CN103273409A - Multi-degree-of-freedom air bag polishing tool - Google Patents

Multi-degree-of-freedom air bag polishing tool Download PDF

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Publication number
CN103273409A
CN103273409A CN201310228133XA CN201310228133A CN103273409A CN 103273409 A CN103273409 A CN 103273409A CN 201310228133X A CN201310228133X A CN 201310228133XA CN 201310228133 A CN201310228133 A CN 201310228133A CN 103273409 A CN103273409 A CN 103273409A
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CN
China
Prior art keywords
air bag
polishing tool
cover
freedom
electric motor
Prior art date
Application number
CN201310228133XA
Other languages
Chinese (zh)
Inventor
郭隐彪
梁恺
张东旭
Original Assignee
厦门大学
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Publication date
Application filed by 厦门大学 filed Critical 厦门大学
Priority to CN201310228133XA priority Critical patent/CN103273409A/en
Publication of CN103273409A publication Critical patent/CN103273409A/en

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Abstract

The invention provides a multi-degree-of-freedom air bag polishing tool and relates to an air bag polishing tool. The multi-degree-of-freedom air bag polishing tool is provided with a multi-degree-of-freedom motor fixing seat, a multi-degree-of-freedom motor, a coupler, a lower end cover, an expansion sleeve, a locking sleeve, an elastic sleeve, an air bag, a shaft end connector, a box body, an upper end cover, a rotary shaft, an upper end bearing, a lower end bearing, an upper end sealing ring and a lower end sealing ring. The air bag is sleeved on the shaft end connector and is fixed through the elastic sleeve and the locking sleeve to form an air bag polishing tool head, the air bag polishing tool head is connected with the rotary shaft through the expansion sleeve, the upper end bearing and the lower end bearing are sleeved on the rotary shaft, the upper end bearing and a lower end bearing outer ring are fixed through the box body, the upper end cover and the lower end cover, and the upper end cover, the lower end cover and the box body are sealed through the upper end sealing ring and the lower end sealing ring. Air holes are formed on the box body and are connected with an air source externally. The rotary shaft is connected with a multi-degree-of-freedom motor shaft through the coupler, the multi-degree-of-freedom motor is fixed on the multi-degree-of-freedom motor fixing seat, and the multi-degree-of-freedom motor fixing seat is externally connected with a machine tool.

Description

A kind of multiple degrees of freedom air bag polishing tool
Technical field
The invention belongs to field of machining, relate to a kind of air bag polishing tool, especially relate to a kind of multiple degrees of freedom air bag polishing tool.
Background technology
The gasbag-type polishing is a kind of emerging finishing method, especially is fit to the polishing of curved surface.The spherical flexible air-bag of inflation that air bag polishing adopts outer surface to paste polishing pad polishes curved surface as polishing tool, can guarantee that not only rubbing head and polished surface of the work anastomose property are good, and can be by regulating the surface quality of pressure control polishing efficiency and polished workpiece.Air bag polishing has adopted a kind of similar gyro " precession " motion, and the axis of rotation of air bag polishing head becomes a fixed angle with the normal of workpiece polishing point during polishing.Thus, polishing area has obtained the polishing of uniformity in different directions, not only obtained the removal function of Gaussian, and the cut of polishing has also obtained smoothly, therefore being conducive to air bag polishing the material numerical optimization of removing and the quality that guarantees whole processing, is a kind of aspheric curve finishing method with development potentiality.(list of references: BINGHAM R G, WALKER D D, KIM D H.A Novel Automated Process for Aspheric Surfaces[C] //Proc.SPIE45 ThAnnual Meeting, the International Symposium on Optical Science and Technology, 2000:445-448).
In air bag precession polishing process, need to guarantee that the local normal of processing stand becomes a fixed angle with the axis of rotation of air bag polishing tool, be called angle of precession, this relates to the control that rotatablely moves in the space.Usually, rotatablely moving of each direction needs to control realization by a motor in the space, because the each point normal is all inequality at three-dimensional on the free form surface optical element, therefore when polishing, the air bag precession just need at least two electric rotating machines to realize the variation of air bag polishing tool axis of rotation locus, this has not only increased the complexity of machine tool mechanical structure, also increase the cost of lathe, increased the control algolithm complexity simultaneously.
Along with the development of high accuracy complex control systems such as manipulator, improve day by day for the requirement of driving mechanism precision and stability.Because multi-freedom electric motor is simple in structure, motion drives, controls rapidly and coordinate flexibly, has been subjected to the extensive concern of Chinese scholars.The multi-freedom electric motor of rare-earth permanent magnet can improve the motor magnetic energy product greatly, effectively improves the operational efficiency of motor, reduces the volume of motor, improves the controllability of motor.In addition, the multi-freedom electric motor of rare earth permanent magnet type has overcome the intrinsic relatively poor relatively congenital shortcoming of servo characteristic of asynchronous machine.Yusuf Oner has proposed a kind of novel permanent magnetic multi-freedom electric motor model, has simple in structure, high reliability features.(list of references: Lee strives. and a kind of multi-freedom electric motor three-dimensional magnetic field is analyzed and permanent magnet design [J]. dynamo-electric and control journal, 2012, (07): 65-71.)
Because the conventional balloon polishing tool controls to realize the precession polishing by using two motors to the air bag axis of rotation, not only increases cost, and improves the complexity of control algolithm, at above situation.
The present invention proposes a kind of air bag polishing tool based on multi-freedom electric motor, this air bag polishing tool can improve machining accuracy, simplifies control algolithm, simplifies conventional balloon polishing tool structure, reduce the lathe cost under the precondition that satisfies all kinds of optical element air bag precession polishings.
Summary of the invention
The objective of the invention is in the air bag precession polishing process, guarantee that the local normal of processing stand becomes the situation of a fixed angle with the axis of rotation of air bag polishing tool, provide a kind of multiple degrees of freedom air bag polishing tool.
The present invention is provided with multi-freedom electric motor holder, multi-freedom electric motor, shaft coupling, bottom end cover, swelling cover, lock sleeve, resilient sleeve, air bag, axle head connector, casing, upper end cover, rotating shaft, upper end bearing, bottom end bearing, upper end sealing ring and lower end sealing ring; Described Air sac cover is on the axle head connector, by resilient sleeve and lock sleeve air bag is fixed, form the air bag polishing tool head, described air bag polishing tool head is connected with rotating shaft by the swelling cover, be with upper end bearing and bottom end bearing in the rotating shaft, upper end bearing and bottom end bearing outer ring are fixed by casing, upper end cover and bottom end cover, and upper end cover, bottom end cover and casing seal by upper end sealing ring and lower end sealing ring; Described casing is provided with pore, the external source of the gas of described pore; Described rotating shaft is connected with the multi-freedom electric motor axle by shaft coupling, and multi-freedom electric motor is fixed on the multi-freedom electric motor holder, the external lathe of this multi-freedom electric motor holder.
Design philosophy of the present invention is, adopt multi-freedom electric motor control to replace traditional a plurality of motor actings in conjunction and realize air bag polishing tools rotatablely moving around three of X, Y, Z, make in the air bag precession polishing process, the local normal of processing stand becomes a fixed angle with the axis of rotation of air bag polishing tool, satisfies air bag precession polishing processing conditions.This air bag polishing tool can improve machining accuracy, simplifies control algolithm, simplifies conventional balloon polishing tool structure, reduce the lathe cost under the precondition that satisfies all kinds of optical element air bag precession polishing processing.The air bag polishing tool head can be changed according to the processing needs, connects by the swelling cover and can change bull air bag polishing tool head, thereby obtain different removal functions.
Multi-freedom electric motor holder of the present invention can be connected on the different lathes, makes air bag polishing tool satisfy various process requirements.Compare with the conventional balloon polishing tool, the present invention adopts multi-freedom electric motor to replace a plurality of motors cooperation controls, has the advantage that improves machining accuracy, simplification control algolithm, simplification conventional balloon polishing tool structure, reduction lathe cost.The air bag polishing tool head can be changed according to the processing needs, connects by the swelling cover and can change bull air bag polishing tool head, thereby obtain different removal functions.
The present invention is applicable to the polishing processing of all kinds of optical elements, comprises the plane, axisymmetric aspheric surface and free form surface etc.
The present invention is applied to air bag polishing processing with multi-freedom electric motor, has simplified the structure of air bag polishing tool effectively, makes this multiple degrees of freedom air bag polishing tool realize the precession polishing on the basis of single motor.
The present invention not only can use an air bag head, and is applicable to the situation that bull is used.Can connect different air bag polishing tool heads by the swelling cover, can obtain different removal functions by the combination of many air bags head, and improve working (machining) efficiency.
The present invention has the free degree around three or three above direction rotations.And employed multi-freedom electric motor does not limit the drive form of motor among the present invention, any have around the multi-freedom electric motor of the above direction rotation of three or three all suitable.
The present invention adopts multi-freedom electric motor control to replace traditional a plurality of motor actings in conjunction and realizes the multiple degrees of freedom rotation, under the precondition that satisfies all kinds of optical element air bag precession polishings, can improve machining accuracy, simplify control algolithm, simplify conventional balloon polishing tool structure, reduce the lathe cost.
Description of drawings
Fig. 1 is existing air bag polishing tool structure chart;
Fig. 2 is air bag precession polishing principles figure;
Fig. 3 is the structure chart of the embodiment of the invention;
Fig. 4 partly cuts open schematic diagram for the air bag polishing tool of the embodiment of the invention;
The multi-freedom electric motor illustraton of model of Fig. 5 for adopting in the embodiment of the invention;
Fig. 6 for adopt in the embodiment of the invention the multi-freedom electric motor cutaway view;
Fig. 7 is bull air bag polishing tool cutaway view;
Fig. 8 is bull air bag polishing tool upward view;
Fig. 9 is the embodiment schematic diagram of the embodiment of the invention.
Below give the mark of main accessory in publishing picture:
1-air bag axis of rotation z 1, 2-z 2Axle, 3-z 3Axle, the local normal of 4-, 5-multi-freedom electric motor holder, 6-multi-freedom electric motor, the 7-shaft coupling, 8-bottom end cover, 9-swelling cover, 10-lock sleeve, the 11-resilient sleeve, 12-air bag, 13-axle head connector, 14-casing, the 15-upper end cover, 16-rotating shaft, 17-multi-freedom electric motor axle, the spherical rotor of 18-, 19-cylindricality iron core, 20-multi-freedom electric motor shell, 21-stator coil, 22-upper end bearing, the 23-bottom end bearing, 24-lower end sealing ring, 25-upper end sealing ring, 26-free form surface optical element.
The specific embodiment
Following examples will be further elaborated technical scheme of the present invention by reference to the accompanying drawings:
Fig. 1 is existing air bag polishing tool structure chart.Air bag polishing tool has three rotating shafts: 1 axis of rotation (air bag axis of rotation z 11) and 2 imaginary axis (z 2Axle 2 and z 3Axle 3), the rotating range of 2 imaginary axis all is-π~π.Polishing air bag 12 is by its rotating speed of independent Electric Machine Control, z 2Axle 2 and z 3Rotatablely moving for the precession campaign of control air bag polishing tool of axle 3, wherein, z 2Axle 2 is in vertical direction, z 3Axle 3 is 45 ° with the angle of vertical direction.The motion of air bag polishing tool in the precession process is: the air bag axis of rotation is earlier around z 2Axle 2 rotation θ 1Angle is then again around z 3Axle 3 rotation θ 2Angle, thereby control air bag axis of rotation z 11 remains angle of precession with the angle value of the local normal of processing stand, air bag precession polishing principles as shown in Figure 2, i.e. air bag axis of rotation z in the polishing process 11 is same angle ρ with the local normal 4 of workpiece upthrow luminous point all the time.The air bag polishing tool of this structure need be controlled rotatablely moving of three axles separately respectively by three motors, satisfy the condition of air bag precession polishing, the complexity that this has not only increased the machine tool mechanical structure has also increased the cost of lathe, increases the control algolithm complexity simultaneously.Adopt the multiple degrees of freedom air bag polishing tool, only need a multi-freedom electric motor, can realize air bag precession polishing, under the precondition that satisfies all kinds of optical element air bag precession polishings, can improve machining accuracy, simplify control algolithm, simplify conventional balloon polishing tool structure, reduce the lathe cost.
Referring to Fig. 3 and 4, for structure chart and the air bag polishing tool of this multiple degrees of freedom air bag polishing tool partly cuts open schematic diagram, this air bag polishing tool structure is: air bag 12 is enclosed within on the axle head connector 13, makes air bag 12 fixing by resilient sleeve 11 and lock sleeve 10, forms the air bag polishing tool head.The air bag polishing tool head is connected with rotating shaft 16 by swelling cover 9, be with upper end bearing 22 and bottom end bearing 23 in the rotating shaft 16, upper end bearing 22 and bottom end bearing 23 outer rings are fixing by casing 14, upper end cover 15 and bottom end cover 8, and upper end cover 15, bottom end cover 8 and casing seal by upper end sealing ring 25 and lower end sealing ring 24.Casing 14 is provided with pore, controls the flexibility of air bag polishing tool head by the controlled gases at high pressure of charged pressure.Rotating shaft 16 is connected with multi-freedom electric motor axle 17 by shaft coupling 7, and multi-freedom electric motor 6 is fixed on the multi-freedom electric motor holder 5, and this multi-freedom electric motor holder 5 can be connected on the different lathes.Add man-hour, the air admission hole on the casing 14 is connected with air inlet pipe, and the flexibility by adjustments of gas pressure control air bag polishing tool head makes it to satisfy processing request; Multi-freedom electric motor control air bag polishing tool rotatablely moves around three of X, Y, Z's, makes that the local normal of processing stand becomes a fixed angle with the axis of rotation of air bag polishing tool, satisfies the air bag precession and polishes processing conditions in the air bag precession polishing process.
Referring to Fig. 5 and 6, be the multi-freedom electric motor illustraton of model that uses in this multiple degrees of freedom air bag polishing tool, the multi-freedom electric motor major part is 8 independently spherical rotors 18 of forming of stator coil 21 and 4 utmost point rare earth permanent magnets.Each stator coil 21 has a corresponding cylindricality unshakable in one's determination 19 to play supporting and magnetic conduction effect.This motor arrives rotating shaft 16 by the moment that multi-freedom electric motor axle 17 transmits on the spherical rotor 18.8 independently stator coil two-layer placements in 21 fens are done the 3DOF motion thereby drive spherical rotor 18.The spherical rotor 18 that 4 utmost point rare earth permanent magnets are formed is placed on the geometric center of motor.The spherical rotor 18 of permanent magnetism can be done rotation ± 180 ° and deflection ± 45 ° motion, and the direction of motion of multi-freedom electric motor axle 17 and movement velocity are determined by the step mode of 8 stator coils 21 and size of current.And the multi-freedom electric motor drive form is not limited to the permanent magnet described in the specification and drives, and the multi-freedom electric motor that has around three direction rotations of any drive form all is applicable to the present invention.
Certainly, this air bag polishing tool is not limited to the single head air bag polishing tool described in the specification in the embodiment of the invention, connects by swelling cover 9, can change various air bag polishing tool heads.Be depicted as the bull air bag polishing tool head with five air bags 12 as Fig. 7 and 8, this bull air bag polishing tool head is by axle head connector 13, lock sleeve 10, and resilient sleeve 11, air bag 12 is formed.Wherein the axle head connector is through redesign, and five air bags 12 are enclosed within five positions on the axle head connector 13, make air bag 12 fixing by resilient sleeve 11 and lock sleeve 10 respectively, form bull air bag polishing tool head.Certainly, the number of air bag 12 can arrange according to the processing needs, can obtain different air bag polishing tools by a plurality of air bag 12 combinations and remove function, and can improve working (machining) efficiency effectively.
Precession polishing with any two-phase adjoint point on the free form surface optical element 26 describes embodiment of the present invention below.Owing to need guarantee the local normal 4 of processing stand and the air bag axis of rotation z during free form surface optical element 26 precession polishing 11 one-tenth one fixed angle, therefore, the precession polishing process is generally cooperated to finish by two motions: namely rotatablely move and feed motion, wherein rotatablely move for guaranteeing that the normal between two test points changes, feed motion is used for changing the relative space position of air bag polishing tool and processing stand, and air bag polishing tool moves on the position of processing stand in the prerequisite lower linear that guarantees angle of precession.Be illustrated in figure 9 as the precession polishing process of two adjacent processing stand A, B on the free form surface optical element 26, the angle of the local normal of air bag polishing tool rotating shaft and A point is angle of precession in the diagram, finished the precession polishing that A is ordered, and the B point is next processing stand, because the normal of arbitrfary point is all inequality at three-dimensional on the free form surface optical element 26, therefore, air bag axis of rotation z 1It is the position (with reference to the direction of rotation of figure 4 multi-freedom electric motors) of angle of precession that 1 needs be adjusted to the local normal angle of B point by rotatablely moving of three directions through multi-freedom electric motor 6, multi-freedom electric motor 6 is accurately controlled by the electrical current size in the control multi-freedom electric motor stator coil 21 in the anglec of rotation of all directions, when regulating the air bag polishing tool rotating shaft by rotatablely moving of multi-freedom electric motor 7, owing to needs are avoided interference and air bag polishing tool and B point position and are had reasons such as locus deviation, need regulate the relative position relation that air bag polishing tool and B are ordered by feed motion, i.e. X by lathe, Y, Feed Motion Control on three directions of Z drives air bag polishing tool and carries out three linear movements on the direction, thereby guarantee in the precession polishing process the local normal 4 of processing stand and air bag axis of rotation z 11 one-tenth one fixed angle.

Claims (1)

1. a multiple degrees of freedom air bag polishing tool is characterized in that being provided with multi-freedom electric motor holder, multi-freedom electric motor, shaft coupling, bottom end cover, swelling cover, lock sleeve, resilient sleeve, air bag, axle head connector, casing, upper end cover, rotating shaft, upper end bearing, bottom end bearing, upper end sealing ring and lower end sealing ring; Described Air sac cover is on the axle head connector, by resilient sleeve and lock sleeve air bag is fixed, form the air bag polishing tool head, described air bag polishing tool head is connected with rotating shaft by the swelling cover, be with upper end bearing and bottom end bearing in the rotating shaft, upper end bearing and bottom end bearing outer ring are fixed by casing, upper end cover and bottom end cover, and upper end cover, bottom end cover and casing seal by upper end sealing ring and lower end sealing ring; Described casing is provided with pore, the external source of the gas of described pore; Described rotating shaft is connected with the multi-freedom electric motor axle by shaft coupling, and multi-freedom electric motor is fixed on the multi-freedom electric motor holder, the external lathe of this multi-freedom electric motor holder.
CN201310228133XA 2013-06-08 2013-06-08 Multi-degree-of-freedom air bag polishing tool CN103273409A (en)

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Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104972380A (en) * 2015-07-13 2015-10-14 厦门大学 Air bag polishing procession mechanism
CN106271977A (en) * 2016-09-22 2017-01-04 西北工业大学 A kind of compliant mechanism for blade polishing and finishing method
CN106346347A (en) * 2016-09-22 2017-01-25 西北工业大学 Polishing mechanism for blade intake/exhaust edge and polishing method
CN108214116A (en) * 2018-01-22 2018-06-29 集美大学 A kind of ultrasonic vibration polishing processing device
CN109676507A (en) * 2019-01-23 2019-04-26 厦门大学 A kind of high speed air-floating main shaft air bag polishing device
CN110757318A (en) * 2019-11-08 2020-02-07 浦江光特通讯技术有限公司 Surface treatment device for satellite signal receiving equipment

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5255474A (en) * 1990-08-06 1993-10-26 Matsushita Electric Industrial Co., Ltd. Polishing spindle
CN102554749A (en) * 2012-02-08 2012-07-11 厦门大学 Dynamic load type flexible polishing head
CN102825543A (en) * 2012-09-18 2012-12-19 厦门大学 Air bag polishing head for air bag polishing
CN102922389A (en) * 2012-11-16 2013-02-13 厦门大学 Polishing device and polishing method of aspheric optical element
CN103128628A (en) * 2013-03-18 2013-06-05 厦门大学 Optical element processing and detecting platform based on multi-degree-of-freedom motor

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5255474A (en) * 1990-08-06 1993-10-26 Matsushita Electric Industrial Co., Ltd. Polishing spindle
CN102554749A (en) * 2012-02-08 2012-07-11 厦门大学 Dynamic load type flexible polishing head
CN102825543A (en) * 2012-09-18 2012-12-19 厦门大学 Air bag polishing head for air bag polishing
CN102922389A (en) * 2012-11-16 2013-02-13 厦门大学 Polishing device and polishing method of aspheric optical element
CN103128628A (en) * 2013-03-18 2013-06-05 厦门大学 Optical element processing and detecting platform based on multi-degree-of-freedom motor

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104972380A (en) * 2015-07-13 2015-10-14 厦门大学 Air bag polishing procession mechanism
CN106271977A (en) * 2016-09-22 2017-01-04 西北工业大学 A kind of compliant mechanism for blade polishing and finishing method
CN106346347A (en) * 2016-09-22 2017-01-25 西北工业大学 Polishing mechanism for blade intake/exhaust edge and polishing method
CN108214116A (en) * 2018-01-22 2018-06-29 集美大学 A kind of ultrasonic vibration polishing processing device
CN109676507A (en) * 2019-01-23 2019-04-26 厦门大学 A kind of high speed air-floating main shaft air bag polishing device
CN110757318A (en) * 2019-11-08 2020-02-07 浦江光特通讯技术有限公司 Surface treatment device for satellite signal receiving equipment

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