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RBTNK-DOC-

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161020

 

Hardware Manual. 
RB-1 Modular Mobile Manipulator

 

2.4.3 Protection circuit module 

 

Figure 23– Protection circuit module

 

24V BMS 8CELLS 30A 

 

Item 

8 series balancing guard shield 

Over charge protection (V) 

3.95±0.025 

Over charge recovery (V) 

3.80±0.05 

Over discharge voltage (V) 

2.2±0.1 

Over discharge recovery (V) 

Cut load or charge 

Normal working current (A) 

30 

Over current protection (A) 

60 

Internal resistance (m/ohm) 

<30 

Charging balancing current (mA) 

60 

Charging balancing voltage (V) 

3.63±0.03 

Over charge postpone time (mS) 

1.2 

Over discharge postpone time (mS) 

144 

Temperature protection ( ºC ) 

65ºC (option) 

Temperature characteristic 

±1.0mv/ºC 

Working temperature ( ºC ) 

-10~+60 

Storage temperature ( ºC ) 

-30~+85 

Power loss (uA) 

<400 (Vn=3.2v normal) 
<200 (Vn=2.2v Under-voltage) 

Table 3 – Battery pack characteristics

 

 

 

20 

 

Summary of Contents for RB-1

Page 1: ...RB 1 MODULAR MOBILE MANIPULATOR Hardware Manual Version 1 0 RBTNK DOC 161020 Robotnik Automation S L L ...

Page 2: ...onents 2 2 3 1 DC DC 2 2 3 2 Fuses terminal 2 2 4 Control components 2 2 4 1 Embbeded PC 2 2 4 2 Wireless Router 2 2 5 Sensors 2 2 5 1 Pixhawk 2 2 5 2 Orbbec 2 2 5 3 Hokuyo 2 3 Controllers 2 3 1 Control Panel 2 3 2 Gamepad 2 4 Battery 2 4 1 Battery Pack 2 4 2 LiFePo4 Cell 2 4 3 Protection circuit module 2 5 Charger 3 Accessibility 3 1 Base 3 2 Electronic box 3 3 Torso 3 4 Head 3 5 Battery 4 Connec...

Page 3: ...RBTNK DOC 161020 Hardware Manual RB 1 Modular Mobile Manipulator 4 1 Back Panel 4 2 Head Panels 5 Comunication diagram 6 Maintenance 7 Basic Drawing 3 ...

Page 4: ... connected with a diagram Finally a maintenance table and the basic drawings of the vehicle has been included 2 Robot description 2 1 General overview The next pictures shows the front view of the robot with the location of the main parts Figure 1 Front view of RB 1 robot Pan Tilt Head The head has a Pan tilt movement provided by two dynamixel pro motors It include one Orbbec camera Inside the hea...

Page 5: ...ions the motors the laser and the Orbecc camera Battery cover Can be removed to access to the battery pack The next pictures shows the rear view of the robot with the location of the main parts Figure 2 Rear view of RB 1 robot Torso back cover Can be removed to access to the internal components placed on the torso back Head covers Can be removed to access to the head motors and the Orbecc Base bac...

Page 6: ...eels and three omniwheels as it s shown in the next picture Figure 3 Wheels location The motor wheel is composed by a motor block and a detachable wheel The motor block has a 250w 8 poles brushless motor with Hall Effect sensor an encoder and a reduction gear box all hold by an aluminum cover These kinds of motors have a much longer life expectancy and a higher efficiency than brushed motors Figur...

Page 7: ...entifier is the default one 63 but each driver has its own CAN bus identifier 1 and 2 DO NOT change them from one motor to another There are several analog and digital input outputs available in each driver check driver datasheet for more information 2 2 3 Electrical components 2 2 3 1 DC DC There is a 150W 12V DC DC in the electronic box to provide a stable power supply for the electronic element...

Page 8: ...rminal is accessible from the outside of the electronic box Is located in the control panel on the right side Figure 9 Fuses The fuses are numbered from left to right ID Ampers Description F1 15 Back panel charge connector switch S1 F2 30 Main power protection F3 15 Driver 1 F4 15 Driver 2 F5 10 Controle circuit protection F6 15 Torso arm power protection F7 10 12V DC DC converter protection F8 3 ...

Page 9: ...s where is located the terminal inside the electronic box The terminal distributes the power to all the components of the electronic box Figure 10 Electronic box terminal location The next picture shows where is located the terminal inside the torso The terminal distributes the power to all the components of the torso and the motors of the head Figure 11 Torso terminal location 9 ...

Page 10: ...main problem can be due to the accumulation of dust in the internal components so it acts as thermal insulator The heat generated by the components cannot be well dissipated because it is trapped in the dust layer The oil and grease particles contained in the environmental air mix with the dust creating thus a big insulation layer that reflexes the heat to other components This effect causes a red...

Page 11: ... antennas are changed with smaller 5dB antennas Technical Specification Wireless Data Transfer Rate 802 11n 300Mbps Supports router access point range extender modes Port triggering for special applications DDNS and SIP Guest network Virtual server and DMZ hosting MAC IP filter and URL blocking Static routing UPnP architecture VPN pass through IPSec PPTP Wi Fi schedule control 11 ...

Page 12: ...ctivity options for additional peripherals UART I2C CAN Integrated backup system for in flight recovery and manual override with dedicated processor and stand alone power supply fixed wing use Backup system integrates mixing providing consistent autopilot and manual override mixing modes fixed wing use Redundant power supply inputs and automatic failover External safety switch Multicolor LED main ...

Page 13: ...Features Power 5V USB 2 0 Range 0 4 8 m Depth image size 640 480 VGA 16bit 30FPS RGB image size 1280 960 10FPS Data interface USB 2 0 Microphones 2 Weigth 300 g 2 2 5 3 Hokuyo The robot can be equipped with several models It will be located in the front side of the base Below you can see the standard laser range finders mounted URG 04LX UG01 Indoor Environment Wide Angle 240º Angular resolution 0 ...

Page 14: ...o 1000mm 10mm 1000 to 4095mm 1 of measurement Interface USB RS232 UST 10LX Outdoor Environment Wide Angle 270 Angular resolution 0 25º Scanning time 25 ms Measuring area 0 06m to 10m Accuracy 40mm Interface Ethernet UST 20LX Outdoor Environment Wide Angle 270 Angular resolution 0 25º Scanning time 25 ms Measuring area 0 06m to 20m Accuracy 40mm Interface Ethernet Table 2 Laser Range Finders 14 ...

Page 15: ... disables the drivers and stop the robot the torso and head movement and arm power RESTART button restart the power of all the motors and the arm It has a orange light indicator General ON OFF key S1 cuts the power of the whole robot It has a green light indicator CPU power blue indicator switch turns on and off the computer CHARGER to connect the provided battery charger Two free USB 2 0 ports Tw...

Page 16: ...e NUC board has an internal bluetooth receiver The two joysticks are used for direction traction and elevation and there are important controls like the speed level buttons that select between five speed ranges very slow slow medium high and very high Figure 17 DUALSHOCK controller All functions are fully explained in the section Start up of the software manual 16 ...

Page 17: ...fferent devices of control is powered at the same time The batteries are connected to the robot through the fuses For charging the batteries there is a connector at the back panel of the robot where the charger can be connected It is a direct connection so the general ON OFF switch doesn t affect the charging It is possible to charge the robot and keep working at the same time without any problem ...

Page 18: ...hargers without checking battery specifications 2 4 1 Battery Pack Figure 20 Battery Pack The battery pack is composed of sixteen LiFePO4 cells and a protection circuit module The whole package is protected with shrinkable tube The batteries must be kept clean and dry in order to avoid escape currents Check the wear out of the battery wires to prevent short circuits The battery can be separated fr...

Page 19: ...ong time will greatly reduce the lifecycles 2 4 2 LiFePo4 Cell Figure 22 LiFePo4 cell Specifications Normal capacity 15000mAh Normal voltage 3 2V Inter impedance 8mOhms Maximum continuous Discharge Current 10C 150A Charging Temperature 10 45ºC 14 113º F Discharging Temperature 20 60ºC 14 140ºF Cycle Performance 2000 80 of initial capacity at 1C rate Standard Charging current 1C 15A Max 5C 75A Weig...

Page 20: ...discharge recovery V Cut load or charge Normal working current A 30 Over current protection A 60 Internal resistance m ohm 30 Charging balancing current mA 60 Charging balancing voltage V 3 63 0 03 Over charge postpone time mS 1 2 Over discharge postpone time mS 144 Temperature protection ºC 65ºC option Temperature characteristic 1 0mv ºC Working temperature ºC 10 60 Storage temperature ºC 30 85 P...

Page 21: ...rger is designed for rapidly charge 29 2V 8 cells LiFePO4 Battery pack Figure 24 LiFePo4 Smart Charger IMPORTANT CHECK POWER SELECTION BEFORE PLUGGING IT Figure 25 Charger connections Specifications INPUT o Voltage range 90 132VAC 180 264VAC selected by switch o Frequency range 47 63Hz OUTPUT o Boost votlage 28 8 V o Float voltage 27 2 V 21 ...

Page 22: ...E pdf LED Indicator Red Constant current constant voltage state Green Floating state Caution The charger is designed for indoor use only The charger should be placed horizontally and operate in well ventilated condition avoid humidity and keep it away from inflammable explosive material The aluminum case is a heat sink do not cover it Do not disassemble the charger due to high voltage inside 22 ...

Page 23: ...different internal parts of the robot 3 1 Base To have access to the motors orbecc camera laser and the power and motor connectors you have to remove the covers as it s shown in the following pictures REMOVE FRONT AND BACK COVER The screws to remove are marked with a red circle Figure 26 Front and back cover screw removal 23 ...

Page 24: ...Manipulator Figure 27 Front and back cover 3 2 Electronic box To extract the electronic box you have to remove the back and front covers of the base and later follow the instructions of the following pictures Figure 28 Electronic box extraction Step 1 24 ...

Page 25: ... Modular Mobile Manipulator Figure 29 Electronic box extraction Step 2 Next picture shows the components locates inside the electronic box Figure 30 Electronic box components Last picture shows the real aspec of the interior of the box 25 ...

Page 26: ...ipulator Figures 31 Internal view 3 3 Torso To have access to the electronics inside the torso you have to remove the covers as it s shown in the following pictures Figure 32 Torso covers removal Next picture shows the components locates inside the torso 26 ...

Page 27: ...RBTNK DOC 161020 Hardware Manual RB 1 Modular Mobile Manipulator Figure 33 Interior torso components Last picture shows the real aspec of the interior of the torso Figures 34 Internal view 27 ...

Page 28: ...ator 3 4 Head To have access to motors of the head you have to remove the covers as it s shown in the following pictures Figure 35 Head covers removal 3 5 Battery To remove the battery pack you have to follow the followin steps Figure 36 Battery pack removal 28 ...

Page 29: ... 1 Modular Mobile Manipulator 4 Connectivity This section describes the connectivity present in the robot 4 1 Back Panel The robot on their back panel has two USB a HDMI port and two Ethernet ports WAN and LAN Figure 37 Control panel 29 ...

Page 30: ...RBTNK DOC 161020 Hardware Manual RB 1 Modular Mobile Manipulator 4 2 Head Panels Figure 38 Head panel Figure 39 Molex pinout Pin Voltage 1 GND 2 12VDC 3 GND 4 5VDC Table 4 Molex voltage pinout 30 ...

Page 31: ...anipulator 5 Comunication diagram The following figure shows the communication diagram existing inside the robot The functionality of the system can be further extended by using the free Ethernet ports and free USB port Figure 39 Communications diagram 31 ...

Page 32: ...ar rate Replace when needed Outer wires Visual control of the wear rate If wear appears protect them with Shrink tube Vulcan tape or similar Bearings Control state If any damage appears it is recommended its replacement by a new one Battery Control Batteries Voltage don t let the batteries get fully discharged Check battery autonomy Recharge ASAP if fully discharged PC Interior Cleaning Visual con...

Page 33: ...RBTNK DOC 161020 Hardware Manual RB 1 Modular Mobile Manipulator 7 Basic Drawing Figure 38 External robot drawings 33 ...

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