Design Of Continuous Production Line For Disassembling Robot Control System

In order to achieve the transformation of the continuous production line automation of small workpieces,the enterprise greatly increased the needs of light load,low cost robot.For linear type distributor induction welding equipment,a small size,low cost robot is designed to realize the automatic disassembly welding function.This equipment can save manufacturing cost and improve production efficiency,which has good practical significance.The main content of this paper is to design a small robot control system to control the movement of the manipulator.This design uses the stepping motor and steering gear as manipulator joint motors,uses STM32F103VCT6 as the core control chip and uses the CAN bus as the communication transmission.According to the selection scheme,the hardware circuit design of the robot control system is completed,including STM32F103VCT6 controller circuit,CAN communication interface circuit,driving circuit of stepping motor,steering control circuit and so on.The hardware circuit schematic diagram and PCB drawing are completed by Altium Designer.The program design of the robot control system is completed,which includes upper computer operation interface program,CAN bus communication program and the joint motor control program.The program is written by Keil uVision and the operation interface of upper computer is made by Visual Studio.In order to achieve the precise control of the manipulator,the trajectory planning of the manipulator is studied,obtaining the relationship between the joint angle and the end effector position.After the joint debugging,the design of the robot control system meets the requirements.The robot achieves the function of changing the manual operation into automatic mechanical operation,which can effectively solve the shortage of relying on manual operation of the linear distributor induction welding equipment for welding operation.