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Shape Sorter Ball

The first robot I designed and built myself is a ball sorter. The design process was very organic, trying and building parts of the machine, seeing if they would work. The first elements I came up with were the rotator and the container, which I will describe later on. The hardest part was to design something that would allow only one ball at a time to pass. A lot of things I came up with for this didn't work consistently, got stuck regularly or would throw the balls all over my floor. I finally ended up with the loader mechanism, which also will be described further on in this article. The resulting robot can be seen in the image on the right.

On an abstract level the ball sorter consists of four elements. First there is the container, which holds the balls that are going to be sorted. The task of the second element, the loader mechanism is to identify the colour of the ball, and to let only one ball at a time through to the next stage. Tdl Files For Tally Invoice.

This third stage is a rotating element (the rotator) whose purpose is to make sure that the ball ends up in the correct bin, the final element of the machine. There are four bins, one for each colour. Design elements. The is located at the top of the machine. It consists of four identical sloped segments.

At the bottom in the shaft there is a small hole, which allows only one ball at a time to pass through. The hole is made smaller using two thin liftarms and an axle to reduce the chance that balls get stuck or that they block each other when being pushed out by the loader mechanism. Balls still get stuck when they block each other from falling down into the shaft and loader. Pushing a ball down manually solves this situation.