MS Ball Machine III
Specifications:
2X RCX 1.0
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2X NXT
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6X NXT Servo Motors
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2X PF Medium Motors
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5X 9V Technic Motors
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3X Pneumatic Cylinders
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1X Pneumatic Valve
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4X Pneumatic Mini-Pumps
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2X Pneumatic Air Tanks
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1X Pneumatic Pressure Gauge
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1X 11.1V 5A Li-Po & 2X NXT 1.6A Li-Ion
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1X Pair Blue/Red LEDs
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1X 9V Dual Lamp
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1X PF Extension/Switch
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4X 9V Touch Sensors
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1X 9V Light Sensor
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1X 9V Rotation Sensor
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1X 9V Temperature Sensor
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1X NXT Ultrasonic Sensor
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1X NXT Light Sensor
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1X HiTechnic Color Sensor
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2X NXT Touch Sensors
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This is a refit (minor changes) to the previous model of this I
posted last year. (Which never got a video or anything else). All
the specs of the major components are outlined above. The simple
question is what does all that stuff together do? Well the simple
answer answer is that it moves the 6 NXT balls around in a circle
continuously through a series of 'gags'.
The 'gags' (in order): Gate (below conveyor belt): Holds the ball
till' the lifter arm is fully down. Lifter: Lifts the ball up where
it is pushed out onto the conveyor belt. Ejector: Pushes ball off
lifter onto the conveyor belt. Conveyor belt: Carries a ball to the
pivot arm. Pivot Arm: Senses a ball on the belt from the ultrasonic
sensor. Tilts to drop ball onto escalator. Escalator: Carries a ball
upward and drops it onto the hold. Hold: Holds two balls and
releases one with a pneumatic cylinder. Center Rack: Carries a ball
from the hold to the grabber arm. Grabber Arm: Senses a ball using a
color sensor. Carries a ball over to the swing lifter. Swing Lifter:
Lifts a ball up to the platform ejector with a swing motion.
Platform Ejector: Carries ball to the pneumatic hold and pushes a
ball on to it. Pneumatic Hold: Holds a ball until there isn't a ball
at the gate. And then the cycle repeats.
The RCXs communicate with each other using infrared while the NXTs
communicate with each other over bluetooth. A NXt light sensor
monitors light from one LED attached to an RCX. When that light is
on the NXTs know that they can run. However, if the light is out,
they will not start or they will abort their current program (if
there's a problem).
Stop switch: That little box with the wheel is a plunger that pushes
on a touch sensor which tells the RCXs to stop. Since the NXTs
monitor if the RCXs are active, they will also stop when that is
pushed down.
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