Polishing point calibration device, method and storage medium for magnetorheological polishing tool

Abstract

The present invention relates to the field of optical processing technology, and in particular to a polishing point calibration device, method and storage medium for a magnetorheological polishing tool. The device comprises a calibration installation structure, a calibration axis system and a probe; wherein the calibration installation structure is arranged on the moving end of the magnetorheological polishing device and is connected to the polishing wheel, the calibration axis system is arranged on the calibration installation structure, and the probe is arranged on the calibration axis system; the probe touches different positions of the polishing wheel, and the position of the probe is read through the calibration axis system; in the method, the lowest point of the magnetorheological polishing wheel is calibrated by the probe, so that the polishing point of the magnetorheological polishing wheel can be automatically calibrated, and while ensuring the calibration accuracy, the operation is convenient and easy to carry out automation expansion.

Description

Technical Field

[0001] The invention belongs to the technical field of optical processing, and in particular relates to a polishing point calibration device, method and storage medium for a magnetorheological polishing tool. Background Art

[0002] Large-aperture optical components are widely used in aerospace and astronomical observation fields. With the gradual development of science and technology, higher requirements are placed on the aperture, processing accuracy, processing efficiency, lightweight degree and production cost of optical systems, especially aspheric optical components.

[0003] Magnetorheological polishing technology is a new type of flexible processing method, which is often used in the field of high-precision optical processing. This technology has the advantages of stable removal function, high processing certainty and fast convergence speed. It can achieve nanometer-level processing accuracy for large-aperture optical components with a diameter exceeding 1m.

[0004] During the magnetorheological machining process, it is necessary to calibrate the positional relationship between the lowest point of the polishing wheel and the workpiece. The existing method is to fix a probe on the tool end, calibrate the position of the workpiece relative to the machine tool through the probe, and then calibrate the position of the probe and the lowest point of the polishing wheel through other solutions, and then calculate the positional relationship between the lowest point of the polishing wheel and the workpiece. There are two existing technical solutions:

[0005] One is to accurately measure the relative position between the polishing wheel and the tool end probe through external detection equipment, and calculate the positional relationship between the two based on the equipment drawings and assembly accuracy. For example, the Chinese patent publication number is CN115284079A, the publication date is November 4, 2022, and the patent name is "Magnetorheological Polishing Calibration Method". This method uses a laser tracker for calibration. The equipment is expensive and depends on assembly accuracy, which has high requirements for assembly personnel.

[0006] The other is to use external standard blocks for calibration, such as the Chinese patent publication number CN114012585A, the publication date of February 8, 2022, and the invention patent application titled "A method for calibrating the polishing point position of a double-swing-axis five-axis magnetorheological machine tool". This method uses a combination of square standard parts and probes to calibrate the polishing points of a magnetorheological machine tool, but it involves many precision transfer processes, and the calibration process is complicated. It is mostly manually operated by the operator and relies on the operator to judge the position, and automatic calibration cannot be achieved. Summary of the invention

[0007] In view of this, the present invention aims to provide a polishing point calibration device, method and storage medium for a magnetorheological polishing tool. A calibration device is added to the moving end of the magnetorheological processing device, and the lowest point of the magnetorheological polishing wheel is calibrated by a probe. The automatic calibration of the polishing point of the magnetorheological polishing wheel can be realized. While ensuring the calibration accuracy, the operation is convenient and automation expansion is easy.

[0008] To achieve the above object, the technical solution created by the present invention is implemented as follows:

[0009] A polishing point calibration device for a magnetorheological polishing tool comprises a calibration installation structure, a calibration axis system, a probe and a calibration control center; wherein the calibration installation structure is arranged on the moving end of the magnetorheological polishing device and is connected to the polishing wheel at the moving end; the calibration axis system is arranged on the calibration installation structure and is connected to the calibration control center; the probe is arranged on the calibration axis system; the probe touches different positions of the polishing wheel, and the position of the probe is read through the calibration control center, and the calibration axis system corresponds to a calibration coordinate system.

[0010] Furthermore, the calibration installation structure includes a calibration installation plate; wherein, a fixed installation area and a calibration shaft system installation area are arranged on the calibration installation plate; one side of the fixed installation area is connected to the moving end of the magnetorheological polishing device, and the other side of the fixed installation area is connected to the polishing wheel through the polishing wheel fixing plate; the calibration shaft system is arranged in the calibration shaft system installation area.

[0011] Further, the calibration axis system includes a first transmission structure, a second transmission structure, a rotation structure and a pointing rod; wherein:

[0012] There are two first transmission structures, which are arranged in parallel in the calibration axis system installation area, and the movement direction of the first transmission structure is the Y-axis direction of the calibration coordinate system;

[0013] The two ends of the second transmission structure are respectively connected to the two first transmission structures, and the second transmission structure is perpendicular to the first transmission structure, so that the second transmission structure moves along the first transmission structure, and the movement direction of the second transmission structure is the X-axis direction of the calibration coordinate system;

[0014] The pointing rod is arranged along the Z-axis direction of the calibration coordinate system, one end of the pointing rod is connected to the second transmission structure, the other end of the pointing rod is connected to the rotating structure, and the pointing rod is perpendicular to the second transmission structure and the first transmission structure at the same time, so that the pointing rod moves along the second transmission structure;

[0015] The probe is connected to the rotating structure through the probe connecting shaft, so that the rotating structure drives the probe to rotate, and then the probe touches the polishing wheel;

[0016] The calibration control center is connected with the second transmission structure, the first transmission structure, the pointing rod and the rotating structure, and can read the position of the probe relative to the zero point of the calibration coordinate system at different times.

[0017] A method for calibrating polishing points of a magnetorheological polishing tool, which is applicable to the device for calibrating polishing points of a magnetorheological polishing tool provided by the present invention, comprises the following steps:

[0018] S1: Install the calibration device on the moving end of the magnetorheological polishing device to obtain the first spatial position of the ball head of the probe relative to the zero point of the calibration coordinate system;

[0019] S2: Control the movement of the calibration axis system so that the ball head touches N different positions on the circumferential surface of the polishing wheel, record N sets of position coordinates of the ball head, obtain the second spatial position of the ball head relative to the zero point of the calibration coordinate system, and then obtain the third spatial position of the center of the current polishing wheel relative to the zero point of the calibration coordinate system;

[0020] S3: obtaining the positional relationship between the lowest point of the polishing wheel and the ball head in the base coordinate system of the moving end of the magnetorheological polishing device according to the third spatial position and the first spatial position;

[0021] S4: Move the calibration axis system to the zero point of the calibration coordinate system, calibrate the workpiece through the probe, and obtain the fourth spatial position of the center point of the workpiece in the base coordinate system; obtain the fifth spatial position of the lowest point of the workpiece relative to the polishing wheel based on the fourth spatial position and the position relationship obtained in step S3.

[0022] Further, in step S1, the XY plane in the calibration coordinate system and the XY plane in the base coordinate system are in the same plane, and the first spatial position is , represents the distance between the ball head and the center of the rotating structure, Indicates the distance between the center point of the rotating structure and the XY plane in the calibration coordinate system.

[0023] Further, in step S2, the position coordinates (X i ,Y i ,θ i ), i represents the number of groups of position coordinates, i∈{1,2,…,N}; the second spatial position (X T_i ,Y T_i ,Z T_i ):

[0024]

[0025] Among them, θ i represents the rotation angle of the probe; according to the second spatial position (X T_i ,YT_i ,Z T_i ) to calculate the third spatial position (X R ,Y R ,Z R ) is solved by the least square method to obtain the third spatial position (X R ,Y R ,Z R ).

[0026] Further, in step S3, the position relationship is obtained by the following formula: :

[0027]

[0028] Further, in step S4, the fifth spatial position (X) is obtained by the following formula: T ,Y T ,Z T ):

[0029]

[0030] Among them, (X C ,Y C ,Z C ) indicates the fourth spatial position.

[0031] A computer device comprising:

[0032] at least one processor; and

[0033] a memory communicatively connected to at least one processor; wherein,

[0034] The memory stores instructions that can be executed by a processor, and the instructions are executed by at least one processor, so that the at least one processor can execute the polishing point calibration method of the magnetorheological polishing tool provided by the present invention.

[0035] A non-transient computer-readable storage medium storing computer instructions, wherein the computer instructions are used to enable a computer to execute the polishing point calibration method of a magnetorheological polishing tool provided by the present invention.

[0036] Compared with the prior art, the invention can achieve the following beneficial effects:

[0037] In the polishing point calibration device, method and storage medium of the magnetorheological polishing tool created by the present invention, a calibration device is added to the moving end of the magnetorheological processing device, and the lowest point of the magnetorheological polishing wheel is calibrated by a probe, so that the polishing point of the magnetorheological polishing wheel can be automatically calibrated. It does not rely on an external measurement reference or external measuring equipment. While ensuring the calibration accuracy, it is easy to operate and easy to automate, and is suitable for a variety of different polishing wheels. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] The drawings constituting part of the present invention are used to provide a further understanding of the present invention. The exemplary embodiments and descriptions of the present invention are used to explain the present invention and do not constitute an improper limitation on the present invention. In the drawings:

[0039] Figure 1 A schematic diagram of the structure of a polishing point calibration device for a magnetorheological polishing tool according to an embodiment of the present invention;

[0040] Figure 2 A schematic diagram of the process of calibrating the polishing point of a magnetorheological polishing tool according to an embodiment of the present invention;

[0041] Figure 3 A schematic diagram of the structure of a computer device according to an embodiment of the present invention.

[0042] Description of reference numerals:

[0043] 1. Probe; 2. Polishing wheel; 3. Calibration mounting plate; 4. Polishing wheel fixing plate; 5. Second transmission structure; 6. First transmission structure; 7. Pointing rod; 8. Rotating structure; 9. Probe connecting shaft; 10. Computer equipment; 11. External equipment; 12. Processing unit; 13. Bus; 14. Network adapter; 15. Display; 16. (I / O) interface; 17. System memory; 18. Random access memory; 19. Cache memory; 20. Storage system; 21. Utility; 22. Program module. DETAILED DESCRIPTION

[0044] In order to make the purpose, technical solution and advantages of the invention more clear, the invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described here are only used to explain the invention and do not constitute a limitation of the invention.

[0045] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments may be combined with each other.

[0046] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. In addition, the terms "first", "second", etc. are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", etc. may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0047] In the description of the invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the invention can be understood according to specific circumstances.

[0048] The present invention will be described in detail below with reference to the accompanying drawings and in combination with embodiments.

[0049] like Figure 1 As shown, the polishing point calibration device of the magnetorheological polishing tool described in the embodiment of the invention includes a calibration installation structure, a calibration axis system, a probe 1 and a calibration control center. The calibration installation structure is installed on the moving end of the magnetorheological polishing device and is connected to the polishing wheel 2 at the moving end. The calibration axis system is arranged on the calibration installation structure and is connected to the calibration control center. The probe 1 is arranged on the calibration axis system, the probe 1 touches different positions of the polishing wheel 2, and the position of the probe 1 is read through the calibration control center. The calibration axis system corresponds to a calibration coordinate system.

[0050] In the embodiment of the present invention, the magnetorheological polishing equipment can be a magnetorheological polishing machine tool (such as a conventional CNC machine tool) or a novel magnetorheological polishing processing equipment such as an industrial robot. The probe 1 preferably adopts a contact probe with a ball head, and can also be replaced by other measuring devices such as a laser displacement sensor according to actual needs.

[0051] Among them, the calibration installation structure includes a calibration installation plate 3. In the embodiment of the present invention, the calibration installation plate 3 is a flat plate-like structure, and a fixed installation area and a calibration shaft system installation area are arranged on the calibration installation plate 3. One side of the fixed installation area is fixedly connected to the moving end of the magnetorheological polishing device by screws, and the other side of the fixed installation area is fixedly connected to the polishing wheel fixing plate 4 by screws. The polishing wheel 2 is installed inside the polishing wheel fixing plate 4 through a bearing, and the bearing passes through the center of the polishing wheel 2, so that the polishing wheel 2 can rotate around the bearing to achieve the polishing function. The calibration shaft system is arranged in the calibration shaft system installation area.

[0052] The calibration axis system includes a second transmission structure 5, a first transmission structure 6, a pointing rod 7 and a rotating structure 8. Among them, the number of the first transmission structures 6 is two, and they are arranged in parallel in the calibration axis system installation area, and the movement direction of the first transmission structure 6 is the Y-axis direction of the calibration coordinate system. The two ends of the second transmission structure 5 are respectively connected to the two first transmission structures 6, and the second transmission structure 5 is arranged perpendicular to the first transmission structure 6, so that the second transmission structure 5 moves along the first transmission structure 6, and the movement direction of the second transmission structure 5 is the X-axis direction of the calibration coordinate system. The pointing rod 7 is arranged along the Z-axis direction of the calibration coordinate system, one end of the pointing rod 7 is connected to the second transmission structure 5, and the other end of the pointing rod 7 is connected to the rotating structure 8, and the pointing rod 7 is perpendicular to the second transmission structure 5 and the first transmission structure 6 at the same time, so that the pointing rod 7 moves along the second transmission structure 5. The second transmission structure 5, the first transmission structure 6 and the pointing rod 7 constitute a calibration coordinate system. The probe 1 is connected to the rotating structure 8 through the probe connecting shaft 9, so that the rotating structure 8 drives the probe 1 to rotate, and then the probe 1 touches the polishing wheel 2. The calibration control center is connected with the second transmission structure 5, the first transmission structure 6, the pointing rod 7 and the rotating structure 8, and reads the position of the probe 1 relative to the zero point of the calibration coordinate system at different times.

[0053] In the embodiment of the present invention, the second transmission structure 5 is a lead screw, and a slider is fixed on the top thereof. The second transmission structure 5 is integrated with a position feedback device, a zero point device and a driving motor. Among the two first transmission structures 6, one is a gear rack mechanism providing drive, and the other is a guide rail with a slider. One end of the lead screw in the second transmission structure 5 is connected to the gear, and the other end of the lead screw is connected to the slider on the guide rail. The first transmission structure 6 is also integrated with a position feedback device, a zero point device and a driving motor. The position feedback device in the second transmission structure 5 or the first transmission structure 6 can be a linear grating ruler, a resistive displacement sensor, etc., the zero point device can be a photoelectric switch, etc., and the driving motor can be a stepping motor, a linear motor, etc. The length of the pointing rod 7 is fixed, and one end of the pointing rod 7 is fixedly connected to the slider of the second transmission structure by a screw, so that the slider on the second transmission structure 5 drives the pointing rod 7 to move along the second transmission structure 5; the other end of the pointing rod 7 is connected to the rotating structure 8 by a screw. The rotating structure 8 is connected to the probe connecting shaft 9 through a bearing, so that the rotating structure 8 controls the angle of the probe connecting shaft 9 and the probe 1 in the plane where the pointing rod 7 is located through the bearing. Specifically, the rotating structure 8 is a rotating calibration mechanism, which integrates an angle sensor, a position feedback device, a driving device and a zero point device, etc., wherein the position feedback device can be a photoelectric encoder, a circular grating, etc., the zero point device can be a photoelectric switch, etc., and the driving motor can be a stepping motor, a steering gear, etc. The motion range of the rotating structure 8 is at least 90°, ensuring that the rotating structure 8 can drive the probe 1 to be in a posture pointing to the polishing wheel 2, such as Figure 1 As shown, when the probe 1 is perpendicular to the pointing rod 7, the rotation angle of the rotating structure 8 is 90°, and when the probe 1 is parallel to the pointing rod 7, the rotation angle of the rotating structure 8 is 0°.

[0054] like Figure 2 As shown, the polishing point calibration method of the magnetorheological polishing tool described in the embodiment of the invention is applicable to the polishing point calibration device of the magnetorheological polishing tool described in the embodiment of the invention, combined with Figure 1 , including the following steps:

[0055] S1: Install the calibration device on the moving end of the magnetorheological polishing equipment to obtain the first spatial position of the ball head of the probe 1 relative to the zero point of the calibration coordinate system.

[0056] In step S1, there is a base coordinate system at the moving end of the magnetorheological polishing device, and the XY plane in the calibration coordinate system is in the same plane as the XY plane in the base coordinate system. At this time, the Z direction in the calibration coordinate system is the same as the Z direction in the base coordinate system. The distance between the center of the rotating structure 8 and the XY plane in the calibration coordinate system is measured in advance. , and then control the second transmission structure 5, the first transmission structure 6, the pointing rod 7 and the rotating structure 8 so that the ball head of the probe 1 is located directly below the zero point of the calibration coordinate system. At this time, the distance between the ball head of the probe 1 and the center of the rotating structure 8 is At this time, the first spatial position of the ball head of probe 1 is .

[0057] In addition, there is a calibrated angle θ between the second transmission structure 5 and the X-axis in the base coordinate system. Err_XY .

[0058] Measuring angle θ Err_XY The problem is the more conventional problem of measuring the angle between two coordinate axes, which can be measured by three-coordinate, laser tracker, reference block, CNC machine tool and other measurement methods. The embodiment of the present invention measures the angle θ by the magnetorheological polishing equipment of the CNC machine tool Err_XY The steps are as follows:

[0059] S11: Set any reference point on the work surface of the magnetorheological polishing equipment , and move the rotating structure 8 so that the angle of the rotating structure 8 is 0;

[0060] S12: Align the ball head of probe 1 with the reference point Contact, record the coordinate position of the ball head of the current probe 1 in the base coordinate system , record the coordinates of the ball head of probe 1 in the calibration coordinate system at this time as ;

[0061] S13: Move the second transmission mechanism 5 so that the coordinates of the ball head of the probe 1 in the calibration coordinate system are ;

[0062] S14: Control the movement of the ball head of probe 1 so that the ball head of probe 1 is aligned with the reference point Contact, record the coordinate position of the ball head of the current probe 1 in the base coordinate system ;

[0063] S15: Repeat steps S13 and S14 to obtain the coordinate positions of the ball heads of five groups of probes 1 in the base coordinate system. , and the coordinates of the ball head of probe 1 in the calibration coordinate system , where p=1, 2,…, 5.

[0064] S16: Take the X-direction value and Y-direction value of the coordinate point of the magnetorheological polishing device ( ), p=1, 2, ..., 5, a straight line is fitted to it by the least squares method, and the slope k of the straight line is obtained;

[0065] S17: Calculate θ Err_XY=arctan(k).

[0066] S2: Connect the trigger signal of probe 1 to the calibration control center; control the movement of the calibration axis system so that the ball head of probe 1 touches the circumferential surface of the polishing wheel 2, record N sets of position coordinates of the ball head, obtain the second spatial position of the ball head of probe 1 relative to the zero point of the calibration coordinate system, and then obtain the third spatial position of the center of the ball of the current polishing wheel 2 relative to the zero point of the calibration coordinate system.

[0067] In step S2, the position coordinates (X i ,Y i ,θ i ), i represents the number of groups of position coordinates, i∈{1,2,…,N}, N≥10. The second spatial position (X T_i ,Y T_i ,Z T_i ):

[0068]

[0069] Among them, θ i Indicates the rotation angle of probe 1.

[0070] Since the polishing surface of the polishing wheel 2 is mostly spherical, the radius of the spherical surface of the polishing wheel 2 is R. For any point (X, Y, Z) on the spherical surface of the polishing wheel 2, we have:

[0071]

[0072] Among them, (X R ,Y R ,Z R ) represents the third spatial position. T_i ,Y T_i ,Z T_i ) into the above formula to obtain:

[0073]

[0074] Further:

[0075]

[0076] Subtract the i-th term from the i+1-th term in the above formula to get:

[0077]

[0078] Where i=1,2,...,N-1. In the above formula, X i , Y i ,θ i are all values ​​measured in the experiment and are known quantities. is a known quantity, , X R , Y R , Z R and R are unknown quantities, and the system of equations has N-1 terms in total. The system of equations can be solved using the least squares method, Newton iteration method, or optimization method to obtain the third spatial position (X R ,Y R ,Z R ), ∆L, R, and then the spatial position of the lowest point of the polishing wheel 2 relative to the zero point of the calibration coordinate system is (X R ,Y R ,Z R +R).

[0079] S3: Obtaining the positional relationship between the lowest point of the polishing wheel 2 and the ball head of the probe 1 in the base coordinate system according to the third spatial position and the first spatial position.

[0080] In step S3, the positional relationship is obtained by the following formula: :

[0081]

[0082] If the calibration requirements are not high, or the assembly accuracy is high enough, it can be approximately equivalent to θ Err_XY ≈0, the above formula is:

[0083]

[0084] S4: Move the calibration axis system to the zero point of the calibration coordinate system, calibrate the workpiece through probe 1, and obtain the fourth spatial position of the center point of the workpiece in the base coordinate system; obtain the fifth spatial position of the lowest point of the workpiece relative to the polishing wheel 2 based on the fourth spatial position and position relationship.

[0085] In step S4, the fifth spatial position (X T ,Y T ,Z T ):

[0086]

[0087] Among them, (X C ,Y C ,Z C ) represents the fourth spatial position, the fourth spatial position (X C ,Y C ,Z C ) is also a conventional workpiece alignment method.

[0088] An example of a conventional workpiece alignment method is given below.

[0089] For any circular or square workpiece, a workpiece coordinate system is established with the center of the workpiece as the coordinate origin. In the workpiece coordinate system, reference points are pre-marked at both ends of the X-axis and Y-axis of the workpiece. , , , .

[0090] Ensure that the second transmission structure 5, the first transmission structure 6 and the rotating structure 8 of the calibration mechanism do not move, move the moving end of the magnetorheological polishing device, and make the ball head of the probe 1 contact the point , , and The coordinate position (X PX+ ,Y PX+ ,Z PX+ )、(X PX- ,Y PX- ,Z PX- )、(X PY+ ,Y PY+ ,Z PY+ )、(X PY- ,Y PY- ,Z PY- ).

[0091] Then the fourth spatial position (X C ,Y C ,Z C )for:

[0092]

[0093] Accordingly, according to an embodiment of the present invention, the present invention also provides a computer device, a readable storage medium and a computer program product.

[0094] Figure 3 FIG. 1 is a schematic diagram of the structure of a computer device 10 provided in an embodiment of the present invention. Figure 3 A block diagram of an exemplary computer device 10 suitable for use in implementing embodiments of the present invention is shown. Figure 3 The computer device 10 shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present invention.

[0095] like Figure 3As shown, computer device 10 is in the form of a general-purpose computing device. Computer device 10 is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. Electronic devices can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0096] Components of computer device 10 may include, but are not limited to, one or more processors or processing units 12, a system memory 17, and a bus 13 that connects various system components (including system memory 17 and processing unit 12).

[0097] Bus 13 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor or a local bus using any of a variety of bus structures. For example, these architectures include but are not limited to Industry Standard Architecture (ISA) bus, Micro Channel Architecture (MAC) bus, Enhanced ISA bus, Video Electronics Standards Association (VESA) local bus and Peripheral Component Interconnect (PCI) bus.

[0098] The computer device 10 typically includes a variety of computer system readable media. These media can be any available media that can be accessed by the computer device 10, including volatile and non-volatile media, removable and non-removable media.

[0099] System memory 17 may include computer system readable media in the form of volatile memory, such as random access memory (RAM) 18 and / or cache memory 19. Computer device 10 may further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, storage system 20 may be used to read and write non-removable, non-volatile magnetic media ( Figure 3 not shown, usually called a "hard drive"). Although Figure 3 Not shown in the figure, a disk drive for reading and writing to a removable non-volatile disk (e.g., a "floppy disk"), and an optical disk drive for reading and writing to a removable non-volatile optical disk (e.g., a CD-ROM, a DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to the bus 13 via one or more data medium interfaces. The system memory 17 may include at least one program product having a set (e.g., at least one) of program modules that are configured to perform the functions of the embodiments of the present invention.

[0100] A program / utility 21 having a set (at least one) of program modules 22 may be stored, for example, in system memory 17, such program modules 22 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment. Program modules 22 generally perform the functions and / or methods of the embodiments described herein.

[0101] The computer device 10 may also communicate with one or more external devices 11 (e.g., keyboard, pointing device, display 15, etc.), one or more devices that enable a user to interact with the computer device 10, and / or any device that enables the computer device 10 to communicate with one or more other computing devices (e.g., network card, modem, etc.). Such communication may be performed through an input / output (I / O) interface 16. Furthermore, the computer device 10 may also communicate with one or more networks (e.g., local area network (LAN), wide area network (WAN) and / or public network, such as the Internet) through a network adapter 14. Figure 3 As shown, the network adapter 14 communicates with other modules of the computer device 10 via the bus 13. It should be understood that, although not shown in the figure, other hardware and / or software modules can be used in conjunction with the computer device 10, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0102] The processing unit 12 executes various functional applications and data processing by running the programs stored in the system memory 17, for example, implementing the polishing point calibration method of the magnetorheological polishing tool provided in the embodiment of the present invention.

[0103] An embodiment of the present invention also provides a non-transitory computer-readable storage medium storing computer instructions, on which a computer program is stored, wherein when the program is executed by a processor, the magnetorheological polishing tool polishing point calibration method provided in all the inventive embodiments of the present application.

[0104] The computer storage medium of the embodiment of the present invention may adopt any combination of one or more computer-readable media. The computer-readable medium may be a computer-readable signal medium or a computer-readable storage medium. More specific examples (non-exhaustive list) of computer-readable storage media include: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this document, a computer-readable storage medium may be any tangible medium containing or storing a program that may be used by or in combination with an instruction execution system, an apparatus, or a device.

[0105] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, which carry computer-readable program code. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Computer-readable signal media may also be any computer-readable medium other than a computer-readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0106] The program code included in the computer-readable medium can be transmitted with any appropriate medium, including but not limited to wireless, electric wire, optical cable, RF, etc., or any suitable combination of the above. The computer program code for performing the operation of the present invention can be written in one or more programming languages ​​or their combinations, and the programming language includes object-oriented programming languages ​​such as Java, Smalltalk, C++, and also includes conventional procedural programming languages-such as "C" language or similar programming languages. The program code can be executed completely on the user's computer, partially on the user's computer, executed as an independent software package, partially on the user's computer and partially on the remote computer, or completely on the remote computer or server. In the case of a remote computer, the remote computer can be connected to the user's computer by any type of network including a local area network (LAN) or a wide area network (WAN), or can be connected to an external computer (for example, using an Internet service provider to connect to the Internet).

[0107] An embodiment of the present invention further provides a computer program product, including a computer program, which, when executed by a processor, implements the polishing point calibration method of the magnetorheological polishing tool.

[0108] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the disclosure of the present invention can be performed in parallel, sequentially or in different orders, as long as the desired results of the technical solution disclosed in the present invention can be achieved, and this document does not limit this.

[0109] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for calibrating polishing points of a magnetorheological polishing tool, characterized in that: A polishing point calibration device for a magnetorheological polishing tool; wherein the calibration device comprises a calibration installation structure, a calibration axis system, a probe and a calibration control center; wherein the calibration installation structure is arranged on the moving end of the magnetorheological polishing device and is connected to the polishing wheel at the moving end; the calibration axis system is arranged on the calibration installation structure and is connected to the calibration control center; the probe is arranged on the calibration axis system; the probe touches different positions of the polishing wheel, and the position of the probe is read by the calibration control center, and the calibration axis system corresponds to a calibration coordinate system; The calibration installation structure comprises a calibration installation plate; wherein a fixed installation area and a calibration shaft system installation area are arranged on the calibration installation plate; one side of the fixed installation area is connected to the moving end of the magnetorheological polishing device, and the other side of the fixed installation area is connected to the polishing wheel through the polishing wheel fixing plate; the calibration shaft system is arranged in the calibration shaft system installation area; The calibration shaft system includes a first transmission structure, a second transmission structure, a rotating structure and a pointing rod; wherein: The number of the first transmission structures is two, and they are arranged in parallel in the calibration axis system installation area, and the movement direction of the first transmission structure is the Y-axis direction of the calibration coordinate system; Two ends of the second transmission structure are respectively connected to the two first transmission structures, and the second transmission structure is perpendicular to the first transmission structure, so that the second transmission structure moves along the first transmission structure, and the movement direction of the second transmission structure is the X-axis direction of the calibration coordinate system; The pointing rod is arranged along the Z-axis direction of the calibration coordinate system, one end of the pointing rod is connected to the second transmission structure, the other end of the pointing rod is connected to the rotating structure, and the pointing rod is perpendicular to the second transmission structure and the first transmission structure at the same time, so that the pointing rod moves along the second transmission structure; The probe is connected to the rotating structure via a probe connecting shaft, so that the rotating structure drives the probe to rotate, thereby causing the probe to touch the polishing wheel; The calibration control center is connected to the second transmission structure, the first transmission structure, the pointing rod and the rotating structure, and can read the position of the probe relative to the zero point of the calibration coordinate system at different times; The calibration method comprises the following steps: S1: Install the calibration device on the moving end of the magnetorheological polishing device to obtain the first spatial position of the ball head of the probe relative to the zero point of the calibration coordinate system; in step S1, there is a base coordinate system at the moving end of the magnetorheological polishing device, and the XY plane in the calibration coordinate system is in the same plane as the XY plane in the base coordinate system. At this time, the first spatial position is , represents the distance between the ball head and the center of the rotating structure, represents the distance between the center point of the rotating structure and the XY plane in the calibration coordinate system; S2: Control the movement of the calibration axis system so that the ball head touches N different positions on the circumferential surface of the polishing wheel, record N sets of position coordinates of the ball head, obtain the second spatial position of the ball head relative to the zero point of the calibration coordinate system, and then obtain the third spatial position of the center of the current polishing wheel relative to the zero point of the calibration coordinate system; in step S2, record the position coordinates (X i ,Y i ,θ i ), i represents the number of groups of the position coordinates, i∈{1,2,…,N}; the second spatial position (X T_i ,Y T_i ,Z T_i ): Among them, θ i represents the rotation angle of the probe; according to the second spatial position (X T_i ,Y T_i ,Z T_i ) to calculate the third spatial position (X R ,Y R ,Z R ), and solving the equations by the least square method to obtain the third spatial position (X R ,Y R ,Z R ); S3: According to the third spatial position and the first spatial position, the positional relationship between the lowest point of the polishing wheel and the ball head in the base coordinate system of the moving end of the magnetorheological polishing device is obtained; in step S3, the positional relationship is obtained by the following formula: : ； S4: Move the calibration axis system to the zero point of the calibration coordinate system, calibrate the workpiece by the probe, and obtain the fourth spatial position of the center point of the workpiece in the base coordinate system; obtain the fifth spatial position of the workpiece relative to the lowest point of the polishing wheel according to the fourth spatial position and the position relationship obtained in step S3; in step S4, the fifth spatial position (X) is obtained by the following formula: T ,Y T ,Z T ): Among them, (X C ,Y C ,Z C ) represents the fourth spatial position.

2. A computer device, characterized in that: include: at least one processor; as well as a memory communicatively connected to the at least one processor; wherein, The memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the polishing point calibration method of the magnetorheological polishing tool according to claim 1.

3. A non-transitory computer-readable storage medium storing computer instructions, characterized in that: The computer instructions are used to enable the computer to execute the polishing point calibration method of the magnetorheological polishing tool according to claim 1.

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