基于μcos-ii的磁电机焊锡机器人控制系统设计与分析-design and analysis of control system of magneto solder robot based on μ cos - ii.docxVIP

ABSTRACTPresently, majority of magneto coil welding for motorcycle manly is manual, with low welding efficiency and welding accuracy. Universal solder robot ,because of itslarge occupied space and high price，its penetration rate is not high in the file ofmagneto coil welding. in order to realize the automation for solder process. The special robot use Cartesian coordinate axis as its main parallelogram structure, positioning workpiece of magneto through four axis moving..To meet the needs of welding work between lug and wires of the magnetic motor in the case of high-speed movement, this paper elaborate the choice and frame of control system based on overall analysis of the system. At the centre of control system for magnetic motor soldering machine ,this paper put forward solutions and means of achieving for robot body design, analysis and selection of solder controller, the robot motion control design, HIM system design , through the demand design of the overall .This project has build and debug peripheral circuits such as the power module circuit, communication modules , memory expansion module interface circuit , stepper output circuit, switch interface circuit, the system clock circuit and communicationserial circuit . And then began to software design. On the side of software，this project ,combining with The characteristics of dedicated soldering robot, developed a dedicated robot control system for soldering machine welding, which is based on STM32F103VB of ARM and μC/OS-II. Though the in-depth study on the principle of magneto welding, this project makes welding motion process to prepare software process plan. Afterwards it embedded software system around the chip STM32F103VB.Afterprogramming the start code of μC/OS-II ，transplanting system and programmingapplication code. This paper finished structure design for the code of motion control system. Among these, the most major work are embedded code transplants, speed control of stepper motor