Automated Electromagnetic Crane Greg DeKing Fran Simmonds.
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Transcript of Automated Electromagnetic Crane Greg DeKing Fran Simmonds.
Automated Electromagnetic Crane Greg DeKing
Fran Simmonds
Principles of Design
Functionality Mechanical Design Sensor Design Embedded Design Cost Problems Questions
Functionality
The Automated Electromagnetic Crane locates, acquires, and removes steel blocks from a target area to a designated container in an uninterrupted sequence.
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.
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.
Designer imposed constraints High success rate.
Sensors. Low cost. Stationary. Battery power.
Components
HC12 Duramag ER1-071 Electromagnet 3 12V Stepper Motors 8 74151 8-1 Mux OPB 745 Optoisolator
Duramag ER1-071 Electromagnet
Part Number Diameter Length Thread
Tap Dept
h
Lead Location
Lead
Length Watt
s *Holding
Value Net
Weight
12 VDC
24 VDC
110 VDC
A B T G Lbs.
ER1-071
ER2-071
- 3/4 1-1/4 10-32 3/8 3/16 24" 1.5 6 1.7 oz.
Part Number Diameter Length Thread
Tap Dept
h
Lead Location
Lead
Length Watt
s *Holding
Value Net
Weight
12 VDC
24 VDC
110 VDC
A B T G Lbs.
ER1-071
ER2-071
- 3/4 1-1/4 10-32 3/8 3/16 24" 1.5 6 1.7 oz.
Motors
12V Airpax stepper motor 2 12V NMB stepper motors Stepper interface boards
Optoisolator
Inductive spike caused from switching magnet off.
25.5 Volt magnitude. Separate 12V source. Magnet on/off controlled by
optoisolator circuit.
Mechanical Design
Mastercam – side view
Mechanical Design
Tower Support
Mastercam -- top view
Sensor Placement
Sensor Design
Conductive rings separated by non-conductive material
Inside rings of row in series Outside rings of column in series
Sensor Function
Input signal applied to inner ring Block completes circuit Corresponding mux control HC12 reads voltage “hit”
Interfacing
MULTIPLEXER SYSTEM
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.
Embedded Designbegin 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
Foreseeable Problems
Multiplexing of I/O. Blocks contacting multiple sensors. Two Blocks on same sensor.
Cost
Electromagnet $40.00 Motors $15.00 Circuit Boards $30.00 Muxs $15.00 Aluminum $60.00
Total $180.00
Questions
Any Questions ?