CN107414631B - Aperture aspherical robot eccentric planetary burnishing device - Google Patents
Aperture aspherical robot eccentric planetary burnishing device Download PDFInfo
- Publication number
- CN107414631B CN107414631B CN201710708784.7A CN201710708784A CN107414631B CN 107414631 B CN107414631 B CN 107414631B CN 201710708784 A CN201710708784 A CN 201710708784A CN 107414631 B CN107414631 B CN 107414631B
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- CN
- China
- Prior art keywords
- belt wheel
- transmission mechanism
- polishing
- big belt
- fixed
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B13/00—Machines or devices designed for grinding or polishing optical surfaces on lenses or surfaces of similar shape on other work; Accessories therefor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
- B24B41/007—Weight compensation; Temperature compensation; Vibration damping
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
- B24B41/04—Headstocks; Working-spindles; Features relating thereto
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B47/00—Drives or gearings; Equipment therefor
- B24B47/10—Drives or gearings; Equipment therefor for rotating or reciprocating working-spindles carrying grinding wheels or workpieces
- B24B47/12—Drives or gearings; Equipment therefor for rotating or reciprocating working-spindles carrying grinding wheels or workpieces by mechanical gearing or electric power
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Abstract
The invention discloses aperture aspherical robot eccentric planetary burnishing device, primary structure is made of eccentric planetary transmission mechanism and buff spindle assembly two parts.Eccentric planetary transmission mechanism realizes that burnishing device end executes revolution and autobiography moves by same motor simultaneously, wherein comprising epicyclic transmission mechanism and mass center balance mechanism, it can be achieved that dynamic balance stability when mechanism operates.Buff spindle assembly is made of low friction cylinder, rotary ball spline and polishing hollow shaft, polishing fluid can be injected to polishing disk in polishing by polishing hollow shaft, to realize dynamic pressure, static pressure polishing, the buff spindle of pure rolling connection type pressure control it is upper influenced by frictional force it is very low, thus with very high control precision.
Description
Technical field
The invention belongs to precision machineries and optical manufacturing manufacturing field, are a kind of ends for being dedicated to optimizing robot polishing
Device, the device are suitable for the precise polished of aperture aspherical element.
Background technique
Astronomy and space exploration technology have extremely important effect, advanced optical instrument one to scientific technological advance
It is directly the key position for supporting its development.With development in science and technology, the requirement to component is higher and higher, has high-precision big mouth
Diameter aspherical optical element increasingly becomes essential element.Computer controls surface forming technique, compared to traditional light
Processing technology is learned, not only the ability of the element with machining high-precision, but also processing efficiency can be greatly improved, therefore, it has become aspherical
The major way of Optical element manufacturing processing.The polishing tool of present form mostly uses small abrasive nose polishing technology, its advantage is that throwing
Light precision is high, but the disadvantage is that structure is complicated, inefficient.Burnishing device usually requires to realize three Xiang Gongneng: planetary motion, bias
It adjusts and aligning pressurizing device.Traditional burnishing device, production technology fall behind, inefficiency, and human and material resources waste is serious.
Summary of the invention
The purpose of the present invention is to overcome the disadvantages of the prior art, and it is each to provide a kind of speed for improving polishing, pressure etc.
Item performance indicator improves polishing efficiency, tightness and service life, while reducing the size and energy consumption of burnishing device
Aperture aspherical robot eccentric planetary burnishing device.
The present invention is achieved through the following technical solutions:
Aperture aspherical robot eccentric planetary burnishing device, including low rubbing cylinder, the low rubbing cylinder
Piston rod is sequentially connected transit joint, rotary joint and splined shaft, work of the splined shaft in low rubbing cylinder from top to bottom
There is vertical direction freedom degree, piston rod, transit joint, rotary joint and the flower of the low rubbing cylinder under the drive of stopper rod
Key axis is equipped with the hollow structure being mutually communicated, and all hollow structures form polishing fluid injection channel, in the spline
The lower end of axis is equipped with polishing tool, and a servo motor and the low rubbing cylinder parallel interval are arranged, the servo
The output shaft of motor and the piston rod of cylinder are arranged along the vertical direction, output shaft and the retarder phase of the servo motor
Even, the retarder is fixed on shell, and the output shaft of the retarder is connected with clump weight, and the clump weight is used for
The mass center of single unit system is balanced to the axis of the output shaft of motor, is fixed with rotating shaft on the bottom wall of the clump weight
The active big belt wheel of the output shaft of line and motor biasing setting, protrudes above in the bottom wall of the active big belt wheel and is provided with actively
Transmission mechanism set casing intracorporal left side of the centre with cavity and institute is arranged in pulley shaft, the active big belt wheel
The driving belt pulley shaft stated is rotatably connected in the groove opened up on the fixed Housing Base of transmission mechanism by bearing, and a cross is handed over
The top shoe of fork guide rail is fixed on the outer wall of the fixed Housing Base of the transmission mechanism, the right-angled intersection guide rail it is upper
The horizontal axis of sliding block is coplanar with the axis of rotation of active big belt wheel, the fixed shell and ten of the clump weight, transmission mechanism
Word cross slideway is arranged in shell, and the low rubbing cylinder is fixed on the top plate on the right side of the fixed shell of transmission mechanism,
Driven small pulley is connected on the splined shaft, the active big belt wheel is connected with driven small pulley by belt so that spline
Axis has rotary freedom.
The beneficial effects of the present invention are: the spinning motion peace needed for being polished using the same motor control is rotated, significantly
Reduce polishing cost；The quality the best part of burnishing device is on motor shaft, therefore required counterweight substantially reduces,
To reduce the size and weight of burnishing device again；Using direct eccentric and right-angled intersection guide rail connection type, on the one hand
Integrally-built complexity is reduced, the accurate control to polishing disk on the other hand may be implemented, to improve processing efficiency；
By structure feature, make integral full-closed, eliminates influence of the polishing residue to burnishing device；Traditional buff spindle is changed to hollow
Formula can be realized simultaneously dynamic pressure, static pressure polishing；End polishing part using without friction cylinder, can effectively to polishing disk into
Row control.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of aperture aspherical robot eccentric planetary burnishing device of the invention；
Fig. 2 is on the basis of burnishing device shown in Fig. 1 to the schematic cross-sectional view of cylinder side；
Fig. 3 is the left view cross-sectional view of structure shown in FIG. 1.
Specific embodiment
With reference to the accompanying drawing, detailed description of the preferred embodiments.
Referring to attached drawing, aperture aspherical robot eccentric planetary burnishing device of the invention, including 1 He of servo motor
The low rubbing cylinder 9 being arranged with 1 parallel interval of servo motor, the output shaft of the servo motor 1 and cylinder
Piston rod is arranged along the vertical direction, and the low rubbing cylinder is fixed on the top plate on fixed 5 right side of shell of transmission mechanism, institute
The piston rod for the low rubbing cylinder stated passes through a transit joint and a rotary joint and spline axis connection, the splined shaft
8 use as buff spindle.The splined shaft and spline mother is slidably connected, and the spline mother is fixed on the fixed shell of transmission mechanism
On 5, the transit joint is fixed in the piston-rod lower end of the low rubbing cylinder, and the rotary joint is rotatably connected on the mistake
The lower end of connector is crossed, driven small pulley 7-3 is connected on the splined shaft, installation polishing tool is (in figure in the lower end of splined shaft 8
Shown in a).The output pressure of control low rubbing cylinder 9 can be realized the accurate control to polishing disk pressure.From top to bottom successively
Piston rod, transit joint, rotary joint and the splined shaft of the low rubbing cylinder of connection are equipped with the hollow knot being mutually communicated
Structure, all hollow structures form polishing fluid injection channel, therefore polishing fluid can be injected by the polishing fluid injection channel and be thrown
CD, to realize that dynamic pressure polishes.The splined shaft has vertical direction free under the drive of the piston rod of low rubbing cylinder
Degree, in said structure, low rubbing cylinder and its piston rod are not involved in spinning motion, realize that dynamic pressure is thrown using hollow structure
Light technology.
The structure of the cylinder 9 and splined shaft 8 may refer to Publication No. CN204195436U, entitled " big
Structure disclosed in the aspherical robot planetary polishing device of bore ".
The output shaft of the servo motor 1 is connected with retarder 2, and the retarder is fixed on shell 3, described
The output shaft of retarder 2 is connected with clump weight 4, and the clump weight 4 is used to balance the mass center of single unit system defeated to motor 1
On the axis of shaft, the master of the output shaft biasing setting of axis of rotation and motor 1 is fixed on the bottom wall of the clump weight 4
Dynamic big belt wheel 7-1, protrudes above in the bottom wall of the active big belt wheel 7-1 and is provided with driving belt pulley shaft, the big band of the active
The left side in the fixed shell 5 of transmission mechanism of the centre with cavity is arranged in wheel 7-1 and the driving belt pulley shaft is logical
It crosses bearing to be rotatably connected in the groove opened up on fixed 5 bottom plate of shell of transmission mechanism, the top shoe of a right-angled intersection guide rail 6
It is fixed on the outer wall of fixed 5 bottom plate of shell of the transmission mechanism, the trunnion axis of the top shoe of the right-angled intersection guide rail 6
Line is coplanar with the axis of rotation of active big belt wheel 7-1.Clump weight 4, the fixed shell 5 of transmission mechanism and the right-angled intersection is led
Rail 6 is arranged in shell 3.The active big belt wheel 7-1 is connected with driven small pulley 7-3 so that splined shaft by belt 7-2
With rotary freedom.
In order to adjust the revolving speed that active big belt wheel 7-1 is output to driven small pulley 7-3, can in active big belt wheel 7-1 and
One group of counter wheel group 7-4 is set in the fixed shell 5 of transmission mechanism between driven small pulley 7-3, row is at second level belt wheel transmission.
The counter wheel group 7-4 includes the small pulley and big belt wheel of coaxial arrangement.The active big belt wheel 7-1 by belt with
The small pulley of counter wheel 7-4 is connected, and the big belt wheel of the counter wheel group 7-4 passes through belt and driven small pulley 7-3 phase
Even.
Using the work course of the present apparatus is as follows:
Eccentric planet transmission mechanism: motor 1 drives clump weight 4 and active big belt wheel 7-1 rotation by retarder 2, by
Eccentric connection between active big belt wheel 7-1 and clump weight 4, active big belt wheel are done revolution around electrical axis and are phoresied certainly
It is dynamic.On the one hand, the spinning motion of active big belt wheel 7-1 is transferred to the driven small pulley 7-3 in end by V belt translation, drives end
Splined shaft 8 rotates；On the other hand, the revolution motion of active big belt wheel 7-1 makes the fixed shell 5 of coupled transmission mechanism
Revolution motion is done around electrical axis, and transmission mechanism fixes constraint of the shell 5 by right-angled intersection guide rail 6, and rotation is decomposed
For orthogonal linear translation, to keep the burnishing device for being fixed on fixed 5 end of shell of transmission mechanism flat along assigned direction
It is dynamic.The motor connection component of centering type, using the planet device of servo motor driving retarder connection, servo motor passes through revolving speed
Adjustment control, different shape and different desired removal function may be implemented.When motor rotary motion, bias will be driven
The fixed shell 5 of transmission mechanism does eccentric rotational motion, and clump weight 4 moves in a circle in eccentric opposite side simultaneously at this time, to reduce
During the work time, the pressure influence that is generated due to centrifugal movement reduces the vibratory impulse to burnishing device to burnishing device,
Improve the machining accuracy and control performance of burnishing device.
The spinning motion of servo motor 1 is transferred to the spline of fixed 5 end of shell of transmission mechanism by belt wheel transmission mechanism
Axis 8.The piston rod of cylinder 9 does not make spinning motion with splined shaft 8, and the splined shaft 8 as buff spindle is made to have rotation and vertical side
To two freedom degrees.It is connected on vertical direction with the piston rod of cylinder 9, so as to real by the output pressure of control cylinder 9
Now to the accurate control of polishing disk pressure.Frictional force can reduce to end burnishing device pressure using low rubbing cylinder and splined shaft
The influence of power conduction, while so that mechanism is obtained preferable sealing, and reduce the abrasion of cylinder, improve the service life of mechanism.
Buff spindle is designed as hollow structure, and the piston rod and splined shaft of cylinder are hollow structure, therefore can will throw in polishing
Light liquid injects burnishing device by splined shaft 8, to realize that dynamic pressure polishes.
Claims (2)
1. aperture aspherical robot eccentric planetary burnishing device, including low rubbing cylinder, the work of the low rubbing cylinder
Stopper rod is sequentially connected transit joint, rotary joint and splined shaft, piston of the splined shaft in low rubbing cylinder from top to bottom
There is vertical direction freedom degree, piston rod, transit joint, rotary joint and the spline of the low rubbing cylinder under the drive of bar
Axis is equipped with the hollow structure being mutually communicated, and all hollow structures form polishing fluid injection channel, in the splined shaft
Lower end polishing tool is installed, it is characterised in that: servo motor and the low rubbing cylinder parallel interval are arranged, institute
The output shaft for the servo motor stated and the piston rod of cylinder are arranged along the vertical direction, the output shaft of the servo motor with
Retarder is connected, and the retarder is fixed on shell, and the output shaft of the retarder is connected with clump weight, and described matches
Pouring weight is for balancing the mass center of single unit system to the axis of the output shaft of servo motor, on the bottom wall of the clump weight
It is fixed with the active big belt wheel of the output shaft biasing setting of axis of rotation and servo motor, in the bottom wall of the active big belt wheel
It protrudes above and is provided with driving belt pulley shaft, the transmission mechanism set casing that a centre has cavity is arranged in the active big belt wheel
Intracorporal left side and the driving belt pulley shaft are rotatably connected on by bearing to be opened up on the fixed Housing Base of transmission mechanism
In groove, the top shoe of a right-angled intersection guide rail is fixed on the outer wall of the fixed Housing Base of the transmission mechanism, described
Right-angled intersection guide rail top shoe horizontal axis it is coplanar with the axis of rotation of active big belt wheel, the clump weight, transmission
The fixed shell of mechanism and right-angled intersection guide rail are arranged in shell, and the low rubbing cylinder is fixed on transmission mechanism set casing
On top plate on the right side of body, be connected with driven small pulley on the splined shaft, the active big belt wheel by belt with it is driven
Small pulley is connected so that splined shaft has rotary freedom.
2. aperture aspherical robot eccentric planetary burnishing device according to claim 1, it is characterised in that: in master
One group of counter wheel group is provided in transmission mechanism set casing body between dynamic big belt wheel and driven small pulley, row is at second level belt wheel
Transmission, the counter wheel group include coaxial arrangement small pulley and big belt wheel, the active big belt wheel by belt with
The small pulley of counter wheel group is connected, and the big belt wheel of the counter wheel group is connected by belt with driven small pulley.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710708784.7A CN107414631B (en) | 2017-08-17 | 2017-08-17 | Aperture aspherical robot eccentric planetary burnishing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710708784.7A CN107414631B (en) | 2017-08-17 | 2017-08-17 | Aperture aspherical robot eccentric planetary burnishing device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107414631A CN107414631A (en) | 2017-12-01 |
| CN107414631B true CN107414631B (en) | 2019-04-05 |
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| CN201710708784.7A Expired - Fee Related CN107414631B (en) | 2017-08-17 | 2017-08-17 | Aperture aspherical robot eccentric planetary burnishing device |
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| CN (1) | CN107414631B (en) |
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| CN108581840B (en) * | 2018-06-19 | 2023-10-20 | 天津大学 | Swing aligning structure for feeding circular arc track |
| CN108818217B (en) * | 2018-09-29 | 2024-09-06 | 浙江昀丰新材料科技股份有限公司 | Polishing structure and polishing equipment |
| CN109605198B (en) * | 2018-11-30 | 2020-07-03 | 天津大学 | Flexible polishing device for robot polishing |
| CN109664178B (en) * | 2018-12-14 | 2020-10-16 | 天津大学 | Polishing mechanism with variable transmission ratio and eccentric value changed through eccentric adjusting block |
| CN109719587B (en) * | 2018-12-14 | 2020-07-28 | 天津大学 | Polishing mechanism with variable transmission ratio and eccentric value changed through threaded lead screw |
| CN110000682B (en) * | 2019-04-03 | 2024-04-05 | 中国科学院西安光学精密机械研究所 | Single-transmission planetary polishing device |
| CN110976188A (en) * | 2019-12-18 | 2020-04-10 | 安徽皓月电气有限公司 | Automatic gluing device for end part of capacitor shell |
| CN112775728A (en) * | 2021-01-13 | 2021-05-11 | 长光卫星技术有限公司 | Ultrasonic polishing device used in cooperation with robot |
| CN114552923B (en) * | 2022-04-22 | 2022-07-12 | 成都工业学院 | Dynamic balance correcting device for fan rotor |
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| CN2144560Y (en) * | 1992-12-02 | 1993-10-27 | 刘晓明 | Planetary grinding device for vertical machine tool |
| DE19825922C2 (en) * | 1998-06-10 | 2001-01-04 | Schneider Gmbh & Co Kg | Lens wheel grinding machine |
| CN101386144A (en) * | 2008-09-03 | 2009-03-18 | 长春理工大学 | Planet initiative polishing device of optical elements and method |
| CN201231438Y (en) * | 2008-08-08 | 2009-05-06 | 贵州西南工具(集团)有限公司 | Rotary oscillating device for spherical surface grinding device |
| CN101823224A (en) * | 2010-04-21 | 2010-09-08 | 中国人民解放军国防科学技术大学 | Planetary wheel numerical control polishing removal function generator |
| CN204195436U (en) * | 2014-10-17 | 2015-03-11 | 天津大学 | Aperture aspherical robot planetary polishing device |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3868474B1 (en) * | 2006-05-08 | 2007-01-17 | 司工機株式会社 | Machining tools |
-
2017
- 2017-08-17 CN CN201710708784.7A patent/CN107414631B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2144560Y (en) * | 1992-12-02 | 1993-10-27 | 刘晓明 | Planetary grinding device for vertical machine tool |
| DE19825922C2 (en) * | 1998-06-10 | 2001-01-04 | Schneider Gmbh & Co Kg | Lens wheel grinding machine |
| CN201231438Y (en) * | 2008-08-08 | 2009-05-06 | 贵州西南工具(集团)有限公司 | Rotary oscillating device for spherical surface grinding device |
| CN101386144A (en) * | 2008-09-03 | 2009-03-18 | 长春理工大学 | Planet initiative polishing device of optical elements and method |
| CN101823224A (en) * | 2010-04-21 | 2010-09-08 | 中国人民解放军国防科学技术大学 | Planetary wheel numerical control polishing removal function generator |
| CN204195436U (en) * | 2014-10-17 | 2015-03-11 | 天津大学 | Aperture aspherical robot planetary polishing device |
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| Publication number | Publication date |
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| CN107414631A (en) | 2017-12-01 |
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Address after: 300350 District, Jinnan District, Tianjin Haihe Education Park, 135 beautiful road, Beiyang campus of Tianjin University Applicant after: Tianjin University Address before: 300072 Tianjin City, Nankai District Wei Jin Road No. 92 Applicant before: Tianjin University |
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Granted publication date: 20190405 Termination date: 20210817 |