Magnetorheological machining device and method based on motor current to adjust machining posture

Abstract

The present invention relates to the field of magnetorheological technology, and specifically to a magnetorheological processing device and method for adjusting processing posture based on motor current. The device includes a polishing component, a moving component and a control unit. When the polishing module polishes the polishing element, different processing postures are adjusted, different polishing gaps and their corresponding first instantaneous current data are collected, and the corresponding relationship between the polishing gap and the ideal motor current is calculated. Then, based on this, the second instantaneous current data is judged, and it is determined whether to adjust the polishing gap of the polishing element according to the judgment result, thereby adjusting the processing posture in real time. This process does not require the calibration step of parameters such as gravity compensation, 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 machining, and in particular relates to a magnetorheological machining device and method for adjusting machining posture based on motor current. 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 polishing 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 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. It has high requirements for the change of the polishing gap during the polishing process. Generally, the polishing gap of the magnetorheological CNC machining center changes in tens of microns (PV<0.1mm), while the trajectory accuracy of common commercial robots is generally in the sub-millimeter to millimeter range, which cannot meet the requirements of magnetorheological polishing technology for polishing gap changes during high-precision polishing.

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

[0004] In view of this, the present invention aims to provide a magnetorheological processing device and method based on motor current to adjust the processing posture. By sensing the motor current to adjust the processing posture, the magnetorheological processing process is controlled, which solves the problem that the existing technology requires the use of high-precision force sensors for data collection for the control of the polishing wheel, and the high cost of high-precision force sensors.

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

[0006] A magnetorheological machining device for adjusting machining posture based on motor current, comprising:

[0007] The polishing assembly includes a drive motor and a polishing module, wherein the drive motor is used to drive the polishing module to move;

[0008] The moving assembly cooperates with the actuator assembly and is rigidly connected to the polishing assembly, and is used to drive the polishing assembly to move to the position of the component to be polished, and to adjust the polishing gap between the polishing module and the component to be polished;

[0009] The control unit controls the moving components and the actuator group to change the processing posture, so that the polishing module performs fixed-point processing on the polishing element with different polishing gaps, collects the instantaneous current of the drive motor in real time, and adjusts the processing posture according to the instantaneous current.

[0010] Furthermore, the control unit is configured to calculate a correspondence between a polishing gap and a set ideal motor current based on first polishing data, the first polishing data including first instantaneous current data of a driving motor at different set polishing gaps; and to collect 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 second instantaneous current data and the ideal motor current in the correspondence exceeds a preset error range, the moving component is controlled to adjust the current polishing gap, thereby changing the machining posture, so that the difference between the adjusted second instantaneous current data and the ideal motor current is within the preset error range.

[0011] 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 component to be polished at a constant speed.

[0012] Furthermore, the actuator group includes at least one actuator; two adjacent actuators are connected in a cascade manner;

[0013] The polishing module includes:

[0014] The magnetorheological mounting frame is 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;

[0015] The polishing wheel is arranged on a 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;

[0016] a magnet disposed on the magnetorheological mounting frame and close to the working point of the polishing wheel;

[0017] A magnetorheological medium is connected to the polishing wheel. The magnetorheological medium is driven by the polishing wheel to enter the magnetic field working area of ​​the magnet to form a magnetorheological ribbon. The magnetorheological ribbon size parameters change with the polishing gap and magnetic field strength, and is used to polish the component to be polished.

[0018] a nozzle, disposed on the magnetorheological mounting frame, for supplying magnetorheological medium to the polishing wheel;

[0019] a supply system connected to the nozzle and delivering magnetorheological medium to the nozzle;

[0020] The position adjustment component is connected to the polishing wheel and changes the position of the polishing wheel according to the signal of the control unit.

[0021] Furthermore, the position adjustment component includes:

[0022] A supporting and fixing frame is arranged on the magnetorheological mounting frame;

[0023] A displacement output motor is arranged on a supporting fixed frame;

[0024] The lead screw is arranged on a supporting fixed frame and connected to a displacement output motor; the polishing wheel is arranged on a 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.

[0025] A magnetorheological machining method based on motor current to adjust machining posture, according to the present invention, a magnetorheological machining device based on motor current to adjust machining posture is provided, comprising the following steps:

[0026] The moving assembly drives the polishing assembly to move to the location of the test optical element in different processing postures, and makes the polishing module contact with the test optical element, and performs fixed-point processing on the test optical element;

[0027] Under different machining postures, the control unit calculates a correspondence between the polishing gap and the ideal motor current based on first polishing data, the first polishing data including real-time current data of the drive motor collected under different set polishing gaps; and collects second instantaneous current data in real time, and compares the second instantaneous current data with the ideal motor current corresponding to the current polishing gap in the correspondence. If a difference between the second instantaneous current data and the ideal motor current in the correspondence exceeds a 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 adjustment and the ideal motor current is within the preset error range.

[0028] 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 component to be polished at a constant speed.

[0029] Furthermore, if the adjustment range from the current polishing gap to the upper limit threshold of the preset error range is recorded as , the corresponding current output value of the drive motor , represents the ideal motor current, Indicates the corresponding current adjustment amplitude; the adjustment amplitude from the current polishing gap to the lower limit threshold of the preset error range is recorded as , the corresponding current output value of the drive motor is ;

[0030] Controlling the mobile component to adjust the current processing posture includes:

[0031] If the second instantaneous current data Does not exceed the allowable variation range There is no need to adjust the posture of the mobile component;

[0032] If the second instantaneous current data Exceeding the allowable range of variation and , then adjust the posture of the moving component so that the adjustment range of the polishing gap is ;

[0033] If the second instantaneous current data Exceeding the allowable range of variation and , then the current second instantaneous current data is obtained according to the corresponding relationship Corresponding ideal polishing gap , adjust the posture of the mobile component to adjust the change value Adjust the current polishing gap .

[0034] A magnetorheological machining method for adjusting the polishing gap based on motor current, and a magnetorheological machining device for adjusting the machining posture based on motor current provided by the present invention, comprising the following steps:

[0035] The moving assembly drives the polishing assembly to move to the location of the test optical element and brings the polishing module into contact with the test optical element; the polishing module is controlled to perform fixed-point processing on the test optical element with different polishing gaps;

[0036] The control unit calculates a correspondence between the polishing gap and the ideal motor current based on first polishing data, the first polishing data including real-time current data of the drive motor collected at different set polishing gaps; and collects second instantaneous current data in real time, and compares the second instantaneous current data with the ideal motor current corresponding to the current polishing gap in the correspondence. If a difference between the second instantaneous current data and the ideal motor current exceeds a preset error range, the control unit controls the polishing module to adjust the current polishing gap so that the difference between the second instantaneous current data collected after the polishing gap adjustment and the ideal motor current is within the preset error range.

[0037] 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 component to be polished at a constant speed.

[0038] Furthermore, if the adjustment range from the current polishing gap to the upper limit threshold of the preset error range is recorded as , the corresponding current output value of the drive motor , represents the ideal motor current, Indicates the corresponding current adjustment amplitude; the adjustment amplitude from the current polishing gap to the lower limit threshold of the preset error range is recorded as , the corresponding current output value of the drive motor is ;

[0039] Controlling the polishing module to adjust the current polishing gap includes:

[0040] If the second instantaneous current data Does not exceed the allowable variation range When the polishing module is controlled, it is not necessary to adjust the current polishing gap;

[0041] If the second instantaneous current data Exceeding the allowable range of variation and , then the polishing module is controlled to adjust the current polishing gap by ;

[0042] If the second instantaneous current data Exceeding the allowable range of variation and , then the current second instantaneous current data is obtained according to the corresponding relationship Corresponding ideal polishing gap , control the polishing module to adjust the change value Adjust the current polishing gap .

[0043] A magnetorheological machining method based on a motor current regulating actuator group, and a magnetorheological machining device based on a motor current regulating machining posture provided by the present invention, comprising the following steps:

[0044] The moving assembly drives the polishing assembly to move to the location of the test optical element, and makes the polishing module contact with the test optical element;

[0045] The actuator group drives the polishing assembly so that the polishing assembly performs fixed-point processing on the test optical element at different polishing gaps. The control unit calculates a correspondence between the polishing gap and the ideal motor current based on first polishing data, the first polishing data including real-time current data of the drive motor collected at different set polishing gaps. The control unit also collects second instantaneous current data in real time and compares the second instantaneous current data with the ideal motor current corresponding to the current polishing gap in the correspondence. If the difference between the second instantaneous current data and the ideal motor current in the correspondence exceeds a preset error range, the output of the actuator group is changed, thereby adjusting the current polishing gap 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.

[0046] 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 component to be polished at a constant speed.

[0047] Furthermore, if the current polishing gap The adjustment range to the upper threshold of the preset error range is recorded as , the adjustment range of the output displacement of one of the actuators is , the corresponding current output value of the drive motor , represents the ideal motor current, Indicates the corresponding current adjustment amplitude;

[0048] By the current polishing gap The adjustment range to the lower limit threshold of the preset error range is recorded as , the adjustment range of the output displacement of one of the actuators is , the corresponding current output value of the drive motor is ;

[0049] The control methods for the actuator group include:

[0050] If the second instantaneous current data Does not exceed the allowable variation range There is no need to adjust the actuator group;

[0051] If the second instantaneous current data Exceeding the allowable range of variation and , then the control actuator group combines the corresponding relationship to adjust the output displacement of one of the current actuators Adjust according to the following formula:

[0052] ;

[0053] in, Indicates the corresponding relationship;

[0054] Then the output displacement of the other actuator Adjust according to the following formula:

[0055] ;

[0056] in, Indicates the motor current corresponding to the first actuator displacement output;

[0057] If the second instantaneous current data Exceeding the allowable range of variation and , then the output displacement of the two actuators is directly adjusted to the set maximum output displacement , so that the second instantaneous current data corresponding to the adjusted output displacement Return to the allowable range of variation middle.

[0058] Compared with the prior art, the present invention can achieve the following beneficial effects:

[0059] The present invention creates a magnetorheological machining device and method for adjusting machining posture based on motor current. By utilizing the relationship between machining posture and motor current, the polishing module changes the machining posture when polishing the component to be polished, collects different polishing gaps and their corresponding first instantaneous current data, and obtains their respective corresponding relationships. These corresponding relationships are then used to determine the second instantaneous current data, and a decision is made based on the determination results as to whether to adjust the machining posture. 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 robotic magnetorheological machining equipment, 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 data. The measurement results are more accurate, and there is no need to add high-precision force sensors or other equipment, thereby reducing equipment costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0060] The accompanying drawings, which constitute part of the present invention, are intended to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are intended to explain the present invention and do not constitute an undue limitation of the present invention. In the accompanying drawings:

[0061] Figure 1 A schematic structural diagram of a magnetorheological machining device for adjusting machining posture based on motor current according to an embodiment of the present invention at one viewing angle;

[0062] Figure 2 A schematic structural diagram of a magnetorheological machining device for adjusting machining posture based on motor current according to an embodiment of the present invention from another perspective;

[0063] Figure 3 A schematic structural diagram of the actuator according to an embodiment of the present invention;

[0064] Figure 4 A schematic structural diagram of a polishing module according to an embodiment of the present invention;

[0065] Figure 5 This is a structural diagram of the position adjustment assembly described in an embodiment of the present invention.

[0066] Description of reference numerals:

[0067] 1. Polishing platform; 2. Component to be polished; 3. Polishing module; 4. Drive motor; 5. Control unit; 6. Moving assembly; 7. Actuator group; 8. Transition plate; 9. Cylinder body; 10. Cavity A; 11. Cavity B; 12. Oil scraper 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 rack; 22. Position adjustment assembly; 23. Support and fixing bracket; 24. Displacement output motor; 25. Screw; 26. Nut; 27. Guide rail; 28. Slider; 29. ​​Driving plate. DETAILED DESCRIPTION

[0068] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is 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 of the present invention.

[0069] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other.

[0070] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. In addition, the terms "first", "second" and the like are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, features defined as "first", "second" and the like may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0071] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "installed," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium; and they can refer to internal connections between two components. Those skilled in the art can understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0072] The present invention will be described in detail below with reference to the accompanying drawings and in combination with embodiments.

[0073] like Figures 1 to 5 As shown, the magnetorheological processing device based on motor current to adjust the processing posture described in the embodiment of the present invention includes a polishing platform 1, a polishing assembly, a control unit 5 and a moving assembly 6. The polishing platform 1 is provided with an element 2 to be polished; the polishing assembly includes a driving motor 4 and a polishing module 3. The polishing module 3 is used to perform a polishing process on the element 2 to be polished, and the driving motor 4 is used to drive the polishing module 3 to move; the moving assembly 6 and the actuator group 7 cooperate and are rigidly connected to the polishing assembly to drive the polishing assembly to move to the position of the element 2 to be polished, and to adjust the polishing gap between the polishing module 3 and the element 2 to be polished; 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 element 2 to be polished with different polishing gaps, and collects the instantaneous current of the driving motor in real time, and adjusts the processing posture according to the instantaneous current.

[0074] In this embodiment, the polishing platform 1 refers to a working platform for experiments, on which the component to be polished 2 and other polishing parts are placed, such as the magnetorheological medium required for polishing, the supporting tooling of the component to be polished 2, etc., wherein the component to be polished 2 is a component that needs to be magnetorheologically polished. The actuator group 7 includes no less than one actuator; two adjacent actuators are connected in a cascade manner. In the embodiment of the present invention, the actuator group 7 is composed of two cascaded high-frequency actuators, that is, one of the actuators 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 uses the SG model static pressure linear cylinder of Jilin Huakong Testing Instrument Co., Ltd., and the structure of each actuator is as follows. Figure 3 As shown, it includes a transition plate 8, a cylinder body 9, a cavity A 10, a cavity B 11, an oil scraper ring 12, a connecting plate 13, and a moving piston 14. The transition plate 8 is used to connect the moving assembly 6 with the cylinder body 9 of the actuator. The cavity A 10 and the cavity B 11 are used to control the inflow and outflow of hydraulic oil. The oil scraper ring 12 is used to prevent the hydraulic oil from flowing out of the cylinder body 9. The moving piston 14 is used to output position. The connecting plate 13 is used to connect the moving piston 14 to the polishing module 3 or another actuator, thereby outputting displacement to the polishing module 3 or another actuator.

[0075] Figure 4 (a) shows a schematic structural diagram of the polishing module 3 from one perspective. Figure 4 (b) shows a schematic structural diagram of the polishing module 3 from another perspective. Figure 4As shown, 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 fixed to the free end of the actuator assembly 7. The polishing wheel 16 and the position adjustment assembly 22 are mounted on the magnetorheological mounting frame 15. The position adjustment assembly 22 is connected to the polishing wheel 16. Specifically, the front end of the driving plate 29 is mounted on the position adjustment assembly 22, and the polishing wheel 16 is mounted on the rear end of the driving plate 29. The position adjustment assembly 22 adjusts the position of the polishing wheel 16, thereby changing the polishing gap of the polishing wheel 16. The drive motor 4 is mounted on the driving plate 29. The output end of the drive motor 4 passes through the driving plate 29. The bearing of the polishing wheel 16 passes through the end of the driving plate 29. The output end of the drive motor 4 is connected to the bearing of the polishing wheel 16 via the transmission belt 17, so that the drive motor 4 controls the polishing wheel 16 to rotate. The manner in which the drive motor 4 drives the polishing wheel 16 to rotate in the embodiment of the present invention can be referred to the invention patent application with Chinese patent publication number CN118322074A, publication date July 12, 2024, and patent name "Self-rotating Polishing Module Processing System". The nozzle 18 is mounted on the magnetorheological mounting frame 15 along the rotation direction of the polishing wheel 16. The supply system 20 is mounted on the supply frame 21 on one side of the polishing platform 1, and supplies magnetorheological fluid to the nozzle 18. The nozzle 18 sprays the magnetorheological fluid toward the working point of the polishing wheel 16, thereby causing the polishing wheel 16 to process the polishing element 2 using the magnetorheological fluid as a medium. Magnet 19 is fixed to the magnetorheological fluid mounting frame 15 via a driving plate 29. Magnet 19 is positioned near the operating point of polishing wheel 16 (in this embodiment, the operating point of polishing wheel 16 is defined as the point of closest approach between polishing wheel 16 and the surface of component 2, along the normal to the surface of component 2). This allows the magnetorheological fluid to be influenced by the magnetic field strength of magnet 19, changing its stiffness. Furthermore, in this embodiment, supply system 20 utilizes a DFLD vertical multi-stage pump from Shanghai Dongfang Pump Co., Ltd.

[0076] The structure of the position adjustment component 22 for controlling the polishing wheel 16 is as follows Figure 5As shown, the apparatus comprises a support frame 23, a displacement output motor 24, and a lead screw 25. A nut 26 matching the lead screw 25 is internally equipped with a ball bearing, and the lead screw 25 and the nut 26 form a ball screw. The support frame 23 is mounted on the magnetorheological mounting frame 15, and the displacement output motor 24 is mounted on the top of the support frame 23. The output end of the displacement output motor 24 is connected to the lead screw 25 mounted on the support frame 23. The polishing wheel 16 is connected to the nut 26 on the lead screw 25 via 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 this embodiment of the present invention, to ensure that the polishing wheel 16 can move stably along the lead screw 25, a guide rail 27 is preferably installed on each side of the lead screw 25 on the support 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. During the machining process, 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, thereby driving the polishing wheel 16 to move up and down.

[0077] The drive motor 4, moving assembly 6, actuator assembly 7, and displacement output motor 24 of the position adjustment assembly 22 are each connected to the control unit 5 to form respective communication lines, enabling the control unit 5 to receive and transmit signals via the corresponding communication lines. Specifically, the control unit 5 receives instantaneous current signals from the drive motor 4 via the communication lines, and the drive motor 4 transmits control signals to the actuator assembly 7 and displacement output motor 24 via the communication lines to change the position of the polishing wheel 16. Because the polishing wheel 16 generates a strong magnetic field around it during polishing, the communication lines are routed away from these strong magnetic fields to prevent the wires from being attracted to the polishing module 3 and affecting normal operation.

[0078] The moving assembly 6 can be a robotic arm or other robot with posture adjustment capabilities. Optionally, the moving assembly 6 is a six-axis robotic arm, with the actuator assembly 7 rigidly connected to the robotic arm via metal hardware. Polishing gap adjustment is accomplished via the robotic arm and / or the actuator assembly 7. The polishing gap is adjusted by adjusting the vertical movement of the robotic arm and / or the output of the actuator assembly 7. The adjustment is determined by measuring the change in the current of the drive motor 4 after adjustment. If the adjustment is not in place (i.e., the change in the dimensional parameters of the ribbon structure is not within a preset error range), the robotic arm will continue to adjust during movement.

[0079] When the polishing gap between the polishing assembly and the polished component 2 changes, the shear force between the component and the magnetorheological medium in the polishing module 3 changes. To maintain a constant polishing speed, the current of the drive motor 4 eventually changes accordingly. By measuring the change in the current of the drive motor 4, the change in the polishing gap is calculated. Finally, the moving assembly 6 and / or the actuator assembly 7 adjust the processing posture, thereby achieving real-time control of the polishing gap change.

[0080] 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 polishing element 2, and calculate the corresponding relationship between the polishing gap and the ideal motor current based on the first polishing data. The first polishing data includes first instantaneous current data of the drive motor 4 at different polishing gaps. The different polishing gaps can be pre-set. Preferably, the different polishing gaps should cover the maximum and minimum polishing gaps to which the drive motor 4 can drive the polishing module 3. The first polishing data can be collected multiple times. Finally, the error between the 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 based on the first polishing data.

[0081] In this embodiment, the control unit 5 calculates the correspondence between different polishing gaps and the ideal motor current by correlating the first instantaneous current data with the corresponding polishing gap. Using this as a reference, when polishing the component 2 to be polished, the control unit 5 compares the second instantaneous current data corresponding to different polishing regions of the component 2 to see if the difference between the second instantaneous current data and the ideal motor current is within a 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 approach enables real-time adjustment of the polishing gap during the polishing process based on the correspondence between the polishing gap and the instantaneous current, thereby enabling the moving assembly 6 and / or actuator assembly 7 to change the machining posture and automatically compensate for the polishing gap.

[0082] By utilizing the relationship between the polishing module 3 and the motor current, when the polishing module 3 polishes the element to be polished 2, different polishing gaps and their corresponding first instantaneous current data are collected, and 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. Then, the second instantaneous current data is judged by this relationship, and it is decided whether to adjust the processing posture according to the judgment result, thereby realizing real-time adjustment of the polishing gap of the element to be polished 2. This process does not require calibration steps of parameters such as gravity compensation, and will not be affected by the weight of the magnetorheological processing module of the robot magnetorheological processing equipment, 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 data. The measurement results are more accurate, and there is no need to add high-precision force sensors and other equipment, thereby reducing equipment costs.

[0083] The specific polishing principle is as follows: when the polishing wheel is polishing, the magnetorheological medium is affected by the magnetic field change, changing from liquid to solid-state, forming a Bingham fluid. As the polishing wheel rotates, the Bingham fluid applies shear force to the outer surface of the element to be polished 2, thereby polishing the element to be polished 2. Different polishing gaps correspond to different shear forces, and therefore, different polishing gaps achieve different polishing effects. When the polishing gap between the polishing assembly and the element to be polished 2 changes, the thickness of the magnetorheological ribbon of the magnetorheological medium placed in the polishing area changes, causing the shear force between the element to be polished 2 and the magnetorheological ribbon to change. In order to maintain a constant speed of the polishing wheel, the current of the drive motor 4 will eventually change accordingly. The corresponding relationship can be expressed by the following formula:

[0084] ;

[0085] Where n represents the polishing wheel speed, k represents the proportional coefficient, U represents the voltage of the drive motor 4, F represents the force (i.e., shear force) acting on the drive motor 4, 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 the change in the current polishing gap is calculated. Finally, the moving assembly 6 and / or the actuator assembly 7 are used to achieve real-time control of the processing posture.

[0086] Based on the magnetorheological processing device based on motor current to adjust processing posture as described in the embodiment of the present invention, the embodiment of the present invention also provides a magnetorheological processing method based on motor current to adjust processing posture, including a magnetorheological processing method based on motor current to adjust processing posture, a magnetorheological processing method based on motor current to adjust polishing gap, and a magnetorheological processing method based on motor current to adjust actuator group.

[0087] Example 1: A magnetorheological machining method based on motor current to adjust machining posture, according to the magnetorheological machining device based on motor current to adjust machining posture provided by the embodiment of the present invention, combined with Figures 1 to 5 , the method comprises the following steps:

[0088] The moving assembly 6 drives the polishing assembly to move to the location of the test optical element 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;

[0089] Under different machining postures, the control unit 5 calculates the correspondence between the polishing gap and the set ideal motor current based on the first polishing data, the first polishing data including real-time current data of the drive motor 4 collected under different set polishing gaps; and collects second instantaneous current data in real time, and compares the second instantaneous current data with the ideal motor current corresponding to the current polishing gap in the correspondence. If the difference between the second instantaneous current data and the ideal motor current corresponding to the current polishing gap exceeds a preset error range, the moving component 6 is controlled 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 adjustment and the ideal motor current is within the preset error range.

[0090] The second instantaneous current data is the current data of the driving motor 4 collected in real time by the control unit 5 when the driving motor 4 drives the polishing module 3 at a constant speed to polish the component to be polished 2 .

[0091] In this embodiment, it is necessary to first obtain the correspondence between the ideal motor current and the polishing gap. The moving component 6 drives the polishing module 3 to move to the position of the test optical element 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 where the polishing module 3 contacts 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 facilitate improving the accuracy of the correspondence between the ideal motor current and the polishing gap.

[0092] During the process of polishing the test optical element by the polishing module 3, the control unit 5 controls the moving component 6 to set different polishing gaps, collects the first instantaneous current data corresponding to different polishing gaps, maps and stores multiple sets of first instantaneous current data with the corresponding polishing gaps, and obtains the first polishing data. The control unit 5 calculates the correspondence between the polishing gap and the ideal motor current based on the first polishing data.

[0093] After obtaining the correspondence between the ideal motor current and the polishing gap, the polishing gap of the polishing area of ​​the polishing element 2 to be polished can be adjusted according to this correspondence. After the adjustment, the second instantaneous current data corresponding to the current polishing gap of the polishing element 2 to be polished is placed within the same preset error range as the ideal motor current.

[0094] By utilizing the relationship between the polishing module 3 and the motor current, when the polishing module 3 polishes the polishing element 2, different polishing gaps and their corresponding first instantaneous current data are collected, and 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. Then, the second instantaneous current data is judged by this relationship, and whether to adjust the processing posture is determined according to the judgment result, so that the polishing gap is adjusted in real time using the moving component 6. This process does not require calibration steps for parameters such as gravity compensation, and will not be affected by the weight of the polishing module 3, 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 data. The measurement results are more accurate, and there is no need to add high-precision force sensors and other equipment, thereby reducing equipment costs.

[0095] In some embodiments, the corresponding relationship between the polishing gap and the ideal motor current is a function curve relationship, and the function curve relationship is based on the polishing gap. With the first instantaneous current data The corresponding relationship is obtained by fitting the discrete values ​​of for:

[0096] .

[0097] In this embodiment, multiple polishing gaps Corresponding to multiple first instantaneous current data , polishing gap With the first instantaneous current data They are all discrete values, so discrete values ​​need to be fitted.

[0098] Fitting process: The discrete data was imported into Matlab software and fitted using the polyfit command in Matlab to determine the relationship between the polishing gap and the ideal motor current parameters. The Polyfit command is a basic, general command in Matlab. The resulting relationship between the polishing gap and the ideal motor current was determined. In this embodiment, the relationship between the polishing gap and the ideal motor current was a functional relationship.

[0099] In this way, the corresponding relationship between the ideal motor current and the polishing gap can be more intuitively seen. Based on this, multiple components 2 to be polished under the same polishing conditions can be polished.

[0100] In some embodiments, if the sampling period for collecting the second instantaneous current data is recorded as The shortest time required for moving component 6 to adjust the maximum gap error is recorded as , the shortest switching time between two adjacent track points to be processed on the polishing element 2 is recorded as ;

[0101] Methods include:

[0102] judge 、 、 Does the relationship between satisfy the formula:

[0103] ;

[0104] If it is not satisfied, the sampling frequency of the control unit 5 for collecting the second instantaneous current data is adjusted until the above formula is satisfied. The sampling frequency is .

[0105] In this embodiment, the above formula gives the correspondence between the three time elements, namely: within a single sampling cycle, the moving component 6 can adjust the polishing module 3 so that it moves to the polishing gap corresponding to the ideal motor 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 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, affecting the automatic compensation function of the polishing gap.

[0106] In some embodiments, the maximum gap error is the adjustment amplitude corresponding to the upper threshold or lower threshold of the preset error range adjusted from the current polishing gap, which is recorded as , where the adjustment range corresponding to the upper threshold is recorded as , the adjustment range corresponding to the lower threshold ;

[0107] , ,in, The maximum speed of the mobile component 6 when adjusting its posture. It represents the distance between two adjacent points on the track to be processed on the element to be polished 2.

[0108] In some embodiments, the method further comprises:

[0109] When the moving assembly 6 drives the polishing module 3 to move from the first track point to the second track point, the second instantaneous current data collected by the control unit 5 during the movement is filtered, and the filtered second instantaneous current data is compared with the ideal motor current under the current polishing gap;

[0110] If the number a of the second instantaneous current data collected by the control unit during the movement satisfies the following formula:

[0111] .

[0112] In this embodiment, this method can avoid the influence of random signals and mutation signals generated during the second instantaneous current data measurement on the measurement result of the second instantaneous current data, thereby making the adjustment of the polishing gap more accurate.

[0113] The adjustment range of the current polishing gap , the corresponding current output value of the drive motor 4 is , represents the ideal motor current, Indicates the corresponding current adjustment range; the current polishing gap adjustment range , the corresponding current output value of the drive motor 4 is ;

[0114] The process of adjusting the current processing posture of the mobile component 6 includes:

[0115] If the second instantaneous current data of the current driving motor 4 Does not exceed the allowable variation range There is no need to adjust the posture of the mobile component;

[0116] If the second instantaneous current data of the current driving motor 4 Exceeding the allowable range of variation and , then adjust the posture of the moving component so that the adjustment range of the polishing gap is ;

[0117] If the second instantaneous current data of the current driving motor 4 Exceeding the allowable range of variation and , then the current second instantaneous current data is obtained according to the corresponding relationship Corresponding ideal polishing gap , adjust the posture of the mobile component to adjust the change value Adjust the current polishing gap .

[0118] Example 2: A magnetorheological machining method based on motor current to adjust polishing gap, according to the magnetorheological machining device based on motor current to adjust machining posture provided by the embodiment of the present invention, combined with Figures 1 to 5 , the method comprises the following steps:

[0119] The moving assembly 6 drives the polishing assembly to move to the location of the test optical element and brings the polishing module 3 into contact with the test optical element; the polishing module 3 is controlled to perform fixed-point processing on the test optical element with different polishing gaps;

[0120] The control unit 5 calculates the corresponding relationship between the polishing gap and the ideal motor current according to the first polishing data, where the first polishing data includes real-time current data of the driving motor 4 collected at different set polishing gaps; and

[0121] 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 a 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 adjustment and the ideal motor current is within the preset error range;

[0122] The second instantaneous current data is the current data of the driving motor 4 collected in real time by the control unit 5 when the driving motor 4 drives the polishing module 3 at a constant speed to polish the component to be polished 2 .

[0123] In this embodiment, the processing time is calculated and the polishing gap is obtained. With the first instantaneous current data The correspondence between As in Example 1, it should be noted that when calculating When It is the maximum moving speed of polishing module 3.

[0124] In this embodiment, when the polishing module 3 performs fixed-point processing on the test optical element or the element to be polished 2 with different polishing gaps, the control unit 5 specifically uses the position adjustment component 22 to adjust the position of the polishing wheel 16. Specifically, the control unit 5 sends a control signal to the displacement output motor 24. When the displacement output motor 24 drives the screw 25 to rotate, the screw 25 cooperates with the two guide rails 27 to pull the driving plate 29, thereby driving the polishing wheel 16 to move, thereby changing the polishing gap.

[0125] Same as in Example 1, the adjustment range of the current polishing gap is , the corresponding current output value of the drive motor 4 is , represents the ideal motor current, Indicates the corresponding current adjustment range; the current polishing gap adjustment range , the corresponding current output value of the drive motor 4 is .

[0126] Controlling the polishing module 3 to adjust the current polishing gap includes:

[0127] If the second instantaneous current data of the current driving motor 4 Does not exceed the allowable variation range When , there is no need to control the polishing module 3 to adjust the current polishing gap;

[0128] If the second instantaneous current data of the current driving motor 4 Exceeding the allowable range of variation and , then the polishing module 3 is controlled to adjust the current polishing gap by ;

[0129] If the second instantaneous current data of the current driving motor 4 Exceeding the allowable range of variation and , then the current second instantaneous current data is obtained according to the corresponding relationship Corresponding ideal polishing gap , control polishing module 3 to adjust the change value Adjust the current polishing gap .

[0130] Example 3: A magnetorheological machining method based on a motor current regulating actuator group, according to the magnetorheological machining device based on a motor current regulating machining posture provided by the embodiment of the present invention, combined with Figures 1 to 5 , the method comprises the following steps:

[0131] The moving assembly 6 drives the polishing assembly to move to the location of the test optical element, and makes the polishing module 3 contact with the test optical element;

[0132] The actuator assembly 7 drives the polishing assembly, causing the polishing assembly to perform fixed-point processing on the test optical element at different polishing gaps. The control unit 5 calculates a correspondence between the polishing gap and the ideal motor current based on first polishing data, where the first polishing data includes real-time current data of the drive motor collected at different set polishing gaps. The control unit 5 also collects second instantaneous current data in real time and compares the second instantaneous current data with the ideal motor current corresponding to the current polishing gap in the correspondence. If the difference between the second instantaneous current data and the ideal motor current in the correspondence exceeds a preset error range, the output of the actuator assembly 7 is changed, thereby adjusting the current polishing gap so that the difference between the second instantaneous current data collected after the current polishing gap adjustment and the ideal motor current is within the preset error range.

[0133] The second instantaneous current data is the current data of the driving motor 4 collected in real time by the control unit 5 when the driving motor drives the polishing module at a constant speed to polish the test optical element.

[0134] In this embodiment, the processing time is calculated and the polishing gap is obtained. With the first instantaneous current data The correspondence between It is consistent with Example 1 and will not be repeated here. It should be noted that when calculating When It is the maximum adjustment speed of the actuator group 7.

[0135] It is understandable that the current adjustment range of the polishing gap , the adjustment range of the output displacement of one of the actuators is , the corresponding current output value of the drive motor 4 is ; The adjustment range of the current polishing gap , the adjustment range of the output displacement of one of the corresponding actuators is , the corresponding current output value of the drive motor 4 is .

[0136] The control methods for the actuator group 7 include:

[0137] If the second instantaneous current data of the current driving motor 4 Does not exceed the allowable variation range When , there is no need to adjust the actuator group 7;

[0138] If the second instantaneous current data of the current driving motor 4 Exceeding the allowable range of variation and , then the control actuator group 7 is combined with the corresponding relationship Output displacement of one of the current actuators Adjust according to the following formula:

[0139] ;

[0140] Then the output displacement of the other actuator Adjust according to the following formula:

[0141] ;

[0142] in, Indicates the motor current corresponding to the first actuator displacement output;

[0143] If the second instantaneous current data Exceeding the allowable range of variation and , then the output displacement of the current actuator group 7 is directly adjusted to the set maximum output displacement , so that the second instantaneous current data corresponding to the adjusted output displacement Return to the allowable range of variation middle.

[0144] In all the above embodiments, all preset and set values ​​and ranges are adaptively set and adjusted according to actual conditions, and the present invention does not limit this.

[0145] 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.

[0146] 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 machining device that adjusts machining posture based on motor current, characterized in that: The device comprises: A polishing assembly, comprising a drive motor and a polishing module, wherein the drive motor is used to drive the polishing module to move; A moving assembly cooperates with the actuator assembly and is rigidly connected to the polishing assembly, and 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 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, collects the instantaneous current of the drive motor in real time, and adjusts the processing posture according to the instantaneous current.

2. The magnetorheological machining device for adjusting machining posture based on motor current according to claim 1, characterized in that: In the control unit, it is used to calculate the corresponding relationship between the polishing gap and the set ideal motor current according to the first polishing data, wherein the first polishing data includes the first instantaneous current data of the driving motor under different set polishing gaps; and for collecting second instantaneous current data in real time, and comparing the second instantaneous current data with the ideal motor current corresponding to the current polishing gap in the corresponding relationship; if the difference between the two exceeds a preset error range, controlling 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 driving motor collected in real time by the control unit when the driving motor drives the polishing module at a constant speed to polish the component to be polished.

3. The magnetorheological machining device according to claim 1, wherein: The actuator group includes at least one actuator; two adjacent actuators are connected in a cascade manner; The polishing module comprises: A magnetorheological mounting frame is connected to the moving assembly; the driving motor and the magnet are arranged on the magnetorheological mounting frame; the output end of the actuator group is connected to the magnetorheological mounting frame; A polishing wheel is arranged on the magnetorheological mounting frame, and the driving motor drives the polishing wheel to rotate; the magnet is close to the working point of the polishing wheel; a magnet, disposed on the magnetorheological mounting frame and close to a working point of the polishing wheel; a magnetorheological medium connected to the polishing wheel, the magnetorheological medium being driven by the polishing wheel to enter the magnetic field working area of ​​the magnet to form a magnetorheological ribbon, wherein the magnetorheological ribbon has a size parameter that changes with the polishing gap and the magnetic field strength, and is used to polish the component to be polished; a nozzle, disposed on the magnetorheological mounting frame, for providing the magnetorheological medium to the polishing wheel; a supply system connected to the nozzle and supplying the magnetorheological medium to the nozzle; The position adjustment component is 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 according to claim 3, wherein: The position adjustment component includes: A supporting and fixing frame, arranged on the magnetorheological mounting frame; A displacement output motor is provided on the supporting fixing frame; The lead screw is arranged on the supporting fixed 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 to move, so that the polishing wheel moves along the lead screw.

5. A magnetorheological machining method based on motor current to adjust machining posture, according to the magnetorheological machining device based on motor current to adjust machining posture according to any one of claims 1 to 4, characterized in that: The method comprises the following steps: The moving assembly drives the polishing assembly to move to the location of the test optical element in different processing postures, and makes the polishing module contact the test optical element, and performs fixed-point processing on the test optical element; Under different machining postures, the control unit calculates a correspondence between the polishing gap and the ideal motor current based on first polishing data, the first polishing data including real-time current data of the drive motor collected under different set polishing gaps; and collects second instantaneous current data in real time, and compares the second instantaneous current data with the ideal motor current corresponding to the current polishing gap in the correspondence. If a difference between the second instantaneous current data and the ideal motor current in the correspondence exceeds a 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 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 collected in real time by the control unit when the driving motor drives the polishing module at a constant speed to polish the component to be polished.

6. The magnetorheological machining method based on motor current adjustment of machining posture according to claim 5, characterized in that: If the adjustment range from the current polishing gap to the upper limit threshold of the preset error range is recorded as , the corresponding current output value of the drive motor , represents the ideal motor current, Indicates the corresponding current adjustment amplitude; the adjustment amplitude from the current polishing gap to the lower limit threshold of the preset error range is recorded as , the corresponding current output value of the drive motor is ; Controlling the moving component to adjust the current processing posture includes: If the second instantaneous current data Does not exceed the allowable variation range When the movement is performed, there is no need to adjust the posture of the mobile component; If the second instantaneous current data Exceeding the allowable range of variation and , then adjust the posture of the moving component so that the adjustment range of the polishing gap is ; If the second instantaneous current data Exceeding the allowable range of variation and , then the current second instantaneous current data is obtained according to the corresponding relationship Corresponding ideal polishing gap , adjust the posture of the mobile component to adjust the change value 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 posture based on motor current according to any one of claims 1 to 4, characterized in that: The method comprises the following steps: The moving assembly drives the polishing assembly to move to the location of the test optical element and brings the polishing module into contact with the test optical element; controls the polishing module to perform fixed-point processing on the test optical element with different polishing gaps; The control unit calculates a correspondence between a polishing gap and an ideal motor current based on first polishing data, the first polishing data including real-time current data of the drive motor collected at different set polishing gaps; and collects second instantaneous current data in real time, and compares the second instantaneous current data with the ideal motor current corresponding to the current polishing gap in the correspondence. If a difference between the second instantaneous current data and the ideal motor current in the correspondence exceeds a preset error range, the control unit controls the polishing module to adjust the current polishing gap so that the difference between the second instantaneous current data collected after the polishing gap 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 collected in real time by the control unit when the driving motor drives the polishing module at a constant speed to polish the component to be polished.

8. The magnetorheological machining method based on motor current to adjust polishing gap according to claim 7, characterized in that: If the adjustment range from the current polishing gap to the upper limit threshold of the preset error range is recorded as , the corresponding current output value of the drive motor , represents the ideal motor current, Indicates the corresponding current adjustment amplitude; the adjustment amplitude from the current polishing gap to the lower limit threshold of the preset error range is recorded as , the corresponding current output value of the drive motor is ; Controlling the polishing module to adjust the current polishing gap includes: If the second instantaneous current data Does not exceed the allowable variation range When the polishing module is controlled to adjust the current polishing gap, If the second instantaneous current data Exceeding the allowable range of variation and , then control the polishing module to adjust the current polishing gap, the adjustment range is ; If the second instantaneous current data Exceeding the allowable range of variation and , then the current second instantaneous current data is obtained according to the corresponding relationship Corresponding ideal polishing gap , control the polishing module to adjust the change value Adjust the current polishing gap .

9. A magnetorheological machining method based on motor current regulation of an actuator assembly, the magnetorheological machining device based on motor current regulation of machining posture according to any one of claims 1 to 4, characterized in that: The method comprises the following steps: The moving assembly drives the polishing assembly to move to the location of the test optical element, and makes the polishing module contact with the test optical element; The actuator group drives the polishing assembly so that the polishing assembly performs fixed-point processing on the test optical element at different polishing gaps. The control unit calculates a correspondence between the polishing gap and the ideal motor current based on first polishing data, wherein the first polishing data includes real-time current data of the drive motor collected at different set polishing gaps. The control unit also collects second instantaneous current data in real time and compares the second instantaneous current data with the ideal motor current corresponding to the current polishing gap in the correspondence. If the difference between the second instantaneous current data and the ideal motor current in the correspondence exceeds a preset error range, the output of the actuator group is changed, thereby adjusting the current polishing gap 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 driving motor collected in real time by the control unit when the driving motor drives the polishing module at a constant speed to polish the component to be polished.

10. The magnetorheological machining method based on the motor current regulating actuator assembly according to claim 9, characterized in that: If the current polishing gap The adjustment range to the upper limit threshold of the preset error range is recorded as , the adjustment range of the output displacement of one of the actuators is , the corresponding current output value of the drive motor , represents the ideal motor current, Indicates the corresponding current adjustment amplitude; By the current polishing gap The adjustment range to the lower limit threshold of the preset error range is recorded as , the adjustment range of the output displacement of one of the actuators is , the corresponding current output value of the drive motor is ; The control method of the actuator group includes: If the second instantaneous current data Does not exceed the allowable variation range When the actuator assembly is adjusted, there is no need to adjust the actuator assembly; If the second instantaneous current data Exceeding the allowable range of variation and , then control the actuator group to adjust the output displacement of one of the current actuators in combination with the corresponding relationship Adjust according to the following formula: ； in, Indicates the corresponding relationship; Then the output displacement of the other actuator Adjust according to the following formula: ； in, Indicates the motor current corresponding to the first actuator displacement output; If the second instantaneous current data Exceeding the allowable range of variation and , then the output displacement of the two actuators is directly adjusted to the set maximum output displacement , so that the second instantaneous current data corresponding to the adjusted output displacement Return to the allowable range of variation middle.

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