赫库利托机器人臂的基座系统轨道线

3D printed parts:

• 2x 20x20-clips
• 4x 20x20-endcap
• 4x 20x20-foot
• 2x 20x20-spacer
• 1x belt-holder
• 1x carriage-cover
• 1x carriage
• 1x chain-center
• 1x chain-corner
• 1x chain-holder
• 1x controlBox-bottom
• 1x controlBox-reset
• 1x controlBox-top
• 1x display-bottom
• 1x display-mount
• 1x display-top
• 1x endstop-rot
• 1x endstop-track
• 1x fan-grill
• 1x fixring-large
• 1x fixring-small
• 1x ledDiffusor-end
• 1x ledDiffusor-mid
• 2x ledDiffusor-mount
• 1x pulley-mount
• 1x rotor
• 1x stepper-mount

Screws, nuts ans washers

• 1x ISO4762 M6x25 screw
• 8x ISO4762 M5x10 screws
• 8x ISO4762 M5x8 screws
• 8x ISO7380-2 M4x8 screws
• 1x ISO4762 M3x30 screws
• 2x ISO10642 M3x25 screws
• 4x ISO4762 M3x22 screws
• 2x ISO4762 M3x20 screws
• 6x ISO4762 M3x12 screws
• 8x ISO4762 M3x10 screws
• 14x ISO4762 M3x8 screws
• 2x ISO10642 M3x8 screws
• 6x ISO4762 M2.5x25 screws
• 3x ISO4762 M2.5x8 screws
• 4x ISO4762 M2.5x6 screws
• 4x ISO7380-1 M2x12 screws (AliExpress)
• 4x ISO7380-1 M2x4 screws (AliExpress)
• 6x ISO10511 M6 nuts
• 3x ISO10511 M2.5 nuts
• 4x ISO4033 M2 nuts
• 1x ISO10511 M5 nuts
• 5x ISO10511 M3 nuts
• 4x ISO4033 M3 nuts
• 8x M5 Hammer Nut 6 nuts
• 8x M4 Hammer Nut 6 nuts
• 4x M3 Hammer Nut 6 nuts
• 6x ISO7090 M3 washer

It should be easy to get these screws, nuts and washers from a local dealer. Otherwise you can try schraubenkasten.de.

Misc Items

• 1x 6810 ZZ Bearing (AliExpress)
• 2x Stepper 17HS19-2004S1 (eBay)
• 2x 2GT Pulley 20 teeth bore 5mm belt width 6mm (AliExpress)
• 1x GT2 Idler Timing Pulley 20 Tooth- 20T W6 B3 with T (AliExpress)
• 1x Belt GT2 / 2M 266 width 6mm, 266-2GT-6 (eBay)
• 1x 1 meter Belt GT2 6 mm 1000 mm (AliExpress)
• 1x Slip ring 24 channels 2A (AliExpress)
• 4x 2020 corner fitting angle (AliExpress)
• 2x 500 mm 2020 Aluminum Profile Nut 6 black (AliExpress)
• 2x 160 mm 2020 Aluminum Profile Nut 6 black (AliExpress)
• 4x Rod holder 8mm (AliExpress)
• 2x Stainless Steel Rod 8 mm x 500 mm (AliExpress)
• 6x LMUU8 Linear Bearing (AliExpress)
• 1x Micro Limit Switch 13.5 mm (AliExpress)
• 1x Mini Micro Limit Switch (AliExpress)
• 1 meter drag chain open 10x20mm 7x7/10x13/18 mm (eBay)
• 0.5 meter WS2812B-60leds/m (AliExpress)
• 0.5 meter U-profile 12.6 x 9.8 x 1.5 mm (Hardware store)
• 4 rubber pads (eBay)

Fix the 4 rod holders to the 160 mm 2020 profile using 8 ISO4762 M5x10 screws and 8 M5 hammer nuts.

Fix the 4 2020 corner fitting angles loosely to the 500 mm 2020 profile using 4 ISO4762 M5x8 screws.

Connect the 160 mm 2020 profiles to the 500mm 2020 profiles using 2020 corner fitting angles and 4 additional ISO4762 M5x8 screws. Keep some free space, so that you can later add 20x20-endcap parts to the edges. Fix the 4 rod holders to the 2020 profiles as shown in the pictures.

3D Parts used:

• 4x 20x20-foot

Insert 4 ISO4762 M3x8 screws into the 4 20x20-foot parts and fix then using 4 M3 hammer nuts.

Add rubber pads to 20x20-foot parts and make a small hole in the center of the pads so that you can later access the screws.

3D Parts used:

• 4x 20x20-endcap

Insert 4 20x20-endcap parts into the 2020 profiles as shown in the picture.

3D Parts used:

• 1x carriage

Insert 2 LMUU8 linear bearings from one side into the carriage part. Pay attention to align the balls vertically.

Push the bearings down into the carriage part as shown.

Insert another pair of LMUU8 linear bearings. Change the orientation of the bearings by 45 degrees compared to the first set of bearings and then push them the carriage part completely.

Insert additional 2 LMUU8 linear bearings into the carriage part. Pay attention to align the balls again vertically. The should have the same orientation as the first pair of bearings.

And push them down completely into the carriage part.

The result should like shown in the picture.

Insert one stainless steel rod into one rod holder.

Put the carriage on the rod. The carriage should be very easy to move otherwise the bearings are not well aligned.

Insert the second rod into the carriage. Check that the carriage can still move easily. Now align the lower rod with the profile and fix all screes on the lower left rod holder. Then fix all screws on the lower right rod holder. Again check, if the carriage moves easy. Move the carriage to the left and then fix all screws on the upper left rod holder. Move the carriage now to the right and then fix all screws on the upper right rod holder.

Finally check, if you can move the carriage easily. If not, adjust the screws of the rod holder until the carriage can move freely.

Insert the 6810 bearing into the carriage part.

3D Parts used:

• 1x fixring-large
• 1x rotor

Fix the bearing using the fixring-large part and 6 ISO4762 M3x12 screws. Then insert the rotor into the bearing.

3D Parts used:

• 1x fixring-small

Fix the slip ring to the fixring-small part using 3 ISO4762 M2.5x8 screws and 3 ISO10511 M2.5 nuts.

Fix the fixring-small to the rotor using 6 ISO4762 M3x10 screws.

Fix one stepper motor loosely to the carriage using 4 ISO4762 M3x8 screws and 4ISO7090 M3 washers.

Fix the pulley loosely to the stepper. Add the belt 266-2GT-6. Now push the stepper away from the rotor to put tension on the belt. Then fix the 4 screws on the stepper. Check that the rotor can turn freely. Then fix the screws on the pulley.

3D Parts used:

• 1x pulley-mount

Fix the idler timing pulley to pulley-mount part using 1 ISO4762 M6x25 screw and 1 ISO10511 M6 nut.

The picture shows how M4 hammer nut are fixed using 1 ISO7380-2 M4x8 screw.

First insert 1 M4 hammer nut into the 2020 profile and align it. Then place the pulley-mount
part over it, so that it keeps the hammer nut in place. Then you can fix the whole thing using 1 ISO7380-2 M4x8 screw.

3D Parts used:

• 1x stepper-mount

Fix 1 stepper motor to the stepper-mount part using 4 ISO4762 M3x8 screws.

Add 1 pulley to the stepper motor and fix it to the 2020 profile using 2 ISO7380-2 M4x8 screws and 2 M4 hammer nuts.

3D Parts used:

• 1x belt-holder

Fix the belt-holder part on the carriage part using 2 ISO4762 M3x10 screws.

Insert one side of the 1 meter GT2 belt as shown in the picture.

Insert the other side of the GT2 belt as shown. Pay attention that there is enough tension on the GT2 belt.

3D Parts used:

• 1x endstop-track

Fix the small limit switch to the endstop-track part using 2 ISO7380-1 M2x12 screws and ISO4033 M2 nuts. Insert 2 cables into the endstop-track part and solder it to the NC and COM contacts of the limit switch.

Fix the endstop-track to the 2020 profile using1 ISO7380-2 M4x8 screws and 1 M4 hammer nut as shown.

3D Parts used:

• 2x 20x20-clips

Place the cables inside the 2020 profile and fix it using 2 20x20-clips part clips.

3D Parts used:

• 1x controlBox-top
• 2x 20x20-spacer
• 2x 20x20-clips

Fix the controlBox-top on the 2020 profile using 2 20x20-spacer parts, 2 M4 hammer nuts and 2 ISO7380-2 M4x8 screws. And place the cables inside the 2020 profile and fix it using 20x20-clips part clips.

Use a M3 screw to draw 4 ISO4033 M3 nuts into the prepared holes in the rotor. The M3 nuts should stay inside. Otherwise use some glue to fix them in those places.

Solder 6x2P female connectors to the cables. Take a look at Bottom1Connector.pdf and Bottom2Connector.pdf for a proposal how to connect them.

Turn the track line around and locate these two holes.

3D Parts used:

• 1x endstop-rot

The larger limit switch to the endstop-rot part using 2 ISO7380-1 M2x12 screws and 2 SO4033 M2 nuts. Solder cables to the COM and the NC contacts.

Fix the endstop-rot part to the carriage using 2 ISO4762 M3x8 screws.

Protect the cables using heat shrink tubes and fix them using cable ties.

Arrange the cables as shown in the pictures.

Use cable ties to fix them.

3D Parts used:

• 1x carriage-cover

Fix the carriage-cover to the carriage using 2 ISO4762 M3x20 screws. Arrange the cables as shown.

3D Parts used:

• 1x chain-corner

Add the chain-corner part to the drag chain.

3D Parts used:

• 1x chain-holder

Fix the chain-holder part on the 2020 pofile using 1 ISO7380-2 M4x8 screw and 1 M4 hammer nut.

Feed the cables through the chain-corner part.

Plug the chain-corner part into the carriage-cover part.

Extend all cables that are too short for the drag chain. It is important to stagger the connections, because the cable channel is too small to keep all connections at the same location. Please also refer to the following picture.

Feed all cables through the chain-holder part into the controlBox-top part.

Solder cables to the beginning of the WS2812B chain.

3D Parts used:

• 1x ledDiffusor-end

Glue the WS2812B chain to the U-profile and feed the cables through a small hole at the side. Remove a bit material from the ledDiffusor-end part where the cables will go.

3D Parts used:

• 1x ledDiffusor-end
• 1x ledDiffusor-mid

Glue 2 ledDiffusor-end and 1 ledDiffusor-mid part to the U-profile as shown. Protect the cables using heat shrink tubes.

3D Parts used:

• ledDiffusor-mount

Glue 2 ledDiffusor-mount to the U-profile as shown.

Fix the ledDiffusor-mount parts to the 2020 profile using 2 ISO7380-2 M4x8 screws and 2 M4 hammer nuts.

3D Parts used:

• 8x 20x20-clips

Feed the led cable through the 2020 profile as shown and fix them using 8 20x20-clips clips.

3D Parts used:

• 1x display-top

Glue the breadboard to the display-top part. Fix the display using 4 ISO7380-1 M2x4 screws. Solder cables to the display as described in the electronic guide. Add heat shrink tubes to the cables to protect them.

3D Parts used:

• 1x display-bottom

Fix the display-bottom part to the display-part using ISO4762 M2.5x6 screws.

3D Parts used:

• 1x display-mount

Fix the display-mount part to the display-bottom part using 1 ISO4762 M3x30 screw, 2 ISO7090 M3 washers and 1 ISO10511 M3 nut.

Fix the display-mount part to 2020 profile using 1 ISO7380-2 M4x8 screw and 1 M4 hammer nut.

Align the cables as show. Pay attention to the free movement of the carriage.

3D Parts used:

• 1x controlBox-bottom
• 1x fan-grill
• 1x controlBox-reset

Fix the fan and the fan-grill part to the controlBox-bottom part using 2 ISO10642 M3x25, 2 ISO10642 M3x8 and ISO10511 M3 nuts.

Fix the controlBox-bottom part to the controlBox-top part using 6 ISO4762 M2.5x25 screws.

Connect the 2 track line connectors with the herculito connectors. Fix the herculito robot arm to the track line using 4 ISO4762 M3x22 screws.