Industrial Robot/Manufacturing Instructions

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Open Section Fabrication and Assembly

Structure

Foundation

• [2] Main tubes

• [2] Support tubes

• [4] Raising Bars

• • Drill 3 holes in each bar (redone image TBD)

Media:Pillar.jpg

• [1] Plate

• • Drill 13 holes (redone image)

Media:IROverplate.jpg

Fasteners

• [12] Bar Bolts

• [4] Ground Bolts

• [4] Plate Bolts

Main Arm

• [1] Bar
  • Drill 18 holes

Media:MainArm.jpg

• [8] Bolts

• [8] Bolts

Forearm

• Perpendicular Plate
  • Drill 9 holes
  • Weld to tube

Media:ForearmPlate.jpg

• Tube

• Parallel Plate
  • Drill 9 holes
  • Weld to tube

Media:ForearmBar.jpg

• [8] Bolts

• [8] Bolts

Gearbox 1,2

• [2] Hydraulic Motor

• [1] Angle
  • Mark hole centers with a scriber, rule, nipple punch (for torch holes), and center punch (for drill holes)
  • Mark torch holes with a divider
  • Drill holes with 1/2" bit
  • Torch holes
  • Smooth with a file

Media:BaseAngle.jpg

• [2] Input Plate
  • Drill
  • Note: Location of mounting holes for hydraulic motor unknown

Media:IRGearbox12InputPlate.jpg

• [4] Side Plate
  • Drill

Media:IRGearbox12SidePlate.jpg

• [2] Cover Plates
  • Drill

Media:IRGearbox12CoverPlate.jpg

• [4] Outer Race Plate
  • Torch
  • Drill

Media:IRGearbox12OuterRacePlate.jpg

• [2] Round Bar
  • Grind
  • Drill
  • Tap

Media:IRGearbox12OutputShaft.jpg

• [4] Inner Race
  • Turn
  • Drill

Media:IRGearbox12InnerRace.jpg

• [2] Output Hub
  • Turn
  • Drill
  • Broach

Media:IRGearbox12OutputHub.jpg

• [2] Support Hub
  • Turn
  • Drill
  • Broach

Media:IRGearbox12SupportHub.jpg

• [1] Loose Ball Bearings

• [12] Side Plate Bolts

• [12] Side Plate Nuts

• [4] Cover Plate Bolts

• [4] Cover Plate Nuts

• [4] O-ring Seal

• [4] Output Shaft Bolts

• [4] Lube Bolts

• [2] Input Gear

• [2] Output Gear

• [2] Key

Gearbox 3,4

Forearm Angle

• As shown below

Media:ForearmAngle.jpg

Wrist Angle

• As shown below

Media:WristAngle.jpg

Gearbox 3,4,5,6 Input Plate

Media:IRGearbox3456InputPlate.jpg

• Note: Location of mounting holes for hydraulic motor unknown

Gearbox 3,4,5,6 Side Plate

Media:IRGearbox3456SidePlate.jpg

Gearbox 3,4,5,6 Cover Plates

Gearbox 3,4,5,6 Outer Race Plate

Gearbox 3,4,5,6 Output Hub

Media:IRGearbox3456OutputHub.jpg

Gearbox 3,4,5,6 Output Shaft

Media:IRGearbox3456OutputShaft.jpg

• Keyed

Gearbox 3,4,5,6 Inner Race

Media:IRGearbox3456InnerRace.jpg

Encoder Mount

Encoder Mount Support Angle

Media:IREncoderMountAngleA.jpg

Encoder Mount Main Angle

Encoder Mount Coupling

Stepper Mount

Stepper Motor Mount Angle

Stepper Motor Mount Plate

Shaft Bar

• As shown below, repeat for a total of 6 bars

Assemble Components

Assemble Gearboxes

Assemble Industrial Robot

• As shown below

Assemble Stepper Motor Mount

• As shown below, repeat for a total of 6 mounts

Connect Components

Hydraulic Connections

• 2 Axes Hydraulic Circuit

• Hydraulic Circuit

Electronic Connections

• As shown below