CN215701767U

CN215701767U - Multi-shaft stepping type mechanical arm control box with manual mode

Info

Publication number: CN215701767U
Application number: CN202120643000.9U
Authority: CN
Inventors: 刘宇奇; 唐国安; 王威; 徐连凯
Original assignee: Fudan University
Current assignee: Fudan University
Priority date: 2021-03-30
Filing date: 2021-03-30
Publication date: 2022-02-01
Anticipated expiration: 2031-03-30

Abstract

The utility model relates to the technical field of mechanical arm control, in particular to a multi-shaft stepping type mechanical arm control box with a manual mode, which comprises a case, wherein a case control panel is arranged in front of the case, and a plurality of mechanical arm motor drivers, a switching power supply, a wire slot, a single chip set, a relay terminal table and a voltage reducer are arranged in the case; the single chip set comprises an upper computer and a lower computer; the number of the single-chip machines in the lower unit is the same as that of the mechanical arm driving shafts. The utility model aims to control a multi-axis mechanical arm, and power supply equipment, circuits, lower computers, mechanical arm motor drivers and the like are required to be integrated in a case, so that each lower computer independently controls each driving shaft, and synchronous action of the mechanical arm is realized.

Description

Multi-shaft stepping type mechanical arm control box with manual mode

Technical Field

The utility model relates to the technical field of mechanical arm control, in particular to a multi-axis stepping type mechanical arm control box with a manual mode.

Background

The stepping mechanical arm is driven by a stepping motor, and is widely applied at present due to high positioning precision and simple control principle. The step motor is a motor which converts electric pulse signals into angular displacement, a rotor rotates a fixed angular displacement when inputting a pulse signal, and a lead screw arranged on the mechanical arm can convert the angular displacement of the step motor into linear displacement, thereby realizing the rotation and translation of the mechanical arm. Finished product marching type arm often only provides motor drive, need build a large amount of circuits and just can control the arm motion, consequently need design the arm control box by oneself, integrates devices such as power, switch, singlechip. The existing industrial mechanical arm control box has high integration level and low openness, and an operator can use the control box only by having a certain professional background; the action of the mechanical arm can only be controlled by a computer and is difficult to be adjusted manually; only one single chip microcomputer is arranged in the case, all driving shafts cannot be controlled at the same time, and the control logic is unclear, so that signal chaos is easily caused. These shortcomings make the use of a step-by-step robot difficult in teaching and research applications.

SUMMERY OF THE UTILITY MODEL

On the basis of the common general knowledge in the field, the above-mentioned preferred conditions can be combined arbitrarily without departing from the concept and the protection scope of the utility model.

In order to solve the technical problem, the utility model provides a multi-axis stepping mechanical arm control box with a manual mode, which comprises a case 101, wherein a case control panel is arranged in front of the case 101, and a plurality of mechanical arm motor drivers 1, a switching power supply 2, a wire casing 4, a single chip set, a relay terminal table 7 and a voltage reducer 8 are arranged in the case 101; the single chip set comprises an upper computer 5 and a lower computer 6; the number of the lower computers 6 is the same as that of the mechanical arm driving shafts.

As a preferred technical scheme, the control panel of the case is provided with a Reset button 9, a motor power switch 10, an upper computer USB serial port socket 11, an alarm indicator lamp 12, a Home button 13, a driver teaching socket 14 and a manual control deflector rod 15; and the upper computer 5 is connected with an upper computer USB serial port socket 11.

As a preferred technical scheme, the single chip microcomputer is selected as an upper computer 5, the single chip microcomputers with the same number as that of the driving shafts of the mechanical arm are selected as a lower computer 6, and communication interfaces of the upper computer 5 and the lower computer 6 are connected in series; and the upper computer 5 is used for receiving computer instructions and uniformly sending the instructions to all lower computers.

As a preferred technical solution, each single chip of the lower unit 6 in the present invention is independently connected to a pulse signal interface of each robot arm motor driver 1.

As a preferred technical solution, a back panel of the chassis is disposed on the back of the chassis 101 in the present invention; a first connecting hole 102, a second connecting hole 201 and a third connecting hole 301 are formed in the chassis back plate; the first connection hole 102 is used for plugging a cable for connecting the mechanical arm motor driver 1 and the mechanical arm; the second connecting hole 201 is used for installing the switching power supply 2; the third connecting hole 301 is used for installing an external power socket 3.

As a preferable technical scheme, the switch power supply 2 is connected with the mechanical arm motor driver 1, the voltage reducer 8, the Reset button 9 on the case control panel, the motor power supply switch 10, the alarm indicator lamp 12 and the Home button 13 through power lines.

As a preferable technical scheme, the voltage reducer 8 is connected with the upper computer 5 and the lower computer unit 6 by a one-to-five DC power line.

As a preferable technical solution, in the present invention, the relay terminal block 7 is connected to the robot motor driver 1 by a cable for transmitting respective input and output signals of the robot motor driver 1.

As a preferred technical solution, in the present invention, an L-shaped vertical plate 601 is further disposed inside the chassis 101; the bottom of the L-shaped vertical plate 601 is fixed on the bottom plate of the case 101; the single-chip microcomputer of the lower unit 6 is independently fixed on the side face of the L-shaped vertical plate 601 respectively.

As a preferred technical scheme, the mechanical arm motor driver 1 and the driver teaching socket 14 are connected by a cable, and are used for connecting a computer and a driver to change the built-in parameters of the driver.

As a preferable technical solution, the multi-axis stepping type mechanical arm control box provided in the present invention has a computer control mode and a manual control mode, and when the manual control lever 15 is toggled, the control box is automatically switched to the manual control mode and performs manual control, otherwise, the control box is in the computer control mode.

Compared with the prior art, the utility model has the following excellent beneficial effects:

the utility model provides a multi-axis stepping type mechanical arm control box with a manual mode, aiming at controlling a multi-axis stepping type mechanical arm, wherein power supply equipment, circuits, lower computers, mechanical arm motor drivers and the like are integrated in a machine box, so that each lower computer independently controls each driving shaft, and the synchronous action of the mechanical arm is realized. The panel of the control box is provided with an upper computer USB serial port socket and a manual control deflector rod, and the mechanical arm can be controlled by a computer or manually. The control box is simple and convenient to install, use and maintain, and is suitable for teaching and scientific research occasions.

The utility model uses the digital pin of Arduino single chip to send 5V voltage pulse to the mechanical arm motor driver, and the driver energizes A, B phase winding of the mechanical arm stepping motor according to fixed time sequence, thereby driving the mechanical arm. The drive lines of the shafts are independent, so that the motions of the shafts can be synchronously performed. The upper computer can be connected with an external computer and receives computer instructions; the lower machine set burns the firmware of the lower machine and can receive the command of the upper machine to send pulse according to the requirement to realize the computer control of the mechanical arm. Reset, On and Home buttons and an alarm indicator lamp are arranged On a panel of the case and connected to a driver, so that the functions of mechanical arm restarting, resetting and alarm detection are realized, and a button switch is also arranged and connected to a pin of the Arduino single chip microcomputer and used for manually controlling the position of the mechanical arm. Other devices such as power supply devices are also installed in the case.

Drawings

Fig. 1 is a schematic structural diagram of a control box of a multi-axis stepping robot arm having a manual mode according to embodiment 1 of the present invention.

Fig. 2 is a top view of the inside of the casing of the control box of the multi-axis stepping robot arm with manual mode according to embodiment 1 of the present invention.

Fig. 3 is a schematic structural diagram of a front panel of a chassis of a multi-axis stepper robot control box with a manual mode according to embodiment 1 of the present invention.

Fig. 4 is a schematic structural diagram of a chassis back plate of a multi-axis stepper robot control box with a manual mode according to embodiment 1 of the present invention.

Fig. 5 is a schematic diagram of the internal circuitry of the chassis.

Fig. 6 is a three-dimensional schematic view of an L-shaped vertical plate.

The respective reference numerals in fig. 1 to 6 are as follows in sequence:

101-a case; 1-mechanical arm motor driver; 2-a switching power supply; 3-external power socket; 4-a wire groove; 5-an upper computer; 6-lower unit; 601-L type riser; 7-a relay terminal block; 8-a step-down transformer; 9-Reset button; 10-motor power switch; 11-USB serial socket of the upper computer; 12-alarm indicator lights; 13-Home button; 14-driver teaching socket; 15-manually controlling the deflector rod; 16-expanded hole sites; 102-a first connection hole; 201-a second connection hole; 301-third connection hole.

Detailed Description

The utility model provides a multi-axis stepping mechanical arm control box with a manual mode, which comprises a case 101, wherein a case control panel is arranged in front of the case 101, and a plurality of mechanical arm motor drivers 1, a switching power supply 2, a wire slot 4, a single chip set, a relay terminal table 7 and a voltage reducer 8 are arranged in the case 101; the single chip set comprises an upper computer 5 and a lower computer 6; the number of the lower computers 6 is the same as that of the mechanical arm driving shafts.

In the present invention, the material of the chassis 101 is not particularly limited, preferably, the chassis 101 is assembled by aluminum profile panels, the height is 1U-5U, the depth is 100-; more preferably, the case 101 is assembled by aluminum profile panels, and has a height of 3U, a depth of 400mm, and a width of 430 mm.

In some embodiments, the housing 101 of the present invention further comprises a top plate, two side plates; the top plate and the side plates at the two sides are not specially limited, and preferably, the top plate and the side plates at the two sides are not provided with through holes.

In some embodiments, the chassis 101 further includes a bottom plate, where the bottom plate is not particularly limited, and preferably, the bottom plate is provided with a plurality of through holes for installing or fixing devices inside the chassis 101.

In some embodiments, a back of the chassis 101 is provided with a chassis backplane; a first connecting hole 102, a second connecting hole 201 and a third connecting hole 301 are formed in the chassis back plate; the first connection hole 102 is used for plugging a cable for connecting the mechanical arm motor driver 1 and the mechanical arm; the second connecting hole 201 is used for installing the switching power supply 2; the third connecting hole 301 is used for installing an external power socket 3.

In some embodiments, the robot arm motor driver 1 is configured to energize A, B phase windings of the robot arm stepping motor according to a pulse signal at a fixed timing to drive the robot arm, and to input and output various control commands. The mechanical arm motor driver 1 is fixed on the guide rail, and the guide rail is fixed by the rivet pressing stud and the screw.

In some embodiments, the switching power supply 2 supplies power to a mechanical arm motor driver, a single chip microcomputer, a switch and a button in the case; the switching power supply 2 is fixed on the chassis back plate through the second connecting hole 201 by using a press riveting stud and a screw.

In some embodiments, an external power socket 3 is further disposed inside the case 101; the third connecting hole 301 is used for installing an external power socket 3; the external power socket 3 is connected with an external 220V power supply and the switch power supply is a socket with two components, and the third connecting hole 301 is used for installing the external power socket 3 and is fixed on the back plate through screws and nuts.

In some embodiments, the raceway 4 is used to secure and store cables that connect the relay terminal block and the robot motor drive, avoiding wiring clutter within the chassis. The wire casing 4 is fixed on the bottom plate of the machine box through a press riveting stud and a screw.

In some embodiments, the case control panel is provided with a Reset button 9, a motor power switch 10, an upper computer USB serial port socket 11, an alarm indicator lamp 12, a Home button 13, a driver teaching socket 14 and a manual control deflector rod 15; and the upper computer 5 is connected with an upper computer USB serial port socket 11.

In some embodiments, the Reset button 9 is a double pole double throw self Reset switch. After the mechanical arm is stopped due to faults, the motor can be restarted, the alarm is relieved, the lower computer firmware is Reset by pressing the Reset under the condition of removing the faults, and the mechanical arm returns to normal work; or when the firmware of the singlechip in the box needs to be reset, the button is pressed down, and the mechanical arm is redone.

In some embodiments, the motor power switch 10 is a mushroom head emergency stop switch, and when the mechanical arm is powered on after being pressed down, the position is locked, and when the mechanical arm is powered off after being rotated and reset, the mechanical arm stops acting immediately.

In some embodiments, the USB serial port socket 11 of the upper computer is a USB socket, and the upper computer communicates with an external computer through the USB serial port socket of the upper computer.

In some embodiments, the alarm indicator light 12 is turned on green when the driving shaft works normally and turned off when the driving shaft fails, so as to monitor the working state of the driving shaft.

In some embodiments, the Home button 13 is a self-reset switch that is depressed to stop the current motion of the drive shaft and reset the origin.

In some embodiments, the drive teaching socket 14 is an empty socket, and a computer can be connected to the robot arm motor driver 1 via this interface to set internal parameters such as the origin position and the electronic gear ratio of the robot arm motor driver 1.

In some embodiments, the manual control stick 15 is a single-pole double-throw self-resetting toggle switch, and when the manual control stick is moved left and right, the driving shaft immediately stops the computer control mode and moves linearly at a constant speed, and after the manual control stick is reset, the current motion is continued. The switching between the computer control mode and the manual control mode of the control box and the manual adjustment of the position of the mechanical arm are realized.

In some embodiments, the chassis control panel is further provided with a plurality of extension hole sites (16), and the extension hole sites (16) are two D-shaped 86 blind plates for freely extending the functions of the control box.

In some embodiments, the single chip microcomputer set is selected from a single chip microcomputer as an upper computer 5, the single chip microcomputers with the same number as that of the driving shafts of the mechanical arm are selected as lower computer sets 6, and the communication interfaces of the single chip microcomputers of the upper computer 5 and all the lower computer sets 6 are connected in series; and the upper computer 5 is used for receiving computer instructions and uniformly sending the instructions to all lower computers.

In some embodiments, an expansion board is inserted into the upper computer 5 to facilitate wiring.

In some embodiments, the upper machine 5 is fixed on the bottom plate of the machine case through press-riveting studs and copper studs.

In some embodiments, an L-shaped vertical plate 601 is further disposed inside the chassis 101; the bottom of the L-shaped vertical plate 601 is fixed on the bottom plate of the case 101; the single-chip microcomputer of the lower unit 6 is independently fixed on the side face of the L-shaped vertical plate 601 respectively.

In some preferred embodiments, the bottom of the L-shaped vertical plate 601 is fixed on the bottom plate of the chassis 101 by press-riveting studs and screws; the single-chip microcomputer of the lower unit 6 is respectively and independently fixed on the side face of the L-shaped vertical plate 601 through a stud and a nut.

In some preferred embodiments, the single-chip microcomputer of the lower computer unit 6 is respectively and independently perpendicular to the bottom plate of the case, so as to enable the USB serial port to face upward, and facilitate the opening of the case for burning the firmware of the lower computer again.

In some embodiments, the L-shaped vertical plate is formed by laser cutting an aluminum alloy plate, and a through hole is dug for fixing and threading.

In some embodiments, the relay terminal block 7 is used to relay the circuit signals of the driver 1. The circuits led out by each switch button and the lower machine set can be conveniently connected with the mechanical arm motor driver 1, and each control signal of the driver is input or output; the input signals comprise pulses, Home, Reset and the like, and the output signals comprise alarm lamp signals, origin positioning completion signals, encoder signals and the like.

In some embodiments, the relay terminal block 7 is fixed by a rail, and the rail is fixed on the chassis base by a rivet stud and a screw.

In some embodiments, the voltage reducer 8 converts 24V to 9V to provide 9V dc power voltage, which supplies power to one single chip of the upper computer 5 and a plurality of single chips of the lower computer unit 6.

In some embodiments, the pressure reducer 8 is fixed to the top cover of the raceway 4 by means of clinch studs and screws.

In some embodiments, each of the single-chip microcomputers of the lower unit 6 is independently connected to the pulse signal interface of each of the robot motor drivers 1.

In some embodiments, the switching power supply 2 is connected to the robot arm motor driver 1, the voltage reducer 8, and the Reset button 9, the motor power switch 10, the alarm indicator light 12, and the Home button 13 on the chassis control panel via power lines.

In some embodiments, the voltage reducer 8 is connected to the upper machine 5 and the lower machine 6 by a one-to-five DC power line.

In some embodiments, the relay terminal block 7 is connected to the robot arm motor driver 1 with a cable for transmitting respective input and output signals of the robot arm motor driver 1.

In some embodiments, the robot arm motor drive 1 and the drive teaching socket 14 are connected by a cable for connecting a computer and the drive to modify drive built-in parameters.

In some embodiments, the multi-axis stepping mechanical arm control box is provided with a computer control mode and a manual control mode, when the manual control lever 15 is pushed, the manual control mode is automatically switched to the manual control mode, and manual control is performed, otherwise, the manual control mode is the computer control mode.

The present invention and fig. 1, 2, 3, 5 illustrate the circuitry within the chassis;

in some embodiments, the circuit 1: the switching power supply 3 is connected to the driver 1, the voltage reducer 8, the panel component Reset button 9, the motor power switch 10, the alarm indicator light 12, and the Home button 13 by a one-to-three DC power line (connector 5.5mm by 2.5mm), and 24V, GND is provided to the above components.

In some embodiments, the line 2: the step-down transformer 8 is connected to the upper machine 5 and the lower machine set 6 by a five-in-one DC power line (connector 5.5mm 2.5mm), and 9V, GND is provided for the above components.

In some embodiments, the line 3: and a USB line connecting the computer and the upper computer transmits computer instructions through a USB socket on the panel.

In some embodiments, the line 4: the patch cords of the SDA and SCL pins of the single-chip microcomputers are connected in series and used for realizing IIC communication between the single-chip microcomputers.

In some embodiments, the line 5: the singlechip of the lower computer 6 and the pair of the relay terminal block 7 are connected, and D10, D11 and GND of each singlechip of the lower computer 6 are respectively connected with PUL +, DIR + and PUL-, DIR-of the relay terminal block 7 to transmit voltage pulse signals.

In some embodiments, the line 6: the D7, GND and D8 pins of the upper computer 5 are respectively connected with NO, COM and NO pins of the manual control deflector rod 15 to transmit manual control signals; the Reset pin and the GND pin of the upper computer 5 are respectively connected with the NO pin and the COM pin of the Reset button 9, and the Reset signal of the firmware of the single chip microcomputer is transmitted.

In some embodiments, the line 7: and connecting a Reset button 9, a Home button 13, a motor power switch 10 and an alarm indicator lamp 12 to a plug wire of the relay terminal block 7, and transmitting a voltage signal of 24V or 0V. The Reset button 9, the Home button 13 and the COM pin of the motor power switch 10 are connected with GND and NO pins of the wiring circuit 1 and connected with corresponding interfaces of the relay terminal block 7; the alarm indicator lamp 12 has one pin connected to the 24V of the circuit 1 and one pin connected to the corresponding interface of the relay terminal block 7.

In some embodiments, the line 8: a cable connecting the relay terminal block 7 to the robot motor driver 1 transmits respective input and output signals of the robot motor driver 1.

In some embodiments, the line 9: and a cable connecting the mechanical arm motor driver 1 and the driver teaching socket 14 and used for connecting a computer and the mechanical arm motor driver 1 to change the built-in parameters of the driver.

The technical solutions of the present invention are described in detail below with reference to the drawings and the embodiments, but the present invention is not limited to the scope of the embodiments.

Examples1

A multi-axis stepping mechanical arm control box with a manual mode takes the driving of a four-axis mechanical arm as an example to describe the novel assembling method and the control principle of the experiment in detail, as shown in figures 1-6, the multi-axis stepping mechanical arm control box comprises a case 101, wherein a case control panel is arranged in front of the case 101, and a plurality of mechanical arm motor drivers 1, a switching power supply 2, a wire slot 4, an Arduino single chip unit, a relay terminal table 7 and a voltage reducer 8 are arranged inside the case 101; the Arduino single chip unit comprises an upper computer 5 and a lower computer 6; the number of the single-chip machines in the lower unit 6 is the same as that of the mechanical arm driving shafts.

The case 101 is assembled by aluminum profile panels, and has a height of 3U, a depth of 400mm and a width of 430 mm.

The case 101 further comprises a top plate and side plates at two sides; the top plate and the side plates at the two sides are not provided with through holes.

The case 101 further includes a bottom plate, and a plurality of through holes are formed in the bottom plate to install or fix devices inside the case 101.

A chassis back plate is arranged on the back of the chassis 101; a first connecting hole 102, a second connecting hole 201 and a third connecting hole 301 are formed in the chassis back plate; the first connection hole 102 is used for plugging a cable for connecting the mechanical arm motor driver 1 and the mechanical arm; the second connecting hole 201 is used for installing the switching power supply 2; the third connecting hole 301 is used for installing an external power socket 3.

The mechanical arm motor driver 1 is used for electrifying A, B phase windings of a mechanical arm stepping motor according to pulse signals and fixed time sequences so as to drive a mechanical arm, and inputting and outputting various control commands. And the guide rail is fixed on the guide rail by using the press riveting stud and the screw.

The switching power supply 2 supplies power to a mechanical arm motor driver, a single chip microcomputer, a switch and a button in the case; the switching power supply 2 is fixed on the chassis back plate through the second connecting hole 201 by using a press riveting stud and a screw.

An external power socket 3 is also arranged inside the case 101; the third connecting hole 301 is used for installing an external power socket 3; the external power socket 3 is connected with an external 220V power supply and the switch power supply is a socket with two components, and the third connecting hole 301 is used for installing the external power socket 3 and is fixed on the back plate through screws and nuts.

The wire casing 4 is used for fixing and storing cables for connecting the relay terminal block and the mechanical arm motor driver, and avoids disordered lines in the case. The wire casing 4 is fixed on the bottom plate of the machine box through a press riveting stud and a screw.

The control panel of the case is provided with a Reset button 9, a motor power switch 10, an upper computer USB serial port socket 11, an alarm indicator lamp 12, a Home button 13, a driver teaching socket 14 and a manual control deflector rod 15; and the upper computer 5 is connected with an upper computer USB serial port socket 11.

The Reset button 9 is a double pole double throw self Reset switch. After the mechanical arm is stopped due to faults, the motor can be restarted, the alarm is relieved, the lower computer firmware is Reset by pressing the Reset under the condition of removing the faults, and the mechanical arm returns to normal work; or when the firmware of the singlechip in the box needs to be reset, the button is pressed down, and the mechanical arm is redone.

The motor power switch 10 is a mushroom head emergency stop switch, the mechanical arm is powered on after being pressed down, the position is locked, the mechanical arm is powered off after being rotated and reset, and the mechanical arm stops acting immediately.

The USB serial socket 11 of the upper computer is a USB socket, and the upper computer is communicated with an external computer through the USB serial socket of the upper computer.

The alarm indicator lamp 12 is green when the driving shaft works normally, and is off when in fault, and is used for monitoring the working state of the driving shaft.

The Home button 13 is a self-reset switch, and when pressed, the drive shaft stops the current action and performs origin reset.

The driver teaching socket 14 is an empty socket, and the computer can be connected to the robot arm motor driver 1 through the interface to set internal parameters such as an origin position and an electronic gear ratio of the robot arm motor driver 1.

The manual control deflector rod 15 is a single-pole double-throw self-reset button switch, when the driver rod is moved left and right, the driver rod immediately stops the action of the computer control mode and makes uniform linear motion, and the current action is continued after the driver rod is reset. The switching between the computer control mode and the manual control mode of the control box and the manual adjustment of the position of the mechanical arm are realized.

The chassis control panel is further provided with a plurality of expansion hole sites (16), and the expansion hole sites (16) are two D-shaped 86 blind plates and are used for freely expanding the functions of the control box.

The Arduino single chip microcomputer set is characterized in that one single chip microcomputer is selected as an upper computer 5, single chip microcomputers with the same number as the driving shafts of the mechanical arm are selected as lower computer sets 6, and IIC communication interfaces of the single chip microcomputers of the upper computer 5 and all the lower computer sets 6 are connected in series; and the upper computer 5 is used for receiving computer instructions and uniformly sending the instructions to all lower computers.

And an expansion board is inserted into the upper computer 5 to facilitate wiring.

And the upper computer 5 is fixed on the bottom plate of the machine box through a press riveting stud and a copper stud.

An L-shaped vertical plate 601 is further arranged inside the case 101; the bottom of the L-shaped vertical plate 601 is fixed on the bottom plate of the case 101; the single-chip microcomputer of the lower unit 6 is independently fixed on the side face of the L-shaped vertical plate 601 respectively.

The bottom of the L-shaped vertical plate 601 is fixed on the bottom plate of the case 101 through a press riveting stud and a screw; the single-chip microcomputer of the lower unit 6 is respectively and independently fixed on the side face of the L-shaped vertical plate 601 through a stud and a nut.

The single-chip microcomputer of the lower computer unit 6 is respectively and independently vertical to the bottom plate of the case, and the purpose is to enable the USB serial port to face upwards, so that the case can be conveniently opened to burn the lower computer firmware again.

The L-shaped vertical plate is formed by laser cutting of an aluminum alloy plate, and through holes are dug for fixing and threading.

The relay terminal block 7 is used to transfer circuit signals of the driver. The circuits led out by each switch button and the lower machine set can be conveniently connected with the mechanical arm motor driver 1, and each control signal of the driver is input or output; the input signals comprise pulses, Home, Reset and the like, and the output signals comprise alarm lamp signals, origin positioning completion signals, encoder signals and the like.

The relay terminal table 7 is fixed through a guide rail, and the guide rail is fixed on a bottom plate of the machine box through a press riveting stud and a screw.

The voltage reducer 8 converts 24V into 9V to provide 9V direct-current power supply voltage to supply power to one single chip microcomputer of the upper computer 5 and a plurality of single chip microcomputers of the lower computer group 6.

The pressure reducer 8 is fixed on the top cover of the wire casing 4 through a pressure riveting stud and a screw.

And each singlechip of the lower unit 6 is independently connected with a pulse signal interface of each mechanical arm motor driver 1.

The switch power supply 2 is connected with the mechanical arm motor driver 1, the voltage reducer 8, a Reset button 9 on a case control panel, a motor power supply switch 10, an alarm indicator lamp 12 and a Home button 13 through power lines.

The step-down transformer 8 is connected with the upper computer 5 and the lower computer unit 6 through a one-to-five DC power line.

The relay terminal block 7 is connected to the robot motor driver 1 by a cable for transmitting respective input and output signals of the robot motor driver 1.

The mechanical arm motor driver 1 and the driver teaching socket 14 are connected by a cable and are used for connecting a computer and a driver to change the built-in parameters of the driver.

The multi-axis stepping type mechanical arm control box is provided with a computer control mode and a manual control mode, when the manual control deflector rod 15 is pulled, the manual control mode is automatically switched to and is manually controlled, otherwise, the manual control mode is the computer control mode.

The lines in the case include line 1, line 2, line 3, line 4, line 5, line 6, line 7, line 8, and line 9.

The circuit 1: the switching power supply 3 is connected to the driver 1, the voltage reducer 8, the panel component Reset button 9, the motor power switch 10, the alarm indicator light 12, and the Home button 13 by a one-to-three DC power line (connector 5.5mm by 2.5mm), and 24V, GND is provided to the above components.

The circuit 2: the step-down transformer 8 is connected to the upper machine 5 and the lower machine set 6 by a five-in-one DC power line (connector 5.5mm 2.5mm), and 9V, GND is provided for the above components.

The line 3: and a USB line connecting the computer and the upper computer transmits computer instructions through a USB socket on the panel.

The circuit 4: the patch cords of the SDA and SCL pins of the single-chip microcomputers are connected in series and used for realizing IIC communication between the single-chip microcomputers.

The line 5: the singlechip of the lower computer 6 and the pair of the relay terminal block 7 are connected, and D10, D11 and GND of each singlechip of the lower computer 6 are respectively connected with PUL +, DIR + and PUL-, DIR-of the relay terminal block 7 to transmit voltage pulse signals.

The circuit 6: the D7, GND and D8 pins of the upper computer 5 are respectively connected with NO, COM and NO pins of the manual control deflector rod 15 to transmit manual control signals; the Reset pin and the GND pin of the upper computer 5 are respectively connected with the NO pin and the COM pin of the Reset button 9, and the Reset signal of the firmware of the single chip microcomputer is transmitted.

The line 7: and connecting a Reset button 9, a Home button 13, a motor power switch 10 and an alarm indicator lamp 12 to a plug wire of the relay terminal block 7, and transmitting a voltage signal of 24V or 0V. The Reset button 9, the Home button 13 and the COM pin of the motor power switch 10 are connected with GND and NO pins of the wiring circuit 1 and connected with corresponding interfaces of the relay terminal block 7; the alarm indicator lamp 12 has one pin connected to the 24V of the circuit 1 and one pin connected to the corresponding interface of the relay terminal block 7.

The line 8: a cable connecting the relay terminal block 7 to the robot motor driver 1 transmits respective input and output signals of the robot motor driver 1.

The line 9: and a cable connecting the mechanical arm motor driver 1 and the driver teaching socket 14 and used for connecting a computer and the mechanical arm motor driver 1 to change the built-in parameters of the driver.

The above embodiments are preferred embodiments of the present invention, but the present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents thereof, and all such changes, modifications, substitutions, combinations, and simplifications are intended to be included in the scope of the present invention.

Claims

1. A multi-axis stepping mechanical arm control box with a manual mode comprises a case (101) and is characterized in that a case control panel is arranged in front of the case (101), and a plurality of mechanical arm motor drivers (1), a switching power supply (2), a wire slot (4), a single chip set, a relay terminal table (7) and a voltage reducer (8) are arranged in the case (101); the single chip set comprises an upper computer (5) and a lower computer (6); the number of the single-chip machines in the lower unit (6) is the same as that of the driving shafts of the mechanical arms.

2. The multi-axis stepping robot arm control box of claim 1, wherein the control panel of the box is provided with a Reset button (9), a motor power switch (10), a USB serial socket (11) of an upper computer, an alarm indicator lamp (12), a Home button (13), a driver teaching socket (14), and a manual control deflector rod (15); and the upper computer (5) is connected with an upper computer USB serial port socket (11).

3. The multi-axis stepping mechanical arm control box according to claim 1, wherein the single chip microcomputer is selected as an upper computer (5), the single chip microcomputers with the same number as that of the mechanical arm driving shafts are selected as lower computer units (6), and communication interfaces of the upper computer (5) and the lower computer units (6) are connected in series; and the upper computer (5) is used for receiving the computer instructions and uniformly sending the instructions to all the lower computers.

4. The multi-axis stepping robot arm control box according to claim 3, wherein each single chip of the lower unit (6) is independently connected to a pulse signal interface of each robot arm motor driver (1).

5. The multi-axis stepper robot control box according to claim 3, wherein a back of the cabinet (101) is provided with a cabinet back plate; a first connecting hole (102), a second connecting hole (201) and a third connecting hole (301) are formed in the chassis back plate; the first connecting hole (102) is used for plugging a cable for connecting the mechanical arm motor driver (1) and the mechanical arm; the second connecting hole (201) is used for installing a switching power supply (2); the third connecting hole (301) is used for installing an external power socket (3).

6. The multi-axis stepping robot arm control box according to claim 2, wherein the switching power supply (2) is connected to the robot arm motor driver (1), the voltage reducer (8), and the Reset button (9), the motor power switch (10), the alarm indicator (12), and the Home button (13) on the control panel of the housing through power lines.

7. The multi-axis stepping robot arm control box according to claim 1, wherein the step-down transformer (8) is connected to the upper machine (5) and the lower machine set (6) by a one-to-five DC power line.

8. The multi-axis stepping robot arm control box according to claim 1, wherein the relay terminal block (7) is connected to the robot arm motor driver (1) by a cable for transmitting respective input and output signals of the robot arm motor driver (1).

9. The multi-axis stepping robot arm control box according to claim 1, wherein an L-shaped vertical plate (601) is further provided inside the cabinet (101); the bottom of the L-shaped vertical plate (601) is fixed on the bottom plate of the case (101); and the single-chip microcomputer of the lower unit (6) is respectively and independently fixed on the side surface of the L-shaped vertical plate (601).

10. The multi-axis stepper robot control box according to any of claims 2-9, wherein the multi-axis stepper robot control box is provided with a computer control mode, a manual control mode, and is automatically switched to the manual control mode and manually controlled when the manual control stick (15) is pushed, and is otherwise in the computer control mode.