| This topic comes from shenzhen Zhi-you company, aims to design a power lithium-ion battery pack assembly line, improves the efficiency of power lithium battery’s production, promotes power lithium batteries’ application in fields of electric cars, electric buses.The production line requires assembly manipulators can grab the workpiece on the hoisting mechanism quickly and accurately, and then assembles the whole power battery on the conveyor belt.In this paper,the current situation of research on assembly manipulators at home and abroad is introduced first, and then analyzes the production technological process and the functional requirements, sets up assembly manipulator control system hardware platform, and proposes the method of assembly manipulator accurately repeat positioning, designs the CAN communication protocols between upper computer and lower computer, designs the four axes motion controller based on ARM + motion control chip, compiles the motion control program of the manipulator, finally debugs and joint debugs the assembly manipulator.The details of research are as follows:1. Firstly, according to the technological process and function repuires of the whole production line, sets up the assembly manipulator control system hardware platform, selects the sensors, and the architecture of motion controller is determined.2. Secondly, uses the position servo control based on fuzzy PID control, S shape curve and laser sensor search improves the repositioning precision of the manipulators, and complete the manipulator control the parts of assembly.3. Refer to the CAN communication message frame format, this paper designs the CAN communication protocols between upper computer and lower computer, and defines the data information between upper computer and lower computer, to realize the data and production cycle management between upper computer and lower computer.4. The controller of the production line control system is designed by the pattern of ARM + motion control chip, according to the four axes motion controller based on LM3S9B96 + PCL6045 b,design the motion control applications for manipulator,to realize the control of the manipulator on the single work station.5. Finally, debugs and joint debugs the assembly manipulator, tests the repeated positioning precision of the manipulator, and puts forward the solution of the abnormal situations which appear in the process of debugging.At present, the installation of the assembly manipulators, hardware debugging of system and field control debugging of each work position have been complete and the assembly manipulator on ten work positions can perform the given actions. Meanwhile, the joint debugging of the whole assembly manipulator system is in process. |
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