Magnetorheological machining device and method for adjusting electromagnet based on ribbon size

Abstract

The invention relates to the technical field of optical machining, in particular to a magnetorheological machining device and method based on a ribbon size adjusting electromagnet, and the device comprises a robot, a control unit, a magnetorheological machining module and a ribbon measuring assembly; the magneto-rheological processing module is arranged at the free end of the robot; the robot drives a polishing wheel in the magneto-rheological machining module to machine the optical element with magneto-rheological fluid as a medium, and a ribbon measuring assembly measures the ribbon thickness of the magneto-rheological fluid in the machining process; according to the method, the ribbon measuring assembly is used for measuring the real-time change of the ribbon thickness of magnetorheological fluid in the magnetorheological machining process, then parameters related to an electromagnet are regulated and controlled in real time, and then real-time constant control over the removal function is achieved.

Description

Technical Field

[0001] The present invention belongs to the technical field of optical processing, and particularly relates to a magnetorheological processing device and method based on ribbon size-adjustable electromagnets. Background Art

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

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

[0004] In view of this, the present invention aims to provide a magnetorheological processing device and method based on ribbon size-adjusting electromagnets, so as to measure the real-time change in the ribbon thickness of the magnetorheological fluid during the magnetorheological processing through a ribbon measurement component, and then perform real-time regulation on the parameters related to the electromagnet, thereby achieving real-time constant control of the removal function.

[0005] To achieve the above object, the technical solution of the present invention is realized as follows: A magnetorheological processing device based on ribbon size-adjusting electromagnets includes a robot, a control unit, a magnetorheological processing module, and a ribbon measurement component; wherein: the magnetorheological processing module is arranged at the free end of the robot; the robot drives the polishing wheel in the magnetorheological processing module to process the optical element with the magnetorheological fluid as the medium, and during the processing, the ribbon measurement component measures the ribbon thickness of the magnetorheological fluid; the control unit internally includes: a time calculation module that calculates the measurement time of the ribbon measurement component and the adjustment time of the magnetorheological processing module, and adjusts the ribbon measurement component and the magnetorheological processing module according to the measurement time and the adjustment time; a conversion relationship module that fits the magnetic induction intensity of the electromagnet in the magnetorheological processing module with the ribbon thickness to obtain a first conversion relationship, and fits the electromagnet position of the electromagnet with the ribbon thickness to obtain a second conversion relationship; a real-time regulation module that adjusts the magnetic induction intensity according to the first conversion relationship or adjusts the electromagnet position according to the second conversion relationship to keep the removal function stable when processing the optical element.

[0006] Further, the ribbon measuring assembly includes a ribbon measuring device and an adjustment bracket; the ribbon measuring device is arranged on the adjustment bracket; the ribbon measuring device measures the thickness of the ribbon and transmits the measured ribbon thickness to the control unit; the adjustment bracket is arranged on the magnetorheological processing module and is used to adjust the position and pose of the ribbon measuring device.

[0007] Further, the magnetorheological processing module further includes a transmission belt, a polishing motor, a nozzle, a supply system, a real-time adjustment device, and a magnetorheological mounting bracket; wherein, the magnetorheological mounting bracket is arranged on the free end, and the adjustment bracket is arranged on the magnetorheological mounting bracket; the polishing wheel and the real-time adjustment device are arranged on the magnetorheological mounting bracket, and the real-time adjustment device is connected to the polishing wheel so that the real-time adjustment device adjusts the position of the polishing wheel; the polishing motor is connected to the polishing wheel through the transmission belt so that the polishing motor controls the rotation of the polishing wheel, and further the polishing wheel processes the optical element; the nozzle is arranged on the magnetorheological mounting bracket along the rotation direction of the polishing wheel, and the supply system conveys magnetorheological fluid to the nozzle; the electromagnet is connected to the real-time adjustment device and is arranged near the working point of the polishing wheel so that the magnetorheological fluid changes its stiffness under the influence of the magnetic induction intensity; at the same time, the real-time adjustment device adjusts the magnetic induction intensity and the distance between the electromagnet and the polishing wheel.

[0008] Further, the real-time adjustment device includes a displacement output motor, a lead screw, a support fixing bracket, and a current intensity controller; the support fixing bracket is arranged on the magnetorheological mounting bracket; the displacement output motor is arranged on the support fixing bracket and is connected to the lead screw arranged on the support fixing bracket; the electromagnet or the polishing wheel is connected to the nut on the lead screw so that the lead screw drives the electromagnet or the polishing wheel to move along the lead screw; the current intensity controller is arranged on the support fixing bracket and is connected to the electromagnet; the current intensity controller energizes the electromagnet to generate a magnetic field; the current intensity controller is connected to the control unit, and the control unit sends a control signal to the current intensity controller, and the current intensity controller adjusts the current transmitted to the electromagnet according to the control signal, thereby changing the magnetic induction intensity.

[0009] Further, the adjustment bracket includes a support frame, a longitudinal sliding assembly, a transverse sliding assembly, and an axial rotation connecting plate; wherein, one end of the support frame is connected to the magnetorheological mounting bracket; the longitudinal sliding assembly is arranged at the other end of the support frame, the transverse sliding assembly is arranged on the longitudinal sliding assembly, the axial rotation connecting plate is arranged on the transverse sliding assembly, and the ribbon measuring device is arranged on the axial rotation connecting plate, so that while the axial rotation connecting plate drives the ribbon measuring device to rotate, the longitudinal sliding assembly and the transverse sliding assembly drive the ribbon measuring device to move longitudinally and transversely.

[0010] Further, the ribbon measuring assembly, the robot, and the real-time adjustment device are respectively connected to the control unit to form their respective communication lines, so that the control unit receives and sends signals through the corresponding communication lines.

[0011] A magnetorheological polishing method based on magnetic induction intensity, based on the magnetorheological processing device for adjusting an electromagnet based on ribbon size provided by the present invention, includes the following steps: A1: Control the polishing wheel to process the test optical element with different polishing gaps, and calculate the first conversion relationship in the conversion relationship module by combining the volume removal rate of the removal function at each processing position. A2: Set the first variable range of the magnetic induction intensity, and obtain the corresponding second variable range of the ribbon thickness according to the first conversion relationship; set the maximum magnetic induction intensity, and obtain the corresponding maximum ribbon thickness according to the first conversion relationship. A3: Control the time calculation module to adjust the ribbon measurement component and the magnetorheological processing module in combination with the maximum magnetic induction intensity. A4: Process the optical element to be processed in combination with the second variable range, the maximum magnetic induction intensity, and the maximum ribbon thickness, and during the processing, the real-time regulation module adjusts the magnetic induction intensity in real time.

[0012] Further, step A1 includes the following steps: A11: Control the polishing wheel to process the test optical element with different polishing gaps, calculate the volume removal rate of the removal function at each processing position, and at the same time, the ribbon measurement component measures the ribbon thickness at each processing position in real time, and fit the third conversion relationship between the volume removal rate of the removal function and the ribbon thickness in the conversion relationship module. A12: Control the polishing wheel to process on the test optical element with different polishing gaps, obtain the volume removal rate of the removal function at each processing position, and then fit the fourth conversion relationship between the magnetic induction intensity and the volume removal rate of the removal function in the conversion relationship module. A13: Obtain the first conversion relationship according to the third conversion relationship and the fourth conversion relationship.

[0013] Further, in step A4, when the polishing wheel is controlled to move to the current processing position, compare the current ribbon thickness measured by the ribbon measurement component with the second variable range: If the current ribbon thickness is within the second variable range, there is no need to adjust the current magnetic induction intensity. If the current ribbon thickness is not within the second variable range, the current magnetic induction intensity needs to be adjusted: If the current ribbon thickness is greater than or equal to the maximum ribbon thickness, adjust the current magnetic induction intensity to the maximum magnetic induction intensity. If the current ribbon thickness is less than the maximum ribbon thickness, adjust the current magnetic induction intensity according to the following formula: ; Wherein, represents the first conversion relationship represents the current ribbon thickness represents the current magnetic induction intensity

[0014] A magnetorheological polishing method based on the position of an electromagnet, based on the magnetorheological processing device for adjusting an electromagnet based on ribbon dimensions provided by the present invention, includes the following steps: B1: Control the polishing wheel to process the test optical element with different polishing gaps, and calculate the second conversion relationship by combining the volume removal rate of the removal function at each processing position in the conversion relationship module; B2: Set the third variable range of the electromagnet position, and obtain the corresponding fourth variable range according to the second conversion relationship; set the maximum electromagnet position, and obtain the corresponding maximum ribbon thickness according to the second conversion relationship; B3: Control the time calculation module to adjust the ribbon measurement component and the magnetorheological processing module in combination with the maximum electromagnet position; B4: Process the optical element to be processed in combination with the fourth variable range, the maximum electromagnet position and the maximum ribbon thickness, and during the processing, the real-time regulation module adjusts the electromagnet position in real time.

[0015] Further, step B1 includes the following steps: B11: Control the polishing wheel to process the test optical element with different polishing gaps, calculate the volume removal rate of the removal function at each processing position, and at the same time, the ribbon measurement component measures the ribbon thickness at each processing position in real time, and fit the fifth conversion relationship between the volume removal rate of the removal function and the ribbon thickness in the conversion relationship module; B12: Control the polishing wheel to process on the test optical element with different polishing gaps, obtain the volume removal rate of the removal function at each processing position, and then fit the sixth conversion relationship between the electromagnet position and the volume removal rate of the removal function in the conversion relationship module; B13: Obtain the second conversion relationship according to the fifth conversion relationship and the sixth conversion relationship.

[0016] Further, in step B4, when controlling the polishing wheel to move to the current processing position, compare the current ribbon thickness measured by the ribbon measurement component with the fourth variable range: If the current ribbon thickness is within the fourth variable range, there is no need to adjust the current electromagnet position; If the current ribbon thickness is not within the fourth variable range, the current electromagnet position needs to be adjusted: If the current ribbon thickness is greater than or equal to the maximum ribbon thickness, adjust the current electromagnet position to the maximum electromagnet position; If the current ribbon thickness is less than the maximum ribbon thickness, adjust the current electromagnet position according to the following formula: ; wherein, represents the second conversion relationship, represents the current ribbon thickness, represents the current electromagnet position.

[0017] A magnetorheological polishing method based on magnetic induction intensity and polishing wheel movement, based on the magnetorheological processing device for adjusting an electromagnet based on ribbon size provided by the present invention, includes the following steps: C1: Control the polishing wheel to process the test optical element with different polishing gaps, and obtain the seventh conversion relationship between the polishing gap and the ribbon thickness in the conversion relationship module; C2: Set the fifth variable range of the polishing gap, and obtain the corresponding sixth variable range of the ribbon thickness according to the seventh conversion relationship; Set the maximum polishing gap, and obtain the corresponding maximum ribbon thickness according to the seventh conversion relationship; C3: Control the time calculation module, and adjust the ribbon measurement component and the magnetorheological processing module in combination with the maximum polishing gap and the magnetic induction intensity corresponding to the maximum polishing gap; C4: Process the optical element to be processed in combination with the sixth variable range, the maximum polishing gap and the maximum ribbon thickness, and during the processing, the real-time control module adjusts the polishing gap in real time, and further adjusts the magnetic induction intensity in real time.

[0018] Further, in step C1, control the polishing wheel to process the test optical element with different polishing gaps, and measure the ribbon thickness in real time through the ribbon measurement component, and fit and obtain the seventh conversion relationship in the conversion relationship module.

[0019] Further, in step C4, when controlling the polishing wheel to move to the current processing position, compare the current ribbon thickness measured by the ribbon measurement component with the sixth variable range: If the current ribbon thickness is within the sixth variable range, there is no need to adjust the current polishing gap; If the current ribbon thickness is not within the sixth variable range, it is necessary to adjust the current polishing gap: If the current ribbon thickness is greater than or equal to the maximum ribbon thickness, adjust the current polishing gap to the maximum polishing gap, and adjust the current magnetic induction intensity to the maximum magnetic induction intensity corresponding to the maximum polishing gap; If the current ribbon thickness is less than the maximum ribbon thickness, adjust the current polishing gap according to the following formula: ; wherein, representing the seventh conversion relationship representing the current ribbon thickness representing the current polishing gap; adjust the current magnetic induction intensity by the following formula: ; wherein represents the initially set polishing gap represents the distance between the electromagnet and the working point of the polishing wheel represents the magnetic moment is a proportionality coefficient represents the current magnetic induction intensity

[0020] Compared with the prior art, the present invention can achieve the following beneficial effects: In the magnetorheological processing device and method based on ribbon size adjustment of the electromagnet according to the present invention, the ribbon thickness of the magnetorheological fluid is measured non - contact by the ribbon measurement component. When the magnetorheological processing equipment polishes the optical element, relevant parameters of different electromagnets and the corresponding ribbon thickness are collected. Then, the corresponding relationship between the relevant parameters of the electromagnet and the ribbon thickness is calculated through the collected relevant parameters of the electromagnet and the ribbon thickness. After that, the optical element is processed according to the corresponding relationship, and the current ribbon thickness is obtained. Whether to adjust the relevant parameters of the electromagnet is determined by comparing the ribbon thickness. This process does not require calibration steps for parameters such as gravity compensation, and is not affected by the weight of the robot and the magnetorheological processing module of the magnetorheological processing equipment, the operation accuracy, operation speed, posture, inertia and other factors of the equipment itself. Only real - time regulation of the change of the relevant parameters of the electromagnet is carried out, and more comprehensive and accurate measurement of the ribbon size parameters of the magnetorheological fluid under multi - factor coupling in the processing process is realized, so as to regulate the relevant parameters of the electromagnet, without the need to rely on other auxiliary operating mechanisms and without adding additional costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The drawings constituting a part of the present invention are used to provide a further understanding of the present invention. The schematic embodiments and descriptions of the present invention are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings: Figure 1 is a schematic structural diagram of the magnetorheological processing device based on ribbon size adjustment of the electromagnet according to an embodiment of the present invention from one perspective; Figure 2 is a schematic structural diagram of the magnetorheological processing device based on ribbon size adjustment of the electromagnet according to an embodiment of the present invention from another perspective; Figure 3 is a schematic structural diagram of the magnetorheological processing module according to an embodiment of the present invention; Figure 4 Schematic structural diagram of the real-time adjustment device according to the embodiment of the present invention Figure 5 Schematic structural diagram of the ribbon measurement assembly according to the embodiment of the present invention Figure 6 Schematic structural diagram of the adjustment bracket according to the embodiment of the present invention

[0022] Explanation of reference numerals: 1, robot; 2, control unit; 3, polishing wheel; 4, experimental bench; 5, ribbon measurement assembly; 6, optical element to be processed; 7, test optical element; 8, electromagnet; 9, polishing motor; 10, transmission belt; 11, nozzle; 12, real-time adjustment device; 13, magnetorheological mounting bracket; 14, connecting plate; 15, displacement output motor; 16, support fixing bracket; 17, lead screw; 18, current intensity controller; 19, guide rail; 20, first slider; 21, ribbon measuring device; 22, adjustment bracket; 23, support frame; 24, longitudinal sliding assembly; 25, transverse sliding assembly; 26, axial rotation connecting plate; 27, second slider; 28, third slider. Detailed implementation manners

[0023] In order to make the purpose, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention.

[0024] It should be noted that, without conflict, the embodiments in the present invention and the features in the embodiments can be combined with each other.

[0025] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. They 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, so it cannot be understood as a limitation to the present invention. In addition, the terms "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first", "second", etc. may explicitly or implicitly include one or more of such features. In the description of the present invention, unless otherwise specified, the meaning of "plurality" is two or more.

[0026] In the description of the present invention, it should be noted that unless otherwise clearly specified and defined, the terms "installation", "connection", and "coupling" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0027] The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with embodiments.

[0028] As Figures 1 to 2 shown, the magnetorheological processing device based on ribbon size-adjustable electromagnets according to the embodiment of the present invention includes a robot 1, a control unit 2, a magnetorheological processing module, and a ribbon measurement component 5. The magnetorheological processing module is arranged at the free end of the robot 1. The robot 1 drives the polishing wheel 3 in the magnetorheological processing module to process an optical element on an experimental table 4 with magnetorheological fluid as the medium. During the processing, the ribbon measurement component 5 is used to measure the ribbon thickness of the magnetorheological fluid in real time.

[0029] In the embodiment of the present invention, the experimental table 4 refers to a working platform for experiments, on which an optical element 6 to be processed, a test optical element 7, and other polishing components are placed. For example, the magnetorheological fluid required for polishing, the matching tooling for the optical element 6 to be processed and the test optical element 7, etc. Among them, the optical element 6 to be processed and the test optical element 7 are components that need to be magnetorheologically polished. As a preferred embodiment, both of them can be optical elements with conductive properties. In this embodiment, the processing area is a special area on the experimental table 4 for magnetorheological polishing. Optionally, a reference element to be polished can be added. The reference element to be polished is a specified reference element, which is used to collect the ribbon thickness formed by the magnetorheological fluid in the processing area.

[0030] The interior of the control unit 2 includes a time calculation module, a conversion relationship module, and a real-time regulation module. The time calculation module is used to calculate the measurement time of the ribbon measurement component and the adjustment time of the magnetorheological processing module, and to adjust the ribbon measurement component and the magnetorheological processing module according to the measurement time and the adjustment time. The conversion relationship module is used to fit the magnetic induction intensity of the electromagnet 8 in the magnetorheological processing module with the ribbon thickness to obtain a first conversion relationship, and to fit the electromagnet position of the electromagnet 8 with the ribbon thickness to obtain a second conversion relationship. In the embodiment of the present invention, the electromagnet position is defined as the distance between the electromagnet 8 and the optical element 6 to be processed or the test optical element 7. The real-time regulation module is used to adjust the magnetic induction intensity, the polishing wheel position of the polishing wheel 3, or the electromagnet position in combination with the conversion relationship, so as to keep the removal function stable when processing the optical element 6 to be processed or the test optical element 7.

[0031] Figure 3 In which, (a) shows a schematic structural diagram of the magnetorheological machining module from one perspective, Figure 3 and (b) shows a schematic structural diagram of the magnetorheological machining module from another perspective. As Figure 3 shown, the magnetorheological machining module further includes a polishing motor 9, a transmission belt 10, a nozzle 11, a supply system (not shown in the drawings), a real-time adjustment device 12, and a magnetorheological mounting bracket 13. The magnetorheological mounting bracket 13 is installed and fixed on the free end of the robot 1, and the ribbon measurement component is arranged on the magnetorheological mounting bracket 13. Specifically, the ribbon measurement component 5 is installed on the magnetorheological mounting bracket 13 through a connecting plate 14. The polishing wheel 3 and the real-time adjustment device 12 are installed on the magnetorheological mounting bracket, and the real-time adjustment device 12 is connected to the polishing wheel 3 through the connecting plate 14, so that the real-time adjustment device 12 adjusts the position of the polishing wheel 3, thereby changing the polishing gap of the polishing wheel 3. Specifically, the head end of the connecting plate 14 is installed on the real-time adjustment device 12, the polishing motor 9 is fixed on the connecting plate 14, and the output end of the polishing motor 9 passes through the connecting plate 14. The bearing of the polishing wheel 3 passes through the tail end of the connecting plate 14, and the output end of the polishing motor 9 is connected to the bearing of the polishing wheel 3 through the transmission belt 10, so that the polishing motor 9 controls the polishing wheel 3 to rotate. In the embodiment of the present invention, the way that the polishing motor 9 drives the polishing wheel 3 to rotate can refer to the invention patent application with the Chinese patent publication number CN118322074A, the publication date of July 12, 2024, and the patent name of "Self-rotating polishing module processing system". The nozzle 11 is installed on the magnetorheological mounting bracket 13 along the rotation direction of the polishing wheel 3. The supply system conveys the magnetorheological fluid to the nozzle 11, and the nozzle 11 sprays the magnetorheological fluid towards the working point of the polishing wheel 3, so that the polishing wheel 3 processes the optical element 6 to be processed or the test optical element 7 with the magnetorheological fluid as the medium. In the embodiment of the present invention, it is stipulated that the working point of the polishing wheel 3 is the point closest to the surface of the optical element 6 to be processed or the test optical element 7 along the normal direction of the surface of the optical element 6 to be processed or the test optical element 7. The electromagnet 8 is connected to the real-time adjustment device 12 through the connecting plate 14 and is arranged close to the working point of the polishing wheel 3. Specifically, the head end of the connecting plate 14 is installed on the real-time adjustment device 12, and the electromagnet 8 is installed at the tail end of the connecting plate 14, so that the magnetorheological fluid changes its stiffness under the influence of the magnetic induction intensity of the electromagnet 8. At the same time, the real-time adjustment device 12 adjusts the magnetic induction intensity and the distance between the electromagnet 8 and the polishing wheel 3. In addition, in the embodiment of the present invention, the supply system adopts the DFLD vertical multi-stage pump of Shanghai Dongfang Pump Industry Co., Ltd.

[0032] The structure of the real-time adjustment device 12 that controls the polishing wheel 3 and the electromagnet 8 is as Figure 4As shown in the figure, it includes a displacement output motor 15, a support fixing frame 16, a lead screw 17 and a current intensity controller 18. The lead screw 17 and the nut with balls on it together form a ball screw. The support fixing frame 16 is installed on the magnetorheological mounting frame 13, and the displacement output motor 15 is installed on the top of the support fixing frame 16. The lead screw 17 is installed on the support fixing frame 16 and is connected to the output end of the displacement output motor 15. The polishing wheel 3 or the electromagnet 8 is connected to the nut of the lead screw 17 through the connecting plate 14, so that the displacement output motor 15 drives the lead screw 17 to drive the electromagnet 8 or the polishing wheel 3 to move along the lead screw 17. The specific process is that the displacement output motor 15 drives the lead screw 17 to rotate, and the nut cooperates with the lead screw to pull the polishing wheel 3 or the electromagnet 8 to move along the direction of the lead screw through the connecting plate 14. In the embodiment of the present invention, in order to ensure that the polishing wheel 3 or the electromagnet 8 can move stably along the lead screw 17, it is preferably to install a guide rail 19 on each side of the lead screw 17, and the two guide rails 19 are parallel to the lead screw 17. At this time, the head end of the connecting plate 14 is fixedly connected to the nut and the first slider 20 on the two guide rails 19 at the same time. During the processing, the control unit 2 sends a control signal to the displacement output motor 15, the displacement output motor 15 drives the lead screw 17 to rotate, and the lead screw 17 cooperates with the two guide rails 19 to pull the connecting plate 14, thereby driving the polishing wheel 3 or the electromagnet 8 to move stably along the direction of the lead screw 17. The current intensity controller 18 is installed on the support fixing frame 16. The current intensity controller 18 is connected to the electromagnet 8 through a wire and is used to energize the electromagnet 8 to generate a magnetic field. At the same time, the current intensity controller 18 is communicatively connected to the control unit 2. The control unit 2 sends a control signal to the current intensity controller 18, and the current intensity controller 18 adjusts the current transmitted to the electromagnet 8 according to the control signal, thereby changing the magnetic induction intensity of the electromagnet 8. In the embodiment of the present invention, the current intensity controller 18 preferably adopts the DA conversion module of the Smart200 series of Siemens Corporation.

[0033] The structure of the ribbon measuring assembly 5 is as Figure 5 shown, including a ribbon measuring device 21 and an adjustment bracket 22. The ribbon measuring device 21 completes the measurement of the ribbon thickness and transmits the measured ribbon thickness to the control unit 2. The adjustment bracket 22 is installed on the magnetorheological mounting frame 13 in the magnetorheological processing module through the connecting plate 14 and is used to control and adjust the pose of the ribbon measuring device 21. When the magnetorheological processing equipment is polishing, the ribbon measuring assembly 5 does not contact the optical element. Due to the properties of the magnetorheological medium in the magnetic field, it is determined that the magnetorheological medium will undergo elastic deformation after passing through the polishing gap, and the change of the polishing gap will be "copied" to the magnetorheological fluid ribbon after passing through the polishing gap, which is mainly manifested in the change of the ribbon thickness. Therefore, the change of the ribbon thickness of the magnetorheological fluid can reflect the change of the volume removal rate of the removal function.

[0034] In an embodiment of the present invention, the ribbon measuring device 21 preferably uses a line laser measuring instrument to measure the thickness of the ribbon. Specifically, the line laser measuring instrument emits a line beam for measurement on the magnetorheological fluid ribbon. The adjustment bracket 22 includes a support frame 23, a longitudinal sliding assembly 24, a transverse sliding assembly 25, and an axial rotation connecting plate 26. One end of the support frame 23 is connected to the magnetorheological mounting frame 13 through a connecting plate 14. The longitudinal sliding assembly 24 is arranged at the other end of the support frame 23. The transverse sliding assembly 25 is arranged on the longitudinal sliding assembly 24. The axial rotation connecting plate 26 is arranged on the transverse sliding assembly 25. The ribbon measuring device 21 is arranged on the axial rotation connecting plate 26. While the axial rotation connecting plate 26 drives the ribbon measuring device 21 to rotate, the longitudinal sliding assembly 24 and the transverse sliding assembly 25 drive the ribbon measuring device 21 to move longitudinally and transversely.

[0035] Specifically, the installation process of the adjustment bracket 22 is as shown in (a) to (c) of Figure 6 , that is, as shown in (a) of Figure 6 , the slide rail of the longitudinal sliding assembly 24 is fixedly installed at the other end of the support frame 23; as shown in (b) of Figure 6 , the second slider 27 of the longitudinal sliding assembly 24 is fixedly connected to the slide rail of the transverse sliding assembly 25; as shown in (c) of Figure 6 , the axial rotation connecting plate 26 is fixedly connected to the third slider 28 of the transverse sliding assembly 25. At this time, the longitudinal sliding assembly 24 and the transverse sliding assembly 25 can drive the axial rotation connecting plate 26 to move along the directions of the longitudinal sliding assembly 24 and the transverse sliding assembly 25. A rotatable turntable with damping is arranged on the longitudinal sliding assembly 24. The ribbon measuring device 21 is installed on the rotatable turntable. At this time, the longitudinal sliding assembly 24, the transverse sliding assembly 25, and the axial rotation connecting plate 26 cooperate to complete the pose adjustment of the ribbon measuring device 21.

[0036] The ribbon measuring component 5 and the real-time adjustment device 12 are respectively connected to the control unit 2 to form their respective communication lines, so that the control unit 2 receives and sends signals through the corresponding communication lines. Specifically, the control unit 2 receives the measurement signal from the ribbon measuring device 21 through the communication line. The control unit 2 sends a control signal for changing the position of the polishing wheel 3 or the electromagnet 8 to the displacement output motor 15 in the real-time adjustment device 12 through the communication line. The control unit 2 sends a control signal for changing the magnetic induction intensity of the electromagnet 8 to the current intensity controller 18 in the real-time adjustment device 12 through the communication line. Since a strong magnetic region is generated around the polishing wheel 3 during the polishing operation, the communication line avoids the strong magnetic region.

[0037] Based on the magnetorheological processing device with ribbon size-adjustable electromagnets according to the embodiments of the present invention, the embodiments of the present invention also provide a magnetorheological processing method with ribbon size-adjustable electromagnets, including a magnetorheological polishing method based on magnetic induction intensity, a magnetorheological polishing method based on the position of the electromagnet, and a magnetorheological polishing method based on magnetic induction intensity and the movement of the polishing wheel.

[0038] Specific Embodiment 1: The magnetorheological polishing method based on magnetic induction intensity provided in this specific embodiment, according to the magnetorheological processing device with ribbon size-adjustable electromagnets of the embodiments of the present invention, in combination with Figures 1 to 6 , includes the following steps: A1: Control the polishing wheel 3 to process the test optical element 7 with different polishing gaps, and calculate the first conversion relationship in the conversion relationship module by combining the volume removal rate of the removal function at each processing position. Among them, step A1 includes the following steps: A11: Control the polishing wheel 3 to process the test optical element 7 with different polishing gaps, calculate the volume removal rate of the removal function at each processing position, and at the same time, the ribbon measurement component 5 measures the ribbon thickness at each processing position in real time, and obtain by fitting in the conversion relationship module: ; Among them, represents the third conversion relationship between the volume removal rate of the removal function and the ribbon thickness ; In this specific embodiment, specifically, control the polishing wheel 3 to perform fixed-point processing on the test optical element 7 with different polishing gaps for a period of time; A12: Control the polishing wheel 3 to process on the test optical element 7 with different polishing gaps, obtain the volume removal rate of the removal function at each processing position, and then obtain by fitting in the conversion relationship module: ; Among them, represents the magnetic induction intensity and the volume removal rate of the removal function the fourth conversion relationship between; In this specific embodiment, specifically, control the polishing wheel 3 to process on the test optical element 7 with different polishing gaps for a period of time; A13: According to the third conversion relationship and the fourth conversion relationship, obtain through the following formula: ; Among them, represents the first conversion relationship.

[0039] A2: Set the first variable range of the magnetic induction intensity , and according to the first conversion relationship Obtain the second variable range corresponding to the ribbon thickness , that is: ; ; Set the maximum magnetic induction intensity , and obtain the corresponding maximum ribbon thickness according to the first conversion relationship , that is: ; Among them, the maximum magnetic induction intensity and the first variable range are adaptively set and adjusted according to the actual situation.

[0040] A3: The control time calculation module adjusts the ribbon measurement component 5 and the magnetorheological processing module. Step A3 includes the following steps: A31. Statistically analyze b data measured by the ribbon measurement component 5 within a seconds to obtain the time for the ribbon measurement component 5 to measure one point ; ; A32. Calculate the time required to regulate the magnetorheological processing module for the maximum change in magnetic induction intensity : ; Among them, represents the change regulation rate of the magnetic induction intensity of the electromagnet 8; the maximum change in magnetic induction intensity ; represents the set minimum magnetic induction intensity, and this value is adaptively set and adjusted according to the actual situation.

[0041] A33. Measure the vertical distance from the measurement position of the ribbon measurement component 5 to the working point of the polishing wheel 3, and calculate the time required for the polishing wheel 3 to rotate to the working point according to the vertical distance and the set polishing wheel rotation speed : ; Among them, represents the radius of the polishing wheel 3, and the polishing wheel rotation speed is also adaptively set and adjusted according to the actual situation; A34. Calculate the minimum movement time between two adjacent processing positions of the robot 1 at the highest moving speed : ; Among them, represents the distance between two adjacent processing positions; A35. Calculation conditions Check if it holds: If the condition holds, there is no need to adjust the ribbon measurement component 5 and the polishing wheel 3; if the condition does not hold, the data sampling frequency of the ribbon measurement component 5 and the rotational speed of the polishing wheel need to be adjusted to make the condition hold; A36. Perform mean filtering on the measurement data between every two adjacent processing positions and then output it. At the same time, the number of data for mean filtering needs to satisfy .

[0042] A4: Combine the second variable range, the maximum magnetic induction intensity, and the maximum ribbon thickness to process the optical element 6 to be processed. During the processing, the real-time control module adjusts the magnetic induction intensity in real time. The adjustment process is as follows: When controlling the polishing wheel 3 to move to the current processing position i, measure the current ribbon thickness measured by the ribbon measurement component 5 and the second variable range for comparison: If the current ribbon thickness is within the second variable range , that is , there is no need to adjust the current magnetic induction intensity ; If the current ribbon thickness is not within the second variable range , that is , then the current magnetic induction intensity needs to be adjusted: If the current ribbon thickness is greater than or equal to the maximum ribbon thickness , that is , adjust the current magnetic induction intensity to the maximum magnetic induction intensity ; If the current ribbon thickness is less than the maximum ribbon thickness , that is , adjust the current magnetic induction intensity according to the following formula: .

[0043] In this specific embodiment, the discrete data volume corresponding to different ribbon thicknesses obtained through experiments is limited. The actual ribbon thickness measured during the processing may not be equal to the ribbon thickness data value obtained through experiments. The solution is to adopt the closest data, that is, the rounding principle. For example: The volume removal rate MRR of the removal function corresponding to the ribbon thicknesses of 1 mm and 2 mm and the magnetic induction intensity are obtained through experiments The fourth conversion relationship therebetween, and then the corresponding first conversion relationship is obtained. However, the ribbon thickness during the processing is 1.6 mm. At this time, the volume removal rate MRR of the removal function for 2 mm is calculated using the fourth conversion relationship.

[0044] Specific Embodiment 2: The magnetorheological polishing method based on the position of the electromagnet provided in this specific embodiment, according to the magnetorheological processing device for adjusting the electromagnet based on the ribbon size in the embodiment of the present invention, in combination with Figures 1 to 6 , includes the following steps: B1: Control the polishing wheel 3 to process the test optical element 7 with different polishing gaps, and calculate the second conversion relationship in the conversion relationship module in combination with the volume removal rate MRR of the removal function at each processing position. Step B1 includes the following steps: B11: Control the polishing wheel 3 to process the test optical element 7 with different polishing gaps, calculate the volume removal rate MRR of the removal function at each processing position. At the same time, the ribbon measurement component 5 measures the ribbon thickness at each processing position in real time, and the following is obtained by fitting in the conversion relationship module: ; Among them, represents the fifth conversion relationship between the volume removal rate MRR of the removal function and the ribbon thickness ; In this specific embodiment, control the polishing wheel 3 to perform fixed-point processing on the test optical element 7 with different polishing gaps for a period of time; B12: Control the polishing wheel 3 to process on the test optical element 7 with different polishing gaps, obtain the volume removal rate MRR of the removal function at each processing position, and then the following is obtained by fitting in the conversion relationship module: ; Among them, represents the sixth conversion relationship between the electromagnet position and the volume removal rate MRR of the removal function ; In this specific embodiment, control the polishing wheel 3 to perform fixed-point processing on the test optical element 7 with different polishing gaps for a period of time; B13: According to the fifth conversion relationship and the sixth conversion relationship, the following is obtained through the following formula: ; Among them, Represents the second conversion relationship.

[0045] B2: Set the third variable range of the electromagnet position , and according to the second conversion relationship Obtain the fourth variable range corresponding to the ribbon thickness , that is: ; ; Set the maximum electromagnet position , and according to the second conversion relationship Obtain the corresponding maximum ribbon thickness , that is: .

[0046] Among them, the maximum electromagnet position and the third variable range Are adaptively set and adjusted according to the actual situation.

[0047] B3: The control time calculation module combines the maximum electromagnet position to adjust the ribbon measuring component 5 and the magnetorheological processing module. Step B3 includes the following steps: B31. Statistically analyze b data measured by the ribbon measuring component 5 within a seconds to obtain the time for the ribbon measuring component 5 to measure one point ; ; B32. Calculate the time required to regulate the magnetorheological processing module for the change amount of the maximum electromagnet position : ; Among them, Represents the highest moving speed of the electromagnet position adjustment; the change amount of the maximum magnet position ; Represents the set minimum electromagnet position, and this value is adaptively set and adjusted according to the actual situation.

[0048] B33. Measure the vertical distance from the measurement position of the ribbon measuring component 5 to the working point of the polishing wheel 3 , and according to the vertical distance and the set polishing wheel rotation speed calculate the time required for the polishing wheel 3 to rotate to the working point Among them, Represents the radius of the polishing wheel 3, and the polishing wheel rotation speed is adaptively set and adjusted according to the actual situation; B34. The minimum movement time between two adjacent processing positions of the computer robot 1 at the maximum moving speed is : ; Wherein, represents the distance between two adjacent processing positions; B35. Calculate whether the condition holds: If the condition holds, there is no need to adjust the ribbon measuring component 5 and the polishing wheel 3; if the condition does not hold, it is necessary to adjust the data sampling frequency of the ribbon measuring component 5 and the rotational speed of the polishing wheel to make the condition hold; B36. Output the measurement data between every two adjacent processing positions after mean filtering, and the number of data for mean filtering needs to satisfy .

[0049] B4: Combine the fourth variable range , the maximum electromagnet position and the maximum ribbon thickness , and process the optical element 6 to be processed. During the processing, the real-time control module adjusts the electromagnet position in real time. The specific process is as follows: When controlling the polishing wheel 3 to move to the current processing position i, compare the current ribbon thickness measured by the ribbon measuring component 5 with the fourth variable range : If the current ribbon thickness is within the fourth variable range , that is , there is no need to adjust the current electromagnet position ; If the current ribbon thickness is not within the fourth variable range , that is , it is necessary to adjust the current electromagnet position : If the current ribbon thickness is greater than or equal to the maximum ribbon thickness , that is , adjust the current electromagnet position to the maximum electromagnet position ; If the current ribbon thickness is less than the maximum ribbon thickness , that is , adjust the current electromagnet position according to the following formula: 。

[0050] In this specific embodiment, the discrete data amounts corresponding to different ribbon thicknesses obtained through experiments are limited, and the actually measured ribbon thickness during the processing may not be equal to the ribbon thickness data value obtained through experiments. The solution is to adopt the closest data, that is, the rounding principle. For example: The sixth conversion relationship between the material removal rate MRR of the removal function and the electromagnet position corresponding to ribbon thicknesses of 1 mm and 2 mm is obtained through experiments, and then the corresponding second conversion relationship is obtained. However, the ribbon thickness during the processing is 1.6 mm. At this time, the material removal rate MRR of 2 mm is calculated using the sixth conversion relationship.

[0051] Specific embodiment 3: The magnetorheological polishing method based on magnetic induction intensity and the movement of the polishing wheel provided in this specific embodiment, according to the magnetorheological processing device for adjusting an electromagnet based on ribbon size in the embodiment of the present invention, in combination with Figures 1 to 6 , includes the following steps: C1: Control the polishing wheel 3 to process the test optical element 7 with different polishing gaps, and obtain the seventh conversion relationship between the polishing gap and the ribbon thickness in the conversion relationship module. In step C1, control the polishing wheel 3 to perform fixed-point processing on the test optical element 7 with different polishing gaps, and measure the ribbon thickness in real time through the ribbon measuring assembly 5. The following is obtained by fitting in the conversion relationship module: ; Among them, represents the polishing gap, represents the ribbon thickness, represents the seventh conversion relationship. In this specific embodiment, specifically control the polishing wheel 3 to perform fixed-point processing on the test optical element 7 for a period of time with different polishing gaps.

[0052] C2: Set the fifth variable range of the polishing gap, and obtain the corresponding sixth variable range of the ribbon thickness according to the seventh conversion relationship, that is: ; ; Set the maximum polishing gap , and obtain the corresponding maximum ribbon thickness according to the seventh conversion relationship , that is: ; The maximum polishing gap and the fifth variable range are adaptively adjusted according to the actual situation.

[0053] C3: Control time calculation module, which adjusts the ribbon measurement component 5 and the magnetorheological processing module by combining the maximum polishing gap and the magnetic induction intensity corresponding to the maximum polishing gap. The specific process is as follows: C31. Statistically analyze b data measured by the ribbon measurement component 5 within a seconds to obtain the time for the ribbon measurement component 5 to measure one point ; ; C32. Calculate the time required to regulate the magnetorheological processing module for the change in the maximum polishing gap : ; Among them, represents the highest moving speed of the polishing wheel 3, represents the regulation rate of the magnetic induction intensity change, represents taking the maximum value; , represents the minimum polishing gap, and the minimum polishing gap is adaptively adjusted according to the actual situation, represents the maximum magnetic induction intensity change, and this value is obtained through the following formula: ; Among them, represents the distance, specifically the distance between the electromagnet 8 and the working point of the polishing wheel 3, represents the magnetic moment of the electromagnet 8, is the proportionality coefficient of the electromagnet 8.

[0054] C33. Measure the vertical distance from the measurement position of the ribbon measurement component 5 to the working point of the polishing wheel 3. According to the vertical distance and the set rotational speed of the polishing wheel, calculate the time required for the polishing wheel 3 to rotate to the working point: ; Among them, represents the radius of the polishing wheel 3; C34. Calculate the minimum movement time between two adjacent processing positions of the robot 1 at the highest moving speed : ; Among them, represents the distance between two adjacent processing positions; C35. Calculate the condition Whether it holds: If the condition holds, there is no need to adjust the ribbon measuring component 5 and the polishing wheel 3; if the condition does not hold, it is necessary to adjust the data sampling frequency of the ribbon measuring component 5 and the rotational speed of the polishing wheel to make the condition hold; C36. After performing mean filtering on the measurement data between every two adjacent processing positions and then outputting it, the number of data for mean filtering needs to satisfy .

[0055] C4: Combining the sixth variable range , the maximum polishing gap and the maximum ribbon thickness , process the optical element 6 to be processed, and during the processing, the real-time regulation module adjusts the polishing gap in real time, and then adjusts the magnetic induction intensity in real time. The specific adjustment process is as follows: When controlling the magnetorheological processing module to move to the current processing position i, compare the current ribbon thickness measured by the ribbon measuring component 5 with the sixth variable range : If the current ribbon thickness is within the sixth variable range , that is , there is no need to adjust the current polishing gap ; If the current ribbon thickness is not within the sixth variable range , that is , it is necessary to adjust the current polishing gap : If the current ribbon thickness is greater than or equal to the maximum ribbon thickness , that is , adjust the current polishing gap to the maximum polishing gap , and adjust the current magnetic induction intensity correspondingly to the maximum magnetic induction intensity corresponding to the maximum polishing gap ; If the current ribbon thickness is less than the maximum ribbon thickness , that is , adjust the current polishing gap according to the following formula: ; Adjust the current magnetic induction intensity through the following formula, that is: ; Among them, represents the initially set polishing gap.

[0056] The fitting process in the above two specific embodiments includes but is not limited to importing the discrete data of the working speed and the ribbon thickness into Matlab software, and completing the data fitting with the polyfit fitting instruction of Matlab software to solve the corresponding relationship between the relevant parameters of the electromagnet 8 and the ribbon thickness respectively; The Polyfit fitting instruction is a basic general instruction of matlab software. In this way, it can be more intuitively seen the corresponding relationship and the corresponding function curve between the relevant parameters of the electromagnet 8 and the ribbon thickness respectively.

[0057] In the above two specific embodiments, the calculation conditions give the corresponding relationship between four time elements, that is: within a single sampling period, the robot 1 can adjust the magnetorheological processing equipment, so that after moving the magnetorheological processing equipment, the ribbon measuring component 5 performs the next sampling, avoiding the sampling frequency being too slow due to too long sampling period, making the sampling frequency not match the adjustment speed of the moving component.

[0058] Among them, regarding the selection of this parameter has the following meaning: The magnetorheological fluid enters the magnetic field working area driven by the polishing wheel 3. Under the action of the magnetic field, the magnetorheological fluid is transformed into a Bingham fluid with high viscosity and low fluidity. The Bingham fluid is extruded through the polishing gap (the distance between the lowest point of the polishing wheel 3 and the workpiece) to form a ribbon. The ribbon thickness will carry the information of the volume removal rate, that is, the change amount of the volume removal rate is associated with the change amount of the ribbon thickness. Therefore, as long as the change of the ribbon thickness is collected, the change of the volume removal rate can be reflected.

[0059] The ribbon measuring component 5 is used to measure the ribbon thickness. In order to avoid the collision between the ribbon measuring component 5 and the optical element 6 to be processed and the test optical element 7 during the processing, the ribbon measuring component 5 needs to be set obliquely. There is an angle between the measuring direction of the ribbon measuring component 5 and the horizontal line. This leads to the data collected not being the ribbon thickness information at the current working point, but the data collected when the polishing wheel drives the magnetorheological fluid to rotate from the lowest point of the polishing wheel to the measuring range of the ribbon measuring component 5 after a certain time. This time is .

[0060] Assume that if the time is very long and the moving speed of the whole equipment is very fast, resulting in the completion of the whole processing, but the change of the ribbon thickness is not collected in time, the purpose of real-time control cannot be achieved during the whole processing. Therefore, the time must be considered.

[0061] It should be understood that the various forms of processes shown above can be used, with steps reordered, added or deleted. For example, the steps described in the disclosure of the present invention can be executed in parallel, sequentially or in a different order, as long as the desired results of the technical solution disclosed in the present invention can be achieved, and no limitation is imposed herein.

[0062] The above specific embodiments do not constitute a limitation on the protection scope of the present invention. Those skilled in the art should understand that various modifications, combinations, sub - combinations and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A magnetorheological processing device based on ribbon size-adjustable electromagnets, characterized in that: It includes a robot, a control unit, a magnetorheological processing module, and a ribbon measurement component; wherein: the magnetorheological processing module is arranged at the free end of the robot; the robot drives the polishing wheel in the magnetorheological processing module to process the optical element with magnetorheological fluid as the medium, and during the processing, the ribbon measurement component measures the ribbon thickness of the magnetorheological fluid; The interior of the control unit includes: A time calculation module, which calculates the measurement time of the ribbon measurement component and the adjustment time of the magnetorheological processing module, and adjusts the ribbon measurement component and the magnetorheological processing module according to the measurement time and the adjustment time; A conversion relationship module, which fits the magnetic induction intensity of the electromagnet in the magnetorheological processing module with the ribbon thickness to obtain a first conversion relationship, and fits the electromagnet position of the electromagnet with the ribbon thickness to obtain a second conversion relationship; A real-time regulation module, which adjusts the magnetic induction intensity according to the first conversion relationship, or adjusts the electromagnet position according to the second conversion relationship, so as to keep the removal function stable when processing the optical element.

2. The magnetorheological processing device based on ribbon size-adjustable electromagnets according to claim 1, wherein: The ribbon measurement component includes a ribbon measurement device and an adjustment bracket; the ribbon measurement device is arranged on the adjustment bracket; the ribbon measurement device measures the ribbon thickness and transmits the measured ribbon thickness to the control unit; the adjustment bracket is arranged on the magnetorheological processing module and is used to adjust the pose of the ribbon measurement device.

3. The magnetorheological processing device based on ribbon size-adjustable electromagnets according to claim 2, wherein: The magnetorheological processing module further includes a transmission belt, a polishing motor, a nozzle, a supply system, a real-time adjustment device, and a magnetorheological mounting bracket; wherein, The magnetorheological mounting bracket is arranged on the free end, and the adjustment bracket is arranged on the magnetorheological mounting bracket; the polishing wheel and the real-time adjustment device are arranged on the magnetorheological mounting bracket, and the real-time adjustment device is connected to the polishing wheel, so that the real-time adjustment device adjusts the position of the polishing wheel; The polishing motor is connected to the polishing wheel through the transmission belt, so that the polishing motor controls the polishing wheel to rotate, and further the polishing wheel processes the optical element; The nozzle is arranged on the magnetorheological mounting bracket along the rotation direction of the polishing wheel, and the supply system conveys the magnetorheological fluid to the nozzle; The electromagnet is connected to the real-time adjustment device and is located near the working point of the polishing wheel, so that the magnetorheological fluid changes its stiffness under the influence of the magnetic induction intensity; at the same time, the real-time adjustment device adjusts the magnetic induction intensity and the distance between the electromagnet and the polishing wheel.

4. The magnetorheological processing device based on ribbon size-adjustable electromagnets according to claim 3, characterized in that: The real-time adjustment device includes a displacement output motor, a lead screw, a support fixing frame, and a current intensity controller; the support fixing frame is arranged on the magnetorheological mounting frame; the displacement output motor is arranged on the support fixing frame and is connected to the lead screw arranged on the support fixing frame; the electromagnet or the polishing wheel is connected to the nut on the lead screw, so that the lead screw drives the electromagnet or the polishing wheel to move along the lead screw; the current intensity controller is arranged on the support fixing frame and is connected to the electromagnet; the current intensity controller supplies power to the electromagnet to make the electromagnet generate a magnetic field; the current intensity controller is connected to the control unit, the control unit sends a control signal to the current intensity controller, and the current intensity controller adjusts the current transmitted to the electromagnet according to the control signal, thereby changing the magnetic induction intensity.

5. The magnetorheological processing device based on ribbon size-adjustable electromagnets according to claim 3, characterized in that: The adjustment bracket includes a support frame, a longitudinal sliding component, a transverse sliding component, and an axial rotation connecting plate; wherein, one end of the support frame is connected to the magnetorheological mounting frame; the longitudinal sliding component is arranged at the other end of the support frame, the transverse sliding component is arranged on the longitudinal sliding component, the axial rotation connecting plate is arranged on the transverse sliding component, and the ribbon measuring device is arranged on the axial rotation connecting plate, so that while the axial rotation connecting plate drives the ribbon measuring device to rotate, the longitudinal sliding component and the transverse sliding component drive the ribbon measuring device to perform longitudinal and transverse movements.

6. The magnetorheological processing device based on ribbon size-adjustable electromagnets according to claim 3, characterized in that: The ribbon measuring component, the robot, and the real-time adjustment device are respectively connected to the control unit to form their respective communication lines, so that the control unit receives and sends signals through the corresponding communication lines.

7. A magnetorheological polishing method based on magnetic induction intensity, based on the magnetorheological processing device for adjusting an electromagnet based on ribbon size according to any one of claims 1 to 6, characterized in that: It includes the following steps: A1: Control the polishing wheel to process the test optical element with different polishing gaps, and calculate the first conversion relationship in the conversion relationship module by combining the volume removal rate of the removal function at each processing position. A2: Set the first variable range of the magnetic induction intensity, and obtain the second variable range corresponding to the ribbon thickness according to the first conversion relationship; set the maximum magnetic induction intensity, and obtain the corresponding maximum ribbon thickness according to the first conversion relationship. A3: Control the time calculation module to adjust the ribbon measuring component and the magnetorheological processing module in combination with the maximum magnetic induction intensity. A4: Combine the second variable range, the maximum magnetic induction intensity, and the maximum ribbon thickness to process the optical element to be processed, and during the processing, the real-time regulation module adjusts the magnetic induction intensity in real time.

8. The magnetorheological polishing method based on magnetic induction intensity according to claim 7, wherein: Step A1 includes the following steps: A11: Control the polishing wheel to process the test optical element with different polishing gaps, calculate the volume removal rate of the removal function at each processing position, and at the same time, the ribbon measuring component measures the ribbon thickness at each processing position in real time, and fit the third conversion relationship between the volume removal rate of the removal function and the ribbon thickness in the conversion relationship module. A12: Control the polishing wheel to process on the test optical element at different polishing gaps, obtain the volume removal rate of the removal function at each processing position, and then fit the fourth conversion relationship between the magnetic induction intensity and the volume removal rate of the removal function in the conversion relationship module; A13: Obtain the first conversion relationship according to the third conversion relationship and the fourth conversion relationship.

9. The magnetorheological polishing method based on magnetic induction intensity according to claim 8, wherein: In step A4, when controlling the polishing wheel to move to the current processing position, compare the current ribbon thickness measured by the ribbon measuring component with the second variable range: If the current ribbon thickness is within the second variable range, there is no need to adjust the current magnetic induction intensity; If the current ribbon thickness is not within the second variable range, the current magnetic induction intensity needs to be adjusted: If the current ribbon thickness is greater than or equal to the maximum ribbon thickness, adjust the current magnetic induction intensity to the maximum magnetic induction intensity; [[ID=&]]If the current ribbon thickness is less than the maximum ribbon thickness, adjust the current magnetic induction intensity according to the following formula: ； Among them, represents the first conversion relationship, represents the current ribbon thickness, represents the current magnetic induction intensity.

10. A magnetorheological polishing method based on the position of an electromagnet, based on the magnetorheological processing device for adjusting an electromagnet based on ribbon size according to any one of claims 1 to 6, characterized in that: It includes the following steps: B1: Control the polishing wheel to process the test optical element at different polishing gaps, and calculate the second conversion relationship in the conversion relationship module by combining the volume removal rate of the removal function at each processing position; B2: Set the third variable range of the electromagnet position, and obtain the corresponding fourth variable range of the ribbon thickness according to the second conversion relationship; set the maximum electromagnet position, and obtain the corresponding maximum ribbon thickness according to the second conversion relationship; B3: Control the time calculation module to adjust the ribbon measuring component and the magnetorheological processing module in combination with the maximum electromagnet position; B4: Process the optical element to be processed in combination with the fourth variable range, the maximum electromagnet position and the maximum ribbon thickness, and during the processing, the real-time regulation module adjusts the electromagnet position in real time.

11. The magnetorheological polishing method based on the position of the electromagnet according to claim 10, wherein: Step B1 includes the following steps: B11: Control the polishing wheel to process the test optical element at different polishing gaps, calculate the volume removal rate of the removal function at each processing position, and at the same time, the ribbon measuring component measures the ribbon thickness at each processing position in real time, and fit the fifth conversion relationship between the volume removal rate of the removal function and the ribbon thickness in the conversion relationship module; B12: Control the polishing wheel to process on the test optical element at different polishing gaps, obtain the volume removal rate of the removal function at each processing position, and then fit the sixth conversion relationship between the electromagnet position and the volume removal rate of the removal function in the conversion relationship module; B13: Obtain the second conversion relationship according to the fifth conversion relationship and the sixth conversion relationship.

12. The magnetorheological polishing method based on the position of the electromagnet according to claim 11, characterized in that: In step B4, when controlling the polishing wheel to move to the current processing position, compare the current ribbon thickness measured by the ribbon measuring component with the fourth variable range: If the current ribbon thickness is within the fourth variable range, there is no need to adjust the current electromagnet position; If the current ribbon thickness is not within the fourth variable range, the position of the current electromagnet needs to be adjusted: If the current ribbon thickness is greater than or equal to the maximum ribbon thickness, adjust the position of the current electromagnet to the maximum electromagnet position; If the current ribbon thickness is less than the maximum ribbon thickness, adjust the position of the current electromagnet according to the following formula: ； Among them, represents the second conversion relationship, represents the current ribbon thickness, represents the current electromagnet position.

13. A magnetorheological polishing method based on magnetic induction intensity and the movement of a polishing wheel, based on the magnetorheological processing device for adjusting an electromagnet according to the ribbon size as described in any one of claims 1 to 6, characterized in that: Including the following steps: C1: Control the polishing wheel to process the test optical element with different polishing gaps, and obtain the seventh conversion relationship between the polishing gap and the ribbon thickness in the conversion relationship module; C2: Set the fifth variable range of the polishing gap, and obtain the corresponding sixth variable range of the ribbon thickness according to the seventh conversion relationship; Set the maximum polishing gap, and obtain the corresponding maximum ribbon thickness according to the seventh conversion relationship; C3: Control the time calculation module to adjust the ribbon measurement component and the magnetorheological processing module in combination with the maximum polishing gap and the magnetic induction intensity corresponding to the maximum polishing gap; C4: Process the optical element to be processed in combination with the sixth variable range, the maximum polishing gap and the maximum ribbon thickness, and during the processing, the real-time regulation module adjusts the polishing gap in real time, and then adjusts the magnetic induction intensity in real time.

14. The magnetorheological polishing method based on magnetic induction intensity and movement of a polishing wheel according to claim 13, wherein: In step C1, control the polishing wheel to process the test optical element with different polishing gaps, measure the ribbon thickness in real time through the ribbon measurement component, and fit the seventh conversion relationship in the conversion relationship module.

15. The magnetorheological polishing method based on magnetic induction intensity and polishing wheel movement according to claim 14, wherein: In step C4, when controlling the polishing wheel to move to the current processing position, compare the current ribbon thickness measured by the ribbon measurement component with the sixth variable range: If the current ribbon thickness is within the sixth variable range, there is no need to adjust the current polishing gap; If the current ribbon thickness is not within the sixth variable range, the current polishing gap needs to be adjusted: If the current ribbon thickness is greater than or equal to the maximum ribbon thickness, adjust the current polishing gap to the maximum polishing gap, and the current magnetic induction intensity is correspondingly adjusted to the maximum magnetic induction intensity corresponding to the maximum polishing gap; If the current ribbon thickness is less than the maximum ribbon thickness, adjust the current polishing gap according to the following formula: ； Among them, represents the seventh conversion relationship, represents the current ribbon thickness, represents the current polishing gap; the current magnetic induction intensity is adjusted by the following formula: ； Among them, represents the initially set polishing gap, represents the distance between the electromagnet and the working point of the polishing wheel, represents the magnetic moment, is the proportionality coefficient, represents the current magnetic induction intensity.

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