DLFA-R501DM. Five-axes Robot Arm Technical Document
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1 DLFA-R501DM Five-axes Robot Arm Technical Document Dolang Technology Equipment Co., Ltd.. I.General DLFA-R501DM modular serial robot is a typical mechatronics series,the design and manufacture apply modular design idea and industrial grade standard,with characteristic modular industrialization, openness, multi-control etc,this is a complex mechatronics facility. The training series is composed of feeding part five-axes manipulator,material and control part. Five-axes robot arm (each axis is as follows in the later picture J1 J2 J3 J4 J5),the axes are parallel or vertical to each other,can be positioned within the space,drive by step motor, main transmission parts using visual design,easy to control,convenient to program,this is the newest robot arm teaching equipment,satisfy the requirement of Mechatronics Automatic Control teaching and experiment and
2 associated industrial robot application training for the major Mechatronics and Automatic Control in the universities, vocational colleges, technical colleges.it is a complex multi-input multi-output dynamics systems,it is an ideal platform for control system design with wide open space, an ideal object for design motion planning and programming system. II. Technical parameter DLFA-R501DM modular series robot is composed of feeding part five-axes robot arm material sorting and control part. Five-axes robot arm can real simulate industrial robot arm s working condition. Five-axes robot arm have kinds of industrial gearing, step motor limiting detection and protection device,can real simulate the progress of robot arm object transporting.control part is supported by three ways(plc control MCU control upper computer). Each joint robot arm technical data: Structure Union joint type Driving Mode step motor Load Capacity 1Kg Operation Range J1 0 ~ 180 J2 0 ~ 30 J3 0 ~ 90 J4 0 ~ 180 J5 0 ~ 180 Gripper 45 60mm Max Expansion Radius 700mm Height 1150mm Net Weight 100Kg PLC Programming Control Operating Mode MCU Programming Control Computer Software Programming Control Power Capacity Single-phase220V 50Hz 4A Temperature -10 ~40 Environmental Humility 90%(25 ) Overall Capacity 1KVA III.Function Components The whole system is composed of feeding part five-axes robot arm material sorting and upper computer. 3.1 Feeding part
3 Feeding part Composed of hopper push cylinder fiber optic sensor and support frame,the main function is provide workpiece for series robot,this is the first station for the whole system. 3.2 Material sorting part The main function is sort and storage workpiece which pick and place by robot. Material sorting part is composed of transmission and detection system,transmission part is DC gear motor drive material block by belt conveyor, sensor acquire the signal, PLC control or movement control card accurate positioning control by drive trolley,control cylinder by solenoid valve, finish sorting the material block. Material sorting part 3.3 Five-axes robot arm The overall is composed of robot arm work part robot arm control part and upper computer control software.
4 Five-axes robot arm Robot arm work part is composed of step motor DC motor torque limiter synchronous belt transmission mechanism straight spur gear mechanism slip gear spatial CAM mechanism position sensor gripper signal switching device etc. Operation panel Robot arm control operate is on the operate panel.composed of operation panel MCU control board step motor driving device power module and signal transfer module etc. Connect with robot arm working part signal transfer device by air cable,acquire robot arm position signal with the same time issue the motor drive signal.
5 By rotation switch PLC/MCU PC When rotation switch PLC/MCU,can switch control mode to MCU/PC-PLC control. PC turns to PLC,PLC has its own automatically program(user can also write and download your own program),user can operate by button on the operation panel like start stop etc.when rotation switch turns to MCU PC,automatic execution MCU already has program,control electrical robot arm module motor process.under the module of MCU control,can finish the teaching demonstration foundation,let the user understand the motor process and working principle,play the guiding role in the PLC or upper computer programming.inside in electrical robot arm module there are MCU chip plate and terminal adapter plate.if user need to change electrical robot arm s motor process, should re-import program to MCU,to change electrical robot arm motor process.after access the USB communication line,the device control way change to PC control,which is upper computer control.upper computer control is control by upper computer software and control box. 3.4 Provide upper computer software(same as the picture),the partition on the page of upper computer software is real-time monitoring area and program operation area.complete the foundation on the computer like online reset manual debugging offline debugging online debugging programming and download etc,upper computer real-time monitoring area monitor electrical robot arm,monitor the motor process electrical robot arm,there is electrical robot arm module diagram on the pages.there is manual optional in the upper computer re-time monitoring area, user can manual control electrical robot arm monitoring modular movement.in the upper computer program operation area(as the picture later),operator program the electrical robot arm motor process,display by table text input.position signal and limit signal on kinds of electrical robot arm modular control the motor process of electrical robot arm.
6 Rotary switch MCU/PC PLC on the PLC,device change control method to PLC control.on the operate panel of device upper computer control module there is K4 plug terminal interface,for PLC input and output interface.after operator import the program into PLC,use K4 test line to connect the PLC input and output interface,with button on operate panel import the signal,fulfill upper computer control motor process. The whole system is a modular construction open platform,collage can deploy different brands of (PLC) modular or increase other training modular to satisfy the teaching requirement. IV. Basic configuration NO. Category Name Main Component Unit Quan tity 1 Feeding system Composed of Single-acting cylinder FOS Well-type silo etc. Five-axes Robot Arm 1 Robot Arm Working Part Base Plate Two Baseboard,Four Column,Four Patch plug One step motor,one set friction wheel,one 2 J1Axis 3 J2Axis Rotary encoder,one movement turntable,one bearing,two jib,two limiting mechanism,one home switch etc One step motor,two gears,two jib,two limiting mechanism,one home switch etc 4 J3Axis One step motor,two synchronous pulley,one
7 5 J4Axis 6 J5Axis 7 Gripper Dolang Technology Equipment Co., Ltd.. timing belt,two jib,two limiting mechanism,one home switch etc One step motor,two synchronous pulley,one timing belt,two jib,two limiting mechanism,one home switch etc One step motor,two jib,two limiting mechanism, one home switch etc One set spatial cam mechanism,two finger,two limiting mechanism,one home switch etc 8 Robot Arm Control Part Control Box One handle grip,two locking system,one cooling fan,four patchplug 9 Control Plate Amount of K4 terminal,one set monitoring indicate light,three button,one knob etc. 10 Drive Part Five motor driver 11 Control Mainboard One Master MCU amount of optical isolation amount of relay 12 Power Part 24V 5A power switch,5v 2Apower switch,d type power outlet 13 Material Sorting Composed of DC gear motor belt transmission system capacitance sensor inductive transducer photoelectric sensors pushing cylinder etc. 14 Accessory CD One set upper computer,one set MCU program, One set programming software 15 Manual Paper 1 Book V.Training projects 1. Cognition and application of sensor 2. Cognition and application of pneumatic 3. Mechanical integration and debugging technology 4. Serial-link robot teaching experiment
8 5. Manual control experiment 6. PLC programming control experiment 7. MCU programming control experiment 8. Mechanical ontology modules can make the disassemble and assemble experiment 9. Cognition and wiring experiment of electrical components 10. Multi-control programming transformation and operation experiment
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