2009:Robot Design Details: Difference between revisions

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(Change ball collector to ball entry/exit system; note in conveyor that it actually is the powered mechanism to collect/expell balls)
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*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.  
*Front conveyor also acts as collector to bring outside balls in via "chicken pluckers" on lower roller of conveyor
*Front conveyor also acts as collector to bring outside balls in via "chicken pluckers" on lower roller of conveyor  
*Powered by two independent motors (RS-545 Banebots motors with [http://banebots.com/pc/MP-36XXX-545/MP-36025-545 25:1 reduction gearboxes])  
*Powered by two independent motors (RS-545 Banebots motors with [http://banebots.com/pc/MP-36XXX-545/MP-36025-545 25:1 reduction gearboxes])  
*Likely NOT direct drive, will likey be chain/sprocket to save space and move weight back on robot
*Likely NOT direct drive, will likey be chain/sprocket to save space and move weight back on robot  
*Banner Sensors: 42SMR-7100 Reciever and 42SML-7100 Source Mounted at the top of conveyor to detect ball "ready to fire"
*Banner Sensors (photoelectric): 42SMR-7100 Reciever and 42SML-7100 Source Mounted at the top of conveyor to detect ball "ready to fire"  
*Jaguar speed controller  
*Jaguar speed controller


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

Revision as of 18:21, 14 January 2009

Main Robot Design

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

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

Drivetrain

  • 4-wheel drive
  • Banebots Transmissions
  • 4 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”)

Please Update!

  • Still need to determine a few hardware items but I think we could use a few PEM fasteners to further minimize fastener system weight
  • We will need to design a few spacers “on the fly” as we determine the best approach while building
  • The 6-hole patterns in the wheels need to be tapped for 10-32 Depth TBD
  • 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)
  • Need to cut necessary smaller frame elements from stock
  • Need to design in provisions for front “dummy wheels” biased 1/8” up for roll over protection


Current Drivetrain design as of 01/08/2009


Front Ball Entry/Exit

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

Please Update!



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 and Lower collection blocker powered by Nippon Denso Window motor (possibly a rack & pinion arrangement?)
  • Two Limit Switches sensors 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 (RS-545 Banebots motors with 25:1 reduction gearboxes)
  • Likely NOT direct drive, will likey be chain/sprocket to save space and move weight back on robot
  • Banner Sensors (photoelectric): 42SMR-7100 Reciever and 42SML-7100 Source Mounted at the top of conveyor to detect ball "ready to fire"
  • Jaguar speed controller



Upper Ball Ejector

  • 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 TBD Transmission to be added
  • Likely NOT direct drive, will be chain/sprocket to save space and move weight back on robot
  • Jaguar speed controller