the first machining tool 9, the second machining tool 10 and the third machining tool 11.

[0042] The machining tool control module can control the rotation speed and pressure of the first machining tool 9, the second machining tool 10 and the third machining tool 11 according to the generated machining program.

[0043] The workpiece stage control module can control the workpiece stage 14 to remain stationary or rotate, as well as the rotation speed, according to the machining program.

[0044] Please see Figure 4 This paper provides a robot-controlled multi-tool collaborative optical processing method, implemented using a robot-controlled multi-tool collaborative optical processing device, comprising: S1: Fix the workpiece 15 on the workpiece table 14 and calibrate the position of the workpiece 15 and the machine frame 13; S2: Obtain the surface shape error, machining trajectory, and initial removal function of the machining tool of workpiece 15. Calculate the initial dwell time of the machining tool using the surface shape error of workpiece 15 and the initial removal function of the machining tool. Set a uniform dwell time. By adjusting the initial removal function of each machining tool, the dwell time of each machining tool becomes a uniform dwell time under the premise that the removal amount remains unchanged. S3: Input the surface shape error of workpiece 15, the uniform dwell time, the adjusted removal function and the machining trajectory into the control module. The control module generates a machining program based on the surface shape error of workpiece 15, the uniform dwell time, the adjusted removal function and the machining trajectory. S4: The machine frame 13 moves down to the position where the machining tool contacts the machining surface of the workpiece 15 according to the position calibration. This is the starting point of the machining trajectory. The machining tool then processes the machining surface of the workpiece 15 according to the machining program.

[0045] S1: Place the workpiece 15 to be processed on the workpiece table 14, adjust and fix the position of the workpiece 15 on the workpiece table 14, and ensure that the processing surface of the workpiece 15 faces the machine frame 13. Perform precise position calibration on the workpiece 15, the first processing tool 9, the second processing tool 10, the third processing tool 11 and the machine frame 13.

[0046] S2: Obtain the surface shape parameters of workpiece 15 and the machining parameters of the machining tools, and input the surface shape parameters and machining parameters into the control module. The surface shape parameters of workpiece 15 include: surface shape error and position information. The machining parameters include: the initial removal function, machining trajectory, and initial dwell time of the first machining tool 9, the second machining tool 10, and the third machining tool 11. The initial dwell time is calculated using the surface shape error of workpiece 15 and the initial removal function of the machining tools. A uniform dwell time is set, and by adjusting the initial removal function of each machining tool, the dwell time of each machining tool becomes a uniform dwell time while keeping the removal amount constant. S3: The surface shape error, uniform dwell time, adjusted removal function, and machining trajectory of workpiece 15 are input into the machining program module. The machining program module generates a machining program based on the surface shape error, uniform dwell time, adjusted removal function, and machining trajectory of workpiece 15, and sends the generated machining program to the robot control module, workpiece table control module, machine frame control module, and machining tool control module respectively. Each module controls robot 12, machine frame 13, machining tool, and workpiece table 14 to start the machining process.

[0047] The robot 12 drives the mechanical frame 13 to move down to above the machining start position of the workpiece 15 according to the position calibration. After adjusting its posture, it slowly moves down until the first machining tool 9, the second machining tool 10, and the third machining tool 11 contact the machining surface of the workpiece 15. The contact point is the starting position of the machining trajectory. After the contact pressure stabilizes, the first machining tool 9, the second machining tool 10, and the third machining tool 11 are started. At the same time, the workpiece table 14 and the robot 12 are coordinated and controlled to move, so that the first machining tool 9, the second machining tool 10, and the third machining tool 11 process synchronously along the preset machining trajectory.

[0048] S4: After the processing task is completed, the processing of the first processing tool 9, the second processing tool 10 and the third processing tool 11 is stopped, and the robot 12 moves the mechanical frame 13 back to the initial position.

[0049] When the size of workpiece 15 exceeds the effective processing range of robot 12, the processing surface of workpiece 15 is divided into N regions, the size of each region not exceeding the effective processing range of robot 12. Through the indexing rotation of workpiece table 14, each processing region is sequentially rotated into the effective processing range of robot 12 for processing. The positions of workpiece 15 and machine frame 13 are calibrated, and coordinate system A is established based on the surface to be processed of workpiece 15. In coordinate system A, the center points of the first processing tool 9, the second processing tool 10, and the third processing tool 11 are determined (…). TPC ) Calibration, determining the center points of the first machining tool 9, the second machining tool 10, and the third machining tool 11 ( TPC The position and orientation of the workpiece 15 can be determined by rotating the workpiece table 14 by a preset angle to keep the processed part of the workpiece 15 within the effective processing range of the robot 12. After rotation, the position of the workpiece 15 relative to the workpiece table 14 and the rotation angle are combined to recalculate the position of the workpiece 15 in coordinate system A, ensuring the continuity of processing.

[0050] For rotationally symmetric workpieces, during the fixed setup, it is necessary to ensure that the center of the rotationally symmetric workpiece is located on the rotation axis of the workpiece stage 14 in order to achieve coincident trajectory machining. The rotationally symmetric workpiece is a circular workpiece. Non-overlapping machining trajectory: Applicable to workpieces with arbitrary surface shapes. First, the machining trajectory L1 of the first machining tool 9 is determined. Then, based on the adjustability of the relative positions between the machining tools and the surface shape of the workpiece 15, the machining trajectories L2 and L3 of the second machining tool 10 and the third machining tool 11 are determined. The first machining tool 9, the second machining tool 10, and the third machining tool 11 move along their respective machining trajectories, and the material removal amounts are superimposed.

[0051] Overlapping machining trajectory: Applicable to rotationally symmetric workpieces. First, determine the machining trajectory of the first machining tool 9. L1By adjusting the machine frame 13, the dwell points of the first machining tool 9, the second machining tool 10, and the third machining tool 11 are all located on the same circular trajectory. At this time, the machining trajectory of the first machining tool 9 is... L1 Machining trajectory of the second machining tool 10 L2 and the machining trajectory of the third machining tool 11 L3 The processing trajectories overlap. During the processing, the robot 12 drives the mechanical frame 13 to move radially from the outside to the inside (or from the inside to the outside), and the workpiece table 14 drives the workpiece 15 to rotate continuously, forming a spiral or concentric circle processing path.

[0052] After determining the machining trajectories of the first machining tool 9, the second machining tool 10, and the third machining tool 11, the machining trajectories and the initial removal function of the first machining tool 9 are used as the basis for the machining process. R1 The initial removal function of the second processing tool 10 R2 and the initial removal function of the third processing tool 11 R3 Solve for the initial dwell time of the first machining tool 9. T1 Initial dwell time of the second machining tool 10 T2 and the initial dwell time of the third machining tool 11 T3 .

[0053] Optical processing is essentially a convolution process. The first processing tool 9, the second processing tool 10, and the third processing tool 11 move across the processing surface of the workpiece 15 and remain in different processing areas for corresponding periods. By superimposing the material removal amounts from each processing area, the optical processing material convolution removal model can be expressed as: (1) in: The distribution of material removal on the surface of workpiece 15. It is a two-dimensional convolution symbol. This is the initial removal function for the machining tool. This refers to the initial dwell time of the machining tool.

[0054] The processing method involves simultaneous processing using three processing tools, and the material removal rate distribution on the processed surface of workpiece 15 is as follows: Represented as: (2) in: It is a two-dimensional convolution symbol. This is the initial removal function for the first machining tool 9. For the initial removal function of the second processing tool 10, The initial removal function for the third machining tool 11. For the first processing tool 9, according to the initial removal function Initial dwell time during processing The second processing tool 10 is based on the initial removal function. Initial dwell time during processing For the third processing tool 11, according to the initial removal function The initial dwell time during processing. The ideal removal amount is consistent with the surface shape error. The initial dwell time of the first processing tool 9, the second processing tool 10, and the third processing tool 11 can be calculated according to the above formula.

[0055] For single-tool machining, the machining trajectory is planned based on the shape and characteristics of workpiece 15 during the machining process. A series of evenly distributed dwell points are selected on the machining trajectory, and the number of dwell points is set to be... The surface shape error of workpiece 15 is This is also the target removal amount, discretized to obtain several data points. Let the number of data points be... Record the first i The coordinates of the data points are , No. j The coordinates of each station are: In the j The initial stay time at each stop is The amount of material removed by the machining tool is expressed as: (3) The amount of material removed from the machined surface of ideal workpiece 15 is consistent with the surface shape error, that is... Formula (3) becomes: (4) Known surface shape error and the initial removal function of the machining tool R The initial dwell time of the machining tool can be calculated according to formula (4).

[0056] Formula (3) can be expressed as a matrix vector: (5) in: any element For the first i The target material removal amount for each data point any element For machining tools in the first During processing at the first outpost, the first Material removal rate for each discrete data point any element For machining tools in the first Initial dwell time during processing at each dwelling point.

[0057] Formula (5) can be used to solve the linear equation system model to determine the initial dwell time distribution, i.e., the time the machining tool spends at each dwell point on the surface of workpiece 15. Similarly, for parallel machining with three machining tools, formula (2) can be written in matrix-vector form as follows: (6) in: any element For the first i The target material removal amount for each data point any element For the first machining tool 9 on the first machining trajectory During processing at the first outpost, the first Material removal rate for each discrete data point any element Indicates the first machining tool 9 on the first machining trajectory. Initial dwell time during processing at each dwell point any element Indicates the second machining tool 10 on the second machining trajectory. During processing at the first outpost, the first Material removal rate for each discrete data point any element Indicates the second machining tool 10 on the second machining trajectory. Initial dwell time during processing at each dwell point any element This indicates the third machining tool 11 on the third machining trajectory. During processing at the first outpost, the first Material removal rate for each discrete data point any element This indicates the third machining tool 11 on the third machining trajectory. Initial dwell time during processing at each dwelling point.

[0058] The initial dwell time of the first machining tool 9 can be obtained by solving formula (6). T1 Initial dwell time of the second machining tool 10 T2 and the initial dwell time of the third machining tool 11 T3 .

[0059] For the first processing tool 9, the second processing tool 10, and the third processing tool 11 with overlapping processing trajectories, processing is performed sequentially on the same dwell point, resulting in approximately the same initial removal function. The initial dwell time of a machining tool along the machining trajectory can be calculated using formula (5). T Then, the initial dwell time of the first machining tool 9, the second machining tool 10, and the third machining tool 11 is obtained by proportional allocation. T1 , T2 and T3 , is represented as; = = , = (7) ; in: The initial residence time distribution is obtained based on formula (5), assuming that only one machining tool is used to process along the same machining trajectory, the machining tool model is the same, and the initial removal function is approximately the same. The initial dwell time distribution assigned to the first machining tool 9 represents the dwell time distribution of the first machining tool 9 at coordinate point ( x,y Initial stay time on ) The initial dwell time distribution after the allocation of the second machining tool 10, that is, the second machining tool 10 at coordinate point ( x,y Initial stay time on ) The initial dwell time distribution assigned to the third machining tool 11 represents the dwell time distribution of the third machining tool 11 at coordinate point ( x,y Initial stay time on ) and It is the initial dwell time allocation coefficient of the first machining tool 9, the second machining tool 10, and the third machining tool 11.

[0060] For rotationally symmetric workpieces, when using coincident machining trajectories for machining, during the machining process, the workpiece stage 14 drives the workpiece 15 to rotate. The rotation axis is the rotational symmetry axis of the rotationally symmetric workpiece. The coincident machining trajectory is a concentric circular trajectory, with the center of the circular trajectory located on the rotational axis of the rotationally symmetric workpiece. The circular trajectory includes concentric circular trajectories. The robot 12 drives the mechanical frame 13 to move radially from the outside to the inside (or from the inside to the outside), switching to circular trajectories with different radii. During this period, the attitude of the first machining tool 9, the second machining tool 10, and the third machining tool 11 is adjusted to ensure that the dwell points of the first machining tool 9, the second machining tool 10, and the third machining tool 11 are all located on the same circular trajectory, and the axes of the first machining tool 9, the second machining tool 10, and the third machining tool 11 all point to their respective normal directions, so that the first machining tool 9, the second machining tool 10, and the third machining tool 11 are in contact with the machining surface.

[0061] There is an inherent distance limitation between the machining tools. For the central area of ​​a rotationally symmetric workpiece, when the diameter of the circle centered on a point on the rotation axis of workpiece 15 is smaller than the inherent distance between the machining tools, it is impossible for two machining tools to process simultaneously. The angle adjustment device is used to increase the deflection angle of one machining tool, so that only one machining tool can perform the processing.

[0062] Let the radius of the circle containing the first machining tool 9, the second machining tool 10, and the third machining tool 11 be . r According to geometric relations, the normals to all points on the circle have a common intersection point on the axis of rotation of the plane of rotational symmetry. P Point. If the dwelling point of the first machining tool 9 in the initial state of the machine frame 13 is on this circle, then the distance from this point to... P The distance between the points is L Furthermore, the axis of the first machining tool 9 is parallel to the rotation axis of the machining surface of the workpiece 15.

[0063] The posture adjustment steps for the second machining tool 10 and the third machining tool 11 are as follows: A1: Adjust the height of the first angle adjuster 4 using the height adjuster 3 so that there is a height difference between the dwell point of the second machining tool 10 and the dwell point of the first machining tool 9, and a height difference between the dwell point of the third machining tool 11 and the dwell point of the first machining tool 9.

[0064] A2: Use the second angle adjuster 7 to drive the second machining tool 10 to rotate. α The degree is such that the axis of the second machining tool 10 intersects the axis of the first machining tool 9 at a certain angle. Q Point; the third angle adjuster 8 drives the third machining tool 11 to rotate. -α The degree is such that the axis of the third machining tool 11 intersects the axis of the first machining tool 9 at a certain angle. Q point; Q The distances to the dwell points of the second machining tool 10, the first machining tool 9, and the third machining tool 11 are equal.

[0065] A3: The machine frame 13 rotates around the dwell point of the first machining tool 9. β Degree, make Q The common intersection point of the normals of the point and all points on the circle on the axis of rotation of the plane of rotational symmetry. P coincide.

[0066] A4: The first angle adjuster 4 drives the first connecting rod 5, and the first connecting rod 5 drives the second machining tool 10 to rotate around the axis of the first machining tool 9. θ The first angle adjuster 4 drives the second link 6, which in turn drives the third machining tool 11 to rotate around the axis of the first machining tool 9. -θ The degree is such that the dwell points of the second machining tool 10, the third machining tool 11, and the first machining tool 9 are all located on the same circular trajectory.

[0067] The dwelling point of the second machining tool 10 and the dwelling point of the first machining tool 9 have a height difference, or the dwelling point of the third machining tool 11 and the dwelling point of the first machining tool 9 have a height difference. Δ Represented as: (8) in: for Q Point to the dwell point of the second machining tool 10 or Q Point to the dwell point of the first machining tool 9 or Q The distance from the point to the dwell point of the third machining tool 11 The distance between the dwelling point of the second machining tool 10 and the dwelling point of the first machining tool 9 or the distance between the dwelling point of the third machining tool 11 and the dwelling point of the first machining tool 9; The second angle adjuster 7 drives the first connecting rod 5, causing the second machining tool 10 to rotate. α The angle or third angle adjuster 8 drives the second link 6, which in turn drives the third machining tool 11 to rotate. -α Degree is expressed as: (9) The machine frame 13 rotates around the dwell point of the first machining tool 9. β Degree is expressed as: (10) in: The radius of the circle containing the machining tool; The first angle adjuster 4 drives the first link 5, which in turn drives the second machining tool 10 to rotate by θ degrees around the axis of the first machining tool 9. Alternatively, the first angle adjuster 4 drives the second link 6, which in turn drives the third machining tool 11 to rotate around the axis of the first machining tool 9. -θ Degree is expressed as: (11) The Preston material removal model, the theoretical basis of modern CNC optical surface forming technology, indicates that the amount of surface material removed from workpiece 15 is linearly and positively correlated with the surface pressure of workpiece 15 and the relative speed of the workpiece stage 14 and the machining tool, expressed as: (12) in: For machining tools in ( x,yThe amount of surface material removed from workpiece 15 per unit time at point ) is k, where k is the comprehensive process coefficient (including abrasive characteristics, environmental parameters, etc.). The pressure at the contact surface between the machining tool and the workpiece 15. It is the relative motion rate between the machining tool and the workpiece 15.

[0068] During the processing, each processing tool achieves speed matching by adjusting its rotation speed, thereby maintaining a relatively stationary position relative to the machine frame 13 during processing. Under this adjustment method, the three processing tools can always be in the initial position, and the height adjuster 3, the first angle adjuster 4, the second angle adjuster 7, and the third angle adjuster 8 do not work.

[0069] The positional relationship between the processing tools results in differences in the positions of their respective dwell points. The ideal material removal amount at different positions is generally different. Therefore, when the rotational speed and pressure of each processing tool are the same, the initial dwell time of the processing tools at different positions is different, and the total number of rotations of the grinding wheel during the initial dwell time at each dwell point is generally different. To ensure that the positions of the processing tools are relatively stationary during the processing process, the dwell time at the corresponding dwell point processed by each processing tool at the same moment must be the same. While ensuring that the surface material removal amount of workpiece 15 remains constant, a uniform dwell time can be achieved by adjusting the rotational speed or pressure to regulate the initial removal function. Taking the adjustment of rotational speed as an example, a uniform dwell time for the first processing tool 9, the second processing tool 10, and the third processing tool 11 can be achieved by adjusting their rotational speeds. When the workpiece table 14 does not cooperate with the processing tools, the adjustment of the rotational speeds of the first processing tool 9, the second processing tool 10, and the third processing tool 11 is expressed as follows: (13) in: For the first machining tool 9, the second machining tool 10, or the third machining tool 11, on the first machining trajectory, the second machining trajectory, or the third machining trajectory, the... j Rotation speed during processing at each dwell point To control the movement speed of the mechanical frame 13 relative to the machining surface of the workpiece 15 for robot 12. For the first machining tool 9, the second machining tool 10, or the third machining tool 11, on the first machining trajectory, the second machining trajectory, or the third machining trajectory, the first... j The number of rotations during processing at each station point For adjacent stops, i.e. j The first outpost and the first j+1 The distance between each station; When the workpiece stage 14 is used in conjunction with machining tools, the rotational speeds of the first machining tool 9, the second machining tool 10, and the third machining tool 11 are expressed as follows: (14) in: Let be the angular velocity of the workpiece stage 14. The radius of the machining circle trajectory where the machining tool is located.

[0070] As an optional embodiment, the connection method between the second machining tool 10 and the second angle adjuster 7, and between the third machining tool 11 and the third angle adjuster 8 is not limited, as long as it can achieve rotation around the axis of the first machining tool 9 by a specific angle.

[0071] As an alternative embodiment, the processing tool can be a wheel grinding head, a small grinding head, or an airbag grinding head, etc.

[0072] As an alternative embodiment, the machine frame 13 may be a combination of processing tools of the same model or different models or different types.

[0073] As an optional embodiment, using this method, the number of processing tools arranged on the machine frame 13 can be N, where N≥2.

[0074] 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.

[0075] 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.

[0076] 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.

[0077] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to mutually. 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 robot-controlled, multi-tool collaborative optical processing method, characterized in that, include: The robot-controlled multi-tool collaborative optical processing method is based on a robot-controlled multi-tool collaborative optical processing device, which includes: a robot, a mechanical frame, a workpiece stage, and a control module. The machine frame includes a connecting plate and processing tools, the processing tools including a first processing tool, a second processing tool and a third processing tool; The back of the connecting plate is connected to the robot's execution end, and the front of the connecting plate is provided with guide rails, which are located in the middle of the connecting plate along its length. The guide rail is equipped with a height adjuster, which moves along the vertical direction of the guide rail; The height adjuster is connected to a first angle adjuster, which is parallel to the axis of the guide rail. The first angle adjuster has connecting rods on both sides of its actuation end, and the ends of the connecting rods are connected to a second angle adjuster and a third angle adjuster. The axes of the second angle adjuster and the third angle adjuster are perpendicular to the axis of the first angle adjuster. The first processing tool is arranged below the guide rail. The first processing tool is fixedly connected to the connecting plate. The axis of the first processing tool is parallel to the sliding direction of the guide rail. The execution ends of the second angle adjuster and the third angle adjuster are respectively connected to the second processing tool and the third processing tool. The axes of the second processing tool and the third processing tool are parallel to the sliding direction of the guide rail. The first angle adjuster can drive the connecting rod to rotate the second machining tool and the third machining tool around the axis of the first angle adjuster by an angle; Processing methods include: S1: Fix the workpiece on the workpiece table and calibrate the positions of the workpiece and the mechanical frame; S2: Obtain the surface shape error, machining trajectory, and initial removal function of the machining tool of the workpiece; calculate the initial dwell time of the machining tool using the surface shape error of the workpiece and the initial removal function of the machining tool; set a uniform dwell time; and adjust the initial removal function of each machining tool so that the dwell time of each machining tool becomes a uniform dwell time under the premise that the removal amount remains unchanged. S3: Input the surface shape error, uniform dwell time, adjusted removal function and machining trajectory of the workpiece into the control module. The control module generates a machining program based on the surface shape error, uniform dwell time, adjusted removal function and machining trajectory of the workpiece. S4: The machine frame moves down to the position where the machining tool contacts the machining surface of the workpiece according to the position calibration, which is the starting point of the machining trajectory. The machining tool processes the machining surface of the workpiece according to the machining program. When the size of the workpiece exceeds the processing range of the robot-controlled multi-tool collaborative optical processing device, the processing surface of the workpiece is divided into N regions, and the workpiece table is rotated to make each region rotate sequentially into the processing range of the robot-controlled multi-tool collaborative optical processing device for processing. When machining a rotationally symmetric workpiece, the center of the rotationally symmetric workpiece is located on the rotation axis of the workpiece stage; When the machining tool processes workpieces of arbitrary surface shape using a non-overlapping machining trajectory, the machining trajectory of one machining tool is first determined, and the trajectories of the other two machining tools are determined based on the relative position adjustability between the first machining tool, the second machining tool, and the third machining tool, as well as the surface shape of the workpiece. When the machining tool processes the rotationally symmetrical workpiece using a coincident machining trajectory, the mechanical frame moves radially, and the workpiece table drives the workpiece to rotate. The rotationally symmetric workpiece is machined using a coincident machining trajectory. The workpiece table drives the workpiece to rotate, and the rotation axis is the rotational symmetry axis of the rotationally symmetric workpiece. The machining trajectory is a concentric circle trajectory, and the center of the circle trajectory is located on the rotational symmetry axis of the rotationally symmetric workpiece. The attitude of the first machining tool, the second machining tool and the third machining tool is adjusted so that the dwell points of the first machining tool, the second machining tool and the third machining tool are all located on the same circular trajectory, and the axes of the first machining tool, the second machining tool and the third machining tool all point to the normal direction of their respective dwell points. The attitude adjustment of the second and third machining tools includes: A1: The height of the first angle adjuster is adjusted using the height adjuster so that the dwell point of the second processing tool and the dwell point of the first processing tool have a height difference, and the dwell point of the third processing tool and the dwell point of the first processing tool have a height difference. A2: Use the second angle adjuster to drive the second machining tool to rotate. α The degree is such that the axis of the second machining tool intersects the axis of the first machining tool at a certain angle. Q Point; the third angle adjuster is used to drive the third machining tool to rotate. -α The degree is such that the axis of the third machining tool intersects the axis of the first machining tool at a certain angle. Q Point; the stated Q The distances from the dwell point of the second machining tool, the dwell point of the first machining tool, and the dwell point of the third machining tool are equal. A3: The mechanical frame rotates around the dwell point of the first machining tool. β Degree, so that the Q The common intersection of the normals of the point and the points where the point resides on the circular trajectory P coincide; A4: The first angle adjuster drives the connecting rod, which in turn causes the second machining tool to rotate around the axis of the first machining tool. θ The connecting rod drives the third machining tool to rotate around the axis of the first machining tool. -θ The dwell points of the first machining tool, the second machining tool, and the third machining tool are all located on the same circular trajectory.

2. The optical processing method for robot-controlled multi-tool collaboration according to claim 1, characterized in that, The distribution function of the amount of material removed from the machined surface of the workpiece Represented as: ； in: It is a two-dimensional convolution symbol. Let be the initial removal function of the first processing tool. Let be the initial removal function of the second processing tool. The initial removal function for the third processing tool. The initial dwell time of the first machining tool. This refers to the initial dwell time of the second machining tool. The initial dwell time of the third machining tool; The ideal removal amount is consistent with the surface shape error. The initial dwell time of the first processing tool, the second processing tool and the third processing tool can be calculated according to the above formula.

3. The optical processing method for robot-controlled multi-tool collaboration according to claim 1, characterized in that, The dwell point of the second machining tool has a height difference with the dwell point of the first machining tool, or the dwell point of the third machining tool has a height difference with the dwell point of the first machining tool. Δ Represented as: ； in: For the Q Point to the dwell point of the second machining tool or Q Point to the dwell point of the first processing tool or the... Q The distance from the point to the dwell point of the third machining tool. The distance between the dwell point of the second processing tool and the dwell point of the first processing tool, or the distance between the dwell point of the third processing tool and the dwell point of the first processing tool; The second angle adjuster drives the connecting rod, causing the second machining tool to rotate. α The third angle adjuster or the third angle adjuster drives the connecting rod, causing the third machining tool to rotate. -α Degree is expressed as: ； The machine frame rotates around the dwell point of the first machining tool. β Degree is expressed as: ； in: The radius of the circle containing the machining tool; The first angle adjuster drives the connecting rod, and the connecting rod causes the second machining tool to rotate about the axis of the first machining tool. θ The first angle adjuster drives the connecting rod, which in turn drives the third machining tool to rotate around the axis of the first machining tool. -θ Degree is expressed as: 。 4. The optical processing method for robot-controlled multi-tool collaboration according to claim 1, characterized in that, By adjusting the rotational speeds of the first, second, and third machining tools, a unified dwell time for the first, second, and third machining tools is achieved. When the workpiece table does not cooperate with the machining tools, the adjustment of the rotational speeds of the first, second, and third machining tools is expressed as follows: ； in: The first machining tool, the second machining tool, or the third machining tool are on the first machining trajectory, the second machining trajectory, or the third machining trajectory. j Rotation speed during processing at each dwell point The robot controls the movement speed of the mechanical frame relative to the workpiece machining surface. For the first machining tool, the second machining tool, or the third machining tool, on the first machining trajectory, the second machining trajectory, or the third machining trajectory, the first... j The number of rotations during processing at each station point For adjacent stops, i.e. j The first station and the first j+1 The distance between each station; When the workpiece stage is used in conjunction with the machining tool, the rotational speeds of the first, second, and third machining tools are adjusted as follows: ； in: The angular velocity of the workpiece stage rotation. The radius of the machining circle trajectory where the machining tool is located.

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