Magnetorheological processing device and method based on ribbon size adjustment electromagnet

Abstract

The present invention relates to the field of optical processing technology, and in particular to a magnetorheological processing device and method based on a ribbon size adjustment electromagnet. The device includes a robot, a control unit, a magnetorheological processing module, and a ribbon measuring component. The magnetorheological processing module is arranged at the free end of the robot. The robot drives a polishing wheel in the magnetorheological processing module to process an optical element using magnetorheological fluid as a medium, and the ribbon measuring component measures the ribbon thickness of the magnetorheological fluid during the processing. In the method, the ribbon measuring component measures the real-time change of the ribbon thickness of the magnetorheological fluid during the magnetorheological processing, thereby performing real-time regulation on parameters related to the electromagnet, thereby achieving real-time constant control of the removal function.

Description

Technical Field

[0001] The present invention belongs to the field of optical processing technology, and in particular relates to a magnetorheological processing device and method based on a ribbon size adjustment electromagnet. Background Art

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

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

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

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

[0006] A magnetorheological processing device based on a ribbon-size-adjustable electromagnet comprises a robot, a control unit, a magnetorheological processing module, and a ribbon measuring assembly. The magnetorheological processing module is disposed at the free end of the robot. The robot drives a polishing wheel in the magnetorheological processing module to process an optical element using magnetorheological fluid as a medium, and during the processing, the ribbon measuring assembly measures the thickness of the ribbon of the magnetorheological fluid. The control unit comprises a time calculation module for calculating the measurement time of the ribbon measuring assembly and the adjustment time of the magnetorheological processing module, and adjusting the ribbon measuring assembly and the magnetorheological processing module according to the measurement time and adjustment time; a conversion relationship module for fitting the magnetic induction intensity of the electromagnet in the magnetorheological processing module with the ribbon thickness to obtain a first conversion relationship, and fitting the electromagnet position of the electromagnet with the ribbon thickness to obtain a second conversion relationship; and a real-time control module for adjusting the magnetic induction intensity according to the first conversion relationship or adjusting the electromagnet position according to the second conversion relationship to maintain the stability of the removal function during processing of the optical element.

[0007] Furthermore, 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 for adjusting the posture of the ribbon measuring device.

[0008] Furthermore, the magnetorheological processing module also includes a transmission belt, a polishing motor, a nozzle, a supply system, a real-time adjustment device and a magnetorheological mounting frame; wherein, the magnetorheological mounting frame is arranged on the free end, and the adjustment bracket is arranged on the magnetorheological mounting frame; the polishing wheel and the real-time adjustment device are arranged on the magnetorheological mounting frame, 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 then the polishing wheel processes the optical element; the nozzle is arranged on the magnetorheological mounting frame along the rotation direction of the polishing wheel, and the supply system delivers magnetorheological fluid to the nozzle; the electromagnet is connected to the real-time adjustment device, and the electromagnet is close to the working point of the polishing wheel, so that the magnetorheological fluid is affected by the magnetic induction intensity to change the stiffness of the magnetorheological fluid; at the same time, the real-time adjustment device adjusts the magnetic induction intensity and the distance between the electromagnet and the polishing wheel.

[0009] Furthermore, the real-time adjustment device includes a displacement output motor, a screw, a support and fixing frame and a current intensity controller; the support and fixing frame is arranged on the magnetorheological mounting frame; the displacement output motor is arranged on the support and fixing frame and is connected to the screw arranged on the support and fixing frame; the electromagnet or polishing wheel is connected to the nut on the screw, so that the screw drives the electromagnet or polishing wheel to move along the screw; the current intensity controller is arranged on the support and fixing frame and is connected to the electromagnet; the current intensity controller energizes the electromagnet so that the electromagnet generates 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.

[0010] Furthermore, the adjustment bracket includes a support frame, a longitudinal sliding assembly, a transverse sliding assembly and an axially rotating connecting plate; wherein, one end of the support frame is connected to the magnetorheological mounting frame; the longitudinal sliding assembly is arranged on the other end of the support frame, the transverse sliding assembly is arranged on the longitudinal sliding assembly, the axially rotating connecting plate is arranged on the transverse sliding assembly, and the ribbon measuring device is arranged on the axially rotating connecting plate, so that the axially rotating connecting plate drives the ribbon measuring device to rotate while the longitudinal sliding assembly and the transverse sliding assembly drive the ribbon measuring device to move longitudinally and transversely.

[0011] Furthermore, the ribbon measuring component, the robot and the real-time adjustment device are respectively connected to the control unit to form respective communication lines, so that the control unit receives and sends signals through the corresponding communication lines.

[0012] A magnetorheological polishing method based on magnetic induction intensity, based on a magnetorheological processing device based on a ribbon size adjustment electromagnet provided by the present invention, comprises the following steps:

[0013] 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 based on the removal function volume removal rate at each processing position;

[0014] A2: Setting a first variable range of magnetic induction intensity and obtaining a second variable range corresponding to the ribbon thickness according to the first conversion relationship; setting a maximum magnetic induction intensity and obtaining a corresponding maximum ribbon thickness according to the first conversion relationship;

[0015] A3: Control the time calculation module and the maximum magnetic induction intensity to adjust the ribbon measurement component and the magnetorheological processing module;

[0016] A4: The optical element to be processed is processed in combination with the second variable range, the maximum magnetic induction intensity, and the maximum ribbon thickness. During the processing, the real-time control module adjusts the magnetic induction intensity in real time.

[0017] Furthermore, step A1 includes the following steps:

[0018] A11: 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 simultaneously measure the ribbon thickness at each processing position in real time using the ribbon measurement component. The third conversion relationship between the volume removal rate of the removal function and the ribbon thickness is fitted in the conversion relationship module.

[0019] A12: Controlling the polishing wheel to process the test optical element at different polishing gaps to obtain a removal function volume removal rate at each processing position, and then fitting a fourth conversion relationship between the magnetic induction intensity and the removal function volume removal rate in a conversion relationship module;

[0020] A13: Obtain a first conversion relationship according to the third conversion relationship and the fourth conversion relationship.

[0021] Furthermore, in step A4, when the polishing wheel is controlled to move to the current processing position, the current ribbon thickness measured by the ribbon measuring component is compared with the second variable range:

[0022] If the current ribbon thickness is within the second variable range, there is no need to adjust the current magnetic induction intensity;

[0023] If the current ribbon thickness is not within the second variable range, the current magnetic induction intensity needs to be adjusted:

[0024] If the current ribbon thickness is greater than or equal to the maximum ribbon thickness, the current magnetic induction intensity is adjusted to the maximum magnetic induction intensity;

[0025] If the current ribbon thickness is less than the maximum ribbon thickness, the current magnetic induction intensity is adjusted according to the following formula:

[0026] ;

[0027] in, represents the first conversion relationship, Indicates the current ribbon thickness, Indicates the current magnetic induction intensity.

[0028] A magnetorheological polishing method based on the position of an electromagnet, based on a magnetorheological processing device based on a ribbon size adjustment electromagnet provided by the present invention, comprises the following steps:

[0029] B1: Control the polishing wheel to process the test optical element with different polishing gaps, and calculate the second conversion relationship in the conversion relationship module by combining the removal function volume removal rate at each processing position;

[0030] B2: Setting the third variable range of the electromagnet position and obtaining the fourth variable range corresponding to the ribbon thickness according to the second conversion relationship; setting the maximum electromagnet position and obtaining the corresponding maximum ribbon thickness according to the second conversion relationship;

[0031] B3: The control time calculation module adjusts the ribbon measurement component and the magnetorheological processing module in combination with the maximum electromagnet position;

[0032] B4: The optical element to be processed is processed in combination with the fourth variable range, the maximum electromagnet position and the maximum ribbon thickness. During the processing, the real-time control module adjusts the electromagnet position in real time.

[0033] Furthermore, step B1 includes the following steps:

[0034] 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 simultaneously measure the ribbon thickness at each processing position in real time using the ribbon measurement component. The fifth conversion relationship between the volume removal rate of the removal function and the ribbon thickness is obtained by fitting in the conversion relationship module.

[0035] B12: Controlling the polishing wheel to process the test optical element at different polishing gaps to obtain the removal function volume removal rate at each processing position, and then fitting in the conversion relationship module to obtain a sixth conversion relationship between the electromagnet position and the removal function volume removal rate;

[0036] B13: Obtain a second conversion relationship according to the fifth conversion relationship and the sixth conversion relationship.

[0037] Furthermore, in step B4, when the polishing wheel is controlled to move to the current processing position, the current ribbon thickness measured by the ribbon measuring component is compared with the fourth variable range:

[0038] If the current ribbon thickness is within the fourth variable range, there is no need to adjust the current electromagnet position;

[0039] If the current ribbon thickness is not within the fourth variable range, the current electromagnet position needs to be adjusted:

[0040] If the current ribbon thickness is greater than or equal to the maximum ribbon thickness, the current electromagnet position is adjusted to the maximum electromagnet position;

[0041] If the current ribbon thickness is less than the maximum ribbon thickness, the current electromagnet position is adjusted according to the following formula:

[0042] ;

[0043] in, Represents the second conversion relationship, Indicates the current ribbon thickness, Indicates the current electromagnet position.

[0044] A magnetorheological polishing method based on magnetic induction intensity and polishing wheel movement, based on a magnetorheological processing device based on a ribbon size adjustment electromagnet provided by the present invention, comprises the following steps:

[0045] 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;

[0046] C2: Set the fifth variable range of the polishing gap, and obtain the sixth variable range corresponding to 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;

[0047] C3: Control time calculation module, combined with the maximum polishing gap and the magnetic induction intensity corresponding to the maximum polishing gap, to adjust the ribbon measurement component and magnetorheological processing module;

[0048] C4: The optical element to be processed is processed in combination with the sixth variable range, the maximum polishing gap, and the maximum ribbon thickness. During the processing, the real-time control module adjusts the polishing gap in real time, and then adjusts the magnetic induction intensity in real time.

[0049] Furthermore, in step C1, the polishing wheel is controlled to process the test optical element with different polishing gaps, the ribbon thickness is measured in real time by the ribbon measuring component, and the seventh conversion relationship is obtained by fitting in the conversion relationship module.

[0050] Furthermore, in step C4, when the polishing wheel is controlled to move to the current processing position, the current ribbon thickness measured by the ribbon measuring component is compared with the sixth variable range:

[0051] If the current ribbon thickness is within the sixth variable range, there is no need to adjust the current polishing gap;

[0052] If the current ribbon thickness is not within the sixth variable range, the current polishing gap needs to be adjusted:

[0053] If the current ribbon thickness is greater than or equal to the maximum ribbon thickness, the current polishing gap is adjusted 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;

[0054] If the current ribbon thickness is less than the maximum ribbon thickness, the current polishing gap is adjusted according to the following formula:

[0055] ;

[0056] in, represents the seventh conversion relationship, Indicates the current ribbon thickness, Indicates the current polishing gap; the current magnetic induction intensity is adjusted by the following formula:

[0057] ;

[0058] in, Indicates the initial setting of the polishing gap, Indicates the distance between the electromagnet and the working point of the polishing wheel, represents the magnetic moment, is the proportionality coefficient, Indicates the current magnetic induction intensity.

[0059] Compared with the prior art, the present invention can achieve the following beneficial effects:

[0060] In the magnetorheological processing device and method based on a ribbon size adjustment electromagnet, the ribbon thickness of the magnetorheological fluid is non-contactly measured by a ribbon measurement assembly. When the magnetorheological processing equipment polishes an optical element, relevant parameters of different electromagnets and their corresponding ribbon thicknesses are collected. The collected relevant electromagnet parameters and the ribbon thicknesses are then used to calculate the corresponding relationship between the relevant electromagnet parameters and the ribbon thicknesses. The optical element is then processed based on the corresponding relationship to obtain the current ribbon thickness. Based on the comparison of the ribbon thicknesses, it is determined whether the relevant electromagnet parameters should be adjusted. 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 equipment's magnetorheological processing module, the equipment's own operating accuracy, operating speed, posture, inertia, and other factors. Only the relevant electromagnet parameters are adjusted in real time. This more comprehensively and accurately measures the ribbon size parameters of the magnetorheological fluid under the coupling of multiple factors during the processing process, thereby adjusting the relevant electromagnet parameters. No auxiliary operating mechanisms are required, and no additional costs are added. BRIEF DESCRIPTION OF THE DRAWINGS

[0061] The accompanying drawings, which constitute part of the present invention, are intended to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are intended to explain the present invention and do not constitute an undue limitation of the present invention. In the accompanying drawings:

[0062] Figure 1 A schematic structural diagram of a magnetorheological processing device based on a ribbon size adjustment electromagnet according to an embodiment of the present invention from one perspective;

[0063] Figure 2 A schematic structural diagram of the magnetorheological processing device based on a ribbon size adjustment electromagnet according to an embodiment of the present invention from another perspective;

[0064] Figure 3 A schematic structural diagram of a magnetorheological processing module according to an embodiment of the present invention;

[0065] Figure 4 A schematic structural diagram of a real-time adjustment device according to an embodiment of the present invention;

[0066] Figure 5 This is a schematic structural diagram of the ribbon measuring assembly according to an embodiment of the present invention;

[0067] Figure 6 This is a schematic structural diagram of the adjustment bracket described in an embodiment of the present invention.

[0068] Description of reference numerals:

[0069] 1. Robot; 2. Control unit; 3. Polishing wheel; 4. Laboratory table; 5. Ribbon measuring 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 frame; 14. Connecting plate; 15. Displacement output motor; 16. Support and fixing frame; 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 DESCRIPTION

[0070] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and do not constitute a limitation of the present invention.

[0071] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other.

[0072] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. In addition, the terms "first", "second" and the like are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, features defined as "first", "second" and the like may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0073] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "installed," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium; and they can refer to internal connections between two components. Those skilled in the art can understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0074] The present invention will be described in detail below with reference to the accompanying drawings and in combination with embodiments.

[0075] like Figures 1 to 2 As shown, the magnetorheological processing device based on a ribbon size adjustment electromagnet, as described in an embodiment of the present invention, includes a robot 1, a control unit 2, a magnetorheological processing module, and a ribbon measurement assembly 5. The magnetorheological processing module is mounted at the free end of the robot 1. The robot 1 drives the polishing wheel 3 in the magnetorheological processing module to process optical components placed on a laboratory table 4 using magnetorheological fluid as a medium. During the processing, the ribbon thickness of the magnetorheological fluid is measured in real time using the ribbon measurement assembly 5.

[0076] In an embodiment of the present invention, the experimental table 4 refers to a working platform for experiments, on which are placed the optical element to be processed 6, the test optical element 7, and other polishing components, such as the magnetorheological fluid required for polishing, and the supporting tooling for the optical element to be processed 6 and the test optical element 7. The optical element to be processed 6 and the test optical element 7 are components that require magnetorheological polishing. As a preferred embodiment, both can be optical elements with conductive properties. In this embodiment, the processing area is a special area on the experimental table 4 used for magnetorheological polishing. Optionally, a reference piece to be polished can be added. The reference piece to be polished is a designated reference element used to measure the thickness of the ribbon formed when the magnetorheological fluid is in the processing area.

[0077] The control unit 2 includes a time calculation module, a conversion relationship module, and a real-time control module. The time calculation module is used to calculate the measurement time of the ribbon measurement assembly and the adjustment time of the magnetorheological processing module, and to adjust the ribbon measurement assembly and the magnetorheological processing module based on the measurement time and 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 to be processed 6 or the test optical element 7. The real-time control 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, thereby maintaining the stability of the removal function when processing the optical element to be processed 6 or the test optical element 7.

[0078] Figure 3 (a) shows a schematic structural diagram of the magnetorheological processing module from one perspective. Figure 3 (b) shows the structural diagram of the magnetorheological processing module from another perspective. Figure 3As shown, the magnetorheological machining module also includes a polishing motor 9, a transmission belt 10, a nozzle 11, a supply system (not shown in the figures), a real-time adjustment device 12, and a magnetorheological mounting frame 13. The magnetorheological mounting frame 13 is mounted on the free end of the robot 1. The ribbon measurement assembly is disposed on the magnetorheological mounting frame 13. Specifically, the ribbon measurement assembly 5 is mounted on the magnetorheological mounting frame 13 via a connecting plate 14. The polishing wheel 3 and the real-time adjustment device 12 are mounted on the magnetorheological mounting frame. The real-time adjustment device 12 is connected to the polishing wheel 3 via the connecting plate 14, allowing the real-time adjustment device 12 to adjust the position of the polishing wheel 3, thereby changing the polishing gap of the polishing wheel 3. Specifically, the front end of the connecting plate 14 is mounted on the real-time adjustment device 12. The polishing motor 9 is fixed to the connecting plate 14, with the output end of the polishing motor 9 passing through the connecting plate 14. The bearing of the polishing wheel 3 passes through the rear end of the connecting plate 14. The output end of the polishing motor 9 is connected to the bearing of the polishing wheel 3 via the transmission belt 10, thereby enabling the polishing motor 9 to control the rotation of the polishing wheel 3. The manner in which the polishing motor 9 drives the polishing wheel 3 to rotate in the embodiment of the present invention can be referred to the invention patent application with Chinese patent publication number CN118322074A, publication date July 12, 2024, and patent name "Self-rotating polishing module processing system". The nozzle 11 is mounted on the magnetorheological mounting frame 13 along the rotation direction of the polishing wheel 3. The supply system delivers magnetorheological fluid to the nozzle 11, and the nozzle 11 sprays magnetorheological fluid toward the working point of the polishing wheel 3, thereby causing the polishing wheel 3 to process the optical element to be processed 6 or the test optical element 7 using the magnetorheological fluid as a medium. In the embodiment of the present invention, the working point of the polishing wheel 3 is defined as the closest point between the polishing wheel 3 and the surface of the optical element to be processed 6 or the test optical element 7 along the normal direction of the surface of the optical element to be processed 6 or the test optical element 7. The electromagnet 8 is connected to the real-time adjustment device 12 via a connecting plate 14, and is positioned close to the working point of the polishing wheel 3. Specifically, the head end of the connecting plate 14 is mounted on the real-time adjustment device 12, and the electromagnet 8 is mounted on the end of the connecting plate 14. This allows the magnetorheological fluid to change its stiffness due to the magnetic induction intensity of the electromagnet 8, while the real-time adjustment device 12 adjusts the magnetic induction intensity and the distance between the electromagnet 8 and the polishing wheel 3. Furthermore, in this embodiment of the present invention, the supply system uses a DFLD vertical multi-stage pump from Shanghai Dongfang Pump Industry Co., Ltd.

[0079] The structure of the real-time adjustment device 12 for controlling the polishing wheel 3 and the electromagnet 8 is as follows: Figure 4As shown, the system includes a displacement output motor 15, a support bracket 16, a lead screw 17, and a current intensity controller 18. The lead screw 17 and a nut with a ball thereon together form a ball screw. The support bracket 16 is mounted on the magnetorheological mounting frame 13, and the displacement output motor 15 is mounted on top of the support bracket 16. The lead screw 17 is mounted on the support bracket 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 via 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 as follows: the displacement output motor 15 drives the lead screw 17 to rotate, and the nut cooperates with the lead screw, pulling the polishing wheel 3 or the electromagnet 8 along the direction of the lead screw through the connecting plate 14. In this embodiment of the present invention, to ensure stable movement of the polishing wheel 3 or electromagnet 8 along the lead screw 17, a guide rail 19 is preferably installed on each side of the lead screw 17, with the two guide rails 19 being parallel to the lead screw 17. In this case, the head end of the connecting plate 14 is fixedly connected to both the nut and the first slider 20 on the two guide rails 19. During the machining process, 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. The lead screw 17 cooperates with the two guide rails 19 to pull the connecting plate 14, thereby driving the polishing wheel 3 or electromagnet 8 to move stably along the direction of the lead screw 17. A current intensity controller 18 is mounted on the support bracket 16. The current intensity controller 18 is connected to the electromagnet 8 via a wire and is used to energize the electromagnet 8 to generate a magnetic field. The current intensity controller 18 is also in communication with the control unit 2. The control unit 2 sends a control signal to the current intensity controller 18. The current intensity controller 18 adjusts the current transmitted to the electromagnet 8 based on 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 Smart200 series DA conversion module of Siemens.

[0080] The structure of the ribbon measuring component 5 is as follows Figure 5 As shown, it includes a ribbon measuring device 21 and an adjustment bracket 22. The ribbon measuring device 21 measures the thickness of the ribbon and transmits the measured ribbon thickness to the control unit 2. The adjustment bracket 22 is installed on the magnetorheological mounting bracket 13 in the magnetorheological processing module through the connecting plate 14, and is used to control and adjust the posture of the ribbon measuring device 21. When the magnetorheological processing equipment is polishing, the ribbon measuring component 5 does not contact the optical element. Due to the properties of the magnetorheological medium in the magnetic field: the magnetorheological medium will undergo elastic deformation after passing through the polishing gap, and the change in the polishing gap will be "copied" to the magnetorheological fluid satin after passing through the polishing gap, which is mainly manifested in the change in the ribbon thickness. Therefore, the change in the ribbon thickness of the magnetorheological fluid can reflect the change in the volume removal rate of the removal function.

[0081] 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 on the magnetorheological fluid ribbon for measurement. 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. Among them, one end of the support frame 23 is connected to the magnetorheological mounting frame 13 through the connecting plate 14, the longitudinal sliding assembly 24 is arranged on 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, and the ribbon measuring device 21 is arranged on the axial rotation connecting plate 26. When 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.

[0082] Specifically, the installation process of the adjustment bracket 22 is as follows: Figure 6 As shown in (a) to (c) in Figure 6 As shown in (a), the slide rail of the longitudinal sliding assembly 24 is fixedly mounted on the other end of the support frame 23; Figure 6 As shown in (b), the second slider 27 of the longitudinal sliding assembly 24 is fixedly connected to the slide rail of the transverse sliding assembly 25; Figure 6 As shown in (c), the axially rotating connecting plate 26 is fixedly connected to the third slider 28 of the transverse sliding assembly 25. The longitudinal sliding assembly 24 and the transverse sliding assembly 25 can now drive the axially rotating connecting plate 26 to move in the direction of the longitudinal sliding assembly 24 and the transverse sliding assembly 25. A damped rotatable turntable is mounted on the longitudinal sliding assembly 24, and the ribbon measuring device 21 is mounted on this rotatable turntable. The longitudinal sliding assembly 24, the transverse sliding assembly 25, and the axially rotating connecting plate 26 cooperate to adjust the position of the ribbon measuring device 21.

[0083] The ribbon measuring assembly 5 and the real-time adjustment device 12 are each connected to the control unit 2 to form separate communication lines, enabling the control unit 2 to receive and transmit signals via the corresponding communication lines. Specifically, the control unit 2 receives measurement signals from the ribbon measuring device 21 via the communication lines. It then transmits control signals to the displacement output motor 15 in the real-time adjustment device 12 to change the position of the polishing wheel 3 or the electromagnet 8 via the communication lines. Furthermore, it transmits control signals to the current intensity controller 18 in the real-time adjustment device 12 to change the magnetic induction intensity of the electromagnet 8 via the communication lines. Because the polishing wheel 3 generates a strong magnetic field during polishing, the communication lines are designed to avoid such strong magnetic fields.

[0084] Based on the magnetorheological processing device based on the ribbon size adjustment electromagnet described in the embodiment of the present invention, the embodiment of the present invention also provides a magnetorheological processing method based on the ribbon size adjustment electromagnet, 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 polishing wheel movement.

[0085] Specific embodiment 1: The magnetorheological polishing method based on magnetic induction intensity provided in this specific embodiment is based on the magnetorheological processing device based on the ribbon size adjustment electromagnet of the embodiment of the invention, combined with Figures 1 to 6 , including the following steps:

[0086] A1: Control the polishing wheel 3 to process the test optical element 7 with different polishing gaps, and calculate a first conversion relationship in the conversion relationship module based on the removal function volume removal rate at each processing position. Step A1 includes the following steps:

[0087] A11: Control the polishing wheel 3 to process the test optical element 7 with different polishing gaps, calculate the removal function volume removal rate 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. Fitting in the conversion relationship module yields:

[0088] ;

[0089] in, Represents the removal function volume removal rate and ribbon thickness In this specific embodiment, specifically, the polishing wheel 3 is controlled to perform fixed-point processing on the test optical element 7 for a period of time with different polishing gaps;

[0090] A12: Control the polishing wheel 3 to process the test optical element 7 at different polishing gaps to obtain the removal function volume removal rate at each processing position, and then fit it in the conversion relationship module to obtain:

[0091] ;

[0092] in, Indicates the magnetic induction intensity Volume removal rate with removal function In this specific embodiment, specifically, the polishing wheel 3 is controlled to perform fixed-point processing on the test optical element 7 for a period of time at different polishing gaps;

[0093] A13: According to the third and fourth conversion relationships, the following formula is obtained:

[0094] ;

[0095] in, Indicates the first conversion relationship.

[0096] A2: Set the first variable range of magnetic induction intensity , and according to the first conversion relationship Get the second variable range corresponding to the ribbon thickness ,Right now:

[0097] ;

[0098] ;

[0099] Set the maximum magnetic induction intensity , and according to the first conversion relationship Get the corresponding maximum ribbon thickness ,Right now:

[0100] ;

[0101] Among them, the maximum magnetic induction intensity and the first variable range Adaptively set and adjust according to actual conditions.

[0102] A3: Control the time calculation module to adjust the ribbon measurement component 5 and the magnetorheological processing module. Step A3 includes the following steps:

[0103] A31. Count b data points measured by the ribbon measurement component 5 within a second, and obtain the time it takes for the ribbon measurement component 5 to measure a point. ;

[0104] ;

[0105] A32. Calculate the change in maximum magnetic induction intensity The time required to control the magnetorheological processing module :

[0106] ;

[0107] in, Indicates the rate of change of the magnetic induction intensity of the electromagnet 8; the maximum magnetic induction intensity change ; Indicates the set minimum magnetic induction intensity. This value should be adaptively set and adjusted according to actual conditions.

[0108] A33, measure the vertical distance between the measuring position of the ribbon measuring component 5 and the working point of the polishing wheel 3 , according to the vertical distance and the set polishing wheel speed Calculate the time required for polishing wheel 3 to reach the working point :

[0109] ;

[0110] in, Indicates the radius of the polishing wheel 3 and the polishing wheel speed Also adaptively set and adjust according to actual conditions;

[0111] A34, calculate the maximum speed of robot 1 Minimum moving time between two adjacent processing positions :

[0112] ;

[0113] in, Indicates the distance between two adjacent processing positions;

[0114] A35. Calculation conditions Is it true: If the condition is true, there is no need to adjust the ribbon measuring component 5 and the polishing wheel 3; if the condition is not true, the data sampling frequency of the ribbon measuring component 5 and the polishing wheel speed need to be adjusted. Make adjustments to make the conditions true;

[0115] A36, the measurement data between each two adjacent processing positions are processed by mean filtering and then output, and the number of mean filtered data is Needs to be satisfied .

[0116] A4: Combined with the second variable range, the maximum magnetic induction intensity and the maximum ribbon thickness, the optical element 6 to be processed is processed, and during the processing, the real-time control module adjusts the magnetic induction intensity in real time. The adjustment process is:

[0117] When the polishing wheel 3 is controlled to move to the current processing position i, the current ribbon thickness measured by the ribbon measuring component 5 is With the second variable range Compare:

[0118] If the current ribbon thickness In the second variable range Within, that is , then there is no need to calculate the current magnetic induction intensity Make adjustments;

[0119] If the current ribbon thickness Not in the second variable range Within, that is , then the current magnetic induction intensity Make adjustments:

[0120] If the current ribbon thickness Greater than or equal to the maximum ribbon thickness ,Right now , the current magnetic induction intensity Adjust to maximum magnetic induction intensity ;

[0121] If the current ribbon thickness Less than the maximum ribbon thickness ,Right now , the current magnetic induction intensity is calculated according to the following formula Make adjustments:

[0122] .

[0123] In this specific embodiment, the amount of discrete data corresponding to different ribbon thicknesses obtained experimentally is limited. The actual ribbon thickness measured during processing may not be equal to the experimentally obtained ribbon thickness data value. The solution is to use the nearest data, that is, the rounding principle. For example: the removal function volume removal rate MRR and magnetic induction intensity corresponding to ribbon thicknesses of 1mm and 2mm were obtained experimentally. The fourth conversion relationship between them is used to obtain the corresponding first conversion relationship, but the thickness of the ribbon during processing is 1.6 mm. At this time, the fourth conversion relationship is used to calculate the 2 mm removal function volume removal rate MRR.

[0124] Specific embodiment 2: The magnetorheological polishing method based on the position of the electromagnet provided in this specific embodiment is based on the magnetorheological processing device based on the ribbon size adjustment electromagnet according to the invention embodiment, combined with Figures 1 to 6 , including the following steps:

[0125] 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 by combining the removal function volume removal rate at each processing position. Step B1 includes the following steps:

[0126] B11: Control the polishing wheel 3 to process the test optical element 7 with different polishing gaps, calculate the removal function volume removal rate 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. The following is fitted in the conversion relationship module:

[0127] ;

[0128] in, Represents the removal function volume removal rate and ribbon thickness In this specific embodiment, the control polishing wheel 3 is used to perform fixed-point processing on the test optical element 7 for a period of time with different polishing gaps;

[0129] B12: Control the polishing wheel 3 to process the test optical element 7 at different polishing gaps to obtain the removal function volume removal rate at each processing position, and then fit it in the conversion relationship module to obtain:

[0130] ;

[0131] in, Indicates the position of the electromagnet Volume removal rate with removal function In this specific embodiment, the control polishing wheel 3 is used to perform fixed-point processing on the test optical element 7 for a period of time with different polishing gaps;

[0132] B13: According to the fifth conversion relationship and the sixth conversion relationship, the following formula is obtained:

[0133] ;

[0134] in, Indicates the second conversion relationship.

[0135] B2: Set the third variable range of the electromagnet position , and according to the second conversion relationship Get the fourth variable range corresponding to the ribbon thickness ,Right now:

[0136] ;

[0137] ;

[0138] Set maximum solenoid position , and according to the second conversion relationship Get the corresponding maximum ribbon thickness ,Right now:

[0139] .

[0140] Among them, the maximum electromagnet position and the third variable range Adaptively set and adjust according to actual conditions.

[0141] B3: The control time calculation module adjusts the ribbon measurement component 5 and the magnetorheological processing module in combination with the maximum electromagnet position. Step B3 includes the following steps:

[0142] B31. Count b data points measured by the ribbon measurement component 5 within a second, and obtain the time it takes for the ribbon measurement component 5 to measure a point. ;

[0143] ;

[0144] B32. Calculate the maximum electromagnet position change The time required to control the magnetorheological processing module :

[0145] ;

[0146] in, Indicates the maximum speed of electromagnet position adjustment; maximum magnet position change ; Indicates the set minimum electromagnet position. This value should be adaptively set and adjusted according to actual conditions.

[0147] B33, measure the vertical distance between the measuring position of the ribbon measuring component 5 and the working point of the polishing wheel 3 , according to the vertical distance and the set polishing wheel speed Calculate the time required for polishing wheel 3 to reach the working point :

[0148] ;

[0149] in, Indicates the radius of the polishing wheel 3 and the polishing wheel speed Adaptive setting and adjustment based on actual conditions;

[0150] B34. Calculate the maximum speed of robot 1 Minimum moving time between two adjacent processing positions :

[0151] ;

[0152] in, Indicates the distance between two adjacent processing positions;

[0153] B35. Calculation conditions Is it true: If the condition is true, there is no need to adjust the ribbon measuring component 5 and the polishing wheel 3; if the condition is not true, the data sampling frequency of the ribbon measuring component 5 and the polishing wheel speed need to be adjusted. Make adjustments to make the conditions true;

[0154] B36, perform mean filtering on the measurement data between each two adjacent processing positions before outputting them, and the number of mean filtered data Needs to be satisfied .

[0155] B4: Combined with the fourth variable range , maximum electromagnet position and maximum ribbon thickness , the optical element 6 to be processed is processed, and during the processing, the real-time control module adjusts the position of the electromagnet in real time. The specific process is: when the polishing wheel 3 is controlled to move to the current processing position i, the current ribbon thickness measured by the ribbon measuring component 5 is With the fourth variable range Compare:

[0156] If the current ribbon thickness In the fourth variable range Within, that is , then there is no need to check the current electromagnet position Make adjustments;

[0157] If the current ribbon thickness Not in the fourth variable range Within, that is , then the current electromagnet position Make adjustments:

[0158] If the current ribbon thickness Greater than or equal to the maximum ribbon thickness ,Right now , the current electromagnet position Adjust to the maximum solenoid position ;

[0159] If the current ribbon thickness Less than the maximum ribbon thickness ,Right now , according to the following formula to calculate the current electromagnet position Make adjustments:

[0160] .

[0161] In this specific embodiment, the amount of discrete data corresponding to different ribbon thicknesses obtained experimentally is limited. The actual ribbon thickness measured during processing may not be equal to the experimentally obtained ribbon thickness data value. The solution is to use the nearest data, that is, the rounding principle. For example, the removal function volume removal rate MRR and electromagnet position corresponding to ribbon thicknesses of 1mm and 2mm were obtained experimentally. The sixth conversion relationship between them is used to obtain the corresponding second conversion relationship, but the thickness of the ribbon during processing is 1.6 mm. At this time, the sixth conversion relationship is used to calculate the 2 mm removal function volume removal rate MRR.

[0162] Specific embodiment 3: The magnetorheological polishing method based on magnetic induction intensity and polishing wheel movement provided in this specific embodiment is based on the magnetorheological processing device based on the ribbon size adjustment electromagnet of the embodiment of the invention, combined with Figures 1 to 6 , including the following steps:

[0163] 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, the polishing wheel 3 is controlled to perform fixed-point processing on the test optical element 7 with different polishing gaps. The ribbon measurement component 5 measures the ribbon thickness in real time, and the conversion relationship module is fitted to obtain:

[0164] ;

[0165] in, Indicates the polishing gap, Indicates the thickness of the ribbon, In this embodiment, the polishing wheel 3 is controlled to perform fixed-point processing on the test optical element 7 for a period of time with different polishing gaps.

[0166] C2: Set the fifth variable range of polishing gap , and according to the seventh conversion relationship, the sixth variable range corresponding to the ribbon thickness is obtained ,Right now:

[0167] ;

[0168] ;

[0169] Set the maximum polishing gap , and according to the seventh conversion relationship Get the corresponding maximum ribbon thickness ,Right now:

[0170] ;

[0171] Maximum polishing gap and the fifth variable range Make adaptive adjustments based on actual conditions.

[0172] C3: Control the time calculation module, combine the maximum polishing gap and the magnetic induction intensity corresponding to the maximum polishing gap, and adjust the ribbon measurement component 5 and the magnetorheological processing module. The specific process is as follows:

[0173] C31. Count b data measured by the ribbon measurement component 5 within a second, and obtain the time it takes for the ribbon measurement component 5 to measure a point. ;

[0174] ;

[0175] C32. Calculate the maximum polishing gap change The time required to control the magnetorheological processing module :

[0176] ;

[0177] in, Indicates the maximum speed of the polishing wheel 3. It represents the rate of change of magnetic induction intensity. Indicates taking the maximum value; , Indicates the minimum polishing gap, minimum polishing gap Adapt to the actual situation and make adjustments. Indicates the maximum change in magnetic induction intensity, which is obtained by the following formula:

[0178] ;

[0179] in, Represents the distance, specifically the distance between the working point of the electromagnet 8 and the polishing wheel 3, represents the magnetic moment of the electromagnet 8, is the proportional coefficient of the electromagnet 8.

[0180] C33, measure the vertical distance between the measuring position of the ribbon measuring component 5 and the working point of the polishing wheel 3 , according to the vertical distance and the set polishing wheel speed Calculate the time required for polishing wheel 3 to reach the working point :

[0181] ;

[0182] in, Indicates the radius of the polishing wheel 3;

[0183] C34, calculate the maximum speed of robot 1 Minimum moving time between two adjacent processing positions :

[0184] ;

[0185] in, Indicates the distance between two adjacent processing positions;

[0186] C35. Calculation conditions Is it true: If the condition is true, there is no need to adjust the ribbon measuring component 5 and the polishing wheel 3; if the condition is not true, the data sampling frequency of the ribbon measuring component 5 and the polishing wheel speed need to be adjusted. Make adjustments to make the conditions true;

[0187] C36, perform mean filtering on the measurement data between each two adjacent processing positions before outputting it, and the number of mean filtered data Needs to be satisfied .

[0188] C4: Combined with the sixth variable range , Maximum polishing gap and maximum ribbon thickness , the optical element 6 to be processed is processed, and during the processing, the real-time control module adjusts the polishing gap in real time, and then adjusts the magnetic induction intensity in real time. The specific adjustment process is: when the magnetorheological processing module is controlled to move to the current processing position i, the current ribbon thickness measured by the ribbon measuring component 5 is With the sixth variable range Compare:

[0189] If the current ribbon thickness In the sixth variable range Within, that is , then there is no need to adjust the current polishing gap Make adjustments;

[0190] If the current ribbon thickness Not in the sixth variable range Within, that is , then the current polishing gap needs to be Make adjustments:

[0191] If the current ribbon thickness Greater than or equal to the maximum ribbon thickness ,Right now , the current polishing gap Adjust to maximum polishing gap , the current magnetic induction intensity Adjust accordingly to the maximum polishing gap The corresponding maximum magnetic induction intensity ;

[0192] If the current ribbon thickness Less than the maximum ribbon thickness ,Right now , according to the following formula to calculate the current polishing gap Make adjustments:

[0193] ;

[0194] The current magnetic induction intensity can be calculated by the following formula Make adjustments, namely:

[0195] ;

[0196] in, Indicates the initially set polishing gap.

[0197] The fitting process in the above two specific embodiments includes but is not limited to fitting the working speed and the ribbon thickness. 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 relevant parameters of the electromagnet 8 and the thickness of the ribbon; Polyfit fitting command is a basic general command of Matlab software. In this way, it can be more intuitive to see the corresponding relationship between the relevant parameters of the electromagnet 8 and the thickness of the ribbon. The corresponding relationship between them and the corresponding function curve.

[0198] In the above two specific embodiments, the calculation conditions are The corresponding relationship between the four time elements is given, namely: within a single sampling cycle, the robot 1 can adjust the magnetorheological processing equipment, so that after the magnetorheological processing equipment is moved, the ribbon measurement component 5 performs the next sampling, avoiding the sampling cycle being too long and resulting in a too slow sampling frequency, which makes the sampling frequency mismatched with the adjustment speed of the moving component.

[0199] Among them, about The selection of this parameter has the following significance:

[0200] Driven by the polishing wheel 3, the magnetorheological fluid enters the magnetic field working area. Under the influence of the magnetic field, the magnetorheological fluid is converted into a high-viscosity, low-fluidity Bingham fluid. The Bingham fluid is squeezed through the polishing gap (the distance between the lowest point of the polishing wheel 3 and the workpiece) to form a ribbon. The thickness of the ribbon carries information about the volume removal rate. In other words, the change in volume removal rate is correlated with the change in ribbon thickness. Therefore, as long as the change in ribbon thickness is collected, the change in volume removal rate can be reflected.

[0201] The ribbon measuring assembly 5 is used to measure the thickness of the ribbon. In order to avoid collision between the ribbon measuring assembly 5 and the optical element to be processed 6 and the test optical element 7 during processing, the ribbon measuring assembly 5 needs to be tilted. There is an angle between the measuring direction of the ribbon measuring assembly 5 and the horizontal line. As a result, the collected data is not the ribbon thickness information at the current working point, but the data collected when the polishing wheel drives the magnetorheological fluid from the lowest point of the polishing wheel to the measuring range of the ribbon measuring assembly 5 after a certain period of time. This time is .

[0202] Assume that if The time is very long, and the whole equipment moves very fast, resulting in the entire processing being completed, but the change in ribbon thickness is not collected in time, and the purpose of real-time control cannot be achieved during the entire processing process, so the time must be considered when.

[0203] 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.

[0204] 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 device based on a ribbon size adjustment electromagnet, characterized in that: The device comprises a robot, a control unit, a magnetorheological processing module, and a ribbon measuring assembly; 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 using magnetorheological fluid as the medium, and the ribbon measuring assembly measures the thickness of the magnetorheological fluid ribbon during the processing; The interior of the control unit includes: a time calculation module for calculating the measurement time of the ribbon measurement component and the adjustment time of the magnetorheological processing module, and adjusting 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 thickness of the ribbon to obtain a first conversion relationship, and fits the electromagnet position of the electromagnet with the thickness of the ribbon to obtain a second conversion relationship; The real-time control module adjusts the magnetic induction intensity according to the first conversion relationship, or adjusts the position of the electromagnet according to the second conversion relationship, so as to maintain the stability of the removal function when processing the optical element.

2. The magnetorheological processing device based on the ribbon size adjustment electromagnet according to claim 1, characterized in that: 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 posture of the ribbon measuring device.

3. The magnetorheological processing device based on the ribbon size adjustment electromagnet according to claim 2, characterized in that: The magnetorheological processing module also includes a transmission belt, a polishing motor, a nozzle, a supply system, a real-time adjustment device and a magnetorheological mounting frame; wherein, The magnetorheological mounting frame is arranged on the free end, and the adjustment bracket is arranged on the magnetorheological mounting frame; the polishing wheel and the real-time adjustment device are arranged on the magnetorheological mounting frame, 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 via the transmission belt, so that the polishing motor controls the polishing wheel to rotate, thereby causing the polishing wheel to process the optical element; The nozzle is arranged on the magnetorheological mounting frame along the rotation direction of the polishing wheel, and the supply system delivers the magnetorheological fluid to the nozzle; The electromagnet is connected to the real-time adjustment device, and the electromagnet is placed close to the working point of the polishing wheel, so that the magnetorheological fluid is affected by the magnetic induction intensity and changes the stiffness of the magnetorheological fluid; 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 the ribbon size adjustment electromagnet according to claim 3, characterized in that: The real-time adjustment device includes a displacement output motor, a screw, a support and fixing frame and a current intensity controller; the support and fixing frame is arranged on the magnetorheological mounting frame; the displacement output motor is arranged on the support and fixing frame and is connected to the screw arranged on the support and fixing frame; the electromagnet or the polishing wheel is connected to the nut on the screw, so that the screw drives the electromagnet or the polishing wheel to move along the screw; the current intensity controller is arranged on the support and fixing frame 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.

5. The magnetorheological processing device based on the ribbon size adjustment electromagnet according to claim 3, characterized in that: The adjustment bracket includes a support frame, a longitudinal sliding assembly, a transverse sliding assembly and an axially rotating connecting plate; wherein, one end of the support frame is connected to the magnetorheological mounting frame; the longitudinal sliding assembly is arranged on the other end of the support frame, the transverse sliding assembly is arranged on the longitudinal sliding assembly, the axially rotating connecting plate is arranged on the transverse sliding assembly, and the ribbon measuring device is arranged on the axially rotating connecting plate, so that the axially rotating connecting plate drives the ribbon measuring device to rotate, while the longitudinal sliding assembly and the transverse sliding assembly drive the ribbon measuring device to move longitudinally and transversely.

6. The magnetorheological processing device based on the ribbon size adjustment electromagnet according to claim 3, characterized in that: The ribbon measuring assembly, the robot and the real-time adjustment device are respectively connected to the control unit to form 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 based on a ribbon size adjustment electromagnet according to any one of claims 1 to 6, characterized in that: The following steps are involved: A1: controlling the polishing wheel to process the test optical element with different polishing gaps, and calculating the first conversion relationship in the conversion relationship module based on the removal function volume removal rate at each processing position; A2: setting a first variable range of the magnetic induction intensity, and obtaining a second variable range corresponding to the ribbon thickness according to the first conversion relationship; setting a maximum magnetic induction intensity, and obtaining a corresponding maximum ribbon thickness according to the first conversion relationship; A3: Controlling the time calculation module to adjust the ribbon measurement component and the magnetorheological processing module in combination with the maximum magnetic induction intensity; A4: The optical element to be processed is processed in combination with the second variable range, the maximum magnetic induction intensity, and the maximum ribbon thickness. During the processing, the real-time control module adjusts the magnetic induction intensity in real time.

8. The magnetorheological polishing method based on magnetic induction intensity according to claim 7, characterized in that: Step A1 includes the following steps: A11: Controlling the polishing wheel to process the test optical element at different polishing gaps, calculating the removal function volume removal rate at each processing position, and simultaneously measuring the ribbon thickness at each processing position in real time by the ribbon measurement component, and fitting a third conversion relationship between the removal function volume removal rate and the ribbon thickness in the conversion relationship module; A12: Controlling the polishing wheel to process the test optical element at different polishing gaps to obtain a removal function volume removal rate at each processing position, and then fitting in the conversion relationship module to obtain a fourth conversion relationship between the magnetic induction intensity and the removal function volume removal rate; 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, characterized in that: In step A4, when the polishing wheel is controlled to move to the current processing position, the current ribbon thickness measured by the ribbon measuring component is compared 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, adjusting the current magnetic induction intensity to the maximum magnetic induction intensity; If the current ribbon thickness is less than the maximum ribbon thickness, the current magnetic induction intensity is adjusted according to the following formula: ； in, represents the first conversion relationship, Indicates the current ribbon thickness, Indicates the current magnetic induction intensity.

10. A magnetorheological polishing method based on electromagnet position, based on the magnetorheological processing device based on ribbon size adjustment electromagnet according to any one of claims 1 to 6, characterized in that: The following steps are involved: B1: controlling the polishing wheel to process the test optical element with different polishing gaps, and calculating the second conversion relationship in the conversion relationship module in combination with the removal function volume removal rate at each processing position; B2: Setting a third variable range of the electromagnet position and obtaining a fourth variable range corresponding to the ribbon thickness according to the second conversion relationship; setting a maximum electromagnet position and obtaining a corresponding maximum ribbon thickness according to the second conversion relationship; B3: controlling the time calculation module to adjust the ribbon measurement component and the magnetorheological processing module in combination with the maximum electromagnet position; B4: The optical element to be processed is processed in combination with the fourth variable range, the maximum electromagnet position and the maximum ribbon thickness. During the processing, the real-time control module adjusts the electromagnet position in real time.

11. The magnetorheological polishing method based on electromagnet position according to claim 10, characterized in that: Step B1 includes the following steps: B11: Controlling the polishing wheel to process the test optical element at different polishing gaps, calculating the removal function volume removal rate at each processing position, and simultaneously measuring the ribbon thickness at each processing position in real time by the ribbon measurement component, and fitting a fifth conversion relationship between the removal function volume removal rate and the ribbon thickness in the conversion relationship module; B12: controlling the polishing wheel to process the test optical element at different polishing gaps to obtain a removal function volume removal rate at each processing position, and then fitting a sixth conversion relationship between the electromagnet position and the removal function volume removal rate 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 electromagnet position according to claim 11, characterized in that: In step B4, when the polishing wheel is controlled to move to the current processing position, the current ribbon thickness measured by the ribbon measuring component is compared 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, adjusting the current electromagnet position to the maximum electromagnet position; If the current ribbon thickness is less than the maximum ribbon thickness, the current electromagnet position is adjusted according to the following formula: ； in, represents the second conversion relationship, Indicates the current ribbon thickness, Indicates the current electromagnet position.

13. A magnetorheological polishing method based on magnetic induction intensity and polishing wheel movement, based on the magnetorheological processing device based on a ribbon size adjustment electromagnet according to any one of claims 1 to 6, characterized in that: The following steps are involved: C1: controlling the polishing wheel to process the test optical element with different polishing gaps, and obtaining a seventh conversion relationship between the polishing gap and the ribbon thickness in the conversion relationship module; C2: setting the fifth variable range of the polishing gap, and obtaining the sixth variable range corresponding to the ribbon thickness according to the seventh conversion relationship; setting the maximum polishing gap, and obtaining the corresponding maximum ribbon thickness according to the seventh conversion relationship; C3: controlling the time calculation module to adjust the ribbon measurement component and the magnetorheological processing module based on the maximum polishing gap and the magnetic induction intensity corresponding to the maximum polishing gap; C4: The optical element to be processed is processed in combination with the sixth variable range, the maximum polishing gap and the maximum ribbon thickness. During the processing, the real-time control module adjusts the polishing gap in real time, thereby adjusting the magnetic induction intensity in real time.

14. The magnetorheological polishing method based on magnetic induction intensity and polishing wheel movement according to claim 13, characterized in that: In step C1, the polishing wheel is controlled to process the test optical element with different polishing gaps, the ribbon thickness is measured in real time by the ribbon measurement component, and the seventh conversion relationship is obtained by fitting in the conversion relationship module.

15. The magnetorheological polishing method based on magnetic induction intensity and polishing wheel movement according to claim 14, characterized in that: In step C4, when the polishing wheel is controlled to move to the current processing position, the current ribbon thickness measured by the ribbon measuring component is compared 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, the current polishing gap is adjusted 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, the current polishing gap is adjusted according to the following formula: ； in, represents the seventh conversion relationship, Indicates the current ribbon thickness, Indicates the current polishing gap; the current magnetic induction intensity is adjusted by the following formula: ； in, Indicates the initial setting of the polishing gap, represents the distance between the electromagnet and the working point of the polishing wheel, represents the magnetic moment, is the proportionality coefficient, Indicates the current magnetic induction intensity.

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