Chassis 2021: Unterschied zwischen den Versionen

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<p style="color: red">This page is under construction and contains a lot of old (obsolete) stuff.</p>
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<!-- <p style="color: red">This page is under construction.</p> -->
  
  
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This page describes the assembly of the Ardumower chassis that you can purchase via the [https://www.marotronics.de/index.php?k=32 shop] [[File: shopping.png|link=https://www.marotronics.de/index.php?k=32]].
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This page describes the assembly of the Ardumower chassis that you can purchase via the [https://www.marotronics.de/Ardumower-Rasenroboter-Set-Model-2021-auch-mit-GPS-RTK-Option shop] [[File: shopping.png|link=https://www.marotronics.de/index.php?k=32]].
  
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[[File: Ardumower-chassis.jpg | 500px]]
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Related pages:
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* [[PCB 1.3 (English)|How to solder the PCB]]
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* [[Ardumower Sunray|All about Ardumower Sunray (GPS RTK-Version)]]
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* [[Maintenance_Repair_Tips | Maintenance & Repair Tips]]
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[[File: Ardumower chassis2021 weiß.jpg | 500px]]
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Please start watching the detailed instruction videos on Youtube (see section "Videos"). This page is based on the content of the videos.
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<!-- =Ardumower Chassis 2021 specifications= -->
  
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=Ardumower 1.0 Chassis specifications=
 
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<gallery>
 
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File: Ardumower-chassis.jpg | Chassis
 
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File: Ardumower_chassis_overview.png | Chassis overview
 
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File: Ardumower_chassis_exploded.jpg | Chassis exploded
 
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File: Ardumower_chassis_components.png | Chassis components
 
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File: Ardumower_chassis_side.jpg | Chassis side
 
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File: Ardumower_chassis_inside.jpg | Chassis inside
 
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File: Ardumower_chassis_pcb1.jpg | Chassis and PCB inside
 
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File: Ardumower_chassis_pcb2.jpg | PCB mount
 
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</gallery>
 
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* Material: PE-HD plates (8mm) and alumnium profiles
 
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* Dimension (L/B/H): 60x36x25cm
 
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* Total weight: approx 9 kg (including all components - motors, battery, PCB etc.)
 
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* Adjustable mower motor height
 
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* Mowing motor: 24V DC, 3150 rpm, 140 mNm, 46W
 
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* Mowing disc: 190mm diameter, 3 blades
 
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* Wheels: 250mm diameter
 
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* Free wheel: 125mm diameter
 
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* Gear motors: 2 x DC 24V planetary drive, 31 rpm, 2.45 Nm, 8mm shaft, with integrated encoders
 
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* A rotation speed up to 31 rpm allows to move the robot at sufficient speed (at up to meter/sec = 31rpm/60 * PI * 0.25m = 0.4m/sec using 250mm diameter wheels)
 
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* A high torque (2.45Nm) guarantees that the robot can climb small hills as well (with 2 motors, 0.125 radius wheel, 31rpm = 0.4m/s = 1.5 km/h, acceleration = 0.2 ( 1/2 of nominal speed) see calculator
 
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* Integrated encoders, so it can measure the rotation speed and the distance
 
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* Battery: Lithium-Ion 29.4V (125Wh or 250Wh)
 
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* Total energy consumption (average): 40W (60W peak, 7W idle)
 
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* Max. incline: approx. 30%
 
  
 
=Videos=
 
=Videos=
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#[https://youtu.be/s6gOuwkHw00?t=180 Ardumower at Berlin Maker Faire 2019 (Source: "hallo deutschland")]
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#[https://www.youtube.com/watch?v=OYIUQy0QKpQ Ardumower Tutorials Chassis 2021 Teil 1 WasGehoertDazu]
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#[https://www.youtube.com/watch?v=8hrwDqV0vbo Building an Ardumower: chassis, motors, tires assembling]
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#[https://www.youtube.com/watch?v=P06tg1YPgXk Ardumower Tutorials Chassis 2021 Teil 2 Vorbereitung]
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#[http://www.youtube.com/watch?v=IAwKlwFU-BY&feature=youtu.be Building an Ardumower: chassis, motors, tires assembling (slow)]
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#[https://www.youtube.com/watch?v=s_W-PYmOGCo Ardumower Tutorials Chassis 2021 Teil 3 Montage]
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#[https://www.youtube.com/watch?feature=player_embedded&v=DXsLYnmoD3I Overall impression]
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#[https://www.youtube.com/watch?feature=player_embedded&v=f5S1kVwyV9c Loundness test]
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=Tools=
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#[https://www.youtube.com/watch?v=_XWXAPYuRyo Gear motor test]
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#[https://www.youtube.com/watch?feature=player_embedded&v=QPCFLs7Qot0 Gear motor hardness test]
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#[https://www.youtube.com/watch?v=Ccpqt9mn5HI Mowing motor hardness test]
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#[https://www.youtube.com/watch?v=HOT6HHO37P8 Perimeter wire test (indoor)]
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#[https://www.youtube.com/watch?v=QCA6Dm3rs3M Perimeter wire test (120m outdoor)]
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#[http://youtu.be/KUPFygJ3sWg Obstacle detection via motor current]
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#[http://youtu.be/cQJHjGboQNw Obstacles detection via ultrasonic]
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#[https://www.youtube.com/watch?v=fUjf9BBgCQY&feature=youtu.be Robot releases itself]
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#[https://www.youtube.com/watch?v=Llp_rUrg5C4&feature=youtu.be Robot releasing long-time test]
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#[https://www.youtube.com/watch?v=eB7i8BH0A4Y&feature=youtu.be Plastic blades test]
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#[https://www.youtube.com/watch?v=NLv-mXDqVQU&feature=youtu.be Docking test (very initial prototype)]
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#[https://www.youtube.com/watch?v=lLia2AjYHgc Rain sensor test]
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#[https://www.youtube.com/watch?v=UcW0OHwv0NA&feature=youtu.be 3D simulation]
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=Assembly=
 
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==Required Tools==
 
 
* Screw driver
 
* Screw driver
 
* Different Imbus screw driver
 
* Different Imbus screw driver
 
* Different Torx screw driver
 
* Different Torx screw driver
 
* Knife
 
* Knife
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==Optional Tools==
 
 
* Round and flat file
 
* Round and flat file
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* Electric padsaw
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* sand paper or sand sponge
 
* Drill machine with drill set (3,4,6,8,10 mm drills)
 
* Drill machine with drill set (3,4,6,8,10 mm drills)
  
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==Optional Material==
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=Whats inside the Box?=
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* M4 washer and spring washer
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* 1 M8 carriage bolt
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* Rain sensor case 3D print from [https://www.thingiverse.com/thing:2746360 model]
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* Case for NTRIP receiver module for GSPS variant of the Ardumower
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=Case assembly=
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<gallery>
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File: Chassis2021InsideBox1.png | Plates etc.
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File: Chassis2021InsideBox2.png | Electronics, Screws
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</gallery>
  
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'''This assembly instruction is work in progress!'''
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=Preparation of Plate-Materials=
  
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We recommend to smooth all parts and remove all edges with a file and/or sand paper.
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<gallery>
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File: Chassis2021Prepare1.png | parts with sharp burrs
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File: Chassis2021Prepare2.png | parts without sharp burrs
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File: Chassis2021Prepare3.png | glue the doubled Motor-mounting-plates
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</gallery>
  
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[[File:20180126 115445.jpg]]
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==Front-Plate==
  
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We start with the bottom, right and left board. You have to see you remove all the remaining plastic from the notch in the bottom board. Otherwise the side boards will not fit into it.
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Mount the three Sonar-Sensors with hot-glue (carefully).
  
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[[File:BottomAndSides.jpg]]
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[[File:Chassis2021Prepare4.png  | 500px]]
  
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Then we take the bottom board and attach the first aluminium corner. It has the advantage to use the polished polished side of the bottom board downside that the grass sticks to it less well as to the matte side.
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==Mow-Plate==
  
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[[File:MountProfiles1.jpg]]
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Inserting the threaded sleeves for the mower blades.
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Then we put two M6 nut bolts into the corners.
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[[File:MountProfiles2.jpg]]
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In the next step, we attach the left and right side to the bottom board and fix them with the four M6 screws
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[[File:MountCorners.jpg]]
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Then we take the front board. If you already know that you want to use the use ultrasonic collision detection, then remove the remaining plastic from the prepared six holes. Use again four M6 screws and the corresponding nuts and attach them between the right and left side of the chassis.
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[[File:FrontPlate.jpg]]
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In the next step we prepare the holes for the rear side. It is recommended to prepare the holes for the charging connector and the start switch.
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[[File:RearPlate.jpg]]
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<gallery>
 
<gallery>
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File: Ardumower_chassis_box.jpg | Chassis box
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File: Chassis2021MowPlate1.png | 1
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File: Ardumower_chassis_inside_ready.jpg | Chassis box with motors
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File: Chassis2021MowPlate2.png | 2
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File: Underrun_protection.jpg | Underrun protection
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File: Chassis2021MowPlate3.png | 3
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File: Underrun_protection_holes.jpg | Bumper
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File: Bumper.jpg | Bumper (other possible position)
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File: Blade_protection.jpg
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</gallery>
 
</gallery>
  
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=Gear motors=
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=Wiring=
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It is recommended to use washers and spring washers to prevent that the screw become unfastened.
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<gallery>
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File:Chassis_motor_festziehen.jpg|Assemble and tighten motors
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File:Chassis_motoren_anschliessen.jpg |Connect motors
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</gallery>
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=Tires=
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There are two options to wire the emergency switch. Option 2 is the recommended version. If you realize version 1, don´t forget an external accessible power-Switch (close to "connector") .
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It is recommended to use washers and spring washers to prevent that the screw become unfastened.
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<gallery>
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File:Chassis_spanner_zusammensetzen2.jpg|Assemble spanner
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File:Chassis_spanner_festziehen2.jpg |Tighten spanner
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File:Chassis_spanner_schrauben_lösen2.jpg |Loose spanner screws
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File:Chassis_rad_festziehen.jpg| Tighten wheel
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File:Chassis_spanner_lösen2.jpg| How to loose spanner again
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</gallery>
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=Mower motor=
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[[File:Chassis2021EmergencyStop.png | 500px]]
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<gallery>
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File: Chassis_mähmotor_befestigung_anbringen.jpg|Mount mower motor fixing
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File: Chassis_mähmotor_auf_höhe_festschrauben.jpg |Tighten mower motor at height
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File: Chassis_mähmotor_anschließen.jpg |Connect mower mower
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File: Chassis_spanner_zusammenbauen.jpg|Assemble spanner
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File: Chassis_spanner_festziehen.jpg| Tighten spanner
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</gallery>
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=Mowing disc=
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=Case assembly=
  
 
<gallery>
 
<gallery>
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File: Chassis_gewindeeinsätze_eindrehen.jpg|Mount nut insert
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File: Chassis2021Assembly1.png | Arrange parts and drill two holes for bumper cabling (see right hand finger for one of the marks)
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File: Chassis_mähscheibe_festziehen.jpg|Tighten disc
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File: Chassis2021Assembly2.png | Mount profiles to baseplate and gear-motors to side walls (with especially marked screws "Motor")
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File: Chassis_gewindeeinsätze_loctite.jpg|Add loctite
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File: Chassis2021Assembly3.png | Mount profile for mowing motor
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File: Chassis_messer_festziehen.jpg|Tighten blades
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File: Chassis2021Assembly4.png | Install sealing ring
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File: Chassis_spanner_lösen.jpg|How to loose spanner again
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File: Chassis2021Assembly5.png | install mowing motor
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File: Chassis_mähscheibe_auswuchten.jpg |Disc balancing 
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File: Chassis2021Assembly6.png | mount sidewalls
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File: Ardumower_blades.jpg |Add blades
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File: Chassis2021Assembly7.png | prepare backside
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File: Ardumower_blades_examples.jpg | Blades examples
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File: Chassis2021Assembly8.png | install backside
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</gallery>
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File: Chassis2021Assembly9.png | prepare bumper
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File: Chassis2021Assembly10.png | start with screws -> washers -> plastic spacer sleeves
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==Free wheel==
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File: Chassis2021Assembly11.png | add bumper -> washers -> nuts
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<gallery>
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File: Chassis2021Assembly12.png | finished bumper
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File: Ardumower_free_wheel.jpg|Free wheel bottom
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File: Chassis2021Assembly13.png | install mowing plate
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File: Ardumower_freewheel2.jpg|Free wheel top
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File: Chassis2021Assembly14.png | install frontplate
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File: Chassis2021Assembly15.png | finished case
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File: Chassis2021Assembly16.png | install electronics
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File: Chassis2021Assembly17.png | final frontplate
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File: Chassis2021Assembly18.png | final backplate
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File: Chassis2021Assembly19.png | final top view
 
</gallery>
 
</gallery>
  
 
=Further links=
 
=Further links=
  
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[http://www.ardumower.de/index.php/de/forum/general-discussion/918-beginner-ardumower-build-thread-picture-heavy?limitstart=0 Detailed step-by-step instructions]
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[https://forum.ardumower.de/threads/aufbau-anleitung-für-das-neue-dibond-chassis-mit-bumper.24067/ instructions on ardumower forum]
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[https://forum.ardumower.de/threads/anleitung-f%C3%BCr-das-ardumower-komplettset-erstellen.23300/ Anleitung für das Ardumower Komplettset]
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[https://forum.ardumower.de/threads/m%C3%A4hmotor-und-m%C3%A4hscheibe-anleitung.22220/ Mähmotor und Mähscheibe]
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[https://github.com/Ardumower/ardumower/tree/master/cad/ardumower_chassis_0_99 CAD files]
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[https://www.marotronics.de/Rasenroboter-Zubehoer Ardumower blades etc.]
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Aktuelle Version vom 6. September 2021, 21:04 Uhr


This page describes the assembly of the Ardumower chassis that you can purchase via the shop Shopping.png.

Related pages:

Ardumower chassis2021 weiß.jpg

Please start watching the detailed instruction videos on Youtube (see section "Videos"). This page is based on the content of the videos.



Videos

  1. Ardumower Tutorials Chassis 2021 Teil 1 WasGehoertDazu
  2. Ardumower Tutorials Chassis 2021 Teil 2 Vorbereitung
  3. Ardumower Tutorials Chassis 2021 Teil 3 Montage

Tools

  • Screw driver
  • Different Imbus screw driver
  • Different Torx screw driver
  • Knife
  • Round and flat file
  • sand paper or sand sponge
  • Drill machine with drill set (3,4,6,8,10 mm drills)

Whats inside the Box?

  • Plates etc.

  • Electronics, Screws

Preparation of Plate-Materials

  • parts with sharp burrs

  • parts without sharp burrs

  • glue the doubled Motor-mounting-plates

Front-Plate

Mount the three Sonar-Sensors with hot-glue (carefully).

Chassis2021Prepare4.png

Mow-Plate

Inserting the threaded sleeves for the mower blades.

  • 1

  • 2

  • 3

Wiring

There are two options to wire the emergency switch. Option 2 is the recommended version. If you realize version 1, don´t forget an external accessible power-Switch (close to "connector") .

Chassis2021EmergencyStop.png

Case assembly

  • Arrange parts and drill two holes for bumper cabling (see right hand finger for one of the marks)

  • Mount profiles to baseplate and gear-motors to side walls (with especially marked screws "Motor")

  • Mount profile for mowing motor

  • Install sealing ring

  • install mowing motor

  • mount sidewalls

  • prepare backside

  • install backside

  • prepare bumper

  • start with screws -> washers -> plastic spacer sleeves

  • add bumper -> washers -> nuts

  • finished bumper

  • install mowing plate

  • install frontplate

  • finished case

  • install electronics

  • final frontplate

  • final backplate

  • final top view

Further links

instructions on ardumower forum

Von „https://wiki.ardumower.de/index.php?title=Chassis_2021&oldid=10063“