CN104731024B - Multi-mode operation control method for double flexible grinding heads of magnetorheological polishing machine - Google Patents
Multi-mode operation control method for double flexible grinding heads of magnetorheological polishing machine Download PDFInfo
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Abstract
The invention provides a multi-mode operation control method for double flexible grinding heads of a magnetorheological polishing machine. The control method comprises the following steps: a circulating system operation mode control knob is shifted to select a grinding head operation mode; the upper software detects the selected working mode of the circulating system, sets a grinding head mode mark and displays pipeline connection prompt information; pressing a pipeline confirmation button of an upper software interface, and setting a pipeline confirmation signal = 1; the upper software sets a grinding head operation starting mark; detecting a grinding head mode mark and a grinding head operation starting mark by PLC software; and the PLC software automatically starts the operation of the double grinding heads according to the detected grinding head mode mark and the grinding head operation starting mark.
Description
Technical Field
The invention belongs to the field of special precision optical machining, and particularly relates to a multi-mode control method for a magnetorheological polishing double-flexible grinding head.
Background
Magnetorheological polishing is a definite sub-caliber polishing technology which is rapidly developed in nearly more than ten years, and the polishing technology mainly utilizes the controllable rheological property of magnetorheological polishing liquid to process, namely the shape and the hardness of a flexible grinding head are controlled by controlling the intensity and the distribution of a magnetic field, and the material removal at a specific position is controlled by controlling the motion track and the residence time parameter of the flexible grinding head.
The magneto-rheological processing is different from a general processing machine tool, the cutter of the magneto-rheological processing machine tool is a polishing head formed by magneto-rheological fluid flowing on a rotary polishing wheel under the action of a magnetic field, and the jet and the recovery of the magneto-rheological fluid are realized through a circulating system. Under different use modes, circulation paths of magnetorheological fluid are different, control modes of various components of a circulating system are different, different operation control methods are required to be adopted for different use modes, and the operation control modes of the double grinding heads of the magnetorheological machine tool are as many as seven. The existing magnetorheological processing machine tools at home and abroad are controlled to start and stop each circulation system element independently through a panel, and the mode has high requirements on operators and needs to be familiar with control logics under each mode.
Disclosure of Invention
The invention aims to provide a double-grinding-head polishing multi-mode automatic control method of a magnetorheological machine tool, aiming at solving the problems of multi-mode manual control of the existing machine tool, and solving the problems that the manual control has high dependence on an operator and is easy to break down.
In order to realize the aim, the invention provides a multi-mode operation control method for a double-flexible grinding head of a magnetorheological polishing machine for a magnetorheological machine tool, the control method realizes multi-mode control of a double-grinding-head circulating system through upper software and PLC software together, and comprises the following steps: (1) a circulating system working mode control knob is shifted to select a grinding head working mode; (2) the upper software detects the working mode of the circulating system selected in the step (1), sets a grinding head mode mark and displays pipeline connection prompt information; (3) pressing a pipeline confirmation button of the upper software interface, and setting a pipeline confirmation signal to be 1; (4) detecting a pipeline confirmation signal by the upper software, and returning to the step (3) if the pipeline confirmation signal is not 1; (5) the upper software sets a grinding head operation starting mark; (6) detecting the grinding head mode mark in the step (2) and the grinding head operation starting mark in the step (5) by PLC software; (7) if the detection result in the step (6) is that the grinding head mode mark is 0 and the large grinding head operation starting mark is 1, the PLC software starts to operate the large grinding head according to the control flow of the large grinding head processing mode; (8) if the detection result in the step (6) is that the grinding head mode mark is 1 and the large grinding head operation starting mark is 1, starting the large grinding head operation by the control flow of the large grinding head bypass mode of the PLC software; (9) if the detection result in the step (6) is that the grinding head mode mark is 2 and the small grinding head operation starting mark is 1, the PLC software starts to operate the small grinding head according to the small grinding head processing mode control flow; (10) and (4) if the detection result in the step (6) is that the grinding head mode mark is 3 and the small grinding head operation starting mark is 1, starting to operate the small grinding head by the PLC software according to the control flow of the small grinding head bypass mode. (11) If the detection result in the step (6) is that the grinding head mode mark is 4 and the large grinding head operation starting mark and the small grinding head operation starting mark are both 1, the PLC software starts to operate the large grinding head and the small grinding head according to the control flow of the bypass mode of processing the small grinding head by the large grinding head; (12) if the grinding head mode mark is 5 and the large grinding head operation starting mark and the small grinding head operation starting mark are both 1 as the detection result in the step (6), the PLC software starts to operate the large grinding head and the small grinding head according to the control flow of the large grinding head bypass small grinding head bypass mode; (13) and (4) if the detection result in the step (6) is that the grinding head mode mark is 6 and the large grinding head operation starting mark and the small grinding head operation starting mark are both 1, starting to operate the large grinding head and the small grinding head by the PLC software according to the control flow of the large grinding head bypass small grinding head processing mode.
Compared with the existing control method, the double-flexible grinding head multi-mode operation control method of the magnetorheological polishing machine has the following advantages: the automatic control of the double grinding heads avoids the dependence on operators during manual control, and effectively reduces the operation difficulty of the magneto-rheological machine tool; the double grinding heads can be operated in a bypass mode when one grinding head is used for polishing under a large grinding head small grinding head processing bypass mode and a large grinding head bypass small grinding head processing mode, so that the polishing preparation time of the other grinding head is effectively shortened, and the effective working time of a machine tool is prolonged.
The present invention will be described in detail with reference to the accompanying drawings in order to further understand the objects, features and advantages of the invention.
Drawings
Fig. 1 is a schematic view of the working mode of a dual flexible grinding head circulation system in the present invention;
FIG. 2 is a block diagram of the components of the dual flexible grinding head circulation system of the present invention;
fig. 3 is a flow chart of a dual flexible grinding head multi-mode operation control method of the present invention;
fig. 4 is a control flow chart of a large grinding head machining mode and a small grinding head machining mode of the present invention;
fig. 5 is a control flow chart of a large grinding wheel head bypass mode and a small grinding wheel head bypass mode of the present invention;
fig. 6 is a control flow chart of a bypass mode for processing a small grinding head by a large grinding head according to the present invention;
fig. 7 is a control flow chart of a large grinding head bypass small grinding head bypass mode of the present invention;
fig. 8 is a control flow chart of a large grinding head bypass small grinding head machining mode of the invention.
Detailed Description
The invention is described in further detail below with reference to the attached drawing figures:
example 1 operating mode of dual flexible grinding head cycle system
As shown in fig. 1, the multi-mode selection knob of the circulation system is a dial switch, and includes 7 kinds of operation mode selections such as a large grinding wheel bypass mode 401, a large grinding wheel machining mode 402, a large grinding wheel bypass small grinding wheel machining mode 403, a large grinding wheel bypass small grinding wheel machining mode 404, a large grinding wheel machining small grinding wheel bypass mode 405, a small grinding wheel machining mode 406, and a small grinding wheel bypass mode 407, and any one of the 7 kinds of operation modes can be selected by dialing the knob.
Embodiment 2 double flexible grinding head circulation system composition
As shown in fig. 2, the double-flexible grinding head circulating system of the magnetorheological polishing machine comprises a large grinding head circulating system, a small grinding head circulating system and a PLC control unit 620. The large grinding head circulating system comprises a large magnetic field rheological fluid storage device 600, a large transfer pump 601, a large flow meter 607, a large magnetic flow valve 602, a large polishing wheel 603, a large magnetic field 604, a large recovery pump 605 and a large recovery device 606. The magnetorheological polishing fluid flows through the large magnetic field rheological fluid storage device 600, the large flowmeter 607, the large magnetic flow valve 602, the large polishing wheel 603, the large recoverer 606 and the large recovery pump 605 to realize the closed circulation of the fluid in the large grinding head circulation pipeline, and the PLC control unit 620 controls each device of the large grinding head circulation system and monitors the state of each device in real time.
The small grinding head circulating system comprises a small magnetic field rheological liquid storage device 700, a small conveying pump 701, a small flow meter 707, a small magnetic flow valve 702, a small polishing wheel 703, a small magnetic field 704, a small recovery pump 705 and a small recovery device 706. The magnetorheological polishing liquid flows through a small magnetic field rheological liquid storage device 700, a small flowmeter 707, a small magnetic flow valve 702, a small polishing wheel 703, a small recoverer 706 and a small recovery pump 705, so that closed circulation of fluid in a small grinding head circulation pipeline is realized, and the PLC control unit 620 controls each device of the small grinding head circulation system and monitors the state of each device in real time.
Embodiment 3 double flexible grinding head multi-mode operation control method
As shown in fig. 3, step 1 is the start. And 2, dialing a circulation system operation mode control knob, and selecting 7 working modes: one of big bistrique processing mode, big bistrique bypass little bistrique processing mode, big bistrique processing big bistrique bypass mode, little bistrique processing mode, little bistrique bypass mode of big bistrique processing. And 3, detecting the grinding head mode by upper software. And 4, setting a grinding head mode mark by the upper software in step 4. And 5, pressing a pipeline confirmation button, setting a pipeline confirmation signal to be 1, and transmitting the pipeline confirmation signal to the upper software. In step 6, the upper software detects whether the pipeline confirmation signal is 1, namely detects the pipeline confirmation signal in step 5, if the detection result in step 6 is 1, the step 7 is carried out, and the upper software sets a grinding head operation starting sign; and if the detection result in the step 6 is not 1, entering a step 5, and waiting for setting a pipeline confirmation signal. After the step 7 is executed, the step 8 is entered, the PLC software detects the grinding head mode flag and the operation start flag, and if the detection result of the step 8 is that the grinding head flag in the step 26 is 0 and the large grinding head operation start flag is 1, the PLC software starts to operate the large grinding head according to the control flow of the large grinding head processing mode in the step 27; if the detection result in the step 8 is that the grinding head mark in the step 28 is 1 and the large grinding head operation starting mark is 1, the PLC software starts to operate the large grinding head according to the control flow of the large grinding head bypass mode in the step 29; if the detection result in the step 8 is that the grinding head mark in the step 30 is 2 and the small grinding head operation starting mark is 1, the PLC software starts to operate the small grinding head according to the control flow of the small grinding head processing mode in the step 31; if the detection result in the step 8 is that the grinding head mark in the step 32 is 3 and the small grinding head operation starting mark is 1, the PLC software starts to operate the small grinding head according to the control flow of the small grinding head bypass mode in the step 33. If the detection result in the step 8 is that the grinding head mark in the step 34 is 4 and the large grinding head operation starting mark and the small grinding head operation starting mark are both 1, the PLC software starts to operate the large grinding head and the small grinding head according to the control flow of the bypass mode for processing the small grinding head by the large grinding head in the step 35; if the grinding head mark in the step 36 is 5 and the large grinding head operation starting mark and the small grinding head operation starting mark are both 1 as a detection result in the step 8, the PLC software starts to operate the large grinding head and the small grinding head according to the flow of the large grinding head bypass small grinding head bypass mode in the step 37; if the detection result in the step 8 is that the grinding head mark in the step 38 is 6 and the large grinding head operation starting mark and the small grinding head operation starting mark are both 1, the PLC software starts to operate the large grinding head and the small grinding head according to the control flow of the large grinding head bypass small grinding head processing mode in the step 39.
Embodiment 4 method for controlling machining mode of large and small grinding heads
In fig. 4, the large grinding head and the small grinding head cannot be in the machining mode at the same time, and only one grinding head can be machined. The control method of the large grinding head processing mode is the same as that of the small grinding head processing mode. The control method of the magnetorheological polishing grinding head processing mode comprises the following specific steps:
when logic conditions of the step 411, the step 412 and the step 413 meet that the starting zone bit, the machining mode zone bit and the pipeline installation zone bit are all 1 according to the machining mode, the step 414 is carried out, and a program is called to lift the Z axis for installing the other grinding head to a safe position (usually a zero position); step 415, delaying until another grinding head is detected to be in a safe position, marking the grinding head with a position 1; step 420, starting a homogenizing motor according to a preset speed value; step 421 delays to determine whether the start flag bit of the homogenizing motor is 1, if the start flag bit is not 1, the process jumps to step 440, and outputs an alarm signal, i.e. whether the homogenizing motor is not normally started, please check whether the motor driving circuit is normal! If the flag bit is 1, go to step 422, start the electromagnetic field excitation power source with the preset current value; step 423 delays to determine whether the "magnetic field" start flag bit is 1, if not, then go to step 441 to output an alarm signal "the magnetic field is not normally started, please check whether the magnetic field driving circuit is normal! If the flag is 1, go to step 424, start the polishing wheel at the preset rotation speed; step 425 delays to determine whether the "polishing wheel" start flag is 1, if not, it jumps to step 442 to output an alarm signal "the polishing wheel is not started normally, please check whether the polishing wheel driving circuit is normal! ", step 443PLC program automatically turns off the magnetic field, if the flag bit is 1, go to step 426, start the recovery pump with the preset rotation speed value; 427 the step of delaying determines whether the start flag bit of the recycle pump is 1, if the start flag bit is not 1, the step goes to 444, and outputs an alarm signal, i.e. the recycle pump is not normally started, please check whether the recycle driving circuit is normal! ", step 445 the PLC program automatically turns off the magnetic field, the buffing wheel, if the flag bit is 1, go to step 428, start the magnetic current valve excitation power with the preset current value; 429 delay time judges if the 'magnetic flow valve' start flag bit is 1, if the flag bit is not 1, 446 is proceeded, an alarm signal is output, the magnetic flow valve is not normally started, please check if the recovery driving circuit is normal! The PLC program automatically turns off the magnetic field, the polishing wheel and the recovery pump in step 447, and if the flag bit is 1, the PLC program proceeds to step 430 to start the transfer pump at a preset rotation speed value; the step 431 delays to determine whether the "transfer pump" start flag is 1, if the flag is not 1, the step 448 is performed to output an alarm signal "the transfer pump is not normally started, please check whether the recovery driving circuit is normal! Step 449, the PLC program automatically closes the magnetic field, the polishing wheel, the recovery pump and the magnetic flow valve, if the flag bit is 1, the step 432 is carried out, and after the transfer pump is started for three minutes, the PLC starts the flow control and adjustment program according to the preset flow value; after the program, the step 433 is carried out, if the 'flow stability' flag bit is 1 in one continuous minute, the step 434 is carried out, and the PLC program starts the viscosity control and adjustment program according to the preset pressure value; step 435 judges logically that the flag bit of "pressure stabilization" is 1 for one minute continuously, and proceeds to step 450 to output a signal that the processing mode can be processed.
Embodiment 5 size grinding head bypass mode control method
In fig. 5, the control method of the large grinding stone bypass mode and the small grinding stone bypass mode is the same. The PLC control method of the magnetorheological polishing grinding head bypass mode specifically comprises the following steps:
Embodiment 6 control method for bypass mode of large grinding head processing small grinding head
In fig. 6, when the grinding head flag is judged to be 4 in step 840, the program enters the large grinding head machining small grinding head bypass mode control.
When the grinding head mark is 4, judging a large grinding head operation starting mark bit in step 841 and judging a small grinding head operation starting mark bit in step 845; when the large grinding head operation starting flag bit is equal to 1, calling and operating a large grinding head processing mode control program in step 842, judging whether to stop the large grinding head operation or not in step 843, and executing the operation action of stopping the large grinding head in step 844; when the small grinding head operation starting flag bit is equal to 1, calling and operating a small grinding head bypass mode control program in step 846, judging whether to stop the small grinding head operation or not in step 847, and executing the small grinding head operation stopping action in step 848; and when the step 811 detects that the large and small grinding heads are all stopped, the program jumps to a step 840 to detect the grinding head mark again, otherwise, the step 841 and the step 845 are executed.
Embodiment 7 control method of bypass mode of large grinding head bypass and small grinding head bypass
In fig. 7, when the grinding stone flag is judged to be 5 in step 850, the program enters the large grinding stone bypass small grinding stone bypass mode control.
When the grinding head mark is 5, judging a large grinding head operation starting mark bit in step 851 and judging a small grinding head operation starting mark bit in step 855; when the large grinding head operation starting flag bit is equal to 1, calling and operating a large grinding head bypass mode control program in step 852, judging whether to stop the large grinding head operation or not in step 853, and executing the large grinding head operation stopping action in step 844; when the small grinding head operation starting flag bit is equal to 1, calling and operating a small grinding head bypass mode control program in step 856, judging whether to stop the small grinding head to operate or not in step 857, and executing an action of stopping the small grinding head to operate in step 858; when step 821 detects that the grinding heads are all stopped, the program jumps to step 850 to detect the mark of the grinding head again, otherwise, step 851 and step 855 are executed.
Embodiment 8 control method of large grinding head bypass small grinding head machining mode
In fig. 8, when the grinding wheel head flag is judged to be 6 in step 860, the program enters the large grinding wheel head bypass small grinding wheel head machining mode control.
When the grinding head mark is 6, judging a large grinding head operation starting mark position in the step 861 and judging a small grinding head operation starting mark position in the step 865; when the large grinding head operation start flag bit is equal to 1, calling and operating a large grinding head bypass mode control program in step 862, judging whether to stop the large grinding head operation in step 863, and executing the operation action of stopping the large grinding head in step 864; when the small grinding head operation starting flag bit is equal to 1, calling and operating a small grinding head processing mode control program in step 866, judging whether to stop the small grinding head to operate or not in step 867, and executing the small grinding head operation stopping action in step 868; when the step 831 detects that the large grinding head and the small grinding head are all stopped, the program jumps to the step 860 to detect the mark of the grinding head again, otherwise, the step 861 and the step 865 are executed.
Claims (4)
1. A multi-mode operation control method for double flexible grinding heads of a magnetorheological polishing machine is characterized in that the control method realizes multi-mode control of a double grinding head circulating system through upper software and PLC software, and sequentially comprises the following steps:
(1) poking a circulating system working mode control knob to select a grinding head working mode;
(2) detecting the working mode of the circulating system selected in the step (1) by upper software, setting a grinding head mode mark, and displaying pipeline connection prompt information;
(3) pressing a pipeline confirmation button of the upper software interface, and setting a pipeline confirmation signal = 1;
(4) detecting a pipeline confirmation signal by the upper software, and returning to the step (3) if the pipeline confirmation signal is not 1;
(5) the upper software sets a grinding head operation starting mark;
(6) detecting the grinding head mode mark in the step (2) and the grinding head operation starting mark in the step (5) by PLC software;
(7) if the detection result in the step (6) is that the grinding head mode mark =0 and the large grinding head operation starting mark =1, the PLC software starts to operate the large grinding head according to the control flow of the large grinding head processing mode; the large grinding head and the small grinding head can not be in a processing mode at the same time, only one grinding head can be used for processing, and the control method of the large grinding head processing mode is the same as that of the small grinding head processing mode; the control method of the magnetorheological polishing grinding head processing mode comprises the following specific steps: when the logic conditions of the step (411), the step (412) and the step (413) meet that the starting zone bit, the machining mode zone bit and the pipeline installation zone bit are all 1 according to the machining mode, the step (414) is carried out, and a program is called to lift the Z axis for installing another grinding head to a safe position; step (415) delaying until another grinding head is detected to be in a safe position, and marking the grinding head with a position 1; step (420) starting a homogenizing motor according to a preset speed value; step (421) time-delay judging whether the start flag bit of the homogenizing motor is 1, if the flag bit is not 1, skipping to step (440), outputting an alarm signal, i.e. the homogenizing motor is not normally started, please check whether the motor driving circuit is normal! If the flag bit is 1, then proceed to step (422) to start the electromagnetic field excitation power source with the preset current value; step (423) of delaying to determine whether the ' magnetic field ' activation flag bit is 1, if the flag bit is not 1, go to step (441), output alarm signal ' magnetic field is not normally activated, please check whether the magnetic field driving circuit is normal! If the flag is 1, go to step (424) to start the polishing wheel at a preset rotation speed; step (425) time delay judging whether the ' polishing wheel ' starting marker bit is 1, if the marker bit is not 1, skipping to step (442), outputting an alarm signal ' the polishing wheel is not normally started, please check whether the polishing wheel driving circuit is normal! ", the PLC program of step (443) automatically turns off the magnetic field, if the flag bit is 1, go to step (426), start the recovery pump with the preset rotation speed value; step (427) time-delay judges if the "recycle pump" start flag bit is 1, if the flag bit is not 1, jump to step (444), output alarm signal "recycle pump is not started normally, please check if recycle drive circuit is normal! ", the PLC program automatically turns off the magnetic field and the polishing wheel in step (445), if the flag bit is 1, the step (428) is carried out, and the excitation power supply of the magnetic flow valve is started with a preset current value; step (429) time-delay judging whether the starting flag bit of the magnetic flow valve is 1, if the flag bit is not 1, step (446) is carried out, an alarm signal is output, the magnetic flow valve is not normally started, please check whether the recovery driving circuit is normal! ", the PLC program automatically turns off the magnetic field, the polishing wheel and the recovery pump in step (447), if the flag bit is 1, the step (430) is carried out, and the transfer pump is started up by a preset rotating speed value; step (431) time-delay judges that the "transfer pump" starting flag bit is 1, if said flag bit is not 1, then proceed to step (448), output alarm signal "transfer pump is not normally started, please check whether the recovery driving circuit is normal! Step (449), the PLC program automatically closes the magnetic field, the polishing wheel, the recovery pump and the magnetic flow valve, if the flag bit is 1, the step (432) is carried out, and after the transfer pump is started for three minutes, the PLC starts the flow control and adjustment program according to the preset flow value; after the program, the step (433) is carried out, if the 'flow stability' flag bit is 1 in one minute continuously, the step (434) is carried out, and the PLC program starts the viscosity control and adjustment program according to the preset pressure value; step (435) logically judges that the 'pressure stabilization' flag bit is 1 in one minute continuously, and step (450) is carried out to output a signal that the processing mode can process;
(8) if the detection result in the step (6) is that the grinding head mode mark =1 and the big grinding head operation starting mark =1, starting to operate the big grinding head by the control flow of the PLC software big grinding head bypass mode; the control method of the large grinding head bypass mode and the small grinding head bypass mode is the same; the PLC control method of the magnetorheological polishing grinding head bypass mode specifically comprises the following steps: step (460), step (461), step (462) and step (463) carry out logic judgment, when the logic condition satisfies that the starting flag bit, the bypass mode flag bit and the pipeline mounting flag bit according to the bypass mode are all 1, step (470) is carried out, and the homogenizing motor is started according to the preset speed value; step (471) is to delay and judge whether the start flag bit of the homogenizing motor is 1, if the flag bit is not 1, step (490) outputs an alarm signal, that is, the homogenizing motor is not normally started, please check whether the motor driving circuit is normal! ", if the flag bit is 1, step (472) starts the recovery pump with the preset rotation speed value; step (473) time-delay judges whether the "recovery pump" start flag bit is 1, if the flag bit is not 1, then output alarm signal "recovery pump is not normally started, please check whether the recovery driving circuit is normal! ", if the flag is 1, step (474) starts the transfer pump at a predetermined speed value; step (475) delays to determine whether the "transfer pump" start flag is 1, if the flag is not 1, step (491) outputs an alarm signal "transfer pump is not normally started, please check whether the recovery driving circuit is normal! ", step (492) runs the PLC program to automatically turn off the recovery pump, if the flag is changed to 1, step (478) turns off the transfer pump after T1 time of continuous operation of the transfer pump; step (479) time-delay judging "transfer pump" starting flag bit is 1, if the flag bit is 1, step (493) outputs alarm signal "transfer pump has not normally shut down, please check whether transfer pump driving circuit is normal or manually shut down transfer pump! ", if the flag is 0, step (480) turns off the recovery pump operation; step (481) is delayed to judge whether the start flag bit of the recovery pump is 1, if the start flag bit is 1, step (494) outputs an alarm signal that the recovery pump is not normally shut down, please check whether the drive circuit of the recovery pump is normal or manually shut down! ", if the flag is 0, after step (482) stops running T2, return to loop to step (461);
(9) if the detection result in the step (6) is that the grinding head mode mark =2 and the small grinding head operation starting mark =1, the PLC software starts to operate the small grinding head according to the small grinding head processing mode control flow;
(10) if the detection result in the step (6) is that the grinding head mode mark =3 and the small grinding head operation starting mark =1, the PLC software starts to operate the small grinding head according to the small grinding head bypass mode control flow;
(11) if the detection result in the step (6) is that the grinding head mode mark =4 and the large grinding head operation starting mark and the small grinding head operation starting mark are both 1, the PLC software starts to operate the large grinding head and the small grinding head according to the control flow of the bypass mode of processing the small grinding head by the large grinding head;
(12) if the detection result in the step (6) is that the grinding head mode mark =5 and the large grinding head operation starting mark and the small grinding head operation starting mark are both 1, the PLC software starts to operate the large grinding head and the small grinding head according to the control flow of the large grinding head bypass small grinding head bypass mode;
and (4) if the detection result in the step (6) is that the grinding head mode mark =6 and the large grinding head operation starting mark and the small grinding head operation starting mark are both 1, starting to operate the large grinding head and the small grinding head by the PLC software according to the control flow of the large grinding head bypass small grinding head processing mode.
2. The dual-flexible grinding head multi-mode operation control method of the magnetorheological polishing machine according to claim 1, characterized in that: the step (11) is as follows: when the grinding head mark =4 is judged in the step (840), the program enters a bypass mode control of a large grinding head to process a small grinding head; when the grinding head mark =4, judging the large grinding head operation starting mark position in step (841) and judging the small grinding head operation starting mark position in step (845); when the large grinding head operation starting flag =1, calling and operating a large grinding head processing mode control program in step (842), judging whether to stop the large grinding head to operate or not in step (843), and executing the operation action of stopping the large grinding head in step (844); when the small grinding head operation starting flag =1, calling and operating a small grinding head bypass mode control program in step (846), judging whether to stop the small grinding head operation in step (847), and executing the small grinding head operation stopping action in step (848); and (4) when the step (811) detects that the large grinding head and the small grinding head are all stopped, the program jumps to the step (840) to detect the mark of the grinding head again, and otherwise, the step (841) and the step (845) are executed.
3. The dual-flexible grinding head multi-mode operation control method of the magnetorheological polishing machine according to claim 1, characterized in that: the step (12) is as follows: when the grinding head mark =5 is judged in the step (850), the program enters the bypass mode control of the large grinding head bypass and the small grinding head bypass; when the grinding head mark =5, judging a large grinding head operation starting mark position in the step (851) and judging a small grinding head operation starting mark position in the step (855); when the large grinding head operation starting flag =1, calling and operating a large grinding head bypass mode control program in step (852), judging whether to stop the large grinding head operation in step (853), and executing the operation action of stopping the large grinding head in step (844); when the small grinding head operation starting flag =1, calling and operating a small grinding head bypass mode control program in step (856), judging whether to stop the small grinding head to operate in step (857), and executing the small grinding head operation stopping action in step (858); and (821) when the grinding heads are detected and judged to be stopped, the program jumps to step (850) to detect the mark of the grinding head again, and otherwise, the steps (851) and (855) are executed.
4. The dual-flexible grinding head multi-mode operation control method of the magnetorheological polishing machine according to claim 1, characterized in that: the step (13) is as follows: when the grinding head mark =6 is judged in the step (860), the program enters the control of a large grinding head bypass small grinding head processing mode; when the grinding head mark =6, judging a large grinding head operation starting mark position in the step (861) and judging a small grinding head operation starting mark position in the step (865); when the large grinding head operation starting flag =1, calling and operating a large grinding head bypass mode control program in step (862), judging whether to stop the large grinding head operation in step (863), and executing the operation action of stopping the large grinding head in step (864); when the small grinding head operation starting flag =1, calling and operating a small grinding head processing mode control program in step (866), judging whether to stop the small grinding head to operate or not in step (867), and executing the small grinding head operation stopping action in step (868); and (7) when the step (831) detects that the large grinding head and the small grinding head are all stopped, the program jumps to the step (860) to detect the mark of the grinding head again, and otherwise, the step (861) and the step (865) are executed.
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