毕业设计（论文）-单片机注塑机械手控制系统设计.doc

注塑机械手控制系统 Injection molding robot control system 摘要 1954年，美国人乔治·德沃尔设计了第一台电子可编程的工业机器人，并与1961年发表了该项机器人专利。从此以后，随着机器人技术的发展和知识经济的出现，工业机器人在现代制造业中起着越来越大的作用，机械手的设计和改进日益受到人们的关注。注塑机械手是现代产品制造业中主要加工设备之一，是成型塑料制品的专用设备。随着注塑工业的快速发展，对工厂自动化程度要求越来越高，对注塑机械手的要求程度也越来越高。 本文主要围绕注塑机取模机械手的控制系统展开论述，采用直接控制结构，完成了硬件电路设计，包括输入输出通道、伺服电机控制、存储器扩展、机械臂定位等设计。整个控制系统结构简洁，功能强大。 本文首先介绍了目前的住宿取模机械手的现状和存在的问题，分析了不同类型的注塑机械手采用的不同硬件结构，提出了本文所介绍的采用单片机作为CPU的注塑机机械手控制系统。 此注塑机机械手控制系统采取了直接控制结构，针对不同功能，采用模块化的电路设计，本文主要介绍主控板部分的电路设计。 关键词：单片机；注塑机取模机械手：自动化 Abstract 1954，George Devol, an American people designed the fist programmable robot. Later the first robot manipulator patent was published by US patent and Trademark Office. Since then, with the development of the robot technology and the emergence of the knowledge economy, industrial robots play a very important role in the modern manufacturing in the 21st century more and more attention is paid to the design and improvement of industrial robots. Injection molding robot manufacturing of modern products, one of the major processing equipment is special equipment for molding plastic products. With the injection molding industry, rapid development of increasingly high demand for factory automation, the requirements of injection molding machinery hand higher and higher levels. This paper mainly focus modulo robotic injection molding machine control system to start discussion, the use of direct control of the structure, complete hardware design, including the input and output channel, servo motor control, memory extension, arm positioning design. The whole control system structure is simple and powerful. This paper introduces the current accommodation robot modulo the current situation and problems of the different types of injection of different robot hardware used in the structure described in this article proposes the adoption of SCM as the CPU of the injection molding machine manipulator control system. The injection molding machine control system to take a direct hand con