The machine was designed first in Solidworks in order to avoid mistakes in design. Also the goal was to build the machine as small as possible. The final box has dimensions 490x390x570mm.
The most of the parts are from aluminium.
Two shafts on the right side are for the wheels. I had to make them this way, since the shaft of the propulsion motor is short and also the motor shaft diameter does not fit the wheel.
Prototype has been used to determine the gap between wheels.
Two motors with ACME threads. One is used for the sweeping, other one for the angle adjustment.
Tom is helping too.
My dad helps me a lot. Sometimes I think he will start to play tennis just because this machine.
ball feeder rail
The plastic ball feeding hose was OK but took to much space inside the machine. For that reason I asked in one workshop to make a spring shown on the picture. The man from the workshop asked me what the spring is for, saying that he never asks people, but can't resist to ask in this case :)
This pan is a base for the carousel. DC motor in the center.
The pan from the bottom.
The mechanism on the picture takes charge of 'sweeping'
The complete internals. Next step is to make a case and make all the electronics to come to life.
i2C communication in action!