Magnetorheological processing control device and processing method based on instantaneous current sensing

Abstract

The present invention relates to the field of magnetorheological technology, and more specifically to a magnetorheological processing control device and method based on instantaneous current sensing. The device includes a polishing platform, a polishing assembly, a detection circuit, and a computer. When the polishing assembly is used to process a test polishing element, the corresponding relationship between different operating parameters of the polishing assembly and an ideal instantaneous current is collected. When the element to be polished is processed, the second instantaneous current is determined based on this corresponding relationship, and a decision is made based on the determination result whether to adjust the operating parameters of the polishing assembly, thereby achieving real-time adjustment of the operating parameters of the polishing assembly. This process does not require calibration steps for parameters such as gravity compensation. The accuracy of the measured data is only limited by the current measurement accuracy of the second instantaneous current between the magnetorheological polishing module and the element to be polished. The measurement results are more accurate, and no force sensor is required, which reduces equipment costs.

Description

Technical Field

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

[0002] Magnetorheological finishing (MRF) is an advanced optical manufacturing technology that has developed in recent years. It offers numerous advantages, including stable removal function, controllable edge effects, minimal subsurface damage, no photocopying, strong reshaping capabilities, and high machining accuracy. Consequently, MRF has garnered widespread attention in high-precision optical processing. Existing MRF machining centers primarily integrate MRF modules onto CNC machine tools. However, CNC machine tools have limitations (such as low degrees of freedom, large footprint, and high cost) that limit the deviation of aspheric surfaces and hinder precise position control along the surface normal. In response to these shortcomings of CNC machine tools, researchers have introduced six-degree-of-freedom industrial robots into the field of optical processing in recent years. Six-degree-of-freedom industrial robots have the advantages of high degrees of freedom, small footprint, large processing range, and low cost, which make up for the shortcomings of CNC machine tools. Therefore, when the magnetorheological polishing module is integrated into the industrial robot, theoretically, high-precision processing of large-aperture complex curved optical components can be achieved. However, due to the influence of factors such as processing, assembly, load, trajectory planning, and reduction ratio, the robot end execution accuracy is low, and the polishing gap changes greatly during the processing. At the same time, magnetorheological polishing technology is an optical processing technology with high certainty of the removal function. During the polishing process, the requirements for the change of the polishing gap are high. Generally, the polishing gap of the magnetorheological CNC machining center changes in tens of microns (PV<0.1mm), and the trajectory accuracy of common commercial robots is generally in the sub-millimeter to millimeter range, which cannot meet the requirements of magnetorheological polishing technology for polishing gap changes during high-precision polishing.

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

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

[0005] To achieve the above object, the technical solution created by the present invention is implemented as follows:

[0006] A magnetorheological processing control device based on instantaneous current sensing includes a polishing platform on which a test polishing element and an element to be polished are arranged;

[0007] A polishing assembly comprising an industrial robot and a magnetorheological polishing module, wherein the industrial robot is used to adjust the polishing gap between the magnetorheological polishing module and the test polishing element or the polishing gap between the magnetorheological polishing module and the element to be polished, and the magnetorheological polishing module is used to process the test polishing element or the element to be polished. The operating parameters of the magnetorheological polishing module include the position of the industrial robot, the position of the polishing wheel, and the position of the magnet;

[0008] a detection circuit configured to output a constant voltage and, when the magnetorheological polishing module contacts the surface of the test polishing element, form a first closed loop and detect a first instantaneous current in the first closed loop in real time, or, when the magnetorheological polishing module contacts the surface of the element to be polished, form a second closed loop and detect a second instantaneous current in the second closed loop in real time;

[0009] A computer is used to calculate the correspondence between the operating parameters of the magnetorheological polishing module and the ideal instantaneous current based on polishing data, the polishing data including first instantaneous current data detected by the detection circuit under different operating parameters of the magnetorheological polishing module; and the computer is used to adjust the current operating parameters when it is determined that the error between the second instantaneous current detected by the detection circuit and the ideal instantaneous current corresponding to the current operating parameters exceeds a preset error range, so that the error between the second instantaneous current detected by the detection circuit and the corresponding ideal instantaneous current after the operating parameters are adjusted is within the preset error range.

[0010] Furthermore, the magnetorheological polishing module includes a magnetorheological mounting frame, a polishing wheel, a magnet, a nozzle, a position adjustment assembly and a liquid pump; wherein, the magnetorheological mounting frame is connected to the tool end of the industrial robot; the liquid pump is connected to the nozzle, and is used to deliver magnetorheological fluid to the nozzle; the nozzle is used to provide magnetorheological fluid to the polishing wheel; the polishing wheel is used to process the test polishing element or the element to be polished; the magnet is arranged on the magnetorheological mounting frame, and is used to generate a magnetic field and change the stiffness of the magnetorheological fluid; there are two position adjustment assemblies, which are respectively arranged on the magnetorheological mounting frame and are respectively connected to the polishing wheel and the magnet, and the two position adjustment assemblies are used to independently adjust the position of the polishing wheel and the magnet.

[0011] Furthermore, the position adjustment component includes a supporting frame, a ball screw stepper motor and a connecting plate. The ball screw stepper motor is installed on the magnetorheological mounting frame through the supporting frame. The nut of the ball screw stepper motor is fixedly connected to the connecting plate. The drive motor, polishing wheel and magnet are respectively installed on the connecting plate.

[0012] Furthermore, the magnetorheological polishing module further includes a polishing wheel drive device, which includes a driving motor, a motor connecting plate, a driving wheel, a driven wheel and a synchronous belt. The driving motor is installed on the connecting plate, a bearing seat is installed on the connecting plate, a bearing is installed in the bearing seat, the bearing is connected to the polishing wheel, the driven wheel is mounted on the bearing, the driving wheel is mounted on the output end of the driving motor, and the synchronous belt is tensioned on the driven wheel and the driving wheel.

[0013] A magnetorheological machining control method based on industrial robot posture adjustment is implemented using the above-mentioned magnetorheological machining control device. The magnetorheological machining control method includes the following steps:

[0014] The industrial robot drives the magnetorheological polishing module to move until it contacts the surface of the test polishing element. The computer uses the industrial robot to set different polishing gaps to process the test polishing element. The detection circuit detects the first instantaneous current in the first closed loop in real time to obtain the corresponding relationship between the polishing gap and the first instantaneous current. , represents the first instantaneous current, Indicates the polishing gap, The conversion relationship between the polishing gap and the first instantaneous current is represented, and the corresponding relationship between multiple sets of the first instantaneous current and the polishing gap is mapped and stored to obtain polishing data. The computer calculates the corresponding relationship between each polishing gap and the ideal instantaneous current based on the polishing data;

[0015] The industrial robot drives the magnetorheological polishing module to move until it contacts the surface of the element to be polished. The detection circuit detects the second instantaneous current in the second closed loop in real time. When the computer determines that the error between the second instantaneous current and the ideal instantaneous current corresponding to the current polishing gap exceeds a preset error range, the posture of the industrial robot is controlled, and the polishing gap is adjusted so that after the polishing gap is adjusted, the error between the second instantaneous current detected by the detection circuit and the corresponding ideal instantaneous current is within the preset error range.

[0016] Furthermore, the sampling period of the detection circuit collecting the second instantaneous current is recorded as , adjust the polishing gap to the maximum adjustment amount through the industrial robot The shortest time required is recorded as , , the shortest switching time between two adjacent machining trajectory points on the component to be polished is recorded as , ;in, is the maximum moving speed of the industrial robot. Indicates the distance between two adjacent machining track points on the component to be polished;

[0017] The method for adjusting the sampling frequency of the detection circuit includes:

[0018] judge 、 、 Does the relationship between satisfy the formula:

[0019] ;

[0020] If it is not satisfied, the sampling frequency of the detection circuit collecting the second instantaneous current is adjusted until the formula is satisfied. The sampling frequency is .

[0021] Furthermore, the polishing gap of the industrial robot to the current processing trajectory point is controlled Make adjustments, including:

[0022] If the second instantaneous current Does not exceed the allowable variation range When the polishing gap of the current processing trajectory point is maintained, the posture of the industrial robot is not adjusted. constant;

[0023] If the second instantaneous current Exceeding the allowable variation range and When the industrial robot's posture is changed, the polishing gap of the current processing trajectory point is calculated according to the following formula: To make adjustments:

[0024] ;

[0025] in, represents the ideal instantaneous current value, Indicates the adjustment amplitude of the second instantaneous current;

[0026] If the second instantaneous current Exceeding the allowable variation range and When the industrial robot's posture is changed, the polishing gap of the current processing trajectory point is calculated according to the following formula: To make adjustments:

[0027] ;

[0028] in, Indicates the initial polishing gap set by the industrial robot.

[0029] A magnetorheological machining control method based on adjusting the position of a magnet or a polishing wheel is implemented using the magnetorheological machining control device described above. The magnetorheological machining control method includes the following steps:

[0030] The industrial robot drives the magnetorheological polishing module to move until it contacts the surface of the test polishing element. The computer uses the position adjustment component to set different magnet positions or polishing wheel positions to process the test polishing element. The detection circuit detects the first instantaneous current in the first closed loop in real time to obtain the corresponding relationship between the magnet position or polishing wheel position and the first instantaneous current. , Indicates the magnet position or polishing wheel position, represents the first instantaneous current, Indicates the conversion relationship between the magnet position or the polishing wheel position and the first instantaneous current, maps and stores multiple sets of the first instantaneous current and the corresponding magnet position or the polishing wheel position to obtain polishing data, and the computer calculates the corresponding relationship between each magnet position or each polishing wheel position and the ideal instantaneous current based on the polishing data;

[0031] The industrial robot drives the magnetorheological polishing module to move until it contacts the surface of the test polishing element. The detection circuit detects the second instantaneous current in the second closed loop in real time. When the computer determines that the error between the second instantaneous current and the ideal instantaneous current corresponding to the current polishing gap exceeds a preset error range, the position adjustment component is controlled to adjust the magnet position or the polishing wheel position so that after the magnet position or the polishing wheel position is adjusted, the error between the second instantaneous current detected by the detection circuit and the corresponding ideal instantaneous current is within the preset error range.

[0032] Furthermore, the sampling period of the detection circuit collecting the second instantaneous current is recorded as , adjust the magnet or polishing wheel to the maximum adjustment The shortest time required is recorded as , , the shortest switching time between two adjacent processing track points on the component to be polished is recorded as , ;in, The fastest adjustment speed for the electromagnet position or polishing wheel position change, is the maximum moving speed of the industrial robot. Indicates the distance between two adjacent machining track points on the component to be polished;

[0033] The method for adjusting the sampling frequency of the detection circuit includes:

[0034] judge 、 、 Does the relationship between satisfy the formula:

[0035] ;

[0036] If it is not satisfied, the sampling frequency of the detection circuit collecting the second instantaneous current is adjusted until the formula is satisfied. The sampling frequency is .

[0037] Furthermore, if the second instantaneous current Does not exceed the allowable variation range When the position adjustment component is not adjusted, the current magnet position and polishing wheel position remain unchanged;

[0038] If the second instantaneous current Exceeding the allowable variation range and When the position adjustment component adjusts the magnet position or polishing wheel position of the current processing trajectory point according to the following formula To make adjustments:

[0039] ;

[0040] in, represents the ideal instantaneous current value, Indicates the adjustment amplitude of the second instantaneous current;

[0041] If the second instantaneous current Exceeding the allowable variation range and When the position adjustment component adjusts the magnet position or polishing wheel position of the current processing trajectory point according to the following formula To make adjustments:

[0042] ;

[0043] in, Indicates the set initial position of the magnet or the initial position of the polishing wheel.

[0044] Compared with the prior art, the present invention can achieve the following beneficial effects:

[0045] By utilizing the relationship between the instantaneous current corresponding to the magnetorheological polishing module and the contact resistance, different operating parameters of the magnetorheological polishing module and the first instantaneous current corresponding to each operating parameter are collected while the magnetorheological polishing module is processing the component to be polished. The corresponding relationship between the different operating parameters and the corresponding first instantaneous current is then calculated to obtain the corresponding relationship between the different operating parameters and the ideal instantaneous current. The second instantaneous current is then determined based on the corresponding relationship between the different operating parameters and the ideal instantaneous current. Based on the determination result, it is determined whether to adjust the operating parameters of the magnetorheological polishing module, thereby achieving real-time adjustment of the industrial robot's posture, magnet position, or magnet position. This ensures that the magnetorheological fluid flow fluctuation at each processing trajectory point meets the requirements of high-precision polishing and ensures the constancy of the removal function. This process does not require calibration steps for parameters such as gravity compensation and is not affected by the weight of the magnetorheological polishing module, the equipment's own operating accuracy, operating speed, posture, inertia, and other factors. The accuracy of the measured data is only limited by the current measurement accuracy of the second instantaneous current between the magnetorheological polishing module and the component to be polished. The measurement results are more accurate, and the addition of equipment such as high-precision force sensors is not required, thereby reducing equipment costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 A schematic structural diagram of a magnetorheological processing control device based on instantaneous current sensing according to an embodiment of the present invention at one viewing angle;

[0047] Figure 2 A schematic structural diagram of the magnetorheological processing control device based on instantaneous current sensing according to an embodiment of the present invention from another perspective;

[0048] Figure 3A schematic structural diagram of the magnetorheological polishing module according to an embodiment of the present invention at one viewing angle;

[0049] Figure 4 A schematic structural diagram of the magnetorheological polishing module according to an embodiment of the present invention from another perspective;

[0050] Figure 5 This is a structural diagram of the position adjustment assembly described in an embodiment of the present invention.

[0051] Figure numerals: polishing platform 1, industrial robot 21, magnetorheological mounting frame 221, polishing wheel 222, magnet 223, drive motor 224, liquid pump 225, nozzle 226, position adjustment assembly 227, support and fixing frame 228, ball screw stepper motor 229, connecting plate 230, driving wheel 231, driven wheel 232, synchronous belt 233, screw 234, nut 235, guide rail 236, slider 237, support frame 238, current intensity controller 23, computer 3, test polishing element 4 and element to be polished 5. DETAILED DESCRIPTION

[0052] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. In the following description, identical modules are denoted by identical reference numerals. In the case of identical reference numerals, their names and functions are also identical. Therefore, their detailed description will not be repeated.

[0053] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and do not constitute a limitation of the present invention.

[0054] In the first aspect, this embodiment provides a magnetorheological processing control device based on instantaneous current sensing, the structure of the device is as follows: Figure 1-Figure 5As shown, it includes a polishing platform 1, a polishing assembly, a detection circuit and a computer 3. A test polishing element 4 and an element to be polished 5 are provided on the polishing platform 1; the polishing assembly includes an industrial robot 21 and a magnetorheological polishing module. The industrial robot 21 is used to drive the magnetorheological polishing module to move to the position of the test polishing element 4 or the position of the element to be polished 5, and to adjust the polishing gap between the magnetorheological polishing module and the test polishing element 4 or the polishing gap between the magnetorheological polishing module and the element to be polished 5; the detection circuit is used to output a constant voltage, and when the magnetorheological polishing module contacts the surface of the test polishing element, a first closed loop is formed, and a first instantaneous current in the first closed loop is detected in real time, or when the magnetorheological polishing module contacts the surface of the element to be polished When the surface is polished, a second closed loop is formed, and the second instantaneous current in the second closed loop is detected in real time; the computer 3 is used to calculate the corresponding relationship between different operating parameters of the magnetorheological polishing module (including the polishing gap and the magnet position or the polishing wheel position) and the ideal instantaneous current based on the polishing data, and the polishing data includes the first instantaneous current data detected by the detection circuit under different operating parameters of the magnetorheological polishing module; and the computer 3 is used to adjust the current operating parameters when it is determined that the error between the second instantaneous current detected by the detection circuit and the ideal instantaneous current corresponding to the current operating parameters exceeds the preset error range, so that after the operating parameters are adjusted, the error between the second instantaneous current detected by the detection circuit and the ideal instantaneous current corresponding to the current operating parameters is within the preset error range.

[0055] In this embodiment, the polishing platform 1 refers to a working platform for experiments, on which are placed a test polishing element 4, an element to be polished 5, and other polishing components, such as the magnetorheological fluid required for polishing and supporting tooling for the element to be polished. Among them, the test polishing element 4 is a reference component required for calculating the ideal instantaneous current corresponding to the polishing gap, and the element to be polished 5 is a component that needs to undergo magnetorheological polishing processing.

[0056] In this embodiment, the industrial robot 21 may be a six-degree-of-freedom robotic arm, or other robots with posture adjustment functions.

[0057] The magnetorheological polishing module includes a magnetorheological mounting frame 221, a polishing wheel 222, a magnet 223, a drive motor 224, a liquid pump 225, a nozzle 226 and a position adjustment component 227; wherein the magnetorheological mounting frame 221 is connected to the tool end of the industrial robot 21; the liquid pump 225 is arranged on a support frame 238 on one side of the industrial robot 21 and is connected to the nozzle 226, for conveying magnetorheological fluid to the nozzle 226, the liquid pump 225 is a prior art and will not be described in detail here, for example, the DFLD vertical multi-stage pump of Shanghai Oriental Pump Industry Co., Ltd. is used; the nozzle 226 is arranged on the magnetorheological mounting frame 221, for spraying magnetorheological fluid onto the polishing wheel 222; the polishing wheel 222 is adjusted by a position Component 227 is set on the magnetorheological mounting frame 221, and uses magnetorheological fluid to process the test polishing element 4 or the element to be polished 5; the magnet 223 is set on the magnetorheological mounting frame 221 through another position adjustment component 227, which is used to generate a magnetic field and change the stiffness of the magnetorheological fluid; the drive motor 224 is used to drive the polishing wheel 222 to rotate at high speed, bringing the magnetorheological fluid into the magnetic field action area, and the magnetorheological fluid flow forms a magnetorheological ribbon under the action of the magnetic field. The size parameters of the magnetorheological ribbon change with the posture of the industrial robot 21, the position of the polishing wheel 222 or the position of the magnet 223; the two position adjustment components 227 are used to independently control the positions of the polishing wheel 222 and the magnet 223.

[0058] The two position adjustment components 227 have the same structure, both including a support and fixing frame 228, a ball screw stepper motor 229, a connecting plate 230, a driving wheel 231, a driven wheel 232, and a synchronous belt 233. The ball screw stepper motor 229 is installed on the magnetorheological mounting frame 221 through the support and fixing frame 228. The nut 235 of the ball screw stepper motor 229 is fixedly connected to the connecting plate 230. The polishing wheel 222 and the magnet 223 are respectively installed on their corresponding connecting plates 230, and are driven by the ball screw stepper motor 229 to move up and down.

[0059] A bearing seat is installed on the connecting plate 230, and a bearing is installed in the bearing seat. The polishing wheel 222 is connected to the bearing, the driven wheel 232 is sleeved on the bearing, the drive motor 224 is installed on the connecting plate 230, and the driving wheel 231 is sleeved on the output end of the drive motor 224. The synchronous belt 233 is tensioned on the driven wheel 232 and the driving wheel 231, and the polishing wheel 222 is driven to rotate by the drive motor 224. Please refer to the Chinese patent with a publication date of July 12, 2024 and publication number CN118322074A.

[0060] In this embodiment of the present invention, to ensure that the polishing wheel 222 and the magnet 223 can stably move along the lead screw 234 of the ball screw stepper motor 229, a guide rail 236 is preferably installed on each side of the lead screw 234 on the support bracket 228. The two guide rails 236 are parallel to the lead screw 234. Slide blocks 237 are slidably connected to the two guide rails 236. In this case, the connecting plate 230 is fixedly connected to the nut 235 and the two slide blocks 237. During the polishing process, the computer 3 sends a control signal to the ball screw stepper motor 229, which drives the connecting plate 230 to move linearly under the sliding cooperation of the guide rails 236 and the slide blocks 237.

[0061] In this embodiment, the polishing principle is explained using a test polishing element 4 as an example: When the polishing wheel is operating, the magnetorheological fluid is subjected to changes in the magnetic field, changing from a liquid to a near-solid state, forming a Bingham fluid. The rotation of the polishing wheel 222 causes the Bingham fluid to exert a shear force on the outer surface of the test polishing element 4, thereby polishing the test polishing element 4. Different postures of the industrial robot 21, different positions of the magnet 223, or different positions of the polishing wheel 222 result in different shear forces, resulting in different polishing effects.

[0062] It's important to note that strong magnetism exists within the working area of ​​the MRP module. Therefore, circuit connections must be placed away from this area to prevent wires from being attracted to the module and impacting normal operation. Ideally, the fixed voltage should not exceed the human safety voltage, and the instantaneous current measured using contact resistance should not exceed the human safety current.

[0063] In this embodiment, the detection circuit is based on the principle of resistance change. Pressure exists between the magnetorheological polishing module and the test polishing element 4, and between the magnetorheological polishing module and the element to be polished 5. Different postures of the industrial robot 21, different positions of the magnet 223, or different positions of the polishing wheel 222 correspond to different pressures. Changes in pressure will cause changes in contact resistance, and the current flowing through the contact resistance will also change. Taking the test polishing element 4 as an example, the same principle can be applied to the element to be polished 5, as follows:

[0064] The detection circuit applies a fixed voltage between the magnetorheological polishing module and the test polishing element 4, and uses the relationship between contact resistance and pressure to calculate the resistance value caused by the pressure change. Then, based on the relationship between the fixed voltage, contact resistance and instantaneous current, the instantaneous current value is calculated using Ohm's law. The instantaneous current value in the first closed loop is the first instantaneous current. The relationship between pressure and contact resistance can be expressed by the following formula:

[0065] ;

[0066] in, is the contact resistance, is the material coefficient, is the pressure when the magnetorheological polishing module contacts the test polishing element 4, is the coefficient corresponding to the contact form (including point contact, surface contact, line contact, etc.). In this embodiment, For surface contact, .

[0067] The detection circuit can be implemented by a current intensity controller 23 . The current intensity controller 23 can adopt a Smart200 series DA conversion module of Siemens to sense the first instantaneous current between the test polishing element 4 and the polishing wheel 222 .

[0068] In this embodiment, computer 3 is configured to calculate a correspondence between different operating parameters of the magnetorheological polishing module and an ideal instantaneous current based on polishing data collected by the detection circuit under different operating parameters of the magnetorheological polishing module. The polishing data includes first instantaneous current data in a first closed loop detected by the detection circuit under different polishing gaps and different polishing wheel positions or different magnet positions.

[0069] Taking the polishing gap as an example, the position of the polishing wheel 222 and the position of the magnet 223 can be determined similarly. Different polishing gaps can be pre-set, covering the maximum and minimum polishing gaps that the industrial robot-driven magnetorheological polishing module can reach. Polishing data can be collected multiple times, and the error between multiple sets of polishing data can be reduced by numerical calculation methods such as taking the mean or variance. The ideal relationship between instantaneous current and polishing gap can then be calculated based on the polishing data.

[0070] In this embodiment, the computer 3 calculates the correspondence between different polishing gaps and ideal instantaneous currents, and the correspondence between different polishing wheel positions or different magnet positions and ideal instantaneous currents, by calculating the correlation between the first instantaneous current data in the first closed loop and the corresponding polishing gap, polishing wheel position, or magnet position. With this as a reference, when processing the element to be polished 5, the difference between the second instantaneous current corresponding to the polishing gap in the second closed loop of the element to be polished 5 and the ideal instantaneous current under the polishing gap and polishing wheel position or magnet position is compared to determine whether it is within a preset error range. If not, the position of the industrial robot 21 and the position of the polishing wheel 222 or the position of the magnet 223 are adjusted so that the second instantaneous current is the same as, or within the same preset error range as, the ideal instantaneous current corresponding to the current polishing gap, polishing wheel position, or magnet position. This method can achieve the effect of real-time adjustment of the posture of the industrial robot 21 and the position of the polishing wheel 222 or the position of the magnet 223 during the polishing process based on the correspondence between the polishing gap and the instantaneous current and the correspondence between the position of the polishing wheel 222 or the position of the magnet 223 and the instantaneous current, thereby achieving the purpose of automatic compensation of the polishing gap by the industrial robot 21.

[0071] By utilizing the relationship between the magnetorheological polishing module and the instantaneous current corresponding to the contact resistance, when the polishing module processes the polishing element 5, different operating parameters of the magnetorheological polishing module and the first instantaneous current corresponding to the different operating parameters are collected respectively, and then the corresponding relationship between the different operating parameters and the ideal instantaneous current is calculated through the different operating parameters and the corresponding first instantaneous current. Then, the second instantaneous current is judged by the corresponding relationship between the different operating parameters and the ideal instantaneous current, and it is decided whether to adjust the operating parameters of the polishing element according to the judgment result, thereby realizing real-time adjustment of the posture, magnetic field strength or magnet position of the industrial robot. This process does not require calibration steps of parameters such as gravity compensation, and will not be affected by the weight of the magnetorheological polishing module, the operating accuracy of the equipment itself, the operating speed, posture, inertia and other factors. The accuracy of the measurement data is only limited by the current measurement accuracy of the second instantaneous current between the magnetorheological polishing module and the element to be polished. The measurement results are more accurate, and there is no need to add high-precision force sensors and other equipment, thereby reducing equipment costs.

[0072] In a second aspect, this embodiment further provides a magnetorheological processing control method based on industrial robot posture adjustment, which is implemented using the above-mentioned magnetorheological processing control device. The magnetorheological processing control method includes the following steps:

[0073] The industrial robot drives the magnetorheological polishing module to move until it contacts the surface of the test polishing element. The computer uses the industrial robot to set different polishing gaps to process the test polishing element. The detection circuit detects the first instantaneous current in the first closed loop in real time to obtain the corresponding relationship between the polishing gap and the first instantaneous current. , represents the first instantaneous current, Indicates the polishing gap, The conversion relationship between the polishing gap and the first instantaneous current is represented, and the corresponding relationship between multiple sets of the first instantaneous current and the polishing gap is mapped and stored to obtain polishing data. The computer calculates the corresponding relationship between each polishing gap and the ideal instantaneous current based on the polishing data;

[0074] The industrial robot drives the magnetorheological polishing module to move until it contacts the surface of the element to be polished. The detection circuit detects the second instantaneous current in the second closed loop in real time. When the computer determines that the error between the second instantaneous current and the ideal instantaneous current corresponding to the current polishing gap exceeds a preset error range, the posture of the industrial robot is controlled, and the polishing gap is adjusted so that the error between the second instantaneous current detected by the detection circuit and the ideal instantaneous current after the polishing gap is adjusted is within the preset error range.

[0075] In this embodiment, the correspondence between the ideal instantaneous current and the polishing gap must first be determined. An industrial robot drives the magnetorheological polishing module until it contacts the surface of a test polishing element. At this point, the polishing wheel contacts the outer surface of the test polishing element through the magnetorheological fluid. The portion of the polishing wheel in contact with the test polishing element is recorded as the first machining trajectory point. This first machining trajectory point remains unchanged during the measurement of the same set of polishing data. Optionally, when measuring multiple sets of polishing data, different first machining trajectory points can be selected on the test polishing element to improve the accuracy of the correspondence between the ideal instantaneous current and the polishing gap.

[0076] During the process of the polishing wheel processing the test polishing element, the computer controls the industrial robot to set different polishing gaps, collects the first instantaneous current in the first closed loop corresponding to the different polishing gaps, maps and stores multiple groups of first instantaneous currents with the corresponding polishing gaps, and obtains polishing data. The computer calculates the correspondence between the polishing gap and the ideal instantaneous current based on the polishing data.

[0077] After obtaining the correspondence between the ideal instantaneous current and the polishing gap, the polishing gap corresponding to the element to be polished can be adjusted according to this correspondence, so that the second instantaneous current corresponding to the current polishing gap of the element to be polished and the ideal instantaneous current are within the same preset error range.

[0078] In some embodiments, the correspondence between the polishing gap and the ideal instantaneous current is a function curve relationship, which is characterized by the correspondence between the polishing gap and the first instantaneous current. The correspondence between the polishing gap and the first instantaneous current is obtained by fitting based on multiple discrete values ​​of the polishing gap and the first instantaneous current.

[0079] In this embodiment, the polishing gap and the first instantaneous current are in a one-to-one correspondence, and both the polishing gap and the first instantaneous current are discrete values. Therefore, the discrete values ​​need to be fitted.

[0080] Fitting process: discrete data is imported into Matlab software, and the data fitting is completed with the help of Matlab software's polyfit fitting command to solve the corresponding relationship between polishing gap and current parameters. ; Polyfit fitting command is a basic general command of matlab software, and finally the corresponding relationship between the polishing gap h and the first instantaneous current A is obtained for:

[0081] .

[0082] This method can more intuitively show the corresponding relationship between the ideal instantaneous current and the polishing gap. Based on this, the components to be polished under the same polishing conditions can be processed and the automatic compensation effect of the polishing gap can be achieved.

[0083] In some embodiments, the sampling period of the detection circuit collecting the second instantaneous current is recorded as , adjust the polishing gap to the maximum adjustment amount through the industrial robot The shortest time required is recorded as , , the shortest switching time between two adjacent machining trajectory points on the component to be polished is recorded as , ;in, is the maximum moving speed of the industrial robot. Indicates the distance between two adjacent machining track points on the component to be polished.

[0084] The method for adjusting the sampling frequency of the detection circuit includes:

[0085] judge 、 、 Does the relationship between satisfy the formula:

[0086] ;

[0087] If it is not satisfied, the sampling frequency of the detection circuit collecting the second instantaneous current is adjusted until the formula is satisfied. The sampling frequency is .

[0088] In this embodiment, the above formula gives the correspondence between the three time elements, namely: within a single sampling cycle, the industrial robot can adjust the position of the magnetorheological polishing module, so that it moves to the polishing gap corresponding to the ideal instantaneous current, and then performs the next sampling, thereby avoiding the sampling cycle being too long resulting in the sampling frequency being too slow, so that the sampling frequency does not match the adjustment speed of the polishing gap by the industrial robot, and the adjustment is not timely, resulting in the inability to know the current state of the second instantaneous current, affecting the automatic compensation function of the polishing gap.

[0089] In some embodiments, if the current polishing gap Adjust to the second instantaneous current Gap with current polishing When the error of the corresponding ideal instantaneous current is equal to or greater than the upper limit threshold of the preset error range, the current polishing gap The corresponding adjustment range is , current polishing gap The corresponding second instantaneous current The value of , represents the ideal instantaneous current value, Indicates the adjustment amplitude of the second instantaneous current.

[0090] If the current polishing gap Adjust to the second instantaneous current When the error of the ideal instantaneous current corresponding to the current polishing gap is equal to or greater than the lower limit threshold of the preset error range, the current polishing gap The corresponding adjustment range is , the second instantaneous current value is .

[0091] Control the industrial robot to the current polishing gap Make adjustments, including:

[0092] If the second instantaneous current Does not exceed the allowable variation range When the polishing gap of the current processing trajectory point is maintained, the posture of the industrial robot is not adjusted. constant;

[0093] If the second instantaneous current Exceeding the allowable variation range and When the industrial robot's posture is changed, the polishing gap of the current processing trajectory point is calculated according to the following formula: To make adjustments:

[0094] ;

[0095] If the second instantaneous current Exceeding the allowable variation range and When the industrial robot's posture is changed, the polishing gap of the current processing trajectory point is calculated according to the following formula: To make adjustments:

[0096] ;

[0097] in, Indicates the initial polishing gap set by the industrial robot.

[0098] The polishing gap is adjusted based on the posture control of the industrial robot (six-degree-of-freedom robotic arm), so that the second instantaneous current of the next processing trajectory point In the allowable range of variation Within, the polishing gap change requirements of magnetorheological high-precision machining are met.

[0099] It should be noted that the current polishing gap and the polishing gap of the current processing trajectory point have the same meaning.

[0100] The above technical solution uses a magnetorheological polishing module to process a test polishing element, collects different polishing gaps and their corresponding first instantaneous currents, and then calculates the corresponding relationship between the polishing gap and the ideal instantaneous current based on the collected polishing gap and the first instantaneous current. This relationship is then used to determine the second instantaneous current. Based on the determination result, it is determined whether to adjust the polishing gap of the polishing element to be polished, thereby achieving real-time adjustment and compensation of the polishing gap by the industrial robot, so that the magnetorheological fluid flow fluctuation at each processing trajectory point meets the requirements of high-precision polishing and ensures the constancy of the removal function. This process does not require calibration steps for parameters such as gravity compensation and is not affected by the weight of the magnetorheological polishing module, the equipment's own operating accuracy, operating speed, posture, inertia, and other factors. The accuracy of the measured data is only limited by the current measurement accuracy of the second instantaneous current between the magnetorheological polishing module and the polishing element to be polished. The measurement results are more accurate, and there is no need to add high-precision force sensors and other equipment, which reduces equipment costs.

[0101] In a third aspect, this embodiment further provides a magnetorheological processing control method based on adjusting the position of a magnet or a polishing wheel, which is implemented using the above-mentioned magnetorheological processing control device. The magnetorheological processing control method includes the following steps:

[0102] The industrial robot drives the magnetorheological polishing module to move until it contacts the surface of the test polishing element. The computer uses the position adjustment component to set different magnet positions or polishing wheel positions to process the test polishing element. The detection circuit detects the first instantaneous current in the first closed loop in real time to obtain the corresponding relationship between the magnet position or polishing wheel position and the first instantaneous current. , Indicates the magnet position or polishing wheel position, represents the first instantaneous current, Indicates the conversion relationship between the magnet position or the polishing wheel position and the first instantaneous current, maps and stores multiple sets of the first instantaneous current and the corresponding magnet position or the polishing wheel position to obtain polishing data, and the computer calculates the corresponding relationship between each magnet position or each polishing wheel position and the ideal instantaneous current based on the polishing data;

[0103] The industrial robot drives the magnetorheological polishing module to move until it contacts the surface of the test polishing element. The detection circuit detects the second instantaneous current in the second closed loop in real time. When the computer determines that the error between the second instantaneous current and the ideal instantaneous current corresponding to the current polishing gap exceeds a preset error range, the position adjustment component is controlled to adjust the magnet position or the polishing wheel position so that after the magnet position or the polishing wheel position is adjusted, the error between the second instantaneous current detected by the detection circuit and the ideal instantaneous current is within the preset error range.

[0104] In this embodiment, it is necessary to first obtain the correspondence between the ideal instantaneous current and the magnet position, or the correspondence between the ideal instantaneous current and the polishing wheel position. The industrial robot drives the magnetorheological polishing module until it contacts the surface of the test polishing element. The portion where the magnetorheological polishing module contacts the test polishing element is recorded as the first processing trajectory point. During the measurement of the same set of polishing data, the first processing trajectory point remains unchanged. Optionally, when measuring multiple sets of polishing data, different first processing trajectory points can be selected on the test polishing element to improve the accuracy of the correspondence between the ideal instantaneous current and the magnet position.

[0105] During the process of the magnetorheological polishing module processing the test polishing element, the computer controls the position adjustment component to change the polishing wheel position or the magnet position, and collects the first instantaneous current in the first closed loop corresponding to different magnet positions or different polishing wheel positions, maps and stores multiple groups of first instantaneous currents with the corresponding magnet positions or polishing wheel positions to obtain polishing data, and the computer calculates the correspondence between the magnet position or polishing wheel position and the ideal instantaneous current based on the polishing data.

[0106] After obtaining the correspondence between the ideal instantaneous current and the magnet position or polishing wheel position, the magnet position or polishing wheel position corresponding to the polishing element can be adjusted according to the correspondence, so that the second instantaneous current corresponding to the current magnet position of the polishing element is within the same preset error range as the ideal instantaneous current.

[0107] In some embodiments, the correspondence between the magnet position or polishing wheel position and the ideal instantaneous current is a function curve relationship, which is characterized by the correspondence between the magnet position or polishing wheel position and the first instantaneous current. The correspondence between the magnet position or polishing wheel position and the first instantaneous current is obtained by fitting based on multiple discrete values ​​of the magnet position or polishing wheel position and the first instantaneous current.

[0108] In this embodiment, there is a one-to-one correspondence between the magnet position or the polishing wheel position and the first instantaneous current. Both the magnet position or the polishing wheel position and the first instantaneous current are discrete values. Therefore, the discrete values ​​need to be fitted.

[0109] Fitting process: The discrete data is imported into Matlab software, and the data fitting is completed with the help of Matlab software's polyfit fitting command to solve the corresponding relationship between the magnet position and the current parameters. The Polyfit fitting command is a basic general command of MATLAB software, which ultimately obtains the corresponding relationship between the magnet position or polishing wheel position and the first instantaneous current:

[0110] ;

[0111] in, Indicates the magnet position or polishing wheel position, represents the first instantaneous current, It represents the conversion relationship between the magnet position or polishing wheel position and the first instantaneous current.

[0112] This method can more intuitively show the correspondence between the ideal instantaneous current and the magnet position or polishing wheel position. Based on this, the components to be polished under the same polishing conditions can be processed and the automatic compensation effect of the magnet position or polishing wheel position can be achieved.

[0113] In some embodiments, the sampling period of the detection circuit collecting the second instantaneous current is recorded as , adjust the magnet or polishing wheel to the maximum adjustment The shortest time required is recorded as , , the shortest switching time between two adjacent processing track points on the component to be polished is recorded as , ;in, The fastest adjustment speed for the electromagnet position or polishing wheel position change, is the maximum moving speed of the industrial robot. Indicates the distance between two adjacent machining track points on the component to be polished.

[0114] judge 、 、 Does the relationship between satisfy the formula:

[0115] ;

[0116] If it is not satisfied, the sampling frequency of the detection circuit collecting the second instantaneous current is adjusted until the formula is satisfied. The sampling frequency is .

[0117] In this embodiment, the above formula gives the corresponding relationship between the three time elements, namely: within a single sampling cycle, the industrial robot can adjust the magnetorheological polishing module so that it moves to the magnet position or polishing wheel position corresponding to the ideal instantaneous current before performing the next sampling, thereby avoiding the sampling cycle being too long resulting in the sampling frequency being too slow, so that the sampling frequency does not match the industrial robot's adjustment speed of the magnet position or polishing wheel position, and the adjustment is not timely, resulting in the inability to know the current state of the second instantaneous current, affecting the automatic compensation function of the magnet position or polishing wheel position.

[0118] In some embodiments, if the current magnet position or the current polishing wheel position Adjust to the second instantaneous current With the current magnet position or the current polishing wheel position When the error of the corresponding ideal instantaneous current is equal to or greater than the upper threshold of the preset error range, the current magnet position or the current polishing wheel position The corresponding adjustment range is , current magnet position or current polishing wheel position The corresponding second instantaneous current The value of , represents the ideal instantaneous current value, Indicates the adjustment amplitude of the second instantaneous current.

[0119] If the current magnet position or the current polishing wheel position Adjust to the second instantaneous current With the current magnet position or the current polishing wheel position When the error of the corresponding ideal instantaneous current is equal to or greater than the lower limit threshold of the preset error range, the current magnet position or the current polishing wheel position The corresponding adjustment range is , current magnet position or current polishing wheel position The corresponding second instantaneous current The value of In the present invention, the current magnet position and the magnet position at the current processing trajectory point, and the current polishing wheel position and the polishing wheel position at the current processing trajectory point have the same meaning.

[0120] Control the position adjustment component to the current magnet position or the current polishing wheel position Make adjustments, including:

[0121] If the second instantaneous current Does not exceed the allowable variation range When the position adjustment component is not adjusted, the current magnet position and polishing wheel position remain unchanged;

[0122] If the second instantaneous current Exceeding the allowable variation range and When the position adjustment component adjusts the magnet position or polishing wheel position of the current processing trajectory point according to the following formula To make adjustments:

[0123] ;

[0124] If the second instantaneous current Exceeding the allowable variation range and When the position adjustment component adjusts the magnet position or polishing wheel position of the current processing trajectory point according to the following formula To make adjustments:

[0125] ;

[0126] in, Indicates the set initial position of the magnet or the initial position of the polishing wheel.

[0127] Based on the change of the current magnet position by the processing equipment, the current of the next processing trajectory point is In the allowable range of variation The magnet position change requirements of magnetorheological high-precision machining are met.

[0128] It should be noted that the current magnet position and the magnet position at the current processing trajectory point, as well as the current polishing wheel position and the polishing wheel position at the current processing trajectory point, all have the same meaning.

[0129] The above technical solution uses the magnetorheological polishing module to process the test polishing element, collects different magnet positions and their corresponding first instantaneous currents, and then calculates the corresponding relationship between the magnet position or polishing wheel position and the ideal instantaneous current through the collected magnet position and the first instantaneous current. Then, the second instantaneous current is judged based on this relationship. According to the judgment result, it is decided whether to adjust the magnet position or polishing wheel position of the polishing element, thereby realizing real-time adjustment and compensation of the magnet position or polishing wheel position by the position adjustment component, so that the magnetorheological fluid flow fluctuation at each processing trajectory point meets the high-precision polishing requirements and ensures the constancy of the removal function. This process does not require the calibration steps of parameters such as gravity compensation, and is not affected by the weight of the magnetorheological polishing module, the operating accuracy of the equipment itself, the operating speed, posture, inertia and other factors. The accuracy of the measurement data is only limited by the current measurement accuracy of the second instantaneous current between the magnetorheological polishing module and the polishing element. The measurement results are more accurate, and there is no need to add high-precision force sensors and other equipment, which reduces the equipment cost.

[0130] It should be understood that the various forms of the processes shown above can be used to reorder, add, or delete steps. For example, the steps described in the present disclosure can be performed in parallel, sequentially, or in a different order, as long as the desired results of the technical solutions disclosed in the present disclosure can be achieved. This is not limited herein.

[0131] The above specific embodiments do not limit the scope of protection of the present invention. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions may be made based on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention are intended to be included within the scope of protection of the present invention.

Claims

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

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

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

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

5. A magnetorheological processing control method based on industrial robot posture adjustment, implemented using the magnetorheological processing control device based on instantaneous current sensing according to claim 2, characterized in that: The magnetorheological processing control method comprises the following steps: The industrial robot drives the magnetorheological polishing module to move until it contacts the surface of the test polishing element. The computer uses the industrial robot to set different polishing gaps to process the test polishing element. The detection circuit detects the first instantaneous current in the first closed loop in real time to obtain the corresponding relationship between the polishing gap and the first instantaneous current. , represents the first instantaneous current, Indicates the polishing gap, The conversion relationship between the polishing gap and the first instantaneous current is represented, and the corresponding relationship between multiple sets of the first instantaneous current and the polishing gap is mapped and stored to obtain polishing data. The computer calculates the corresponding relationship between each polishing gap and the ideal instantaneous current based on the polishing data; The industrial robot drives the magnetorheological polishing module to move until it contacts the surface of the element to be polished. The detection circuit detects the second instantaneous current in the second closed loop in real time. When the computer determines that the error between the second instantaneous current and the ideal instantaneous current corresponding to the current polishing gap exceeds a preset error range, the posture of the industrial robot is controlled, and the polishing gap is adjusted so that the error between the second instantaneous current detected by the detection circuit and the ideal instantaneous current after the polishing gap is adjusted is within the preset error range.

6. The magnetorheological machining control method based on industrial robot posture adjustment according to claim 5 is characterized in that: The sampling period of the detection circuit collecting the second instantaneous current is recorded as , adjust the polishing gap to the maximum adjustment amount through the industrial robot The shortest time required is recorded as , , the shortest switching time between two adjacent machining trajectory points on the component to be polished is recorded as , ;in, is the maximum moving speed of the industrial robot. Indicates the distance between two adjacent machining track points on the component to be polished; The method for adjusting the sampling frequency of the detection circuit includes: judge 、 、 Does the relationship between satisfy the formula: ； If it is not satisfied, the sampling frequency of the detection circuit collecting the second instantaneous current is adjusted until the formula is satisfied. The sampling frequency is .

7. The magnetorheological machining control method based on industrial robot posture adjustment according to claim 6 is characterized in that: Control the polishing gap of the industrial robot at the current processing trajectory point Make adjustments, including: If the second instantaneous current Does not exceed the allowable variation range When the polishing gap of the current processing trajectory point is maintained, the posture of the industrial robot is not adjusted. constant; If the second instantaneous current Exceeding the allowable variation range and , then change the posture of the industrial robot and calculate the polishing gap of the current processing trajectory point according to the following formula To make adjustments: ； in, represents the ideal instantaneous current value, Indicates the adjustment amplitude of the second instantaneous current; If the second instantaneous current Exceeding the allowable variation range and , then change the posture of the industrial robot and calculate the polishing gap of the current processing trajectory point according to the following formula To make adjustments: ； in, Indicates the initial polishing gap set by the industrial robot.

8. A magnetorheological processing control method based on magnet position or polishing wheel position adjustment, implemented using the magnetorheological processing control device based on instantaneous current sensing according to claim 2, characterized in that: The magnetorheological processing control method comprises the following steps: The industrial robot drives the magnetorheological polishing module to move until it contacts the surface of the test polishing element. The computer uses the position adjustment component to set different magnet positions or polishing wheel positions to process the test polishing element. The detection circuit detects the first instantaneous current in the first closed loop in real time to obtain the corresponding relationship between the magnet position or polishing wheel position and the first instantaneous current. , Indicates the magnet position or polishing wheel position, represents the first instantaneous current, Indicates the conversion relationship between the magnet position or the polishing wheel position and the first instantaneous current, maps and stores multiple sets of the first instantaneous current and the corresponding magnet position or the polishing wheel position to obtain polishing data, and the computer calculates the corresponding relationship between each magnet position or each polishing wheel position and the ideal instantaneous current based on the polishing data; The industrial robot drives the magnetorheological polishing module to move until it contacts the surface of the test polishing element. The detection circuit detects the second instantaneous current in the second closed loop in real time. When the computer determines that the error between the second instantaneous current and the ideal instantaneous current corresponding to the current polishing gap exceeds a preset error range, the position adjustment component is controlled to adjust the magnet position or the polishing wheel position so that after the magnet position or the polishing wheel position is adjusted, the error between the second instantaneous current detected by the detection circuit and the corresponding ideal instantaneous current is within the preset error range.

9. The magnetorheological machining control method based on magnet position or polishing wheel position adjustment according to claim 8, characterized in that: The sampling period of the detection circuit collecting the second instantaneous current is recorded as , adjust the magnet or polishing wheel to the maximum adjustment The shortest time required is recorded as , , the shortest switching time between two adjacent processing track points on the component to be polished is recorded as , ;in, The fastest adjustment speed for the electromagnet position or polishing wheel position change, is the maximum moving speed of the industrial robot. Indicates the distance between two adjacent machining track points on the component to be polished; The method for adjusting the sampling frequency of the detection circuit includes: judge 、 、 Does the relationship between satisfy the formula: ； If it is not satisfied, the sampling frequency of the detection circuit collecting the second instantaneous current is adjusted until the formula is satisfied. The sampling frequency is .

10. The magnetorheological machining control method based on magnet position or polishing wheel position adjustment according to claim 9, characterized in that: The control position adjustment component adjusts the current magnet position or polishing wheel position, including: If the second instantaneous current Does not exceed the allowable variation range When the position adjustment component is not adjusted, the current magnet position and polishing wheel position remain unchanged; If the second instantaneous current Exceeding the allowable variation range and , the position adjustment component adjusts the magnet position or polishing wheel position of the current processing trajectory point according to the following formula To make adjustments: ； in, represents the ideal instantaneous current value, Indicates the adjustment amplitude of the second instantaneous current; If the second instantaneous current Exceeding the allowable variation range and , the position adjustment component adjusts the magnet position or polishing wheel position of the current processing trajectory point according to the following formula To make adjustments: ； in, Indicates the set initial position of the magnet or the initial position of the polishing wheel.

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