CN114800140A - Double-rotor grinding and polishing tool used with robot - Google Patents

Abstract

A double-rotor grinding and polishing tool for a robot comprises a robot body and a double-rotor grinding and polishing tool head. The double-rotor grinding and polishing tool head comprises a tool head connecting and fixing flange plate, a servo motor, a synchronous belt pulley, a telescopic cylinder, a linear guide rail, an angular contact ball bearing, a dovetail groove sliding table, a revolution shaft, a rotation shaft, a revolution flange connecting seat, a revolution sliding support, a rotation shaft connecting seat, a rotation bearing seat, a grinding and polishing disc connecting chuck and a grinding and polishing disc. The invention can finish grinding, polishing and high-precision shape correction of the optical element, and the used robot has the advantages of simple relative structure, stable operation performance, low cost and flexibility, is suitable for multi-station processing, does not need to frequently move the processing element, and improves the surface shape and the processing period of the surface of the optical element.

Description

Double rotor grinding and polishing tool for use with robots

technical field

The invention relates to optical processing, in particular to a double-rotor grinding and polishing tool used with a robot.

Background technique

Double-rotor grinding and polishing tools play an indispensable role in modern optical processing, and play an important role in the grinding and polishing of plane, spherical, aspherical and free-form surfaces. With the development of the high-precision and complex control system of the robot, the construction of the processing equipment can be completed simply and quickly by carrying a tool head at the end of the robot. At the same time, compared with the traditional gantry type CNC small grinding head machine tool, the robot has the advantages of high degree of freedom and low cost. A double-rotor grinding and polishing tool head is installed at the end of the robot, and the removal of the workpiece surface material is controlled by calculating the residence time of the polishing disc on the workpiece surface and the relative pressure on the workpiece surface based on the detected surface data, and then the double-rotor grinding and polishing tool is controlled by a computer. Optics are processed.

Patent No. CN102962764A discloses a rigid eccentric transmission male rotation air pressure force numerical control polishing device, which adopts a rigid eccentric transmission structure and a top air intake air pressure force method. The eccentric transmission mode of this structure uses a cross universal joint to transmit power, and when the angle between the two shafts is not zero, the constant angular speed transmission cannot be transmitted. The cross universal joint has no way of self-lubricating. After long-term use, the cross universal joint wears greatly, which greatly reduces the transmission efficiency of the rotation shaft. When the revolution and rotation are turned on at the same time, the cross universal joint not only rotates on its own, but also rotates with it, which not only accelerates the wear and tear, but also when the revolution eccentricity is too large, the transmission efficiency of the cross universal joint is greatly reduced. Problems such as insufficient torque and torque accumulation are prone to occur, so that the removal amount is not stable during processing. The air pressure of the air intake at the top exerts pressure. This method of pressurization has two disadvantages. The first is that the intake pipe is easy to wear and tear. The intake pipe passes through the middle of the cross universal joint to provide pressure to the rotation shaft, and the cross universal joint drives When the rotation shaft rotates, it will cause great wear and tear on the trachea, which needs to be inspected and replaced regularly. The second is the cylinder piston of the rotation shaft, because the cylinder piston does not rotate, but the rotation shaft rotates, long-term wear will cause the rubber ring of the cylinder piston to wear, the compressed air leaks, and the pressure is reduced, which will lead to processing The removal amount is not stable during the process. In addition, the rubber ring of the cylinder piston is worn, and the entire mechanism needs to be disassembled for maintenance, which is more troublesome to maintain.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide a dual-rotor grinding and polishing tool for use with robots in order to process large-diameter aspheric surfaces, planes, etc. with a diameter of more than one meter. All can be done, because the robot used is relatively simple in structure, stable in control performance, low cost, flexible in the robot, can use the multi-station processing mode, does not need to move the processing components frequently, and the use of the robot grinding and polishing tools directly affects the surface of the optical component. shape and the entire machining cycle.

The technical solution of the present invention is as follows:

A double-rotor grinding and polishing tool equipped with a robot is characterized in that it includes a robot, a robot end flange and a double-rotor grinding and polishing tool head, and the double-rotor grinding and polishing tool head includes a tool head connecting a fixed flange, a synchronous Pulleys, Angular Contact Ball Bearings, Servo Motors, Telescopic Cylinders, Linear Guides, Dovetail Slides, Revolving Shafts, Revolving Sliding Brackets, Rotation Elimination Flanges, Revolving Flange Connectors, Rotating Shaft Connectors, Rotating Bearings, Rotating Shaft, polishing disc connecting chuck and grinding and polishing disc;

The double-rotor grinding and polishing tool head uses the tool head to connect the fixed flange and the robot end flange of the robot to be fixed by M12 cylindrical head socket head cap screws; the grinding and polishing disc is connected by the polishing disc connecting clip The head is fixed on the lower end of the rotation shaft, and the rotation elimination flange connected with the telescopic cylinder is tightly pressed against the rotation flange at the upper end of the rotation shaft by inserting compressed air, so that the grinding and polishing disc is Fitting with the surface of the workpiece to be processed, adjust the pressure of the grinding and polishing disc on the workpiece surface during processing by adjusting the size of the external air source. The servo motor and the synchronous pulley drive the rotation of the revolving shaft and the self-rotating shaft, so as to grind and polish the surface of the processing element.

The tool head connection and fixing flange is designed with two connection and fixing methods: top connection and back connection. The connection method different from the end flange of the robot can be selected according to the height of the processing table, so as to maximize the effective stroke.

Through the cooperation of the dovetail groove slide table and the revolution shaft, the revolution shaft is fixed on the dovetail groove slide table by bolts, which shortens the length of the whole revolution shaft, maximizes the space utilization rate, and adjusts the dovetail groove slide table at the same time. The relative position of the slider can adjust the eccentricity of the revolution to achieve a better modification effect.

Connect the compressed air into the telescopic cylinder, and then adjust the size of the compressed air through the pressure regulating valve to achieve different pressures, so as to generate different pressures on the rotating shaft, and the pressure is transmitted to the grinding and polishing discs. Carry out material removal to achieve better trimming effect.

Use the rotation elimination flange and the telescopic cylinder to press tightly on the flange at the upper end of the rotation shaft. When the rotation shaft rotates, the torque generated by the rotation will not be transmitted to the telescopic cylinder through the friction force generated by the compression. On the end of the telescopic cylinder, the rotation cancels the flange to offset the torsion force, so that the telescopic cylinder does not rotate, and the air tightness and service life of the telescopic cylinder are better protected.

The technical effect of the present invention is as follows:

The invention solves the two major problems existing in the prior art, adopts the synchronous belt drive, moves the eccentric mechanism up, reduces the space of the entire device, and at the same time the mechanical structure is more reasonable, and the revolution motor directly transmits the power to the public through the synchronous pulley and the synchronous belt. The rotating shaft and the eccentric mechanism adopt the eccentric mechanism of the dovetail sliding table. This mechanical structure layout greatly increases the adjustment range of the eccentric distance, and the increase of the eccentric distance will not reduce the transmission efficiency.

The present invention adopts the method of applying pressure on the top of the rotation shaft to generate pressure on the rotation shaft. Because the pressure control mechanism is separated from the rotation mechanism of the rotation shaft, when the rotation shaft rotates, the rotation is used to eliminate the force of the flange to rotate the rotation shaft. If it is eliminated, it will not rotate with the cylinder, and will not be transmitted to the cylinder shaft, and the cylinder shaft will not rotate, so that the service life of the cylinder piston is greatly increased, and the maintenance is also much easier. The transmission of the self-rotating shaft is also driven by a synchronous belt, and the transmission efficiency is stable, and there will be no problems such as insufficient transmission torque and torque accumulation due to the increase of the revolution eccentricity.

Description of drawings

1 is a schematic diagram of the overall structure of a dual-rotor grinding and polishing tool used with a robot according to the present invention

Figure 2 is a schematic diagram of a dual-rotor grinding and polishing tool used with a robot

Detailed ways

In order to better present the technical solutions and potential of the present invention, specific embodiments are described with reference to FIG. 1 and FIG. 2 . This section presents a typical embodiment of the present invention, and the optimization of the embodiment according to the characteristics and requirements of the dual-rotor grinding and polishing tool belongs to the protection scope of the present invention.

Please refer to FIG. 1 and FIG. 2 first. FIG. 1 is a schematic diagram of the overall structure of a dual-rotor grinding and polishing tool used in conjunction with a robot according to the present invention. FIG. 2 is a schematic diagram of a dual-rotor grinding and polishing device used in conjunction with a robot. The double-rotor grinding and polishing tool used by the robot includes a robot 1, a robot end flange 1-1 and a double-rotor grinding and polishing tool head 2. The double-rotor grinding and polishing tool head 2 includes a tool head connecting and fixing flange 2-1 , synchronous pulley 2-2, angular contact ball bearing 2-3, servo motor 2-4, telescopic cylinder 2-5, linear guide 2-6, dovetail sliding table 2-7, revolution shaft 2-8, revolution sliding Bracket 2-9, rotation elimination flange 2-10, rotation flange connection seat 2-11, rotation shaft connection seat 2-12, rotation bearing seat 2-13, rotation shaft 2-14, polishing disc connection chuck 2- 15 and grinding and polishing discs 2-16;

The double-rotor grinding and polishing tool head 2 uses the tool head to connect the fixed flange 2-1 and the robot end flange 1-1 of the robot 1 to be fixed with M12 cylindrical head socket head cap screws; the grinding and polishing disk 2-16 is fixed on the lower end of the rotation shaft 2-14 through the polishing disc connecting chuck 2-15, and the rotation elimination flange 2- 10 Press tightly on the rotation flange at the upper end of the rotation shaft 2-14, so that the grinding and polishing disc 2-16 is in contact with the surface of the workpiece to be processed, and the grinding process is adjusted by adjusting the size of the external air source. The pressure of the polishing disc 2-16 on the surface of the workpiece, the revolution axis 2-8 and the dovetail sliding table 2-7 are fixed in the holes of the dovetail sliding table 2-7 by bolts, and then pass through the servo motors 2-4 and 2-7. The synchronous pulley 2-2 drives the rotation of the revolving shaft 2-8 and the self-rotating shaft 2-14, so as to grind and polish the surface of the processing element.

The tool head connection and fixing flange 2-1 is designed with two connection and fixing methods: top connection (a) and back connection (b), which can be different from the robot end flange 1-1 according to the height of the processing table. way to maximize the effective stroke.

Through the cooperation of the dovetail groove slide table 2-7 and the revolution shaft 2-8, the revolution shaft 2-8 is fixed on the dovetail groove slide table 2-7 by bolts, which shortens the length of the entire revolution shaft and makes the space utilization rate more efficient. At the same time, adjust the relative position of the sliding blocks 2-7 of the dovetail groove sliding table to adjust the eccentricity of the revolution to achieve a better modification effect.

Connect the compressed air into the telescopic cylinder 2-5, and then adjust the size of the compressed air through the pressure regulating valve to achieve different pressures, so as to generate different pressures on the rotation shafts 2-14, and the pressure is transmitted to the grinding On the polishing disc 2-16, the material is removed from the element to achieve a better trimming effect.

Use the rotation elimination flange 2-10 and the telescopic cylinder 2-5 to press tightly on the flange at the upper end of the rotation shaft 2-14. When the rotation shaft 2-14 rotates, the torque generated by the rotation will not pass through the tightening. The frictional force generated by the pressure is transmitted to the telescopic cylinder 2-5, and the torsion force is offset by the rotation elimination flange 2-10 at the end of the telescopic cylinder 2-5, so that the telescopic cylinder 2-5 will not rotate. , to better protect the air tightness and service life of the telescopic cylinder 2-5.

Figure 1 is a schematic diagram of the structure of a dual-rotor grinding and polishing tool. The working principle of the tool head: the revolving shafts 2-8 and the rotating shafts 2-14 are respectively driven by the male and rotating motors to rotate, and the rotating shafts 2-14 rotate to drive the grinding and polishing disc 2 -16 rotation, the rotation of the revolution axis 2-8 drives the entire rotation axis 2-14 and the grinding and polishing disc 2-16 to perform revolution movement, and the eccentric distance is adjusted by adjusting the dovetail sliding table 2-7, thereby changing the rotation of the revolution axis 2-8 radius. Compressed air is introduced into the telescopic cylinder 2-5, so that the telescopic cylinder 2-5 can generate pressure on the rotating shaft 2-14, and the pressure can be changed by adjusting the air valve of the compressed air, so that the grinding and polishing discs 2-16 can generate different pressures on the surface of the element , to remove the surface material of the component to achieve the purpose of modification.

Figure 2 shows a schematic diagram of the double-rotor grinding and polishing device used with the robot. Through the connecting flange 2-1 on the double-rotor grinding and polishing device, the double-rotor grinding and polishing device is fixed to the robot of the robot. On the end flange 1-1, there are two connection positions on the double rotor grinding and polishing device, the top connection (a) and the back connection (b). It is a connection method with the largest movement stroke of the robot.

Experiments show that the invention can complete the grinding, polishing and high-precision modification of optical elements, because the robot used has a relatively simple structure, stable control performance, low cost and flexibility, and is suitable for multi-station processing without frequent moving of processing elements. The surface shape and processing cycle of the optical element surface.

Claims (5)

1. a double-rotor grinding and polishing tool equipped with a robot is characterized in that: comprising a robot (1), a robot end flange (1-1) and a double-rotor grinding and polishing tool head (2), the double-rotor grinding The polishing tool head (2) includes a tool head connecting and fixing flange (2-1), a synchronous pulley (2-2), an angular contact ball bearing (2-3), a servo motor (2-4), a telescopic cylinder ( 2-5), linear guide rail (2-6), dovetail slide table (2-7), revolution shaft (2-8), revolution slide bracket (2-9), rotation elimination flange (2-10), Revolving flange connection seat (2-11), rotation shaft connection seat (2-12), rotation bearing seat (2-13), rotation shaft (2-14), polishing disc connection chuck (2-15) and grinding polishing disc (2-16); The double-rotor grinding and polishing tool head (2) uses the tool head to connect the fixed flange (2-1) and the robot end flange (1-1) of the robot (1) using M12 cylindrical head socket head cap screws Fixing; the grinding and polishing disc (2-16) is fixed on the lower end of the rotation shaft (2-14) through the polishing disc connecting chuck (2-15), and the compressed air is connected to make the The rotation elimination flange (2-10) connected to the telescopic cylinder (2-5) is tightly pressed against the rotation flange at the upper end of the rotation shaft (2-14), so that the grinding and polishing disc (2-16 ) and the surface of the workpiece to be processed, adjust the pressure of the grinding and polishing disc (2-16) on the surface of the workpiece during processing by adjusting the size of the external air source, the revolution axis (2-8) and the dovetail sliding table (2- 7) Fix it in the hole of the dovetail slide table (2-7) by bolts, and then drive the revolution shaft (2-8) through the servo motor (2-4) and the synchronous pulley (2-2). ) and the rotation of the rotation axis (2-14) to grind and polish the surface of the machining element. 2. The double-rotor grinding and polishing tool used in coordination with the robot according to claim 1, is characterized in that, the tool head is designed to connect the fixed flange (2-1) with two connection and fixation modes: the top connection (a ) and back connection (b), you can choose a different connection method from the robot end flange (1-1) according to the height of the processing table to maximize the effective stroke. 3. The double-rotor grinding and polishing tool used in conjunction with a robot according to claim 1, characterized in that, through the cooperation of the dovetail sliding table (2-7) and the revolving shaft (2-8), the revolving shaft is (2-8) It is fixed on the dovetail sliding table (2-7) by bolts, which shortens the length of the entire revolution axis and maximizes the space utilization rate. At the same time, the slider of the dovetail sliding table (2-7) is adjusted. to adjust the eccentricity of the revolution to achieve a better modification effect. 4. The double-rotor grinding and polishing tool used with a robot according to claim 1, wherein the compressed air is inserted into the telescopic cylinder (2-5), and then the compressed air is adjusted through a pressure regulating valve The sizes reach different pressures, thereby generating different pressures on the rotation shaft (2-14), and the pressures are transmitted to the grinding and polishing discs (2-16) to remove materials from the components to achieve better trimming effects. 5. The double-rotor grinding and polishing tool used in conjunction with a robot according to claim 1, characterized in that, using the rotation-eliminating flange (2-10) and the telescopic cylinder (2-5) to be pressed tightly on the rotation axis ( 2-14) At the flange at the upper end, when the rotation shaft (2-14) rotates, the torque generated by the rotation will not be transmitted to the telescopic cylinder (2-5) through the friction force generated by pressing, At the end of the telescopic cylinder (2-5), the rotation elimination flange (2-10) will offset the torsion force, so that the telescopic cylinder (2-5) will not be rotated, and the telescopic cylinder (2-5) will be better protected. ) air tightness and service life.

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