This how to explains how to build yourself a line sorting machine. This machine is able to sort objects by shape using advanced optical inspection algorithms. The tutorial describes a semi automated approach in which a person manually switches the line conveyor. This is done intentionally for simplicity sake. A fully automated approach requires a deeper electrical skills which is outside the scope of this tutorial.
Picture 1: a finished line conveyor
Video 2: a real machine doing a selection (removing from line cylinders and leaving untouched kubes and triangles).
We need to print the basic shapes which will be used to do selections on the real machine. The default PLC program is configured to remove from line ONLY cylinders and leave triangles and rectangles. Thus it is required to print these shapes from repective models
We need to print 4 parts which later needs to be mounted on the conveyor as follows
You need to attach the already printed conveyor belt support legs (part E) to the bottom of the conveyor so that conveyor is in a horizontal position. For each leg use 2 screws (3.5mm x 20 mm) and attached as seen on the picture below.
Picture 2: Mount support legs
You need to attached to conveyor front aligners (part A and part B) using 4 screws (3.5mm x 20 mm). See Picture 3.
Picture 3: Conveyor mounting
You need to first attached the solenoid to part C using the packaged solenoid's connecting nut. Then mount using 2 screws (3.5mm x 20 mm) to the conveyor. See Picture 3.
You need to attached to conveyor belt the back aligner (part D) using 2 screws (3.5mm x 20 mm). See Picture 3.
There are various ways to place a camera on top of the conveyor. One may use a camera tripod or as seen in Picture 4 a magnetic instruments stand to which a camera is attached. What is important is that the camera is placed in a such way that it can access visually the area just in front of the solenoid.
Picture 4: Camera mount.
You need to connect the solenoid, its power supply unit and rPLC coupler (to relay1). The diagram is visible in picture 5.
Picture 5: Solenoid wiring diagram.
You need to power up the rPLC coupler and its MOD-IO device. Please take care to use 5VDC for rPLC coupler and 12VDC for MOD-IO. Please make sure that you can access over ssh the rPLC coupler.
Plug in the USB camera cable to any of the edge pod server's USB ports.
Please start the server and make sure you can ssh into it.
The configuration of rPLC coupler is well described in generic tutorials. It consists of these three steps:
At end of these tutorials you will have a general purpose rPLC coupler managed by SlapOS which you can use in any PLC setup.
The configuration of the Edge Pod server assumes that you already have an operating system on the Edge Pod Please follow tutorial below:
For more information, please contact Jean-Paul, CEO of Nexedi (+33 629 02 44 25).