CN114603461B - Constant-force floating polishing device - Google Patents
Constant-force floating polishing device Download PDFInfo
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- CN114603461B CN114603461B CN202011449436.0A CN202011449436A CN114603461B CN 114603461 B CN114603461 B CN 114603461B CN 202011449436 A CN202011449436 A CN 202011449436A CN 114603461 B CN114603461 B CN 114603461B
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- floating
- polishing
- fixed sleeve
- deep groove
- ball bearing
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- 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
- B24B29/00—Machines or devices for polishing surfaces on work by means of tools made of soft or flexible material with or without the application of solid or liquid polishing agents
- B24B29/02—Machines or devices for polishing surfaces on work by means of tools made of soft or flexible material with or without the application of solid or liquid polishing agents designed for particular workpieces
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- 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
- B24B55/00—Safety devices for grinding or polishing machines; Accessories fitted to grinding or polishing machines for keeping tools or parts of the machine in good working condition
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
- Constituent Portions Of Griding Lathes, Driving, Sensing And Control (AREA)
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
Technical Field
The invention relates to aspheric optical processing equipment, in particular to a constant-force floating polishing device.
Background
The traditional optical aspheric surface polishing is manually realized, the labor intensity is high, and the polishing efficiency is low. The advanced numerical control polishing equipment is a medium-caliber equipment which is millions at all times, and the investment cost and the maintenance cost are huge. The industrial robot has more degrees of freedom and large arm spread, is a mature standardized product, and is a high-cost-performance technical route for polishing aspheric optical elements by adopting the industrial robot. The aspheric surface polishing of the industrial robot needs to develop polishing algorithm software suitable for the robot on one hand, and develops a polishing tool system suitable for the industrial robot on the other hand. The existing polishing tool is uncontrollable in pressure and rotating speed in the polishing process, is complex to install with an industrial robot, is low in installation precision, enables the industrial robot to have errors and vibration in the process of executing programs, and is not favorable for the accuracy of polishing work.
Disclosure of Invention
In view of the above problems, an object of the present invention is to provide a constant force floating polishing apparatus, which realizes controllable pressure and rotation speed in the polishing process, can be quickly integrated with a general industrial robot, can adapt to and compensate errors and vibrations in the process of executing the polishing program by the industrial robot, and is helpful for performing deterministic polishing work based on the industrial robot.
In order to achieve the purpose, the invention adopts the following technical scheme:
a constant-force floating 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 rotary driving device is arranged in the protective shell; 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 upper end of the floating mandrel is connected with the output end of the rotary driving device, and the lower end of the floating mandrel is detachably connected with the polishing tool head.
The floating core shaft and the ball linear bearing are arranged between the fixed sleeves, a lower deep groove ball bearing and an upper deep groove ball bearing are respectively arranged at two ends of the floating core shaft, the lower elastic component is located between the lower deep groove ball bearing and the ball linear bearing, and the upper elastic component 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 locked on a shaft shoulder of the floating mandrel through a lower locking nut and an upper locking nut respectively; and the inner rings of the lower deep groove ball bearing and the upper deep groove ball bearing are in transition fit with the floating mandrel.
The lower elastic part comprises a lower spring support and a lower compression spring, wherein the lower spring support is of a stepped structure, the large end of the lower spring support 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 one end of the lower compression spring to limit the lower compression spring; the other end of the lower compression spring is abutted against the lower inner spigot of the fixed sleeve.
The upper elastic part comprises an upper compression spring and an upper spring support, wherein the upper spring support is of a stepped structure, the large end of the upper spring support is in clearance fit with the outer ring of the upper deep groove ball bearing, the small end of the upper spring support is inserted into one end of the upper compression spring, and the other end of the upper compression spring is abutted to the upper inner spigot of the fixing sleeve.
And an adjusting nut is arranged on the outer side of the lower elastic component and is in threaded connection with the fixed sleeve, and the lower deep groove ball bearing is driven to pre-tighten the upper elastic component to provide adjustable polishing pressure.
And the adjusting nut and the floating mandrel are sealed through an oil seal.
The fixed sleeve is fixed through end cover the one end of protective housing, the other end of protective housing is equipped with adaptor flange, adaptor flange is used for being connected with industrial robot.
The fixed sleeve and the protective shell are sealed through a sealing ring.
The rotary driving device comprises a motor speed reducer assembly; one end of the fixed sleeve is connected with the fixed part of the motor speed reducer assembly; the output shaft of the motor speed reducer assembly is a hollow shaft, a sliding groove is axially arranged in the hollow shaft, and the floating mandrel is inserted in the hollow shaft of the motor speed reducer assembly and is connected with the sliding groove through a key.
The invention has the advantages and beneficial effects that:
1. the flange-replacing type industrial robot tail end mounting device has independent electrical and mechanical parts, and can be mounted at the tail ends of different types of industrial robots by replacing the flange.
2. The polishing machine has the functions of axial floating and constant-force polishing, and has a double-spring structure, the upper spring counteracts the gravity action of a floating link, and the lower spring applies polishing pressure, so that the controllability and the adjustability of the rotating speed and the pressure can be realized; the design can self-adapt and compensate errors and vibration in the process of executing the polishing program by the industrial robot, and is beneficial to carrying out deterministic polishing work based on the industrial robot.
3. The polishing tool head at the tail end of the polishing device is connected with the floating mandrel of the polishing device through threads, the installation and replacement time cost is low, any polishing tool without a floating function can be connected to the floating mandrel based on the standard connector, and the polishing device automatically has the floating characteristic in the polishing process.
Drawings
FIG. 1 is a schematic diagram of a constant force floating polishing apparatus according to one embodiment of the present invention;
fig. 2 is an assembly view of a constant force floating burnishing device in connection with an industrial robot in accordance with an embodiment of the present invention.
In the figure: 1. the polishing machine comprises a polishing tool head, 2. An oil seal, 3. A lower locking nut, 4. An adjusting nut, 5. A lower deep groove ball bearing, 6. A lower spring support, 7. A lower compression spring, 8. A fixed sleeve, 9. A ball linear bearing, 10. A floating mandrel, 11. An upper compression spring, 12. An upper spring support, 13. An upper deep groove ball bearing, 14. An upper locking nut, 15. A sealing end cover, 16. A sealing ring, 17. A motor speed reducer assembly, 18. A protective shell, 19. An adapter flange and 20. An industrial robot.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1, the constant-force floating polishing apparatus 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 rotation driving device and a protective casing 18, wherein the rotation driving device is disposed in the protective casing 18, and the fixed sleeve 8 passes through the protective casing 18 and is connected to the rotation driving device. The floating mandrel 10 is arranged in the fixed sleeve 8 and has freedom of rotation and axial movement; a lower elastic part and an upper elastic part which are abutted against the fixed sleeve 8 are respectively arranged at two ends of the floating mandrel 10; the upper end of the floating 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, be equipped with ball linear bearing 9 between unsteady dabber 10 and the fixed sleeve 8, ball linear bearing 9 is connected with the interference of fixed sleeve 8, and unsteady dabber 10 can do accurate straight line and slide in ball linear bearing 9 inside. 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, a lower elastic component is positioned between the lower deep groove ball bearing 5 and the ball linear bearing 9, and an upper elastic component is positioned between the upper deep groove ball bearing 13 and the ball linear bearing 9.
Further, the floating mandrel 10 is of a stepped shaft structure, an upper deep groove ball bearing 13 is mounted at the upper shaft shoulder of the floating mandrel 10, an inner hole of the upper deep groove ball bearing 13 is in transition fit with the floating mandrel 10, and the floating mandrel 10 is locked by an upper locking nut 14 to realize axial fixation. The lower deep groove ball bearing 5 is installed at the lower shaft shoulder of the floating mandrel 10, the inner ring of the lower deep groove ball bearing 5 is in transition fit with the floating mandrel 10, and the lower locking nut 3 is locked to realize axial fixation.
In the embodiment of the invention, the upper elastic component comprises an upper compression spring 11 and an upper spring support 12, wherein the upper spring support 12 is of a stepped structure, the large end of the upper spring support 12 is in clearance fit with the outer ring of an upper deep groove ball bearing 13, the small end of the upper spring support 12 is inserted into one end of the upper compression spring 11, the other end of the upper compression spring 11 is abutted with the upper inner spigot of the fixed sleeve 8, and the elastic force generated by the upper compression spring 11 offsets the gravity of the whole floating device.
In the embodiment of the invention, the lower elastic part comprises a lower spring support 6 and a lower compression spring 7, wherein the lower spring support 6 is of a stepped structure, the large end of the lower spring support 6 is in transition fit with the outer ring of the lower deep groove ball bearing 5, and the small end of the lower spring support 6 is inserted into one end of the lower compression spring 7 to limit the lower compression spring 7; the other end of the lower compression spring 7 is abutted against the lower inner spigot of the fixed sleeve 8.
On the basis of the above embodiment, the adjusting nut 4 is arranged on the outer side of the lower elastic component, the adjusting nut 4 is in threaded connection with the fixed sleeve 8, and the lower deep groove ball bearing 5 is driven to pre-tighten the upper elastic component to provide adjustable polishing pressure. The adjusting nut 4 and the floating mandrel 10 are sealed through the oil seal 2, the floating mandrel 10 rotates in the oil seal 2 in a floating mode, and water vapor and micro-particles in the polishing environment can be effectively isolated from polluting parts inside the device. By changing the relative position of the adjusting nut 4 and the fixed sleeve 8, the pretightening force of the lower compression spring 7 can be adjusted, and finally the polishing pressure of the small grinding head in threaded connection with the tail end of the floating mandrel 10 is controlled.
Further, the fixed sleeve 8 is fixed at one end of the protective shell 18 through a sealing end cover 15, and the other end of the protective shell 18 is provided with an adapter flange 19. Further, the fixed sleeve 8 and the protective shell 18 are sealed through a sealing ring 16, the sealing end cover 15 is in threaded connection with the fixed sleeve 8, and the protective cover is tightly pressed on a shaft shoulder of the fixed sleeve 8, so that the isolation of an electrical system from a polishing environment is realized.
In an embodiment of the invention, the rotary drive comprises a motor reducer assembly 17; one end of the fixed sleeve 8 is connected with the fixed part of the motor reducer assembly 17; the output shaft of the motor speed reducer assembly 17 is a hollow shaft, a sliding groove is axially arranged in the hollow shaft, and the floating mandrel 10 is inserted into the hollow shaft of the motor speed reducer assembly 17 and connected with the sliding groove through a key.
Specifically, the floating mandrel 10 is of a stepped rod-shaped structure, the upper end of the floating mandrel 10 is in clearance fit with an output hole of the motor speed reducer assembly 17 through a flat key, the motor speed reducer assembly 17 provides torque to drive the floating mandrel 10 to rotate, and meanwhile, the flat key can freely slide in a key groove of the output hole of the motor speed reducer unit assembly 17.
As shown in fig. 2, the adapter flange 19 is an adapter of the floating polishing device and the industrial robot 20, and the screws are used for fixedly connecting the adapter flange 19, the motor reducer assembly 17 and the fixing sleeve 8 into a whole in a penetrating manner.
Specifically, the motor in the motor speed reducer assembly 17 may be a stepping motor or a servo motor, the speed reducer may be a worm gear speed reducer, the speed change technology may be implemented by using a relatively mature control algorithm, and the rotation speed adjustment of the polishing tool head 1 is implemented by changing the rotation speed. During polishing, the normal contact force of the polishing tool head 1 and the optical element is provided by the lower compression spring 7 which is pre-stressed, and the magnitude of the contact force can be realized by adjusting the relative position of the adjusting nut 4 and the fixed sleeve 8. The rotating speed of the motor speed reducer assembly 17 is adjustable, and the torque and the rotating speed are transmitted to the floating mandrel 10 through the flat key and drive the floating mandrel 10 to rotate; in the polishing process, after a polishing tool head screwed at the tail end of the floating mandrel 10 contacts with an optical element, the pretightening force of the compression spring is converted into polishing pressure through axial telescopic action, and the pressure can be controlled by controlling the relative position of the adjusting nut and the fixed sleeve. In addition, the polishing environment is usually filled with water vapor and suspended microparticles, an oil seal is designed at the lower end of the fixed sleeve, and a protective cover is wrapped outside the motor speed reducer assembly, so that adverse factors in the environment can be effectively isolated, and the stable operation of the polishing device is ensured.
The optical constant-force floating polishing device of the numerical control small grinding head provided by the invention is used as an executing mechanism for polishing, and can be flexibly arranged at the tail end of a general industrial robot to realize precise numerical control polishing of optical elements. The invention allows the axial floating of the small grinding head in the polishing process, ensures constant polishing pressure while floating, has high removal efficiency and stable removal function, and is beneficial to developing deterministic polishing experiments and the research and development of aspheric optical elements.
The above description is only an embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, extension, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.
Claims (7)
1. The constant-force floating polishing device is characterized by comprising a polishing tool head (1), a lower elastic component, a fixed sleeve (8), a floating mandrel (10), an upper elastic component, a rotary driving device and a protective shell (18), wherein the rotary driving device is arranged in the protective shell (18), the fixed sleeve (8) penetrates through the protective shell (18) to be connected with the rotary driving device, and the floating mandrel (10) is arranged in the fixed sleeve (8) and has the freedom of rotation and axial movement; a lower elastic component and an upper elastic component which are abutted against the fixed sleeve (8) are respectively arranged at two ends of the floating mandrel (10); the upper end of the floating mandrel (10) is connected with the output end of the rotary driving device, and the lower end of the floating mandrel is detachably connected with the polishing tool head (1);
a ball linear bearing (9) is arranged between the floating mandrel (10) and the fixed sleeve (8), a lower deep groove ball bearing (5) and an upper deep groove ball bearing (13) are respectively arranged at two ends of the floating mandrel (10), the lower elastic component is positioned between the lower deep groove ball bearing (5) and the ball linear bearing (9), and the upper elastic component is positioned between the upper deep groove ball bearing (13) and the ball linear bearing (9);
the lower elastic part comprises a lower spring support (6) and a lower compression spring (7), wherein the lower spring support (6) is of a stepped structure, the large end of the lower spring support is in transition fit with the outer ring of the lower deep groove ball bearing (5), and the small end of the lower spring support (6) is inserted into one end of the lower compression spring (7) to limit the lower compression spring (7); the other end of the lower compression spring (7) is abutted against a lower inner spigot of the fixed sleeve (8);
go up elastomeric element and include compression spring (11) and go up spring bracket (12), wherein go up spring bracket (12) and be stair structure, its main aspects with go up deep groove ball bearing (13) outer lane clearance fit, go up inside the tip of spring bracket (12) inserts compression spring (11) one end, go up compression spring (11) the other end with the last tang butt of 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) are locked on the shoulder of the floating mandrel (10) by a lower lock nut (3) and an upper lock nut (14), respectively; and inner rings of the lower deep groove ball bearing (5) and the upper deep groove ball bearing (13) are in transition fit with the floating mandrel (10).
3. The constant-force floating polishing device according to claim 1, characterized in that an adjusting nut (4) is arranged on the outer side of the lower elastic component, the adjusting nut (4) is in threaded connection with the fixed sleeve (8), and a lower deep groove ball bearing (5) is driven to pre-stress the upper elastic component to provide adjustable polishing pressure.
4. The constant-force floating polishing device according to claim 3, wherein the adjusting nut (4) and the floating mandrel (10) are sealed by an oil seal (2).
5. The constant-force floating polishing device according to claim 1, characterized in that the fixing sleeve (8) is fixed at one end of the protective shell (18) by a sealing end cap (15), and the other end of the protective shell (18) is provided with an adapter flange (19), and the adapter flange (19) is used for connecting with an industrial robot (20).
6. The constant-force floating polishing device according to claim 5, characterized in that the stationary sleeve (8) and the protective shell (18) are sealed by a sealing ring (16).
7. The constant force floating polisher according to claim 1 with the rotary drive including a motor reducer assembly (17); one end of the fixed sleeve (8) is connected with a fixed part of the motor speed reducer assembly (17); the output shaft of the motor speed reducer assembly (17) is a hollow shaft, a sliding groove is axially arranged in the hollow shaft, and the floating mandrel (10) is inserted in the hollow shaft of the motor speed reducer assembly (17) and is connected with the sliding groove through a key.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011449436.0A CN114603461B (en) | 2020-12-09 | 2020-12-09 | Constant-force floating polishing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011449436.0A CN114603461B (en) | 2020-12-09 | 2020-12-09 | Constant-force floating polishing device |
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| Publication Number | Publication Date |
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| CN114603461A CN114603461A (en) | 2022-06-10 |
| CN114603461B true CN114603461B (en) | 2023-04-11 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202011449436.0A Active CN114603461B (en) | 2020-12-09 | 2020-12-09 | Constant-force floating polishing device |
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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115889895A (en) * | 2022-11-10 | 2023-04-04 | 浙江赛豪实业有限公司 | Orifice chamfering tool of die |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102107384B (en) * | 2010-12-21 | 2013-06-26 | 席文飞 | Automatic sanding and polishing device for industrial robot |
| CN103317438B (en) * | 2013-06-18 | 2015-08-19 | 浙江工业大学 | Dynamic pressure floats off polishing disk dynamic pressure and floats off position accurate adjusting mechanism |
| CN106799738B (en) * | 2017-03-17 | 2019-05-10 | 福州大学 | A kind of industrial robot automatic grinding and polishing system and method for free form surface |
| CN207139838U (en) * | 2017-06-27 | 2018-03-27 | 惠州市宏益精密科技有限公司 | A kind of end effector mechanism for automobile die polishing robot |
| CN208788296U (en) * | 2018-09-20 | 2019-04-26 | 广州信博包装机械有限公司 | A kind of grinding head mechanism with floating compensation function |
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