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粉末压制品自动捡放机械手,主要用于硬质合金生产中的粉末制品自动捡放。机械手电器部分由TP—801单板机和外部逻辑电路、传感元件、执行元件、显示器等组成。硬件结构见图1。 TP—801单板机上的Z80—PIO有两个独立的8位I/O口,即A口和B口,程序设定两个口均为位控方式工作。其中A口的低四位PA_0～PA_3设为输入位,输入信号取自4只无触点行程开关。A口的高4位PA_4～PA_7设为输出位,输出的数字信号经功率放大后分别控制4只电磁阀。B口的8位均设为输出值,PB_4～PB_6、PB_0～
Powder press automatically pick and place robots, mainly for the production of cemented carbide powder products automatically pick and place. Mechanical parts of the robot by the TP-801 single-board machines and external logic circuits, sensor components, actuators, monitors and other components. Hardware structure shown in Figure 1. The Z80-PIO on the TP-801 SBC has two independent 8-bit I / O ports, namely, A and B ports. The two ports of the program are set for bit-controlled operation. The lower four bits of port A, PA_0 ~ PA_3, are set as input bits. The input signal is taken from four non-contact limit switches. A port of the high 4 PA_4 ~ PA_7 set to the output bit, the output of the digital signal is amplified by the power after the control of four solenoid valves. B port 8 bits are set to the output value, PB_4 ~ PB_6, PB_0 ~