Arexx SR-129 User guide

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Design Soccer Robot

SOCCER ROBOT

MANUAL: Model SR-129

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Contents

1. Product information SOCCER ROBOT 3

2. Tools 4

3. Parts list 6

4. Assembly instructions 8

5. Final assembly 18

6. Troubeshooting 18

7. SOCCER ROBOT game 19

8. How does the SOCCER ROBOT move 19

9. Information about gears 20

AREXX Engineering - Zwolle (NL).

Manufacturer and Dealer are not responsible for the consequences of improper use, assembly mistakes and or operation of this product as a result of ignorance of this manual. If necessary, the contents of this manual can be

changed any time without prior notice.

European Importer: AREXX Engineering ZWOLLE The Netherlands

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Technical support:

WWW.AREXX.COM

1. PRODUCT INFORMATION SOCCER ROBOT

Play your own World Championships of Soccer Robots!

Before the games begin, first you have to assemble the SOCCER ROBOT.

When the SOCCER ROBOT is ready, you can start your own Soccer Championships. First however, an extensive training is necessary because it is not so easy to control this funny, six-legged robot. The controller has two switches to control the two motors. These two motors send the robot in any direction you like.

The performances of this fast robot will certainly appeal to you. In this manual we will show you all robot movements, so you really will get to know the functions of this SOCCER ROBOT.

Specications:

Power voltage : 3V (2 Penlite Batteries of 1,5V (Batteries are not included in this kit) Power consumption : Approx. 300 mA max Height : 100 mm Length : 160 mm Width : 90 mm Cable length controller : 1.5 meter

Warning

* When you open the plastic bags of the parts the return right is no longer valid * Before you start assembling, first read the complete instruction manual * Be careful with tools and always keep them away from little children! * Keep this product out of reach of children and do not build this kit when children are in the neighbourhood, the tools and parts are dangerous for children * Check the polarity of the batteries when you insert them * Keep the batteries dry and when the robot gets wet, remove the batteries and let the soccer robot dry for some time * Remove the batteries when you are not using the robot for a longer period

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2. TOOLS

We strongly suggest to read this chapter rst before assembling the product

Assemble the robot in the exact order as described in this manual. This way you will avoid assembly mistakes. If you assemble in the correct order and study the picture on the packaging so now and then, you will build a perfectly functioning robot in no time.

All parts fit perfectly, so there is absolutely no need to use force. Work calmly and read the complete manual before you start to assemble this robot.

Small hammer

With the correct tools you already solved half the job!

Long nose plier

Detaching parts from a frame

Assembly of shafts and gears

Screwdriver set

Always use the correct size for each screw

We recommend to use electronic pliers (150 mm).

When a part is fixed to a plastic frame you have to detach it with a diagonal cutter or ahobby knife. Make sure that you do not cut in the part itself and remove all burrs neatly.

Important ! Do not detach parts from the frame before you need them.

Be always very careful when you assemble shafts and gears. When possible always try to push the gear on the shaft with your hands. When you need to use a hammer, always put a piece of wood between the hammer and the gear or shaft, so you do not damage things.

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Self-tapping screws (Parker)

thickness

A self-tapping screw looks similar to a wood screw. When you screw it in a hole, it can cut the threads at the same time. Never try to screw it down all the way for a first time, because it may easily become stuck or you will damage its head.

Tapping screws always have a sharp point sometimes with a small carve. The best way is to screw it in and out a bit.

1 Screw in 2 Screw out a bit 3 Screw in further and continue step 1 and 2

Do not screw a tapping screw in and out to often because the screw hole may become enlarged and the screw will loose all grip and proper function.

Screws and nuts

Nut

Length

Lock nut

In a moving environment, screws and nuts must be tightened properly. A lock nut is a special nut with nylon inside which will lock itself automatically.

Another easy way to lock a screw is to use ordinary fingernail polish. A big advantage of nail polish is that you always can loosen it quite easily again. A professional way to lock a screw is to use for example locktite a sort of glue especially made for screws, but it is very difficult to unlock such a screw afterwards.

The size of a screw is expressed by thickness and length. A screw with the marking M2 x 10 means 2mm thick. The length of the thread is 10mm. A M2 nut means it is used for a M2 screw so the nut always corresponds with the screw thickness.

Lock nut fixation

To lock the lock nut in a proper way, use a plier or the spanner which is supplied in this kit. See drawing on the left!

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3. PARTS LIST SOCCER ROBOT

Please check all parts before you start assembly:

Self-tapping screw

M2,3 x 5  2 pcs.

M2,3 x 8  2 pcs.

Screw short

M3 x 10  4 pcs.

Screw small

Screw middle

M3 x 20  2 pcs. M3 x 35  3 pcs.

M2 Nut

M3 Nut

Screw long

Lock nut

M2,6 x 6  5 pcs.

Pinion gear Flatspur gear

 2 pcs.

Motor holder Crank

 2 pcs.

Spacer 5mm

with pinion

 2 pcs.

Spacer 10mm Spacer 25mm Shaft 85mm

M2 x 0,5  8 pcs.

Flatspur gear with boss

 2 pcs.

Spring washer M2

 10 pcs.

 14 pcs.

Collar nut

 6 pcs.

 9 pcs.

Crown gear with pinion

 2 pcs.

Hexadiagonal tool

 1 pcs.

Washer M3

 2 pcs.

Motor

 2 pcs.

Wrench M2 & M3

 1 pc.

Spring washer M3

 4 pcs.

Ball

 6 pcs.

Screw shaft for leg

 2 pcs. 1 pc.  2 pcs.  2 pcs.

 2 pcs.

Screw shaft thick

Screw shaft thin

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 2 pcs.

 6 pcs.

Shaft 22mm Cable holder

 2 pcs.

 4 pcs.

 1 pc.

Side panel

Controller top

Controller bottom

 2 pcs. (Left and Right)

Leg middle

 2 pcs.  4 pcs.  4 pcs.

Battery holder

 1 pc.

Felt

Leg front and rear

Cable set Switch PCB

 1 pc.  1 pc.

Foot

 6 pcs.

Sticker

Joint strip

Kicker

 1 pc.

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 1 pc.

For the assembly of the controller you need;

4. ASSEMBLY INSTRUCTIONS SOCCER ROBOT

Connect the cable to the correct terminal on the PCB. Pay utmost attention to the correct cable marking on each wire and make a connection to the pin with the corresponding letter.

Controller assembly

WARNING:

Do NOT put the batteries into the battery holder yet. Wait until the robot is completely assembled. When you create a short cut and the batteries are already placed, you can start a fire or get hurt by the extreme heat of the batteries.

1 pc. Felt 1 pc. Switch PCB 1 pc. Cable set 1 pc. Controller bottom 1 pc. Tapping screw 2.6x6mm

To make a felt cover for the switches, please follow the arrows.

Attach the PCB to the controller bottom with the tapping screw 2.6x6

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Final assembly of the Controller :

For the final controller assembly you need;

Install the battery bottom with the 4 tapping screws M2.6 x 6mm.

Attach the sticker

Finally, we install the battery holder with the 2 tapping screws M2.3 x 8mm

The completed CONTROLLER

Connect the battery wires to the correct + and - terminals on the PCB (see drawing) and PCB marking. Black = - (Blk) Red = + (Red)

Assemble the controller as shown on the pictures blow and in numerical order

1 pc. Assembled controller bottom 1 pc. Battery holder 2 pcs. Tapping screw 2.3x8mm 1 pc. Controller top 1 pc. Sticker 4 pc. Tapping screw 2.6x6mm

IMPORTANT

Be sure that the cables are guided through the correct holes.

Motor cable

Battery cable

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Assembly of the motors:

To assemble the motors you need;

2 pcs. Motor 2 pcs. Pinion gear 2 pcs. Motor holder 2 pcs. Tapping screw M2.3 x 5mm

Assemble the gear to the motor shaft as shown on the picture below.

MAKE 2 SETS!

Hit slightly with the hammer, do not hit the terminals!

OR BETTER:

Push the gear on the shaft with your hands.

Be careful not to damage the gear or motor shaft. When you use a hammer, be very gentle and put a piece of wood between hammer and gear or better use a plastic hammer. Best way is to push the gear on the shaft with your hands.

Attach the motors to the motor holder with a tapping screw M2.3 x 5 mm.

MAKE 2 SETS!

The shaft must be fully pushed into the gear !

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Flat part is faced down

Be sure the motor is fixed properly with the 2.3 x 5 mm tapping screw.

Assembly of the side panels:

For the assembly of the side panels you need;

ATTENTION

Screw the lock nuts real tight!

Keep the lock nut in position by holding it with a plier or a well-fitting spanner

Shaft 3x22mm

Screw long M3x20

2 pcs. Side panel L&R 2 pcs. Gear with boss 2 pcs. Crank 2 pcs. Shaft 3x22mm 2 pcs. Spacer 5mm 2 pcs. Screw shaft (thick) 2 pcs. Screw shaft (thin) 2 pcs. Lock nut 2 pcs. Screw long M3x20 4 pcs. Nut M2

Make two sets

Crank

Spacer 5mm

Shaft 3x22mm

Crank

First please read page 5 how to screw a lock nut.

Make 2 sets. Assemble the left panel in the same way as the right panel.

Nut M2

The boss is on the other site

Big hole

Gear with boss

Lock nut

Screw shaft thick

Screw shaft thin

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Assembly of the gears:

For the assembly of the gears you need;

Asssemble the gears and motor as shown on the drawing below.

Assemble in numerical order.

4 pcs. Screw M2 x 5mm

2 pcs. Assembled side panels L & R 2 pcs. Flat spur gear with pinion 2 pcs. Crown gear with pinion 8 pcs. Screw M2 8 pcs. Nut M2 8 pcs. Spring washer M2 2 pcs. Screw shaft long 2 pcs. Washer M2 2 pcs. Nut M2

Washer M2

Screw shaft long

Nut M2

4 pcs. Spring washer

Flat spur gear

Crown gear

4 pcs. Nut M2

Assemble the left and right side in the same way

MOTOR

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Final side pannel assembly:

For the final side panel assembly you need;

3 pcs. Screw M2 x 32mm

Spacer 10mm

2 pcs. Spacer 25mm

Kicker

2 pcs. Assembled side panel L and R 3 pcs. Screw M3 x 32mm 5 pcs. Nut M3 2 pcs. Spacer 25mm 2 pcs. Spacer 10mm 1 pcs. Cable holder 1 pcs. Kicker

Cable holder

2 pcs. Nut M3

Spacer 10mm

Attach the two side panels together.

After this step we will name this assembled part the CHASSIS.

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Top view

3 pcs. Nut M3

Leg assembly:

For the leg assembly you need;

Assemble the parts as shown on the drawings below:

6 pcs. Rubber feet 4 pcs. Leg short (front and back) 2 pcs. Leg long (middle) 4 pcs. Screw M3 x 10mm 4 pcs. Nut M3 4 pcs. Spring washer M3 4 pcs. Washer M3 4 pcs. Joint strip

Assemble 2 middle legs:

Screw M3

Front and rear leg

Middle leg (long)

Boss on other side

Rubber Feet

Make 4 sets in total (2 front & 2 rear):

Boss on this side

Large hole !

Spring washer M3

Washer M3

Front and rear legs (short)

Rubber feet

Joint strip

Make 4 sets

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Nut M3

Assembly of the front legs:

Front leg

Shaft 85mm

Spacer 5mm

Joint strip

Collar

Spacer 10mm

Spacer 5mm

Spacer 10mm

Collar

Collar screw

Front leg

For the assembly of the front legs you need;

Assemble the front legs on the left side and right side as shown on the drawing. Also notice the small detail-drawing!

The assembly of the front legs is for the left and right side exactly the same.

1 pc. Chassis 2 pcs. Assembled front leg 2 pcs. Shaft 85mm 2 pcs. Spacer 5mm 2 pcs. Spacer 10mm 2 pcs. Collar

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Assembly of the rear legs:

Shaft 85mm

Spacer 10mm

Joint strip

Spacer 5mm

Collar

For the assembly of the rear legs you need;

1 pc. Chassis 2 pcs. Assembled rear leg 1 pc. Shaft 85 mm 2 pcs. Spacer 10mm 2 pcs. Collar

Rear leg

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Assembly of the middle legs:

Assemble the middle legs to the left and right side as shown on the drawings:

THE COMPLETED SOCCER ROBOT!

Washer

Collar

For the assembly of the middle legs you need;

1 pc. Chassis 2 pcs. Middle leg 2 pcs. Washer M3

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5. FINAL ASSEMBLY

Wiring of the motors

IMPORTANT: Please check the correct marking on the wires!

Notice the correct polarity (+ & -) of the controller cable: A = + Rear motor B = - Rear motor C = + Front motor D = - Front motor

Battery installation

Insert the batteries into the battery holder. Notice the correct polarity (+ & -) of the batteries.

6. TROUBLESHOOTING

Problem: Check:

The motors are not running.

No leg movement.

The robot movements do not correspond with the controller

• Check the batteries, are they really full

• Check the battery polarity (+ and -).

• Check the wires on the switch PCB.

• Check the wires on the motors.

• Check the gears and especially the lock nuts

(tighten them a bit more or less).

• Check the side panels, all gears and their position

(rotate motor pinion by hand).

• Check all wire markings and connections

• Change motor wire + & - so they will rotate in reverse.

• Change motor wires from front motor to rear motor

Finally pass the wires through the cable holder

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7. SOCCER ROBOT GAME

In this chapter we describe some soccer robot games you can play:

SOCCER FIELD

A great field for our game is a ping pong table (table tennis table). Make some fences around it and make goals for both sides. Now you can a game with 2 robots or when you have only 1 robot try to make as many goals as you can in 5 minutes.

SOCCER GAME

First make teams with 1 or 2 players and shoot the ball in the opponents goal as often as possible during a certain period of time.

SOCCER POOL GAME

For this you need about 10 table tennis balls. Try to shoot as many goals as possible in 5 minutes of time using all balls. You also can number the balls and try to make a the highest score counting the numbers on the balls!

8. HOW DOES THE SOCCER ROBOT MOVE?

On the next page you find some background information about gears. Here we explain how the soccer robot can walk with his six feet.

Crank Mechanism

Crank

Joint strip

When the robots does not function well yet or when the gears do not have a good grip, please check the troubleshooting table on page 18. Please check all assembly steps again.

When your robot still does not function well, just take it apart and assemble it again. Check and double check all assembly steps by studying each drawing. This way you might find the problem.

The SOCCER ROBOT can walk because of the presence of the crank. The crank converts a rotational movement into a reciprocating movement.

The robot is constructed in a way that the front and rear legs only make a forward and backward movement.

The middle leg is designed to make a vertical slide movement, the crank circular movement is directly

Leg

conveyed to the toe of the middle leg.

So when the middle leg goes up, the front and back legs go backwards and the robot moves forward.

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9. INFORMATION ABOUT GEARS

The mechanics of the SOCCER ROBOT consists of two parts. The first part is the gear box, which takes care that the power from the motor shaft is converted to the crank. The second part is to convert the rotation of the crank into a movement of the feet.

The transmission of power

Gears, transmission belts, shaft, crank, chains: They all can transmit power. In the soccer robot four gears transfer the motor power into the crank. Such a transmission is called a gear box. The power is transmitted by the teeth of the gears. At the same time three conversions take place:

a. Change in rotating direction b. Change in rotating speed

90º

c. Change in torque

a. Change in rotating direction

When two gears are connected, there will be a change in rotation direction. One gear will rotate clockwise, the other gear will rotate counterclockwise.

Clockwise

Counter clockwise

b. Change in rotation speed

The change in rotating speed depends on the relation of the teeth in the gear. As an example we describe a gear with 10 teeth and a gear with 40 teeth. When the first gear (10 teeth) makes a full rotation, the second gear 40 (teeth) only makes a quarter of a rotation. So before the second gear makes a full rotation, the first gear already makes four rotations. You may understand that this effect also changes the rotating speed.

c. Change in torque

The torque can be seen as a lever construction with a fulcrum. Imagine a person who lifts a stone with a lever.

10 Teeth

The person who lifts the lever

Lever

Fulcrum

must use more power when the distance A gets shorter or when the distance B gets longer.

Motor rotatio Gear ratio = Number of last gear rotation

40 Teeth

This is about the same for gears. The power on the teeth increases on the inner side of the gear. For that function we are using spur gears.

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Fulcrum

Arexx SR-129 User guide

Specifications and Main Features

Frequently Asked Questions

User Manual