Second Semester Final Presentation
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Transcript of Second Semester Final Presentation
Shell Sorter Phase II
Members: Cole CameronNolan Michaelson
Steven DuvalThomas Crandall
Mentors: Dr. Majura Selekwa & Rob Sailer
Sponsored By:
Red River Regional Marksmanship Center (RRRMC)
• Located in West Fargo• NDSU affiliation• Offers a pistol range as well as an underground rifle range• 15 lane main range• 6 lane 100 meter rifle range • Roughly 1.5 million rounds fired per year in the facility.
Why Sort Casings?• Why did the RRRMC seek NDSU?• Spent casings are sorted to be sold for reloaded.
– Advantages of reloading?• Financial Savings• Supply Shortages• Control Load Specifics
• Need for Sorting– Value of sorted casings
• ( $15 per 1000 rounds scrap vs. $25-$150 per 1000 rounds sorted).• Current process of sorting casings.• This is the second year the project has been attempted
Phase IIProblem Analyzed: Currently, no feasible way of sorting shell casings with speed and
accuracy, without manual labor.Objective: Design and build a machine that will separate and sort a variety of both rifle and
handgun spent casings into separate bins.
Improvements to Phase I:
Increased Variety of Handgun Calibers with Addition of Rifle Calibers
Accuracy of delivery
Constraints: 98% Accuracy; < 10 sec/shellLess than 85 dbSafe, minimal training & maintenance
Classification ParametersThe sorting process is technically a pattern recognition process.
1. Casing Stampa. Use Optical Character Recognition
to read stamp2. Weight
a. Measuring Casing weight of each caliber i. Very Inconsistent
3. Physical Dimensionsa. Base Diameter, Height, and
Neck Diameter
Similarity in Shell Dimensions• 30-06 & .25-06 Rem as well as .338 FED
& .308 Win same diameters and height w/ tolerances
• .308 Win & .338 FED similar w/ tolerances differ in the necks
.375 Sig & 40 S&WDifferent Necks
Basic OperationOrientation
Measure Base Diameter
TransportMeasure HeightDeliver Shell Casing
On Reset
Casing OrientationDillon Precision Casefeeder
• Orients Casing, Primer End Down
• Two Quart Spent Shells• Multiple Plates for Various
Casing Types
Drop Tube• Transports casing to next step
• IR Sensor– Triggers Arduino to stop feeder
stepper w/ relay shield
Servo ArmServo Arm Design
• Transports Casing to Claw
• Rotates from feeder tube to claw
Pneumatics• Plunger raises casing
• 3” Stroke Length
• Controlled by Arduino with 4-way Solenoid
Servo• Capable of 180° range
• Uses Rotary Potentiometer to establish position
Plunger
Servo
Pneumatic Cylinder
Servo Arm
Casing
Linear Measurement SensorsInfrared Sensors, Image Dimensioning, and Potentiometers were all consideredVariable Resistors:• Application: Measuring linear
displacement in terms of Voltage.Capabilities with 5V across resistor:
• Base Diameter– Sensitivity: .003”/10mV– Repeatability: ±.005”
• Height Measurement– Sensitivity: 10mV= .007”– Repeatability: ±.007”
Base Diameter Measurement
Potentiometer
Pneumatic Cylinder
“Claw” Design: • V-Design• Pneumatic tongue• Linear Potentiometer
Pneumatic Cylinder • Controlled with 4-way Solenoid Valve• Precise Control
– Velocity of Tongue– Force of Tongue
• Repeatable Actuation• Stroke Length = 1.5”
Potentiometer• Contacts back of tongue• Measures linear displacement of tongue
• Total Displacement = .767”V- Design
Tongue
X-Y TableX-Y Table Design• PVC Pipe Grid• Linear Travel
Linear Guides• X-Direction: “Drylin-T” Carriage & Rail • Y-Direction: Ball Bearing Carriage & Rail
Stepper Motors• NEMA-23 stepper motors Torque: 255 oz.-in.
– Torque: 255 oz.-in.– 1.8° Step Angle = .007”
Drivers• Controlled by Arduino • Microstepping Capabilities
Limit Switches• X & Y Directions• Homing
Height MeasurementDrop Plate Design
• Linear Motion of Aluminum Plate• Pinches Casing Vertically
Pneumatic Cylinder • Controlled by Arduino with 4-way Solenoid• Precise Control
– Velocity of Aluminum Plate– Force of Aluminum Plate
• Stroke Length = 2.500”Potentiometer
• Linear slide potentiometer• Gathers displacement of Aluminum plate• Total Displacement = 2.170”
Controller
www.Arduino.com
Various controllers were considered
Arduino Unoo 6 analog pins & 14 digital pins
▪ Analog to read potentiometers & ir sensor▪ Digital controlling steppers, pneumatics &
switches o 10-bit ADC capable of reading to
approximately 5mVo Various Shield
▪ Relay Shield
▪ Screw Shield
Wiring Schematic
Screw Shield
Servo
Pistol Rifle switch
+com Resistor 1㏀
Power Box Design
• Power Supplies
• Arduino
• Pneumatic Solenoid Valves
• Regulators
Final Design
• Integration of several parts
• High Precision & Accuracy
• Fabrication Time
Start X-Y Table Zeros
Feeder turned on
Shell triggers IR Sensor as it drops. Turns off feeder.
Servo rotates. Plunger pushes shell into claw.
Claw pneumatic triggered grabs shell. (extended)Takes base measurement
X-Y moves to second stage
Height pneumatic triggered pinching shell. Takes height measurement (lowered)
Height pneumatic triggered releasing shell from pinch (raised)
Arduino runs base and height through algorithm selecting correct bin assignment
X-Y moves to selected bin
Once bin is reached the claw pneumatic is triggered (retracted) X-Y returns to
home position
Testing
Testing Results• Issues with the IR triggering to stop feeder
– Doesn't stop machine but can cause reading errors sending the casing to be resort
• Casing Identification (without orientation) – 99% accurate for pistol rounds
• Ran roughly 300 pistol casings– 95% accurate for rifle rounds
• Ran Approx. 150 casings– Currently the machine can distinguish between
• 11 pistol casings (38 super auto, 9mm, 380, 45 Auto, 45 colt(long), 40 S&W, 38 spl, 357 SIG, 357 Mag, 44 Rem mag, 454 Casull)
• 10 rifle (223, 25-06/30-06, 308 WIN, 243, 30-30, 270, 300 Win MAG, 7mm, 22-250, 7.62 x 38)
Project Plan
Budget BreakdownTotal Cost ($)
PNEUMATIC COMPONENTS AND ACCESSORIES 372.41
ELECTRICAL COMPONENTS 328.65
LINEAR MOTION COMPONENTS AND ACCESSORIES 874.48
RAW MATERIALS 190.70
MISCELLANEOUS 109.79
FUTURE EXPENSES 156.43
ADJUSTED SHIPPING 155.00
TOTAL 2187.46
ALLOCATED BUDGET 2200.00
UNDER BUDGET 12.54
Future Recommendations• Presort Machine
– Remove .22 casings– Remove Aluminum and Steel Casings– Remove garbage
• Others– Third Dimension if needed– Improved feeder to take in wider variety of
shells and larger volume– Increase library of casings
Thank You• We would like to thank our sponsor, the Red River Regional Marksmanship
Center.
• Magnum Research Inc. for providing us use of their 3-D printer
• Our mentors, Dr. Majura Selekwa and Rob Sailer
• Mechanical Engineering Department
• Shannon Viestenz
Question?