CN114603461B - Constant-force floating polishing device - Google Patents

Abstract

The invention relates to aspheric optical processing equipment, in particular to a constant-force floating polishing device. The polishing device comprises a polishing tool head, a lower elastic part, a fixed sleeve, a floating mandrel, an upper elastic part, a rotary driving device and a protective shell, wherein the fixed sleeve is connected to the protective shell, and the floating mandrel is arranged in the fixed sleeve and has the freedom degrees of rotation and axial movement; a lower elastic component and an upper elastic component which are abutted with the fixed sleeve are respectively arranged at two ends of the floating mandrel; the rotary driving device is arranged in the protective shell, the output end of the rotary driving device is connected with the upper end of the floating mandrel, and the lower end of the floating mandrel is detachably connected with the polishing tool head. The invention realizes the controllable pressure and rotation speed in the polishing process, can be quickly integrated with a universal industrial robot, can self-adapt and compensate errors and vibration in the process of executing a polishing program by the industrial robot, and is beneficial to developing deterministic polishing work based on the industrial robot.

Description

A constant force floating polishing device

technical field

The invention relates to aspherical optical processing equipment, in particular to a constant force floating polishing device.

Background technique

Traditional optical aspheric polishing is done manually, which is labor-intensive and low-efficiency polishing. Advanced CNC polishing equipment, a medium-caliber equipment costs several million, and the input cost and maintenance cost are huge. Industrial robots have many degrees of freedom, large arms, and are mature standardized products. Using industrial robots to polish aspheric optical components is a cost-effective technical route. Aspherical polishing by industrial robots requires the development of polishing algorithm software suitable for robots on the one hand, and the development of polishing tool systems suitable for industrial robots on the other. The pressure and speed of the existing polishing tools are uncontrollable during the polishing process, and the installation with the industrial robot is cumbersome and the installation accuracy is not high, which makes the industrial robot have errors and vibrations when executing the program, which is not conducive to the accuracy of the polishing work.

Contents of the invention

In view of the above problems, the purpose of the present invention is to provide a constant force floating polishing device, which realizes the controllable pressure and rotational speed of the polishing process, and can be quickly integrated with general industrial robots, and can adapt and compensate for industrial robots to perform polishing procedures. Errors and vibrations in the machine are helpful for deterministic polishing work based on industrial robots.

In order to achieve the above object, the present invention adopts the following technical solutions:

A constant force floating polishing device, comprising a polishing tool head, a lower elastic part, a fixed sleeve, a floating mandrel, an upper elastic part, a rotary drive device and a protective shell, wherein the rotary drive device is arranged in the protective shell, and the fixed sleeve wears The protective shell is connected with the rotary drive device, the floating mandrel is set in the fixed sleeve and has the freedom of rotation and axial movement; the two ends of the floating mandrel are respectively provided with The lower elastic part and the upper elastic part are connected; the upper end of the floating mandrel is connected with the output end of the rotary driving device, and the lower end is detachably connected with the polishing tool head.

A ball linear bearing is provided between the floating mandrel and the fixed sleeve, and a lower deep groove ball bearing and an upper deep groove ball bearing are respectively provided at both ends of the floating mandrel, and the lower elastic part is located on the Between the lower deep groove ball bearing and the ball linear bearing, the upper elastic member is located between the upper deep groove ball bearing and the ball linear bearing.

The lower deep groove ball bearing and the upper deep groove ball bearing are respectively locked on the shaft shoulder of the floating mandrel by the lower lock nut and the upper lock nut; the lower deep groove ball bearing and the upper The inner ring of the deep groove ball bearing transition fits with the floating mandrel.

The lower elastic component includes a lower spring support and a lower compression spring, wherein the lower spring support is a stepped structure, and its large end is in transition fit with the outer ring of the lower deep groove ball bearing, and the small end of the lower spring support is inserted into the The inside of one end of the lower compression spring acts as a limiter for the lower compression spring; the other end of the lower compression spring abuts against the lower inner stop of the fixing sleeve.

The upper elastic component includes an upper compression spring and an upper spring bracket, wherein the upper spring bracket is a stepped structure, and its large end is in clearance fit with the outer ring of the upper deep groove ball bearing, and the small end of the upper spring bracket is inserted into the upper compression One end of the spring is inside, and the other end of the upper compression spring abuts against the upper inner stop of the fixing sleeve.

The outer side of the lower elastic part is provided with an adjusting nut, and the adjusting nut is threadedly connected with the fixing sleeve, and drives the lower deep groove ball bearing to preload the upper elastic part to provide adjustable polishing pressure.

The adjustment nut and the floating mandrel are sealed by an oil seal.

The fixing sleeve is fixed on one end of the protective shell through a sealing end cap, and the other end of the protective shell is provided with an adapter flange, and the adapter flange is used for connecting with an industrial robot.

The sealing ring is used to seal the fixed sleeve and the protective shell.

The rotary driving device includes a motor reducer assembly; one end of the fixed sleeve is connected to the fixed part of the motor reducer assembly; the output shaft of the motor reducer assembly is a hollow shaft, and the hollow shaft is along the shaft A chute is arranged in the direction, and the floating mandrel is inserted into the hollow shaft of the motor reducer assembly, and is connected with the chute through a key.

Advantage of the present invention and beneficial effect are:

1. The present invention has independent electrical and mechanical parts, and can be installed at the end of different types of industrial robots by replacing the flange.

2. The present invention has the functions of axial floating and constant force polishing, and has a double spring structure. The upper spring offsets the gravity effect of the floating link, and the lower spring applies polishing pressure, which can realize the controllable and adjustable speed and pressure; the design can Adapting and compensating for errors and vibrations in the process of performing polishing procedures by industrial robots is helpful for deterministic polishing based on industrial robots.

3. The polishing tool head at the end of the present invention is connected to the floating mandrel of the polishing device through threads, and the installation and replacement time and cost are low, and based on this standard joint, any polishing tool that does not have a floating function can be connected to the floating mandrel On the surface, it automatically has the characteristic of floating during the polishing process.

Description of drawings

Fig. 1 is a schematic structural view of a constant force floating polishing device according to an embodiment of the present invention;

Fig. 2 is an assembly diagram of the connection between the constant force floating polishing device and the industrial robot according to an embodiment of the present invention.

In the figure: 1. Polishing tool head, 2. Oil seal, 3. Lower locking nut, 4. Adjusting nut, 5. Lower deep groove ball bearing, 6. Lower spring bracket, 7. Lower compression spring, 8. Fixed sleeve , 9. Ball linear bearing, 10. Floating mandrel, 11. Upper compression spring, 12. Upper spring bracket, 13. Upper deep groove ball bearing, 14. Upper lock nut, 15. Sealing end cover, 16. Sealing ring , 17. Motor reducer assembly, 18. Protective shell, 19. Adapter flange, 20. Industrial robot.

Detailed ways

In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments.

As shown in Figure 1, a constant force floating polishing device provided by the present invention includes a polishing tool head 1, a lower elastic component, a fixed sleeve 8, a floating mandrel 10, an upper elastic component, a rotary drive device and a protective shell 18, The rotary driving device is arranged in the protective shell 18 , and the fixed sleeve 8 passes through the protective shell 18 to connect with the rotary driving device. The floating mandrel 10 is arranged in the fixed sleeve 8 and has the freedom of rotation and axial movement; the two ends of the floating mandrel 10 are respectively provided with a lower elastic member and an upper elastic member abutting on the fixed sleeve 8; The upper end of the mandrel 10 is connected with the output end of the rotary driving device, and the lower end is detachably connected with the polishing tool head 1 .

In this embodiment, a linear ball bearing 9 is provided between the floating mandrel 10 and the fixed sleeve 8, and the ball linear bearing 9 is connected to the fixed sleeve 8 with an interference fit. Swipe straight. The two ends of the floating mandrel 10 are respectively provided with a lower deep groove ball bearing 5 and an upper deep groove ball bearing 13, the lower elastic part is located between the lower deep groove ball bearing 5 and the ball linear bearing 9, and the upper elastic part is located between the upper deep groove ball bearing Between the bearing 13 and the ball linear bearing 9.

Further, the floating mandrel 10 has a stepped shaft structure, and an upper deep groove ball bearing 13 is installed on the upper shoulder of the floating mandrel 10, and the inner hole of the upper deep groove ball bearing 13 is transition-fitted with the floating mandrel 10, and through The upper locking nut 14 is locked to achieve axial fixation. A lower deep groove ball bearing 5 is installed at the lower shoulder of the floating mandrel 10, and the inner ring of the lower deep groove ball bearing 5 is in transition fit with the floating mandrel 10, and is locked by the lower lock nut 3 to achieve axial fixation.

In the embodiment of the present invention, the upper elastic component includes an upper compression spring 11 and an upper spring support 12, wherein the upper spring support 12 is a stepped structure, and its large end is in clearance fit with the outer ring of the upper deep groove ball bearing 13, and the upper spring support 12 The small end of the upper compression spring 11 is inserted into one end of the upper compression spring 11, and the other end of the upper compression spring 11 abuts against the upper inner stop of the fixed sleeve 8, and the elastic force generated by the upper compression spring 11 offsets the gravity of the entire floating device.

In the embodiment of the present invention, the lower elastic part includes a lower spring bracket 6 and a lower compression spring 7, wherein the lower spring bracket 6 is a stepped structure, and its large end is in transition fit with the outer ring of the lower deep groove ball bearing 5, and the lower spring bracket 6 The small end of the lower compression spring 7 is inserted into one end of the lower compression spring 7 to limit the lower compression spring 7;

On the basis of the above-mentioned embodiment, the outer side of the lower elastic part is provided with an adjustment nut 4, which is threadedly connected with the fixed sleeve 8, and drives the lower deep groove ball bearing 5 to preload the upper elastic part to provide adjustable polishing pressure. The oil seal 2 seals the adjustment nut 4 and the floating mandrel 10, and the floating mandrel 10 floats and rotates in the oil seal 2, which can effectively isolate the water vapor and micro particles in the polishing environment from polluting the internal parts of the device. By changing the relative position of the adjustment nut 4 and the fixed sleeve 8, the preload of the lower compression spring 7 can be adjusted, and finally the polishing pressure of the small grinding head screwed to the end of the floating mandrel 10 can be controlled.

Further, the fixing sleeve 8 is fixed on one end of the protective shell 18 through the sealing end cap 15 , and the other end of the protective shell 18 is provided with an adapter flange 19 . Further, the sealing ring 16 is used to seal the fixed sleeve 8 and the protective shell 18, the sealing end cover 15 is screwed to the fixed sleeve 8 and the protective cover is pressed onto the shaft shoulder of the fixed sleeve 8, so as to realize the electrical system and Isolation of the polishing environment.

In the embodiment of the present invention, the rotary drive device includes a motor reducer assembly 17; one end of the fixed sleeve 8 is connected to the fixed part of the motor reducer assembly 17; the output shaft of the motor reducer assembly 17 is a hollow shaft, and the inner edge of the hollow shaft A chute is provided in the axial direction, and the floating mandrel 10 is inserted into the hollow shaft of the motor reducer assembly 17 and connected with the chute through a key.

Specifically, the floating mandrel 10 is a stepped rod-shaped structure, and the upper end of the floating mandrel 10 is clearance-fitted with the output hole of the motor reducer assembly 17 through a flat key, and the motor reducer assembly 17 provides torque to drive the floating mandrel 10 to rotate. , while the flat key can slide freely in the keyway of the output hole of the motor reduction unit assembly 17.

As shown in Figure 2, the adapter flange 19 is the adapter between the floating polishing device and the industrial robot 20, and the screws are used to consolidate the adapter flange 19, the motor reducer assembly 17 and the fixed sleeve 8 into a A whole.

Specifically, the motor in the motor reducer assembly 17 can use a stepper motor or a servo motor, the reducer can use a worm gear reducer, and the speed change technology can use a relatively mature control algorithm, and the polishing tool head 1 can be controlled by changing the speed. speed regulation. During the polishing process, the normal contact force between the polishing tool head 1 and the optical element is provided by the preloaded lower compression spring 7 , and the contact force can be achieved by adjusting the relative position of the adjusting nut 4 and the fixing sleeve 8 . The speed of the motor reducer assembly 17 is adjustable, and the torque and speed are transmitted to the floating mandrel 10 through the flat key, and the floating mandrel 10 is driven to rotate; during the polishing process, the polishing tool head screwed to the end of the floating mandrel 10 contacts the optical element Finally, through the axial telescopic action, the pre-tightening force of the compression spring is converted into polishing pressure, which can be controlled by controlling the relative position of the adjusting nut and the fixing sleeve. In addition, the polishing environment is usually full of water vapor and suspended particles. The present invention is designed with an oil seal at the lower end of the fixed sleeve and a protective cover on the motor reducer assembly, which can effectively isolate these unfavorable factors in the environment and ensure the operation of the polishing device. Stablize.

The numerical control small grinding head optical constant force floating polishing device provided by the present invention is used as a polishing actuator, and the device can be flexibly installed at the end of a general industrial robot to realize precise numerical control polishing of optical elements. The invention allows the small grinding head to float axially during the polishing process, and ensures constant polishing pressure while floating, with high removal efficiency and stable removal function, which is helpful for deterministic polishing experiments and research and development of aspheric optical elements.

The above description is only an implementation manner of the present invention, and is not intended to limit the protection scope of the present invention. Any modification, equivalent replacement, improvement, expansion, etc. made within the spirit and principles of the present invention are included in the protection scope of the present invention.

Claims (7)

1. A constant force floating polishing device, characterized in that it comprises a polishing tool head (1), a lower elastic component, a fixed sleeve (8), a floating mandrel (10), an upper elastic component, a rotary drive device and a protective shell (18), wherein the rotary drive device is arranged in the protective shell (18), the fixed sleeve (8) passes through the protective shell (18) and is connected with the rotary drive device, and the floating mandrel (10) is arranged in the fixed sleeve ( 8) and has the freedom of rotation and axial movement; the two ends of the floating mandrel (10) are respectively provided with a lower elastic part and an upper elastic part abutting against the fixed sleeve (8); The upper end of the floating mandrel (10) is connected to the output end of the rotary drive device, and the lower end is detachably connected to the polishing tool head (1); Ball linear bearings (9) are provided between the floating mandrel (10) and the fixed sleeve (8), and lower deep groove ball bearings (5) are respectively provided at both ends of the floating mandrel (10) and the upper deep groove ball bearing (13), the lower elastic part is located between the lower deep groove ball bearing (5) and the ball linear bearing (9), and the upper elastic part is located between the upper deep groove ball bearing Between the bearing (13) and the ball linear bearing (9); The lower elastic component includes a lower spring support (6) and a lower compression spring (7), wherein the lower spring support (6) is a stepped structure, and its large end is transitionally fitted with the outer ring of the lower deep groove ball bearing (5) , the small end of the lower spring support (6) is inserted into one end of the lower compression spring (7) to limit the position of the lower compression spring (7); the other end of the lower compression spring (7) One end abuts against the lower inner stop of the fixed sleeve (8); The upper elastic component includes an upper compression spring (11) and an upper spring support (12), wherein the upper spring support (12) is a stepped structure, and its large end is in clearance fit with the outer ring of the upper deep groove ball bearing (13) , the small end of the upper spring bracket (12) is inserted into one end of the upper compression spring (11), and the other end of the upper compression spring (11) abuts against the upper inner stop of the fixed sleeve (8) . 2. The constant force floating polishing device according to claim 1, characterized in that, the lower deep groove ball bearing (5) and the upper deep groove ball bearing (13) pass through the lower lock nut (3) and The upper lock nut (14) is locked on the shoulder of the floating mandrel (10); the inner rings of the lower deep groove ball bearing (5) and the upper deep groove ball bearing (13) are connected with the Floating mandrel (10) transition fit. 3. The constant force floating polishing device according to claim 1, characterized in that an adjusting nut (4) is arranged on the outside of the lower elastic member, and the adjusting nut (4) is connected with the fixed sleeve (8) threaded connection, and drive the lower deep groove ball bearing (5) to preload the upper elastic part to provide adjustable polishing pressure. 4 . The constant force floating polishing device according to claim 3 , characterized in that an oil seal ( 2 ) is used to seal the adjustment nut ( 4 ) and the floating mandrel ( 10 ). 5. The constant force floating polishing device according to claim 1, characterized in that, the fixed sleeve (8) is fixed on one end of the protective shell (18) through a sealing end cap (15), and the protective shell The other end of (18) is provided with adapter flange (19), and described adapter flange (19) is used for connecting with industrial robot (20). 6. The constant force floating polishing device according to claim 5, characterized in that, the sealing ring (16) is used to seal the fixed sleeve (8) and the protective shell (18). 7. The constant force floating polishing device according to claim 1, characterized in that, the rotary drive device comprises a motor reducer assembly (17); one end of the fixed sleeve (8) is connected to the motor reducer assembly (17) is connected to the fixed part; the output shaft of the motor reducer assembly (17) is a hollow shaft, and a chute is arranged in the hollow shaft along the axial direction, and the floating mandrel (10) is inserted in the In the hollow shaft of the motor reducer assembly (17), it is connected with the chute by a key.

Images