Design On Robot Arm Based Bottle-Cap Rolling Machine

Bottle Rolling Machine is a kind of packaging machine. It is usually used in fruit tins packing. We usually use bottle rolling machines to seal glass bottles or PET (polythylene terephthalate) bottles. The most usual bottle rolling machines we can find in the market are straight-line bottle rolling machine and screw bottle rolling machine. There are many disfigurements with straight-line bottle rolling machine. Its rolling moment is hard to control, and it tends to break bottles especially glass bottles. This thesis aims at these disfigurements and then improves the quality of bottle rolling machine. It bases on a project with Hunan Yongzhou Xike Food Corp. A new type of bottle rolling machine will be showed here.The new type of bottle rolling machine described in this paper is called Manipulator Bottle Rolling Machine. It uses several motors to complete the movements of bottle rolling. One of the motors is used to snatch bottle covers, while another is used to roll bottle covers. Its controlling precision is achieved by watching and controlling the motor current. The machine can adjusts the strength of snatching bottles and the moment of rolling, then achieves an optimize control.The key of this new type bottle rolling machine is the controlling circuit and motor driving circuit and the arithmetic of motor movement. Considering the advantage of brushless DC motor, I choose brushless DC motor to design this new machine. If you use brushless DC motor in your project, wastage will be less, capability will be much bigger, interference will smaller, and product life will be longer. Meanwhile, the product will be smaller in size, lighter in weight, more accurate in controlling precision. In this paper, I use three-phase full-bridge motor driving way to drive motors, and use light-electron coder to detect the position of a motor.During this design of Manipulator Bottle Rolling Machine, I attempt using RTOS (Real Time Operate System) in real time system design and combining embedded system design and RTOS application. After introducing embedded in detail, I analyze device selecting rules, then design the hardware of Manipulator Bottle Rolling Machine and debug it. When design software, I am using TOS uC/OS-II. This paper not only expresses the theory of RTOS, but also discusses how to use RTOS in real projects. It would be good for common electronic equipment design.In order to achieve optimize control, when I design the motor controlling arithmetic, I use fuzzy control in this project. Fuzzy control is not based on accurate model of designing objects. What we shall do is gathering up controlling experiences and designing a fuzzy control table. To design such a complex system like Manipulator Bottle Rolling Machine, it is good to use fuzzy control.