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Mill reject ROV

The document outlines the development of an improved Remote Operated Vehicle (ROV) designed to handle mill rejects, featuring enhanced specifications such as increased motor power and load capacity. It details the steering mechanism based on Ackermann geometry for better maneuverability and compares the advantages of BLDC motors over brushed DC motors. Additionally, it includes operational requirements and constraints for the ROV's design and functionality.

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37shuklavip
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7 views14 pages

Mill reject ROV

The document outlines the development of an improved Remote Operated Vehicle (ROV) designed to handle mill rejects, featuring enhanced specifications such as increased motor power and load capacity. It details the steering mechanism based on Ackermann geometry for better maneuverability and compares the advantages of BLDC motors over brushed DC motors. Additionally, it includes operational requirements and constraints for the ROV's design and functionality.

Uploaded by

37shuklavip
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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MILL REJECT ROV

BACKGROUND

Physical Exhaustion

Prolonged
exposure to coal dust, heat
and thermal radiation

Slow turnaround time


PREVIOUS SOLUTION Remote Operated Vehicle (ROV)

Specifications
• Remote operated Electric Vehicle
• Brushed DC motors: x1, 750W
• Battery capacity:
• System Voltage: 48V

Drawbacks
• Low load capacity
• Steering mechanism was inefficient and
ineffective for moving ROV.
• No brakes
• Tipping was not enough to clear all coal
• Controller design wasn't simplified enough
IMPROVED SOLUTION Remote Operated Vehicle (ROV)

• Remote operated Electric Vehicle


• Hub mounted motors: x2, 1000W each
• Battery capacity: 40Ah*2
• System Voltage: 72V
• Can achieve a speed of ~10kmph,
considering an angle of inclination of 7
degrees
• Designed to accumulate a load of
200kg mill reject
• Steering system controlled by a linear
actuator(1500N, 100mm stroke)
• Piston tipping mechanism with 2 linear
actuators (1500N, 500mm stroke)
• Flap gate with solenoid latch
REQUIREMENTS AND CONSTRAINTS

• Distance between ground and


the lowest part of the mill reject gate = 550 mm
• Coal weight consideration = 200 kg
• Coal box dimension = 1200*800*260 mm3
• Turning radius = 2000 mm
• Max tyre dia = 300 mm
MECHANISMS

Flap gate with solenoid latch

Steering system Piston tipping mechanism


STEERING MECHANISM OVERVIEW

Underlying principle: The changes of the


angles on the wheels change how the vehicle
performs when turning

Ackerman Steering
•The purpose for Ackermann steering is to
allow for tighter turns during low-speed
turning.
•This is based off the geometry of a four-bar
mechanism that allows the inside wheels to
turn at a greater angle than the outside
wheels.
•This is assuming that there is no tire
slippage from high lateral forces.
STEERING MECHANISM OVERVIEW

•w is the trackwidth =1000mm


•l is the wheelbase =1000mm)
•β is the Ackerman angle =26.46°
•x is the steering arm (120mm)
•d is the offset from front axle (=240mm)
•p is the link for actuation (180mm)
•y is the tie-rod (connecting steering arm and actuating
link) (=380.38mm)
•q is the linear displacement of the actuating link, for
turning scenario (=78.30mm)
POWER TRAIN

• BLDC Motor
• Motor Controller
• Battery
• Dc-Dc Converter
• Radio Control Receiver
• Radio Control Transmitter
• Sensors
BLDC Motor Vs Brushed Dc Motor

BLDC Motor Brushed DC motor


• Speed torque characteristics is •Speed torque curve is moderately flat
flat enabling wide speed range for resulting in slightly smaller range of
given load. speed as compared to BLDC.
• Low maintenance as there are no High maintenance due to wear of
brushes. brushes
OPERATING VOLTAGE

48 V 72V
•Current drawn = 41.66 Amps •Current drawn = 27.7 Amps
•Easy handling and insulation •Need proper insulation
•Less additional Components •Need additional Components
•Lower motor efficiency •Higher motor efficiency
•Higher heat generation •Lower heat generation
•52AH battery required •35AH battery required
•Lower speed •Higher speed
COST ESTIMATE & BREAKUP
QUESTIONS/SUGGESTIONS?
THANK YOU

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