Adept s650H Quattro - Manual (Page 41)

Mounting the Robot Base
Adept Quattro s650 Robot User’s Guide, Rev B 41
NOTE: Deviation from this flatness specification will cause stress to be
taken up by the robot base as well as the mounting frame. Over time, this
stress may be relieved by either member, causing a possible loss of robot
calibration. Extreme strain in the robot base will cause a shift in the robot
axes and result in increased robot wear and performance degradation.
For this reason, Adept suggests considering welding the robot
mounting tabs as a last step in the frame fabrication, using a flat
surface as a datum surface during the tack welding operation.
Gussets
The triangular gussets are an integral part of the frame stiffness. The vibrational strength
of a structural assembly is strongly governed by controlling the shear forces between
members. The 250 mm gussets, shown in
Figure 3-3 on page 39 , are nominally sufficient
for transferring the load from the vertical members into the horizontal cross pieces.
Preferably, gussets should be placed at the edges of the frame members to transfer the
loading into the walls of the members, instead of the faces, and enable easier cleaning.
Some frame designs may benefit from extending these gussets to 500 mm in the vertical
direction, as the design intent of the gussets is mainly to secure the long vertical members
from rotating out of position. For this reason, the gussets to the across-the-belt horizontal
member should be at the bottom of the member, as shown in
Figure 3-3 on page 39 , and as
close to the vertical midplane of the frame as feasible (15 mm thickness is adequate for
most situations).
3.6 Mounting the Robot Base
NOTE: All mounting hardware is user-supplied.
Robot Orientation
Adept recommends mounting the Adept Quattro s650 robot so the diagnostic display
faces away from the conveyor belt. Although the work envelope of the robot is
symmetrical, this orientation gives better access to the status display, status LED, and
brake release button. It also balances the arm loading for aggressive moves across the belt
axis.
This orientation places the robot World Y-axis along the conveyor belt, and the X-axis
across the belt.
Mounting Surfaces
Mounting surfaces for the robot flanges must be within 0.75 mm of a flat plane.
CAUTION: Remove all ancillary components (controller,
outer arms, platform, etc.) from the shipping crate before
lifting the robot base.