Industrial Robot Bill of Materials: Difference between revisions
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(Completed general developmental bill of materials) |
m (Edited for joint 1-6 gearboxes clarification) |
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| Line 139: | Line 139: | ||
|-align="left" | |-align="left" | ||
! Joint 1 | ! Joint 1 Gearbox | ||
! 1 | ! 1 | ||
! Enables rotation of baseplate relative to foundation overplate and insertion of motor shaft for rotation control | ! Enables rotation of baseplate relative to foundation overplate and insertion of motor shaft for rotation control | ||
| Line 146: | Line 146: | ||
|-align="left" | |-align="left" | ||
! Joint 1 | ! Joint 1 Gearbox Bolt | ||
! 10? | ! 10? | ||
! Fastener piece | ! Fastener piece | ||
| Line 153: | Line 153: | ||
|-align="left" | |-align="left" | ||
! Joint 1 | ! Joint 1 Gearbox Washer | ||
! 10? | ! 10? | ||
! Fastener piece | ! Fastener piece | ||
| Line 160: | Line 160: | ||
|-align="left" | |-align="left" | ||
! Joint 1 | ! Joint 1 Gearbox Nut | ||
! 10? | ! 10? | ||
! Fastener piece | ! Fastener piece | ||
| Line 237: | Line 237: | ||
|-align="left" | |-align="left" | ||
! Joint 2 | ! Joint 2 Gearbox | ||
! 1 | ! 1 | ||
! Enables tilting of main arm relative to baseplate and control through shaft | ! Enables tilting of main arm relative to baseplate and control through shaft | ||
| Line 244: | Line 244: | ||
|-align="left" | |-align="left" | ||
! Joint 2 | ! Joint 2 Gearbox Bolt | ||
! 10? | ! 10? | ||
! Fastener Piece | ! Fastener Piece | ||
| Line 251: | Line 251: | ||
|-align="left" | |-align="left" | ||
! Joint 2 | ! Joint 2 Gearbox Washer | ||
! 10? | ! 10? | ||
! Fastener Piece | ! Fastener Piece | ||
| Line 258: | Line 258: | ||
|-align="left" | |-align="left" | ||
! Joint 2 | ! Joint 2 Gearbox Nut | ||
! 10? | ! 10? | ||
! Fastener Piece | ! Fastener Piece | ||
| Line 272: | Line 272: | ||
|-align="left" | |-align="left" | ||
! Joint 3 | ! Joint 3 Gearbox | ||
! 1 | ! 1 | ||
! Enables tilting of forearm relative to main arm, and control through shaft | ! Enables tilting of forearm relative to main arm, and control through shaft | ||
| Line 279: | Line 279: | ||
|-align="left" | |-align="left" | ||
! Joint 3 | ! Joint 3 Gearbox Bolt | ||
! 10? | ! 10? | ||
! Fastener Piece | ! Fastener Piece | ||
| Line 286: | Line 286: | ||
|-align="left" | |-align="left" | ||
! Joint 3 | ! Joint 3 Gearbox Washer | ||
! 10? | ! 10? | ||
! Fastener Piece | ! Fastener Piece | ||
| Line 293: | Line 293: | ||
|-align="left" | |-align="left" | ||
! Joint 3 | ! Joint 3 Gearbox Nut | ||
! 10? | ! 10? | ||
! Fastener Piece | ! Fastener Piece | ||
| Line 377: | Line 377: | ||
|-align="left" | |-align="left" | ||
! Joint 4 | ! Joint 4 Gearbox | ||
! 1 | ! 1 | ||
! Enables rotation of wrist relative to forearm and control through shaft | ! Enables rotation of wrist relative to forearm and control through shaft | ||
| Line 384: | Line 384: | ||
|-align="left" | |-align="left" | ||
! Joint 4 | ! Joint 4 Gearbox Bolt | ||
! 10? | ! 10? | ||
! Fastener Piece | ! Fastener Piece | ||
| Line 391: | Line 391: | ||
|-align="left" | |-align="left" | ||
! Joint 4 | ! Joint 4 Gearbox Washer | ||
! 10? | ! 10? | ||
! Fastener Piece | ! Fastener Piece | ||
| Line 398: | Line 398: | ||
|-align="left" | |-align="left" | ||
! Joint 4 | ! Joint 4 Gearbox Nut | ||
! 10? | ! 10? | ||
! Fastener Piece | ! Fastener Piece | ||
| Line 433: | Line 433: | ||
|-align="left" | |-align="left" | ||
! Joint 5 | ! Joint 5 Gearbox | ||
! 1 | ! 1 | ||
! Enables tilting of wrist relative to forearm and control through shaft | ! Enables tilting of wrist relative to forearm and control through shaft | ||
| Line 440: | Line 440: | ||
|-align="left" | |-align="left" | ||
! Joint 5 | ! Joint 5 Gearbox Bolt | ||
! 10? | ! 10? | ||
! Fastener Piece | ! Fastener Piece | ||
| Line 447: | Line 447: | ||
|-align="left" | |-align="left" | ||
! Joint 5 | ! Joint 5 Gearbox Washer | ||
! 10? | ! 10? | ||
! Fastener Piece | ! Fastener Piece | ||
| Line 454: | Line 454: | ||
|-align="left" | |-align="left" | ||
! Joint 5 | ! Joint 5 Gearbox Nut | ||
! 10? | ! 10? | ||
! Fastener Piece | ! Fastener Piece | ||
| Line 524: | Line 524: | ||
|-align="left" | |-align="left" | ||
! Joint 6 | ! Joint 6 Gearbox connector | ||
! 1 | ! 1 | ||
! Enables rotation of end effector relative to wrist and control through shaft | ! Enables rotation of end effector relative to wrist and control through shaft | ||
| Line 531: | Line 531: | ||
|-align="left" | |-align="left" | ||
! Joint 6 | ! Joint 6 Gearbox Bolt | ||
! 10? | ! 10? | ||
! Fastener Piece | ! Fastener Piece | ||
| Line 538: | Line 538: | ||
|-align="left" | |-align="left" | ||
! Joint 6 | ! Joint 6 Gearbox Washer | ||
! 10? | ! 10? | ||
! Fastener Piece | ! Fastener Piece | ||
| Line 545: | Line 545: | ||
|-align="left" | |-align="left" | ||
! Joint 6 | ! Joint 6 Gearbox washer | ||
! | ! 10? | ||
! | ! Fastener Piece | ||
! | ! | ||
! | ! | ||
|-align="left" | |-align="left" | ||
! Joint 6 | ! Joint 6 Gearbox nut | ||
! 10? | |||
! Fastener Piece | ! Fastener Piece | ||
! | ! | ||
! | ! | ||
Revision as of 23:59, 24 May 2011
| Industrial Robot | ||
|---|---|---|
| Home | Research & Development | Bill of Materials | Manufacturing Instructions | User's Manual | User Reviews | 
| |
The following is a general bill of materials for the industrial robot with *minimum frame mechanical design*, *hydraulic drive through solenoid valve and stepper motor controlled needle valve*, and *basic electrical configuration*. Note: this bill of materials is not fully developed and may not reflect the optimal design of the industrial robot. As such, this BOM is still a work in progress.
| PART NAME | NUMBER NEEDED | PURPOSE | COST | SUGGESTED SOURCE |
|---|---|---|---|---|
| Joint 1 Hydraulic Motor | 1 | Rotates base of industrial robot | est. 100-300 | surpluscenter |
| Joint 2 Hydraulic Motor | 1 | Tilts main arm of industrial robot from base | est. 100-300 | surpluscenter |
| Joint 3 Hydraulic Motor | 1 | Tilts forearm of industrial robot from main arm | est. 100-300 | surpluscenter |
| Joint 4 Hydraulic Motor | 1 | Rotates wrist of industrial robot from forearm | est. 100-300 | surpluscenter |
| Joint 5 Hydraulic Motor | 1 | Tilts wrist of industrial robot | est. 100-300 | surpluscenter |
| Joint 6 Hydraulic Motor | 1 | Rotates end-effector of industrial robot | est. 100-300 | surpluscenter |
| Foundation Underplate | 1 | Ground contact mount for industrial robot (x by y by z steel plate) | ||
| Foundation Underplate Bolt | 4 | Fastener piece for foundation underplate to ground | ||
| Foundation Underplate Washer | 4 | Fastener piece for foundation underplate to ground | ||
| Foundation Underplate Nut | 4 | Fastener piece for foundation underplate to ground | ||
| Foundation Underplate Welding Consumables | Materials for welding the foundation pillars onto the foundation underplate | |||
| Foundation Pillar (x by y by z steel square tube/rod, t thickness) | 4 | Supporting frame between foundation plates(x by y by z steel square tube/rod, t thickness) | ||
| Foundation Pillar L-piece | 4 | Connector piece between foundation pillars and foundation overplate (x by y by z steel L-piece, t thickness) | ||
| Foundation Pillar Bolt | 16 | Fastener piece between foundation pillars and foundation overplate | ||
| Foundation Pillar Washer | 16 | Fastener piece between foundation pillars and foundation overplate | ||
| Foundation Pillar Nut | 16 | Fastener piece between foundation pillars and foundation overplate | ||
| Foundation Overplate | 1 | Mid-air mount for industrial robot (x by y by z steel plate, t thickness) | ||
| Baseplate | 1 | Frame for industrial robot on top of foundation overplate (x by y by z steel plate, t thickness) | ||
| Joint 1 Gearbox | 1 | Enables rotation of baseplate relative to foundation overplate and insertion of motor shaft for rotation control | ||
| Joint 1 Gearbox Bolt | 10? | Fastener piece | ||
| Joint 1 Gearbox Washer | 10? | Fastener piece | ||
| Joint 1 Gearbox Nut | 10? | Fastener piece | ||
| Joint 1 Motor Bolt | 4? | Fastener Piece | ||
| Joint 1 Motor Washer | 4? | Fastener Piece | ||
| Joint 1 Motor Nut | 4? | Fastener Piece | ||
| Baseplate L-piece | 2 | For mounting of joint 2 hydraulic motor | ||
| Baseplate L-piece Bolt | 6 | Fastener Piece | ||
| Baseplate L-piece Washer | 6 | Fastener Piece | ||
| Baseplate L-piece Nut | 6 | Fastener Piece | ||
| Joint 2 Hydraulic Motor Bolt | 4? | Fastener Piece | ||
| Joint 2 Hydraulic Motor Washer | 4? | Fastener Piece | ||
| Joint 2 Hydraulic Motor Nut | 4? | Fastener Piece | ||
| Joint 2 Gearbox | 1 | Enables tilting of main arm relative to baseplate and control through shaft | ||
| Joint 2 Gearbox Bolt | 10? | Fastener Piece | ||
| Joint 2 Gearbox Washer | 10? | Fastener Piece | ||
| Joint 2 Gearbox Nut | 10? | Fastener Piece | ||
| Main Arm | 1 | Frame piece from baseplate to elbow (x by y by z steel bar) | ||
| Joint 3 Gearbox | 1 | Enables tilting of forearm relative to main arm, and control through shaft | ||
| Joint 3 Gearbox Bolt | 10? | Fastener Piece | ||
| Joint 3 Gearbox Washer | 10? | Fastener Piece | ||
| Joint 3 Gearbox Nut | 10? | Fastener Piece | ||
| Joint 3 Hydraulic Motor Bolt | 4? | Fastener Piece | ||
| Joint 3 Hydraulic Motor Washer | 4? | Fastener Piece | ||
| Joint 3 Hydraulic Motor Nut | 4? | Fastener Piece | ||
| Forearm | 1 | Frame piece connecting elbow to wrist (x by y by z steel bar) | ||
| Forearm L-piece | 1 | For mounting of joint 4 hydraulic motor (x by y by z steel L-piece, t thickness) | ||
| Forearm L-piece Bolt | 4 | Fastener Piece | ||
| Forearm L-piece Washer | 4 | Fastener Piece | ||
| Forearm L-piece Nut | 4 | Fastener Piece | ||
| Joint 4 Hydraulic Motor Bolt | 4? | Fastener Piece | ||
| Joint 4 Hydraulic Motor Washer | 4? | Fastener Piece | ||
| Joint 4 Hydraulic Motor Nut | 4? | Fastener Piece | ||
| Joint 4 Gearbox | 1 | Enables rotation of wrist relative to forearm and control through shaft | ||
| Joint 4 Gearbox Bolt | 10? | Fastener Piece | ||
| Joint 4 Gearbox Washer | 10? | Fastener Piece | ||
| Joint 4 Gearbox Nut | 10? | Fastener Piece | ||
| Wrist L-piece | 1 | For mounting of joint 5 hydraulic motor | ||
| Joint 5 Hydraulic Motor Bolt | 4? | Fastener piece | ||
| Joint 5 Hydraulic Motor Washer | 4? | Fastener piece | ||
| Joint 5 Hydraulic Motor Nut | 4? | Fastener Piece | ||
| Joint 5 Gearbox | 1 | Enables tilting of wrist relative to forearm and control through shaft | ||
| Joint 5 Gearbox Bolt | 10? | Fastener Piece | ||
| Joint 5 Gearbox Washer | 10? | Fastener Piece | ||
| Joint 5 Gearbox Nut | 10? | Fastener Piece | ||
| Wrist Plate | 1 | Frame piece connecting Joint 5 L-piece to Joint 6 L-piece (x by y by z steel bar) | ||
| Joint 6 L-piece | 1 | For mounting of joint 6 hydraulic motor (x by y by z L-piece, t thickness) | ||
| Joint 6 L-piece Bolt | 4 | Fastener Piece | ||
| Joint 6 L-piece Washer | 4 | Fastener Piece | ||
| Joint 6 L-piece Washer | Fastener Piece | |||
| Joint 6 L-piece Nut | Fastener Piece | |||
| Joint 6 Hydraulic Motor Bolt | 4? | Fastener Piece | ||
| Joint 6 Hydraulic Motor Washer | 4? | Fastener Piece | ||
| Joint 6 Hydraulic Motor Nut | 4? | Fastener Piece | ||
| Joint 6 Gearbox connector | 1 | Enables rotation of end effector relative to wrist and control through shaft | ||
| Joint 6 Gearbox Bolt | 10? | Fastener Piece | ||
| Joint 6 Gearbox Washer | 10? | Fastener Piece | ||
| Joint 6 Gearbox washer | 10? | Fastener Piece | ||
| Joint 6 Gearbox nut | 10? | Fastener Piece | ||
| Powercube | 1? | As prime mover-connected pump for hydraulic system | ||
| Hydraulic tank | 1 | As reservoir for hydraulic system | ||
| Pump to Tank Tubing | 1 | Hydraulic connector (x max pressure, y length, z dia) | ||
| Primary 4-way Pipe | 1 | For tubing connection to: Pump, Secondary 4-way Pipe, Tertiary 4-way Pipe, Pressure Relief Valve | ||
| Pump to Primary 4-way Pipe Tubing | 1 | Hydraulic connector (x max pressure, y length, z dia) | ||
| Pressure Relief Valve | 1 | For maintaining continuity of flow when flow to all hydralic motors are cut | ||
| Primary 4-way Pipe to Pressure Relief Valve Tubing | 1 | Hydraulic connector (x max pressure, y length, z dia) | ||
| Pressure Relief Valve to Tank Tubing | 1 | Hydraulic connector (x max pressure, y length, z dia) | ||
| Secondary 4-way Pipe | 1 | For tubing connection to: Primary 4-way Pipe, Joint 1 Needle Valve, Joint 2 Needle Valve, Joint 3 Needle Valve | ||
| Primary 4-way Pipe to Secondary 4-way Pipe Tubing | 1 | Hydraulic connector (x pressure, y length, z dia) | ||
| Tertiary 4-way Pipe | 1 | For tubing connection to: Primary 4-way Pipe, Joint 4 Needle Valve, Joint 5 Needle Valve, Joint 6 Needle Valve | ||
| Primary 4-way Pipe to Tertiary 4-way Pipe Tubing | 1 | Hydraulic connector (x pressure, y length, z dia) | ||
| Joint 1 Needle Valve | 1 | Flow control for joint 1 hydraulic motor | 40-60 | |
| Joint 2 Needle Valve | 1 | Flow control for joint 2 hydraulic motor | 40-60 | |
| Joint 3 Needle Valve | 1 | Flow control for joint 3 hydraulic motor | 40-60 | |
| Secondary 4-way pipe to Joint 1 Needle Valve Tubing | 1 | Hydraulic Connector | ||
| Secondary 4-way pipe to Joint 2 Needle Valve Tubing | 1 | Hydraulic Connector | ||
| Secondary 4-way pipe to Joint 3 Needle Valve Tubing | 1 | Hydraulic Connector | ||
| Joint 4 Needle Valve | 1 | Flow control for joint 4 hydraulic motor | ||
| Joint 5 Needle Valve | 1 | Flow control for joint 5 hydraulic motor | ||
| Joint 6 Needle Valve | 1 | Flow control for joint 6 hydraulic motor | ||
| Tertiary 4-way Pipe to Joint 4 Needle Valve Tubing | 1 | Hydraulic Connector | ||
| Tertiary 4-way Pipe to Joint 5 Needle Valve Tubing | 1 | Hydraulic Connector | ||
| Tertiary 4-way Pipe to Joint 6 Needle Valve Tubing | 1 | Hydraulic Connector | ||
| Joint 1 Solenoid Valve | 1 | 2?-position directional control for joint 1 hydraulic motor | ||
| Joint 2 Solenoid Valve | 1 | 2?-position directional control for joint 2 hydraulic motor | ||
| Joint 3 Solenoid Valve | 1 | 2?-position directional control for joint 3 hydraulic motor | ||
| Joint 4 Solenoid Valve | 1 | 2?-position directional control for joint 4 hydraulic motor | ||
| Joint 5 Solenoid Valve | 1 | 2?-position directional control for joint 5 hydraulic motor | ||
| Joint 6 Solenoid Valve | 1 | 2?-position directional control for joint 6 hydraulic motor | ||
| Joint 1 Needle Valve to Solenoid Valve Tubing | 1 | Hydraulic connector | ||
| Joint 2 Needle Valve to Solenoid Valve Tubing | 1 | Hydraulic connector | ||
| Joint 3 Needle Valve to Solenoid Valve Tubing | 1 | Hydraulic connector | ||
| Joint 4 Needle Valve to Solenoid Valve Tubing | 1 | Hydraulic connector | ||
| Joint 5 Needle Valve to Solenoid Valve Tubing | 1 | Hydraulic connector | ||
| Joint 6 Needle Valve to Solenoid Valve Tubing | 1 | Hydraulic connector | ||
| Joint 1 Solenoid Valve to Tank Tubing | 1 | Hydraulic Connector | ||
| Joint 2 Solenoid Valve to Tank Tubing | 1 | Hydraulic Connector | ||
| Joint 3 Solenoid Valve to Tank Tubing | 1 | Hydraulic Connector | ||
| Joint 4 Solenoid Valve to Tank Tubing | 1 | Hydraulic Connector | ||
| Joint 5 Solenoid Valve to Tank Tubing | 1 | Hydraulic Connector | ||
| Joint 6 Solenoid Valve to Tank Tubing | 1 | Hydraulic Connector | ||
| Joint 1 Solenoid Valve to Hydraulic Motor Tubing | 2 | Hydraulic Connector | ||
| Joint 2 Solenoid Valve to Hydraulic Motor Tubing | 2 | Hydraulic Connector | ||
| Joint 3 Solenoid Valve to Hydraulic Motor Tubing | 2 | Hydraulic Connector | ||
| Joint 4 Solenoid Valve to Hydraulic Motor Tubing | 2 | Hydraulic Connector | ||
| Joint 5 Solenoid Valve to Hydraulic Motor Tubing | 2 | Hydraulic Connector | ||
| Joint 6 Solenoid Valve to Hydraulic Motor Tubing | 2 | Hydraulic Connector | ||
| DC Power Supply | 1 | To power microcontroller, stepper motor drivers, solenoid drivers | ||
| Power Supply to Microcontroller Wires | Electric Connector | |||
| Power Supply to Stepper Motor Driver Wires | Electric Connector for 6 channels | |||
| Power Supply to Solenoid Driver Wires | Electric Connector for 6 channels | |||
| Microcontroller | 1 | To receive computer signals and shaft encoder signals; to command stepper motor drivers and solenoid drivers | 50-100? | |
| Stepper Motor Driver | (6 channels total) | To receive microcontroller signals and give electric current to stepper motors for joint 1-6 needle valves | 50? total | |
| Microcontroller to Stepper Motor Driver Wires | Electric Connector for 6 channels | |||
| Stepper Motor | 6 | To allow electric operation of joint 1-6 needle valves | ||
| Stepper Motor Driver to Stepper Motor Wires | Electric Connector for 6 Motors | |||
| Stepper Motor Bracket and Fasteners | 6 | To rigidly connect joint 1-6 stepper motors and needle valves as 6 pairs | ||
| Solenoid Driver | (6 channels) | To receive microcontroller signals and give electric current to joint 1-6 solenoid valves | ||
| Shaft Encoder | 6 | To measure speed of joint 1-6 hydraulic motor shaft rotation | ||
| Microcontroller to Shaft Encoder Wires | Electric Connector for 6 Shaft Encoders |