机械毕业设计-机械论文-螺母生产线的智能码垛机械臂优化设计最终版

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题目：螺母生产线的智能码垛机械臂优化设计

子题：

摘要

在工业自动化进程不断推进的背景下，螺母生产线对高效、精准的智能码垛机械臂

需求日益迫切。本研究聚焦于螺母生产线智能码垛机械臂的优化设计，旨在通过机械结

构与控制系统的协同改进，提升生产线的自动化水平与生产效率。

本设计选取机械结构设计方面，末端执行器采用杠杆滑轨式液压手指，配合圆弧形

夹爪实现对不同尺寸棒料的稳定夹持，通过液压缸驱动力计算与受力分析，验证了夹持

力满足负载要求。X 轴与 Z 轴传动机构均采用滚珠丝杠副搭配直线导轨的形式，伺服电

机驱动确保运动精度，其中 X 轴选用 SFV03220-2.7 型丝杠，Z 轴选用 SFV08020-7.6

型丝杠，并完成了电机选型、丝杠刚度校核及导轨选型等关键步骤。旋转基座采用齿轮

传动，普通电机驱动，通过直齿圆柱齿轮设计与主轴强度校核，实现了 270° 旋转范围

内的精准定位。控制系统设计以西门子 S7-200 PLC 为核心，构建了手动与自动双模式

控制逻辑。通过 I/O 地址分配与外部接线设计，实现了对 X 轴、Z 轴伺服电机及液压

手爪电磁阀的协同控制，梯形图程序设计确保了机械臂按既定节拍（单个循环 32s）完

成上料、下料及码垛动作。经测试，机械臂直线位移定位精度达 ±0.1mm，旋转位移定

位精度达 ±0.2°，满足生产线节拍与精度要求。

研究结果表明，优化后的智能码垛机械臂显著提升了螺母生产线的自动化程度，降

低了人工劳动强度，为同类生产线的机械臂设计提供了理论参考与工程借鉴。未来可进

一步优化关节限位控制与轨迹规划算法，以提高机械臂的可靠性与作业柔性。

关键词：智能码垛；机械臂；圆柱坐标；伺服控制；单片机

Abstract

In the context of continuous advancement in industrial automation, there is an increasing

demand for efficient and precise intelligent palletizing robotic arms in nut production lines. This

study focuses on the optimized design of intelligent palletizing robotic arms for nut production

lines, aiming to enhance the level of automation and production efficiency through the

coordinated improvement of mechanical structure and control systems. The design selected the

mechanical structure design aspect, with the end effector using a lever rail hydraulic finger,

combined with an arc-shaped gripper to achieve stable clamping of rods of different sizes.

Through the calculation of hydraulic cylinder driving force and force analysis, it was verified

that the clamping force meets the load requirements. Both the X-axis and Z-axis drive

mechanisms adopt ball screw pairs combined with linear guides, with servo motors ensuring

motion precision. The X-axis uses the SFV03220-2.7 type screw, while the Z-axis uses the

SFV08020-7.6 type screw, completing key steps such as motor selection, screw stiffness

verification, and guide rail selection. The rotating base uses gear transmission driven by a

standard motor, achieving precise positioning within a 270-degree rotation range through the

design of straight cylindrical gears and main shaft strength verification. The control system

design centers around the Siemens S7-200 PLC, constructing manual and automatic dual-mode

control logic. Through I/O address allocation and external wiring design, it achieves coordinated

control of the X-axis and Z-axis servo motors and the hydraulic hand claw solenoid valve.

Ladder diagram program design ensures that the robotic arm completes loading, unloading, and

palletizing actions according to the set rhythm (a single cycle of 32 seconds). After testing, the

robotic arm's linear displacement positioning accuracy reaches ±0.1mm, and the rotational

displacement positioning accuracy reaches ±0.2°, meeting the production line's rhythm and

precision requirements. The research results indicate that the optimized intelligent palletizing

robotic arm significantly enhances the degree of automation in nut production lines, reduces

labor intensity, and provides theoretical reference and engineering inspiration for similar robotic

arm designs in other production lines. In the future, joint limit control and trajectory planning

algorithms can be further optimized to improve the reliability and operational flexibility of the

robotic arm.

Key Words ：Intelligent palletizing; robotic arms; cylindrical coordinates; servo control; one-

chip computer

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摘要：

题目：螺母生产线的智能码垛机械臂优化设计子题：摘要在工业自动化进程不断推进的背景下，螺母生产线对高效、精准的智能码垛机械臂需求日益迫切。本研究聚焦于螺母生产线智能码垛机械臂的优化设计，旨在通过机械结构与控制系统的协同改进，提升生产线的自动化水平与生产效率。本设计选取机械结构设计方面，末端执行器采用杠杆滑轨式液压手指，配合圆弧形夹爪实现对不同尺寸棒料的稳定夹持，通过液压缸驱动力计算与受力分析，验证了夹持力满足负载要求。X轴与Z轴传动机构均采用滚珠丝杠副搭配直线导轨的形式，伺服电机驱动确保运动精度，其中X轴选用SFV03220-2.7型丝杠，Z轴选用SFV08020-7.6型丝杠，并完成了电机选型...

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