Design Of Control System For JJR-1 Teach Robot

JJR-1 robot is teaching robot,which bought in the 1980s of teaching industrial robots,The robot's software and hardware equipment has been unable to meet the needs of teaching,and in the key subjects of the lanzhou University of Technology project funded,JJR-1 robot control system is researched.The design control system of JJR-1 robot is feasibility and practicality after experimental verification.Based on the theoretical knowledge of industrial robots and existing teaching JJR-1 robot,the development of industrial robots and application has been analyed, the overall teaching robot control system of the JJR-1 is designed,the common chip of Robot Control System is discussed,The control system is divided into wireless communications modules,MCU unit,movement control unit,the electrical drive unit and location of the five units which are design separately;and the JJR-1 robot teaching software design is made.The overall teaching control system of JJR-1 robot which use PC programme for the PC and AT89C51 for the next crew,and Master Control structure,which nRF2401, AT89CS1 and LM629N control chip are chosen.The robot motion control is realizing.According to the design of the overall control system of the JJR-1 teaching robot, with nRF2401 chip and using the SoC design method,which made wireless transceiver circuit of a small number of external components and designed the wireless hardware circuit is designed,which the interface circuit of the PC and PLC is further designed. The design of the circuit can resolve the operation inconvenient questions of JJR-1 robot.The wrist is studied which the main control system design of the under crew AT89C51,which use LM629N chips joint movement control design and component joint servo control system,which the circuit are designed of the motor control unit and motor drive modules and speed detection unit respectively,high accuracy position control robot of joints semi-closed-loop control system is achieved,and the joint movement control software processes is gave.Finally the robot peripheral circuits which the power circuit and the PLC reset circuit and the 8255A expansion circuit are designed with designed of the JJR-1 robot control system circuit;and based on the designed external circuit,anti-jamming circuit is designed of the control system Anti-interference characteristics. After experimental verification:The JJR-1 teaching robot control system is feasible,and this is also a reference method provided for the similar teaching robot control system design.