Linkage assembly and testing (MCM)

The frame assembled with the connectors.

Steve working with the linkages.

A better look at the linkage system
installed  in the frame.

A side view of of the bot, the tape is constraining the frame until other
systems are installed.

These are the mounts for the motor
to the power screw.

Colin and Steve working on the motor for the power screw.

The bot constrained in the slot, in starting position.  We connected the
control system to the bot, and everything is working great!

Just after starting, the bot is pushing open the lever.  The power screw
design can overcome very large opposing forces and still open the lever.

The bot holding the lever open... Success!  Another interesting aspect of
power screw design is that opposing forces will not back-drive the system,
that is to say that the design is self-locking.

a quick look at some parts

The four frame washers made out of 6061 1/16th sheet and
made on the water-jet

These are the frame connectors, the main pieces holding our
frame together and used to locate our bot into the slot

The motor blocks were made on the mill and will position
the motor for our screw drive

Shown above are the three types of linkage pieces.  The
right most pair are is the primary linkage arms and are
connected to the power screw.  They were redesigned to be
wider after some FEA testing.  The middle pair are the
secondary linkage arms, they help keep the linkage parallel
and support a reduced portion of the load.  The left most
pair is the bottom linkage.  These members make contact
with the flipper and open it.  All the linkage members were
made on the water-jet

These small pins are only 1/4 inch long and at most 3/8 inch
diameter! Due to the tight confines of the slot they will allow
the conveyor belt system to pass through the linkage.

These pins will locate the rack and pinion in the conveyor
lowering system.

This pin is the main pin in our linkage system, it is located
within the front of the bottom linkage.

The pins shown above are located at the top of the linkage,
they connect the linkage system to the frame.

Here is Steve working with the laser cutter.  A quick fact about
Steve, he's never seen without his red wings hat.   Some
say it is the source of power for his engineering wizardry.

This week our Most Critical Module needs to be manufactured and working. Our MCM is highlighted in red in the assembly photo below. All that is left is water jet out the linkage and machine the motor blocks. It then also requires a small amount of welding on the frame connectors and connecting washers.

Linkage Connector

This is a picture of our linkage connector.  It is made of 6061 alu. First was turned down with a lathe, then the front face and hole were milled. Lastly the hole was tapped to 1/4 20 screw specs.

This week the following parts were manufactured. The frame was cut out on the laser cutter. The frame connector bars were turned on the lathe along with the linkage connector which was also made on the mill. This week we also got a large McMaster order in with all of our fasteners, bushings, and gears. We also got our order in to Gates for our conveyor belt and pulleys. These should be here in a weeks time. Photos of our manufactured parts will be posted tomorrow. This coming week our MCM needs to be completed. For us to meet our schedule we need to get our linkage and push block frame cut on the water jet which will take place tomorrow. We will also need motor mounts and push block which will be made on the mill tomorrow and Tuesday. Photos of all manufactured parts will be available as they are manufactured.

Linkage connector

Frame connector bar

Frame

Today Trevor and I we fortunate enough to be able to meet with Gates, a leader in belt technology.  At their Rochester Hills location we were given a presentation on belt designs, manufacturing processes, and given a tour of their building.  Afterwards, they were able to show us several possible solutions and belt ideas for our conveyor system along with reviews of our tensioning and power-train designs. We really appreciate all the help and the resources they made available to us.

Design is for entire slotbot is very close to being finalized. Our most critical module is completely designed and ready for manufacturing today. We should have the frame manufactured today and the linkage soon to follow. Bellow are images of the current CAD model