Arne: /* Disassemble */

2009-07-29T13:59:47Z

Disassemble

Rogrady at 12:51, 1 February 2006

2006-02-01T12:51:38Z

Rogrady at 12:51, 1 February 2006

2006-02-01T12:51:09Z

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==Disassemble==

# Remove camera tower and microphone circuit board (c.b.)
# Remove camera board
#* Detatch 4 top screws
#* Detatch antenna and gripper motor from underside
# Remove Black Plastic Ring, LED Ring and LED Ring c.b.
#* Remove 4 recessed screws
#* Remove LED ring and LED c.b.
#* Hang black ring over gripper (comes off after remove gripper motor)
# Remove gripper motor.
#* Remove two lateral screws holding gripper motor.
#* Careful not to drop inside sbot (hold with tweezers)
#* Stash seperate gripper motion limiter metal piece
#* Remove black plastic ring
# Remove Wireless chip c.b.
#* Two top screws
# Remove 7 connectors c.b.
#* Remove hex tower bolts (long body short thread)
#* Detatch connecters
# Remove gripper
#* Remove lateral screws at top of vertical c.b.
#* Watch out for washers between vertical c.b. and black plastic of gripper hood - don't drop these into sbot.
#* Remove two recessed screws in gripper black plastic
# Remove infra red (i.r.) c.b. and vertical c.b.
#* Unscrew lateral screws in black gripper holding platic.
#* Remove 2 cogs (for gripper arm and rotation)
#* Remove vertical hex tower bolts (horizontal ones stay attached to vertical c.b.)
#* Gently bend i.r. sensors inwards.
#* Remove i.r. c.b. and vertical c.b. together
# Remove round c.b.
#* Remove 4 upward facing screws
#* Detatch 4 connectors (smallest first)
#* Detach connector on underside.
# Remove Rotating body of sbot (black and yellow plastic ensemble)
# Remove 2 large outer wheels
#* Remove horseshoe pinch clips from large outer wheels.
#* Remove washer
# Remove remaining 4 wheels and tracks
#* Remove horseshoe clips x 2
#* Remove counter weight (double) nuts x2 - need bent spanner
# Pull apart body of sbot base
#* Remove 4 width ways lateral screws
#* Remove 2 of 4 length ways lateral screws that hold motors (screw into metal plate)
#** Remove 2 that are next to non-moving axle (diagonally opposite)
# Remove battery

==Remount==

===Make Battery===
# Check levels of both batteries with voltmeter (>3v OK)
# Putt 1st batt on tape, cut round leaving 1mm on 3 sides - not side with +ve terminal
# Put second batt on new bit of tape. Put 1st batt on second batt with insulating in between (+ and - at opposite ends)
# Soldering iron at 400 C, wet sponge
# Put flux product (acidy stuff) on battery.
# Burn solder through flux onto left of +ve terminal, and side of of other batt. Max 5s or burn batt.
# Cut 30cm blue, yellow, brown wire. Expose 4mm,4mm,10mm respectively. Tin exposed wire
# Attach blue and yellow to +ve and side. Attach brown across back poles.
#* Blue and brown need to be flat (thickness of wire) or sbot will not close
# Clean acidy stuff with alcohol (c.b. cleaning fluid).

===Base===

*NB - Don't overscrew anything - can destroy thread easily.

# Attach i.r. c.b. to one side of base. (Snip black plastic cylinder that go thro' c.b. if new base).
# Attach pure white cog larger hole to right of pure gold cog.
#* Grease thicker spindle
#* Slot through pure white cog
# Attach white and gold cog
#* Grease thin spindle and put it in thin hole
#* Slide cog over spindle and push into place (gold down)
# Insert batter into side with i.r. c.b.'s
#* Blue and yellow wires on either side of flat wiring connecting c.b.s
# Slide two halves together
#* Battery wires round side of battery (inc brown) and up thro' middle behind motor.
#* Push little at a time and help where needed (c.b.'s i.r. sensors)
#* Check fit is flush (no wires caught, battery soldering ok)
# Screw in 4 lateral screws.
# Screw in motor screws into metal plate
#* Unscrew a little other screw going into same metal plate
#* Attach 'alimentation' machine - 2v pins 1,2. Both dirns (reverse voltage). Jiggle metal plate to get min amps, min noise. Screw in.

===Wheels===
# Grease non moving axle.
# Slide on two basic wheels and main track at the same time
#* Thicker wheel has indentations for the rod piercing the moving axle.
#* Thinner wheel goes deeper side towards sbot.
# Put one horseshoe grip clip on non moving axle
#* Put on washer and grease washer before clip
#* Clip should still allow little bit of play for wheel.
# Put on two nuts onto moving axle
#* First nut not too tight - still allows little bit of play
#* Second nut fastens tight against first nut - use bent spanner to hold first nut.
# Put on secondary track followed by big central wheel
#* Grease axle
#* Lever track onto central wheel.
#* Put on washer. Grease. Put on grip clip. Allow play.
# Check motors again. 2-8v Both dirns.

===Body===
# Check main body piece (black and yellow platic rotating relative to each other)
#* Rotation
#* Check carefully none of the 'golets' (round whitish plastic pieces on which yellow plastic rotates) have popped out or are displaced.
#* Check the wire connections of the traction sensors.
#* Clean body if necessary
# Put in small round c.b.
#* Pass through motor and traction sensor connectors
#* Attach track force sensors on underside
#* Attach traction sensor connector
#* Attach two motor connectors.
#* Put in screws (4x 12mm conical head) - check carefull first that none of the wires are being pinched between c.b. and screw holders by rotating little left little right while applying downward pressure.
#* Check none of the traction sensor wires are overly taught.
# Put in black cogs
#* Clean with alcahol and ultrasound
#* Grease axle
#* Back to back, short one first
# Put fourth connector onto round c.b.
#* NB Must connect so that wires emerge from bottom of connecter.
# Attach i.r. c.b. and vert c.b.
#* Slide connector and batt wires thro' i.r. c.b.
#* Slide vert c.b. (with motors facing into sbot) onto i.r. c.b.
#* Push it all in together. Must rest well on turret rotators and in vert c.b. slots.
#* Screw in hex tower bolts (long body short thread). DON'T overscrew
#* Push i.r. sensors gently back into place
#* Check very carefully that non of the i.r. sensors are broken - can just be a hairline crack in connector.
#* Put in external lateral grip screws that screw into hex tower bolts on vert c.b. 2 x 12mm conical head
# Put in c.b. with 7 connectors
#* Pass thro' batt wire and connector
#* Screw in long body short thread hex bolts
#* Attach connectors (motor connectors are symmetric)
#* Attach battery connector
#** If new battery, make connector - blue pin 1, yellow pin 4.
#** Leave 2cm extra for rotation. Don't short circuit when pressing connector - insulate gripper.
# Put gripper on
#* Grease plastic depression where pivots
#* Put gripper underneath, then lever into place
#* Attach connectors - one with green wire nearest gripper.
# Put on gripper hood (seperate bit of black plastic)
#* Place washer(s) on spindle
#* Put wires in trench
#* Brass tube in middle of gripper - may need to adjust
#* Should be only a tiny gap between hood and rest of gripper at front. May be rectangular spacers here.
#* Put in vertical screws through gripper from top (12mm conical head)
#* Check spindle has a little bit of play - too much = add washer, too little = remove washer
#* Grease spindle hole (top of spindle) and spindle thread
#* Put in lateral screws through top of vert c.b. 2 x 8mm conical head
#** Washers between vert c.b. and gripper hood (fiddly)
#* Test rotation motor (right, pins 1,2) and elevation motor (left, pins 1,6) with alimentation at 5v
# Put in wireless lan c.b.
#* Push wires (batt and connector back into hole of previous c.b.) to create space
#* Batt wires pass just to right of gripper behind vert c.b.
#* Push in c.b. by feel - check no wires underneath are pinched, often needs rearrangement
#* Screw in 2x 5mm cylinder head screws
# Attach gripper motor
#* NB Thread motor wire thro' black plastic ring first (this screws in later)
#* NB Put in movement limiter - pin goes into missing segment, not hole. If very unwound, can put into wrong bit of segment. Check limiting further anti-clockwise movement.
#* 5mm cylinder head screws
#* Check movement limiter not blocked.
# Put in crescent moon c.b. and LED ring
#* Connect connector of LED ring
# Put on black plastic ring
#* 4x 12mm cone head screws. Sometimes have to jiggle to find holes. Screw in gradually, like car tyre.
#* NB Don't over tighten screws
# If not already there, attach two short body long thread hex tower bolts where flex arm used to go on camera c.b.
# Put in camera c.b.
#* NB Attach underside wireless LAN antenna wire and connector.
#* On off switch towards front left.
#* Battery wires thro' frontside rectangle
#* Surface c.b. flush with black ring
#* Screw in 4x 5mm cylinder head screws
# Screw in recharger c.b.
#* Pass wireless antenna through hole.
# Put on microphone c.b.
#* Remove old charger connector first if not already done. (Solder 2pins at a time and yank gently)
# Attach battery to recharger c.b.
#* Make connector if not already done - blue pin 1, brown pin 2, yellow pin 4
#** NB Cut wires one at a time otherwise SHORT CIRCUIT.
# Go grab a beer.

← Older revision		Revision as of 12:51, 1 February 2006
Line 47:		Line 47:


−	==~~Remount~~==	+	==Reassemble==

	===Make Battery===		===Make Battery===

@@ Line 21: / Line 21: @@
 # Remove gripper
 #* Remove lateral screws at top of vertical c.b.
-#* Watch out for washers between vertical c.b. and black plastic of gripper hood - don't drop these into sbot.
+#* Watch out for washers between vertical c.b. and black plastic of gripper hood - don't drop these into sbot. (very often these washer are not there anymore)
 #* Remove two recessed screws in gripper black plastic
 # Remove infra red (i.r.) c.b. and vertical c.b.
@@ Line 27: / Line 27: @@
 #* Remove 2 cogs (for gripper arm and rotation)
 #* Remove vertical hex tower bolts (horizontal ones stay attached to vertical c.b.)
-#* Gently bend i.r. sensors inwards.
+#* Gently bend i.r. sensors inwards. (this is a shit step)
 #* Remove i.r. c.b. and vertical c.b. together
 # Remove round c.b.
 #* Remove 4 upward facing screws
-#* Detatch 4 connectors (smallest first)
+#* Detatch 4 connectors (smallest first, label them!)
 #* Detach connector on underside.
 # Remove Rotating body of sbot (black and yellow plastic ensemble)
@@ Line 45: / Line 45: @@
 #** Remove 2 that are next to non-moving axle (diagonally opposite)
 # Remove battery
 ==Reassemble==

SBot Disassembly and Reassembly HOWTO - Revision history

Arne: /* Disassemble */

Rogrady at 12:51, 1 February 2006

Rogrady at 12:51, 1 February 2006