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CN-122008036-A - Remove polishing car

CN122008036ACN 122008036 ACN122008036 ACN 122008036ACN-122008036-A

Abstract

The invention relates to polishing equipment, in particular to a movable polishing vehicle, which solves the problem that when the number of mechanical arms is increased by adopting a fixed multi-mechanical-arm cooperative system, interference is easy to occur between the optical elements when the number of the mechanical arms is increased by adopting a large-sized numerical control gantry polishing machine to polish the optical elements with medium and large calibers. According to the invention, four walking motors are respectively arranged at four corners of the bottom of the chassis, the output end of each walking motor is connected with an omnidirectional moving wheel, the axes of two adjacent omnidirectional moving wheels are mutually perpendicular, omnidirectional movement can be realized, a plurality of movable polishing vehicles are controlled by an external cluster control module to be mutually matched and can be processed in parallel, the integrated polishing shaft drives a polishing driving device and a polishing disc to move along the vertical direction through a force control device, the contact pressure with an optical element to be polished is adjusted, and the polishing driving device can adjust the rotating speed of the polishing disc, so that the polishing device can adapt to different polishing requirements.

Inventors

  • LI QIXIN
  • MA ZHEN
  • DING JIAOTENG

Assignees

  • 中国科学院西安光学精密机械研究所

Dates

Publication Date
20260512
Application Date
20260130

Claims (6)

  1. 1. The utility model provides a remove polishing car which characterized in that: comprises a chassis (1), a shell (2), an integrated polishing shaft, a traveling motor (3), a control unit and an omnidirectional moving wheel (4); the shell (2) is arranged on the chassis (1), the four walking motors (3) are respectively arranged at four corners of the bottom of the chassis (1), the output shaft of each walking motor (3) is connected with one omnidirectional moving wheel (4), and the axes of two adjacent omnidirectional moving wheels (4) are mutually perpendicular; The integrated polishing shaft comprises a force control device (5), a polishing driving device (6) and a polishing disc (7) which are sequentially and coaxially connected from top to bottom, the polishing driving device (6) is used for driving the polishing disc (7) to rotate, the force control device (5) is arranged in the shell (2) and is close to the top surface of the shell (2), and the force control device (5) is used for driving the polishing driving device (6) and the polishing disc (7) to move along the vertical direction; The control unit is electrically connected with the force control device (5), the polishing driving device (6) and the walking motor (3), and is also used for being electrically connected with an external cluster control module.
  2. 2. The mobile polishing vehicle as set forth in claim 1, wherein: The control unit is connected with the external cluster control module through a wireless network.
  3. 3. The mobile polishing vehicle as set forth in claim 2, wherein: the force control device (5) comprises an upper shell (51), a lower shell (52) and a limit motor (53); The upper shell (51) comprises a top plate (511), four L-shaped protection plates (512) are arranged at the bottom of the top plate (511), the four protection plates are distributed in a rectangular shape around the center of the top plate (511), and a space surrounded by the inner walls of the four protection plates is used for accommodating the top of the lower shell (52); The lower shell (52) is positioned at the bottom center of the top plate (511), and comprises a bottom plate (521), side plates (522) and a cross beam (523), wherein the bottom plate (521) is rectangular, the three side plates (522) are vertically arranged on three side edges of the bottom plate (521) respectively, the cross beam (523) is positioned on one side where the side plates (522) are not arranged, the top surface of the cross beam (523) is flush with the top surfaces of the three side plates (522), and two ends of the cross beam (523) are connected with two opposite side plates (522) respectively; The upper shell (51) further comprises an inner mounting cavity (513) arranged at the bottom of the top plate (511), wherein the inner mounting cavity (513) is of a rectangular cavity structure and is positioned in a top opening surrounded by three side plates (522) and a cross beam (523) of the lower shell (52), and a guide mechanism (56) is arranged between the three side plates (522) and the outer wall of the corresponding inner mounting cavity (513); The inside of the inner mounting cavity (513) is provided with a first electromagnet (54), the bottom plate (521) is correspondingly provided with a second electromagnet (55) with the first electromagnet (54), the limit motor (53) is arranged on the outer wall of one side of the inner mounting cavity (513) close to the cross beam (523), and the output end of the limit motor (53) is connected with the cross beam (523); the polishing driving device (6) comprises a polishing motor (61) and a speed reducer (62), wherein the polishing motor (61) is connected to the bottom center of the bottom plate (521), an output shaft of the polishing motor (61) is connected with an input end of the speed reducer (62), an output end of the speed reducer (62) is connected with an elastic coupling (63), and an input end of the speed reducer (62) is coaxially arranged with the elastic coupling (63); the polishing disc (7) comprises a metal base layer (71) and a polishing layer (72) arranged at the bottom of the metal base layer (71), and the top center of the metal base layer (71) is connected with the elastic coupling (63); the first electromagnet (54), the second electromagnet (55), the limiting motor (53) and the polishing motor (61) are respectively and electrically connected with the control unit.
  4. 4. A mobile polishing vehicle according to claim 3, wherein: also comprises a suspension (8); The suspension (8) is one, the middle part of the suspension (8) is hinged with one side of the chassis (1) through a hinge shaft, and the axis of the hinge shaft is intersected with and perpendicular to the central axis of the polishing disc (7); two travelling motors (3) on the side are mounted at both ends of the suspension (8).
  5. 5. The mobile polishing vehicle as recited in claim 4, wherein: the omnidirectional moving wheel (4) comprises a first central wheel (41), a second central wheel (42) and a roller (43); the first center wheel (41) and the second center wheel (42) have the same structure and size, are coaxially arranged and fixedly connected, and are both connected with the output end of the walking motor (3); The edges of the first center wheel (41) and the second center wheel (42) are uniformly distributed with a plurality of mounting grooves along the circumferential direction, the mounting grooves of the first center wheel and the second center wheel are staggered along the circumferential direction, mounting columns are arranged in each mounting groove along the circumferential direction, and a plurality of rollers (43) are respectively positioned in the mounting grooves and rotationally connected to the mounting columns.
  6. 6. The mobile polishing vehicle as set forth in claim 5, wherein: the top of roof (511) is provided with a plurality of rings (9), guiding mechanism (56) are guide rail slider pair.

Description

Remove polishing car Technical Field The invention relates to polishing equipment, in particular to a movable polishing vehicle. Background In the field of ultra-precise manufacturing of optical elements, in order to make the surface of the optical element meet the design requirement, polishing is generally required to be performed on the surface, a polishing procedure is a key link for determining surface shape precision and surface quality, and when polishing a high-precision optical element with a medium and large caliber, namely, a high-precision optical element with a caliber of meter, the following two types of equipment are mainly relied on at the present stage: 1. The large numerical control gantry polishing machine has high positioning precision, huge equipment and high cost, only one optical element can be polished at a time, a plurality of optical elements cannot be processed in parallel, and the polishing efficiency is low; 2. The fixed multi-mechanical arm cooperative system adopts a plurality of mechanical arms to cooperatively work, can realize limited parallelism, but the mechanical arms all need a certain working space, if the polishing efficiency is required to be improved, the number of the mechanical arms can only be increased, and the number of the mechanical arms is increased, so that interference can be easily generated between the mechanical arms. Disclosure of Invention The invention aims to solve the technical problem that when the existing medium-large caliber high-precision optical element is polished by a large-sized numerical control gantry polishing machine, a plurality of optical elements cannot be processed in parallel, and only limited parallelism can be realized by adopting a fixed multi-mechanical arm cooperative system, so as to provide a movable polishing vehicle. In order to achieve the above purpose, the technical solution provided by the present invention is: the movable polishing vehicle is characterized in that: comprises a chassis, a shell, an integrated polishing shaft, a walking motor, a control unit and an omnidirectional moving wheel; the shell is arranged on the chassis, four walking motors are respectively arranged at four corners of the bottom of the chassis, an output shaft of each walking motor is connected with an omnidirectional moving wheel, and the axes of two adjacent omnidirectional moving wheels are mutually perpendicular; The integrated polishing shaft comprises a force control device, a polishing driving device and a polishing disk which are sequentially and coaxially connected from top to bottom, wherein the polishing driving device is used for driving the polishing disk to rotate, the force control device is arranged in the shell and is close to the top surface of the shell, and the force control device is used for driving the polishing driving device and the polishing disk to move along the vertical direction; the control unit is electrically connected with the force control device, the polishing driving device and the walking motor, and is also electrically connected with the external cluster control module. Further, the control unit is connected with an external cluster control module through a wireless network. Further, the force control device comprises an upper shell, a lower shell and a limiting motor; the upper shell comprises a top plate, four L-shaped protection plates are arranged at the bottom of the top plate and distributed in a rectangular shape around the center of the top plate, and a space surrounded by the inner walls of the four plates is used for accommodating the top of the lower shell; The lower shell is positioned at the bottom center of the top plate and comprises a bottom plate, side plates and a cross beam, wherein the bottom plate is rectangular, three side plates are arranged on the three side edges of the bottom plate and have the same structure size, the three side plates are respectively and vertically arranged on the three side edges of the bottom plate, the cross beam is positioned on one side where the side plates are not arranged, the top surface of the cross beam is level with the top surfaces of the three side plates, and two ends of the cross beam are respectively connected with the two opposite side plates; the upper shell further comprises an inner mounting cavity arranged at the bottom of the top plate, wherein the inner mounting cavity is of a rectangular cavity structure and is positioned in a top opening surrounded by three side plates and a cross beam of the lower shell; the inner mounting cavity is internally provided with a first electromagnet, the bottom plate is correspondingly provided with a second electromagnet with the first electromagnet, the limiting motor is arranged on the outer wall of one side of the inner mounting cavity, which is close to the cross beam, and the output end of the limiting motor is connected with the cross beam; The polishing driving device comprises a polishing motor