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Equipois zeroG4 Arm, Руководство по установке

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Arm Set-up Manual

 

 

© 

2011, Equipois Inc. 

 

12 of 32 

All rights reserved. 

 

101-9110 Rev E 

Adjust a preset mounting interface block 

Adjustments are made with pairs of set screws.  

•

 

Adjust roll with the knobs on the side.  Back off one 
screw to create slack in the direction you want to 
move the block and tighten the other screw to move 
the bracket. 

•

 

Adjust pitch with the knobs on the back.  You can 
unload the bottom screw by lifting the arm.  Back off 
one screw to create slack in the direction you want to 
move the block and tighten the other screw to move 
the bracket. 

When you are done, make sure both screws in each pair 

are tightened snugly. 

Mounting the payload 

Before you begin: 

•

 

You need a      -inch Allen wrench for adjusting the two-piece collar. 

•

 

If you are mounting the payload on an extended arm, you may need an assistant, 
especially if it is an underslung mount. 

1.

 

Attach the tool to the gimbal. 
The instructions for mating the tool and the gimbal are specific to the tool and gim-
bal and are in the packing list, the application summary, or the assembly drawing 
for your system. 

2.

 

Extend the arm or dock it securely.  Do not mount the payload when you are using 
the built-in dock, unless there is no alternative. 

3.

 

Mount the payload—the tool-gimbal-post assembly—on the arm:   
a.

 

Loosen the two-piece collar with the Allen wrench. 

b.

 

If this is a top-mount, position the collar for the desired height and tighten it. 

c.

 

If this is an underslung mount, remove the collar. 

d.

 

Insert the gimbal post into the socket at the end of the arm. 

e.

 

 If this is an underslung mount, have an assistant help you position and tighten 
the collar.   

4.

 

Attach cables and hoses, and tie them off with zip ties at the gimbal post and the 
elbow hinge. 

5.

 

Repeat the drift test and make adjustments as in step 1 above.  

Note:  

 

With the tool mounted and the arm undocked, you can unload the adjust-
ment mechanism by moving the tool to one side or the other or behind the 
mounting interface block.  This is particularly applicable to the preset block.  
The dynamic block is designed to be adjustable with the payload in its 
working position. 

6.

 

Read the next section on docking and continue with the steps in “Adjusting the lift” 
and “Adjusting the rate”. 

16

3

Содержание zeroG4 Arm

Страница 1: ...9 July 2011 All rights reserved 101 9110 Rev E Equipois Inc zeroG4 Arm Set up Manual Revision E Equipois Inc 5440 McConnell Avenue Los Angeles CA 90066 Information 310 736 4130 info equipoisinc com Support 866 601 2770 support equipoisinc com ...

Страница 2: ...aching the mounting interface block 10 Attaching the arm to the mounting interface block 10 Adjusting centering 11 Mounting the payload 12 Docking 13 Adjusting the lift 14 Adjusting the rate 15 Installing accessories 15 Adjust the gas springs 16 Removing the gas springs 17 Installing the gas springs 18 Appendices 23 Maintenance and Upkeep 23 zeroG4 arm technical specifications 32 Safety and hazard...

Страница 3: ...Arm Set up Manual 2011 Equipois Inc 3 of 32 All rights reserved 101 9110 Rev E ...

Страница 4: ...e to move the tool up and down over the vertical range of motion As iso elasticity is decreased the range of iso elastic motion becomes narrower and the force required to move the tool increases more quickly as it is moved toward the top and bottom of the range Iso elasticity can be adjusted with the Rate knob lift The upward force with which the arm supports the payload link A segment of the arm ...

Страница 5: ...moved up and down As the rate is increased iso elasticity is decreased top mounted Refers to a method of mounting the tool on the arm so the tool is above the arm with the tool mounted by inserting the post into the arm socket from the top underslung Refers to a method of mounting the tool on the arm so the tool is below the arm with the tool mounted by inserting the post into the arm socket from ...

Страница 6: ...ation related to your specific customizations _ Or the packing list in the shipping box 3 Inventory the contents of the shipping carton against the packing list 4 If the contents do not match the packing list report the discrepancy to Equipois Verify the mounting system The mounting system must anchor the zeroG arm so the tool floats in the work envelope which is the vertical and lateral range wit...

Страница 7: ...rly wide in which case you may need a moveable mounting system 6 Note the horizontal reach of the tool gimbal and post assembly span C Figure 3 ________ 7 Verify that the proposed mounting point satisfies these criteria _ The horizontal distance from the mounting point to the extremes of the work envelope is within the reach of the arm 30 in 35 in arm span D the horizontal reach of the tool gimbal...

Страница 8: ... to bend slightly at the shoulder and elbow to accommodate the operator s arm right handed unless you ordered left handed or no handed a Check the packing list to determine the handedness of the arm b If you will be switching the arm s handedness from right to left or vice versa or removing the gas springs go to the Adjust the gas springs section on page 16 to see what tools you will need Some arm...

Страница 9: ...Arm Set up Manual 2011 Equipois Inc 9 of 32 All rights reserved 101 9110 Rev E ...

Страница 10: ...floating where it can easily swing or move UNDOCKING AN UNLOADED ZEROG ARM An unloaded zeroG arm RISES FORCEFULLY and can injure users if it is released suddenly from its docked position Never undock a zeroG arm unless the payload is loaded or the spring tension is balanced by restraints or a counter weight PAYLOAD REMOVAL Mount or dismount the payload only if the zeroG arm is fully extended or is...

Страница 11: ...nt moves the bracket where the arm attaches up and down in a head nodding motion Roll adjustment rotates the bracket as viewed from the front The dynamic and preset mounting interface blocks have different adjustment mechan isms but the process of adjustment is the same Repeat these steps until the rest posi tion is centered 1 Hold the arm pointed toward the work area and without letting go comple...

Страница 12: ...g list the application summary or the assembly drawing for your system 2 Extend the arm or dock it securely Do not mount the payload when you are using the built in dock unless there is no alternative 3 Mount the payload the tool gimbal post assembly on the arm a Loosen the two piece collar with the Allen wrench b If this is a top mount position the collar for the desired height and tighten it c I...

Страница 13: ...y be low and touching the upper arm 2 Allow the magnets to grip 3 Let the payload lift up until the stud on the fo rearm slips into the catch on the upper arm Note zeroG arms can be fitted with other docking devices such as a hook dock or a snap in fitting Consult your packing list or Equipois representative for more information MOUNT AND DISMOUNT THE PAYLOAD EITHER WITH THE ARM EXTENDED AND UNDER...

Страница 14: ... distal link is perpendicular to the adjust ing mechanism The link should be slanting at about 5 above level and the Lift knob should turn easily See Figure 7 and Figure 8 3 Turn the Lift knob until the link balances at the 5 slant a Turn the knob clockwise to increase lift if you lifted the payload b Turn the knob counterclockwise to decrease lift if you pulled the payload down 4 In the same way ...

Страница 15: ...es of vertical motion requiring reduced iso elasticity To adjust the rate 1 Raise the link to the full up position 2 To decrease iso elasticity and make it harder for the operator or the arm to raise or lower the tool turn the Rate knob clockwise 3 To increase iso elasticity and make it easier to move the tool through the full range of vertical motion turn the Rate knob counterclockwise 4 When the...

Страница 16: ...ttom of the arm and attach to the end blocks of the links as shown in Figure 9 Use the instructions in this section for three tasks Changing the arm between a right and left handed orientation You can reuse all the parts or you can install new parts from one of the two conversion kits Switching between a long the standard and short shoulder mount This can be done by itself or while changing the ha...

Страница 17: ... handedness and for a conversion kit b Remove the arm from the shipping case c Loosen the wire restraint d Lay one link on a table or the floor and hold it down e Keeping a firm grip on the end block of the other link unlatch the docking catch and carefully let the arm extend 3 If the arm has been installed perform these steps as necessary a If it is possible to remove the payload with the arm ext...

Страница 18: ...ake tension off the screw posts 9 Remove the screws holding the gas spring in place a With the Allen wrench loosen one of the screws b Note the placement of the washers c Remove the screw d Repeat for the other screw and remove the gas spring 10 With the open end wrench remove the screw post from the proximal link 11 With the Allen wrench remove the screw holding the shoulder mount to the shoulder...

Страница 19: ...ow and shoulder use a 1 5 x 20 lbs gas spring p n 900 9016 GS If you are installing a short shoulder mount p n 101 6220 02 the elbow uses a 1 5 x 20 lbs gas spring p n 900 9016 GS and the shoulder a uses 1 0 x 20 lbs gas spring p n 900 9015 GS 1 Assemble these tools and materials _ 6 inch C clamp _ inch Allen wrench _ inch open end or crescent wrench _ Flat work surface _ Mallet _ Rag and isopropy...

Страница 20: ...e pin and the shoulder mount extends toward the right 4 Attach the shoulder mount a Press the shoulder mount into the bottom of the shoulder hinge block using the C clamp if necessary b Use a mallet to center the shoulder mount in the slot c Apply thread glue to the screw and tigh ten it firmly with the Allen wrench 5 Insert the shoulder screw post a Apply thread glue to the shoulder screw post b ...

Страница 21: ...d away from you as a guide For right handed orientation the screw posts go in the outside fittings of the end posts that is at the longer extension For left handed orientation the screw posts go in the inside fittings of the end blocks that is at the shorter extension 9 Insert the elbow screw posts a Apply thread glue to the elbow screw posts b IT IS EASY TO CROSSTHREAD THE SCREW POST Carefully al...

Страница 22: ...Arm Set up Manual 2011 Equipois Inc 22 of 32 All rights reserved 101 9110 Rev E ...

Страница 23: ... Adjuster Mechanism internal to each link Clean using clean dry compressed air after each use if possible Make sure that mechanism is able to travel the full length of the screw Monthly End Block Is the Delrin sleeve in place Are there any cracks or deformation If so replace as needed Monthly Kit Tool Interface Sleeve with Clip P N 102 6281 Covers Check to make sure cover has no tears or rips and ...

Страница 24: ... Are caps still on each elbow hinge bearing lo cation If not is retaining clip visible or miss ing On elbow hinge check to make sure washers are in place If not replace as needed Inspect to make sure bumper pads on sides of each hinge are in place If not replace Quarterly or Semi Annually Parts are included in Kit Complete Maintenance Pack zeroG4 P N 101 5910 Internal Bumpers four per link Check t...

Страница 25: ...ired Overall mounting block Clean using clean dry compressed air after each use if possible especially near exposed bearings on dynamic and pre set mounts DO NOT use alcohol WD 40 or other chemical based solvents to clean any components or parts Monthly Connection to existing structure Check to make sure that all bolts are secure and properly tightened Look to make sure that mounting block con nec...

Страница 26: ...l S1 Ring Gimbal Clean using clean dry compressed air after each use if possible especially near exposed bearings on dynamic and pre set mounts DO NOT use alcohol WD 40 or other chemical based solvents to clean any components or parts Monthly Outer race of ring gimbal Check to make sure that bearings rotate freely Check to make sure that outer ring halves are properly seated and retaining screws a...

Страница 27: ...no threads are visible be tween posts If necessary tighten to remove any gaps There should be clamp collars on both the top and bottom of where the gimbal post attaches to the zeroG arm A Teflon washer should rest underneath the top collar Each clamp collar should be firmly seated with screws tightened to 10 foot lbs Quarterly or Semi Annual Two piece Clamp Collar Kit P N 400 1112 S2 Ring Gimbals ...

Страница 28: ...and tight Quarterly or Semi Annual Pivot yoke to wrist P N 400 3630 Yoke Clamp Make sure yoke clamp is tight around yoke Check that screws are tight and secure tigh ten to 20 foot lbs Quarterly or Semi Annual Gimbal Posts Check to make sure no threads are visible be tween posts If necessary tighten to remove any gaps There should be clamp collars on both the top and bottom of where the gimbal post...

Страница 29: ...RE PARTS QTY DESCRIPTION PART NUMBER PRICE zeroG4 Arm 1 Kit Complete Maintenance Pack zeroG4 101 5910 621 00 Included in Maintenance Kit 1 Tool Interface Sleeve 102 6280 1 Retainer Clip 900 9117 4 Disposable Polyco Arm Cover 300 2100 1 Silicone Arm Cover 300 2200 2 Extreme Pressure Grease 900 7005 GR 1 O Ring Grip Washer 101 6371 1 Buna O Ring 18mm 900 9105 4 Bumper pads 900 9025 BP 1 Kit Gas Spri...

Страница 30: ...0 Included in Maintenance Kit 1 Kit Replacement 80 20 Bolts Nuts 500 4164 1 Quick Release Pin 900 9031 QP 1 Kit Spare Brgs Full Float Mtg Interface 500 4265 1 Kit Spare Brgs Positioning Mtg Intfc 500 4266 1 Kit Replacement Knobs Dynamic Mt 500 4162 Available Separately 1 Kit Replacement 80 20 Bolts Nuts 500 4164 12 50 2 Quick Release Pin 900 9031 QP 50 00 1 Kit Replacement Knobs Dynamic Mount 500 ...

Страница 31: ...y 1 S2 Roller Kit if gimbal employs rollers vs slides 400 3610 15 175 00 1 S2 Slide Kit if gimbal employs slides vs rollers 400 3612 11 220 00 1 Kit Set Screws Assorted Lengths 400 3575 01 30 50 2 Blue Loctite 243 10 mL 900 7001 TL 3 50 1 Kit 2 Piece Collar Teflon Wash Qty 2 400 1112 26 50 Palm Sander Gimbal 1 Kit Complete Maint Pack Sander Gimbal 400 3970 130 00 Included in Maintenance Kit 1 Kit ...

Страница 32: ...rk pieces and other items away from the labeled pinch points on the zeroG arm During operation use the tool s grips and avoid touching the arm except the adjustment cranks of the dynamic mounting interface block When the arm is not docked handle it only by the end blocks and the adjustment knobs Use of protective covers is recommended ENVIRONMENTAL HAZARDS Keep liquids dust paint and debris away f...

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