Multi-degree-of-freedom aspheric surface polishing equipment

Abstract

The utility model relates to the technical field of mold polishing, in particular to multi-degree-of-freedom aspheric surface polishing equipment which comprises a rack body, the rack body is provided with a lower rotating assembly used for placing a to-be-polished piece, and the lower rotating assembly can fix and drive the to-be-polished piece to do rotary motion; the rack body is provided with a six-axis linkage robot arm grinding assembly, and an electric polishing pen is arranged at one end of the robot arm grinding assembly. The electric polishing pen is located above the lower rotating assembly. The electric polishing pen can freely grind and polish the part to be polished on the lower rotating assembly. When the electric polishing pen is used, the electric polishing pen is controlled to grind and polish a workpiece through the six-axis linkage robot arm grinding assembly, the degree of freedom of the electric polishing pen is greatly improved, grinding at any angle can be achieved, and the grinding precision can be improved; and meanwhile, the lower rotating assembly is arranged to drive the to-be-polished part to rotate, and the grinding efficiency and the grinding precision are further improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to mould polishing technical field, especially in a kind of multi-degree-of-freedom aspheric surface polishing equipment. BACKGROUND

[0002] Aspheric surface lens is more common accessory in optical field, since aspheric surface lens is usually flawed in the surface of manufacture, it needs to be polished by polishing machine.Most of the existing aspheric surface polishing machine has insufficient degree of freedom, which affects the polishing accuracy, so it is necessary to provide an aspheric surface polishing equipment with multiple degrees of freedom and improved polishing accuracy. SUMMARY

[0003] The utility model discloses to the defects and deficiencies of prior art, provide a kind of multi-degree-of-freedom aspheric surface polishing equipment, which can improve polishing accuracy.

[0004] To achieve the above object, the utility model adopts the technical scheme that:

[0005] The utility model discloses a kind of multi-degree-of-freedom aspheric surface polishing equipment, including rack body, the rack body is provided with the lower rotary component for placing the piece to be polished, the lower rotary component can be fixed and drive the piece to be polished to do gyration;The rack body is provided with six-axis linkage's machine hand grinding assembly, and the machine hand grinding assembly one end is provided with electric polishing pen;Electric polishing pen is located above lower rotary component;Electric polishing pen can freely polish and polish the piece to be polished on lower rotary component.

[0006] Further, the machine hand grinding assembly includes a mechanical arm base, a first mechanical arm, a second mechanical arm, a third mechanical arm, a fourth mechanical arm, a fifth mechanical arm and a sixth mechanical arm, one end of the mechanical arm base is fixedly arranged on the rack body;The other end of the mechanical arm base is connected with one end of the first mechanical arm, and the first joint on the mechanical arm base drives the first mechanical arm to rotate along the circumference of the first joint;The other end of the first mechanical arm is connected with one end of the second mechanical arm, and the second joint on the first mechanical arm drives the second mechanical arm to rotate along the circumference of the second joint;The other end of the second mechanical arm is connected with one end of the third mechanical arm, and the third joint on the second mechanical arm drives the third mechanical arm to rotate along the circumference of the third joint;The other end of the third mechanical arm is connected with one end of the fourth mechanical arm, and the fourth joint on the third mechanical arm drives the fourth mechanical arm to rotate along the circumference of the fourth joint;The other end of the fourth mechanical arm is connected with one end of the fifth mechanical arm, and the fifth joint on the fourth mechanical arm drives the fifth mechanical arm to rotate along the circumference of the fifth joint;The other end of the fifth mechanical arm is connected with one end of the sixth mechanical arm, and the sixth joint on the fifth mechanical arm drives the sixth mechanical arm to rotate along the circumference of the sixth joint.

[0007] Further, the sixth mechanical arm is fixedly connected with a polishing pen clamping seat for clamping the electric polishing pen.

[0008] Further, the lower rotating assembly comprises a power part and a rotating part, the power part drives the rotating part to make rotary motion; the rotating part comprises a rotating shaft, an upper end surface of the rotating shaft is fixedly connected with a backing plate, the backing plate is fixedly connected with a spacer ring, the spacer ring is nested with a lower adjusting seat; four knurled high head screws are uniformly arranged on the outer circular wall of the spacer ring, the knurled high head screws are threadedly connected with the matching threaded holes on the spacer ring and tightly abut against the outer surface of the lower adjusting seat; the power part comprises a motor, a speed reducer and a fixed plate, the fixed plate is fixed in the machine frame body; the speed reducer is fixed on the fixed plate, the motor is connected with the speed reducer, the motor output shaft is connected with the speed reducer input shaft, and the speed reducer output shaft is connected with the rotating shaft; the lower adjusting seat is fixedly connected with an upper adjusting seat, one end of the upper adjusting seat is threadedly connected with a pressing plate for pressing and fixing the mold core, and the center hole of the pressing plate passes through one end of the mold core and then presses the stepped end surface of the mold core through the lower end surface of the pressing plate.

[0009] Further, the outer surface of the lower adjusting seat is provided with four concave arc grooves, and the knurled high head screws are threadedly connected with the matching threaded holes on the spacer ring and tightly abut against the concave arc grooves.

[0010] Further, the lower rotating assembly further comprises a bearing seat, the bearing seat is fixed in the machine frame body; the upper end surface of the bearing seat is provided with a bearing gland, and the inner hole of the bearing seat is nested with a first bearing, a bearing spacer sleeve and a second bearing from top to bottom; the outer wall surface of the rotating shaft is closely nested with the inner ring wall surface of the first bearing and the second bearing; the rotating shaft is further nested with a spacer washer and a retreat stop washer, the rotating shaft is further threadedly connected with a small round nut, one end of the small round nut tightly abuts against the retreat stop washer, and the spacer washer is arranged between the retreat stop washer and the second bearing.

[0011] Further, the sixth mechanical arm is connected with a six-axis sensor fixing seat, the six-axis sensor fixing seat is fixedly connected with a six-axis sensor, and the six-axis sensor is connected with the electric polishing pen through the polishing pen clamping seat.

[0012] With the above structure, the utility model has the advantages that the utility model discloses a multi-degree-of-freedom aspheric surface polishing equipment, including frame body, the frame body is provided with the lower rotary component for placing the polishing piece, the lower rotary component can be fixed and drive the polishing piece to make the cyclotron motion, the frame body is provided with six-axis linkage's robot hand grinding assembly, and the robot hand grinding assembly one end is provided with electric polishing pen, and the electric polishing pen is located above the lower rotary component, and the electric polishing pen can freely grind and polish the polishing piece on the lower rotary component, when using the utility model, the six-axis linkage's robot hand grinding assembly controls electric polishing pen grinding, polishing workpiece, greatly improves the degree of freedom of electric polishing pen, not only can realize arbitrary angle grinding, but also can improve the grinding precision, and the lower rotary component drives the polishing piece to make the rotary motion, and the grinding efficiency and the grinding precision are further improved. BRIEF DESCRIPTION OF DRAWINGS

[0013] Figure 1 It is the structural schematic diagram of the utility model;

[0014] Figure 2 It is the perspective view of robot hand grinding assembly;

[0015] Figure 3 It is the structural schematic diagram of polishing pen clamping seat;

[0016] Figure 4 It is the cross-sectional view of lower rotary component;

[0017] Figure 5 It is the cross-sectional view of lower adjusting seat, pressing plate and mould core fixed;

[0018] Figure 6 It is the cross-sectional view of mould core;

[0019] Figure 7 It is the perspective view of lower adjusting seat;

[0020] BRIEF DESCRIPTION OF DRAWINGS

[0021] 1, frame body;

[0022] A, robot hand grinding assembly;

[0023] A1, mechanical arm base; A2, first mechanical arm; A3, second mechanical arm;

[0024] A4, third mechanical arm; A5, fourth mechanical arm; A6, fifth mechanical arm;

[0025] A7, sixth mechanical arm; A8, polishing pen clamping seat; A9, electric polishing pen;

[0026] B1, first joint; B2, second joint; B3, third joint; B4, fourth joint;

[0027] B5, fifth joint; B6, sixth joint;

[0028] A8-1, first slot; A8-2, second slot; A8-3, third slot;

[0029] A8-4, bolt; A8-5, side plate; A10, six-axis sensor;

[0030] C, lower rotary assembly;

[0031] C1, motor; C2, reduction box; C3, fixed plate; C4, bearing seat;

[0032] C411, first bearing; C412, second bearing; C42, bearing spacer; C43, spacer washer; C44, retreat stop washer;

[0033] C45, small round nut;

[0034] C5, bearing gland; C6, rotating shaft; C7, pad plate; C8, spacer; C9, lower adjusting seat;

[0035] C10, knurled high head screw; C9-1, concave arc-shaped groove;

[0036] D1, upper adjusting seat; D2, pressing plate; D3, mold core; D3-1, stepped end face. DETAILED DESCRIPTION

[0037] The utility model will be further described below in combination with the drawings.

[0038] As Figures 1 to 6 shown, the utility model discloses a kind of multi-degree-of-freedom aspheric surface polishing equipment, including rack body 1, the rack body 1 is provided with the lower rotary assembly C for placing the piece to be polished, the lower rotary assembly C can be fixed and drive the piece to be polished to do gyration motion;The rack body 1 is provided with six-axis linkage's robot hand grinding assembly A, and the robot hand grinding assembly A one end is provided with electric polishing pen A9;Electric polishing pen A9 is located above lower rotary assembly C;Electric polishing pen A9 can freely polish and polish the piece to be polished on lower rotary assembly C.

[0039] Further, the robot hand grinding assembly A includes mechanical arm base A1, first mechanical arm A2, second mechanical arm A3, third mechanical arm A4, fourth mechanical arm A5, fifth mechanical arm A6 and sixth mechanical arm A7, and one end of the mechanical arm base A1 is fixedly arranged on the rack body 1;

[0040] The other end of the mechanical arm base A1 is connected to one end of the first mechanical arm A2, and the first joint B1 on the mechanical arm base A1 drives the first mechanical arm A2 to rotate along the circumference of the first joint B1.

[0041] The other end of the first mechanical arm A2 is connected to one end of the second mechanical arm A3, and the second joint B2 on the first mechanical arm A2 drives the second mechanical arm A3 to rotate along the circumference of the second joint B2.

[0042] The other end of the second mechanical arm A3 is connected to one end of the third mechanical arm A4, and the third joint B3 on the second mechanical arm A3 drives the third mechanical arm A4 to rotate along the circumference of the third joint B3.

[0043] The other end of the third mechanical arm A4 is connected to one end of the fourth mechanical arm A5, and the fourth joint B4 on the third mechanical arm A4 drives the fourth mechanical arm A5 to rotate along the circumference of the fourth joint B4.

[0044] The other end of the fourth mechanical arm A5 is connected to one end of the fifth mechanical arm A6, and the fifth joint B5 on the fourth mechanical arm A5 drives the fifth mechanical arm A6 to rotate along the circumference of the fifth joint B5.

[0045] The other end of the fifth mechanical arm A6 is connected to one end of the sixth mechanical arm A7, and the sixth joint B6 on the fifth mechanical arm A6 drives the sixth mechanical arm A7 to rotate along the circumference of the sixth joint B6.

[0046] The first joint B1, the second joint B2, the third joint B3, the fourth joint B4, the fifth joint B5, and the sixth joint B6 are all structures of the prior art, so they will not be described in detail here; the six joints are important components of the machine hand polishing assembly A and play the roles of freedom of movement and precise positioning.

[0047] Further, the sixth mechanical arm A7 is fixedly connected with a polishing pen clamping seat A8 for clamping an electric polishing pen A9. The electric polishing pen A9 is fixed on the polishing pen clamping seat A8, specifically:

[0048] The side plate A8-5 of the polishing pen clamping seat A8 is fixedly connected with the sixth mechanical arm A7; one end of the polishing pen clamping seat A8 is sequentially provided with a first slot A8-1, a second slot A8-2, and a third slot A8-3 from the outside to the inside; in order to facilitate clamping the electric polishing pen A9, the cross-sectional shape of the second slot A8-2 matches the cross-sectional shape of the electric polishing pen A9; the cross sections of the first slot A8-1 and the third slot A8-3 are rectangular; the width of the first slot A8-1 is smaller than the width of the second slot A8-2, and the width of the third slot A8-3 is smaller than the width of the second slot A8-2.

[0049] The three grooves divide the polishing pen holder A8 into a left holder and a right holder; the bolt A8-4 is sequentially threaded through the through hole of the left holder, the first groove A8-1, and then is screwed into the screw hole of the right holder, so that the clamping tightness of the second groove A8-2 on the electric polishing pen A9 can be controlled, the electric polishing pen A9 can be conveniently taken and clamped.

[0050] Further, the lower rotating assembly C comprises a power part and a rotating part, and the power part drives the rotating part to perform a rotary motion.

[0051] The rotating part comprises a rotating shaft C6, the upper end surface of the rotating shaft C6 is fixedly connected with a backing plate C7, the backing plate C7 is fixedly connected with a spacer C8, and the spacer C8 is nested with a lower adjusting seat C9.

[0052] In order to conveniently adjust the coaxiality between the lower adjusting seat C9 and the rotating shaft C6 and further guarantee the subsequent machining precision, four knurled high head screws C10 are uniformly arranged on the outer circular wall of the spacer C8, and the knurled high head screws C10 are in threaded connection with the matching threaded holes of the spacer C8 and tightly abut against the outer surface of the lower adjusting seat C9.

[0053] The power part comprises a motor C1, a speed reducer C2 and a fixed plate C3, the fixed plate C3 is fixed in the rack body 1, the speed reducer C2 is fixed on the fixed plate C3, the motor C1 is connected with the speed reducer C2, the output shaft of the motor C1 is connected with the input shaft of the speed reducer C2, the output shaft of the speed reducer C2 is connected with the rotating shaft C6, and the output shaft of the speed reducer C2 of the utility model is closely nested in the inner hole of the rotating shaft C6. The motor C1 drives the rotating shaft C6 to perform a rotary motion through the speed reducer C2; and the rotating shaft C6 synchronously drives the backing plate C7, the spacer C8, the lower adjusting seat C9, the upper adjusting seat D1, the pressing plate D2 and the die core D3 to perform a rotary motion.

[0054] The lower adjusting seat C9 is fixedly connected with the upper adjusting seat D1, one end of the upper adjusting seat D1 is threadedly connected with the pressing plate D2 for pressing and fixing the die core D3, the center hole of the pressing plate D2 passes through one end of the die core D3 and then presses the stepped end surface D3-1 of the die core D3 through the lower end surface of the pressing plate D2, so that the fixing of the die core D3 is realized. It should be noted that the die core D3 is a to-be-polished part, the size specification of the die core D3 can be freely changed, and the center hole of the pressing plate D2 is also set according to the specification of the die core D3, that is, the die core D3 and the pressing plate D2 are used in matching.

[0055] Further, in order to fix the lower adjusting seat C9 more smoothly, ensure coaxiality, the outer surface of the lower adjusting seat C9 is provided with four concave arc grooves C9-1, the knurled high head screw C10 is threadedly connected with the matching threaded hole of the spacer ring C8, and tightly abuts against the concave arc groove C9-1; when the end of the knurled high head screw C10 contacts with the concave arc groove C9-1, it can not only conveniently adjust the coaxiality of the lower adjusting seat C9, but also conveniently fix the lower adjusting seat C9.

[0056] Further, the lower rotating assembly C further comprises a bearing seat C4 fixed in the rack body 1;

[0057] The upper end surface of the bearing seat C4 is provided with a bearing gland C5, and the inner hole of the bearing seat C4 is sequentially nested from top to bottom with a first bearing C411, a bearing spacer C42 and a second bearing C412; the outer wall surface of the rotating shaft C6 is closely nested with the inner ring wall surface of the first bearing C411 and the second bearing C412.

[0058] The rotating shaft C6 is further nested with a spacer washer C43 and a stop washer C44, and the rotating shaft C6 is further threadedly connected with a small round nut C45, one end of the small round nut C45 tightly abuts against and presses the stop washer C44, and the spacer washer C43 is arranged between the stop washer C44 and the second bearing C412. By fixing the bearing seat C4 in the rack body 1, and by the combination of the bearing seat C4 and the two bearings C41, the stable operation of the rotating shaft C6 in the rotating motion is ensured; by sequentially abutting and pressing the second bearing C412 through the small round nut C45, the stop washer C44 and the spacer washer C43, the displacement or loosening of the bearing C41 in the axial direction of the rotating shaft C6 is prevented, thereby ensuring the stability and reliability of the rotation.

[0059] Further, the sixth mechanical arm A7 is connected with a six-axis sensor fixing seat, the six-axis sensor fixing seat is fixedly connected with a six-axis sensor A10, the six-axis sensor A10 is connected with an electric control device, the application technology of the six-axis sensor A10 has no substantial difference from the prior art, and thus will not be described here; one end surface of the six-axis sensor A10 is connected with a clamping electric polishing pen A9 through a polishing pen clamping seat A8.

[0060] When grinding the object with a non-spherical surface, the force direction of the grinding point in the grinding process changes at any time, that is, there may exist six directional forces and force moments of Fx, Fy, Fz and Tx, Ty, Tz during grinding. Therefore, the six-axis sensor A10 is added to the six-axis linkage machine hand grinding assembly A.

[0061] The six-axis sensor A10 is installed and fixed on the end mechanical arm of the machine hand grinding assembly A, that is, on the sixth mechanical arm A7; the six-axis sensor A10 measures the stress size fed back by the electric polishing pen A9, and transmits the data to the electric control device or the force control software. In order to ensure the quality and uniformity of the grinding, the utility model preferably adopts constant pressure grinding, that is, manually setting the required value in the software system (the electric control device or the force control software), and requiring the electric polishing pen A9 to float up and down within the range of the actual pressure during grinding and polishing; and further, the grinding precision and stability of the device are ensured, and the control principle is not essentially different from the prior art, so the application of the six-axis sensor A10 and the system is not described in detail.

[0062] The working process of the utility model grinding mold core D3 has: the mold core D3 is installed and fixed on the lower rotating assembly C through the upper adjusting seat D1, when starting the equipment work, under the driving of the motor C1, the mold core D3 does horizontal rotation movement; at the same time, the machine hand grinding assembly A is swung according to the set program, the electric polishing pen A9 is aligned with the center of the mold core D3, then the mold core D3 is ground and processed according to the system setting mode.

[0063] The utility model has the advantages of:

[0064] 1, through the six-axis linkage machine hand grinding assembly A, the electric polishing pen A9 is controlled to grind and polish workpieces, greatly improving the freedom of the electric polishing pen A9, not only can realize arbitrary angle polishing, but also can improve the polishing precision;

[0065] 2, the bearing seat C4 and the two bearings C41 combination is to guarantee the stable operation of the rotating shaft C6 in the rotation movement;

[0066] 3, the small round nut C45, the stop washer C44 and the spacer washer C43 are pressed against the second bearing C412 in turn, which prevents the bearing C41 from moving or loosening in the axial direction of the rotating shaft C6, and further ensures the stability and reliability of the rotation.

[0067] The above is only the preferred embodiment of the utility model, so equivalent changes or modifications made according to the structure, features and principles of the utility model patent application range are included in the utility model patent application range.

Claims

1. A multi-degree-of-freedom aspheric polishing device, characterized by: The invention comprises a frame body (1), wherein the frame body (1) is provided with a lower rotating assembly (C) for placing a workpiece to be polished, and the lower rotating assembly (C) can fix and drive the workpiece to be polished to perform a rotary motion; the frame body (1) is provided with a six-axis linked robot hand grinding assembly (A), and one end of the robot hand grinding assembly (A) is provided with an electric polishing pen (A9); the electric polishing pen (A9) is located above the lower rotating assembly (C); and the electric polishing pen (A9) can freely grind and polish the workpiece to be polished on the lower rotating assembly (C).

2. The multi-degree-of-freedom aspheric polishing device according to claim 1, characterized in that: The robot grinding assembly (A) comprises a robot arm base (A1), a first robot arm (A2), a second robot arm (A3), a third robot arm (A4), a fourth robot arm (A5), a fifth robot arm (A6) and a sixth robot arm (A7), wherein one end of the robot arm base (A1) is fixedly arranged on the frame body (1); The other end of the robotic arm base (A1) is connected to one end of the first robotic arm (A2), and the first joint (B1) on the robotic arm base (A1) drives the first robotic arm (A2) to rotate along the circumference of the first joint (B1); The other end of the first robotic arm (A2) is connected to one end of the second robotic arm (A3), and the second joint (B2) on the first robotic arm (A2) drives the second robotic arm (A3) to rotate along the circumference of the second joint (B2); The other end of the second robotic arm (A3) is connected to one end of the third robotic arm (A4), and the third joint (B3) on the second robotic arm (A3) drives the third robotic arm (A4) to rotate along the circumference of the third joint (B3); The other end of the third robotic arm (A4) is connected to one end of the fourth robotic arm (A5), and the fourth joint (B4) on the third robotic arm (A4) drives the fourth robotic arm (A5) to rotate along the circumference of the fourth joint (B4); The other end of the fourth robotic arm (A5) is connected to one end of the fifth robotic arm (A6), and the fifth joint (B5) on the fourth robotic arm (A5) drives the fifth robotic arm (A6) to rotate along the circumference of the fifth joint (B5); The other end of the fifth robotic arm (A6) is connected to one end of the sixth robotic arm (A7), and the sixth joint (B6) on the fifth robotic arm (A6) drives the sixth robotic arm (A7) to rotate along the circumferential direction of the sixth joint (B6).

3. The multi-degree-of-freedom aspheric polishing device according to claim 2, characterized in that: The sixth mechanical arm (A7) is fixedly connected to a polishing pen clamping seat (A8) for clamping an electric polishing pen (A9).

4. The multi-degree-of-freedom aspheric polishing device according to claim 1, characterized in that: The lower rotating assembly (C) includes a power unit and a rotating unit, wherein the power unit drives the rotating unit to perform a rotary motion; The rotating part includes a rotating shaft (C6), the upper end surface of the rotating shaft (C6) is fixedly connected to a pad (C7), the pad (C7) is fixedly connected to a spacer (C8), and the spacer (C8) is nested and connected to a lower adjustment seat (C9); Four knurled high-head screws (C10) are evenly arranged on the outer circular wall of the spacer (C8), and the knurled high-head screws (C10) are threadedly connected to matching threaded holes on the spacer (C8) and tightly abut against the outer surface of the lower adjustment seat (C9); The power unit comprises a motor (C1), a reduction gearbox (C2) and a fixing plate (C3), wherein the fixing plate (C3) is fixed inside the frame body (1); The reduction box (C2) is fixed on the fixed plate (C3), the motor (C1) is connected to the reduction box (C2), the output shaft of the motor (C1) is connected to the input shaft of the reduction box (C2), and the output shaft of the reduction box (C2) is connected to the rotating shaft (C6); The lower adjustment seat (C9) is fixedly connected to the upper adjustment seat (D1), and one end of the upper adjustment seat (D1) is threadedly connected to a pressure plate (D2) for pressing and fixing the mold core (D3). The center hole of the pressure plate (D2) passes through one end of the mold core (D3) and presses the stepped end surface (D3-1) of the mold core (D3) through the lower end surface of the pressure plate (D2).

5. The multi-degree-of-freedom aspheric polishing device according to claim 4, characterized in that: The outer surface of the lower adjustment seat (C9) is provided with four concave arc-shaped grooves (C9-1), and the knurled high-head screw (C10) is threadedly connected with the matching threaded hole on the spacer (C8) and tightly abuts against the concave arc-shaped grooves (C9-1).

6. The multi-degree-of-freedom aspheric polishing device according to claim 4, characterized in that: The lower rotating assembly (C) further includes a bearing seat (C4), and the bearing seat (C4) is fixed inside the frame body (1); The upper end surface of the bearing seat (C4) is provided with a bearing cover (C5), and the inner hole of the bearing seat (C4) is sequentially nested with a first bearing (C411), a bearing spacer (C42), and a second bearing (C412); The outer wall surface of the rotating shaft (C6) is tightly nested with the inner ring walls of the first bearing (C411) and the second bearing (C412); The rotating shaft (C6) is also nested with an interlayer washer (C43) and a backstop washer (C44). The rotating shaft (C6) is also threadedly connected to a small round nut (C45). One end of the small round nut (C45) is tightly pressed against the backstop washer (C44). The interlayer washer (C43) is arranged between the backstop washer (C44) and the second bearing (C412).

7. The multi-degree-of-freedom aspheric polishing device according to claim 3, characterized in that: The sixth robotic arm (A7) is connected to a six-axis sensor fixing seat, the six-axis sensor fixing seat is fixedly connected to a six-axis sensor (A10), and the six-axis sensor (A10) is connected to a clamping electric polishing pen (A9) via a polishing pen clamping seat (A8).

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