A magnetorheological polishing system

Abstract

The magnetorheological polishing processing system provided by the present invention has a magnetorheological polishing wheel connected to a first robotic arm, a magnetorheological circulation system connected to a second robotic arm, a workpiece (such as an optical element) fixed on a workbench, and a magnetorheological circulation system connected to the magnetorheological polishing wheel through a circulation supply loop. The magnetorheological polishing wheel is driven by the first robotic arm under the control of a motion program, and utilizes the magnetorheological working principle to process the workpiece on the workbench, so that the processing process is high-speed and smooth. At the same time, driven by the second robotic arm, the magnetorheological circulation system is cooperated with to realize liquid supply and circulation support for the magnetorheological polishing wheel, thereby ensuring the normal operation of the magnetorheological polishing processing system and further improving the overall efficiency of the grinding and polishing magnetorheological polishing processing system.

Description

Technical Field

[0001] The present invention relates to the field of optical precision machining, and in particular to a magnetorheological polishing system. Background Art

[0002] With the development of modern science and technology, increasingly higher requirements are being placed on optical components used in various optical systems. Typically, the final optical components produced are required to possess high surface accuracy, good surface quality, and minimal subsurface damage layers. High surface accuracy ensures good imaging quality, a smooth surface reduces scattering, and a low subsurface damage layer prevents damage in high-energy applications. Therefore, the performance of optical components is largely dependent on the manufacturing process. A variety of machining methods have been developed to achieve high-precision surfaces, including plastic grinding, chemical polishing, float polishing, elastic emission machining, particle beam polishing, and jet polishing. However, these methods often suffer from low polishing efficiency, large subsurface damage layers, or difficulty in controlling the polishing process, each with its own drawbacks.

[0003] Magnetorheological fluid (MRF) is a suspension of micron-sized magnetic particles dispersed in an insulating carrier fluid, resulting in controlled rheological behavior. Its rheological properties change with an applied magnetic field. In the absence of a magnetic field, MRF exhibits rheological properties similar to those of ordinary Newtonian fluids. However, when subjected to a magnetic field of a certain intensity, it exhibits a pronounced magnetorheological effect, increasing its apparent viscosity by more than two orders of magnitude, transforming it into a solid-like state. Once the magnetic field is removed, it reverts to a flowable liquid. The MRF's shear yield stress is an order of magnitude greater than that of electrorheological fluids, and MRF exhibits excellent kinetic and temperature stability, thus embracing a wider range of applications.

[0004] Existing magnetorheological polishing machining centers primarily integrate magnetorheological polishing modules onto cradle-type CNC machine tools. However, since CNC machine tools generally use linear axes for motion feed, there are many limitations in terms of motion speed, acceleration, and degrees of freedom. Summary of the Invention

[0005] In view of this, an embodiment of the present invention provides a magnetorheological polishing processing system, which makes the magnetorheological polishing wheel processing process high-speed and smooth by utilizing the advantages of the six spatial degrees of freedom, speed and acceleration of the first robotic arm and the second robotic arm, and cooperates with the magnetorheological circulation system to realize liquid supply and circulation support for the magnetorheological polishing wheel, ensuring the normal operation of the magnetorheological polishing processing system and further improving the overall efficiency of grinding and polishing.

[0006] A magnetorheological polishing system comprises a first robotic arm, a magnetorheological polishing wheel mounted at one end of the first robotic arm, a second robotic arm, a magnetorheological circulation system mounted at one end of the second robotic arm for supplying magnetorheological fluid, a worktable for placing a workpiece, and a circulation supply circuit connected to the outlet of the magnetorheological circulation system for conveying the magnetorheological fluid; the circulation supply circuit is connected to the magnetorheological polishing wheel, and when the first robotic arm drives the magnetorheological polishing wheel to perform a polishing operation, the second robotic arm drives the magnetorheological circulation system to move within a preset range of the magnetorheological polishing wheel, wherein the radius of the preset range is less than or equal to the maximum fluid supply distance of the circulation supply circuit. Optionally, both the first and second robotic arms have six degrees of freedom.

[0007] Optionally, the workbench is arranged between the first robotic arm and the second robotic arm.

[0008] Optionally, the magnetorheological circulation system is rotatably mounted on one end of the second robotic arm.

[0009] Optionally, the magnetorheological circulation system includes a liquid storage tank, an agitator arranged in the liquid storage tank, a delivery pump and a recovery pump, the circulation supply loop includes an injection pipe and a recovery pipe connected to the liquid storage tank, a nozzle arranged at the end of the injection pipe and a collector arranged at the end of the recovery pipe, the delivery pump is arranged on the injection pipe, the recovery pump is arranged on the recovery pipe, and the nozzle and the collector are symmetrically arranged on the first robotic arm on both sides of the magnetorheological polishing wheel.

[0010] Optionally, the nozzle is aligned with the edge of the magnetorheological polishing wheel.

[0011] Optionally, the nozzle is aligned with the tangential direction of the magnetorheological polishing wheel.

[0012] Optionally, the collector and the magnetorheological polishing wheel fit together or have a gap therebetween.

[0013] Optionally, the injection pipe and the recovery pipe are both arranged at the bottom end of the magnetorheological circulation system.

[0014] Optionally, the magnetorheological circulation system further includes a pressure flow measuring device, which is connected to the injection pipe.

[0015] The magnetorheological polishing processing system provided by the present invention has a magnetorheological polishing wheel connected to a first robotic arm, a magnetorheological circulation system connected to a second robotic arm, a workpiece (such as an optical element) fixed on a workbench, and a magnetorheological circulation system connected to the magnetorheological polishing wheel through a circulation supply loop. The magnetorheological polishing wheel is driven by the first robotic arm under the control of a motion program, and utilizes the magnetorheological working principle to process the workpiece on the workbench, so that the processing process is high-speed and smooth. At the same time, driven by the second robotic arm, the magnetorheological circulation system is cooperated with to realize liquid supply and circulation support for the magnetorheological polishing wheel, thereby ensuring the normal operation of the magnetorheological polishing processing system and further improving the overall efficiency of the grinding and polishing magnetorheological polishing processing system. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 Schematic diagram of the structure of the magnetorheological polishing system provided in an embodiment of the present invention.

[0017] Reference numerals: first robotic arm 1 , magnetorheological polishing wheel 2 , magnetorheological circulation system 3 , second robotic arm 4 , workbench 5 , circulation supply loop 6 , first base 7 , workpiece 8 , second base 9 . DETAILED DESCRIPTION

[0018] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present invention.

[0019] The terms "first," "second," "third," "fourth," and the like (if any) in the description and claims of the present invention and in the accompanying drawings are used to distinguish similar objects and are not necessarily used to describe a particular order or precedence. It should be understood that the terms used in this manner are interchangeable where appropriate so that the embodiments described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "including" and "having," as well as any variations thereof, are intended to cover non-exclusive inclusions, e.g., a process, method, system, product, or apparatus comprising a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0020] Principle of Magnetorheological Polishing Fluid: Magnetorheological fluid is a suspension composed of magnetic particles, a base fluid, and a stabilizer. The magnetorheological effect is a phenomenon in which, while a magnetorheological fluid is a flowable liquid in the absence of a magnetic field, its rheological properties undergo a dramatic shift under the influence of a strong magnetic field, exhibiting solid-like properties. When the magnetic field is removed, its flow characteristics resume. Magnetorheological polishing technology utilizes the rheological behavior of magnetorheological polishing fluid in a gradient magnetic field, creating a flexible "small grinding head" with viscoplastic behavior that moves rapidly relative to the workpiece, subjecting the workpiece surface to significant shear forces, thereby removing material from the workpiece surface. Magnetorheological polishing (MRF) is a comprehensive technology developed by applying electromagnetic theory, fluid mechanics, and analytical chemistry to optical surface processing. Magnetorheological fluid is an intelligent material that, under the influence of a magnetic field, can achieve reversible solid-liquid phase transition within 1 millisecond.

[0021] Combine Figure 1 As shown, the present invention provides a magnetorheological polishing processing system, including a first robotic arm 1, a magnetorheological polishing wheel 2 installed at one end of the first robotic arm 1, a second robotic arm 4, a magnetorheological circulation system 3 installed at one end of the second robotic arm 4 for providing magnetorheological fluid, a workbench 5 for placing a workpiece 8, and a circulation supply loop 6 connected to the outlet of the magnetorheological circulation system 3 for conveying magnetorheological fluid, the circulation supply loop 6 is connected to the magnetorheological polishing wheel 2, when the first robotic arm 1 drives the magnetorheological polishing wheel 2 to perform polishing processing operation, the second robotic arm 4 drives the magnetorheological circulation system 3 to move to a preset range of the magnetorheological polishing wheel 2, and the radius of the preset range is less than or equal to the maximum liquid supply distance of the circulation supply loop 6.

[0022] In this embodiment, the first robotic arm 1 is used to drive the magnetorheological polishing wheel 2 to process the workpiece on the workbench 5. In order to better provide a variety of processing angles, the first robotic arm 1 can adopt a first robotic arm 1 with six degrees of freedom. Of course, the first robotic arm 1 with other degrees of freedom can also be selected as needed, so that the position of the magnetorheological polishing wheel 2 can be freely changed.

[0023] In order to cooperate with the multi-angle and multi-position processing operations of the magnetorheological polishing wheel 2 and ensure the smooth supply of magnetorheological fluid, the second robotic arm 4 is also a robotic arm with six degrees of freedom. The magnetorheological circulation system 3 is installed at one end of the second robotic arm, so that the magnetorheological circulation system 3 can move with the magnetorheological polishing wheel 2 under the drive of the second robotic arm. The movement here can be synchronous movement, that is, when the magnetorheological polishing wheel 2 moves in a certain direction, the magnetorheological circulation system 3 also moves synchronously in that direction; it can also be asynchronous movement, that is, when the magnetorheological polishing wheel 2 moves in a certain direction, if the moving distance does not exceed the maximum liquid supply distance of the circulation supply loop, the magnetorheological circulation system 3 may not move synchronously in that direction, and wait until the distance exceeds the preset distance value before moving. This can reduce the number of movements of the second robotic arm and reduce the power consumption of the second robotic arm to a certain extent.

[0024] Specifically, when the first robotic arm 1 drives the magnetorheological polishing wheel 2 to perform polishing processing, the second robotic arm 4 drives the magnetorheological circulation system 3 to move to the preset range of the magnetorheological polishing wheel 2. This preset range is the three-dimensional space surrounding the magnetorheological polishing wheel 2. The radius of the preset range is less than or equal to the maximum liquid supply distance of the circulation supply loop 6. The maximum liquid supply distance is the maximum distance that the circulation supply loop 6 can provide magnetorheological fluid. Exceeding this distance may cause the circulation supply loop 6 to be torn off by the first robotic arm 1 and other damages. The magnetorheological circulation system 3 can ensure stable supply within the safe range of the magnetorheological polishing wheel 2, and can also reduce the number of movements of the second robotic arm 4 to reduce power consumption.

[0025] Since the magnetorheological circulation system 3 is heavy, directly installing it on the first robotic arm 1 will produce large vibrations during operation, affecting fine processing. The magnetorheological circulation system 3 is installed on the second robotic arm 4. The magnetorheological circulation system 3 can better provide magnetorheological fluid to the polishing wheel above the workbench 5, and can also reduce the vibration impact of the first robotic arm 1, thereby improving its applicability to fine processing occasions.

[0026] Regarding the structure of the magnetorheological circulation system 3, in an embodiment provided by the present invention, the magnetorheological circulation system 3 includes a liquid storage tank, an agitator arranged in the liquid storage tank, a delivery pump and a recovery pump, the circulation supply loop 6 includes an injection pipe and a recovery pipe connected to the liquid storage tank, a nozzle arranged at the end of the injection pipe and a collector arranged at the end of the recovery pipe, the delivery pump is arranged on the injection pipe, the recovery pump is arranged on the recovery pipe, the nozzle and the collector are symmetrically arranged on the first robotic arm 1 on both sides of the magnetorheological polishing wheel 2, and there is a gap between the collector and the polishing wheel. By adopting this structure, the magnetorheological fluid can be brought into contact with the polishing wheel and a certain amount can be recovered, which meets the normal fine processing needs and can also reduce the loss of magnetorheological fluid.

[0027] Optionally, the magnetorheological circulation system 3 is rotatably mounted on one end of the second mechanical arm 4 , so that the magnetorheological circulation system 3 can be kept in a vertical direction to prevent the magnetorheological fluid from overflowing.

[0028] Optionally, the injection pipe and the recovery pipe are both arranged at the bottom end of the magnetorheological circulation system 3 to facilitate the transmission of the magnetorheological fluid.

[0029] It should be noted that the length of the injection pipe and the recovery pipe can be selected according to needs. While ensuring that the pipeline is not too long and causes contact with the workbench 5, the length of the injection pipe and the recovery pipe can be extended as much as possible to increase the movement range of the first robot arm 1 to the magnetorheological polishing wheel 2.

[0030] The magnetorheological circulation system 3 further includes a pressure flow measurement device, which is connected to the injection pipe and can measure the pressure flow of the magnetorheological fluid in the injection pipe.

[0031] In order to better facilitate the contact between the magnetorheological fluid and the magnetorheological polishing wheel 2, the spray direction of the nozzle is aligned with the edge of the magnetorheological polishing wheel 2, so that the magnetorheological fluid sprayed from the nozzle directly contacts the polishing wheel. A more preferred solution is that the nozzle can be aligned with the tangential direction of the magnetorheological polishing wheel 2. It should be noted that the spray angle of the nozzle can be adjusted according to actual needs and is not limited to this.

[0032] The workbench 5 is arranged between the first robotic arm 1 and the second robotic arm 4, so that the first robotic arm 1 and the second robotic arm 4 can be operated from both sides of the workbench 5 toward the middle, which is convenient for processing operations.

[0033] The magnetorheological polishing processing system also has a first base 7 and a second base 9. The first robotic arm 1 can be installed on the first base 7, and the second robotic arm 4 can be set on the second base 9. The first base 7 and the second base 9 can be the ground or a metal plate. The metal plate can be made of cast iron. One end of the first robotic arm 1 is connected to the magnetorheological polishing wheel 2, and the other end can be fixedly connected to the ground or the metal plate to improve the stability of the device. Of course, the first base 7 and the second base 9 can also adopt other forms, which are not specifically limited. Of course, in order to improve the mobility of the device, four universal wheels and locking devices can also be set on the first base 7 and the second base 9 to facilitate transportation and fixing the position when stationary. Of course, the other end of the first robotic arm 1 or the second robotic arm 4 can also be fixedly connected to a carrier such as a mobile platform and can move relative to the ground. Those skilled in the art should understand this and are not specifically limited.

[0034] The magnetorheological polishing processing system provided by the present invention comprises a magnetorheological polishing wheel 2 connected to a first robotic arm 1, a second robotic arm 4, a magnetorheological circulation system 3 installed at one end of the second robotic arm 4 for providing magnetorheological fluid, a workbench 5 for placing a workpiece 8, and a circulation supply circuit 6 for conveying magnetorheological fluid connected to the outlet of the magnetorheological circulation system 3. The circulation supply circuit 6 is connected to the magnetorheological polishing wheel 2. When the first robotic arm 1 drives the magnetorheological polishing wheel 2 to perform a polishing operation, the second robotic arm 4 drives the magnetorheological circulation system 3 to move to the magnetorheological polishing wheel 2. Within the preset range, the radius of the preset range is less than or equal to the maximum liquid supply distance of the circulation supply loop 6, and the magnetorheological polishing wheel 2 is driven by the first robotic arm 1 under the control of the motion program, and uses the magnetorheological working principle to process the workpiece 8 on the workbench 5, especially the optical component workpiece; at the same time, driven by the second robotic arm 4, the magnetorheological circulation system 3 is cooperated to realize the liquid supply and circulation support of the magnetorheological polishing wheel 2, ensuring the normal operation of the magnetorheological polishing processing system, and further improving the overall efficiency of the grinding and polishing magnetorheological polishing processing system.

[0035] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0036] The above is a detailed introduction to the magnetorheological polishing processing system provided by the present invention. For those skilled in the art, according to the ideas of the embodiments of the present invention, there may be changes in the specific implementation methods and application scopes. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A magnetorheological polishing system, characterized in that: It includes a first robotic arm, a magnetorheological polishing wheel installed at one end of the first robotic arm, a second robotic arm, a magnetorheological circulation system installed at one end of the second robotic arm for providing magnetorheological fluid, a workbench for placing workpieces, and a circulation supply loop connected to the outlet of the magnetorheological circulation system for conveying the magnetorheological fluid; the magnetorheological circulation system is rotatably installed at one end of the second robotic arm, and the circulation supply loop is connected to the magnetorheological polishing wheel. When the first robotic arm drives the magnetorheological polishing wheel to perform polishing processing, the second robotic arm drives the magnetorheological circulation system to move within a preset range of the magnetorheological polishing wheel. The radius of the preset range is less than or equal to the maximum liquid supply distance of the circulation supply loop. The maximum liquid supply distance is the maximum distance that the circulation supply loop can provide magnetorheological fluid. The first robotic arm and the second robotic arm are both robotic arms with six degrees of freedom, and the workbench is arranged between the first robotic arm and the second robotic arm.

2. The magnetorheological polishing system according to claim 1, characterized in that: The magnetorheological circulation system includes a liquid storage tank, an agitator arranged in the liquid storage tank, a delivery pump and a recovery pump. The circulation supply loop includes an injection pipe and a recovery pipe connected to the liquid storage tank, a nozzle arranged at the end of the injection pipe and a collector arranged at the end of the recovery pipe. The delivery pump is arranged on the injection pipe, the recovery pump is arranged on the recovery pipe, and the nozzle and the collector are symmetrically arranged on the first robotic arm on both sides of the magnetorheological polishing wheel.

3. The magnetorheological polishing system according to claim 2, characterized in that: The nozzle is aligned with the edge of the magnetorheological polishing wheel.

4. The magnetorheological polishing system according to claim 3, characterized in that: The nozzle is aligned with the tangential direction of the magnetorheological polishing wheel.

5. The magnetorheological polishing system according to claim 2, characterized in that: The collector and the magnetorheological polishing wheel are in close contact with each other or have a gap therebetween.

6. The magnetorheological polishing system according to claim 2, characterized in that: The injection pipe and the recovery pipe are both arranged at the bottom end of the magnetorheological circulation system.

7. The magnetorheological polishing system according to claim 2, characterized in that: The magnetorheological circulation system further includes a pressure flow measurement device, which is communicated with the liquid injection pipe.

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