maus – agv final

1 Mentoring Program 08.13.2014

MAUS – AGVAntonio E. Arróyave Treviño

Manufacturing

Tutor: Omar Gonzalez

Design, develop and implementation of an automated guided vehicle for material transportation.

Coil movement from fabrication area to K5 Kit area and from fabrication to shipping.

OBJECTIVE

2 Manufacturing | SCYLLA - AGV | KNA Monterrey | October 9, 2015

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DESCRIPTION

An automated guided vehicle capable of the material transportation.

Consisting: Trolley Sensors (Path) Control Interface CAS RF Interface

Manufacturing | SCYLLA - AGV | KNA Monterrey | October 9, 2015

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STRUCTURE

We considered several factors in the design of the structure: Availability Functionality Ergonomics Resistance Aesthetics



First Concept

Bare concept for settling dimensions.

Second Iteration

Two redesigns later, more compact, low profile concept.

Fourth Iteration

Four redesigns later, curved surfaces, operation panel added.

STRUCTURE (EVOLUTION)


FINAL ASSEMBLY

Easy operation access

Best hitch position

Wide space

75 cm

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SENSORS (PATH)

Several sensor options for a track following system were considered: NFC Tags GPS Line Follower



Vastly used in AGVs for autonomous movement. Easy to implement Low cost Reliable and simple

LINE FOLLOWER


LINE FOLLOWER

Explanation

10


This system should be safe and robust Fast response Suitable for the application and

environment

CAS (COLLISION AVOIDANCE SYSTEM)


This sensor are the LV-MaxSonar-EZ2 Small in size Low cost Maximum range ~6 m Good response time Susceptible to noise

ULTRASONIC SENSORS (FIRST ATTEMPT)


OMRON OS32C Up to 15 meters of sensing range 270° detection angle 2 warning zones and a safety zone Small size Fast response

SAFETY LASER SCANNER (PROPOSAL)


SAFETY LASER SCANNER (PROPOSAL)

FYI:

The new tube bender from Pedrazzoli has an OS32C on it.


Based on an nRF24L01+PA+LNA 2.4GHz RF module Long distance transmission Inexpensive

RF INTERFACE


This will be held by: 3x Arduino Mega 2560

‒ Line Following, Motor Drivers‒ CAS‒ RF Interface

2x Motor Drivers i70 Relay Module Signal conditioners & regulators Buttons & light indicators

CONTROL INTERFACE


Several tests were made with the motor drives.

The purpose was:

• Understand the coding and way to program it

• Limitations

• Behavior

TESTING (DRIVERS)


Several test were made with ultrasonic sensors.

The purpose was:

• Response to noise

• Limitations

Things discovered: Susceptible to noise and crosstalk

TESTING (ULTRASONIC SENSORS)


This small prototype was made with the purpose to understand the behavior of the US sensors and start to debug some program thoughts.

Two important things discovered: Moment of inertia is crucial Turning

TESTING (PROTOTYPE)


Several tests were made with the motors in order to find their current consumption.

At the same time some test were made with the batteries, so we can find how long they can last.

TESTING (MOTORS & BATTERIES)


CONSTRUCTION (PROGRESS)


ROUTING (PROGRESS)



Structure – Complete Painting Cable routing – Complete Microcontrollers, Drivers, Module, Buttons,

Light Indicators, Emergency Stop, Batteries, Regulators and Signal Conditioners – Connected

Turret installation – In progress Sensors – In progress RF interface – In progress


COMPANY BENEFITS

Distancia por vuelta: 117.1 mts Distancia recorrida al dia: 2342 mts Distancia recorrida al año: 585500 mts

585.5 km

Coil - Área de KiteoEncargado: Alejandro Castillo Ida VueltaTiempo (min): 1.084 1.04Pistas: 20

Tiempo Total x Dia (min): 42.48Tiempo Total al Año (hr): 178 20 dias

CONFIDENTIAL


While making this project I have learned and improve several skills. CAD design (improvement) Electronic design (improvement) Electric connections (improvement) Electric Motors (improvement) Manufacturing Mechanics Sensors Integration Programming (improvement) SAP

PERSONAL LEARNING


ROAD MAP

Phase 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52

Concept and Technology selection IE, PPP

1 Sensors and parts quotation IE, SAP, XLS

Structure Design Others

2 CAD Construction SolidWorks

3 Structure Review/Redesign Others

4 Construction (Main Body) Others

Sensors Integration Others

5 Program Development Arduino

6 Car Assembly (Electronics) Others

7 Testing Others

8 Improvement Others

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### Rot### Gelb### Grün###

SCYLLA - AGVPlant

KNA Monterrey /

August September Oktober

Datum

2015

November Dezember

Stat

us

des AP erfülltdes AP erfüllt

Erledigungsgrad

des AP erfüllt

des AP erfüllt

des AP erfüllt

Mai

Bestellung auslösenBlau

Zielerreichung leicht gefährdet

Action Item

April

Tools

Januar Februar März Juni Juli

2015

Zielerreichung gefährdet

MeilensteinOrange

Legende

Zielerreichung gesichert

Zeitbedarf

M1

maus – agv final

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