Related Manuals for QB Robotics SoftHand Industry
Summary of Contents for QB Robotics SoftHand Industry
- Page 1 USER GUIDE Please read carefully these instructions before use. Do not discard: keep for future reference.
- Page 2 www.qbrobotics.com This page is intentionally left blank...
- Page 3 www.qbrobotics.com Dear customer, Thank you for purchasing our product. The present document provides information at best of our knowledge at the time of publication. This document could present differences from the product and it is subject to changes without notice: the latest version is available on our webpage www.qbrobotics.com.
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Page 4: Table Of Contents
Connection sequence ................14 Digital I/Os cable “EC_CBL_26_CRMP24_WIRE_050” (OPTIONAL)..17 4.2.4 Installation ......................19 Working with qb SoftHand Industry ..............21 qb SoftHand Industry technical data ..............24 Fingers workspace ..................28 Adjustable wrist ....................29 Maintenance and warranty .................. 31 Appendix ....................... -
Page 5: Preface
1 Preface Using this document The documentation must always be complete and in a perfectly readable state. Keep the document accessible to the operating and, if necessary, maintenance personnel at all times. Pass the document to any subsequent owner or user of the product. Symbols and conventions WARNING: identifies information about practice or circumstances that can lead to damages on the... -
Page 6: Safety
2 Safety Intended use The product design is intended for grasping objects in the weight range from 1 to 2000 g. Fragile, sharp or sharp-edged objects shall not be grasped. Objects having the ratio between the biggest and the smallest dimensions ≥8 and the main dimension greater than 300 mm shall not be grasped. -
Page 7: Ec Directives On Product Safety
• Do not use any damaged power cable, plug, or loose outlet. It may cause damages to the product or injury to people. • Do not touch electrical components to avoid damages due to electrostatic charges. • Make sure the end-effector is properly and securely bolted in place and cabled. -
Page 8: Environmental Conditions
• Use in outdoor applications. Environmental safety The qb SoftHand Industry must be disposed of in accordance with the applicable national laws, regulations and standards. All the components of this product have been chosen in accordance with the EU RoHS directive 2011/65/EU: they are produced with restricted use of hazardous substances to protect the environment. -
Page 9: Personnel Qualification
All work may only be performed by qualified personnel. 3 Description qb SoftHand Industry is an anthropomorphic robotic hand based on soft- robotics technology, flexible, adaptable and able to interact with the surrounding environment, objects and humans while limiting the risk of hurting the operators, spoiling the products to be handled, and damaging the robot itself. -
Page 10: Assembly
4 Assembly The qb SoftHand Industry Kit allows you to connect the device to your robot arm. The kit consists of: • N.1 qb Softhand Industry 24V; • N.1 external driver “G-DCWHI2.5/100EES”; • N.1 ethernet cable “EC_CBL_UTP_6_RJ45_BLK_050”; • N.1 power cable “EC_CBL_22_02_L50_RR_200”;... - Page 11 instructions Keep (2) as shown in figure, then tight the two knobs (1). Insert (3) into the 6 mm hole on the wrist. Center (2) on the wrist diameter 63mm, Fasten (2) to the UR wrist by tightening the four screws (4).
- Page 12 Fix the device by tightening the 2 knobs (1). Table 4-1 Installation guidelines of the SoftHand Industry on robot arm. Referring to the balloons in the pictures: (1) n.2 knobs M4; (2) SoftHand Industry flange ISO9409-1-50-4-M6; (3) n.1 cylindrical pin EN ISO 8734 A d6x10 h6; (4) n.4 metrical screws EN ISO 10642 M6x12.
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Page 13: Cable Connections
Cable connections To connect the hand to the external driver, please use the provided set of cables. 4.2.1 Set of cables The provided cables are: • Ethernet cable “EC_CBL_UTP_6_RJ45_BLK_050” Figure 4-1 Ethernet cable. • Power cable “EC_CBL_22_02_L50_RR_200” Figure 4-2 Power cable to supply the external driver. 15 luglio 2019... - Page 14 • STO cable “EC_CBL_26_CRMP3_WIRE_050” This cable has a screw terminal block to let the user connect the STO (Safe Torque Off). Figure 4-3 Cables with connectors and terminal block to connect the STO. Figure 4-4 Locking system for external pin. You can connect the Safe Torque Off in two ways: Conn.
- Page 15 • Main cable “EC_CBL_26_M8FA8_CRIMP_100” The pinning of the female M8 connector, 8 poles, is given below: Figure 4-5 Pinning and contacts of the M8 8 pin female connector. Referring to Figure 4-5, the connections are the following: Pin n. Wire color Purpose White SSI 5 VDC...
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Page 16: Driver Ports
4.2.2 Driver ports Figure 4-6 shows the provided external driver with the indication of the ports; Table 4-3 External Driver ports.indicates the characteristics of each port. Figure 4-6 External driver. Port n. Type Function Pins 2.54 mm Pitch Molex 2.54 mm Pitch Molex Feedback port C and I/O 2.54 mm Pitch Molex Feedback port B... -
Page 17: Connection Sequence
4.2.3 Connection sequence instructions Assembly the motor phases of the main cable to the 4-pin connector for the port 7; block the cables turning clockwise the two screws. Make sure to connect the red cable to the M2 pin and the blue cable to the M3 pin. - Page 18 instructions Assembly the power cable to the 3-pin connector for the port 6; block the cables turning clockwise the two screws. Make sure to connect the brown cable to the VP+ pin and the white cable to the PR pin. WARNING: Pay attention to connect cables in the correct...
- Page 19 instructions Insert the M8 connector (4) of the main cable into the receptacle on the hand wrist flange. Lock the M8 connector by manually tightening its threaded ring on the body of receptacle (max tightening torque= 0.2 Nm). WARNING: Be careful to insert the connector in the right direction;...
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Page 20: Digital I/Os Cable "Ec_Cbl_26_Crmp24_Wire_050" (Optional)
Digital I/Os cable “EC_CBL_26_CRMP24_WIRE_050” (OPTIONAL) 4.2.4 This cable has a screw terminal block to let the user connect the 13 pins for the digital I/Os communication. In the other end there is a Molex 24 pins connector, for the external driver’s port 2. Figure 4-3 Cables with connectors and terminal block to connect the STOshows the pin-out of the cable. - Page 21 It is not possible to activate multiple commands simultaneously. To give the next input, the previous one must already have been completed. The digital outputs are listed below: OUT1: is "1" (24VDC) when the motor is stationary; OUT2: is "1" (24VDC) when the number of cycles exceeds the maintenance threshold;...
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Page 22: Installation
The example prompt on screen the qb SoftHand Industry information and close (and reopen) it just one time. Before executing the example code, please be sure to have properly connected and powered the device by following the official qb SoftHand Industry User Guide. - Page 23 If you find any problem during this simple setup, please feel free to raise a support request at support@qbrobotics.com. # qb SoftHand Industry API By exploring the simple example code above, you can understand most of the features available for the user. Moreover, the documentation of the whole library can be found both in the User Guide and in the include/qbsofthand_industry_api/qbsofthand_industry_api.h...
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Page 24: Working With Qb Softhand Industry
Initialize the qb SoftHand Industry API handler by opening the proper UDP socket and by testing its communication. The constructor tries to connect to the qb SoftHand Industry for at most 30 seconds and then returns. Through the method 'isInitialized()' is possible to test whether the initialization succeeded or not. - Page 25 Get the actual qb SoftHand Industry motor velocity in percent value w.r.t. the maximum value. std::string getStatistics() Get the qb SoftHand Industry device information. bool isInitialized() Return true if the initialization procedure has succeeded. return `true` on success. int setClosure(const float &position) Send the given percent-position closure command reference to the qb SoftHand Industry.
- Page 26 &net_ip, const std::string &net_mask, const std::string &net_gateway) Change the qb SoftHand Industry IPv4 address, network mask and gateway of the device. It is worth noticing that the device should be connected first to use this command.
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Page 27: Qb Softhand Industry Technical Data
Electrical and Mechanical characteristics of the hand are shown in Figure 7-1 and Table 7-1. Figure 7-1 qb SoftHand Industry dimensions, which are the same for the left and right hand (dimensions in mm and out of scale). 15 luglio 2019... - Page 28 The figure belowFigure 7-2 represents the mechanical interface coordinate system Σ ) of an articulated robot, as defined by ISO 9787:2013. In particular, the center of the coordinate system, O , is on the interface surface of the robot tool flange and the Z axis is coincident with the tool flange axis of symmetry.
- Page 29 Table 7-1 gives also the position of the center of mass and the inertia tensor of the SoftHand Industry respect to Σ ) and wrist pre-set in 0° position. All coordinate systems here described follow the orthogonal right- hand rule.
- Page 30 NORMATIVE COMPLIANCE ISO 12100 ISO/TS 15066 ISO 13849-1/-2 ISO 10210-1/-2 ISO 9409-1-50-4-M6 ISO/TR 20218-1 IEC 60529 IEC 61000-6-2/-6-4 external driver for best integration Table 7-1 Basic data of the qb SoftHand Industry. 15 luglio 2019...
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Page 31: Fingers Workspace
Fingers workspace Figures below show the hand workspace, in particular the fingers’ range. Figure 7-4 Fingers workspace (dimensions in millimeters). 15 luglio 2019... -
Page 32: Adjustable Wrist
Adjustable wrist You can adjust the pitch pre-set of the wrist in twelve positions, from 0° to 90° with a step of 7.5° and without using any tool. The Figure 7-5 shows the extreme positions of the wrist: in the first position (0°) the axis Z is normal to the palm and in the last position (90°) the axis Y is normal to the palm. - Page 33 Rotation axis Locking knob Figure 7-6 Rotation axis for wrist pre-set and locking knob to turn, in order to lock and unlock the joint. The left joint has a graduated scale to read the angular position. Follow the sequence below to change the wrist pre-set. 1) rotate the two knobs by a single counterclockwise turn;...
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Page 34: Maintenance And Warranty
8 Maintenance and warranty Products of the company qbrobotics s.r.l. are produced using the most modern production methods and are subject of strict quality inspections. All sales and deliveries are performed exclusively based on our General Conditions of Sale and Delivery, which can be viewed on the qbrobotics home page https://qbrobotics.com/terms-conditions/ qbrobotics s.r.l. - Page 35 Seller neither assumes nor authorizes any other person to assume for it, any other liability in connection with the sale, use or handling of any and all goods specified or contemplated by this document. No warranty is made with respect to any of these goods which have been subject to accident, negligence, alteration, improper care, improper storage, improper maintenance, abuse or misuse.
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Page 36: Appendix
9 Appendix Troubleshooting Problem Possible solution Check the wiring is correct If the hand is connected to the power source of device presents the control box, make a unusual behavior power cycle of the robot Make a communication problems. power cycle If the hand is connected to an external power source, make a power... -
Page 37: Certifications
10 Certifications Standards applied under development of the product is listed in this section. When an EU Directive number is noted in brackets it indicates that the standard is harmonized under that Directive. ISO 12100:2010 EN ISO 12100:2010 (E) [2006/42/EC] Safety of machinery –... -
Page 38: Luglio
EN 60529/A2:2013 Degrees of protection provided by enclosures (IP Code) This standard defines enclosure ratings regarding protection against dust and water. SoftHand Industry is designed and classified with an IP rating according to this standard. EN 61000-6-2:2005 [2004/108/EC] Electromagnetic compatibility (EMC).