Multi-mechanical-arm collaborative polishing device for large-diameter optical machining

Abstract

The utility model relates to the technical field of optical machining, in particular to a large-aperture multi-mechanical-arm collaborative polishing device for optical machining, which comprises a rotary table mechanism, at least two mechanical arms, an automatic grinding material circulating system, a control console and a tool magazine, a large-diameter optical element is placed on the rotary table mechanism and rotates along with the rotary table mechanism, the polishing grinding head is installed on the mechanical arm to machine the large-diameter optical element, and the automatic grinding material circulation system provides grinding materials for the polishing grinding head and recycles redundant grinding materials on the rotary table mechanism. The console controls the whole device; the tool magazine is located on one side of the turntable and provides a replaceable polishing head to the robotic arm. A plurality of mechanical arms are matched with a rotary table structure for placing to-be-machined elements, so that the machining range is enlarged, and the machining speed is increased; and in cooperation with a tool library, the machining flexibility is improved, and automation, standardization and mechanization are achieved.

Description

Technical Field

[0001] The utility model relates to the technical field of optical processing, in particular to a multi-mechanical arm collaborative polishing device for large-caliber optical processing. Background Art

[0002] The most direct and effective way to improve the resolution of an optical system is to increase the effective aperture of the optical system. In addition, the larger the aperture of an optical element, the stronger its ability to gather light, and the more distant targets can be observed. Therefore, the demand for large-aperture optical elements in the field of high-resolution ground-based telescopes and space-to-earth remote sensing has increased, and the manufacture of large-aperture optical elements has also become a key research direction.

[0003] Compared with traditional gantry machine tools, industrial robots have the advantages of low cost, good flexibility and high reliability, and have become the main equipment for optical processing. When using traditional robotic arm grinding heads to polish large-diameter optical components, single robotic arm grinding heads are usually used for polishing. This state of processing is not a big problem for small and medium-diameter optical components, but when processing such large-diameter optical components, it is limited by the arm span length of the robotic arm on the one hand, and the slow processing efficiency and waste of time are also factors. When processing such large-diameter optical components, simply increasing the arm span length to solve the processing range problem will cause the robotic arm accuracy to deteriorate, and the excessive arm span will reduce the safety factor. Utility Model Content

[0004] In order to solve the above problems, the utility model provides a multi-robot collaborative polishing device for large-caliber optical processing, and the multi-robots are evenly placed along the turntable structure with an abrasive circulation system, so that the components to be processed can be processed while rotating in the multi-machines, improving the processing efficiency while solving the problem of processing range. In addition, the utility model provides a tool library for placing multiple polishing modules, and the multi-robots can flexibly select appropriate polishing modules from the tool library according to the surface shape of the components to be processed, eliminating the errors and dangers caused by manual replacement of polishing heads, and further improving the processing efficiency.

[0005] The utility model provides a multi-mechanical arm collaborative polishing device for large-aperture optical processing, comprising: a turntable mechanism, for placing large-aperture optical elements and driving the large-aperture optical elements to rotate; no less than two mechanical arms, which are evenly distributed on the periphery of the turntable mechanism, and a polishing grinding head for processing large-aperture optical elements is arranged at the free end of the mechanical arm; an automatic abrasive circulation system, which is connected to the turntable mechanism and the polishing grinding head through a pipeline, and is used to provide abrasives to the polishing grinding head and recover excess abrasives on the turntable mechanism; a control console, which is communicatively connected with the mechanical arm, the turntable mechanism and the automatic abrasive circulation system and controls them; a tool library, which is located on one side of the turntable mechanism, and a polishing grinding head for replacement by the mechanical arm is placed on the tool library, and the number of polishing grinding heads in the tool library is no less than 2 and they are of different sizes.

[0006] Preferably, the free end of the robotic arm is provided with an unlocking quick-change device for installing or removing the polishing grinding head.

[0007] Preferably, a recovery groove for recovering the remaining abrasive is arranged along the circumference of the turntable mechanism, and a recovery port for recovering the excess abrasive is provided in the recovery groove.

[0008] Preferably, the output pipe in the automatic abrasive circulation system is arranged along the mechanical arm and conveys abrasive to the polishing grinding head; the recovery pipe in the automatic abrasive circulation system is connected to the recovery port so that the recovery pipe recovers excess abrasive.

[0009] Preferably, a positioning device for placing a replacement polishing grinding head is provided on the tool library, so that the replacement polishing grinding head can be hung in the tool library.

[0010] Preferably, the replaceable polishing grinding head matches the positioning device according to size and model.

[0011] Compared with the prior art, the utility model can achieve the following beneficial effects:

[0012] 1) Multiple robotic arms are evenly placed along the turntable structure to work together, which solves the problem of processing range and ensures processing efficiency;

[0013] 2) The abrasive circulation system plays a good role in abrasive circulation, freeing up manpower, and at the same time plays a certain cooling role, taking away part of the heat of the mirror surface to prevent knife marks and slight deformation;

[0014] 3) In the existing structure, the polishing modules are integrated on the robot arm, which increases the burden on the robot arm. The utility model introduces a tool library for placing polishing modules of different sizes. The multi-robot arm can flexibly select the appropriate polishing module from the tool library according to the surface shape of the component to be processed, eliminating the errors and dangers caused by manual replacement of the polishing head, and further improving the processing efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is an overall structural diagram of a multi-robot-arm collaborative polishing device for large-aperture optical processing provided according to an embodiment of the utility model.

[0016] Figure numerals: turntable mechanism 1, robotic arm 2, polishing grinding head 3, automatic abrasive circulation system 4, output pipe 5, recovery pipe 6, control console 7, tool library 8, positioning device 9, support frame 10, large-aperture optical element 11, recovery tank 12. DETAILED DESCRIPTION

[0017] In order to make the purpose, technical solution and advantages of the utility model more clear, the utility model is further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described here are only used to explain the utility model and do not constitute a limitation of the utility model.

[0018] The multi-mechanical arm collaborative polishing device for large-aperture optical processing provided by the utility model enables the existing multiple mechanical arms to cooperate with the turntable structure for placing the components to be processed, thereby increasing the processing range and improving the processing rate; in conjunction with the tool library, the flexibility of processing is improved, and automation, standardization and mechanization are realized.

[0019] Figure 1 The overall structure of a multi-robot collaborative polishing device for large-aperture optical processing provided according to an embodiment of the utility model is shown.

[0020] like Figure 1 As shown, the multi-robot-arm collaborative polishing device for large-aperture optical processing provided by the embodiment of the utility model includes a turntable mechanism 1, a robot arm 2, an automatic abrasive circulation system 4, a control console 5 and a tool library 8.

[0021] like Figure 1 As shown, the large-diameter optical element 11 is placed on the turntable mechanism 1, so that the turntable mechanism 1 drives the large-diameter optical element 11 to rotate. A recovery groove 12 for recovering the remaining abrasive is arranged along the circumference of the turntable mechanism 1, and a recovery port for discharging the remaining abrasive is opened in the recovery groove 12. In the embodiment of the utility model, the turntable mechanism 1 uses a 2.5M turntable mechanism, and the large-diameter optical element 11 is installed on the fixing hole of the turntable mechanism 1 by bolts.

[0022] At least two mechanical arms 2 are evenly distributed on the periphery of the turntable mechanism 1, and a polishing grinding head 3 for processing a large-aperture optical element 11 is installed at the free end of the mechanical arm 1. Preferably, the free end of the mechanical arm 2 is provided with an unlocking quick-change device for quickly installing or removing the polishing grinding head 3.

[0023] In the embodiment of the utility model, two mechanical arms 2 are arranged opposite to each other on the outer periphery of the turntable mechanism 1, and the unlocking quick-change device is a pneumatic quick-change device, which clamps and removes the polishing grinding head 3 in a pneumatic quick-change manner. Among them, the mechanical arms 2 and the pneumatic quick-change device are conventional model devices on the market.

[0024] The abrasive automatic circulation system 4 is connected to the turntable mechanism 1 and the polishing grinding head 3 through a pipeline, and is used to provide abrasives to the polishing grinding head 3 and recover excess abrasives on the turntable mechanism 1. Specifically, the output pipeline 5 in the abrasive automatic circulation system 4 is arranged along the mechanical arm 2, and is used to deliver abrasives to the polishing grinding head 3; the recovery pipeline 6 in the abrasive automatic circulation system 4 is connected to the recovery port of the recovery tank 12, so that the abrasive automatic circulation system 4 recovers excess abrasives through the recovery pipeline 6.

[0025] Specifically, in the embodiment of the utility model, one end of the output pipe 5 and the recovery pipe 6 made of PU material are respectively connected to the abrasive output port and the abrasive recovery port of the abrasive automatic circulation device 4, the other end of the output pipe 5 is fixed to the polishing grinding head 3 on the mechanical arm 2, and the other end of the recovery pipe 6 is connected to the recovery port of the recovery tank 3. The abrasive automatic circulation device 4 adopts conventional model devices on the market.

[0026] The control console 7 is connected to and controls the turntable mechanism 1, the mechanical arm 2 and the automatic abrasive circulation system 4. The specific control contents of the control console 7 are: controlling the rotation speed and rotation direction of the turntable mechanism 1; the control console 7 controls the mechanical arm 2 to drive the polishing grinding head 3 to process the large-aperture optical element 11, and drives the polishing grinding head 3 to move to the tool library 8 and complete the replacement of the polishing grinding head 3; the control console 7 controls the automatic abrasive circulation system 4 to provide abrasive to the polishing grinding head 3 at a set flow rate, and controls the speed and state of the automatic abrasive circulation system 4 to recycle the remaining abrasive. The tool library 8 is located on one side of the turntable mechanism 1, and the polishing grinding head 3 for replacement by the mechanical arm 2 is placed on the tool library 8. The number of polishing grinding heads 3 in the tool library 8 is not less than 2 and of different sizes.

[0027] like Figure 1 As shown, the tool magazine 8 is provided with a positioning device 9 for placing the replaced polishing grinding head 3, so that the replaced polishing grinding head 3 is hung in the tool magazine 8, and the replaced polishing grinding head 3 matches the positioning device 9 according to the size and model. The positioning device 9 places the polishing grinding head 3 in the form of, but not limited to, the positioning device 9 is in the shape of a hook, a groove, a protrusion, etc., so that the polishing grinding head 3 can be hung on the positioning device 9, or the positioning device 9 and the polishing grinding head 3 are equipped with corresponding magnetic suction devices, so that the polishing grinding head 3 can be adsorbed on the corresponding positioning device 9 by magnetic force.

[0028] In the embodiment of the utility model, the tool library 8 is designed as a tool mounting plate of steel plate material, and positioning devices 9 are evenly arranged on the tool mounting plate, and the polishing grinding head 3 is hung at the corresponding positioning device 9 in a pneumatic quick-change manner. The tool mounting plate is stably supported by a support frame 10 of the profile.

[0029] When using the multi-robot collaborative polishing device for large-aperture optical processing provided by the embodiment of the utility model, the console 7 drives the turntable mechanism 1 to drive the large-aperture optical element 11 to rotate at a set speed and direction, and the console 7 controls the two robot arms 2 to select a suitable polishing grinding head 3 from the tool library 8 to process the large-aperture optical element 11.

[0030] During the processing, the control console 7 controls the abrasive automatic circulation system 4 to deliver abrasive to the polishing grinding head 3 through the output pipe 5, and at the same time recovers the excess abrasive in the turntable mechanism 1 through the recovery pipe 6 and the recovery tank 12.

[0031] When replacing the polishing grinding head 3, the robot arm 2 drives the polishing grinding head 3 to move to the corresponding positioning device 9 in the tool library 8, the unlocking quick-change device on the robot arm 2 removes the polishing grinding head 3 of the current model, and then moves to the polishing grinding head 3 of the required model and uses the unlocking quick-change device to clamp and fix the required polishing grinding head 3, and then returns to the large-aperture optical element 11 for processing.

[0032] The above specific implementations do not constitute a limitation on the protection scope of the present utility model. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present utility model shall be included in the protection scope of the present utility model.

Claims

1. A multi-robot collaborative polishing device for large-aperture optical processing, characterized in that: include: A turntable mechanism is used to place a large-aperture optical element and drive the large-aperture optical element to rotate; No less than two mechanical arms evenly distributed on the periphery of the turntable mechanism, and a polishing grinding head for processing the large-aperture optical element is provided at the free end of the mechanical arm; An abrasive automatic circulation system, connected to the turntable mechanism and the polishing grinding head through a pipeline, for providing abrasive to the polishing grinding head and recovering excess abrasive on the turntable mechanism; A control console, which is in communication connection with the mechanical arm, the turntable mechanism and the abrasive automatic circulation system and controls them; A tool library is located on one side of the turntable mechanism, and polishing grinding heads for replacement by the robot arm are placed on the tool library, and the number of polishing grinding heads in the tool library is not less than 2 and they are of different sizes; a positioning device for placing the replaced polishing grinding heads is provided on the tool library, so that the replaced polishing grinding heads are hung in the tool library; The free end of the robotic arm is provided with an unlocking quick-change device for installing or removing the polishing grinding head, so that the unlocking quick-change device removes the polishing grinding head of the current model, and the robotic arm moves to the polishing grinding head of the required model, and the unlocking quick-change device clamps and fixes the required polishing grinding head.

2. The multi-robot coordinated polishing device for large-aperture optical processing according to claim 1 is characterized in that: A recovery groove for recovering the excess abrasive is arranged along the circumference of the turntable mechanism, and a recovery port for recovering the excess abrasive is opened in the recovery groove.

3. The multi-robot coordinated polishing device for large-aperture optical processing according to claim 2, characterized in that: The output pipe in the automatic abrasive circulation system is arranged along the mechanical arm and transports the abrasive to the polishing head; the recovery pipe in the automatic abrasive circulation system is connected to the recovery port so that the recovery pipe recovers the excess abrasive.

4. The multi-robot coordinated polishing device for large-aperture optical processing according to claim 1, characterized in that: The replaceable polishing grinding head is matched with the positioning device according to size and model.

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