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Automated Electromagnetic Crane

Automated Electromagnetic Crane. Greg DeKing Fran Simmonds. Principles of Design. Functionality Mechanical Design Sensor Design Embedded Design Cost Problems Questions. Functionality.

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Automated Electromagnetic Crane

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  1. Automated Electromagnetic Crane Greg DeKing Fran Simmonds

  2. Principles of Design • Functionality • Mechanical Design • Sensor Design • Embedded Design • Cost • Problems • Questions

  3. Functionality The Automated Electromagnetic Crane locates, acquires, and removes steel blocks from a target area to a designated container in an uninterrupted sequence.

  4. 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.

  5. 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.

  6. Designer imposed constraints • High success rate. • Sensors. • Low cost. • Stationary. • Battery power.

  7. Components • HC12 • Duramag ER1-071 Electromagnet • 3 12V Stepper Motors • 8 74151 8-1 Mux • OPB 745 Optoisolator

  8. Part Number Part Number Diameter Diameter Length Length Thread Thread Tap Depth Tap Depth Lead Location Lead Location Lead Length Lead Length Watts Watts *Holding Value *Holding Value Net Weight Net Weight 12 VDC 12 VDC 24 VDC 24 VDC 110 VDC 110 VDC A A B B T T G G Lbs. Lbs. ER1-071 ER1-071 ER2-071 ER2-071 - - 3/4 3/4 1-1/4 1-1/4 10-32 10-32 3/8 3/8 3/16 3/16 24" 24" 1.5 1.5 6 6 1.7 oz. 1.7 oz. Duramag ER1-071 Electromagnet

  9. Motors • 12V Airpax stepper motor • 2 12V NMB stepper motors • Stepper interface boards

  10. Optoisolator • Inductive spike caused from switching magnet off. • 25.5 Volt magnitude. • Separate 12V source. • Magnet on/off controlled by optoisolator circuit.

  11. Mechanical Design

  12. Mastercam – side view

  13. Mechanical Design

  14. Tower Support

  15. Mastercam -- top view

  16. Sensor Placement

  17. Sensor Design • Conductive rings separated by non-conductive material • Inside rings of row in series • Outside rings of column in series

  18. Sensor Function • Input signal applied to inner ring • Block completes circuit • Corresponding mux control • HC12 reads voltage “hit” 1 0

  19. Interfacing HC12 PORT A PORT B PORT T PORT P PORT AD 8 8 3 4 PAUSE MULTIPLEXER SYSTEM 8 MOTOR CONTROL BOARDS OPTOISOLATOR SENSORS/ TARGET AREA MOTORS DISTANCE VERTICAL DIRECTION

  20. MULTIPLEXER SYSTEM PORT AD 3 8-1 8-1 8-1 8-1 8-1 8-1 8-1 8-1 8 COLUMN 0-7 SENSORS / TARGET AREA

  21. 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.

  22. Embedded Design begin 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

  23. Foreseeable Problems • Multiplexing of I/O. • Blocks contacting multiple sensors. • Two Blocks on same sensor.

  24. Cost • Electromagnet $40.00 • Motors $15.00 • Circuit Boards $30.00 • Muxs $15.00 • Aluminum $60.00 • Total $180.00

  25. Questions • Any Questions ?

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