STM32-based three-translation parallel grabbing robot control system and control method

Abstract

The invention relates to the technical field of parallel robot control, in particular to an STM32-based three-translation parallel grabbing robot control system and control method.The control system comprises a three-translation parallel robot structure and a corresponding stepping motor module, and the robot is driven to move to a designated position through a stepping motor; the STM32 single-chip microcomputer module is connected with the man-machine interaction module and the level conversion module, and the STM32 single-chip microcomputer module is used for providing three-translation position information according to the man-machine interaction module, reversely solving the rotation angle, direction and corresponding pulse of a stepping motor, and outputting the corresponding motor direction and pulse to the driving module; the level conversion module is used for converting a 3.3 V motor direction pulse signal of the STM32 single chip microcomputer into a 5V motor direction pulse signal; and the power supply module provides 24V direct current, 5V direct current and 3.3 V direct current power supplies for the whole system. According to the invention, a traditional parallel robot industrial personal computer and motion control card scheme can be replaced, miniaturization and integration are realized, and the cost is reduced.

Description

Technical Field

[0001] The invention belongs to the technical field of parallel robot control, and in particular relates to a three-translational parallel grasping robot control system and a control method based on STM32. Background Art

[0002] The three-translational parallel grasping robot has the characteristics of high precision, good dynamic performance, compact structure, high rigidity and strong load capacity. The three-translational parallel grasping robot is widely used in assembly industry, medical surgery, CNC machining and scientific research.

[0003] At present, to realize the operation of three parallel translation grasping robots, an industrial computer plus a motion control card is usually used to drive three motors, which drive the movement of the connecting rod to realize translation, grasping and releasing. This implementation requires more components, has high cost, and is complex and difficult to develop. Summary of the invention

[0004] In view of this, the present invention aims to provide a three-translational parallel grasping robot control system and control method based on STM32, which is conducive to replacing the solution of traditional parallel robot industrial control computer plus motion control card, and realizes miniaturization, integration and cost reduction.

[0005] To achieve the above objectives, the technical solution of the present invention is implemented as follows: On the one hand, the present invention provides a three-translational parallel grasping robot control system based on STM32, comprising: a stepper motor 1, a stepper motor 2, a stepper motor 3, a three-translational parallel grasping robot mechanism module 9, an STM32 single-chip microcomputer small system module 4, a level conversion module 5, a drive module 6, a human-computer interaction module 7, and a power supply module 8; the three-translational parallel grasping robot module and the stepper motor module drive the three-translational parallel robot to move to a specified position through a stepper motor, specifically, the three motors of the three-translational parallel robot rotate corresponding angles to drive the corresponding connecting rod to move, so that the robot end moves to the specified position; the drive module is composed of three 24V stepper motor drivers, and the steering and pulse signals of the corresponding motors are given to make the three motors rotate corresponding angles to drive the three-translational parallel grasping robot to move; the STM32 single-chip microcomputer small system module is connected with the human-computer interaction module and the level conversion module, and the stepper motor rotation angle, direction and corresponding pulse are reversely solved according to the given three-translational robot position information, and the motor direction and pulse are output to the drive module.

[0006] Furthermore, the control system also includes a level conversion module, which is connected to the STM32 microcontroller small system module to convert the 3.3V motor direction and pulse signals of the STM32 microcontroller into 5V motor direction and pulse signals to meet the level requirements of the driver control input.

[0007] Furthermore, the control system also includes a human-computer interaction module, which is connected to the STM32 single-chip microcomputer small system module. The human-computer interaction module inputs the specific moving position of the three-translational parallel robot to the STM32 and displays the specific robot execution process information.

[0008] Furthermore, the control system also includes a power supply module, which provides a 24V driving power supply to the driving module, and provides a 3.3V and 5V DC power supply to the STM32 single-chip microcomputer small system and the level conversion module, and is used to provide the power supply required by the motor, the STM32 single-chip microcomputer and the level conversion module.

[0009] On the other hand, the present invention provides a control method of a three-translational parallel grasping robot based on STM32, comprising: providing the above-mentioned three-translational parallel grasping robot control system based on STM32, the control system comprising a stepper motor 1, a stepper motor 2, a stepper motor 3, a three-translational parallel grasping robot mechanism module 9, an STM32 single-chip microcomputer small system module 4, a level conversion module 5, a drive module 6, a human-computer interaction module 7, and a power supply module 8.

[0010] Furthermore, the driving module is used to give the steering and pulse signals of the three stepper motors of the three-translational parallel robot, so that the three motors rotate corresponding angles, driving the three-translational parallel robot to move; the STM32 single-chip microcomputer small system module is used to reverse the rotation angle, direction and corresponding pulse of the stepper motor according to the given position information of the three-translational robot, and output the motor direction and pulse to the driving module; the level conversion module is used to convert the 3.3V motor direction and pulse signals of the STM32 single-chip microcomputer into 5V motor direction and pulse signals to meet the level requirements of the driver control input.

[0011] Furthermore, the specific moving position of the three-translational parallel robot is input to the STM32 single-chip microcomputer small system module through the human-computer interaction module and the position is updated to display the specific robot execution process information. And by comparing the input position with the position limit of the mechanism itself, it is calculated whether the given position is out of range. When the input position is reachable, the power-on position, zero position and initial position are set, and the corresponding moving path is planned to make the three-translational parallel robot reach the specified position. When a shutdown message is received after completing a grasping and releasing, it enters the shutdown mode. If the shutdown message is not received, it enters the next repeated grasping movement.

[0012] Compared with the prior art, the invention can achieve the following beneficial effects: the control system and control method of the three-translational parallel grasping robot based on STM32 provided by the invention can drive the three-translational parallel grasping robot to move through the driving module, and can realize human-computer interaction to input grasping points and release points, which is conducive to replacing the traditional parallel robot industrial computer plus motion control card solution, realizing miniaturization, integration and cost reduction. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] The accompanying drawings, which constitute part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments and descriptions of the present invention are used to explain the present invention and do not constitute improper limitations of the present invention. In the accompanying drawings: Figure 1 This is a schematic diagram of the mechanism of a three-translational parallel grasping robot control system based on STM32 according to an embodiment of the present invention; Figure 2 The present invention is a flowchart of a control method of a three-translational parallel grasping robot based on STM32 according to an embodiment of the present invention.

[0014] Explanation of the accompanying drawings: 1. Stepper motor 1; 2. Stepper motor 2; 3. Stepper motor 3; 9. Three-translational parallel grasping robot mechanism module; 4. STM32 single-chip microcomputer small system module; 5. Level conversion module; 6. Driver module; 7. Human-computer interaction module; 8. Power supply module. DETAILED DESCRIPTION

[0015] In order to make the purpose, technical solutions and advantages of the invention more clearly understood, the invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0016] refer to Figure 1 and Figure 2 On the one hand, the invention provides a three-translational parallel grasping robot control system based on STM32, including: an STM32 single-chip microcomputer small system module 4, the STM32 single-chip microcomputer small system module 4 is connected to a human-computer interaction module 7 and a level conversion module 5; a drive module 6, the drive module 6 is connected to the level conversion module 5 and the robot stepper motor 1-3, and is used to give the stepper motor a corresponding direction and rotation pulse signal; a power supply module 8, the power supply module 8 provides 24V, 5V, and 3.3V power supply to the entire system.

[0017] refer to Figure 1 and Figure 2 The present invention provides a control method for a three-translational parallel grasping robot based on STM32, and its main process is: After the system is powered on, it is initialized first, mainly initializing the system clock, motor drive IO port, and human-computer interaction module (UART port), completing the most basic preparation work for the three-translational parallel robot.

[0018] Furthermore, the newly set gripping point position and releasing point position are received through the human-computer interaction module. If not, a delay is performed to wait for the input of new data.

[0019] Furthermore, when the human-computer interaction module inputs new position point data or times out without receiving any data point, the system determines the coordinates of the grasping point (if it times out, the default grasping point and release point are used). The specific coordinates are in the right-hand coordinate system. The directions and pulse numbers of the three stepper motors corresponding to the grasping point and the release point are calculated and saved by inverse equations and programs.

[0020] Furthermore, according to the stepper motor direction and pulse number signals calculated in the previous step, the path from the zero position to the power-on position and then to the grasping starting point and the specific grasping point and release point is planned, and the motor direction and pulse number of each intermediate point are calculated.

[0021] Furthermore, according to the path and points planned in the previous step, the stepper motor is driven to drive the three-translational parallel grasping robot to move to the corresponding point.

[0022] Finally, after completing a grasping operation, the shutdown information is received. If received, the robot is driven to return to the zero position and shut down. If the shutdown information is not received, the next repeated grasping and release movement is performed after an appropriate delay.

[0023] In some embodiments of the present invention, the human-computer interaction module can be implemented using the UART serial port provided by the STM32 microcontroller.

[0024] In some embodiments of the present invention, the STM32 single-chip microcomputer small system module can be a small system module composed of an STM32F103ZET6 chip.

[0025] In some embodiments of the present invention, the level conversion module may use the SN74LVC4245A chip.

[0026] In some embodiments of the present invention, the driving module may use a stepper motor driver M420B.

[0027] In some embodiments of the present invention, the grasping and releasing actions of the three-translational parallel grasping robot can be achieved using a pneumatic grasper or a mechanical grasper.

Claims

1. A three-translational parallel grasping robot control system and control method based on STM32, characterized in that: include: Stepper motor 1, stepper motor 2, stepper motor 3, three-translational parallel grasping robot mechanism module 9, STM32 single-chip microcomputer small system module 4, level conversion module 5, drive module 6, human-computer interaction module 7, power supply module 8; The three-translational parallel grasping robot module and the stepper motor module drive the three-translational parallel robot to move to a specified position through a stepper motor, specifically by rotating the three motors of the three-translational parallel robot to corresponding angles to drive the corresponding connecting rods to move, so that the end of the robot moves to the specified position; The drive module is composed of three 24V stepper motor drivers, which give the corresponding motors' steering and pulse signals, so that the three motors rotate at corresponding angles, driving the three parallel translation grasping robots to move; The STM32 single-chip microcomputer small system module is connected to the human-computer interaction module and the level conversion module, and the rotation angle, direction and corresponding pulse of the stepper motor are reversely solved according to the given three-translation robot position information, and the motor direction and pulse are output to the drive module.

2. The three-translation parallel grasping robot control system according to claim 1 is characterized in that: The control system also includes a level conversion module, which is connected to the STM32 single-chip microcomputer small system module to convert the 3.3V motor direction and pulse signals of the STM32 single-chip microcomputer into 5V motor direction and pulse signals to meet the level requirements of the driver control input.

3. The three-translation parallel grasping robot control system according to claim 1 is characterized in that: The control system also includes a human-computer interaction module, which is connected to the STM32 single-chip microcomputer small system module. The human-computer interaction module inputs the specific moving positions of the three-translational parallel robot to the STM32 and displays specific robot execution process information.

4. The three-translation parallel grasping robot control system according to claim 1 is characterized in that: The control system also includes a power supply module, which provides a 24V driving power supply to the driving module, and provides a 3.3V and 5V DC power supply to the STM32 single-chip microcomputer small system and the level conversion module, and is used to provide the power supply required by the motor, the STM32 single-chip microcomputer and the level conversion module.

5. A control method for a three-translational parallel grasping robot based on STM32, characterized in that: include: Provided is a three-translational parallel grasping robot control system based on STM32 according to any one of claims 1 to 4, wherein the robot control system comprises a three-translational parallel robot mechanism and a corresponding stepper motor module, a drive module, an STM32 single-chip microcomputer small system module, a level conversion module, a human-computer interaction module and a power supply module; The driving module is used to provide the steering and pulse signals of the three stepping motors of the three-translational parallel robot, so that the three motors rotate at corresponding angles, thereby driving the three-translational parallel robot to move; The STM32 microcontroller small system module is used to reversely solve the stepper motor rotation angle, direction and corresponding pulse according to the position information of the three-translational robot, and output the motor direction and pulse to the drive module; The level conversion module is used to convert the 3.3V motor direction and pulse signals of the STM32 single-chip microcomputer into 5V motor direction and pulse signals to meet the level requirements of the driver control input.

6. A three-translational parallel grasping robot control method based on STM32 according to claim 5, characterized in that: The robot control method further comprises: The specific moving position of the three-translational parallel robot is input to the STM32 microcontroller small system module through the human-computer interaction module and the position is updated to display the specific robot execution process information. And by comparing the input position with the position limit of the mechanism itself, it is calculated whether the given position is out of range. When the input position is reachable, the power-on position, zero position and initial position are set, and the corresponding moving path is planned to make the three-translational parallel robot reach the specified position. When a shutdown message is received after completing a grasping and releasing, it enters the shutdown mode. If the shutdown message is not received, it enters the next repeated grasping movement.

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