基于Cortex-M0与Galil卡的织补机器人设计

Design of Darn Robot Based on Cortex-M0 and Galil Controller

针对草坪毯生产过程中容易出现直线状缺纱、漏纱缺陷,以及传统草坪毯的修补工作一般由人工配合完成,需要较多人力及较长时间,且存在安全隐患问题,文中设计了一种基于嵌入式Cortex-M0与Galil控制器的织补机器人系统。详细介绍系统的机械结构设计,研究并分析工业摇杆、串口屏、Galil控制器与M0的通信方法和CAN总线各节点间的通信,同时介绍通信板的设计与Galil控制器的电器设计。通过软件完成RS-232串口数据与CAN总线数据的转化并由通讯板网络进行数据的接收、转换与发送,实现由摇杆和串口屏作为终端控制器,并通过通讯板控制Galil控制器实现电动机的回零、移动、定位等功能。该系统可以稳定运行,有效降低了劳动强度并提高了工作效率与质量。

Aiming at the problems that it＇s easy to have line-shaped defects such as lack of yarn and missing yarn in the production process of lawn carpet, and the repair work of traditional lawn carpet is generally done by hand, which takes more manpower and longer time and also has safety problems, this paper designs a system of darn robot based on embedded Cortex-M0 and Galil controller. The mechanical structure design of the system is in- troduced in detail. The communication between industrial rocker, serial port screen, Galil controller and Cortex- M0, and the communication among all nodes of CAN bus are studied and analyzed. The design of communication circuit panel and electrical design of Galil controller are also introduced. Through the conversion between RS-232 serial data and CAN bus data by software and data receiving, converting and sending by communication panel net- work, the rocker and serial port screen are used as terminal controller, and the Galil controller is controlled by communication panel to realize zeroing, moving and locating function of motor, which can run stably and reduces the labor intensity and improves the work efficiency and quality effectively.