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

Abstract

The present invention relates to the field of magnetorheological technology, and specifically to a magnetorheological processing control device based on instantaneous current sensing and a processing method thereof. The device includes a polishing platform, a polishing component, a detection circuit and a computer. The operating parameters of the polishing component include the electromagnetic magnetic field strength and the polishing wheel position. When the polishing component is used to polish a test polishing element, the correspondence between different operating parameters of the polishing component and the ideal instantaneous current is collected. When polishing the element to be polished, the second instantaneous current is judged based on the correspondence, and whether to adjust the operating parameters is determined based on the judgment result, thereby realizing real-time adjustment of the operating parameters. This process does not require calibration steps for parameters such as gravity compensation. The accuracy of the measurement data is only limited by the current measurement accuracy of the second instantaneous current between the magnetorheological polishing module and the element to be polished. The measurement result is more accurate, no force sensor is required, and the equipment cost is reduced.

Description

Technical Field

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

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

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

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

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

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

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

[0008] A polishing assembly includes an industrial robot and a magnetorheological polishing module. The industrial robot is used to drive the magnetorheological polishing module to move to the location of a test polishing element or the location of an element to be polished. The magnetorheological polishing module is used to process the element to be polished or the test polishing element. The magnetorheological polishing module includes a magnetorheological mounting frame, a polishing wheel, a nozzle, an electromagnet, a liquid pump, a position adjustment mechanism and a current intensity controller. The magnetorheological mounting frame is installed on the tool end of the industrial robot. The current intensity controller, the position adjustment mechanism, the nozzle and the electromagnet are respectively installed on the magnetorheological mounting frame. The liquid pump is arranged on the industrial robot or on one side of the industrial robot. The liquid pump is used to pump magnetorheological fluid into the nozzle. The nozzle is used to spray magnetorheological fluid onto the polishing wheel. The electromagnet is used to change the stiffness of the magnetorheological fluid. The position adjustment mechanism is used to adjust the position of the polishing wheel. The polishing wheel is used to process the test polishing element or the element to be polished. The current intensity controller is used to control the current flowing through the electromagnet and adjust the magnetic field strength of the electromagnet. The operating parameters of the magnetorheological polishing module include the magnetic field strength of the electromagnet and the position of the polishing wheel.

[0009] a detection circuit configured to output a constant voltage and, when the magnetorheological polishing module contacts the surface of the test polishing element, form a first closed loop and detect a first instantaneous current in the first closed loop in real time, or, when the magnetorheological polishing module contacts the surface of the element to be polished, form a second closed loop and detect a second instantaneous current in the second closed loop in real time;

[0010] A computer is used to calculate the correspondence between the operating parameters of the magnetorheological polishing module and the ideal instantaneous current based on polishing data, the polishing data including first instantaneous current data detected by the detection circuit under different operating parameters of the magnetorheological polishing module; and the computer is used to adjust the current operating parameters when it is determined that the error between the second instantaneous current detected by the detection circuit and the ideal instantaneous current corresponding to the current operating parameters exceeds a preset error range, so that the error between the second instantaneous current detected by the detection circuit and the corresponding ideal instantaneous current after the operating parameters are adjusted is within the preset error range.

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

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

[0013] A magnetorheological processing control method based on magnetic field intensity regulation is implemented using the above-mentioned magnetorheological processing control device based on instantaneous current sensing. The magnetorheological processing control method includes the following steps:

[0014] The industrial robot drives the magnetorheological polishing module to move until it contacts the surface of the test polishing element. The computer sets different electromagnetic magnetic field intensities to process the test polishing element. The detection circuit detects the first instantaneous current in the first closed loop in real time to obtain the corresponding relationship between the liquid pump height and the first instantaneous current. , represents the first instantaneous current, represents the strength of the electromagnet's magnetic field, The conversion relationship between the electromagnetic magnetic field strength and the first instantaneous current is represented, and multiple sets of first instantaneous currents and corresponding electromagnetic magnetic field strengths are mapped and stored to obtain polishing data. The computer calculates the corresponding relationship between the electromagnetic magnetic field strength and the ideal instantaneous current based on the polishing data;

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

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

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

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

[0019] ;

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

[0021] Furthermore, the current intensity controller is used to control the magnetic field intensity of the electromagnet at the current processing trajectory point. Make adjustments, including:

[0022] If the second instantaneous current Does not exceed the allowable variation range When the motor of the liquid pump is not controlled, the electromagnetic magnetic field strength of the current processing trajectory point is maintained. constant;

[0023] If the second instantaneous current Exceeding the allowable variation range and|A i |<|A0±ΔA max |, then the electromagnetic magnetic field strength of the current processing trajectory point is calculated according to the following formula To make adjustments:

[0024] ;

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

[0026] If the second instantaneous current Exceeding the allowable variation range And |A i |>|A0±ΔA max |, then the electromagnetic magnetic field strength of the current processing trajectory point is calculated according to the following formula To make adjustments:

[0027] ;

[0028] in, Indicates the set initial magnetic field strength of the electromagnet.

[0029] A magnetorheological machining control method based on simultaneous adjustment of the polishing wheel position and magnetic field intensity is implemented using the above-mentioned magnetorheological machining control device based on instantaneous current sensing, characterized in that the magnetorheological machining control method includes the following steps:

[0030] The industrial robot drives the magnetorheological polishing module to move until it contacts the surface of the test polishing element. The computer sets different polishing wheel positions to process the test polishing element. The detection circuit detects the first instantaneous current in the first closed loop in real time to obtain the corresponding relationship between the polishing wheel position and the first instantaneous current. , represents the first instantaneous current, Indicates the polishing wheel position, The conversion relationship between the polishing wheel position and the first instantaneous current is represented, and multiple sets of first instantaneous currents and corresponding polishing wheel positions are mapped and stored to obtain polishing data. The computer calculates the corresponding relationship between the polishing wheel position and the ideal instantaneous current based on the polishing data;

[0031] The industrial robot drives the magnetorheological polishing module to move until it contacts the surface of the element to be polished. The detection circuit detects the second instantaneous current in the second closed loop in real time. When the computer determines that the error between the second instantaneous current and the ideal instantaneous current corresponding to the current polishing wheel position exceeds the preset error range, the polishing wheel position is adjusted by the ball screw stepper motor and the electromagnet magnetic field strength is adjusted by the current intensity controller, so that after the polishing wheel position and the electromagnet magnetic field strength are adjusted, the error between the second instantaneous current detected by the detection circuit and the corresponding ideal instantaneous current is within the preset error range.

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

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

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

[0035] ;

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

[0037] Furthermore, the polishing wheel position of the current processing trajectory point is adjusted by the ball screw stepper motor. Adjust and use the current intensity controller to adjust the electromagnetic magnetic field intensity of the current processing trajectory point Make adjustments, including:

[0038] If the second instantaneous current Does not exceed the allowable variation range When the ball screw stepper motor and current intensity controller are not controlled, the polishing wheel position of the current processing trajectory point is maintained. and the electromagnetic magnetic field strength constant;

[0039] If the second instantaneous current Exceeding the allowable variation range and When the polishing wheel position of the current processing trajectory point is calculated according to the following formula: and the electromagnetic magnetic field strength To make adjustments:

[0040] ;

[0041] ;

[0042] in, represents the ideal instantaneous current value, Indicates the adjustment amplitude of the second instantaneous current, Indicates the change in the polishing wheel position, Indicates the distance between the electromagnet and the working point of the polishing wheel, represents the magnetic moment, is the proportionality coefficient;

[0043] If the second instantaneous current Exceeding the allowable variation range and When the polishing wheel position of the current processing trajectory point is calculated according to the following formula: and the electromagnetic magnetic field strength To make adjustments:

[0044] ;

[0045] ;

[0046] in, Indicates the set initial position of the polishing wheel. Indicates the set initial magnetic field strength of the electromagnet.

[0047] Compared with the prior art, the present invention can achieve the following beneficial effects:

[0048] When polishing a test piece using a magnetorheological polishing module, different operating parameters of the magnetorheological polishing module and their corresponding first instantaneous currents are collected. A corresponding relationship between the operating parameters and the ideal instantaneous current is then calculated using the collected operating parameters and the first instantaneous current. This relationship is then used to determine the second instantaneous current. Based on the determination result, a decision is made as to whether to adjust the operating parameters of the magnetorheological polishing module. This allows for real-time adjustment of the electromagnetic magnetic field strength, or the polishing wheel position and the electromagnetic magnetic field strength, ensuring that the magnetorheological fluid flow fluctuation at each machining trajectory point meets high-precision polishing requirements and maintains a constant removal function. This process does not require calibration steps for parameters such as gravity compensation and is unaffected by the weight of the magnetorheological machining module, the machine's own operating accuracy, operating speed, posture, inertia, or other factors. The accuracy of the measured data is limited only by the current measurement accuracy of the second instantaneous current between the magnetorheological polishing module and the piece being polished. This results in more accurate measurements and eliminates the need for additional equipment such as high-precision force sensors, reducing equipment costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] Figure 1 A schematic structural diagram of a magnetorheological processing control device based on instantaneous current sensing according to an embodiment of the present invention at one viewing angle;

[0050] Figure 2 A schematic structural diagram of the magnetorheological processing control device based on instantaneous current sensing according to an embodiment of the present invention from another perspective;

[0051] Figure 3 A schematic structural diagram of the magnetorheological polishing module according to an embodiment of the present invention at one viewing angle;

[0052] Figure 4 A schematic structural diagram of the magnetorheological polishing module according to an embodiment of the present invention from another perspective;

[0053] Figure 5 This is a structural diagram of the position adjustment mechanism described in an embodiment of the present invention.

[0054] Figure numerals: polishing platform 1, element to be polished 101, test polishing element 102, industrial robot 201, magnetorheological mounting frame 202, polishing wheel 203, electromagnet 204, nozzle 205, liquid pump 206, support and fixing frame 207, ball screw stepper motor 208, connecting plate 209, drive motor 210, active wheel 211, driven wheel 212, synchronous belt 213, screw 214, guide rail 215, slider 216, nut 217, current intensity controller 218, mounting plate 219, support frame 220, computer 3. DETAILED DESCRIPTION

[0055] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. In the following description, identical modules are denoted by identical reference numerals. In the case of identical reference numerals, their names and functions are also identical. Therefore, their detailed description will not be repeated.

[0056] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and do not constitute a limitation of the present invention.

[0057] In the first aspect, this embodiment provides a magnetorheological processing control device based on instantaneous current sensing, the structure of the device is as follows: Figure 1-Figure 5 Shown, including:

[0058] A polishing platform 1, on which a to-be-polished element 101 and a test polishing element 102 are arranged;

[0059] The polishing assembly includes an industrial robot 201 and a magnetorheological polishing module. The industrial robot 201 is used to drive the magnetorheological polishing module to move to the position of the test polishing element 102 or to drive the magnetorheological polishing module to move to the position of the element to be polished 101; the magnetorheological polishing module is used to process the element to be polished 101 or the test polishing element 102. The magnetorheological polishing module includes a magnetorheological mounting frame 202, a polishing wheel 203, an electromagnet 204, a nozzle 205, a liquid pump 206, a current intensity controller 218, a position adjustment mechanism and a polishing wheel driving mechanism. The magnetorheological mounting frame 202 is installed on the tool end of the industrial robot 201. The polishing wheel driving mechanism is installed on the magnetorheological mounting frame 202 and is used to drive the polishing wheel 203 to rotate and process the element to be polished 101 or the test polishing element 102; the nozzle 205 is installed on the magnetorheological mounting frame 202 and is used to spray magnetorheological fluid onto the polishing wheel 203; the electromagnet 204 is installed on the mounting plate 219 , close to the working point of the polishing wheel 203 (the working point of the polishing wheel 203 is the closest point between the polishing wheel 203 and the surface of the element to be polished 101 along the normal direction of the surface of the element to be polished 101), and the mounting plate 219 is mounted on the magnetorheological mounting frame 202 for changing the stiffness of the magnetorheological fluid; the current intensity controller 218 is arranged on one side of the polishing platform 1, for controlling the current flowing through the electromagnet 204 and adjusting the magnetic field intensity of the electromagnet 204; the liquid pump 206 is mounted on the industrial robot 201 or on a support frame 220 on one side of the industrial robot 201, and the liquid pump 206 is connected to the nozzle 205 through a pipeline for pumping magnetorheological fluid into the nozzle 205. The liquid pump 206 uses the DFLD vertical multi-stage pump of Shanghai Oriental Pump Industry Co., Ltd.; the position adjustment mechanism is mounted on the magnetorheological mounting frame 202 for adjusting the position of the polishing wheel 203; the operating parameters of the magnetorheological polishing module include the magnetic field intensity of the electromagnet 204 and the position of the polishing wheel 203;

[0060] a detection circuit, configured to output a constant voltage and, when the magnetorheological polishing module contacts the surface of the test polishing element 102, form a first closed loop and detect a first instantaneous current in the first closed loop in real time, or, when the magnetorheological polishing module contacts the surface of the element to be polished 101, form a second closed loop and detect a second instantaneous current in the second closed loop in real time;

[0061] Computer 3 is used to calculate the correspondence between the operating parameters of the magnetorheological polishing module and the ideal instantaneous current based on the polishing data, the polishing data including the first instantaneous current data detected by the detection circuit under different operating parameters of the magnetorheological polishing module; and computer 3 is used to adjust the current operating parameters when it is determined that the error between the second instantaneous current detected by the detection circuit and the ideal instantaneous current corresponding to the current operating parameters exceeds the preset error range, so that the error between the second instantaneous current detected by the detection circuit and the corresponding ideal instantaneous current after the operating parameters are adjusted is within the preset error range.

[0062] In this embodiment, the polishing platform 1 refers to a working platform for experiments, on which are placed a test polishing element 102, an element to be polished 101, and other polishing components, such as the magnetorheological fluid required for polishing and supporting tooling for the element to be polished. The test polishing element 102 is a reference component required for calculating the ideal instantaneous current corresponding to the operating parameters, and the element to be polished 101 is a component that requires magnetorheological polishing.

[0063] In this embodiment, the industrial robot 201 may be a six-degree-of-freedom robotic arm, or other robots with a posture adjustment function.

[0064] The position adjustment mechanism includes a support and fixing frame 207, a ball screw stepper motor 208, and a connecting plate 209. The ball screw stepper motor 208 is vertically mounted on the magnetorheological mounting frame 202 through the support and fixing frame 207. The nut 217 of the ball screw stepper motor 208 is fixedly connected to the connecting plate 209. The polishing wheel 203 is connected to the connecting plate 209, and the ball screw stepper motor 208 drives the polishing wheel 203 to move for position adjustment.

[0065] The polishing wheel drive mechanism includes a drive motor 210, a driving pulley 211, a driven pulley 212, and a synchronous belt 213. The drive motor 210 is mounted on a connecting plate 209. A bearing seat is mounted on the connecting plate 209. A bearing is mounted in the bearing seat. The bearing is connected to the polishing wheel 203. The driven pulley 212 is mounted on the bearing. The driving pulley 211 is mounted on the output end of the drive motor 210. The synchronous belt 213 is tensioned between the driven pulley 212 and the driving pulley 211. The drive motor 210 drives the polishing wheel 203 to rotate. (See Chinese Patent Publication No. CN118322074A, published on July 12, 2024.) The drive motor 210 drives the polishing wheel 203 to rotate at high speed, drawing the magnetorheological fluid into the magnetic field. Under the influence of the magnetic field, the magnetorheological fluid flows into a magnetorheological ribbon.

[0066] In this embodiment of the present invention, to ensure that the polishing wheel 203 and the electromagnet 204 can stably move along the lead screw 214 of the ball screw stepper motor 208, a guide rail 215 is preferably installed on each side of the lead screw 214 on the support bracket 207, and the two guide rails 215 are parallel to the lead screw 214. Slide blocks 216 are slidably connected to the two guide rails 215. In this case, the connecting plate 209 is fixedly connected to the nut 217 and the two slide blocks 216. During the polishing process, the computer 3 sends a control signal to the ball screw stepper motor 208, which drives the connecting plate 209 to move linearly under the sliding cooperation of the guide rails 215 and the slide blocks 216.

[0067] It's important to note that strong magnetism exists within the working area of ​​the MRP module. Therefore, circuit connections must be placed away from this area to prevent wires from being attracted to the module and impacting normal operation. Ideally, the fixed voltage should not exceed the human safety voltage, and the instantaneous current measured using contact resistance should not exceed the human safety current.

[0068] In this embodiment, the polishing principle is explained using the test polishing element 102 as an example: When polishing is performed by the polishing wheel 203, the magnetorheological fluid is subjected to changes in the magnetic field, changing from a liquid to a near-solid state, forming a Bingham fluid. The rotation of the polishing wheel 203 causes the Bingham fluid to exert a shear force on the outer surface of the test polishing element 102, thereby polishing the test polishing element 102. Different operating parameters of the magnetorheological polishing module (including different positions of the polishing wheel 203 and different magnetic field strengths of the electromagnet 204) correspond to different shear forces, resulting in different polishing effects.

[0069] The magnetorheological polishing module can achieve flexible polishing of various components, especially optical components with high-precision requirements on the outer surface.

[0070] In this embodiment, the detection circuit is based on the principle of resistance change. Pressure exists between the magnetorheological polishing module and the test polishing element 102, and between the magnetorheological polishing module and the element to be polished 101. Different polishing gaps correspond to different pressures. Changes in pressure will cause changes in contact resistance, and thus the current flowing through the contact resistance will also change. Taking the test polishing element 102 as an example, the same principle can be applied to the element to be polished 101, as follows:

[0071] The detection circuit applies a fixed voltage between the magnetorheological polishing module and the test polishing element 102, and uses the relationship between contact resistance and pressure to calculate the resistance value caused by the pressure change. Then, based on the relationship between the fixed voltage, contact resistance, and instantaneous current, the instantaneous current value is calculated using Ohm's law. The instantaneous current value in the first closed loop is the first instantaneous current. The relationship between pressure and contact resistance can be expressed by the following formula:

[0072] ;

[0073] in, is the contact resistance, is the material coefficient, is the pressure when the magnetorheological polishing module contacts the test polishing element 102, is the coefficient corresponding to the contact form (including point contact, surface contact, line contact, etc.). In this embodiment, For surface contact, .

[0074] The detection circuit can be implemented by the above-mentioned current intensity controller 218. The current intensity controller 218 can adopt Siemens' Smart200 series DA conversion module, which can not only sense the first instantaneous current between the test polishing element 102 and the polishing wheel 203, but also control the magnetic field strength of the electromagnet 204.

[0075] In this embodiment, computer 3 is configured to calculate a correspondence between different operating parameters of the magnetorheological polishing module and an ideal instantaneous current based on polishing data collected by the detection circuit under different operating parameters of the magnetorheological polishing module. The polishing data includes first instantaneous current data in a first closed loop detected by the detection circuit under different operating parameters.

[0076] Different operating parameters can be set in advance. Different operating parameters should cover the maximum polishing gap and the minimum polishing gap to which the drive unit can drive the magnetorheological polishing module. Polishing data can be collected multiple times. Finally, the error between multiple sets of polishing data can be reduced by numerical calculation methods such as taking the mean or variance, and then the relationship between the ideal instantaneous current and the operating parameters is calculated based on the polishing data.

[0077] In this embodiment, computer 3 calculates the correspondence between different operating parameters and ideal instantaneous currents by correlating the first instantaneous current data in the first closed loop with the corresponding operating parameter. Using this as a reference, during polishing of element 101, computer 3 compares the difference between the second instantaneous current corresponding to the operating parameter in the second closed loop of element 101 and the ideal instantaneous current for that operating parameter to determine whether it is within a preset error range. If not, computer 3 adjusts the operating parameter to ensure that the second instantaneous current is equal to or within the same preset error range as the corresponding ideal instantaneous current. This approach, based on the correspondence between the operating parameter and the instantaneous current, enables real-time adjustment of the operating parameters during the polishing process, thereby achieving automatic compensation of the operating parameters.

[0078] When polishing the test polishing element 102 using the magnetorheological polishing module, different operating parameters and their corresponding first instantaneous currents are collected. The corresponding relationship between the operating parameters and the ideal instantaneous current is then calculated using the collected operating parameters and the first instantaneous current. This relationship is then used to determine the second instantaneous current. Based on the determination, a decision is made as to whether the operating parameters should be adjusted, thereby enabling real-time adjustment of the operating parameters. This ensures that the magnetorheological fluid flow fluctuations at each machining trajectory point meet high-precision polishing requirements and maintains a constant removal function. This process does not require calibration steps for parameters such as gravity compensation and is unaffected by the weight of the magnetorheological machining module, the operating accuracy, operating speed, posture, inertia, and other factors of the robotic magnetorheological machining equipment. The accuracy of the measured data is limited only by the current measurement accuracy of the second instantaneous current between the magnetorheological polishing module and the element to be polished. This results in more accurate measurements and eliminates the need for additional equipment such as high-precision force sensors, reducing equipment costs.

[0079] In a second aspect, this embodiment further provides a magnetorheological processing control method based on magnetic field intensity regulation, which is implemented using the above-mentioned magnetorheological processing control device based on instantaneous current sensing. The magnetorheological processing control method includes the following steps:

[0080] The industrial robot drives the magnetorheological polishing module to move until it contacts the surface of the test polishing element. The computer sets different electromagnetic magnetic field intensities to process the test polishing element. The detection circuit detects the first instantaneous current in the first closed loop in real time to obtain the corresponding relationship between the liquid pump height and the first instantaneous current. , represents the first instantaneous current, represents the strength of the electromagnet's magnetic field, The conversion relationship between the electromagnetic magnetic field strength and the first instantaneous current is represented, and multiple sets of first instantaneous currents and corresponding electromagnetic magnetic field strengths are mapped and stored to obtain polishing data. The computer calculates the corresponding relationship between the electromagnetic magnetic field strength and the ideal instantaneous current based on the polishing data;

[0081] The industrial robot drives the magnetorheological polishing module to move until it contacts the surface of the component to be polished. The detection circuit detects the second instantaneous current in the second closed loop in real time. When the computer determines that the error between the second instantaneous current and the ideal instantaneous current corresponding to the current electromagnetic magnetic field strength exceeds a preset error range, the electromagnetic magnetic field strength is adjusted through the current intensity controller so that the error between the second instantaneous current detected by the detection circuit and the corresponding ideal instantaneous current after the electromagnetic magnetic field strength is adjusted is within the preset error range.

[0082] In this embodiment, the correspondence between the ideal instantaneous current and the electromagnetic magnetic field strength must first be obtained. The industrial robot drives the magnetorheological polishing module until it contacts the surface of the test polishing element. The portion where the polishing wheel contacts the test polishing element is recorded as the first processing trajectory point. When measuring the same set of polishing data, the first processing trajectory point remains unchanged. Optionally, when measuring multiple sets of polishing data, different first processing trajectory points can be selected on the test polishing element to improve the accuracy of the correspondence between the ideal instantaneous current and the electromagnetic magnetic field strength.

[0083] During the process of the polishing wheel processing the test polishing element, the computer controls the drive motor to set different electromagnetic magnetic field strengths, collects the first instantaneous current in the first closed loop corresponding to different electromagnetic magnetic field strengths, maps and stores multiple groups of first instantaneous currents with the corresponding electromagnetic magnetic field strengths to obtain polishing data, and the computer calculates the corresponding relationship between the electromagnetic magnetic field strength and the ideal instantaneous current based on the polishing data.

[0084] After obtaining the correspondence between the ideal instantaneous current and the electromagnetic magnetic field strength, when processing the polishing component, the electromagnetic magnetic field strength can be adjusted according to this correspondence, so that the second instantaneous current corresponding to the current electromagnetic magnetic field strength is within the same preset error range as the ideal instantaneous current.

[0085] In some embodiments, the correspondence between the electromagnetic magnetic field strength and the ideal instantaneous current is a function curve relationship, which is characterized by the correspondence between the electromagnetic magnetic field strength and the first instantaneous current. The correspondence between the electromagnetic magnetic field strength and the first instantaneous current is obtained by fitting based on multiple discrete values ​​of the electromagnetic magnetic field strength and the first instantaneous current.

[0086] In this embodiment, a plurality of electromagnetic magnetic field intensities correspond to a plurality of first instantaneous currents. Both the electromagnetic magnetic field intensities and the first instantaneous currents are discrete values. Therefore, the discrete values ​​need to be fitted.

[0087] Fitting process: The discrete data is imported into Matlab software, and the polyfit fitting command of Matlab software is used to complete the data fitting and solve the corresponding relationship between the magnetic field strength of the electromagnet and the current parameters. ;Polyfit fitting command is a basic general command of Matlab software. Finally, the magnetic field strength of the electromagnet is obtained With the first instantaneous current The corresponding relationship between them is:

[0088] .

[0089] This method can more intuitively show the corresponding relationship between the ideal instantaneous current and the electromagnetic magnetic field strength. Based on this, different components to be polished under the same polishing conditions can be processed and the automatic compensation effect of the electromagnetic magnetic field strength can be achieved.

[0090] In some embodiments, the sampling period of the detection circuit collecting the second instantaneous current is recorded as , adjust the electromagnetic magnetic field strength to the maximum adjustment amount The shortest time required is recorded as , , the shortest switching time between two adjacent machining trajectory points on the component to be polished is recorded as , ;in, is the fastest adjustment speed of the electromagnetic magnetic field intensity change, is the maximum moving speed of the industrial robot. Indicates the distance between two adjacent machining track points on the component to be polished.

[0091] The method for adjusting the sampling frequency of the detection circuit includes:

[0092] judge 、 、 Does the relationship between satisfy the formula:

[0093] ;

[0094] If it is not satisfied, the sampling frequency of the detection circuit collecting the second instantaneous current is adjusted until the formula is satisfied. The sampling frequency is .

[0095] In this embodiment, the above formula gives the corresponding relationship between the three time elements, namely: within a single sampling cycle, the industrial robot can adjust the magnetorheological polishing module so that it moves to the electromagnet magnetic field strength corresponding to the ideal instantaneous current before performing the next sampling, thereby avoiding the sampling cycle being too long resulting in the sampling frequency being too slow, so that the sampling frequency does not match the adjustment speed of the electromagnet magnetic field strength, and the adjustment is not timely, resulting in the inability to know the current state of the second instantaneous current, affecting the automatic compensation function of the electromagnet magnetic field strength.

[0096] In some embodiments, if the current electromagnetic magnetic field strength Adjust to the second instantaneous current and the current electromagnetic magnetic field strength When the error of the corresponding ideal instantaneous current is equal to or greater than the upper threshold of the preset error range, the current electromagnetic magnetic field strength The corresponding adjustment range is , the current electromagnetic magnetic field strength The corresponding second instantaneous current The value of , represents the ideal instantaneous current value, Indicates the adjustment amplitude of the second instantaneous current;

[0097] If the current electromagnetic magnetic field strength Adjust to the second instantaneous current and the current electromagnetic magnetic field strength When the error of the corresponding ideal instantaneous current is equal to or greater than the lower limit threshold of the preset error range, the current electromagnetic magnetic field strength The corresponding adjustment range is , the current electromagnetic magnetic field strength The corresponding second instantaneous current The value of .

[0098] The current intensity controller controls the electromagnetic magnetic field intensity of the current processing trajectory point Make adjustments, including:

[0099] If the second instantaneous current Does not exceed the allowable variation range When the motor of the liquid pump is not controlled, the electromagnetic magnetic field strength of the current processing trajectory point is maintained. constant;

[0100] If the second instantaneous current Exceeding the allowable variation range and|A i |<|A0±ΔA max |, then the electromagnetic magnetic field strength of the current processing trajectory point is calculated according to the following formula To make adjustments:

[0101] ;

[0102] in, represents the ideal instantaneous current value, Indicates the adjustment amplitude of the second instantaneous current;

[0103] If the second instantaneous current Exceeding the allowable variation range And |A i |>|A0±ΔA max |, then the electromagnetic magnetic field strength of the current processing trajectory point is calculated according to the following formula To make adjustments:

[0104] ;

[0105] in, Indicates the set initial magnetic field strength of the electromagnet.

[0106] It should be noted that the electromagnetic magnetic field strength at the current processing trajectory point and the current electromagnetic magnetic field strength have the same meaning.

[0107] The intensity of the electromagnetic magnetic field at the current processing trajectory point After adjustment, the electromagnetic magnetic field strength at the next processing track point is The corresponding second instantaneous current Return to the allowed variation range Within, the polishing gap change requirements of magnetorheological high-precision machining are met.

[0108] The above technical solution uses a magnetorheological polishing module to process a test polishing element. It collects different electromagnetic magnetic field intensities and their corresponding first instantaneous currents. The corresponding relationship between the electromagnetic magnetic field intensity and the ideal instantaneous current is then calculated using the collected electromagnetic magnetic field intensities and the first instantaneous current. This relationship is then used to determine the second instantaneous current. Based on the determination result, it is determined whether to adjust the electromagnetic magnetic field intensity, thereby achieving real-time adjustment and compensation of the electromagnetic magnetic field intensity, so that the magnetorheological fluid flow fluctuation at each processing trajectory point meets the requirements of high-precision polishing and ensures the constancy of the removal function. This process does not require calibration steps for parameters such as gravity compensation and is not affected by the weight of the magnetorheological processing module of the robotic magnetorheological processing 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 between the magnetorheological polishing module and the element to be polished. The measurement results are more accurate, and there is no need to add equipment such as high-precision force sensors, thereby reducing equipment costs.

[0109] In a third aspect, this embodiment further provides a magnetorheological machining control method based on simultaneous adjustment of the polishing wheel position and magnetic field intensity, which is implemented using the above-mentioned magnetorheological machining control device based on instantaneous current sensing, and is characterized in that the magnetorheological machining control method includes the following steps:

[0110] The industrial robot drives the magnetorheological polishing module to move until it contacts the surface of the test polishing element. The computer sets different polishing wheel positions to process the test polishing element. The detection circuit detects the first instantaneous current in the first closed loop in real time to obtain the corresponding relationship between the polishing wheel position and the first instantaneous current. , represents the first instantaneous current, Indicates the polishing wheel position, The conversion relationship between the polishing wheel position and the first instantaneous current is represented, and multiple sets of first instantaneous currents and corresponding polishing wheel positions are mapped and stored to obtain polishing data. The computer calculates the corresponding relationship between the polishing wheel position and the ideal instantaneous current based on the polishing data;

[0111] The industrial robot drives the magnetorheological polishing module to move until it contacts the surface of the element to be polished. The detection circuit detects the second instantaneous current in the second closed loop in real time. When the computer determines that the error between the second instantaneous current and the ideal instantaneous current corresponding to the current polishing wheel position exceeds the preset error range, the polishing wheel position is adjusted by the ball screw stepper motor and the electromagnet magnetic field strength is adjusted by the current intensity controller, so that after the polishing wheel position and the electromagnet magnetic field strength are adjusted, the error between the second instantaneous current detected by the detection circuit and the corresponding ideal instantaneous current is within the preset error range.

[0112] In this embodiment, the correspondence between the ideal instantaneous current and the polishing wheel position must first be obtained. The industrial robot drives the magnetorheological polishing module until it contacts the surface of the test polishing element. The portion where the polishing wheel contacts the test polishing element is recorded as the first processing trajectory point. This first processing trajectory point remains unchanged during the measurement of the same set of polishing data. Optionally, when measuring multiple sets of polishing data, different first processing trajectory points can be selected on the test polishing element to improve the accuracy of the correspondence between the ideal instantaneous current and the polishing wheel position.

[0113] During the process of the polishing wheel processing the test polishing element, the computer controls the drive motor to set different polishing wheel positions, collects the first instantaneous current in the first closed loop corresponding to different polishing wheel positions, maps and stores multiple groups of first instantaneous currents with the corresponding polishing wheel positions to obtain polishing data, and the computer calculates the correspondence between the polishing wheel position and the ideal instantaneous current based on the polishing data.

[0114] After obtaining the correspondence between the ideal instantaneous current and the polishing wheel position, when processing the polishing element, the polishing wheel position and the electromagnetic magnetic field strength can be adjusted simultaneously according to this correspondence, so that the second instantaneous current corresponding to the current polishing wheel position and the ideal instantaneous current are within the same preset error range.

[0115] When the position of the polishing wheel changes, the relative distance between the polishing wheel and the electromagnet changes, causing the magnetic field strength of the magnetorheological fluid acting on the polishing wheel to change. It is necessary to adjust the magnetic field strength of the electromagnet while adjusting the position of the polishing wheel to compensate for the magnetic field strength and maintain the stability of the removal function.

[0116] In some embodiments, the correspondence between the polishing wheel position and the ideal instantaneous current is a function curve relationship, which is characterized by the correspondence between the polishing wheel position and the first instantaneous current. The correspondence between the polishing wheel position and the first instantaneous current is obtained by fitting based on multiple discrete values ​​of the polishing wheel position and the first instantaneous current.

[0117] In this embodiment, a plurality of polishing wheel positions correspond to a plurality of first instantaneous currents. Both the polishing wheel positions and the first instantaneous currents are discrete values. Therefore, the discrete values ​​need to be fitted.

[0118] Fitting process: The discrete data is imported into Matlab software, and the data fitting is completed with the help of Matlab software's polyfit fitting command to solve the corresponding relationship between the polishing wheel position and the current parameters. The Polyfit fitting command is a basic general command of MATLAB software. The corresponding relationship between the polishing wheel position LM and the first instantaneous current A is finally obtained:

[0119] .

[0120] This method can more intuitively show the correspondence between the ideal instantaneous current and the polishing wheel position. Based on this, the components to be polished under the same polishing conditions can be processed, and the automatic compensation effect of the polishing wheel position and the electromagnetic magnetic field strength can be achieved.

[0121] In some embodiments, the sampling period of the detection circuit collecting the second instantaneous current is recorded as , adjust the polishing wheel position to the maximum adjustment amount The shortest time required is recorded as , , adjust the electromagnetic magnetic field strength to the maximum adjustment amount The shortest time required is recorded as , , the shortest switching time between two adjacent machining trajectory points on the component to be polished is recorded as , ;in, The fastest adjustment speed for the polishing wheel position change, is the fastest adjustment speed of the electromagnetic magnetic field intensity change, is the maximum moving speed of the industrial robot. Indicates the distance between two adjacent machining track points on the component to be polished.

[0122] The method for adjusting the sampling frequency of the detection circuit includes:

[0123] judge 、 、 、 Does the relationship between satisfy the formula:

[0124] ;

[0125] If it is not satisfied, the sampling frequency of the detection circuit collecting the second instantaneous current is adjusted until the formula is satisfied. The sampling frequency is .

[0126] In this embodiment, the above formula gives the corresponding relationship between the four time elements, namely: within a single sampling cycle, the industrial robot can adjust the magnetorheological polishing module so that it moves to the polishing wheel position and electromagnet magnetic field strength corresponding to the ideal instantaneous current, and then perform the next sampling, so as to avoid the sampling cycle being too long resulting in the sampling frequency being too slow, so that the sampling frequency does not match the adjustment speed of the polishing wheel position and the electromagnet magnetic field strength, and the adjustment is not timely, resulting in the inability to know the current state of the second instantaneous current, affecting the automatic compensation function of the polishing wheel position and the electromagnet magnetic field strength.

[0127] In some embodiments, if the current polishing wheel position Adjust to the second instantaneous current With the current polishing wheel position When the error of the corresponding ideal instantaneous current is equal to or greater than the upper threshold of the preset error range, the current polishing wheel position The corresponding adjustment range is , current polishing wheel position The corresponding second instantaneous current The value of , represents the ideal instantaneous current value, Indicates the adjustment amplitude of the second instantaneous current;

[0128] If the current polishing wheel position Adjust to the second instantaneous current With the current polishing wheel position When the error of the corresponding ideal instantaneous current is equal to or greater than the lower limit threshold of the preset error range, the current polishing wheel position The corresponding adjustment range is , current polishing wheel position The corresponding second instantaneous current The value of .

[0129] The polishing wheel position of the current processing trajectory point is adjusted by the ball screw stepper motor Adjust and use the current intensity controller to adjust the electromagnetic magnetic field intensity of the current processing trajectory point Make adjustments, including:

[0130] If the second instantaneous current Does not exceed the allowable variation range When the ball screw stepper motor and current intensity controller are not controlled, the polishing wheel position of the current processing trajectory point is maintained. and the electromagnetic magnetic field strength constant;

[0131] If the second instantaneous current Exceeding the allowable variation range and When the polishing wheel position of the current processing trajectory point is calculated according to the following formula: and the electromagnetic magnetic field strength To make adjustments:

[0132] ;

[0133] ;

[0134] in, represents the ideal instantaneous current value, Indicates the adjustment amplitude of the second instantaneous current, Indicates the change in the polishing wheel position, Indicates the distance between the electromagnet and the working point of the polishing wheel, represents the magnetic moment, is the proportionality coefficient;

[0135] If the second instantaneous current Exceeding the allowable variation range and When the polishing wheel position of the current processing trajectory point is calculated according to the following formula: and the electromagnetic magnetic field strength To make adjustments:

[0136] ;

[0137] ;

[0138] in, Indicates the set initial position of the polishing wheel. Indicates the set initial magnetic field strength of the electromagnet.

[0139] It should be noted that the polishing wheel position of the current processing trajectory point and the current polishing wheel position have the same meaning.

[0140] The polishing wheel position at the current processing trajectory point and the electromagnetic magnetic field strength After adjustment, the polishing wheel position of the next processing track point is and the magnetic field strength of the electromagnet The corresponding second instantaneous current Return to the allowed variation range Within, the polishing gap change requirements of magnetorheological high-precision machining are met.

[0141] When the above technical solution uses the magnetorheological polishing module to process the test polishing element, different polishing wheel positions and their corresponding first instantaneous currents are collected. The corresponding relationship between the polishing wheel position and the ideal instantaneous current is then calculated based on the collected polishing wheel position and the first instantaneous current. The second instantaneous current is then determined based on this relationship. Based on the determination result, it is determined whether to adjust the polishing wheel position and the electromagnetic magnetic field strength, thereby achieving real-time adjustment and compensation of the polishing wheel position and the electromagnetic magnetic field strength, so that the magnetorheological fluid flow fluctuation at each processing trajectory point meets the high-precision polishing requirements and ensures the constancy of the removal function. This process does not require calibration steps for parameters such as gravity compensation, and is not affected by the weight of the magnetorheological processing module of the robotic 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 between the magnetorheological polishing module and the element to be polished. The measurement results are more accurate, and there is no need to add high-precision force sensors and other equipment, thereby reducing equipment costs.

[0142] 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.

[0143] The above specific embodiments do not limit the scope of protection of the present invention. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions may be made based on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention are intended to be included within the scope of protection of the present invention.

Claims

1. A magnetorheological processing control device based on instantaneous current sensing, characterized in that: include: a polishing platform on which the element to be polished and the test polishing element are arranged; A polishing assembly includes an industrial robot and a magnetorheological polishing module. The industrial robot is used to drive the magnetorheological polishing module to move to the location of a test polishing element or the location of an element to be polished. The magnetorheological polishing module is used to process the element to be polished or the test polishing element. The magnetorheological polishing module includes a magnetorheological mounting frame, a polishing wheel, a nozzle, an electromagnet, a liquid pump, a position adjustment mechanism and a current intensity controller. The magnetorheological mounting frame is installed on the tool end of the industrial robot. The current intensity controller, the position adjustment mechanism, the nozzle and the electromagnet are respectively installed on the magnetorheological mounting frame. The liquid pump is arranged on the industrial robot or on one side of the industrial robot. The liquid pump is used to pump magnetorheological fluid into the nozzle. The nozzle is used to spray magnetorheological fluid onto the polishing wheel. The electromagnet is used to change the stiffness of the magnetorheological fluid. The position adjustment mechanism is used to adjust the position of the polishing wheel. The polishing wheel is used to process the test polishing element or the element to be polished. The current intensity controller is used to control the current flowing through the electromagnet and adjust the magnetic field strength of the electromagnet. The operating parameters of the magnetorheological polishing module include the magnetic field strength of the electromagnet and the position of the polishing wheel. a detection circuit configured to output a constant voltage and, when the magnetorheological polishing module contacts the surface of the test polishing element, form a first closed loop and detect a first instantaneous current in the first closed loop in real time, or, when the magnetorheological polishing module contacts the surface of the element to be polished, form a second closed loop and detect a second instantaneous current in the second closed loop in real time; a computer configured to calculate a correspondence between operating parameters of the magnetorheological polishing module and an ideal instantaneous current based on polishing data, the polishing data including first instantaneous current data detected by a detection circuit under different operating parameters of the magnetorheological polishing module; The computer is used to adjust the current operating parameters when it is determined that the error between the second instantaneous current detected by the detection circuit and the ideal instantaneous current corresponding to the current operating parameters exceeds the preset error range, so that after the operating parameters are adjusted, the error between the second instantaneous current detected by the detection circuit and the corresponding ideal instantaneous current is within the preset error range.

2. The magnetorheological processing control device based on instantaneous current sensing according to claim 1 is characterized in that: The position adjustment mechanism includes a supporting frame, a ball screw stepper motor, and a connecting plate. The ball screw stepper motor is installed on the magnetorheological mounting frame through the supporting frame. The nut of the ball screw stepper motor is fixedly connected to the connecting plate, and the polishing wheel and magnet are both installed on the connecting plate.

3. The magnetorheological processing control device based on instantaneous current sensing according to claim 1 is characterized in that: The magnetorheological polishing module further includes a polishing wheel drive mechanism, which includes a drive motor, a driving wheel, a driven wheel and a synchronous belt. The drive motor is installed on a connecting plate, a bearing seat is installed on the connecting plate, a bearing is installed in the bearing seat, the bearing is connected to the polishing wheel, the driven wheel is mounted on the bearing, the driving wheel is mounted on the output end of the drive motor, and the synchronous belt is tensioned on the driven wheel and the driving wheel.

4. A magnetorheological processing control method based on magnetic field intensity regulation, implemented using the magnetorheological processing control device based on instantaneous current sensing according to claim 1, characterized in that: The magnetorheological processing control method comprises the following steps: The industrial robot drives the magnetorheological polishing module to move until it contacts the surface of the test polishing element. The computer sets different electromagnetic magnetic field intensities to process the test polishing element. The detection circuit detects the first instantaneous current in the first closed loop in real time to obtain the corresponding relationship between the liquid pump height and the first instantaneous current. , represents the first instantaneous current, represents the strength of the electromagnet's magnetic field, The conversion relationship between the electromagnetic magnetic field strength and the first instantaneous current is represented, and multiple sets of first instantaneous currents and corresponding electromagnetic magnetic field strengths are mapped and stored to obtain polishing data. The computer calculates the corresponding relationship between the electromagnetic magnetic field strength and the ideal instantaneous current based on the polishing data; The industrial robot drives the magnetorheological polishing module to move until it contacts the surface of the component to be polished. The detection circuit detects the second instantaneous current in the second closed loop in real time. When the computer determines that the error between the second instantaneous current and the ideal instantaneous current corresponding to the current electromagnetic magnetic field strength exceeds a preset error range, the electromagnetic magnetic field strength is adjusted through the current intensity controller so that the error between the second instantaneous current detected by the detection circuit and the corresponding ideal instantaneous current after the electromagnetic magnetic field strength is adjusted is within the preset error range.

5. The magnetorheological processing control method based on magnetic field intensity adjustment according to claim 4 is characterized in that: The sampling period of the detection circuit collecting the second instantaneous current is recorded as , adjust the electromagnetic magnetic field strength to the maximum adjustment amount The shortest time required is recorded as , , the shortest switching time between two adjacent machining trajectory points on the component to be polished is recorded as , ;in, is the fastest adjustment speed of the electromagnetic magnetic field intensity change, is the maximum moving speed of the industrial robot. Indicates the distance between two adjacent machining track points on the component to be polished; The method for adjusting the sampling frequency of the detection circuit includes: judge 、 、 Does the relationship between satisfy the formula: ； If it is not satisfied, the sampling frequency of the detection circuit collecting the second instantaneous current is adjusted until the formula is satisfied. The sampling frequency is .

6. The magnetorheological processing control method based on magnetic field intensity adjustment according to claim 5 is characterized in that: The current intensity controller controls the electromagnetic magnetic field intensity of the current processing trajectory point Make adjustments, including: If the second instantaneous current Does not exceed the allowable variation range When the motor of the liquid pump is not controlled, the electromagnetic magnetic field strength of the current processing trajectory point is maintained. constant; If the second instantaneous current Exceeding the allowable variation range and|A i |<|A0±ΔA max |, then the electromagnetic magnetic field strength of the current processing trajectory point is calculated according to the following formula To make adjustments: ； in, represents the ideal instantaneous current value, Indicates the adjustment amplitude of the second instantaneous current; If the second instantaneous current Exceeding the allowable variation range And |A i |>|A0±ΔA max |, then the electromagnetic magnetic field strength of the current processing trajectory point is calculated according to the following formula To make adjustments: ； in, Indicates the set initial magnetic field strength of the electromagnet.

7. A magnetorheological processing control method based on simultaneous adjustment of polishing wheel position and magnetic field intensity, implemented using the magnetorheological processing control device based on instantaneous current sensing according to claim 2, characterized in that: The magnetorheological processing control method comprises the following steps: The industrial robot drives the magnetorheological polishing module to move until it contacts the surface of the test polishing element. The computer sets different polishing wheel positions to process the test polishing element. The detection circuit detects the first instantaneous current in the first closed loop in real time to obtain the corresponding relationship between the polishing wheel position and the first instantaneous current. , represents the first instantaneous current, Indicates the polishing wheel position, The conversion relationship between the polishing wheel position and the first instantaneous current is represented, and multiple sets of first instantaneous currents and corresponding polishing wheel positions are mapped and stored to obtain polishing data. The computer calculates the corresponding relationship between the polishing wheel position and the ideal instantaneous current based on the polishing data; The industrial robot drives the magnetorheological polishing module to move until it contacts the surface of the element to be polished. The detection circuit detects the second instantaneous current in the second closed loop in real time. When the computer determines that the error between the second instantaneous current and the ideal instantaneous current corresponding to the current polishing wheel position exceeds the preset error range, the polishing wheel position is adjusted by the ball screw stepper motor and the electromagnet magnetic field strength is adjusted by the current intensity controller, so that after the polishing wheel position and the electromagnet magnetic field strength are adjusted, the error between the second instantaneous current detected by the detection circuit and the corresponding ideal instantaneous current is within the preset error range.

8. The magnetorheological machining control method based on simultaneous adjustment of polishing wheel position and magnetic field intensity according to claim 7, characterized in that: The sampling period of the detection circuit collecting the second instantaneous current is recorded as , adjust the polishing wheel position to the maximum adjustment amount The shortest time required is recorded as , , adjust the electromagnetic magnetic field strength to the maximum adjustment amount The shortest time required is recorded as , , the shortest switching time between two adjacent machining trajectory points on the component to be polished is recorded as , ;in, The fastest adjustment speed for the polishing wheel position change, is the fastest adjustment speed of the electromagnetic magnetic field intensity change, is the maximum moving speed of the industrial robot. Indicates the distance between two adjacent machining track points on the component to be polished; The method for adjusting the sampling frequency of the detection circuit includes: judge 、 、 、 Does the relationship between satisfy the formula: ； If it is not satisfied, the sampling frequency of the detection circuit collecting the second instantaneous current is adjusted until the formula is satisfied. The sampling frequency is .

9. The magnetorheological machining control method based on simultaneous adjustment of polishing wheel position and magnetic field intensity according to claim 8, characterized in that: The polishing wheel position of the current processing trajectory point is adjusted by the ball screw stepper motor Adjust and use the current intensity controller to adjust the electromagnetic magnetic field intensity of the current processing trajectory point Make adjustments, including: If the second instantaneous current Does not exceed the allowable variation range When the ball screw stepper motor and current intensity controller are not controlled, the polishing wheel position of the current processing trajectory point is maintained. and the electromagnetic magnetic field strength constant; If the second instantaneous current Exceeding the allowable variation range and When the polishing wheel position of the current processing trajectory point is calculated according to the following formula: and the electromagnetic magnetic field strength To make adjustments: ； ； in, represents the ideal instantaneous current value, Indicates the adjustment amplitude of the second instantaneous current, Indicates the change in the polishing wheel position, Indicates the distance between the electromagnet and the working point of the polishing wheel, represents the magnetic moment, is the proportionality coefficient; If the second instantaneous current Exceeding the allowable variation range and When the polishing wheel position of the current processing trajectory point is calculated according to the following formula: and the electromagnetic magnetic field strength To make adjustments: ； ； in, Indicates the set initial position of the polishing wheel. Indicates the set initial magnetic field strength of the electromagnet.

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