CN103246226A - Hardware design of control system of economical feeding manipulator - Google Patents
Hardware design of control system of economical feeding manipulator Download PDFInfo
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- CN103246226A CN103246226A CN2013101621599A CN201310162159A CN103246226A CN 103246226 A CN103246226 A CN 103246226A CN 2013101621599 A CN2013101621599 A CN 2013101621599A CN 201310162159 A CN201310162159 A CN 201310162159A CN 103246226 A CN103246226 A CN 103246226A
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- control
- mechanical arm
- control system
- manipulator
- feeding manipulator
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- 238000004891 communication Methods 0.000 claims description 3
- 238000004519 manufacturing process Methods 0.000 claims description 3
- 238000005245 sintering Methods 0.000 claims description 2
- 230000008676 import Effects 0.000 claims 1
- 230000007246 mechanism Effects 0.000 abstract description 2
- 238000001514 detection method Methods 0.000 description 3
- 238000006243 chemical reaction Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000002955 isolation Methods 0.000 description 1
- 230000005622 photoelectricity Effects 0.000 description 1
- 239000002994 raw material Substances 0.000 description 1
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Abstract
A hardware design of a control system of an economical feeding manipulator adopts an economical singlechip as a controller. Detecting and sensing devices such as a photoelectric sensor, a magnetic approach switch and a microswitch are arranged at the corresponding positions of a main structure of the manipulator, and are taken as input signals of the singlechip; and the singlechip controls actuating mechanisms such as a direct-drive air cylinder and an electromagnet, and control elements such as a magnetic valve and a relay to further perform the actions such as the lifting of a mechanical arm, the suction and drawing of a workpiece and the rotation of the manipulator. According to the invention, the control system can realize manual control, automatic control and scramming control, has the advantages of high safety and reliability, and has higher popularization value.
Description
Technical field
A kind of hardware design of economical feeding manipulator control system relates to the flexible manufacturing system of modernized assembling process, especially realizes manually and the process of the actual production line that moves automatically.
Background technology
Effect is that the workpiece main body that will be placed on the work piece platform is transported in the hopper of blanking unit, and motion comprises: about the mechanical arm (with the double-acting cylinder that moves up and down); (electromagnet is equipped with on the cylinder rod top) put in the suction of workpiece; 90 ° of mechanical arm revolutions (direct current generator drives the mechanical arm revolution through reducing gear annular wheel gear train); Lifting and land (direct current generator lifts workpiece through reducing gear rear drive rack and pinion mechanism through leverage) of mechanical arm; Move forward and backward (moving to right and moving to left also is that direct current generator moves whole mechanical arm through rack-and-pinion behind reducing gear) of workpiece, six relays of Micro Controller Unit (MCU) driving (realizing the forward and backward control of three direct current generators) are used in the control of this unit, drive solenoid control double-acting cylinder and DC electromagnet and realize the control of above-mentioned motion, microswitch, the yellow relay of tongue, photoelectric detection switch have been used in the detection of position.Function controls such as the control desk of this unit can carry out manually, automatically, suddenly stop.This mechanization hand is equivalent to have the mechanical arm of 5DOF, by adjusting the position of limit switch or sensor, realizes the position control of mechanical arm.
Summary of the invention
Design proposal:From I/O interface table as can be known, input 11 points of this mechanical arm of getting the raw materials ready are exported 9 points, so want system will expand a slice 8255, and define PA, PB mouth for importing, PC for output, and utilized P1.0 as output interface as output indicator, consider the needs of PC control, designed the serial communication circuit of being formed by MAX232, there is the ROM of 8KB AT89S52 inside, and address realm is by 0000H ~ 1FFFH, and these can satisfy the needs of control.Can realize again the programming of line sintering, easy to use, so the outside is not at Extended ROM and RAM.Circuit as shown in Figure 1.
System I/O Design of Interface Circuit:Input interface circuit adopts photoelectric isolating device can adopt TLP521-4, mainly is to carry out level conversion and eliminate and disturb, and the 24V of mechanical arm side is converted to the Transistor-Transistor Logic level that single-chip microcomputer can be accepted, and can eliminate the prominent moving influence of disturbing of sensor, switch.Input has the LED indicating circuit, can reflect the actual conditions of input, is used for detection failure; The effect of output interface circuit mainly is to carry out power drive and eliminate interference and level conversion, carrying out photoelectricity by TLP521-4 isolates, computing machine and the isolation of mechanical arm circuit side are prevented from disturbing, inherited circuit U LN2003A and the driving of another Darlington transistor by power drive after, drive relay or pilot lamp respectively, realize the control to manipulator behavior.
Description of drawings
Fig. 1 is AT89C51 control system circuit theory diagrams.
Claims (2)
1. the control system of this feeding manipulator is mainly used in the manual operation of mechanical arm in the flexible manufacturing system; It imports 11 points, export 9 points, so want system will expand a slice 8255, and define PA, PB mouth for importing, PC is output, and utilized P1.0 as output interface as output indicator, consider the needs of PC control, designed the serial communication circuit of being made up of MAX232, there is the ROM of 8KB AT89S51 inside, address realm is by 0000H ~ 1FFFH, these can satisfy the needs of control, can realize the programming of line sintering again, and are easy to use, so the outside is not at Extended ROM and RAM, circuit as shown in Figure 1.
2.
The software mentality of designing of this mechanical arm is:Utilize serial communication, present mechanical arm state (content of single-chip microcomputer internal memory 26H, 27H, 28H) is sent to host computer, and after the order acceptance with host computer, store the 25H unit into.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013101621599A CN103246226A (en) | 2013-05-06 | 2013-05-06 | Hardware design of control system of economical feeding manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013101621599A CN103246226A (en) | 2013-05-06 | 2013-05-06 | Hardware design of control system of economical feeding manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN103246226A true CN103246226A (en) | 2013-08-14 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2013101621599A Pending CN103246226A (en) | 2013-05-06 | 2013-05-06 | Hardware design of control system of economical feeding manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103246226A (en) |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1903524A (en) * | 2006-08-02 | 2007-01-31 | 浙江大学 | Pneumatic/electric manipulator mixed controller |
| CN102514002A (en) * | 2011-12-29 | 2012-06-27 | 江苏大学 | Monocular vision material loading and unloading robot system of numerical control lathe and method thereof |
-
2013
- 2013-05-06 CN CN2013101621599A patent/CN103246226A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1903524A (en) * | 2006-08-02 | 2007-01-31 | 浙江大学 | Pneumatic/electric manipulator mixed controller |
| CN102514002A (en) * | 2011-12-29 | 2012-06-27 | 江苏大学 | Monocular vision material loading and unloading robot system of numerical control lathe and method thereof |
Non-Patent Citations (2)
| Title |
|---|
| 李祥阳 等: "基于AT89C51单片机备料机械手单步控制系统的硬件设计", 《工业仪表与自动化装置》 * |
| 黄海松: "基于单片机的物料搬运机械手的控制系统研究", 《机电工程技术》 * |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20130814 |