Umbrella-shaped chain-flexible polishing pad self-adaptive spherical robot end effector

Abstract

The invention relates to the technical field of grinding or polishing devices, and discloses an umbrella-shaped chain-flexible polishing and grinding pad self-adaptive spherical robot end effector which comprises an end effector connecting mechanism, a pneumatic motor, a fixing plate mechanism, a vertical transmission mechanism, an umbrella-shaped polishing and grinding mechanism, a constant force air cylinder and a main shaft, the pneumatic motor is fixedly connected to the end effector connecting mechanism, the vertical transmission mechanism is fixedly connected to the lower end face of the fixing plate mechanism, the umbrella-shaped polishing and grinding mechanism is fixedly connected to the lower end of the vertical transmission mechanism, and the umbrella-shaped polishing and grinding mechanism can be driven by the vertical transmission mechanism to move in the vertical direction. And the shape of a flexible polishing and grinding pad arranged on the umbrella-shaped polishing and grinding mechanism is driven to be changed, and the flexible polishing and grinding pad is attached to the curved surface of the spherical workpiece. According to the curved surface polishing and grinding head, the problems of insufficient contact area and local stress concentration when a spherical workpiece is polished by a traditional polishing and grinding head are solved, and the curved surface polishing and grinding efficiency and the surface uniformity are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of grinding or polishing devices, and specifically to an umbrella-shaped chain-flexible polishing pad adaptive spherical surface robot end effector. Background Art

[0002] Before the emergence of robot polishing technology, the polishing process mainly relied on manual operation. Workers held polishing tools such as sandpaper and grinding wheels to polish the surface of workpieces. Although this method has high flexibility and can perform fine processing according to the specific shape and surface conditions of workpieces, it has many disadvantages. For example, manual polishing has a high labor intensity, and workers are prone to fatigue after long-term repetitive operations, resulting in low work efficiency and high labor costs. Moreover, it is difficult to ensure the consistency of the quality of manual polishing. Different workers have different operating techniques and forces, and even the operations of the same worker at different times may vary, which will affect the final quality of workpieces.

[0003] Existing robot polishing end effectors still have many defects in the application process: The patent with the Chinese patent publication number CN118322237A discloses a compliant constant force end effector for a grinding and polishing robot and a grinding and polishing robot, which uses the positive and negative stiffness generated when simple components are stressed to cancel each other out to achieve two-dimensional constant force output on complex surfaces, and has the advantages of simple and reliable structure. However, when polishing a spherical surface, the contact area between the polishing pad and the workpiece is small, and the actual polishing efficiency is low; The patent with the Chinese patent publication number CN112108998A discloses a machine force-controlled polishing end effector with active damping, which realizes constant force control of the polishing disc and improves the response speed and service life through a voice coil motor and a cylinder damper for vibration reduction. However, during the polishing process, the shape of the polishing pad cannot be changed, resulting in a low actual polishing area and local stress concentration, leading to low polishing quality and efficiency. Although the existing technology has made progress in constant force control and structural optimization, for spherical workpieces, there are problems such as small polishing area and stress concentration during the polishing process. When designing a device for grinding or polishing, there is an urgent need for a polishing tool and operation method for polishing area and avoiding stress concentration. Summary of the Invention

[0004] (1) Technical Problems to be Solved

[0005] In view of the deficiencies of the prior art, the present invention provides an umbrella-shaped chain-flexible polishing pad adaptive spherical surface robot end effector, which solves the problems of small polishing area and stress concentration in the existing end polishing actuator.

[0006] (2) Technical Solutions

[0007] To achieve the above objectives, the present invention is realized through the following technical solutions:

[0008] Umbrella-shaped chain-flexible polishing pad adaptive spherical robot end effector, including an end effector connection mechanism detachably installed with the robotic arm, a pneumatic motor, a fixing plate mechanism, a vertical transmission mechanism, an umbrella-shaped polishing mechanism, a constant force cylinder, and a main shaft. The pneumatic motor is fixedly connected to the end effector connection mechanism. The fixing plate mechanism is fixedly connected to the lower part of the pneumatic motor and is non-rotatable. The vertical transmission mechanism is fixedly connected to the lower end surface of the fixing plate mechanism. The umbrella-shaped polishing mechanism is fixedly connected to the lower end of the vertical transmission mechanism. The umbrella-shaped polishing mechanism can move along the vertical direction driven by the vertical transmission mechanism, driving the shape of the flexible polishing pad arranged on the umbrella-shaped polishing mechanism to change and fit the curved surface of the spherical workpiece. The main shaft is fixedly connected to the output shaft end of the pneumatic motor. The constant force cylinder is detachably connected to the lower end of the main shaft. The piston end of the constant force cylinder is used to tightly limit the flexible polishing pad. The center lines of the end effector connection mechanism, pneumatic motor, fixing plate mechanism, vertical transmission mechanism, umbrella-shaped polishing mechanism, constant force cylinder, and main shaft are all on the same straight line.

[0009] Preferably, the end effector connection mechanism includes a base, a flange, a spherical groove, and a spherical joint head. The flange is fixedly connected to the lower end surface of the base. The spherical groove is arranged inside the flange. The spherical joint head is movably arranged inside the spherical groove. The spherical groove and the spherical joint head cooperate to form a spherical pair.

[0010] Preferably, the fixing plate mechanism includes an upper fixing plate circular plate, a fixing plate connecting shaft, a lower fixing plate circular plate, and a first bearing. The upper fixing plate circular plate is fixedly connected to the lower end surface of the pneumatic motor. The lower fixing plate circular plate is fixedly connected to the upper fixing plate circular plate through the fixing plate connecting shaft. The fixing plate connecting shafts are evenly distributed between the upper fixing plate circular plate and the lower fixing plate circular plate. The first bearing is fixedly arranged at the center of the lower fixing plate circular plate.

[0011] Preferably, the vertical transmission mechanism includes a voice coil motor magnetic housing, a transmission boss, and a voice coil motor coil. The voice coil motor magnetic housing is connected to the lower end surface of the lower fixing plate circular plate. The voice coil motor coil is connected to the lower end of the voice coil motor magnetic housing. The transmission boss is connected to the lower end surface of the voice coil motor coil.

[0012] Preferably, a guide rod is fixedly connected to the voice coil motor magnetic housing. The transmission boss is slidably connected to the guide rod through a bushing. The guide rod penetrates through the bushing.

[0013] Preferably, the umbrella-shaped polishing mechanism includes a support rod, a flexible polishing pad, a limiting plate, a support rod connecting column, and a second bearing; a plurality of the support rods are fixedly connected to the side surface of the support rod connecting column, and each of the support rods is evenly distributed on the side surface of the support rod connecting column, presenting an umbrella shape; the flexible polishing pad is fixedly connected to the lower end surface of the support rod; the limiting plate is fixedly connected to the lower end surface of the transmission boss; the support rod connecting column is fixedly connected to the side surface of the transmission boss, and the second bearing is arranged between the support rod connecting column and the transmission boss.

[0014] A method for using the end effector of an umbrella-shaped chain-flexible polishing pad adaptive spherical surface robot. The end effector of the robot in the above solution realizes the polishing process of spherical workpieces through the following steps:

[0015] Step 1: Before polishing, introduce gas into the constant-force cylinder.

[0016] Step 2: Control the coil of the voice coil motor to move up and down.

[0017] Step 3: The coil of the voice coil motor drives the transmission boss to move along the direction of the guide rod.

[0018] Step 4: The transmission boss drives the support rod connecting column to move up and down.

[0019] Step 5: The support rod connecting column drives the support rod to move up and down.

[0020] Step 6: The up and down movement of the support rod changes the shape of the flexible polishing pad.

[0021] Step 7: Adjust the moving distance of the voice coil motor coil to make the flexible polishing pad adapt to the surface of the spherical workpiece.

[0022] Step 8: The pneumatic motor rotates to drive the main shaft to rotate, so that the flexible polishing pad, the support rod, and the support rod connecting column rotate together, and the flexible polishing pad polishes the spherical workpiece.

[0023] (III) Beneficial effects

[0024] The present invention has the following beneficial effects:

[0025] (1). For the end effector of the umbrella-shaped chain-flexible polishing pad adaptive spherical surface robot, the shape of the flexible polishing pad is driven and adjusted by the vertical transmission mechanism, so that the contact area between the flexible polishing pad and the spherical surface of the workpiece is increased, significantly improving the problems of insufficient contact area and local stress concentration of the traditional polishing head, and improving the processing efficiency and surface uniformity; through the cooperation of the spherical groove and the spherical joint head, the end effector is given the flexible adjustment ability of 3 rotational degrees of freedom, breaking through the attitude limitation of the traditional rigid polishing head.

[0026] (2) The umbrella-shaped chain-flexible polishing pad adaptive spherical robot end effector uses a structure of double circular plates and a connecting shaft in the fixed plate mechanism, and cooperates with the first bearing set in the center to ensure that the coaxiality error between the pneumatic motor and the vertical transmission mechanism is within the allowable range, effectively reducing transmission vibration and improving the stability of rotational motion. The vertical transmission mechanism uses a linear drive design of a voice coil motor and a guide rod to achieve a rapid response to axial force, enabling the polishing force control accuracy to be within the allowable range and solving the problem of response lag in traditional polishing devices.

[0027] (3) In the umbrella-shaped chain-flexible polishing pad adaptive spherical robot end effector, the umbrella-shaped polishing mechanism is connected to the flexible polishing pad through evenly distributed support rods, forming a dynamically evenly distributed contact stress during rotation. Combined with the low-friction transmission of the second bearing, the rotational speed uniformity error of the flexible polishing pad is within the allowable range, eliminating the spiral pattern defects generated by traditional rigid polishing heads. Description of the Drawings

[0028] Figure 1 is the overall structural cross-sectional view of the present invention;

[0029] Figure 2 is the cross-sectional view of the end effector connection mechanism of the present invention;

[0030] Figure 3 is the cross-sectional view of the fixed plate mechanism of the present invention;

[0031] Figure 4 is the cross-sectional view of the vertical transmission mechanism of the present invention;

[0032] Figure 5 is the cross-sectional view of the umbrella-shaped polishing mechanism of the present invention.

[0033] In the figure: 1. End effector connection mechanism; 1001. Base; 1002. Flange; 1003. Spherical groove; 1004. Spherical joint head; 2. Pneumatic motor; 3. Fixed plate mechanism; 1021. Upper circular plate of the fixed plate; 1022. Connecting shaft of the fixed plate; 1023. Lower circular plate of the fixed plate; 1024. First bearing; 4. Vertical transmission mechanism; 1030. Magnetic housing of the voice coil motor; 1040. Guide rod; 1041. Bush; 1042. Second bearing; 5. Umbrella-shaped polishing mechanism; 1050. Support rod; 1060. Flexible polishing pad; 1070. Constant force cylinder; 1080. Limiting plate; 1090. Connecting column of the support rod; 1100. Transmission boss; 1110. Coil of the voice coil motor; 1120. Main shaft; 1130. Air duct of the pneumatic motor. Detailed Embodiments

[0034] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0035] Please refer to Figure 1 , the present invention provides a technical solution: an umbrella-shaped chain-flexible polishing pad adaptive spherical robot end effector, which includes an end effector connection mechanism 1 detachably installed on the robotic arm, a pneumatic motor 2, a fixing plate mechanism 3, a vertical transmission mechanism 4, an umbrella-shaped polishing mechanism 5, a constant force cylinder 1070, and a main shaft 1120. The pneumatic motor 2 is fixedly connected to the end effector connection mechanism 1. The fixing plate mechanism 3 is fixedly connected to the lower part of the pneumatic motor 2 and cannot rotate. The vertical transmission mechanism 4 is fixedly connected to the lower end surface of the fixing plate mechanism 3. The umbrella-shaped polishing mechanism 5 is fixedly connected to the lower end of the vertical transmission mechanism 4. The umbrella-shaped polishing mechanism 5 can move along the vertical direction under the drive of the vertical transmission mechanism 4, driving the shape of the flexible polishing pad 1060 arranged on the umbrella-shaped polishing mechanism 5 to change and fit the curved surface of the spherical workpiece. The main shaft 1120 is fixedly connected to the output shaft end of the pneumatic motor 2. The constant force cylinder 1070 is detachably connected to the lower end of the main shaft 1120. The piston end of the constant force cylinder 1070 is used to tightly limit the flexible polishing pad 1060. The center lines of the end effector connection mechanism, the pneumatic motor 2, the fixing plate mechanism 3, the vertical transmission mechanism 4, the umbrella-shaped polishing mechanism 5, the constant force cylinder 1070, and the main shaft 1120 are all on the same straight line. A pneumatic motor air duct 1130 is arranged in communication with one side of the pneumatic motor 2. The pneumatic motor air duct 1130 is threadedly connected to one side of the pneumatic motor 2 to supply air to the pneumatic motor 2.

[0036] In the present invention, the shape of the flexible polishing pad 1060 is driven and adjusted by the vertical transmission mechanism 4, so that the contact area between the flexible polishing pad 1060 and the spherical surface of the spherical workpiece is increased, significantly improving the problems of insufficient contact area and local stress concentration of the traditional polishing head, and improving the processing efficiency and surface uniformity; through the cooperation of the spherical groove 1003 and the spherical joint head 1004, the flexible adjustment ability with a rotational degree of freedom is given to the end effector, breaking through the attitude limitation of the traditional rigid polishing head. The fixed plate mechanism 3 adopts a structure of double circular plates cooperating with a connecting shaft, and with the first bearing 1024 arranged at the center, it ensures that the coaxiality error between the pneumatic motor 2 and the vertical transmission mechanism 4 is within the allowable range, effectively reducing the transmission vibration and improving the rotational motion stability; the vertical transmission mechanism 4 realizes the rapid response of the axial force through the linear drive design of the voice coil motor and the guide rod 1040, so that the polishing force control accuracy is within the allowable range, solving the problem of response hysteresis of the traditional polishing device. The umbrella-shaped polishing mechanism 5 is connected to the flexible polishing pad 1060 through the uniformly distributed support rods 1050, forming a dynamically uniformly distributed contact stress during rotation, and cooperating with the low-friction transmission of the second bearing 1042, making the rotational speed uniformity error of the flexible polishing pad 1060 within the allowable range, eliminating the spiral pattern defect generated by the traditional rigid polishing head.

[0037] Referring to Figure 2 As shown, in this embodiment, the end effector connection mechanism 1 includes a base 1001, a flange 1002, a spherical groove 1003, and a spherical joint head 1004; the flange 1002 is fixedly connected to the lower end surface of the base 1001; the spherical groove 1003 is arranged inside the flange 1002; the spherical joint head 1004 is movably arranged inside the spherical groove 1003; the spherical groove 1003 and the spherical joint head 1004 cooperate to form a spherical pair. Through the cooperation of the spherical groove 1003 and the spherical joint head 1004, the flexible adjustment ability with a rotational degree of freedom is given to the end effector, breaking through the attitude limitation of the traditional rigid polishing head.

[0038] Referring to Figure 3 As shown, in this embodiment, the fixed plate mechanism 3 includes an upper fixed plate circular plate 1021, a fixed plate connecting shaft 1022, a lower fixed plate circular plate 1023, and a first bearing 1024. The upper fixed plate circular plate 1021 is fixedly connected to the lower end surface of the pneumatic motor 2, the lower fixed plate circular plate is fixedly connected to the upper fixed plate circular plate 1021 through the fixed plate connecting shaft 1022, the fixed plate connecting shafts 1022 are evenly distributed between the upper fixed plate circular plate 1021 and the lower fixed plate circular plate 1023, and the first bearing 1024 is fixedly arranged at the center of the lower fixed plate circular plate 1023. The fixed plate mechanism 3 adopts a structure of double circular plates cooperating with a connecting shaft, and with the first bearing 1024 arranged at the center, it ensures that the coaxiality error between the pneumatic motor 2 and the vertical transmission mechanism 4 is within the allowable range, effectively reducing the transmission vibration and improving the rotational motion stability.

[0039] Referring to Figure 4 As shown, in this embodiment, the vertical transmission mechanism 4 includes a voice coil motor magnetic housing 1030, a transmission boss 1100, and a voice coil motor coil 1110. The voice coil motor magnetic housing 1030 is connected to the lower end surface of the lower circular plate 1023 of the fixed plate; the voice coil motor coil 1110 is connected to the lower end of the voice coil motor magnetic housing 1030; the transmission boss 1100 is connected to the lower end surface of the voice coil motor coil 1110. The provided voice coil motor magnetic housing 1030 is used to provide a magnetic field around the voice coil motor coil 1110. Under the action of the magnetic field, the voice coil motor coil 1110 slides along the axis direction of the main shaft 1120 under the guiding and limiting action of the guide rod 1040, thereby driving the transmission boss 1100 to move in the vertical direction, so as to drive the flexible polishing pad 1060 to move subsequently and change the contact area with the spherical workpiece.

[0040] Referring to FIG. 4, in this embodiment, a guide rod 1040 is fixedly connected to the voice coil motor magnetic housing 1030, and the transmission boss 1100 is slidably connected to the guide rod 1040 through a bushing 1041, and the guide rod 1040 penetrates through the bushing 1041. By providing the bushing 1041, it is used to reduce the wear generated during the movement of the guide rod 1040.

[0041] Referring to Figure 4 and 5 As shown, in this embodiment, according to the claim of the umbrella-shaped chain - flexible polishing pad 1060 adaptive spherical robot end effector, it is characterized in that: the umbrella-shaped polishing mechanism 5 includes a support rod 1050, a flexible polishing pad 1060, a limiting plate 1080, a support rod connecting column 1090, and a second bearing 1042; a plurality of support rods 1050 are fixedly connected to the side surface of the support rod connecting column 1090, and each support rod 1050 is evenly distributed on the side surface of the support rod connecting column 1090, presenting an umbrella shape; the flexible polishing pad 1060 is fixedly connected to the lower end surface of the support rod 1050; the limiting plate 1080 is fixedly connected to the lower end surface of the transmission boss 1100; the support rod connecting column 1090 is fixedly connected to the side surface of the transmission boss 1100; the second bearing 1042 is arranged between the support rod connecting column 1090 and the transmission boss 1100. During the downward sliding of the transmission boss 1100, the umbrella-shaped support rods 1050 can drive the edge of the flexible polishing pad 1060 to bend, thereby making the flexible polishing pad 1060 adapt to the surface shape of the spherical workpiece and increasing the contact area; by arranging the second bearing 1042 between the support rod connecting column 1090 and the transmission boss 1100, the support rod connecting column 1090 can rotate relative to the transmission boss 1100.

[0042] Usage method of the umbrella-shaped chain-flexible polishing pad 1060 adaptive spherical robot end effector, characterized in that the robot end effector in the above embodiment realizes polishing of spherical workpieces through the following steps:

[0043] Step 1: Before polishing, introduce gas into the constant-force cylinder 1070;

[0044] Step 2: Control the up and down movement of the voice coil motor coil 1110;

[0045] Step 3: The voice coil motor coil 1110 drives the transmission boss 1100 to move along the direction of the guide rod 1040;

[0046] Step 4: The transmission boss 1100 drives the support rod connecting column 1090 to move up and down;

[0047] Step 5: The support rod connecting column 1090 drives the support rod 1050 to move up and down;

[0048] Step 6: The up and down movement of the support rod 1050 changes the shape of the flexible polishing pad 1060;

[0049] Step 7: Adjust the moving distance of the voice coil motor coil 1110 to make the flexible polishing pad 1060 adapt to the surface of the spherical workpiece;

[0050] Step 8: The rotation of the pneumatic motor 2 drives the spindle 1120 to rotate, causing the flexible polishing pad 1060, the support rod 1050, and the support rod connecting column 1090 to rotate, and the flexible polishing pad 1060 polishes the spherical workpiece.

[0051] It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent to such process, method, article or device. Without further limitation. An element defined by the statement "including a..." does not exclude the existence of additional identical elements in the process, method, article or device including said element.

[0052] Although embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. Umbrella chain-flexible polishing pad adaptive spherical robot end effector, characterized by: The invention comprises an end effector connection mechanism detachably mounted with the robot arm, an air motor, a fixed plate mechanism, a vertical transmission mechanism, an umbrella-shaped polishing mechanism, a constant force cylinder and a main shaft, wherein the air motor is fixedly connected to the end effector connection mechanism, the fixed plate mechanism is fixedly connected to the lower part of the air motor and cannot rotate; the vertical transmission mechanism is fixedly connected to the lower end surface of the fixed plate mechanism, the umbrella-shaped polishing mechanism is fixedly connected to the lower end of the vertical transmission mechanism, the umbrella-shaped polishing mechanism can move in the vertical direction under the drive of the vertical transmission mechanism, drive the shape of the flexible polishing pad arranged on the umbrella-shaped polishing mechanism to change and fit to the curved surface of the spherical workpiece, the main shaft is fixedly connected to the output shaft end of the air motor; the constant force cylinder is detachably connected to the lower end of the main shaft, the piston end of the constant force cylinder is used to press against and limit the flexible polishing pad, and the center lines of the end effector connection mechanism, the air motor, the fixed plate mechanism, the vertical transmission mechanism, the umbrella-shaped polishing mechanism, the constant force cylinder and the main shaft are all on the same straight line.

2. The umbrella-shaped chain-flexible polishing pad adaptive spherical robot end effector according to claim 1 is characterized by: The end effector connection mechanism includes a base, a flange, a spherical groove, and a spherical joint head; the flange is fixedly connected to the lower end surface of the base; the spherical groove is arranged inside the flange; the spherical joint head is movably arranged inside the spherical groove; the spherical groove and the spherical joint head cooperate to form a spherical pair.

3. The umbrella-shaped chain-flexible polishing pad adaptive spherical robot end effector according to claim 1 is characterized by: The fixed plate mechanism includes an upper circular plate of the fixed plate, a fixed plate connecting shaft, a lower circular plate of the fixed plate, and a first bearing. The upper circular plate of the fixed plate is fixedly connected to the lower end surface of the pneumatic motor. The lower circular plate of the fixed plate is fixedly connected to the upper circular plate of the fixed plate through the fixed plate connecting shaft. The fixed plate connecting shaft is evenly distributed between the upper circular plate of the fixed plate and the lower circular plate of the fixed plate. The first bearing is fixedly arranged at the center of the lower circular plate of the fixed plate.

4. The umbrella-shaped chain-flexible polishing pad adaptive spherical robot end effector according to claim 3 is characterized by: The vertical transmission mechanism includes a voice coil motor magnetic shell, a transmission boss and a voice coil motor coil. The voice coil motor magnetic shell is connected to the lower end surface of the circular plate at the lower end of the fixed plate; the voice coil motor coil is connected to the lower end of the voice coil motor magnetic shell; and the transmission boss is connected to the lower end surface of the voice coil motor coil.

5. The umbrella-shaped chain-flexible polishing pad adaptive spherical robot end effector according to claim 4 is characterized in that: A guide rod is fixedly connected to the magnetic housing of the voice coil motor, the transmission boss is slidably connected to the guide rod via a shaft sleeve, and the guide rod passes through the shaft sleeve.

6. The umbrella-shaped chain-flexible polishing pad adaptive spherical robot end effector according to claim 5 is characterized by: The umbrella-shaped polishing mechanism includes a support rod, a flexible polishing pad, a limit plate, a support rod connecting column, and a second bearing; a plurality of the support rods are fixedly connected to the side of the support rod connecting column, and each of the support rods is evenly distributed on the side of the support rod connecting column, presenting an umbrella shape; the flexible polishing pad is fixedly connected to the lower end surface of the support rod; the limit plate is fixedly connected to the lower end surface of the transmission boss; the support rod connecting column is fixedly connected to the side of the transmission boss; the second bearing is arranged between the support rod connecting column and the transmission boss.

7. The method for using the umbrella chain-flexible polishing pad adaptive spherical robot end effector is characterized in that: The robot end effector described in claim 6 is used to perform polishing of the spherical workpiece through the following steps: Step 1: Before polishing, introduce gas into the constant force cylinder; Step 2: Control the voice coil motor coil to move up and down; Step 3: The voice coil motor coil drives the transmission boss to move along the direction of the guide rod; Step 4: The transmission boss drives the support rod connecting column to move up and down; Step 5: The support rod connecting column drives the support rod to move up and down; Step 6: The support rod moves up and down to change the shape of the flexible polishing pad; Step 7: Adjust the moving distance of the voice coil motor coil to make the flexible polishing pad adapt to the surface of the spherical workpiece; Step 8: The pneumatic motor rotates to drive the spindle to rotate, so that the flexible polishing pad, the support rod and the support rod connecting column rotate, so that the flexible polishing pad polishes the spherical workpiece.

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