A list of the contents of this article:
- 1 、How to assemble a robot
- 2 、What does robot technology include?
- 3 、How to assemble a robot?
- 4 、What is the general trade import declaration process for industrial robots?
- 5 、How can perfect International use perfect Robots to prevent sealing?
How to assemble a robot
How to make your own independent self-assembly robot? This production project will describe in detail every detail of the robot used in our scientific research, including CAD files, source code, assembly instructions, and so on. You can usually easily find all the materials you need to recreate our experiment, or make an interesting toy.
Tools / raw materials
Battery terminals: 2
Roller cover: the red “roller cover” prevents the latch arm from flying out in chaotic activity. The latch arm and roller cover are loosely installed in the groove of the yellow base.
Circuit board: microcontroller and simple circuit board; lithium-ion battery is under the circuit board.
Communication coil: the communication coil is under it
Interface: the interface between the circuit board and electromagnetic driver and communication coil
Copper foil: we use sticky copper foil on the back, cut it into the shape of a label with a cutting machine, and stick it to the plastic.
Coils and magnets: electromagnetic coils placed in the yellow base and rare earth magnets inserted into the red latch arm
Communication coil: there is a communication coil below, flush with the surface
Latch: if other robots want to hook this robot, they have to rely on this latch
Latch hook: grab the latch hook used by other robots
Base: laser cut acrylic (acrylic) base. The yellow part, which is 16 inches thick, is glued to the transparent acrylic plastic plate at the bottom, which is 16 inches thick.
Assembly process
Making printed circuit boards (PCB)
PCB is designed by Eagle PCB design software. Gerber files can be sent directly to PCB production service to produce circuit boards. A panel-based gerber file is also attached-this version divides the robot’s PCB into 16 panels, making it more efficient and cheaper to make.
We make the circuit simple and flexible because we have not yet finalized the design of the robot when we started and planned to try out a variety of control algorithms, actuators, and communication methods. We also need to make the circuit small and light. In the final design, we decided to use a very small surface package (SMT) component, and was able to place a microcontroller, 10 state light emitting diodes, 4 field effect transistors used to drive the actuator, and programming / power connectors on a 25mm x 25mm circuit board with contact points for four actuators and four sensors to connect. We tried to make the circuit board smaller, but it would be too difficult to assemble it. The simple and flexible strategy we adopted worked well-we later carried out three other production projects that had nothing to do with the extra circuit boards.
Assemble the circuit.
Coils and magnets: the solenoid is pressed into a hole cut on the yellow base plate, while the cube-shaped rare earth magnet is pressed into the red latch arm.
Balance of the latch arm: the shape of the latch arm allows it to balance subtly at this point, so that a weak electromagnetic force can open or close it.
Communication coil
Latch arm hook: used to catch other robots. It is usually in a “locked” position so that it can catch any robot that meets it. After the two robots communicate with each other, it can decide to activate the electromagnet, open the lock, raise the hook, and let go of the captured robot.
The robot has two electromagnetically driven latches. The red latch arm is pressed with a 3mm cube magnet (NdFeB type), while the yellow robot base is fitted with a cylindrical coil. These coils are confidently fabricated according to the following specifications: 700 turns of 42-caliber wire, 4 mm long, wound around a shaft with a diameter of 2 mm. The outer diameter of the coil is about 4 mm and the inner diameter is about 2 mm. The reason why we choose such coil specifications is to be able to directly use the power supply of robots to drive them and generate appropriate power. At first, we tried to insert a magnetic core into the coil to make it more powerful, but we couldn’t find a core that could lose its magnetism after the coil was powered off. and we can’t reverse the polarity of the coil (it’s impossible to have one field effect transistor per actuator, it takes four).
communication
Communication coil 1: the communication coil is pressed in the yellow base. The top is flush with the surface of the base. When two robots are locked together, their communication coils are right next to each other, although the chaotic environment on the air hockey table can distort the robot violently. so in fact, the two coils may be up to five millimeters apart.
Communication coil 2: there is another communication coil under this label
Plastic bend: insert a specially designed plastic bend on the yellow base to secure the communication coil.
Mechanism coil: actuator coil that drives the latch arm
Copper sheet: an adhesive copper sheet that connects the circuit to another communication coil.
These robots use inductive coupling for short-distance wireless communication. Each robot has four small (3mm x 2mm) coils, each on four sides. They are flush with the surface after installation, so that when the two robots are properly combined on the same surface, the distance between the two coils is always within a few millimeters. We talked about using a simple 8-bit microcontroller with a 1K RAM with a maximum modulus sampling rate of 10 kHz and a total clock rate of 8 MHz. There is no need for digital-to-analog conversion at all. Therefore, I suspect that since the resonant frequency of the coil is higher than the analog sampling rate, and we cannot generate a sinusoidal waveform in any case, it may not be able to send or receive radio signals from AM or FM. And we don’t have enough computing power to deal with such a huge fast Fourier transform algorithm (FFT). So we realize that there is very little data that needs to be sent, so we can let it transmit slowly. We simply send electromagnetic pulse signals by switching on and off the communication coil. Whenever the coil is powered on or off, it generates a short sequence of electromagnetic (EM) pulses whose frequency is its natural frequency. Any coil around it will form a magnetic coupling with it and generate a corresponding pulse output. All we have to do is use the analog-to-digital conversion of the microcontroller to find these pulses. Because the frequency of the pulse is higher than the analog sampling frequency, we cannot expect to detect every pulse. So we send a lot of pulses and do a lot of testing. This plan is very effective. This is the biggest Hack ever! Once there is a group of such robots rampaging around on the air hockey table, the whole environment becomes very chaotic. We continue to add error detection and correction layers to the software, eventually increasing the communication reliability to 50 random collision units with only about one error per hour. When it is done, the data transfer rate between the two robots is 2 bits every 2 seconds. That’s a bit, not a kilobit. This is the maximum value on the assumption that there are no data conflicts or errors. Each coil is used for both sending and receiving data, so conflicts sometimes occur, which requires retransmission. It takes about 200ms to send data, and in random cases, it needs to be retransmitted because of a conflict, so it takes less than 2000 milliseconds.
Micro-control programming
1) A group of yellow and green robots will be arranged in a yellow row and a green row.
2) error correction crystal: a single “seed” crystal will form a perfect yellow and green chessboard in the form of a spiral.
3) infection and reprogramming: robots start using crystallization algorithm combinations. Then put in a viral robot, which will inject new programs into other robots and spread them in the crystal. Finally, the crystal assembly will spread out, and the robot units will be lined up in two rows using the queuing algorithm.
4) DNA replication: a single string of robots (4, 5, etc.) is put into a group of free robots. Its DNA is replicated at an exponential rate through an error correction algorithm with only local state and local information transmission-just like real DNA replication.
Each robot unit is programmed with code containing all the algorithms. Then, a special “programming” robot unit can easily set the algorithm and color activated by each robot unit.
1. Make printed circuit board
two。 Arrange components on a printed circuit board
3. Programming the microcontroller
4. Make the plastic parts of the robot
5. Assemble the plastic parts of a robot
6. Assemble magnets in the architecture of a robot
7. Assemble electronic devices in the architecture of a robot
8. test
What does robot technology include?
With the rapid development of robot technology, industrial robots have been widely used in various fields. In order to meet the needs of posts, robot technology should also be popularized among engineering students.
At present, the mainstream robot technologies are:
1. Mechatronics technology
Mechanical and electrical integration is a rapidly developing cutting-edge science and technology in recent years. This technology is applied to robots. Through the measurement and processing of neural information and the establishment of man-machine information channels, neurobiological signals are transmitted to the robot, so that the robot can execute human commands. Because of this principle, prosthetics can also “understand” people’s instructions and become part of the human body.
2. Inspection technology of security robot.
The intelligent inspection robot carries detection devices such as infrared thermal imager and visible light camera, inspects the working area and transmits the picture and data to the remote monitoring system, and measures the infrared temperature of the equipment node. timely find equipment heating and other defects, at the same time, through sound detection, judge the operation status of the transformer. Automatically determine and alarm the accident hidden dangers and fault precursors in the operation of the equipment, so as to effectively eliminate the accident hidden dangers.
3. Big data and his analytical techniques
There is more and more data, and the human ability to interpret is fixed. Computers can help human beings find their own blind spots, and digitization enables computers to communicate and combine with human beings. The analysis model based on big data has recently emerged in a large number of global manufacturing industries, and its advantage lies in its ability to optimize product quality, save energy and improve equipment services.
4. Autonomous technology of robot
Robots are constantly evolving and can even be used in larger utilities, making them more autonomous, flexible and cooperative. Eventually, they will work side by side with humans, and humans will learn from them. These robots will cost less and have a wider range of applications than those previously used in manufacturing.
5. Simulation technology
The simulation will use real-time data to reflect the real world in the virtual model, including machines, products, people, and so on, which enables operators to test and optimize in virtual modeling.
6. Embedded technology of Internet of things
With the development of the Internet of things industry, more devices and even more unfinished products will be connected by standard technology, which can communicate on the spot and provide real-time response.
7. Cloud computing robot
Cloud computing robot will completely change the process of robot development and greatly promote the improvement of software system. In this day and age, there is a greater need for cross-site and cross-enterprise data sharing. at the same time, the performance of cloud technology will be improved to respond in only a few milliseconds.
8. Out-of-gauge robot technology
In the field of micro-nano manufacturing, robot technology can help people change what they can’t see or touch into something they can see and touch, and they can also assemble and produce. This micro-nanorobot can directly expand the force between substances in the nano-environment and operate on micro-and nano-scale materials and materials.
9. Brain wave control technology
Remote on-site robots will become an indispensable part of people’s lives in the future. Users need to wear a hat that can read brainwave data, and then train the robot’s hands and feet to react accordingly through imagination, in other words, to control the robot’s movement through the mind. It can not only identify a variety of motion control commands through software, but also actively avoid obstacles in the process of behavior. It is highly flexible and easier to use.
How to assemble a robot?
If you buy a ready-made robot set, you must have an assembly manual, which can be successfully assembled step by step.
If you lose the manual, you need to analyze and assemble it. For human robots, we must pay attention to the position of electronically controlled leads from the assembly of feet, calves, thighs, hands, arms and front branches. The body, legs and arms are assembled with the body, and finally, the front and rear panels and the control circuit board of the body, and finally, when installing the control board, pay attention to the connection and fixation of the drive lead and the control board.
Finally, connect to the power supply part, the power supply must be careful not to connect upside down and whether there is a short circuit phenomenon. It is best to connect the ammeter in series when turning on the power supply, and observe the current situation. When the robot is not moving, the total current should be in the order of 100 mA. When moving, it can reach or exceed the A level.
Tools or materials: battery terminals-2; Roller cover-Red roller cover can prevent the latch arm from flying out during chaotic activity. The latch arm and roller cover are loosely installed in the slot on the yellow base; the circuit board-the microcontroller and the simple circuit board; and the lithium-ion battery under the circuit board.
The communication coil-the communication coil is under it; the interface-the interface between the circuit board and the electromagnetic drive and the communication coil; copper foil-we use sticky copper foil on the back, cut into the shape of a label with a cutter and stick it to plastic; coils and magnets-electromagnetic coils placed in a yellow base, and rare earth magnets inserted into red latch arms.
Communication coils-communication coils below, flush to the surface; latches-other robots rely on this latch if they want to hook this robot; latch hooks-grab the latch hooks used by other robots; base-laser-cut acrylic (acrylic) base, the yellow part is 3×16 inches thick, glued to the bottom of the 116-inch thick transparent acrylic plastic plate.
Making printed circuit board (PCB) PCB is designed by Eagle PCB design software. Gerber files can be sent directly to PCB production service to produce circuit boards. Also attached is a panel-based gerber file, which divides the robot’s PCB into 16 panels, making it more efficient and cheaper.
Using a very small surface package (SMT) element, it is possible to arrange a microcontroller, 10 state light emitting diodes, 4 field effect transistors to drive the actuator, and programming / power connectors on a 25mm x 25mm circuit board with contact points for four actuators and four sensors to connect.
Assemble the circuit.
The robot has two electromagnetically driven latches. The red latch arm is pressed with a 3mm cube magnet (NdFeB type), while the yellow robot base is fitted with a cylindrical coil. These coils are confidently fabricated according to the following specifications: 700 turns of 42-caliber wire, 4 mm long, wound around a shaft with a diameter of 2 mm. The outer diameter of the coil is about 4 mm and the inner diameter is about 2 mm.
Make printed circuit boards; arrange components on printed circuit boards; program microcontrollers; make plastic parts for robots; assemble plastic parts for robots; assemble magnets in the architecture of robots; assemble electronic devices in the architecture of robots; test.
What is the general trade import declaration process for industrial robots?
Customs declaration process of second-hand robot import
1. First of all, make sure the data is good.
2. Goods arrive at the port
3. Make an appointment with the Hong Kong central inspection personnel to do the initial inspection (or abroad, see the address at the end of the page)
4. the initial report of the inspection shall be submitted to the domestic Commodity Inspection Bureau.
5. Start filing for commodity inspection
6. About the Chinese inspection personnel officially do the medium inspection, the main testing (environmental protection, wires, hygiene, etc.), qualified inspection report form
7. Inquire according to the code whether to apply for the automatic import license (O license) of the old machining center; it is mainly based on the reservation, if not, where to book the barge directly to the domestic second-tier wharf.
8. Apply for inspection
9. Commodity inspection and inspection
10. after passing the commodity inspection, the commodity inspection clearance form will be issued.
Customs declaration
12. evaluation of the value of imported goods
13. There is no problem in examining the price and issuing the tax bill
14. Pay taxes and let go
15. Customs inspection of goods
16. Official release
17. Distribute to the manufacturer.
How can perfect International use perfect Robots to prevent sealing?
Don’t think that perfection is not capable of failing. They really can’t seal it, and in terms of moonstone personal computer knowledge, the principle of hanging up is to modify programs made outside the game, because it doesn’t involve the game itself, so it can’t be blocked at all (in the past, the competition hung up because it modified the game data. Later), but this does not mean that perfect can not be checked and hung up from the server, just hang up too much. At that time, a game was strongly blocked, but 100000 accounts were closed in one breath, which immediately led to the collapse of the game. Therefore, the perfect mode of operation is: active checking and passive sealing.
Moonstone itself tested: also dragged the trumpet to practice MG in Youlan Village, there were two hanging up around, then GM came, then three teams trained, because I did not use to hang up, GM completely ignored me, the surrounding two hanging up were blocked. Thus it can be seen that the perfect server has the ability to check and hang, but it can not be sealed if it is too popular. Perfection can only be done slowly and slowly. Someone will check the report and seal it for a certain period of time.
But hanging is not recommended. In addition to Trojans, being blocked is not a fun thing.
So much for the introduction of robot unpacking. Thank you for taking the time to read the contents of this site. Don’t forget to search for more information about robot oil seal and robot unpacking.