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Revision as of 08:45, 9 November 2011

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AMIGO: Head | Upper Body | Arms | Torso | Base

Contents 1 Part Summary 2 Overview 3 Lifting Mechanism 4 Connection of the lifting mechanism to the rest of the frame

Part Summary

Lifting mechanism info.

• Author: Tech United
• Repository: Link
• Software: www.ros.org

Overview

Lifting Mechanism

Amigo’s upper body is lifted by a ball screw spindle mechanism. An exploded view of this mechanism is depicted in Figure 1. One end of the spindle (6) is supported by an axial support (8) and the other end by a deep groove roller bearing (1). A teflon ring is placed around the bearing to reduce the friction between the bearing and the tube it slides through. The outer shape of the nut (4) is adjusted by bolting an extra connector (2) to it. 4 M4 bolts (5) are used for this. The tube is connected to this connector with 6 M4 set screws. The connector is a milled aluminum part. The tube is a standard aluminum tube from MCB with and outer diameter of 50 mm and a wall thickness of 1.5 mm. The axial support is bolted to the motor_spindle support (12) with 4 M4 (11) bolts. This support is a milled aluminum part. Also the motor assembly (7) is bolted to this support with 4 M3 counter sunk bolts (9). The power from the motor is transferred to the spindle via a tooth belt drive train. 6 M4 bolts (13) are used to connect the whole assembly to the rest of Amigo. This connection is explained in more detail in the next chapter. The mechanism has a stroke of 435 mm.

Connection of the lifting mechanism to the rest of the frame

Figure 2 shows the connection between the lifting mechanism and the rest of the frame. The connection is made by an aluminum tube (1) with two flanges. The tube is a standard MCB part. It has an outer diameter of 70 mm and a wall thickness of 1.5 mm. The flanges are 2 mm thick and are welded to the tube. A hole is made in the tube to access the components inside. The hole is covered by a cover plate (2) that is bolted to the tube. Figure 3 shows a cross section view of the connection. The tube (1) and cover (2) can be recognized in this Figure. Figure 3 shows that the tube is centered on the motor_spindle_support and on the tube of the central box (3). To center the connecting tube on the tube of the central box an extra body (4) is used, which is also made out of aluminum. The tube (3) is four millimeter longer than the height of the central box. The extra body (4) is centered on this extra part of the tube. The flange of the connecting tube (1) is centered on the extra body. The connecting tube and the tube of the central box do not touch each other. This ensures a good alignment of the spindle with respect to the central box. Both parts are bolted to the central box with 8 M4 bolts.