Introduction: The Beer Opener and Pourer

For this send off, the demand was to come upbound with an invention or a system that already has been invented, just which required some improvements. As several may acknowledge, Belgium is very democratic for its beer. In this project, the invention that needful extraordinary improvements is a combined organization which could start by opening a beer so pour the beer in a suitable glass chosen by the client. This invention is not all right titled it could be done more easily away hand out by a "healthy" person than away a machine but is still very interesting for another category of mass. Today, unfortunately, some of us are not competent to do this. To a greater extent explicitly, people with a severe limb OR muscularity trouble, the elderly or the great unwashe with a disease such as C. Northcote Parkinson, A.L.S., etc., are not able to do it. Thanks to this mechanism, they will be able to booze a well-served beer on their own without having to wait for person to come and help them with these two tasks.

Our scheme is likewise dedicated to the ensiform consumer who wants to enjoy a beer alone of with his friends and revel the Belgian expertise. Serving a beer asymptomatic is not for everyone and, so, our practice session is internationally known and it is with pleasance that we share it with the whole world.

Supplies

Main Components:

  • Arduino UNO (20.00 euros)
  • Step down Voltage convertor: LM2596 (3.00 euros)
  • 10 2-Pin terminal blocks (6.50 euros total)
  • 2-Peg SPST ON/Off Switch (0.40 euros)
  • Capacitor of 47 little Farad (0.40 euros)
  • Sir Henry Wood: MDF 3 millimetre and 6 mm
  • PLA-plastic
  • 3D-printing strand
  • 40 Bolts and nuts: M4 (0.19 euros each)
  • Linear actuator - Nema 17: 17LS19-1684E-300G (37.02 euros)
  • Sanyo Denki Hybrid High stepper Motor (58.02 euros)
  • 2 Stepper driver: DRV8825 (4.95 euros from each one)
  • 2 Button (1.00 euro for each one)
  • 3 Micro switches (2.25 euros to each one)
  • 5 Formal bearings ABEC-9 (0.75 euro each)

Package and Hardware:

  • Inventor from Autodesk (CAD-files)
  • 3D-printing machine
  • Optical maser cutter
  • Voltage supply of 24 Volts

Step 1: Wooden Mental synthesis

Wooden construction

For the configuration of the robot, an outer construction is used to provide stiffness and makethe golem broad-shouldered. Firstly, the opening mechanismis completely surrounded by this structure to be able to add a bearing the tipto of the axisto nominate the chemical mechanism unreactive. Furthermore, there is a plane at the bottom of the tower to mount the high stepper motor. At the sides of the tower, holes have been allow for to preclude the opener of rotating, such that he goes down right to the capsule to open the bottle. In the side planes, there are too holes to tie a holder to block the opener to fall completely down. Second, an unnecessary plane is provided behind the predominate of the orifice mechanism to mount up the motor and the transmittance of the pouring mechanism.

At the keister of the glass over holder, a plane is provided to support the glass over when IT comes down. This is necessary, as the glass has been lifted adequate to create the ideal space between the top of the bottle and the lead of the glass. In this airplane, a hole has been provided to place a micro switch as end effector. Also holes were provided inthe wooden planes in regularise to have a cleansed wiring of the sensors and motors. Additionally roughly holes were provided in the bottom plane of the wooden mental synthesis in order to level the elevation of the bottles in the opening mechanism and cater some spaces for the side wooden pieces of the pouring mechanics as well A a place for the bolts on the bottom of the bottle bearer in the pouring mechanism.

Puzzle chemical mechanism

An example of the assembling method has been added in the pictures of this stage. It gives a prospect of the puzzle mechanism and the provided holes to assemble the planes with each other.

Step 2: Opening Mechanism

This model is composed of one bottle opener (which also makes can opener, for the top rounded part), one huge quadrangle metal bar, one opener holder (wood plate with 2 small hinges through which a small metal Browning automatic rifle passes), one gripper for the bottle opener and one ball screw. Connected the auriferous bar (connected to a motor), the opener bearer is above the ball screw. Thanks to the rotation of the metal ginmill, created by the motor, the ball screw can ecstasy up and down, driving with them the bm of the unfastener bearer with the opener attached to it. The small ingot wedged betwixt 4 columns prevents the rotation of the opener bearer. At both extremities of the small bar, two "blockers" are placed. That way, the small bar cannot move horizontally. In the beginning, the opener is held cragfast against the bottle. The opener goes up and glides over the bottle (thanks to its ear-like component) until the hole of the opener is cragfast aside the can of the bottle. At this point, a torque will be applied by the untier to open the bottle.

  1. Big hinge (1 piece)
  2. Wood collection plate (1 while)
  3. Lesser bar blocker (2 pieces)
  4. Teentsy ingot (1 piece)
  5. Small hinge (2 pieces)
  6. Opener (1 set up)
  7. Aim (1 man)
  8. Opener blocker (1 piece)
  9. Motor + trapezoidal bar + ball screw (1 piece)

Step 3: Balance Mechanism

Pouring res system

This system consists of a counterbalance system which at each side has a bottle bearer system and a glass holder system. And at the middle thither is an forum system to bind IT to the axis.

1. Bottle bearer

The design of the bottle holder consists of 5 big plates that are attached to the sides of the reconciliation system with a puzzle configuration, and there is also a sixth plate at the bottom, attached with M3 bolts to hold the Jupiler bear, so it doesn't go bowl. The assembly to the distal wood plates also is helped with a bolt plus nut configuration, 4 for each wood photographic plate (2 at each side).

There is also implemented a bottle neck holder to grip the top of the bottle, this piece is loving to axis assemble system, explained later.

In addition, in that respect are implemented 10 3D printed cylinders trough the assembly, to add stiffens to the structure. The bolts that go direct these cylinders are M4 and with its respective round the bend.

Lastly, we implemented two swap sensors to detect the bottle that is inside the holder, in order to do that we misused a 3D printed body bearer that is attached to the wood plates under and above it.

2. Chalk holder

The design of the glass holder is bacillar past 2 wood plates attached the same way as the bottle holder plates. At that place are also 5 3D written cylinders to add clumsiness. To support the bottommost of the Jupiler glass, there is semi cylinder piece where the glass leans on. This I attached through 3 arms that forgather with M4 bolts.

To support the top parts of the glasses, there are implemented cardinal pieces, one for the top of the glass, so when turning the reconciliation system IT doesn't lag and an other unrivalled that holds the distal percentage of the looking glass.

3. Axis get together system

It was required a arrangement to attach the balance system to the rotating axis vertebra. We used a configuration where longitudinal bars (a total of 4) are press to each separate with M4 bolts and nuts. And through this bars there are 10 3D printed pieces that have a slimly bigger diam of the axis. To increase the grip there are two long rubber strips 'tween the bloc and the 3D printed pieces.

4. Balance wood plates

There are 2 lateral wood plates that hold all the holders in it and they are committed to the axis through the bloc system explained above.

Transmittance

The proportion system explained relay race on the motion of the axis, it is a block of metal of 8mm which is decorated in the structure with the help of 3 bearings and its related to bearing holders.

In order to achieve sufficient torque to perform the rotating motion of the gushing, a belt transmission is used. For the small metal block, a pulley with a pitch diameter of 12.8 mm has been in use. The big pulley has been 3d-printed to reach the required ratio. Fitting like the metal pulley, there has been provided an spare part to the pulley in edict to attach information technology to the rotating axis. In parliamentary law to utilize tension on the belt, an external bearing is used on a transferable tension applicant to create different amounts of tension inside the belt out.

Step out 4: Electronics and Arduino Inscribe

For the electronics components, it is advised to look at the requirement list again and construe what the kinematics of this arrangement should be. The number 1 requirement that our systems suffer, is the vertical drift of the undoer. Another requirement is the force that needs to follow applied on the arm to detach the bottle cap. This force is around 14 N. For the pouring part, the calculations are solved through Matlab and resulted in a maximum torque of 1.7Nm. The last requirement that has been noted, is the substance abuser-friendliness of the arrangement. Therefore the use of a starting button testament ejaculate in handy for initiating the mechanism. In this chapter, the separated parts will be elect and explained. At the end of the chapter, the entire breadboard design bequeath also be represented.

The Opening Mechanism

To start unsatisfactory, the opening system is required to open a bottle of beer. As already been said in the debut of this chapter the torque necessary to detach the bottle cap from the bottle is 1,4 Nanometre. The force that will be applied on the arm of the opener is 14 N if the arm is around 10 cm. This pull along is created past a friction force-out created by turning a thread done a nut. By holding the nut stuck in its rotational apparent movement the only way the nut can now move is up and down. For this, torque is required to make sure the nut tail rise and downbound and with that, a force of 14 N also inevitably to come forth. This torque can be calculated by the recipe below. This formula describes the obligatory torque to move an physical object up and perfect with a certain amount of torque. The torsion necessary is 1.4 Nm. This shall atomic number 4 the stripped-down torque requirement for the causative. The next step is to count for what rather causative would be the most fitted in that situation. The opener turns a colossal amount of revolutions and looking at the torsion which is required, a good idea is to pick a servomotor. The advantage of a servomotor is that it has a piping torque and moderate speeding. The problem here is that a servomotor has a certain range, less than a full revolution. A solution would be that the servomotor could be 'hacked', this results in that the servomotor has a fully 360° revolution and also keeps rotating. Now, once the servomotor is 'hacked' it is nearly impossible to undo those actions and take in it normal again. This results that the servomotor can not make up reused in other projects afte. A ameliorate solution is that the alternative better goes to a stepper motor. These kinds of motors might not comprise the ones with the most torques but it rotates in a controlled way in contrast to a DC-motorial. A problem that is found here is the price to torque ratio. This problem privy be resolved by victimisation a gearbox. With this solution, the speed of the rotation of the thread will be down but the torsion will be higher with reference to the gear ratios. Some other vantage of using a hoofer motor in that project is that the stepper motor buttocks be reused afterward for new projects of next years. The disadvantage of a hoofer motor with a gearbox is the resulting hie which is not that high. Keeping in mind that the organization requires a one-dimensional actuator in which this is avoided by the nut and thread mechanism which will make it slower as symptomless. Therefore the choice went to a stepper motor without a gear case and at once connected by a thread with a smooth nut included.

For this project, a good hoofer motor for the application is the Nema 17 with a torque of 44 Ncm and a cost of 32 euros. This stepping motor efferent is, as already spoken of, combined with a thread and a nut. To control the stepping motor motor the expend of an H-bridge circuit operating theatre stepper centrifugal device driver is used. An H-bridge has the advantages of receiving ii signals from the Arduino console, and with the help of an external DC-voltage supply, the H-bridge may metamorphose low emf signals to higher voltages of 24 Volt to provide the stepping motor motor. Because of this, the high stepper motor dismiss follow well controlled by the Arduino through programming. The program can live found in the Vermiform process. The two signals coming from the Arduino are two digital signals, one is responsible the direction of the rotation and the other is a PWM signal which determines the speed. The driver old in that protrude for the pouring mechanism and the opening chemical mechanism is a 'step bond DRV8825 driver' which is able to convert PWM signals from the Arduino to voltages from 8.2 V to 45 V and costs more or less 5 euros all. Some other melodic theme to keep in mind is the set of the opener with reference to the bottle opening. To simplify the programming part the bottleful holder is made in such a way that both types of beer bottle openings are on the same tallness. Because of this the opener and circumlocutious the stepper motive which is adjunctive through and through the thread, can now be programmed for both bottles for the homophonic tiptop. In that way, a sensor to detect the height of the bottle is non necessary here.

The pouring mechanism

As already indicated in the introduction of this chapter the required torque needed to tilt the balancing system is 1.7 Nm. The torque is premeditated through Matlab past setting up a formula for the torque residue in function of the varying angle in which the glass and bottleful rotate over. This is done so that the maximum torsion can be calculated. For the motor in this application, the better type would be a servomotor. The reason for this is because of its high torque to Mary Leontyne Pric ratio. As said in the previous paragraph of the beginning mechanism, a servomotor has a destined lay out in which it can rotate. A minor job that can constitute solved is its rotating speed. The rotation speed of a servomotor is higher than needful. The first solution that posterior be found for this problem is to add a gearbox in which the torsion will be landscaped and the bucket along gets decreased. A problem that comes with this answer is that attributable the gearbox the range of the servomotor decreases as well. This decrease results in that the Balancing organization South Korean won't be able to go around its 135° rotation. This could be solved by over again 'hacking' the servomotor, but that would result in the irreusability of the servomotor which is already explained in the premature paragraph 'The opening chemical mechanism'. The other solution for its high motion accelerate lies more in the working of a servo efferent. The servo motor is fed through a tension of 9 Volt and is controlled by the Arduino console direct a PWM-signal. This PWM-signal gives a signal with what the desired angle of the servomotor needs to be. Away pickings small stairs in ever-changing the angle, the rotation speed of the servomotor can be lowered. However this solution seems promising, a stepper centrifugal with a gearbox or rap transmission system send away ut the same. Here the torque coming from the stepper motor necessarily to be higher while the cannonball along needs to be reduced. For this, the application of a belt transmission is put-upon as there is atomic number 102 backlash for this eccentric of transmission. This transmission has the advantage of being flexible with value to a gear case, where some axes can be set where ever uncomparable wants it to beryllium as recollective every bit the belt has tension on it. This tensity is necessary for the grip on some pulleys so that the transmitting does not suffer energy away slippery on the pulleys. The ratio of the transmission system has been chosen with some margin in order to cancel out unintentional problems that were not taken into account. At the shaft of the stepper motor, a pulley with a pitch diameter of 12.8 mm has been selected. Systematic to realize the margin for the torsion a pulley with a pitch diameter of 61.35 mm has been chosen. This results in a reduction of the speed of 1/4.8 and thus an exaggerated torsion of 2.4 Nanometer. These results were achieved without taking whatever contagion efficiency into write u as not every specifications of the t2.5 knock were known. To supply a better transmission an external block is added to increment the contact angle with the smallest pulley and addition the tension inside the belt.

Unusual electronic parts

The other parts present in this design are deuce-ac micro switches and two starting buttons. The worst ii buttons speak for themselves and wish be used for initiating the summons of opening the beer while the other starts the pouring mechanism. Afterward the running system is been initiated this button will not be useful cashbox the oddment. At the end of the process, the button keister be pressed again and this will make a point that the pouring part arse be brought back to its first state of matter. The three micro switches are used as sensors to discover the two kinds of beer bottles and on the other side the glass bottle when the pouring system reaches its final position. Here the buttons that are used cost around 1 euro each and the small switches are 2.95 euros each.

To power, the Arduino the penury for an external voltage provision is needed. Thence a voltage governor is used. This is an LM2596 step-down switch regulator which makes it possible to convert a potential difference from 24 V to 7.5 V. This 7.5 V will glucinium used to power the Arduino thus that no information processing system will be in use in the process.
The datasheet was also checked for the current that is provided operating theater can be provided. The maximum current is 3 A.

The design for the electronics

In this incision, the frame-up for the electronics will cost taken care of. Present, on the bread board count on, the layout Oregon design is shown. The best way to start here is to go from the voltage supply present in the bottom right corner and going to the Arduino and the subsystems. As give the axe be seen in the figure the first thing that is on the way 'tween the voltage supplying and the breadboard is a manual switch added to that anything can be steam-powered at once by a flick of a switch. Afterwards, a capacitor is situated of 47 micro F. This capacitor is not mandate due to the exercise of a emf supply and its characteristic to immediately give the obligatory current which is with otherwise supply models not sometimes the case. To the left of the capacitors, two LM2596 drivers (Not the identical visuals simply the same setup) are settled for dominant the high stepper motor. The last thing that is connected to the 24 V circuit is the voltage regulator. This is presented in this figure by the dark blue lame. Its inputs are the ground and the 24 V, its outputs are 7.5 V and the ground which is connected with the ground of the 24 V input. The outturn or the 7.5 V from the voltage regulator is then connected with the Vin from the Arduino soothe. The Arduino is then powered and able to deliver a 5 V voltage. This 5 V electromotive force is sent to the 3 micro switches delineated by the buttons on the left position. These have the same setup as buttons which two of which are situated midmost. In case the button or switch is pressed in a potential of 5V is sent to the Arduino console. Just in case the sensors or buttons are not ironed in the ground and the Arduino input is linked with for each one other which would represent a David Low stimulus value. The last subsystems are the two stepper drivers. These are linked with the High voltage circuit of 24 V but also need to be well-connected with the 5 V of the Arduino. On the figure of the bread board, a risque and green telegraph also can exist seen, the nonindulgent wires are for a PWM-signal that regulates and gear up the speed of the steppe motor. The green wires set the direction in which the stepper motor requires to rotate.

In the second figure, the figure with the stepper driver, the joining of the Hoofer motor drivers are shown. In here one fundament get a line that there are three connections M0, M1 and M2 are not connected. These decide how every step should be taken. In the direction that it is frame right now, all three are connected to the ground by an inner resistance of 100 kilo Ohm. Putting all three inputs on low bequeath create a full step with every PWM-heartbeat. Setting up all connections to Sharp every PWM-pulse wish termination in 1/32 of a step. In this project the full step configuration is chosen, for future projects, this might come in handy in case of lowering the speed.

Step 5: Testing Down the System

The last step is to test the Mechanisms impermissible and see if they in reality work. Therefore the foreign voltage cater is socially connected with the High potential circuit of the machine piece the settlings are wired as fit. Equally seen in the first two videos both stepper motors seem to atomic number 4 working but as soon atomic number 3 everything is connected with apiece early in the structure someplace in our circuit a short circuit seems to pass off. Because of the poor design choice of having a small space between the planes the debugging part is very difficult. Superficial at the third video some issues were also present with the speed of the efferent. The solvent for this was to increase the delay in the program but as before long as the hold up is too high the stepper motor seems to be moving.

Step 6: Tips and Tricks

For this part, we want to conclude some points which we learned through the making of this project. Hither, tips and tricks on how to start manufacturing and how to solve minor issues will be explained. From starting with the assembly to making the entire design on a PCB.

Tips and tricks:

Assemblage:

  • For 3D-printing, with the function live-adjustment on Prusa 3D-printers, One can adjust the distance between the nozzle and the printing bed.
  • As seen in our project, we tried to go for a structure with as much wood as possible every bit they are the quickest through by a laser cutter. In grammatical case of any broken parts, they can easily be replaced.
  • With 3D-impression, try to make your physical object as small as possible still having the mechanical properties it needs to have. Just in case of a failed print, you bequeath not bring forward such time in reprinting again.

Electronics:

  • In front starting your project, starting signal with searching for all datasheets of every factor. This will take some prison term initially but will make sure to be worth your time in the long run.
  • When making your PCB, make sure you got a outline of the PCB with the entire circuit. A breadboard scheme could helper only the transformation between some can sometimes embody a little second many difficult.
  • Working with electronics can sometimes start lenient and develop itself complex quite truehearted. Therefore attempt to use some color on your PCB with each colorise corresponding to a certain meaning. In that way, in vitrine of an offspring, this might easier get solved
  • Work happening a large enough PCB so you can forbid crossover wires and keep an overview of the lap, this can quash the possibility of bypass.
  • Just in case of some issues with the circuit Oregon shortcircuit on the PCB, try do debug everything in its most simple chassis. In that way, your problem or problems power get solved easier.
  • Our last tip is to work on a water-washed desk, our group had shortened wires totally over our desk which created a shortcircuit in our upper voltage electrical circuit. One of these olive-sized wires was the cause and broke one of the hoofer drivers.

Mistreat 7: Available Sources

All the CAD-files, Arduino code and videos of this jut behind be found in the pursual dropbox-link: https://www.dropbox.com/sh/y7eb9hgmx7mhnsc/AACNJin...

Furthermore also the following sources are worth checking:

- OpenSCAD: Parametric pulley - lots of tooth profiles aside droftarts - Thingiverse

- Grabcad: This is a great profession to share cadfiles with other people : GrabCAD: Design Community, CAD Library, 3D Printing Software

- How to control a stepper drive using a stepper driver: https://www.makerguides.com/drv8825-stepper-motor-driver-arduino-tutorial

Be the Prototypical to Share

Recommendations

  • Anything Goes Contest 2022

    Anything Goes Contest 2022