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Multi-joint robot

Overview
The multi-joint manipulator model consists of mechanical and electrical parts. The mechanical part consists of a chassis, five joints and a pneumatic gripper. The mechanical transmission system uses mechanical parts such as screw rods and positioning rods; the electrical control uses PLC, switching power supply, stepper motor, drive module and sensor and other technologies. The device is suitable for engineering practice experimental equipment such as graduation design, curriculum design, and internship experiments for students of colleges and technical secondary schools. Its PC-based programming (multi-axis linkage) can be used as a graduate graduation design project. ( Teaching Equipment | Teaching Instruments )

教学机械手、多关节机械手

Definition of each interface
1. Interface of automatic control signal and main circuit board (J1); PLC controlled input / output (I / O)

IDC26

DB25

Features

I / O

Comment

1

1

GND

Ground

2

2

GND

3

3

S1

X20

Joint 1 limit position signal

4

4

S2

X21

5

5

S3

X22

Joint 2 limit position signal

6

6

S4

x23

7

7

S5

X24

Joint 3 limit position signal

8

8

S6

X25

9

9

S7

X26

Joint 4 limit position signal

10

10

S8

X27

11

11

S9

X6

Joint 5 limit position signal

12

12

S10

X7

13

13

CP1

Y20

Joint 1 stepper motor signal (stepping pulse and direction level)

14

14

DIR1

Y21

15

15

CP2

Y22

Joint 2 stepper motor signal (stepping pulse and direction level)

16

16

DIR2

Y23

17

17

CP3

Y24

Joint 3 stepper motor signal (stepping pulse and direction level)

18

18

DIR3

Y25

19

19

CP4

Y26

Joint 4 Stepper Motor Signal

20

20

DIR4

Y27

twenty one

twenty one

DCF

Y0

Solenoid valve signal

twenty two

twenty two

DJZ

Y1

Joint 5 (DC motor) forward and reverse signal

twenty three

twenty three

DJF

Y2

twenty four

twenty four

TS1

Special Purpose Signal

25

25

TS2

26

2. The interface signals of the joints of the manipulator and the main circuit board (J2)

Serial number

Features

Comment

1

GND

Ground

2

GND

3

S1

Joint 1 limit position signal

4

S2

5

S3

Joint 2 limit position signal

6

S4

7

S5

Joint 3 limit position signal

8

S6

9

S7

Joint 4 limit position signal

10

S8

11

S9

Joint 5 limit position signal

12

S10

13

+ 5V

+ 5V power supply

14

+ 5V

15

+ 24V

+ 24V power supply

16

+ 24V

3. Signal interface of stepper motor and main circuit board

Serial number

Features

Comment

1

GND

Ground

2

dir1

Joint 1 stepper motor signal

3

Cp1

4

Dir2

Joint 2 stepper motor signal

5

Cp2

6

Dir3

Joint 3 stepper motor signal

7

Cp3

8

Dir4

Joint 4 stepper motor signal

9

Cp4

10

Nc

air

11

Nc

12

+ 5V

+ 5V power supply (for common male terminal)

4. Connection interface between control key panel and main circuit board (J4)

Serial number

Features

Comment

1

Dir3

Joint 3 step motor direction level

2

Cp2out

Joint 2 stepper motor stepping pulse (out switch)

3

Dir2

Joint 2 stepper motor direction level

4

Cp3in

Joint 3 stepper motor stepping pulse (into the switch)

5

Dir1

Joint 1 stepper motor direction level

6

Gnd

Ground

7

Gnd

8

Dis1

(For additional functions)

9

Cp2in

Joint 2 stepper motor stepping pulse (into the switch)

10

Dis2

(For additional functions)

11

Cp1in

Joint 1 stepper motor stepping pulse (into the switch)

12

Dis3

(For additional functions)

13

Cp1out

Joint 1 stepper motor stepping pulse (out switch)

14

Dis4

(For additional functions)

15

+ 5V

+ 5V power supply

16

+ 5V

17

c-dcf

Manual control solenoid signal

18

Nc

air

19

+ 5V

+ 5V power supply

20

+ 5V

twenty one

Nc

air

twenty two

Hand

Manual / automatic selection switch signal

twenty three

Hand

twenty four

Nc

air

25

Dir4

Joint 4 stepper motor direction level

26

Cp3out

Joint 3 stepper motor stepping pulse (out switch)

27

Gnd

Ground

28

Ts1

Special Purpose Signal 1

29

Djz

Joint 5 manual control signal (forward rotation)

30

Ts2

Special Purpose Signal 2

31

Cp4in

Joint 4 stepper motor stepping pulse (into the switch)

32

Ts3

Special Purpose Signal 3

33

Cp4out

Joint 4 stepper motor stepping pulse (out switch)

34

Djf

Joint 5 manual control signal (reverse)

5.Interface between manipulator and control box

DB-37

Features

Comment

1

GND

Ground

2

3

S1

Limit switch signal

4

S2

Limit switch signal

5

S3

Limit switch signal

6

S4

Limit switch signal

7

S5

Limit switch signal

8

S6

Limit switch signal

9

S7

Limit switch signal

10

S8

Limit switch signal

11

S9

Proximity switch signal

12

S10

Proximity switch signal

13

VCC5V

5V power supply

14

15

VCC24V

24V power supply

16

17

ZLDJL1

DC motor L1

Joint 5

18

ZLDJL2

DC motor L2

19

NC

air

20

1A +

Stepping motor A phase is positive

Joint 1 stepper motor

twenty one

1A-

Stepper motor A phase negative

twenty two

1B +

Stepper Motor Phase B

twenty three

1B-

Stepper motor phase B negative

twenty four

2A +

Stepping motor A phase is positive

Joint 2 stepper motor

25

2A-

Stepper motor A phase negative

26

2B +

Stepper Motor Phase B

27

2B-

Stepper motor phase B negative

28

3A +

Stepping motor A phase is positive

Joint 3 stepper motor

29

3A-

Stepper motor A phase negative

30

3B +

Stepper Motor Phase B

31

3B-

Stepper motor phase B negative

32

4A +

Stepping motor A phase is positive

Joint 4 stepper motor

33

4A-

Stepper motor A phase negative

34

4B +

Stepper Motor Phase B

35

4B-

Stepper motor phase B negative

36

DCFGND

Hand Solenoid Valve

37

DCF

Automatic control of CP selection jumper settings (JP1, JP2)
The automatic control signal can be generated by PLC or computer, and the control signal is connected to the DB25 pin of J1. If using computer control instead, be sure to unplug the power plug and I / O interface plug from the PLC. The control signal is active at high level (+ 5V). The input S1 ~ S10 switch signals are effective at low level (0V).
The automatically controlled CP pulses are generated by the main circuit board. If it is to be directly generated by PLC or computer, the jumper JP1 must be short-circuited. At the same time, the four CPs of JP2's 1 2 and 3 4 short-circuits are changed to 2 3 short-circuit.

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