JPH0543452B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a polishing method, and particularly to a polishing method suitable for polishing curved shapes of metal, glass optical elements, etc. with high precision.

[Prior Art] For example, as shown in FIG. 13, a conventional polishing device of this type includes a polishing device that is rotatably provided at the tip of a triangular swinging arm b relative to an object a to be polished such as a rotating lens. The surface of the workpiece a is polished by moving the tool c in the radial direction of the workpiece a while swinging it in the direction of the arrow e using a crank drive with the axis d as the center of swing.

As shown in Fig. 14, the polishing tool c is connected to the rotating shaft f by a ball joint so that it can swing freely, and a pin (not shown) is attached to the ball part in order to transmit rotational force. The pin is implanted so that it engages with a groove provided in the socket of the polishing tool.

However, in such a conventional device, when the surface of the material to be polished a has a spherical shape, the polishing tool c is tilted with respect to the rotation axis f in a portion away from the center as shown in FIG. Since the polishing pressure applied from c is different, there is a drawback that the amount of polishing varies depending on the position and stable polishing cannot be obtained. In other words, if the center of curvature of the material to be polished a is set to 0, and the processing pressure at the center is F, then the processing pressure at a point tilted at an angle of θ _{t is}
F′ becomes Fcosθ _t . In addition, the surface pressure of the polishing tool c differs greatly between when the polishing tool c moves away from the center of the workpiece a as the swing arm b swings, and when it moves toward the center, making polishing stable. The problem was that it didn't. It is very difficult to control the amount of polishing in this way, and there is a problem in that it is difficult to perform highly accurate polishing with conventional equipment.

[Problems to be Solved by the Invention] An object of the present invention is to solve the problems of the conventional apparatus and to provide a polishing method that can perform highly accurate polishing or grinding.

[Means for Solving the Problems] In order to achieve the above object, the method of the present invention includes a workpiece rotating means for rotating a workpiece having a curved surface to be machined with a radius of curvature R around its central axis; a distance L from the apex of the workpiece on its central axis, and a workpiece turning means for rotating the tool around a turning axis perpendicular to the central axis; a first moving means for moving the tool in the vertical (Z-axis) direction; a tool rotation means for rotating the tool about its axis; A tool swinging means for swinging the workpiece above, a processing position of at least a radial distance (r ₁ ^* , r ₂ ^* , ...) of the workpiece to be processed, and a workpiece rotation angle (θ ₁ ^* , θ ₂ ^* , ...), a workpiece control means for controlling the workpiece rotation means and the workpiece rotation means, the first movement means, the second movement means, the a tool rotation means and a tool control means for controlling the tool swinging means, and in order to align the rotational axis of the tool with the normal line of the workpiece and the direction of gravity, the rotation angle of the workpiece is θt ₁ ^* . Radial distance from the center axis of the workpiece
When r ₁ ^* , θt ₁ ^* = arc sin (r ₁ ^* /R) is satisfied, and the tool is placed at the coordinate position (X ₁ ^* ,
_Z1 ^* ), the amount of movement of the tool in the X-axis direction and Z-axis direction by the first and second moving means is _X1 ^* =(R+L) _sinθt1 ^* , and _Z1 ^* = (R+L)-√(+) ^2- ( ₁ ^* ) ² (However, _X1 ^* is the distance in the X _- axis direction from the central axis when the rotation angle _θt1 ^* of the workpiece ^is 0 degrees. (distance in the Z-axis direction from the apex of the workpiece when Based on predetermined machining position information and machining data information, the rotation speed of the workpiece is calculated to control the workpiece, the rotation speed and swing speed of the tool are calculated to control the tool, and the X of the tool is controlled. The present invention is characterized in that the moving position of the tool in the Z-axis direction and the turning angle of the workpiece are determined from the current position in the axial direction using the above formula, and the tool and the workpiece are controlled and machined.

[Function] According to the present invention, when the polishing tool is sent in the radial direction of the material to be polished by the feeding device, the material to be polished is driven to rotate around an axis perpendicular to the feeding direction. The polishing amount is stabilized without tilting of the polishing tool with respect to the machined surface of the material to be polished. Further, even when the abrasive tool is oscillated, there is no difference in the surface pressure of the abrasive tool due to a difference in the direction of the oscillating motion, and the amount of polishing remains constant.

Therefore, highly accurate polishing is possible.

Embodiments Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings.

FIG. 1 is an external perspective view showing an embodiment of the present invention, and FIG. 2 is a sectional view taken along the line M--M in FIG. 1.

In both figures, 1 is a main body base that supports columns 3, 3 and horizontal guides 5, 5.

First, a mechanism for rotating a workpiece to be polished at a predetermined angle will be explained. 7 is a support base, with a drive arm 9 at one end and a support arm 1 at the other end.
1 is provided, and by supporting the pivot shafts 13, 13 provided through these arms 9, 11 respectively with bearings 15, 15 provided in the columns 3, 3, It is possible to turn at a predetermined angle. 13B is this pivot shaft 13
This is an encoder for detecting the turning angle. The support base 7 is provided with a drain port (not shown) at a corner of its lower surface, and a machining fluid, which will be described later, is discharged from the drain port.

As is clear from FIG. 3, the drive arm 9 has a fan shape with a widened end, and a tooth pattern 9A is formed in the arc portion of the drive arm 9, and the drive gear 17
As described above, the support base 7 can be rotated through a predetermined angle by the drive motor 19. 1
9A is a tachometer generator for obtaining the rotational speed of the drive motor 19, and 19B is an encoder.

Next, as a mechanism for rotating the workpiece to be polished, 21 is a housing provided at the lower part of the support base 7.
5 is attached to the work shaft body 27. A motor base 31 for fixing a motor 29 for driving the work shaft body 27 is provided at the lower part of the housing 21, and the motor 29 is connected to the drive gear 3.
3, the workpiece shaft body 27 is rotationally driven. 29
A is a tachometer generator for obtaining the rotation speed of the motor 29, 27B is an encoder for detecting the rotation angle of the work shaft body 27, and the motor base 31
It is supported by a bracket 35 provided at.

Furthermore, a mechanism for rotationally driving the polishing tool and a mechanism for swinging the polishing tool will be explained.

A swinging arm 43 that rotatably supports a polishing tool 41 made of a grindstone or the like is a frame body 43A, 43.
It has a triangular frame shape consisting of B and 43C, and supports a rotating shaft 47, which is connected to the polishing tool 41 by a ball joint at the tip, via a bearing 45 at the apex where the frame bodies 43A and 43B are connected. ing. In this ball joint part, rotational driving force is transmitted to the polishing tool 41 by engagement between a pin installed in the ball part and a groove provided in the socket part. On the other hand, a pulley 49 is fixed to the other end of the rotating shaft 47, and the rotating shaft 47, that is, the polishing tool 41, is rotationally driven via a belt 53 by a drive motor 51 provided at the other end of the frame body 43A. 51A is a tachometer generator for obtaining the rotational speed of the drive motor 51. Further, 44 is a nozzle for supplying a processing liquid containing an abrasive to be used when polishing the material to be polished 25, and is fixed to the lower side of the frame body 43A. In this embodiment, the supply pipe 44A connected to the nozzle 44 is
By also fixing the polishing tool 41 and the nozzle 44 to the frame body 43A, the rocking motions of the polishing tool 41 and the nozzle 44 are linked.

The right end of the supply pipe 44A is connected to a machining fluid supply device (not shown). This machining fluid supply device consists of a supply pump, a flow rate adjustment valve, a filter, etc., and can be constructed by appropriately combining each unit.

Further, a crank mechanism 55 is connected to the joint between the frame body 43B and the frame body 43C (see FIG. 1). That is, 55A is the crank, 5
5B is a connecting arm, and a crank 55A is driven by a swing motor 57. 57A is a tachometer generator for obtaining the rotational speed of the swing motor 57, and 57B is an encoder. The entire swing arm 43 is constructed by a vertical slide body 8, which will be described later.
By pivoting the frame body 43C on a support base 61 that is rotatably supported on a pivot shaft 59 installed in the frame body 1, it is possible to swing the frame body 43C in the direction of the arrow A shown in the figure in conjunction with the operation of the above-mentioned crank mechanism 55. It is said that 6
Reference numeral 3 denotes a balance arm whose one end is fixed to the frame body 43C or a part formed integrally therewith, and is provided with a balance weight 65 whose position can be adjusted. Therefore, by adjusting the position of the balance weight 65, the left and right balance with the entire swinging arm 43 is adjusted using the frame body 43C pivotally supported on the support stand 61 as a fulcrum, and the application to the workpiece 25 by the polishing tool 41 is adjusted. The pressure is said to be adjustable.

Next, a mechanism for moving the entire swinging arm 43 in the horizontal direction (X direction) and the vertical direction (Z direction) shown in FIG. 1 will be explained.

Reference numeral 71 denotes a horizontal slide body that moves along horizontal guides 5, 5 provided on the main body base 1, and is driven by a horizontal drive motor 7 using a feed screw 73 as is well known.
This is done by rotating at 5. 75A is a tachometer generator for obtaining the rotational speed of the motor 75, and 75B is an encoder. Slide body 7
1, that is, the radial position of the polishing tool 41 with respect to the workpiece 25 to be polished is detected by the scale unit 77. 81 is a vertical slide body, and the vertical guide 7 provided on the horizontal slide body 71
9, and its drive is driven by the horizontal slide body 7.
1, the feed screw 83 is driven by the vertical drive motor 85.
This is done by rotating at. 85A is a tachometer generator for obtaining the rotational speed of the motor 85, and 85B is an encoder. The vertical position of the vertical slide body 81, that is, the Z-direction position is detected by a scale unit 87.

The polishing apparatus having the above mechanical configuration is controlled based on control signals from a control unit 100. A block diagram of one embodiment of this control unit 100 is shown in FIG.

In the figure, 101 is a central control unit (hereinafter referred to as
(referred to as CPU), 102 is a ROM and processing data input unit 10 having an area in which control programs and control procedures of the control unit, which will be described later, are stored.
This memory is composed of a RAM having an area for temporarily storing input data from 3, position detection data, etc.

104 is an X-axis control unit, which includes a horizontal drive motor 75;
Tachometer generator 75A and encoder 75B
is connected to.

105 is a Z-axis control unit, which includes a vertical drive motor 85,
It is connected to a tacho generator 85A and an encoder 85B.

Reference numeral 106 denotes a turning angle control section, which is connected to a motor 19, a tachometer generator 19A, and an encoder 19B that drive a drive gear that meshes with the teeth 9A of the circular arc portion of the drive arm 9 in order to control the turning angle of the work shaft body 27. has been done.

Reference numeral 107 denotes a workpiece shaft driver unit for controlling the rotational speed of the motor 29 that rotationally drives the workpiece shaft 27, and is connected to the motor 29 and the tachometer generator 29A. 108 indicates the rotational speed of the motor 51 that drives the polishing tool 41 A polishing tool driver section 109 is connected to the motor 51 and the tachometer generator 51A, and 109 is a swing motor driver section for controlling the rotational speed of the motor 57 that drives the swing arm 43. , a tachometer generator 57A, and an encoder 57B.

110 generically detects the current position of each drive unit;
This is a current position input unit for sending a signal to the CPU 101, and the X-axis current position input unit 110A is connected to the scale unit 77 and the Z-axis current position input unit 1.
10B is a scale unit 87 and a swing arm 4.
The current position input section 110C of No. 3 is an encoder 57B.
The current position input section 110D that indicates the rotation angle θ of the workpiece shaft 27, that is, the material to be polished 25, is connected to the encoder 27B, and the current position input section 110D that indicates the inclination of the workpiece shaft 27, that is, the rotation angle _θt of the material to be polished 25. 110
E is connected to the encoder 13B, respectively.

In the above configuration, when polishing the material to be polished 25 having a curved surface with a radius of curvature R, the polishing tool 41
The material to be polished 25 is rotated at a predetermined angle while moving in the X-axis and Z-axis directions.
r ₁ ^* The principle of aligning the rotational axis of the polishing tool 41 at the distant contact point P ₁ with the normal line of the material to be polished 25 and the direction of gravity will be explained. Figures 4 to 6
In the figure, O _M is the center of the rotation axis 13, O _W0 is the center of curvature of the workpiece 25 to be polished when the rotation angle θ _t is O ⁰ , and O _W1 is the center of curvature of the workpiece 25 to be polished when the rotation angle θ _t1 ^* . The moving position of P′ (X ₁ ^* , Z ₁ ^* ) is the point when the rotation angle θ _t
Let L, the moving position of P ₁ on the X-Y coordinates, be the distance between the apex portion P ₀ of the material to be polished 25 and O _M.

In general, the center O _M of the pivot shaft 13 and the material to be polished 25
It is difficult to make the centers of curvature coincide with each other, and the center O _M and the center O _W0 are deviated by a distance R+L.
Therefore, in order to align the rotational axis of the polishing tool 41 with the normal line and the direction of gravity of the workpiece 25 at the contact point P ₁ which is a radius r ₁ ^* away from the central axis of the workpiece 25, the workpiece 25 must be Rotate the contact point P ₁ by an angle θ _t1 ^* around the center O _M of the rotation axis 13,
It is only necessary to move the polishing tool 41 to the position P' (X ₁ ^* , Z ₁ ^* ) and move the polishing tool 41 to the same point P' (X ₁ ^* , Z ₁ ^* ).

_Then ^_ _{_} ^_ _{_} ^{_ _} _{_} ^_ _{_} ^_ _{_} ^_ ...(3) It is expressed as.

Similarly, at the contact point P ₂ that is a radius r ₂ ^* away from the central axis of the workpiece 25, the workpiece 25 is rotated by an angle θ _t2 ^* about the center O _M of the rotation shaft 13, and the contact point P ₂ is At the same time, the polishing tool ⁴¹ is moved to _the position P _' ' ⁽ X ₂ ^* , Z ₂ ^* ). In this way, the vertical position Z and the turning angle θ _t of the polishing tool 41 can both be regarded as functions of By controlling so that (1) to (3) are satisfied, the center of the rotation axis of the polishing tool 41 can always be aligned with the normal line of the material to be polished 25 and the direction of gravity.

Next, the basic operation when polishing the entire surface or a portion of the material to be polished 25 will be explained. The workpiece 25 fixed to the workpiece shaft 27 receives a command from the control unit 100 based on polishing data input from the outside, and detects the position of the workpiece shaft 27 from the encoder 27B. It is rotationally driven by the workpiece shaft drive motor 29 while its position and speed are controlled by signals and a speed detection signal from the tachometer generator 29A. Similarly, the polishing tool 41 is speed-controlled by the speed detection signal from the tachometer generator 51A while being supported by the swing arm 43 and pressurizing the processed part of the workpiece 25 by the amount of unbalance with the balance weight 65. Rotate. At this time, the polishing process is performed while supplying the machining liquid onto the material to be polished 25 from the nozzle 44 in conjunction with the swing movement of the polishing tool 41 by the swing arm 43. The swinging arm 43 is driven by the drive motor 57 via the swinging crank mechanism 55 while receiving position and speed control based on position and speed detection signals from the encoder 57B and the tachometer generator 57A in accordance with commands from the control unit 100, and is driven by the drive motor 57 through the swinging crank mechanism 55. 41
The pivot shaft 59 swings in the direction of arrow A (see Figure 1).
Conveys a rocking motion centered on. The swing width of the polishing tool 41 can be adjusted by a variable mechanism such as changing the connection point in the crank mechanism 55. this is,
This is effective when performing gradation polishing, etc. Further, since the angular position is detected by the encoder 57B, the starting point of the swing can always be kept constant.

While the operation start positions and speeds of the workpiece shaft 27, polishing tool 41, and swing arm 43 are controlled by the control unit 100, the workpiece 25 is
rotation angle θ _t and the X-axis direction of the polishing tool 41, Z
The axial position (X, Z) is determined by the relational expressions (1) to (3) mentioned above.
The control unit 100 performs arithmetic processing based on this, and position control is performed based on the resulting movement command.

That is, the rotation angle of the material to be polished 25 is controlled by controlling the rotation of the drive motor 19 based on the current position input signal from the encoder 13B, the position detection signal from the encoder 19B, and the speed detection signal from the tachogenerator 19A.
On the other hand, the horizontal (X-axis) direction control of the polishing tool 41 is as follows:
The rotation control of the drive motor 75 is based on the current position input signal from the scale unit 77, the position detection signal from the encoder 75B, and the speed detection signal from the tachometer generator 75A.The vertical (Z-axis) direction control is based on the current position input signal from the scale unit 87. The rotation of the drive motor 85 is controlled based on the position detection signal from the encoder 85B and the speed detection signal from the tachometer generator 85A.

In this way, the above-mentioned operation is performed by the control unit 100 in response to continuously input machining data so that the rotation axis of the polishing tool 41 is always aligned with the normal to the workpiece 25 at any position on the workpiece 25. Controlled to match direction and gravity direction.

Next, an example of the control procedure of the present embodiment described above will be explained with reference to the flowchart shown in FIG.
When the control starts, first, in step S201, machining data that has already been input from the outside regarding the curvature, machining position, polishing amount, etc. of the material to be polished is read from the machining data input section 103 and stored in the memory 102. Next, in step S202, each part of the polishing apparatus, that is, the rotation angle of the workpiece 25, the X-axis direction of the polishing tool 41,
Move the Z-axis direction position etc. to the machining start position. Then, in step S203, the scale unit 77 determines the position in the X-axis direction, and the scale unit 87 determines the position in the Z-axis direction.
The axial position, the encoder 57B indicates the swing arm position, the encoder 27B indicates the rotational position of the workpiece shaft 27, and the encoder 13B indicates the current position of the turning angle of the workpiece 25 (X ₁ , Z ₁ , S ₁ , θ ₁ , respectively) θ _t1 ) are respectively input from the current position input unit 110 and stored in the memory 102. Step S204
Then, it is determined whether this current position is the end point of machining, and if it is the end point, the process advances to step S211 and the machining ends. If it is not the end point, the next step S2
Proceed to 05.

In step S205, the optimum rotational speed of the workpiece 25, rotational speed and swinging speed of the polishing tool 41 at the current position are determined based on the machining data, and the workpiece shaft driver section 107, polishing tool driver section 108, and swinging speed are determined. dynamic motor driver section 109
A drive command is given to each. Furthermore, step S2
At step 06, the moving speed in the X-axis direction is calculated based on the machining data and the current position, and a moving command is output to the X-axis controller 104. In step S207, step S20
The optimum position in the Z-axis direction according to the shape of the material to be polished 25 from the current position _X1 of the X-axis input in step 3, for example, in the processing example described above, Z ₀ = (R + L) - √
(R+L) ² −X ₁ ² is calculated. And step S
At 208, a movement command to the position Z ₀ obtained by this calculation is output to the Z-axis control unit 105. Next step S
The optimum turning angle from the current position X ₁ of the X-axis input in 203 to the workpiece according to the shape of the material to be polished 25, for example, θt ₀ = arc sin in the processing example described above.
Calculate (r ₀ ^* /R).

Then, in step S210, a movement command to the position θ _t0 obtained by this calculation is output to the turning angle control section 106. Steps S203 to S above
The procedure at step 210 is repeated until it is determined at step S204 that processing is complete.

In addition, in the above control procedure, the movement command in the Z-axis direction and the movement command for the rotation axis are flowing serially.
Since the processing speed of the CPU 101 is faster than the moving speed of the machine, no problems occur in processing.

Next, a basic polishing pattern and its operation based on the above-mentioned basic operation will be explained.

Fig. 8 shows that a polished material 25 with a radius of curvature R is removed from its center to a radius r ₁ ^* to r ₂ ^* in an angular range of θ ₁ ^* to θ ₂ ^* with different polishing amounts from other parts. A case of polishing, that is, corrective polishing is shown. To do this, while detecting the angular position of the work shaft body 27 with the encoder 27B, the residence ^time of the polishing tool ₄₁ in this range is changed by changing the rotational speed of the material to be polished 25 in the range of θ 1 * to θ ^* . Material to be polished 25
The rotational speed of the polishing tool 41 may be kept constant while the rotational speed or the swinging speed of the polishing tool 41 is varied, or both may be performed in combination. The control unit 100 receives from the outside the specifications of the workpiece 25, such as the distance L between the apex P ₀ of the workpiece 25 and the rotation axis center _OM , the radius of curvature R, and the above-mentioned machining range data (r ₁ ^* , r ₂ ^* ,
θ ₁ ^* , θ ₂ ^* ) and machining data prepared in advance as shown in the data tables of FIGS. 9 and 10 are input. In FIGS. 9a to 9c, the rotational speed (Vwij) of the workpiece shaft 27 is determined by dividing the radial machining range (for example, r ₁ ^* to r ₂ ^* ) of the workpiece 25 into r ₀ to _{r i} The rotational speed of the workpiece shaft 27 between the angles _θij to _θi0 when the concentric circle portion of is divided into the angles _θi0 to _θij , and similarly the rotational speed of the polishing tool 41.
V _Tij and the swing speed V _yij are determined. In FIG. 10, V _xi represents the X-axis moving speed at X-axis positions r _i to _{r i+1} .

These data are sequentially processed by the control unit 100 according to the above-described flowchart, and correspondingly, the polishing tool 41 is rotated as the workpiece 25 rotates as shown in FIGS. 5 and 6. It moves from P′ (X ₁ ^* , Z ₁ ^* ) to P″ (X ₂ ^* , Z ₂ ^* ), drawing a trajectory as shown in the figure.

During this time, the above-mentioned figures 9 and 1
Based on the data in Fig. 0, the workpiece shaft rotation speed, polishing tool rotation speed, and rocking speed in the divided areas (specific areas shown in Fig. 8) on the workpiece 25 to be polished are adjusted as necessary. By controlling the polishing area by changing the area, the amount of polishing in this specific area is increased by changing the amount of polishing in other areas. In addition, the 9th
In the data table shown in the figure, the number of divisions and the division range are made the same for all of the work shaft rotation speed, polishing tool rotation speed, and swing speed.
The number of divisions may be increased or decreased or the division range may be changed as appropriate for a particular speed. In this way, blur polishing can be effectively performed.

FIG. 11 shows a case where the entire portion on a concentric circle with a radius r ₁ ^* to r ₂ ^* from the center of a similar material 25 to be polished is removed by polishing. In this case, r ₁ ^* on the material to be polished 25 ~
A portion r _i ~ r _i+1 that divides the range of r ₂ ^* from r ₀ to _{r i+1}
It is sufficient to uniformly polish the concentric circle formed when the workpiece rotates around the shaft, and while the polishing tool 41 stays on this concentric circle, the rotational speed of the workpiece shaft remains constant.
Vwij, polishing tool rotational speed V _Tij , and swinging speed V _yij are kept constant, and the amount of polishing is changed by changing the X-axis speed V _xi+1 .

Therefore, the processing data to be input is as shown in Fig. 9.
V _W0 ~ V _Wi , V _T0 ~ V _Ti , corresponding only to r ₀ ~ _{r i+1} ,
Only the data consisting of V _y0 to V _Ti and the data in FIG. 10 may be used.

Based on these data, the control unit 10
Each drive motor is controlled by 0, and as a result, it is possible to polish and remove a specific area as shown in FIG.

FIG. 12 shows a case in which the upper surface of the material to be polished 25 is continuously polished and removed from the center to the periphery, and the curvature of the material to be polished differs along the way. In this case, as in the above-described example, machining data with different curvatures along the way for the material to be polished 25 may be input in advance, and polishing may be performed by controlling each drive motor at a speed suitable for the machining curved surface.

In this embodiment, an example of polishing a convex-shaped material to be polished has been described, but the present invention can also be applied to a concave-shaped material by inputting machining data.
Needless to say, it is effective not only for polishing but also for grinding.

[Effects of the Invention] As is clear from the above explanation, according to the present invention, it is possible to always keep the machining pressure constant even at a position far from the center of the material to be polished, so that a stable polishing amount can be obtained. In addition, the amount of polishing can be easily controlled.

[Brief explanation of the drawing]

FIG. 1 is an external perspective view showing an embodiment of the present invention;
2 is a sectional view taken along the line MM in FIG. 1, FIG. 3 is a block diagram showing an example of a control unit, and FIGS. 4 to 6 are diagrams explaining the operating principle of the embodiment of the present invention. FIG. 7 is a flowchart showing an example of a control procedure according to an embodiment of the present invention, FIG. 8 is a line diagram explaining an example of a machining pattern, and FIGS. 9 and 10 are data table diagrams showing an example of machining data. , FIG. 11 is a diagram explaining another example of the processing pattern, and FIG.
13 is a plan view showing a conventional example, and FIG. 14 is a side view showing a conventional example. DESCRIPTION OF SYMBOLS 1...Main body base, 7...Support base, 9...Drive arm, 13...Swivel axis, 13B, 19B, 27B,
57B, 75B, 85B...Encoder, 19, 2
9, 51, 57, 75, 85... Drive motor, 19
A, 29A, 51A, 57A, 75A, 85A...
Octopus generator, 25... Material to be polished, 27... Work shaft body, 41... Polishing tool, 43... Swinging arm, 4
7...Rotating shaft, 55...Crank mechanism, 71...Horizontal slide body, 77...Scale unit, 81...Vertical slide body, 100...Control unit, 104...X
Axis control unit, 105...Z-axis control unit, 106...Turning angle control unit, 107...Work shaft driver unit, 10
8... Polishing tool driver section, 109... Rocking motor driver section, 110... Current position input section.

Claims (1)

[Claims] 1. Work rotation means for rotating a workpiece having a curved surface to be machined with a radius of curvature R around its central axis; , a workpiece turning means for turning around a turning axis perpendicular to the central axis;
a first moving means for moving the tool in the vertical (Z-axis) direction; a second moving means for moving the tool in the vertical (Z-axis) direction; a tool rotation means for rotating the tool about its axis; _a tool swinging means for swinging ^on _the curved surface of the work ^; θ ₁ ^* , θ 2 ^*, ...) storage means for storing information on machining data for each of θ 1 *, θ ₂ *, ...); a work control means for controlling the work rotation means and the work rotation means; the first movement means, the second movement means, a tool control means for controlling the tool rotation means and the tool swinging means, the rotation angle of the workpiece is set at θt in order to align the rotational axis of the tool with the normal line of the workpiece and the direction of gravity. ₁ ^* and the radial distance from the central axis of the workpiece r ₁ ^* , satisfies θt ₁ ^* = arc sin (r ₁ ^* /R), and the tool is placed at the coordinate position (X ₁ ^* ,
_Z1 ^* ), the amount of movement of the tool in the X-axis direction and Z-axis direction by the first and second moving means is _X1 ^* =(R+L) _sinθt1 ^* , and _Z1 ^* = (R+L)-√(+) ^2- ( ₁ ^* ) ² (However, _X1 ^* is the distance in the X _- axis direction from the central axis when the rotation angle _θt1 ^* of the workpiece ^is 0 degrees. (distance in the Z-axis direction from the apex of the workpiece when Based on predetermined machining position information and machining data information, the rotation speed of the workpiece is calculated to control the workpiece, the rotation speed and swing speed of the tool are calculated to control the tool, and the X of the tool is controlled.
A polishing method characterized in that the moving position of the tool in the Z-axis direction and the turning angle of the workpiece are determined from the current position in the axial direction using the formula, and the tool and the workpiece are controlled and processed.