STM32-based industrial production equipment force feedback operation system

Abstract

The utility model discloses an industrial production equipment force feedback operation system based on STM32, which comprises a master control module, a sensor module, a data transmission module, an operation control module and a force feedback operation device, and is characterized in that the master control module is connected with the data transmission module and the operation control module; the data transmission module is connected with the sensor module, and the sensor module and the operation control module are connected with the force feedback operation device; and an STM32 microcontroller is arranged in the main control module. The force feedback device is easy to operate, high in stability and higher in safety, and the accuracy and efficiency of force feedback operation of industrial production equipment are improved.

Description

Technical Field

[0001] The utility model relates to the technical field of industrial equipment operation, in particular to an STM32-based industrial production equipment force feedback operating system. Background Art

[0002] In most industrial production scenarios, harsh environmental factors such as high temperatures, strong magnetic fields, highly conductive dust, and corrosive gases pose a severe challenge to the normal operation of industrial production equipment. Operating industrial production equipment in these environments presents challenges such as poor operational stability and safety, limited operator feedback, and difficult and complex operations. This reduces operator accuracy and, in turn, results in low production efficiency. Utility Model Content

[0003] The purpose of the utility model is to overcome the deficiencies of the prior art. The utility model provides an STM32-based industrial production equipment force feedback operating system, which is simple to operate, has strong stability and higher security, and improves the accuracy and efficiency of the force feedback operation of industrial production equipment.

[0004] The utility model provides an STM32-based industrial production equipment force feedback operating system, the system includes a main control module, a sensor module, a data transmission module, an operation control module, and a force feedback operating device, the main control module is connected to the data transmission module and the operation control module, the data transmission module is connected to the sensor module, and the sensor module and the operation control module are connected to the force feedback operating device;

[0005] The main control module is equipped with an STM32 microcontroller.

[0006] Furthermore, the sensor module includes a position sensor, a torque sensor, a force sensor, an inertial sensor, and a temperature sensor, and the position sensor, torque sensor, force sensor, inertial sensor, and temperature sensor are connected to the main control module based on the data transmission module.

[0007] Furthermore, the position sensor is a photoelectric encoder.

[0008] Furthermore, the inertial sensor includes an acceleration sensor and a magnetic flux sensor.

[0009] Furthermore, the operation control module includes a PID controller, a PWM controller and a motor driver, the PID controller and the PWM controller are connected to the motor driver, and the motor driver is connected to the force feedback operation device.

[0010] Furthermore, the system also includes a power supply module, which is connected to the main control module.

[0011] Furthermore, the system also includes a display module, and the display module is connected to the main control module.

[0012] Furthermore, the system also includes a communication module, and the main control module is connected to the host computer for communication based on the communication module.

[0013] Furthermore, the system also includes a clock module, which is connected to the main control module.

[0014] Furthermore, the system also includes a storage module, which is connected to the main control module.

[0015] The utility model provides an STM32-based industrial production equipment force feedback operating system, which is provided with a force feedback operation function. The STM32 microcontroller is used as a main control module, a sensor module is provided to collect operation information of a force feedback operation device, the data transmission module is used to perform data transmission, and the force feedback operation device is controlled by an operation control module. The operation is simple, two-way communication of force feedback operation is realized, and the accuracy and efficiency of force feedback operation of industrial production equipment are improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0017] Figure 1 This is an architectural diagram of an STM32-based industrial production equipment force feedback operating system in an embodiment of the present utility model;

[0018] Figure 2 This is a schematic diagram of sensor data transmission in an embodiment of the present utility model;

[0019] Figure 3 It is a schematic diagram of operation control data transmission in an embodiment of the present utility model. DETAILED DESCRIPTION

[0020] The following will be combined with the accompanying drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0021] An embodiment of the utility model provides an STM32-based force feedback operating system for industrial production equipment. The system includes a main control module, a sensor module, a data transmission module, an operation control module, and a force feedback operating device. The main control module is connected to the data transmission module and the operation control module, the data transmission module is connected to the sensor module, and the sensor module and the operation control module are connected to the force feedback operating device.

[0022] In an optional implementation of this embodiment, as Figure 1 As shown, Figure 1 The following figure shows the architecture diagram of the force feedback operating system for industrial production equipment based on STM32 in an embodiment of the present utility model. The system includes a main control module, a sensor module, a data transmission module, an operation control module, and a force feedback operation device. The main control module is connected to the data transmission module and the operation control module, the data transmission module is connected to the sensor module, and the sensor module and the operation control module are connected to the force feedback operation device.

[0023] In an optional implementation of this embodiment, the main control module has a built-in STM32 microcontroller.

[0024] Specifically, the model of the STM32 microcontroller built into the main control module is the STM32F103C8T6 microcontroller, which is a low-power, high-performance microcontroller with a 32-bit ARM Cortex-M3 core. It is suitable for scenarios where long-term standby is required and multiple sensor data need to be processed. It has built-in interrupt, single-step, reset and other functions, and is suitable for the operating environment of the force feedback device for industrial production equipment in this embodiment.

[0025] In an optional implementation of this embodiment, the sensor module includes a position sensor, a torque sensor, a force sensor, an inertial sensor, and a temperature sensor, and the position sensor, torque sensor, force sensor, inertial sensor, and temperature sensor are connected to the main control module based on the data transmission module.

[0026] In an optional implementation of this embodiment, as Figure 2 As shown, Figure 2A schematic diagram of sensor data transmission in an embodiment of the present utility model is shown. The position sensor, torque sensor, force sensor, inertial sensor, and temperature sensor send the collected sensor data to the main control module based on the data transmission module.

[0027] Specifically, the data transmission module is connected to the data receiving GPIO pin of the main control module.

[0028] In an optional implementation of this embodiment, the position sensor is a photoelectric encoder.

[0029] Specifically, the position sensor uses a photoelectric encoder to collect joint position information of the force feedback operating device. The photoelectric encoder uses the grating diffraction principle to convert the mechanical geometric displacement on the output shaft into a pulse digital quantity, thereby obtaining the position information of the force feedback operating device.

[0030] In an optional implementation of this embodiment, the torque sensor adopts a TPS-A torque sensor, and the torque sensor is used to collect the torque interaction force of the force feedback operating device.

[0031] In an optional implementation of this embodiment, the force sensor is used to collect the operating force of the force feedback operating device and generate feedback force through a force rendering algorithm.

[0032] In an optional implementation of this embodiment, the inertial sensor is used to collect the inertia of the force feedback operating device.

[0033] Specifically, the inertial sensor includes an acceleration sensor and a flux sensor. The acceleration sensor adopts an ADXL345 acceleration sensor, and the flux sensor adopts an HMC5883 flux sensor. The acceleration sensor is used to collect the acceleration of the force feedback operation device, and the flux sensor is used to collect the geomagnetic flux of the force feedback operation device. The inertia is obtained by rotation matrix fusion.

[0034] In an optional implementation of this embodiment, the temperature sensor is a DS18B20 temperature sensor, and the temperature sensor is used to collect the operating environment temperature of the force feedback operating device.

[0035] In an optional implementation of this embodiment, as Figure 3 As shown, Figure 3 A schematic diagram of operation control data transmission in an embodiment of the present utility model is shown, wherein the operation control module includes a PID controller, a PWM controller and a motor driver, wherein the PID controller and the PWM controller are connected to the motor driver, and the motor driver is connected to the force feedback operation device.

[0036] Specifically, the operation control module is connected to the operation control GPIO pin of the main control module.

[0037] Specifically, the PID controller is a proportional-integral-differential controller, which is applicable to linear control scenarios, and the PWM controller is a pulse width modulation controller, which is applicable to nonlinear control scenarios. In this embodiment, they can be selected according to actual conditions.

[0038] Furthermore, the motor driver is connected to the force feedback operating device and drives and controls the force feedback operating device according to the operation control signal transmitted from the main control module.

[0039] In an optional implementation of this embodiment, the system further includes a power supply module, and the power supply module is connected to the main control module.

[0040] Specifically, the power supply module is used to provide working power for the system.

[0041] In an optional implementation of this embodiment, the system further includes a display module, and the display module is connected to the main control module.

[0042] Specifically, the display module is used to display the operating information of the system.

[0043] In an optional implementation of this embodiment, the system further includes a communication module, and the main control module is communicatively connected with the host computer based on the communication module.

[0044] Specifically, the communication module can adopt USB communication, WIFI wireless communication, radio frequency transceiver communication and other communication methods, and the communication module is used for the communication connection between the main control module and the host computer.

[0045] In an optional implementation of this embodiment, the system further includes a clock module, and the clock module is connected to the main control module.

[0046] Specifically, the clock module is used to provide a clock signal for the main control module.

[0047] In an optional implementation of this embodiment, the system further includes a storage module, and the storage module is connected to the main control module.

[0048] Specifically, the storage module is used to store the working information of the system.

[0049] Working principle: The main control module generates sensor data acquisition instructions and controls the sensor module to collect the operating data of the force feedback operating device. After the sensor module completes data acquisition, it transmits the sensor data to the main control module through the data transmission module.

[0050] The main control module generates an operation control instruction based on the sensor data and transmits it to the operation control module. The operation control module controls the operation of the force feedback operation device according to the operation control instruction.

[0051] In summary, the embodiment of the utility model proposes a force feedback operating system for industrial production equipment based on STM32, which is provided with a force feedback operation function, uses an STM32 microcontroller as a main control module, and provides a sensor module to collect operation information of a force feedback operation device. The data transmission module performs data transmission, and the force feedback operation device is controlled by an operation control module. The operation is simple, and two-way intercommunication of force feedback operation is realized, thereby improving the accuracy and efficiency of force feedback operation of industrial production equipment.

[0052] The above is a detailed introduction to a force feedback operating system for industrial production equipment based on STM32 provided by an embodiment of the present invention. Specific examples are used herein to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method and core idea of the present invention. At the same time, for those skilled in the art, according to the idea of the present invention, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A force feedback operating system for industrial production equipment based on STM32, characterized in that: The system includes a main control module, a sensor module, a data transmission module, an operation control module, and a force feedback operation device. The main control module is connected to the data transmission module and the operation control module, the data transmission module is connected to the sensor module, and the sensor module and the operation control module are connected to the force feedback operation device. The main control module is equipped with an STM32 microcontroller.

2. The STM32-based industrial production equipment force feedback operating system according to claim 1, wherein: The sensor module includes a position sensor, a torque sensor, a force sensor, an inertial sensor, and a temperature sensor, and the position sensor, torque sensor, force sensor, inertial sensor, and temperature sensor are connected to the main control module based on the data transmission module.

3. The STM32-based industrial production equipment force feedback operating system according to claim 2, wherein: The position sensor is a photoelectric encoder.

4. The STM32-based industrial production equipment force feedback operating system according to claim 2, wherein: The inertial sensor includes an acceleration sensor and a magnetic flux sensor.

5. The STM32-based industrial production equipment force feedback operating system according to claim 1, wherein: The operation control module includes a PID controller, a PWM controller and a motor driver. The PID controller and the PWM controller are connected to the motor driver, and the motor driver is connected to the force feedback operation device.

6. The STM32-based industrial production equipment force feedback operating system according to claim 1, characterized in that: The system further includes a power supply module, which is connected to the main control module.

7. The STM32-based industrial production equipment force feedback operating system according to claim 1, wherein: The system further comprises a display module, and the display module is connected to the main control module.

8. The STM32-based industrial production equipment force feedback operating system according to claim 1, wherein: The system further comprises a communication module, and the main control module is connected to the host computer for communication based on the communication module.

9. The STM32-based industrial production equipment force feedback operating system according to claim 1, wherein: The system further comprises a clock module, and the clock module is connected to the main control module.

10. The STM32-based industrial production equipment force feedback operating system according to claim 1, characterized in that: The system further includes a storage module, which is connected to the main control module.

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