CN205466174U - Delta robot handling system based on stm32 singlechip - Google Patents
Delta robot handling system based on stm32 singlechip Download PDFInfo
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- CN205466174U CN205466174U CN201620244278.8U CN201620244278U CN205466174U CN 205466174 U CN205466174 U CN 205466174U CN 201620244278 U CN201620244278 U CN 201620244278U CN 205466174 U CN205466174 U CN 205466174U
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Abstract
The utility model discloses a delta robot handling system based on stm32 singlechip, its technical essential includes processing module, communication module, stm32f103zet6 development board, stm32 singlechip, mounting bracket, fixed platform, step motor driver, 57 step motor, steering wheel and parallelly connected mechanical hand device, the stm32 singlechip is installed on stm32f103zet6 development board, be connected through communication module between processing module and the stm32 singlechip, parallelly connected mechanical hand device is including parallel mechanical hand and gripper, parallelly connected mechanical hand device passes through fixed platform and installs on the mounting bracket, the stm32 single chip microcomputer control step motor driver, step motor driver control 57 step motor, the parallel mechanical hand of 57 step motor control, the stm32 single chip microcomputer control steering wheel, the steering wheel is used for control machinery to grab, processing module passes through communication module control stm32 singlechip and sets up the coordinate punctuate, can take the object to the conveying and realize in automatic transport, and reduce the delta robot of cost.
Description
Technical field
This utility model relates to carrying field, particularly relates to a kind of delta robot transportation system based on stm32 single-chip microcomputer.
Background technology
Along with developing rapidly of automated control technology, traditional manual operations is replaced by semi-automatic or full-automatic machine people because of its too low work efficiency, but, article on conveyer belt still have been manually done at present, its work efficiency is low, and landed cost is high, and stability extreme difference.
Utility model content
The deficiency existed for prior art, the purpose of this utility model is to provide one can realize object on conveyer belt at automated handling, and reduces the delta robot of cost.
nullFor achieving the above object，This utility model provides following technical scheme: a kind of delta robot transportation system based on stm32 single-chip microcomputer，Including processing module、Communication module、Stm32f103zet6 development board、Stm32 single-chip microcomputer、Installing rack、Fixed platform、Stepper motor driver、57 motors、Steering wheel and parallel manipulator arm device，Described stm32 single-chip microcomputer is arranged on stm32f103zet6 development board，It is connected by communication module between described processing module with stm32 single-chip microcomputer，Described parallel manipulator arm device includes parallel mechanical hand and gripper，Described parallel manipulator arm device is arranged on installing rack by fixed platform，Described stm32 Single-chip Controlling stepper motor driver，Described stepper motor driver controls 57 motors，The described 57 parallel mechanical hands of step motor control，Described stm32 Single-chip Controlling steering wheel，Described steering wheel is used for controlling gripper，Described processing module controls stm32 single-chip microcomputer by communication module and sets up coordinate punctuate.
As preferably, described parallel machinery hands includes that stepper assemblies, motion arm component, motion platform and fixed platform, described stepper assemblies include motor and controllor for step-by-step motor；The end face of described fixed platform is provided with single-chip microcomputer and three stepper motor drivers, the bottom surface of described fixed platform is provided with three motors, each described motor drives a motion arm component action, the lower end of each described motion arm component is also secured on motion platform, it is connected with gripper in the bottom surface of described motion platform, described stm32 Single-chip Controlling stepper motor driver, described stepper motor driver controls motor.
As preferably, described motion arm component includes linking arm, upper movement arm, lower movement arm, upper connecting shaft, lower connecting shaft, joint ball and contiguous block, one end of described linking arm is socketed on the axle of motor and together rotates with motor, its other end is connected with the upper end of upper movement arm, described upper connecting shaft is socketed in the lower end of movement arm actively, described joint ball is respectively fitted in connecting shaft and lower connecting shaft, and lay respectively at movement arm and the both sides of lower movement arm, the upper end of described lower movement arm is connected with upper connecting shaft by joint ball, its lower end is connected with lower connecting shaft by another joint ball, described contiguous block one end is connected with lower connecting shaft, its other end is connected with motion platform.
The beneficial effects of the utility model are: realize the carrying of automatization, and the cost of the delta robot that industry is applied can be reduced, this set delta robot system, in the case of having demarcated coordinate system, space motion is given coordinate points, in actual robot movement, appointment position can be arrived, and control unclamping and capturing of gripper, the grasp speed of such mechanical hand is 120 ~ 150 times/min, can move in certain space, this set sorting system is suitable for object of which movement on a moving belt and carries target to appointment position.
Accompanying drawing explanation
Fig. 1 is this utility model control system overall construction drawing.
The structural representation of Fig. 2 this utility model delta based on stm32 single-chip microcomputer robot transportation system；
Fig. 3 is the parallel mechanical hand structural representation of this utility model delta based on stm32 single-chip microcomputer robot transportation system.
In figure: 1, installing rack；2, fixed platform；3, motion platform；4, motor；5, linking arm；6, upper movement arm；7, lower movement arm；8, upper connecting shaft；9, lower connecting shaft；10, joint ball；11, contiguous block；12, gripper.
Detailed description of the invention
nullReferring to figs. 1 through shown in Fig. 3，A kind of based on stm32 single-chip microcomputer the delta robot transportation system that present case is implemented，Including processing module、Communication module、Stm32f103zet6 development board、Stm32 single-chip microcomputer、Installing rack 1、Fixed platform 2、Stepper motor driver、57 motors 4、Steering wheel and parallel manipulator arm device，Described stm32 single-chip microcomputer is arranged on stm32f103zet6 development board，It is connected by communication module between described processing module with stm32 single-chip microcomputer，Described parallel manipulator arm device includes parallel mechanical hand and gripper 12，Described parallel manipulator arm device is arranged on installing rack 1 by fixed platform 2，Described stm32 Single-chip Controlling stepper motor driver，Described stepper motor driver controls 57 motors 4，Described 57 motors 4 control parallel mechanical hand，Described stm32 Single-chip Controlling steering wheel，Described steering wheel is used for controlling gripper 12，Described processing module controls stm32 single-chip microcomputer by communication module and sets up coordinate punctuate.
Described parallel machinery hands includes that motor 4 assembly, motion arm component, motion platform 3 and fixed platform 2, described motor 4 assembly include motor 4 and motor 4 controller；The end face of described fixed platform 2 is provided with single-chip microcomputer and three stepper motor drivers, the bottom surface of described fixed platform 2 is provided with three motors 4, each described motor 4 drives a motion arm component action, the lower end of each described motion arm component is also secured on motion platform 3, it is connected with gripper 12 in the bottom surface of described motion platform 3, described stm32 Single-chip Controlling stepper motor driver, described stepper motor driver controls motor 4.
Described motion arm component includes linking arm 5, upper movement arm 6, lower movement arm 7, upper connecting shaft 8, lower connecting shaft 9, joint ball 10 and contiguous block 11, one end of described linking arm 5 is socketed on the axle of motor 4 and together rotates with motor 4, its other end is connected with the upper end of upper movement arm 6, described upper connecting shaft 8 is socketed in the lower end of movement arm 6 actively, described joint ball 10 is respectively fitted in connecting shaft 8 and lower connecting shaft 9, and lay respectively at movement arm 6 and the both sides of lower movement arm 7, the upper end of described lower movement arm 7 is connected with upper connecting shaft 8 by joint ball 10, its lower end is connected with lower connecting shaft 9 by another joint ball 10, described contiguous block 11 one end is connected with lower connecting shaft 9, its other end is connected with motion platform 3.
The software environment of Delta robot control system is mainly by processing and keil mdk v5.00, its hardware composition is then processing module (preferably personal computer), communication module (preferably usb turns ttl communication module), stm32f103zet6 development board, stepper motor driver, 57 motors 4, steering wheel and parallel manipulator arm device etc., and Delta robot sorting system mainly includes following funtion part: the foundation of virtual Delta robot graphics；Delta inverse kinematics calculates and coordinate system translation function；Host computer and the communication of stm32f103zet6 development board；The closed loop control method of motor 4 is realized based on processing and stm32f103zet6 development board.
Operationally, task to be done includes whole machinery space coordinates, the demarcation capturing steering wheel angle needed for object, captures the planning etc. of movement locus preliminary during object Delta robot sorting system.
Delta robot can realize virtual image in personal computer processing program, it is used for reflecting the motion conditions that mechanical hand is actual more intuitively, the virtual image set up in processing, the algorithm of the inverse kinematics of Delta robot, it is that coordinate points spatially is changed into the intermediate quantity that motor 4 drives, due to artificial three axles of the Delta machine of this system, three times are altogether wanted for calculating with the inverse kinematics of a coordinate points, need under three coordinate systems, carry out coordinate system conversion, calculate article size to be crawled simultaneously, obtain the angle opened needed for gripper 12 steering wheel, it is converted into intermediate quantity, corresponding data is sent by serial ports of computers.
Main or the intermediate quantity driven by motor 4 by processing and servos control intermediate quantity is sent to stm32 single-chip microcomputer to host computer with the communication of stm32 single-chip microcomputer, stm32 single-chip microcomputer completes the numerical computations being correlated with, and drive stepping motor 4 makes mechanical actuating unit move to specify position, and the anglec of rotation of steering wheel arrives specifies position, to complete the action capturing and unclamping.
Motor 4 needs down to ensure its speed of service and its precision, need it is used closed loop control, the closed loop control of motor 4 is to need the incremental encoder by processing and motor 4 equally, owing to having been set up the space coordinates of mechanical hand at processing, the spatial point that only delta robot will need to be moved to, calculate, it is converted into the pulse equivalency that motor 4 encoder needs, and transmit data in stm32 single-chip microcomputer, in the stroke of motor 4 actual motion, will the stop timing at motor, encoder output is compared with count value, judge whether to need the execution of motor 4 is made corresponding compensation.
nullThe function of this system is primarily to realize the target travel for designated space point of the delta robot，In processing software，The virtual image of mechanical graphics hands，Make it have the characteristic of the robot movement of reality，The txt file comprising coordinates of motion point is read by computer，Txt file have recorded the space coordinates point of the motion of mechanical hand，The intermediate quantity that the coordinate points of space motion is moved by the corresponding motor of processing Program Generating 4，And turn ttl module by serial ports of computers and usb to continuously transmit the value of intermediate quantity to stm32f103zet6 development board，The data of acceptance are recorded by stm32f103zet6 development board，Change into the umber of pulse of 57 motors 4 drivings by computing and control its direction of motion，Simultaneously in order to consider the kinematic accuracy of 57 motors 4，This system is designed to closed loop control，For setting up the mechanical hand of space coordinates in processing program，Its target location coordinate system is converted into the intermediate quantity needed for encoder to count，The module turning ttl also by usb sends，Export actual coding device pulse when motor 4 is moved to compare，And the situation of step-out is made the compensation of data.
The above is only preferred implementation of the present utility model, and protection domain of the present utility model is not limited merely to above-described embodiment, and all technical schemes belonged under this utility model thinking belong to protection domain of the present utility model.It should be pointed out that, for those skilled in the art, without departing from the some improvements and modifications under this utility model principle premise, these improvements and modifications also should be regarded as protection domain of the present utility model.
Claims (3)
- null1. a delta robot transportation system based on stm32 single-chip microcomputer，It is characterized in that: include processing module、Communication module、Stm32f103zet6 development board、Stm32 single-chip microcomputer、Installing rack、Fixed platform、Stepper motor driver、57 motors、Steering wheel and parallel manipulator arm device，Described stm32 single-chip microcomputer is arranged on stm32f103zet6 development board，It is connected by communication module between described processing module with stm32 single-chip microcomputer，Described parallel manipulator arm device includes parallel mechanical hand and gripper，Described parallel manipulator arm device is arranged on installing rack by fixed platform，Described stm32 Single-chip Controlling stepper motor driver，Described stepper motor driver controls 57 motors，The described 57 parallel mechanical hands of step motor control，Described stm32 Single-chip Controlling steering wheel，Described steering wheel is used for controlling gripper，Described processing module controls stm32 single-chip microcomputer by communication module and sets up coordinate punctuate.
- Delta robot transportation system based on stm32 single-chip microcomputer the most according to claim 1, it is characterized in that: described parallel machinery hands includes that stepper assemblies, motion arm component, motion platform and fixed platform, described stepper assemblies include motor and controllor for step-by-step motor；The end face of described fixed platform is provided with single-chip microcomputer and three stepper motor drivers, the bottom surface of described fixed platform is provided with three motors, each described motor drives a motion arm component action, the lower end of each described motion arm component is also secured on motion platform, it is connected with gripper in the bottom surface of described motion platform, described stm32 Single-chip Controlling stepper motor driver, described stepper motor driver controls motor.
- Delta robot transportation system based on stm32 single-chip microcomputer the most according to claim 2, it is characterized in that: described motion arm component includes linking arm, upper movement arm, lower movement arm, upper connecting shaft, lower connecting shaft, joint ball and contiguous block, one end of described linking arm is socketed on the axle of motor and together rotates with motor, its other end is connected with the upper end of upper movement arm, described upper connecting shaft is socketed in the lower end of movement arm actively, described joint ball is respectively fitted in connecting shaft and lower connecting shaft, and lay respectively at movement arm and the both sides of lower movement arm, the upper end of described lower movement arm is connected with upper connecting shaft by joint ball, its lower end is connected with lower connecting shaft by another joint ball, described contiguous block one end is connected with lower connecting shaft, its other end is connected with motion platform.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201620244278.8U CN205466174U (en) | 2016-03-28 | 2016-03-28 | Delta robot handling system based on stm32 singlechip |
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| CN201620244278.8U CN205466174U (en) | 2016-03-28 | 2016-03-28 | Delta robot handling system based on stm32 singlechip |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106530881A (en) * | 2016-09-13 | 2017-03-22 | 广东工业大学 | Multi-robot teaching and real training platform |
| CN106564049A (en) * | 2016-09-13 | 2017-04-19 | 广东工业大学 | Small Delta robot driven by steering engines |
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2016
- 2016-03-28 CN CN201620244278.8U patent/CN205466174U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106530881A (en) * | 2016-09-13 | 2017-03-22 | 广东工业大学 | Multi-robot teaching and real training platform |
| CN106564049A (en) * | 2016-09-13 | 2017-04-19 | 广东工业大学 | Small Delta robot driven by steering engines |
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