QBMATE UPPER BODY.

Transcription

1 . QBMATE UPPER BODY

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3 Contents 1 Required items List of components Required tools Before starting assembly Warnings Assembly sequence Base assembly Grippers assembly Assembly of the two arms Cover preparation Torso assembly Arms assembly Head assembly Recommended Layout for the QB-moves Electronic connections ERNI cables connection Power supply connection Electronic connections examples qbrobotics.com 1

4 1 Required items 1.1 List of components 19 X 4 X 36 X 10 X 6 X 2 X 2 X 1 X 1 X 1 X 7 X 1 X 7 X 44 X 128 X 24 X 2 qbrobotics.com

5 14 X 6 X 12 X 28 X 4 X 16 X 16 X 48 X 10 X 18 X 1 X 4 X 4 X 1 X 4 X 1 X 12 X 1 X 1 X qbrobotics.com 3

6 1. Unified codes of the components. Assembly code Description Unified code 3001 Bearing 25x32x4 MR Screw M2x8 ISO 1207 UNI Screw M2x14 ISO 1207 UNI Screw M3x8 ISO 4762 UNI Screw M3x12 ISO 4762 UNI Screw M3x8 SV UNI 5588 DIN 7991 A 3008 Nut M3 UNI 5588 DIN 934 (PG) 3009 Screw M8x16 UNI 5933 DIN 7991 A 3010 Screw M6x12 ISO 4762 UNI Washer M6 ISO Screw KN1.8x8 KN X8 T Screw KN2.5x5 KN X5 T8 1.2 Required tools The required tools for the assembly the torso are listed below. Flathead screwdriver Crosshead screwdriver Torx T6 wrench Torx T8 wrench 2 mm Allen wrench 5 mm Allen wrench 1.3 Before starting assembly Before starting the assembly of your QB mate Upper Body, remove each part from its bag and protection for a prior inspection. If you find any damage or missing parts, contact the supplier. It is advisable to consult the guide for the assembly of the several kind of flanges and obtain the required tools. 4 qbrobotics.com

7 2 Warnings Before powering the system, read the instructions in the chapter 5. Do not connect more than five qbmoves in the same power chain. The recommended power supply is 12 V with minimum 10 A. If you perform stressful task, remember to switch off the system every 10 minutes to let the qbmoves cool down. Do not immerse in water. Keep out of reach of children. qbrobotics.com 5

8 3 Assembly sequence 3.1 Base assembly Prepare the four legs for the base of the torso using the components 3010, 3011, 3014, 3017 and 3019, as shown in figure Assembly of the four legs for the base. Connect the four legs to the component Assembly of the legs on the component qbrobotics.com

9 Assemble the component 5005 using the components 3010, 3011 and 3014, as shown in figure 4 4. Assembly of the component Assemble the component 2002 on the top surface of the base with four screws Assembled base for the torso. The assembled structure will be used to support the torso. qbrobotics.com 7

10 3.2 Grippers assembly Assemble the component 1005 on a Flat Flange using eight screws 3012, as shown in figure Assembly of the fixed finger. Assemble the second finger, component 1006, on a qbmove using the screws 3003, as shown in figure 7. The qbmove must be equipped with rear pulley, as like in a C Flange mounting. 7. Assembly of the mobile finger. 8 qbrobotics.com

11 Assemble the fixed finger on the QB-move as shown in figure 8. Make sure to orient the electronic connectors as indicated. 3.3 Assembly of the two arms 8. Assembled gripper. To assemble the two arms, two Flat Flanges and two C Flanges must be prepared before. Figure 9 shows the orientation of the joints for the arm and how the flanges must be connected. 9. Orientations of the QB-moves for the arm. qbrobotics.com 9

12 Assemble the Flat Flange on the first qbmove, and the C Flange with the preassembled gripper; then complete the assembly by closing the flat flange, as shown in figure Assembled arm. Make sure to orient the electronic connectors as indicated. 3.4 Cover preparation Assemble on the component 1010, two components 1001-B using screws 3012 and two Base Flanges using screws 3013, as shown in figure Preparation of the back cover. 10 qbrobotics.com

13 Assemble two components 1001 and two components 1002 as shown in figure Back Cover completed. Front cover has to be prepared like the back cover one but without the components 1001-B, as shown in figure Front Cover. qbrobotics.com 11

14 3.5 Torso assembly Assemble the empty qbmove (component 4001) on the base using a base flange, six screws 3005 and six nuts 3007, as shown in figure 14. Be sure to mount the component 4001 with the correct orientation, checking the position of the locking screws. 14. Assembly of the component 4001 on the base. Assemble 3 qbmove (component 4002) on the component 4001, as shown in figure 16. To do that, three Double Flat Flanges are needed. 15. Double Flat Flange. 12 qbrobotics.com

15 16. Assembly of three QB-move on the component Make sure to place the three qbmoves with the correct orientation concerning the output shafts and connection ports referring to figure Assembled components (back view on the right). qbrobotics.com 13

16 Assemble the covers as shown in figure 18, fix them using the Flat Flanges. 18. Cover assembly. Assemble two Flat Flanges on the lateral shafts using the screws 3004 and the component 1001 without pins as spacer, as shown in figure Assembly of the flat flanges for the shoulders. 14 qbrobotics.com

17 3.6 Arms assembly Assemble two qbmoves using the Flat Flanges and then assemble two C Flanges on them, as shown in the following figure. Make sure to orient the connection ports on the bottom. 20. Mounting of the shoulders. The obtained structure should appear as shown in figure below. 21. Back view of the torso. qbrobotics.com 15

18 Connect the two assembled arms to the structure by using the two C Flanges, as shown in figure 22. Check the correct orientation of the Joints following the figure. 22. Torso with the two arms. 16 qbrobotics.com

19 3.7 Head assembly Assemble on the vertical joint of the torso a C Flange using eight screws 3004 and the component 1001 as a spacer, as shown in the figure below. 23. Assembly of the C Flange for the Head. Close the C Flange using the screws 3005 and snap a Flat Flange on the surface of the qbmove, as shown the figure Assembly of the Head. qbrobotics.com 17

20 4 Recommended Layout for the QB-moves Each qbmove is identified by a code (SN XX) placed on the surface. Using the table included in the box, you can retrieve the pre-programmed ID of each qbmove. We advise you to follow this scheme for code compatibility in case you want to share your experiments. 25. Recommended layout for the qbmoves. 18 qbrobotics.com

21 5 Electronic connections Qbmoves operate in serial chain by using ERNI connectors. Each chain needs a USB connection for communication. NOTE: qbally4 splits power for the three chains maintaining the communication, so you need only one USB connection to manage the three chains connected to the qbally ERNI cables connection The twelve QB-moves are connected each other as shown in the figure below. 26. ERNI cables in the qbmate Upper Body. qbrobotics.com 19

22 The longest ERNI connectors in the box (300 mm long) are used to connect the two blue chain, see figure 26, with the qbally 4 (component 5005). 5.2 Power supply connection The component qbally 4 (5005) is used to supply two chains of qbmove, interfacing the ERNI connectors with the power cables coming from batteries or power supplies; moreover it maintains the logical communication through the two chains. The component qbally (5003) is used to power one chain of qbmove, as shown in figure Connections for the qbally 4 on the left and for the qbally on the right. Insert the ERNI and the USB connectors before powering the circuit. 20 qbrobotics.com

23 5.3 Electronic connections examples 28. Correct connection of two chains using a qbally Wrong connection of two chains using a qbally 4. qbrobotics.com 21

24 30. Electronic connections to avoid. 22 qbrobotics.com