上下料机械手通用控制系统的设计与开发

Design and Development of Loading- and Unloading-Manipulator Universal Control System

摘要:

随着工业化和“机器换人”的全面发展，工业机械手在其中扮演着不可或缺的角色，而控制系统作为机械手的核心部件之一，其性能也十分重要。基于STM32微处理器，设计开发了一款上下料机械手通用控制系统，系统由运动控制器和手持示教器两部分构成。运动控制器实现对机械手的高精度运动控制，搭载有脉冲驱动和总线驱动两种模式，重复定位精度可达0.01 mm，运行速度可达2 m/s。手持示教器用于实现人机交互功能，采用7寸触摸液晶屏，设计了全中文界面，可根据不同的生产工艺流程在线编写控制程序，并进行实时示教，触控响应时间最小可达0.08 s，保证了控制器的通用性和便捷性。此外，还开发有程序存储、系统离线升级、安全监测、物料码垛等功能。本系统具有良好的市场应用价值，同时为机械手通用控制系统的设计与开发提供了较好的参考价值。

Abstract:

Industrial manipulators become an indispensable part in the industrialization and "Machine Substitution" process. The control system of the manipulator is also very important, which is one of the core components. Aim at this circumstance, a universal control system of loading- and unloading-manipulator is designed and developed based on STM32 microprocessor. The control system has two parts: a motion controller and a handheld teaching box. The motion controller is used to achieve high-precision motion control of the manipulator, and there are two driving modes are designed, which are pulse mode and bus mode. The repeated positioning precision is 0.01 mm and the maximum velocity is 2 m/s. The handheld teaching box is a man-machine interaction interface and is designed with Chinese character based on a 7 inch LCD. It can write programs online according to the production process and teaching the programs in real time, and the minimum response time is 0.08 s, which has an excellent universality and convenience. On the other hand, program storage, offline system upgrading, safety monitoring, product stacking, and other functions are also designed in the control system. The control system has a good market application value and can provide a positive reference for the design and development of universal manipulator control systems.