Sorter Bin - Tshawb nrhiav thiab txheeb koj cov thoob khib nyiab: 9 Kauj Ruam

2024 Tus sau: John Day | [email protected]. Kawg hloov kho: 2024-01-30 09:27

Koj puas tau pom ib tus neeg uas tsis rov ua dua tshiab lossis ua qhov tsis zoo?

Koj puas tau xav tau lub tshuab uas yuav rov ua dua tshiab rau koj?

Txhawm rau nyeem peb tes num, koj yuav tsis khuv xim nws!

Sorter bin yog ib qhov haujlwm uas muaj kev txhawb siab kom pom tseeb ntawm kev siv cov khoom siv ub no hauv ntiaj teb. Raws li nws tau paub zoo, qhov tsis muaj kev rov ua dua tshiab yog ua rau muaj teeb meem loj hauv peb ntiaj chaw, xws li kev ploj ntawm cov khoom siv raw thiab dej hiav txwv tsis huv, ntawm lwm tus.

Vim li ntawd, peb pab neeg tau txiav txim siab los tsim ib qhov haujlwm hauv qhov me me: lub thoob khib nyiab uas muaj peev xwm cais cov khib nyiab mus rau cov neeg tau txais sib txawv nyob ntawm seb cov khoom yog hlau lossis tsis yog hlau. Hauv cov ntawv yav tom ntej, lub thoob khib nyiab tuaj yeem nthuav dav rau qhov loj, tso kev faib cov thoob khib nyiab rau txhua yam khoom sib txawv (ntoo, yas, hlau, organic …).

Txij li lub hom phiaj tseem ceeb yog kom paub qhov txawv ntawm cov hlau lossis tsis yog hlau, lub thoob khib nyiab yuav nruab nrog lub ntsuas hluav taws xob, tab sis kuj nrog lub ntsuas hluav taws xob ultrasonic txhawm rau txhawm rau txheeb xyuas yog tias muaj qee yam hauv lub thoob. Tsis tas li ntawd, lub thoob yuav xav tau kev txav txav txav cov khib nyiab mus rau hauv ob lub thawv, li no ia stepper motor tau xaiv.

Hauv cov ntu tom ntej, txoj haujlwm no yuav piav qhia ib qib zuj zus.

Kauj Ruam 1: Nws Ua Haujlwm Li Cas

Lub thoob khib nyiab tau tsim los ua kom txoj haujlwm yooj yim rau cov neeg siv: cov khib nyiab yuav tsum tau qhia los ntawm lub qhov uas tau muab tso rau hauv lub phaj sab saud, lub pob daj yuav tsum nias thiab txheej txheem pib, xaus nrog cov khib nyiab rau hauv ib qho ntawm cov neeg txais. Tab sis cov lus nug tam sim no yog … txheej txheem ntawd ua haujlwm sab hauv li cas?

Thaum qhov txheej txheem tau pib ntsuab LED yog teeb pom kev zoo. Tom qab ntawd lub ntsuas hluav taws xob ultrasonic, txuas rau hauv phaj saum toj kawg nkaus los ntawm kev txhawb nqa, pib lawv txoj haujlwm los txiav txim seb puas muaj ib qho khoom hauv lub thawv lossis tsis yog.

Yog tias tsis muaj ib yam khoom sab hauv lub thawv, lub teeb liab liab qhib rau thiab ntsuab ntsuab tig tawm. Ntawm qhov tsis sib xws, yog tias muaj ib qho khoom, cov khoom siv hluav taws xob yuav raug qhib kom txhawm rau txhawm rau txheeb xyuas yog tias cov khoom yog hlau lossis tsis yog hlau. Thaum twg hom khoom tau txiav txim siab, cov liab thiab daj LEDs yuav qhib thiab lub thawv yuav txav mus rau ib qho kev taw qhia lossis qhov sib txawv nyob ntawm seb hom khoom siv li cas, txhawb los ntawm stepper motor.

Thaum lub thawv tuaj txog qhov kawg ntawm kev mob hlab ntsha tawg thiab cov khoom tau poob rau hauv tus neeg tau txais qhov raug, lub thawv yuav rov qab mus rau qhov chaw pib. Thaum kawg, nrog lub npov nyob rau hauv thawj txoj haujlwm, LED daj yuav tua. Tus neeg nqa khoom tau npaj yuav rov pib dua nrog cov txheej txheem qub. Cov txheej txheem no tau piav qhia hauv kab lus kawg kuj tseem muaj nyob hauv daim duab ntawm daim phiaj ua haujlwm txuas nrog hauv Kauj Ruam 6: Programming.

Kauj Ruam 2: Cov Nqi Khoom (BOM)

Qhov chaw kho tshuab:

• Yuav cov khoom rau cov qauv hauv qab

  • Cov qauv hlau [Txuas]
  • Grey lub thawv [Txuas]

• 3D tshuab luam ntawv

  PLA rau txhua qhov chaw luam tawm (lwm cov ntaub ntawv tseem tuaj yeem siv tau, zoo li ABS)

• Laser txiav tshuab

  • MDF 3 hli
  • Plexiglass 4 hli
• Teeb Kab Kab Teeb [Txuas]
• Kab Tawm Kab [Txuas]
• Ncej [Txuas]
• Ncej tuav (x2) [Txuas]

Cov khoom siv hluav taws xob:

• Tsav

  Tawm Stepper Tsav Nema 17 [Txuas]

• Roj teeb

  12 v Roj teeb [Txuas]

• Sensors

  • 2 Ultrasonic sensor HC-SR04 [Txuas]
  • 2 Inductive sensors LJ30A3-15 [Txuas]

• Microcontroller

  1 arduino UNO pawg thawj coj saib

• Cheebtsam ntxiv

  • DRV8825 tsav tsheb
  • 3 LEDs: liab, ntsuab thiab txiv kab ntxwv
  • 1 khawm
  • Qee qhov dhia cov xov hlau, cov xov hlau thiab cov hlau txuas
  • Cov qhob cij
  • USB cable (Arduino-PC txuas)
  • Capacitor: 100uF

Kauj Ruam 3: Kev Tsim Kho Tshuab

Hauv cov duab yav dhau los, txhua ntu ntawm kev sib dhos tau qhia.

Txog kev tsim kho tshuab, SolidWorks tau siv ua CAD program. Qhov sib txawv ntawm kev sib dhos tau tsim los suav nrog cov txheej txheem tsim khoom uas lawv yuav raug tsim.

Laser txiav qhov:

• MDF 3 hli

  • Ncej
  • Sab saum toj phaj
  • Ultrasonic sensors txhawb nqa
  • Inductive sensors txhawb nqa
  • Lub thawv khib nyiab
  • Kev them nyiaj yug roj teeb
  • Breadboard thiab Arduino txhawb nqa

• Plexiglass 4 hli

  Platform

3D luam qhov:

• Pillars lub hauv paus
• Tawm txav txav kis los ntawm stepper lub cev muaj zog
• Stepper lub cev muaj zog thiab kev txhawb nqa kabmob
• Phab ntsa kho qhov chaw rau lub thawv pov tseg

Rau kev tsim khoom ntawm txhua qhov ntawm cov ntu no, cov ntaub ntawv. STEP yuav tsum raug xa mus rau qhov raug, yog nyob ntawm lub tshuab uas yuav siv rau lub hom phiaj ntawd. Hauv qhov no,.dxf cov ntaub ntawv tau siv rau lub tshuab txiav laser thiab.gcode cov ntaub ntawv rau lub tshuab luam ntawv 3D (Ultimaker 2).

Cov cuab yeej sib dhos ntawm txoj haujlwm no tuaj yeem pom hauv. STEP cov ntawv txuas hauv ntu no.

Kauj Ruam 4: Cov Khoom Siv Hluav Taws Xob (Xaiv Cheeb Tsam)

Hauv ntu no, cov lus piav qhia luv ntawm cov khoom siv hluav taws xob siv thiab piav qhia txog kev xaiv cov khoom siv yuav ua tiav.

Arduino UNO board (raws li lub microcontroller):

Qhib-qhov chaw kho vajtse thiab software. Pheej yig, yooj yim muaj, yooj yim rau cov cai. Pawg thawj coj no tau sib xws nrog txhua qhov khoom siv uas peb siv thiab npaj tau yooj yim koj pom ntau yam kev qhia thiab rooj sab laj muaj txiaj ntsig zoo los kawm thiab daws teeb meem.

Tsav (Tawm Stepper Tsav Nema 17):

Yog hom stepper lub cev muaj zog uas faib tag nrho kev sib hloov hauv qee qhov ntawm cov theem. Raws li qhov tsim nyog, nws tau tswj hwm los ntawm kev muab qee tus lej ntawm cov theem. Nws muaj zog thiab raug thiab tsis xav tau ib qho sensor los tswj nws txoj haujlwm tiag. Lub luag haujlwm ntawm lub cav yog tswj kev txav ntawm lub thawv uas muaj cov khoom pov tseg thiab tso nws rau hauv lub qhov yog.

Txhawm rau xaiv tus qauv koj tau ua qee qhov kev suav ntawm qhov siab tshaj plaws qhov xav tau ntxiv qhov kev nyab xeeb. Hais txog cov txiaj ntsig, peb yuav tus qauv uas feem ntau suav nrog tus nqi suav.

DRV8825 Tsav Tsheb:

Lub rooj tsavxwm no yog siv los tswj lub bipolar stepper motor. Nws muaj qhov hloov kho tam sim no uas tso cai rau koj teeb tsa qhov tso zis ntau tshaj tam sim no nrog lub hwj chim ntxiv rau rau rau qib sib txawv kev txiav txim siab: tag nrho-kauj ruam, ib nrab-kauj ruam, 1/4-kauj ruam, 1/8-kauj ruam, 1/16- kauj ruam, thiab 1/32-kauj ruam (thaum kawg peb siv tag nrho cov kauj ruam raws li peb tsis pom muaj qhov xav tau mus rau microstepping tab sis nws tseem tuaj yeem siv los txhim kho qhov zoo ntawm kev txav mus los).

Ultrasonic sensors:

Cov no yog ib hom kev ntsuas suab uas hloov pauv lub teeb liab hluav taws xob mus rau hauv ultrasound thiab hloov pauv. Lawv siv cov lus teb ncha ntawm lub suab nrov ua ntej tso tawm los suav qhov nrug mus rau ib qho khoom. Peb siv lawv los tshuaj xyuas seb puas muaj ib qho khoom hauv lub thawv lossis tsis yog. Lawv yooj yim siv thiab muab qhov ntsuas raug.

Txawm hais tias qhov tso tawm ntawm qhov ntsuas no yog tus nqi (nrug), los ntawm kev teeb tsa lub hauv paus los txiav txim siab seb puas muaj ib qho khoom lossis tsis yog, peb hloov pauv

Inductive sensors: cov

Raws li Faraday txoj cai, nws yog nyob rau qeb uas tsis sib cuag hluav taws xob nyob ze qhov ntsuas. Peb tso lawv rau hauv qab ntawm lub thawv txav, hauv qab plexiglass platform uas txhawb nqa lub hom phiaj. Lawv lub hom phiaj yog txhawm rau sib txawv ntawm cov hlau thiab cov khoom tsis yog hlau muab cov digital tso tawm (0/1).

LEDs (ntsuab, daj, liab):

Lawv lub hom phiaj yog sib tham nrog tus neeg siv:

-Green LED ntawm: tus neeg hlau tos txog yam khoom.

-Red LED ntawm: tshuab ua haujlwm, koj tsis tuaj yeem pov ib yam khoom.

-Txhua tus LED ntawm: pom ib yam khoom.

12V Roj teeb lossis 12V fais fab tuag + 5V USB zog:

Yuav tsum muaj qhov hluav taws xob los txhawb lub zog ntsuas hluav taws xob thiab lub tshuab hluav taws xob. Yuav tsum muaj lub zog hluav taws xob 5V los txhawb lub zog Arduino. Qhov no tuaj yeem ua tiav los ntawm 12V roj teeb tab sis nws yog qhov zoo tshaj kom muaj qhov cais 5V lub zog rau Arduino (xws li nrog USB cable thiab xov tooj txuas nrog txuas nrog lub zog lossis lub computer).

Teeb meem uas peb pom:

• Inductive sensor nrhiav kom tau, peb tsis tau txais qhov tseeb xav tau vim qee zaum cov khoom siv hlau uas tsis zoo nyob tsis pom. Qhov no yog vim muaj 2 qhov txwv:

  • Thaj chaw npog los ntawm cov ntsuas ntsuas hauv lub xwmfab platform sawv cev tsawg dua 50% ntawm nws (yog li cov khoom me me tsis tuaj yeem kuaj pom). Txhawm rau daws nws peb pom zoo siv 3 lossis 4 inductive sensors kom ntseeg tau ntau dua 70% ntawm thaj chaw.
  • Kev txheeb xyuas qhov deb ntawm cov ntsuas tau txwv rau 15mm yog li peb pom peb tus kheej raug yuam kom siv lub ntsej muag plexiglass zoo. Qhov no kuj tseem tuaj yeem yog lwm qhov kev txwv kuaj xyuas cov khoom nrog lub ntsej muag txawv.
• Kev kuaj pom ultrasonic: dua, cov khoom zoo li txoj hauv kev nyuaj muab cov teeb meem raws li lub teeb liab tso tawm los ntawm cov ntsuas tau pom tsis zoo thiab rov qab los tom qab ntau dua li nws yuav tsum rau lub ntsuas.
• Roj teeb: peb muaj qee qhov teeb meem tswj hwm lub roj teeb xa tuaj tam sim no thiab los daws nws thaum kawg peb siv lub zog siv. Txawm li cas los xij, lwm qhov kev daws teeb meem zoo li siv lub diode tuaj yeem ua tiav.

Kauj Ruam 5: Khoom Siv Hluav Taws Xob (Kev Sib Txuas)

Nqe lus no qhia txog kev thaiv ntawm cov khoom sib txawv muab tso ua ke. Nws kuj tseem qhia tau tias tus pin ntawm Arduino txhua qhov txuas tau txuas nrog.

Kauj ruam 6: Programming

Nqe lus no yuav piav qhia txog cov txheej txheem kev xav tom qab lub tshuab Bin Sorting.

Qhov kev zov me nyuam tau muab faib ua 4 theem, uas yog raws li hauv qab no:

1. Pib qhov system
2. Txheeb xyuas cov khoom
3. Txheeb xyuas yam khoom yam khoom tam sim no
4. Txav Box

Rau cov lus piav qhia ntxaws ntawm txhua kauj ruam, saib hauv qab no:

Kauj ruam 1Initialize system

LED vaj huam sib luag (3) - teeb Calibrating LED (liab) HIGH, Npaj LED (ntsuab) LOW, Yam khoom tam sim no (daj) LOW

Txheeb xyuas lub tshuab hluav taws xob nyob ntawm qhov chaw pib

• Khiav ultrasonic ntsuas ntsuas los ntsuas qhov deb ntawm ib sab rau lub thawv phab ntsa
  • Thawj txoj haujlwm == 0 >> Hloov kho qhov tseem ceeb ntawm Npaj LED HIGH thiab Calibrating LED LOW -> theem 2

  • Thawj txoj haujlwm! = 0 >> digital nyeem tus nqi ntawm ultrasonic sensors thiab raws li qhov tseem ceeb ntawm sensor:

    • Hloov kho tus nqi ntawm lub cav txav LED HIGH.
    • Khiav txav lub thawv kom txog thaum tus nqi ntawm ob lub ntsuas ultrasonic yog <tus nqi pib.

Hloov kho tus nqi ntawm thawj txoj haujlwm = 1 >> Hloov kho tus nqi ntawm LED Npaj HIGH thiab lub cev muaj zog txav LOW thiab Calibrating LOW >> qib 2

Kauj ruam 2

Txheeb xyuas cov khoom

Khiav Ultrasonic Object detection

• Yam khoom tam sim no == 1 >> Hloov kho tus nqi tam sim no LED HIGH >> Kauj Ruam 3
• Lub hom phiaj tam sim no == 0 >> Tsis ua dab tsi

Kauj ruam 3

Txheeb xyuas yam khoom yam khoom tam sim no

Khiav Inductive sensor nrhiav kom tau

• inductiveState = 1 >> Kauj Ruam 4
• inductiveState = 0 >> Kauj ruam 4

Kauj ruam 4

Txav Box

Khiav lub cav ua haujlwm

• inductiveState == 1

  Hloov kho lub cav txav LED HIGH >> Ua kom lub cev txav mus rau sab laug, (hloov kho txoj haujlwm thawj zaug = 0) ncua sijhawm thiab txav mus rau sab xis >> Kauj Ruam 1

• inductiveState == 0

  Hloov kho lub cav txav LED HIGH >> Ua kom lub cev txav mus rau sab xis, (hloov kho txoj haujlwm thawj zaug = 0), ncua sijhawm thiab txav rov qab sab laug >> Kauj Ruam 1

Kev ua haujlwm

Raws li tuaj yeem pom los ntawm cov txheej txheem kev xav, txoj haujlwm ua haujlwm los ntawm kev ua haujlwm nrog lub hom phiaj tshwj xeeb. Piv txwv li, thawj kauj ruam yog pib ua haujlwm uas muaj lub luag haujlwm "Txheeb xyuas lub tshuab hluav taws xob nyob ntawm qhov chaw pib". Cov kauj ruam thib ob tom qab tshuaj xyuas qhov muaj ntawm cov khoom uas nyob hauv nws tus kheej yog lwm txoj haujlwm ("Ultrasonic Object detection" function). Thiab lwm yam

Tom qab theem 4, txoj haujlwm tau ua tiav tiav thiab yuav rov qab mus rau kauj ruam 1 ua ntej rov ua haujlwm dua.

Cov haujlwm siv hauv lub cev tseem ceeb tau piav qhia hauv qab no.

Lawv yog feem:

• inductiveTest ()
• moveBox (inductiveState)
• ultrasonicObjectDetection ()

// Txheeb xyuas seb yam khoom yog xim hlau lossis tsis

bool inductiveTest () {yog (digitalRead (inductiveSwitchRight) == 1 || digitalRead (inductiveSwitchLeft == 0)) {rov muaj tseeb; lwm {xa rov qab tsis tseeb; }} tsis muaj dabtsis moveBox (bool inductiveState) {// Lub thawv mus rau sab laug thaum pom cov hlau thiab inductiveState = muaj tseeb yog tias (inductiveState == 0) {stepper.moveTo (cov kauj ruam); // txoj haujlwm random los xaus rau kev xeem stepper.runToPosition (); ncua (1000); stepper.moveTo (0); stepper.runToPosition (); ncua (1000); } lwm tus yog (inductiveState == 1) {stepper.moveTo (-steps); // txoj haujlwm random los xaus rau kev xeem stepper.runToPosition (); ncua (1000); stepper.moveTo (0); // txoj haujlwm random los xaus rau kev xeem stepper.runToPosition (); ncua (1000); }} boolean ultrasonicObjectDetection () {ntev ntev1, nrug 1, ntevTemp, nrugTemp, nruab nrabDistance1, nruab nrabDistanceTemp, nruab nrabDistanceOlympian1; // Txhais tus naj npawb ntawm kev ntsuas kom coj mus debMax = 0; ntev distanceMin = 4000; ntev nrugTotal = 0; rau (int i = 0; i distanceMax) {distanceMax = distanceTemp; } yog (distanceTemp <distanceMin) {distanceMin = distanceTemp; } distanceTotal+= distanceTemp; } Serial.print ("Sensor1 maxDistance"); Serial.print (distanceMax); Serial.println ("hli"); Serial.print ("Sensor1 minDistance"); Serial.print (distanceMin); Serial.println ("hli"); // Siv qhov nruab nrab ntawm kev nyeem nruab nrabDistance1 = nrugTotal/10; Serial.print ("Sensor1 nruab nrab nrug 1"); Serial.print (nruab nrabDistance1); Serial.println ("hli"); // Tshem tawm qhov ntsuas siab tshaj thiab qis tshaj ntawm kev ntsuas kom zam kev nyeem tsis raug nruab nrabDistanceTemp = distanceTotal - (distanceMax+distanceMin); averageDistanceOlympian1 = nruab nrabDistanceTemp/8; Serial.print ("Sensor1 nruab nrabDistanceOlympian1"); Serial.print (nruab nrabDistanceOlympian1); Serial.println ("hli");

// Pib dua qhov ntsuas qhov tseem ceeb

nrug = 0; MaxMax = 0; Ntev = 4000; ntev ntev2, nrug 2, nruab nrabDistance2, nruab nrabDistanceOlympian2; // Txheeb xyuas tus lej ntsuas ntsuas rau (int i = 0; i distanceMax) {distanceMax = distanceTemp; } yog (distanceTemp <distanceMin) {distanceMin = distanceTemp; } distanceTotal+= distanceTemp; } Serial.print ("Sensor2 maxDistance"); Serial.print (distanceMax); Serial.println ("hli"); Serial.print ("Sensor2 minDistance"); Serial.print (distanceMin); Serial.println ("hli"); // Siv qhov nruab nrab ntawm kev nyeem nruab nrabDistance2 = nrugTotal/10; Serial.print ("Sensor2 nruab nrab nrug 2"); Serial.print (nruab nrabDistance2); Serial.println ("hli"); // Tshem tawm qhov ntsuas siab tshaj thiab qis tshaj ntawm kev ntsuas kom zam kev nyeem tsis raug nruab nrabDistanceTemp = distanceTotal - (distanceMax+distanceMin); averageDistanceOlympian2 = nruab nrabDistanceTemp/8; Serial.print ("Sensor2 nruab nrabDistanceOlympian2"); Serial.print (nruab nrabDistanceOlympian2); Serial.println ("hli"); // Pib dua qhov ntsuas qhov tseem ceeb nrugTotal = 0; MaxMax = 0; Ntev = 4000; yog (nruab nrabDistanceOlympian1 + nruab nrabDistanceOlympian2 <emptyBoxDistance) {rov muaj tseeb; } lwm {rov cuav; }}

Lub Cev Loj

Lub cev tseem ceeb muaj tib lub ntsiab lus piav qhia nyob rau sab saum toj ntawm ntu no, tab sis sau hauv cov cai. Cov ntaub ntawv muaj rau rub tawm hauv qab no.

Ceeb toom

Ntau qhov kev sim tau ua los nrhiav qhov tsis tu ncua: emptyBoxDistance, cov kauj ruam thiab Qhov Siab Tshaj thiab ua kom nrawm dua hauv kev teeb tsa.

Kauj Ruam 7: Kev Txhim Kho Tau

- Peb xav tau kev tawm tswv yim txog txoj haujlwm ntawm lub npov kom ntseeg tau tias nws ib txwm nyob hauv txoj haujlwm raug los xaiv qhov khoom thaum pib. Cov kev xaiv sib txawv muaj los daws qhov teeb meem tab sis ib qho yooj yim tuaj yeem yog theej cov kab ke uas peb pom hauv 3D tshuab luam ntawv siv qhov hloov pauv ntawm ib kawg ntawm lub npov txoj kev.

-Due rau cov teeb meem uas peb pom nrog lub ultrasonic nrhiav, peb tuaj yeem nrhiav qee qhov kev xaiv rau txoj haujlwm ntawd: KY-008 Laser thiab Laser Ntes (duab), lub peev xwm ntsuas.

Kauj Ruam 8: Txwv Qhov Tseeb

Txoj haujlwm no ua haujlwm raws li tau piav qhia hauv kev qhia tab sis kev saib xyuas tshwj xeeb yuav tsum tau ua thaum lub sijhawm hauv qab no:

Calibration ntawm Ultrasonic Sensors

Lub kaum sab xis ntawm qhov ntsuas ultrasonic tau muab tso rau hauv kev sib raug zoo nrog lub hom phiaj uas lawv yuav tsum tau txheeb xyuas yog qhov tseem ceeb heev rau kev ua haujlwm raug ntawm tus qauv. Rau txoj haujlwm no, lub kaum sab xis ntawm 12.5 ° rau qhov ib txwm tau xaiv rau kev taw qhia ntawm lub ntsuas hluav taws xob ultrasonic tab sis lub kaum sab xis zoo tshaj yuav tsum tau txiav txim siab sim los ntawm kev kaw qhov kev nyeem nrug uas siv ntau yam khoom.

Hwj chim Source

Lub zog xav tau rau tus tsav tsheb tsav DRV8825 yog 12V thiab nruab nrab ntawm 0.2 thiab 1 Amp. Arduino kuj tseem tuaj yeem siv hluav taws xob siab tshaj 12V thiab 0.2 Amp los ntawm kev siv lub jack nkag ntawm Arduino. Kev saib xyuas tshwj xeeb yuav tsum tau ua txawm li cas los xij yog siv tib lub zog siv rau ob qho tib si Arduino thiab tus tsav tsheb tsav. Yog tias siv los ntawm lub qhov hluav taws xob zoo ib yam siv piv txwv li 12V/2A AC/DC adapter lub zog siv, yuav tsum muaj lub ntsuas hluav taws xob thiab diodes hauv kab hluav taws xob ua ntej lub zog xa mus rau arduino thiab stepper lub cev muaj zog tsav tsheb.

Homing Lub thawv

Txawm hais tias txoj haujlwm no siv lub tshuab hluav taws xob stepper uas nyob rau hauv ib txwm muaj xwm txheej rov qab mus rau nws txoj haujlwm thawj zaug nrog qhov raug siab, nws yog qhov kev coj ua zoo kom muaj lub tsev nyob thaum muaj qhov ua yuam kev tshwm sim. Peb tes num raws li nws tsis muaj lub homing mechanism tab sis nws yog qhov yooj yim heev los siv ib qho. Txog qhov no, kev hloov kho tshuab ntawm lub thawv thawj txoj haujlwm yuav tsum tau ntxiv xws li thaum lub thawv tsoo qhov hloov pauv, nws paub tias nws nyob ntawm nws txoj haujlwm hauv tsev.

Stepper tsav DRV8825 Tuning

Tus neeg tsav tsheb stepper yuav tsum tau kho kom ua haujlwm nrog lub cav tsav. Qhov no tau ua tiav kev sim los ntawm kev tig lub hwj chim ntsuas hluav taws xob (ntsia hlau) ntawm DRV8825 nti kom qhov tsim nyog ntawm qhov tam sim no tau muab rau lub cav. Yog li, tig lub hwj chim ntsuas hluav taws xob me ntsis kom txog rau thaum lub tshuab ua haujlwm zoo.

Kauj Ruam 9: Khab nias

Txoj haujlwm no tau ua tiav ib feem ntawm chav kawm mechatronics thaum xyoo kawm ntawv 2018-2019 rau Bruface Master ntawm Université Libre de Bruxelles (ULB) - Vrije Universiteit Brussel (VUB).

Tus sau yog:

Maxime Decleire

Lidia Gomez

Markus Poder

Adriana Pluas

Narjisse Snoussi

Ua tsaug tshwj xeeb rau peb tus thawj saib xyuas Albert de Beir uas tau pab peb thoob plaws hauv txoj haujlwm ib yam nkaus.