2. 结构说明

      小型流水线主要是由铸锭送料结构、传送机构、搬运机构、模拟加工机构、码垛机构5部分组成。

3. 电子硬件

      在这个示例中，我们采用了以下硬件，请大家参考：

 电路连接：白标传感器连接在Bigfish扩展板的A0；

      编程环境：Arduino 1.8.19

      实现思路：实现小型流水线铸锭送料、传送、搬运、模拟加工、码垛的功能。

将参考例程（sketch_may11a.ino）下载到主控板，实验效果可参考官网演示视频。如果没有达到预期的效果，大家可尝试改变例程中的参数进行调试。

/*------------------------------------------------------------------------------------

  版权说明：Copyright 2023 Robottime(Beijing) Technology Co., Ltd. All Rights Reserved.

           Distributed under MIT license.See file LICENSE for detail or copy at

           https://opensource.org/licenses/MIT

           by 机器谱 2023-05-11 https://www.robotway.com/

  ------------------------------*/

#include <Servo.h>


Servo servo_pin_4;

Servo servo_pin_3;

Servo servo_pin_8;

Servo servo_pin_11;

Servo servo_pin_7;

int _ABVAR_1_i = 0 ;


void setup()

{

  pinMode( 14, INPUT);

  servo_pin_4.attach(4);

  servo_pin_3.attach(3);

  servo_pin_8.attach(8);

  servo_pin_11.attach(11);

  servo_pin_7.attach(7);

  pinMode( 9 , OUTPUT);

  pinMode( 10 , OUTPUT);

  pinMode( 5 , OUTPUT);

  pinMode( 6 , OUTPUT);

  servo_pin_4.write( 120 );


  servo_pin_3.write( 170 );


  servo_pin_8.write( 80 );


  servo_pin_11.write( 10 );


  servo_pin_7.write( 120 );


  delay( 1000 );


}


void loop()

{

  if (!( digitalRead(14) ))

  {

    for (_ABVAR_1_i= 1; _ABVAR_1_i<= ( 70 ); _ABVAR_1_i++ )

    {

      servo_pin_4.write( ( 120 - _ABVAR_1_i ) );

      delay( 10 );

    }

    delay( 1000 );

    for (_ABVAR_1_i= 1; _ABVAR_1_i<= ( 70 ); _ABVAR_1_i++ )

    {

      servo_pin_4.write( ( 50 + _ABVAR_1_i ) );

      delay( 10 );

    }

    digitalWrite( 9 , HIGH );

    digitalWrite( 10 , LOW );

    delay( 2000 );

    digitalWrite( 9 , LOW );

    digitalWrite( 10 , LOW );

    for (_ABVAR_1_i= 1; _ABVAR_1_i<= ( 110 ); _ABVAR_1_i++ )

    {

      servo_pin_3.write( ( 170 - _ABVAR_1_i ) );

      delay( 20 );

    }

    digitalWrite( 5 , HIGH );

    digitalWrite( 6 , LOW );

    delay( 1000 );

    digitalWrite( 5 , LOW );

    digitalWrite( 6 , LOW );

    delay( 1000 );

    for (_ABVAR_1_i= 1; _ABVAR_1_i<= ( 40 ); _ABVAR_1_i++ )

    {

      servo_pin_3.write( ( 60 - _ABVAR_1_i ) );

      delay( 20 );

    }

    for (_ABVAR_1_i= 1; _ABVAR_1_i<= ( 79 ); _ABVAR_1_i++ )

    {

      servo_pin_8.write( ( 80 - _ABVAR_1_i ) );

      delay( 20 );

    }

    for (_ABVAR_1_i= 1; _ABVAR_1_i<= ( 70 ); _ABVAR_1_i++ )

    {

      servo_pin_11.write( ( 10 + _ABVAR_1_i ) );

      delay( 20 );

    }

    for (_ABVAR_1_i= 1; _ABVAR_1_i<= ( 150 ); _ABVAR_1_i++ )

    {

      servo_pin_7.write( ( 120 - _ABVAR_1_i ) );

      delay( 20 );

    }

    for (_ABVAR_1_i= 1; _ABVAR_1_i<= ( 70 ); _ABVAR_1_i++ )

    {

      servo_pin_11.write( ( 80 - _ABVAR_1_i ) );

      delay( 20 );

    }

    for (_ABVAR_1_i= 1; _ABVAR_1_i<= ( 150 ); _ABVAR_1_i++ )

    {

      servo_pin_3.write( ( 20 + _ABVAR_1_i ) );

      delay( 20 );

    }

    for (_ABVAR_1_i= 1; _ABVAR_1_i<= ( 149 ); _ABVAR_1_i++ )

    {

      servo_pin_8.write( ( 1 + _ABVAR_1_i ) );

      delay( 20 );

    }

    for (_ABVAR_1_i= 1; _ABVAR_1_i<= ( 60 ); _ABVAR_1_i++ )

    {

      servo_pin_11.write( ( 10 + _ABVAR_1_i ) );

      delay( 20 );

    }

    for (_ABVAR_1_i= 1; _ABVAR_1_i<= ( 30 ); _ABVAR_1_i++ )

    {

      servo_pin_7.write( ( 70 + _ABVAR_1_i ) );

      delay( 20 );

    }

    for (_ABVAR_1_i= 1; _ABVAR_1_i<= ( 60 ); _ABVAR_1_i++ )

    {

      servo_pin_11.write( ( 70 - _ABVAR_1_i ) );

      delay( 20 );

    }

    for (_ABVAR_1_i= 1; _ABVAR_1_i<= ( 70 ); _ABVAR_1_i++ )

    {

      servo_pin_8.write( ( 150 - _ABVAR_1_i ) );

      delay( 20 );

    }

    for (_ABVAR_1_i= 1; _ABVAR_1_i<= ( 20 ); _ABVAR_1_i++ )

    {

      servo_pin_7.write( ( 100 + _ABVAR_1_i ) );

      delay( 20 );

    }

  }

  else

  {

    servo_pin_4.write( 120 );

    servo_pin_3.write( 170 );

    servo_pin_8.write( 80 );

    servo_pin_11.write( 10 );

    servo_pin_7.write( 120 );

  }

}

5. 扩展机构

     按照这个思路，我们可以利用更多的模组和样机来构建各种流水线，如下图所示：