本文將給(gei)讀(du)者先容我建造的(de)另一部由74HC240作(zuo)為(wei)主(zhu)控焦點的(de)尋光機器人，仍然貫徹低技巧、低成本的(de)建造理念(nian)，與各人共賞。
節制焦點的深入分析
國內分揀機器人圖片快遞自動化分揀機器人物流中心自動分揀機器人施密特觸發器
施(shi)密(mi)特(te)觸(chu)發器的(de)閥值(zhi)電壓決(jue)意(yi)了(le)體系(xi)(xi)的(de)給定(ding)值(zhi)，施(shi)密(mi)特(te)觸(chu)發器的(de)特(te)性也便決(jue)意(yi)了(le)這(zhe)個體系(xi)(xi)的(de)特(te)性。是以有需要深化相識一(yi)下這(zhe)個器件的(de)特(te)色。
快遞分揀機器人設計理念分揀機器人的分類和特點施(shi)密(mi)特(te)(te)觸(chu)(chu)(chu)(chu)(chu)發器(qi)(qi)是(shi)由(you)美國科學(xue)家OttoHerbertSchmitt于(yu)1934年創造(zao)的(de)(de)(de)，其(qi)時他(ta)只(zhi)是(shi)一(yi)個(ge)(ge)研(yan)(yan)究生。過后三年，他(ta)正(zheng)(zheng)(zheng)在(zai)(zai)其(qi)博士(shi)論文中(zhong)將這一(yi)創造(zao)描寫為(wei)(wei)(wei)“ThermionicTrigger”。這一(yi)創造(zao)是(shi)他(ta)對魷魚神(shen)經(jing)中(zhong)的(de)(de)(de)神(shen)經(jing)脈沖流傳(chuan)停止研(yan)(yan)討(tao)的(de)(de)(de)間(jian)(jian)接結(jie)果。正(zheng)(zheng)(zheng)在(zai)(zai)電(dian)(dian)(dian)(dian)(dian)子(zi)學(xue)中(zhong)，施(shi)密(mi)特(te)(te)觸(chu)(chu)(chu)(chu)(chu)發器(qi)(qi)是(shi)包(bao)括了(le)正(zheng)(zheng)(zheng)反饋的(de)(de)(de)比力器(qi)(qi)電(dian)(dian)(dian)(dian)(dian)路。施(shi)密(mi)特(te)(te)觸(chu)(chu)(chu)(chu)(chu)發器(qi)(qi)也有(you)兩個(ge)(ge)不變形態，但與(yu)普通(tong)觸(chu)(chu)(chu)(chu)(chu)發器(qi)(qi)分(fen)歧(qi)的(de)(de)(de)是(shi)，施(shi)密(mi)特(te)(te)觸(chu)(chu)(chu)(chu)(chu)發器(qi)(qi)采取電(dian)(dian)(dian)(dian)(dian)位觸(chu)(chu)(chu)(chu)(chu)發方法(fa)，其(qi)形態由(you)輸(shu)(shu)入旌(jing)(jing)(jing)旗(qi)燈(deng)(deng)號(hao)(hao)電(dian)(dian)(dian)(dian)(dian)位保持;關(guan)于(yu)背(bei)向(xiang)(xiang)遞(di)加跟正(zheng)(zheng)(zheng)向(xiang)(xiang)遞(di)增兩種分(fen)歧(qi)變更標的(de)(de)(de)目(mu)的(de)(de)(de)的(de)(de)(de)輸(shu)(shu)入旌(jing)(jing)(jing)旗(qi)燈(deng)(deng)號(hao)(hao)，施(shi)密(mi)特(te)(te)觸(chu)(chu)(chu)(chu)(chu)發器(qi)(qi)有(you)分(fen)歧(qi)的(de)(de)(de)閥(fa)(fa)(fa)值電(dian)(dian)(dian)(dian)(dian)壓(ya)(ya)(ya)。施(shi)密(mi)特(te)(te)觸(chu)(chu)(chu)(chu)(chu)發器(qi)(qi)是(shi)一(yi)種特(te)(te)別的(de)(de)(de)門電(dian)(dian)(dian)(dian)(dian)路，與(yu)平(ping)(ping)凡的(de)(de)(de)門電(dian)(dian)(dian)(dian)(dian)路分(fen)歧(qi)，施(shi)密(mi)特(te)(te)觸(chu)(chu)(chu)(chu)(chu)發器(qi)(qi)有(you)兩個(ge)(ge)閾(yu)值電(dian)(dian)(dian)(dian)(dian)壓(ya)(ya)(ya)，離別稱為(wei)(wei)(wei)正(zheng)(zheng)(zheng)向(xiang)(xiang)閥(fa)(fa)(fa)值電(dian)(dian)(dian)(dian)(dian)壓(ya)(ya)(ya)跟負(fu)向(xiang)(xiang)閥(fa)(fa)(fa)值電(dian)(dian)(dian)(dian)(dian)壓(ya)(ya)(ya)。正(zheng)(zheng)(zheng)在(zai)(zai)輸(shu)(shu)入旌(jing)(jing)(jing)旗(qi)燈(deng)(deng)號(hao)(hao)從低(di)(di)電(dian)(dian)(dian)(dian)(dian)平(ping)(ping)回升到高(gao)(gao)電(dian)(dian)(dian)(dian)(dian)平(ping)(ping)的(de)(de)(de)進(jin)程(cheng)中(zhong)使電(dian)(dian)(dian)(dian)(dian)路狀(zhuang)態發生變化(hua)的(de)(de)(de)輸(shu)(shu)入電(dian)(dian)(dian)(dian)(dian)壓(ya)(ya)(ya)稱為(wei)(wei)(wei)正(zheng)(zheng)(zheng)向(xiang)(xiang)閥(fa)(fa)(fa)值電(dian)(dian)(dian)(dian)(dian)壓(ya)(ya)(ya)，正(zheng)(zheng)(zheng)在(zai)(zai)輸(shu)(shu)入旌(jing)(jing)(jing)旗(qi)燈(deng)(deng)號(hao)(hao)從高(gao)(gao)電(dian)(dian)(dian)(dian)(dian)平(ping)(ping)降低(di)(di)到低(di)(di)電(dian)(dian)(dian)(dian)(dian)平(ping)(ping)的(de)(de)(de)進(jin)程(cheng)中(zhong)使電(dian)(dian)(dian)(dian)(dian)路狀(zhuang)態發生變化(hua)的(de)(de)(de)輸(shu)(shu)入電(dian)(dian)(dian)(dian)(dian)壓(ya)(ya)(ya)稱為(wei)(wei)(wei)背(bei)向(xiang)(xiang)閥(fa)(fa)(fa)值電(dian)(dian)(dian)(dian)(dian)壓(ya)(ya)(ya)。正(zheng)(zheng)(zheng)向(xiang)(xiang)閥(fa)(fa)(fa)值電(dian)(dian)(dian)(dian)(dian)壓(ya)(ya)(ya)與(yu)負(fu)向(xiang)(xiang)閥(fa)(fa)(fa)值電(dian)(dian)(dian)(dian)(dian)壓(ya)(ya)(ya)之(zhi)差稱為(wei)(wei)(wei)回差電(dian)(dian)(dian)(dian)(dian)壓(ya)(ya)(ya)。關(guan)于(yu)尺度施(shi)密(mi)特(te)(te)觸(chu)(chu)(chu)(chu)(chu)發器(qi)(qi)，當(dang)輸(shu)(shu)入電(dian)(dian)(dian)(dian)(dian)壓(ya)(ya)(ya)高(gao)(gao)于(yu)正(zheng)(zheng)(zheng)向(xiang)(xiang)閥(fa)(fa)(fa)值電(dian)(dian)(dian)(dian)(dian)壓(ya)(ya)(ya)，輸(shu)(shu)出(chu)為(wei)(wei)(wei)下(xia);當(dang)輸(shu)(shu)入電(dian)(dian)(dian)(dian)(dian)壓(ya)(ya)(ya)低(di)(di)于(yu)背(bei)向(xiang)(xiang)閥(fa)(fa)(fa)值電(dian)(dian)(dian)(dian)(dian)壓(ya)(ya)(ya)，輸(shu)(shu)出(chu)為(wei)(wei)(wei)低(di)(di);當(dang)輸(shu)(shu)入正(zheng)(zheng)(zheng)在(zai)(zai)正(zheng)(zheng)(zheng)負(fu)向(xiang)(xiang)閥(fa)(fa)(fa)值電(dian)(dian)(dian)(dian)(dian)壓(ya)(ya)(ya)之(zhi)間(jian)(jian)，輸(shu)(shu)出(chu)沒有(you)轉(zhuan)(zhuan)變，也就(jiu)是(shi)說輸(shu)(shu)出(chu)由(you)高(gao)(gao)電(dian)(dian)(dian)(dian)(dian)平(ping)(ping)翻轉(zhuan)(zhuan)為(wei)(wei)(wei)低(di)(di)電(dian)(dian)(dian)(dian)(dian)平(ping)(ping)，或是(shi)由(you)低(di)(di)電(dian)(dian)(dian)(dian)(dian)平(ping)(ping)翻轉(zhuan)(zhuan)為(wei)(wei)(wei)高(gao)(gao)電(dian)(dian)(dian)(dian)(dian)平(ping)(ping)對應的(de)(de)(de)閥(fa)(fa)(fa)值電(dian)(dian)(dian)(dian)(dian)壓(ya)(ya)(ya)是(shi)分(fen)歧(qi)的(de)(de)(de)。只(zhi)有(you)當(dang)輸(shu)(shu)入電(dian)(dian)(dian)(dian)(dian)壓(ya)(ya)(ya)產生充足的(de)(de)(de)變更時，輸(shu)(shu)出(chu)才會變更。這類(lei)單閥(fa)(fa)(fa)值舉措被稱為(wei)(wei)(wei)遲滯景象，評釋施(shi)密(mi)特(te)(te)觸(chu)(chu)(chu)(chu)(chu)發器(qi)(qi)有(you)記(ji)憶(yi)性，可用于(yu)正(zheng)(zheng)(zheng)在(zai)(zai)開環設置中(zhong)的(de)(de)(de)抗干(gan)擾。
改進版的節制焦點
圖(tu)2為改進版的(de)(de)(de)(de)尋光(guang)機(ji)(ji)器(qi)(qi)(qi)(qi)人(ren)，焦點(dian)部門由一對光(guang)敏二(er)極管(guan)跟(gen)74HC240集成電路組成。74HC240是一片功能強大的(de)(de)(de)(de)三態(tai)緩(huan)(huan)(huan)沖(chong)器(qi)(qi)(qi)(qi)，芯片外部集成了(le)(le)8路帶有(you)(you)施密特觸發(fa)器(qi)(qi)(qi)(qi)輸入(ru)特性的(de)(de)(de)(de)反(fan)向(xiang)緩(huan)(huan)(huan)沖(chong)器(qi)(qi)(qi)(qi)。正在數(shu)(shu)字計(ji)算機(ji)(ji)中，那類(lei)緩(huan)(huan)(huan)沖(chong)器(qi)(qi)(qi)(qi)的(de)(de)(de)(de)作(zuo)用是用來臨時寄存處理器(qi)(qi)(qi)(qi)送(song)往外設的(de)(de)(de)(de)數(shu)(shu)據，有(you)(you)了(le)(le)數(shu)(shu)控(kong)緩(huan)(huan)(huan)沖(chong)器(qi)(qi)(qi)(qi)，便可(ke)以(yi)使高速(su)(su)事(shi)(shi)情的(de)(de)(de)(de)CPU部門與慢速(su)(su)事(shi)(shi)情的(de)(de)(de)(de)外設起(qi)調和跟(gen)緩(huan)(huan)(huan)沖(chong)作(zuo)用，實(shi)現數(shu)(shu)據傳遞的(de)(de)(de)(de)同(tong)步。這個改進版的(de)(de)(de)(de)尋光(guang)機(ji)(ji)器(qi)(qi)(qi)(qi)人(ren)，由于有(you)(you)了(le)(le)74HC240的(de)(de)(de)(de)加盟，使得機(ji)(ji)器(qi)(qi)(qi)(qi)人(ren)的(de)(de)(de)(de)控(kong)制系統即可(ke)以(yi)繼續到上(shang)文所先容的(de)(de)(de)(de)施密特觸發(fa)器(qi)(qi)(qi)(qi)的(de)(de)(de)(de)悉(xi)數(shu)(shu)益處，又可(ke)以(yi)借助(zhu)緩(huan)(huan)(huan)沖(chong)器(qi)(qi)(qi)(qi)的(de)(de)(de)(de)作(zuo)用，去(qu)調和機(ji)(ji)器(qi)(qi)(qi)(qi)人(ren)電子部門與機(ji)(ji)器(qi)(qi)(qi)(qi)布局(ju)之間(jian)的(de)(de)(de)(de)共同(tong)。實(shi)際建造實(shi)現當前的(de)(de)(de)(de)機(ji)(ji)器(qi)(qi)(qi)(qi)人(ren)運轉方法，介于模擬節制與數(shu)(shu)字控(kong)制之間(jian)，是以(yi)它的(de)(de)(de)(de)設計(ji)者也(ye)給它起(qi)了(le)(le)一個形(xing)象的(de)(de)(de)(de)名字“BareBonesPhotovore”，我把它翻(fan)譯為“準系統尋光(guang)機(ji)(ji)器(qi)(qi)(qi)(qi)人(ren)”。線(xian)路圖(tu)中的(de)(de)(de)(de)U1跟(gen)U2離(li)別各代表了(le)(le)74HC240芯片內一組并聯事(shi)(shi)情的(de)(de)(de)(de)驅動器(qi)(qi)(qi)(qi)。
圖274HC240尋光(guang)機器(qi)人線路圖
圖3是74HC240的框(kuang)圖，可以(yi)看(kan)到芯片外部由兩組帶有(you)使能輸入(ru)真個反向緩(huan)沖器構成，輸入(ru)端(duan)跟(gen)輸出(chu)端(duan)離(li)別為A1A2A3A4B1B2B3B4(對(dui)(dui)應(ying)(ying)管腳246811131517);YA1YA2YA3YA4YB1YB2YB3YB4(對(dui)(dui)應(ying)(ying)管腳3)。使能輸入(ru)端(duan)為EnableAEnableB(對(dui)(dui)應(ying)(ying)管腳119)，電(dian)源正(對(dui)(dui)應(ying)(ying)管腳20)，電(dian)源天(對(dui)(dui)應(ying)(ying)管腳10)。
圖374HC240外部圖
緩(huan)(huan)(huan)沖(chong)(chong)(chong)器(qi)(qi)分(fen)(fen)為兩種，通(tong)例(li)緩(huan)(huan)(huan)沖(chong)(chong)(chong)器(qi)(qi)跟三(san)態緩(huan)(huan)(huan)沖(chong)(chong)(chong)器(qi)(qi)。通(tong)例(li)緩(huan)(huan)(huan)沖(chong)(chong)(chong)器(qi)(qi)老是(shi)將值(zhi)間接輸(shu)出(chu)，用(yong)正在促(cu)進電(dian)(dian)流到下(xia)一級的(de)電(dian)(dian)路系統。三(san)態緩(huan)(huan)(huan)沖(chong)(chong)(chong)器(qi)(qi)除通(tong)例(li)緩(huan)(huan)(huan)沖(chong)(chong)(chong)器(qi)(qi)的(de)功用(yong)中，借設置有使(shi)能(neng)(neng)輸(shu)入(ru)端，這里(li)對應的(de)是(shi)74HC240的(de)第1足跟第19足。從圖4的(de)真值(zhi)表(biao)中可(ke)以看出(chu)當使(shi)能(neng)(neng)端電(dian)(dian)平沒有同時(shi)緩(huan)(huan)(huan)沖(chong)(chong)(chong)器(qi)(qi)有分(fen)(fen)歧的(de)輸(shu)出(chu)值(zhi)。當EnableAEnableB=0時(shi)，芯(xin)片選通(tong)，緩(huan)(huan)(huan)沖(chong)(chong)(chong)器(qi)(qi)事情;當EnableAEnableB=1，緩(huan)(huan)(huan)沖(chong)(chong)(chong)器(qi)(qi)被阻撓，不管(guan)輸(shu)入(ru)甚么值(zhi)，輸(shu)出(chu)的(de)老是(shi)下(xia)阻抗(kang)形態，用(yong)Z默示(shi)。下(xia)阻抗(kang)形態能(neng)(neng)使(shi)電(dian)(dian)流降(jiang)到充(chong)足低，以致(zhi)于近似緩(huan)(huan)(huan)沖(chong)(chong)(chong)器(qi)(qi)的(de)輸(shu)出(chu)不與(yu)任何電(dian)(dian)路相連。
高速分揀機器人設計圖474HC240真值表
正在(zai)這部尋光機(ji)器人里，74HC240外(wai)部的(de)緩(huan)(huan)(huan)沖器是事情正在(zai)選通形(xing)態，故(gu)須(xu)要把芯片的(de)第(di)1足(zu)、19腳接(jie)低(di)電(dian)平(電(dian)源天)，此外(wai)借需(xu)注意，74HC240外(wai)部緩(huan)(huan)(huan)沖器的(de)單路輸(shu)(shu)出(chu)(chu)電(dian)流(liu)只(zhi)有(you)35mA，正在(zai)實(shi)(shi)際(ji)使用中，須(xu)要多組(zu)緩(huan)(huan)(huan)沖器并聯以(yi)取得(de)充足(zu)的(de)輸(shu)(shu)出(chu)(chu)電(dian)流(liu)，才氣驅(qu)動(dong)減(jian)(jian)速機(ji)電(dian)平安無效的(de)事情。我正在(zai)建(jian)造中，利用2片74HC240，16只(zhi)緩(huan)(huan)(huan)沖器分紅兩組(zu)各(ge)8路并聯，U1跟U2的(de)輸(shu)(shu)出(chu)(chu)端可以(yi)取得(de)最(zui)大280mA的(de)輸(shu)(shu)出(chu)(chu)電(dian)流(liu)，足(zu)已驅(qu)動(dong)罕見(jian)的(de)小型(xing)減(jian)(jian)速機(ji)電(dian)。由此可以(yi)計(ji)劃(hua)出(chu)(chu)一(yi)個(ge)體系的(de)實(shi)(shi)際(ji)接(jie)線(xian)圖，對建(jian)造很有(you)資助，見(jian)圖5。
圖574HC240尋(xun)光(guang)機器(qi)人接線圖
垃圾分揀機器人定做分揀機器人視覺快件自動分揀機器人