Research On Electrical And Control System Design Of Multifunctional Milling End-effector

CFRP/Ti laminated materials are widely used in the field of aviation manufacturing for its advantages such as high specific strength and high specific stiffness.However,the hole making process of ordinary twist drill often produces problems such as excessive axial force,high cutting temperature and difficult chip removal,which leads to serious tool wear,CFRP hole making defects and so on.As new hole making methods,spiral milling and inclined milling have been proved to effectively reduce the axial force,improve the machining accuracy,and improve the hole wall,inlet and outlet quality.Therefore,this paper mainly solves the difficult machining problem of CFRP/Ti laminated materials.Based on the principle of spiral milling and inclined milling,this paper built the electrical system and control platform of multifunctional milling end-effector,and verified the feasibility of the end-effector through virtual debugging.The research contents mainly include the following aspects:Firstly,by analyzing the spiral milling mechanism,a four eccentric sleeve structure prototype is proposed.The realization methods of spiral milling and inclination milling of four eccentric sleeve are described,and the mathematical relationship between eccentricity,inclination and return angle is obtained.Through the design and manufacture of 3D printing composite hole milling prototype,the motion and control mode of four eccentric sleeve structure prototype are verified.It provides a basis for the design of multifunctional milling end-effector.Secondly,the electrical system of multifunctional milling end-effector is designed.Guided by the drilling index and technical parameters,the overall structure design of the end-effector is carried out based on the four eccentric sleeve structure prototype,and the drive control hardware selection is completed.The sensor is configured according to the end-effector motion control requirements.Based on the selected hardware,the electrical control circuit design scheme of the end-effector is completed.Then,the multi-functional milling end-effector control platform is built.Select the lower computer controller and upper computer,and complete the hardware debugging and configuration of the control system in TIA Portal.The motion control program of each module is designed based on the selected controller.At the same time,combined with the design program and debugging needs,the upper computer control system is designed to realize the fully integrated automatic control of the end-effector.Finally,according to the virtual debugging strategy of software in the loop,the end-effector simulation model is established in the MCD platform.The joint simulation system of MCD and TIA Portal is built through PLCSIM Advanced simulator,and the virtual debugging of multifunctional milling end-effector is carried out based on the system.The end-effector motion control process and simulation data are analyzed to verify the feasibility and accuracy of the end-effector structure and control system.