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Design of improved double-station screw fastening robot
Published:2020-03-31 author:SHI Xiao-shi, YAO Ya-chuan, DONG Lin-lu, TIAN Wan-chun, WU Hao-han Browse: 1879 Check PDF documents
Design of improved double-station screw fastening robot
SHI Xiao-shi, YAO Ya-chuan, DONG Lin-lu, TIAN Wan-chun, WU Hao-han
(Sichuan Key Laboratory of Artificial Intelligence, Sichuan University of
Science & Engineering, Yibin 644004, China)
Abstract: Aiming at the inefficiency of fastening screw on productive line and difficulty of obtaining the coordinates of workpiece-s screw holes by existing robots for fastening screw, a double-station robot based on STM32 ARM Cortex-M3 core MCU for fastening screw was proposed. Through the file control chip, the coordinates of the workpiece-s screw holes contained in the drawing file was extracted automatically, and the motor speed was sampled and quantified by S-type speed control algorithm, at the same time it was controlled in seven different stages. Combining this design with the actual productive experience to optimize the fastening path, the happening of warp of the workpiece was avoided. Finally, industrial touch screen was introduced to build the HMI system by using Modbus protocol, which improved the efficiency of man-machine interaction. The experimental results indicate that the efficiency of fastening workpiece-s screw improves a lot. The efficiency of the improved double-station robot for fastening screw is about 95.3%, and the successful rate is as high as 99.2%.
Key words: file control chip; DXF file; S-type speed control; HMI system; lock path optimize
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