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Hole Driller – Mass Production

Mass Production – Hole Driller

This is our first paid gig with Evezor robotic arm and brought in enough to pay for over half an arm.

This job took a few days to put together and program 3 days to run and 300 total tubes drilled in the end.

 

Let’s start by seeing the production run

baskets of tubes drilled by evezor

This project was the reason I started designing evezor in the first place

After creating the the original hole driller I found myself very disappointed with the machine, not that it didn’t do a good job, but that it would only ever do one job. It could only ever drill holes in these tubes.

Continue reading Hole Driller – Mass Production

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Mass Production Coaster Demo

Mass Production Coaster Demo

In this job we automate the production of engraving coasters. Each coaster is automatically picked, engraved with a unique serial number, then placed into piles.

The build log can be seen in our gallery.

Evezor Coasters Mass Production Demo

Continue reading Mass Production Coaster Demo

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Crosshatch Art

Crosshatch Art With A Ballpoint Pen

This artwork is created with the Makelangelo  software. We exported a DXF, then brought the file into Inkscape to create the final GCODE file.

We really liked the way these turned out!

Tutorials coming soon.

 

 

 

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PCB Fabrication

EVEZOR ROBOTIC ARM PLACING SMD COMPONENTS ON A CIRCUIT BOARD

Evezor Will Mill PCBs and Place the Components

 

The traces were milled out with a 1mm endmill in a standard rotary tool.  The toolpaths for the traces were designed in Inkscape.

The smd components were 0603in size, picked with a vacuum gripper, then placed in the desired locations.

The solder paste was done by hand, but could have just as easily been done with evezor.  We have designs for a solder paste extruder but will be waiting until we come back to this project again in the future.

 

 

 

 

 

 

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Laser Engraving

Laser engraving with a laser diode toolhead.

 

Our toolhead is a standard 1W laser diode that we mounted inside of a CPU cooler.

Toolpaths were created using Inkscape (tutorial coming soon)

The font was created by Dieter Steffmann.

 

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My Niblings Came To Visit

Kindergartener Programming evezor robotic arm

Collaborative Programming

Today my niblings came to visit, then they programmed our robotic arm.

So Easy A 2 Year Old Can Do It

Evezor’s robotic arms are collaborative programmable.

Easily teach the arm with simple gestures, whether it’s your employee or a 2 year old child anyone can program this arm

With open source hardware you can easily create your own customized accessories.

Source Code

Positions are found wit the use of AS5048 magnetic encoders utilizont the I2C bus on the Raspberry Pi.


import RPi.GPIO as GPIO
import smbus
import time
GPIO.setmode(GPIO.BCM)
GPIO.setup(15,GPIO.IN)  #Red Button
GPIO.setup(17,GPIO.IN)  #Green Button
GPIO.setup(18,GPIO.IN)  #Blue Button
GPIO.setup(23,GPIO.IN)  #Finished Button

bus = smbus.SMBus(1)
#Set Encoder Offsets
SHOULDER_ZERO = 176.2
ELBOW_ZERO = 182.24
HAND_ZERO = 119.1
FRTNBIT = 16384
DEGREE_CONVERSION = .0219726563
#Set encoder addresses
HAND_ENCODER = 0x43
SHOULDER_ENCODER = 0x40
ELBOW_ENCODER = 0x42
ANGLE_MSB = 0xFF
ANGLE_LSB = 0XFE

##############
#Prepare file for output
fo = open ('gcodeoutput.gcode','w')
fo.write(';RGB PICK AND DROP\nM302\nG92 X-54.1 Y143.2\nG28 Z0\n')

RED_BOX = """;RED BUTTON
G1 Z80
M400
M106 S255
G04 P500
G1 Z170
G1 X112 Y114
M400
M107
G04 P500
"""

GREEN_BOX = """;GREEN BUTTON
G1 Z80
M400
M106 S255
G04 P500
G1 Z170
G1 X166 Y35
M400
M107
G04 P500
"""

BLUE_BOX = """;BLUE BUTTON
G1 Z80
M400
M106 S255
G04 P500
G1 Z170
G1 X162 Y94
M400
M107
G04 P500
"""

GET_CANDY = """;GET CANDY
G1 X8 Y-49.9
G1 Z110
M400
M106 S255
G1 Z150
G1 X-2 Y-90
M400
M107
G04 P500
G1 Z130
G1 X8 Y-49.9
G1 Z70 ;GET HEIGHT FOR CANDY
M400
M106 S255
G04 P500
G1 Z100
G1 X43 Y90
G1 Z70 ;GET HEIGHT FOR CANDY
M400
M107
G04 P500
G1 X-50 Y135 Z200
M84
"""

#get angles
def ReadAngle (Address, Zero):
MSB = bus.read_byte_data(Address,ANGLE_MSB)
MSB = MSB << 6
LSB = bus.read_byte_data(Address,ANGLE_LSB)
ANGLE_RAW = MSB + LSB

ANGLE_RAW = ANGLE_RAW * DEGREE_CONVERSION
ANGLE_RAW = (ANGLE_RAW - Zero)
ANGLE_RAW = round(ANGLE_RAW,2)
return ANGLE_RAW

while(True):
#HAND = ReadAngle(HAND_ENCODER,HAND_ZERO)
ELBOW = ReadAngle(ELBOW_ENCODER,ELBOW_ZERO)
SHOULDER = ReadAngle(SHOULDER_ENCODER,SHOULDER_ZERO)


if(GPIO.input(15) ==0):
print("RED Button")
fo.write('G1 X')
fo.write(str(SHOULDER))
fo.write(' Y')
fo.write(str(ELBOW))
fo.write('\n')
fo.write(RED_BOX)
time.sleep(1)
if(GPIO.input(17) ==0):
print("GREEN Button")
fo.write('G1 X')
fo.write(str(SHOULDER))
fo.write(' Y')
fo.write(str(ELBOW))
fo.write('\n')
fo.write(GREEN_BOX)
time.sleep(1)
if(GPIO.input(18) ==0):
print("BLUE Button")
fo.write('G1 X')
fo.write(str(SHOULDER))
fo.write(' Y')
fo.write(str(ELBOW))
fo.write('\n')
fo.write(BLUE_BOX)
time.sleep(1)
if(GPIO.input(23) ==0):
print("CLOSE PROGRAM")
fo.write(GET_CANDY)
fo.close()
exit()
time.sleep(1)


time.sleep(.1)

Download Code

See Our Other Projects

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Pen Plotting

pen plotting art drawn by evezor robotic arm

Today we did some pen plotting

Your toolhead can be as simple as a block of wood with a hole in it.

Our toolhead is a standard ballpoint pen.  This toolhead was created in less time than it would take to create a document in cad.

Pen pressure is handled with spring pressure (a rubberband.)

Toolpath was created with Inkscape.

Font was created by heavtryq.com

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Welding

evezor robotic arm welding

Today we handed our arm a welder. Let’s make a robotic welder!

Share the tools you already own

Our toolhead is a regular hand held welder, share the tools you already own.

This was a really fun project. Our robot is a better welder than I am.

The welder is an inexpensive 110V welder with flux core wire.

The toolpath was created with Inkscape.

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Plasma Cutting

Today we plasma cut some sheet metal

 

Automating a plasma cutter opens up a whole new world, with the ability to accurately and easily cut metals.

Our toolhead is a regular hand held plasma cutter.  The trigger is actuated by a small solenoid I pulled off an old copy machine

The stock material  is 12 gauge sheet metal and is mild steel.

The toolpath was created with Inkscape.

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3D Contour Milling

Evezor Tobotic arm with milling routing toolhead

3D Contour Milling

Today we contour milled the letter P in some Brazilian cherry

Our toolhead today is a full size 2hp router with a 1/4″ ballmill.

The stock material is a laminated piece of Brazillian cherry between two pieces of pine.

The toolpath was created with Kiri:Moto. With all these projects, for better or worse, I tried my best to use open source software.

I would have made a tutorial on this if I didn’t have such a bad experience using the software. It’s not the worst software ever but made some unusual decisions with some of its toolpaths.

I will be looking for some better software, if  you have some suggestions please leave a comment.