Vertical suction pump V2.0

Compatible models: myCobot 280, myPalletizer 260, mechArm 270

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Specifications

Suction pump: used for adsorbing objects

Introduction

• Suction pump, that is, vacuum adsorption pump, has a suction nozzle with one inlet and one outlet, and one exhaust nozzle. It has the advantages of simple structure, small size, convenient use, low noise, and good self-priming ability. By controlling the suction pump kit as the end effector of the robotic arm, it performs the function of absorbing objects.

• Suction pump accessories: power cord x1, DuPont line x10, one-in-two-out connection line x1, Lego tech parts x several

working principle

• When absorbing items: the air pump starts to pump air to absorb the items and then stops, and there will be no air leakage for a short time.

• When putting down the item: the electronic valve is activated, the air release valve is opened, and the air enters the vacuum suction cup and separates from the sucked item.

·

Applicable object

• Paper/Plastic

• flat smooth object

• card etc.

Installation diagram (take the M5 version as an example):

Wiring diagram

Installation and use

• Check that the kit stuff is complete: LEGO connectors, Dupont wire, double-ended suction pumps

• Double-ended suction pump installation:

  • Structural installation:

    1. Insert the LEGO connection into the reserved socket on the suction pump:

       Installation in two different orientations is possible depending on the requirements.
       Method 1
       Method 2

    2. Insert the suction pump with the inserted connections against the end socket of the robot arm:

       Method 1
       Method 2
       

  • Electrical Connection:

    1. Select a male-female DuPont cable and insert the female end into the socket marked with a pin on the suction pump square box:

       Male-female Dupont wire:
       Note the correspondence between the Dupont wire colours and the pins in the diagram:
       

    2. The male header is inserted into the robotic arm base pins according to the correspondence given:
       

       Suction pump pins on the left, robotic arm pins on the right
       GND -> GND
       5V -> 5V
       G2 -> 21
       G5 -> 20

• Software-driven testing:

  To test if the jaws are available after installation, use myBlockly. myblockly 下载

  1. After confirming that the structural and electrical connections are complete, start the arm and open the myblockly software when the graphical interface appears.
     
  2. Modify the baud rate to 1000000
     
  3. Find Raspi-GPIO in the list on the left and select Setup Mode module
     
  4. Drag the module connection under initialise mycobot module and select BCM mode
     
  5. In Time, select Sleep module
     
  6. Setting the time to 1 second is intended to give buffer time
  7. Select the Set Pin Mode module
  8. Set pin 20 to OUT, i.e. output mode
  9. Select the Set Pin Output module
  10. Set 20 pin output to LOW low, suction pump operates at low level
  11. Select the Sleep module and set the time to 2 seconds to allow time for the jaws to move.
  12. Set the output of pin 20 to HIGH, at which time the suction pump will stop working
  13. The final result is as follows, click on the green Run button in the upper right corner to run it.
      

      You can see that the suction pump turns on, runs for 2 seconds and then stops.
      The second time you run it, you'll get a message saying this channel is already in use, continuing anyway, which is normal, and the python development section explains how to get around it.

• Programming Development:

  Programming of suction pumps using python
  python download

  • Create a new python file:
    Ctrl + Alt + T Open the command line and type:

    gedit pump_double.py
    

    

    The file name can be changed as needed

  • Perform function programming:

    The code is as follows:

    • 280-M5 version:

    from pymycobot.mycobot import MyCobot
    import time
    
    # Initialise a MyCobot object
    mc = MyCobot("COM3", 115200)
    
    # Switch on the suction pump
    def pump_on():
        # Open the solenoid valve
        mc.set_basic_output(5, 0)
        time.sleep(0.05)
    
    # Stop suction pumps
    def pump_off():
        # Close the solenoid valve
        mc.set_basic_output(5, 1)
        time.sleep(0.05)
        # The air relief valve starts to operate
        mc.set_basic_output(2, 0)
        time.sleep(1)
        mc.set_basic_output(2, 1)
        time.sleep(0.05)
    
    pump_off()
    time.sleep(3)
    pump_on()
    time.sleep(3)
    pump_off()
    time.sleep(3)
    
    GPIO.cleanup() # releases pin channel
    

    • 280-Pi Version:

    from pymycobot.mycobot import MyCobot
    from pymycobot import PI_PORT, PI_BAUD  # When using the Raspberry Pi version of mycobot, these two variables can be referenced for MyCobot initialisation
    import time
    import RPi.GPIO as GPIO
    
    # Initialise a MyCobot object
    mc = MyCobot(PI_PORT, PI_BAUD)
    
    # initialisation
    GPIO.setmode(GPIO.BCM)
    # Pins 20/21 control the solenoid valve and air release valve respectively
    GPIO.setup(20, GPIO.OUT)
    GPIO.setup(21, GPIO.OUT)
    
    # Switch on the suction pump
    def pump_on():
        # Open the solenoid valve
        GPIO.output(20，0)
    
    # Stop suction pumps
    def pump_off():
        # Close the solenoid valve
        GPIO.output(20，1)
        time.sleep(0.05)
        # Open the bleeder valve.
        GPIO.output(21，0)
        time.sleep(1)
        GPIO.output(21，1)
        time.sleep(0.05)
    
    pump_off()
    time.sleep(3)
    pump_on()
    time.sleep(3)
    pump_off()
    time.sleep(3)
    
    GPIO.cleanup() # releases pin channel
    

For more case references and running result videos, please view the use case

Mall link：https://shop-elephantrobotics-com.translate.goog/collections/mycobot/products/suction-pump-2-0?_x_tr_sl=auto&_x_tr_tl=zh-CN