摘要云台是安装、固定摄像头的一种装置，其主要应用于安防监控等场所。设计出一种体积小、结构简单、价格低廉的云台对社会具有极大的意义。本文主要对云台的机械结构部分进行设计，让云台拥有体积小、质量轻的特点。水平方向的执行机构为齿轮机构，竖直方向的执行机构为曲柄摇杆机构，并用Solid Works对设计的机械结构进行三维仿真。水平方向和竖直方向均采用步进电机作为本系统的驱动部件，检测机构主要使用了价格低廉的增量式光电编码器，来进行速度和位置的控制。鉴于要求云台体积小、质量轻、价格低，又要能够精准的控制，则选用单片机作为本系统的控制器。46030
在执行机构、驱动机构、检测机构、控制机构等的组成下，XYZ三坐标云台便形成了一个有效的、智能的机电一体化产品。
毕业论文关键词：云台；AT89C51；机电一体化；步进电机
Abstract This article mainly to the mechanism part which rapes carries on the design, namely from the horizontal motion organization and the vertical motion organization which rapes carries on the analysis and the design, lets rape has the volume slightly, the quality light characteristic.
XYZ three to the mechanism which rapes mainly includes parts and so on implementing agency.The horizontal direction implementing agency is the gear mechanism, the vertical direction implementing agency for the crank rocker organization, and carries on the three dimensional simulation with Solid Works to the design mechanism.The horizontal direction and the vertical direction use step-by-step the electrical machinery to take this system the actuation part, actuates the implementing agency to complete each movement.The examination organization has mainly used the price inexpensive increase type photoelectricity encoder.In view of the fact that requests to rape the volume slightly, the quality light, the price is low, also must be able the fine accurate control, then selects the monolithic integrated circuit to take this system the controller.
In view of in the intellectualized development characteristic which rapes, this article requests to rape can in the greater angle scope the movement, and has the better localization accuracy and the speed regulation, this requests XYZ three to rape has a good control system.
Key word: Raping; AT89C51; Integration of machinery; Step-by-steps the electrical machinery;
目 录
第一章 绪论 1
1.1引言 1
1.2云台的研究意义 1
1.3课题综述 1
第二章 XYZ三坐标云台的机械结构设计 3
2.1引言 3
2.2 XYZ三坐标云台的机械结构设计 3
2.2.1XYZ三坐标云台传动机构的选择 3
2.2.2XYZ三坐标云台受力分析 4
2.2.3XYZ三坐标云台水平方向机械结构设计 5
2.2.4XYZ三坐标云台俯仰方向机械结构设计 8
2.3本章小结 9
第三章 XYZ三坐标云台的控制系统设计 12
3.1引言 12
3.2运动过程分析 12
3.3 XYZ三坐标云台驱动部件的选择 13
3.3.1电机的选择 13
3.3.2步进电机的选型 14
3.3.3驱动器的选型 14
3.4 XYZ三坐标云台检测装置的选择 15
3.4.1速度控制 15
3.4.2位置控制 15
3.5 XYZ三坐标云台的控制器的选择： 16
3.6单片机控制原理 17
3.7 XYZ三坐标云台系统硬件连接图 17
3.8 XYZ三坐标云台的软件系统设计 19 SolidWorks的XYZ三坐标云台系统设计+CAD图纸:http://www.youerw.com/jixie/lunwen_47674.html