12EV bot

In this project we will create a robot that can dismantle a dummy battery module and sort the dummy batteries by color. This project is a used as a prototype for the 12EV company to showcase the business idea. However the robot can be freely used for different applications and can also be controlled manually.

Step 1 - order pcb/electronics/parts

If your'e building this project or something similar you should probably start by ordering the custom control board. You can either buy the parts and board and solder it or buy a finished board from this website:If you want to solder the board yourself I would recommend using jlcpcb.com as board manufacturer. The necessary file can be found on the GitHub under control board/production.zip. You won't have to change any of default values and just hit order now. For the parts I would suggest lcsc.com. You can find the BOM with an overview of all the needed parts also on the GitHub page under control board/bom.html. Next you want to order these parts:

• TCS34725 color Sensor x1
• electromagnet 12V x 1
• 6x1mm round magnets x 6
• NEMA 17 stepper motor (MT-1703HS168A or equivalent) x 3
• MOTOR CABLES (45 cms) x 2
• MOTOR CABLES (14 cms) x 1
• 16 teeth GT2 pulley x 2
• Linear Bearing LM8UU x 2
• Linear Bearin LM8LUU x 1
• Circular Ball bearing 623zz x 5
• Circular Ball bearing 608zz x 1
• Circular Ball bearing 6002RS or 6002ZZ x 3
• Steel Rod (Stainless 304/306) Ø 8mm 250mm x 3
• Threaded Steel Rod (Z axis) + nut Ø 8mm 200mm x 1
• Timing belt 280 GT2 x 3
• Aluminium axis coupler (8to5) x 1
• Motor drivers A4988 + heatsinks x 3
• 12V/2A Power supply with 2.1mm POWER JACK
• Metal plate magnetic 8-10 mm

BOLTS and NUTS

• M3 6mm bolt x 26
• M3 10mm bolt x 10
• M3 15mm bolts x 8
• M3 45mm bolt x 3
• M3 nuts x 10
• M3 washers x 4
• Headless M3 bolt x 2
• M4 washer DIN125 x 20

Step 2 - print parts

Once you have finished that you can start by printing all necessary files. The files for the robotic Arm can be found on the GitHub under cad/scaraArm. For more info on the mechanics of the robotic arm and some other parts you can look on this website: https://jjrobots.com/robotic-arm-mechanical-design/The rest of the printed parts under cad/rest should be self-explanatory. Insert the 6x1 magnet in to the fitting holes and glue them in with super glue. Remember to insert the magnets such that the right parts "snap together". Furthermore glue the m3 washers into the top of the dummy batteries. Lastly glue the metal plate to the middle of the top of the upper battery casing.

Step 3 - assemble parts

Continue now by assembling the robot according to this manual: https://jjrobots.com/scara-robotic-arm-assembly-guide/

Should the belt on the connection between first and second arm be loose please print the alternative version with more teeth. HOWEVER you will need to adjust the firmwarecode once you do!

Step 4 - connect electronics

Now connect the robotic arm to the control board like shown here: INSERT picture

Step 5 - program controller

Finally open the Arduino IDE and connect your control board to your computer via the usb port. Choose the esp32 dev module as Microcontroller. If you've printed the alternative version of the toothed gear, go into the configuration.h and look for the variable gearratio. Put a double // in front of the line and delete the // on the line below it so that it stops being greyed out.

Step 6 - attach everything to base board

Now fix the robot and the additional parts on the wooden board as shown in this picture. The exact location is not that important.

Step 7 - modify position data in firmware

Now open the BLE scanner app on your phone and filter for "EV12Bot". Hit connect and click on the write characteristic (NOT the notify characteristic). Click on send data and choose plain text as option. See in the GitHub readme for the commands that you can send to the robotic arm via this method.

Have fun.