Picknplacer

Pick&placer
Participants
Skills	Electronics, Mechanics, 3D Printing, Programming
Status	Active
Niche	Hardware
Purpose	Instrument
Tool	Yes
Location	Nurdspace
Cost	TBD
Tool category	Fabrication

Pick&placer

Picknplace-20160626.png {{#if:Yes | [[Tool Owner::{{{ProjectParticipants}}} | }} {{#if:Yes | [[Tool Cost::TBD | }}

Description

In 2015 we've made a ton of nurdnodes, which had been assembled by hand using a rudimentary tool. In order to produce many part prototypes, or make large productions runs, an automatic pick and place machine is imperative.

Design

Parts (unspecific)

makerslide	xlots	0.02 EUR
HBLTSW5 brackets	5x	??
V-wheel	?x	??
603VV
screws?
T slot bolts
idler wheels
cameras	x2	$13.05

PNP Head

PnP head middle plate	x1
PnP head lower plate	x1
Nema14 rotation stepper motor (14HM08-0504S) ?	x1
M3-8	x 4
M3 washer	x 14
M3 nut	x 5
M3x6	x 5
M3 extrusion nut	x 2
M3-20	x2
M4 nut (not M3)	x?
M5-12 bolt	x 2
M5 washer	x 11
M5 nut	x 2
M5-8	x?
M5-10 bolt	x 2
M5 extrusion nut	x 3
HTJ5 screw	x 2
* linear flanged bearing LHFC8 bearing || x 2
HBLSD5 bracket ?	x 1
HBLSS5 bracket ? ??	x1
MakerSlide	250mm
Pick-up tube	x1
M8 nylon washer	x 3
GT2-36 pulley	x1
GT2-60 belt loop	x1
SCCN8-6 collar x 1
spring	x1
Omron D3V-162-1C4 limit switch	2x
WSSB12-3-1 washer	1x
Flat spring	1x

X frame

Parts

• 20x20x767 alu extrusion
• M5-10
• M5 washer x 10
• M5-15 x 2
• M5 nut x 3
• M5-12
• M5 extrusion nut
• HBLSS5 bracket x2
• 140mm extrusion x3
• 20mm x 60mm extrusion, 140mm piece
• HTJ5 x8
• 500mm MakerSlide
• NEMA17 stepper motor
• Y motor mounting plate
• M3 washer x 4
• M3-6 x 4
• M5 extrusion nut x 2
• M5-8 x 2
• Y shaft support plate
• Flexible coupler
• Y axle tube
• SCCN8-6 shaft collar (4x)
• 608ZZ flanged bearing (6x)
• GT2-20 pulley, 8mm bore (2x)

Y pulley assembly

Everything x 2

• Y pulley plate
• 608ZZ flanged bearing
• M5-35 x 4
• M5-8 x 4
• M5-40 x 4
• M5 washer x 18
• M5 nut x 7
• M5 extrusion nut x 4
• Idler wheel subassembly x 4
• #16 aluminum spacer, 0.5″ x 4
• Y bearing plate
• 608ZZ flanged bearing
• SMBK5-30 spacer x 4
• Y idlers holder plate

Y roller plates

• Y roller left plate
• M5-10 low head
• M5-20 x 2
• M5-25
• M5-30 x 2
• M5 washer x 17
• M5 nut x6
• Eccentric spacer x 2
• V-wheel subassembly x 4
• HBLSS5 bracket
• Circular hook
• M4 nut
• M4 washer
• M4 washer
• M4 nut
• #12 aluminum spacer, 0.625″

TODO

Design

• Gantry back plate
• Gantry front plate
• PnP head lower plate
• PnP head middle plate
• PnP head nut mount plate
• PnP head top plate
• Shaft support plate
• X idlers plate
• X motor plate
• Y bearing plate
• Y idlers holder plate
• Y motor mount plate
• Y pulley side plate
• Y roller left plate
• Y roller right plate
• Z motor mount plate
• Align dragchain mounting points in z_motor_mount_plate and y_bar_right_roller
• Mounting holes for dragchain
• Improve Y mounting points for plastic rather than metal (low priority)

Assemblies

• Y-bar
• X idler plate
• x motor plate
• Y bar left roller plate
• Y bar right roller plate
• Gantry front plate
• Gantry back plate
• z motor plate
• Gantry
• x frame

Print

• Gantry front plate
• Gantry back plate
• PnP head nut mount plate
• PnP head top plate
• PnP head middle plate
• PnP head lower plate
• 2x Y bearing plate
• 2x Y idlers holder plate
• 2x Y motor mount plate
• 2x Y pulley side plate
• Y roller left plate
• Y roller right plate
• Z motor mount plate
• Shaft support plate
• X idlers plate
• x motor plate

Tasks

• Assemble main frame
• Assemble base
• Assemble machine housing
• Program RAMPS firmware
• Replace crimp connections of end-stop connectors with soldered connections
  • Calibrate RAMPS steps/mm all three axes
  • Set traverse limits in firmware
• Attach frame to base
• Mount undercamera
• Tighten everything
• Complete vacuum/valve control
• Configure software for RAMPS
• Test place some pieces
• Test a board

Resources

• Design files: https://git.nurd.space/parallax/picknplacer.git
• http://store.amberspyglass.co.uk/ <- Makerslide source
• http://www.ebay.com/bhp/1ml-syringe

Part images

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Pnp marlin driver specific config

<driver class="org.openpnp.machine.reference.driver.MarlinDriver" port-name="/dev/ttyACM0" baud="115200" feed-rate-mm-per-minute="5000.0">
         <pick-gcode>M106 S255</pick-gcode>
         <place-gcode>M107</place-gcode>
         <actuator-on-gcode>M8</actuator-on-gcode>
         <actuator-off-gcode>M9</actuator-off-gcode>
         <enable-gcode>M17</enable-gcode>
         <disable-gcode>M18</disable-gcode>
      </driver>

Ramps, yo

Ramps board layout

Wiring

• Pump red: D9+
• Pump black: D9-
• Solenoid green: D10+
• Solenoid brown: D10-

Special GCode

• Pump on: M42 P9 S255
• Pump off: M42 P9 S0
• Open Solenoid: M42 P10 S255
• Close solenoid: M42 P10 S0

Misc info

• A clone of the codebase is cloned into /home/common/picknplacer @printer-desktop for easy access when printing

Todo

• Create picture of RAMPS 1.4 connection scheme for PnP