Cov txheej txheem:
- Kauj Ruam 1: Tshooj Npe
- Kauj Ruam 2: 3D Luam Qhov Chaw
- Kauj Ruam 3: Txhuam Txhuam
- Kauj ruam 4: Framing
- Kauj Ruam 5: Gearbox rau Txhuam
- Kauj Ruam 6: Tank, twj tso kua mis thiab Pvc Tubing
- Kauj Ruam 7: Tus Wiper
- Kauj Ruam 8: Kab Ntsig Tsav
- Kauj Ruam 9: Hauv Tshuab
- Kauj ruam 10: Arduino
- Kauj Ruam 11: BT Tswj
- Kauj Ruam 12: Tau Txais Qhov Pom Zoo
- Kauj ruam 13: Hloov tshiab
Video: GRawler - Cov Tshuaj Txhuam Hniav Ru: 13 Cov Kauj Ruam (nrog Duab)
2024 Tus sau: John Day | [email protected]. Kawg hloov kho: 2024-01-30 09:29
Nov yog kuv qhov haujlwm loj tshaj thiab nyuaj tshaj plaws txog tam sim no. Lub hom phiaj yog tsim lub tshuab los ntxuav kuv lub ru tsev iav. Qhov kev sib tw loj yog qhov nqes hav ntawm 25%. Thawj qhov kev sim ua tsis tau tsav tsheb kom tiav. Tus crawler swb mus, lub cav lossis lub zog ua tsis tiav. Tom qab ntau yam kev sim, Kuv tau txiav txim siab rau lub zog tam sim no. Qhov stepper lub cev muaj zog yog qhov kev pab zoo, vim tias qhov kev ncua deb tuaj yeem tsav tau thiab tus neeg nqa khoom tuaj yeem sawv tseem tsis tau rov qab. Lub tshuab muaj qhov tseem ceeb ntawm tus kab ntsig tsav, txhuam txhuam nrog wiper pem hauv ntej, lub taub dej nrog lub twj tso kua mis thiab tswj hluav taws xob. Ntau qhov tseem tau tsim nrog lub tshuab luam ntawv 3D. Qhov dav ntawm tus neeg khawb av nyob ntawm iav iav thiab tuaj yeem txiav txim siab los ntawm qhov ntev ntawm cov hlau profile.
Kauj Ruam 1: Tshooj Npe
Hlau profiles rau tus ncej:
- 1m Aluminium puag ncig hlau pas nrig 10mm
- daim Aluminium puag ncig hlau pas nrig 6mm
- 2m Aluminium Square Tube 10x10mm
- 2m Aluminium L profile 45x30mm
Threaded pas nrig:
- 3m M8 nrog ntau cov txiv ntseej thiab tshuab ntxhua khaub ncaws
- 1m M6 "Ib
- 1m M 5 "Nws
- 0.2m3 ua
Ntsia Hlau:
- 12x M3x12 (rau Motors thiab iav)
- 6x M3x50 (rau lub log tsav) nrog cov txiv ntoo
- M5x 30
- M6x30 ua
- M4x 30
Bearings:
6pc ua. 5 x 16 x 5 po
Hauv:
- Micro Submersible Dej Twj
- Arduino Pro Mini (ATmega32U4 5 V 16 MHz)
- 2ks ua. NEMA 17 stepper lub cev muaj zog
- 2pcs ib. A4988 Stepper tsav tsheb
- Arduino Relay module
- 550 Hluav Taws Xob Txhuam Tsav
- Standart Servo (lossis cov hlau zoo dua nrog ntau lub zog)
-
Qhov Tinned Universal Breadboard
- Pin Headers txiv neej/poj niam 2.54 tus qauv
- L7805
- LiPo 3.7V 4000-6000mAh
- LiPo 11.1V 2200mAh
- Ferrite Core Cable Lim
- BT Module HC-06
- caps, 3x100µF, 10nF, 100nF
- resistor, 1K, 22K, 33K, 2x4.7K
- Fuses. 10A rau cov roj teeb lub cev muaj zog, 5A rau "GRawler" roj teeb
Lwm yam:
- lub thawv yas rau cov khoom siv hluav taws xob, kwv yees li 200x100x50mm
- Ntxiv Ntev Radiator Txhuam (800mm)
- yas yas yas 2l
- 1.5m Aquarium/Pond Tubing OD:.375 lossis 3/8 lossis 9.5 mm; ID:.250 lossis 1/4 lossis 6.4 hli
- Kab ntsig / yas khiav
- ntev wiper hniav (min 700mm) los ntawm tsheb
- ntau ntawm cov kab zauv sib txuas
- insulating daim kab xev
- shrinking lub cev
Cov Cuab Yeej:
- kub kua nplaum phom
- laum laum
- laum 1-10mm
- 3D Tshuab Luam Ntawv
- me me ntswj
- ntsia hlau
- qhov chaw nres tsheb soldering
- ntau yam pliers
- hacksaw
- ntaub ntawv
Kauj Ruam 2: 3D Luam Qhov Chaw
Ntau qhov ua nrog kuv lub tshuab luam ntawv 3D, teeb tsa ib txwm:
- Nozzle txoj kab uas hla 0.4
- txheej qhov siab 0.3
- infill 30-40%, xaiv ntau dua rau lub zog
- Khoom siv: PLA nrog cua sov
Kauj Ruam 3: Txhuam Txhuam
Txog cov txhuam txhuam kuv siv txhuam txhuam ntev ntxiv, nco ntsoov tias txhuam tiag tiag muaj qhov ntev tsawg kawg ntawm 700mm, tom qab tshawb nrhiav lub vev xaib ib ntus kuv pom qhov yog. Txiav tawm tus kov thiab cia qhov project 20mm ntawm ob sab.
Lub taub hau ntawm kuv txhuam muaj txoj kab uas hla ntawm 5 hli, qhov no haum zoo nyob rau hauv cov kabmob ntawm ob sab.
Txhawm rau tiv thaiv qhov swb ntawm tus ncej kuv siv lub raj me me nrog lub raj ntswj, lwm sab yog tsau los ntawm cov iav.
Tswv yim: Yog tias cov plaub hau ntev dhau qhov kev sib hloov yuav tau qeeb heev/tawm.
Hauv qhov xwm txheej no ua rau lawv luv nrog hluav taws xob txiav plaub hau, raws li kuv tau ua:-)
Kauj ruam 4: Framing
Xav ua ntej tias tus neeg taug kev yuav tsum dav npaum li cas, lossis txoj kab dav yuav txav mus li cas. Qhov ntev ntawm cov ntaub ntawv thiab cov hlua txuas nyob ntawm qhov ntawd, kuv siv 700mm.
Nco ntsoov tias qhov profile poob 1-2 hli rau hauv cov vaj huam sib luag sab
Los ntawm cov vaj huam sib luag sab thiab cov duab, cov hlua txuas (M6 lossis M8) tau ntxig thiab ntsia los ntawm sab nraud.
Kauj Ruam 5: Gearbox rau Txhuam
Lub iav ntawm txhuam muaj 4 lub zog.
Rau kev ua kom zoo dua qub, ob lub iav tau tsau nrog ib daim raj tooj liab (txoj kab uas hla 8 hli) thiab ntsia hlau M6.
Lwm lub iav tau tsau nrog M4 ntsia hlau thiab xauv.
Cov iav txhuam tau kho nrog ob lub M3 ntsia hlau, tsis txhob hnov qab muab cov txiv ntoo tso rau hauv lub log log ua ntej.
Lub cav tau txuas los ntawm M3 screws rau sab.
Kauj Ruam 6: Tank, twj tso kua mis thiab Pvc Tubing
Kuv txiav txim siab siv lub twj tso kua mis submerible, yog li kuv tsuas xav tau ib daim pvc tubing thiab lub twj tso kua mis ploj mus hauv lub tank.
Kuv laum cov qhov nyob rau sab saum toj ntawm lub tank rau lub raj thiab kab.
TSEEM CEEB: Lub twj tso kua mis tsis muaj kev cuam tshuam kev cuam tshuam, uas yuav ua rau koj GRrawler mus vwm:-) siv lub hau (10nF) sib luag thiab lub nplhaib ferrite rau lub xov tooj.
Tom qab ntsuas qhov ntev ntawm qhov hose tau ntsuas, kos rau ntu uas ploj hauv lub thawv txhuam. Tam sim no koj laum cov qhov me me (1.5mm) hauv lub hose ntawm qhov deb ntawm 30-40mm. Nws yog ib qho tseem ceeb uas cov qhov nyob ntawm ib kab. Txhim kho lub qhov dej nrog kua nplaum kub hauv lub thawv txhuam thiab kaw qhov kawg ntawm lub qhov dej (kuv siv lub qhov txuas txuas)
Kauj Ruam 7: Tus Wiper
Cov roj hmab hniav raug tshem tawm los ntawm lub vijtsam wiper hniav (cov loj los ntawm cov tsheb thauj khoom). Tom qab ntawd kuv tau siv lub raj square profile nrog lub qhov me me (saib daim duab) txhawm rau txhim kho cov hniav. Kuv txuas lub raj me me rau txhua qhov kawg kom tau txais kev ua haujlwm ntawm pob khawm ua ke nrog cov ntsia hlau.
Lub tshuab luam ntawv tau kho nrog cov ntsia hlau. Ib tus pas nrig (M3) muab kev sib txuas ntawm wiper thiab servo.
Cov servo tau ntsia rau saum lub thawv txhuam, yuav tsum muaj ob kab zauv luam tawm.
Kauj Ruam 8: Kab Ntsig Tsav
Rau kev txav chaw peb siv cov kab ntsig qub. Cov roj hmab taug qab taug txoj hauv kev kom zoo rau cov iav ntub dej.
Cov saw hlau tau coj los ntawm ob lub rub. Lub tshuab tsav loj dua nrog lub iav muaj plaub ntu uas tuav ua ke nrog peb lub ntsia hlau/txiv ntseej M3x50. Cov me me muaj ob ntu zoo ib yam nrog ob lub pob bearings khiav ntawm tus pas nrig. Cov tsav tsheb khiav ntawm tus tooj dag lossis alu raj profile nrog txoj kab uas hla ntawm 10mm.
Txhawm rau tiv thaiv kom tsis txhob plam, ib qho me me ntawm cov tubing tau txuas rau lub qag. Vim tias tus lej tsawg ntawm kev tawm tsam qhov no txaus txaus.
Thaum kawg, ua kom cov pulleys sib luag rau ib leeg thiab rau tus ncej.
Kauj Ruam 9: Hauv Tshuab
Cov khoom siv hluav taws xob tuaj yeem muab pov rau ntawm lub khob cij. Saib cov ntawv schematic txuas rau kom ntxaws.
Kuv kuj txuas cov dav hlau sch-file yog tias koj nyiam ua koj tus kheej pcb.
Txhawm rau tiv thaiv hluav taws xob los ntawm ya raws, txhua yam suav nrog cov roj teeb tuaj yeem ua rau hauv lub thawv pvc.
Lub zog siv hluav taws xob tau pom los ntawm ob lub LiPos sib cais rau txhuam lub cav uas xav tau lub siab tam sim no thiab lwm qhov ntxiv rau qhov so.
Siv fuses rau ob qho kev sib txuas, LiPos tuaj yeem tsim hluav taws xob siab tam sim no!
Txhawm rau kom tau txais txoj cai tam sim no rau hauv koj lub tshuab hluav taws xob nws yog qhov tseem ceeb heev los kho A4988 cov tsav tsheb.
Kuv pom cov lus qhia zoo heev ntawm no.
Kauj ruam 10: Arduino
Txog kev tswj hwm ntawm GRawler, Kuv tau xaiv rau micro version ntawm Arduino Leonardo. Qhov no muaj lub built-in USB maub los thiab yog li tuaj yeem yooj yim program. Tus naj npawb ntawm IO pins yog txaus rau peb lub hom phiaj. Txhawm rau txhim kho IDE thiab xaiv lub rooj tsav xwm zoo siv phau ntawv qhia no.
Tom qab qhov no koj tuaj yeem rub tawm daim duab txuas nrog.
Kev hloov pauv hauv Txoj Cai:
Qhov nce/nqis qhov tseem ceeb rau servo yuav tsum pom muaj kev sim thiab tuaj yeem hloov kho rau sab saum toj ntawm txoj cai:
#define ServoDown 40 // siv Tus Nqi 30-60#txhais ServoUp 50 / / siv tus nqi 30-60
Txoj cai yuav TSIS khiav ntawm lwm tus Arduinos uas tsis siv ATmega32U4. Cov no siv sijhawm sib txawv.
Kauj Ruam 11: BT Tswj
Txog kev tswj hwm peb cov menyuam me me kuv siv BT module thiab App "Joystick BT tus thawj coj". Txhawm rau kom tsis tas yuav rov txhim kho lub log, kuj tseem muaj phau ntawv qhia.
Thiab phau ntawv qhia rau BT module, siv 115200bps baudrate. Pairing code yog "1234".
Lub App los nrog 6 khawm (peb tsuas xav tau 3) thiab tus joystick. Siv cov kev nyiam los teeb tsa cov ntawv cim khawm, 1. Txhuam rau/tawm
2. Motors rau/tawm
3. Wiper nce/nqis
Uncheck lub thawv "rov qab mus rau qhov chaw"
thiab kos "pib txuas"
Kuv tau txuas qee qhov kev tshuaj ntsuam los ntawm kuv lub xov tooj kom paub meej.
Kauj Ruam 12: Tau Txais Qhov Pom Zoo
Tam sim no nws yog lub sijhawm qhia tshuaj ntxuav lub ru tsev.
- Muab GRawler saum lub ru tsev
- Sau rau hauv qee cov dej (sov zoo dua!)
- Hwj chim rau
- qhib Motors
- qhib Txhuam
- Mus nce
- nyob rau sab saum toj tsav rov qab
- thiab tig lub wiper
Thiab tau kawg muaj kev lom zem !!!
Kauj ruam 13: Hloov tshiab
2018/05/24:
Txog kev taug qab tsis siv neeg Kuv tau teeb tsa microswitches ntawm txhua sab. Kev sib txuas twb tau muab coj los rau hauv tus lej hauv daim duab thiab hauv software. Thaum qhov hloov pauv tau tshwm sim, lub cav rov qab qeeb.
Thawj qhov khoom plig hauv qhov Kev Sib Tw Tsis Pom Zoo
Pom zoo:
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