A passive constant force polishing device with dynamic adjustment capability

Abstract

The application relates to a passive constant force polishing device with dynamic adjustment capability and relates to the field of industrial robot polishing processing. The application solves the problems of large constant force fluctuation, small displacement stroke and the inability to dynamically adjust the constant force of the existing passive constant force control of the robot. The constant force spring assembly of the application is used to connect the polishing head and provide constant axial pressure within a certain displacement stroke, and the constant force adjusting mechanism assembly is used to dynamically adjust the constant force of the constant force spring assembly. When the polishing head is pressed on the surface of a workpiece under the position control of the robot, the required polishing force size is set, the required constant force is dynamically adjusted by the constant force adjusting mechanism assembly of the application to meet the polishing requirement, and on the other hand, when the polishing angle is changed, the gravity changes along the direction of the main shaft of the polishing head, the constant force provided by the constant force spring assembly can be automatically adjusted according to the angle, so that the gravity component is compensated, and the constant polishing force is maintained. The application is used in the passive constant force polishing environment.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of polishing processing, in particular to a passive constant force polishing device with dynamic adjustment capability for industrial robot polishing processing. BACKGROUND

[0002] The constant force control methods commonly used in the polishing process of industrial robots at present are divided into two categories: active constant force control and passive constant force control.

[0003] Active constant force control relies on real-time monitoring of force feedback by sensors, and adjusts through the robot control system to maintain constant polishing force. The main problem of this method is that the system is complex, the response speed is limited, and it is easily affected by environmental noise and sensor accuracy, resulting in unstable polishing process.

[0004] Passive constant force control provides flexibility of polishing tools through elastic mechanisms or flexible materials, and uses the elastic deformation of the structure to achieve self-adaptation of force. Although this method is simple in structure and low in cost, the current passive constant force device generally has large constant force fluctuation, small displacement stroke, and constant force that cannot be dynamically adjusted, resulting in limited working range of the polishing head and unstable polishing quality. The reason for the above technical problems is that the constant force spring in the existing constant force polishing system generally uses the mechanism of superposition of positive and negative stiffness to generate constant force, resulting in that the superposition result depends on the control parameter processing accuracy, and the constant force interval is generally small. In addition, the principle of superposition of positive and negative stiffness leads to the dependence of constant force adjustment on manual pre-tightening to change the constant force size, which cannot meet the variable constant force demand caused by the change of polishing working condition or the change of gravity component caused by the change of polishing angle during polishing.

[0005] For example: the patent with the patent name of polishing device and polishing method and the authorization announcement number of CN115383545B, the polishing device includes a moving mechanism, a polishing mechanism, a floating mechanism and a displacement detection mechanism; the polishing mechanism is slidingly arranged in the moving mechanism along a first direction, and the moving mechanism is used to drive the polishing mechanism to move; the floating mechanism is connected with the polishing mechanism and the moving mechanism respectively, and is used to adjust the polishing force of the polishing mechanism; the displacement detection mechanism is arranged between the polishing mechanism and the moving mechanism, and is used to detect the displacement of the polishing mechanism along the first direction, and the displacement detection mechanism is in communication connection with the moving mechanism. The polishing device can control the polishing force of the polishing mechanism by controlling the displacement of the polishing mechanism relative to the moving mechanism in the first direction, can perform constant force or non-constant force polishing according to needs, can also differentially control the polishing depth, has high controllability and wide applicability. Although it can flexibly regulate and control the polishing depth, it still cannot solve the problem of constant force adjustment.

[0006] Therefore, the two methods have problems of insufficient accuracy and unstable force control when polishing complex curved surfaces, which limits their application in high-precision manufacturing.

[0007] In summary, the existing passive constant force control of robots has problems of large constant force fluctuation, small displacement stroke, and inability to dynamically adjust the constant force. SUMMARY

[0008] The purpose of the present application is to solve the problems of large constant force fluctuation, small displacement stroke, and inability to dynamically adjust the constant force in the existing passive constant force control of robots. Furthermore, a passive constant force polishing device with dynamic adjustment capability is provided.

[0009] The technical solution of the present application is:

[0010] A passive constant force polishing device with dynamic adjustment capability includes a main shaft motor assembly, a cover plate, a constant force spring assembly, a constant force adjustment motor, a base, a constant force adjustment motor gear, a bottom plate, a constant force adjustment mechanism assembly, a polishing head, and a guide unit. The main shaft motor assembly is installed at the upper end of the cover plate. The base is parallel to the cover plate and coaxially located directly below the cover plate. The cover plate and the base are connected by the guide unit. The constant force spring assembly is slidably sleeved on the guide unit and is limited by the guide unit to move axially. The polishing head is connected to the lower end of the main shaft of the constant force spring assembly. The upper end of the main shaft is connected to the main shaft motor assembly. The constant force adjustment motor gear and the bottom plate are installed in the lower part of the base from top to bottom. The constant force adjustment mechanism assembly and the constant force adjustment motor are installed on the base. The constant force adjustment mechanism assembly moves in a ring-shaped radial manner under the action of the constant force adjustment motor and the constant force adjustment motor gear, thereby driving the constant force spring assembly to move and achieving dynamic adjustment of the constant force of the constant force spring assembly.

[0011] Further, the main shaft motor assembly includes a main shaft motor, a main shaft motor flange, a shaft coupling, and a spline shaft sleeve. The fixed end of the main shaft motor flange is installed on the main shaft motor and is installed on the cover plate through the main shaft motor flange. The output shaft of the main shaft motor is connected to the spline shaft sleeve through the shaft coupling.

[0012] Further, the constant force spring assembly includes a shaft sleeve, an elastic retainer, a bearing, a drum, a plurality of constant force springs, a retainer ring, and a main shaft. A plurality of through holes are formed in the drum wall along the axial direction. Each through hole is embedded with a shaft sleeve. The shaft sleeve is sleeved on the guide unit. The upper end of the main shaft is connected to the spline shaft sleeve. The retainer ring is installed between the upper middle part of the main shaft and the inner side wall of the drum. The elastic retainer and the bearing are installed on the lower middle part of the main shaft, respectively. The outer side of the drum has a ring-shaped radial extension arm. Each extension arm is connected to one side end face of one constant force spring.

[0013] Preferably, the height of the extension arm is lower than the height of the drum wall.

[0014] Further, the constant force spring is connected by bending a long strip-shaped plate body, and the plate body has a trapezoidal hole at the upper and lower parts in the length direction.

[0015] Further, the constant force adjusting mechanism assembly comprises a disc spring, a flange bearing and a plurality of sliders, the disc spring is provided with external teeth on the side end face, the disc spring is provided with a helical groove on the upper end face, the plurality of sliders are installed on the helical groove, the disc spring is installed on the base through the flange bearing, and the disc spring is driven to rotate by the constant force adjusting motor gear and meshed with the external teeth of the disc spring; the rotation of the disc spring drives the sliders embedded in the helical groove of the disc spring to move along the guide groove on the base, thereby driving the slider baffle fixedly connected to the slider to move, which changes the shape of the constant force spring, that is, the distance D between the two parallel planes, thereby changing the constant force provided by the constant force spring.

[0016] Further, the guide unit comprises a plurality of guide shafts, a plurality of struts and a plurality of slider baffles, the plurality of guide shafts are vertically installed on the base and cooperate with the shaft sleeves, the plurality of struts are supported between the cover plate and the base, each slider is provided with a slider baffle, and the other side end face of the constant force spring is connected with the slider baffle.

[0017] Further, it further comprises a linear encoder and a linear encoder base, and the linear encoder is installed on the base through the linear encoder base.

[0018] Further, it further comprises a robot connecting plate, and the robot connecting plate is installed on the upper end of the cover plate.

[0019] Compared with the prior art, the present application has the following effects:

[0020] The main shaft motor assembly 2 is used to provide the required rotating speed and torque of the polishing head, the constant force spring assembly 4 is used to connect the polishing head 10 and provide constant axial pressure within a certain displacement stroke, and the constant force adjusting mechanism assembly 9 is used to dynamically adjust the constant force of the constant force spring assembly 4. When the polishing head 10 is pressed on the surface of the workpiece under the position control of the robot, on the one hand, the required polishing force is set, and the required constant force is dynamically adjusted by the constant force adjusting mechanism assembly 9 to meet the polishing requirements; on the other hand, when the polishing angle changes, the constant force provided by the constant force spring assembly 4 can be automatically adjusted according to the angle to compensate the gravity component, so as to maintain the constant polishing force.

[0021] The present application provides a new type of constant force spring (such as Figure 15 and Figure 16The proposed constant force spring can solve the problem of large constant force fluctuation and small displacement stroke of traditional constant force mechanism. Since the shape of the deformation part of the proposed constant force spring is almost unchanged, and the area of the deformation part increases linearly with d, the derivative of the strain energy of the constant force spring with respect to the displacement d of the drum 4-4 is a constant, which is the constant force Fd. The size of the constant force is only related to the material properties and geometric shape of the constant force spring 4-5, and the constant force fluctuates very little in the entire trapezoidal area, so a stable constant force with a large displacement range can be obtained. BRIEF DESCRIPTION OF DRAWINGS

[0022] Figure 1 is a schematic diagram of the overall structure of the present application, Figure 2 is a top view of Figure 1 , Figure 3 is a sectional view along B-B, Figure 2 is a sectional view along B-B, Figure 4 is a sectional view along B-B, Figure 1 is a sectional view along B-B, Figure 5 is a sectional view along B-B, Figure 6 is a sectional view along B-B, Figure 5 is a sectional view along B-B, Figure 7 is a sectional view along B-B, Figure 8 is a sectional view along B-B, Figure 7 is a sectional view along B-B, Figure 9 is a sectional view along B-B, Figure 8 is a sectional view along B-B, Figure 10 is a sectional view along B-B, Figure 11 is a sectional view along B-B, Figure 12 is a sectional view along B-B, Figure 11 is a sectional view along B-B, Figure 13 is a sectional view along B-B, Figure 14 is a sectional view along B-B, Figure 15 is a sectional view along B-B, Figure 16 is a sectional view along B-B, Figure 15 is a sectional view along B-B. DETAILED DESCRIPTION

[0023] Specific implementation one: combined with Figures 1 to 16The embodiment is described, the embodiment includes main shaft motor assembly 2, cover plate 3, constant force spring assembly 4, constant force adjusting motor 5, base 6, constant force adjusting motor gear 7, bottom plate 8, constant force adjusting mechanism assembly 9, polishing head 10 and guide unit, main shaft motor assembly 2 is installed at the upper end of cover plate 3, base 6 is parallel to cover plate 3 and coaxially located directly below cover plate 3, cover plate 3 and base 6 are connected through guide unit, constant force spring assembly 4 is slidably sleeved on guide unit, and constant force spring assembly 4 is limited under guide unit, axial movement is realized, polishing head 10 is connected with the lower end of the main shaft 4-7 of constant force spring assembly 4, the upper end of main shaft 4-7 is connected with main shaft motor assembly 2, constant force adjusting motor gear 7 and bottom plate 8 are sequentially installed from top to bottom in the lower part of base 6, constant force adjusting mechanism assembly 9 and constant force adjusting motor 5 are installed on base 6, constant force adjusting mechanism assembly 9 moves in a ring radiation shape under the action of constant force adjusting motor 5 and constant force adjusting motor gear 7, and then drives constant force spring assembly 4 to move, so that dynamic constant force size adjustment of constant force spring assembly 4 is realized.

[0024] Specific implementation method two: in combination Figures 5 to 6 The embodiment is described, the main shaft motor assembly 2 of the embodiment includes main shaft motor 2-1, main shaft motor flange 2-1, shaft coupling 2-3 and spline shaft sleeve 2-4, the fixed end of main shaft motor flange 2-1 is installed on main shaft motor 2-1, and is installed on cover plate 3 through main shaft motor flange 2-1, the output shaft of main shaft motor 2-1 is connected with spline shaft sleeve 2-4 through shaft coupling 2-3.

[0025] In this way, the fixed end of main shaft motor 2-1 is connected to main shaft motor flange 2-2, the output shaft of main shaft motor 2-1 is connected to spline shaft sleeve 2-4 through shaft coupling 2-3. Main shaft motor flange 2-2 is fixedly connected to cover plate 3, providing rotating power for the rotation of main shaft 4-7. The other components and connection relationships are the same as those of the first specific embodiment.

[0026] Specific implementation method three: in combination Figures 7 to 9 The embodiment is described, the constant force spring assembly 4 of the embodiment includes shaft sleeve 4-1, elastic retainer 4-2, bearing 4-3, drum 4-4, a plurality of constant force springs 4-5, stop ring 4-6 and main shaft 4-7, a plurality of through holes are formed in the cylinder wall of drum 4-4 along the axial direction, and each through hole is embedded with a shaft sleeve 4-1, the upper end of main shaft 4-7 is connected with spline shaft sleeve 2-4, stop ring 4-6 is installed between the inner side wall of drum 4-4 and the middle upper part of main shaft 4-7, elastic retainer 4-2 and bearing 4-3 are respectively installed on the middle lower part of main shaft 4-7, the outer side of drum 4-4 is provided with a plurality of extension arms in a ring radiation shape, and each extension arm is connected with one side end face of a constant force spring 4-5.

[0027] In this way, the main shaft 4-7 is connected to the spline groove and spline sleeve 2-4, so that the main shaft 4-7 can rotate under the drive of the main shaft motor assembly 2, and can also move axially under the restriction of the guide shaft 13. Since one end of the constant force spring 4-5 is connected to the drum 4-3 and the other end is fixed to the sliding block baffle 12, the entire constant force spring assembly 4 provides a constant pressure to the main shaft 4-7 along the axial direction of the main shaft. When the polishing device and the bottom angle are unchanged, even if the main shaft 4-7 moves a certain displacement along the axial direction, the pressure remains constant. The other components and connection relationships are the same as those in the first or second embodiment.

[0028] The number of constant force springs 4-5 in this embodiment is preferably 6. The middle part of the drum wall of the drum 4-4 is connected to the main shaft 4-7 through a bearing, and the lower part of the bearing is provided with a retainer ring 4-6. The lower part of the drum wall of the drum 4-4 is processed with an annular protrusion for limiting the position of the bearing 4-3 in the axial direction.

[0029] Embodiment four: combination Figure 13 In this embodiment, the height of the extension arm is lower than the height of the drum wall. In this way, the thickness of the extension arm becomes thinner from the outside, and a plurality of connection holes are formed in the middle part of the extension arm for connecting the constant force springs 4-5. The height of the extension arm not only provides installation space at the lower part, but also has the same components and connection relationships as any one of the first to third embodiments.

[0030] Embodiment five: combination Figures 14 to 16 In this embodiment, the constant force spring 4-5 is a long strip-shaped plate body connected after bending, and the upper and lower parts of the plate body in the length direction are trapezoidal holes.

[0031] In this way, the raw material is a rectangular sheet metal plate (or other non-metallic materials), two angle α trapezoidal grooves and the required holes are processed on it, then the processed metal plate is bent into a capsule shape, and is fixed between two parallel plates (the parallel plates of this device are the sliding block baffle 12 and the side edge surface of the drum 4-4). When the drum 4-4 slides on the guide shaft 13 by a displacement d, the energy of the deformed part of the constant force spring 4-5 changes. Since the shape of the deformed part does not change much, the area of the deformed part increases linearly with d, so the derivative of the strain energy of the deformed part to the displacement d of the drum 4-4 is a constant, which is the constant force F d , which is only related to the material properties and geometric shape of the constant force spring 4-5, and the constant force fluctuates very little in the entire trapezoidal area, so that a constant force in a large displacement range can be obtained. The other structures and components are the same as any one of the first to fourth embodiments.

[0032] Specific implementation six: combined Figures 10 to 12 To illustrate this embodiment, the constant force adjusting mechanism assembly 9 of this embodiment includes a coil wire 9-1, a flange bearing 9-3 and a plurality of sliders 9-2, the side end face of the coil wire 9-1 is machined with external teeth, the upper end face of the coil wire 9-1 is machined with a helical groove, the plurality of sliders 9-2 are installed on the helical groove, the coil wire 9-1 is installed on the base 6 through the flange bearing 9-3, and is driven to rotate by the constant force adjusting motor 5 and the constant force adjusting motor gear 7, and meshes with the external teeth of the coil wire 9-1 to drive the coil wire 9-1 to rotate; the rotation of the coil wire 9-1 will drive the slider 9-2 embedded in the helical groove of the coil wire 9-1 to translate along the guide groove on the base 8, thereby driving the slider baffle fixedly connected to the slider 9-2 to translate, which changes the shape of the constant force spring 4-5, that is, the distance D between the two parallel faces, thereby changing the constant force provided by the constant force spring 4-5.

[0033] In this way, the pressure provided by the constant force spring assembly 4 along the axial direction of the main shaft 4-7 can be changed by the constant force adjusting mechanism assembly 9, because the coil wire 9-1 is installed on the base 6 through the flange bearing 9-3, and is driven to rotate by the constant force adjusting motor 5 and the constant force adjusting motor gear 7. The rotation of the coil wire 9-1 will drive the slider 9-2 embedded in the helical groove of the coil wire 9-1 to translate along the guide groove on the base 8, thereby driving the slider baffle fixedly connected to the slider 9-2 to translate, which will change the shape of the constant force spring 4-5, specifically the distance D between the two parallel faces (as shown in Figure 14 ), thereby changing the constant force provided by the constant force spring 4-5, achieving the purpose of adjusting the constant force. The other components and connection relationships are the same as any one of the specific embodiments one to three.

[0034] Specific implementation seven: combined Figures 3 to 4 To illustrate this embodiment, the guiding unit of this embodiment includes a plurality of guide shafts 11, a plurality of struts 12 and a plurality of slider baffles 13, the plurality of guide shafts 11 are installed vertically on the base 6 and cooperate with the shaft sleeve 4-1, the plurality of struts 12 are supported between the cover plate 3 and the base 6, one slider baffle 13 is installed on each slider 9-2, and the other side end face of the constant force spring 4-5 is connected with the slider baffle 13.

[0035] In this way, the base 6 of the present embodiment provides a base for the entire polishing device, on which the guide unit, in particular the six guide shafts 13, is mounted, and the constant force spring assembly 4 is mounted on the guide shafts 13 through the shaft sleeves, so as to limit the axial movement of the constant force spring assembly 4 along the polishing head 10. One end of the three support posts 12 is fixed to the base 6, and the other end is fixed to the cover plate 3 to form a frame of the polishing device. The upper ends of the guide shafts 13 are fixed to the cover plate 3, so as to limit the movement range of the constant force spring assembly 4 and the polishing head 10 connected thereto between the base 6 and the cover plate 3. The other components and connection relationships are the same as any one of Embodiments 1 to 6.

[0036] Embodiment 8: Combination Figure 4 In this embodiment, the present embodiment further comprises a linear encoder 14 and a linear encoder base 15, and the linear encoder 14 is mounted on the base 6 through the linear encoder base 15.

[0037] In this way, since the constant force provided by the constant force spring 4-5 and the distance D between the two parallel surfaces are in one-to-one correspondence, the constant force can be dynamically and real-timely adjusted by real-timely detecting D through the linear encoder 14 fixed to the base 6 through the linear encoder base 15. The other components and connection relationships are the same as any one of Embodiments 1 to 7.

[0038] Embodiment 9: Combination Figure 1 and Figure 2 In this embodiment, the present embodiment further comprises a robot connecting plate 1, and the robot connecting plate 1 is mounted on the upper end of the cover plate 3.

[0039] In this way, the present application is convenient to connect with the robot. The other components and connection relationships are the same as any one of Embodiments 1 to 8.

[0040] Combination Figures 1 to 16 The working principle of the present application is explained as follows:

[0041] When the polishing head 10 is pressed on the surface of the workpiece under the position control of the robot and is rotated by the main shaft motor 2-1, by setting the required polishing force, the present application drives the disc spring 9-1 to rotate through the constant force adjusting motor 5, so that the displacement of the sliding block 9-2 is changed through the feedback of the linear encoder 14, the shape of the constant force spring 4-5 is changed to change the constant force, so as to meet the polishing force requirement; on the other hand, when the polishing angle changes, since the gravity changes along the direction of the main shaft of the polishing head, the present application can automatically adjust the constant force provided by the constant force spring assembly 4 according to the included angle between the polishing head and the direction of the gravity provided by the robot, so as to compensate the gravity component, thereby maintaining the constant polishing force.

[0042] The above examples are only used to illustrate the technical solutions of the present application, and are not intended to limit the present application; although the present application has been described in detail with reference to the foregoing examples, those skilled in the art should understand that the technical solutions recorded in the foregoing examples can be modified, or some technical features can be replaced by equivalent features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A passive constant force polishing device with dynamic adjustment capability, characterized in that: It includes main shaft motor assembly (2), cover plate (3), constant force spring assembly (4), constant force adjustment motor (5), base (6), constant force adjustment motor gear (7), bottom plate (8), constant force adjustment mechanism assembly (9), polishing head (10) and guide unit, The main shaft motor assembly (2) is installed at the upper end of the cover plate (3), the base (6) is parallel to the cover plate (3) and coaxially located directly below the cover plate (3), the cover plate (3) and the base (6) are connected through the guide unit, the constant force spring assembly (4) is slidably sleeved on the guide unit, and the constant force spring assembly (4) is limited by the guide unit to realize axial movement, the polishing head (10) is connected with the lower end of the main shaft (4-7) of the constant force spring assembly (4), and the upper end of the main shaft (4-7) is connected with the main shaft motor assembly (2), The constant force adjustment motor gear (7) and the bottom plate (8) are installed in the lower part of the base (6) from top to bottom, the constant force adjustment mechanism assembly (9) and the constant force adjustment motor (5) are installed on the base (6), the constant force adjustment mechanism assembly (9) moves in a ring radiation shape under the action of the constant force adjustment motor (5) and the constant force adjustment motor gear (7), thereby driving the constant force spring assembly (4) to move, and realizing dynamic constant force size adjustment of the constant force spring assembly (4).

2. The passive constant force polishing device with dynamic adjustment capability according to claim 1, characterized in that: The main shaft motor assembly (2) includes a main shaft motor (2-1), a main shaft motor flange (2-1), a shaft coupling (2-3) and a spline shaft sleeve (2-4), The fixed end of the main shaft motor flange (2-1) is installed on the main shaft motor (2-1) and is installed on the cover plate (3) through the main shaft motor flange (2-1), and the output shaft of the main shaft motor (2-1) is connected with the spline shaft sleeve (2-4) through the shaft coupling (2-3).

3. The passive constant force polishing device with dynamic adjustment capability according to claim 1, characterized in that: The constant force spring assembly (4) includes a shaft sleeve (4-1), an elastic retainer (4-2), a bearing (4-3), a roller (4-4), a plurality of constant force springs (4-5), a stop ring (4-6) and a main shaft (4-7), A plurality of through holes are formed in the cylinder wall of the roller (4-4) along the axial direction, and each through hole is embedded with a shaft sleeve (4-1), the upper end of the main shaft (4-7) is connected with the spline shaft sleeve (2-4), the stop ring (4-6) is installed between the upper middle part of the main shaft (4-7) and the inner side wall of the roller (4-4), and the lower middle part of the main shaft (4-7) is respectively provided with the elastic retainer (4-2) and the bearing (4-3), The outer side of the roller (4-4) is provided with a ring radiation shaped extension arm, and each extension arm is connected with one side end face of a constant force spring (4-5).

4. The passive constant force polishing device with dynamic adjustment capability according to claim 3, characterized in that: The height of the extension arm is lower than the height of the cylinder wall.

5. The passive constant force polishing device with dynamic adjustment capability according to claim 4, characterized in that: The constant force spring (4-5) is a long strip-shaped plate body connected after bending, and the plate body is provided with a trapezoidal hole at the upper part and the lower part in the length direction.

6. The passive constant force polishing device with dynamic adjustment capability according to claim 5, characterized in that: The constant force adjusting mechanism assembly (9) comprises a disc spring (9-1), a flange bearing (9-3) and a plurality of sliders (9-2), the side end face of the disc spring (9-1) is provided with external teeth, the upper end face of the disc spring (9-1) is provided with a helical groove, the plurality of sliders (9-2) are installed on the helical groove, the disc spring (9-1) is installed on the base (6) through the flange bearing (9-3), and the disc spring (9-1) is driven to rotate by the constant force adjusting motor (5) to drive the constant force adjusting motor gear (7) to rotate and mesh with the external teeth of the disc spring (9-1); The rotation of the disc spring (9-1) drives the sliders (9-2) embedded in the helical groove of the disc spring (9-1) to move along the guide groove on the base (8), thereby driving the slider baffle fixedly connected to the sliders (9-2) to move, which changes the shape of the constant force spring (4-5), that is, the distance D between the two parallel faces, thereby changing the constant force provided by the constant force spring (4-5).

7. The passive constant force polishing device with dynamic adjustment capability according to claim 6, characterized in that: The guide unit comprises a plurality of guide shafts (11), a plurality of struts (12) and a plurality of slider baffles (13), The plurality of guide shafts (11) are vertically installed on the base (6) and cooperate with the shaft sleeve (4-1), the plurality of struts (12) are supported between the cover plate (3) and the base (6), one slider baffle (13) is installed on each slider (9-2), and the other side end face of the constant force spring (4-5) is connected with the slider baffle (13).

8. The passive constant force polishing device with dynamic adjustment capability according to claim 7, characterized in that: It also comprises a linear encoder (14) and a linear encoder base (15), and the linear encoder (14) is installed on the base (6) through the linear encoder base (15).

9. The passive constant force polishing device with dynamic adjustment capability according to claim 1 or 8, characterized in that: It also comprises a robot connecting plate (1), and the robot connecting plate (1) is installed on the upper end of the cover plate (3).

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