Magnetorheological polishing equipment and method based on machine vision adjustment of electromagnets

Abstract

The present invention relates to the field of optical processing technology, and in particular to a magnetorheological polishing device and method based on machine vision-based electromagnet adjustment. The device comprises a robot, a control unit, a magnetorheological processing module, and a machine vision device. 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 machine vision device measures the ribbon thickness of the magnetorheological fluid during the processing. In the method, the real-time change of the magnetorheological fluid ribbon thickness during the processing is measured by the machine vision device, and parameters related to the magnet are then regulated in real time, 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 polishing device and method based on machine vision adjustment of electromagnets. 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 performance, controllable edge effects, minimal subsurface damage, no photocopying, strong shape-modifying capabilities, and high machining accuracy. Consequently, MRF has garnered widespread attention in high-precision optical processing. The existing magnetorheological polishing equipment mainly consists of three parts in terms of hardware: motion actuator, circulation system and polishing wheel module. The motion actuator is usually a CNC machine tool, but CNC machine tools have some shortcomings (such as low degree of freedom, large footprint, high cost, etc.), which limit the deviation of aspheric surfaces and make it difficult to perform precise posture control along the surface normal. The most important component in the circulation system is the supply source. Peristaltic pumps and centrifugal pumps are currently the main types of magnetorheological fluid supply sources. Peristaltic pumps will produce a pulse effect when working, which will affect the stability of the magnetorheological fluid in pipeline transportation and ultimately affect the stability of the removal function. The centrifugal pump has a small pulse effect when working, and the magnetorheological fluid is more stable when transported in the pipeline, and has less impact on the change of the removal function. Therefore, it is more suitable for magnetorheological supply systems. However, there is still a major problem with using a centrifugal pump as the supply source for the magnetorheological fluid supply system: when the water outlet (nozzle) of the supply system is processed along the curved surface of the optical component, the nozzle will move up and down within the working area. When the position of the centrifugal pump is constant, the pressure between the centrifugal pump and the nozzle will change, and the originally stable magnetorheological fluid will also change. The thickness and width of the ribbon formed by the magnetorheological fluid after passing through the polishing gap will also change accordingly, resulting in a change in the removal function and affecting the final processing accuracy.

[0003] In response to these shortcomings of CNC machine tools, researchers have introduced six-degree-of-freedom industrial robots into the field of optical processing in recent years. Six-degree-of-freedom industrial robots have the advantages of high degrees of freedom, small footprint, large processing range, and low cost, which make up for the shortcomings of CNC machine tools. Therefore, when the magnetorheological polishing module is integrated into the industrial robot, it is theoretically possible to achieve high-precision processing of large-aperture complex curved optical components.

[0004] 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), while the trajectory accuracy of common commercial robots is generally in the sub-millimeter to millimeter range. This leads to large changes in the polishing gap during the processing. The thickness of the ribbon will change after the magnetorheological fluid passes through the polishing gap, and the certainty of the removal function is reduced, affecting the final processing accuracy. Therefore, the motion accuracy of the current commercial large-scale six-degree-of-freedom industrial robots often cannot meet the requirements of magnetorheological polishing technology for the change of the removal function during high-precision polishing.

[0005] For the flow rate change problem in the centrifugal pump supply system, the commonly used method is to add a follower device to keep the vertical distance between the centrifugal pump and the nozzle outlet unchanged. However, these methods require the additional follower device to have high motion performance to keep the vertical distance from the nozzle unchanged at all times. Some solutions even place the follower device on the Z-axis of the CNC machine tool, which undoubtedly increases the motion load and equipment cost of the motion mechanism and reduces the motion performance of the equipment. In addition, the follower device cannot strictly guarantee the constant vertical distance between the centrifugal pump and the nozzle, resulting in changes in the removal function and affecting the final processing accuracy. Summary of the Invention

[0006] In view of this, the present invention aims to provide a magnetorheological polishing device and method based on machine vision to adjust the electromagnet. The real-time change of the ribbon thickness of the magnetorheological fluid during the magnetorheological processing is measured by machine vision equipment, and the parameters related to the electromagnet are adjusted in real time, thereby realizing real-time constant control of the removal function.

[0007] To achieve the above object, the technical solution created by the present invention is implemented as follows:

[0008] A magnetorheological polishing device based on machine vision-controlled electromagnets includes a robot, a control unit, a magnetorheological processing module, and a machine vision device. The magnetorheological processing module is disposed at the free end of the robot. The robot drives the polishing wheel in the magnetorheological processing module to process optical components using magnetorheological fluid as a medium. During the processing, the machine vision device measures the thickness of the magnetorheological fluid ribbon.

[0009] The interior of the control unit includes:

[0010] a time calculation module for calculating the measurement time of the machine vision device and the adjustment time of the magnetorheological processing module, and adjusting the machine vision device and the magnetorheological processing module according to the measurement time and the adjustment time;

[0011] a conversion relationship module, which obtains a first conversion relationship based on the magnetic induction intensity of the electromagnet and the thickness of the ribbon in the magnetorheological processing module, and obtains a second conversion relationship based on the electromagnet position of the electromagnet and the thickness of the ribbon;

[0012] The real-time control module adjusts the magnetic induction intensity in combination with the first conversion relationship, or adjusts the electromagnet position in combination with the second conversion relationship, so as to maintain the stability of the removal function when processing the optical element.

[0013] 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,

[0014] The magnetorheological mounting frame is arranged on the free end, 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, thereby changing the polishing gap of the polishing wheel;

[0015] The polishing motor is arranged on the magnetorheological mounting frame and is connected to the polishing wheel through a transmission belt, so that the polishing motor controls the polishing wheel to rotate, thereby making the polishing wheel process the optical element;

[0016] The nozzle is arranged on the magnetorheological mounting frame, and the nozzle direction of the nozzle is consistent with the rotation direction of the polishing wheel;

[0017] The supply system is connected to the nozzle through a pipeline, and the supply system delivers magnetorheological fluid to the nozzle, so that the polishing wheel processes the optical element using the magnetorheological fluid as a medium;

[0018] 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.

[0019] 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; 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.

[0020] Furthermore, the machine vision device, 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.

[0021] A magnetorheological polishing method based on magnetic induction intensity, based on a magnetorheological polishing device based on machine vision adjustment of electromagnets provided by the present invention, comprises the following steps:

[0022] 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;

[0023] 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;

[0024] A3: The control time calculation module is combined with the maximum magnetic induction intensity to adjust the machine vision equipment and magnetorheological processing module;

[0025] 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.

[0026] Furthermore, step A1 includes the following steps:

[0027] A11: 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 machine vision device measures the ribbon thickness at each processing position in real time. In the conversion relationship module, the following is obtained:

[0028] ;

[0029] in, Represents the removal function volume removal rate and ribbon thickness The third conversion relationship between

[0030] A12: The magnetic induction intensity is changed individually, and the magnetorheological processing module is controlled to process the test optical element at different polishing gaps to obtain the removal function volume removal rate at each processing position, and then the following is obtained in the conversion relationship module:

[0031] ;

[0032] in, Indicates the magnetic induction intensity Volume removal rate with removal function The fourth conversion relationship between

[0033] A13: According to the third and fourth conversion relationships, the following formula is obtained:

[0034] ;

[0035] in, Indicates the first conversion relationship.

[0036] Furthermore, in step A4, the polishing wheel is controlled to move to the current processing position The current ribbon thickness measured by the machine vision device With the second variable range Compare:

[0037] If the current ribbon thickness In the second variable range If the current magnetic induction intensity is within Make adjustments;

[0038] If the current ribbon thickness Not in the second variable range If the current magnetic induction intensity is within Make adjustments:

[0039] If the current ribbon thickness Greater than or equal to the maximum ribbon thickness , the current magnetic induction intensity Adjust to maximum magnetic induction intensity ;

[0040] If the current ribbon thickness Less than the maximum ribbon thickness , according to the following formula to calculate the current magnetic induction intensity Make adjustments:

[0041] .

[0042] A magnetorheological polishing method based on the position of an electromagnet, based on a magnetorheological polishing device for adjusting an electromagnet based on machine vision provided by the present invention, comprises the following steps:

[0043] 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;

[0044] 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;

[0045] B3: The control time calculation module combines the maximum electromagnet position to adjust the machine vision equipment and magnetorheological processing module;

[0046] 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.

[0047] Furthermore, step B1 includes the following steps:

[0048] 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 machine vision device measures the ribbon thickness at each processing position in real time. In the conversion relationship module, the following is obtained:

[0049] ;

[0050] in, Represents the removal function volume removal rate and ribbon thickness The fifth conversion relationship between;

[0051] B12: Change the position of the electromagnet individually and control 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 obtain the following in the conversion relationship module:

[0052] ;

[0053] in, Indicates the position of the electromagnet Volume removal rate with removal function The sixth conversion relationship between;

[0054] B13: According to the fifth conversion relationship and the sixth conversion relationship, the following formula is obtained:

[0055] ;

[0056] in, Indicates the second conversion relationship.

[0057] Furthermore, in step B4, the polishing wheel is controlled to move to the current processing position The current ribbon thickness measured by the machine vision device With the fourth variable range Compare:

[0058] If the current ribbon thickness In the fourth variable range If the current electromagnet position is within Make adjustments;

[0059] If the current ribbon thickness Not in the fourth variable range If the current electromagnet position is within Make adjustments:

[0060] If the current ribbon thickness Greater than or equal to the maximum ribbon thickness , the current electromagnet position Adjust to the maximum solenoid position ;

[0061] If the current ribbon thickness Less than the maximum ribbon thickness , according to the following formula to calculate the current electromagnet position Make adjustments:

[0062] .

[0063] A magnetorheological polishing method based on magnetic induction intensity and polishing wheel movement, based on the magnetorheological polishing device based on machine vision adjustment of electromagnets provided by the present invention, comprises the following steps:

[0064] 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;

[0065] 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;

[0066] 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 machine vision equipment and magnetorheological processing module;

[0067] 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.

[0068] Furthermore, in step C1, the magnet strength is kept constant, the polishing wheel is controlled to process the test optical element with different polishing gaps, and the ribbon thickness is measured in real time by a machine vision device. The following is obtained in the conversion relationship module:

[0069] ;

[0070] in, Indicates the polishing gap, Indicates the thickness of the ribbon, Indicates the seventh conversion relationship.

[0071] Furthermore, in step C4, the polishing wheel is controlled to move to the current processing position. The current ribbon thickness measured by the machine vision device With the sixth variable range Compare:

[0072] If the current ribbon thickness In the sixth variable range If the current polishing gap is within Make adjustments;

[0073] If the current ribbon thickness Not in the sixth variable range If the current polishing gap is within Make adjustments:

[0074] If the current ribbon thickness Greater than or equal to the maximum ribbon thickness , the current polishing gap Adjust to maximum polishing gap ;

[0075] If the current ribbon thickness Less than the maximum ribbon thickness , according to the following formula to calculate the current polishing gap Make adjustments:

[0076] ;

[0077] The current magnetic induction intensity can be calculated by the following formula Make adjustments:

[0078] ;

[0079] in, Indicates the initial setting of the polishing gap, Indicates the distance between the lowest point of the polishing wheel and the electromagnet. represents the magnetic moment, is the proportional coefficient.

[0080] Compared with the prior art, the present invention can achieve the following beneficial effects:

[0081] In the magnetorheological polishing equipment and method based on machine vision adjustment of magnets created by the present invention, the thickness of the magnetorheological fluid ribbon during the six-dimensional processing of the magnetorheological processing module driven by the robot is measured in real time by machine vision equipment, thereby adjusting the position or magnetic induction intensity of the magnet in the magnetorheological processing module in real time, thereby achieving real-time constant control of the removal function change under multi-factor coupling during the processing of the optical element; at the same time, the acquisition of posture information does not need to rely on the actual processing process, and the posture error information of the processing equipment can be obtained during the processing trial run (in which magnetorheological fluid is not introduced and no processing effect is produced), and there is no need to place the measuring equipment at the lowest point of the polishing wheel, which will not affect the actual processing. BRIEF DESCRIPTION OF THE DRAWINGS

[0082] 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:

[0083] Figure 1 A schematic structural diagram of a magnetorheological polishing device based on machine vision adjustment of electromagnets according to an embodiment of the present invention at one viewing angle;

[0084] Figure 2 A schematic structural diagram of the magnetorheological polishing device based on machine vision adjustment of electromagnets according to an embodiment of the present invention from another perspective;

[0085] Figure 3 This is a schematic structural diagram of the magnetorheological processing module according to an embodiment of the present invention. Figure 3 (a) is a structural diagram of the magnetorheological processing module from one perspective. Figure 3 (b) is a structural diagram of the magnetorheological processing module from another perspective;

[0086] Figure 4 This is a structural diagram of the real-time adjustment device described in an embodiment of the present invention.

[0087] Description of reference numerals:

[0088] 1. Robot; 2. Control unit; 3. Machine vision equipment; 4. Polishing wheel; 5. Electromagnet; 6. Laboratory table; 7. Optical element to be processed; 8. Test optical element; 9. Polishing motor; 10. Transmission belt; 11. Nozzle; 12. Real-time adjustment device; 13. Magnetorheological mounting bracket; 14. Connecting plate; 15. Displacement output motor; 16. Support bracket; 17. Lead screw; 18. Current intensity controller; 19. Nut; 20. Guide rail; 21. Slider. DETAILED DESCRIPTION

[0089] 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.

[0090] 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.

[0091] 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.

[0092] 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.

[0093] The present invention will be described in detail below with reference to the accompanying drawings and in combination with embodiments.

[0094] like Figure 1and Figure 2 As shown, the magnetorheological polishing device based on machine vision adjustment of electromagnets described in an embodiment of the present invention includes a robot 1, a control unit 2, a magnetorheological processing module, and a machine vision device 3. The magnetorheological processing module is disposed at the free end of the robot 1. The robot 1 drives the polishing wheel 4 in the magnetorheological processing module to process the optical element 7 to be processed or the test optical element 8 on the experimental table 6 using magnetorheological fluid as the medium. During the processing, the ribbon thickness of the magnetorheological fluid is affected by the supply system for providing the magnetorheological fluid and the polishing gap, and the polishing gap is changed by the polishing wheel position, robot posture adjustment, etc. Therefore, it is necessary to use a machine vision device 3 mounted on one side of the experimental table 6 to measure the change in the ribbon thickness of the magnetorheological fluid in real time. In an embodiment of the present invention, the machine vision device 3 uses a binocular stereo camera of the Stereo ace model of Basler. The process of measuring the ribbon thickness using the machine vision device 3 includes: the machine vision device 3 collects the ribbon contour information of the polishing wheel 4 and the magnetorheological fluid, and uses any point in the non-working area of ​​the surface of the polishing wheel 4 as a reference point. The highest point on the ribbon surface of the magnetorheological fluid is the measurement point, and the height difference between the measurement point and the reference point is the change data of the ribbon thickness.

[0095] 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 machine vision device 3 and the adjustment time of the magnetorheological processing module, and to adjust the machine vision device 3 and the magnetorheological processing module based on the measurement time and the adjustment time. The conversion relationship module is used to obtain a first conversion relationship based on the magnetic induction intensity of the electromagnet 5 in the magnetorheological processing module and the ribbon thickness, and to obtain a second conversion relationship based on the electromagnet position of the electromagnet 5 and the ribbon thickness. In the embodiment of the present invention, the electromagnet position is defined as the distance between the electromagnet 5 and the optical element to be processed 7 or the test optical element 8. The real-time control module is used to adjust the magnetic induction intensity in combination with the first conversion relationship, or to adjust the electromagnet position in combination with the second conversion relationship, so as to maintain the stability of the removal function when processing the optical element.

[0096] Figure 3 (a) shows a schematic structural diagram of the magnetorheological processing module from one perspective. Figure 3 (b) shows the schematic structural diagram of the magnetorheological processing module from another perspective. Figure 3As shown, the magnetorheological processing module also includes a polishing motor 9, a transmission belt 10, a nozzle 11, a supply system, a real-time adjustment device 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 4 and the real-time adjustment device 12 are mounted on the magnetorheological mounting frame, and the real-time adjustment device 12 is connected to the polishing wheel 4 through a connecting plate 14, so that the real-time adjustment device 12 adjusts the position of the polishing wheel 4, thereby changing the polishing gap of the polishing wheel 4. Specifically, the head end of the connecting plate 14 is mounted on the real-time adjustment device 12, the polishing motor 9 is fixed on the connecting plate 14, and the output end of the polishing motor 9 passes through the connecting plate 14, and the bearing of the polishing wheel 4 passes through the end of the connecting plate 14. The output end of the polishing motor 9 is connected to the bearing of the polishing wheel 4 through the transmission belt 10, so that the polishing motor 9 controls the rotation of the polishing wheel 4. In the embodiment of the present invention, the manner in which the polishing motor 9 drives the polishing wheel 4 to rotate 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 4, and the supply system delivers magnetorheological fluid to the nozzle 11. The nozzle 11 sprays magnetorheological fluid toward the working point of the polishing wheel 4, thereby causing the polishing wheel 4 to process the optical element to be processed 7 or the test optical element 8 with the magnetorheological fluid as the medium. In the embodiment of the present invention, the working point of the polishing wheel 4 is specified to be the closest point between the polishing wheel 4 and the surface of the optical element to be processed 7 or the test optical element 8 along the normal direction of the surface of the optical element to be processed 7 or the test optical element 8. The electromagnet 5 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 4. Specifically, the head end of the connecting plate 14 is mounted on the real-time adjustment device 12, and the electromagnet 5 is mounted on the tail end of the connecting plate 14. This allows the magnetorheological fluid to change its stiffness due to the magnetic induction intensity of the electromagnet 5, while the real-time adjustment device 12 adjusts the magnetic induction intensity and the distance between the electromagnet 5 and the polishing wheel 4. Furthermore, in this embodiment of the present invention, the supply system employs a DFLD vertical multi-stage pump manufactured by Shanghai Dongfang Pump Industry Co., Ltd.

[0097] The structure of the real-time adjustment device 12 for controlling the polishing wheel 4 and the electromagnet 5 is as follows: Figure 4As shown, the apparatus comprises 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 19 with a ball on the lead screw 17 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 the top of the support bracket 16. The output end of the displacement output motor 15 is connected to the lead screw 17 mounted on the support bracket 16. The polishing wheel 4 or the electromagnet 5 is connected to the nut 19 on the lead screw 17 via the connecting plate 14, so that the lead screw 17 drives the electromagnet 5 or the polishing wheel 4 to move. In this embodiment of the present invention, to ensure that the polishing wheel 4 or the electromagnet 5 can move stably along the lead screw 17, a guide rail 20 is preferably installed on each side of the lead screw 17 on the support bracket 16, and the two guide rails 20 are parallel to the lead screw 17. In this case, the head end of the connecting plate 14 is fixedly connected to the nut 19 on the lead screw 17 and the sliders 21 on the two guide rails 20. During the machining process, the control unit 2 sends a control signal to the displacement output motor 15. When the displacement output motor 15 drives the lead screw 17 to rotate, the lead screw 17 cooperates with the two guide rails 20 to pull the connecting plate 14, thereby driving the polishing wheel 4 or the electromagnet 5 to move stably along the direction of the lead screw 17. The current intensity controller 18 is mounted on the support bracket 16. The current intensity controller 18 is connected to the electromagnet 5 via a wire and is used to energize the electromagnet 5 to generate a magnetic field. At the same time, the current intensity controller 18 is 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 5 based on the control signal, thereby changing the magnetic induction intensity of the electromagnet 5. In this embodiment of the present invention, the current intensity controller 18 preferably adopts a Siemens Smart200 series DA conversion module.

[0098] The robot 1, machine vision device 3, and real-time adjustment device 12 are each connected to the control unit 2 to form their own communication circuits, allowing the control unit 2 to receive and send signals via the corresponding communication circuits. Specifically, the control unit 2 receives signals from the machine vision device 3 via the communication circuits. The control unit 2 also sends control signals to the displacement output motor 15 in the real-time adjustment device 12 via the communication circuits to change the position of the polishing wheel 4 or electromagnet 5. The control unit 2 also sends control signals to the current intensity controller 18 in the real-time adjustment device 12 via the communication circuits to change the magnetic induction intensity of the electromagnet 5. Because a strong magnetic field is generated around the polishing wheel 4 during polishing, the communication circuits are designed to avoid such strong magnetic fields.

[0099] Based on the magnetorheological polishing equipment based on machine vision adjustment of electromagnets described in the embodiments of the present invention, the embodiments of the present invention also provide a magnetorheological polishing method based on machine vision adjustment of electromagnets, including a magnetorheological polishing method based on magnetic induction intensity, a magnetorheological polishing method based on electromagnet position, and a magnetorheological polishing method based on magnetic induction intensity and polishing wheel movement.

[0100] Specific embodiment 1: The magnetorheological polishing method based on magnetic induction intensity provided in this specific embodiment, the magnetorheological polishing device based on machine vision adjustment electromagnet according to the invention embodiment, combined with Figures 1 to 4 , including the following steps:

[0101] A1: Control the polishing wheel 4 to process the test optical element 8 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:

[0102] A11: Control the polishing wheel 4 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 machine vision device 3 measures the ribbon thickness at each processing position in real time. In the conversion relationship module, the following is obtained:

[0103] ;

[0104] in, Represents the removal function volume removal rate and ribbon thickness In this specific embodiment, specifically, the polishing wheel 4 is controlled to perform fixed-point processing on the test optical element 8 for a period of time with different polishing gaps;

[0105] A12: The magnetic induction intensity is changed individually, and the polishing wheel 4 is controlled to process the test optical element 8 at different polishing gaps to obtain the removal function volume removal rate at each processing position, and then the following is obtained in the conversion relationship module:

[0106] ;

[0107] in, Indicates the magnetic induction intensity Volume removal rate with removal function In this specific embodiment, specifically, the magnetic induction intensity is changed separately, and the polishing wheel 4 is controlled to perform fixed-point processing on the test optical element 8 for a period of time at different polishing gaps;

[0108] A13: According to the third and fourth conversion relationships, the following formula is obtained:

[0109] ;

[0110] in, Indicates the first conversion relationship.

[0111] 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:

[0112] ;

[0113] ;

[0114] Set the maximum magnetic induction intensity , and according to the first conversion relationship Get the corresponding maximum ribbon thickness ,Right now:

[0115] .

[0116] The first variable range , maximum magnetic induction intensity The setting is adaptive according to the actual situation, and this specific embodiment does not impose any restrictions on this.

[0117] A3: Control the time calculation module to adjust the machine vision device 3 and the magnetorheological processing module. Step A3 includes the following steps:

[0118] A31. Count b data points measured by the machine vision device 3 within a second and obtain the time it takes for the machine vision device 3 to measure a point. ;

[0119] ;

[0120] A32. Calculate the change in maximum magnetic induction intensity The time required to control the magnetorheological processing module :

[0121] ;

[0122] ;

[0123] in, represents the rate of change of the magnetic induction intensity of the electromagnet 5, is the set initial magnetic induction intensity, the initial magnetic induction intensity The setting is adaptive according to the actual situation, and this specific embodiment does not limit this;

[0124] A33, measure the vertical distance between the measuring position of the machine vision device 3 and the working point of the polishing wheel 4 , according to the vertical distance and the set polishing wheel speed Calculate the time required for polishing wheel 4 to reach the working point :

[0125] ;

[0126] in, Indicates the radius of the polishing wheel 4; polishing wheel speed The same is also adaptively set according to actual conditions, and this specific embodiment does not limit this;

[0127] A34, calculate the maximum speed of the magnetorheological processing module Minimum moving time between two adjacent processing positions :

[0128] ;

[0129] in, Indicates the distance between two adjacent processing positions;

[0130] A35. Calculation conditions Is it true: If the condition is true, there is no need to adjust the machine vision device 3 and the polishing wheel 4; if the condition is not true, the data sampling frequency of the machine vision device 3 and the polishing wheel speed need to be adjusted. Make adjustments to make the conditions true;

[0131] 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 .

[0132] A4: Combined with the second variable range, the maximum magnetic induction intensity and the maximum ribbon thickness, the optical element 7 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:

[0133] Control the polishing wheel 4 to move to the current processing position When the current ribbon thickness is measured by the machine vision device 3 With the second variable range Compare:

[0134] 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;

[0135] If the current ribbon thickness Not in the second variable range Within, that is , then the current magnetic induction intensity Make adjustments:

[0136] 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 ;

[0137] If the current ribbon thickness Less than the maximum ribbon thickness ,Right now , according to the following formula to calculate the current magnetic induction intensity Make adjustments:

[0138] .

[0139] 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.

[0140] Specific embodiment 2: The magnetorheological polishing method based on the position of the electromagnet provided in this specific embodiment, the magnetorheological polishing device based on machine vision adjustment of the electromagnet according to the invention, combined with Figures 1 to 4 , including the following steps:

[0141] B1: Control the polishing wheel 4 to process the test optical element 8 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:

[0142] B11: Control the polishing wheel 4 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 machine vision device 3 measures the ribbon thickness at each processing position in real time. In the conversion relationship module, the following is obtained:

[0143] ;

[0144] in, Represents the removal function volume removal rate and ribbon thickness In this specific embodiment, specifically controlling the polishing wheel 4 to perform fixed-point processing on the test optical element 8 for a period of time with different polishing gaps;

[0145] B12: The electromagnet position is changed individually, and the polishing wheel 4 is controlled to process the test optical element 8 at different polishing gaps to obtain the removal function volume removal rate at each processing position, and then the following is obtained in the conversion relationship module:

[0146] ;

[0147] in, Indicates the position of the electromagnet Volume removal rate with removal function In this specific embodiment, specifically, the electromagnet position is changed separately, and the polishing wheel 4 is controlled to perform fixed-point processing on the test optical element 8 for a period of time at different polishing gaps;

[0148] B13: According to the fifth conversion relationship and the sixth conversion relationship, the following formula is obtained:

[0149] ;

[0150] in, Indicates the second conversion relationship.

[0151] 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:

[0152] ;

[0153] ;

[0154] Set maximum solenoid position , and according to the second conversion relationship Get the corresponding maximum ribbon thickness ,Right now:

[0155] .

[0156] The third variable range and maximum solenoid position The setting is adaptive according to the actual situation, and this specific embodiment does not impose any restrictions on this.

[0157] B3: The control time calculation module adjusts the machine vision device 3 and the magnetorheological processing module in combination with the maximum electromagnet position. Step B3 includes the following steps:

[0158] B31. Count b data points measured by machine vision device 3 within a second and obtain the time it takes for machine vision device 3 to measure a point. ;

[0159] ;

[0160] B32. Calculate the maximum change in electromagnet position The time required to control the magnetorheological processing module :

[0161] ;

[0162] ;

[0163] in, Indicates the maximum speed of electromagnet position adjustment. is the set initial electromagnet position, the initial electromagnet position The setting is adaptive according to the actual situation, and this specific embodiment does not limit this;

[0164] B33, measure the vertical distance between the measuring position of the machine vision device 3 and the working point of the polishing wheel 4 , according to the vertical distance and the set polishing wheel speed Calculate the time required for polishing wheel 4 to reach the working point :

[0165] ;

[0166] in, Indicates the radius of the polishing wheel 4; polishing wheel speed The same is also adaptively set according to actual conditions, and this specific embodiment does not limit this;

[0167] B34, calculate the maximum speed of the magnetorheological processing module Minimum moving time between two adjacent processing positions :

[0168] ;

[0169] in, Indicates the distance between two adjacent processing positions;

[0170] B35. Calculation conditions Is it true: If the condition is true, there is no need to adjust the machine vision device 3 and the polishing wheel 4; if the condition is not true, the data sampling frequency of the machine vision device 3 and the polishing wheel speed need to be adjusted. Make adjustments to make the conditions true;

[0171] B36, 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 .

[0172] B4: Combined with the fourth variable range , maximum electromagnet position and maximum ribbon thickness , the optical element 7 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: control the polishing wheel 4 to move to the current processing position When the current ribbon thickness is measured by the machine vision device 3 With the fourth variable range Compare:

[0173] 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;

[0174] If the current ribbon thickness Not in the fourth variable range Within, that is , then the current electromagnet position Make adjustments:

[0175] 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 ;

[0176] 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:

[0177] .

[0178] 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 the processing is 1.6 mm. At this time, the sixth conversion relationship is used to calculate the second conversion relationship corresponding to the 2 mm removal function volume removal rate MRR.

[0179] Specific embodiment 3: The magnetorheological polishing method based on magnetic induction intensity and polishing wheel movement provided in this specific embodiment, the magnetorheological polishing device based on machine vision adjustment magnet according to the invention embodiment, combined with Figures 1 to 4 , including the following steps:

[0180] C1: Control the polishing wheel 4 to process the test optical element 8 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 magnet strength is kept constant, the polishing wheel 4 is controlled to process the test optical element 8 with different polishing gaps, and the ribbon thickness is measured in real time by the machine vision device 3. The conversion relationship module obtains:

[0181] ;

[0182] in, Indicates the polishing gap, Indicates the thickness of the ribbon, In this specific implementation, the polishing wheel 4 is controlled to perform fixed-point processing on the test optical element 8 for a period of time with different polishing gaps.

[0183] 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:

[0184] ;

[0185] ;

[0186] Set the maximum polishing gap , and according to the seventh conversion relationship Get the corresponding maximum ribbon thickness ,Right now:

[0187] .

[0188] Fifth variable range and maximum polishing gap The configuration is adaptive according to the actual situation and is not limited in this embodiment.

[0189] 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 machine vision device 3 and the magnetorheological processing module. The specific process is as follows:

[0190] C31. Count b data points measured by machine vision device 3 within a second and obtain the time it takes for machine vision device 3 to measure one point. ;

[0191] ;

[0192] C32. Calculate the maximum polishing gap change The time required to control the magnetorheological processing module :

[0193] ;

[0194] ;

[0195] in, Indicates the maximum speed of the magnetorheological processing module. is the initial polishing gap set, Indicates the maximum value; initial polishing gap The configuration is adaptive according to the actual situation, and this embodiment does not limit this.

[0196] C33, measure the vertical distance between the measuring position of the machine vision device 3 and the working point of the polishing wheel 4 , according to the vertical distance and the set polishing wheel speed Calculate the time required for polishing wheel 4 to reach the working point :

[0197] ;

[0198] in, Indicates the radius of the polishing wheel 4; polishing wheel speed The same is also adaptively set according to actual conditions, and this specific embodiment does not limit this;

[0199] C34, calculate the maximum speed of the magnetorheological processing module Minimum moving time between two adjacent processing positions :

[0200] ;

[0201] in, Indicates the distance between two adjacent processing positions;

[0202] C35. Calculation conditions Is it true: If the condition is true, there is no need to adjust the machine vision device 3 and the polishing wheel 4; if the condition is not true, the data sampling frequency of the machine vision device 3 and the polishing wheel speed need to be adjusted. Make adjustments to make the conditions true;

[0203] 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 .

[0204] C4: Combined with the sixth variable range , Maximum polishing gap and maximum ribbon thickness , the optical element 7 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: control the magnetorheological processing module to move to the current processing position When the current ribbon thickness is measured by the machine vision device 3 With the sixth variable range Compare:

[0205] 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;

[0206] If the current ribbon thickness Not in the sixth variable range Within, that is , then the current polishing gap needs to be Make adjustments:

[0207] 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 ;

[0208] 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:

[0209] ;

[0210] The current magnetic induction intensity can be calculated by the following formula Make adjustments:

[0211] ;

[0212] in, Represents the distance, specifically the distance between the working point of the electromagnet 5 and the polishing wheel 4, represents the magnetic moment of the electromagnet 5, is the proportional coefficient of the electromagnet 5.

[0213] In the above-mentioned specific embodiments, the conversion relationships are obtained by fitting. The fitting process includes, but is not limited to, importing discrete data into Matlab software, performing data fitting using Matlab's polyfit fitting command, and solving the respective conversion relationships. The Polyfit fitting command is a basic general command in Matlab software. This method can more intuitively see the corresponding relationship between the correlations and the corresponding function curves.

[0214] 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.

[0215] 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 polishing device based on machine vision to adjust electromagnets, characterized by: The device comprises a robot, a control unit, a magnetorheological processing module, and a machine vision device; 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 machine vision device measures the thickness of the magnetorheological fluid ribbon during the processing; The interior of the control unit includes: a time calculation module for calculating a measurement time of the machine vision device and an adjustment time of the magnetorheological processing module, and adjusting the machine vision device and the magnetorheological processing module according to the measurement time and the adjustment time; a conversion relationship module, which obtains a first conversion relationship based on the magnetic induction intensity of the electromagnet in the magnetorheological processing module and the thickness of the ribbon, and obtains a second conversion relationship based on the electromagnet position of the electromagnet and the thickness of the ribbon; The real-time control module adjusts the magnetic induction intensity in combination with the first conversion relationship, or adjusts the electromagnet position in combination with the second conversion relationship, so as to maintain the stability of the removal function when processing the optical element.

2. The magnetorheological polishing device based on machine vision adjustment of electromagnets according to claim 1, 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, 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, thereby changing the polishing gap 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, and the nozzle direction of the nozzle is consistent with the rotation direction of the polishing wheel; The supply system is connected to the nozzle via a pipeline, and the supply system delivers the magnetorheological fluid to the nozzle, so that the polishing wheel processes the optical element using the magnetorheological fluid as a medium; The electromagnet is connected to the real-time adjustment device, and the magnet 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.

3. The magnetorheological polishing device based on machine vision adjustment of electromagnets according to claim 2, 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; 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.

4. The magnetorheological polishing device based on machine vision adjustment of electromagnets according to claim 3, characterized in that: The machine vision device, 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.

5. A magnetorheological polishing method based on magnetic induction intensity, based on the magnetorheological polishing device based on machine vision adjustment of electromagnets according to any one of claims 1 to 4, 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 machine vision device 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.

6. The magnetorheological polishing method based on magnetic induction intensity according to claim 5, characterized in that: Step A1 includes the following steps: A11: 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 machine vision device measures the ribbon thickness at each processing position in real time. In the conversion relationship module, obtain: ； in, Represents the volume removal rate of the removal function With the thickness of the ribbon The third conversion relationship between A12: The magnetic induction intensity is changed individually, and the polishing wheel is controlled to process the test optical element at different polishing gaps to obtain the removal function volume removal rate at each processing position, and the following is obtained in the conversion relationship module: ； in, Indicates the magnetic induction intensity The volume removal rate of the removal function The fourth conversion relationship; A13: According to the third conversion relationship and the fourth conversion relationship, the following formula is obtained: ； in, Indicates the first conversion relationship.

7. The magnetorheological polishing method based on magnetic induction intensity according to claim 6, characterized in that: In step A4, the polishing wheel is controlled to move to the current processing position When the current ribbon thickness is measured by the machine vision device With the second variable range Compare: If the current ribbon thickness In the second variable range If the current magnetic induction intensity is within Make adjustments; If the current ribbon thickness Not in the second variable range If the current magnetic induction intensity is within Make adjustments: If the current ribbon thickness Greater than or equal to the maximum ribbon thickness , the current magnetic induction intensity Adjust to maximum magnetic induction intensity ; If the current ribbon thickness Less than the maximum ribbon thickness , according to the following formula to calculate the current magnetic induction intensity Make adjustments: 。 8. A magnetorheological polishing method based on electromagnet position, based on the magnetorheological polishing device based on machine vision adjustment of electromagnets according to any one of claims 1 to 4, 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 machine vision device 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.

9. The magnetorheological polishing method based on electromagnet position according to claim 8, 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 machine vision device measures the ribbon thickness at each processing position in real time, and obtains in the conversion relationship module: ； in, Represents the volume removal rate of the removal function With the thickness of the ribbon The fifth conversion relationship between; B12: Changing the position of the electromagnet individually and controlling the polishing wheel to process the test optical element at different polishing gaps, obtaining the removal function volume removal rate at each processing position, and then obtaining in the conversion relationship module: ； in, Indicates the position of the electromagnet Volume removal rate with the removal function The sixth conversion relationship between; B13: According to the fifth conversion relationship and the sixth conversion relationship, the following formula is obtained: ； in, Indicates the second conversion relationship.

10. The magnetorheological polishing method based on electromagnet position according to claim 9, characterized in that: In step B4, the polishing wheel is controlled to move to the current processing position When the current ribbon thickness is measured by the machine vision device With the fourth variable range Compare: If the current ribbon thickness In the fourth variable range If the current electromagnet position is within Make adjustments; If the current ribbon thickness Not in the fourth variable range If the current electromagnet position is within Make adjustments: If the current ribbon thickness Greater than or equal to the maximum ribbon thickness , the current electromagnet position Adjust to the maximum solenoid position ; If the current ribbon thickness Less than the maximum ribbon thickness , according to the following formula to calculate the current electromagnet position Make adjustments: 。 11. A magnetorheological polishing method based on magnetic induction intensity and polishing wheel movement, based on the magnetorheological polishing device based on machine vision adjustment of electromagnets according to any one of claims 1 to 4, 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 machine vision device 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.

12. The magnetorheological polishing method based on magnetic induction intensity and polishing wheel movement according to claim 11, characterized in that: In step C1, the magnet strength is kept constant, 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 machine vision device, and the following is obtained in the conversion relationship module: ； in, represents the polishing gap, Indicates the thickness of the ribbon, Represents the seventh conversion relationship.

13. The magnetorheological polishing method based on magnetic induction intensity and polishing wheel movement according to claim 12, characterized in that: In step C4, the polishing wheel is controlled to move to the current processing position When the current ribbon thickness is measured by the machine vision device With the sixth variable range Compare: If the current ribbon thickness In the sixth variable range If the current polishing gap is within Make adjustments; If the current ribbon thickness Not in the sixth variable range If the current polishing gap is within Make adjustments: If the current ribbon thickness Greater than or equal to the maximum ribbon thickness , the current polishing gap Adjust to maximum polishing gap , the current magnetic induction intensity Corresponding adjustment to the maximum magnetic induction intensity ; If the current ribbon thickness Less than the maximum ribbon thickness , according to the following formula to calculate the current polishing gap Make adjustments: ； The current magnetic induction intensity can be calculated by the following formula Make adjustments: ； in, Indicates the initial setting of the polishing gap, Indicates the distance between the lowest point of the polishing wheel and the electromagnet, represents the magnetic moment, is the proportional coefficient.

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