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摘 要
傳統(tǒng)的工業(yè)機器人控制系統(tǒng)絕大多數(shù)是基于PC技術(shù)開發(fā)，但是，隨著嵌入式處理器性能的提高，這些領(lǐng)域的應(yīng)用將會逐漸被嵌入式系統(tǒng)所取代。本文基于ARMV7架構(gòu)的嵌入式處理器STM32實現(xiàn)對沖壓機器人的控制，并同時完成沖壓機器人機械本體的構(gòu)造。設(shè)計出具有較高自動化程度和動態(tài)性能的單臂沖壓機器人系統(tǒng)。
本設(shè)計創(chuàng)新點在于：（1）將32位嵌入式處理器STM32ZET6和嵌入式實時操作系統(tǒng)μC/OS-II引入到單臂沖壓機器人的控制當中，取代了傳統(tǒng)的PC、PLC控制系統(tǒng)，提高了系統(tǒng)的快速響應(yīng)能力且大大降低了成本。（2）利用FLASH斷電數(shù)據(jù)保持的特性，開發(fā)出簡易的示教控制系統(tǒng)，提高了沖壓機器人的環(huán)境適應(yīng)能力。
本設(shè)計充分貫徹了結(jié)構(gòu)化、模塊化的設(shè)計思路。首先根據(jù)沖壓機器人的設(shè)計要求確定出系統(tǒng)的總體方案，即，機械本體加嵌入式系統(tǒng)控制。然后，通過初步分析，將機械本體劃分為五大功能組件，即，機械臂組件、升降滑塊組件、升降支撐組件、回轉(zhuǎn)支撐組件和底部框架組件，而后，通過建立CAXA三維實體模型確定出機械本體的具體設(shè)計方案，并對設(shè)計尺寸進行初步的確定和產(chǎn)品選型。接下來，對控制系統(tǒng)進行了設(shè)計，控制系統(tǒng)被總體劃分為軟、硬件兩大設(shè)計部分。硬件設(shè)計部分被進一步細分為電源電路、通信電路、控制器電路三大模塊；軟件設(shè)計部分則被細分為 uC/OS_II操作系統(tǒng)、觸摸屏控制程序、復位程序、五路脈沖輸出、示教程序等五大模塊。最后，在完成模塊化劃分的基礎(chǔ)上，根據(jù)已有知識和現(xiàn)有產(chǎn)品對該單臂沖壓機器人項目進行詳細設(shè)計和選型。
關(guān)鍵詞：嵌入式；單臂沖壓機械人；STM32；示教系統(tǒng)；自動化
ABSTRACT
Most traditional industrial robot control system based on PC technology.However, with the improvement of embedded processor performance, applications in these areas will gradually be replaced by embedded systems. This article is based on the ARMV7 architecture embedded processor STM32 and construction of complete stamping at the robot mechanical body. Designs with a higher degree of automation and the dynamic performance is very good.The design’s innovation is: (1) Comebined the STM32ZET6 32-bit embedded processor with the embedded real-time operating system μ C/OS-II into the single-arm punching robot control, instead of the traditional PC, PLC control systems and improved system’s responsiveness while significantly reducing costs. (2) using FLASH’s data characteristic, developed a tutorial for a simple control system, improved stamping robot's ability to adapt to circumstances. Full implementation of this design is structured, modular design ideas. Firstly,Depending on the pushing robot's requirements to determine the general scheme of the system, namely, mechanical body、embedded system control. Then, by a preliminary mechanical analysis,the mechanical body is divided into five major functional components, namely, the Picker Assembly, lift the slider component, elevating support assemblies, Rotary bearing components and the bottom frame components, which, through the creation of CAXA three-dimensional entity model to determine the specific design of the mechanical body, and preliminary determination of design size and product selection. Next, the control system was designed control systems are generally divided into two major design software and hardware parts. Hardware design part is further subdivided into the power circuit, communication circuits, controller circuit, three modules; software design portion was subdivided for the uC/OS_II operating system, touch screen controls, reset procedure, five pulse outputs, demonstration program and other five modules. Finally, upon the completion of the modular division,Detailed designing and selectioning of the single-arm punching robot project is based on the existing knowledge and available products.
Keywords: embedded; single-arm punching robot;STM32;teaching systems;automation
目 錄
1 緒論 1
1.1設(shè)計背景及意義 1
1.2 工業(yè)機器人的國內(nèi)外研究現(xiàn)狀 1
1.2.1國內(nèi)研究現(xiàn)狀 1
1.2.2國外研究現(xiàn)狀 2
1.3設(shè)計完成的工作和創(chuàng)新點 3
1.3.2嵌入式控制系統(tǒng) 4
1.4存在的問題及后續(xù)設(shè)計展望 6
1.5論文總體結(jié)構(gòu) 6
2 總體方案設(shè)計 7
2.1系統(tǒng)總體簡介 7
2.2機械本體各部分設(shè)計方案及功能介紹 8
2.2.1機械臂組件 8
2.2.2回轉(zhuǎn)支承組件 8
2.2.3升降支撐組件 9
2.2.4升降滑塊組件 9
2.2.5 底部框架組件 10
2.3控制系統(tǒng)設(shè)計方案 10
2.3.1嵌入式系統(tǒng)硬件 10
2.3.2嵌入式系統(tǒng)軟件 10
2.4本章小結(jié) 11
3 關(guān)鍵部位的選型與校核 12
3.1回轉(zhuǎn)支撐組件部分 12
3.1.1電機M1及其減速機的選型與校核 12
3.1.2推力球軸承靜載荷校核 15
3.1.3螺釘校核 16
3.1.4聯(lián)軸器鍵校核 17
3.2機械臂組件部分 18
3.2.1絲杠1選型與計算 18
3.2.2電機M4選型與校核 20
3.3升降支撐組件部分 22
3.3.1絲杠2的選型與計算 22
3.4升降滑塊組件部分 23
3.4.1電機M3及其減速機的選型與校核 23
3.4.2齒輪校核 25
3.5本章小結(jié) 27
4 控制系統(tǒng)設(shè)計 28
4.1嵌入式硬件系統(tǒng)方案 28
4.1.1電源電路 28
4.1.2 控制器電路 28
4.1.3通信電路 32
4.2嵌入式軟件系統(tǒng)方案 33
4.2.1 uC/OS_II操作系統(tǒng) 33
4.2.2 觸摸屏控制程序 35
4.2.3 復位程序 36
4.2.4 五路脈沖輸出 36
4.2.5 示教程序 36
5 結(jié)論與展望 37
參考文獻 39
附錄1 程序流程圖 40
附錄2 主程序 42
附錄3 控制器原理圖 46
翻譯 47
英文原文 47
中文翻譯 60
8. 參考文獻 70
致 謝 71