A303-Electric Programming Mechanical Toy Dobot Mechanical Arm Sorting Algorithm Visualization

• Customization: Available
• Type: Set
• Material: Metal
• Customized: Non-Customized
• Scale: 1:5
• Certification: CE, RoHS
• Standard: En71
• Logo Printing: with Logo Printing
• Age: 15-30
• Suitable for: All
• Color: Sample
• Transport Package: MDF Board
• Specification: 180*180mm 0.2CBM
• Trademark: ZEKEEP
• Origin: China
• HS Code: 8501109990
• Production Capacity: 1000 PCS/ Years

Product Description

Robot Vision Sorting Nut System Solution
1. Function and description:

1.1 System Composition and Function        
The solution of robot vision sorting nut system includes industrial robot technology, various operation technologies, sensor detection technology, PLC programming technology, hand grasping control technology, visual inspection and other technologies.The system is composed of various functional modules:

Industrial robot module:
It consists of industrial robot, base, end gripper tool, robot control system and teaching box. Job workpiece storage module: 4-pcs 4-layer automatic storage modules for storing test boxes.

Job workpiece storage module:
4-pcs 4-layer automatic storage modules for storing test boxes.

Conveyor belt module:
The conveyor belt module is constructed of aluminum alloy profiles, and the belt is installed for transmission. Sheet metal plates are fixed on both sides of the belt, and the structure is firm.

Conveyor belt technical parameters:
 L 600mm*W100mm*H 100mm,maximum speed:>3m/min.

A variety of end tool modules:
There are three types of hand tools, custom sheet metal tools, and vacuum suction cup tools.
 
PLC main control module:
It is mainly composed of PLC controller, control box, etc. The control ZK3U PLC is used to control each functional module.

Visual inspection module:
visual camera module, this vision is a color intelligent vision with functions such as positioning and color discrimination.

Electronic scale module:
(1)Accuracy is 0.1g (2) Support modbus-RTU communication, readable object weight, balance status.

Sensor module:
photoelectric sensor, calculates when the nut reaches the visual recognition area, and controls the start and stop of the conveyor belt.

Alarm light module:
red, green and blue three-color alarm lights, which inform different states through different colors.

Digital tube counting module:
Install the digital tube display counting module on the conveyor belt, you can know the total number of supply on the conveyor belt, and display the total number, install a counter on the big and small nut sorting robot arm to count the size of the nuts. The total number of passes.

Alarm light moduleHuman-computer interaction interface module:
Use the industrial touch screen to display all the data collected by the main control

Others:
Including system training platform, control buttons and connector boxes, nuts of different sizes, wiring troughs and other pneumatic systems.

Note:
The default industrial robot for workstation applications is ZK-BOT303Ed, and it can also be replaced with similar load products of the ZEKEEP brand.        
This device is a teaching and training display production line and the most typical mechatronics product. It is developed for colleges and universities, vocational colleges, and vocational education and training institutions. It is suitable for industrial robots, mechatronics, electrical automation, etc. Professional teaching and training. It is specially designed for teaching and training purposes on the basis of being close to the industrial production and manufacturing site, which strengthens the installation and debugging capabilities of mechatronics.



3,System module introduction:
Note:The pictures and photos of each module are for reference, the shape and size may be slightly different, and the product matching shall prevail.

3.1 Training platform (1700X1200X750mm)
Each module of the system is placed on the aluminum profile training platform. The main frame of the training platform is constructed of sheet metal and aluminum profiles. Baffles are installed on both sides. The front acrylic material is used to open the door, which is safe and convenient to operate, and the appearance is neat and generous.
The bottom of the training platform is equipped with brake rollers and adjustable feet for easy support and movement. The horizontal slideway of the system's draw-out control part is placed in the center of the training platform. When the door is opened, the control part can be pulled out.

technical parameter:
Dimensions (LxWxH) 1700X1200X750mm Bottom shape: adjustable feet and rollers

3.2 Industrial Robot Module
        The module is composed of ZK-BOT303Ed teaching manipulator, base, end gripper tool, robot control system and teach pendant.

1.ZK-BOT303Ed*4 sets
    (1) Manipulator structure: Made of 6061 aluminum alloy anodized material, equipped with 3 industrial two-phase stepper motors, 3 1:10 helical gear reducers, 15 arc minutes of backlash, this manipulator is a 42 stepper motor teaching model three-axis manipulator, and open the manipulator control protocol (serial port protocol), users can develop the manipulator twice, easy to use, which can be used for palletizing, dismantling, stomping and handling, and can support point-to-point, point-to-point Straight line, straight line to straight line, etc., DO output, DI input, including world coordinates, that is, it can go straight up and down.
   The control protocol can also support openMv, USB industrial cameras, etc. to develop visual scenes, visual interaction, identify the size and position of objects and carry them, and connect external devices, which can be used for small industrial production. This robotic arm is also equipped with an operating host computer, which is easy to operate and quick to get started. It supports three major user recipes and 50-step programmable numbers, the maximum telescopic diameter range is 300mm, and the maximum load is 0.5KG. It is often used in teaching and test bench development and application.

2)The specific parameters of the robot arm

(3) Robot arm control box *4: the main control adopts 32-bit MCU, and the teaching device adopts industrial touch screen; the control box is equipped with 2-way DI, 2-way DO switch value, which can be connected to photoelectric sensors and industrial solenoid valves; teaching The device supports Chinese operation interface, with joint coordinates and world coordinates display; the main control supports storage of up to 3 groups of user programs, each group of user programs can store up to 50 steps, and each step can be modified by inputting coordinates; this robot arm is a desktop three Axis robotic arm supports secondary development of users, which can be used for handling, can support point-topoint, point-to-line, line-to-line, etc., arc walking, DO output, DI input, including world coordinates. Customers can develop 3D printing, laser engraving and other peripherals by themselves (the host computer needs to write by themselves). Writing interactive software (writing software is provided), visual interaction (need to develop the host computer by yourself), and external equipment connection, etc. Load 1000G.

2. Technical parameters of ZK-BOT303Ed teaching robot arm:  


Description of a single robotic arm control system:
1) Control System
1.1 The system host adopts the current novel robot control technology, and modularizes the stepping motor drive control of the robot arm, the robot control system, data acquisition and communication, and the robot-specific hardware interface, and integrates them into a control box. The control system of the robotic arm is compatible with the drive system.
1.2 Independent research and development of electronic control, strong and durable.
1.3 The external interface includes IO terminal and external power supply interface.
 2) teach pendant A. Portable teach pendant B. Size: color 4.3 inches
 3) Basic system configuration A. Drive-control integrated cabinet*1 B. 4.3 inch touch screen*1 C. Motor: 42 stepper motor with encoder

3.4 Job Artifact Storage Module
4-Pcs 4-layer well-type automatic lifting storage modules, the size is 250mm*200mm, using aluminum alloy frame, using the main control to control the number of layers logic, including the control motor circuit, each layer of the 4-layer storage is equipped with infrared sensors, which is convenient for testing the test box Whether it is in place, control the motor to rotate after it is in place, automatically rise a test box height, and wait for the arrival of the next test box.

                               (test box)                                                                             (Automatic lift storage module)

3.5 PLC main control module

1)ZK3U PLC: 16 channels of DC24V NPN input. 16 channels of transistor output, load DC24V, maximum 3A (NPN output 4-channel 200KHz high-speed pulse output. analog quantity (0-10V) is 10-channel AD, 2-channel DA.communication is 1-channel RS232, 2-channel RS485.
2) Online PCB board: 5-way relay and 6-way optocoupler isolation, equipped with 1-way electronic scale communication RS485 transfer module, 7-way DI input communication transfer module, 6-way DO24V output conversion module;
3)Program software: GX WORKS2, GX Developer.



3.6 Scale Module

(1) The accuracy is 0.1g (2) Support modbus-RTU communication, readable object weight, balance status



3.7 Sensor Module

(1)10-30V NPN normally open and normally closed photoelectric switch (2)As shown in the figure:



3.8 openMV visual modulet

(1) STM32H74311 ARM Cortex M7 processor, 480MHz1MBRAM2 MB flash, all 1/0 pins output 3.3V and 5V tolerance. This processor has the following 1 interface.
 (2) Full-speed USB (12Mbs) interface, connect to the computer. When the OpenMV camera is plugged in, a virtual COM port and "USB stick"will appear on your computer.
 (3) The USD card slot has 100Mbs read and write, which allows your Open MV cameras record video, and transfer machine vision material from SD Card extracted.
 (4) An SPI bus up to 100Mbs speed, allowing you to simply transfer the image stream data to the LCD expansion board, WiFi expansion board, or other controllers
(5) One 12 bus, CAN bus, and 2 two asynchronous serial buses (TX/RX) are used to link other controllers or sensors
(6) One 12-bitADC and one 12-bitDAC
(7) 2/pins for dry servo control: all 10 ports can be used for interrupts and PWM (there are 10 //O pins on the board). (8) One RGBLED (three colors) two bright 850mIRLED (infrared).
(9) 32MB external 32-bit SDRAM, 100MHz clock, 400MB/s bandwidth.
(10) 32MB external quadspiflash, 100MHz clock, 4-bitDDR mode achieves 100MB/s bandwidth.


3.8 Various end tool modules

Robot end gripper tool: using brand LDX-335MG digital steering gear, dedicated to robot/manipulator, long life/burn-resistant manipulator, pneumatic gripper tool can grab the system to store the workpiece and send it to the conveyor belt. Circular suction cup type 24V DC electromagnet tool: The circular suction cup type 24V DC electromagnet tool has strong electrical conductivity, and the strong suction is most suitable for sucking different nuts.

3.9 Alarm light module:
Brand: THND Name: Three-layer signal light Model: D50-3-C (silent), D50-3-C-F (with buzzer)) Voltage: DC24V Specifications: always bright and shiny Material: lampshade PC, base ABS Volume: about 85dB sound type: continuous sound

3.10-  Digital tube counting module:
Product Model: YL4-2.3JS Working voltage: DC12V With metal shell size: L230MMX H 118.5mmX T 35MM Without shell size: L200MMX H 106mmX T23MM Supporting sensor: photoelectric sensor detection distance 10cm-30cm,can support support other NPN type sensors, such as Hall, metal, etc. Instructions for use: easy to use, the whole set is easy to use, plug into the socket 220v mains power can be used, mainly used to calculate the shipments of workpieces and nuts of various sizes.


3.11 Human-computer interaction interface module:
Screen size: 7 inches Model TPC7032Kx Gray Plastic Panel (variable) Resolution: 800*480 Panel size: 226*163 Cabinet opening: large opening 215*152 Main frequency: 800MHz Memory: 128M Storage: 128M Serial interface: 1*RS2322*RS485 The industrial touch screen is shown in the figure:


3.12 Spare parts and adjustment tools
The system is equipped with complete set-up tools and training consumables. The specific configuration list is as follows (the list is subject to the actual robot arm model): a set of toolbox.

4. Technical parameters:
1.Working power supply: AC220V±10% 50HZ
2.Working Environment: Temperature -10ºC-+40ºC Relative Humidity<85%(25ºC) Altitude<4000m
3.System capacity: <1000W
4.Size: 1700mm×1200mm×750mm 5.Robot weight: 50Kg

5.The system completes the project:
1. Teach Pendant Control the robot arm to return to the origin.
 2. The teach pendant controls the jog experiment of the robotic arm.
3. The multi-axis motion experiment of the manipulator controlled by the teach pendant;
 4.The teaching pendant controls the multi-axis joint interpolation (3-axis synchronization) experiment of the manipulator.
5.The teaching pendant controls the robot arm,photoelectric sensor and other overall case experiments.
6. Touch screen programming experiment.
7. I/O communication experiment between PLC and robotic arm.
8.Handling experiment of a single robotic arm.
9.Online experiment of multiple robotic arms.
10. open Mv visual identity nut size.
11. openMv visual drawing.
12. open Mv visual recognition to find color blocks.
13. open Mv visual recognition AprilTag marker tracking.
14. open Mv visual template matching.
15. open Mv visual multiple template. matching.
16. open Mv visual feature point detection.
17. open Mv visual ranging.
18. open Mv visual scan code recognition.
19. open Mv color template matching and recognition at the same time.
20. open Mv distinguish different faces.
21. Digital tube count reading.
22. Implement the alarm function.
23. The main control board communicates with the displayscreen to realize the interactive interface control display. 24. The main control board controls the operation of the job workpiece storage module.
25. Nut automatic sorting experiment.

6. Configuration list

1. Workstation configuration:

Name of parts	Model	Number	Notes
robot arm	ZK-BOT303ED	4	Captain 340mm, 42 motor + secret reducer
control box	ZK-BOT303ED control box	4	Contains MCU, electric tube, drive board, all kinds of buttons
PLC control box	Led control ZK3U PLC	1	Contains PLC, power supply. Adapter plate
PLC main control communication line		1	Communicate with other robotic arms
touch screen	4.3-inch color screen	4	Touch input to change parameters
line of communication	9 pin 232 communication wire	4	Communication between the robot arm and the touch screen
infrared sensor	Length 600mm* Width 100mm* height 100mm	2	Height adjustable, speed 1-3 m/min
Job artifact storage module	CDD-4ON	2	Height according to test box debugging
Alarm light module	THND	4	For operation alarm
Digital tube counting module	YL4-2.3JS	3	It is used to calculate the total amount of material and the shipment of nuts
electronic scale		1	485 communication (modbus protocol)
Jiggling fixtures, and other fixtures		4	Grab materials
Visual module	openMV	1	Sorting nut
Nuts, experimental boxes		1	The size of the nut
tool cabinet		1	replacement tool