2009:Robot Design Details: Difference between revisions

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General layout design of the robot, Dimensions ARE NOT exact.  
General layout design of the robot, Dimensions ARE NOT exact.  


[[Image:Scoring_1.jpg|424x300px]]
[[Image:Scoring 1.jpg|424x300px]]&nbsp;[[Image:Empty Cell 1.jpg|247x225px]]&nbsp;[[Image:Collecting 1.jpg|236x225px]]<br>


&nbsp; [[Image:Empty Cell 1.jpg]]&nbsp;&nbsp;&nbsp; [[Image:Collecting 1.jpg]]  
[[Image:Dimensions 1-19-09.jpg|400x400px]][[Image:Robot_2_1-25-2009.jpg|400x300px]]


<br>
== Drivetrain<br> ==


== Drivetrain<br> ==
*4-wheel drive(6 if needed)<br>
 
*Four Banebots 12:1 Transmissions  
*4-wheel drive  
*Four 2.5" CIM motors  
*Banebots Transmissions  
*4 2.5" CIM motors  
*Victor 884 [Drive] Speed Controllers  
*Victor 884 [Drive] Speed Controllers  
*Fixed wheels (slip-style steering)<br>  
*Fixed wheels (slip-style steering)<br>  
Line 19: Line 17:
*27.25” LONG x 37.25” WIDE<br>  
*27.25” LONG x 37.25” WIDE<br>  
*Rear wheel axis at 5.625 from most rear surfaces (adjustable down to 4.625 corner brace regime permitting) <br>  
*Rear wheel axis at 5.625 from most rear surfaces (adjustable down to 4.625 corner brace regime permitting) <br>  
*Front wheel axis at 11.625 from front most surfaces (adjustable ± 2.00”)  
*Front wheel axis at 11.625 from front most surfaces (adjustable ± 2.00”)<br>
*Still need to determine a few hardware items but I think we could use a few PEM fasteners to further minimize fastener system weight
*Using 3/8" bolts to mount bumpers to the frame. &nbsp;See drawing below for bumper mount details.
*We will need to design a few spacers “on the fly” as we determine the best approach while building
*Spacers used will be copper pipe cut to the correct length to space wheels on the axel.
*The 6-hole patterns in the wheels need to be tapped for 10-32 Depth TBD
*6 hole patterns in the wheels need to be tapped for 10-32 screws 3/4" deep
*Need to add the stiffener element between the wheels (1/side 1”x1” ext. Al stock is light and will work well and can be welded)
*No stiffener element between the wheels seems to be needed.
*Need to cut necessary smaller frame elements from stock
*Trailer hitch is assembled from KOP items.  
*Need to design in provisions for front “dummy wheels” biased 1/8” up for roll over protection
*Determination of need to mount dummy wheels will occur once the top portion of the robot is assembled.
*Dummy wheels will be supported using 3/8" bolt, length TBD.
*Bearings will be inserted in the dummy wheels from the kit of parts.
 
[[Image:Drivetrain 1-14-2009.JPG|500x400px|Current Drivetrain design as of 01/14/2009]]<br>
 
[[Image:Bumper Bracket.JPG]]<br>


<br>
== Front Ball Entry/Exit  ==


[[Image:Drivetrain 01-08-2009.jpg|Current Drivetrain design as of 01/08/2009]]<br>
*Ball intake/expulsion power provided by "chicken pluckers" on front conveyor - see conveyor.
*Passage controlled by "door" (TBD - need details)
*Front opening dimensions (TBD)


<br>
[[Image:Red flag.gif|Please Update!]]


*Need to order the following parts from the shop by tomorrow (01/09/2009):
*Powered by same motor, speed controller as ball hopper trap door (see below).<br>
*2009-wheel-hub (1/8 wheel retainer plate) QTY:4
*Two [http://sccatalog.honeywell.com/pdbdownload/images/v7-2b17d8-048.pdf Limit Switches] to tell when door is in open/closed position
*Hub-bearing (just a spacer in the hub for support not a bearing) QTY:4
*Brkt-wheel-asy-1 (trans/motor mount left front and right rear) QTY:2
*Brkt-wheel-asy-2 (trans/motor mount left rear and right front) QTY:2
*Bearing-block (main double bearing holder for each drive assembly) QTY:4 <br>


== Lower Ball Collector  ==
[[Image:Limit Switches Collecting.jpg]]


*Is now part of the front conveyor


<br>  
 
 
 
[[Image:Limit_Switches_Scoring.jpg]]<br> <br> <br>


== Ball Hopper  ==
== Ball Hopper  ==
Line 51: Line 55:
*Entry from conveyor at top of robot; entry controlled by upper ejector  
*Entry from conveyor at top of robot; entry controlled by upper ejector  
*Exit is a "trap door" at the bottom of the hopper down to the area behind the lower ball collector and at the base of the conveyor system.  
*Exit is a "trap door" at the bottom of the hopper down to the area behind the lower ball collector and at the base of the conveyor system.  
*Trap door and Lower collection blocker powered by Nippon Denso Window motor (possibly a rack &amp; pinion arrangement?)  
*Trap door powered by Nippon Denso Window motor (along with lower collection blocker)  
*Two Limit Switches sensors to tell when door is in open/closed position  
*Two [http://sccatalog.honeywell.com/pdbdownload/images/v7-2b17d8-048.pdf Limit Switches] to tell when door is in open/closed position  
*Jaguar speed controller
*Jaguar speed controller


Line 58: Line 62:


*Two conveyors opposite each other, working together to move balls from ball intake and/or below the ball hopper up to the upper ball ejector/hopper entry point.  
*Two conveyors opposite each other, working together to move balls from ball intake and/or below the ball hopper up to the upper ball ejector/hopper entry point.  
*Powered by two independent motors (RS-545 Banebots motors with [http://banebots.com/pc/MP-36XXX-545/MP-36025-545 25:1 reduction gearboxes])  
*Front conveyor also acts as collector to bring outside balls in via "chicken pluckers" on lower roller of conveyor
*XXX sensor to detect ball "ready to shoot" at the top of the conveyor.  
*Powered by two independent motors (Fischer Price**&nbsp;motors with [http://banebots.com/pc/MP-36XXX-545/MP-36025-545 25:1 reduction gearboxes]) **Changed from RS-545
*Jaguar speed controller  
*Likely NOT direct drive, will likey be chain/sprocket to save space and move weight back on robot
*Sensor to detect that conveyor is full
*Banner Sensors (photoelectric): [http://www.bannerengineering-online.com/pdf/Banner%20Q10.pdf Q10RP6R] Reciever and&nbsp;[http://www.bannerengineering-online.com/pdf/Banner%20Q10.pdf Q106E] Source Mounted at the top of conveyor to detect ball "ready to fire"  
*2 [http://www.iprocessmart.com/Omron_cd/PDF/D21SPY415199.pdf Omron ]photoelectric sensors arranged with a small wheel used to determine conveyor speed.&nbsp; One disk/sensor per conveyor.  
*Jaguar speed controller


<br>  
<br><br>


== Upper Ball Ejector  ==
== Upper Ball Ejector  ==


*Spinning ejector directs, based on direction, balls out of robot or in to hopper entry point.  
*Spinning ejector directs, based on direction, balls out of robot or in to hopper entry point.  
*Powered by Fischer Price 00968-2910 motor with plastic gearbox removed and [http://andymark.biz/am-0002.html AndyMark 67:1 Gearbox] added
*Powered by&nbsp;RS-545 Banebots**&nbsp;motor with plastic gearbox removed and 25:1 reduction gearbox added (same Banebots units as on conveyor drives) ** changed from Fischer Price
*Will be chain/sprocket to save space and move weight back on robot, and to allow optimization of ejector speed without loss of motor power
*Shaft encoder sensor ([http://usdigital.com/assets/general/91_e7p_datasheet_1.pdf E7P-180-375-S-H-G-3]) to monitor rotational speed (180 CPR).&nbsp; Requires 3/8" shaft.&nbsp; If we can't get&nbsp;[http://usdigital.com/assets/general/91_e7p_datasheet_1.pdf E7P] in time, we may have to use E4P model which requires 1/4" shaft
*Jaguar speed controller
*Jaguar speed controller

Latest revision as of 11:50, 4 January 2010

Main Robot Design

General layout design of the robot, Dimensions ARE NOT exact.

Scoring 1.jpg Empty Cell 1.jpg Collecting 1.jpg

Dimensions 1-19-09.jpgRobot 2 1-25-2009.jpg

Drivetrain

  • 4-wheel drive(6 if needed)
  • Four Banebots 12:1 Transmissions
  • Four 2.5" CIM motors
  • Victor 884 [Drive] Speed Controllers
  • Fixed wheels (slip-style steering)
  • Banebots encoders on each wheel (http://banebots.com/pc/ELECTRONICS/EN-G0561-KT) -- mounted at transmission outputs.
  • 27.25” LONG x 37.25” WIDE
  • Rear wheel axis at 5.625 from most rear surfaces (adjustable down to 4.625 corner brace regime permitting)
  • Front wheel axis at 11.625 from front most surfaces (adjustable ± 2.00”)
  • Using 3/8" bolts to mount bumpers to the frame.  See drawing below for bumper mount details.
  • Spacers used will be copper pipe cut to the correct length to space wheels on the axel.
  • 6 hole patterns in the wheels need to be tapped for 10-32 screws 3/4" deep
  • No stiffener element between the wheels seems to be needed.
  • Trailer hitch is assembled from KOP items.
  • Determination of need to mount dummy wheels will occur once the top portion of the robot is assembled.
  • Dummy wheels will be supported using 3/8" bolt, length TBD.
  • Bearings will be inserted in the dummy wheels from the kit of parts.

Current Drivetrain design as of 01/14/2009

Bumper Bracket.JPG

Front Ball Entry/Exit

  • Ball intake/expulsion power provided by "chicken pluckers" on front conveyor - see conveyor.
  • Passage controlled by "door" (TBD - need details)
  • Front opening dimensions (TBD)

Please Update!

  • Powered by same motor, speed controller as ball hopper trap door (see below).
  • Two Limit Switches to tell when door is in open/closed position

Limit Switches Collecting.jpg



Limit Switches Scoring.jpg


Ball Hopper

  • Open top entry for human player introduction
  • Entry from conveyor at top of robot; entry controlled by upper ejector
  • Exit is a "trap door" at the bottom of the hopper down to the area behind the lower ball collector and at the base of the conveyor system.
  • Trap door powered by Nippon Denso Window motor (along with lower collection blocker)
  • Two Limit Switches to tell when door is in open/closed position
  • Jaguar speed controller

Ball Conveyor

  • Two conveyors opposite each other, working together to move balls from ball intake and/or below the ball hopper up to the upper ball ejector/hopper entry point.
  • Front conveyor also acts as collector to bring outside balls in via "chicken pluckers" on lower roller of conveyor
  • Powered by two independent motors (Fischer Price** motors with 25:1 reduction gearboxes) **Changed from RS-545
  • Likely NOT direct drive, will likey be chain/sprocket to save space and move weight back on robot
  • Banner Sensors (photoelectric): Q10RP6R Reciever and Q106E Source Mounted at the top of conveyor to detect ball "ready to fire"
  • 2 Omron photoelectric sensors arranged with a small wheel used to determine conveyor speed.  One disk/sensor per conveyor.
  • Jaguar speed controller



Upper Ball Ejector

  • Spinning ejector directs, based on direction, balls out of robot or in to hopper entry point.
  • Powered by RS-545 Banebots** motor with plastic gearbox removed and 25:1 reduction gearbox added (same Banebots units as on conveyor drives) ** changed from Fischer Price
  • Will be chain/sprocket to save space and move weight back on robot, and to allow optimization of ejector speed without loss of motor power
  • Shaft encoder sensor (E7P-180-375-S-H-G-3) to monitor rotational speed (180 CPR).  Requires 3/8" shaft.  If we can't get E7P in time, we may have to use E4P model which requires 1/4" shaft
  • Jaguar speed controller
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