Magnetorheological machining control system and machining 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 system and method based on instantaneous current sensing. The system 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 system 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) processing equipment with large polishing wheels. These MR polishing modules typically weigh hundreds of kilograms. However, for these MR polishing 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 fractions 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 system and processing method based on instantaneous current sensing. It solves the problem that the existing technology of controlling the polishing wheel requires the use of high-precision force sensors for data collection and the high cost of high-precision force sensors by simply adjusting the operating parameters.

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

[0006] A magnetorheological processing control system based on instantaneous current sensing, comprising:

[0007] a polishing platform on which a test polishing element and an element to be polished are arranged;

[0008] 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;

[0009] 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;

[0010] 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 the first instantaneous current data detected by the detection circuit under different operating parameters of the magnetorheological polishing module, and the operating parameters including the actuator output displacement, the nozzle position and the liquid pump height; and the computer is used to adjust the current operating parameters when it is determined that the error between the second instantaneous current detected by the detection circuit and the ideal instantaneous current corresponding to the current operating parameters exceeds the preset error range, so that the error between the second instantaneous current detected by the detection circuit and the corresponding ideal instantaneous current after the operating parameters are adjusted is within the preset error range; the computer is also used to record the removal function corresponding to each processing trajectory point during each processing of the magnetorheological polishing module, obtain a variable removal function set, use the variable removal function set of the current processing as the input parameter of the next processing, and perform secondary processing on the polishing element.

[0011] Furthermore, the magnetorheological polishing module includes a magnetorheological mounting frame, a polishing wheel, a nozzle, a magnet, an actuator group and a supply device. One end of the actuator group is connected to the magnetorheological mounting frame, and the other end of the actuator group is connected to the tool end of the industrial robot. The polishing wheel and the magnet are respectively installed on the magnetorheological mounting frame. The nozzle is installed on the magnetorheological mounting frame through the nozzle adjustment seat. The nozzle adjustment seat is used to adjust the position of the nozzle. The nozzle is used to spray magnetorheological fluid onto the polishing wheel. The magnet is used to change the stiffness of the magnetorheological fluid. The polishing wheel is used to process the test polishing element or the element to be polished. The supply device is arranged on one side of the polishing platform and is used to pump magnetorheological fluid into the nozzle.

[0012] Furthermore, the nozzle adjustment seat includes a fixing frame, a nozzle adjustment motor, a push plate, a nozzle mounting frame and an arc guide rail; wherein, the fixing frame is installed on the magnetorheological mounting frame, the nozzle adjustment motor and the arc guide rail are respectively installed on the fixing frame, the push plate is installed at the output end of the nozzle adjustment motor, the nozzle mounting frame is respectively connected to the push plate and the slider of the arc guide rail, and the nozzle is installed on the nozzle mounting frame.

[0013] Furthermore, the supply device includes a liquid pump, a mounting bracket, a mounting plate, a linear guide and a ball screw stepper motor; wherein, the linear guide and the ball screw stepper motor are respectively vertically mounted on the mounting bracket, and the linear guides are distributed on both sides of the ball screw stepper motor, the liquid pump is mounted on the mounting plate, and the mounting plate is respectively connected to the slider of the linear guide and the nut of the ball screw stepper motor.

[0014] Furthermore, the magnetorheological polishing module further includes a polishing wheel drive device, which includes a driving motor, a driving wheel, a driven wheel and a synchronous belt. The driving motor is installed on a magnetorheological mounting frame, a bearing seat is installed on the magnetorheological mounting frame, 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.

[0015] A magnetorheological machining control method based on nozzle position adjustment is implemented using the magnetorheological machining control system based on instantaneous current sensing. The magnetorheological machining control method includes the following steps:

[0016] The industrial robot drives the magnetorheological polishing module to move until it contacts the surface of the test polishing element. The computer sets different nozzle 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 nozzle position and the first instantaneous current. , represents the first instantaneous current, Indicates the nozzle position, The conversion relationship between the nozzle position and the first instantaneous current is represented, and multiple sets of the first instantaneous current and the corresponding nozzle positions are mapped and stored to obtain polishing data. The computer calculates the corresponding relationship between the nozzle position and the ideal instantaneous current based on the polishing data;

[0017] The industrial robot drives the magnetorheological polishing module to move until it contacts the surface of the component to be polished. The detection circuit detects the second instantaneous current in the second closed loop in real time. When the computer determines that the error between the second instantaneous current and the ideal instantaneous current corresponding to the current nozzle position exceeds a preset error range, the nozzle position is adjusted by the nozzle adjustment motor so that after the nozzle 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.

[0018] Furthermore, the sampling period of the detection circuit collecting the second instantaneous current is recorded as , adjust the nozzle position to the maximum adjustment amount 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, The fastest adjustment speed for nozzle 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;

[0019] The method for adjusting the sampling frequency of the detection circuit includes:

[0020] judge 、 、 Does the relationship between satisfy the formula:

[0021] ;

[0022] 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 .

[0023] Furthermore, the nozzle adjustment motor is controlled to adjust the nozzle position of the current processing trajectory point Make adjustments, including:

[0024] If the second instantaneous current Does not exceed the allowable variation range When the nozzle adjustment motor is not controlled, the nozzle position of the current processing trajectory point is maintained. constant;

[0025] If the second instantaneous current Exceeding the allowable variation range and When the nozzle is adjusted, the motor is controlled to adjust the nozzle position of the current processing trajectory point according to the following formula: To make adjustments:

[0026] ;

[0027] in, represents the ideal instantaneous current value, Indicates the adjustment amplitude of the second instantaneous current;

[0028] If the second instantaneous current Exceeding the allowable variation range and When the nozzle is adjusted, the motor is controlled to adjust the nozzle position of the current processing trajectory point according to the following formula: To make adjustments:

[0029] ;

[0030] in, Indicates the set initial nozzle position.

[0031] A magnetorheological processing control method based on liquid pump height adjustment is implemented using the above-mentioned magnetorheological processing control system based on instantaneous current sensing. The magnetorheological processing control method includes the following steps:

[0032] The industrial robot drives the magnetorheological polishing module to move until it contacts the surface of the test polishing element. The computer sets different liquid pump heights 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 liquid pump height and the first instantaneous current. , represents the first instantaneous current, Indicates the liquid pump height, Indicates the conversion relationship between the liquid pump height and the first instantaneous current, maps and stores multiple sets of first instantaneous currents and corresponding liquid pump heights to obtain polishing data, and the computer calculates the corresponding relationship between the liquid pump height and the ideal instantaneous current based on the polishing data;

[0033] The industrial robot drives the magnetorheological polishing module to move until it contacts the surface of the component to be polished. The detection circuit detects the second instantaneous current in the second closed loop in real time. When the computer determines that the error between the second instantaneous current and the ideal instantaneous current corresponding to the current output displacement of the actuator group exceeds a preset error range, the computer adjusts the output displacement of the actuator group so that the error between the second instantaneous current detected by the detection circuit and the ideal instantaneous current after the output displacement of the actuator group is adjusted is within the preset error range.

[0034] Furthermore, the sampling period of the detection circuit collecting the second instantaneous current is recorded as , adjust the liquid pump height to the maximum adjustment amount 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, The fastest adjustment speed for the liquid pump 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;

[0035] The method for adjusting the sampling frequency of the detection circuit includes:

[0036] judge 、 、 Does the relationship between satisfy the formula:

[0037] ;

[0038] 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 .

[0039] Furthermore, the ball screw stepper motor is controlled to pump the liquid at the current processing trajectory point. Make adjustments, including:

[0040] If the second instantaneous current Does not exceed the allowable variation range When the ball screw stepper motor is not controlled, the liquid pump height at the current processing trajectory point is maintained. constant;

[0041] If the second instantaneous current Exceeding the allowable variation range and When the ball screw stepper motor is controlled, the liquid pump height of the current processing trajectory point is adjusted according to the following formula: To make adjustments:

[0042] ;

[0043] in, represents the ideal instantaneous current value, Indicates the adjustment amplitude of the second instantaneous current;

[0044] If the second instantaneous current Exceeding the allowable variation range and When the ball screw stepper motor is controlled, the liquid pump height of the current processing trajectory point is adjusted according to the following formula: To make adjustments:

[0045] ;

[0046] in, Indicates the set initial position of the liquid pump.

[0047] A magnetorheological machining control method based on actuator adjustment is implemented using the magnetorheological machining control system based on instantaneous current sensing. The magnetorheological machining control method includes the following steps:

[0048] The industrial robot drives the magnetorheological polishing module to move until it contacts the surface of the test polishing element. The computer sets different actuator groups to output displacement 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 liquid pump height and the first instantaneous current. , represents the first instantaneous current, Indicates the output displacement of the actuator group, The conversion relationship between the output displacement of the actuator group and the first instantaneous current is represented, and multiple sets of first instantaneous currents and corresponding output displacements of the actuator group are mapped and stored to obtain polishing data. The computer calculates the corresponding relationship between the output displacement of the actuator group and the ideal instantaneous current based on the polishing data;

[0049] The industrial robot drives the magnetorheological polishing module to move until it contacts the surface of the component to be polished. The detection circuit detects the second instantaneous current in the second closed loop in real time. When the computer determines that the error between the second instantaneous current and the ideal instantaneous current corresponding to the current output displacement of the actuator group exceeds a preset error range, the computer adjusts the output displacement of the actuator group so that the error between the second instantaneous current detected by the detection circuit and the ideal instantaneous current after the output displacement of the actuator group is adjusted is within the preset error range.

[0050] Furthermore, the sampling period of the detection circuit collecting the second instantaneous current is recorded as , adjust the liquid pump height to the maximum adjustment amount 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, The fastest adjustment speed of the actuator group, is the maximum moving speed of the industrial robot. Indicates the distance between two adjacent machining track points on the component to be polished;

[0051] The method for adjusting the sampling frequency of the detection circuit includes:

[0052] judge 、 、 Does the relationship between satisfy the formula:

[0053] ;

[0054] 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 .

[0055] Furthermore, the displacement of the actuator group at the current processing trajectory point is output Make adjustments, including:

[0056] If the second instantaneous current Does not exceed the allowable variation range When the actuator group is not controlled, the output displacement of the actuator group at the current processing trajectory point is maintained. constant;

[0057] If the second instantaneous current Exceeding the allowable variation range and When , the output displacement of the actuator group of the current processing trajectory point is calculated according to the following formula: To make adjustments:

[0058] ;

[0059] in, represents the ideal instantaneous current value, Indicates the adjustment amplitude of the second instantaneous current;

[0060] If the second instantaneous current Exceeding the allowable variation range and When , the output displacement of the actuator group of the current processing trajectory point is calculated according to the following formula: To make adjustments:

[0061] ;

[0062] in, Indicates the set initial output displacement of the actuator group.

[0063] A magnetorheological processing control method based on removal function regulation is implemented using the above-mentioned magnetorheological processing control system based on instantaneous current sensing. The magnetorheological processing control method includes the following steps:

[0064] The industrial robot drives the magnetorheological polishing module to move until it contacts the surface of the test polishing element. The industrial robot sets different polishing gaps to process the test polishing element to obtain a removal function. At the same time, the detection circuit detects the first instantaneous current in the first closed loop in real time to obtain the corresponding relationship between the removal function and the first instantaneous current. , represents the first instantaneous current, Represents the removal function, Representing the conversion relationship between the removal function and the first instantaneous current, mapping and storing multiple sets of first instantaneous currents and corresponding removal functions to obtain polishing data, and calculating the corresponding relationship between the removal function and the ideal instantaneous current based on the polishing data by a computer;

[0065] The industrial robot drives the magnetorheological polishing module to move until it contacts the surface of the component to be polished, performing a first process on the component to be polished. The detection circuit detects the second instantaneous current in the second closed loop in real time. When the computer determines that the error between the current second instantaneous current and the ideal instantaneous current corresponding to the current removal function exceeds a preset error range, the second instantaneous current of each processing trajectory point is recorded. After the first process of the component to be polished is completed, the removal function of each processing trajectory point is solved based on the recorded second instantaneous current of each processing trajectory point to obtain a variable removal function set.

[0066] The component to be polished is subjected to secondary processing according to the variable removal function set, and the processing amount of each processing track point during the secondary processing of the component to be polished is determined by the variable removal function set.

[0067] Furthermore, when the polishing element is processed for the first time, if the second instantaneous current of the current processing trajectory point is Does not exceed the allowable variation range The second instantaneous current does not change The corresponding removal function;

[0068] If the second instantaneous current of the current processing trajectory point Exceeding the allowable variation range and When Calculate the removal function of the current processing trajectory point ;

[0069] If the second instantaneous current Exceeding the allowable variation range and When , the removal function of the current processing trajectory point is for ;

[0070] After the first processing of the polished component is completed, the variable removal function set is obtained , when performing secondary processing on the polished component, the function set is removed As a processing parameter, the processing amount of each processing track point on the component to be polished is determined.

[0071] Compared with the prior art, the present invention can achieve the following beneficial effects:

[0072] When processing a polishing test piece using a magnetorheological polishing module, different operating parameters of the magnetorheological polishing module and their corresponding first instantaneous currents are collected. The corresponding relationship between the different operating parameters of the magnetorheological polishing module and the ideal instantaneous current is then calculated using the different operating parameters of the magnetorheological polishing module and the first instantaneous current. The second instantaneous current is then determined based on this relationship. Based on the determination result, it is determined whether to adjust the operating parameters of the magnetorheological polishing module 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. Alternatively, the removal function after each adjustment is collected to generate a variable removal function set, which is then combined for secondary processing. 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 operating accuracy of the equipment itself, the 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. The measurement results are more accurate and do not require the addition of high-precision force sensors and other equipment, reducing equipment costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0073] Figure 1 A schematic diagram of a magnetorheological processing control system based on instantaneous current sensing according to an embodiment of the present invention at one viewing angle;

[0074] Figure 2 A schematic diagram of the magnetorheological processing control system based on instantaneous current sensing according to an embodiment of the present invention from another perspective;

[0075] Figure 3 A schematic structural diagram of the actuator according to an embodiment of the present invention;

[0076] Figure 4 A schematic structural diagram of a supply device according to an embodiment of the present invention;

[0077] Figure 5 This is a schematic structural diagram of the nozzle adjustment seat described in an embodiment of the present invention.

[0078] Figure numerals: polishing platform 1, element to be polished 101, test polishing element 102, industrial robot 201, magnetorheological mounting frame 202, polishing wheel 203, magnet 204, nozzle 205, drive motor 206, active wheel 207, driven wheel 208, synchronous belt 209, transition plate 210, cylinder body 211, A cavity 212, B cavity 213, oil scraper ring 214, connecting plate 215, moving piston 216, liquid pump 217, mounting bracket 218, mounting plate 219, linear guide rail 220, ball screw stepper motor 221, fixing frame 222, nozzle adjustment motor 223, push plate 224, nozzle mounting frame 225, arc guide rail 226, actuator group 227, current intensity controller 228, computer 3. DETAILED DESCRIPTION

[0079] 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.

[0080] In the first aspect, this embodiment provides a magnetorheological processing control system based on instantaneous current sensing, the structure of the system is as follows: Figure 1-Figure 5 As shown, it includes a polishing platform 1, a polishing assembly, a detection circuit and a computer 3. A to-be-polished element 101 and a test polishing element 102 are provided on the polishing platform 1; the polishing assembly includes an industrial robot 201 and a magnetorheological polishing module. The industrial robot 201 is used to drive the magnetorheological polishing module to move to the position of the test polishing element 102 or the position of the to-be-polished element 101, and to adjust the polishing gap between the magnetorheological polishing module and the test polishing element 102 or the polishing gap between the magnetorheological polishing module and the to-be-polished element 101; the magnetorheological polishing module is used to process the test polishing element 102 or the to-be-polished element 101 under the control of the computer 3; the detection circuit is used to output a constant voltage, and when the magnetorheological polishing module contacts the surface of the test polishing element 102, form a first closed loop, and detect the first instantaneous current in the first closed loop in real time, or when the magnetorheological polishing module contacts the surface of the to-be-polished element 101, form a second closed loop. A closed loop is provided, and the second instantaneous current in the second closed loop is detected in real time; the computer 3 is used to calculate the correspondence between the operating parameters of the magnetorheological polishing module and the ideal instantaneous current according to the polishing data, the polishing data including the first instantaneous current data detected by the detection circuit under different operating parameters of the magnetorheological polishing module, and the operating parameters including the actuator output displacement, the nozzle position and the liquid pump height; 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 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; the computer is also used to record the removal function corresponding to each processing trajectory point during each processing of the magnetorheological polishing module, obtain a variable removal function set, and use the variable removal function set of the current processing as the input parameter of the next processing to perform secondary processing on the polishing element.

[0081] In this embodiment, the polishing platform 1 refers to a working platform for experiments, on which a test polishing element 102 and an element to be polished 101 are placed. The test polishing element 102 is a reference part required for calculating the ideal instantaneous current corresponding to the operating parameters of the magnetorheological polishing module, and the element to be polished 101 is a component that needs to be magnetorheologically polished.

[0082] In this embodiment, the industrial robot 201 may be a six-degree-of-freedom robotic arm, or other robots with a posture adjustment function.

[0083] The magnetorheological polishing module includes a magnetorheological mounting frame 202, a polishing wheel 203, a magnet 204, a nozzle 205, an actuator group 227, a nozzle adjustment seat, a supply device and a polishing wheel drive device. One end of the actuator group 227 is connected to the magnetorheological mounting frame 202, and the other end of the actuator group 227 is connected to the tool end of the industrial robot 201. The actuator group 227 is used to adjust the polishing gap; the magnetorheological mounting frame 202 is installed on the tool end of the industrial robot 201, and the polishing wheel drive device is installed on the magnetorheological mounting frame 202 to drive the polishing wheel 203 to rotate and process the polishing element 101 to be polished or the test polishing element 102; the nozzle 205 is installed on the magnetorheological mounting frame 202 through the nozzle adjustment seat to spray magnetorheological fluid onto the polishing wheel 203, and the nozzle adjustment seat is used to adjust the position of the nozzle 205; the supply device is arranged on one side of the polishing platform to pump magnetorheological fluid into the nozzle 205.

[0084] The polishing wheel drive device includes a driving motor 206, a driving wheel 207, a driven wheel 208, and a synchronous belt 209. The driving motor 206 is installed on the magnetorheological mounting frame 202. A bearing seat is installed on the magnetorheological mounting frame 202. A bearing is installed in the bearing seat. The bearing is connected to the polishing wheel 203. The driven wheel 208 is mounted on the bearing. The driving wheel 207 is mounted on the output end of the driving motor 206. The synchronous belt 209 is tensioned on the driven wheel 208 and the driving wheel 207. The polishing wheel 203 is driven to rotate by the driving motor 206. Please refer to the Chinese patent with a publication date of July 12, 2024 and publication number CN118322074A.

[0085] Actuator assembly 227 consists of two cascaded high-frequency actuators, with one high-frequency actuator mounted on the output of the other. This results in a total output displacement of actuator assembly 227 equal to the sum of the output displacements of the two high-frequency actuators. In this embodiment of the present invention, the high-frequency actuators are preferably SG-type hydrostatic linear cylinders manufactured by Jilin Huakong Testing Instrument Co., Ltd. Both high-frequency actuators have the same structure, including a transition plate 210, a cylinder body 211, a cavity A 212, a cavity B 213, an oil scraper ring 214, a connecting plate 215, and a moving piston 216. The transition plate 210 is used to connect the tool end of the industrial robot 201 and the cylinder body 211, the A cavity 212 and the B cavity 213 are used to control the inlet and outlet of the hydraulic oil, the oil scraper ring 214 is used to prevent the hydraulic oil from flowing out of the cylinder body 211, the moving piston 216 is used for position output, and the connecting plate 215 is used to connect the moving piston 216 with the magnetorheological polishing module or another high-frequency actuator, thereby outputting the displacement to the magnetorheological polishing module or another high-frequency actuator.

[0086] The supply device includes a liquid pump 217, a mounting bracket 218, a mounting plate 219, a linear guide 220, and a ball screw stepper motor 221. The linear guide 220 and the ball screw stepper motor 221 are vertically mounted on the mounting bracket 218, with the linear guides 220 located on either side of the ball screw stepper motor 221. The liquid pump 217 is mounted on the mounting plate 219, which is connected to the slider of the linear guide 220 and the nut of the ball screw stepper motor 221. The ball screw stepper motor 221 drives the liquid pump 217 vertically up and down, adjusting its height relative to the polishing wheel 203. The liquid pump 217 uses a CFLC vertical multi-stage pump from Shanghai Dongfang Pump Industry Co., Ltd.

[0087] The nozzle adjustment base includes a fixed frame 222, a nozzle adjustment motor 223, a push plate 224, a nozzle mounting frame 225, and an arc-shaped guide rail 226. The fixed frame 222 is mounted on the magnetorheological mounting frame 202 and has an L-shaped structure. The nozzle adjustment motor 223 and the arc-shaped guide rail 226 are respectively mounted on two perpendicular parts of the fixed frame 222, and the length direction of the arc-shaped guide rail 226 is the extension and contraction direction of the nozzle adjustment motor 223. The push plate 224 is mounted on the output end of the nozzle adjustment motor 223. One end of the nozzle mounting frame 225 is connected to the sliders of the push plate 224 and the arc-shaped guide rail 226 respectively, and the other end of the nozzle mounting frame 225 is used to mount the nozzle 205. The nozzle adjustment motor 223 drives the nozzle 205 to move, thereby adjusting the distance between the nozzle 205 and the polishing wheel 203.

[0088] In this embodiment, the polishing principle is explained using the test polishing element 102 as an example: When the polishing wheel 203 is being processed, the magnetorheological fluid is subjected to changes in the magnetic field, changing from a liquid state to a near-solid state, forming a Bingham fluid. The rotation of the polishing wheel 203 causes the Bingham fluid to exert a shear force on the outer surface of the test polishing element 102, thereby polishing the test polishing element 102. Different shear forces corresponding to different positions of the nozzle 205 relative to the polishing wheel 203, different heights of the liquid pump 217 relative to the polishing wheel 203, and different displacements of the actuator assembly 227 result in different polishing effects.

[0089] The magnetorheological polishing module can achieve flexible polishing of various components, especially optical components with high-precision requirements on the outer surface.

[0090] 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.

[0091] 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 102, and between the magnetorheological polishing module and the element to be polished 101. Different polishing gaps correspond to different pressures. Changes in pressure will cause changes in contact resistance, and thus the current flowing through the contact resistance will also change. Taking the test polishing element 102 as an example, the same principle can be applied to the element to be polished 101, as follows:

[0092] The detection circuit applies a fixed voltage between the magnetorheological polishing module and the test polishing element 102, 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:

[0093] ;

[0094] in, is the contact resistance, is the material coefficient, is the pressure when the magnetorheological polishing module contacts the test polishing element 102, is the coefficient corresponding to the contact form (including point contact, surface contact, line contact, etc.). In this embodiment, For surface contact, .

[0095] The detection circuit can be implemented by a current intensity controller 228 . The current intensity controller 228 can adopt a Smart200 series DA conversion module of Siemens to sense the first instantaneous current between the test polishing element 102 and the polishing wheel 203 .

[0096] The operating parameters of the magnetorheological polishing module can be pre-set. Different operating parameters should cover the maximum polishing gap and the minimum polishing gap to which the industrial robot can drive the magnetorheological polishing module. Polishing data can be collected multiple times. Finally, the error between multiple sets of polishing data can be reduced by numerical calculation methods such as taking the mean or variance. The relationship between the ideal instantaneous current and the operating parameters of the magnetorheological polishing module is then calculated based on the polishing data.

[0097] In this embodiment, the computer 3 calculates the correspondence between the different operating parameters of the magnetorheological polishing module and the ideal instantaneous current by calculating the correlation between the first instantaneous current data in the first closed loop and the operating parameters of the magnetorheological polishing module to which it corresponds. Using this as a reference, when processing the polishing element 101, the difference between the second instantaneous current corresponding to the operating parameters of the magnetorheological polishing module in the second closed loop of the polishing element 101 and the ideal instantaneous current under these operating parameters is compared to determine whether it is within a preset error range. If not, the operating parameters of the magnetorheological polishing module 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 operating parameters of the magnetorheological polishing module. This method can achieve the effect of real-time adjustment of the operating parameters of the magnetorheological polishing module during the polishing process based on the correspondence between the operating parameters of the magnetorheological polishing module and the instantaneous current, thereby realizing the automatic compensation function of the operating parameters of the magnetorheological polishing module.

[0098] When processing the test polishing element 102 using the magnetorheological polishing module, different operating parameters of the magnetorheological polishing module and their corresponding first instantaneous currents are collected. The corresponding relationship between the magnetorheological polishing module operating parameters and the ideal instantaneous current is then calculated using the magnetorheological polishing module operating parameters 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 magnetorheological polishing module operating parameters. This allows for real-time adjustment of the magnetorheological polishing module operating parameters, ensuring that the magnetorheological fluid flow fluctuations at each processing trajectory point meet high-precision polishing requirements and maintain a constant removal function. This process does not require calibration steps for parameters such as gravity compensation and is unaffected 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 limited only by the current measurement accuracy of the second instantaneous current between the magnetorheological polishing module and the element being polished. This results in more accurate measurements and eliminates the need for additional equipment such as high-precision force sensors, reducing equipment costs.

[0099] In a second aspect, this embodiment further provides a magnetorheological machining control method based on nozzle position adjustment, which is implemented using the above-mentioned magnetorheological machining control system based on instantaneous current sensing. The magnetorheological machining control method includes the following steps:

[0100] The industrial robot drives the magnetorheological polishing module to move until it contacts the surface of the test polishing element. The computer sets different nozzle 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 nozzle position and the first instantaneous current. , represents the first instantaneous current, Indicates the nozzle position, The conversion relationship between the nozzle position and the first instantaneous current is represented, and multiple sets of the first instantaneous current and the corresponding nozzle positions are mapped and stored to obtain polishing data. The computer calculates the corresponding relationship between the nozzle position and the ideal instantaneous current based on the polishing data;

[0101] The industrial robot drives the magnetorheological polishing module to move until it contacts the surface of the component to be polished. The detection circuit detects the second instantaneous current in the second closed loop in real time. When the computer determines that the error between the second instantaneous current and the ideal instantaneous current corresponding to the current nozzle position exceeds a preset error range, the nozzle position is adjusted by the nozzle adjustment motor so that after the nozzle 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.

[0102] In this embodiment, the correspondence between the ideal instantaneous current and the nozzle position must first be obtained. The industrial robot drives the magnetorheological polishing module until it contacts the surface of the test polishing element. The portion where the polishing wheel contacts 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 nozzle position.

[0103] During the process of the polishing wheel processing the test polishing element, the computer controls the nozzle adjustment motor to set different nozzle positions, collects the first instantaneous current in the first closed loop corresponding to different nozzle positions, maps and stores multiple sets of first instantaneous currents with the corresponding nozzle positions to obtain polishing data, and the computer calculates the correspondence between the nozzle position and the ideal instantaneous current based on the polishing data.

[0104] After obtaining the correspondence between the ideal instantaneous current and the nozzle position, when processing the polishing element, the nozzle position can be adjusted according to this correspondence so that the second instantaneous current corresponding to the current nozzle position and the ideal instantaneous current are within the same preset error range.

[0105] In some embodiments, the correspondence between the nozzle position and the ideal instantaneous current is a function curve relationship, which is characterized by the correspondence between the nozzle position and the first instantaneous current. The correspondence between the nozzle position and the first instantaneous current is obtained by fitting based on multiple discrete values ​​of the nozzle position and the first instantaneous current.

[0106] In this embodiment, there is a one-to-one correspondence between the nozzle position and the first instantaneous current. Both the nozzle position and the first instantaneous current are discrete values. Therefore, the discrete values ​​need to be fitted.

[0107] 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 nozzle position and the current parameters. ;Polyfit fitting command is a basic general command of matlab software. Finally, the nozzle position is obtained With the first instantaneous current The corresponding relationship between them is:

[0108] .

[0109] This method can more intuitively show the corresponding relationship between the ideal instantaneous current and the nozzle position. Based on this, the components to be polished under the same polishing conditions can be processed and the automatic compensation effect of the nozzle position can be achieved.

[0110] In some embodiments, the sampling period of the detection circuit collecting the second instantaneous current is recorded as , adjust the nozzle position to the maximum adjustment amount 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, The fastest adjustment speed for nozzle 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.

[0111] The method for adjusting the sampling frequency of the detection circuit includes:

[0112] judge 、 、 Does the relationship between satisfy the formula:

[0113] ;

[0114] 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 .

[0115] 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 nozzle 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, causing the sampling frequency to not match the adjustment speed of the nozzle position, resulting in untimely adjustment, and making it impossible to know the current state of the second instantaneous current, affecting the automatic compensation function of the nozzle position.

[0116] In some embodiments, if the current nozzle position Adjust to the second instantaneous current With the current nozzle 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 nozzle position The corresponding adjustment range is , current nozzle position The corresponding second instantaneous current The value of , represents the ideal instantaneous current value, Indicates the adjustment amplitude of the second instantaneous current.

[0117] If the current nozzle position Adjust to the second instantaneous current With the current nozzle 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 nozzle position The corresponding adjustment range is , current nozzle position The corresponding second instantaneous current The value of .

[0118] Control the nozzle adjustment motor to adjust the nozzle position of the current processing trajectory point Make adjustments, including:

[0119] If the second instantaneous current Does not exceed the allowable variation range When the nozzle adjustment motor is not controlled, the nozzle position of the current processing trajectory point is maintained. constant;

[0120] If the second instantaneous current Exceeding the allowable variation range and When the nozzle is adjusted, the motor is controlled to adjust the nozzle position of the current processing trajectory point according to the following formula: To make adjustments:

[0121] ;

[0122] in, represents the ideal instantaneous current value, Indicates the adjustment amplitude of the second instantaneous current;

[0123] If the second instantaneous current Exceeding the allowable variation range and When the nozzle is adjusted, the motor is controlled to adjust the nozzle position of the current processing trajectory point according to the following formula: To make adjustments:

[0124] ;

[0125] in, Indicates the set initial nozzle position.

[0126] It should be noted that the nozzle position of the current processing trajectory point and the current nozzle position have the same meaning.

[0127] The nozzle position of the current processing trajectory point After adjustment, the nozzle position of the next processing track point is The corresponding second instantaneous current Return to the allowed variation range Within, the polishing gap change requirements of magnetorheological high-precision machining are met.

[0128] The above technical solution uses the magnetorheological polishing module to process the test polishing element, collects different nozzle positions and their corresponding first instantaneous currents, and then calculates the corresponding relationship between the nozzle position and the ideal instantaneous current through the collected nozzle position and the first instantaneous current. The second instantaneous current is then judged based on this relationship, and the nozzle position is determined based on the judgment result. This achieves real-time adjustment and compensation of the nozzle position, 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 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 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, which reduces equipment costs.

[0129] In a third aspect, this embodiment further provides a magnetorheological processing control method based on liquid pump height adjustment, which is implemented using the above-mentioned magnetorheological processing control system based on instantaneous current sensing. The magnetorheological processing control method includes the following steps:

[0130] The industrial robot drives the magnetorheological polishing module to move until it contacts the surface of the test polishing element. The computer sets different liquid pump heights 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 liquid pump height and the first instantaneous current. , represents the first instantaneous current, Indicates the liquid pump height, Representing a conversion relationship between the liquid pump height and the first instantaneous current, mapping and storing multiple sets of first instantaneous currents and corresponding liquid pump heights to obtain polishing data, and calculating the corresponding relationship between the liquid pump height and the ideal instantaneous current based on the polishing data; mapping and storing multiple sets of first instantaneous currents and corresponding liquid pump heights to obtain polishing data, and calculating the corresponding relationship between the liquid pump height and the ideal instantaneous current based on the polishing data;

[0131] The industrial robot drives the magnetorheological polishing module to move until it contacts the surface of the component to be polished. The detection circuit detects the second instantaneous current in the second closed loop in real time. When the computer determines that the error between the second instantaneous current and the ideal instantaneous current corresponding to the current liquid pump height exceeds a preset error range, the height of the liquid pump is adjusted by the ball screw stepper motor, and then the height of the liquid pump is adjusted so that after the liquid pump height 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.

[0132] In this embodiment, the correspondence between the ideal instantaneous current and the liquid pump height must first be obtained. The industrial robot drives the magnetorheological polishing module until it contacts the surface of the 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. When measuring the same set of polishing data, the first machining trajectory point remains unchanged. Optionally, when measuring multiple sets of polishing data, different first machining trajectory points can be selected on the test polishing element to improve the accuracy of the correspondence between the ideal instantaneous current and the liquid pump height.

[0133] During the process of the polishing wheel processing the test polishing element, the computer controls the ball screw stepper motor to set different liquid pump heights, collects the first instantaneous current in the first closed loop corresponding to different liquid pump heights, maps and stores multiple sets of first instantaneous currents with the corresponding liquid pump heights to obtain polishing data, and the computer calculates the correspondence between the liquid pump height and the ideal instantaneous current based on the polishing data.

[0134] After obtaining the correspondence between the ideal instantaneous current and the liquid pump height, when processing the polishing element, the liquid pump height can be adjusted according to this correspondence so that the second instantaneous current corresponding to the current liquid pump height is within the same preset error range as the ideal instantaneous current.

[0135] In some embodiments, the correspondence between the liquid pump height and the ideal instantaneous current is a function curve relationship, which is characterized by the correspondence between the liquid pump height and the first instantaneous current. The correspondence between the liquid pump height and the first instantaneous current is obtained by fitting based on multiple discrete values ​​of the liquid pump height and the first instantaneous current.

[0136] In this embodiment, there is a one-to-one correspondence between the liquid pump height and the first instantaneous current. Both the liquid pump height and the first instantaneous current are discrete values. Therefore, the discrete values ​​need to be fitted.

[0137] 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 liquid pump height and the current parameters. ;Polyfit fitting command is the basic general command of matlab software, and finally the liquid pump height is obtained With the first instantaneous current The corresponding relationship between them is:

[0138] .

[0139] This method can more intuitively show the corresponding relationship between the ideal instantaneous current and the liquid pump height. Based on this, the components to be polished under the same polishing conditions can be processed and the automatic compensation effect of the liquid pump height can be achieved.

[0140] The sampling period of the detection circuit collecting the second instantaneous current is recorded as , adjust the liquid pump height to the maximum adjustment amount 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, The fastest adjustment speed for the liquid pump 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.

[0141] The method for adjusting the sampling frequency of the detection circuit includes:

[0142] judge 、 、 Does the relationship between satisfy the formula:

[0143] ;

[0144] 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 .

[0145] 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 magnetorheological polishing module so that it moves to the liquid pump height 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, causing the sampling frequency to not match the adjustment speed of the liquid pump height, resulting in untimely adjustment, and making it impossible to know the current state of the second instantaneous current, affecting the automatic compensation function of the liquid pump height.

[0146] In some embodiments, if the current liquid pump height Adjust to the second instantaneous current and current liquid pump height 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 liquid pump height The corresponding adjustment range is , current liquid pump height The corresponding second instantaneous current The value of , represents the ideal instantaneous current value, Indicates the adjustment amplitude of the second instantaneous current.

[0147] If the current liquid pump height Adjust to the second instantaneous current and current liquid pump height 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 liquid pump height The corresponding adjustment range is , current liquid pump height The corresponding second instantaneous current The value of .

[0148] Control the liquid pump height of the ball screw stepper motor to the current processing trajectory point Make adjustments, including:

[0149] If the second instantaneous current Does not exceed the allowable variation range When the ball screw stepper motor is not controlled, the liquid pump height at the current processing trajectory point is maintained. constant;

[0150] If the second instantaneous current Exceeding the allowable variation range and When the ball screw stepper motor is controlled, the liquid pump height of the current processing trajectory point is adjusted according to the following formula: To make adjustments:

[0151] ;

[0152] in, represents the ideal instantaneous current value, Indicates the adjustment amplitude of the second instantaneous current;

[0153] If the second instantaneous current Exceeding the allowable variation range and When the ball screw stepper motor is controlled, the liquid pump height of the current processing trajectory point is adjusted according to the following formula: To make adjustments:

[0154] ;

[0155] in, Indicates the set initial position of the liquid pump.

[0156] It should be noted that the liquid pump height at the current processing trajectory point and the current liquid pump height have the same meaning.

[0157] The height of the liquid pump at the current processing trajectory point After adjustment, the liquid pump height of the next processing track point is The corresponding second instantaneous current Return to the allowed variation range Within, the polishing gap change requirements of magnetorheological high-precision machining are met.

[0158] The above technical solution uses the magnetorheological polishing module to process the test polishing element, collects different liquid pump heights and the corresponding first instantaneous current, and then calculates the corresponding relationship between the liquid pump height and the ideal instantaneous current through the collected liquid pump height and the first instantaneous current. Then, the second instantaneous current is judged based on this relationship, and it is decided whether to adjust the liquid pump height based on the judgment result, thereby achieving real-time adjustment and compensation of the liquid pump height, 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 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 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, which reduces equipment costs.

[0159] In a fourth aspect, this embodiment further provides a magnetorheological machining control method based on actuator adjustment, which is implemented using the above-mentioned magnetorheological machining control system based on instantaneous current sensing. The magnetorheological machining control method includes the following steps:

[0160] The industrial robot drives the magnetorheological polishing module to move until it contacts the surface of the test polishing element. The computer sets different actuator groups to output displacement 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 liquid pump height and the first instantaneous current. , represents the first instantaneous current, Indicates the output displacement of the actuator group, The conversion relationship between the output displacement of the actuator group and the first instantaneous current is represented, and multiple sets of first instantaneous currents and corresponding output displacements of the actuator group are mapped and stored to obtain polishing data. The computer calculates the corresponding relationship between the output displacement of the actuator group and the ideal instantaneous current based on the polishing data;

[0161] The industrial robot drives the magnetorheological polishing module to move until it contacts the surface of the component to be polished. The detection circuit detects the second instantaneous current in the second closed loop in real time. When the computer determines that the error between the second instantaneous current and the ideal instantaneous current corresponding to the current output displacement of the actuator group exceeds a preset error range, the computer adjusts the output displacement of the actuator group so that the error between the second instantaneous current detected by the detection circuit and the ideal instantaneous current after the output displacement of the actuator group is adjusted is within the preset error range.

[0162] In this embodiment, the correspondence between the ideal instantaneous current and the output displacement of the actuator assembly must first be obtained. The industrial robot drives the magnetorheological polishing module until the polishing wheel contacts the outer surface of the test polishing element through the magnetorheological fluid. The portion where the polishing wheel contacts the test polishing element is recorded as the first machining trajectory point. This first machining trajectory point remains unchanged when measuring 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 output displacement of the actuator assembly.

[0163] During the process of processing the test polishing element by the polishing wheel, different output displacements of the actuator group are set through the computer, and the first instantaneous current in the first closed loop corresponding to the different output displacements of the actuator group is collected. Multiple groups of first instantaneous currents and corresponding actuator group output displacements are mapped and stored to obtain polishing data. The computer calculates the corresponding relationship between the actuator group output displacement and the ideal instantaneous current based on the polishing data.

[0164] After obtaining the correspondence between the ideal instantaneous current and the output displacement of the actuator group, when processing the polishing element, the output displacement of the actuator group can be adjusted according to this correspondence, so that the second instantaneous current corresponding to the current output displacement of the actuator group and the ideal instantaneous current are within the same preset error range.

[0165] In some embodiments, the correspondence between the output displacement of the actuator group and the ideal instantaneous current is a function curve relationship, which is characterized by the correspondence between the output displacement of the actuator group and the first instantaneous current. The correspondence between the output displacement of the actuator group and the first instantaneous current is obtained by fitting based on the discrete numerical values ​​of the output displacements of multiple actuator groups and the first instantaneous current.

[0166] In this embodiment, the output displacement of the actuator group and the first instantaneous current are in a one-to-one correspondence. Both the output displacement of the actuator group and the first instantaneous current are discrete values. Therefore, the discrete values ​​need to be fitted.

[0167] 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 output displacement of the actuator group and the current parameters. ;Polyfit fitting command is a basic general command of MATLAB software. The output displacement of the actuator group is finally obtained With the first instantaneous current The corresponding relationship between them is:

[0168] .

[0169] This method can more intuitively show the corresponding relationship between the ideal instantaneous current and the output displacement of the actuator group. Based on this, the components to be polished under the same polishing conditions can be processed and the automatic compensation effect of the output displacement of the actuator group can be achieved.

[0170] In some embodiments, the sampling period of the detection circuit collecting the second instantaneous current is recorded as , adjust the liquid pump height to the maximum adjustment amount 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, The fastest adjustment speed of the actuator group, is the maximum moving speed of the industrial robot. Indicates the distance between two adjacent machining track points on the component to be polished.

[0171] The method for adjusting the sampling frequency of the detection circuit includes:

[0172] judge 、 、 Does the relationship between satisfy the formula:

[0173] ;

[0174] 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 .

[0175] 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 actuator group output displacement corresponding to the ideal instantaneous current before performing the next sampling, thereby avoiding the sampling cycle being too long, resulting in a sampling frequency that is too slow, so that the sampling frequency does not match the adjustment speed of the actuator group output displacement, resulting in untimely adjustment, and the inability to know the current state of the second instantaneous current, affecting the automatic compensation function of the actuator group output displacement.

[0176] In some embodiments, if the current actuator group output displacement Adjust to the second instantaneous current Output displacement of the current actuator group When the error of the corresponding ideal instantaneous current is equal to or greater than the upper threshold of the preset error range, the output displacement of the current actuator group The corresponding adjustment range is , the current actuator group output displacement The corresponding second instantaneous current The value of , represents the ideal instantaneous current value, Indicates the adjustment amplitude of the second instantaneous current.

[0177] If the current actuator group output displacement Adjust to the second instantaneous current Output displacement of the current actuator group 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 output displacement of the current actuator group The corresponding adjustment range is , the current actuator group output displacement The corresponding second instantaneous current The value of .

[0178] Output displacement of the actuator group of the current processing trajectory point Make adjustments, including:

[0179] If the second instantaneous current Does not exceed the allowable variation range When the actuator group is not controlled, the output displacement of the actuator group at the current processing trajectory point is maintained. constant;

[0180] If the second instantaneous current Exceeding the allowable variation range and When , the output displacement of the actuator group of the current processing trajectory point is calculated according to the following formula: To make adjustments:

[0181] ;

[0182] in, represents the ideal instantaneous current value, Indicates the adjustment amplitude of the second instantaneous current;

[0183] If the second instantaneous current Exceeding the allowable variation range and When , the output displacement of the actuator group of the current processing trajectory point is calculated according to the following formula: To make adjustments:

[0184] ;

[0185] in, Indicates the set initial output displacement of the actuator group.

[0186] It should be noted that the output displacement of the actuator group at the current processing trajectory point and the output displacement of the current actuator group have the same meaning.

[0187] Output displacement of the actuator group at the current processing trajectory point After adjustment, the actuator group output displacement of the next processing trajectory point The corresponding second instantaneous current Return to the allowed variation range Within, the polishing gap change requirements of magnetorheological high-precision machining are met.

[0188] The above-mentioned technical solution uses a magnetorheological polishing module to process a conductive test piece. The output displacements of different actuator groups and their corresponding first instantaneous currents are collected. The corresponding relationship between the actuator group output displacements and the ideal instantaneous current is then calculated using the collected output displacements and the first instantaneous current. This relationship is then used to determine the second instantaneous current. Based on the determination, a decision is made as to whether to adjust the actuator group output displacement. This achieves real-time adjustment and compensation of the actuator group output displacement, ensuring that the magnetorheological fluid flow fluctuations at each machining trajectory point meet high-precision polishing requirements and maintain a constant removal function. This process does not require calibration steps for parameters such as gravity compensation and is unaffected by the weight of the magnetorheological machining module, the operating accuracy, operating speed, posture, inertia, and other factors of the robotic magnetorheological machining equipment. The accuracy of the measured data is limited only by the current measurement accuracy of the second instantaneous current between the magnetorheological polishing module and the conductive workpiece to be polished. This results in more accurate measurements and eliminates the need for additional equipment such as high-precision force sensors, reducing equipment costs.

[0189] In a fifth aspect, this embodiment further provides a magnetorheological processing control method based on removal function regulation, which is implemented using the above-mentioned magnetorheological processing control system based on instantaneous current sensing. The magnetorheological processing control method includes the following steps:

[0190] The industrial robot drives the magnetorheological polishing module to move until it contacts the surface of the test polishing element. The industrial robot sets different polishing gaps to process the test polishing element to obtain a removal function. At the same time, the detection circuit detects the first instantaneous current in the first closed loop in real time to obtain the corresponding relationship between the removal function and the first instantaneous current. , represents the first instantaneous current, Represents the removal function, Representing the conversion relationship between the removal function and the first instantaneous current, mapping and storing multiple sets of first instantaneous currents and corresponding removal functions to obtain polishing data, and calculating the corresponding relationship between the removal function and the ideal instantaneous current based on the polishing data by a computer;

[0191] The industrial robot drives the magnetorheological polishing module to move until it contacts the surface of the component to be polished, performing a first process on the component to be polished. The detection circuit detects the second instantaneous current in the second closed loop in real time. When the computer determines that the error between the current second instantaneous current and the ideal instantaneous current corresponding to the current removal function exceeds a preset error range, the second instantaneous current of each processing trajectory point is recorded. After the first process of the component to be polished is completed, the removal function of each processing trajectory point is solved based on the recorded second instantaneous current of each processing trajectory point to obtain a variable removal function set.

[0192] The component to be polished is subjected to secondary processing according to the variable removal function set, and the processing amount of each processing track point during the secondary processing of the component to be polished is determined by the variable removal function set.

[0193] In this embodiment, the correspondence between the ideal instantaneous current and the removal function must first be obtained. The industrial robot drives the magnetorheological polishing module until it contacts the surface of the test polishing element. The portion where the polishing wheel contacts 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 removal function.

[0194] During the process of processing the test polishing element by the polishing wheel, different polishing gaps are set by the industrial robot, and the first instantaneous current in the first closed loop corresponding to different removal functions is collected. Multiple groups of first instantaneous currents are mapped and stored with the corresponding removal functions to obtain polishing data. The computer calculates the correspondence between the removal function and the ideal instantaneous current based on the polishing data.

[0195] After obtaining the correspondence between the ideal instantaneous current and the removal function, when processing the component to be polished, the second instantaneous current of each processing trajectory point can be recorded according to this correspondence. After the first processing of the component to be polished is completed, the removal function of each processing trajectory point is solved according to the recorded second instantaneous current of each processing trajectory point to obtain a variable removal function set.

[0196] In some embodiments, the correspondence between the removal function and the ideal instantaneous current is a function curve relationship, which is characterized by the correspondence between the removal function and the first instantaneous current. The correspondence between the removal function and the first instantaneous current is obtained by fitting multiple removal functions and discrete values ​​of the first instantaneous current.

[0197] In this embodiment, the removal function and the first instantaneous current are both discrete values, and therefore, the discrete values ​​need to be fitted.

[0198] Fitting process: Import the discrete data into Matlab software, use the polyfit fitting command of Matlab software to complete the data fitting, and solve the corresponding relationship between the removal function and the current parameters. ; Polyfit fitting command is the basic general command of matlab software, and finally the removal function is obtained With the first instantaneous current The corresponding relationship between them is:

[0199] .

[0200] In some embodiments, the upper and lower thresholds in the range of the removal function are set to , the corresponding second instantaneous current The value of , represents the ideal instantaneous current value, Indicates the adjustment amplitude of the second instantaneous current.

[0201] When the polishing element is processed for the first time, if the second instantaneous current of the current processing trajectory point Does not exceed the allowable variation range The second instantaneous current does not change The corresponding removal function.

[0202] If the second instantaneous current of the current processing trajectory point Exceeding the allowable variation range and When Calculate the removal function of the current processing trajectory point .

[0203] If the second instantaneous current Exceeding the allowable variation range and When , the removal function of the current processing trajectory point is for .

[0204] After the first processing of the polished component is completed, the variable removal function set is obtained , when performing secondary processing on the polished component, the function set is removed As a processing parameter, the processing amount of each processing track point on the component to be polished is determined.

[0205] Combined with a variable removal function set, the polishing component undergoes secondary processing, achieving the high-precision magnetorheological machining requirements. This process does not require calibration of parameters such as gravity compensation and is unaffected 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, resulting in more accurate measurement results and no need for additional equipment such as high-precision force sensors, reducing equipment costs.

[0206] 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.

[0207] 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 system 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; 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 operating parameters including actuator output displacement, nozzle position, and liquid pump height; The computer is used to adjust the current operating parameters when it is determined that the error between the second instantaneous current detected by the detection circuit and the ideal instantaneous current corresponding to the current operating parameters exceeds the preset error range, so that the error between the second instantaneous current detected by the detection circuit and the corresponding ideal instantaneous current after the operating parameters are adjusted is within the preset error range; the computer is also used to record the removal function corresponding to each processing trajectory point during each processing of the magnetorheological polishing module, obtain a variable removal function set, use the variable removal function set of the current processing as the input parameter of the next processing, and perform secondary processing on the polishing element.

2. The magnetorheological processing control system 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 nozzle, a magnet, an actuator group and a supply device. One end of the actuator group is connected to the magnetorheological mounting frame, and the other end of the actuator group is connected to the tool end of the industrial robot. The polishing wheel and the magnet are respectively installed on the magnetorheological mounting frame. The nozzle is installed on the magnetorheological mounting frame through the nozzle adjustment seat. The nozzle adjustment seat is used to adjust the position of the nozzle. The nozzle is used to spray magnetorheological fluid onto the polishing wheel. The magnet is used to change the stiffness of the magnetorheological fluid. The polishing wheel is used to process the test polishing element or the element to be polished. The supply device is arranged on one side of the polishing platform and is used to pump magnetorheological fluid into the nozzle.

3. The magnetorheological processing control system based on instantaneous current sensing according to claim 2 is characterized in that: The nozzle adjustment seat includes a fixing frame, a nozzle adjustment motor, a pushing plate, a nozzle mounting frame and an arc guide rail; wherein, the fixing frame is installed on the magnetorheological mounting frame, the nozzle adjustment motor and the arc guide rail are respectively installed on the fixing frame, the pushing plate is installed at the output end of the nozzle adjustment motor, the nozzle mounting frame is respectively connected to the pushing plate and the slider of the arc guide rail, and the nozzle is installed on the nozzle mounting frame.

4. The magnetorheological processing control system based on instantaneous current sensing according to claim 2 is characterized in that: The supply device includes a liquid pump, a mounting bracket, a mounting plate, a linear guide and a ball screw stepper motor; wherein, the linear guide and the ball screw stepper motor are respectively vertically mounted on the mounting bracket, and the linear guides are distributed on both sides of the ball screw stepper motor, the liquid pump is mounted on the mounting plate, and the mounting plate is respectively connected to the slider of the linear guide and the nut of the ball screw stepper motor.

5. The magnetorheological processing control system 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 drive motor, a driving wheel, a driven wheel and a synchronous belt. The drive motor is installed on a magnetorheological mounting frame, a bearing seat is installed on the magnetorheological mounting frame, 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 drive motor, and the synchronous belt is tensioned on the driven wheel and the driving wheel.

6. A magnetorheological processing control method based on nozzle position adjustment, implemented using the magnetorheological processing control system based on instantaneous current sensing according to claim 3, 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 sets different nozzle 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 nozzle position and the first instantaneous current. , represents the first instantaneous current, Indicates the nozzle position, The conversion relationship between the nozzle position and the first instantaneous current is represented, and multiple sets of the first instantaneous current and the corresponding nozzle positions are mapped and stored to obtain polishing data. The computer calculates the corresponding relationship between the nozzle 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 component to be polished. The detection circuit detects the second instantaneous current in the second closed loop in real time. When the computer determines that the error between the second instantaneous current and the ideal instantaneous current corresponding to the current nozzle position exceeds a preset error range, the nozzle position is adjusted by the nozzle adjustment motor so that after the nozzle 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.

7. The magnetorheological machining control method based on nozzle position adjustment according to claim 6, characterized in that: The sampling period of the detection circuit collecting the second instantaneous current is recorded as , adjust the nozzle position to the maximum adjustment amount 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, The fastest adjustment speed for nozzle 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 .

8. The magnetorheological machining control method based on nozzle position adjustment according to claim 7, characterized in that: Control the nozzle adjustment motor to adjust the nozzle position of the current processing trajectory point Make adjustments, including: If the second instantaneous current Does not exceed the allowable variation range When the nozzle adjustment motor is not controlled, the nozzle position of the current processing trajectory point is maintained. constant; If the second instantaneous current Exceeding the allowable variation range and When the nozzle is adjusted, the motor is controlled to adjust the nozzle 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 When the nozzle is adjusted, the motor is controlled to adjust the nozzle position of the current processing trajectory point according to the following formula: To make adjustments: ； in, Indicates the set initial nozzle position.

9. A magnetorheological processing control method based on liquid pump height adjustment, implemented using the magnetorheological processing control system based on instantaneous current sensing according to claim 4, 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 sets different liquid pump heights 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 liquid pump height and the first instantaneous current. , represents the first instantaneous current, Indicates the liquid pump height, Indicates the conversion relationship between the liquid pump height and the first instantaneous current, maps and stores multiple sets of first instantaneous currents and corresponding liquid pump heights to obtain polishing data, and the computer calculates the corresponding relationship between the liquid pump height 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 component to be polished. The detection circuit detects the second instantaneous current in the second closed loop in real time. When the computer determines that the error between the second instantaneous current and the ideal instantaneous current corresponding to the current liquid pump height exceeds a preset error range, the height of the liquid pump is adjusted by the ball screw stepper motor, and then the height of the liquid pump is adjusted so that after the liquid pump height 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.

10. The magnetorheological processing control method based on liquid pump height adjustment according to claim 9, characterized in that: The sampling period of the detection circuit collecting the second instantaneous current is recorded as , adjust the liquid pump height to the maximum adjustment amount 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, The fastest adjustment speed for the liquid pump 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 .

11. The magnetorheological processing control method based on liquid pump height adjustment according to claim 10, characterized in that: Control the liquid pump height of the ball screw stepper motor to the current processing trajectory point Make adjustments, including: If the second instantaneous current Does not exceed the allowable variation range When the ball screw stepper motor is not controlled, the liquid pump height at the current processing trajectory point is maintained. constant; If the second instantaneous current Exceeding the allowable variation range and When the ball screw stepper motor is controlled, the liquid pump height of the current processing trajectory point is adjusted 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 When the ball screw stepper motor is controlled, the liquid pump height of the current processing trajectory point is adjusted according to the following formula: To make adjustments: ； in, Indicates the set initial position of the liquid pump.

12. A magnetorheological processing control method based on actuator adjustment, implemented using the magnetorheological processing control system 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 sets different actuator group output displacements 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 actuator group output displacement and the first instantaneous current. , represents the first instantaneous current, Indicates the output displacement of the actuator group, The conversion relationship between the output displacement of the actuator group and the first instantaneous current is represented, and multiple sets of first instantaneous currents and corresponding output displacements of the actuator group are mapped and stored to obtain polishing data. The computer calculates the corresponding relationship between the output displacement of the actuator group 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 component to be polished. The detection circuit detects the second instantaneous current in the second closed loop in real time. When the computer determines that the error between the second instantaneous current and the ideal instantaneous current corresponding to the current output displacement of the actuator group exceeds a preset error range, the computer adjusts the output displacement of the actuator group so that the error between the second instantaneous current detected by the detection circuit and the ideal instantaneous current after the output displacement of the actuator group is adjusted is within the preset error range.

13. The magnetorheological machining control method based on actuator adjustment according to claim 12, characterized in that: The sampling period of the detection circuit collecting the second instantaneous current is recorded as , adjust the output displacement of the actuator group to the maximum adjustment amount 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, The fastest adjustment speed of the actuator group, 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 .

14. The magnetorheological machining control method based on actuator adjustment according to claim 13, characterized in that: Output displacement of the actuator group of the current processing trajectory point Make adjustments, including: If the second instantaneous current Does not exceed the allowable variation range When the actuator group is not controlled, the output displacement of the actuator group at the current processing trajectory point is maintained. constant; If the second instantaneous current Exceeding the allowable variation range and When , the output displacement of the actuator group of the current processing trajectory point is calculated 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 When , the output displacement of the actuator group of the current processing trajectory point is calculated according to the following formula: To make adjustments: ； in, Indicates the set initial output displacement of the actuator group.

15. A magnetorheological processing control method based on removal function regulation, implemented using the magnetorheological processing control system based on instantaneous current sensing according to claim 1, 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 industrial robot sets different polishing gaps to process the test polishing element to obtain a removal function. At the same time, the detection circuit detects the first instantaneous current in the first closed loop in real time to obtain the corresponding relationship between the removal function and the first instantaneous current. , represents the first instantaneous current, Represents the removal function, Representing the conversion relationship between the removal function and the first instantaneous current, mapping and storing multiple sets of first instantaneous currents and corresponding removal functions to obtain polishing data, and calculating the corresponding relationship between the removal function and the ideal instantaneous current based on the polishing data by a computer; The industrial robot drives the magnetorheological polishing module to move until it contacts the surface of the component to be polished, performing a first process on the component to be polished. The detection circuit detects the second instantaneous current in the second closed loop in real time. When the computer determines that the error between the current second instantaneous current and the ideal instantaneous current corresponding to the current removal function exceeds a preset error range, the second instantaneous current of each processing trajectory point is recorded. After the first process of the component to be polished is completed, the removal function of each processing trajectory point is solved based on the recorded second instantaneous current of each processing trajectory point to obtain a variable removal function set. The component to be polished is subjected to secondary processing according to the variable removal function set, and the processing amount of each processing track point during the secondary processing of the component to be polished is determined by the variable removal function set.

16. The magnetorheological processing control method based on removal function regulation according to claim 15, characterized in that: When the polishing element is processed for the first time, if the second instantaneous current of the current processing trajectory point Does not exceed the allowable variation range The second instantaneous current does not change The corresponding removal function; If the second instantaneous current of the current processing trajectory point Exceeding the allowable variation range and When Calculate the removal function of the current processing trajectory point ; If the second instantaneous current Exceeding the allowable variation range and When , the removal function of the current processing trajectory point is for ; After the first processing of the polished component is completed, the variable removal function set is obtained , when performing secondary processing on the polished component, the function set is removed As a processing parameter, the processing amount of each processing track point on the component to be polished is determined.

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