Polishing device and polishing equipment

Abstract

The invention discloses a polishing device and polishing equipment, the polishing device comprises a polishing mechanism and an angle adjusting mechanism, a driver of the polishing mechanism is mounted on a mounting part, and a transmission shaft is connected with the driver and can be driven by the driver to rotate around the axis of the transmission shaft; the angle adjusting mechanism comprises a universal joint and an elastic reset assembly, the universal joint is connected between the polishing component and the transmission shaft, and the polishing component is provided with a first position where the included angle between the polishing component and the transmission shaft is larger than zero degree and a second position where the included angle between the polishing component and the transmission shaft is equal to zero degree. The polishing component drives the elastic reset assembly to deform from the first state to the second state in the process of rotating from the second position to the first position, and the elastic reset assembly drives the polishing component to return to the second position in the process of recovering from the second state to the first state. The problems that the swing angle of the polishing head of the polishing machine is complex to adjust, and the workload of programmers is large are solved.

Description

Technical Field

[0001] The present application relates to the technical field of glass processing, and in particular to a polishing device and a polishing equipment. Background Art

[0002] In order to achieve the appearance and surface quality requirements of glass products, grinding and polishing processes are often used to fine-process glass products. The purpose of the grinding and polishing process is to obtain products with the required shape and surface quality during the grinding and polishing process. For circular curved glass products, in order to better polish the circular curved glass surface, the polishing machine products on the market currently use a multi-axis mechanical arm (such as a five-axis polishing machine) or a machine tool to adjust the angle of the polishing head of the polishing machine relative to the glass surface so that the polishing head can better fit the circular curved glass surface. When polishing the curved surfaces of circular curved glass with different radians, it is necessary for programmers to compile an operating program to enable the mechanical arm or machine tool to readjust the angle of the polishing machine relative to the glass surface to better fit the curved surface to be polished. It can be seen that the adjustment of the swing angle of the polishing head of the existing polishing machine is relatively cumbersome, and the workload of the programmer is large, which makes the overall structure of the polishing machine more complicated and difficult to maintain and use. Summary of the invention

[0003] The main purpose of the present application is to provide a polishing device and a polishing equipment to solve the problem that the adjustment of the swing angle of the polishing head of the polishing machine in the background technology is relatively cumbersome and the workload of the programmer is large.

[0004] According to one aspect of the present application, there is provided a polishing device, comprising:

[0005] A polishing mechanism, the polishing mechanism comprising a polishing component, a mounting component, a driver and a transmission shaft, the driver being mounted on the mounting component, the transmission shaft being connected to the driver and being able to rotate around its own axis under the drive of the driver;

[0006] An angle adjustment mechanism, the angle adjustment mechanism includes a universal joint and an elastic reset assembly, the universal joint is connected between the polishing component and the transmission shaft, the polishing component can be rotated relative to the transmission shaft in any direction under the action of the universal joint during the process of the transmission shaft driving the polishing component to rotate, the elastic reset assembly is connected to the mounting component and is rotationally connected to the polishing component, and the elastic reset assembly can be reciprocated between a first state and a second state under the action of its own elastic force;

[0007] In which, the polishing component has a first position in which the angle between it and the transmission shaft is greater than zero degrees and a second position in which the angle between it and the transmission shaft is equal to zero degrees. During the process of the polishing component rotating from the second position to the first position, it drives the elastic reset component to deform from the first state to the second state. During the process of the elastic reset component recovering from the second state to the first state, it drives the polishing component to return to the second position.

[0008] Furthermore, the universal joint comprises:

[0009] a first connection portion, the first connection portion being connected to the transmission shaft;

[0010] a second connection portion, the second connection portion being connected to the polishing component;

[0011] The adapter part is rotatably connected between the first connection part and the second connection part, and enables the second connection part to rotate relative to the first connection part along a first direction and a second direction perpendicular to each other.

[0012] Further, the installation component is provided with an installation cavity, the driver is installed in the installation cavity, and the transmission shaft includes:

[0013] A first shaft section, the first shaft section is connected to the driver and can rotate around its own axis when driven by the driver, and one end of the first shaft section away from the driver extends outside the installation cavity;

[0014] A second shaft segment, wherein the second shaft segment is connected to one end of the first shaft segment outside the installation cavity and is coaxially arranged with the first shaft segment, and one end of the second shaft segment away from the first shaft segment is connected to the first connecting portion.

[0015] Furthermore, the elastic reset assembly comprises:

[0016] A connecting component, the connecting component is rotatably connected to the polishing component;

[0017] A tension spring, wherein one end of the tension spring is connected to the mounting component and the other end is connected to the connecting component along the tension direction of the tension spring, and the tension length of the tension spring when the elastic reset assembly is in the first state is different from the tension length of the tension spring when the elastic reset assembly is in the second state;

[0018] Wherein, the tension spring is offset between the transmission shaft and the universal joint along the radial direction of the transmission shaft; and / or,

[0019] The tension springs include at least three tension springs. Along the circumference of the transmission shaft, the at least three tension springs are arranged at intervals from each other and the intervals between two adjacent tension springs are equal.

[0020] Further, the polishing component includes a connecting shaft and a polishing disc, the polishing disc is arranged at one end of the connecting shaft, and the connecting component includes:

[0021] A mounting plate, wherein a first through hole is provided in the mounting plate, and an end of the tension spring away from the mounting component is connected to the mounting plate;

[0022] A first bearing, wherein the first bearing is sleeved on an end of the connecting shaft away from the polishing plate and fixed in the first through hole, and an end of the connecting shaft away from the polishing plate at least partially extends to an end of the mounting plate close to the universal joint and is connected to the universal joint.

[0023] Further, the tension spring includes a first end and a second end that are arranged opposite to each other, the first end is connected to the mounting component, and the elastic reset assembly further includes:

[0024] A position adjustment component, wherein the position adjustment component is installed on the mounting plate, and the position adjustment component includes at least three components, wherein at least three of the position adjustment components are connected to the second ends of at least three tension springs in a one-to-one correspondence, and along the axial direction of the first through hole, the position adjustment component is used to adjust the position of the second end on the mounting plate.

[0025] Furthermore, the position adjustment component comprises:

[0026] A connecting rod, the connecting rod is mounted on the mounting plate, and the axial direction of the connecting rod is parallel to the axial direction of the first through hole;

[0027] A slider, wherein the slider is sleeved on the connecting rod, and along the axial direction of the connecting rod, the slider has a sliding state in which it can slide relative to the connecting rod and a stationary state in which it is stationary relative to the connecting rod;

[0028] A locking member is connected to the second end and can lock the slider to the static state or unlock it to the sliding state.

[0029] Furthermore, a groove is provided on one side of the mounting plate close to the mounting component, the groove is recessed in a direction away from the mounting component, and along the radial direction of the first through hole, the groove extends in a direction away from the first through hole and passes through the outer circumferential surface of the mounting plate, the connecting rod is installed in the groove and the slider is gap-matched with the inner side wall of the groove.

[0030] Furthermore, the installation component includes:

[0031] A housing having a second through hole disposed therein;

[0032] A flange, along the axial direction of the second through hole, the flange is installed at one end of the housing and covers the opening of the second through hole;

[0033] An end cover is provided along the axial direction of the second through hole, the end cover covers the opening of the second through hole away from the flange and is surrounded by the inner wall surface of the second through hole and the flange to form an installation cavity, a third through hole connected to the installation cavity is provided in the end cover, the driver is installed in the installation cavity, the transmission shaft is connected to the driver, and the transmission shaft is at least partially passed through the third through hole to the outside of the installation cavity and connected to the universal joint, and the end of the tension spring away from the connecting component is connected to the end cover.

[0034] Further, the driver includes a motor, the motor includes an output shaft, and the mounting component also includes:

[0035] A mounting seat, the mounting seat is mounted on the bottom of the mounting cavity close to the end cover, a fourth through hole is provided in the mounting seat, the motor is mounted on the mounting seat and is located between the mounting seat and the flange, the output shaft is located on a side of the motor close to the mounting seat and is passed through the fourth through hole, and a portion of the transmission shaft located in the mounting cavity is passed through the fourth through hole and is connected to the output shaft;

[0036] A mounting column, wherein the mounting column is located between the motor and the inner wall surface of the mounting cavity, and opposite ends of the mounting column are fixedly connected to the mounting seat and the flange respectively;

[0037] The second bearing includes at least two second bearings, and at least two second bearings are installed in the fourth through hole and sleeved on the outer periphery of the transmission shaft.

[0038] On the other hand, the present application also provides a polishing device, characterized in that it includes:

[0039] Motion control devices;

[0040] The polishing device is connected to the motion control device.

[0041] In the present application, the polishing device includes a polishing mechanism and an angle adjustment mechanism, the driver of the polishing mechanism is installed on the installation component, the transmission shaft is connected to the driver and can rotate around its own axis under the drive of the driver. Wherein, the angle adjustment mechanism includes a universal joint and an elastic reset component. The universal joint is connected between the polishing component and the transmission shaft. At the same time, the elastic reset component is connected to the installation component and is rotatably connected to the polishing component, so that the elastic reset component can reset the polishing component without affecting the rotation of the polishing component. Specifically, the elastic reset component can be reciprocated between a first state and a second state under the action of its own elastic force. The polishing component has a first position in which the angle between the polishing component and the transmission shaft is greater than zero degrees and a second position in which the angle between the polishing component and the transmission shaft is equal to zero degrees. The first position is the position of the polishing component after the polishing component is rotated relative to the transmission shaft to better fit the surface of the circular curved glass. The second position is the initial position of the polishing component. In the second position, the polishing component can polish a flat glass product or the top area of ​​a circular curved glass product.

[0042] When the transmission shaft drives the polishing component to rotate to polish the circular curved glass product, since the polishing component can rotate relative to the transmission shaft in any direction under the action of the universal joint, when polishing the curved surface position of the circular curved glass with different arcs, the polishing component can adaptively adjust its angle relative to the surface of the circular curved glass so that it can rotate from the second position to the first position, thereby ensuring that the polishing component can better fit the surface of the circular curved glass, without the need for manual programming and adding additional drive devices to adjust the swing angle of the polishing component. At the same time, the polishing component drives the elastic reset component to deform from the first state to the second state during the rotation from the second position to the first position, ensuring that the polishing component can adaptively adjust its angle relative to the transmission shaft in real time to better fit the surface of the circular curved glass. When the polishing component does not need to rotate to the first position, such as when polishing the top of the circular curved glass or polishing is completed or when polishing a flat glass product, the elastic reset component will have a tendency to recover from the second state to the first state under its own elastic action, thereby driving the polishing component to return to the second position during the recovery from the second state to the first state. Therefore, when the polishing part is restored to the second position, it can be brought back by the elastic reset assembly, and there is no need for an additional driving source and manual programming to drive the polishing part back to its original position, which greatly reduces the overall structural complexity of the polishing device, making the polishing device easier to maintain, with low difficulty in use and low technical threshold requirements for operators. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0044] Figure 1 A schematic structural diagram of a polishing device disclosed in one embodiment of the present invention;

[0045] Figure 2 for Figure 1 Schematic diagram of the connection between the middle angle adjustment mechanism and the polishing component;

[0046] Figure 3 for Figure 2 Explosion diagram of

[0047] Figure 4 for Figure 1 A front view of

[0048] Figure 5 for Figure 4 AA section view;

[0049] Figure 6 for Figure 5 A magnified schematic diagram of part B;

[0050] Figure 7 for Figure 1 Schematic diagram of the decomposition of

[0051] Figure 8 The working state of the polishing device when polishing the circular curved glass.

[0052] The above drawings include the following reference numerals:

[0053] 10. polishing component; 11. connecting shaft; 110. second slot; 12. polishing plate; 20. mounting component; 201. mounting cavity; 21. housing; 211. second through hole; 22. flange; 23. end cover; 231. third through hole; 24. mounting seat; 241. fourth through hole; 25. mounting column; 26. second bearing; 27. gasket; 28. locking nut; 30. driver; 31. motor; 311. output shaft; 40. transmission shaft; 41. first shaft section; 42. second shaft section; 50. universal joint; 51. First connecting part; 52. Second connecting part; 53. Adapter; 60. Elastic reset assembly; 61. Connecting part; 611. Mounting plate; 111. First through hole; 112. Groove; 113. Boss; 114. First retaining ring; 115. First retaining groove; 116. Second retaining ring 116; 612. First bearing; 62. Tension spring; 63. Position adjustment part; 631. Connecting rod; 632. Sliding block; 321. First mounting hole; 322. Second mounting hole; 633. Locking member; 70. Circular curved glass. DETAILED DESCRIPTION

[0054] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0055] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0056] Unless otherwise specifically stated, the relative arrangement, numerical expressions and numerical values ​​of the parts and steps set forth in these embodiments do not limit the scope of the present application. At the same time, it should be understood that, for ease of description, the sizes of the various parts shown in the accompanying drawings are not drawn according to the actual proportional relationship. The technology, methods and equipment known to those of ordinary skill in the relevant art may not be discussed in detail, but in appropriate cases, the technology, methods and equipment should be considered as a part of the authorization specification. In all examples shown and discussed here, any specific value should be interpreted as being merely exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters represent similar items in the following drawings, and therefore, once a certain item is defined in an accompanying drawing, it does not need to be further discussed in subsequent drawings.

[0057] In order to solve the problem that the adjustment of the swing angle of the polishing head of the polishing machine is relatively cumbersome and the workload of the programmer is large, the first embodiment of the present invention provides a polishing device, which includes a polishing mechanism and an angle adjustment mechanism. Figures 1 to 8 The polishing mechanism includes a polishing component 10, a mounting component 20, a driver 30, and a transmission shaft 40. The driver 30 is mounted on the mounting component 20, and the transmission shaft 40 is connected to the driver 30 and can rotate around its own axis under the drive of the driver 30. The polishing device can be mounted on a motion control device through the mounting component 20. The motion control device can specifically include one of a mechanical arm and a machine tool. When mounted on a machine tool, the mounting component 20 of the polishing device can be connected to the Z axis of the machine tool.

[0058] like Figures 1 to 3As shown, the angle adjustment mechanism includes a universal joint 50 and an elastic reset assembly 60. The universal joint 50 is connected between the polishing part 10 and the transmission shaft 40. The universal joint 50 allows the rotational motion to be transmitted between the transmission shaft 40 and the polishing part 10, while allowing the polishing part 10 and the transmission shaft 40 to have different relative positions. Therefore, in the process of the transmission shaft 40 driving the polishing part 10 to rotate, the polishing part 10 can rotate relative to the transmission shaft 40 in any direction under the action of the universal joint 50, so that the polishing part 10 can adaptively adjust the angle relative to the circular curved glass 70 as the curvature of the surface of the circular curved glass 70 changes during the process of polishing the surface of the circular curved glass 70, so as to better fit the surface of the circular curved glass 70 and improve the polishing quality, without the need for manual programming adjustment or other driving sources to adjust the swing angle of the polishing part 10 relative to the transmission shaft 40. The elastic reset assembly 60 is connected to the mounting part 20 and is rotatably connected to the polishing part 10, so that the elastic reset assembly 60 can pull the polishing part 10 to reset while not interfering with the rotational motion of the polishing part 10. Furthermore, the elastic reset component 60 can be reciprocated between the first state and the second state under the action of its own elastic force.

[0059] Among them, the polishing part 10 has a first position where the angle between the polishing part 10 and the transmission shaft 40 is greater than zero degrees and a second position where the angle between the polishing part 10 and the transmission shaft 40 is equal to zero degrees. In the process of the polishing part 10 rotating from the second position to the first position, the elastic reset component 60 is driven to deform from the first state to the second state. In the process of the elastic reset component 60 returning from the second state to the first state, the polishing part 10 is driven to return to the second position. Therefore, in the process of polishing the surface of the circular curved glass 70, the universal joint 50 provided in this embodiment can ensure that the polishing part 10 can adaptively adjust the swing angle relative to the transmission shaft 40, so as to better fit the surface position of the circular curved glass 70 with different arcs. Moreover, the elastic reset component 60 can not only cooperate with the universal joint 50 to enable the polishing part 10 to adjust the swing angle in real time, but also ensure that the polishing part 10 can return to the second position under its own elastic deformation. It can not only reduce the workload of programmers and reduce the difficulty of adjusting the swing angle of the polishing part 10, but also reduce the structural complexity and design cost of the polishing equipment using the polishing device. If the polishing device is installed on a machine tool, the three-axis machine tool can process the circular curved glass 70, thereby reducing the structural complexity of the polishing equipment and reducing the production and use costs of the polishing equipment.

[0060] It can be seen that in this embodiment, the polishing device includes a polishing mechanism and an angle adjustment mechanism. The driver 30 of the polishing mechanism is installed on the mounting component 20, and the transmission shaft 40 is connected to the driver 30 and can rotate around its own axis under the drive of the driver 30. Among them, the angle adjustment mechanism includes a universal joint 50 and an elastic reset component 60. The universal joint 50 is connected between the polishing component 10 and the transmission shaft 40. At the same time, the elastic reset component 60 is connected to the mounting component 20 and is rotatably connected to the polishing component 10, so that the elastic reset component 60 can reset the polishing component 10 without affecting the rotation of the polishing component 10. Specifically, the elastic reset component 60 can be reciprocated between the first state and the second state under the action of its own elastic force. The polishing component 10 has a first position in which the included angle with the transmission shaft 40 is greater than zero degrees and a second position in which the included angle with the transmission shaft 40 is equal to zero degrees. The first position is the position of the polishing component 10 after being rotated relative to the transmission shaft 40 in order to better fit the surface of the circular curved glass 70. The second position is the initial position of the polishing component 10. In the second position, the polishing component 10 can polish a flat glass product or the top area of ​​a circular curved glass 70 product.

[0061] When the transmission shaft 40 drives the polishing component 10 to rotate to polish the circular curved glass 70 product, since the polishing component 10 can rotate relative to the transmission shaft 40 in any direction under the action of the universal joint 50, when polishing the curved surface position of the circular curved glass 70 with different arcs, the polishing component 10 can adaptively adjust its angle relative to the surface of the circular curved glass 70 so that it can rotate from the second position to the first position, thereby ensuring that the polishing component 10 can better fit the surface of the circular curved glass 70, without manual programming and adding additional drivers 30 to adjust the swing angle of the polishing component 10. At the same time, the elastic reset component 60 is driven to deform from the first state to the second state during the process of rotating from the second position to the first position, ensuring that the polishing component 10 can adaptively adjust its angle relative to the transmission shaft 40 in real time so as to better fit the surface of the circular curved glass 70. When the polishing part 10 does not need to rotate to the first position, such as when polishing the top of the circular curved glass 70 or polishing is completed or when polishing a flat glass product, the elastic reset component 60 will have a tendency to recover from the second state to the first state under its own elastic action, thereby driving the polishing part 10 back to the second position during the process of the elastic reset component 60 recovering from the second state to the first state. Therefore, when the polishing part 10 is restored to the second position, it can be brought back by the elastic reset component 60, and no additional drive source and manual programming are required to drive the polishing part 10 back to the original position, which greatly reduces the overall structural complexity of the polishing device, making the polishing device easier to maintain, and has low difficulty in use and low technical threshold requirements for operators.

[0062] like Figure 2 and Figure 6 As shown, the universal joint in this embodiment includes a first connection part 51, a second connection part 52 and an adapter part 53. The first connection part 51 is connected to the transmission shaft 40. The second connection part 52 is connected to the polishing component 10. The adapter part 53 is rotatably connected between the first connection part 51 and the second connection part 52, and enables the second connection part 52 to rotate relative to the first connection part 51 along a first direction and a second direction perpendicular to each other. The first direction is Figure 1 and Figure 5 The direction indicated by the arrow X in the middle, the second direction is Figure 1 and Figure 4 In the direction indicated by the arrow Y. Thus, before the transmission shaft 40 is started to rotate by the driver 30, the polishing component 10 can be rotated relative to the transmission shaft 40 in the first direction and the second direction. When the transmission shaft 40 is started by the driver 30 to drive the polishing component 10 to rotate around the axis of the transmission shaft 40, the polishing component 10 can rotate relative to the transmission shaft 40 in any direction, thereby adaptively adjusting its swing angle relative to the transmission shaft 40 to better fit the different arc positions of the surface of the circular curved glass 70. The universal joint 50 has a low structural complexity and is simple and convenient to assemble with the transmission shaft 40 and the polishing component 10.

[0063] The type of the universal joint 50 in this embodiment may include one of a cross-axis universal joint, a double universal joint, a ball cage universal joint, etc. The cross-axis universal joint is formed by two fork-shaped parts connected by a cross shaft with four bearings. It allows two axes to transmit rotational motion at a certain angle. The double universal joint is composed of two universal joints 50 and an intermediate shaft, ensuring that approximately constant speed transmission can be achieved even at large angles. The ball cage universal joint is composed of an inner ring, an outer ring, a plurality of steel balls, and a cage that holds the positions of the steel balls. It can withstand large angular deviations and can provide constant speed transmission.

[0064] The universal joint 50 in this embodiment is preferably a cross-axis universal joint. The cross-axis universal joint has a relatively simple structure and low cost, and is convenient for regular inspection and replacement of worn parts, thereby ensuring the long-term stable operation of the polishing device. At this time, the first connecting portion 51 and the second connecting portion 52 are specifically fork-shaped parts of the cross-axis universal joint, and the adapter portion 53 is a cross shaft. The cross shaft has two axes that are perpendicular to each other, and the first direction is a direction parallel to one of the axes of the cross shaft, and the second direction is a direction parallel to the other axis of the cross shaft. The first connecting portion 51 and the second connecting portion 52 are provided with a U-shaped groove at one end close to each other, and two ends of the cross shaft are rotatably installed in the U-shaped groove of the first connecting portion 51, and the other two ends of the cross shaft are rotatably installed in the U-shaped groove of the second connecting portion 52, thereby realizing that the second connecting portion 52 can rotate relative to the first connecting portion 51 along the first direction and the second direction that are perpendicular to each other, and is convenient to assemble, disassemble and maintain.

[0065] like Figure 5 As shown, a mounting cavity 201 is provided in the mounting component 20 of the polishing device, the driver 30 is installed in the mounting cavity 201, and the transmission shaft 40 includes a first shaft section 41 and a second shaft section 42. The first shaft section 41 is connected to the driver 30 and can rotate around its own axis when driven by the driver 30. The end of the first shaft section 41 away from the driver 30 extends to the outside of the mounting cavity 201. The second shaft section 42 is connected to the end of the first shaft section 41 outside the mounting cavity 201 and is coaxially arranged with the first shaft section 41. The end of the second shaft section 42 away from the first shaft section 41 is connected to the first connecting portion 51. In this embodiment, by installing the driver 30 in the mounting cavity 201 and connecting the driver 30 and the second shaft section 42 through the first shaft section 41, the protective performance of the mounting component 20 on the driver 30 can be improved, and the overall structure of the polishing device can be made more stable and reliable. At the same time, in this embodiment, the second shaft section 42 can be first connected to the first connecting portion 51 of the universal joint 50, and the polishing component 10 and the elastic reset assembly 60 can be connected, and then the installed Figure 2 The overall structure shown is connected to the first shaft section 41 via the second shaft section 42, which can greatly improve the assembly convenience and efficiency of the polishing device, facilitate modular production of the polishing device, and improve production efficiency.

[0066] Combination Figure 1 as well as Figures 4 to 6It can be seen that the elastic reset assembly 60 in this embodiment includes a connecting component 61 and a tension spring 62. The connecting component 61 is rotatably connected to the polishing component 10. Along the stretching direction of the tension spring 62, one end of the tension spring 62 is connected to the mounting component 20 and the other end is connected to the connecting component 61. When the elastic reset assembly 60 is in the first state, the stretching length of the tension spring 62 is different from the stretching length of the tension spring 62 when it is in the second state. Therefore, when the stretching length of the tension spring 62 is at different sizes, the elastic reset assembly 60 is transformed between the first state and the second state. In the process of the polishing component 10 rotating with the transmission shaft 40, since the connecting component 61 is rotatable relative to the polishing component 10, it can be ensured that the tension spring 62 will not be entangled with the rotation and twisting of the polishing component 10. And the tension spring 62 is offset from the transmission shaft 40 and the universal joint 50 along the radial direction of the transmission shaft 40 to ensure that the tension spring 62 will not interfere with the transmission shaft 40 and the universal joint 50. When the polishing unit 10 is located at the first position, the length of the tension spring 62 stretched by the connecting member 61 is different from the length of the tension spring 62 stretched when the polishing unit 10 is located at the second position.

[0067] When the polishing part 10 rotates from the second position to the first position, the polishing part 10 can drive the connecting part 61 to pull the tension spring 62 to generate tensile deformation. When the polishing part 10 does not need to process the curved surface of the corresponding arc, the tension spring 62 pulls the polishing part 10 connected to the connecting part 61 to swing back to the second position under its own elastic force. The polishing part 10 can be reset without an additional driving source and programming operation.

[0068] Therefore, this embodiment is connected to the connecting component 61 through the tension spring 62, which not only ensures that the polishing component 10 can swing relative to the transmission shaft 40, but also enables the polishing component 10 to return to the second position under the tension of the tension spring 62.

[0069] Specifically, in some embodiments, the tension spring 62 may include at least three tension springs 62, and along the circumference of the transmission shaft 40, at least three tension springs 62 are arranged at intervals from each other and the spacing between two adjacent tension springs 62 is equal. Therefore, in this embodiment, the polishing component 10 rotatably connected to the connecting component 61 can be pulled to rotate relative to the transmission shaft 40 by at least three tension springs 62 arranged at equal intervals, so as to pull the polishing component 10 back to the second position. When the polishing component 10 adaptively adjusts its swing angle relative to the transmission shaft 40 as the curvature of the surface of the circular curved glass 70 changes, the polishing component 10 can drive the connecting component 61 to pull at least three tension springs 62 to deform and swing to the first position. When the polishing component 10 is in the first position, the stretching length of at least one tension spring 62 is less than the stretching length of at least another two tension springs 62. Moreover, in the first position, the force generated by at least three tension springs 62 can also ensure that the polishing component 10 can apply a large pressure to the circular curved glass 70, thereby ensuring the polishing effect. When the polishing part 10 is in the second position, at least three tension springs 62 arranged at equal intervals can ensure that the polishing part 10 is in the second position more stably, and ensure that the reset polishing part 10 can be arranged on the same axis as the transmission shaft 40, thereby improving the polishing effect of the flat glass product or the top of the curved glass when the polishing part 10 is in the second position. The number of tension springs 62 can specifically include one of three, four, five, six, etc., or other number values ​​not less than three, which can be flexibly adjusted according to needs, and this embodiment is not limited to this.

[0070] The polishing component 10 in this embodiment includes a connecting shaft 11 and a polishing plate 12. The polishing plate 12 is arranged at one end of the connecting shaft 11. The connecting component 61 includes a mounting plate 611 and a first bearing 612. When the polishing component 10 is in the second position, the angle between the axis of the connecting shaft 11 and the axis of the transmission shaft 40 is zero, that is, the axes of the two coincide, or are arranged coaxially. When in the first position, the angle between the axis of the connecting shaft 11 and the axis of the transmission shaft 40 is greater than zero. Figure 3 and Figure 6 It can be seen that the mounting plate 611 is provided with a first through hole 111, and the end of the tension spring 62 away from the mounting component 20 is connected to the mounting plate 611. The first bearing 612 is sleeved on the end of the connecting shaft 11 away from the polishing plate 12 and fixed in the first through hole 111. The end of the connecting shaft 11 away from the polishing plate 12 at least partially extends to the end of the mounting plate 611 close to the universal joint 50 and is connected to the universal joint 50. Therefore, in this embodiment, by installing the first bearing 612 in the first through hole 111 of the mounting plate 611, the mounting plate 611 and the connecting shaft 11 of the polishing component 10 are rotatably connected, the assembly difficulty is low, and it can be ensured that after the tension spring 62 is connected to the mounting plate 611, the tension spring 62 will not be twisted or entangled during the rotation of the connecting shaft 11, thereby improving the reliability and stability of the entire device.

[0071] Specifically, Figure 3 As shown, along the radial direction of the first through hole 111, a boss 113 can be provided on the inner wall surface of the first through hole 111. After the first bearing 612 is placed on the side of the boss 113 close to the universal joint 50, the connecting shaft 11 is passed through the inner hole of the first bearing 612 and connected to the inner wall surface of the first bearing 612. The inner wall surface of the first through hole 111 is also provided with a first clamping groove 115, which is located on the side of the boss 113 close to the universal joint 50 and is spaced from the boss 113. Along the axial direction of the first through hole 111, the first clamping ring 114 is clamped with the first clamping groove 115 to restrict the first bearing 612 between the first clamping ring 114 and the boss 113, and the assembly is efficient and convenient. The connecting shaft 11 of the polishing component 10 of this embodiment is also provided with a second clamping groove 110, which is located on the side of the first bearing 612 close to the universal joint 50, and a second clamping ring 116 is clamped in the second clamping groove 110. The second retaining ring 116 blocks the end of the inner ring of the first bearing 612 , thereby improving the stability of the first bearing 612 in the first through hole 111 .

[0072] The tension spring 62 in this embodiment includes a first end and a second end that are arranged opposite to each other, and the first end is connected to the mounting component 20. The elastic reset assembly 60 also includes a position adjustment component 63. The position adjustment component 63 is installed on the mounting plate 611. The position adjustment component 63 includes at least three, and the at least three position adjustment components 63 are connected to the second ends of at least three tension springs 62 in a one-to-one correspondence. Along the axial direction of the first through hole 111, the position adjustment component 63 is used to adjust the position of the second end on the mounting plate 611. Thus, by making the second end of the tension spring 62 close to or away from its first end, the length of the tension spring 62 to be stretched can be adjusted.

[0073] Therefore, after at least three different tension springs 62 are installed between the mounting plate 611 and the mounting component 20, if there are assembly errors and / or manufacturing errors between the different tension springs 62, and / or there are differences in the manufacturing materials of the different tension springs 62, resulting in the tension force generated by each tension spring 62 being inconsistent after the different tension springs 62 are installed, thereby causing the polishing plate 12 to be misaligned after resetting (i.e., the axis of the polishing plate 12 and the connecting shaft 11 do not coincide with the axis of the transmission shaft 40), this embodiment can adjust the position of the second end of the different tension springs 62 on the mounting plate 611 along the axial direction of the first through hole 111 by the position adjustment component 63 to adjust the stretched length of the different tension springs 62 until the tension forces generated by the different tension springs 62 are consistent. Therefore, when the polishing plate 12 is pulled back to the second position by at least three tension springs 62, the polishing plate 12 can be aligned with the axis of the connecting shaft 11 and the axis of the transmission shaft 40, thereby improving the resetting accuracy of the polishing component 10. The tension of the corresponding tension spring 62 can also be increased and adjusted through different position adjustment components 63 at the same time, so as to adjust the overall reset force of the angle adjustment mechanism, thereby ensuring that the reset force of the angle adjustment mechanism can ensure that the polishing pressure of the polishing disk 12 on the glass reaches the expected pressure and improve the polishing effect.

[0074] like Figure 3 and Figure 6As shown, the position adjustment component 63 in this embodiment includes a connecting rod 631, a slider 632 and a locking member 633. The connecting rod 631 is mounted on the mounting plate 611, and the axial direction of the connecting rod 631 is parallel to the axial direction of the first through hole 111. The slider 632 is sleeved on the connecting rod 631, and along the axial direction of the connecting rod 631, the slider 632 has a sliding state in which it can slide relative to the connecting rod 631 and a static state in which it is static relative to the connecting rod 631. The locking member 633 is connected to the second end of the tension spring 62 and can lock the slider 632 to the static state or unlock it to the sliding state. Therefore, in this embodiment, when it is necessary to adjust the distance between the second end of the tension spring 62 and the first end so as to adjust the stretching length of the tension spring 62, it is only necessary to slide the slider 632 along the axial direction of the connecting rod 631 to a position where the second end is closer to or farther from the first end when the slider 632 is in a sliding state relative to the connecting rod 631, and then lock the slider 632 at the current position through the locking piece 633 connected to the second end of the tension spring 62. The position adjustment method is convenient and quick. Therefore, in this embodiment, the slider 632 is slidably connected to the connecting rod 631, and the end ring of the second end of the tension spring 62 is sleeved on the locking member 633. The slider 632 is slid up and down along the axial direction of the connecting rod 631, and the up and down position of the slider 632 on the connecting rod 631 is controlled by the locking member 633 (specifically, the screw mentioned below), so as to adjust the length of the extension of the tension spring 62 until the tension spring 62 force generated by each tension spring 62 is equal, so that when the polishing component 10 is reset to the second position, the polishing disc 12 can be aligned with the axis of the connecting shaft 11 and the transmission shaft 40. In addition, the sliders 632 of at least three position adjustment components 63 (such as three position adjustment components 63) can be slid at the same time, so that the tension of each tension spring 62 is increased, thereby increasing the reset force of the angle adjustment mechanism at the same time. If the reset force is insufficient, it may cause the pressure of the polishing disc 12 on the glass to be insufficient, affecting the polishing effect.

[0075] Specifically, Figure 3As shown, the slider 632 in this embodiment is provided with a first mounting hole 321 and a second mounting hole 322. The first mounting hole 321 is adapted to the connecting rod 631, and the connecting rod 631 is sleeved in the first mounting hole 321 and is clearance-matched with the first mounting hole 321, so that the slider 632 can slide relative to the connecting rod 631. The second mounting hole 322 is communicated with the first mounting hole 321 and is provided through one side of the slider 632 along the radial direction of the connecting rod 631. The locking member 633 in this embodiment may specifically include a screw, and the inner wall surface of the second mounting hole 322 is provided with a threaded hole adapted to the threaded section of the screw. The second end of the tension spring 62 can be specifically an end ring structure. After the end ring structure is sleeved on the screw, the threaded section of the screw is at least partially pre-installed in the second mounting hole 322. When the slider 632 drives the screw and the end ring of the second end of the tension spring 62 sleeved on the screw to slide to the predetermined position on the connecting rod 631, the screw is rotated along the second mounting hole 322 until it is fixedly connected to the connecting rod 631, so that the second end of the tension spring 62 can be fixed to the predetermined position on the connecting rod 631, and the adjustment of the stretching length of the tension spring 62 is completed, and the adjustment of the tension of the tension spring 62 is also completed. In this process, since the screw is always connected to the slider 632, the second end of the tension spring 62 is stably connected to the screw, which can ensure that the locking member 633 does not need to be reconnected to the slider 632 each time it is adjusted, and each component is not easy to fall off, and the adjustment method is more convenient and reliable.

[0076] The mounting plate 611 in this embodiment is provided with a groove 112 on one side close to the mounting component 20, and the groove 112 is recessed in a direction away from the mounting component 20. In addition, along the radial direction of the first through hole 111, the groove 112 extends in a direction away from the first through hole 111 and penetrates the outer peripheral surface of the mounting plate 611, so that the groove 112 constitutes a groove structure in which one opening faces the mounting component 20 and the other opening is located at the outer periphery of the groove 112 away from the first through hole 111 along the radial direction of the first through hole 111, and the connecting rod 631 is installed in the groove 112 so that the slider 632 is in clearance with the inner side wall of the groove 112. Therefore, in this embodiment, the connecting rod 631 is installed in the groove 112, which can improve the compactness of the structure after the mounting plate 611 and the position adjustment component 63 are assembled, thereby improving the protection performance of the position adjustment component 63 and preventing the position adjustment component 63 from being exposed to the outside and reducing the structural strength. At the same time, since the groove 112 has two openings, it is not only convenient for the installation of the connecting rod 631, but also ensures that the operator can slide the slider 632 from the opening on the outer peripheral side of the groove 112 to adjust the upper and lower positions of the slider 632, thereby improving the compactness and strength of the structure between the position adjustment component 63 and the mounting plate 611, and also improving the convenience of position adjustment of the slider 632.

[0077] See also Figures 4 to 7The mounting component 20 in this embodiment may specifically include a housing 21, a flange 22 and an end cover 23. A second through hole 211 is provided in the housing 21. Along the axial direction of the second through hole 211, the flange 22 is installed at one end of the housing 21 and covers the opening of the second through hole 211. Along the axial direction of the second through hole 211, the end cover 23 covers the opening of the second through hole 211 away from the flange 22 and is surrounded by the inner wall surface of the second through hole 211 and the flange 22 to form a mounting cavity 201. A third through hole 231 communicating with the mounting cavity 201 is provided in the end cover 23, and the driver 30 is installed in the mounting cavity 201 to improve the protection performance of the driver 30 and the compact reliability of the entire device. The transmission shaft 40 is connected to the driver 30, and the transmission shaft 40 is at least partially passed through the third through hole 231 to the outside of the mounting cavity 201 and connected to the universal joint 50. One end of the tension spring 62 away from the connecting component 61 is connected to the end cover 23. Specifically, a plurality of bolts or screws can be arranged on the outer peripheral surface of the end cover 23 in a one-to-one correspondence with at least three tension springs 62. The first end of the tension spring 62 can be fixedly connected to the bolt or screw. When the first end is also an end ring structure, the end ring can be sleeved on the bolt or screw. The polishing device obtained by connecting the above-mentioned mounting component 20 with the universal joint 50, the elastic reset component 60 and the polishing component 10 in this embodiment is not only compact and reliable in overall structure, but also can be adaptively connected to the Z axis of the robot arm or machine tool through the flange 22, which is convenient to connect and can improve the flexibility of the use of the polishing device.

[0078] like Figure 4 As shown, the driver 30 in this embodiment includes a motor 31, the motor 31 includes an output shaft 311, and the mounting component 20 also includes a mounting seat 24, a mounting column 25 and a second bearing 26. The mounting seat 24 is mounted on the bottom of the mounting cavity 201 near the end cover 23, and a fourth through hole 241 is provided in the mounting seat 24. The motor 31 is mounted on the mounting seat 24 and is located between the mounting seat 24 and the flange 22. The output shaft 311 is located on one side of the motor 31 near the mounting seat 24 and is penetrated in the fourth through hole 241. The part of the transmission shaft 40 located in the mounting cavity 201 is penetrated in the fourth through hole 241 and connected to the output shaft 311. The mounting column 25 is located between the motor 31 and the inner wall surface of the mounting cavity 201, and the opposite ends of the mounting column 25 are fixedly connected to the mounting seat 24 and the flange 22 respectively, which is convenient for assembly and can improve the stability and reliability between the flange 22 and the mounting component 20. The mounting columns 25 may include at least three (such as three, four, five, etc.), at least three mounting columns 25 are arranged at intervals along the circumference of the output shaft 311 and connected between the mounting seat 24 and the flange 22, thereby further improving the stability and reliability of the overall structure of the mounting component 20.

[0079] The second bearing 26 includes at least two, and at least two second bearings 26 are installed in the fourth through hole 241 and sleeved on the outer circumference of the transmission shaft 40, so that the stability of the transmission shaft 40 during the rotation process is improved by at least two second bearings 26. Figure 7 As shown, a gasket 27 is also provided between two adjacent second bearings 26, and the gasket 27 can ensure the bearing spacing between the two adjacent second bearings 26, ensure the stable operation of the transmission shaft 40, and avoid the wear caused by the direct contact between the two adjacent second bearings 26. The side of the end cover 23 close to the mounting seat 24 is embedded in the fourth through hole 241, and the transmission shaft 40 is also sleeved with a locking nut 28, which is located in the third through hole 231 and on the side of the second bearing 26 away from the gasket 27. The locking nut 28 is used to stably limit the second bearing 26 to the first shaft section 41 of the transmission shaft 40.

[0080] The second embodiment of the present invention also provides a polishing device, which includes a motion control device and a polishing device, and the polishing device is connected to the motion control device. The motion control device includes one of a mechanical arm and a machine tool. For the specific structure of the polishing device, please refer to the content provided in the first embodiment of the present invention, and this embodiment will not be repeated here. The polishing device can be connected to the Z-axis of the mechanical arm or the machine tool through the flange 22 provided by itself, so that the polishing device is moved to a predetermined position of the workpiece by the mechanical arm or the machine tool for polishing operation. The polishing device provided in the polishing device of this embodiment can greatly reduce the overall structural complexity of the polishing device, reduce the design difficulty and production cost of the polishing device, reduce the workload of programmers, and make the polishing device simple in structure and easy to maintain.

[0081] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0082] In addition, it should be noted that the use of terms such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore cannot be understood as limiting the scope of protection of this application.

[0083] The above are only preferred embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A polishing device, characterized in that: include: A polishing mechanism, the polishing mechanism comprising a polishing component (10), a mounting component (20), a driver (30) and a transmission shaft (40), the driver (30) being mounted on the mounting component (20), the transmission shaft (40) being connected to the driver (30) and being capable of rotating around its own axis under the drive of the driver (30); An angle adjustment mechanism, the angle adjustment mechanism comprising a universal joint (50) and an elastic reset assembly (60), the universal joint (50) being connected between the polishing component (10) and the transmission shaft (40), the polishing component (10) being able to rotate in any direction relative to the transmission shaft (40) under the action of the universal joint (50), the elastic reset assembly (60) being connected to the mounting component (20) and being rotationally connected to the polishing component (10), and the elastic reset assembly (60) being able to reciprocate between a first state and a second state under the action of its own elastic force; The polishing component (10) has a first position in which the included angle between the polishing component (10) and the transmission shaft (40) is greater than zero degrees and a second position in which the included angle between the polishing component (10) and the transmission shaft (40) is equal to zero degrees. In the process of rotating from the second position to the first position, the polishing component (10) drives the elastic reset component (60) to deform from the first state to the second state. In the process of restoring from the second state to the first state, the elastic reset component (60) drives the polishing component (10) to return to the second position.

2. The polishing device according to claim 1, characterized in that: The universal joint (50) comprises: A first connecting portion (51), the first connecting portion (51) being connected to the transmission shaft (40); A second connecting portion (52), the second connecting portion (52) being connected to the polishing component (10); The adapter part (53) is rotatably connected between the first connecting part (51) and the second connecting part (52), and enables the second connecting part (52) to rotate relative to the first connecting part (51) along a first direction and a second direction perpendicular to each other.

3. The polishing device according to claim 2, characterized in that: The mounting component (20) is provided with a mounting cavity (201), the driver (30) is mounted in the mounting cavity (201), and the transmission shaft (40) comprises: A first shaft section (41), the first shaft section (41) being connected to the driver (30) and being rotatable around its own axis when driven by the driver (30), and an end of the first shaft section (41) away from the driver (30) extending to the outside of the installation cavity (201); A second shaft segment (42), the second shaft segment (42) is connected to one end of the first shaft segment (41) located outside the installation cavity (201) and is coaxially arranged with the first shaft segment (41), and one end of the second shaft segment (42) away from the first shaft segment (41) is connected to the first connecting portion (51).

4. The polishing device according to claim 1, characterized in that: The elastic reset component (60) comprises: A connecting component (61), wherein the connecting component (61) is rotatably connected to the polishing component (10); A tension spring (62), wherein along the tension direction of the tension spring (62), one end of the tension spring (62) is connected to the mounting component (20) and the other end is connected to the connecting component (61); when the elastic reset component (60) is in the first state, the tension length of the tension spring (62) is different from the tension length of the tension spring (62) when it is in the second state; Wherein, the tension spring (62) is offset between the transmission shaft (40) and the universal joint (50) along the radial direction of the transmission shaft (40); and / or, The tension springs (62) include at least three tension springs. Along the circumference of the transmission shaft (40), the at least three tension springs (62) are arranged at intervals from each other, and the intervals between two adjacent tension springs (62) are equal.

5. The polishing device according to claim 4, characterized in that: The polishing component (10) comprises a connecting shaft and a polishing disc, wherein the polishing disc is arranged at one end of the connecting shaft, and the connecting component (61) comprises: A mounting plate (611), wherein a first through hole (111) is provided in the mounting plate (611), and an end of the tension spring (62) away from the mounting component (20) is connected to the mounting plate (611); A first bearing (612), wherein the first bearing (612) is sleeved on an end of the connecting shaft away from the polishing plate and fixed in the first through hole (111); the end of the connecting shaft away from the polishing plate at least partially extends to an end of the mounting plate (611) close to the universal joint (50) and is connected to the universal joint (50).

6. The polishing device according to claim 5, characterized in that: The tension spring (62) comprises a first end and a second end arranged opposite to each other, the first end being connected to the mounting component (20), and the elastic reset assembly (60) further comprising: A position adjustment component (63), the position adjustment component (63) is installed on the mounting plate (611), and the position adjustment component (63) includes at least three, at least three of the position adjustment components (63) are connected to the second ends of at least three tension springs (62) in a one-to-one correspondence, and along the axial direction of the first through hole (111), the position adjustment component (63) is used to adjust the position of the second end on the mounting plate (611).

7. The polishing device according to claim 6, characterized in that: The position adjustment component (63) comprises: a connecting rod (631), the connecting rod (631) being mounted on the mounting plate (611), and the axial direction of the connecting rod (631) being parallel to the axial direction of the first through hole (111); A slider (632), the slider (632) being sleeved on the connecting rod (631), and along the axial direction of the connecting rod (631), the slider (632) has a sliding state in which it can slide relative to the connecting rod (631) and a stationary state in which it is stationary relative to the connecting rod (631); A locking member (633), wherein the locking member (633) is connected to the second end and can lock the slider (632) to the static state or unlock it to the sliding state.

8. The polishing device according to claim 7, characterized in that: A groove (112) is provided on one side of the mounting plate (611) close to the mounting component (20); the groove (112) is recessed in a direction away from the mounting component (20); and along the radial direction of the first through hole (111), the groove (112) extends in a direction away from the first through hole (111) and penetrates the outer peripheral surface of the mounting plate (611); the connecting rod (631) is installed in the groove (112) and enables the slider (632) to be gap-matched with the inner side wall of the groove (112).

9. The polishing device according to claim 4, characterized in that: The mounting component (20) comprises: A housing (21), wherein a second through hole (211) is provided in the housing (21); A flange (22) is installed at one end of the housing (21) along the axial direction of the second through hole (211) and covers the opening of the second through hole (211); An end cover (23) is provided along the axial direction of the second through hole (211), the end cover (23) covers the opening of the second through hole (211) away from the flange (22) and is surrounded by the inner wall surface of the second through hole (211) and the flange (22) to form a mounting cavity (201); a third through hole (231) communicating with the mounting cavity (201) is provided in the end cover (23); the driver (30) is installed in the mounting cavity (201); the transmission shaft (40) is connected to the driver (30), and the transmission shaft (40) is at least partially passed along the third through hole (231) to the outside of the mounting cavity (201) and connected to the universal joint (50); and one end of the tension spring (62) away from the connecting component (61) is connected to the end cover (23).

10. The polishing device according to claim 9, characterized in that: The driver (30) comprises a motor (31), the motor (31) comprises an output shaft (311), and the mounting component (20) further comprises: A mounting seat (24), the mounting seat (24) being mounted on a cavity bottom of the mounting cavity (201) close to the end cover (23), a fourth through hole (241) being provided in the mounting seat (24), the motor (31) being mounted on the mounting seat (24) and being located between the mounting seat (24) and the flange (22), the output shaft (311) being located on a side of the motor (31) close to the mounting seat (24) and being passed through the fourth through hole (241), and a portion of the transmission shaft (40) located in the mounting cavity (201) being passed through the fourth through hole (241) and being connected to the output shaft (311); A mounting column (25), the mounting column (25) being located between the motor (31) and the inner wall surface of the mounting cavity (201), and opposite ends of the mounting column (25) being fixedly connected to the mounting seat (24) and the flange (22) respectively; The second bearing (26) includes at least two second bearings (26), and the at least two second bearings (26) are installed in the fourth through hole (241) and sleeved on the outer periphery of the transmission shaft (40).

11. A polishing device, characterized in that: include: Motion control devices; The polishing device according to any one of claims 1 to 10, wherein the polishing device is connected to the motion control device.

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