Palletizing Robot Control System Based On STM32 Microcontroller In The Research And Design

With the development of science and technology to improve productivity levels, there is growing attention to reduce labor intensity and improve the working environment. Food, medicine, home appliances and other products packaging line on the quality and efficiency of the increasingly high demand, and the traditional manual packaging and packaging quality due to low efficiency, can not meet the requirements of modern production. Currently automatic palletizing robot boxing mostly imported and domestic auto manufacturers packing palletizing robot is relatively small, the domestic market demand for automated packing palletizing robot is relatively large, low efficiency of manual loading contradictions box palletizing and increasing yields between growing, making the study of automatic packing palletizing robot has important economic and practical significance.This design palletizing robot system is mainly for a small household electrical appliance enterprises packaging finished product line of small appliances for automatic packing boxes work, based STM32 microcontroller core and to reach the servo motor drive mechanism for controlling robotic palletizing the four-axis movement to complete the small electrical box of capture, transport, packing work.Firstly, given the composition and electrical system design palletizing robot system, detailing the composition and working principle of each part palletizing robot system designed palletizing robot main circuit electrical system schematics.Secondly, this paper palletizing robot control system design, the design of the palletizing robot control block diagram of the system is designed palletizing robot control system hardware circuit, designed handheld operating system and touch screen interactive system, describes the AC servo motor and servo drives.Again, this paper presents the palletizing robot control system algorithm research and software design, mainly the establishment of a mathematical model palletizing robot motion control system designed packing palletizing robot system solutions, introduced the STM32 main control board and servo RS-485 communication protocol between drives, to map out the overall program palletizing robot control system flow chart, packing program subroutine flow chart, the position coordinates of the center of each box calculation subroutine flow chart, palletizing robot crawling packaging box program flow as well as the main control board STM32 routine sends data flow diagram.Then, the paper palletizing robot system operating parameters are analyzed. Rated operating parameters are given for each axis palletizing robot motors, calculated placed under each axis palletizing robot motor rated speed of a box and the average time to complete a packing working hours, and then were calculated palletizing robot 50% of each axis motor, 60%, the average time to place a pack and the amount of time to complete a packing work at 80% of rated speed, the final analysis of the palletizing robot each axis servo motor speed should be rated at 60% or more when running under the design can meet mission requirements.Finally, palletizing robot system installation and test results, notably the completion of installation and commissioning work on robotic palletizing systems, and grab the experimental results and analysis of the box. The results show that good design of the palletizing robot system performance to meet the design requirements.