Magnetorheological machining device and method for adjusting machining posture based on motor current

Abstract

The invention relates to the technical field of magneto-rheological, in particular to a magneto-rheological machining device and method for adjusting the machining posture based on motor current, and the device comprises a polishing assembly, a moving assembly and a control unit; when the polishing module polishes the element to be polished, different machining postures are adjusted, different polishing gaps and first instantaneous current data corresponding to the polishing gaps are collected, the corresponding relation between the polishing gaps and ideal motor current is obtained through calculation, and then second instantaneous current data are judged based on the corresponding relation. Whether the polishing gap of the to-be-polished element is adjusted or not is determined according to the judgment result, so that the machining posture is adjusted in real time, the step of calibrating parameters such as gravity compensation is not needed in the process, the measurement result is more accurate, and the equipment cost is reduced.

Description

Technical Field

[0001] The present invention belongs to the technical field of magnetorheological processing, and particularly relates to a magnetorheological processing device and method for adjusting a processing posture based on motor current. Background Technique

[0002] Magnetorheological finishing (MRF) is an advanced optical manufacturing technology developed in recent years. It has many advantages such as a stable removal function, controllable edge effect, small subsurface damage layer, no copying effect, strong shaping ability, and high processing accuracy. Therefore, magnetorheological finishing technology has received extensive attention in high-precision optical processing. The existing magnetorheological finishing processing centers mainly integrate the polishing module onto a numerically controlled machine tool. However, some deficiencies of the numerically controlled machine tool (such as low degrees of freedom, large floor area, high cost, etc.) limit the deviation of aspherical surfaces and it is difficult to perform precise pose control along the surface normal. In view of these deficiencies of the numerically controlled machine tool, 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 floor area, large processing range, low cost, etc., which make up for the deficiencies of numerically controlled machine tools. Therefore, when the polishing module is integrated onto an industrial robot, in theory, high-precision processing of large-aperture complex-surface optical elements can be achieved. However, due to the influence of factors such as processing, assembly, load, trajectory planning, and reduction ratio, the end-effector accuracy of the robot is relatively low, and the polishing gap changes greatly during the processing. At the same time, magnetorheological finishing technology is an optical processing technology with a high degree of certainty of the removal function, and it has high requirements for the change of the polishing gap during the polishing process. Generally, the change of the polishing gap in a magnetorheological numerically controlled processing center is in the order of dozens of micrometers (PV < 0.1 mm), while the trajectory accuracy of common commercial robots is generally in the sub-millimeter to millimeter range, and it cannot meet the requirements of magnetorheological finishing technology for the change of the polishing gap during high-precision polishing.

[0003] At present, the force-position control method has gradually become a new type of constant force regulation and polishing control method for robots. A common application method is to place a force sensor between the processing tool and the robot. First, gravity calibration is performed on the force sensor to ensure the accuracy of measurement. The pose error is calculated by measuring the change in force, and then the pose error of the robot is compensated by means of the robot body or other motion compensation mechanisms to achieve constant force control. The high-efficiency processing of large-aperture optical elements relies on the magnetorheological processing equipment of large-size polishing wheels, and the weight of the magnetorheological processing module of large-size polishing wheels is generally over a hundred kilograms. However, for a magnetorheological processing module weighing over a hundred kilograms, the force change caused by the robot pose error is only a few dozen Newtons. When performing high-precision processing, the force needs to be constant at a few Newtons or even a fraction of a Newton, which requires the absolute measurement accuracy of measurement equipment such as force sensors to reach one ten-thousandth, and the force sensor also needs to be in a state of variable speed and variable pose motion. Force sensors that meet these requirements are often extremely expensive, greatly increasing the cost of the equipment. Summary of the Invention

[0004] In view of this, the present invention aims to provide a magnetorheological processing device and method for adjusting the processing pose based on motor current. By sensing the motor current to adjust the processing pose, the regulation of the magnetorheological processing process is completed, solving the problem in the prior art that the regulation of the polishing wheel requires high-precision force sensors for data acquisition and the high cost of high-precision force sensors.

[0005] To achieve the above object, the technical solution of the present invention is realized as follows: A magnetorheological processing device for adjusting the processing pose based on motor current, comprising: A polishing assembly, including a driving motor and a polishing module, the driving motor is used to drive the polishing module to move; A moving assembly, cooperating with an actuator group, and rigidly connected to the polishing assembly together, is used to drive the polishing assembly to move to the position of the element to be polished, and to adjust the polishing gap between the polishing module and the element to be polished; A control unit, which controls the moving assembly and the actuator group to change the processing pose, so that the polishing module performs fixed-point processing on the element to be polished with different polishing gaps, and real-time collects the instantaneous current of the driving motor, and adjusts the processing pose according to the instantaneous current.

[0006] Further, in the control unit, it is used to calculate the correspondence between the polishing gap and the set ideal motor current according to the first polishing data, where the first polishing data includes the first instantaneous current data of driving the motor at different set polishing gaps; and it is used to collect the second instantaneous current data in real time and compare the second instantaneous current data with the ideal motor current corresponding to the current polishing gap in the correspondence. If the difference between the two exceeds the preset error range, the control unit controls the moving component to adjust the current polishing gap, thereby changing the machining posture so that the difference between the second instantaneous current data collected after adjustment and the ideal motor current is within the preset error range; The second instantaneous current data is the current data of the current driving motor collected by the control unit in real time when the driving motor drives the polishing module to polish the element to be polished at a constant speed.

[0007] Further, the actuator group includes no less than 1 actuator; adjacent two actuators are connected in a cascaded manner; The polishing module includes: A magnetorheological mounting bracket, connected to the moving component; the driving motor and the electromagnet are arranged on the magnetorheological mounting bracket; the output end of the actuator group is connected to the magnetorheological mounting bracket; A polishing wheel, arranged on the magnetorheological mounting bracket, and the driving motor drives the polishing wheel to rotate; the electromagnet is close to the working point of the polishing wheel; A magnet, arranged on the magnetorheological mounting bracket and close to the working point of the polishing wheel; A magnetorheological medium, connected to the polishing wheel, and the magnetorheological medium is used to enter the magnetic field working area of the magnet under the drive of the polishing wheel to form a magnetorheological ribbon. The size parameters of the magnetorheological ribbon change with the polishing gap and the magnetic field strength, and are used to polish the element to be polished; A nozzle, arranged on the magnetorheological mounting bracket, and provides the magnetorheological medium to the polishing wheel; A supply system, connected to the nozzle, and conveys the magnetorheological medium to the nozzle; A position adjustment component, connected to the polishing wheel, and changes the position of the polishing wheel according to the signal of the control unit.

[0008] Further, the position adjustment component includes: A support fixing frame, arranged on the magnetorheological mounting bracket; A displacement output motor, arranged on the support fixing frame; A lead screw, arranged on the support fixing frame and connected to the displacement output motor; the polishing wheel is arranged on the nut of the lead screw, and the displacement output motor drives the lead screw to drive the nut so that the polishing wheel moves along the lead screw.

[0009] A magnetorheological finishing method based on adjusting the machining attitude by motor current. According to the magnetorheological finishing device based on adjusting the machining attitude by motor current provided by the present invention, the method includes the following steps: The moving component drives the polishing component to move to the position of the test optical element in different machining postures, makes the polishing module contact the test optical element, and performs fixed-point machining on the test optical element; Under different machining postures, the control unit calculates the corresponding relationship between the polishing gap and the ideal motor current according to the first polishing data. The first polishing data includes the real-time current data of the driving motor collected at different set polishing gaps; and the second instantaneous current data is collected in real time, and the second instantaneous current data is compared with the ideal motor current corresponding to the current polishing gap in the corresponding relationship. If the difference between the two exceeds the preset error range, the control unit controls the moving component to adjust the current machining posture, thereby changing the current polishing gap, so that the difference between the second instantaneous current data collected after the polishing gap is adjusted and the ideal motor current is within the preset error range; The second instantaneous current data is the current data of the current driving motor collected in real time by the control unit when the driving motor drives the polishing module to polish the element to be polished at a constant speed.

[0010] Further, if the adjustment amplitude from the current polishing gap to the upper threshold value of the preset error range is denoted as , and the current output value of the corresponding driving motor is , represents the ideal motor current, represents the corresponding current adjustment amplitude; the adjustment amplitude from the current polishing gap to the lower threshold value of the preset error range is denoted as , and the current output value of the corresponding driving motor is ; Controlling the moving component to adjust the current machining posture includes: If the current second instantaneous current data does not exceed the allowable change range , there is no need to adjust the posture of the moving component; If the current second instantaneous current data exceeds the allowable change range and , then adjust the posture of the moving component so that the adjustment amplitude of the polishing gap is ; If the current second instantaneous current data exceeds the allowable change range and , then obtain the ideal polishing gap corresponding to the current second instantaneous current data according to the corresponding relationship , adjust the attitude of the moving component to adjust the change value Adjust the current polishing gap .

[0011] A magnetorheological processing method for adjusting the polishing gap based on the motor current. According to the magnetorheological processing device for adjusting the processing attitude based on the motor current provided by the present invention, the method includes the following steps: The moving component drives the polishing component to move to the position where the test optical element is located, and makes the polishing module contact the test optical element; control the polishing module to perform fixed-point processing on the test optical element with different polishing gaps; The control unit calculates the corresponding relationship between the polishing gap and the ideal motor current according to the first polishing data. The first polishing data includes the real-time current data of the driving motor collected at different set polishing gaps; and the second instantaneous current data is collected in real time, and the second instantaneous current data is compared with the ideal motor current corresponding to the current polishing gap in the corresponding relationship. If the difference between the two exceeds the preset error range, control the polishing module to adjust the current polishing gap so that the difference between the second instantaneous current data collected after the polishing gap is adjusted and the ideal motor current is within the preset error range; The second instantaneous current data is the current data of the current driving motor collected in real time by the control unit when the driving motor drives the polishing module to polish the element to be polished at a constant speed.

[0012] Further, if the adjustment amplitude from the current polishing gap to the upper threshold value of the preset error range is denoted as , the current output value of the corresponding driving motor , represents the ideal motor current, represents the corresponding current adjustment amplitude; the adjustment amplitude from the current polishing gap to the lower threshold value of the preset error range is denoted as , and the current output value of the corresponding driving motor is ; Controlling the polishing module to adjust the current polishing gap includes: If the current second instantaneous current data does not exceed the allowable change range , there is no need to control the polishing module to adjust the current polishing gap; If the current second instantaneous current data exceeds the allowable change range and , then control the polishing module to adjust the current polishing gap, and the adjustment amplitude is ; If the current second instantaneous current data[[ID=5~0]] Beyond the allowable variation range And , the current second instantaneous current data is obtained according to the corresponding relationship The corresponding ideal polishing gap , control the polishing module to adjust the variation value Adjust the current polishing gap .

[0013] A magnetorheological processing method based on motor current regulation for an actuator group. According to the magnetorheological processing device for regulating the processing posture based on motor current provided by the present invention, it includes the following steps: The moving component drives the polishing component to move to the position where the test optical element is located, and makes the polishing module contact the test optical element; The actuator group drives the polishing component to perform fixed-point processing on the test optical element with different polishing gaps; the control unit calculates the corresponding relationship between the polishing gap and the ideal motor current according to the first polishing data, and the first polishing data includes the real-time current data of the driving motor collected under different set polishing gaps; and the second instantaneous current data is collected in real time, and the second instantaneous current data is compared with the ideal motor current corresponding to the current polishing gap in the corresponding relationship. If the difference between the two exceeds the preset error range, the output of the actuator group is changed, and then the current polishing gap is adjusted so that the difference between the second instantaneous current data collected after the current polishing gap is adjusted and the ideal motor current is within the preset error range; The second instantaneous current data is the current data of the current driving motor collected in real time by the control unit when the driving motor drives the polishing module to polish the element to be polished at a constant speed.

[0014] Further, if the adjustment amplitude from the current polishing gap to the upper threshold of the preset error range is denoted as , the adjustment amplitude of the output displacement of one of the actuators is , and the current output value of the corresponding driving motor is , represents the ideal motor current, represents the corresponding current adjustment amplitude; The adjustment amplitude from the current polishing gap to the lower threshold of the preset error range is denoted as , the adjustment amplitude of the output displacement of one of the actuators is , and the current output value of the corresponding driving motor is ; The control method for the actuator group includes: If the current second instantaneous current data Within the allowable variation range When this is the case, adjustment of the actuator group is not required; If the current second instantaneous current data exceeds the allowable variation range and , then the control actuator group combines the correspondence relationship to adjust the output displacement of one of the current actuators according to the following formula: ; wherein, represents the correspondence relationship; then the output displacement of the other actuator is adjusted according to the following formula: ; wherein, represents the motor current corresponding to the output of the first actuator displacement; If the current second instantaneous current data exceeds the allowable variation range and , then the direct adjustment of the output displacements of the current two actuators is the set maximum output displacement , so that the second instantaneous current data corresponding to the adjusted output displacement returns to the allowable variation range .

[0015] Compared with the prior art, the present invention can achieve the following beneficial effects: The magnetorheological processing device and method for adjusting the machining attitude based on the motor current according to the present invention utilize the relationship between the machining attitude and the motor current. When the polishing module polishes the element to be polished, by changing the machining attitude, different polishing gaps and the corresponding first instantaneous current data are collected and their respective corresponding relationships are obtained. Then, the second instantaneous current data is judged through these corresponding relationships, and whether to adjust the machining attitude is determined according to the judgment result. This process does not require calibration steps for parameters such as gravity compensation, and is not affected by factors such as the weight of the magnetorheological processing module of the robot magnetorheological processing equipment, the running accuracy of the equipment itself, the running speed, the attitude, the inertia, and other factors. The accuracy of the measured data is only limited by the current measurement accuracy of the second instantaneous current data, the measurement result is more accurate, and there is no need to add equipment such as high-precision force sensors, reducing the equipment cost. Description of the Drawings

[0016] The accompanying drawings, which form a part of the present invention, are used to provide a further understanding of the present invention. The schematic embodiments and descriptions thereof of the present invention are used to explain the present invention and do not constitute an improper limitation to the present invention. In the drawings: Figure 1 FIG. is a schematic structural view of the magnetorheological finishing device for adjusting the machining attitude based on the motor current according to an embodiment of the present invention from one perspective; Figure 2 FIG. is a schematic structural view of the magnetorheological finishing device for adjusting the machining attitude based on the motor current according to an embodiment of the present invention from another perspective; Figure 3 FIG. is a schematic structural view of the actuator according to an embodiment of the present invention; Figure 4 FIG. Figure 3 is a schematic structural view of the polishing module according to an embodiment of the present invention; Figure 5 FIG. is a schematic structural view of the position adjustment assembly according to an embodiment of the present invention.

[0017] Description of the reference numerals: 1. Polishing platform; 2. Element to be polished; 3. Polishing module; 4. Driving motor; 5. Control unit; 6. Moving assembly; 7. Actuator group; 8. Transition plate; 9. Cylinder block; 10. Chamber A; 11. Chamber B; 12. Oil scraping ring; 13. Connecting plate; 14. Moving piston; 15. Magnetorheological mounting bracket; 16. Polishing wheel; 17. Transmission belt; 18. Nozzle; 19. Magnet; 20. Supply system; 21. Supply bracket; 22. Position adjustment assembly; 23. Support fixing bracket; 24. Displacement output motor; 25. Lead screw; 26. Nut; 27. Guide rail; 28. Slide block; 29. Driving plate. Detailed embodiments

[0018] In order to make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below with reference to 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 to the present invention.

[0019] It should be noted that, without conflict, the embodiments in the present invention and the features in the embodiments may be combined with each other.

[0020] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation on the present invention. In addition, the terms "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first", "second", etc. may explicitly or implicitly include one or more of such features. In the description of the present invention, unless otherwise specified, the meaning of "a plurality" is two or more.

[0021] In the description of the present invention, it should be noted that unless otherwise clearly specified and limited, the terms "mounted", "connected", "coupled" should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood through specific circumstances.

[0022] The present invention will be described in detail below with reference to the drawings and in conjunction with embodiments.

[0023] As Figures 1 to 5 shown, the magnetorheological processing device for adjusting the processing posture based on the motor current according to the embodiment of the present invention includes a polishing platform 1, a polishing assembly, a control unit 5, and a moving assembly 6. A component to be polished 2 is arranged on the polishing platform 1; the polishing assembly includes a driving motor 4 and a polishing module 3. The polishing module 3 is used for performing a polishing process on the component to be polished 2, and the driving motor 4 is used for driving the polishing module 3 to move; the moving assembly 6 cooperates with the actuator group 7 and is rigidly connected to the polishing assembly together, and is used for driving the polishing assembly to move to the position where the component to be polished 2 is located, and for adjusting the polishing gap between the polishing module 3 and the component to be polished 2; the control unit 5 controls the moving assembly 6 and the actuator group 7 to change the processing posture, so that the polishing module 3 performs fixed-point processing on the component to be polished 2 with different polishing gaps, and instantaneously collects the current of the driving motor in real time, and adjusts the processing posture according to the instantaneous current.

[0024] In this embodiment, the polishing platform 1 refers to the working platform for experiments, on which the element 2 to be polished and other polishing components are placed. For example, the magnetorheological medium required for polishing, the matching tooling for the element 2 to be polished, etc. Among them, the element 2 to be polished is the component that needs to be processed by magnetorheological polishing. The actuator group 7 includes no less than 1 actuator; adjacent two actuators are connected in a cascaded manner. In the embodiment of the present invention, the actuator group 7 is composed of two cascaded high-frequency actuators, that is, one actuator is installed on the output end of the other actuator, so that the output of the actuator group is the sum of the output displacements of the two actuators. In the embodiment of the present invention, the actuator preferably adopts the SG model hydrostatic linear cylinder of Jilin Huakong Test Instrument Co., Ltd. The structure of each actuator is as shown in Figure 3 shown, and it includes a transition plate 8, a cylinder block 9, an A chamber 10, a B chamber 11, an oil scraping ring 12, a connecting plate 13 and a moving piston 14. The transition plate 8 is used to connect the moving component 6 and the cylinder block 9 of the actuator. The A chamber 10 and the B chamber 11 are used to control the inflow and outflow of hydraulic oil. The oil scraping ring 12 is used to prevent the hydraulic oil from flowing out of the cylinder block 9. The moving piston 14 is used for position output. The connecting plate 13 is used to connect the moving piston 14 with the polishing module 3 or another actuator, and then output displacement to the polishing module 3 or another actuator.

[0025] Figure 4 Figure (a) in Figure 4 shows the structural schematic diagram of the polishing module 3 from one perspective, Figure 4As shown in the figure, the polishing module 3 includes a magnetorheological mounting frame 15, a polishing wheel 16, a nozzle 18, a magnet 19, a supply system 20, and a position adjustment assembly 22. The magnetorheological mounting frame 15 is fixedly installed at the free end of the actuator group 7. The polishing wheel 16 and the position adjustment assembly 22 are installed on the magnetorheological mounting frame 15, and the position adjustment assembly 22 is connected to the polishing wheel 16. Specifically, the head end of the driving plate 29 is installed on the position adjustment assembly 22, and the polishing wheel 16 is installed at the end of the driving plate 29, so that the position adjustment assembly 22 adjusts the position of the polishing wheel 16, thereby changing the polishing gap of the polishing wheel 16. The driving motor 4 is installed on the driving plate 29. The output end of the driving motor 4 passes through the driving plate 29, and the bearing of the polishing wheel 16 passes through the end of the driving plate 29. The output end of the driving motor 4 is connected to the bearing of the polishing wheel 16 through a transmission belt 17, so that the driving motor 4 controls the polishing wheel 16 to rotate. In the embodiment of the present invention, the manner in which the driving motor 4 drives the polishing wheel 16 to rotate can refer to the invention patent application with the Chinese patent publication number CN118322074A, the publication date of July 12, 2024, and the patent name of "Self-rotating polishing module processing system". The nozzle 18 is installed on the magnetorheological mounting frame 15 along the rotation direction of the polishing wheel 16. The supply system 20 is installed on one side of the polishing platform 1 by the supply frame 21 and conveys the magnetorheological fluid to the nozzle 18. The nozzle 18 sprays the magnetorheological fluid at the working point of the polishing wheel 16, so that the polishing wheel 16 processes the element to be polished 2 with the magnetorheological fluid as the medium. The magnet 19 is fixed on the magnetorheological mounting frame 15 through the driving plate 29, and the magnet 19 is close to the working point of the polishing wheel 16 (in the embodiment of the present invention, the working point of the polishing wheel 16 is defined as the closest point between the polishing wheel 16 and the surface of the element to be polished 2 along the normal direction of the surface of the element to be polished 2), so that the magnetorheological fluid changes its stiffness under the influence of the magnetic field intensity of the magnet 19. In addition, in the embodiment of the present invention, the supply system 20 adopts the DFLD vertical multistage pump of Shanghai Dongfang Pump Industry Co., Ltd.

[0026] The structure of the position adjustment assembly 22 that controls the polishing wheel 16 is as Figure 5As shown in the figure, it includes a support fixing frame 23, a displacement output motor 24 and a lead screw 25. The inside of a nut 26 that matches the lead screw 25 is equipped with balls, and the lead screw 25 and the nut 26 form a ball screw. The support fixing frame 23 is installed on the magnetorheological mounting frame 15. The displacement output motor 24 is installed on the top of the support fixing frame 23. The output end of the displacement output motor 24 is connected to the lead screw 25 installed on the support fixing frame 23. The polishing wheel 16 is connected to the nut 26 on the lead screw 25 through a driving plate 29. The displacement output motor 24 drives the lead screw 25 to drive the nut 26, so that the polishing wheel 16 moves along the lead screw 25. In the embodiment of the present invention, in order to ensure that the polishing wheel 16 can move stably along the lead screw 25, it is preferably that a guide rail 27 is installed on each side of the lead screw 25 on the support fixing frame 23, and the two guide rails 27 are parallel to the lead screw 25. At this time, the head end of the driving plate 29 is fixedly connected to the nut 26 on the lead screw 25 and the sliders 28 on the two guide rails 27 at the same time. During the processing, the control unit 5 sends a control signal to the displacement output motor 24. When the displacement output motor 24 drives the lead screw 25 to rotate, the lead screw 25 cooperates with the two guide rails 27 to pull the driving plate 29, and then drives the polishing wheel 16 to move up and down.

[0027] The driving motor 4, the moving component 6, the actuator group 7 and the displacement output motor 24 of the position adjustment component 22 are respectively connected to the control unit 5 to form their respective communication lines, so that the control unit 5 receives and sends signals through the corresponding communication lines. Specifically, the control unit 5 receives the instantaneous current signal from the driving motor 4 through the communication line, and the driving motor 4 sends a control signal to change the position of the polishing wheel 16 to the actuator group 7 and the displacement output motor 24 through the communication line. Since a strong magnetic area is generated around the polishing wheel 16 during the polishing operation, the communication line avoids the strong magnetic area to prevent the wire from being adsorbed to the polishing module 3 and affecting the normal operation.

[0028] The moving component 6 can be a robotic arm or other robots with pose adjustment functions; optionally, the moving component 6 is a six-axis robotic arm, and the actuator group 7 is rigidly connected to the robotic arm through metal hardware. The polishing gap adjustment is completed by the robotic arm and / or the actuator group 7. By adjusting the moving amount of the robotic arm in the vertical direction and / or the output amount of the actuator group 7, the polishing gap is adjusted. Whether the adjustment is in place is judged by measuring the change amount of the current of the driving motor 4 after the adjustment. If the adjustment is not in place (that is, the change amount of the dimensional parameters of the ribbon structure is not within the preset error range), the robotic arm will continue to adjust during the movement.

[0029] When the polishing gap between the polishing component and the element 2 to be polished changes, the shear force between the element to be processed and the magnetorheological medium in the polishing module 3 changes. To maintain a constant polishing speed, the current of the drive motor 4 will ultimately change accordingly. The change in the polishing gap is calculated by measuring the change in the current of the drive motor 4. Finally, the machining posture is adjusted by using the moving component 6 and / or the actuator group 7, thereby realizing the real-time regulation of the change in the polishing gap.

[0030] In this embodiment, the control unit 5 is configured to obtain first polishing data based on the current of the drive motor 4 at different polishing gaps when the drive motor 4 drives the polishing module 3 to perform fixed-point polishing on the element 2 to be polished, and calculate the corresponding relationship between the polishing gap and the ideal motor current according to the first polishing data. The first polishing data includes: the first instantaneous current data of the drive motor 4 at different polishing gaps. Different polishing gaps can be preset. Preferably, different polishing gaps should cover the maximum polishing gap and the minimum polishing gap that the drive motor 4 can move to when driving the polishing module 3. The first polishing data can be collected multiple times. Finally, the error between multiple sets of first polishing data is reduced by numerical calculation methods such as taking the mean or variance, and then the relationship between the ideal motor current and the polishing gap is calculated according to the first polishing data.

[0031] In this embodiment, the control unit 5 calculates the corresponding relationship between different polishing gaps and the ideal motor current through the correlation between the first instantaneous current data and the corresponding polishing gap. Taking this as a reference, when polishing the element 2 to be polished, by comparing whether the difference between the second instantaneous current data corresponding to different polishing areas of the current element 2 to be polished and the ideal motor current is within the preset error range. If not, the polishing gap is adjusted so that the current second instantaneous current data is the same as or within the same preset error range as the ideal motor current corresponding to the current polishing gap. This method can realize the effect of real-time adjustment of the polishing gap during the polishing process based on the corresponding relationship between the polishing gap and the instantaneous current, thereby obtaining the function of the moving component 6 and / or the actuator group 7 to change the machining posture and automatically compensate for the polishing gap.

[0032] By using the relationship between the polishing module 3 and the motor current, when the polishing module 3 polishes the element 2 to be polished, different polishing gaps and the corresponding first instantaneous current data are collected. Then, the corresponding relationship between the polishing gap and the ideal motor current is calculated through the collected polishing gap and the first instantaneous current data. After that, the second instantaneous current data is judged based on this relationship, and whether to adjust the machining posture is determined according to the judgment result, so as to realize the real-time adjustment of the polishing gap of the element 2 to be polished. This process does not require calibration steps for parameters such as gravity compensation, and is not affected by the weight of the magnetorheological machining module of the robot magnetorheological machining equipment, the running accuracy of the equipment itself, the running speed, the posture, the inertia and other factors. The accuracy of the measurement data is only limited by the current measurement accuracy of the second instantaneous current data, the measurement result is more accurate, and there is no need to add equipment such as high-precision force sensors, reducing the equipment cost.

[0033] The polishing principle is specifically as follows: when the polishing wheel polishes, the magnetorheological medium is affected by the magnetic field change, changes from a liquid state to a quasi-solid state, forms a Bingham fluid, and the Bingham fluid exerts a shear force on the outer surface of the element 2 to be polished through the rotation of the polishing wheel, so as to realize the polishing of the element 2 to be polished. Different polishing gaps correspond to different shear forces, so the polishing effects achieved by different polishing gaps are different. When the polishing gap between the polishing assembly and the element 2 to be polished changes, the thickness of the magnetorheological ribbon of the magnetorheological medium placed in the polishing area changes, which causes the shear force between the element 2 to be polished and the magnetorheological ribbon to change. In order to maintain a constant rotation speed, the current of the drive motor 4 will finally change accordingly, and its corresponding relationship can be expressed by the following formula: ; where n represents the rotation speed of the polishing wheel, k represents the proportionality coefficient, U represents the voltage of the drive motor 4, F represents the force received by the drive motor 4 (i.e., the shear force), r represents the torque (i.e., the vertical distance from the lowest point of the polishing wheel to the motor), and I represents the current of the drive motor 4. By measuring the change in the current of the drive motor 4, the change in the thickness of the magnetorheological ribbon in the polishing area is obtained, and then the change amount of the current polishing gap is calculated. Finally, the real-time regulation of the machining posture is realized by using the moving component 6 and / or the actuator group 7.

[0034] Based on the magnetorheological machining device for adjusting the machining posture based on the motor current described in the embodiment of the present invention, the embodiment of the present invention also provides a magnetorheological machining method for adjusting the machining posture based on the motor current, including a magnetorheological machining method for adjusting the machining posture based on the motor current, a magnetorheological machining method for adjusting the polishing gap based on the motor current, and a magnetorheological machining method for adjusting the actuator group based on the motor current.

[0035] Embodiment 1: A magnetorheological processing method for adjusting the processing posture based on motor current. According to the magnetorheological processing device for adjusting the processing posture based on motor current provided by the embodiments of the present invention, combined with Figures 1 to 5 , the method includes the following steps: The moving component 6 drives the polishing component to move to the position where the test optical element is located in different processing postures, and makes the polishing module 3 contact the test optical element, and performs fixed-point processing on the test optical element; In different processing postures, the control unit 5 calculates the corresponding relationship between the polishing gap and the set ideal motor current according to the first polishing data. The first polishing data includes the real-time current data of the driving motor 4 collected at different set polishing gaps; and the second instantaneous current data is collected in real time, and the second instantaneous current data is compared with the ideal motor current corresponding to the current polishing gap in the corresponding relationship. If the difference between the two exceeds the preset error range, the control unit 5 controls the moving component 6 to adjust the current processing posture, thereby changing the current polishing gap, so that the difference between the second instantaneous current data collected after the polishing gap is adjusted and the ideal motor current is within the preset error range; The second instantaneous current data is the current data of the current driving motor 4 collected in real time by the control unit 5 when the driving motor 4 drives the polishing module 3 to polish the element to be polished 2 at a constant speed.

[0036] In this embodiment, it is necessary to first obtain the corresponding relationship between the ideal motor current and the polishing gap. The moving component 6 drives the polishing module 3 to move to the position where the test optical element is located and contacts the test optical element. In this process, the contact between the test optical element and the polishing module 3 means that the polishing wheel contacts the outer surface of the test optical element through the magnetorheological medium, and the part of the polishing module 3 in contact with the test optical element is recorded as the first processing point. During the measurement of the same set of first polishing data, the first processing point remains unchanged. Optionally, when measuring multiple sets of first polishing data, different first processing points can be selected on the test optical element to improve the accuracy of the corresponding relationship between the ideal motor current and the polishing gap.

[0037] During the process of the polishing module 3 polishing the test optical element, the control unit 5 controls the moving component 6 to set different polishing gaps, collects the corresponding first instantaneous current data at different polishing gaps, maps and stores multiple sets of first instantaneous current data and the corresponding polishing gaps to obtain the first polishing data, and the control unit 5 calculates the corresponding relationship between the polishing gap and the ideal motor current according to the first polishing data.

[0038] After obtaining the correspondence between the ideal motor current and the polishing gap, the polishing gap in the polishing area of the element 2 to be polished can be adjusted according to this correspondence, so that the second instantaneous current data corresponding to the current polishing gap of the element 2 to be polished is within the same preset error range as the ideal motor current after adjustment.

[0039] Using the relationship between the polishing module 3 and the motor current, when the polishing module 3 polishes the element 2 to be polished, different polishing gaps and the corresponding first instantaneous current data are collected. Then, the correspondence between the polishing gap and the ideal motor current is calculated through the collected polishing gap and the first instantaneous current data. After that, the second instantaneous current data is judged based on this relationship, and whether to adjust the processing posture is determined according to the judgment result. Thus, the polishing gap is adjusted in real time by the moving component 6. This process does not require calibration steps for parameters such as gravity compensation, and is not affected by factors such as the weight of the polishing module 3, the running accuracy of the equipment itself, the running speed, the posture, the inertia, and other factors. The accuracy of the measured data is only limited by the current measurement accuracy of the second instantaneous current data, and the measurement result is more accurate. There is no need to add equipment such as high-precision force sensors, reducing the equipment cost.

[0040] In some embodiments, the correspondence between the polishing gap and the ideal motor current is a functional curve relationship, and the functional curve relationship is obtained by fitting according to the discrete numerical values of the polishing gap and the first instantaneous current data as follows: .

[0041] In this embodiment, multiple polishing gaps correspond to multiple first instantaneous current data , and both the polishing gap and the first instantaneous current data are discrete numerical values. Therefore, it is necessary to fit the discrete numerical values.

[0042] Fitting process: Import the discrete data into the Matlab software, and complete the data fitting with the help of the polyfit fitting instruction in the Matlab software to solve the correspondence between the polishing gap and the ideal motor current parameters; The Polyfit fitting instruction is a basic general instruction in the matlab software. Finally, the correspondence between the polishing gap and the ideal motor current is obtained. In this embodiment, the correspondence between the polishing gap and the ideal motor current is a functional relationship.

[0043] In this way, the correspondence between the ideal motor current and the polishing gap can be more intuitively seen. Based on this, multiple elements 2 to be polished under the same polishing conditions can be polished.

[0044] In some embodiments, if the sampling period for collecting the second instantaneous current data is denoted as , the shortest time required for the moving component 6 to adjust the maximum gap error is denoted as , and the shortest switching time between two adjacent machining trajectory points on the element 2 to be polished is denoted as ; The method includes: Judging , , whether the relationship between them satisfies the formula: ; If not, adjust the sampling frequency of the control unit 5 for collecting the second instantaneous current data until the above formula is satisfied, and the sampling frequency is .

[0045] In this embodiment, the above formula gives the corresponding relationship between three time elements, that is: within a single sampling period, the moving component 6 can adjust the polishing module 3 so that it moves to the polishing gap corresponding to the ideal motor current, and then perform the next sampling, avoiding too long sampling period resulting in too slow sampling frequency, making the sampling frequency not match the adjustment speed of the polishing gap adjustment unit, and the adjustment is not timely, resulting in the inability to know the current state of the second instantaneous current data and affecting the automatic compensation function of the polishing gap.

[0046] In some embodiments, the maximum gap error is the adjustment amplitude corresponding to the upper threshold or the lower threshold of the preset error range when adjusting from the current polishing gap, denoted as , where the adjustment amplitude corresponding to the upper threshold is denoted as , and the adjustment amplitude corresponding to the lower threshold ; , , where is the maximum moving speed when the moving component 6 adjusts its pose, represents the distance between two adjacent machining trajectory points on the element 2 to be polished.

[0047] In some embodiments, the method further includes: When the moving component 6 drives the polishing module 3 to move from the first trajectory point to the second trajectory point, filter the second instantaneous current data collected by the control unit 5 during the movement, and compare the filtered second instantaneous current data with the ideal motor current at the current polishing gap; If the number a of the second instantaneous current data collected by the control unit during the movement satisfies the following formula: .

[0048] In this embodiment, this method can avoid the influence of random signals and mutation signals generated during the process of the second instantaneous current data on the measurement result of the second instantaneous current data, making the adjustment of the polishing gap more accurate.

[0049] The adjustment amplitude of the current polishing gap , and the corresponding current output value of the driving motor 4 is , represents the ideal motor current, represents the corresponding current adjustment amplitude; the adjustment amplitude of the current polishing gap , and the corresponding current output value of the driving motor 4 is ; The process of adjusting the current machining posture of the moving component 6 includes: If the second instantaneous current data of the current driving motor 4 does not exceed the allowable change range , there is no need to adjust the posture of the moving component; If the second instantaneous current data of the current driving motor 4 exceeds the allowable change range and , then adjust the posture of the moving component so that the adjustment amplitude of the polishing gap is ; If the second instantaneous current data of the current driving motor 4 exceeds the allowable change range and , then obtain the ideal polishing gap corresponding to the current second instantaneous current data according to the corresponding relationship, and adjust the posture of the moving component to adjust the change value to adjust the current polishing gap .

[0050] Embodiment 2: A magnetorheological processing method for adjusting the polishing gap based on the motor current. According to the magnetorheological processing device for adjusting the machining posture based on the motor current provided by the embodiment of the present invention, combined with Figures 1 to 5 , the method includes the following steps: The moving component 6 drives the polishing component to move to the position where the test optical element is located, and makes the polishing module 3 contact the test optical element; control the polishing module 3 to perform fixed-point machining on the test optical element with different polishing gaps; The control unit 5 calculates the corresponding relationship between the polishing gap and the ideal motor current according to the first polishing data, and the first polishing data includes the real-time current data of the driving motor 4 collected at different set polishing gaps; and Collect the second instantaneous current data in real time, and compare the second instantaneous current data with the ideal motor current corresponding to the current polishing gap in the correspondence relationship. If the difference between the two exceeds the preset error range, the polishing module 3 adjusts the current polishing gap so that the difference between the second instantaneous current data collected after the polishing gap is adjusted and the ideal motor current is within the preset error range; The second instantaneous current data is the current data of the current drive motor 4 collected in real time by the control unit 5 when the drive motor 4 drives the polishing module 3 to polish the element to be polished 2 at a constant speed.

[0051] In this embodiment, calculate the processing time and obtain the polishing gap and the first instantaneous current data the corresponding relationship between them is the same as that in Embodiment 1. It should be noted that when calculating , where is the maximum moving speed of the polishing module 3.

[0052] In this embodiment, when the polishing module 3 performs fixed-point processing on the test optical element or the element to be polished 2 at different polishing gaps, specifically, the control unit 5 uses the position adjustment assembly 22 to adjust the position of the polishing wheel 16. Specifically, when the control unit 5 sends a control signal to the displacement output motor 24, and the displacement output motor 24 drives the lead screw 25 to rotate, the lead screw 25 cooperates with the two guide rails 27 to traction and drive the plate 29, and then drives the polishing wheel 16 to move, thereby changing the polishing gap.

[0053] Similar to Embodiment 1, the adjustment range of the current polishing gap , and the current output value of the corresponding drive motor 4 is , represents the ideal motor current, represents the corresponding current adjustment range; the adjustment range of the current polishing gap , and the current output value of the corresponding drive motor 4 is .

[0054] Controlling the polishing module 3 to adjust the current polishing gap includes: If the second instantaneous current data of the current drive motor 4 does not exceed the allowable change range when, there is no need to control the polishing module 3 to adjust the current polishing gap; If the second instantaneous current data of the current drive motor 4 exceeds the allowable change range and , then control the polishing module 3 to adjust the current polishing gap, and the adjustment range is ; If the second instantaneous current data of the current drive motor 4 exceeds the allowable change range and , then the current second instantaneous current data is obtained according to the corresponding relationship corresponding ideal polishing gap , control the polishing module 3 to adjust the change value to adjust the current polishing gap .

[0055] Embodiment 3: A magnetorheological processing method based on motor current regulation actuator group. According to the magnetorheological processing device for adjusting the processing posture based on motor current provided by the embodiment of the present invention, combined with Figures 1 to 5 , the method includes the following steps: The moving component 6 drives the polishing component to move to the position where the test optical element is located, and makes the polishing module 3 contact the test optical element; The actuator group 7 drives the polishing component to perform fixed-point processing on the test optical element with different polishing gaps; the control unit 5 calculates the corresponding relationship between the polishing gap and the ideal motor current according to the first polishing data. The first polishing data includes the real-time current data of the drive motor collected under different set polishing gaps; and the second instantaneous current data is collected in real time, and the second instantaneous current data is compared with the ideal motor current corresponding to the current polishing gap in the corresponding relationship. If the difference between the two exceeds the preset error range, the output of the actuator group 7 is changed, and then the current polishing gap is adjusted so that the difference between the second instantaneous current data collected after the current polishing gap is adjusted and the ideal motor current is within the preset error range; The second instantaneous current data is the current data of the current drive motor 4 collected in real time by the control unit 5 when the drive motor drives the polishing module to polish the test optical element at a constant speed.

[0056] In this embodiment, calculating the processing time and obtaining the polishing gap and the corresponding relationship between the first instantaneous current data is the same as that in Embodiment 1 and will not be elaborated here. It should be noted that when calculating , where is the maximum adjustment speed of the actuator group 7.

[0057] It can be understood that the adjustment range of the current polishing gap , the adjustment range of the output displacement of one of the actuators corresponding to it is , and the current output value of the drive motor 4 corresponding to it is ; the adjustment range of the current polishing gap , the adjustment range of the output displacement of one of the corresponding actuators is , the current output value of the driving motor 4 is .

[0058] The control method for the actuator group 7 includes: If the second instantaneous current data of the current driving motor 4 does not exceed the allowable change range , there is no need to adjust the actuator group 7; If the second instantaneous current data of the current driving motor 4 exceeds the allowable change range and , then control the actuator group 7 to combine the corresponding relationship to adjust the output displacement of one of the current actuators according to the following formula: ; then the output displacement of the other actuator is adjusted according to the following formula: ; wherein, represents the motor current corresponding to the output of the first actuator displacement; If the current second instantaneous current data exceeds the allowable change range and , then the direct adjustment of the output displacement of the current actuator group 7 is the set maximum output displacement , so that the second instantaneous current data corresponding to the adjusted output displacement returns to the allowable change range .

[0059] In all the above embodiments, all the preset and set values and ranges are adaptively set and adjusted according to the actual situation, and the present invention does not limit this.

[0060] It should be understood that the various forms of the processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in the disclosure of the present invention can be executed in parallel, sequentially, or in a different order, as long as the desired results of the technical solution disclosed in the present invention can be achieved, and this is not limited herein.

[0061] The above specific embodiments do not constitute a limitation on the protection scope of the present invention. Those skilled in the art should understand that various modifications, combinations, sub - combinations and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A magnetorheological processing device based on adjusting the machining attitude by motor current, characterized in that, The device includes: A polishing assembly, including a driving motor and a polishing module, where the driving motor is used to drive the movement of the polishing module; A moving assembly, cooperating with an actuator group, and rigidly connected to the polishing assembly together, for driving the polishing assembly to move to the position of the element to be polished, and for adjusting the polishing gap between the polishing module and the element to be polished; A control unit, which controls the moving assembly and the actuator group to change the processing posture, so that the polishing module performs fixed-point processing on the element to be polished with different polishing gaps, and real-time collects the instantaneous current of the driving motor, and adjusts the processing posture according to the instantaneous current.

2. The magnetorheological machining device for adjusting the machining attitude based on the motor current according to claim 1, wherein In the control unit, it is used to calculate the correspondence between the polishing gap and the set ideal motor current according to the first polishing data, and the first polishing data includes the first instantaneous current data of the driving motor at different set polishing gaps; And it is used to real-time collect the second instantaneous current data, and compare the second instantaneous current data with the ideal motor current corresponding to the current polishing gap in the correspondence. If the difference between the two exceeds the preset error range, it controls the moving assembly to adjust the current polishing gap, thereby changing the processing posture, so that the difference between the second instantaneous current data collected after adjustment and the ideal motor current is within the preset error range; The second instantaneous current data is the current data of the driving motor that the control unit real-time collects when the driving motor drives the polishing module to polish the element to be polished at a constant speed.

3. The magnetorheological processing device for adjusting the processing posture based on the motor current according to claim 1, characterized in that The actuator group includes not less than 1 actuator; adjacent two actuators are connected in a cascaded manner; The polishing module includes: A magnetorheological mounting frame, connected to the moving assembly; the driving motor and the electromagnet are arranged on the magnetorheological mounting frame; the output end of the actuator group is connected to the magnetorheological mounting frame; A polishing wheel, arranged on the magnetorheological mounting frame, and the driving motor drives the polishing wheel to rotate; the electromagnet is close to the working point of the polishing wheel; A magnet, arranged on the magnetorheological mounting frame and close to the working point of the polishing wheel; A magnetorheological medium, connected to the polishing wheel, and the magnetorheological medium is used to enter the magnetic field working area of the magnet under the drive of the polishing wheel to form a magnetorheological ribbon, and the size parameters of the magnetorheological ribbon change with the change of the polishing gap and the magnetic field strength, and are used to polish the element to be polished; A nozzle, arranged on the magnetorheological mounting frame, and supplies the magnetorheological medium to the polishing wheel; A supply system, connected to the nozzle, and conveys the magnetorheological medium to the nozzle; A position adjustment assembly, connected to the polishing wheel, and changes the position of the polishing wheel according to the signal of the control unit.

4. The magnetorheological machining device for adjusting the machining attitude based on the motor current according to claim 3, wherein: The position adjustment assembly includes: A support fixing frame, arranged on the magnetorheological mounting frame; A displacement output motor, arranged on the support fixing frame; A lead screw is provided on the support fixing frame and is connected to the displacement output motor; the polishing wheel is provided on the nut of the lead screw, and the displacement output motor drives the lead screw to drive the nut to move, so that the polishing wheel moves along the lead screw.

5. A magnetorheological machining method for adjusting the machining attitude based on motor current, according to the magnetorheological machining device for adjusting the machining attitude based on motor current described in any one of claims 1 to 4, characterized in that: The method includes the following steps: The moving component drives the polishing component to move to the position where the test optical element is located in different processing postures, and makes the polishing module contact the test optical element, and performs fixed-point processing on the test optical element; In different processing postures, the control unit calculates the corresponding relationship between the polishing gap and the ideal motor current according to the first polishing data, and the first polishing data includes the real-time current data of the driving motor collected at different set polishing gaps; and the second instantaneous current data is collected in real time, and the second instantaneous current data is compared with the ideal motor current corresponding to the current polishing gap in the corresponding relationship. If the difference between the two exceeds the preset error range, the moving component is controlled to adjust the current processing posture, thereby changing the current polishing gap, so that the difference between the second instantaneous current data collected after the polishing gap is adjusted and the ideal motor current is within the preset error range; The second instantaneous current data is the current data of the driving motor collected in real time by the control unit when the driving motor drives the polishing module to polish the element to be polished at a constant speed.

6. The magnetorheological machining method for adjusting the machining attitude based on the motor current according to claim 5, wherein If the adjustment amplitude from the current polishing gap to the upper threshold of the preset error range is denoted as , the current output value of the corresponding drive motor , represents the ideal motor current, represents the corresponding current adjustment amplitude; the adjustment amplitude from the current polishing gap to the lower threshold of the preset error range is denoted as , and the current output value of the corresponding drive motor is ; Controlling the moving component to adjust the current processing posture includes: If the current second instantaneous current data does not exceed the allowable change range at this time, there is no need to adjust the attitude of the moving component; If the current second instantaneous current data exceeds the allowable change range and , then adjust the attitude of the moving component so that the adjustment amplitude of the polishing gap is ; If the current second instantaneous current data exceeds the allowable change range and , then obtain the ideal polishing gap corresponding to the current second instantaneous current data according to the corresponding relationship , and adjust the attitude of the moving component to adjust the change value , and adjust the current polishing gap . .

7. A magnetorheological machining method for adjusting the polishing gap based on motor current, according to the magnetorheological machining device for adjusting the machining attitude based on motor current described in any one of claims 1 to 4, characterized in that: The method includes the following steps: The moving component drives the polishing component to move to the position where the test optical element is located, and makes the polishing module contact the test optical element; the polishing module is controlled to perform fixed-point processing on the test optical element with different polishing gaps; The control unit calculates the corresponding relationship between the polishing gap and the ideal motor current according to the first polishing data, and the first polishing data includes the real-time current data of the driving motor collected at different set polishing gaps; and the second instantaneous current data is collected in real time, and the second instantaneous current data is compared with the ideal motor current corresponding to the current polishing gap in the corresponding relationship. If the difference between the two exceeds the preset error range, the polishing module is controlled to adjust the current polishing gap, so that the difference between the second instantaneous current data collected after the polishing gap is adjusted and the ideal motor current is within the preset error range; The second instantaneous current data is the current data of the driving motor collected in real time by the control unit when the driving motor drives the polishing module to polish the element to be polished at a constant speed.

8. The magnetorheological processing method for adjusting the polishing gap based on the motor current according to claim 7, wherein: If the adjustment amplitude from the current polishing gap to the upper threshold of the preset error range is denoted as , the current output value of the corresponding drive motor , represents the ideal motor current, represents the corresponding current adjustment amplitude; the adjustment amplitude from the current polishing gap to the lower threshold of the preset error range is denoted as , and the current output value of the corresponding drive motor is ; Controlling the polishing module to adjust the current polishing gap includes: If the current second instantaneous current data does not exceed the allowable change range the polishing module does not need to be controlled to adjust the current polishing gap; If the current second instantaneous current data exceeds the allowable change range and , then control the polishing module to adjust the current polishing gap, and the adjustment amplitude is ; If the current second instantaneous current data exceeds the allowable change range and , then obtain the corresponding ideal polishing gap according to the corresponding relationship for the current second instantaneous current data , control the polishing module to adjust the change value to adjust the current polishing gap . .

9. A magnetorheological machining method based on adjusting the actuator group by motor current, according to the magnetorheological machining device for adjusting the machining attitude based on motor current according to any one of claims 1 to 4, characterized in that: The method includes the following steps: The moving component drives the polishing component to move to the position where the test optical element is located, and makes the polishing module contact the test optical element; The actuator group drives the polishing assembly to perform fixed-point machining on the test optical element with different polishing gaps; the control unit calculates the corresponding relationship between the polishing gap and the ideal motor current according to the first polishing data, and the first polishing data includes the real-time current data of the drive motor collected under different set polishing gaps; and the second instantaneous current data is collected in real time, and the second instantaneous current data is compared with the ideal motor current corresponding to the current polishing gap in the corresponding relationship. If the difference between the two exceeds the preset error range, the output of the actuator group is changed, and then the current polishing gap is adjusted so that the difference between the second instantaneous current data collected after the current polishing gap is adjusted and the ideal motor current is within the preset error range; The second instantaneous current data is the current data of the drive motor collected in real time by the control unit when the drive motor drives the polishing module to polish the element to be polished at a constant speed.

10. The magnetorheological machining method based on the motor current regulation actuator group according to claim 9, characterized in that: If the adjustment amplitude from the current polishing gap to the upper threshold of the preset error range is denoted as , the adjustment amplitude of the output displacement of one of the actuators is , and the current output value of the corresponding drive motor is , denotes the ideal motor current, denotes the corresponding current adjustment amplitude; The adjustment range from the current polishing gap to the lower threshold of the preset error range is denoted as , and the adjustment range of the output displacement of one of the actuators is , and the current output value of the corresponding drive motor is ; The control method for the actuator group includes: If the current second instantaneous current data does not exceed the allowable change range then there is no need to adjust the actuator group; If the current second instantaneous current data exceeds the allowable change range and , then control the actuator group to adjust the output displacement of one of the current actuators in combination with the corresponding relationship according to the following formula: ； Among them, represents the corresponding relationship; The output displacement of the other actuator is adjusted according to the following formula: ； Among them, represents the motor current corresponding to the output of the displacement of the first actuator; If the current second instantaneous current data exceeds the allowable change range and , then the direct adjustment of the output displacements of the current two actuators is the set maximum output displacement , so that the second instantaneous current data corresponding to the adjusted output displacement returns to the allowable change range .

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