storagebot voice controlled robotic parts finder

7/27/2019 StorageBot Voice Controlled Robotic Parts Finder

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http://www.instructables.com/id/StorageBot-voice-controlled-robotic-parts-finder/

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StorageBot - voice controlled robotic parts finderby dttworld on February 26, 2012

Table of Contents

StorageBot - voice controlled robotic parts finder ......................................................................................

Intro: StorageBot - voice controlled robotic parts finder ...............................................................................

Step 1: Secret Exposed & Project Outline ........................................................................................

Step 2: Autodesk 123D & Pine Frame ...........................................................................................

File Downloads ...........................................................................................................

Step 3: Building the x-axis ....................................................................................................

File Downloads ...........................................................................................................

Step 4: Building the z-axis ....................................................................................................

File Downloads ........................................................................................................... 1

Step 5: Building the y-axis .................................................................................................... 1

File Downloads ........................................................................................................... 1

Step 6: Building the Electronics ................................................................................................ 1

File Downloads ........................................................................................................... 1

Step 7: Voice Recognition Software ............................................................................................. 1

File Downloads ........................................................................................................... 1

Step 8: Conclusion ......................................................................................................... 1

Related Instructables ........................................................................................................ 1

Comments ................................................................................................................ 2
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Intro: StorageBot - voice controlled robotic parts finderVideo

IntroductionI created the StorageBot to help solve a problem experienced by most Makers. After many years of accumulating thousands of parts stored in storage bins, I began tocrazy looking for parts scattered between so many of these bins. The hardest parts to f ind were always those rare miscellaneous parts that were thrown somewhere ia "junk" bin. StorageBot solves the location problem by listening to my voice commands, processing the location of parts from a master database and then delivering matching bins in a manner that only a robot can do!

StorageBot does have a bigger picture when it comes to purpose. I explain in my video that it's not about building a StorageBot that's important, but rather it's the skillwe can learn from such projects that help to enrich our knowledge and inspire us to build the next great thing or start the next cool business.

In this Instructable you'll gain insights into the electronics, mechanics and software systems used to create useful projects by utilizing commonly available componentsuch as the Arduino and stepper motors.

I've included a bazillion pictures and files. Source code for the Aduino program, source code for the Visual Basic voice recognition software, DXF fi les for the ABS parschematics for the electronics, 3D files drawn in the free Autodesk 123D program, parts list, etc... It's all here!

If you find this project inspirational and helpful then don't forget to vote for it in the ShopBot contest. I would use a ShopBot to create the ABS parts, aluminum parts avaccuum form molds for my next generation home robots.

Enjoy!

Step 1:Secret Exposed & Project Outline

The video above gives you a glimpse into the frame and mechanisms required to physically push out each bin based on the voice commands.

I'll describe the system by breaking it into the basic components. Here's an outline:

- Building the pine frame- Building the x-axis

- Building the z-axis- Building the y-axis- Buldling the electronics- Voice recognition software


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Image Notes

1. Harbor Freight storage bins with labels2. horizontal addressable led strips3. vertical addressable led strips4. laptop with voice recognition software interfaced to an Arduino controller5. electronics and power supply stored behind here

Step 2:Autodesk 123D & Pine FrameThe StorageBot frame is constructed out of pine wood. All of the materials can be purchased at Home Depot. The plastic storage bins can be purchased from HarborFreight. See the attached bill of materials for quantity and pricing.

When buying pine wood from Home Depot make sure you spend time selecting the best pieces of straight wood. I found the wood at the top of the stack is typically thmost crooked pieces. Some of this lumber may be returned items and obviously people would return the worst of the pieces. Here's a trick to help determine the straigpieces. Place the piece of wood on the flat concrete floor and use the f loor as a straight edge. Stay away from wood that is twisted along the length. Long pieces of wothat bow slightly in the middle can be ok if a later process such as screwing into the final framing straightens them out.

I modeled the pine frame using the free 3D CAD program from Autodesk called 123D. You can download the program here:

http://www.123dapp.com

The cool thing about this program is that you model the components of your systems and then connect them together using something called constraints. In 123Dconstraints are under the Design Intent \ Assemble Icon. With constraints I can tell 123D to take 2 separate pieces of pine wood and align the edges to each other.Another useful feature of 123D is the Browser history along the left side of the screen. With this browser I can easily turn components on and off by just clicking an "eyicon for each component. I used this feature in order to generate the step by step images for the frame construction.

The 123D model of the pine frame is attached below as a zip file. Have fun playing with 123D and be sure to watch the tutorial videos on YouTube.

Image Notes Image Notes
http://www.123dapp.com/


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1. Pine frame with bins2. in Autodesk 123D click on eye icon to turn components on/off

1. construct outer edge using 1x12 pine

Image Notes1. construct the sill and fascia boards with 1x4, 1x6 wood

Image Notes1. construct shelves and support using 1x6 and 1x2 wood

Image Notes1. add the fiber board backing material for the shelves

Image Notes1. this shelf backing is the key to reducing any frame flexing


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Image Notes1. Bins tested fitted. Paint frame black before final mounting

Image Notes1. bin screw mount2. bin screw mount3. bin screw mount4. bin screw mount

Image Notes1. bill of materials

File Downloads

storagebot_pine_frame_rev11.zip(1 MB)[NOTE: When saving, if you see .tmp as the file ext, rename it to 'storagebot_pine_frame_rev11.zip']

Step 3:Building the x-axisX is the axis that moves between the left and right side of the StorageBot. This axis also has to support the weight of the other axes, Z and Y.

Like many Makers I sometimes struggle coming up with the best design approach. My first attempt at prototyping the X axis was unsuccessful due to binding issues.When building any rail system mounted to a wooden frame one has to compensate for wide build tolerances. For example: the wood isn't always straight, there may bwarpage with temperature and humidity, cut lengths are slightly different, etc. The final solution I came up with was inspired by a rail system that was already used in mhouse. It so happens I have pocket doors and the rail system used on those doors can also be adapted to the StorageBot.

Pocket door hardware is an inexpensive and simple system for producing linear motion while hanging a lot of weight such as a door (or equivalent on the StorageBot)See the attached pictures on how I adapted this simple system. This is a great example of how being observant to the world around you can provide insights into solvi

problems.
http://www.instructables.com/files/orig/FXI/IMQ5/GZ0BW4HM/FXIIMQ5GZ0BW4HM.zip?utm_source=pdf&utm_campaign=fileshttp://www.instructables.com/files/orig/FXI/IMQ5/GZ0BW4HM/FXIIMQ5GZ0BW4HM.zip?utm_source=pdf&utm_campaign=fileshttp://www.instructables.com/files/orig/FXI/IMQ5/GZ0BW4HM/FXIIMQ5GZ0BW4HM.zip?utm_source=pdf&utm_campaign=fileshttp://www.instructables.com/files/orig/FXI/IMQ5/GZ0BW4HM/FXIIMQ5GZ0BW4HM.zip?utm_source=pdf&utm_campaign=files


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Image Notes1. 4 foot rail commonly used on pocket doors2. nema 23 stepper motor mount for x-axis3. idler belt pulley used on opposite end of the stepper motor pulley4. this vertical frame slides along the axis (x)5. two wood strips act as lower rail guides for a nylon spacer

Image Notes1. back view of the pine frame

Image Notes1. 4 foot rail guide originally made for pocket door applications

Image Notes1. these rollers fit into the pocket door rail2. pocket door roller

Image Notes


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1. this vertical structure moves along the x-axis2. nylon spacer that rides between the lower wood guides of the frame3. pocket door rollers used to hang the x-axis structure

Image Notes1. space between two wooden strips used as a lower guide

Image Notes1. nema23 mount for x-axis2. x-axis idler pulley mount

Image Notes1. x-axis drive motor, belt and idler pulley

Image Notes1. x-axis nema 23 stepper motor mount, stepper motor and pulley

Image Notes1. x-axis idler pulley mount


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Image Notes1. ABS belt coupler with mounting hole. mates to nylon spacer in next pic

Image Notes1. this nylon spacer fits into the belt coupler hole in prior pic

Image Notes1. nema 23 mount2. x axis belt coupler mount3. mounts for x-axis idler pulley4. cut parts on a small CNC machine (or use laser cutter - see Pololu.com)


File Downloads

X_AXIS_ABS_PARTS1.DXF (66 KB)[NOTE: When saving, if you see .tmp as the file ext, rename it to 'X_AXIS_ABS_PARTS1.DXF']

Step 4:Building the z-axisWhen I designed the x-axis I was also thinking about how the z-axis would integrate into the design. It was obvious that the "door frame" being hung from my pocket drail system would serve as the frame for the z-axis. The z-axis in this case refers to the vertical movement between the bottom and top levels of the StorageBot.

I already determined the z-axis would be belt driven and there would be a drive pulley and an idler pulley creating the ends of the belt system. When the belt moved itwould have to move a carriage up and down in the vertical direction.

The challenge was coming up with a low cost way to guide the z-axis carriage along the vertical direction. There was already a vert ical frame made out of wood so Iwanted to use that as a guide. Using wood as a linear guide can be t ricky due to sticking from friction. I finally came up with a solution based on some past tinkering wa bin full of spacers. Once again, curiosity paid off.

In the attached pictures you'll see how I used two different sized spacers, one made out of aluminum and one made out of nylon to form a low cost roller guide. Who eknew playing with a bin full of spacers and noticing how some fit within others would pay off!
http://www.instructables.com/files/orig/FBX/IIYW/GZ0BW5LA/FBXIIYWGZ0BW5LA.dxf?utm_source=pdf&utm_campaign=fileshttp://www.instructables.com/files/orig/FBX/IIYW/GZ0BW5LA/FBXIIYWGZ0BW5LA.dxf?utm_source=pdf&utm_campaign=fileshttp://www.instructables.com/files/orig/FBX/IIYW/GZ0BW5LA/FBXIIYWGZ0BW5LA.dxf?utm_source=pdf&utm_campaign=fileshttp://www.instructables.com/files/orig/FBX/IIYW/GZ0BW5LA/FBXIIYWGZ0BW5LA.dxf?utm_source=pdf&utm_campaign=files


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Image Notes1. nema 17 z-axis stepper motor mount2. z-axis carriage3. z-axis idler pulley mount

Image Notes1. carriage wraps around this frame with nylon rollers for vertical contraint

Image Notes1. z-axis frame with stepper motor at top, carriage in middle & bottom idler

Image Notes1. nema 17 motor with ABS mount2. belt system3. z-axis carriage4. y-axis rack and pinion


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Image Notes1. z-axis belt coupler with hole for mounting into carriage spacer

Image Notes1. z-axis idler pulley mount

Image Notes1. z-axis carriage with spacers

Image Notes1. nylon bearing assembly

Image Notes


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1. nylon spacer slipped over the aluminum spacer for roller motion

Image Notes1. stack 2 nylon spacers to create 1.5 inch span

Image Notes1. assembly nylon roller

Image Notes1. slotted hole allows for roller position adjustments

Image Notes1. front z-axis carriage mount2. back z-axis carriage mount3. nema 17 stepper motor mount


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4. z-axis idler pulley mount5. z-axis belt coupler with carriage mounting hole

File Downloads

Z_AXIS_ABS_PARTS1.DXF (69 KB)[NOTE: When saving, if you see .tmp as the file ext, rename it to 'Z_AXIS_ABS_PARTS1.DXF']

Step 5:Building the y-axisWith the design for the X and Z axis finished I had only one more mechanical hurdle, the Y axis! This axis would be the one responsible for pushing out the storage bin(like a finger). Basically the X and Z axis would position some type of "finger" in front of the storage bin that needed to be pushed out. The storage bins are fairly easy

push so I didn't need a big motor. The biggest challenge was the need for about a 3" finger throw and the appropriate compact mechanism.

The solution I came up with for the Y-axis was a rack and pinion system. The rack is essentially a toothed rectangular bar that is driven my a toothed circular "pinion" gconnected to a hobby servo motor. By picking the length of the rack and the number of teeth on the circular pinion gear I could now control the throw distance of the"finger". A rack and pinion system is another common way to convert circular motion to linear motion. In fact, it is used widely in the ShopBot system. See the attachedpictures for the rack and pinion design. I 'm fairly happy with the compactness and adjustability of this design when using different brand servos and dif ferent size piniogears.

Image Notes1. y-axis rack and pinion system

Image Notes1. y-axis rack and pinion mounted to z-axis carriage

Image Notes1. mounting holes for y-axis rack and pinion assembly2. mounting bolt to z-axis carriage3. mounting bolt to z-axis carriage

Image Notes1. 32 pitch rack gear2. rack drive gear mounted to servo horn underneath
http://www.instructables.com/files/orig/FOK/52HP/GZ0BW5T3/FOK52HPGZ0BW5T3.dxf?utm_source=pdf&utm_campaign=fileshttp://www.instructables.com/files/orig/FOK/52HP/GZ0BW5T3/FOK52HPGZ0BW5T3.dxf?utm_source=pdf&utm_campaign=fileshttp://www.instructables.com/files/orig/FOK/52HP/GZ0BW5T3/FOK52HPGZ0BW5T3.dxf?utm_source=pdf&utm_campaign=fileshttp://www.instructables.com/files/orig/FOK/52HP/GZ0BW5T3/FOK52HPGZ0BW5T3.dxf?utm_source=pdf&utm_campaign=files


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Image Notes1. rack end acts as a finger for pushing out the storage bins

Image Notes1. adjustable bottom rack spacer2. adjustable top rack spacer

Image Notes1. 1/4" 8-32 nylon spacers2. threaded rods cut to length3. lock nut, plastic 1/4" clip, 1/4" aluminum spacer

Image Notes1. upper rack spacer2. lower rack spacer3. outer mounts for sandwiching rack gear and rack spacers

File Downloads

Y_AXIS_ABS_PARTS1.DXF (56 KB)[NOTE: When saving, if you see .tmp as the file ext, rename it to 'Y_AXIS_ABS_PARTS1.DXF']

Step 6:Building the ElectronicsWhen designing the electronics I wanted to use as many off-the-shelf parts as possible to ease construction. See the bill of materials for part numbers and suppliers.Once you buy and mount the components the wiring is basically all point to point wir ing. There's very minimal soldering. You will need to solder two 10k resistorsconnected to pins 2 and 3 of the Arduino compatible board. You will also need to solder to extend wires from the stepper and servo motors.

The code running on the Arduino basically translates serial commands from the PC computer. These commands are then used to perform the following:

- moving the x-axis stepper motor- moving the z-axis stepper motor- moving the y-axis servo motor- reading the x and z axis limit switch- controlling the LED strip

Controlling stepper motors are very easy. Each stepper is driven by a driver board. By sending a step and direction signal from the Arduino to the driver board the motcan be made to move forward or reverse by one or more steps.
http://www.instructables.com/files/orig/FKX/U5PX/GZ0JIH8J/FKXU5PXGZ0JIH8J.dxf?utm_source=pdf&utm_campaign=fileshttp://www.instructables.com/files/orig/FKX/U5PX/GZ0JIH8J/FKXU5PXGZ0JIH8J.dxf?utm_source=pdf&utm_campaign=fileshttp://www.instructables.com/files/orig/FKX/U5PX/GZ0JIH8J/FKXU5PXGZ0JIH8J.dxf?utm_source=pdf&utm_campaign=fileshttp://www.instructables.com/files/orig/FKX/U5PX/GZ0JIH8J/FKXU5PXGZ0JIH8J.dxf?utm_source=pdf&utm_campaign=files


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The servo motor for the y-axis is also very easy to drive. The servo actually contains a motor driver board internally. A certain type of digital waveform is sent to the seto make it move anywhere between the extreme clockwise and counter clockwise positions. Scope captures of this servo waveform are in the attached pictures.


Image Notes1. ATX computer supply2. addressable LED strip3. limit switch4. limit switch5. y-axis servo motor6. x-axis stepper7. z-axis stepper8. Arduino compatible controller9. x-axis stepper driver10. z-axis stepper driver

Image Notes1. Arduino compatible controller2. z-axis stepper driver3. x-axis stepper driver


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Image Notes1. electronics storage2. ATX power supply

Image Notes1. z-axis limit switch

Image Notes1. x-axis limit switch

Image Notes1. draped wires for snag free movement

Image Notes1. serial commands


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Image Notes1. easy to use Arduino interface

Image Notes1. servo motor control signal refreshes every 20ms

Image Notes1. measuring pulse width for max servo clockwise position2. 600us pulse width


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Image Notes1. measuring pulse width for max counterclockwise servo position2. 2.28ms pulse width

File Downloads

shopbot_win_rev6.zip(22 KB)[NOTE: When saving, if you see .tmp as the file ext, rename it to 'shopbot_win_rev6.zip']

Step 7:Voice Recognition SoftwareThe voice recognition software runs on any old computer or laptop running MS Windows. It uses the Microsoft Speech SDK and a custom Visual Basic 6.0 applicationbased on the SDK sample programs. You can download the speech SDK here:

http://www.microsoft.com/download/en/details.aspx?id=10121

After installing the SDK be sure to train the speech engine by going to the speech setting under the Windows control panel for more accurate voice recognition. I foundthe speech recognition doesn't always work that great. I believe the stuff I've seen on the iPhone and Android devices where you can speak more naturally are muchbetter. Nevertheless, the MS SDK is good enough to start experimenting with voice recognition technologies.

There are 2 main functions of the application software. One is to handle speech such as voice recognition and text to speech output. The second function is to take thevoice commands and search for the associated parts and bin locations within a master database. This master database was originally generated in Microsoft Access.

Source code for the program is attached as a zip file. You will need Visual Basic 6.0 to modify and run the application.

Image Notes1. old laptop2. built in MIC3. speakers4. USB and audio connections

Image Notes1. Visual Basic 6.0
http://www.microsoft.com/download/en/details.aspx?id=10121http://www.instructables.com/files/orig/FIY/LHTD/GZ0MMCRG/FIYLHTDGZ0MMCRG.zip?utm_source=pdf&utm_campaign=fileshttp://www.instructables.com/files/orig/FIY/LHTD/GZ0MMCRG/FIYLHTDGZ0MMCRG.zip?utm_source=pdf&utm_campaign=fileshttp://www.instructables.com/files/orig/FIY/LHTD/GZ0MMCRG/FIYLHTDGZ0MMCRG.zip?utm_source=pdf&utm_campaign=fileshttp://www.instructables.com/files/orig/FIY/LHTD/GZ0MMCRG/FIYLHTDGZ0MMCRG.zip?utm_source=pdf&utm_campaign=files


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Image Notes1. speak these words2. word history3. database results

Image Notes1. test screen sends serial data to the Arduino for debugging

Image Notes1. parts database storing parts and associated locations

File Downloads

storagebot.zip (27 KB)[NOTE: When saving, if you see .tmp as the file ext, rename it to 'storagebot.zip']

Step 8:ConclusionI wanted to end by showing examples of how the systems used in the StorageBot are commonly found in many successful products today (ie: ShopBot, MakerBot,garage door openers, CNC conversion kits, etc).

I hope the many ideas presented in this instructable inspires you to create the next great products!
http://www.instructables.com/files/orig/FDX/UHTZ/GZ0JIH8V/FDXUHTZGZ0JIH8V.zip?utm_source=pdf&utm_campaign=fileshttp://www.instructables.com/files/orig/FDX/UHTZ/GZ0JIH8V/FDXUHTZGZ0JIH8V.zip?utm_source=pdf&utm_campaign=fileshttp://www.instructables.com/files/orig/FDX/UHTZ/GZ0JIH8V/FDXUHTZGZ0JIH8V.zip?utm_source=pdf&utm_campaign=fileshttp://www.instructables.com/files/orig/FDX/UHTZ/GZ0JIH8V/FDXUHTZGZ0JIH8V.zip?utm_source=pdf&utm_campaign=files


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Image Notes1. ShopBot uses stepper motors too2. StorageBot z-axis stepper for size comparison3. rack gear on ShopBot

Image Notes1. belt drive also used on the MakerBot Thing-O-Matic for linear motion

Image Notes1. belt drive used on the garage door opener in my mom's house

Image Notes1. x-axis stepper on my CNC converted mill ing machine2. y-axis stepper3. belt drive for spindle motor

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Comments

2 comments Add Comment

Orangutanlibrarian says: Feb 27, 2012. 9:02 AM REPI love the idea and the video was great. I just wanted to know about how much did it cost and how long did it take to build?Keep up the excellent work.

dttworld says: Feb 27, 2012. 12:25 PM REPThanks. Two months plus one allnighter to design, build and document. You can find detailed parts l ist with pricing in the uploaded images. Basically:pine frame and bins = $260, misc motion components = $155, electronics = $300. I would say this is comparable in pricing and complexity to a lot of th

build a CNC machine based Instructables.
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