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icub-tech-iit / study-icub-head

Main collector for the design of the iCub head
BSD 3-Clause "New" or "Revised" License
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4K Cameras – Design of the new eye bulb – Stint 4 #18

Closed pattacini closed 2 years ago

pattacini commented 2 years ago

Follow-up of #17.

We're required to complete the design of the bulb together with the frame of the 4K head by Fri 15.

cc @marcoaccame @maggia80

salvi-mattia commented 2 years ago

this is how the new lens - 16483 - M12 Lens, Focus 2.1mm, Aperture 1.8 FOV 170 degree with IR cut filter, 1/3- looks

immagine

immagine

we need to shorten a little bit the bulb

salvi-mattia commented 2 years ago

I made the fin in the centre of the eyelid immagine

I choosed diameters in order to make it touch on the green surfaces and not on the red @fiorisi do you think it is better to leave a bit of clearance in the width or is it better for it to touch on both side to give more stability?

salvi-mattia commented 2 years ago

being as closest as possible to the cone

immagine

immagine

immagine

cc @maggia80

fiorisi commented 2 years ago

I choosed diameters in order to make it touch on the green surfaces and not on the red @fiorisi do you think it is better to leave a bit of clearance in the width or is it better for it to touch on both side to give more stability?

Discussed F2F. Considering that the white part is 3D printed I would have a nominal clearance of 0.2 mm.

salvi-mattia commented 2 years ago

ciao @Fabrizio69 I have finished rename all the parts and groups in the new head for 4k cameras what are we going to do now? Am I going to import the whole bom?

every one who wants to give it a look cand find it in the study-icub-head repo it is called IC_032_A_001_4KHEAD some components are in @marcellosavoldi 's folder cad-mechanics\sandbox\220601_STD_head_for_UZCB_Savoldi\

I still have to finish DRW for ic_032_p_015 16 and 17

cc @fiorisi @pattacini @maggia80

maggia80 commented 2 years ago

@salvi-mattia in the model I didn't see the eyelids. Could be my fault. I think that you should create the BOM of this assembly and compare it with the standard head to check what are the parts of the upgrade kit that should be fabricated and what should be removed from the standard head to mount the kit. Since you used the eye of the neuromorphic head, there could be some parts that you didn't modify but we need to purchase because are not part of the standard head.

maggia80 commented 2 years ago

I checked with BOM comparison spreadsheet, using the flat BOM at the end of the .bom files generated by CREO. Hereafter the result: BOM comparison_4kVSSTDHEAD.zip

maggia80 commented 2 years ago

to take it with the tweezers since I didn't compare the revision of the parts!!!

salvi-mattia commented 2 years ago

@fiorisi @Mick3Lozzo @marcellosavoldi I would be glad if you can give the assembly a fast look before going for the tender

thanks

fiorisi commented 2 years ago

Thanks @salvi-mattia. I don't have any comment, just few minor checks.

salvi-mattia commented 2 years ago

thanks @fiorisi

for the eyelids [as discussed F2F] I tried to remove interference and checked that nothing is visible with closed eyelids

immagine

immagine

immagine

salvi-mattia commented 2 years ago

changed pin

immagine

salvi-mattia commented 2 years ago 
* Is this clearance sufficient when the eyes tilt?
  ![image](https://user-images.githubusercontent.com/8970230/179482668-d6dfefb0-5989-486b-955f-b8921bd77819.png)

increased clearance

immagine

immagine

immagine

salvi-mattia commented 2 years ago

for the other fastner' placement I'm going to fix them

salvi-mattia commented 2 years ago

as agreed with @Fabrizio69 I'm going to import the bom of the whole head IC_032_A_001_4KHEAD

new screws are 6lobe ones, old screws are as they were

fiorisi commented 2 years ago

new screws are 6lobe ones, old screws are as they were

Ok for me.

maggia80 commented 2 years ago

@salvi-mattia I'm preparing the EKIT for the UKIT_009 (if I'm not wrong). We should start giving a name to the kit and document with a specific issue the creation of the kit.

Tentative name:

16519 EKIT_009     Upgrade Kit iCub2.x, Basler cameras, GPU and COM Express Type 10 (electronics)
salvi-mattia commented 2 years ago

hi @Fabrizio69 this is the main assembly 16546 - iCub head 4k general assembly | ASM

let me know what we have and what we need to ask to MWS. I'll open the request @marcellosavoldi is preparing documentation for SHTM tender

cc @maggia80 @fiorisi @pattacini

salvi-mattia commented 2 years ago

@salvi-mattia I'm preparing the EKIT for the UKIT_009 (if I'm not wrong). We should start giving a name to the kit and document with a specific issue the creation of the kit.

Tentative name: 16519 EKIT_009 Upgrade Kit iCub2.x, Basler cameras, GPU and COM Express Type 10 (electronics)

following these guidelines https://github.com/icub-tech-iit/procedures/wiki/Upgrade-kits I created this epic https://github.com/icub-tech-iit/fix/issues/1222 @maggia lemme know if the title is ok

Fabrizio69 commented 2 years ago

hi @Fabrizio69 this is the main assembly 16546 - iCub head 4k general assembly | ASM

let me know what we have and what we need to ask to MWS. I'll open the request @marcellosavoldi is preparing documentation for SHTM tender

cc @maggia80 @fiorisi @pattacini

Hi @salvi-mattia here the list of components to add to the standard head cod.12635.A3 (22/11/2021), to obtain the iCub head 4k cod.16546. Check the components with alias IC_031_G_xxx e IC_032_G_xxx: if the category is ASM we can remove them from the list.

Alias Descrizione Codice Rev. Qtà
V25-6---_ISO7045_CZ screw – M2.5 x  6 – UNI7687 , DIN7985A , ISO7045 – SS A2 –  pozidriv cross recessed pan head 2414   4
V2-5--_-_ISO7045_CZ screw – M 2 x 5 – UNI7687 , DIN7985A , ISO7045 – SS A2 –  pozidriv cross recessed pan head 2429   5
V2-6--_-_ISO7045_CZ screw – M 2 x 6  – UNI7687 , DIN7985A , ISO7045 – SS A2 –  pozidriv cross recessed pan head 2439   2
V3-8--_-_U5931_GC screw – M 3 x 8  – UNI5931 , DIN912  , ISO4762 – SS A2 – hexagon socket cap head - fully threaded 2467   2
V3-8--_-_U5933_C screw – M 3 x 8 – UNI5933 , DIN7991  , ISO10642 – SS A2 – hexagon socket countersunk head 2468   1
D16---_I4032 Hexagonal nut - M1.6 - stainless steel A2 - DIN934, ISO4032, UNI5588 2522   4
V25-6---_ISO7046-1_CH screw – M2.5 x 6  – UNI7688 , DIN965A  , ISO7046 – SS A2 – phillips cross recessed flat head 2583   10
R1-6--_-_U6592 Washer - flat regular type - M1.8 (1.7x4x0.3) - SS A2 140HV - DIN125 A, ISO7089, UNI 6592 2590   2
V16-4---_I1207_C screw – M1.6 x 4  – UNI6107 , DIN84A  , ISO1207 – SS A2 – slotted cheese head 2593   8
V2-4--_-_ISO7046-1_CH screw – M 2 x 4  – UNI7688 , DIN965A  , ISO7046 – SS A2 – phillips cross recessed flat head 2707   3
G2-3--_-_U5923_G Set screw, hex socket, M2,0 x 3,0, stainless steel A2, DIN913, ISO4026, UNI5923 4305   10
HELICOIL_M2-5_L2D HELICOIL Plus M2.5x5mm , stainless steel A2 4884   4
STANDOFF-HEX-MF-2_5-10_PTFE Standoff Hex PTFE M/F M2.5 L=10 5990   6
B3-6--_-_U9200_A SNAP RIVET UNI 9200-A 3X6 6730   4
PEM_SMPS_M25 PEM self-clinging nut - SMPS M2.5 THK MIN 0.64 10527   40
S1-4--_-_I2338_B Dowel pin Ø1.0 x 4 stainless steel A2, DIN7, ISO2338B, VSM12771, UNI1707 11950   4
ICUB3_020_P_121 V2 tilt gearbox output shaft 12332   2
S2-5--_-_I2338_B Dowel pin 2.0 (h8) x 5 stainless steel A2, DIN7, ISO2338B, UNI1707 12652   2
IC_002_G_011 Box for speaker PUI-Audio AS04004PO-2-R assy 12928   1
IC_002_P_012 Grid for speaker 12930   1
IC_002_P_016 Standard head eyes tilt frame 12932   1
IC_011_G_002 head tilt and motor lips frame assembly 12934 A1 1
IGUS_JFM-0507-03 Iglide J Flange bushing D5x3 14068   2
PEM_SO-M4-10 PEM Thru-Holes Standoff M4x10 (Steel) 14069   2
KONTRON_34099-0000-99-0_R2_1 COMe mini Active Uni Cooler (w/o HSP) 15626   1
M2x06-6LOBE-ISO14583-A2-70 M2x 6 , ISO14583, 6LOBE socket pan head machine screw, fully threaded, A2-70 15853   4
M2x08-6LOBE-ISO14583-A2-70 M2x 8 , ISO14583, 6LOBE socket pan head machine screw, fully threaded, A2-70 15854   4
M4x16-6LOBE-ISO14581-A2-70 M4x16 , ISO14581, 6LOBE socket countersunk flat head screw, f. threaded, A2-70 15862   2
M2_5x06-6LOBE-ISO14581-A2-70 M2.5x 6 , ISO14581, 6LOBE socket countersunk flat head screw, f. threaded, A2-70 15931   6
M2_5x04-6LOBE-ISO14583-A2-70 M2.5x 4 , ISO14583, 6LOBE socket pan head machine screw, fully threaded, A2-70 15991   8
M2_5x05-6LOBE-ISO14583-A2-70 M2.5x 5 , ISO14583, 6LOBE socket pan head machine screw, fully threaded, A2-70 15992   16
M2_5x10-6LOBE-ISO14583-A2-70 M2.5x10 , ISO14583, 6LOBE socket pan head machine screw, fully threaded, A2-70 15995   8
M3x08-6LOBE-ISO14583-A2-70 M3x 8 , ISO14583, 6LOBE socket pan head machine screw, fully threaded, A2-70 16024   2
STANDOFF_MF_M2_5-8_BRASS Standoff - hexagonal - Brass - MF - M2.5 x 8 16068   4
ECUB_004_R_002 Fan and heatsink for board ADVANTECH_SOM-7583C7-S8A1 16500   1
RS_196-5457 Metric Nitrile 70 ShA O-Rings Ø int. 2.6mm, Ø ext. 5.4mm 1.4mm 16512   8
STANDOFF_MF_M2_5-5_BRASS Standoff - hexagonal - Brass - MF - M2.5 x 5 16517   8
IC_031_G_005 icub, Head main Chassis 16520   1
IC_031_G_006 icub, rear support for head chassis 16521   1
IC_031_G_007 icub, Connetch support for head 16522   1
IC_031_P_020 icub, head , adapter for head covers 16523   2
IC_031_P_028 icub, head, Support for wiFi module 16524   3
IC_032_G_004 EXPRESSIVE HEAD MAIN FRAME ASSY 16525   1
IC_032_G_010 icub, head frame boards assembly 16526   1
IC_032_G_011 Neuromoprphic eye 16527   1
IC_032_G_012 V2 eye CCD group 16528   1
IC_032_G_013 eye pan motor-gerabov assembly 16529   1
IC_032_G_014 eyes and speaker assembly 16530   1
IC_032_G_015 eye support main group 16531   1
IC_032_G_016 Neuromoprphic eye 16532   1
IC_032_G_017 eye pan motor-gerabov assembly 16533   1
IC_032_G_018 V2 eye CCD group 16534   1
IC_032_G_019 eyelid bushing and gear group 16535   1
IC_032_G_020 eye bulb assembly with helicoil 16536   2
IC_032_G_025 icub, RFE electronic board Support 16537   1
IC_032_P_010 Eyelid reinforcement 16538   1
IC_032_P_011 eyes pan gearbox motor base 16539   2
IC_032_P_012 V2 eye tilt motor gearbox 16540   2
IC_032_P_013 Eye CCD mounting plate 16541   2
IC_032_P_015 lens holder 16542   2
IC_032_P_016 Inner eye 16543   2
IC_032_P_017 External ball eye 16544   2
IC_032_P_018 eyelid upper 16545   1
salvi-mattia commented 2 years ago

as decided T2T with @Fabrizio69 i have changed categroty to SHTM and added costruttore: IIT at the following codes

16520 -icub, Head main Chassis 16521 -icub, rear support for head chassis 16537 -icub, RFE electronic board Support

they have to be flagges as sheetmetal - do not explode they have to be fit in the tender

cc @marcellosavoldi

Fabrizio69 commented 2 years ago

@salvi-mattia, I think another code also has the wrong category:

cod.16522 - IC_031_G_007 - icub, Connetch support for head

Can you check? Thanks

salvi-mattia commented 2 years ago

yes, u are right i fixed it on wingst

@marcellosavoldi is working on the shtm tender here

Fabrizio69 commented 2 years ago

Hi @salvi-mattia, here the CUST component list for the IIT-MWS:

Cod. Rev Alias Descrizione Um Q.ty
12332   ICUB3_020_P_121 V2 tilt gearbox output shaft Pezzi 2
12932   IC_002_P_016 Standard head eyes tilt frame Pezzi 1
16538   IC_032_P_010 Eyelid reinforcement Pezzi 1
16539   IC_032_P_011 eyes pan gearbox motor base Pezzi 2
16540   IC_032_P_012 V2 eye tilt motor gearbox Pezzi 2
16541   IC_032_P_013 Eye CCD mounting plate Pezzi 2
16542   IC_032_P_015 lens holder Pezzi 2
16543   IC_032_P_016 Inner eye Pezzi 2
16544   IC_032_P_017 External ball eye Pezzi 2

I hope that this is OK

Fabrizio69 commented 2 years ago

Hi @salvi-mattia here the PLAS component list for the IIT-MWS:

Cod. Rev Alias Descrizione Um Q.ty
12928 A1 IC_002_G_011 Box for speaker PUI-Audio AS04004PO-2-R assy Pezzi 1
16523   IC_031_P_020 icub, head , adapter for head covers Pezzi 2
16524   IC_031_P_028 icub, head, Support for wiFi module Pezzi 3

I hope that this is OK

salvi-mattia commented 2 years ago

CUST immagine

salvi-mattia commented 2 years ago

PLAS immagine

salvi-mattia commented 2 years ago

immagine

immagine

Fabrizio69 commented 2 years ago

Hi @salvi-mattia, I see that the SHTM cod.12930 - IC_002_P_012 (Grid for speaker) is not present in the purchase order for the sheet metal parts (see purchase issue). Can you check this? Thanks

cc: @marcellosavoldi

salvi-mattia commented 2 years ago

it's a shhetmetal part i guess we can ask it to MWS [both 3d printed or waterjet] or put it inside the shtm tender tell me what you want to do and i'll proceed with the documentation

@Fabrizio69

Fabrizio69 commented 2 years ago

@salvi-mattia I think that now we can't change the tender. So I think that is easier to ask it to IIT-MWS.

cc: @maggia80

salvi-mattia commented 2 years ago

immagine