RHINO
ROBOTICS LTD.
ROBOT ACCESSORIES
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A tilting rotary carousel for use as a robot accessory in workcell development. |
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Description: A rugged PMDC servo driven tilting carousel suitable for use in workcell development in the laboratory. Most welding simulations require tilting carousels. |
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Specifications |
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Dimensions |
Diameter:
12.00 inches (304.8 mm) |
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Weight |
11.5 pounds (5.23 kg) |
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Platform |
12.0 inch diameter (304.8 mm) |
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Platform Rotation |
Infinite in either direction. |
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Platform Tilt |
90 degrees in either direction. |
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Angular Resolution |
0.14 degrees per step (theoretical). |
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Tilting Resolution |
0.14 degrees per step (theoretical). |
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Rotation Speed |
40 degrees per second, varies (Controller). |
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Tilting Speed |
40 degrees per second, varies (Controller). |
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Control Language |
Operated through the Mark III or Mark IV controllers using two of the encoded ports provided on these controllers. Can also be controlled from the teach pendant commands from the “G” and “H” ports. Can be controlled from RoboTalk and other languages. |
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An X-Y table for use as an accessory for CIM/FMS and assembly work cell development. |
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Description: A rugged PMDC servo driven X-Y table suitable for use in various workcell developments in the laboratory. The platform is supported by linear ball bearings that ride on ground and polished steel shafts. The platform is the same size as Rhino’s XR-3 and XR-4 robot base. So it can be used to carry the XR Robot itself or to mount some other device that forms a part of the robot's work cell. The X-Y Table is chain driven and can move 15 inches in one direction and 18" in the other direction. Microswitches which allow the system to be reset to a known position after each start up can be read from the controller and from the host computer. The X-Y Table may be operated directly from any two of the eight encoded motor ports on the Rhino Controllers; or from the two auxiliary ports on the Controller. In the latter mode, the control is On-Off. |
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Specifications |
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Configuration |
Motorized orthogonal X-Y table. |
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Drives |
PMDC servo motors with integral gear boxes and incremental optical encoders for real time closed tool or on-off operation. |
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Controller |
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| Positional Resolution | 0.006 inches (0.15 mm) theoretical |
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Speed |
Programmable, depends on the controller used. Nominal speed is 1.5 inches/second (38.1 mm/sec) in each direction. |
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Dimensions |
30 inches by 26 inches by 7 inches (762 x 660 x 177 mm) |
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Platform |
8 1/2 inches by 4 1/4 inches x 1/4 inch thick (216 x 108 x 6 mm) |
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Weight |
35 pounds (16.0 kg) |
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Work Area |
15 inches by 18 inches (381 x 457 cm) |
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Software |
RoboTalk robot control language. (Provided as part of the robot controller.) |
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A rotary carousel suitable for assembly operation in a material handling workcell. |
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Description: A 12 inch diameter by 7 inch high rotary carousel. Fully programmable in either direction. Can be controlled from Either the Mark III or the Mark IV controller. Provides with the PMDC servo motor with an integral gear box and an incremental encoder. |
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Specifications |
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Configuration |
12 inch diameter horizontal plane slotted table. |
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Drive |
PMDC servo motors with integral gear boxes and incremental optical encoders for real time closed tool or on-off operation. |
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Controller |
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Speed |
Programmable, depends on the controller used. |
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Dimensions |
12 inch diameter by 7 inches |
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Weight |
5 pounds |
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Work Area |
12 inches in diameter |
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Software |
RoboTalk robot control language. (Provided as part of the robot controller.) |
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Large conveyors suitable for transporting parts in a material handling workcell. |
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Description: A 4 inch wide by 36 or 48 inch conveyor suitable for conveying miscellaneous materials in CIM, FMS and assembly workcells. Provided with PMDC servo motor with an integral gear box and an incremental encoder. |
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Specifications |
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Model |
FG6452
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36" Belt Conveyor |
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Applications |
Education, training, research, workcell development, robotic simulation, CIM, and FMS |
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Configuration |
Standard 4 inch wide Belt Conveyor |
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Drives |
PMDC servo motors with integral gear boxes and incremental optical encoders for real time closed tool or on-off operation |
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Controller |
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Speed |
Programmable, depends on Controller. |
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Weight |
15 pounds (6.8 kg) |
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Work Area |
3-5/8
inches by 36 inches on FG6452 |
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Dimensions |
6-1/4 inches wide x 4 inches high x either 36 or 48 inches long |
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Accessories |
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Software |
RoboTalk For Windows robot control language. (Provided as part of the Robot and Controller.) |
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Slides bases provide 5 axis robots with a 6th axis increasing their work envelope. |
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Description: The linear slide base provides a platform mounted on two 5/8 inch diameter ground and polished rods. The platform is the same size as Rhino’s XR-3 and XR-4 robot base. |
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Specifications |
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Model |
Slide base. |
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Drives |
PMDC servo motors with integral gear boxes and incremental optical encoders for real time closed tool or on-off operation. |
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Controller |
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Speed |
Programmable, depends on controller. |
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Dimensions |
27 inches by 10 inches by 7 inches (686 x 254 x 178 mm) |
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Platform |
8 1/2 inches by 4 1/4 inches x 1/4 inch thick (216 x 108 x 6 mm) |
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Weight |
25 pounds |
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Travel |
18 inches (457 mm) |
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Software |
RoboTalk robot control language. (Provided as part of the robot). |
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The I/O box extends the Input/Output capability of the robot. It is controlled through RoboTalk. |
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Description: An inexpensive I/O module that greatly expands the Input/Output capability of the robot and thus enhances its ability to interact with the workcell environment. |
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Specifications |
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Configuration |
Fully self contained unit with power supplies. |
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Input/Output |
48
line
pairs analog input |
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Switches |
32 switches allow logical operations with each of the digital I/O lines. |
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LED's |
32 LED's indicate conditions of I/O lines. |
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Power Supplies |
Three power supplies provide +5 VDC and +12 VDC and -12 VDC for use by user and system. |
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Bread Boarding |
Area provided on top of unit for bread boarding and experimentation. |
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Microprocessor |
8 bit main processor. |
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Communications |
RS-232C, full handshake to host computer. |
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Compatibility |
Can be run from any computer with an RS-232C interface. Can be run in any language. Stand alone. |
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Commands |
Both kernel commands and higher level commands allow the 48 lines on the I/O module to be read and set with ease. The higher level commands are integrated into the RoboTalk language. |
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Software |
RoboTalk robot control language (Provided as part of the robot and controller). |
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End Effectors (hands) extend the gripping capability/flexibility of a robot. |
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Description: Rhino offers a family of end effectors for use with their robots. These end effectors replace the standard end effector supplied with the robot. The various end effectors are designed for specific uses. The following end effectors are provided in the kit -- |
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· Triple fingers · Narrow fingers · Long fingers · Shovel hand · Vacuum fingers |
· Clamshell hand · Dremel Tool hand · Welder/Writer hand · Instructions |
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All the end effectors are provided as a kit in the FG1125 End Effectors Package. |
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The availability of ready-to-run motors allows you to build the special devices you need for your work cell. |
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Description: The motors supplied match the motors provided on the robots. The small motors match the hand motors and the large motors match the motors on the robot body. Each motor is provided with an integral gear box and an attached incremental encoder. A cable is provided to allow the motor to be run from any port of the Mark III or Mark IV controller. The motors are ready to use. |
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Specifications |
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Small Motors |
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Motor Diameter |
1.125 inches |
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Motor Length |
3.000 inches with shafts. |
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Shaft Diameter |
0.156 inches |
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Shaft Length |
1.000 inches |
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Gearbox Reduction |
96:1 |
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Encoder Counts/Revolution |
6 or 24 depending upon controller. |
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Large Motors |
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Motor Diameter |
2.000 inches |
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Motor Length |
3.500 inches with shafts. |
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Shaft Diameter |
0.250 inches |
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Shaft Length |
1.125 inches |
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Gearbox Reduction |
66:1 |
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Encoder Counts/Revolution |
6 or 24 depending upon controller. |
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Slotted tables that make it easy to mount your workcell components. |
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Description: The slotted tables provided are the same as the tables used in our work cells. These tables are designed for experimentation with work cells and work cell components. The tables are 3'0" wide by 4'0" long. They can be butted up to one another to make as large a work cell area as desired by the user. The slots in the tables allow Rhino devices to be bolted to the tops of the tables. Openings, to lower cables through the table top, are provided. It is easy to change the configuration of the work cell when needed to present a new challenge every semester. Additional shelves and other accessories make these tables the tables of choice for work cell development. |
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Specifications |
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Table Height |
39 inches |
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Table Length |
48 inches |
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Table Width |
36 inches |
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Thickness Of Top |
0.100 inches |
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Finish |
Top - Chromate on zinc. |
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Size Of Slots |
0.262 by 1.000 |
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Hardware Provided |
As needed to assemble the table and accessories. |
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Dispensers present the materials to be handled to the robots in an orderly way. |
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Description: Gravity Fed Dispensers: Gravity fed dispensers are available in a number of standard sizes. They can be provided in any size from 0.500 inches to 1.500 inches in 0.125 inch increments. All dispensers are 0.063 inches over size to allow the parts to move in the dispenser with ease. A micro switch is provided at the bottom of the dispenser to detect the presence of the part that is ready to be picked up by the robot. Another micro switch is provided at the top of the dispenser to indicate that the dispenser is now full and no more parts should be placed in the dispenser. Four switches allow manual functions to be implemented at each of the dispensers. These dispensers do not need any power. The stands elevate the dispensers and allow them to be laced at a height suitable for the robot and other components of the workcell. Pneumatic Dispensers: Pneumatic dispensers dispense one part at a time pneumatically. The parts are stacked in an elevator and are pushed out one at a time from the bottom of the elevator as needed. The dispensing actuator is a pneumatic cylinder. The standard dispenser dispenses the pallets used by the various Rhino workcells. Other sizes can be ordered and will be fabricated to your specifications. A micro switch is provided at the bottom of the elevator to detect the presence of the part that is ready to be dispensed. Another micro switch is provided at the top of the elevator to indicate that the dispenser is now full and no more parts should be placed in the elevator. An additional switch detects the presence of the pallet at the dispensed position. These dispensers need compressed air at 35 psi for their operation. |
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Specifications |
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The specifications of the dispenser vary according to the dispenser ordered. All units detect dispenser full and dispenser empty condition. |
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Hardware Support for the Courseware. |
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Description: The hardware support packages provide the materials needed to do the experiments in the workbooks. These include the physical devices needed as well as the layout and positioning sheets needed to position the robot and the accessories in the classroom. Each support device supports one robot though it is possible to share components between robots. |
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Specifications |
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Items
Provided:
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5928
State Route 128
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