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L293D Based Mobile Nurse Robot Circuit Design

Author: Billily
Date: 26 Jan 2022
 1780
motor driver l293d

Ordering & Quality

Photo Mfr. Part # Company Description Package PDF Qty Pricing
(USD)
L293D L293D Company:STMicroelectronics Remark:Motor / Motion / Ignition Controllers & Drivers Push-Pull 4-Channel Package:N/A
N/A
In Stock:On Order
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Price:
1+: $3.91000
10+: $3.32000
100+: $2.73000
250+: $2.44000
500+: $2.36000
1000+: $1.96000
2000+: $1.88000
5000+: $1.83000
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L293DD L293DD Company:STMicroelectronics Remark:Motor / Motion / Ignition Controllers & Drivers Push-Pull 4-Channel Package:N/A
N/A
In Stock:On Order
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Price:
1+: $4.08000
10+: $3.47000
100+: $2.85000
250+: $2.39000
500+: $2.31000
1000+: $2.01000
2000+: $1.95000
5000+: $1.89000
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L293DD013TR L293DD013TR Company:STMicroelectronics Remark:Bipolar Motor Driver Parallel 20-SOIC Package:20-SOIC (0.295"", 7.50mm Width)
DataSheet
In Stock:On Order
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Price:
1+: $4.22000
10+: $3.78900
25+: $3.58160
100+: $2.94500
250+: $2.64256
500+: $2.54704
1000+: $2.11723
2000+: $2.03763
5000+: $1.97396
10000+: $1.91028
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I. Introduction

L293D is a motor control device produced by Texas Instruments. The device has 4 high-current half-H drive structures. This structure can provide up to 600 mA of current at a voltage of 4.5 V to 36 V. This device is mainly used to drive inductive loads, such as relays, solenoids, DC or bipolar stepper motors.

Catalog

I. Introduction

II. L293D Features

III. L293D Pinout Configuration

IV. Circuit Design

4.1 Introduction to Mobile Nurse Robot

4.2 Peripheral Circuit Design of Motor Drive Device

4.3 Nurse Robot Circuit Design

4.4 Microcontroller and Its Peripheral Circuit Design

4.5 The Design of Power Supply and its Device Selection

4.6 Hardware Connection Diagram and Software Design

V. Conclusion

FAQ

Ordering & Quantity


 II. L293D Features

  • Wide Supply-Voltage Range: 4.5 V to 36 V
  • Separate Input-Logic Supply
  • Internal ESD Protection
  • High-Noise-Immunity Inputs
  • Output Current 1 A Per Channel (600 mA for L293D)
  • Peak Output Current 2 A Per Channel (1.2 A for L293D)
  • Output Clamp Diodes for Inductive Transient Suppression (L293D)

III. L293D Pinout Configuration

The pin arrangement of L293D is shown in Figure 1.

Pins 1A, 2A, 3A, and 4A are control signal input terminals, which are used to control the working state of the motor. The pins 1Y, 2Y, 3Y, and 4Y are motor control output terminals, which are used to directly control the actions of the motor.

Figure 1 L293D pinout

Figure 1 L293D pinout

All inputs of the device are TTL compatible, and its output adopts a "totem pole" drive circuit composed of a Darlington transistor receiver and a pseudo Darlington source. The motor drive enable is controlled by pins 1 and 2EN to control motor 1, and pins 3 and 4EN to control motor 2. When the EN pin is set to high level, the motor corresponding to it is in the enabled state, thereby activating the motor control output. The VCC1 port isolated from the VCC2 port can provide logic inputs to reduce power consumption. L293D can work in the range of 0℃~70℃.


IV. Circuit Design

4.1 Introduction to Mobile Nurse Robot

The main purpose of the mobile nurse robot is to treat patients with medical staff, try to avoid contact with germs, reduce germ infection, reduce medical staff's concerns, and replace medical staff to do some simple tasks. In other industries, the robot can also do simple tasks for people, save labor, and improve social work efficiency.

The mobile nurse robot is voice-controlled, and can automatically navigate according to the virtual track, and automatically detect metal during the navigation process, so that the robot can stop at a predetermined position and prompt the patient that the items needed have been delivered.

Therefore, the mobile nurse robot has the following characteristics:

  • Voice control function. The main control device of the robot is integrated with a voice recognition module, which receives voice control from a specific person, and the robot performs different operations according to different commands;

 

  • Virtual track navigation function. The robot reads the data according to the infrared sensor installed on the main body, judges whether it deviates from the predetermined track, and corrects it to realize the function of virtual track navigation;

 

  • Fixed-point positioning function. The tail of the robot detects metal according to the metal sensor, and performs corresponding stop and forward operations, so as to achieve the function of positioning the robot at a predetermined point;

 

  • Voice playback function. The pre-input voice is played out at the fixed point to play the voice prompt function.

 

4.2 Peripheral Circuit Design of Motor Drive Device

The external circuit must be connected to a high-speed output clamp diode for transient suppression, as shown in Figure 2, just use the ordinary IN4001. When the input enable is low, the motor control output of the device is shielded. At this time, the motor control output of the device is closed and in a high impedance state. When the control signal is input to the input terminal of the device, all H reversible drive control solenoid or motor application circuit.

Figure 2 LED external circuit diagram

Figure 2 LED external circuit diagram

 

4.3 Nurse Robot Circuit Design

The main control circuit board of the nurse mobile robot performs the following functions: It can directly drive the DC motor of the mobile nurse  robot to control its actions; It can provide corresponding power to the DC motor, sensor, single-chip and switch on the robot; It can receive remote control signals.

 

4.4 Microcontroller and Its Peripheral Circuit Design

When selecting the single-chip microcomputer, the relevant materials of the obstacle avoidance mobile robot were consulted. Taking into account the design requirements of the nurse mobile robot, the cost-effective and powerful Sunplus Microcontroller SPCE061A was adopted. The peripheral circuit of the single-chip microcomputer in this design mainly refers to the SPCE061A simplified board circuit. 

 

4.5 The Design of Power Supply and Its Device Selection

The integration of the power supply part mainly uses the three-terminal integrated voltage stabilizer 7805. The output of the 78×× series is positive voltage, and the output power is different according to the different models. The output current of 78L×× series can reach 0.1A; the output current of 78M×× series can reach 0.5A. Taking into account the actual power consumption of the microcontroller, a 78M05 is selected to convert the 12V DC voltage into a 5V DC voltage.

Sunplus’s SPY0029 can efficiently convert DC 5V to DC 3.3V. After testing, it is found that the output DC ripple is small, which can reliably ensure the CPU's 3.3V power supply. When the input voltage fluctuates to 7 V, the high-quality 3.3V DC output can still be guaranteed.

The integrated power supply can provide the main control circuit board with DC 12V, DC 5V and DC 3.3V three power sources, respectively, to supply power to the DC motor, sensor, and CPU of the main control board to meet the design requirements.

 

4.6 Hardware Connection Diagram and Software Design

Use SPCE061A to control the robot, use IOB3~IOB6 and IOA0~IOA11 ports, as well as speaker infrared sensor, metal sensor, trigger switch, remote control module, etc. Figure 3 shows the circuit connection of the main control board of the nurse mobile robot. Figure 4 shows the design flow chart of the main control software of the nurse mobile robot. The main control board is mainly used to receive control signals (the nurse mobile robot sensitively receives the control signals sent by the part) and perform corresponding operations. The actions of forward, turn left, and turn right are relatively simple and will not be described in detail here.

Figure 3 Block diagram of main control board circuit connection

Figure 3 Block diagram of main control board circuit connection

Figure 4 Flow chart of the software design of the main control board of the nurse mobile robot

Figure 4 Flow chart of the software design of the main control board of the robot

The virtual track navigation part involves the reading and judgment of sensor signals and the completion of the navigation process, which are the core of this design. The following is the interface program code of the MCU to control the motor through the L293D:

 


V. Conclusion

The mobile nurse robot combines mechanical technology, electronic circuit design and software design, and expands part of the drive circuit of the DC motor on the basis of the single-chip SPCE061A. In practical applications, the combination of L293D and single-chip microcomputer has good control effect and high sensitivity on DC motors, and can complete virtual track navigation。


FAQ

  • What is l293d?

L293D IC is a dual H-bridge motor driver IC. One H-bridge is capable to drive a dc motor in bidirectional. L293D IC is a current enhancing IC as the output from the sensor is not able to drive motors itself so L293D is used for this purpose.

  • Which is better l293d vs l298n?

L293D Drivers Operates at 4.5V to 36V whereas L298N can be Operates at up to 46V. Maximum 600mA Current can be drawn through both channels of L293D whereas L298N Motor Driver can draw up to 2A from both channels.

  • What is the use of Enable pin in l293d?

L293D has an enable facility which helps you enable the IC output pins. If an enable pin is set to logic high, then state of the inputs match the state of the outputs. If you pull this low, then the outputs will be turned off regardless of the input states.

  • How many DC motors can be controlled by an IC l293d?

The L293D is a 16-pin Motor Driver IC which can control up to two DC motors simultaneously, in any direction.

  • How do I connect my Arduino to l293d?

Connect 5V to Enable 1 , Vss , and Vs on the L293D. Connect digital output pins (we're using 6 and 7) to input 1 and input 2 on the L293D. Connect your Arduino's GND to both GND pins on the same side of the L293D. Finally, connect output 1 and output 2 of the L293D to your motor pins.

  • What is H bridge in l293d?

H-Bridge Circuit. A H bridge is an electronic circuit that allows a voltage to be applied across a load in any direction. H-bridge circuits are frequently used in robotics and many other applications to allow DC motors to run forward & backward.

  • What is the function of H bridge?

An H-bridge is an electronic circuit that switches the polarity of a voltage applied to a load. These circuits are often used in robotics and other applications to allow DC motors to run forwards or backwards.

  • What is l293d motor driver shield?

L293D shield is a driver board based on L293 IC, which can drive 4 DC motors and 2 stepper or Servo motors at the same time. Each channel of this module has the maximum current of 1.2A and doesn't work if the voltage is more than 25v or less than 4.5v.

  • How do I use the l293d motor driver module?

Connect 5V to Enable 1 , Vss , and Vs on the L293D. Connect digital output pins (we're using 6 and 7) to input 1 and input 2 on the L293D. Connect your Arduino's GND to both GND pins on the same side of the L293D.

  • What is the difference between l293d and l298n?

L293 is quadruple half-H driver while L298 is dual full-H driver, i.e, in L293 all four input- output lines are independent while in L298, a half H driver cannot be used independently, only full H driver has to be used. ... Hence, heat sink is provided in L298.

 

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