基于单片机控制的工业机械手控制系统设计 摘要 目录

摘要【摘要】工业机械手是近几十年发展起来的一种高科技自动生产设备。工业机械手也是工业机器人的一个重要分支。他的特点是可以通过编程来完成各种预期的作业，在构造和性能上兼有人和机器各自的优点，尤其体现在人的智能和适应性。机械手作业的准确性和环境中完成作业的能力，在国民经济领域有着广泛的发展空间。机械手的发展是由于它的积极作用正日益为人们所认识：其一、它能部分的代替人工操作；其二、它能按照生产工艺的要求，遵循一定的程序、时间和位置来完成工件的传送和装卸；其三、它能操作必要的机具进行焊接和装配，从而大大的改善了工人的劳动条件，显著的提高了劳动生产率，加快实现工业生产机械化和自动化的步伐。因而，受到很多国家的重视，投入大量的人力物力来研究和应用。尤其是在高温、高压、粉尘、噪音以及带有放射性和污染的场合，应用的更为广泛。在我国近几年也有较快的发展，并且取得一定的效果，受到机械工业的。机械手是一种能自动控制并可从新编程以变动的多功能机器，他有多个自由度，可以搬运物体以完成在不同环境中的工作。机械手的结构形式开始比较简单，专用性较强。随着工业技术的发展，制成了能够独立的按程序控制实现重复操作，适用范围比较广的“程序控制通用机械手”，简称通用机械手。由于通用机械手能很快的改变工作程序，适应性较强，所以它在不断变换生产品种的中小批量生产中获得广泛的引用。ABSTRACTManipulatorhandandarmcanimitatethecertainmovementsfunction,accordingtofixedprogramtograb,transportingoroperatingtoolforautomaticoperationofthedevice.Itcanreplacethehardlaborinordertorealizepeoplethemechanizationofmanufacturingandautomation,caninharmfulenvironmentoperationtoprotectthepersonalsafetyandsowidelyused.Thetypeofmanipulator,accordingtodrivemodecanbedividedintohydraulic,pneumatic,electricandmechanicalmanipulator;Accordingtoapplicablerangecanbedividedintorobotsforandgeneralmanipulatortwo;Accordingtothetrajectorycontrolmodecanbedividedintopositioncontrolandcontinuoustrackcontrolrobots.Thedesignofthemanipulatorandaddplanerotationtypeandstructure,theactionofthemanipulatorbypneumaticcylinderdriving,pneumaticcylinderofthecorrespondingelectromagneticvalvetocontrol,electromagneticvalvecontrolledbyMCU.Drivetheimplementationofthecomponentfinish,canveryconvenientembeddedinallkindsofindustrialproductionline.ManipulatorusedMCUcontrol,andhashighreliability,changeprogramflexible,andotheradvantages,whetherfortimecontrolortravelcontrolormixedcontrol,canbesettorealizethroughMCUprogram.Accordingtotheorderofthemanipulatoractioncanmodifytheprogram,sothatmoreofthemanipulatorstronggenerality.Keywords:manipulatorelectromagneticvalveMCU目录第一章绪论································································11.1机械手的概述······························································1第二章机械手总体方案的设计··············································32.1机械手的基本结构··························································32.2机械手的控制要求··························································42.3机械手的控制方案设计······················································52.4机械手的手部结构··························································5第三章机械手硬件电路设计················································63.1单片机模块······························································· 63.2矩阵按键模块······························································93.3串口通信模块·····························································10第四章单片机总程序设计··················································11第五章系统调试···························································11第六章总结·······························································12谢辞····························································