automated electromagnetic crane greg deking fran simmonds
TRANSCRIPT
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Automated Electromagnetic Crane Greg DeKing
Fran Simmonds
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Principles of Design
Functionality Mechanical Design Sensor Design Embedded Design Cost Problems Questions
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Functionality
The Automated Electromagnetic Crane locates, acquires, and removes steel blocks from a target area to a designated container in an uninterrupted sequence.
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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.
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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.
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Designer imposed constraints High success rate.
Sensors. Low cost. Stationary. Battery power.
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Components
HC12 Duramag ER1-071 Electromagnet 3 12V Stepper Motors 8 74151 8-1 Mux OPB 745 Optoisolator
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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.
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Motors
12V Airpax stepper motor 2 12V NMB stepper motors Stepper interface boards
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Optoisolator
Inductive spike caused from switching magnet off.
25.5 Volt magnitude. Separate 12V source. Magnet on/off controlled by
optoisolator circuit.
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Mechanical Design
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Mastercam – side view
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Mechanical Design
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Tower Support
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Mastercam -- top view
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Sensor Placement
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Sensor Design
Conductive rings separated by non-conductive material
Inside rings of row in series Outside rings of column in series
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Sensor Function
Input signal applied to inner ring Block completes circuit Corresponding mux control HC12 reads voltage “hit”
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Interfacing
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MULTIPLEXER SYSTEM
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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.
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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
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Foreseeable Problems
Multiplexing of I/O. Blocks contacting multiple sensors. Two Blocks on same sensor.
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Cost
Electromagnet $40.00 Motors $15.00 Circuit Boards $30.00 Muxs $15.00 Aluminum $60.00
Total $180.00
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Questions
Any Questions ?