基于STM32单片机的码垛机械手控制系统的研究与设计

发布时间：2018-03-26 06:12

本文选题：码垛机械手　切入点：伺服电动机　出处：《辽宁科技大学》2015年硕士论文

【摘要】：随着科学技术的发展,生产力水平的提高,人们越来越看重劳动强度的降低、工作环境的改善。食品、药品、家电产品等产品流水线上的产品包装对质量和效率的要求越来越高,而传统的人工包装由于效率和包装质量较低,已满足不了现代化生产的要求。目前国内的全自动码垛装箱机械手大多都是进口的,国内自动装箱码垛机械手生产厂家相对较少,国内市场对自动装箱码垛机械手的需求也比较大,我国低效率的人工装箱码垛和日益提高的产量之间的矛盾不断加剧,使得对自动装箱码垛机械手的研究具有重要的经济效益和现实意义。本文设计的码垛机械手系统主要是针对某小型家电企业产品流水线上包装完毕的小型电器包装盒进行自动装箱工作,是以STM32单片机为控制核心和以台达伺服电机为驱动机构控制码垛机械手四个轴的运动来完成对小型电器包装盒的抓取、输送、装箱工作。本文首先给出了码垛机械手系统的组成和电气系统设计,详细介绍了码垛机械手系统各个部分的组成和工作原理,设计了码垛机械手电气系统主回路原理图。其次,本文给出了码垛机械手控制系统的设计,设计了码垛机械手控制系统原理框图,设计了码垛机械手控制系统的硬件电路,设计了系统的手持操作器和触摸屏等人机交互系统,介绍了交流伺服电动机和伺服驱动器。再次,本文给出了码垛机械手系统控制算法的研究和软件设计,主要建立了码垛机械手控制系统运动的数学模型,设计了码垛机械手系统的装箱方案,介绍了STM32主控制板与伺服驱动器之间的RS-485通讯协议,绘制出了码垛机械手控制系统的总程序流程图,装箱方案子程序流程图,各个包装盒中心位置坐标计算子程序流程图,码垛机械手抓取包装盒子程序流程图以及STM32主控制板发送数据子程序流程图。接着,本文对码垛机械手系统的运行参数进行分析。给出了码垛机械手各个轴电机的额定运行参数,计算出了码垛机械手各个轴电机额定转速下放置一个包装盒的平均时间及完成一次装箱工作的时间,然后分别计算出了码垛机械手各个轴电机50%,60%,80%额定转速下放置一个包装盒的平均时间及完成一次装箱工作的额时间,最后分析了码垛机械手各个轴伺服电机应该在60%及以上的额定转速下运行时能够满足设计任务要求。最后,对码垛机械手系统进行安装调试和试验结果分析,主要是完成对码垛机械手系统的安装调试工作,以及抓取包装盒的实验结果及分析。结果表明本次设计的码垛机械手系统性能良好,满足设计要求。
[Abstract]:With the development of science and technology and the improvement of productivity, people pay more and more attention to the reduction of labor intensity and the improvement of working environment. The product packaging on pipeline, such as household appliances, requires more and more quality and efficiency, while the traditional artificial packaging is low in efficiency and packaging quality. At present, most of the domestic automatic palletizing and packing manipulators are imported, and there are relatively few domestic manufacturers of automatic packing and palletizing manipulators. The domestic market also has a large demand for automatic packing and palletizing manipulators, and the contradiction between inefficient manual packing and increasing production in our country is becoming more and more serious. The research of automatic packing and palletizing manipulator has important economic benefits and practical significance.The palletizing manipulator system designed in this paper is mainly aimed at the small electric package packaged on pipeline, a small household appliance enterprise product. Packing boxes to carry out automatic packing work, It uses STM32 single chip computer as the control core and the Dada servo motor as the driving mechanism to control the motion of the four axes of the palletizing manipulator to complete the grasping and conveying of the small electrical packaging box. In this paper, the composition of the palletizing manipulator system and the design of the electrical system are given, the composition and working principle of each part of the palletizing manipulator system are introduced in detail, and the main circuit schematic diagram of the electric system of the palletizing manipulator is designed. In this paper, the design of the control system of palletizing manipulator is given, the principle block diagram of the control system of palletizing manipulator is designed, the hardware circuit of the control system of palletizing manipulator is designed, and the man-machine interactive system such as handheld manipulator and touch screen is designed. This paper introduces AC servo motor and servo driver. Thirdly, the control algorithm and software design of palletizing manipulator system are studied, and the mathematical model of palletizing manipulator control system is established. The packing scheme of palletizing manipulator system is designed, the RS-485 communication protocol between STM32 main control board and servo driver is introduced, the general program flow chart of palletizing manipulator control system and the subroutine flow chart of packing scheme are drawn. Each box center coordinates calculation subroutine flow chart, palletizing manipulator grab package box program flow chart and STM32 main control board send data subroutine flow chart. In this paper, the operating parameters of the palletizing manipulator system are analyzed, and the rated operating parameters of each shaft motor of the palletizing manipulator are given. The average time of placing a box at rated speed of each shaft motor of the palletizing manipulator and the time of completing the first packing work are calculated. Then, the average time of placing a box at a rated speed of 80% and the time of finishing the first packing work were calculated respectively for each shaft motor of the palletizing manipulator. Finally, it is analyzed that each shaft servo motor of the palletizing manipulator should be able to meet the design requirements when running at 60% or above rated speed. Finally, the installation and debugging of the palletizing manipulator system and the analysis of the test results are carried out. The installation and debugging of the palletizing manipulator system and the experimental results and analysis of grasping the packing box are completed. The results show that the palletizing manipulator system designed in this paper has good performance and meets the design requirements.
【学位授予单位】：辽宁科技大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：TP241;TP368.1

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