摘要【摘要】工業(yè)機(jī)械手是近幾十年發(fā)展起來的一種高科技自動生產(chǎn)設(shè)備。工業(yè)機(jī)械手也是工業(yè)機(jī)器人的一個重要分支。他的特點是可以通過編程來完成各種預(yù)期的作業(yè)，在構(gòu)造和性能上兼有人和機(jī)器各自的優(yōu)點，尤其體現(xiàn)在人的智能和適應(yīng)性。機(jī)械手作業(yè)的準(zhǔn)確性和環(huán)境中完成作業(yè)的能力，在國民經(jīng)濟(jì)領(lǐng)域有著廣泛的發(fā)展空間。機(jī)械手的發(fā)展是由于它的積極作用正日益為人們所認(rèn)識：其一、它能部分的代替人工操作；其二、它能按照生產(chǎn)工藝的要求，遵循一定的程序、時間和位置來完成工件的傳送和裝卸；其三、它能操作必要的機(jī)具進(jìn)行焊接和裝配，從而大大的改善了工人的勞動條件，顯著的提高了勞動生產(chǎn)率，加快實現(xiàn)工業(yè)生產(chǎn)機(jī)械化和自動化的步伐。因而，受到很多國家的重視，投入大量的人力物力來研究和應(yīng)用。尤其是在高溫、高壓、粉塵、噪音以及帶有放射性和污染的場合，應(yīng)用的更為廣泛。在我國近幾年也有較快的發(fā)展，并且取得一定的效果，受到機(jī)械工業(yè)的。機(jī)械手是一種能自動控制并可從新編程以變動的多功能機(jī)器，他有多個自由度，可以搬運物體以完成在不同環(huán)境中的工作。機(jī)械手的結(jié)構(gòu)形式開始比較簡單，專用性較強(qiáng)。隨著工業(yè)技術(shù)的發(fā)展，制成了能夠獨立的按程序控制實現(xiàn)重復(fù)操作，適用范圍比較廣的“程序控制通用機(jī)械手”，簡稱通用機(jī)械手。由于通用機(jī)械手能很快的改變工作程序，適應(yīng)性較強(qiáng)，所以它在不斷變換生產(chǎn)品種的中小批量生產(chǎn)中獲得廣泛的引用。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目錄第一章緒論································································11.1機(jī)械手的概述······························································1第二章機(jī)械手總體方案的設(shè)計··············································32.1機(jī)械手的基本結(jié)構(gòu)··························································32.2機(jī)械手的控制要求··························································42.3機(jī)械手的控制方案設(shè)計······················································52.4機(jī)械手的手部結(jié)構(gòu)··························································5第三章機(jī)械手硬件電路設(shè)計················································63.1單片機(jī)模塊······························································· 63.2矩陣按鍵模塊······························································93.3串口通信模塊·····························································10第四章單片機(jī)總程序設(shè)計··················································11第五章系統(tǒng)調(diào)試···························································11第六章總結(jié)·······························································12謝辭····························································