单臂机器人-冲压机械手及嵌入式机器人控制系统机械CAD图纸设计.doc

摘 要 传统的工业机器人控制系统绝大多数是基于PC技术开发，但是，随着嵌入式处理器性能的提高，这些领域的应用将会逐渐被嵌入式系统所取代。本文基于ARMV7架构的嵌入式处理器STM32实现对冲压机器人的控制，并同时完成冲压机器人机械本体的构造。设计出具有较高自动化程度和动态性能的单臂冲压机器人系统。 本设计创新点在于：（1）将32位嵌入式处理器STM32ZET6和嵌入式实时操作系统μC/OS-II引入到单臂冲压机器人的控制当中，取代了传统的PC、PLC控制系统，提高了系统的快速响应能力且大大降低了成本。（2）利用FLASH断电数据保持的特性，开发出简易的示教控制系统，提高了冲压机器人的环境适应能力。 本设计充分贯彻了结构化、模块化的设计思路。首先根据冲压机器人的设计要求确定出系统的总体方案，即，机械本体加嵌入式系统控制。然后，通过初步分析，将机械本体划分为五大功能组件，即，机械臂组件、升降滑块组件、升降支撑组件、回转支撑组件和底部框架组件，而后，通过建立CAXA三维实体模型确定出机械本体的具体设计方案，并对设计尺寸进行初步的确定和产品选型。接下来，对控制系统进行了设计，控制系统被总体划分为软、硬件两大设计部分。硬件设计部分被进一步细分为电源电路、通信电路、控制器电路三大模块；软件设计部分则被细分为 uC/OS_II操作系统、触摸屏控制程序、复位程序、五路脉冲输出、示教程序等五大模块。最后，在完成模块化划分的基础上，根据已有知识和现有产品对该单臂冲压机器人项目进行详细设计和选型。 ：嵌入式；单臂冲压机械人；STM32；示教系统；自动化  ABSTRACT Most traditional industrial robot control system based on PC technologywever, 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 robots ability to adapt to circumstances. Full implementation of this design is structured, modular design ideas. Firstly,Depending on the pushing robots 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 assemblie