摘要机械手是提高劳动生产率，改善劳动条件，减轻工人劳动强度和实现工业生产自动化的一个重要手段，目前正被广泛应用于工业生产。
本课题主要设计一种X-Y两轴螺钉自动装配机械手，能够使螺钉在平面上按照要求自动装配螺钉。论文研究以X-Y两轴机械手和螺钉装配装置研究为主体，利用可编程控制器作为控制系统的主要控制单元，利用工业控制技术，实现螺钉装配机的全自动控制。采用步进电机和伺服电机相结合的控制方法装配螺钉，使得装配螺钉的速度快，定位精确；拧螺钉效率高。论文首先简要介绍了自动螺钉装配机械手的控制系统及其实现，然后对各部分的结构、功能、工作流程等进行了说明，最后完成电气原理图的设计制作，二维移动机械手的PLC的控制编程及控制系统的实现。从而实现螺钉能在平面上按照要求自动装配到螺纹孔板上，而实现系统的自动化要求。46303
毕业论文关键词：机械手；螺钉装配装置；PLC；传感器；
ABSTRACT
The mechanical hand is to improve labor productivity, improve working conditions, reduce the labor intensity of workers and an important means to realize the automation of industrial production, is currently being widely applied to industrial production
This subject mainly design a X-Y screw automatic assembly machine hand, can make the screw in the plane according to the requirements of automatic assembly screws. Research papers to X-Y mechanical hand and screw assembly device research as the main body, the use of programmable controller as the main control unit of the control system, using industrial control technology, the realization of full automatic control of screw assembly machine. The combination of stepping motor and servo motor is used to assemble the screw, which makes the assembly screw fast and accurate. At first, the paper introduces the automatic screw assembly manipulator control system and its implementation, then the part of the structure, function, the work flow and so on are described, finally complete electrical principle diagram design, 2D mobile manipulator PLC control programming and control system implementation. In order to achieve the screw can be automatically assembled on the plane according to the requirements of the threaded hole plate, and realize the automation of the system requirements.
Keywords: manipulator; screw assembly device; PLC; sensor;
目  录
第一章 绪论    1
1.1机械手概述    1
1.2机械手国内外发展情况及差距    2
1.3 课题研究的背景及意义    3
第二章  总体方案设计    4
第三章  机械方案设计    5
3.1 X-Y两轴机械手的设计    6
3.1.1机械手支架    6
3.1.2滚珠丝杠选型    6
3.1.3滚动轴承型号选择计算    7
3.1.4步进电机选型    9
3.2螺钉装配装置    10
3.2.1气缸的选型    10
3.2.2伺服电机的选型    10
第四章  控制系统设计    12
4.1控制原理    12
4.2控制系统硬件选型    12
    4.2.1控制器的选择：    12
    4.2.2检测元件的选择：    13
            4.2.3驱动元件的选择：    14
4.3控制系统程序设计    15
4.3.1程序流程图的设计    15
4.3.2系统硬件连接图    16
4.3.3输入输出分配表    17
4.3.4梯形图    18
第五章 结束语    24 PLC的xy两轴螺钉自动装配机械手系统设计+CAD图纸+梯形图:http://www.youerw.com/jixie/lunwen_47980.html