Development Of Manipulator Control System For Rare Earth Smelting Industry

Rare earth resources are strategic resources of all countries.China's rare earth resources are abundant,but they did not make good use of it.The level of automation is still not advanced.In view of this situation,I developed a control systems of smelting robot,which realized the automatic control of cathode automatic swing,rare earth smelting and feeding,casting film,demoulding.According to the rare earth smelting molten salt electrolysis process,a set of 11-degree-of freedom rare earth smelting manipulators with 2-station 2-degree-of-free cathode automatic lifting device,a 4-degree-of-freedom 4-axis reclaiming robot,a 3-degree-of-freedom casting film,and a demolished walking vehicle were designed.In order to achieve smooth operation and precise control,the robots were all driven by servo motors.Based on the combination of on-site process,the structural design and drive equipment selection were carried out for each part of the robot.A control system based on Siemens S7-200 SMART.According to the principle of centralized management,decentralized control,and high cost performance,the control system used four SMART for the control of the cathode lifting device,the reclaiming robot and the mold release traveling vehicle,and adopted the MCGS touch screen.The control system hardware was selected according to system functions and I/O points.By analyzing the control principle and control method of the servo control system,the AC servo semi-closed loop control system with PLC as the control core was constructed.Analyzed the current loop,speed loop and position loop of AC servo control,constructed a system mathematical model to test the stability of system.According to the principle of centralized management and decentralized control,the manipulator control system was divided into four sub-control systems: rare earth smelting,cathode swing lifting,four-axis reclaiming and mold demoulding,and system interlocking.Program debugging and improvement of the system.The control system is currently in production and in good operation.Figure 40;Table 8;Reference 59...