Magnetorheological machining regulation and control device based on instantaneous current sensing and machining method

Abstract

The invention relates to the technical field of magneto-rheological, in particular to a magneto-rheological machining regulation and control device based on instantaneous current perception and a machining method.The device comprises a polishing platform, a polishing assembly, a detection circuit and a computer; the corresponding relation between different operation parameters of the polishing assembly and the ideal instantaneous current is collected, when the to-be-polished element is machined, the second instantaneous current is judged through the corresponding relation, whether the operation parameters of the polishing assembly are adjusted or not is determined according to the judgment result, and therefore real-time adjustment of the operation parameters of the polishing assembly is achieved. In the process, the step of calibrating parameters such as gravity compensation is not needed, the precision of measured data is only limited by the current measurement precision of the second instantaneous current between the magneto-rheological polishing module and the to-be-polished element, the measurement result is more accurate, a force sensor does not need to be added, and the equipment cost is reduced.

Description

Technical Field

[0001] The present invention relates to the field of magnetorheological technology, and particularly relates to a magnetorheological processing control device and a processing method based on instantaneous current sensing. Background Art

[0002] Magnetorheological Finishing (MRF) is an advanced optical manufacturing technology developed in recent years. It has many advantages such as a stable removal function, controllable edge effect, small damage layer on the lower surface, no copying effect, strong shaping ability, and high processing accuracy. Therefore, the magnetorheological finishing technology has received extensive attention in high-precision optical processing. The existing magnetorheological finishing processing centers mainly integrate the magnetorheological finishing module into numerically controlled machine tools. However, there are some deficiencies in numerically controlled machine tools (such as low degrees of freedom, large floor area, high cost, etc.), which limit the deviation of aspherical surfaces and make it difficult to perform precise pose control along the surface normal. In view of these deficiencies of numerically controlled machine tools, researchers have introduced six-degree-of-freedom industrial robots into the field of optical processing in recent years. Six-degree-of-freedom industrial robots have the advantages of high degrees of freedom, small floor area, large processing range, low cost, etc., making up for the deficiencies of numerically controlled machine tools. Therefore, when integrating the magnetorheological finishing module into an industrial robot, high-precision processing of large-aperture complex-curved optical elements can be theoretically achieved. However, due to the influence of factors such as processing, assembly, load, trajectory planning, and reduction ratio, the end-effector accuracy of the robot is relatively low, and the polishing gap changes greatly during the processing. At the same time, the magnetorheological finishing technology is an optical processing technology with a high degree of certainty of the removal function, and has high requirements for the change of the polishing gap during the polishing process. Generally, the change of the polishing gap in a magnetorheological numerical control processing center is in the order of dozens of micrometers (PV < 0.1 mm), while the trajectory accuracy of common commercial robots is generally in the sub-millimeter to millimeter range, and cannot meet the requirements of the magnetorheological finishing technology for the change of the polishing gap during high-precision polishing.

[0003] Force-position control is currently gaining popularity as a new approach to robotic constant-force controlled polishing. A common application involves placing a force sensor between the machining tool and the robot. The force sensor is first calibrated with gravity to ensure measurement accuracy. The position error is calculated by measuring force changes. This position error is then compensated for using the robot itself or other motion compensation mechanisms to achieve constant force control. Efficient machining of large-aperture optical components requires magnetorheological (MR) machining equipment with large polishing wheels. These MR machining modules typically weigh hundreds of kilograms. However, for these MR machining modules, the force variation caused by the robot's position error is only tens of Newtons. High-precision machining requires maintaining a constant force of a few Newtons or even a fraction of a Newton. This requires measurement equipment such as force sensors to achieve an absolute accuracy of one part per ten thousand. Furthermore, the force sensor must be capable of varying speed and position. Force sensors that meet these requirements are often extremely expensive, significantly increasing the cost of the equipment. Summary of the Invention

[0004] In order to solve the above problems, the present invention provides a magnetorheological processing control device and processing method based on instantaneous current sensing, so as to solve the problem that the existing technology requires the use of high-precision force sensors for data collection for the control of polishing wheels, and the high cost of high-precision force sensors.

[0005] To achieve the above object, the technical solution created by the present invention is implemented as follows: A magnetorheological processing control device based on instantaneous current sensing includes a polishing platform on which a test polishing element and an element to be polished are arranged; A polishing assembly comprising an industrial robot and a magnetorheological polishing module, wherein the industrial robot is used to adjust the polishing gap between the magnetorheological polishing module and the test polishing element or the polishing gap between the magnetorheological polishing module and the element to be polished, and the magnetorheological polishing module is used to process the test polishing element or the element to be polished. The operating parameters of the magnetorheological polishing module include the position of the industrial robot, the position of the polishing wheel, and the position of the magnet; a detection circuit configured to output a constant voltage and, when the magnetorheological polishing module contacts the surface of the test polishing element, form a first closed loop and detect a first instantaneous current in the first closed loop in real time, or, when the magnetorheological polishing module contacts the surface of the element to be polished, form a second closed loop and detect a second instantaneous current in the second closed loop in real time; A computer is used to calculate the correspondence between the operating parameters of the magnetorheological polishing module and the ideal instantaneous current according to polishing data, where the polishing data includes first instantaneous current data detected by a detection circuit under different operating parameters of the magnetorheological polishing module; and the computer is used to adjust the current operating parameters when it is determined that the error between the second instantaneous current detected by the detection circuit and the ideal instantaneous current corresponding to the current operating parameters exceeds a preset error range, so that the error between the second instantaneous current detected by the detection circuit after the operating parameters are adjusted and the corresponding ideal instantaneous current is within the preset error range.

[0006] Further, the magnetorheological polishing module includes a magnetorheological mounting frame, a polishing wheel, a magnet, a nozzle, a position adjustment assembly, and a liquid pump; wherein, the magnetorheological mounting frame is connected to the tool end of an industrial robot; the liquid pump is connected to the nozzle and is used to deliver magnetorheological fluid to the nozzle; the nozzle is used to provide magnetorheological fluid to the polishing wheel; the polishing wheel is used to process a test polishing element or a to-be-polished element; the magnet is arranged on the magnetorheological mounting frame and is used to generate a magnetic field to change the stiffness of the magnetorheological fluid; the number of the position adjustment assemblies is two, which are respectively arranged on the magnetorheological mounting frame and are respectively connected to the polishing wheel and the magnet, and the two position adjustment assemblies are used to independently adjust the positions of the polishing wheel and the magnet.

[0007] Further, the position adjustment assembly includes a support fixing frame, a ball screw stepping motor, and a connecting plate. The ball screw stepping motor is installed on the magnetorheological mounting frame through the support fixing frame. The nut of the ball screw stepping motor is fixedly connected to the connecting plate. The driving motor, the polishing wheel, and the magnet are respectively installed on the connecting plate.

[0008] Further, the magnetorheological polishing module further includes a polishing wheel driving device. The polishing wheel driving device includes a driving motor, a motor connecting plate, a driving wheel, a driven wheel, and a synchronous belt. The driving motor is installed on the connecting plate. A bearing seat is installed on the connecting plate. A bearing is installed in the bearing seat. The bearing is connected to the polishing wheel. The driven wheel is sleeved on the bearing. The driving wheel is sleeved on the output end of the driving motor. The synchronous belt is tensioned between the driven wheel and the driving wheel.

[0009] A magnetorheological processing regulation method based on the pose adjustment of an industrial robot is realized by using the above-mentioned magnetorheological processing regulation device. The magnetorheological processing regulation method includes the following steps: The industrial robot drives the magnetorheological polishing module to move until it contacts the surface of the test polishing element. The computer sets different polishing gaps through the industrial robot to process the test polishing element. The detection circuit detects the first instantaneous current in the first closed loop in real time to obtain the correspondence between the polishing gap and the first instantaneous current , represents the first instantaneous current, represents the polishing gap, It represents the conversion relationship between the polishing gap and the first instantaneous current. The corresponding relationships of multiple groups of the first instantaneous current and the polishing gap are mapped and stored to obtain polishing data. The computer calculates the corresponding relationship between each polishing gap and the ideal instantaneous current according to the polishing data; The industrial robot drives the magnetorheological polishing module to move until it contacts the surface of the component to be polished. The detection circuit detects the second instantaneous current in the second closed loop in real time. When the computer determines that the error between the second instantaneous current and the ideal instantaneous current corresponding to the current polishing gap exceeds the preset error range, it controls the pose of the industrial robot, and then adjusts the polishing gap so that the error between the second instantaneous current detected by the detection circuit after the polishing gap is adjusted and the corresponding ideal instantaneous current is within the preset error range.

[0010] Further, the sampling period for the detection circuit to collect the second instantaneous current is denoted as , and the shortest time required for the industrial robot to adjust the polishing gap to the maximum adjustment amount is denoted as , , and the shortest switching time between two adjacent machining trajectory points on the component to be polished is denoted as , ; where is the maximum moving speed of the industrial robot, represents the distance between two adjacent machining trajectory points on the component to be polished; The method for adjusting the sampling frequency of the detection circuit includes: Judging whether the relationship between , , satisfies the formula: ; If not, the sampling frequency for the detection circuit to collect the second instantaneous current is adjusted until the formula is satisfied, and the sampling frequency is .

[0011] Further, controlling the industrial robot to adjust the polishing gap of the current machining trajectory point includes: If the second instantaneous current does not exceed the allowable change range , the pose of the industrial robot is not adjusted, and the polishing gap of the current machining trajectory point is kept unchanged; If the second instantaneous current exceeds the allowable change range and , then the pose of the industrial robot is changed, and the polishing gap of the current machining trajectory point is adjusted according to the following formula: ; Wherein, represents the ideal instantaneous current value, represents the adjustment range of the second instantaneous current; If the second instantaneous current exceeds the allowable change range and at this time, then change the posture of the industrial robot, and adjust the polishing gap of the current machining trajectory point according to the following formula as follows: ; Wherein, represents the initial polishing gap set by the industrial robot.

[0012] A magnetorheological machining control method based on the adjustment of the magnet position or the polishing wheel position, which is realized by using the above-mentioned magnetorheological machining control device. The magnetorheological machining control method includes the following steps: The industrial robot drives the magnetorheological polishing module to move until it contacts the surface of the test polishing element. The computer sets different magnet positions or polishing wheel positions through the position adjustment component to process the test polishing element, and the detection circuit detects the first instantaneous current in the first closed loop in real time to obtain the corresponding relationship between the magnet position or the polishing wheel position and the first instantaneous current , represents the magnet position or the polishing wheel position, represents the first instantaneous current, represents the conversion relationship between the magnet position or the polishing wheel position and the first instantaneous current. Map and store multiple groups of the first instantaneous current and the corresponding magnet position or polishing wheel position to obtain polishing data. The computer calculates the corresponding relationship between each magnet position or each polishing wheel position and the ideal instantaneous current according to the polishing data; The industrial robot drives the magnetorheological polishing module to move until it contacts the surface of the test polishing element. The detection circuit detects the second instantaneous current in the second closed loop in real time. When the computer determines that the error between the second instantaneous current and the ideal instantaneous current corresponding to the current polishing gap exceeds the preset error range, control the position adjustment component to adjust the magnet position or the polishing wheel position so that the error between the second instantaneous current detected by the detection circuit after the adjustment of the magnet position or the polishing wheel position and the corresponding ideal instantaneous current is within the preset error range.

[0013] Further, record the sampling period for the detection circuit to collect the second instantaneous current as , and record the shortest time required to adjust the magnet or the polishing wheel to the maximum adjustment amount as , , the shortest switching time between two adjacent machining track points on the element to be polished is denoted as , ; among which, is the fastest adjustment speed of the electromagnet position or the polishing wheel position, is the highest moving speed of the industrial robot, represents the distance between two adjacent machining track points on the element to be polished; The adjustment method for the sampling frequency of the detection circuit includes: Judge , , Whether the relationship between them satisfies the formula: ; If not satisfied, adjust the sampling frequency of the detection circuit for collecting the second instantaneous current until the formula is satisfied, and the sampling frequency is .

[0014] Further, if the second instantaneous current does not exceed the allowable change range , do not adjust the position adjustment component, and keep the current magnet position and polishing wheel position unchanged; If the second instantaneous current exceeds the allowable change range and , then the position adjustment component adjusts the magnet position or the polishing wheel position of the current machining track point according to the following formula: ; Among which, represents the ideal instantaneous current value, represents the adjustment amplitude of the second instantaneous current; If the second instantaneous current exceeds the allowable change range and , then the position adjustment component adjusts the magnet position or the polishing wheel position of the current machining track point according to the following formula: ; Among which, represents the set initial position of the magnet or the initial position of the polishing wheel.

[0015] Compared with the prior art, the present invention can achieve the following beneficial effects: By using the relationship between the magnetorheological polishing module and the instantaneous current corresponding to the contact resistance, when the magnetorheological polishing module processes the element to be polished, different operating parameters of the magnetorheological polishing module and the first instantaneous current corresponding to different operating parameters are respectively collected. Then, the corresponding relationship between different operating parameters and the ideal instantaneous current is calculated through different operating parameters and the corresponding first instantaneous current. After that, the second instantaneous current is determined based on the corresponding relationship between different operating parameters and the ideal instantaneous current. According to the determination result, whether to adjust the operating parameters of the magnetorheological polishing module is decided, so as to realize the real-time adjustment of the pose of the industrial robot, the position of the magnet or the position of the magnet, make the flow rate fluctuation of the magnetorheological fluid at each processing trajectory point meet the high-precision polishing requirements, and ensure the constancy of the removal function. This process does not require calibration steps for parameters such as gravity compensation, and is not affected by factors such as the weight of the magnetorheological polishing module, the running accuracy of the equipment itself, the running speed, the posture, the inertia and other factors. The accuracy of the measurement data is only limited by the current measurement accuracy of the second instantaneous current between the magnetorheological polishing module and the element to be polished. The measurement result is more accurate, and there is no need to add equipment such as high-precision force sensors, reducing the equipment cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 FIG. is a schematic structural diagram of the magnetorheological processing control device based on instantaneous current sensing according to an embodiment of the present invention from one perspective; Figure 2 FIG. is a schematic structural diagram of the magnetorheological processing control device based on instantaneous current sensing according to an embodiment of the present invention from another perspective; Figure 3 FIG. is a schematic structural diagram of the magnetorheological polishing module according to an embodiment of the present invention from one perspective; Figure 4 FIG. is a schematic structural diagram of the magnetorheological polishing module according to an embodiment of the present invention from another perspective; Figure 5 FIG. is a schematic structural diagram of the position adjustment component according to an embodiment of the present invention.

[0017] Reference numerals: polishing platform 1, industrial robot 21, magnetorheological mounting frame 221, polishing wheel 222, magnet 223, drive motor 224, liquid pump 225, nozzle 226, position adjustment component 227, support fixing frame 228, ball screw stepping motor 229, connecting plate 230, driving wheel 231, driven wheel 232, synchronous belt 233, lead screw 234, nut 235, guide rail 236, slider 237, support frame 238, current intensity controller 23, computer 3, test polishing element 4 and element to be polished 5. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0018] In the following, embodiments of the present invention will be described with reference to the accompanying drawings. In the following description, the same modules are denoted by the same reference numerals. In the case of the same reference numerals, their names and functions are also the same. Therefore, their detailed descriptions will not be repeated.

[0019] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and do not constitute a limitation to the present invention.

[0020] In a first aspect, this embodiment provides a magnetorheological machining control device based on instantaneous current sensing. The structure of the device is as Figures 1 - 5 shown, and it includes a polishing platform 1, a polishing assembly, a detection circuit, and a computer 3. A test polishing element 4 and a workpiece to be polished 5 are arranged on the polishing platform 1. The polishing assembly includes an industrial robot 21 and a magnetorheological polishing module. The industrial robot 21 is used to drive the magnetorheological polishing module to move to the position where the test polishing element 4 is located or the position where the workpiece to be polished 5 is located, and is used to adjust the polishing gap between the magnetorheological polishing module and the test polishing element 4 or adjust the polishing gap between the magnetorheological polishing module and the workpiece to be polished 5. The detection circuit is used to output a constant voltage, and when the magnetorheological polishing module contacts the surface of the test polishing element, a first closed loop is formed, and the first instantaneous current in the first closed loop is detected in real time. Or when the magnetorheological polishing module contacts the surface of the workpiece to be polished, a second closed loop is formed, and the second instantaneous current in the second closed loop is detected in real time. The computer 3 is used to calculate the corresponding relationship between different operating parameters (including the polishing gap and the magnet position or polishing wheel position) of the magnetorheological polishing module and the ideal instantaneous current according to the polishing data. The polishing data includes the first instantaneous current data detected by the detection circuit under different operating parameters of the magnetorheological polishing module. And the computer 3 is used to adjust the current operating parameters when it is determined that the error between the second instantaneous current detected by the detection circuit and the ideal instantaneous current corresponding to the current operating parameters exceeds a preset error range, so that the error between the second instantaneous current detected by the detection circuit after the operating parameters are adjusted and the ideal instantaneous current corresponding to the current operating parameters is within the preset error range.

[0021] In this embodiment, the polishing platform 1 refers to a working platform for experiments, on which a test polishing element 4, a workpiece to be polished 5, and other polishing components are placed. For example, the magnetorheological fluid required for polishing, the supporting tooling for the workpiece to be polished, etc. Among them, the test polishing element 4 is a reference part required for calculating the ideal instantaneous current corresponding to the polishing gap, and the workpiece to be polished 5 is a part that needs to be subjected to magnetorheological polishing.

[0022] In this embodiment, the industrial robot 21 can be a six-degree-of-freedom robotic arm or other robots with pose adjustment functions.

[0023] The magnetorheological polishing module includes a magnetorheological mounting frame 221, a polishing wheel 222, a magnet 223, a driving motor 224, a liquid pump 225, a nozzle 226, and a position adjustment assembly 227. Among them, the magnetorheological mounting frame 221 is connected to the tool end of the industrial robot 21. The liquid pump 225 is arranged on the support frame 238 on one side of the industrial robot 21 and is connected to the nozzle 226 for delivering magnetorheological fluid to the nozzle 226. The liquid pump 225 is a prior art and will not be elaborated here. For example, the DFLD vertical multi-stage pump of Shanghai Dongfang Pump Industry Company is adopted. The nozzle 226 is arranged on the magnetorheological mounting frame 221 for spraying magnetorheological fluid onto the polishing wheel 222. The polishing wheel 222 is arranged on the magnetorheological mounting frame 221 through a position adjustment assembly 227 to process the test polishing element 4 or the element to be polished 5 using the magnetorheological fluid. The magnet 223 is arranged on the magnetorheological mounting frame 221 through another position adjustment assembly 227 for generating a magnetic field to change the stiffness of the magnetorheological fluid. The driving motor 224 is used to drive the polishing wheel 222 to rotate at a high speed, bringing the magnetorheological fluid into the magnetic field action area. The magnetorheological fluid flow forms a magnetorheological ribbon under the action of the magnetic field, and the dimensional parameters of the magnetorheological ribbon change with the pose of the industrial robot 21, the position of the polishing wheel 222, or the position of the magnet 223. The two position adjustment assemblies 227 are used to independently control the positions of the polishing wheel 222 and the magnet 223.

[0024] The structures of the two position adjustment assemblies 227 are the same, and each includes a support and fixing frame 228, a ball screw stepping motor 229, a connecting plate 230, a driving wheel 231, a driven wheel 232, and a synchronous belt 233. The ball screw stepping motor 229 is installed on the magnetorheological mounting frame 221 through the support and fixing frame 228. The nut 235 of the ball screw stepping motor 229 is fixedly connected to the connecting plate 230. The polishing wheel 222 and the magnet 223 are respectively installed on their corresponding connecting plates 230, and the ball screw stepping motor 229 drives the polishing wheel 222 and the magnet 223 to move up and down.

[0025] A bearing seat is installed on the connecting plate 230, and a bearing is installed inside the bearing seat. The polishing wheel 222 is connected to the bearing, the driven wheel 232 is sleeved on the bearing, the driving motor 224 is installed on the connecting plate 230, the driving wheel 231 is sleeved on the output end of the driving motor 224, and the synchronous belt 233 is tensioned between the driven wheel 232 and the driving wheel 231. The driving motor 224 drives the polishing wheel 222 to rotate. For details, reference can be made to the Chinese patent with the publication date of July 12, 2024, and the publication number of CN118322074A.

[0026] In the embodiment of the present invention, to ensure that the polishing wheel 222 and the magnet 223 can move stably along the lead screw 234 of the ball screw stepping motor 229, it is preferred to install a guide rail 236 on each side of the lead screw 234 on the support fixing frame 228, and the two guide rails 236 are parallel to the lead screw 234. A slider 237 is slidably connected to the two guide rails 236. At this time, the connecting plate 230 is fixedly connected to the nut 235 and the two sliders 237 at the same time. During polishing, the computer 3 sends a control signal to the ball screw stepping motor 229, and the ball screw stepping motor 229 drives the connecting plate 230 to move linearly under the sliding cooperation of the guide rail 236 and the slider 237.

[0027] In this embodiment, the polishing principle is illustrated by taking the test polishing element 4 as an example: when the polishing wheel is in operation, the magnetorheological fluid is affected by the magnetic field change and changes from a liquid state to a quasi-solid state, forming a Bingham fluid. The rotation of the polishing wheel 222 causes the Bingham fluid to apply a shear force to the outer surface of the test polishing element 4, thereby achieving the polishing of the test polishing element 4. Different poses of the industrial robot 21, different positions of the magnet 223, or different positions of the polishing wheel 222 result in different shear forces and different polishing effects.

[0028] It should be noted that there is a strong magnetic phenomenon in the working area where the magnetorheological polishing module is located. The connection of various circuits needs to avoid the working area to prevent the wires from being adsorbed to the magnetorheological polishing module and affecting normal operation. Preferably, the fixed voltage should not exceed the human safety voltage, and the instantaneous current value measured by using the contact resistance should not exceed the human safety current.

[0029] In this embodiment, the detection circuit is a detection circuit built based on the principle of resistance change. There is pressure between the magnetorheological polishing module and the test polishing element 4, and between the magnetorheological polishing module and the element to be polished 5. Different poses of the industrial robot 21, different positions of the magnet 223, or different positions of the polishing wheel 222 result in different pressures, and the change in pressure will cause a change in the contact resistance, and then the current passing through the contact resistance will change. Taking the test polishing element 4 as an example, the element to be polished 5 can be obtained in the same way, as follows: The detection circuit applies a fixed voltage between the magnetorheological polishing module and the test polishing element 4, calculates the resistance value caused by the pressure change by using the relationship between the contact resistance and the pressure, and then calculates the instantaneous current value through Ohm's law based on the relationship between the fixed voltage, the contact resistance, and the instantaneous current. The instantaneous current value in the first closed loop is the first instantaneous current. The relationship between the pressure and the contact resistance can be expressed by the following formula: ; Among them, is the resistance value of the contact resistance, is the material coefficient, is the pressure when the magnetorheological polishing module contacts the test polishing element 4, is the coefficient corresponding to the contact form (including point contact, surface contact, line contact, etc.). In this embodiment, is surface contact, so .

[0030] The detection circuit can be implemented by the current intensity controller 23. The current intensity controller 23 can use the DA conversion module of the Smart200 series of Siemens to sense the first instantaneous current between the test polishing element 4 and the polishing wheel 222.

[0031] In this embodiment, the computer 3 is used to calculate the corresponding relationship between different operating parameters of the magnetorheological polishing module and the ideal instantaneous current according to the polishing data collected by the detection circuit under different operating parameters of the magnetorheological polishing module. The polishing data includes the first instantaneous current data in the first closed loop detected by the detection circuit under different polishing gaps and different polishing wheel positions or different magnet positions.

[0032] Taking the polishing gap as an example, the same applies to the positions of the polishing wheel 222 and the magnet 223. Different polishing gaps can be preset. Different polishing gaps should cover the maximum and minimum polishing gaps that the industrial robot can move the magnetorheological polishing module to. The polishing data can be collected multiple times, and finally, the error between multiple sets of polishing data can be reduced by numerical calculation methods such as taking the mean or variance, and then the relationship between the ideal instantaneous current and the polishing gap can be calculated according to the polishing data.

[0033] In this embodiment, the computer 3 calculates the corresponding relationship between different polishing gaps and the ideal instantaneous current, as well as the corresponding relationship between different polishing wheel positions or different magnet positions and the ideal instantaneous current, based on the correlation between the first instantaneous current data in the first closed loop and the corresponding polishing gap, polishing wheel position, or magnet position. With this as a reference, when processing the element 5 to be polished, by comparing whether the difference between the second instantaneous current corresponding to the polishing gap in the second closed loop of the element 5 to be polished and the ideal instantaneous current at this polishing gap and polishing wheel position or magnet position is within the preset error range. If not, the pose of the industrial robot 21 and the position of the polishing wheel 222 or the magnet 223 are adjusted so that the second instantaneous current is the same as or within the same preset error range as the ideal instantaneous current corresponding to the current polishing gap, polishing wheel position, or magnet position. This method can achieve the effect of real-time adjustment of the pose of the industrial robot 21 and the position of the polishing wheel 222 or the magnet 223 during the polishing process based on the corresponding relationship between the polishing gap and the instantaneous current, as well as the corresponding relationship between the position of the polishing wheel 222 or the magnet 223 and the instantaneous current, thereby achieving the purpose of the industrial robot 21 automatically compensating for the polishing gap.

[0034] Utilizing the relationship between the magnetorheological polishing module and the instantaneous current corresponding to the contact resistance, when the polishing module processes the element 5 to be polished, different operating parameters of the magnetorheological polishing module and the first instantaneous current corresponding to different operating parameters are respectively collected. Then, the corresponding relationship between different operating parameters and the ideal instantaneous current is calculated through different operating parameters and the corresponding first instantaneous current. After that, the second instantaneous current is determined based on the corresponding relationship between different operating parameters and the ideal instantaneous current. According to the determination result, it is decided whether to adjust the operating parameters of the element to be polished, thereby realizing the real-time adjustment of the pose of the industrial robot, the magnetic field strength, or the magnet position. This process does not require calibration steps for parameters such as gravity compensation and is not affected by factors such as the weight of the magnetorheological polishing module, the running accuracy of the equipment itself, the running speed, the pose, the inertia, and other factors. The accuracy of the measurement data is only limited by the current measurement accuracy of the second instantaneous current between the magnetorheological polishing module and the element to be polished. The measurement result is more accurate, and there is no need to add equipment such as high-precision force sensors, reducing the equipment cost.

[0035] In a second aspect, this embodiment further provides a magnetorheological processing control method based on the adjustment of the pose of an industrial robot, which is implemented using the above magnetorheological processing control device. The magnetorheological processing control method includes the following steps: The industrial robot drives the magnetorheological polishing module to move until it contacts the surface of the test polishing element. The computer processes the test polishing element by setting different polishing gaps through the industrial robot. The detection circuit detects the first instantaneous current in the first closed loop in real time, and obtains the corresponding relationship between the polishing gap and the first instantaneous current , represents the first instantaneous current, represents the polishing gap, represents the conversion relationship between the polishing gap and the first instantaneous current. Map and store multiple groups of corresponding relationships between the first instantaneous current and the polishing gap to obtain polishing data. The computer calculates the corresponding relationship between each polishing gap and the ideal instantaneous current according to the polishing data; The industrial robot drives the magnetorheological polishing module to move until it contacts the surface of the element to be polished. The detection circuit detects the second instantaneous current in the second closed loop in real time. When the computer determines that the error between the second instantaneous current and the ideal instantaneous current corresponding to the current polishing gap exceeds the preset error range, it controls the pose of the industrial robot, and then adjusts the polishing gap so that the error between the second instantaneous current detected by the detection circuit after the polishing gap is adjusted and the ideal instantaneous current is within the preset error range.

[0036] In this embodiment, it is necessary to first obtain the corresponding relationship between the ideal instantaneous current and the polishing gap. The industrial robot drives the magnetorheological polishing module to move until it contacts the surface of the test polishing element. At this time, the polishing wheel contacts the outer surface of the test polishing element through the magnetorheological fluid. The part where the polishing wheel contacts the test polishing element is recorded as the first processing trajectory point. During the measurement of the same set of polishing data, the first processing trajectory point remains unchanged. Optionally, when measuring multiple sets of polishing data, different first processing trajectory points can be selected on the test polishing element to facilitate improving the accuracy of the corresponding relationship between the ideal instantaneous current and the polishing gap.

[0037] During the process of the polishing wheel processing the test polishing element, the computer controls the industrial robot to set different polishing gaps, collects the first instantaneous current in the first closed loop corresponding to different polishing gaps, maps and stores multiple groups of the first instantaneous current and the corresponding polishing gaps to obtain polishing data. The computer calculates the corresponding relationship between the polishing gap and the ideal instantaneous current according to the polishing data.

[0038] After obtaining the corresponding relationship between the ideal instantaneous current and the polishing gap, the polishing gap corresponding to the element to be polished can be adjusted according to this corresponding relationship, so that the second instantaneous current corresponding to the current polishing gap of the element to be polished and the ideal instantaneous current are within the same preset error range.

[0039] In some embodiments, the correspondence between the polishing gap and the ideal instantaneous current is a functional curve relationship, which is characterized by the correspondence between the polishing gap and the first instantaneous current. The correspondence between the polishing gap and the first instantaneous current is obtained by fitting based on the discrete values of multiple polishing gaps and the first instantaneous current.

[0040] In this embodiment, there is a one-to-one correspondence between the polishing gap and the first instantaneous current, and both the polishing gap and the first instantaneous current are discrete values. Therefore, it is necessary to fit the discrete values.

[0041] Fitting process: Import the discrete data into Matlab software, and complete the data fitting with the help of the polyfit fitting instruction in Matlab software to solve the correspondence between the polishing gap and the current parameters. ; The Polyfit fitting instruction is a basic general instruction in Matlab software, and finally the correspondence between the polishing gap h and the first instantaneous current A is obtained. It is: .

[0042] In this way, the correspondence between the ideal instantaneous current and the polishing gap can be more intuitively seen. Based on this, the components to be polished under the same polishing conditions can be processed, and the automatic compensation effect of the polishing gap can be achieved.

[0043] In some embodiments, the sampling period for the detection circuit to collect the second instantaneous current is denoted as , and the shortest time required for the industrial robot to adjust the polishing gap to the maximum adjustment amount is denoted as [[ID=2B]] , , and the shortest switching time between two adjacent processing trajectory points on the component to be polished is denoted as , ; where is the maximum moving speed of the industrial robot, represents the distance between two adjacent processing trajectory points on the component to be polished.

[0044] The method for adjusting the sampling frequency of the detection circuit includes: Judge whether the relationship between , , satisfies the formula: ; If not, adjust the sampling frequency of the detection circuit to collect the second instantaneous current until the formula is satisfied, and the sampling frequency is .

[0045] In this embodiment, the above formula gives the correspondence relationship among three time elements, that is: within a single sampling period, the industrial robot can adjust the position of the magnetorheological polishing module so that it moves to the polishing gap corresponding to the ideal instantaneous current, and then conducts the next sampling, avoiding too long sampling period resulting in too slow sampling frequency, making the sampling frequency not match the adjustment speed of the industrial robot for the polishing gap, and the adjustment being untimely, resulting in the inability to know the current state of the second instantaneous current and affecting the automatic compensation function of the polishing gap.

[0046] In some embodiments, if the current polishing gap is adjusted to the second instantaneous current and the error between the ideal instantaneous current corresponding to the current polishing gap is equal to or greater than the upper threshold of the preset error range, the adjustment amplitude corresponding to the current polishing gap is , and the value of the second instantaneous current corresponding to the current polishing gap is , , represents the ideal instantaneous current value, represents the adjustment amplitude of the second instantaneous current.

[0047] If the current polishing gap is adjusted to the second instantaneous current <l and the error between the ideal instantaneous current corresponding to the current polishing gap is equal to or greater than the lower threshold of the preset error range, the adjustment amplitude corresponding to the current polishing gap is , and the value of the second instantaneous current is .

[0048] Controlling the industrial robot to adjust the current polishing gap includes: If the second instantaneous current does not exceed the allowable change range , the posture of the industrial robot is not adjusted, and the polishing gap at the current machining trajectory point remains unchanged; If the second instantaneous current exceeds the allowable change range and , then change the posture of the industrial robot and adjust the polishing gap at the current machining trajectory point according to the following formula: ; If the second instantaneous current exceeds the allowable change range and When it is, the posture of the industrial robot is changed, and the polishing gap of the current machining trajectory point is adjusted according to the following formula for adjustment: ; wherein, represents the initial polishing gap set by the industrial robot.

[0049] Based on the posture regulation of the industrial robot (six-degree-of-freedom robotic arm), the polishing gap is adjusted so that the second instantaneous current of the next machining trajectory point is within the allowable change range to meet the requirements for the change of the polishing gap in magnetorheological high-precision machining.

[0050] It should be noted that the current polishing gap has the same meaning as the polishing gap of the current machining trajectory point.

[0051] When the above technical solution uses the magnetorheological polishing module to process the test polishing element, different polishing gaps and the corresponding first instantaneous currents are collected, and then the corresponding relationship between the polishing gap and the ideal instantaneous current is calculated through the collected polishing gap and the first instantaneous current. After that, the second instantaneous current is judged through this relationship, and whether to adjust the polishing gap of the element to be polished is decided according to the judgment result, so as to realize the real-time adjustment and compensation of the polishing gap by the industrial robot, make the flow fluctuation of the magnetorheological fluid at each machining trajectory point meet the requirements of high-precision polishing, and ensure the constancy of the removal function. This process does not require calibration steps for parameters such as gravity compensation, and is not affected by factors such as the weight of the magnetorheological polishing module, the running accuracy of the equipment itself, the running speed, the posture, the inertia, and other factors. The accuracy of the measured data is only limited by the current measurement accuracy of the second instantaneous current between the magnetorheological polishing module and the element to be polished, the measurement result is more accurate, and there is no need to add equipment such as high-precision force sensors, reducing the equipment cost.

[0052] In a third aspect, the present embodiment also provides a magnetorheological machining regulation method based on the adjustment of the magnet position or the polishing wheel position, which is realized by using the above magnetorheological machining regulation device. The magnetorheological machining regulation method includes the following steps: The industrial robot drives the magnetorheological polishing module to move until it contacts the surface of the test polishing element. The computer sets different magnet positions or polishing wheel positions through the position adjustment component to process the test polishing element, and the detection circuit detects the first instantaneous current in the first closed loop in real time to obtain the corresponding relationship between the magnet position or the polishing wheel position and the first instantaneous current , represents the magnet position or the polishing wheel position, represents the first instantaneous current, Represents the conversion relationship between the magnet position or the polishing wheel position and the first instantaneous current. Multiple sets of first instantaneous currents are mapped and stored with the corresponding magnet positions or polishing wheel positions to obtain polishing data. The computer calculates the corresponding relationship between each position of the magnet or each position of the polishing wheel and the ideal instantaneous current according to the polishing data; The industrial robot drives the magnetorheological polishing module to move until it contacts the surface of the test polishing element. The detection circuit continuously detects the second instantaneous current in the second closed loop. When the computer determines that the error between the second instantaneous current and the ideal instantaneous current corresponding to the current polishing gap exceeds the preset error range, it controls the position adjustment component to adjust the magnet position or the polishing wheel position, so that the error between the second instantaneous current detected by the detection circuit after the adjustment of the magnet position or the polishing wheel position and the ideal instantaneous current is within the preset error range.

[0053] In this embodiment, it is necessary to first obtain the corresponding relationship between the ideal instantaneous current and the magnet position or the corresponding relationship between the ideal instantaneous current and the polishing wheel position. The industrial robot drives the magnetorheological polishing module to move until it contacts the surface of the test polishing element. The part where the magnetorheological polishing module contacts the test polishing element is recorded as the first machining trajectory point. During the measurement of the same set of polishing data, the first machining trajectory point remains unchanged. Optionally, when measuring multiple sets of polishing data, different first machining trajectory points can be selected on the test polishing element to facilitate improving the accuracy of the corresponding relationship between the ideal instantaneous current and the magnet position.

[0054] During the process of the magnetorheological polishing module machining the test polishing element, the computer controls the position adjustment component to change the polishing wheel position or the magnet position, and collects the first instantaneous current in the first closed loop corresponding to different magnet positions or different polishing wheel positions. Multiple sets of first instantaneous currents are mapped and stored with the corresponding magnet positions or polishing wheel positions to obtain polishing data. The computer calculates the corresponding relationship between the magnet position or the polishing wheel position and the ideal instantaneous current according to the polishing data.

[0055] After obtaining the corresponding relationship between the ideal instantaneous current and the magnet position or the polishing wheel position, the magnet position or the polishing wheel position corresponding to the element to be polished can be adjusted according to the corresponding relationship, so that the second instantaneous current corresponding to the current magnet position of the element to be polished and the ideal instantaneous current are within the same preset error range.

[0056] In some embodiments, the corresponding relationship between the magnet position or the polishing wheel position and the ideal instantaneous current is a functional curve relationship, which is characterized by the corresponding relationship between the magnet position or the polishing wheel position and the first instantaneous current. The corresponding relationship between the magnet position or the polishing wheel position and the first instantaneous current is obtained by fitting based on the discrete values of multiple magnet positions or polishing wheel positions and the first instantaneous current.

[0057] In this embodiment, there is a one-to-one correspondence between the magnet position or the polishing wheel position and the first instantaneous current. Both the magnet position or the polishing wheel position and the first instantaneous current are discrete values. Therefore, it is necessary to fit the discrete values.

[0058] Fitting process: Import the discrete data into the Matlab software, and use the polyfit fitting instruction of the Matlab software to complete the data fitting and solve the correspondence between the magnet position and the current parameter. The Polyfit fitting instruction is a basic general instruction of the matlab software. Finally, the correspondence between the magnet position or the polishing wheel position and the first instantaneous current is obtained: ; Among them, represents the magnet position or the polishing wheel position, represents the first instantaneous current, represents the conversion relationship between the magnet position or the polishing wheel position and the first instantaneous current.

[0059] In this way, the correspondence between the ideal instantaneous current and the magnet position or the polishing wheel position can be more intuitively seen. Based on this, the element to be polished under the same polishing conditions can be processed, and the automatic compensation effect of the magnet position or the polishing wheel position can be achieved.

[0060] In some embodiments, the sampling period for the detection circuit to collect the second instantaneous current is denoted as , and the shortest time required to adjust the magnet or the polishing wheel to the maximum adjustment amount is denoted as , , and the shortest switching time between two adjacent machining trajectory points on the element to be polished is denoted as , ; among them, is the fastest adjustment speed of the electromagnet position or the polishing wheel position change, is the highest moving speed of the industrial robot, represents the distance between two adjacent machining trajectory points on the element to be polished.

[0061] Judge whether the relationship among , , satisfies the formula: ; If not, adjust the sampling frequency of the detection circuit to collect the second instantaneous current until the formula is satisfied. The sampling frequency is .

[0062] In this embodiment, the above formula gives the corresponding relationship between the three time elements, namely: within a single sampling cycle, the industrial robot can adjust the magnetorheological polishing module so that it moves to the magnet position or polishing wheel position corresponding to the ideal instantaneous current before performing the next sampling, thereby avoiding the sampling cycle being too long resulting in the sampling frequency being too slow, so that the sampling frequency does not match the industrial robot's adjustment speed of the magnet position or polishing wheel position, and the adjustment is not timely, resulting in the inability to know the current state of the second instantaneous current, affecting the automatic compensation function of the magnet position or polishing wheel position.

[0063] In some embodiments, if the current magnet position or the current polishing wheel position Adjust to the second instantaneous current With the current magnet position or the current polishing wheel position When the error of the corresponding ideal instantaneous current is equal to or greater than the upper threshold of the preset error range, the current magnet position or the current polishing wheel position The corresponding adjustment range is , current magnet position or current polishing wheel position The corresponding second instantaneous current The value of , represents the ideal instantaneous current value, Indicates the adjustment amplitude of the second instantaneous current.

[0064] If the current magnet position or the current polishing wheel position Adjust to the second instantaneous current With the current magnet position or the current polishing wheel position When the error of the corresponding ideal instantaneous current is equal to or greater than the lower limit threshold of the preset error range, the current magnet position or the current polishing wheel position The corresponding adjustment range is , current magnet position or current polishing wheel position The corresponding second instantaneous current The value of In the present invention, the current magnet position and the magnet position at the current processing trajectory point, and the current polishing wheel position and the polishing wheel position at the current processing trajectory point have the same meaning.

[0065] Control the position adjustment component to the current magnet position or the current polishing wheel position Make adjustments, including: If the second instantaneous current Does not exceed the allowable variation range When the position adjustment component is not adjusted, the current magnet position and polishing wheel position remain unchanged; If the second instantaneous current Beyond the allowable variation range and When this occurs, the position adjustment component adjusts the magnet position or polishing wheel position of the current machining trajectory point according to the following formula for adjustment: ; If the second instantaneous current exceeds the allowable variation range and When this occurs, the position adjustment component adjusts the magnet position or polishing wheel position of the current machining trajectory point according to the following formula for adjustment: ; wherein represents the set initial position of the magnet or the initial position of the polishing wheel.

[0066] Based on the change regulation of the current magnet position by the processing equipment, the current of the next machining trajectory point is within the allowable variation range, meeting the requirements for the change of the magnet position in magnetorheological high-precision machining.

[0067] It should be noted that the current magnet position and the magnet position of the current machining trajectory point, as well as the current polishing wheel position and the polishing wheel position of the current machining trajectory point, have the same meaning.

[0068] When the above technical solution uses the magnetorheological polishing module to process the test polishing element, different magnet positions and their corresponding first instantaneous currents are collected. Then, the corresponding relationship between the magnet position or polishing wheel position and the ideal instantaneous current is calculated through the collected magnet position and the first instantaneous current. After that, the second instantaneous current is judged based on this relationship, and whether to adjust the magnet position or polishing wheel position of the element to be polished is decided according to the judgment result, so as to realize the real-time adjustment and compensation of the magnet position or polishing wheel position by the position adjustment component, making the flow rate fluctuation of the magnetorheological fluid at each machining trajectory point meet the requirements of high-precision polishing and ensuring the constancy of the removal function. This process does not require calibration steps for parameters such as gravity compensation, and is not affected by factors such as the weight of the magnetorheological polishing module, the running accuracy of the equipment itself, the running speed, the attitude, the inertia, and other factors. The accuracy of the measurement data is only limited by the current measurement accuracy of the second instantaneous current between the magnetorheological polishing module and the element to be polished. The measurement result is more accurate, and there is no need to add equipment such as high-precision force sensors, reducing the equipment cost.

[0069] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in the disclosure of the present invention can be executed in parallel, sequentially, or in a different order, as long as the desired results of the technical solution disclosed in the present invention can be achieved, and no limitations are imposed herein.

[0070] The above specific embodiments do not constitute a limitation on the protection scope of the present invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.

Claims

1. A magnetorheological machining control device based on instantaneous current sensing, characterized in that, Comprising: A polishing platform, on which a test polishing element and an element to be polished are arranged; A polishing assembly, including an industrial robot and a magnetorheological polishing module. The industrial robot is used to adjust the polishing gap between the magnetorheological polishing module and the test polishing element or the polishing gap between the magnetorheological polishing module and the element to be polished. The magnetorheological polishing module is used to process the test polishing element or the element to be polished. The operating parameters of the magnetorheological polishing module include the pose of the industrial robot, the position of the polishing wheel, and the position of the magnet; A detection circuit, which is used to output a constant voltage, and when the magnetorheological polishing module contacts the surface of the test polishing element, form a first closed loop and detect the first instantaneous current in the first closed loop in real time, or when the magnetorheological polishing module contacts the surface of the element to be polished, form a second closed loop and detect the second instantaneous current in the second closed loop in real time; A computer, which is used to calculate the corresponding relationship between the operating parameters of the magnetorheological polishing module and the ideal instantaneous current according to the polishing data. The polishing data includes the first instantaneous current data detected by the detection circuit under different operating parameters of the magnetorheological polishing module; And the computer is used to adjust the current operating parameters when it is determined that the error between the second instantaneous current detected by the detection circuit and the ideal instantaneous current corresponding to the current operating parameters exceeds the preset error range, so that the error between the second instantaneous current detected by the detection circuit after the operating parameters are adjusted and the corresponding ideal instantaneous current is within the preset error range.

2. The magnetorheological machining control device based on instantaneous current sensing according to claim 1, wherein The magnetorheological polishing module includes a magnetorheological mounting frame, a polishing wheel, a magnet, a nozzle, a position adjustment assembly, and a liquid pump; wherein, the magnetorheological mounting frame is connected to the tool end of the industrial robot; the liquid pump is connected to the nozzle and is used to deliver magnetorheological fluid to the nozzle; the nozzle is used to supply magnetorheological fluid to the polishing wheel; the polishing wheel is used to process the test polishing element or the element to be polished; the magnet is arranged on the magnetorheological mounting frame and is used to generate a magnetic field to change the stiffness of the magnetorheological fluid; the number of the position adjustment assemblies is two, which are respectively arranged on the magnetorheological mounting frame and are respectively connected to the polishing wheel and the magnet, and the two position adjustment assemblies are used to independently adjust the positions of the polishing wheel and the magnet.

3. The magnetorheological machining control device based on instantaneous current sensing according to claim 2, wherein The position adjustment assembly includes a support fixing frame, a ball screw stepping motor, and a connecting plate. The ball screw stepping motor is installed on the magnetorheological mounting frame through the support fixing frame. The nut of the ball screw stepping motor is fixedly connected to the connecting plate. The driving motor, the polishing wheel, and the magnet are respectively installed on the connecting plate.

4. The magnetorheological machining control device based on instantaneous current sensing according to claim 2, characterized in that The magnetorheological polishing module further includes a polishing wheel driving device. The polishing wheel driving device includes a driving motor, a motor connecting plate, a driving wheel, a driven wheel, and a synchronous belt. The driving motor is installed on the connecting plate. A bearing seat is installed on the connecting plate. A bearing is installed in the bearing seat. The bearing is connected to the polishing wheel. The driven wheel is sleeved on the bearing. The driving wheel is sleeved on the output end of the driving motor. The synchronous belt is tensioned between the driven wheel and the driving wheel.

5. A magnetic rheological machining control method based on the pose adjustment of an industrial robot, which is realized by using the magnetic rheological machining control device based on instantaneous current sensing described in claim 2, characterized in that, The magnetorheological processing regulation method includes the following steps: The industrial robot drives the magnetorheological polishing module to move until it contacts the surface of the test polishing element. The computer processes the test polishing element by setting different polishing gaps through the industrial robot. The detection circuit detects the first instantaneous current in the first closed loop in real time to obtain the corresponding relationship between the polishing gap and the first instantaneous current. , represents the first instantaneous current, represents the polishing gap, represents the conversion relationship between the polishing gap and the first instantaneous current. Map and store the corresponding relationships of multiple groups of the first instantaneous current and the polishing gap to obtain polishing data. The computer calculates the corresponding relationship between each polishing gap and the ideal instantaneous current according to the polishing data; The industrial robot drives the magnetorheological polishing module to move until it contacts the surface of the element to be polished. The detection circuit detects the second instantaneous current in the second closed loop in real time. When the computer determines that the error between the second instantaneous current and the ideal instantaneous current corresponding to the current polishing gap exceeds the preset error range, it controls the pose of the industrial robot, thereby adjusting the polishing gap so that the error between the second instantaneous current detected by the detection circuit after the polishing gap is adjusted and the ideal instantaneous current is within the preset error range.

6. The method for controlling magnetorheological machining based on the pose adjustment of an industrial robot according to claim 5, wherein Denote the sampling period for the detection circuit to collect the second instantaneous current as , and adjust the polishing gap to the maximum adjustment amount through the industrial robot . Denote the shortest time required as , , and denote the shortest switching time between two adjacent machining trajectory points on the component to be polished as , ; where is the maximum moving speed of the industrial robot, represents the distance between two adjacent machining trajectory points on the component to be polished; The method for adjusting the sampling frequency of the detection circuit includes: Determine , , Whether the relationship between them satisfies the formula: ； If not satisfied, adjust the sampling frequency of the detection circuit for collecting the second instantaneous current until the formula is satisfied, and the sampling frequency is .

7. The method for regulating magnetorheological machining based on the pose adjustment of an industrial robot according to claim 6, characterized in that, Control the polishing gap of the industrial robot at the current machining trajectory point Perform adjustment, including: If the second instantaneous current does not exceed the allowable change range the posture of the industrial robot is not adjusted, and the polishing gap at the current machining trajectory point is maintained unchanged; If the second instantaneous current exceeds the allowable change range and , then change the posture of the industrial robot and adjust the polishing gap of the current machining trajectory point according to the following formula as follows: ； Among them, represents the ideal instantaneous current value, represents the adjustment amplitude of the second instantaneous current; If the second instantaneous current exceeds the allowable change range and , then change the posture of the industrial robot, and adjust the polishing gap of the current machining trajectory point according to the following formula as follows: ； Among them, represents the initial polishing gap set by the industrial robot.

8. A magnetorheological processing control method based on the adjustment of the magnet position or the polishing wheel position, which is realized by using the magnetorheological processing control device based on instantaneous current sensing described in claim 2, characterized in that This magnetorheological processing control method includes the following steps: The industrial robot drives the magnetorheological polishing module to move until it contacts the surface of the test polishing element. The computer sets different magnet positions or polishing wheel positions through the position adjustment component to process the test polishing element. The detection circuit detects the first instantaneous current in the first closed loop in real time to obtain the corresponding relationship between the magnet position or polishing wheel position and the first instantaneous current. , represents the magnet position or polishing wheel position, represents the first instantaneous current, represents the conversion relationship between the magnet position or polishing wheel position and the first instantaneous current. Multiple groups of first instantaneous currents and the corresponding magnet positions or polishing wheel positions are mapped and stored to obtain polishing data. The computer calculates the corresponding relationship between each magnet position or each polishing wheel position and the ideal instantaneous current according to the polishing data; The industrial robot drives the magnetorheological polishing module to move until it contacts the surface of the test polishing element. The detection circuit detects the second instantaneous current in the second closed loop in real time. When the computer determines that the error between the second instantaneous current and the ideal instantaneous current corresponding to the current polishing gap exceeds the preset error range, it controls the position adjustment component to adjust the position of the magnet or the position of the polishing wheel so that the error between the second instantaneous current detected by the detection circuit after the position of the magnet or the position of the polishing wheel is adjusted and the corresponding ideal instantaneous current is within the preset error range.

9. The magnetorheological machining control method based on the adjustment of the magnet position or the polishing wheel position according to claim 8, characterized in that, Denote the sampling period for the detection circuit to collect the second instantaneous current as , and adjust the magnet or polishing wheel to the maximum adjustment amount . Denote the shortest required time as , , and denote the shortest switching time between two adjacent machining track points on the component to be polished as , ; where is the fastest adjustment speed of the electromagnet position or the polishing wheel position, is the highest moving speed of the industrial robot, represents the distance between two adjacent machining track points on the component to be polished; The method for adjusting the sampling frequency of the detection circuit includes: Determine and and Whether the relationship between them satisfies the formula: ； If not satisfied, adjust the sampling frequency of the detection circuit for collecting the second instantaneous current until the formula is satisfied, and the sampling frequency is .

10. The magnetorheological machining control method based on the adjustment of the magnet position or the polishing wheel position according to claim 9, characterized in that, Controlling the position adjustment component to adjust the current position of the magnet or the position of the polishing wheel includes: If the second instantaneous current does not exceed the allowable change range the position adjustment component is not adjusted, and the current magnet position and polishing wheel position are kept unchanged; If the second instantaneous current exceeds the allowable change range and , then the position adjustment component adjusts the magnet position or polishing wheel position of the current machining trajectory point according to the following formula as follows: ； Among them, represents the ideal instantaneous current value, represents the adjustment amplitude of the second instantaneous current; If the second instantaneous current exceeds the allowable variation range and , the position adjustment component adjusts the magnet position or polishing wheel position of the current machining trajectory point according to the following formula as follows: ； Among them, represents the set initial position of the magnet or the initial position of the polishing wheel.

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