CN112428081A

CN112428081A - Wheel type polishing machine tool and control system thereof

Info

Publication number: CN112428081A
Application number: CN202011571056.4A
Authority: CN
Inventors: 徐乐; 代雷; 张文馨
Original assignee: Individual
Current assignee: Individual
Priority date: 2020-12-27
Filing date: 2020-12-27
Publication date: 2021-03-02

Abstract

The invention discloses a wheel type polishing machine tool and a control system thereof, belonging to the technical field of optical plane, spherical surface and aspheric surface polishing, wherein the wheel type polishing machine tool adopts a mode of loading a polishing wheel by three linear axes, and can realize the centering polishing of an optical aspheric lens of any surface type only by accurately controlling the positions of YZ or XZ two linear axes, thereby reducing the number of position control axes and reducing the manufacturing cost of the machine tool. Compared with the prior art, the optical aspheric lens polishing machine tool is light in weight and low in cost, and can realize quick replacement of polishing tools by replacing different polishing wheel modules, so that the processing requirements of different optical aspheric lenses are met, and the processing efficiency is greatly improved.

Description

Wheel type polishing machine tool and control system thereof

Technical Field

The invention belongs to the technical field of optical plane, spherical surface and aspheric surface polishing, and particularly relates to a wheel type polishing machine tool and a control system thereof.

Background

With the development of artificial intelligence and intelligent automobiles and the trend of competition in the big country towards high-tech competitions, the lens is developed towards higher precision and larger visual angle as the extension of human eyes. Aspheric lenses are increasingly used by designers as an essential component of excellent optical design schemes, but the difficulty in manufacturing optical aspheric lenses is high, so that polishing equipment capable of manufacturing optical aspheric lenses becomes a key problem. In order to achieve the purpose of polishing the optical aspheric surface, a multi-axis linkage function must be realized, and in order to achieve the processing precision, an alignment processing method must be utilized.

In the prior art, part of technicians adopt a gantry type five-axis ultrasonic polishing machine tool, the machine tool processes optical lenses through ultrasonic waves, the manufacturing cost of the ultrasonic waves is high, the removal efficiency is extremely low, and the purpose of rapid production cannot be met. Technical personnel also disclose a device and a method for polishing an intraocular lens by utilizing an electrorheological effect, the technical scheme is that magnetorheological fluid is sprayed on a wheel to be used as a polishing film for processing, and the magnetorheological fluid belongs to patent protection products or confidential products and is held by a few companies all over the world, so the magnetorheological fluid is high in price and low in processing efficiency, and the requirement for rapidly polishing an optical Fischer-Tropsch lens cannot be met.

Disclosure of Invention

In view of the above technical problems, an object of the present invention is to provide a light-weight and low-cost optical aspheric lens polishing machine tool. The invention can realize the polishing track of any optical aspheric lens in a three-axis linkage mode, and is used for rapidly polishing the aspheric lens and achieving higher processing precision.

The invention solves the problems through the following technical means:

the utility model provides a wheeled burnishing machine, its characterized in that includes base, Y axle the control unit, X axle the control unit, Z axle the control unit and H axle the control unit, wherein: the Y-axis control unit is installed on the base and used for finishing accurate movement in the Y-axis direction, the Y-axis control unit comprises a Y-axis motion table, a Y-axis lead screw, Y-axis guide rails and a Y-axis motor, the Y-axis lead screw is installed in the middle of the Y-axis motion table, the Y-axis motion table is movably installed on the base through the Y-axis guide rails on two sides, and the Y-axis motor is installed on one side of the base and used for driving the Y-axis lead screw to move; the X-axis control unit is installed on the Y-axis control unit and used for finishing accurate movement in the X-axis direction, the X-axis control unit comprises an XY connecting tower, an X-axis moving table, an X-axis lead screw, an X-axis guide rail and an X-axis motor, the XY connecting tower is installed on the Y-axis moving table, the X-axis moving table is movably installed on the XY connecting tower through the X-axis guide rail, the X-axis lead screw is installed in the middle of the X-axis moving table, and the X-axis motor is installed on one side of the XY connecting tower and used for driving the X-axis lead screw to move; the Z-axis control unit is arranged on the X-axis control unit and used for finishing accurate movement in the Z-axis direction, the Z-axis control unit comprises an XZ connecting seat, a Z-axis motion table, a Z-axis lead screw, Z-axis guide rails and a Z-axis motor, the XZ connecting seat is arranged on the X-axis motion table, the Z-axis motion table is movably arranged on the XZ connecting seat through the Z-axis guide rails on two sides, the Z-axis lead screw is arranged in the middle of the Z-axis motion table, and the Z-axis motor is arranged on one side of the XZ connecting seat and used for driving the Z-axis lead screw to move; the H-axis control unit is installed on the Z-axis control unit and is used for finishing the accurate control of the polishing wheel, the H-axis control unit comprises a ZH connecting plate, an H-axis motor, an H-axis belt pulley, an H-axis polishing wheel and a belt driving shaft, the ZH connecting plate is fixed on the Z-axis motion table, the H-axis motor is installed at the middle part of the ZH connecting plate, the H-axis belt pulley is arranged in the rotating shaft of the H-axis motor, the H-axis polishing wheel is installed at the tail end of the ZH connecting plate, the belt driving shaft is installed in the rotating shaft of the H-axis polishing wheel, and the H-axis belt pulley sequentially drives the belt driving shaft and.

Preferably, still include the vertical C axle the control unit who installs on the base, C axle the control unit includes motor mount pad, C axle roating seat, rotatory frock platform, workstation belt pulley, C axle motor and C axle belt pulley, wherein: the motor mounting seat is fixed on the base through a flange, and the C-axis rotating seat is arranged on one side of the motor mounting seat; the rotary tool table is rotatably arranged on the C-axis rotating seat through a bearing, a tool clamp for clamping a lens is arranged at the top of the rotary tool table, and a workbench belt pulley for transmission is sleeved at the bottom of the rotary tool table; the C-axis motor is inversely arranged on the motor mounting seat, a C-axis belt pulley is sleeved on a rotating shaft of the C-axis motor, and the C-axis belt pulley drives the workbench belt pulley to move through a belt.

Preferably, the moving directions of the Y-axis control unit, the X-axis control unit and the Z-axis control unit are perpendicular to each other to form a cartesian coordinate system.

Preferably, the polishing device further comprises a belt pulley tensioning mechanism, wherein the belt pulley tensioning mechanism is arranged between the H-axis belt pulley and the H-axis polishing wheel.

According to above-mentioned wheeled polishing machine tool's control system, its characterized in that includes host computer, next machine, Y axle driver, X axle driver, Z axle driver, H axle driver and C axle driver, wherein: the lower computer is connected with the upper computer on one hand, and is respectively connected with a Y-axis driver, an X-axis driver, a Z-axis driver, an H-axis driver and a C-axis driver on the other hand, the Y-axis driver is used for driving a Y-axis motor to move accurately, the X-axis driver is used for driving an X-axis motor to move accurately, and the Z-axis driver is used for driving a Z-axis motor to move accurately; the H-axis driver is used for driving the H-axis motor to move accurately; the C-axis driver is used for driving the C-axis motor to move accurately.

Specifically, the method comprises the following control steps: 1) the upper computer generates X, Y, Z axis movement position and movement speed data and sends X, Y, Z axis movement position and movement speed data to the lower computer;

2) the lower computer receives X, Y, Z shaft motion position and motion speed data and performs data interpolation on X, Y, Z shaft motion position and motion speed data, and the lower computer generates complete interpolation data and then sends a completion state signal to the upper computer;

3) after receiving the completion state signal, the upper computer sends a processing signal to the lower computer;

4) and after the lower computer receives the processing signal, the lower computer converts the interpolation data into PWM signals and sends the PWM signals to corresponding drivers, the drivers respectively control the motion of the motors, and the lower computer collects the position information and the rotating speed signals of the motors in real time to form closed-loop control separated from the upper computer.

Preferably, the closed-loop control adopts a PID control method, and the lower computer adopts an STM32 series controller.

The wheel type polishing machine tool and the control system thereof have the following beneficial effects:

according to the invention, the polishing wheel is loaded by three linear axes, and the quasi-centering polishing of the optical aspheric lens with any surface type can be realized only by accurately controlling the positions of two linear axes YZ or XZ, so that the number of position control axes is reduced, and the manufacturing cost of a machine tool is reduced. Meanwhile, by adopting the design of the polishing wheel module, the polishing tool can be quickly replaced by replacing modules of different polishing wheels, the processing requirements of different optical aspheric lenses are met, and the processing efficiency is greatly improved. In addition, the maximum rotating speed of the polishing wheel and the C shaft can be changed by replacing different belt pulleys, so that the requirements of different polishing efficiencies are met. Finally, the invention can process in a closed-loop control mode which is separated from the upper computer, thereby avoiding the risks of damage and the like of the optical aspheric lens in the processing process caused by the fault or the dead halt of the upper computer, improving the reliability of the machine tool, and simultaneously improving the processing precision by closed-loop control.

Drawings

In order to more clearly illustrate the technical solution of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.

FIG. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is a schematic diagram of the Y-axis control unit of the present invention;

FIG. 3 is a schematic diagram of the structure of the X-axis control unit of the present invention;

FIG. 4 is a schematic structural diagram of a Z-axis control unit and an H-axis control unit of the present invention;

FIG. 5 is a schematic view of the external structure of the C-axis control unit of the present invention;

FIG. 6 is a schematic view of the internal structure of the C-axis control unit of the present invention;

FIG. 7 is a schematic diagram of the control system of the present invention;

FIG. 8 is a schematic control flow diagram of the present invention;

FIG. 9 is an example curve of a dual-inflection aspheric surface that can be achieved by the present invention.

Wherein, 1-base, 2-Y axis control unit, 201-Y axis motion platform, 202-Y axis lead screw, 203-Y axis guide rail, 204-Y axis motor, 3-X axis control unit, 301-XY connection tower, 302-X axis motion platform, 303-X axis lead screw, 304-X axis guide rail, 305-X axis motor, 4-Z axis control unit, 401-XZ connection seat, 402-Z axis motion platform, 403-Z axis lead screw, 404-Z axis guide rail, 405-Z axis motor, 5-H axis control unit, 501-ZH connection plate, 502-H axis motor, 503-H axis belt pulley, 504-H axis polishing wheel, 505-belt drive shaft, 506-belt pulley tensioning mechanism, 6-C axis control unit, 601-motor mounting seat, 602-C axis rotating seat, 603-rotating tool table, 604-workbench belt pulley, 605-C axis motor, 606-C axis belt pulley, 7-upper computer, 8-lower computer, 9-Y axis driver, 10-X axis driver, 11-Z axis driver, 12-H axis driver and 13-C axis driver.

Detailed Description

In the description of the present invention, it is to be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention. The terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.

The present invention will be described in detail below with reference to the accompanying drawings.

Example one

As shown in fig. 1 to 4, the wheel type polishing machine tool includes a base 1, a Y-axis control unit 2, an X-axis control unit 3, a Z-axis control unit 4, and an H-axis control unit 5, in which the Y-axis control unit 2 is mounted on the base 1 and used for performing precise movement in the Y-axis direction, the Y-axis control unit 2 includes a Y-axis motion stage 201, a Y-axis lead screw 202, a Y-axis guide rail 203, and a Y-axis motor 204, a mounting hole is provided at the bottom of the base 1 and used for mounting the Y-axis guide rail 203 and the Y-axis lead screw 202, a Y-axis lead screw 202 is mounted at the middle of the Y-axis motion stage 201, the Y-axis motion stage 201 is movably mounted on the base 1 through the Y-axis guide rails 203 at two sides, and the Y-axis motor 204 is mounted at one side.

In fig. 3, an X-axis control unit 3 is installed on a Y-axis control unit 2 and used for completing precise movement in the X-axis direction, the X-axis control unit 3 includes an XY connection tower 301, an X-axis motion stage 302, an X-axis lead screw 303, an X-axis guide rail 304 and an X-axis motor 305, the XY connection tower 301 is installed on the Y-axis motion stage 201, an installation hole and an installation seat are arranged on the XY connection tower 301 and used for fixing the X-axis lead screw 303 and the X-axis guide rail 304, the X-axis motion stage 302 is movably installed on the XY connection tower 301 through the X-axis guide rail 304, the X-axis lead screw 303 is installed in the middle of the X-axis motion stage 302, and the X-axis motor 305 is installed on one side of the XY connection tower 301 and used for driving the X.

In fig. 4, the Z-axis control unit 4 is installed on the X-axis control unit 3 and used for completing the precise movement in the Z-axis direction, the Z-axis control unit 4 includes an XZ connection seat 401, a Z-axis motion table 402, a Z-axis lead screw 403, a Z-axis guide rail 404 and a Z-axis motor 405, an opening and an opening seat for installing the Z-axis lead screw 403 and the Z-axis guide rail 404 are provided on the XZ connection seat 401, the XZ connection seat 401 is installed on the X-axis motion table 302, the Z-axis motion table 402 is movably installed on the XZ connection seat 401 through the Z-axis guide rails 404 on both sides, the Z-axis lead screw 403 is installed in the middle of the Z-axis motion table 402, and the Z-axis motor 405 is installed on one side of the XZ connection seat 401 and. H axle the control unit 5 is installed on Z axle the control unit 4, and be used for accomplishing the accurate control of throwing aureola, H axle the control unit 5 includes ZH connecting plate 501, H axle motor 502, H axle belt pulley 503, H axle throwing aureola 504 and belt drive axle 505, ZH connecting plate 501 is fixed on Z axle motion platform 402, H axle motor 502 is installed in the middle part of ZH connecting plate 501, be provided with H axle belt pulley 503 in H axle motor 502's the pivot, H axle throwing aureola 504 is installed at the end of ZH connecting plate 501, install belt drive axle 505 in H axle throwing aureola 504's the pivot, H axle belt pulley 503 drives belt drive axle 505 through the belt in proper order, H axle throwing aureola 504 is accurate rotatory.

Specifically, the movement directions of the Y-axis control unit 2, the X-axis control unit 3, and the Z-axis control unit 4 are perpendicular to each other to form a cartesian coordinate system. H-axis control unit 5 further includes a pulley tensioning mechanism 506, and pulley tensioning mechanism 506 is disposed between H-axis pulley 503 and H-axis polishing wheel 504.

It should be noted that there are X, Y, Z three linear axes and C-axis, the Y-axis motor and the Y-axis guide rail are fixed on the machine tool body, the Y-axis lead screw is connected with the YX link tower, and the YX link tower is controlled to move along the Y-axis by controlling the Y-axis motor. The X-axis guide rail and the X-axis lead screw are fixed on the YX connecting tower. The X-axis lead screw is connected with the XZ connecting tower, and the ZX connecting tower is controlled to move along the X axis by controlling the X-axis motor. The Z-axis guide rail and the Z-axis lead screw are fixed on the XZ connecting tower. And the Z-axis screw is connected with the ZH connecting tower, and the ZH connecting tower is controlled to move along the Z-axis direction by controlling the Z-axis motor. The H-axis motor and the polishing wheel module are fixed on the ZH connecting tower, the polishing wheel is fixed on the polishing wheel module and can rotate around a polishing wheel shaft, and the axial direction of the polishing wheel is parallel to the X axis. The polishing wheel is adhered with a polishing polyurethane (or other materials) polishing film. The polishing wheel is connected with the H-axis motor through the belt pulley to realize radial rotation, the belt tensioning mechanism is fixed on the ZH connecting tower, and the polishing wheel can move along the XYZ direction by controlling the XYZ motor to realize the processing of the optical aspheric lens.

Example two

As shown in fig. 5 and 6, the device further includes a C-axis control unit 6 vertically installed on the base 1, the C-axis control unit 6 includes a motor installation seat 601, a C-axis rotation seat 602, a rotation tooling table 603, a workbench belt pulley 604, a C-axis motor 605 and a C-axis belt pulley 606, wherein: the motor mounting seat 601 is fixed on the base 1 through a flange, and the C-axis rotating seat 602 is arranged on one side of the motor mounting seat 601; the rotary tool table 603 is rotatably mounted on the C-axis rotating base 602 through a bearing, a tool clamp for clamping a lens is arranged at the top of the rotary tool table 603, and a working table belt pulley 604 for transmission is sleeved at the bottom of the rotary tool table 603; the C-axis motor 605 is arranged on the motor mounting seat 601 in an inverted mode, a C-axis belt pulley 606 is sleeved on a rotating shaft of the C-axis motor 605, and the C-axis belt pulley 606 drives the workbench belt pulley 604 to move through a belt.

Specifically, the C-axis control unit 6 may be provided with a belt tensioning mechanism.

It should be noted that the C-axis motor is connected with the C-axis through a belt pulley, the C-axis motor rotates to drive the C-axis to rotate, and the C-axis is connected with a tool clamp for clamping the aspheric lens. The C-axis motor and the C-axis are fixed on the machine tool body.

EXAMPLE III

As shown in fig. 7, the control system of the wheel type polishing machine includes an upper computer 7, a lower computer 8, a Y-axis driver 9, an X-axis driver 10, a Z-axis driver 11, an H-axis driver 12, and a C-axis driver 13, wherein: the lower computer 8 is connected with the upper computer 7 on one hand, the lower computer 8 is connected with a Y-axis driver 9, an X-axis driver 10, a Z-axis driver 11, an H-axis driver 12 and a C-axis driver 13 on the other hand respectively, the Y-axis driver 9 is used for driving the Y-axis motor 204 to move accurately, the X-axis driver 10 is used for driving the X-axis motor 305 to move accurately, and the Z-axis driver 11 is used for driving the Z-axis motor 405 to move accurately; the H-axis driver 12 is used for driving the H-axis motor 502 to move accurately; the C-axis driver 13 is used to drive the C-axis motor 605 to move precisely.

Specifically, the lower computer 8 adopts an STM32 series controller, and the driver adopts a TMC series chip for control.

It should be noted that the control system calculates the polishing track and the residence time by the upper computer, and generates data. The data is sent to the lower computer controller, the controller automatically generates the interpolated data, and the lower computer returns a completion state signal to the upper computer after the interpolated data is generated. And after the upper computer receives the 'completion state signal', the lower computer can be controlled to start processing. After receiving the machining signal, the lower computer judges whether a completion state signal is sent to the upper computer, if the completion state signal is sent, machining is carried out, and if not, waiting is carried out. When the lower computer starts to process, data are converted into pwm signals and are sent to the driver, the driver returns the position signals to the lower computer, so that the processing separated from the closed-loop control of the upper computer is formed, and the driver drives the XYZH motor to move to realize the processing of the optical aspheric lens.

Example four

As shown in fig. 8, the control system of the polishing machine includes the following control steps: 1) the upper computer 7 generates X, Y, Z axis movement position and movement speed data and sends X, Y, Z axis movement position and movement speed data to the lower computer 8;

2) the lower computer 8 receives X, Y, Z shaft movement position and movement speed data, performs data interpolation on X, Y, Z shaft movement position and movement speed data, and sends a completion state signal to the upper computer 35 after the lower computer 8 generates complete interpolation data;

3) the upper computer 7 sends a processing signal to the lower computer 8 after receiving the completion state signal;

4) after the lower computer 8 receives the machining signal, the lower computer 8 converts the interpolation data into a PWM signal and sends the PWM signal to corresponding drivers, the drivers respectively control the motion of the motors, and the lower computer collects position information and rotating speed signals of the motors in real time to form closed-loop control separated from the upper computer 35.

Specifically, the closed-loop control adopts a PID control method.

The upper computer generates X, Y, Z axis movement position and movement speed data, and sends the data to the lower computer to generate interpolated data (data interpolation of the machine tool, linear interpolation or circular interpolation), and the generated interpolated data sends a completion state signal to the upper computer. When the upper computer sends a machining signal (a high level or a low level) to the lower computer, the lower computer judges whether a completion state signal is sent to the upper computer or not, if the completion state signal is sent, the upper computer sends the machining signal to the lower computer, the interpolated data are converted into PWM signals and sent to drivers of all shafts, and the drivers respectively control all motors to move; otherwise, waiting for the completion of the sending of the completion status signal. The drivers of the three motion axes of X, Y and Z can send position signals to the lower computer, so that closed-loop control separated from the upper computer is formed.

EXAMPLE five

As shown in fig. 9, the polishing machine has the capability of processing a double-inflection-point aspheric surface, and the position of the polishing wheel can be flexibly adjusted according to different polished aspheric surface shapes, so that the normal vector of the polishing wheel and the aspheric surface polishing point is always consistent with the radial direction of the polishing wheel, and the technical purpose of polishing the precise aspheric surface shape with multiple inflection points is achieved.

Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims

1. The utility model provides a wheeled burnishing machine, its characterized in that includes base (1), Y axle the control unit (2), X axle the control unit (3), Z axle the control unit (4) and H axle the control unit (5), wherein:

the Y-axis control unit (2) is installed on the base (1) and used for finishing accurate movement in the Y-axis direction, the Y-axis control unit (2) comprises a Y-axis motion table (201), a Y-axis lead screw (202), a Y-axis guide rail (203) and a Y-axis motor (204), the Y-axis lead screw (202) is installed in the middle of the Y-axis motion table (201), the Y-axis motion table (201) is movably installed on the base (1) through the Y-axis guide rails (203) on two sides, and the Y-axis motor (204) is installed on one side of the base (1) and used for driving the Y-axis lead screw (202) to move;

the X-axis control unit (3) is installed on the Y-axis control unit (2) and used for finishing accurate movement in the X-axis direction, the X-axis control unit (3) comprises an XY connection tower (301), an X-axis motion platform (302), an X-axis lead screw (303), an X-axis guide rail (304) and an X-axis motor (305), the XY connection tower (301) is installed on the Y-axis motion platform (201), the X-axis motion platform (302) is movably installed on the XY connection tower (301) through the X-axis guide rail (304), the X-axis lead screw (303) is installed in the middle of the X-axis motion platform (302), and the X-axis motor (305) is installed on one side of the XY connection tower (301) and used for driving the X-axis lead screw (303) to move;

the Z-axis control unit (4) is installed on the X-axis control unit (3) and used for finishing accurate movement in the Z-axis direction, the Z-axis control unit (4) comprises an XZ connecting seat (401), a Z-axis moving table (402), a Z-axis lead screw (403), a Z-axis guide rail (404) and a Z-axis motor (405), the XZ connecting seat (401) is installed on the X-axis moving table (302), the Z-axis moving table (402) is movably installed on the XZ connecting seat (401) through the Z-axis guide rails (404) on two sides, the Z-axis lead screw (403) is installed in the middle of the Z-axis moving table (402), and the Z-axis motor (405) is installed on one side of the XZ connecting seat (401) and used for driving the Z-axis lead screw (403) to move;

h axle the control unit (5) install on Z axle the control unit (4), and be used for accomplishing polishing wheel's accurate control, H axle the control unit (5) including ZH connecting plate (501), H axle motor (502), H axle belt pulley (503), H axle polishing wheel (504) and belt drive axle (505), ZH connecting plate (501) are fixed on Z axle motion platform (402), H axle motor (502) are installed in the middle part of ZH connecting plate (501), are provided with H axle belt pulley (503) in the pivot of H axle motor (502), and H axle polishing wheel (504) are installed at the end of ZH connecting plate (501), install belt drive axle (505) in the pivot of H axle polishing wheel (504), and H axle belt pulley (503) drive belt drive axle (505), H axle polishing wheel (504) are accurate rotatory in proper order through the belt.

2. The wheel type polishing machine according to claim 1, further comprising a C-axis control unit (6) vertically mounted on the base (1), the C-axis control unit (6) comprising a motor mounting seat (601), a C-axis rotating seat (602), a rotating tooling table (603), a table pulley (604), a C-axis motor (605) and a C-axis pulley (606), wherein:

the motor mounting seat (601) is fixed on the base (1) through a flange, and the C-axis rotating seat (602) is arranged on one side of the motor mounting seat (601);

the rotary tool table (603) is rotatably mounted on the C-axis rotating base (602) through a bearing, a tool clamp for clamping a lens is arranged at the top of the rotary tool table (603), and a working table belt pulley (604) for transmission is sleeved at the bottom of the rotary tool table (603);

the C-axis motor (605) is arranged on the motor mounting seat (601) in an inverted mode, a C-axis belt pulley (606) is sleeved on a rotating shaft of the C-axis motor (605), and the C-axis belt pulley (606) drives the workbench belt pulley (604) to move through a belt.

3. A wheeled polishing machine according to claim 2, characterized in that the directions of movement of the Y-axis control unit (2), the X-axis control unit (3) and the Z-axis control unit (4) are mutually perpendicular to constitute a cartesian coordinate system.

4. A wheeled buffing machine according to claim 3 further comprising a pulley tensioning mechanism (506), said pulley tensioning mechanism (506) being disposed between the H-axis pulley (503) and the H-axis buffing wheel (504).

5. A control system of a wheel type polishing machine according to any one of claims 1 to 4, characterized by comprising an upper computer (7), a lower computer (8), a Y-axis driver (9), an X-axis driver (10), a Z-axis driver (11), an H-axis driver (12) and a C-axis driver (13), wherein: the lower computer (8) is connected with the upper computer (7), the lower computer (8) is connected with the Y-axis driver (9), the X-axis driver (10), the Z-axis driver (11), the H-axis driver (12) and the C-axis driver (13), the Y-axis driver (9) is used for driving the Y-axis motor (204) to move accurately, the X-axis driver (10) is used for driving the X-axis motor (305) to move accurately, and the Z-axis driver (11) is used for driving the Z-axis motor (405) to move accurately; the H-axis driver (12) is used for driving the H-axis motor (502) to move accurately; the C-axis driver (13) is used for driving the C-axis motor (605) to move accurately.

6. A control system for a wheeled polishing machine according to claim 5, characterized by comprising the control steps of:

1) the upper computer (7) generates X, Y, Z axis movement position and movement speed data and sends X, Y, Z axis movement position and movement speed data to the lower computer (8);

2) the lower computer (8) receives X, Y, Z shaft motion position and motion speed data, performs data interpolation on X, Y, Z shaft motion position and motion speed data, and sends a completion state signal to the upper computer (35) after the lower computer (8) generates complete interpolation data;

3) the upper computer (7) sends a processing signal to the lower computer (8) after receiving the completion state signal;

4) after the lower computer (8) receives the machining signals, the lower computer (8) converts the interpolation data into PWM signals and sends the PWM signals to corresponding drivers, the drivers respectively control the motion of the motors, and the lower computer collects position information and rotating speed signals of the motors in real time to form closed-loop control separated from the upper computer (7).

7. A control system for a wheeled polishing machine as claimed in claim 6, wherein said closed loop control employs PID control methodology.

8. A control system for a wheeled polishing machine according to claim 6, characterised in that the lower machine (8) employs an STM32 series controller.