DF ROBOT HCR User manual

Instruction Manual
安装说明书
在使用HCR - Home Care Robot之前，请仔细阅读此说明书。
Read the manual carefully before using HCR - Home Care Robot. Ver 1.1
HCR - Home Care Robot

本说明书最终解释权归DFRobot所有
DFRobot has the final authority of interpretation on this manual.
电话 (Tel)：86-021-61620183
服务支持 (Service)：[e-mail]
网站：www.DFRobot.com.cn
Website：www.DFRobot.com
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目录 Contents
电机装配......................................................................................1
Motor Assembly
万向轮装配..................................................................................2
Caster Assembly
底层装配......................................................................................3-7
Bottom Assembly
中层侧板装配..............................................................................8
The Second Level Side Assembly
中层装配......................................................................................9
The Second Level Assembly
上层装配......................................................................................10
The Third Level Assembly
Kinect支架装配..........................................................................11
Kinect Level Assembly
整机组装......................................................................................12
Final Platform Assembly
零部件清单..................................................................................13
Parts List
HCR Assembly Diagram

电机装配 (a) Motor Assembly (a)
M4x15mm 螺丝
M4x15mm Screw
M8x10mm 螺丝
M8x10mm Screw
M3x10mm 平头十字螺丝
M3x10mm
Flathead Phillips Screw
M4x15mm 螺丝
M4x15mm Screw
M8x10mm 螺丝
M8x10mm Screw
M8 弹片
M8 Stainless Steel Spring Washer
M8 垫片
M8 Washer
联轴器
Coupler
挡圈
Retaining Ring
电机
Motor
电机固定板
Motors mounting bracket
M3x10mm 平头十字螺丝
M3x10mm
Flathead Phillips Screw
轮子
Wheel
HCR Assembly Diagram 1

M6 弹片
M6 Stainless Steel Spring Washer
M6 弹片
M6 Stainless Steel Spring Washer
M6 垫片
M6 Washer
M6 垫片
M6 Washer
M6 内六角螺母
M6 Nut
万向轮
Castor
万向轮安装支架
Castor Mounting Bracket
M6 螺丝
M6 Screw
M6 螺丝
M6 Screw
万向轮装配 Caster Assembly
2
HCR Assembly Diagram

HCR Assembly Diagram
底层装配 (a) Bottom Assembly (a)
碰撞传感器
Bumper
底板
bottom level
M4x10mm 螺丝
M4x10mm Screw
M4x10mm 螺丝
M4x10mm Screw
HCR Assembly Diagram 3

底层装配 (b) Bottom Assembly (b)
M4x10mm 螺丝
M4x10mm Screw
M6 螺丝
M6 Screw
M6 内六角螺母
M6 Nut
M6 内六角螺母
M6 Nut
M6 垫片
M6 Washer
M6 垫片
M6 Washer
M6 弹片
M6 Stainless Steel
Spring Washer
M6 弹片
M6 Stainless Steel Spring Washer
4
HCR Assembly Diagram

底层装配 (c) Bottom Assembly (c)
后红外安装支架
near IR mounting bracket
前红外安装支架
front IR mounting bracket
M4x10mm 螺丝
M4x10mm Screw
M4x10mm 螺丝
M4x10mm Screw
HCR Assembly Diagram 5

底层装配 (d) Bottom Assembly (d)
M4x10mm 螺丝
M4x10mm Screw
M4x10mm 螺丝
M4x10mm Screw
立柱 12cm
Supporting Pillars
6
HCR Assembly Diagram

底层装配 (e) Bottom Assembly (e)
M6 弹片
M6 Stainless Steel Spring Washer
M6 垫片
M6 Washer
M6 内六角螺母
M6 Nut
M6 螺丝
M6 Screw
M6 螺丝
M6 Screw
M6 内六角螺母
M6 Nut
M6 垫片
M6 Washer
M6 弹片
M6 Stainless Steel Spring Washer
HCR Assembly Diagram 7

侧板支架
The Second Level Side Bracket
舵机扩展板
Servo Pan/Tilt Bracket
超声波安装板
URM04 Ultrasonic
Mounting Bracket I
中层侧板装配 The Second Level Side Assembly
M4x10mm 螺丝
M4x10mm Screw
M4x10mm 螺丝
M4x10mm Screw
8
HCR Assembly Diagram

中层装配 The Second Level Assembly
中层板
The Second Level
开关安装板
Switch mouting bracket
超声波安装板
URM04 Ultrasonic mounting bracket I
M4x10mm 螺丝
M4x10mm Screw
HCR Assembly Diagram 9

kinect支架装配 Kinect Level Assembly
上层版1
The Third Level I
上层版2
The Third Level II
立柱 9cm
Supporting Pillars
M4x10mm 螺丝
M4x10mm Screw
10
HCR Assembly Diagram

Kinect支架装配 Kinect Level Assembly
立柱 19cm
Supporting Pillars
立柱 28.25cm
Supporting Pillars
XBox 支架
XBox Mounting Bracket Bottom
转台支撑
Supporting Pillars
M3x8mm 螺丝
M3x8mm Screw
M4x10mm 螺丝
M4x10mm Screw
M3x8mm 螺丝
M3x8mm Screw
10
HCR Assembly Diagram 11

整机组装 Final Platform Assembly
HCR 底层是用于放置电池，可以用配套的电
池固定夹固定电池。
The bottom of the HCR is used to fix the
bettery.
底层配有3个碰撞传感器，在
车的正前方，另配7个红外测
距传感器支架，可用于装配红
外传感器。
At the bottom of the HCR,
there are 3 bumpers and 7
Sharp IR Sensor Mounting
Brackets to fix the sharp IR
sensor.
HCR第二层是电子层，用于搭建HCR电子控
制系统，包括主控器和电机驱动，另外第二层
配有6个方向上的超声波安装支架。另外中层
配有舵机扩展安装槽位。
The second Level of the HCR is the
electronic level, you can put the control
system on it. Include the main controller
and the motor driver. And on the second
level, there are 6 URM sensor mounting
brackets. And two Servo pan/Tilt brackets.
HCR 第三层和第四层是工控基层和
kinect层。
The third level is used to put the
PC and the fourth level is used
for Kinect.
12
HCR Assembly Diagram

零部件清单 Parts List
零件名称 Parts 数量
底板 Bottom 1
中层板 The Second Chassis 1
第三层板 The IPC Level Up Chassis 1
工控机上层板 The IPC Bottom Chassis 1
前红外安装支架 Front IR Mounting Bracket1
后红外安装支架 Rear IR Mounting Bracket2
开关安装支架 Power Switch Mounting Bracket1
超声波支架 URM04 Ultrasonic Mounting Bracket I 2
舵机扩展安装板 Servo Pan/Tilt Bracket2
中层侧板 The Second Level Side Bracket2
URM4超声波扩展支架 URM4 Ultrasonic Mounting Bracket II 4
底板立柱 12CM Supporting Pillars 6
工控机层立柱 9CM Supporting Pillars 4
XBOX立柱 19CM Supporting Pillars 2
XBOX立柱 28.25cm Supporting Pillars 2
转台支撑 XBOX Mounting Bracket Bottom 1
Xbox 支架 XBOX Mounting Bracket1
轮子 Wheels2
联轴器 Coupler 2
万向轮 Castor Wheel 1
万向轮安装架 Castor Mounting Bracket1
直流电机 DC Motors with Encoders and Cables2
马达安装支架 Motors Mounting Bracket2
碰撞传感器 Bumper Sensor3
电池固定片 Battery Mounting Plate 2
M4*10内六角不锈钢安装螺丝 M4*10 Screw 80
M6*15内六角不锈钢安装螺丝 M6*15 Screw 18
铜柱螺丝包 Coin Screws1
内6角扳手 Inner Hex Wrench 1
两头开口扳手 Two Open-end Wrench 1
2
HCR Assembly Diagram 13

家庭监护机器人基础电子配件 Home Care Robot Base electronic Parts list
● 主控器：Arduino Mega / Main control: Arduino Mega
● 电机控制：Arduino Nano / Motor control：Arduino Nano
● 电机驱动：DC Motor Driver 2×15A / Motor Driver：DC Motor Driver 2×15A
家庭监护机器人进阶电子配件 Home Care Robot Advance electronic Parts list
● 主控器：Arduino Mega / Main control: Arduino Mega
● 电机控制：Arduino Nano / Motor control：Arduino Nano
● 电机驱动：DC Motor Driver 2×15A / Motor Driver：DC Motor Driver 2×15A
● 红外测距传感器 / IR Sensor
● 超声波传感器 / URM Sensor
家庭监护机器人高级电子配件 Home Care Robot Senior electronic Part list
● 主控器：Arduino Mega / Main control: Arduino Mega
● 电机控制：Arduino Nano / Motor control：Arduino Nano
● 电机驱动：DC Motor Driver 2×15A / Motor Driver：DC Motor Driver 2×15A
● 红外测距传感器 / IR Sensor
● 超声波传感器 / URM Sensor
● Xbee通讯模块 / XBee 1mW Wire Antenna
● GamePad V2.0 / GamePad V2.0
● DF-BluetoothV3蓝牙串口模块 / DFRobot Bluetooth V3
HCR Assembly Diagram