CN114393580A - STM 32-based four-degree-of-freedom multi-control-mode carrying mechanical arm - Google Patents
STM 32-based four-degree-of-freedom multi-control-mode carrying mechanical arm Download PDFInfo
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- CN114393580A CN114393580A CN202210045688.XA CN202210045688A CN114393580A CN 114393580 A CN114393580 A CN 114393580A CN 202210045688 A CN202210045688 A CN 202210045688A CN 114393580 A CN114393580 A CN 114393580A
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1658—Programme controls characterised by programming, planning systems for manipulators characterised by programming language
Abstract
The invention discloses a four-degree-of-freedom multi-control mode carrying mechanical arm based on STM32, relates to the technical field of mechanical arm control, and particularly relates to a four-degree-of-freedom multi-control mode carrying mechanical arm based on STM 32. The ultrasonic sensor is used for diagnosing diseases in medicine, and the mechanical arm is used for treating a patient to realize non-contact operation; the sound sensor can be used for judging whether sound exists or not under the condition of no person in an industrial environment, automatically executing set actions and the like; the photosensitive sensor is used for controlling the mechanical arm to execute relevant actions in a sound control mode.
Description
Technical Field
The invention relates to the technical field of mechanical arm control, in particular to a four-degree-of-freedom multi-control mode carrying mechanical arm based on STM 32.
Background
The mechanical arm is widely used in the current life and production, can replace people to complete difficult actions which cannot be completed by people, and protects the safety of people. However, in some processes such as a writing robot, there is a high requirement for the position accuracy of the robot, which makes the steering engine control more demanding.
The degree of freedom of the mechanical arm is a very important parameter, depends on the type and structure of the mechanical arm and directly determines whether the mechanical arm can complete a predetermined task to a great extent, generally speaking, the degree of freedom of the mechanical arm is designed according to the purpose of the mechanical arm, the more the degree of freedom is, the greater the flexibility of movement is, the stronger the universality is, but the structure is more complicated and difficult to realize; the control mode of mechanical arm is diversified, more control mode, and the use of mechanical arm is more nimble, compares in the handle control mode that the mechanical arm was used commonly in the market, can only be used for certain specific function, and the mode is single, can not be used in the problem of special scene, for this reason, we provide the four degrees of freedom multi-control mode transport mechanical arm based on STM 32.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a four-degree-of-freedom multi-control mode carrying mechanical arm based on STM32, and solves the problems in the background art.
In order to achieve the purpose, the invention is realized by the following technical scheme: STM 32-based four-degree-of-freedom multi-control-mode carrying mechanical arm comprises a four-axis mechanical arm and a control system for controlling the four-axis mechanical arm, wherein four steering engines are arranged on the four-axis mechanical arm, the control system comprises a single-chip microcomputer main control module and a power module, a handle module, a steering engine module and a sensor module which are electrically connected with the single-chip microcomputer main control module, the power module and the handle module are connected with the input end of the single-chip microcomputer main control module, and the steering engine module is connected with the output end of the single-chip microcomputer main control module.
Optionally, the model of the single chip microcomputer main control module is STM32F103CBT 6.
Optionally, the steering engine module includes a driver and a servo motor connected to the driver.
Optionally, a driving circuit and a voltage stabilizing circuit electrically connected to the driving circuit are arranged in the driver.
Optionally, the steering wheel mainly by steering wheel, reduction gear group, position feedback potentiometer, servo motor and driver, servo motor's output is connected with reduction gear group, reduction gear group's output is connected with reduction gear group, the position feedback potentiometer passes through the bolt fastening on reduction gear group, the position feedback potentiometer is connected with the driver electricity, the driver is connected with servo motor electricity.
Optionally, the handle module is a PS2 wireless handle, and the PS2 wireless handle is composed of a handle and a wireless serial receiver.
Optionally, the sensor module comprises an ultrasonic sensor module, a sound sensor module and a photosensitive resistance sensor, and the ultrasonic sensor module, the sound sensor module and the photosensitive resistance sensor all realize data interaction with the singlechip main control module.
Optionally, the ultrasonic sensor module adopts a US-016 ultrasonic ranging module, the US-016 ultrasonic ranging module can realize a non-contact ranging function of 2 cm-3 m, the power supply voltage is 5V, the working current is 3.8mA, and the output of analog voltage is supported, the sound sensor module adopts a BR-ZS1 noise monitor, and the photoresistance sensor adopts a chip LM393 analog voltage comparator to realize the control of the intensity of light on the mechanical arm in combination with a photoresistance.
Optionally, the power module includes a main power module and a step-down DC-DC module electrically connected to the main power module.
The invention provides a four-degree-of-freedom multi-control-mode carrying mechanical arm based on STM32, which has the following beneficial effects:
1. the ultrasonic sensor arranged on the STM 32-based four-degree-of-freedom multi-control-mode carrying mechanical arm is used for diagnosing diseases in medicine, and the mechanical arm is used for treating patients to realize non-contact operation; the sound sensor can be used for judging whether sound exists or not under the condition of no person in an industrial environment, automatically executing set actions and the like; the photosensitive sensor is used for controlling the mechanical arm to execute relevant actions in a sound control mode.
2. The handle control mode that this four degrees of freedom many control mode transport arm based on STM32 set up is the most traditional mode, is that the upper and lower left and right sides that uses the handle control robotic arm is controlled, realizes robotic arm's snatching. The mode can be used for lifting jacks, tower cranes, outdoor visual scenes and grabbing corroded objects, and the purpose of liberating hands is achieved.
3. This light-operated mode that four degrees of freedom multiple control mode transport arms based on STM32 set up uses photosensitive sensor, realizes the control of arm through perception illumination, and when photosensitive sensor was blocked, the arm started fixed program of snatching and carries out work. This mode can be used to determine whether to act on a scene through lighting conditions.
4. The sound control mode that this four degrees of freedom many control mode transport arms based on STM32 set up uses the sound sensor, and when having the sound, the sensor perception gives the control panel feedback signal, and the arm starts fixed program of snatching and carries out work.
5. This four degrees of freedom multiple control mode transport arm based on STM32 sets up ultrasonic wave mode uses ultrasonic sensor, and when there is the barrier, the sensor perception, the transmission signal gives the control panel, triggers the arm action.
Drawings
FIG. 1 is a schematic front view of the present invention;
FIG. 2 is a schematic diagram of a control circuit of the robot arm of the present invention;
FIG. 3 is a schematic view of a sensor according to the present invention;
FIG. 4 is a schematic diagram of the steering engine of the present invention;
FIG. 5 is a schematic diagram of the steering engine control of the present invention;
FIG. 6 is a pin definition diagram of the single chip microcomputer according to the present invention;
FIG. 7 is a single-chip peripheral circuit of the present invention;
FIG. 8 is a schematic diagram of the control board total power supply of the present invention;
FIG. 9 is a schematic diagram of a DCDC buck module according to the present invention;
FIG. 10 is a schematic diagram of a main driving circuit according to the present invention;
FIG. 11 is a schematic diagram of a voltage regulator circuit according to the present invention;
FIG. 12 is a schematic circuit diagram of a light sensor of the present invention;
FIG. 13 is a circuit schematic of an acoustic sensor according to the present invention;
FIG. 14 is a schematic view of an ultrasonic sensor system of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
Referring to fig. 1 to 14, the present invention provides a technical solution: STM 32-based four-degree-of-freedom multi-control-mode carrying mechanical arm comprises a four-axis mechanical arm and a control system for controlling the four-axis mechanical arm, wherein four steering engines are arranged on the four-axis mechanical arm, the control system comprises a single-chip microcomputer main control module and a power module, a handle module, a steering engine module and a sensor module which are electrically connected with the single-chip microcomputer main control module, the power module and the handle module are connected with the input end of the single-chip microcomputer main control module, and the steering engine module is connected with the output end of the single-chip microcomputer main control module.
Further, the model of the single chip microcomputer main control module is STM32F103CBT6, as shown in FIG. 6, STM32F103C8T6 is a 32-bit microcontroller based on ARMCortex-M3 kernel STM32 series, the capacity of a program memory is 64KB, the working temperature is-40-85 ℃, and the highest working frequency is 72 MHz. The chip adopts 2 to 3.6V power supply, I/O pins, power-on reset, power-off reset, a programmable voltage monitor, a 4 to 16MHz crystal oscillator, a factory-calibrated 8MHz RC oscillator, a calibrated 40KHz RC oscillator and a 32KHz RTC oscillator with a calibration function which are embedded, and can generate a PLL of a CPU clock;
as shown in fig. 7, the peripheral circuit of the single chip microcomputer comprises a buzzer, when a pin PB13 of the single chip microcomputer is at a low level, the buzzer alarms, when a user LED circuit is connected to a power supply of 3.3V and a pin PB14 is at a low level, an LED lamp is turned on, a motor interface circuit adopts a four-phase five-wire stepping motor, when the power supply is connected, the single chip microcomputer gives a control signal, the motor rotates forwards and backwards as required, a PS2 wireless handle is similar, and the mechanical arm is controlled by a communication interface of the single chip microcomputer and a software program writing method. The sensor circuit is extended, the circuit is provided with 3 pins which are respectively used for outputting power, ground and the single chip microcomputer, when the single chip microcomputer outputs, the sensor has input, programs are written into the single chip microcomputer according to the principle of the sensor, and the single chip microcomputer outputs corresponding driving levels, so that the sensor is driven to act.
Further, the steering engine module comprises a driver and a servo motor connected with the driver, a driving circuit and a voltage stabilizing circuit electrically connected with the driving circuit are arranged in the driver, as shown in fig. 10, the driving circuit selects a main driving circuit with RZ7889 as a core, RZ7889 is a DC bidirectional motor driving circuit, has good anti-interference performance, small standby current and low output internal resistance, and has a built-in diode capable of releasing reverse impact current of an inductive load, as shown in fig. 11, the voltage stabilizing circuit is an MCU voltage stabilizing power supply formed by a three-terminal voltage stabilizing device which can be completely replaced by a switching voltage stabilizing power supply with an LM2576 as a core, the steering engine mainly comprises a steering wheel, a speed reducing gear set, a position feedback potentiometer, the servo motor and the driver, an output end of the servo motor is connected with the speed reducing gear set, an output end of the speed reducing gear set is connected with the speed reducing gear set, the position feedback potentiometer is fixed on the speed reduction gear set through a bolt and is electrically connected with the driver, the driver is electrically connected with the servo motor, the steering engine is provided with three input lines, a power line, a ground line and a control line are shown in figure 4, wherein a red line in the middle is the power line, a black line is the ground line, the ground line of the steering engine is connected with a grounding end of a control circuit (common ground), the steering engine mainly obtains energy through the two lines, the power voltage of the steering engine generally has two specifications, namely 4.8V, namely 7.2V7.2V is generally applied to occasions with higher torque requirements, and 4.8V is mainly applied to occasions with subminiature long-time continuous work; the other yellow line is a control signal line, and the steering engine receives a PWM signal output by the control system through the signal line;
as shown in figure 5, a signal line of a steering engine receives a PWM control signal to control a motor to rotate, the motor drives a series of reduction gear sets to be transmitted to an output steering wheel after being reduced, an output shaft of the steering engine drives a position feedback potentiometer, the potentiometer compares an output voltage signal of a corresponding angle with a PWM control signal of a control circuit board, and the control circuit board determines the rotating direction and speed of the motor according to the position of the potentiometer, so that the target stop is achieved.
Further, the handle module is PS2 wireless handle, PS2 wireless handle comprises handle and wireless serial ports receiver, the button information of handle can be received by wireless commentaries on classics serial ports module, convert serial ports module into serial ports signal by wireless commentaries on classics again and send for singlechip STM32F103C8T6, this handle can be used for controlling direct current motor through 10 fixed levels of wireless serial ports module output, through level driven devices such as relay and LED lamp, in addition, this handle possesses PS2 commentaries on classics serial ports function, the key-value of handle button can be customized, the button value of definition can be sent through the serial ports, this function can insert in any serial ports communication's of supporting system.
Furthermore, the sensor module comprises an ultrasonic sensor module, a sound sensor module and a photosensitive resistance sensor, and the ultrasonic sensor module, the sound sensor module and the photosensitive resistance sensor all realize data interaction with the singlechip main control module.
As shown in fig. 14, the ultrasonic sensor module adopts a US-016 ultrasonic ranging module, the US-016 ultrasonic ranging module can realize a non-contact ranging function of 2cm to 3m, the power supply voltage is 5V, the working current is 3.8mA, and the output of analog voltage is supported, and the ultrasonic sensor mainly includes: the device comprises a receiver, a transmitter and a control part, wherein the transmitter is a ceramic vibrator, the ceramic vibrator can generate electric vibration energy through vibration, the electric vibration energy is converted into ultrasonic energy through the energy and is radiated to the surrounding space, and the receiver receives the reflected ultrasonic signals and carries out corresponding conversion. The control part is the core part of the ultrasonic device and mainly detects the ultrasonic signals reflected by the receiver to judge whether the signals exist or not. Ultrasonic sensors include many types, but the control principle is substantially the same. For the ultrasonic sensor in a certain range, the control distance needs to adjust a loop gate signal, the reflected signal of any range can be received, in addition, the range of the detected object needs to be adjusted, the width or time of the gate signal can be controlled, either one is selected, the working voltage of the ultrasonic sensor is generally provided by an external power supply, a 4s direct current lithium battery is used in the ultrasonic sensor, the voltage range is 12.4V-16.8V, and in addition, the voltage is converted into a constant voltage through an internal conversion circuit for use. The ultrasonic wave generating circuit and the ultrasonic wave receiving circuit are two key circuits in the sensor, and a plurality of methods for generating ultrasonic waves are provided, wherein an ultrasonic wave vibrator is directly knocked, the method is simplest and most direct, and the method has the defects that manual participation is needed, the method cannot work durably and cannot be used for practice, so that in actual work, ultrasonic wave signals can be obtained by the circuit method, different oscillating circuits are adopted, and the generated ultrasonic waves are different;
further, as shown in fig. 13, the sound sensor module adopts a BR-ZS1 noise monitor, the sound module is most sensitive to the environmental sound intensity and is generally used for detecting the sound intensity of the surrounding environment, when the environmental sound intensity does not reach a set threshold, OUT outputs a high level, when the external environmental sound intensity exceeds the set threshold, OUT outputs a low level, and the small digital output OUT can be directly connected to the single chip microcomputer and detects the high and low levels through the single chip microcomputer to detect the environmental sound, and the small digital output OUT can directly drive the relay module of the shop, thereby forming a sound control switch;
as shown in fig. 12, the photoresistor sensor adopts a chip LM393 analog voltage comparator to combine with a photoresistor to realize the control of the intensity of light to the mechanical arm, the photoresistor module is most sensitive to ambient light, when the ambient light brightness of the module does not reach a set threshold, the DO end outputs a high level, and when the ambient light brightness exceeds the set threshold, the DO end outputs a low level; the DO output end can be directly connected with the single chip microcomputer, and the high and low levels are detected through the single chip microcomputer, so that the change of the light brightness of the environment is detected; the DO output can directly drive the relay module of the store, so that a photoswitch can be formed.
Further, the power supply module comprises a main power supply module and a step-down DC-DC module electrically connected to the main power supply module, as shown in fig. 8, when a switch SW of the main power supply module is pressed, a diode is turned on, and a circuit is connected to a 6V power supply, the system starts to work;
further, as shown IN fig. 9, the step-down DC-DC module adopts an XL401S chip to implement DCDC step-down, adopts a chip XL4015 to implement step-down, and finally outputs a five-volt voltage at an output terminal VDJ when a VCC-IN inputs a voltage from 6V, where XL401S is a switching step-down DC-DC conversion chip, and is used for step-down constant voltage application of DC 8V-36V input and output voltage 5V output current 5A, and the highest conversion efficiency can reach 93%. The switching frequency is fixed to be 180KHz, the size of an external component can be reduced, and EMC design is facilitated. The chip has excellent linear regulation rate and load regulation rate, and the output voltage can be regulated between 1.25V and 32V. And palm modules such as overcurrent protection, over-temperature protection, short-circuit protection and the like are integrated in the chip. XL4015 is a standard TO263-5L package, and has the advantages of high integration level, few peripheral devices and flexible application.
Program code
First, sensor program
Second, steering engine control main program
Third, clock control program
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be able to cover the technical scope of the present invention and the equivalent alternatives or modifications according to the technical solution and the inventive concept of the present invention within the technical scope of the present invention.
Claims (9)
1. Four degree of freedom many control mode transport arms based on STM32, including four-axis arm to and be used for controlling the control system of four-axis arm, its characterized in that: four steering engines are arranged on the four-axis mechanical arm, the control system comprises a single-chip microcomputer main control module, a power module, a handle module, a steering engine module and a sensor module, the power module, the handle module, the steering engine module and the sensor module are electrically connected with the single-chip microcomputer main control module, the power module and the handle module are connected with the input end of the single-chip microcomputer main control module, and the steering engine module is connected with the output end of the single-chip microcomputer main control module.
2. The STM 32-based four degree-of-freedom multi-control mode transfer robot arm of claim 1, wherein: the model of the singlechip main control module is STM32F103CBT 6.
3. The STM 32-based four degree-of-freedom multi-control mode transfer robot arm of claim 1, wherein: the steering engine module comprises a driver and a servo motor connected with the driver.
4. The STM 32-based four degree of freedom multi-control mode transfer robot arm of claim 3, wherein: the driver is internally provided with a driving circuit and a voltage stabilizing circuit electrically connected with the driving circuit.
5. The STM 32-based four degree-of-freedom multi-control mode transfer robot arm of claim 1, wherein: the steering wheel mainly by steering wheel, reduction gear group, position feedback potentiometer, servo motor and driver, servo motor's output is connected with reduction gear group, reduction gear group's output is connected with reduction gear group, the position feedback potentiometer passes through the bolt fastening on reduction gear group, the position feedback potentiometer is connected with the driver electricity, the driver is connected with the servo motor electricity.
6. The STM 32-based four degree of freedom multi-control mode transfer robot arm of claim 5, wherein: the handle module is a PS2 wireless handle, and the PS2 wireless handle consists of a handle and a wireless serial port receiver.
7. The STM 32-based four degree-of-freedom multi-control mode transfer robot arm of claim 1, wherein: the sensor module comprises an ultrasonic sensor module, a sound sensor module and a photosensitive resistance sensor, and the ultrasonic sensor module, the sound sensor module and the photosensitive resistance sensor are all in data interaction with the single chip microcomputer main control module.
8. The STM 32-based four degree of freedom multi-control mode transfer robot arm of claim 7, wherein: the ultrasonic sensor module adopts US-016 ultrasonic ranging module, and US-016 ultrasonic ranging module can realize the non-contact ranging function of 2cm ~ 3m, and supply voltage is 5V, and operating current 3.8mA supports analog voltage output, the acoustic sensor module adopts BR-ZS1 noise monitoring appearance, the photo resistance sensor adopts chip LM393 analog voltage comparator to combine photo resistance to realize the strong and weak of light to the arm control.
9. The STM 32-based four degree-of-freedom multi-control mode transfer robot arm of claim 1, wherein: the power supply module comprises a main power supply module and a voltage reduction DC-DC module electrically connected with the main power supply module.
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| CN202210045688.XA CN114393580A (en) | 2022-01-16 | 2022-01-16 | STM 32-based four-degree-of-freedom multi-control-mode carrying mechanical arm |
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| CN202210045688.XA CN114393580A (en) | 2022-01-16 | 2022-01-16 | STM 32-based four-degree-of-freedom multi-control-mode carrying mechanical arm |
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| US20100292840A1 (en) * | 2009-05-15 | 2010-11-18 | Beijing University Of Technology | Flexible two-wheeled self-balancing robot system and its motion control method |
| CN206795815U (en) * | 2017-04-10 | 2017-12-26 | 南京林业大学 | A kind of intelligent nursing dolly of flexible manipulator |
| CN108481348A (en) * | 2018-03-14 | 2018-09-04 | 合肥工业大学 | Hexapod Robot control system based on Arduino platforms |
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Application publication date: 20220426 |