1 / 25

Automated Electromagnetic Crane

Automated Electromagnetic Crane. Greg DeKing Fran Simmonds. Principles of Design. Functionality Mechanical Design Sensor Design Embedded Design Cost Problems Questions. Functionality.

vanna-rodgers
Download Presentation

Automated Electromagnetic Crane

An Image/Link below is provided (as is) to download presentation Download Policy: Content on the Website is provided to you AS IS for your information and personal use and may not be sold / licensed / shared on other websites without getting consent from its author. Content is provided to you AS IS for your information and personal use only. Download presentation by click this link. While downloading, if for some reason you are not able to download a presentation, the publisher may have deleted the file from their server. During download, if you can't get a presentation, the file might be deleted by the publisher.

E N D

Presentation Transcript

  1. Automated Electromagnetic Crane Greg DeKing Fran Simmonds

  2. Principles of Design • Functionality • Mechanical Design • Sensor Design • Embedded Design • Cost • Problems • Questions

  3. Functionality The Automated Electromagnetic Crane locates, acquires, and removes steel blocks from a target area to a designated container in an uninterrupted sequence.

  4. Specifications • Runs in fully automated mode. • User may pause operation and move blocks. • All blocks are relocated after every “grab” operation. • Closest-to-bucket order of pickup.

  5. Limitations • All blocks must be fully inside target area. • If a block is dropped the “drop” operation will still proceed. • Blocks must be of a conductive material with a strong magnetic field.

  6. Designer imposed constraints • High success rate. • Sensors. • Low cost. • Stationary. • Battery power.

  7. Components • HC12 • Duramag ER1-071 Electromagnet • 3 12V Stepper Motors • 8 74151 8-1 Mux • OPB 745 Optoisolator

  8. Part Number Part Number Diameter Diameter Length Length Thread Thread Tap Depth Tap Depth Lead Location Lead Location Lead Length Lead Length Watts Watts *Holding Value *Holding Value Net Weight Net Weight 12 VDC 12 VDC 24 VDC 24 VDC 110 VDC 110 VDC A A B B T T G G Lbs. Lbs. ER1-071 ER1-071 ER2-071 ER2-071 - - 3/4 3/4 1-1/4 1-1/4 10-32 10-32 3/8 3/8 3/16 3/16 24" 24" 1.5 1.5 6 6 1.7 oz. 1.7 oz. Duramag ER1-071 Electromagnet

  9. Motors • 12V Airpax stepper motor • 2 12V NMB stepper motors • Stepper interface boards

  10. Optoisolator • Inductive spike caused from switching magnet off. • 25.5 Volt magnitude. • Separate 12V source. • Magnet on/off controlled by optoisolator circuit.

  11. Mechanical Design

  12. Mastercam – side view

  13. Mechanical Design

  14. Tower Support

  15. Mastercam -- top view

  16. Sensor Placement

  17. Sensor Design • Conductive rings separated by non-conductive material • Inside rings of row in series • Outside rings of column in series

  18. Sensor Function • Input signal applied to inner ring • Block completes circuit • Corresponding mux control • HC12 reads voltage “hit” 1 0

  19. Interfacing HC12 PORT A PORT B PORT T PORT P PORT AD 8 8 3 4 PAUSE MULTIPLEXER SYSTEM 8 MOTOR CONTROL BOARDS OPTOISOLATOR SENSORS/ TARGET AREA MOTORS DISTANCE VERTICAL DIRECTION

  20. MULTIPLEXER SYSTEM PORT AD 3 8-1 8-1 8-1 8-1 8-1 8-1 8-1 8-1 8 COLUMN 0-7 SENSORS / TARGET AREA

  21. Sensor Map • 37 bytes. • Each byte 1 Column. • Each bit represents row number. • Sensor sweep will fill sensor map one row at a time. • When all 37 columns for each row complete next row will begin.

  22. Embedded Design begin read AD store AD in TEMP change MUX controls Loop ITERATION += 1 bit test bit 0 branch {bit not set} to next set bit MAP_POINTER + BIT_POINTER next MAP_POINTER += 1 Shift TEMP Test ITERATION branch {less than 8 } to loop ITERATION = 0 Test MAP_POINTER Branch { less than 37 } to begin BIT_POINTER += 1 Test BIT_POINTER Branch {less than 8} to begin BIT_POINTER = 0

  23. Foreseeable Problems • Multiplexing of I/O. • Blocks contacting multiple sensors. • Two Blocks on same sensor.

  24. Cost • Electromagnet $40.00 • Motors $15.00 • Circuit Boards $30.00 • Muxs $15.00 • Aluminum $60.00 • Total $180.00

  25. Questions • Any Questions ?

More Related