Design Of Robotic Mill-grinding Control System For Large And Complex Components

Large complex components are important components of wind tunnel,ship,high-speed train,wind turbine blades and other structures,which are characterized by large in size,difficult to move,poor accessibility of the surface to be processed,and high processing requirements.At this stage,there is no suitable ultra-large precision machining machine to process its surface,mainly using manual processing methods.This method of operation has the disadvantages of high labor intensity,low efficiency,and uneven processing quality.Therefore,the use of robots with high flexibility instead of manual processing has become the focus of current research.In this paper,by analyzing the surface processing requirements of a large and complex component,a robot processing control system with mill-grinding functions is designed.This paper proposes a three-level series network communication structure of host computer,robot and PLC.The Siemens s7-1200 fail-safe PLC is used as the main controller.A field bus control network is established between PLC and the bottom executive equipment.The upper computer establishes a communication connection with PLC through the robot to realize the bottom hardware control.The hardware design of robot mill-grinding control system mainly includes the control circuit design and communication network design of PLC control unit,guide rail motor servo driver,motorized spindle driver,AOK frequency converter and other hardware.Complete the software design according to the hardware design and control requirements of the control system,and use TIA The portal software configures and configures the PLC and other hardware devices,and uses the modular programming idea to complete the PLC main program design and each execution hardware control subprogram design,and designs the safety program of the control system to ensure the safety of the robot mill-grinding system in the processing process.Finally,the control system is debugged to verify the feasibility and stability of the control system,and the large-scale complex components are processed.Through the measurement and analysis of the processing experimental results,it is proved that the machining performance of the robot mill-grinding system can meet the expected requirements.