Free-form surface multi-grinding-disc self-adaptive machining device

Abstract

The utility model relates to the field of optical element machining, in particular to a free-form surface multi-grinding-disc self-adaptive machining device which comprises an electric control cabinet, a mechanical arm, a control panel and at least three grinding mechanisms, the mechanical arm is connected with the upper surface of the control panel through a connecting rod, the grinding mechanisms are connected with the control panel, and each grinding mechanism comprises a driving device, a transmission rod and grinding discs. The millstone is connected with the driving device through the transmission rod, and the electric control cabinet controls the driving device to output constant pressure. The millstone comprises a millstone seat, an elastic piece, a millstone base body and a plurality of grinding units, the millstone seat is connected with the transmission rod, the plurality of grinding units are correspondingly arranged in the mounting holes of the millstone base body, and the elastic piece assists the grinding units in reciprocating motion in the direction perpendicular to the upper surface and the lower surface of the millstone base body. According to the utility model, the synchronous processing of a plurality of areas of the workpiece is realized, the constant processing pressure can be accurately controlled, and the processing efficiency, the processing quality and the processing stability are obviously improved.

Description

Technical Field

[0001] The utility model belongs to the field of optical element processing, in particular to a free-form surface multi-grinding disc self-adaptive processing device. Background Art

[0002] In the field of optical component processing, polishing technology is a key step in improving product surface quality. Polishing not only significantly enhances surface finish and reduces roughness, but also significantly enhances the product's overall aesthetics and durability, making it crucial for improving product market competitiveness. However, with the continuous development of the manufacturing industry, the increasing use of complex curved workpieces has placed higher demands on polishing technology. Traditional machine tools are typically equipped with a single polishing disc. This design presents numerous problems during the polishing process when working with workpieces with varying shapes and complex curvatures, as the disc cannot closely conform to every contour of the workpiece surface. On the one hand, a single polishing disc suffers from low polishing efficiency, making it difficult to quickly polish large areas or complex surfaces. On the other hand, it cannot automatically adjust the polishing shape and force according to surface variations, making it difficult to ensure uniform and consistent polishing results. This can easily lead to under- or over-polishing, seriously compromising the final product quality. Furthermore, when processing large or complex free-form surfaces with a single polishing disc, the operator must frequently adjust the disc's shape and position to ensure optimal coverage of the entire surface. This operation mode is not only time-consuming and labor-intensive, increasing labor costs and labor intensity, but also difficult to ensure the uniformity and efficiency of the polishing process even after careful adjustment. Utility Model Content

[0003] To achieve the above-mentioned purpose, the technical solution of the utility model is: a free-form surface multi-grinding disc adaptive processing device, comprising an electrical control cabinet, a robotic arm, a control panel and at least three grinding mechanisms, the robotic arm being connected to the upper surface of the control panel via a connecting rod, the grinding mechanism being connected to the control panel, the grinding mechanism comprising a driving device, a transmission rod and a grinding disc, the grinding disc being connected to the driving device via a transmission rod, the electrical control cabinet controlling the driving device to output a constant pressure; the grinding disc comprising a grinding disc seat, an elastic member, a grinding disc base and a grinding unit, the grinding disc seat being connected to the transmission rod, a plurality of the grinding units being correspondingly arranged in the mounting holes of the grinding disc base, the elastic member assisting the grinding unit in reciprocating motion in a direction perpendicular to the upper and lower surfaces of the grinding disc base.

[0004] Preferably, the driving device includes a telescopic piston and a reduction motor, the electric control cabinet includes an automatic pressure regulating valve, an air source and an air pipe, and the air source is connected to the telescopic piston through the air pipe.

[0005] Preferably, the retractable piston includes an air pressure cabin, air holes arranged on the side wall of the air pressure cabin, and a piston rod arranged in the air pressure cabin. Each air hole is connected to the air source through an air pipe. The electric control cabinet dynamically adjusts the air pressure in the retractable piston through the automatic pressure regulating valve, thereby controlling the linear reciprocating motion of the piston rod.

[0006] Preferably, the grinding mechanism further includes a quick-change mechanism, the retractable piston is connected to the control board via the quick-change mechanism, and the reduction motor is connected to the piston rod.

[0007] Preferably, the transmission rod is arranged to be parallel to and non-collinear with the rotation axis of the grinding disc, and the reduction motor drives the grinding disc to rotate eccentrically via the transmission rod.

[0008] Preferably, the grinding mechanism also includes an eccentric adjustment device, the reduction motor is arranged above the control panel, and the eccentric adjustment device is arranged below the control panel. One end of the eccentric adjustment device passes through the through hole on the control panel and is connected to the output shaft of the reduction motor, and the other end is connected to the telescopic piston and drives the telescopic piston to perform eccentric translation.

[0009] Preferably, the transmission rod is connected to the piston rod, and the telescopic piston drives the transmission rod and the grinding disc to perform eccentric translation.

[0010] Preferably, the grinding mechanism further comprises a first retaining mechanism respectively connected to the transmission rod and the grinding disc, for limiting the rotation of the grinding disc.

[0011] Preferably, the grinding mechanism further comprises a second retaining mechanism respectively connected to the control plate and the retractable piston, for limiting the rotation of the retractable piston.

[0012] Preferably, the grinding disc base is fixedly connected to the grinding disc seat, the grinding disc base is provided with a hexagonal mounting hole, the grinding units are arranged in an array on the grinding disc base, and the grinding units are connected to the grinding disc seat through the elastic member.

[0013] Compared with the prior art, the present invention can achieve the following beneficial effects:

[0014] The utility model describes a free-form surface multi-grinding disc adaptive processing device, which realizes the synchronous processing of multiple areas of the workpiece by setting up multiple grinding mechanisms, significantly improving the processing efficiency. In addition, the electric control cabinet can dynamically adjust the air pressure in the cylinder through the automatic pressure regulating valve, accurately control the processing pressure, ensure the smooth output of the processing pressure, and improve the processing quality and stability. At the same time, the deformable free-form surface grinding disc can flexibly adjust the height as the curvature of the free-form surface changes and can quickly restore to its original state. It can automatically adapt to the surfaces of workpieces of different shapes, curvatures and materials, ensuring uniform processing of the workpiece surface. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The accompanying drawings, which constitute part of the present invention, are intended to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are intended to explain the present invention and do not constitute an improper limitation of the present invention. In the accompanying drawings:

[0016] Figure 1 This is a schematic diagram of a free-form surface multi-grinding disc adaptive processing device of the present utility model;

[0017] Figure 2 This is a schematic diagram of the grinding mechanism in Example 1 of the present utility model;

[0018] Figure 3 This is a schematic diagram of the grinding disc in Example 1 of the present utility model;

[0019] Figure 4 This is a cross-sectional view of a workpiece being processed by the grinding disc of the utility model;

[0020] Figure 5 This is a schematic diagram of the grinding unit moving as the radius of curvature of the curved surface changes when the grinding wheel of the utility model processes a workpiece;

[0021] Figure 6 This is a schematic diagram of the grinding mechanism in the second embodiment of the present utility model;

[0022] Figure 7 This is a schematic diagram of the connection between the first holding mechanism and the grinding mechanism in the second embodiment of the present invention. Figure 5 (b) Figure 5 (a) a cross-sectional view;

[0023] Figure 8 This is a schematic diagram of the grinding disc after flipping in the second embodiment of the present invention. Figure 6 (b) Figure 6 (a) a cross-sectional view;

[0024] Figure 9 This is a schematic diagram of the second retaining mechanism in the second embodiment of the present invention.

[0025] Description of reference numerals:

[0026] 1. Electric control cabinet; 11. Automatic pressure regulating valve; 12. Air source; 13. Air pipe; 2. Industrial robot; 21. Robotic arm; 3. Workpiece; 4. Connecting rod; 5. Control panel; 6. Grinding mechanism; 61. Quick-change mechanism; 62. Retractable piston; 621. Air pressure chamber; 622. Piston rod; 623. Air hole; 63. Reducer motor; 64. Transmission rod; 641. Universal ball transfer; 65. Grinding disc; 651. Grinding disc seat; 652. Elastic part; 653. Grinding disc Disc base; 654, grinding unit; 655, first threaded hole; 66, eccentric adjustment device; 7, first holding mechanism; 71, auxiliary rod; 711, fixed ball head; 72, connecting rod; 73, movable joint; 731, movable ball head; 732, fixed rod; 74, adjustment structure; 741, adjustment cavity; 742, second threaded hole; 8, second holding mechanism; 81, "I"-shaped support rod; 82, traction rod; 83, protruding structure; 9, loading platform. DETAILED DESCRIPTION

[0027] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is 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 used to explain the present invention and do not constitute a limitation of the present invention.

[0028] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, features defined as "first", "second", etc. may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0029] In the description of this utility model, it should be noted that, unless otherwise expressly specified or limited, the terms "installed," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; mechanical connections, electrical connections; direct connections, indirect connections through an intermediate medium, and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in this utility model based on specific circumstances.

[0030] The present invention will be described in detail below with reference to the accompanying drawings and in combination with embodiments.

[0031] Example 1

[0032] like Figure 1 As shown, the free-form surface multi-grinding disc adaptive processing device of the present invention includes: an electric control cabinet 1, a mechanical arm 21, and a control board 5. The mechanical arm 21 is connected to the upper surface of the control board 5 through a connecting rod 4, and multiple grinding mechanisms 6 are connected to the control board 5. The electric control cabinet 1 is provided with an air source 12, and an air pipe 13 is installed on the air source 12. An automatic pressure regulating valve 11 is installed at the connection between the air source 12 and the air pipe 13. The automatic pressure regulating valve 11 is used to adjust the gas flow rate delivered by the air source 12 to the air pipe 13; Figure 2 As shown, it is a schematic diagram of the grinding mechanism 6 in this embodiment. A plurality of grinding mechanisms 6 are arranged on the lower surface of the control panel 5. Each grinding mechanism 6 includes a quick-change mechanism 61, a retractable piston 62, a reduction motor 63, a transmission rod 64, and a grinding disc 65 from top to bottom. The piston rod 622 of the retractable piston 62 is connected to the reduction motor 63, and the guide column at the bottom of the outer shell of the retractable piston 62 and the guide hole at the top of the outer shell of the reduction motor 63 are matched to enable the reduction motor 63 to reciprocate with the piston rod 622; an air pressure cabin 621, a piston rod 622 and an air hole 623 are provided inside the retractable piston 62, and the air hole 623 is connected to the air source 12 through the air pipe 13. The electric control cabinet 1 dynamically adjusts the air pressure in the retractable piston 62 through the automatic pressure regulating valve 11, thereby controlling the pressure of the grinding disc 65 processing the workpiece 3 to be constant.

[0033] Specifically, when the grinding wheel 65 contacts a higher position of the surface of the workpiece 3 on the stage 9, the piston rod 622 moves upward to change the air pressure in the air pressure cabin 621, and feeds back to the automatic pressure regulating valve 11. The automatic pressure regulating valve 11 adjusts the gas flow input by the gas source 12 to reduce the air pressure in the air pressure cabin 621. When the grinding wheel 65 contacts a lower position of the surface of the workpiece 3 on the stage 9, the piston rod 622 moves downward to change the air pressure in the air pressure cabin 621, and feeds back to the automatic pressure regulating valve 11. The automatic pressure regulating valve 11 adjusts the gas flow input by the gas source 12 to increase the air pressure in the air pressure cabin 621, so that the contact pressure between the grinding wheel 65 and the surface of the workpiece 3 on the stage 9 remains unchanged, and the constant force processing state is maintained.

[0034] In some embodiments, the transmission rod 64 is set to be parallel and non-collinear with the central axis of the grinding disc 65. The reduction motor 63 drives the grinding disc 65 to rotate eccentrically through the transmission rod 64 to prevent the grinding disc 65 from having dead angles during the processing.

[0035] In some embodiments, as Figure 3As shown, the grinding disc base 653 of the grinding disc 65 has upper and lower surfaces parallel to each other, and the grinding disc seat 651 is arranged on the upper surface of the grinding disc base 653. The grinding disc base 653 has multiple mounting holes arranged in an array, and the mounting holes are hexagonal. The multiple mounting holes are closely arranged in a honeycomb shape. The grinding units 654 are correspondingly installed in the mounting holes. The grinding disc base 653 is fixedly connected to the grinding disc seat 651. The upper surface of the grinding unit 654 is connected to the grinding disc seat 651 through an elastic member 652. The elastic member 652 assists the grinding unit 654 to reciprocate in a direction perpendicular to the upper and lower surfaces of the grinding disc base 653. The honeycomb-shaped mounting holes in the grinding disc base 653 can make the arrangement of the grinding units 654 more dense, further solving the problem of processing dead angles.

[0036] In some embodiments, a trachea quick-change joint is provided between the air hole 623 and the trachea 13. The trachea quick-change joint can facilitate the installation or removal of the trachea 13, ensuring accurate positioning during multiple removal and installation without the need for repeated positioning.

[0037] In some embodiments, the top of the retractable piston 62 is connected to the control board 5 through a quick-change mechanism 61. The quick-change mechanism 61 can be easily installed and disassembled, and the number of grinding mechanisms 6 can be controlled according to polishing requirements to ensure accurate positioning during multiple disassembly and installation without the need for repeated positioning adjustment.

[0038] Specifically, in this embodiment, the robotic arm 21 is disposed on the industrial robot 2 , and the industrial robot 2 controls the robotic arm 21 to drive the grinding mechanism 6 to move relative to the workpiece 3 .

[0039] Example 2

[0040] like Figure 4As shown, in the free-form surface multi-grinding disc adaptive processing device of the present invention, the grinding mechanism 6 includes a reduction motor 63 arranged above the control panel 5, an eccentric adjustment device 66 arranged below the control panel 5, a telescopic piston 62, a transmission rod 64 and a grinding disc 65. A through hole is provided on the control panel 5, one end of the eccentric adjustment device 66 is connected to the output shaft of the reduction motor 63 through the through hole, and the other end of the eccentric adjustment device 66 is connected to the telescopic piston 62. Moreover, the output shaft of one end of the eccentric adjustment device 66 connected to the telescopic piston 62 is eccentrically arranged, and the piston rod 622 of the telescopic piston 62 and the rotation axis of the reduction motor 63 are adjusted to a non-coaxial and parallel state through the eccentric adjustment device 66, driving the telescopic piston 62 to perform eccentric translation. The transmission rod 64 is connected to the piston rod 622, and the transmission rod 64 drives the grinding disc 65 to follow the telescopic piston 62 to perform eccentric translation. In this embodiment, the retractable piston 62 also includes the three parts of the retractable piston 62 in the first embodiment: an air pressure chamber 621, a piston rod 622 and an air hole 623. The electric control cabinet 1 dynamically adjusts the air pressure in the retractable piston 62 through the automatic pressure regulating valve 11, thereby controlling the pressure of the grinding wheel 65 to process the workpiece 3 to be constant; the grinding wheel 65 also includes the four parts of the grinding wheel 65 in the embodiment: a grinding wheel seat 651, an elastic part 652, a grinding wheel base 653 and a grinding unit 654.

[0041] More specifically, a universal ball 641 is provided at the end of the transmission rod 64, which is movably coupled to the grinding disc 65. While the grinding disc 65 undergoes eccentric translation, it can also be flipped at any angle along the universal ball 641. When machining the surface of the workpiece 3, the grinding disc 65 can adjust its flip angle in real time according to the curvature of the workpiece 3 surface, effectively fine-polishing the surface of the workpiece 3. The transmission rod 64 is connected to the piston rod 622, which does not rotate about its own axis, thereby limiting the rotation of the transmission rod 64 about its own axis. The retractable piston 62 drives the grinding disc 65 to perform eccentric translation. Eccentric translation in this embodiment refers to the misalignment of the center of rotation and the center of mass of the moving object, and the fact that a straight line connecting any two points on the moving object remains parallel throughout the entire motion.

[0042] In some embodiments, a first holding mechanism 7 is further included that connects the transmission rod 64 and the grinding disc 65 respectively. During the processing, when the grinding disc 65 contacts the surface of the workpiece 3 and performs eccentric translation, in order to prevent the grinding disc 65 from rotating along its own axis due to the reaction force of the surface of the workpiece 3, the first holding mechanism 7 is set to effectively limit the rotation of the grinding disc 65, and does not affect the flipping of the grinding disc 65 along the universal ball 641.

[0043] Specifically, if Figure 5As shown, the first holding mechanism 7 includes a sub-rod 71, a connecting rod 72, two movable joints 73 and an adjustment structure 74. A spherical cavity is respectively provided at both ends of the connecting rod 72. Each movable joint 73 includes a fixed rod 732 and a movable ball head 731 provided at one end of the fixed rod 732. The fixed rod 732 is provided with an external thread. The grinding disc 65 is movably connected to the spherical cavity at one end of the connecting rod 72 through an movable joint 73. Specifically, the spherical cavity on the side where the connecting rod 72 is connected to the grinding disc 65 is movably sleeved with the movable ball head 731. The outer periphery of the fixed rod 732 is provided with an external thread. The side wall of the grinding disc 65 is provided with a first threaded hole 655. 32 is fixed with the first threaded hole 655 of the grinding disc 65 through an external thread; the auxiliary rod 71 is movably connected to the spherical cavity at the other end of the connecting rod 72 through an adjustment structure 74 and another movable joint 73. Specifically, a fixed ball head 711 is provided at the end of the auxiliary rod 71, and an adjustment cavity 741 is provided on the side of the adjustment structure 74 close to the auxiliary rod 71. The fixed ball head 711 is movably connected to the adjustment cavity 741. A second threaded hole 742 is provided on the side wall of the adjustment structure 74 close to the connecting rod 72. The fixed rod 732 is connected to the second threaded hole 742 through an external thread, and the movable ball head 731 is movably connected to the spherical cavity on the other side of the connecting rod 72. Figure 6 As shown, when the grinding disc 65 is flipped at any angle along the universal ball 641, the two movable joints 73 drive the connecting rod 72 to adjust the angle as the flipping angle of the grinding disc 65 changes. At the same time, the adjustment structure 74 can convert the fixed rod 732 and the auxiliary rod 71 from being parallel to each other to a certain angle, thereby limiting the grinding disc 65 from rotating at any angle without affecting the flipping of the grinding disc 65 at any angle.

[0044] In some embodiments, as Figure 4 and Figure 7 As shown, it also includes a second holding mechanism 8 connected to the control board 5 and the telescopic piston 62 respectively. The second holding mechanism 8 limits the rotation of the telescopic piston 62, so that the telescopic piston 62 only performs eccentric translation along a predetermined trajectory within the plane.

[0045] Specifically, the second retaining mechanism 8 includes an I-shaped support rod 81 and two traction rods 82. One side of the I-shaped support rod 81 is rotatably connected to the lower surface of the control panel 5, and the other side is rotatably connected to one end of the traction rod 82. The other end of the traction rod 82 is rotatably connected to the side wall of the retractable piston 62.

[0046] Furthermore, a protruding structure 83 is provided on the control panel 5, and a connecting hole is provided on the protruding structure 83. The side where the "I"-shaped support rod 81 is connected to the control panel 5 is provided with a pin shaft rotatably connected to the connecting hole. Both ends of the traction rod 82 are provided with connecting holes. The side where the "I"-shaped support rod 81 is connected to the traction rod 82 is provided with a pin shaft rotatably connected to the connecting hole. The side wall of the telescopic piston 62 is provided with a pin shaft rotatably connected to the traction rod 82. The "I"-shaped support rod 81 and the traction rod 82 cooperate with each other to limit the telescopic piston 62 from rotating when the reduction motor 63 drives the telescopic piston 62 to perform eccentric translation through the eccentric adjustment device 66.

[0047] The above specific embodiments do not limit the scope of protection of this utility model. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions may be made based on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this utility model shall be included within the scope of protection of this utility model.

Claims

1. A free-form surface multi-grinding disc adaptive processing device, characterized by: It includes an electric control cabinet, a robotic arm, a control panel and at least three grinding mechanisms, the robotic arm is connected to the upper surface of the control panel via a connecting rod, the grinding mechanism is connected to the control panel, the grinding mechanism includes a driving device, a transmission rod and a grinding disc, the grinding disc is connected to the driving device via a transmission rod, and the electric control cabinet controls the driving device to output a constant pressure; the grinding disc includes a grinding disc seat, an elastic member, a grinding disc base and a grinding unit, the grinding disc seat is connected to the transmission rod, and multiple grinding units are correspondingly arranged in the mounting holes of the grinding disc base, and the elastic member assists the grinding unit to reciprocate in a direction perpendicular to the upper and lower surfaces of the grinding disc base.

2. The free-form surface multi-grinding disc adaptive processing device according to claim 1, characterized in that: The driving device includes a telescopic piston and a reduction motor, and the electric control cabinet includes an automatic pressure regulating valve, an air source and an air pipe. The air source is connected to the telescopic piston through the air pipe.

3. The free-form surface multi-grinding disc adaptive processing device according to claim 2, characterized in that: The retractable piston includes an air pressure cabin, air holes arranged on the side wall of the air pressure cabin, and a piston rod arranged in the air pressure cabin. Each air hole is connected to an air source through an air pipe. The electric control cabinet dynamically adjusts the air pressure in the retractable piston through the automatic pressure regulating valve, thereby controlling the linear reciprocating motion of the piston rod.

4. The free-form surface multi-grinding disc adaptive machining device according to claim 3, characterized in that: The grinding mechanism further includes a quick-change mechanism, the retractable piston is connected to the control board via the quick-change mechanism, and the reduction motor is connected to the piston rod.

5. The free-form surface multi-grinding disc adaptive machining device according to claim 4, characterized in that: The transmission rod is arranged to be parallel to and non-collinear with the central axis of the grinding disc, and the reduction motor drives the grinding disc to rotate eccentrically via the transmission rod.

6. The free-form surface multi-grinding disc adaptive machining device according to claim 3, characterized in that: The grinding mechanism also includes an eccentric adjustment device. The reduction motor is arranged above the control panel, and the eccentric adjustment device is arranged below the control panel. One end of the eccentric adjustment device passes through the through hole on the control panel and is connected to the output shaft of the reduction motor, and the other end is connected to the telescopic piston and drives the telescopic piston to perform eccentric translation.

7. The free-form surface multi-grinding disc adaptive machining device according to claim 6, characterized in that: The transmission rod is connected to the piston rod, and the telescopic piston drives the transmission rod and the grinding disc to perform eccentric translation.

8. The free-form surface multi-grinding disc adaptive machining device according to claim 6, characterized in that: The grinding mechanism further includes a first retaining mechanism connected to the transmission rod and the grinding disc respectively, for limiting the rotation of the grinding disc.

9. The free-form surface multi-grinding disc adaptive machining device according to any one of claims 6 to 8, characterized in that: The grinding mechanism further includes a second retaining mechanism connected to the control plate and the retractable piston respectively, for limiting the rotation of the retractable piston.

10. The free-form surface multi-grinding disc adaptive machining device according to claim 1, characterized in that: The grinding disc base is fixedly connected to the grinding disc seat, and a hexagonal mounting hole is provided on the grinding disc base. The grinding units are arranged in an array on the grinding disc base, and the grinding units are connected to the grinding disc seat through the elastic member.

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