Chief Delphi - 2363 prototype pickup arm

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Re: 2363 prototype pickup arm

Quote:

Originally Posted by Lil' Lavery (Post 1232131)

I gathered that. I was curious how the discs then exited the hopper, but I think I figured it out. The cylinder mounted on top of the wood board seems to be attached to a piece that will rotate and push out the discs.

It looks like the shooter platform can articulate to two angles based on the cylinders of the front of the robot. Can the hopper unload into the shooter at both angles? Or is one configuration simply for starting conditions?

As you seem to have figured out already, the shooter platform and the disc hopper share a common piano hinge in the rear of the robot. The hopper swings up into the shooter using the pneumatic cylinder in the rear of the robot just above the drive train longeron. The shooter elevation is adjusted by the two pneumatic cylinders in front. The hopper cylinder doesn't have sufficient control authority to push the shooter around, so the hopper will stop moving whenever it engages the bottom of the shooter plate. In our testing so far, this arrangement works well.

Re: 2363 prototype pickup arm

Quote:

Originally Posted by wilsonmw04 (Post 1232472)

I believe the piston is attached to a cam.

The trigger mechanism is an arm that is actuated by the cylinder on top of the shooter plate. It enters a hole in the side of the hopper to push the discs into the shooter wheel.

Re: 2363 prototype pickup arm

Quote:

What we did last year was ...

Thanks for the info. Sorry for the thread-jack about vision.

Greg McKaskle

Re: 2363 prototype pickup arm

Quote:

Originally Posted by Greg McKaskle (Post 1233222)

Thanks for the info. Sorry for the thread-jack about vision.

Greg McKaskle

No problem. We're definitely still in a learning process with vision processing. We'll take any help we can get with ways to improve.

Re: 2363 prototype pickup arm

Quote:

Originally Posted by wilsonmw04 (Post 1232472)

I believe the piston is attached to a cam.

Would that really be a cam? There is indeed a fixed point of rotation, but given that's not really the input or the output of the mechanism, I'm not comfortable calling it a cam. But I'm not an authority on the matter.

Hopefully someone with more expertise can answer definitively.

Quote:

Originally Posted by mwilbur (Post 1233177)

I gathered the gist of it, but I didn't realize the shared hinge. Makes sense now. Really clever solution to add multiple positions without further articulation.

Re: 2363 prototype pickup arm

May I ask how you decided to distribute the allowed frame perimeter length? Are you 28" x 28"?

The machine looks rectangular, but if your collector passes through a gap in your bumpers it'd have to be, at minimum, about 11" + 8" + 8" (or 27") wide.

What am I missing?

Re: 2363 prototype pickup arm

Quote:

Originally Posted by Madison (Post 1233358)

It is in fact 28 x 28.

Re: 2363 prototype pickup arm

Actually, the dimensions of the frame perimeter are 27 x 27.5 inches (total perimeter length 109 inches). The CAD team has the full up model, but I have a complete enough model that I was able to throw together a quick elevation drawing, since it seems to be of interest.