Magnetorheological processing device and method based on adjusting processing posture based on ribbon size

Abstract

The present invention relates to the field of optical processing technology, and in particular to a magnetorheological processing device and method for adjusting processing posture based on ribbon size. 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 of the processing posture and 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 for adjusting processing posture based on ribbon size. Background Art

[0002] Magnetorheological finishing (MRF) is an advanced optical manufacturing technology developed in recent years. It offers numerous advantages, including stable removal function, controllable edge effects, minimal subsurface damage, no photocopying, strong reshaping capabilities, and high machining accuracy. Consequently, MRF has garnered widespread attention in high-precision optical processing. Existing MRF machining centers primarily integrate MRF processing equipment with 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 magnetorheological processing equipment is integrated into industrial robots, high-precision processing of large-aperture complex curved optical components can be achieved in theory. 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. The requirements for the change of the polishing gap during the polishing process are high. Generally, the polishing gap of the magnetorheological CNC machining center changes in tens of microns (PV<0.1mm), and the trajectory accuracy of common commercial robots is generally in the sub-millimeter to millimeter range, which cannot meet the requirements of magnetorheological polishing technology for polishing gap changes during high-precision polishing.

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

[0004] In light of this, the present invention aims to provide a magnetorheological machining device and method that adjusts the machining posture based on ribbon size. A ribbon measurement assembly measures the thickness of the magnetorheological fluid ribbon, and a robotic arm adjusts the polishing gap in real time, thereby achieving real-time, constant control of the removal function. This device eliminates the need for control of the entire magnetorheological polishing module, minimizes disturbances to the end-of-process precision, and reduces the load on the motion compensation adjustment mechanism, making posture control easier.

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

[0006] A magnetorheological machining device for adjusting machining posture based on ribbon size comprises a robot, a control unit, a magnetorheological machining module, and a ribbon measuring assembly. The magnetorheological machining module is disposed at the free end of the robot. The robot drives a polishing wheel in the magnetorheological machining module to machine an optical element using magnetorheological fluid as a medium, and during the machining process, the ribbon measuring assembly measures the thickness of the ribbon in 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 machining module, and adjusting the ribbon measuring assembly and the magnetorheological machining module based on the measurement time and adjustment time; a conversion relationship module for fitting the ribbon thickness to the polishing gap of the polishing wheel to obtain a first conversion relationship, and fitting the ribbon thickness to the polishing wheel position to obtain a second conversion relationship; a machining program module for obtaining a machining program based on a removal function obtained by the magnetorheological machining module and importing the machining program into the magnetorheological machining module; and a real-time control module for adjusting the robot's posture based on the first conversion relationship or adjusting the polishing wheel position based on the second conversion relationship to maintain the stability of the removal function during machining 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 controlled by the real-time control module and is arranged on the magnetorheological processing module to adjust the posture of the ribbon measuring device.

[0008] Furthermore, the magnetorheological processing module also includes a polishing motor, a nozzle, a supply system, a magnet, 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 adjusts the position of the polishing wheel; the polishing motor is arranged on the magnetorheological mounting frame and connected to the polishing wheel, so that the polishing motor controls the rotation of the polishing wheel; the nozzle is arranged on the magnetorheological mounting frame along the rotation direction of the polishing wheel, and the supply system transports magnetorheological fluid to the nozzle; the magnet is arranged on the magnetorheological mounting frame, and the magnet is close to the working point of the polishing wheel, so that the magnetorheological fluid is affected by the magnetic field strength of the magnet to change the stiffness of the magnetorheological fluid.

[0009] Furthermore, the real-time adjustment device includes a displacement output motor, a ball screw and a support and fixing frame; wherein, 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 the displacement output motor is connected to the ball screw arranged on the support and fixing frame; the polishing wheel is connected to the connecting block on the ball screw, and the ball screw drives the polishing wheel to move along the ball screw; the control unit sends a control signal to the displacement output motor, and when the displacement output motor drives the ball screw to rotate, the ball screw drives the polishing wheel to move.

[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 robot posture control, based on a magnetorheological processing device for adjusting processing posture based on ribbon size provided by the present invention, comprises the following steps:

[0013] A1: Control the robot's position and posture, drive the polishing wheel to process the test optical element with different polishing gaps, and obtain the first transformation relationship in the transformation relationship module;

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

[0015] A3: Control the time calculation module and the maximum polishing gap 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 polishing gap, and the maximum ribbon thickness. During the processing, the real-time control module adjusts the robot's position in real time, and uses the change in the polishing gap after the adjustment as input for processing the next processing position, so that the ribbon thickness at the next processing position is within the second variable range.

[0017] Furthermore, in step A1, 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 a first conversion relationship is obtained by fitting in the conversion relationship module.

[0018] 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 With the second variable range Compare:

[0019] If the current ribbon thickness In the second variable range Within, that is , then there is no need to adjust the current posture of the robot;

[0020] If the current ribbon thickness Not in the second variable range Within, that is , then the current posture of the robot needs to be adjusted:

[0021] If the current ribbon thickness changes Greater than or equal to the maximum ribbon thickness change , , represents the maximum ribbon thickness, represents the initial ribbon thickness, and the robot's posture is adjusted according to the following formula:

[0022] ;

[0023] in, Indicates the current processing position of the magnetorheological processing module; represents the initial position of the magnetorheological processing module, Indicates the maximum polishing gap, Indicates the initial polishing gap;

[0024] If the current ribbon thickness changes Less than the maximum ribbon thickness variation , according to the following formula to calculate the current polishing gap Make adjustments:

[0025] .

[0026] A magnetorheological polishing method based on polishing wheel position control, according to the present invention, provides a magnetorheological polishing device for adjusting processing posture based on ribbon size, comprising the following steps:

[0027] B1: Controlling the polishing wheel to process the test optical element with different polishing gaps, and obtaining a second conversion relationship in the conversion relationship module;

[0028] B2: Setting the third variable range of the polishing wheel position and obtaining the fourth variable range corresponding to the ribbon thickness according to the second conversion relationship; setting the maximum polishing wheel position and obtaining the corresponding maximum ribbon thickness according to the second conversion relationship;

[0029] B3: Control the time calculation module in combination with the maximum polishing wheel position to adjust the ribbon measurement component and the magnetorheological processing module;

[0030] B4: The optical element to be processed is processed in combination with the third variable range, the maximum polishing wheel position and the maximum ribbon thickness. During the processing, the real-time control module adjusts the polishing wheel position in real time.

[0031] Furthermore, step B1 includes the following steps:

[0032] B11: Control the polishing wheel to process the test optical element with different polishing gaps, calculate the removal function volume removal rate at each processing position, and at the same time, the ribbon measurement component measures the ribbon thickness at each processing position in real time. The following is fitted in the conversion relationship module:

[0033] ;

[0034] in, Represents the removal function volume removal rate and ribbon thickness The third conversion relationship between

[0035] B12: Under different polishing gaps, the polishing wheel position is changed individually, and processing is performed on the test optical element to obtain the removal function volume removal rate at each processing position, and then fitted in the conversion relationship module to obtain:

[0036] ;

[0037] in, Indicates the polishing wheel position Between the removal function volume removal rate The fourth conversion relationship;

[0038] B13: According to the third conversion relationship and the fourth conversion relationship, the following formula is obtained:

[0039] ;

[0040] in, Indicates the second conversion relationship.

[0041] 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 With the fourth variable range Compare:

[0042] If the current ribbon thickness In the fourth variable range If the current polishing wheel position is within Make adjustments;

[0043] If the current ribbon thickness Not in the fourth variable range If the current polishing wheel position is within Make adjustments:

[0044] If the current ribbon thickness Greater than or equal to the maximum ribbon thickness , the current polishing wheel position Adjust to the maximum polishing wheel position ;

[0045] If the current ribbon thickness Less than the maximum ribbon thickness , according to the following formula to calculate the current polishing wheel position Make adjustments:

[0046] .

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

[0048] In the magnetorheological processing device and method for adjusting processing posture based on ribbon size, a ribbon measuring assembly performs non-contact measurement of the magnetorheological fluid ribbon thickness. When the magnetorheological processing equipment polishes a test optical element, different polishing gaps and their corresponding ribbon thicknesses are collected. A corresponding relationship between the polishing gap and ribbon thickness is calculated based on the collected polishing gaps and ribbon thicknesses. The optical element to be processed is then processed based on this corresponding relationship to obtain the current ribbon thickness. Based on the compared ribbon thickness, the polishing gap and the corresponding magnetic field strength are adjusted, thereby adjusting the processing posture in real time. This process does not require calibration steps for parameters such as gravity compensation and is unaffected by the weight of the robot and magnetorheological processing module, the operating accuracy, operating speed, posture, inertia, and other factors of the magnetorheological processing equipment. Real-time processing posture changes are only controlled. This more comprehensively and accurately measures the dimensional parameters of the magnetorheological medium ribbon under the coupling of multiple factors during the processing process, thereby controlling the polishing gap. This process does not require the use of other auxiliary operating mechanisms, thereby eliminating the need for additional costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] 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:

[0050] Figure 1 A schematic structural diagram of a magnetorheological processing device for adjusting processing posture based on ribbon size according to an embodiment of the present invention at one viewing angle;

[0051] Figure 2 A schematic diagram of a magnetorheological processing device for adjusting processing posture based on ribbon size according to an embodiment of the present invention from another perspective;

[0052] Figure 3 A schematic structural diagram of a magnetorheological processing module according to an embodiment of the present invention;

[0053] Figure 4 A schematic structural diagram of a real-time adjustment device according to an embodiment of the present invention;

[0054] Figure 5 This is a schematic structural diagram of the ribbon measuring assembly according to an embodiment of the present invention;

[0055] Figure 6 This is a schematic structural diagram of the adjustment bracket described in an embodiment of the present invention.

[0056] Description of reference numerals:

[0057] 1. Robot; 2. Control unit; 3. Magnetorheological processing module; 4. Ribbon measurement assembly; 5. Polishing wheel; 6. Laboratory table; 7. Optical element to be processed; 8. Test optical element; 9. Real-time adjustment device; 10. Polishing motor; 11. Nozzle; 12. Magnet; 13. Magnetorheological mounting bracket; 14. Connecting plate; 15. Transmission belt; 16. Support and fixing bracket; 17. Displacement output motor; 18. Ball screw; 19. Guide rail; 20. Ribbon measurement device; 21. Adjustment bracket; 22. Support frame; 23. Longitudinal sliding assembly; 24. Transverse sliding assembly; 25. Axial rotation connecting plate. DETAILED DESCRIPTION

[0058] 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.

[0059] 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.

[0060] 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.

[0061] 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.

[0062] The present invention will be described in detail below with reference to the accompanying drawings and in combination with embodiments.

[0063] like Figures 1 to 2 As shown, the magnetorheological machining apparatus for adjusting machining posture based on ribbon size, as described in an embodiment of the present invention, includes a robot 1, a control unit 2, a magnetorheological machining module 3, and a ribbon measuring assembly 4. The magnetorheological machining module 3 is mounted at the free end of the robot 1. The robot 1 drives the polishing wheel 5 in the magnetorheological machining module 3 to process an optical element 7 or a test optical element 8 placed on a laboratory table 6 using magnetorheological fluid as a medium. The ribbon measuring assembly 4 measures the thickness of the magnetorheological fluid ribbon during machining.

[0064] 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 4 and the adjustment time of the magnetorheological processing module, and to adjust the ribbon measurement assembly 4 and the magnetorheological processing module based on the measurement time and adjustment time. The conversion relationship module is used to fit the ribbon thickness to the polishing gap of the polishing wheel 5 to obtain a first conversion relationship, and to fit the ribbon thickness to the polishing wheel position of the polishing wheel 5 to obtain a second conversion relationship. In this embodiment of the present invention, the polishing wheel position is defined as the distance between the working point of the polishing wheel 5 and the optical element to be processed 7 or the test optical element 8. The working point of the polishing wheel 5 is defined as the closest point between the polishing wheel 5 and the surface of the optical element to be processed 7 or the test optical element 8 along the surface normal of the optical element to be processed 7 or the test optical element 8. The processing program module is used to generate a processing program based on the removal function generated by the magnetorheological processing module and import the processing program into the magnetorheological processing module. The real-time control module is used to adjust the posture of the robot 1 according to the first conversion relationship or the polishing wheel position according to the second conversion relationship to maintain the stability of the removal function during processing of the optical element to be processed 7.

[0065] like Figures 1 to 3As shown, the magnetorheological processing module 3 also includes a real-time adjustment device 9, a polishing motor 10, a nozzle 11, a supply system, a magnet 12, and a magnetorheological mounting frame 13. The magnetorheological mounting frame 13 is fixed to the free end of the robot 1, and the polishing wheel 5 and the real-time adjustment device 9 are mounted on the magnetorheological mounting frame. The real-time adjustment device 9 is connected to the polishing wheel 5. Specifically, the head end of the connecting plate 14 is mounted on the real-time adjustment device 9, and the polishing wheel 5 is mounted on the end of the connecting plate 14. This completes the connection between the real-time adjustment device 9 and the polishing wheel 5, allowing the real-time adjustment device 9 to adjust the position of the polishing wheel 5, thereby changing the polishing gap of the polishing wheel 5. The polishing motor 10 is mounted on a magnetorheological mounting frame 13 and connected to the polishing wheel 5, so that the polishing motor 10 controls the rotation of the polishing wheel 5. Specifically, the polishing motor 10 is mounted on a connecting plate 14, the output end of the polishing motor 10 passes through the connecting plate 14, and the bearing of the polishing wheel 5 passes through the end of the connecting plate 14. The output end of the polishing motor 10 is connected to the bearing of the polishing wheel 5 via a transmission belt 15, so that the polishing motor 10 controls the rotation of the polishing wheel 5 via the transmission belt 15. The manner in which the polishing motor 10 drives the polishing wheel 5 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 5. The supply system delivers magnetorheological fluid to the nozzle 11, and the nozzle 11 sprays the magnetorheological fluid toward the working point of the polishing wheel 5, thereby allowing the polishing wheel 5 to process the optical element 7 to be processed or the test optical element 8 using the magnetorheological fluid as a medium. The magnet 12 is fixed to the magnetorheological mounting frame 13 via a connecting plate 14, and the magnet 12 is close to the working point of the polishing wheel 5, so that the magnetorheological fluid is affected by the magnetic field strength of the magnet 12, thereby changing the stiffness of the magnetorheological fluid. In addition, in this embodiment of the present invention, the supply system uses a DFLD vertical multi-stage pump from Shanghai Dongfang Pump Industry Co., Ltd.

[0066] The structure of the real-time adjustment device 9 for controlling the polishing wheel 5 is as follows: Figure 4As shown, it includes a support frame 16, a displacement output motor 17 and a ball screw 18. The support frame 16 is installed on the magnetorheological mounting frame 13, and the displacement output motor 17 is installed on the top of the support frame 16. The screw in the ball screw 18 is installed on the support frame 16 and is connected to the output end of the displacement output motor 17. The polishing wheel 5 is connected to the nut of the ball screw 18 through the connecting plate 14, so that the displacement output motor 17 controls the ball screw 18 to drive the polishing wheel 5 to move. The specific process is that the displacement output motor 17 drives the screw to rotate, and the nut cooperates with the screw to pull the polishing wheel 5 along the direction of the screw through the connecting plate 14. In an embodiment of the present invention, in order to ensure that the polishing wheel 5 can move stably along the ball screw 18, it is preferred that a guide rail 19 is installed on each side of the ball screw 18, and the two guide rails 19 are parallel to the ball screw 18. At this time, the head end of the connecting plate 14 is fixedly connected to the nut and the sliders 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 17, and the displacement output motor 17 drives the ball screw 18 to rotate. The ball screw 18 cooperates with the two guide rails 19 to pull the connecting plate 14, thereby driving the polishing wheel 5 to move stably along the direction of the ball screw 18.

[0067] like Figure 5 As shown, the ribbon measuring assembly 4 includes a ribbon measuring device 20 and an adjustment bracket 21. The ribbon measuring device 20 measures the thickness of the ribbon and transmits the measured ribbon thickness to the control unit 2. The adjustment bracket 21 is mounted on the magnetorheological mounting bracket 13 in the magnetorheological processing module 3 through the connecting plate 14, and is used to control and adjust the position of the ribbon measuring device 20. When the magnetorheological processing device is polishing, the ribbon measuring assembly 4 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.

[0068] In an embodiment of the present invention, the ribbon measuring device 20 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 21 includes a support frame 22, a longitudinal sliding component 23, a transverse sliding component 24, and an axial rotation connecting plate 25. Among them, one end of the support frame 22 is connected to the magnetorheological mounting frame 13 through the connecting plate 14, the longitudinal sliding component 23 is arranged on the other end of the support frame 22, the transverse sliding component 24 is arranged on the longitudinal sliding component 23, the axial rotation connecting plate 25 is arranged on the transverse sliding component 24, and the ribbon measuring device 20 is arranged on the axial rotation connecting plate 25. When the axial rotation connecting plate 25 drives the ribbon measuring device 20 to rotate, the longitudinal sliding component 23 and the transverse sliding component 24 drive the ribbon measuring device 20 to move longitudinally and transversely.

[0069] Specifically, the installation process of the adjustment bracket 21 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 23 is fixedly mounted on the other end of the support frame 22; Figure 5 As shown in (b), the slider of the longitudinal sliding assembly 23 is fixedly connected to the slide rail of the transverse sliding assembly 24; Figure 6 As shown in (c), the axially rotating connecting plate 25 is fixedly connected to the slider of the transverse sliding assembly 24. The longitudinal sliding assembly 23 and the transverse sliding assembly 24 can now drive the axially rotating connecting plate 25 to move in the direction of the longitudinal sliding assembly 23 and the transverse sliding assembly 24. A damped rotatable turntable is mounted on the longitudinal sliding assembly 23, and the ribbon measuring device 20 is mounted on this rotatable turntable. The longitudinal sliding assembly 23, the transverse sliding assembly 24, and the axially rotating connecting plate 25 cooperate to adjust the position of the ribbon measuring device 20.

[0070] The robot 1, ribbon measuring assembly 4, and real-time adjustment device 9 are each connected to the control unit 2 to form their own communication circuits, enabling the control unit 2 to receive and send signals via the corresponding communication circuits. Specifically, the control unit 2 receives signals from the ribbon measuring device 20 via the communication circuits and transmits control signals to the displacement output motor 17 in the real-time adjustment device 9, which adjust the position of the polishing wheel 5. Because the polishing wheel 5 generates a strong magnetic field during polishing, the communication circuits are designed to avoid such strong magnetic fields.

[0071] Based on the magnetorheological processing device based on ribbon size adjustment processing posture described in the embodiment of the present invention, the embodiment of the present invention also provides a magnetorheological processing method based on ribbon size adjustment processing posture, including a magnetorheological polishing method based on robot posture control, and a magnetorheological polishing method based on polishing wheel position control.

[0072] Specific embodiment 1: The magnetorheological polishing method based on robot posture control provided in this specific embodiment, the magnetorheological processing device based on ribbon size adjustment processing posture according to the invention, combined with Figures 1 to 6 , including the following steps:

[0073] A1: Control the position of robot 1 to drive polishing wheel 5 to process test optical element 8 with different polishing gaps, and obtain a first transformation relationship in the transformation relationship module. In step A1, control magnetorheological processing module 3 to process test optical element 8 with different polishing gaps, and use ribbon measurement component 4 to measure the ribbon thickness in real time. The transformation relationship module is fitted to obtain:

[0074] ;

[0075] in, Indicates the polishing gap, Indicates the thickness of the ribbon, In this specific embodiment, the position of the robot 1 is controlled to drive the polishing wheel 5 to perform fixed-point processing on the test optical element 8 at different polishing gaps for a period of time.

[0076] A2: Setting the first variable range of polishing gap , and according to the first conversion relationship Get the second variable range corresponding to the ribbon thickness ,Right now:

[0077] ;

[0078] ;

[0079] Set the maximum polishing gap , and according to the first conversion relationship Get the corresponding maximum ribbon thickness ,Right now:

[0080] ;

[0081] Among them, the maximum polishing gap With the first variable range Adaptively set and adjust according to actual conditions.

[0082] A3: The control time calculation module adjusts the ribbon measurement component 4 and the magnetorheological processing module 3 in combination with the maximum polishing gap. Step A3 includes the following steps:

[0083] A31. Count b data points measured by the ribbon measurement component 4 within a second, and obtain the time it takes for the ribbon measurement component 4 to measure a point. ;

[0084] ;

[0085] A32. Calculate the maximum polishing gap change The time required to control the magnetorheological processing module 3 :

[0086] ;

[0087] in, Indicates the maximum moving speed of robot 1. , is the initial polishing gap;

[0088] A33, measure the vertical distance between the measuring position of the ribbon measuring component 4 and the working point of the polishing wheel 5 , according to the vertical distance And the time required to calculate the working point of the polishing wheel 5 based on the set number of revolutions per second n of the polishing wheel 5 :

[0089] ;

[0090] in, Indicates the radius of the polishing wheel 5. The number of revolutions per second n of the polishing wheel 5 is adaptively set and adjusted according to actual conditions;

[0091] A34, calculate the maximum speed of robot 1 Minimum moving time between two adjacent processing positions :

[0092] ;

[0093] in, Indicates the distance between two adjacent processing positions;

[0094] A35. Calculation conditions Is it true: If the condition is true, then there is no need to adjust the ribbon measuring component 4 and the polishing wheel 5; if the condition is not true, then it is necessary to adjust the data sampling frequency of the ribbon measuring component 4 and the number of revolutions per second n of the polishing wheel 5 to make the condition true;

[0095] 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 .

[0096] A4: The optical element 7 to be processed is processed in combination with the second variable range, the maximum polishing gap, and the maximum ribbon thickness. During the processing, the real-time control module adjusts the position of the robot 1 in real time, and uses the change in the polishing gap after the adjustment as input for the next processing position, so that the ribbon thickness at the next processing position is within the second variable range. The adjustment process is as follows:

[0097] When the polishing wheel 5 is controlled to move to the current processing position, the current ribbon thickness measured by the ribbon measuring component 4 is With the second variable range Compare:

[0098] If the current ribbon thickness In the second variable range Within, that is , then there is no need to adjust the current posture of robot 1;

[0099] If the current ribbon thickness Not in the second variable range Within, that is , then the current posture of robot 1 needs to be adjusted:

[0100] If the current ribbon thickness changes Greater than or equal to the maximum ribbon thickness change ,Right now , , represents the initial ribbon thickness, and the posture of robot 1 is adjusted according to the following formula:

[0101] ;

[0102] in, Indicates the current processing position of the magnetorheological processing module 3; Indicates the initial position of the magnetorheological processing module 3;

[0103] If the current ribbon thickness changes Less than the maximum ribbon thickness variation ,Right now , according to the following formula to calculate the current polishing gap Make adjustments:

[0104] .

[0105] Specific embodiment 2: The magnetorheological polishing method based on the polishing wheel position control provided in this specific embodiment, the magnetorheological processing device based on the ribbon size adjustment processing posture according to the invention, combined with Figures 1 to 6 , including the following steps:

[0106] B1: Control the polishing wheel 5 to process the test optical element 8 with different polishing gaps, and obtain a second conversion relationship in the conversion relationship module. Step B1 includes the following steps:

[0107] B11: Control the polishing wheel 5 to process the test optical element 8 with different polishing gaps, calculate the removal function volume removal rate at each processing position, and at the same time, the ribbon measurement component 4 measures the ribbon thickness at each processing position in real time. The following is fitted in the conversion relationship module:

[0108] ;

[0109] in, Represents the removal function volume removal rate and ribbon thickness In this specific embodiment, specifically, the polishing wheel 5 is controlled to perform fixed-point processing on the test optical element 8 for a period of time with different polishing gaps;

[0110] B12: Under different polishing gaps, the polishing wheel position is changed individually, and processing is performed on the test optical element 8 to obtain the removal function volume removal rate at each processing position, and then fitting in the conversion relationship module to obtain:

[0111] ;

[0112] in, Indicates the polishing wheel position Between the removal function volume removal rate In this specific embodiment, specifically, the polishing wheel position is changed separately, and the polishing wheel 5 is controlled to perform fixed-point processing on the test optical element 8 for a period of time;

[0113] B13: According to the third conversion relationship and the fourth conversion relationship, the following formula is obtained:

[0114] ;

[0115] in, Indicates the second conversion relationship.

[0116] B2: Set the third variable range of the polishing wheel position , and according to the second conversion relationship Get the fourth variable range corresponding to the ribbon thickness ,Right now:

[0117] ;

[0118] ;

[0119] Setting the maximum polishing wheel position , and according to the second conversion relationship Get the corresponding maximum ribbon thickness ,Right now:

[0120] ;

[0121] Among them, the maximum polishing wheel position and the third variable range Adaptive adjustments and settings based on actual conditions.

[0122] B3: The control time calculation module adjusts the ribbon measurement component 4 and the magnetorheological processing module 3 in combination with the maximum polishing wheel position. Step B3 includes the following steps:

[0123] Step B3 includes the following steps:

[0124] B31. Count b data points measured by the ribbon measurement component 4 within a second, and obtain the time it takes for the ribbon measurement component 4 to measure a point. ;

[0125] ;

[0126] B32. Calculate the maximum polishing wheel position change The time required to control the magnetorheological processing module 3 :

[0127] ;

[0128] in, Indicates the maximum speed of robot 1; the maximum polishing wheel position change , Indicates the minimum polishing wheel position. This value should be adjusted adaptively according to actual conditions.

[0129] B33, measure the vertical distance between the measuring position of the ribbon measuring component 4 and the working point of the polishing wheel 5 , according to the vertical distance And the time required to calculate the working point of the polishing wheel 5 based on the set number of revolutions per second n of the polishing wheel 5 :

[0130] ;

[0131] in, Indicates the radius of the polishing wheel 5. The number of revolutions per second n of the polishing wheel 5 is adaptively adjusted and set according to actual conditions;

[0132] B34. Calculate the maximum speed of robot 1 Minimum moving time between two adjacent processing positions :

[0133] ;

[0134] in, Indicates the distance between two adjacent processing positions;

[0135] B35. Calculation conditions Is it true: If the condition is true, then there is no need to adjust the ribbon measuring component 4 and the polishing wheel 5; if the condition is not true, then it is necessary to adjust the data sampling frequency of the ribbon measuring component 4 and the number of revolutions per second n of the polishing wheel 5 to make the condition true;

[0136] 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 .

[0137] B4: Combine the third variable range, the maximum polishing wheel position and the maximum ribbon thickness to process the optical element to be processed, and during the processing, the real-time control module adjusts the polishing wheel position in real time. Specifically including:

[0138] Controls the polishing wheel to move to the current processing position, and measures the current ribbon thickness of the ribbon measuring component With the fourth variable range Compare:

[0139] If the current ribbon thickness In the fourth variable range Within, that is , then there is no need to adjust the current polishing wheel position Make adjustments;

[0140] If the current ribbon thickness Not in the fourth variable range Within, that is , you need to check the current polishing wheel position Make adjustments:

[0141] If the current ribbon thickness Greater than or equal to the maximum ribbon thickness ,Right now , the current polishing wheel position Adjust to the maximum polishing wheel position ;

[0142] If the current ribbon thickness Less than the maximum ribbon thickness ,Right now , according to the following formula to calculate the current polishing wheel position Make adjustments:

[0143] .

[0144] The fitting process in the above two specific embodiments includes but is not limited to the polishing gap and ribbon thickness The discrete data was imported into Matlab software and fitted using the Polyfit command, a basic MATLAB command, to determine the relationship between the polishing gap and the ribbon's structural parameters. This method allows for a more intuitive visualization of the relationship between the polishing gap and ribbon thickness, as well as the corresponding function curve.

[0145] In this embodiment, the calculation conditions 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 it moves to the theoretical polishing gap before the ribbon measurement component performs the next sampling. This avoids the sampling cycle being too long, resulting in a too slow sampling frequency, which makes the sampling frequency mismatch with the adjustment speed of the robot 1 and the untimely adjustment, resulting in the inability to know the current state of the second dimensional parameter, affecting the automatic compensation function of the polishing gap.

[0146] Among them, about The selection of this parameter has the following significance:

[0147] Driven by the polishing wheel 5, 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 5 and the workpiece) to form a ribbon. The thickness and width of the ribbon carry information about the polishing gap. In other words, the change in the polishing gap is correlated with the change in the thickness and width of the ribbon. Therefore, the change in the polishing gap can be reflected by simply collecting the change in the ribbon thickness.

[0148] The ribbon measuring assembly 4 is used to measure the thickness and width of the ribbon. In order to avoid collision between the ribbon measuring assembly 4 and the test optical element 8 and the optical element to be processed 7 during processing, the ribbon measuring assembly 4 needs to be tilted. There is an angle between the measuring direction of the ribbon measuring assembly 4 and the horizontal line. As a result, the collected data is not the ribbon thickness information at the polishing gap, 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 4 after a certain period of time. This time is .

[0149] 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.

[0150] 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.

[0151] 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 that adjusts processing posture based on ribbon size, 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, fitting the ribbon thickness and the polishing gap of the polishing wheel to obtain a first conversion relationship, and fitting the ribbon thickness and the polishing wheel position of the polishing wheel to obtain a second conversion relationship; a processing program module, which obtains a processing program according to the removal function obtained by the magnetorheological processing module and imports the processing program into the magnetorheological processing module; A real-time control module adjusts the posture of the robot according to the first conversion relationship, or adjusts the position of the polishing wheel 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 for adjusting processing posture based on ribbon size according to claim 1 is 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 for adjusting processing posture based on ribbon size according to claim 2, characterized in that: The magnetorheological processing module also includes a polishing motor, a nozzle, a supply system, a magnet, 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 adjusts the position of the polishing wheel; The polishing motor is arranged on the magnetorheological mounting frame and is connected to the polishing wheel, so that the polishing motor controls the polishing wheel to rotate; 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 magnet is arranged on the magnetorheological mounting frame and is close to the working point of the polishing wheel, so that the magnetorheological fluid is affected by the magnetic field strength of the magnet and the rigidity of the magnetorheological fluid is changed.

4. The magnetorheological processing device for adjusting processing posture based on ribbon size according to claim 3 is characterized in that: The real-time adjustment device includes a displacement output motor, a ball screw and a support and fixing frame; wherein, 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 the displacement output motor is connected to the ball screw arranged on the support and fixing frame; the polishing wheel is connected to the connecting block on the ball screw, so that the ball screw drives the polishing wheel to move; the control unit sends a control signal to the displacement output motor, and when the displacement output motor drives the ball screw to rotate, the ball screw drives the polishing wheel to move.

5. The magnetorheological processing device for adjusting processing posture based on ribbon size 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 for adjusting processing posture based on ribbon size 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 robot posture control, based on the magnetorheological processing device for adjusting processing posture based on ribbon size according to any one of claims 1 to 6, characterized in that: The following steps are involved: A1: controlling the posture of the robot to drive the polishing wheel to process the test optical element with different polishing gaps, and obtaining the first transformation relationship in the transformation relationship module; A2: setting a first variable range of the polishing gap, and obtaining a second variable range corresponding to the ribbon thickness according to the first conversion relationship; setting a maximum polishing gap, 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 polishing gap; A4: The optical element to be processed is processed in combination with the second variable range, the maximum polishing gap and the maximum ribbon thickness. During the processing, the real-time control module adjusts the posture of the robot in real time, and uses the change in the polishing gap after the adjustment as input for processing the next processing position, so that the ribbon thickness at the next processing position is within the second variable range.

8. The magnetorheological polishing method based on robot posture control according to claim 7 is characterized in that: In step A1, 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 first conversion relationship is obtained by fitting in the conversion relationship module.

9. The magnetorheological polishing method based on robot posture control 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 With the second variable range Compare: If the current ribbon thickness In the second variable range If the robot is within the range of , there is no need to adjust the current posture of the robot; If the current ribbon thickness Not in the second variable range If the robot is within the range of , the current posture of the robot needs to be adjusted: If the current ribbon thickness changes Greater than or equal to the maximum ribbon thickness change , , represents the maximum ribbon thickness, represents the initial ribbon thickness, and the robot's posture is adjusted according to the following formula: ； in, Indicates the position of the free end at the current processing position; Indicates the initial position of the magnetorheological processing module; represents the maximum polishing gap, Indicates the initial polishing gap; If the current ribbon thickness changes Less than the maximum ribbon thickness variation , according to the following formula to calculate the current polishing gap Make adjustments: 。 10. A magnetorheological polishing method based on polishing wheel position control, based on the magnetorheological polishing device for adjusting the processing posture based on the ribbon size 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 obtaining the second conversion relationship in the conversion relationship module; B2: setting a third variable range of the polishing wheel position, and obtaining a fourth variable range corresponding to the ribbon thickness according to the second conversion relationship; setting a maximum polishing wheel position, and obtaining the 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 polishing wheel position; B4: The optical element to be processed is processed in combination with the third variable range, the maximum polishing wheel position and the maximum ribbon thickness. During the processing, the real-time control module adjusts the polishing wheel position in real time.

11. The magnetorheological polishing method based on polishing wheel position control according to claim 10, characterized in that: Step B1 includes the following steps: B11: Control the polishing wheel to process the test optical element with different polishing gaps, calculate the removal function volume removal rate 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 fits it in the conversion relationship module to obtain: ； in, Represents the volume removal rate of the removal function With the thickness of the ribbon The third conversion relationship between B12: Under different polishing gaps, the polishing wheel position is changed individually, and processing is performed on the test optical element to obtain the removal function volume removal rate at each processing position, and then fitting in the conversion relationship module to obtain: ； in, Indicates the polishing wheel position The volume removal rate of the removal function The fourth conversion relationship; B13: According to the third conversion relationship and the fourth conversion relationship, the following formula is obtained: ； in, Indicates the second conversion relationship.

12. The magnetorheological polishing method based on polishing wheel position control 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 With the fourth variable range Compare: If the current ribbon thickness In the fourth variable range Within, that is , then there is no need to adjust the current polishing wheel position Make adjustments; If the current ribbon thickness Not within the fourth variable range Within, that is , you need to check the current polishing wheel position Make adjustments: If the current ribbon thickness Greater than or equal to the maximum ribbon thickness , the current polishing wheel position Adjust to the maximum polishing wheel position ; If the current ribbon thickness Less than the maximum ribbon thickness , according to the following formula to calculate the current polishing wheel position Make adjustments: 。

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