| At present,the small and medium-sized metal stamping products are mainly artificial production.The production environment and product uniformity are poor and the production efficiency is low,and there is still a great security risk.To improve the production mode of small and medium-sized metal stamping products,our research group regard the urgent needs of the enterprise as an opportunity to develop a special straight-type multi-working position carrying manipulator equipment which is suitable for the production and carrying of small and medium-sized metal products.To realize the automatic production of small and medium-sized metal products,further improved product uniformity and production efficiency,and reduce the cost of the system at the same time,the embedded control system of the manipulator is developed in this paper.Then the system is debugged and applied in the field.The paper mainly study the following aspects:1.The working Principle of straight-type multi-working position carrying manipulator equipment is expounded and field needs are analyzed.Then the functional requirements and performance index of the control system are summarized.2.Based on the modular design idea,the overall scheme of the embedded hardware system with the master and the slave C8051F020 chips system as the core and the industrial touch screen as the host computer is designed.Furthermore,the modular design of the embedded control system is carried out.Based on the design of modular hardware system,the software system is proposed,which is composed of seven modules: the main program,communication program,fault diagnosis and so on.3.The two key problems of process optimization and system precise positioning of straight-type multi-working position carrying manipulator equipment control system are analyzed and summarized.Found the stage of low efficiency through the process chart and time sequence analysis method.Then the process is optimized with the shortest process time,which meet the requirement of the system efficiency.The mathematical model of the system is established and analyzed,then the controller of feed-forward and feedback is designed and simulated by MATLAB.The simulation results show that the controller effectively improved the system stability and positioning accuracy.4.According to the overall scheme of the hardware system,the hardware system in different sub-modules is designed and developed.Software system was developed based on the software system scheme,and the key modules are described in detail,including master-slave communication program based on SPI bus and servo motor driver program.The communication program between lower and upper computer based on RS485 protocol is developed and a man-machine interactive system with fault diagnosis function is designed.5.The test Platform of the transition-manipulator is built and debugged,further is debugged and applied in the field.One-way movement and reciprocating motion test and the efficiency test are carried out.The test results show that the positioning accuracy of the system is within the allowable range of the error,which can meet the performance requirements of the system.And the production efficiency of the system could reach 30 per minute,and the qualified rate is above 98%,which meet the demand of the enterprise. |
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