A magnetorheological finishing processing system

Abstract

The magnetorheological polishing processing system provided by the present invention includes a robotic arm. The magnetorheological polishing wheel is connected to the robotic arm. The magnetorheological circulation system is connected to the circulation system support mechanism. The workpiece (such as an optical element) is fixed on the workbench. The magnetorheological circulation system is connected to the magnetorheological polishing wheel through a circulation supply loop. The magnetorheological polishing wheel is driven by the robotic arm under the control of a motion program. Using the magnetorheological working principle, the workpiece on the workbench is processed. At the same time, supported by the circulation system support mechanism, the magnetorheological circulation system realizes the liquid supply and circulation support for the magnetorheological polishing wheel, ensuring the normal operation of the magnetorheological system. By utilizing the advantages of the six degrees of freedom, speed, and acceleration of the robotic arm in space, combined with the motion characteristics requirements of the magnetorheological polishing module itself, the processing process is made more efficient and high-speed, and the overall efficiency of grinding and polishing is further improved.

Description

Technical Field

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

[0002] With the development of modern science and technology, higher and higher requirements are put forward for optical elements applied in various optical systems. Generally, it is required that the finally produced optical elements have high surface shape accuracy, good surface quality and minimize the subsurface damage layer. High surface shape accuracy can ensure good imaging quality, a smooth surface can reduce scattering, and a lower subsurface damage layer can avoid damage in high-energy applications. Therefore, the performance of optical elements depends to a large extent on the manufacturing process. A variety of processing methods have been developed to obtain a high-precision processing surface. Typical processing methods include plastic lapping, chemical polishing, float polishing, elastic emission machining, particle beam polishing, jet polishing, and so on. These processing methods have certain defects respectively, such as too low polishing efficiency, generating a large subsurface damage layer, or being difficult to control polishing.

[0003] Magnetorheological fluid is a suspension liquid with controllable rheological behavior formed by dispersing micron-sized magnetic particles in an insulating carrier liquid. Its rheological characteristics change with the applied magnetic field. The rheological characteristics of magnetorheological fluid are similar to those of ordinary Newtonian fluids without a magnetic field. When subjected to a magnetic field of a certain intensity, an obvious magnetorheological effect can be generated under the action of the magnetic field. Its apparent viscosity coefficient increases by more than two orders of magnitude and it will become a solid-like state. Once the magnetic field is removed, it becomes a flowing liquid again. The magnetorheological effect under the action of the magnetic field enables the magnetorheological liquid to transform between a liquid state and a solid state, with the advantages of reversibility, controllability, and rapid response. The shear yield stress of magnetorheological fluid is one order of magnitude larger than that of electrorheological fluid, and magnetorheological fluid has good dynamic and temperature stability, so its application range is wider.

[0004] Existing magnetorheological polishing machining centers mainly integrate magnetorheological polishing modules on cradle-type numerically controlled machine tools. However, since numerically controlled machine tools generally achieve motion feed by linear axes, 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 machining system. By utilizing the advantages of the six degrees of freedom, speed, and acceleration of the robotic arm, combined with the motion characteristics requirements of the magnetorheological polishing wheel itself, the processing process is made more efficient and high-speed, and the overall efficiency of grinding and polishing is further improved.

[0006] A magnetorheological finishing processing system includes a robotic arm, a magnetorheological polishing wheel mounted at one end of the robotic arm, a magnetorheological circulation system for providing magnetorheological fluid, a circulation system support mechanism for mounting the magnetorheological circulation system, a workbench for placing a workpiece, and a circulation supply circuit communicating with the outlet of the magnetorheological circulation system for conveying the magnetorheological fluid, and the circulation supply circuit is connected to the magnetorheological polishing wheel.

[0007] Optionally, the robotic arm is a robotic arm with six degrees of freedom.

[0008] Optionally, the circulation system support mechanism includes a first support rod, a second support rod and a cross beam. The first support rod, the cross beam and the second support rod enclose a "door" shape. The circulation system support mechanism is erected above the workbench, and the cross beam is parallel to the tabletop of the workbench.

[0009] Optionally, the magnetorheological circulation system is installed at the middle position of the cross beam.

[0010] Optionally, the magnetorheological circulation system includes a liquid storage tank, a stirrer arranged in the liquid storage tank, a delivery pump and a recovery pump. The circulation supply circuit includes a liquid injection pipe and a recovery pipe communicating with the liquid storage tank, a nozzle arranged at the end of the liquid injection pipe and a collector arranged at the end of the recovery pipe. The delivery pump is arranged on the liquid injection pipe, and the recovery pump is arranged on the recovery pipe. The nozzle and the collector are respectively symmetrically arranged on the robotic arm on both sides of the magnetorheological polishing wheel.

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

[0012] Optionally, the nozzle is aligned with the tangential direction of the magnetorheological polishing wheel.

[0013] Optionally, there is a fit or a gap between the collector and the magnetorheological polishing wheel.

[0014] Optionally, the telescopic direction of the robotic arm is perpendicular to the plane where the circulation system support mechanism is located.

[0015] Optionally, the magnetorheological circulation system further includes a pressure and flow rate measuring device, and the pressure and flow rate measuring device is communicated with the liquid injection pipe.

[0016] The magnetorheological polishing processing system provided by the present invention has a magnetorheological polishing wheel connected to a robotic arm, a magnetorheological circulation system connected to a circulation system support mechanism, a workpiece (such as an optical element) fixed on a workbench, the circulation system support mechanism installed on a base, the magnetorheological circulation system connected to the magnetorheological polishing wheel through a circulation supply loop. The magnetorheological polishing wheel is driven by the robotic arm 1 under the control of a motion program. Using the magnetorheological working principle, the workpiece on the workbench is processed. At the same time, supported by the circulation system support mechanism, the magnetorheological circulation system realizes the liquid supply and circulation support for the magnetorheological polishing wheel, ensuring the normal operation of the magnetorheological system. By utilizing the advantages of the six degrees of freedom, speed, and acceleration of the robotic arm in space, combined with the motion characteristics requirements of the magnetorheological polishing wheel itself, the processing process is made more efficient and high-speed, and the overall efficiency of grinding and polishing is further improved. Brief Description of the Drawings

[0017] Figure 1 It is a schematic structural diagram of the magnetorheological polishing processing system provided in the embodiment of the present invention.

[0018] Reference Numerals: Robotic Arm 1, Magnetorheological Polishing Wheel 2, Magnetorheological Circulation System 3, Circulation System Support Mechanism 4, Workbench 5, Circulation Supply Loop 6, Base 7, Workpiece 8. Detailed Embodiments

[0019] In order to enable those skilled in the art of the present technology to better understand the solution 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 accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without making creative efforts shall fall within the protection scope of the present invention.

[0020] The terms "first", "second", "third", "fourth", etc. (if any) in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily need to be used to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments described here can be implemented in an order other than the content illustrated or described here. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products, or devices.

[0021] Principle of magnetorheological polishing fluid: Magnetorheological fluid is a suspension composed of magnetic particles, base fluid and stabilizer. The magnetorheological effect means that magnetorheological fluid is a flowable liquid without a magnetic field, while under the action of a strong magnetic field, its rheological properties change sharply, showing properties similar to those of a solid, and it resumes its flow characteristics when the magnetic field is removed. Magnetorheological polishing technology precisely utilizes the rapid relative movement between the flexible "small grinding head" with viscoplastic behavior formed by the rheology of magnetorheological polishing fluid in a gradient magnetic field and the workpiece, so that the surface of the workpiece is subjected to a large shear force, thereby removing the surface material of the workpiece. Magnetorheological polishing (MRF) is a comprehensive technology formed by applying electromagnetic theory, fluid mechanics, analytical chemistry, etc. to the processing of optical surfaces. Magnetorheological fluid is an intelligent material, which can realize the reversible conversion between solid and liquid phases within 1 ms under the action of a magnetic field.

[0022] Combined with Figure 1 As shown, a magnetorheological polishing processing system provided by the present invention includes a robotic arm 1, a magnetorheological polishing wheel 2 installed at one end of the robotic arm 1, a magnetorheological circulation system 3 for providing magnetorheological fluid, a circulation system support mechanism 4 for installing the magnetorheological circulation system 3, a workbench 5 for placing a workpiece 8, and a circulation supply circuit 6 connected to the outlet of the magnetorheological circulation system 3 for transporting magnetorheological fluid. The circulation supply circuit 6 is connected to the magnetorheological polishing wheel 2.

[0023] In this embodiment, the robotic arm 1 is used to drive the magnetorheological polishing wheel 2 to process the workpiece 8 on the workbench 5. In order to better provide multiple processing angles, the robotic arm 1 can adopt a robotic arm 1 with six degrees of freedom. Of course, other degrees of freedom of the robotic arm 1 can also be selected according to needs, as long as it can realize the free change of the position of the magnetorheological polishing wheel 2.

[0024] Since the magnetorheological circulation system 3 is relatively heavy, directly installing it on the robotic arm 1 will cause large vibrations during work, affecting fine processing. Therefore, in the present invention, a gantry structure circulation system support mechanism 4 is provided. Specifically, the circulation system support mechanism 4 includes a first support rod, a second support rod and a cross beam. The first support rod, the cross beam and the second support rod enclose a "gate" shape. The circulation system support mechanism 4 is erected above the workbench 5. The cross beam is parallel to the tabletop of the workbench 5. The magnetorheological circulation system 3 can be installed in the middle position of the cross beam. The magnetorheological circulation system 3 can better provide magnetorheological fluid for the polishing wheel above the workbench 5, and can also reduce the vibration impact of the robotic arm 1, improving the applicability to fine processing occasions.

[0025] For 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, a stirrer disposed in the liquid storage tank, a delivery pump, and a recovery pump. The circulation supply circuit 6 includes a liquid injection pipe and a recovery pipe communicating with the liquid storage tank, a nozzle disposed at the end of the liquid injection pipe, and a collector disposed at the end of the recovery pipe. The delivery pump is disposed on the liquid injection pipe, and the recovery pump is disposed on the recovery pipe. The nozzle and the collector are respectively symmetrically disposed on the robotic arm 1 on both sides of the magnetorheological polishing wheel 2. There is a fit or 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, meeting the requirements of normal fine processing and reducing the loss of the magnetorheological fluid.

[0026] It should be noted that the lengths of the liquid injection pipe and the recovery pipe can be selected as needed. While ensuring that the pipes are not too long to avoid contact with the workbench 5 due to the long pipeline length, the lengths of the liquid injection pipe and the recovery pipe can be extended as much as possible to increase the moving range of the robotic arm 1 with respect to the magnetorheological polishing wheel 2.

[0027] The magnetorheological circulation system 3 further includes a pressure and flow rate measuring device, which is in communication with the liquid injection pipe and can measure the pressure and flow rate of the magnetorheological fluid in the liquid injection pipe.

[0028] To better facilitate the contact between the magnetorheological fluid and the magnetorheological polishing wheel 2, the spraying direction of the nozzle is aligned with the edge of the magnetorheological polishing wheel 2, so that the magnetorheological fluid ejected from the nozzle directly contacts the polishing wheel. In a more preferred solution, the nozzle can be aligned with the tangential direction of the magnetorheological polishing wheel 2. It should be noted that the spraying angle of the nozzle can be adjusted according to actual needs and is not limited herein.

[0029] The telescopic direction of the robotic arm 1 is perpendicular to the plane where the circulation system support mechanism 4 is located. The robotic arm 1 can drive the magnetorheological polishing wheel 2 to extend into the gap between the magnetorheological circulation system 3 and the workbench 5 for operation. The magnetorheological polishing processing system further has a base 7. The robotic arm 1 can be mounted on the base 7, and the circulation system support mechanism 4 and the workbench 5 can also be disposed on the base 7. The base 7 can be the ground or a metal plate, and the metal plate can be made of cast iron. One end of the 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 fixing stability of the device. Of course, the base 7 can also adopt other forms and is not specifically limited herein. Of course, to improve the mobility of the device, four universal wheels and a locking device can also be provided on the base 7 to facilitate handling and fixing the position when stationary. Of course, the other end of the robotic arm 1 can also be fixedly connected to a carrier such as a mobile platform and can be movable relative to the ground. Those skilled in the art should understand and are not specifically limited herein.

[0030] The magnetorheological polishing processing system provided by the present invention has a magnetorheological polishing wheel 2 connected to a robotic arm 1, a magnetorheological circulation system 3 connected to a circulation system support mechanism 4, a workpiece 8 fixed on a workbench 5, the circulation system support mechanism 4 installed on a base 7, the magnetorheological circulation system 3 connected to the magnetorheological polishing wheel 2 through a circulation supply loop 6. The magnetorheological polishing wheel 2 is driven by the robotic arm 1 under the control of a motion program. Using the magnetorheological working principle, the workpiece 8 on the workbench 5 is processed, especially the workpiece 8 of optical element type is processed. At the same time, supported by the circulation system support mechanism 4, the magnetorheological circulation system 3 realizes the liquid supply and circulation support for the magnetorheological polishing wheel, ensuring the normal operation of the magnetorheological system. By utilizing the advantages of the six degrees of freedom, speed, and acceleration of the robotic arm in space, combined with the motion characteristics requirements of the magnetorheological polishing module itself, the processing process is made more efficient and high-speed, and the overall efficiency of grinding and polishing is further improved.

[0031] Those skilled in the art can clearly understand that for the convenience and brevity of description, the specific working processes of the above-described systems, devices, and units can refer to the corresponding processes in the foregoing method embodiments and will not be elaborated herein.

[0032] The above has introduced in detail a magnetorheological polishing processing system provided by the present invention. For those of ordinary skill in the art, according to the idea of the embodiments of the present invention, there will be changes in the specific implementation manners and application scopes. In summary, the content of this specification should not be construed as a limitation to the present invention.

Claims

1. A magnetorheological polishing processing system, characterized in that, it includes a robotic arm, a magnetorheological polishing wheel installed at one end of the robotic arm, a magnetorheological circulation system for providing magnetorheological fluid, a circulation system support mechanism for installing the magnetorheological circulation system, a workbench for placing a workpiece, and a circulation supply circuit connected to the outlet of the magnetorheological circulation system for transporting the magnetorheological fluid, and the circulation supply circuit is connected to the magnetorheological polishing wheel; the robotic arm is a robotic arm with six degrees of freedom; the circulation system support mechanism includes a first support rod, a second support rod and a cross beam, the first support rod, the cross beam and the second support rod enclose a "door" shape, the circulation system support mechanism is independently erected above the workbench, and the cross beam is parallel to the tabletop of the workbench.

2. The magnetorheological polishing processing system according to claim 1, characterized in that, the magnetorheological circulation system is installed at the middle position of the cross beam.

3. The magnetorheological polishing processing system according to claim 1, characterized in that, the magnetorheological circulation system includes a liquid storage tank, a stirrer arranged in the liquid storage tank, a delivery pump and a recovery pump, the circulation supply circuit includes a liquid injection pipe and a recovery pipe communicated with the liquid storage tank, a nozzle arranged at the end of the liquid injection pipe and a collector arranged at the end of the recovery pipe, the delivery pump is arranged on the liquid injection pipe, the recovery pump is arranged on the recovery pipe, and the nozzle and the collector are respectively symmetrically arranged on the robotic arm on both sides of the magnetorheological polishing wheel.

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

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

6. The magnetorheological polishing processing system according to claim 3, characterized in that, there is a fit or a gap between the collector and the magnetorheological polishing wheel.

7. The magnetorheological polishing processing system according to claim 1, characterized in that, the telescopic direction of the robotic arm is perpendicular to the plane where the circulation system support mechanism is located.

8. The magnetorheological polishing processing system according to claim 3, characterized in that, the magnetorheological circulation system further includes a pressure and flow rate measuring device, and the pressure and flow rate measuring device is communicated with the liquid injection pipe.

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