CN216399166U - Polishing head installation device and air bag polishing system - Google Patents
Polishing head installation device and air bag polishing system Download PDFInfo
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- CN216399166U CN216399166U CN202123295873.4U CN202123295873U CN216399166U CN 216399166 U CN216399166 U CN 216399166U CN 202123295873 U CN202123295873 U CN 202123295873U CN 216399166 U CN216399166 U CN 216399166U
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Abstract
The utility model discloses a polishing head mounting device and an air bag polishing system, wherein the polishing head mounting device comprises a first autorotation unit, a turnover unit and a second autorotation unit which is used for connecting a polishing head; the overturning unit is arranged on the first autorotation unit to rotate along with the first autorotation unit, and the autorotation central shaft of the first autorotation unit is vertical to the horizontal plane; the second rotation unit is arranged on the turnover unit to rotate under the action of the turnover unit, and the turnover central shaft of the turnover unit is perpendicular to the rotation central shaft of the first rotation unit. The utility model aims to provide a polishing head mounting device and an air bag polishing system, which solve the problems that when the turning radius of a robot driving a polishing head to move is smaller or the acceleration is larger, the processing pressure is unstable due to the great reduction of positioning, the removal amount of materials is inconsistent, and the processing convergence efficiency and precision are limited.
Description
Technical Field
The utility model relates to the technical field of air bag polishing, in particular to a polishing head mounting device and an air bag polishing system.
Background
The airbag polishing is an important polishing technology and widely applied to the field of optical precision polishing, the traditional airbag polishing technology needs a five-axis precision machine tool to control the position and the posture of a polishing head to realize the transformation of space full freedom, and a nonstandard machine tool is complex in structure and high in cost. The robot controls the air bag polishing head and the flexible polishing head to polish the optical elements, and is increasingly applied.
In order to obtain a smooth gaussian polishing removal function, the air bag polishing head usually needs two rotating shafts, one rotating shaft is the self-rotating of the air bag polishing head, and the other rotating shaft is the rotating shaft which takes the normal line of the contact point of the air bag polishing head and the polished element as the rotating center. The total weight of the supporting structure, the driving mechanism and the transmission mechanism of the polishing head is more than 20kg, and after the polishing head is installed at the execution tail end of the robot, because the long-arm structure of the robot determines the characteristic of low rigidity, when the turning radius of the robot driving the polishing head to move is small or the acceleration is large, the positioning is greatly reduced, so that the processing pressure is unstable, the removal amount of materials is inconsistent, and the processing convergence efficiency and precision are limited.
SUMMERY OF THE UTILITY MODEL
The utility model aims to provide a polishing head mounting device and an air bag polishing system, which solve the problems that when the turning radius of a robot driving a polishing head to move is smaller or the acceleration is larger, the processing pressure is unstable due to the great reduction of positioning, the removal amount of materials is inconsistent, and the processing convergence efficiency and precision are limited.
The utility model is realized by the following technical scheme:
in one aspect of the present application, a polishing head mounting apparatus includes a first rotation unit, a reversing unit, and a second rotation unit for connecting a polishing head; the overturning unit is arranged on the first autorotation unit to rotate along with the first autorotation unit, and the autorotation central shaft of the first autorotation unit is vertical to the horizontal plane; the second rotation unit is arranged on the turnover unit to rotate under the action of the turnover unit, and the turnover central shaft of the turnover unit is perpendicular to the rotation central shaft of the first rotation unit.
Preferably, the first rotation unit includes a base and a first rotation driving member, a mounting end of the first rotation driving member is fixedly disposed on the base, and a driving end of the first rotation driving member is connected to the turning unit.
Preferably, the turning unit comprises a rotating frame and a turning driving piece, the rotating frame is connected with the first rotation unit, the mounting end of the turning driving piece is fixedly arranged on the rotating frame, and the driving end of the turning driving piece is connected with the second rotation unit.
Preferably, the second rotation unit comprises a roll-over stand and a second rotation driving piece, the roll-over stand is connected with the rotation unit, the mounting end of the second rotation driving piece is fixedly arranged on the roll-over stand, and the driving end of the second rotation driving piece is used for being connected with the polishing head.
Preferably, when both the rotation center axis of the second rotation unit and the rotation center axis of the first rotation unit are perpendicular to the horizontal plane, the rotation center axis of the second rotation unit is coaxial with the rotation center axis of the first rotation unit.
Preferably, when the rotation center axis of the second rotation unit is perpendicular to the horizontal plane, the turnover center axis of the turnover unit passes through the center of a driving connection surface of the second rotation unit, and the driving connection surface is a surface of the second rotation unit connected to the polishing head.
In a second aspect of the present application, there is provided an air bag polishing system comprising a robot, a polishing head, and a polishing head mounting device as described above; during polishing, a workpiece to be polished is arranged on an executing mechanism of the robot, the polishing head is arranged on the second autorotation unit, and the turnover angle of the polishing head, the motion path of the workpiece to be polished and/or the contact time of the workpiece to be polished and the polishing head are/is adjusted to perform polishing.
Preferably, when the polishing head is disposed on the second rotation unit, a rotation central axis of the second rotation unit passes through a center of the polishing head.
Preferably, the polishing head is provided as a balloon polishing head.
Preferably, the polishing head is provided as an elastic polishing head.
Compared with the prior art, the utility model has the following advantages and beneficial effects:
(1) different from the conventional design idea, the air bag polishing head is fixed at the lower part in the process of controlling the air bag polishing head to process the middle-small-caliber optical element by using the robot so as to reduce the vibration error of the rotary motion part;
(2) because the polishing head is not arranged on the executing mechanism of the robot any more, the problem that the heavy air bag polishing head is arranged on the executing mechanism of the robot, the robot causes unstable processing pressure under the conditions of larger acceleration and small turning angle is solved, and the polishing efficiency and the surface shape convergence precision are greatly improved;
(3) because the polishing head is not arranged on the robot, the polishing head can be designed into a complex structure without considering the weight of the polishing head, the multi-axis rotation of the air bag polishing is realized, a Gaussian removal function and a composite processing track are formed, the problem of processing marks formed on a processed element by a single processing track is effectively solved, the surface quality of the element is improved, and the medium-high frequency error is reduced.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the utility model and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the utility model and together with the description serve to explain the principles of the utility model. In the drawings:
FIG. 1 is a schematic view showing the construction of a polishing head mounting apparatus according to the present invention;
FIG. 2 is a schematic diagram of the two-dimensional rotation of the air bag polishing head and the resulting polishing track of the air bag polishing head according to the present invention;
reference numbers and corresponding part names in the drawings:
1. a robot; 2. a workpiece to be polished; 3. a polishing head; 4. turning over the driving piece; 5. a roll-over stand; 6. a self-rotation driving member; 7. a rotating frame; 8. a first self-rotation driving member; 9. a base.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to examples and accompanying drawings, and the exemplary embodiments and descriptions thereof are only used for explaining the present invention and are not meant to limit the present invention.
Example 1
A polishing head mounting device comprises a first rotation unit, a turnover unit and a second rotation unit which is used for connecting a polishing head 3; the overturning unit is arranged on the first autorotation unit to rotate along with the first autorotation unit, and the autorotation central shaft of the first autorotation unit is vertical to the horizontal plane; the second rotation unit is arranged on the turnover unit to rotate under the action of the turnover unit, and the turnover central shaft of the turnover unit is perpendicular to the rotation central shaft of the first rotation unit.
In the prior art, the polishing head 3 is mounted on the actuator of the robot 1, and since the total weight of the support structure, the drive mechanism and the transmission mechanism of the polishing head 3 is more than 20kg, after the polishing head is mounted on the actuator of the robot 1, the long arm structure of the robot 1 determines the characteristic of low rigidity, when the turning radius of the movement of the polishing head 3 driven by the robot 1 is small or the acceleration is large, the positioning is greatly reduced, so that the processing pressure is unstable, the removal amount of materials is inconsistent, and the processing convergence efficiency and precision are limited. Based on the above, the application provides a polishing head mounting device, wherein the polishing head 3 is not mounted on the actuator of the robot 1, so that the problem that the heavy airbag polishing head 3 is mounted on the actuator of the robot 1, the processing pressure of the robot 1 is unstable under the conditions of large acceleration and small turning angle, and the polishing efficiency and the surface convergence precision are greatly improved; on the other hand, because the polishing head 3 is not mounted on the robot 1, the polishing head 3 can be designed into a complex structure without considering the weight of the polishing head 3, multi-axis rotation of air bag polishing is realized, a Gaussian removal function and a composite processing track are formed, the problem of processing marks formed on a processed element by a single processing track is effectively solved, the surface quality of the element is improved, and medium-high frequency errors are reduced.
Specifically, as shown in fig. 1, the first rotation unit in the present embodiment includes a base 9 and a first rotation driving member 8, the turning unit includes a rotating frame 7 and a turning driving member 4, and the second rotation unit includes a turning frame 5 and a second rotation driving member 6; the mounting end of the first autorotation driving piece 8 is fixedly arranged on the base 9, and the driving end of the first autorotation driving piece 8 is connected with the rotating frame 7 to drive the rotating frame 7 to rotate along with the first autorotation driving piece 8; the mounting end of the turning driving piece 4 is fixedly arranged on the rotating frame 7, and the driving end of the turning driving piece 4 is connected with the turning frame 5 to drive the turning frame 5 to turn along with the turning driving piece 4; the mounting end of the second rotation driving piece 6 is fixedly arranged on the roll-over stand 5, and the driving end of the second rotation driving piece 6 is used for connecting the polishing head 3, so that the polishing head 3 is driven to rotate together according to the second rotation driving piece 6.
In order to reduce the weight of the polishing head mounting device and facilitate the transportation of the polishing head mounting device, in this embodiment, the base 9 is configured as a hollow structure, the mounting end of the first rotation driving member 8 is disposed inside the base 9, and the driving end of the first rotation driving member 8 is exposed out of the top of the base 9 and connected to the bottom of the rotating frame 7; simultaneously in order to reduce polishing head installation device's height, be convenient for accomodate and carry polishing head installation device, second rotation unit in this embodiment sets up in the inside of upset unit, specifically, swivel mount 7 in this embodiment includes first frame piece, second frame piece and third frame piece, first frame piece level set up and with the drive end fixed connection of first rotation driving piece 8, second frame piece and third frame piece set up the both ends at first frame piece respectively, and the top of second frame piece towards third frame piece side is provided with the pivot that is used for installing swivel mount 7, the top of third frame piece is provided with the through-hole, the drive end of upset driving piece 4 passes this through-hole and 5 fixed connection of roll-over stand, rotate in vertical direction in order to drive roll-over stand 5. The roll-over stand 5 in this embodiment includes the fourth frame piece, the fifth frame piece and the sixth frame piece, the fourth frame piece level sets up, and the fixed bottom that sets up at the fourth frame piece of mounting end of second rotation driving piece 6, the top that the drive end of second rotation driving piece 6 passed the fourth frame piece is used for connecting polishing head 3, the fifth frame piece sets up the both ends at the fourth frame piece with the sixth frame piece, and the top of fifth frame piece and sixth frame piece all is provided with the through-hole, be used for being connected with the pivot that sets up on the second frame piece and the drive end of upset driving piece 4 respectively.
Further, in order to reduce the production cost, the first rotation driver 8, the inversion driver 4, and the second rotation driver 6 in the present embodiment are provided as motors.
Further, in order to ensure that the normal lines of the contact areas of the polishing head 3 and the workpiece 2 to be polished are always coincident, and ensure the stability of removing the processed material on the surface of the workpiece 2 to be polished, when the rotation central axis of the second rotation driving member 6 and the rotation central axis of the first rotation driving member 8 are both perpendicular to the horizontal plane, the rotation central axis of the rotation driving member 6 should be coaxial with the rotation central axis of the first rotation driving member 8; when the rotation center axis of the second rotation driving element 6 is perpendicular to the horizontal plane, the rotation center axis of the turnover driving element 4 passes through the center of the driving connection surface of the second rotation driving element 6, which is the surface where the second rotation driving element 6 is connected to the polishing head 3.
Example 2
The present embodiment provides an air bag polishing system including a robot 1, a polishing head 3, and the polishing head mounting device provided in embodiment 1; during polishing, the workpiece 2 to be polished is arranged on an executing mechanism of the robot 1, the polishing head 3 is adsorbed on the second rotation unit by adopting a vacuum adsorption method, and the polishing is carried out by adjusting the turnover angle of the polishing head 3, the motion path of the workpiece 2 to be polished and/or the contact time of the polishing workpiece and the polishing head 3. In order to ensure that the normal lines of the contact areas of the polishing head 3 and the workpiece 2 to be polished are always coincident and ensure the stability of removing the processed material on the surface of the workpiece 2 to be polished, when the polishing head 3 is mounted on the second autorotation unit, the autorotation central axis of the second autorotation unit passes through the center of the polishing head 3, so that under the common driving of the second autorotation driving member 6 and the first autorotation driving member 8, the polishing track formed by the two-dimensional rotation of the polishing head 3 has the characteristic of circumferential symmetry, and the formed polishing spot is nearly gaussian-shaped, as shown in fig. 2.
Specifically, during polishing, the polishing head 3 is adjusted to a fixed angle by using the turnover driving piece 4, the polishing head 3 rotates under the driving of the second autorotation driving piece 6 and the first autorotation driving piece 8, meanwhile, a machining program is compiled according to the surface shape data of the workpiece 2 to be polished, and the robot 1 executes the machining program to control the machining path and the residence time of the workpiece 2 to be polished; and meanwhile, the normal of the processed area of the workpiece 2 to be polished is always kept in a vertical state, so that the polishing process is realized.
Further, the polishing head 3 in the present embodiment may be provided as the air bag polishing head 3, or may be provided as the elastic polishing head 3. And setting according to actual requirements.
In the prior art, the polishing head 3 is mounted on the actuator of the robot 1, and since the total weight of the support structure, the drive mechanism and the transmission mechanism of the polishing head 3 is more than 20kg, after the polishing head is mounted on the actuator of the robot 1, the long arm structure of the robot 1 determines the characteristic of low rigidity, when the turning radius of the movement of the polishing head 3 driven by the robot 1 is small or the acceleration is large, the positioning is greatly reduced, so that the processing pressure is unstable, the removal amount of materials is inconsistent, and the processing convergence efficiency and precision are limited. Based on the above, the application provides an air bag polishing system, which is different from the conventional design thought, and can reduce the vibration error of a rotary motion part by fixing the air bag polishing head 3 at the lower part (namely, arranging a workpiece 2 to be polished on an actuating mechanism of the robot 1 and arranging the polishing head 3 on the ground) in the process of controlling the air bag polishing head 3 to process a small-caliber optical element by using the robot 1; in addition, because the polishing head 3 is arranged on the ground, the problem that the polishing head 3 of the air bag with heavy weight is arranged on an actuating mechanism of the robot 1 is solved, the robot 1 causes unstable processing pressure under the conditions of large acceleration and small turning angle, and the polishing efficiency and the surface shape convergence precision are greatly improved; finally, because the polishing head 3 is not mounted on the robot 1, the polishing head 3 can be designed into a complex structure without considering the weight of the polishing head 3, multi-axis rotation of air bag polishing is realized, a Gaussian removal function and a composite processing track are formed, the problem of processing marks formed on a processed element by a single processing track is effectively solved, the surface quality of the element is improved, and medium-high frequency errors are reduced.
The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are merely exemplary embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (10)
1. A polishing head mounting device is characterized by comprising a first rotation unit, a turnover unit and a second rotation unit, wherein the second rotation unit is used for connecting a polishing head (3); the overturning unit is arranged on the first autorotation unit to rotate along with the first autorotation unit, and the autorotation central shaft of the first autorotation unit is vertical to the horizontal plane; the second rotation unit is arranged on the turnover unit to rotate under the action of the turnover unit, and the turnover central shaft of the turnover unit is perpendicular to the rotation central shaft of the first rotation unit.
2. A polishing head mounting apparatus according to claim 1, wherein the first rotation unit comprises a base (9) and a first rotation driving member (8), a mounting end of the first rotation driving member (8) is fixedly disposed on the base (9), and a driving end of the first rotation driving member (8) is connected to the reversing unit.
3. A polishing head mounting apparatus according to claim 1, wherein the reversing unit comprises a rotating frame (7) and a reversing drive member (4), the rotating frame (7) is connected to the first autorotation unit, a mounting end of the reversing drive member (4) is fixedly disposed on the rotating frame (7), and a driving end of the reversing drive member (4) is connected to the second autorotation unit.
4. A polishing head mounting apparatus according to claim 1, wherein the second rotation unit comprises a roll-over stand (5) and a second rotation driving member (6), the roll-over stand (5) is connected to the roll-over unit, a mounting end of the second rotation driving member (6) is fixedly disposed on the roll-over stand (5), and a driving end of the second rotation driving member (6) is used for connecting the polishing head (3).
5. A polishing head mounting apparatus according to any one of claims 1 to 4, wherein when both the rotation center axis of the second rotation unit and the rotation center axis of the first rotation unit are perpendicular to the horizontal plane, the rotation center axis of the second rotation unit is coaxial with the rotation center axis of the first rotation unit.
6. A polishing head mounting apparatus according to claim 5, wherein when the rotation center axis of said second rotation unit is perpendicular to the horizontal plane, the turnover center axis of said turnover unit passes through the center of a drive connection face of said second rotation unit, said drive connection face being a face of said second rotation unit to which said polishing head (3) is connected.
7. An air bag polishing system comprising a robot (1), a polishing head (3), and a polishing head mounting device according to any one of claims 1 to 6; during polishing, a workpiece (2) to be polished is arranged on an execution mechanism of the robot (1), the polishing head (3) is arranged on the second autorotation unit, and the polishing is carried out by adjusting the overturning angle of the polishing head (3), the motion path of the workpiece (2) to be polished and/or the contact time of the workpiece (2) to be polished and the polishing head (3).
8. An air bag polishing system according to claim 7, wherein when said polishing head (3) is disposed on said second spinning unit, a spinning center axis of said second spinning unit passes through a center of said polishing head (3).
9. A balloon polishing system according to claim 7 or 8, characterized in that the polishing head (3) is arranged as a balloon polishing head.
10. An airbag polishing system as claimed in claim 7 or 8, characterized in that the polishing head (3) is arranged as a resilient polishing head.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202123295873.4U CN216399166U (en) | 2021-12-23 | 2021-12-23 | Polishing head installation device and air bag polishing system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202123295873.4U CN216399166U (en) | 2021-12-23 | 2021-12-23 | Polishing head installation device and air bag polishing system |
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| Publication Number | Publication Date |
|---|---|
| CN216399166U true CN216399166U (en) | 2022-04-29 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202123295873.4U Active CN216399166U (en) | 2021-12-23 | 2021-12-23 | Polishing head installation device and air bag polishing system |
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|---|---|
| CN (1) | CN216399166U (en) |
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2021
- 2021-12-23 CN CN202123295873.4U patent/CN216399166U/en active Active
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