Industrial Robot/Bill of Materials: Difference between revisions

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=Partial Prototyping Bill of Materials=
=Partial Prototyping Bill of Materials=


==Frame==
*Structure


*[1] Base Angle (8"A x 8"B x 27" Length x 0.5" Thickness, A36 steel angle) [http://www.discountsteel.com/items/A36_Hot_Rolled_Steel_Equal_Leg_Angle.cfm?item_id=183&size_no=48 93]
**Gearbox


==Gearbox==
***[1] Angle (8"A x 8"B x 27" Length x 0.5" Thickness, A36 steel angle) [http://www.discountsteel.com/items/A36_Hot_Rolled_Steel_Equal_Leg_Angle.cfm?item_id=183&size_no=48 93]


*[2] Gearbox 1,2 Input Plate (13" by 7.5" by 0.5" A36 steel plate) [http://www.discountsteel.com/items/A36_Hot_Rolled_Steel_Plate.cfm?item_id=189&size_no=6 64]
***[2] Input Plate (13" by 7.5" by 0.5" A36 steel plate) [http://www.discountsteel.com/items/A36_Hot_Rolled_Steel_Plate.cfm?item_id=189&size_no=6 64]


*[4] Gearbox 1,2 Side Plate (7.5" by 3" by 1" A36 steel plate) [http://www.discountsteel.com/items/A36_Hot_Rolled_Steel_Plate.cfm?item_id=189&size_no=10&pieceLength=cut&wid_ft=1&wid_in=1&wid_fraction=0&len_ft=0&len_in=7&len_fraction=.5&pieceCutType=30|1&itemComments=&qty=1 47]
***[4] Side Plate (7.5" by 3" by 1" A36 steel plate) [http://www.discountsteel.com/items/A36_Hot_Rolled_Steel_Plate.cfm?item_id=189&size_no=10&pieceLength=cut&wid_ft=1&wid_in=1&wid_fraction=0&len_ft=0&len_in=7&len_fraction=.5&pieceCutType=30|1&itemComments=&qty=1 47]


*[2] Gearbox 1,2 Cover Plate (13" by 3" by 3/16" A36 steel plate) [http://www.discountsteel.com/items/A36_Hot_Rolled_Steel_Plate.cfm?item_id=189&size_no=1&pieceLength=cut&wid_ft=1&wid_in=0&wid_fraction=0&len_ft=0&len_in=7&len_fraction=.5&pieceCutType=17|3&itemComments=&qty=1 26]
***[2] Cover Plate (13" by 3" by 3/16" A36 steel plate) [http://www.discountsteel.com/items/A36_Hot_Rolled_Steel_Plate.cfm?item_id=189&size_no=1&pieceLength=cut&wid_ft=1&wid_in=0&wid_fraction=0&len_ft=0&len_in=7&len_fraction=.5&pieceCutType=17|3&itemComments=&qty=1 26]


*[4] Gearbox 1,2 Outer Race Plate (5" by 7" by 1" A36 plate) [http://www.discountsteel.com/items/A36_Hot_Rolled_Steel_Plate.cfm?item_id=189&size_no=10&pieceLength=cut&wid_ft=1&wid_in=1&wid_fraction=0&len_ft=0&len_in=6&len_fraction=.5&pieceCutType=30|1&itemComments=&qty=1 64]
***[4] Outer Race Plate (5" by 7" by 1" A36 plate) [http://www.discountsteel.com/items/A36_Hot_Rolled_Steel_Plate.cfm?item_id=189&size_no=10&pieceLength=cut&wid_ft=1&wid_in=1&wid_fraction=0&len_ft=0&len_in=6&len_fraction=.5&pieceCutType=30|1&itemComments=&qty=1 64]


*[2] Gearbox 1,2 Output Shaft (1.25" diameter, 5" length A36 steel round bar, keyhole 1/4 wide 1/8 deep, tapped 1/2 - 13 both ends) [http://www.discountsteel.com/items/A36_Hot_Rolled_Steel_Round_Bar.cfm?item_id=191&size_no=12 9]
***[2] Round Bar (1.25" diameter, 5" length A36 steel round bar) [http://www.discountsteel.com/items/A36_Hot_Rolled_Steel_Round_Bar.cfm?item_id=191&size_no=12 9]


*[4] Gearbox 1,2 Inner Race (4" diameter, 2" length steel round bar)
***[4] Inner Race (4" diameter, 2" length steel round bar)


*[2] Gearbox 1,2 Output Hub (5" diameter, 3" length steel round bar)
***[2] Output Hub (5" diameter, 3" length steel round bar)


*[2] Gearbox 1,2 Support Hub (3.25" diameter, 2.25" length steel round bar)
***[2] Support Hub (3.25" diameter, 2.25" length steel round bar)


*[1] Loose Ball Bearing (1/2" diameter, chrome steel G25, x100) [http://www.vxb.com/page/bearings/PROD/LooseSteelBalls/Kit8597 12]
***[1] Loose Ball Bearing (1/2" diameter, chrome steel G25, x100) [http://www.vxb.com/page/bearings/PROD/LooseSteelBalls/Kit8597 12]


*[12] Side plate bolts (1/2 – 13, 4")
***[12] Side plate bolts (1/2 – 13, 4")


*[12] Side plate nuts (1/2 – 13)
***[12] Side plate nuts (1/2 – 13)


*[4] Cover plate bolts (1/2 - 13, 0.75")
***[4] Cover plate bolts (1/2 - 13, 0.75")


*[4] O-ring Seal (Inner diameter 3", Outer diameter 3.5", Width 1/8")
***[4] O-ring Seal (Inner diameter 3", Outer diameter 3.5", Width 1/8")


*[4] Cover plate nuts (1/2 - 13)
***[4] Cover plate nuts (1/2 - 13)


*[4] Output shaft bolts (1/2 - 13, 1")
***[4] Output shaft bolts (1/2 - 13, 1")


*[4] Lube bolts (#6, 1")
***[4] Lube bolts (#6, 1")


*[2] Input gear (20 degree pressure angle, 3" pitch diameter, 28 diametral pitch, 1.25" inner diameter)
***[2] Input gear (20 degree pressure angle, 3" pitch diameter, 28 diametral pitch, 1.25" inner diameter)


*[2] Output gear (20 degree pressure angle, 6' pitch diameter, 28 diametral pitch, 1.25" inner diameter)
***[2] Output gear (20 degree pressure angle, 6' pitch diameter, 28 diametral pitch, 1.25" inner diameter)


==Hydraulics==
*Hydraulics


*Powercube (compatible with below, parallel circuit)
*Powercube (compatible with below, parallel circuit)

Revision as of 11:19, 9 August 2011


Industrial Robot
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Structure

  • [number needed] Name (specifications) [link to suggested source + total cost]

Partial Prototyping Bill of Materials

  • Structure
    • Gearbox
      • [1] Angle (8"A x 8"B x 27" Length x 0.5" Thickness, A36 steel angle) 93
      • [2] Input Plate (13" by 7.5" by 0.5" A36 steel plate) 64
      • [4] Side Plate (7.5" by 3" by 1" A36 steel plate) 47
      • [2] Cover Plate (13" by 3" by 3/16" A36 steel plate) 26
      • [4] Outer Race Plate (5" by 7" by 1" A36 plate) 64
      • [2] Round Bar (1.25" diameter, 5" length A36 steel round bar) 9
      • [4] Inner Race (4" diameter, 2" length steel round bar)
      • [2] Output Hub (5" diameter, 3" length steel round bar)
      • [2] Support Hub (3.25" diameter, 2.25" length steel round bar)
      • [1] Loose Ball Bearing (1/2" diameter, chrome steel G25, x100) 12
      • [12] Side plate bolts (1/2 – 13, 4")
      • [12] Side plate nuts (1/2 – 13)
      • [4] Cover plate bolts (1/2 - 13, 0.75")
      • [4] O-ring Seal (Inner diameter 3", Outer diameter 3.5", Width 1/8")
      • [4] Cover plate nuts (1/2 - 13)
      • [4] Output shaft bolts (1/2 - 13, 1")
      • [4] Lube bolts (#6, 1")
      • [2] Input gear (20 degree pressure angle, 3" pitch diameter, 28 diametral pitch, 1.25" inner diameter)
      • [2] Output gear (20 degree pressure angle, 6' pitch diameter, 28 diametral pitch, 1.25" inner diameter)
  • Hydraulics
  • Powercube (compatible with below, parallel circuit)
  • [2] Hydraulic motor (1,2) 500
  • [8] Hydraulic motor mounting bolts (1,2)
  • [2] Needle valve 60
  • [2] Solenoid valve 100
  • [2] Solenoid valve subplate 100
  • [8] Solenoid valve subplate mounting bolts
  • [4] SAE10M to 1/2NPTF Swivel 10
  • [2] SAE4M to 1/4NPTF Swivel 4
  • [8] SAE6M to 1/2NPTF Swivel 32
  • [1] 1/4NPTM to 1/2NPTF Adapter 3
  • [1] 1/4NPTF Tee 3
  • [5] 1/2NPTF Tee 25
  • [4] 1/2NPTM Nip 5
  • [2] 1/4NPTM X 72" Hose 24
  • [4] 1/2NPTM X 72" Hose 56
  • [6] 1/2NPTM X 36" Hose 60

Electronics

  • [1] Microcontroller 65
  • [1] Solenoid Driver 13
  • [2] Stepper Motor Driver 30
  • [1] Power Supply (3 12VDC outputs, 2 5VDC outputs)
  • [1] Wire (18 AWG, 12'+ length)

Encoder

  • [2] Encoder (1250 counts per revolution, ball bearing) 160
  • [2] Encoder connector (6') 32
  • [4] Encoder mounting screws (#4)
  • [2] Encoder Mount Support Angle (2"A/2"B, 5" Length, 1/8" Thickness, A36 Steel Angle) 10
  • [2] Encoder Mount Main Angle (3"A/2"B, 2.5" Length, 3/16" Thickness, A36 Steel Angle) 8
  • [2] Encoder Shaft Coupling (3" Diameter, 1.5" Length Steel Round Bar) 12

Stepper mount

  • [2] Stepper motor 28
  • [8] Stepper motor mounting screws (3mm metric)
  • [2] Stepper mount angle (4”A/6”B, 4”L, 5/16”T, A36 steel angle) 20
  • [4] Stepper mount plate (3" by 4" by 3/16" A36 steel plate) 23
  • [2] Shaft coupling bar (1" by 1" by 6" A36 steel bar) 9
  • [6] Stepper mount plate bolts (1/4 - 20, 5")
  • [6] Stepper mount plate nuts (1/4 - 20)
  • [2] Stepper motor coupling screw (1/4 - 20, 1" length)
  • [2] Needle Valve coupling screw (1/4 - 20, 1" length)

Bill of Materials

Hydraulics

  • Powercube (1500psi, 18GPM)
  • Hydraulic Motor 1 300
  • Hydraulic Motor 2 300
  • Hydraulic Motor 3 160
  • Hydraulic Motor 4 160
  • Hydraulic Motor 5 160
  • Hydraulic Motor 6 160
  • Solenoid Valve (1-6, x6) 300
  • Solenoid Valve Subplate (1-6, SAE6, x6) 288
  • Needle Valve (1-6, 1/2NPTF, x6) 180
  • Pressure Relief Valve 42
  • Hose (1NPTM, 3', x3) 87
  • Hose (1NPTM, 6', x1) 47
  • Hose (1/2NPTM, 3', x18) 180
  • Hose (1/2NPTM, 8', x6) 128
  • Hose (1/2NPTM, 6', x6) 84
  • Hose (1/2NPTM, 4', x4) 44
  • Adaptor (1NPTM to 1/2NPTF, x6) [
  • Adaptor (1/2NPTM to 1/2NPTM, x6) 12
  • Adaptor (1/2NPTF to SAE6M, x28) 84
  • Adaptor (1/2NPTF to SAE10M, x4) 12

Electronics

  • Microcontroller 65
  • Solenoid Driver (x2) 26
  • Stepper Motor Driver (x6) 90
  • Power Supply (as necessary to connect to 6 step motor drivers, 2 solenoid drivers, and 6 encoders)
  • Wire

Frame

  • Foundation Underplate (24" by 24" by 0.5" A36 steel plate 90
  • Foundation Pillar (2” by 2” by 12”, A36 steel square bar, x4) 62
  • Foundation Overplate (16” by 16” by 0.5” A36 steel plate) 51
  • Base Angle (8”A/8”B by 20”L by 1”T A36 steel angle) 154
  • Main Arm (1” by 4” by 15” A36 steel bar) 23
  • Forearm Angle (8”A/8”B by 20”L by 0.5”T A36 steel angle) 83
  • Forearm Plate A (8” by 8” by 0.25T A36 steel plate, x1) 50
  • Forearm Plate B (8” by 4” by 0.5” A36 steel plate, x1) 24
  • Forearm (2” by 2” by 12” by 0.25T carbon steel square tube) 11
  • Wrist Angle (8”A/8”B by 20”L by 0.5”T A36 steel angle) 83

Gear Reducer 1,2

  • Gearbox 1,2 Input Plate (13" x 7", 0.5" A36 steel plate, x2)
  • Gearbox 1,2 Side Plate (7" x 5" x 1" A36 steel plate, x4)
  • Gearbox 1,2 Cover Plate (13" x 5" x 0.125" A36 steel plate, x2)
  • Gearbox 1,2 Output Shaft (1.25"dia x 4" A36 steel round bar, x2)
  • Gearbox 1,2 Input Spur Gear (3" pitch dia, 20deg pressure angle, 18dia pitch)
  • Gearbox 1,2 Output Spur Gear (6" pitch dia, 20deg pressure angle, 18 dia pitch)
  • Gearbox 1,2 Output Hub (
  • Gearbox 1,2 Output Key (
  • Gearbox 1,2 Outer Race Plate (
  • Gearbox 1,2 Inner Race (
  • Gearbox 1,2 O-ring Seal

Gear Reducer 3,4,5,6

  • Gearbox 3,4,5,6 Input Plate (12" x 7.5" x 0.25" A36 steel plate, x4)
  • Gearbox 3,4,5,6 Side Plate (7.5" x 5" x 1" A36 steel plate, x8)
  • Gearbox 3,4,5,6 Cover Plate (12" x 5" x 0.125" A36 steel plate, x4)
  • Gearbox 3,4,5,6 Output Shaft (1"dia x 4" A36 steel round bar, x4)
  • Gearbox 3,4,5,6 Input Spur Gear (3" pitch dia, 20deg pressure angle, 18 diametral pitch)
  • Gearbox 3,4,5,6 Output Spur Gear (6"pitch dia, 20deg pressure angle, 18 diametral pitch)
  • Gearbox 3,4,5,6 Output Hub (
  • Gearbox 3,4,5,6 Output Key (
  • Gearbox 3,4,5,6 Outer Race Plate (
  • Gearbox 3,4,5,6 Inner Race (
  • Gearbox 3,4,5,6 O-ring Seal

Stepper Motor Mounts

  • Stepper Motor (x6) 84
  • Stepper Angle (4”A/4”B, 4”L, 0.25”T, A36 steel angle, x6) 24
  • Holding Plate (3” by 3” by 0.25” A36 steel plate, x12) 29
  • Shaft Bar (0.5” by 0.5” by 1” A36 steel bar, x6) 36
  • Setscrews ( )
  • Bolts ( )
  • Washers ( )
  • Nuts ( )

Shaft Encoders

Welding

  • Welding Consumables
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