Apparatus and method for robotic handling of multiple tools for processing optical elements

Abstract

This invention relates to the field of optical processing technology, specifically providing a device and method for a robot carrying multiple tools to process optical components. The device includes: a connecting plate whose back is connected to the robot's execution end; a first angle adjuster and a second angle adjuster arranged on the front of the connecting plate, the axes of which are perpendicular to the front of the connecting plate; a first processing tool and a second processing tool respectively connected to the execution ends of the first and second angle adjusters, the axes of which are parallel to the front of the connecting plate; and the first and second angle adjusters used to adjust the postures of the first and second processing tools, respectively. This invention utilizes a single robot to drive two processing tools simultaneously, increasing the number of processing tools while reducing the number of robots used, and eliminating the need for multi-robot collaborative control and path planning.

Description

Technical Field

[0001] This invention belongs to the field of optical processing technology, and in particular relates to a device and method for a robot to carry multiple tools to process optical components. Background Technology

[0002] Large-aperture optical systems are the core of cutting-edge equipment in contemporary space science. Increasing the aperture of the primary mirror by increasing the diameter of individual lenses or by combining multiple lenses significantly improves the system's resolution, light-gathering efficiency, and photon reception capability. The increased aperture and number of optical lenses place higher demands on manufacturing efficiency.

[0003] Computer-controlled optical surface shaping (CCOS) technology utilizes computers to precisely control small-sized polishing tools, causing them to move and polish the surface of optical components along a predetermined path. Compared to traditional machine tools, industrial robots offer significant advantages in CCOS applications, including smaller footprint, larger accessible workspace, higher degrees of freedom (flexibility), and lower overall cost.

[0004] Current CCOS machining based on industrial robots typically uses a single robot driving a single tool head to polish optical components. This method is inefficient for large-diameter components. While solutions exist that use multiple robots to collaboratively process the same component to improve efficiency, this not only requires a larger space and increases costs, but also places higher demands on multi-robot collaborative control and path planning, increasing the risk of collisions. Summary of the Invention

[0005] In view of this, the present invention aims to provide a device and method for a robot to carry multiple tools to process optical components. By using a single robot to drive two processing tools to process simultaneously, the number of processing tools is increased while the number of robots used is reduced. There is no need for multi-robot collaborative control and path planning, thus avoiding the risk of collisions during multi-robot processing. At the same time, it can achieve lower processing costs, higher space utilization, and higher processing efficiency.

[0006] To achieve the above objectives, the technical solution created by this invention is implemented as follows: This invention provides a device for a robot to carry multiple tools for processing optical components, 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 and a second 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 a first angle adjuster and a second angle adjuster. The axes of the first angle adjuster and the second angle adjuster are perpendicular to the front of the connecting plate. The actuator ends of the first angle adjuster and the second angle adjuster are respectively connected to the first machining tool and the second machining tool, and the axes of the first machining tool and the second machining tool are parallel to the front of the connecting plate; The first angle adjuster and the second angle adjuster are used to adjust the posture of the first machining tool and the second machining tool, respectively.

[0007] Another aspect of the present invention provides a method for a robot carrying multiple tools to process optical components, 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.

[0008] Preferably, during the processing, the workpiece stage drives the workpiece to rotate at a specific angular velocity, and the installation position of the workpiece axis coincides with the axis of the workpiece stage, ensuring that the workpiece is within the processing range of the device that carries multiple tools to process optical components. During the processing, the workpiece stage remains stationary, and the workpiece is installed within the processing range of the robot carrying the multi-tool processing device for optical components.

[0009] Preferably, when the workpiece size exceeds the processing range of the robot carrying a multi-tool to process optical elements, the workpiece's processing surface is divided. N Each area is rotated sequentially by rotating the workpiece table to the processing range of the robot carrying a multi-tool for processing optical components.

[0010] Preferably, parallel machining or trajectory overlap machining is used for workpieces with arbitrary surface shapes; When parallel machining is used, the machining trajectories of the first machining tool and the second machining tool do not overlap or do not completely overlap. First, determine the machining trajectory of one machining tool, and then determine the machining trajectory of the other machining tool based on the relative position between the first machining tool and the second machining tool. When using trajectory overlap machining, the machining trajectories of the first machining tool and the second machining tool are completely overlapped, and a fixed range of distance is maintained between the first machining tool and the second machining tool.

[0011] Preferably, the distribution 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. The initial dwell time of the first machining tool. The initial dwell time of the second machining tool; The ideal removal amount is consistent with the surface shape error. The initial dwell time of the first and second machining tools can be calculated according to the above formula.

[0012] Preferably, the workpiece is processed by trajectory coincidence, the workpiece table drives the workpiece to rotate, the rotation axis is the rotational symmetry axis of the workpiece, and the processing trajectory is a concentric circle trajectory, the center of the circle trajectory is located on the rotational symmetry axis of the workpiece. The first machining tool's posture is adjusted using a first angle adjuster, and the second machining tool's posture is adjusted using a second angle adjuster. At the same machining moment, the dwell points of the first and second machining tools are both located on the same circular trajectory, and the axes of the first and second machining tools both point to the normal direction of their respective dwell points.

[0013] Preferably, adjusting the posture of the first and second machining tools includes: A1: The first angle adjuster adjusts the rotation of the first machining tool. θ The second angle adjuster adjusts the rotation of the second machining tool. -θ The degree is such that the axis of the first machining tool and the axis of the second machining tool intersect at... Q point, Q The distances from the point to the dwell point of the first machining tool and the dwell point of the second machining tool are equal; A2: The machine frame drives the first and second machining tools to rotate. α Degree, such that the intersection of the axis of the first machining tool and the axis of the second machining tool. Q The first and second machining tools both lie on the same circular trajectory, coinciding with the workpiece's rotation axis. Q The common intersection of the normals of the point and the points where the point resides on the circular trajectory P coincide.

[0014] 10. Preferably, the first angle adjuster adjusts the rotation of the first machining tool. θ The second angle adjuster adjusts the rotation of the second machining tool. -θ Degree, expressed as: ; in: The distance between the axis of the first angle adjuster and the axis of the second angle adjuster. b For public intersections P Distance to the dwelling point of the first machining tool or common intersection P The distance to the dwell point of the second machining tool.

[0015] Preferably, the dwell time of the first and second machining tools is unified by adjusting their rotational speeds. When the workpiece table does not cooperate with the machining tools, the adjustment of the rotational speeds of the first and second machining tools is expressed as follows: ; in: For the first machining tool or the second machining tool on the first machining trajectory or the second machining trajectory 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 or the second machining tool on the first machining trajectory or the second machining trajectory 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 and second machining tools are adjusted 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 employs a single robot-driven dual-tool head device, avoiding the control complexity and collision risks associated with multi-robot collaboration, and simplifying system design and debugging. This invention achieves lower processing costs, higher space utilization, and higher processing efficiency.

[0017] The mechanical frame of this invention has high flexibility, enabling dual-tool posture adjustment and supporting two operation modes: parallel processing and trajectory overlap processing. It can be selected for different surface shapes and processing stages.

[0018] This invention uses a rotatable workpiece stage to divide large workpieces into sections. N The system allows large workpieces to be rotated so that different areas can be sequentially fed into the robot's processing range. 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 a robot-carrying multi-tool processing device for optical elements according to an embodiment of the present invention; Figure 2 This is a schematic diagram of the mechanical frame structure of a robot carrying multiple tools to process optical elements according to an embodiment of the present invention; Figure 3 This is a schematic diagram of the control module of a robot carrying multiple tools for processing optical elements according to an embodiment of the present invention; Figure 4 This is a schematic diagram of the rotationally symmetric workpiece machining trajectory of a robot carrying multiple tools to process optical elements according to an embodiment of the present invention.

[0020] The reference numerals in the figures include: 1. Robot; 2. Mechanical frame; 3. Workpiece table; 4. Workpiece; 5. Connecting plate; 6. First angle adjuster; 7. Second angle adjuster; 8. First machining tool; 9. Second machining tool. 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 device for processing optical elements by carrying a robot with multiple tools is provided, including: a robot 1, a mechanical frame 2, a workpiece stage 3 and a control module. The mechanical frame 2 includes: a connecting plate 5 and processing tools. The processing tools include: a first processing tool 8 and a second processing tool 9. The back of the connecting plate 5 is connected to the execution end of the robot 1. The front of the connecting plate 5 is provided with a first angle adjuster 6 and a second angle adjuster 7. The axes of the first angle adjuster 6 and the second angle adjuster 7 are perpendicular to the front of the connecting plate 5. The first angle adjuster 6 and the second angle adjuster 7 are respectively connected to the first machining tool 8 and the second machining tool 9. The axes of the first machining tool 8 and the second machining tool 9 are parallel to the front of the connecting plate 5. The first angle adjuster 6 and the second angle adjuster 7 are used to adjust the posture of the first machining tool 8 and the second machining tool 9, respectively.

[0027] Robot 1 is located on the outer periphery of workpiece table 3. Workpiece table 3 includes a table surface, stops, fixing grooves, a column, a turbine, a harmonic reducer, a limit sensor, and an angle sensor. The table surface is mounted above the column, and the column is rotatably connected to the table surface, which supports workpiece 4. Fixing grooves are provided on the surface of the table surface to fix workpiece 4. Stops are provided around the circumference of the table surface to block workpiece 4, 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 4 is placed on the workpiece table 3. The workpiece table 3 can drive the workpiece 4 to rotate at a preset speed or rotate at a preset angle to cooperate with the workpiece 4 for processing.

[0029] The machine frame 2 includes a connecting plate 5, a first angle adjuster 6, a second angle adjuster 7, and machining tools. The machining tools include a first machining tool 8 and a second machining tool 9, both of which have adjustable rotational speed and pressure.

[0030] A flange is provided on the back of the connecting plate 5, which is fixedly connected to the flange of the actuator end of the robot 1. A first angle adjuster 6 and a second angle adjuster 7 are fixedly connected to the front of the connecting plate 5. The axis of the first angle adjuster 6 and the axis of the second angle adjuster 7 are perpendicular to the front of the connecting plate 5.

[0031] Both the first angle adjuster 6 and the second angle adjuster 7 include a servo motor, a reducer, and an angle sensor. The servo motor provides 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 6 and the second angle adjuster 7 in real time.

[0032] The first angle adjuster 6 and the second angle adjuster 7 are respectively connected to the first machining tool 8 and the second machining tool 9. The axes of the first machining tool 8 and the second machining tool 9 in their initial state are also parallel to the front of the connecting plate 5.

[0033] Both the first machining tool 8 and the second machining tool 9 include: a grinding disc, a cylinder, a motor, a pressure sensor, and a speed controller. Both the first machining tool 8 and the second machining tool 9 can adjust the speed or pressure. The motor housings of the first machining tool 8 and the second machining tool 9 are fixedly connected to the first angle adjuster 6 and the second angle adjuster 7, respectively, with the motor output shaft facing the workpiece 4. The cylinder is located at the end of the motor output shaft facing the workpiece 4. The grinding disc is located at the end of the cylinder facing the workpiece 4, with the polished surface of the grinding disc facing the surface of the workpiece 4. The pressure sensor is located between the cylinder and the grinding disc to detect the contact pressure of the grinding disc on the workpiece 4 in real time. The speed controller is connected to the motor to adjust the rotation speed of the motor.

[0034] 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.

[0035] Obtain the surface shape error, machining trajectory, and initial removal function of the machining tool for workpiece 4. 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 4 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 4 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.

[0036] The robot control module controls the motion trajectory, the attitude of the robot's execution end, and the running speed of the robot 1 according to the generated machining program.

[0037] The machine frame control module can control the first angle adjuster 6 and the second angle adjuster 7 according to the generated machining program to adjust the relative position and posture between the first machining tool 8 and the second machining tool 9.

[0038] The machining tool control module can control the rotation speed and pressure of the first machining tool 8 and the second machining tool 9 according to the generated machining program.

[0039] The workpiece stage control module can control the workpiece stage 3 to remain stationary or rotate, as well as the rotation speed, according to the machining program.

[0040] Please see Figure 4 A method for machining optical components using a robot carrying multiple tools is provided, implemented using a device for machining optical components using a robot carrying multiple tools, comprising: S1: Fix the workpiece 4 on the workpiece table 3 and mark the positions of the workpiece 4 and the machine frame 2; S2: Obtain the surface shape error, machining trajectory, and initial removal function of the machining tool of workpiece 4. Calculate the initial dwell time of the machining tool using the surface shape error of workpiece 4 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 4, 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 4, the uniform dwell time, the adjusted removal function and the machining trajectory. S4: The machine frame 2 moves down to the position where the machining tool contacts the machining surface of the workpiece 4 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 4 according to the machining program.

[0041] S1: Place the workpiece 4 to be processed on the workpiece stage 3, adjust and fix the position of the workpiece 4 on the workpiece stage 3, ensuring that the processing surface of the workpiece 4 faces the machine frame 2. Perform precise positional calibration of the workpiece 4, the first processing tool 8, the second processing tool 9, and the machine frame 2.

[0042] S2: Obtain the surface shape parameters of workpiece 4 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 4 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 8 and the second machining tool 9. The initial dwell time is calculated using the surface shape error of workpiece 4 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: Input the surface shape error of workpiece 4, the unified dwell time, the adjusted removal function, and the machining trajectory into the machining program module. The machining program module generates a machining program based on the surface shape error of workpiece 4, the unified dwell time, the adjusted removal function, and the machining trajectory, and sends the generated machining program to the robot control module, the workpiece table control module, the machine frame control module, and the machining tool control module respectively. Each module controls robot 1, machine frame 2, machining tool, and workpiece table 3 to start the machining process.

[0043] Robot 1 drives the mechanical frame 2 to move down to above the processing start position of the workpiece 4's edge according to the position calibration. After adjusting its posture, it slowly moves down until the first processing tool 8 and the second processing tool 9 contact the processing surface of the workpiece 4. The contact point is the starting position of the processing trajectory. After the contact pressure stabilizes, the first processing tool 8 and the second processing tool 9 are started. At the same time, the workpiece table 3 and the robot 1 are coordinated and controlled to move, so that the first processing tool 8 and the second processing tool 9 process synchronously along the preset processing trajectory.

[0044] S4: After the processing task is completed, the processing of the first processing tool 8 and the second processing tool 9 is stopped, and the robot 1 moves the mechanical frame 2 back to the initial position.

[0045] For workpiece 4 that requires rotation of workpiece stage 3 for processing, workpiece 4 is mounted on workpiece stage 3 so that the axis of workpiece 4 coincides with the axis of workpiece stage 3, ensuring that workpiece 4 is within the effective processing range of the robot carrying multi-tool processing optical components.

[0046] For workpiece 4 that does not require rotation of worktable 3 for processing, workpiece 4 is installed within the effective processing range of the robot carrying the multi-tool processing device for optical elements.

[0047] Positioning of workpiece 4 and machine frame 2 is determined. Coordinate system A is established based on the surface to be machined of workpiece 4. Coordinate system A is an absolute coordinate system and will not be changed. In coordinate system A, the center points of the first machining tool 8 and the second machining tool 9 are determined. TCP The calibration process determines the relative positions of the first machining tool 8 and the second machining tool 9. When the size of the workpiece 4 exceeds the effective machining range of the robot-carried multi-tool optical element machining device, the machining surface of the workpiece 4 is divided into N regions, each region's size not exceeding the effective machining range of the robot-carried multi-tool optical element machining device. Through the indexing rotation of the workpiece stage 3, each machining region is sequentially rotated into the effective machining range of the robot-carried multi-tool optical element machining device for machining. After the workpiece stage 3 rotates, its position relative to the workpiece 4 and the rotation angle are used to recalculate the position of the workpiece 4 in coordinate system A, ensuring machining continuity.

[0048] The selection of the machining trajectory depends on the surface characteristics of the workpiece 4. For workpiece 4 with any surface shape, parallel machining (trajectories do not overlap or do not completely overlap) or trajectory overlap machining can be used.

[0049] Parallel machining: First, determine the machining trajectory of one machining tool, and then determine the trajectory of the other machining tool based on the relative position between the two machining tools.

[0050] Overlapping trajectory machining: The machining trajectories of the first machining tool 8 and the second machining tool 9 are completely overlapped, and the first machining tool 8 and the second machining tool 9 maintain a fixed range of spacing during the machining process.

[0051] After determining the machining trajectories of the first machining tool 8 and the second machining tool 9, the initial residence time distribution function is solved based on the machining trajectories and the initial removal functions of the first machining tool 8 and the second machining tool 9.

[0052] Optical processing is essentially a convolution process. The first processing tool 8 and the second processing tool 9 move on the processing surface of the workpiece 4 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 4. 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.

[0053] The processing method involves using two processing tools simultaneously. The material removal rate distribution on the processed surface of workpiece 4 is as follows: E(x,y) Represented as: (2) in: Two-dimensional convolution symbol This is the initial removal function for the first machining tool 8. The initial removal function for the second processing tool 9. For the first processing tool 8, according to the initial removal function Initial dwell time during processing For the second processing tool 9, based on 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 8 and the second processing tool 9 can be calculated according to the above formula.

[0054] For single-tool machining, the machining trajectory is planned based on the shape and characteristics of workpiece 4 during the machining process. A series of evenly distributed dwell points are selected on the machining trajectory, and the number of dwell points is denoted as . The surface shape error of workpiece 4 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 4 is consistent with the surface shape error, that is... Formula (3) becomes: (4) Known surface shape error The initial dwell time of the machining tool can be calculated using formula (4) based on the initial removal function R of the machining tool.

[0055] 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 the first machining tool During processing at the first outpost, the first Material removal rate for each discrete data point any element For the first machining tool Initial dwell time during processing at each dwelling point.

[0056] 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 4. Similarly, for parallel machining by two 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 8 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 8 on the first machining trajectory. Initial dwell time during processing at each dwell point any element Indicates the second machining tool 9 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 9 on the second machining trajectory. Initial dwell time during processing at each dwelling point.

[0057] The initial dwell time of the first machining tool 8 can be obtained by solving formula (6). T1 Initial dwell time of the second machining tool 9 T2 .

[0058] For the first machining tool 8 and the second machining tool 9 with overlapping machining trajectories, they process the same initial dwell point successively. The machining tools are of the same model and have 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 8 and the second machining tool 9 is obtained by proportional allocation. T1 , T2 , is represented as; = = (7) ; in: The initial dwell time distribution is obtained based on formula (5), that is, assuming that only one machining tool is used to process along the same machining trajectory, at coordinate point Total stay time at the location The initial dwell time distribution assigned to the first machining tool 8 represents the dwell time distribution of the first machining tool 8 at coordinate point ( x,y Initial stay time on ) The initial dwell time distribution after the allocation of the second machining tool 9, that is, the time distribution of the second machining tool 9 at coordinate point ( x,y Initial stay time on ) and It is the initial dwell time allocation coefficient of the first machining tool 8 and the second machining tool 9.

[0059] For rotationally symmetric workpieces, a trajectory coincidence machining method is adopted. During the machining process, the workpiece stage 3 drives the workpiece 4 to rotate. The rotation axis is the rotational symmetry axis of the rotationally symmetric workpiece. The coincidence machining trajectory is a concentric circle trajectory. The center of the circle trajectory is located on the rotational axis of the rotationally symmetric workpiece. The circle trajectory includes the concentric circle trajectory. The robot 1 drives the mechanical frame 2 to move radially from the outside to the inside (or from the inside to the outside) to switch to a circle trajectory with different radii. During this period, as the radius of the machining trajectory changes, the first machining tool 8 is adjusted by the first angle adjuster 6, and the second machining tool 9 is adjusted by the second angle adjuster 7. At the same machining moment, the dwell point of the first machining tool 8 and the dwell point of the second machining tool 9 are both located on the same circle trajectory. The axes of the first machining tool 8 and the second machining tool 9 both point to the normal direction of their respective dwell points, so that the first machining tool 8 and the second machining tool 9 are in contact with the machining surface. The rotationally symmetric workpiece is a circular workpiece.

[0060] On the machined surface of workpiece 4, all circles centered at a point on the rotation axis of workpiece 4 have their normals intersecting at a common point on the rotation axis of workpiece 4. P point, P The position of a point depends on the radius of the circle. A point on the circle... P The distance between the points is L Based on the surface equations of the four machined surfaces of the workpiece, the corresponding circles with different radii can be calculated. P The position and distance of the point L Size.

[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 4 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] The initial orientation is set such that the axis of the first machining tool 8, the axis of the second machining tool 9, and the axis of rotation of the workpiece 4 are parallel to each other, and the dwell points of the two machining tools are located on the same circle. The orientation adjustment steps are as follows: A1: The first angle adjuster 6 adjusts the rotation of the first machining tool 8. θ The second angle adjuster 7 adjusts the rotation of the second machining tool 9. -θ The degree is such that the axis of the first machining tool 8 and the axis of the second machining tool 9 intersect at... Q point, Q The distances from the dwell point of the first machining tool 8 to the dwell point of the second machining tool 9 are equal; A2: The machine frame drives the first and second machining tools to rotate. α Degree, such that the intersection of the axis of the first machining tool and the axis of the second machining tool. Q The first and second machining tools both lie on the same circular trajectory, coinciding with the workpiece's rotation axis. Q The common intersection of the normals of the point and the points where the point resides on the circular trajectory P coincide.

[0063] The first angle adjuster 6 adjusts the rotation of the first machining tool 8. θ The second angle adjuster 7 adjusts the rotation of the second machining tool 9. -θ Degree, expressed as: (8) in: The distance between the axis of the first angle adjuster 6 and the axis of the second angle adjuster 7. b The distance is the distance from the axis of the first angle adjuster 6 to the dwell point of the first machining tool 8 or the distance from the axis of the second angle adjuster 7 to the dwell point of the second machining tool 9.

[0064] The first processing tool 8 and the second processing tool 9 are matched by adjusting the pressure, rotation speed, etc., so that the positions of the first processing tool 8 and the second processing tool 9 are relatively stationary during the processing. During the processing, based on the Preston material removal model, a mathematical relationship is established between the initial removal function, initial dwell time, and surface shape error of the workpiece 4 surface. Through the coordination and attitude adjustment of two processing tools, it is ensured that the axes of the first processing tool 8 and the second processing tool 9 point to the normal direction at their respective dwell points, thus achieving efficient material removal. The Preston material removal model is expressed as: (9) in: This refers to the amount of material removed per unit time by the processing tool. k It is a comprehensive process factor (including abrasive characteristics, environmental parameters, etc.). The pressure on the machining surface of the tool and workpiece. It is the relative motion rate between the machining tool and workpiece 4. The Preston material removal model indicates that the material removal rate is linearly positively correlated with the pressure on the machining surface of workpiece 4 and the relative motion speed.

[0065] 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 tools at different positions is different, corresponding to different total number of rotations of the grinding wheel during the initial dwell time at each dwell point. To ensure that the positions of the processing tools are relatively stationary during the processing, the dwell time at the corresponding dwell point processed by each tool at the same moment must be the same. While ensuring that the surface material removal amount of workpiece 4 remains constant, a uniform dwell time can be achieved by adjusting the rotational speed or pressure to change the initial removal function. Taking the adjustment of rotational speed as an example, by adjusting the first processing tool 8 and the second processing tool 9, the initial dwell time of the first processing tool 8 and the second processing tool 9 can be made consistent. When the workpiece stage 3 does not cooperate with the processing tools, the adjustment of the rotational speed of the first processing tool 8 and the second processing tool 9 is expressed as: (10) in: For the first machining tool 8 or the second machining tool 9 on the first machining trajectory or the second machining trajectory j The grinding wheel speed during processing at each dwell point To control the movement speed of the mechanical frame 2 relative to the workpiece 4's machining surface, robot 1 For the first machining tool 8 or the second machining tool 9 on the first machining trajectory or the second machining trajectory 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 3 is used in conjunction with the machining tools, the rotational speeds of the first machining tool 8 and the second machining tool 9 are expressed as follows: (11) in: Let be the angular velocity of the workpiece stage 3. Let be the radius of the machining circle trajectory.

[0066] As an alternative embodiment, the processing tool can be a wheel grinding head, a small grinding head, or an airbag grinding head, etc.

[0067] As an alternative embodiment, the machine frame 2 can be a combination of processing tools of the same model or different models or different types.

[0068] 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.

[0069] 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.

[0070] 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.

[0071] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to interchangeably. Each embodiment focuses on describing the differences from other embodiments. In particular, the system embodiments are basically similar to the method embodiments, so the description is relatively simple; relevant parts can be referred to the descriptions in the method embodiments.

Claims

1. A device for a robot carrying multiple tools to process optical elements, comprising: A robot, a mechanical frame, a workpiece table, and a control module, characterized in that the mechanical frame includes: a connecting plate and a machining tool, the machining tool including: a first machining tool and a second machining 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 a first angle adjuster and a second angle adjuster. The axes of the first angle adjuster and the second angle adjuster are perpendicular to the front of the connecting plate. The first angle adjuster and the second angle adjuster are respectively connected to the first machining tool and the second machining tool, and the axes of the first machining tool and the second machining tool are parallel to the front of the connecting plate; The first angle adjuster and the second angle adjuster are used to adjust the posture of the first machining tool and the second machining tool, respectively.

2. A method for machining optical components using a robot carrying multiple tools, characterized in that, This is achieved using the apparatus for machining optical elements with a robot carrying multiple tools as described in claim 1, comprising: 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.

3. The method for machining optical components using a robot carrying multiple tools according to claim 2, characterized in that, During the processing, the workpiece stage drives the workpiece to rotate at a specific angular velocity, and the installation position of the workpiece axis coincides with the axis of the workpiece stage, ensuring that the workpiece is within the processing range of the device for processing optical components carried by the robot with multiple tools. During the processing, the workpiece stage remains stationary, and the workpiece is installed within the processing range of the device that carries multiple tools to process optical elements.

4. The method for machining optical components using a robot carrying multiple tools according to claim 3, characterized in that, When the size of the workpiece exceeds the processing range of the robot carrying a multi-tool for processing optical elements, the processing surface of the workpiece is divided. N Each area is rotated sequentially by the workpiece table to the processing range of the robot carrying a multi-tool optical element processing device for processing.

5. The method for machining optical components using a robot carrying multiple tools according to claim 2, characterized in that, For workpieces of arbitrary shape, parallel machining or trajectory coincidence machining is employed; When using the parallel processing method, the processing trajectories of the first processing tool and the second processing tool do not overlap or do not completely overlap. First, the processing trajectory of one of the processing tools is determined, and then the processing trajectory of the other processing tool is determined based on the relative position between the first processing tool and the second processing tool. When using the trajectory overlap machining method, the machining trajectories of the first machining tool and the second machining tool are completely overlapped, and a fixed range of distance is maintained between the first machining tool and the second machining tool.

6. The method for machining optical components using a robot carrying multiple tools according to claim 2, characterized in that, Distribution 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 dwell time of the first machining tool. This is the initial dwell time of the second machining tool; The ideal removal amount is consistent with the surface shape error. The initial dwell time of the first and second processing tools can be calculated according to the above formula.

7. The method for machining optical components using a robot carrying multiple tools according to claim 5, characterized in that, The aforementioned trajectory coincidence method is used to process rotationally symmetric workpieces. The workpiece table drives the workpiece to rotate, the rotation axis is the rotational symmetry axis of the rotationally symmetric workpiece, and the processing trajectory is a concentric circle trajectory, with the center of the circle located on the rotational symmetry axis of the rotationally symmetric workpiece. The first angle adjuster is used to adjust the posture of the first machining tool, and the second angle adjuster is used to adjust the posture of the second machining tool. At the same machining moment, the dwell point of the first machining tool and the dwell point of the second machining tool are both located on the same circular trajectory, and the axis of the first machining tool and the axis of the second machining tool both point to the normal direction of their respective dwell points.

8. The method for machining optical components using a robot carrying multiple tools according to claim 7, characterized in that, Adjusting the posture of the first machining tool and the second machining tool includes: A1: The first angle adjuster adjusts the rotation of the first machining tool. θ The second angle adjuster adjusts the rotation of the second machining tool. -θ The degree is such that the axis of the first machining tool and the axis of the second machining tool intersect at... Q Point, the Q The distances from the point to the dwell point of the first machining tool and the dwell point of the second machining tool are equal; A2: The mechanical frame drives the first processing tool and the second processing tool to rotate. α The degree, such that the intersection of the axis of the first machining tool and the axis of the second machining tool is... Q The dwell points of the first machining tool and the second machining tool are both located on the same circular trajectory, coinciding with the rotation axis of the workpiece. Q The common intersection of the point and the normal of the point where it stays on the circular trajectory P coincide.

9. The method for machining optical components using a robot carrying multiple tools according to claim 8, characterized in that, The first angle adjuster adjusts the rotation of the first machining tool. θ The second angle adjuster adjusts the rotation of the second machining tool. -θ Degree, expressed as: ； in: The distance between the axis of the first angle adjuster and the axis of the second angle adjuster. b The common intersection point P The distance to the dwell point of the first machining tool or the common intersection point P The distance to the dwell point of the second machining tool.

10. The method for machining optical components using a robot carrying multiple tools according to claim 2, characterized in that, By adjusting the rotational speeds of the first and second machining tools, a unified dwell time for the first and second machining tools is achieved. When the workpiece table does not cooperate with the machining tools, adjusting the rotational speeds of the first and second machining tools is expressed as follows: ； in: For the first machining tool or the second machining tool on the first machining trajectory or the second 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 or the second machining tool on the first machining trajectory or the second machining trajectory 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 and second 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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