A slightly different B9 Robot
Slightly different Collar
Home
Bluetooth sound
Testing & Mobility
Cost (never done)
Treads DONE!
Power DONE!
Control DONE!
Structure DONE!
Knees DONE!
Legs DONE!
Torso Rotation DONE !
slip rings
Torso
Not neon
Not Neon Sound interface
Collar
Slightly different radar
Pneumatic bubble lifter
Claws & Arms
Pneumatic Claws of Death!
Center of Gravity
Robot pneumatics
RoboPhone

rig_small.jpg

First a collar rib forming machine!
Cut out the rib pattern, transfer it to aluminum plate, cut, bolt to another plate, toaster oven, add ball bearing slide, air cylinders, solenoid valves...
 
This works fairly well. Put a length of plastic in the oven at 300° for about 5 minutes, take it out of the oven with gloves, put it in the forming rig, hit the switch with my foot, hold closed for a minute, open and inspect new collar rib.
 
At this rate it will take 9 hours if I don't stop for lunch. I can see why people do multiple parts at a time.

Eventually all the ribs, with a few spares, were done.

 

A fairly normal support structure consisting of 2 rings made of 1/8" thick material: top 12" OD x 8" ID, bottom 16" OD x 9.75" ID and 6 supports that were about 3.25" tall. This was solvent welded together.  

 

Next, a fixture to assemble

 

Like many of us, to assemble the collar, I used Bob Greiners excellent drawings. Just glue them to a board. Next, to form a guide for the outside diameter for the collar, I cut out a circle 19.25” in diameter in some 1/8” thick sheet plastic. The idea is to have a smooth edge that a fixture can be slid along to position the ribs at each point from Bob’s drawings and at the same time be at the correct radial (in-out) and axial (up-down) position.

 

This 19.25” circle guide is screwed down to the board so that, as close as possible, its center coincides with the center of  the rib pattern.

board.jpg

Next, the support ring assembly for the ribs is located and bolted down the same way. Note that there are spacers (brass nuts actually) that hold the support up above the board so that the ribs can slip in with some clearance.

 

Now everything, the pattern, outer circle & the support structure is lined up with the same center point. All that is needed is a fixture to hold the ribs in place while the glue sets up.

 

The idea here is to locate the ribs by their outer edge instead of the inner ends. After all, its the outer edge that shows! When its all done no one will ever see the rib ends. This is slightly different from the normal design of the collar that requires that each rib be both formed identically and have accurately trimmed ends. Trimming rib ends adds a lot of work as well as adds additional tolerance problems that will definitely make the collar more irregular. By using the 19.25” circle guide and aligning only the outer edge of the ribs a much more uniform collar results. Paul Felski in the UK did his collar somewhat the same way: www.b9robotbuildersclub.com/pub/builders/scrapbooks/sb_B90203_1.html

fixture_m.jpg

The fixture is made from a block of plastic, aluminum plate & hardware. It is set up with its radius and edge so each rib will be pointing at the center of the assembly. The two pins are enough to do this very well. Put some glue (Household Goop) on the ends of a rib, slide it in place, slide the fixture into the rib, align the fixture with the pattern, wait for the glue to set up. Repeat. Unfortunately it can only do one rib at a time.

 

Goop was used instead of solvent weld to allow ribs to be repaired. While Goop is strong it is not as strong nor as permanent as a solvent welded part. If (when?) a rib breaks it is possible to remove the Goop, something that would be very difficult to do with solvent welded parts.

collarassy.jpg

Here it is completed. Very nice. But I suffer from “The doer’s eye”: Every spot I even slightly messed up I remember and forever my eyes are instantly drawn to it!

collartorso.jpg

With Bobs drawing and this simple fixture it was fairly easy to keep the ribs lined up. This collar weighs in at 4.17 lbs.

Below is the collar attached to the torso with a thin gasket in between.I am not sure if I will keep the gasket but it does give an interesting effect.

collar_gasket.jpg

Enter supporting content here