Development Of Reflector Cup Polishing Machine Based On Antagonistic Joint Of Pneumatic Muscle

With increasing living pressure and poor living patterns,the incidence of kidney stones is getting higher and higher.Extracorporeal lithotripsy is one of the most ideal methods to treat kidney stones.The reflector cup is one of the key components of extracorporeal lithotripter.The surface quality and accuracy of the reflector directly determine the quality of the gravel in the external lithotripter.At present,the reflective cup grinding is mainly dependent on the traditional manual polishing method.Its characteristics mainly include the large labor intensity of grinding,the difficulty of ensuring the consistency of grinding precision,high technical level required for grinding and grinding,and very low polishing efficiency,and large amount of dust in the process of grinding,which has great harm to the human body.Therefore,there is an urgent need to develop an efficient polishing and polishing automation device for the characteristics of the elliptical cavity of the reflector cup.This paper take the the reflection cup as research objects,and the use of a pneumatic tendon to antagonize the joint-like artificial finger polishing method is used for the reflection cup polishing,which has theoretical significance and application prospects.(1)For the problem that the inner cavity of the reflective cup is difficult to polish,the traditional manual polishing process of the reflective cup is analyzed,and the design requirements of the reflective cup polishing machine are proposed.For the problem of poor surface quality after the polishing of the reflector cup,the polishing process parameters of the reflector cup are analyzed,and the key parameters that affect the quality of the polishing of the reflector cup are determined.According to the characteristics of the reflector cup surface and the processing requirements,the polishing method of the abrasive belt was analyzed,and the polishing trajectory was determined,and put forwards the plan of tumbling abrasion based on the pneumatic tendon antagonistic joint.(2)According to the requirements of the synthetic movement of the reflector cup trajectory,the theoretical analysis and structural design of the key components such as the pneumatic tendon mechanism,the polishing abrasive belt mechanism,the sliding table mechanism and so on are carried out,and the parameters of the key components of the polishing are determined.(3)In order to solve the problem that the relationship between the telescopic amount and the pressure of the pneumatic tendon is difficult to control,the static and dynamic mathematical model of the pneumatic tendon is established by the analytical method.For the problem of low precision in the control of the motorized tendon,the experimental method was used to modify the mathematical model of the tendon.In order to achieve the automatic control of the antagonistic joints of the pneumatic tendon,the kinematic analysis and dynamics of the antagonistic joints of the pneumatic tendon were analyzed.(4)For better achieve the consistency of reflector processing,a constant-velocity speed control scheme for reflector cups was proposed.According to the characteristics of the polishing trajectory of the reflector cup,analyzed the polishing mechanism was simulated,and the control strategy of the fluidized tendon joint and the control scheme of the ball screw slider were proposed.(5)In order to achieve a better polishing effect,the single-factor test method was used to determine the basic parameters of the reflective cup polishing abrasive.The four-factor three-level orthogonal test is used to set the parameters of the polishing: the normal contact pressure,the rotation speed of the reflector cup,the feed rate of the polishing,and the rotation speed of the polishing head.The polishing test was performed on the reflection cup workpieces to analyze the polishing effect and optimize the polishing process parameters,to explored the effect of the polishing process parameters on the polishing test and the relationship between them was sought,to selected the best reflection cup for polishing,using the best combination of parameters to carry out the grinding test.The test results show that the method based on the pneumatic tendon antagonistic joint polishing method is feasible.