SwapBot Rover With Tool Changer

Introducing SwapBot Tool changing rover: 

capable of self-tooling and equipped with interchangeable batteries. 

It smartly recognizes tools via I2C addresses, ensuring efficient operation. 

In development are multiple tools and a specialized rack, plus a bidirectional transmitter. 

Right now, its controlled by wifi via a website it broadcast.

Oled Screen “tool” and Claw tool is included

Other tools will be publiched by itself. will link them here.

Work in progress;

-Forklift tool

-3s battery (may not be nessesery)

insert roadmap here

Minimal support needed. 

(2Do: update all stl to right print orientation)

• N20 Gear Motor  12v Specification: Dual axis. Rotating speed: 6V68 rpm reduction ratio 118 Quantity : 2
• BEC: 3A Switch Mode UBEC Output 5V 6V max 5A Lowest RF Noise Quantity : 1
• Motor driver: MX1508 1.5A 2-way DC Motor Driver Quantity : 2
• Esp32 wemos mini: D1 Mini ESP32 Quantity : 1
• Battery 18650 Quantity : 2
• Arduino Pro Mini 328p 3,3v for all tools Quantity : 1 for each tool you plan to make
• Limit Switch Quantity : 1
• Panel Slide Switch Quantity : 1

Hardware:

• All M3 screw. length will come
• Heat inserts M3x5mm; Many
• Bearing small 6x3x2.5: Quantity : 2
• Bearing big 5X10X4 MR105ZZ: Quantity : 6
• 22AWG wire for motors (Black and Red)
• 28AWG wire for pcb (nice to have some different colors)

This instruction is not totaly complete!

If someone making this. I will make more detailed instruction(just give me a sign).

The code is not official yet, but i will PM it if asked for.

Official firmware is on the roadmap.



Print all parts. 

Have all hardware ready.

Solder wires to

N20 motors (22AWG 10cm)

Parts:

• Chassis.stl     
•  Heat inserts M3 (x7)

1. Insert 6 Heat inserts like picture
2. Turn Chassis to its back, and insert the last one in the only hole at centre back.

Parts:

      N20 Gear Motor (x2)

      MotorGear A (x2)

      MotorGear B (x2)

Mount MotorGear A to one of the shaft at N20 motor.

Mount MotorGear B to the other shaft at N20 motor.

Repeat, you should have 2 geared motors with 3d printed gears.

Parts:

•       Chassis
•       Front Gear (x2)
•       Front axle (x2)
•       Back axle (x2)
•       Back gear (x2)
•       Assembled N20 motor from 1.1 (x2)
•       Bearings 5X10X4 MR105ZZ (x6)

Make sure the gears mesh well together. if not, tidy up teeth with a scalpel or somthing "Hot blade if necessary"

Insert Assembled N20 motor in plase in chassis. orientation should be obvious due to the gears length.

Insert Bearings 5X10X4 MR105ZZ (x4) in chassis (square hole in line with axles) The two last one is for back gears, insert them.  

Insert heatinserts in Back gears while in bearing (In the cylinder at front of gear)

Insert Front gears and Back gears in chassis.    

Insert Back axles and Front axles in chassis through bearings, and snap them into Front/Back gears (rotate and push if they dont snap in place at first)

Should look like the picture (just with bearings)    



Parts:

•       M3x38-42 for back axle (x2)
•       M3x18-20 for front axle (x2)
•       Nylock nut M3 (x2)
•       TPU Tire (x4)
•       Rim (x4)
• Grease

insert TPU Tire to all Rims

Insert locknuts in Front gears 

Insert M3x38-42 to the back wheels. Then to axles, Use locktite and do not overtight. (adjust this at end to get smooth drivetrain)

Insert M3x18-20 to the front wheels. Then to axles, Use locktite and do not overtight. (adjust this at end to get smooth drivetrain)

The screw should be as tight, that the axle dont wiggle in and out. Not more than that.

Grease 3d printed gears

M3x10 cut off head, and install them in chassis so they go in the long motor gears bearings. (If you make a small cut at end of screw you can use a small flat driver to install them)

Parts

•       Chassis Lid
•       Motor holder
•       Chassis Lid Xt30 holder
•       Chassis Electronics holder
•       M3x6 Lenshead (x6)

Insert Chassis Lid Xt30 holder in Chassis Lid

Insert Motor holder at place and use M3x6 lenshead to secure the motor assemblys to chassis 

Press on Chassis Lid and guide the motor wires through the wire hole at chassis Lid, and use 4 M3x6 socket or lens head to secure the lid to chassis. Make sure bearings at back are straight in place.

Press and slide the Chassis Electronics holder at the two slits at top of  Chassis Lid

Parts

• Battery R.stl
• Battery L.stl
• Battery holder.stl
• Washers M3 (new model coming for battery springs)
• Xt30 connector (electrical female)
• Wire Red and Black(Gauge: 22awg, Outer diameter of cable: 2mm, Length: 10cm should hold)
• Heatshrink

Dry fit Xt30 connecor in its place at front centre at this battery case, just to make sure it fits before you continue.

Thread wires, Black at top and Red at bottom.

You may need som lubricant to thread the wires.

Stretch them out from the xt30 hole at front, so you have enough length to solder XT30 connector. enough that heatshrink dont shrink when solder connector.

Apply heatshrink to wires, just enough to overlap wire isolation (2-3mm) when soldered to connector(no metal should be exposed).

Solder Xt30 connector (electrical female) to wire. Black to Gnd, Red to positive.

Stretch the wires back, so the connector could be mounted in the batterycase.

Preglue the hole and connector, and insatll the connector.

Angle the left lid 90 degree open(if you imagine the wires should be the hinge)

Align the two dents in lid to the wires at battery case.

Lay the wires in line. and cut it right over the circle.

(next part will be updated due to new model with springs)

Presolder the washer, solder on the wire so the top point will be the soldered part and washer "hangs" down.

Lay the wires in line. and washer in circle. glue it with CA.

You may need to file the solder to make it fit, ring should lay flat.

Right Lid: same, just a 22awg wire between the washers.

Connect power straight to the motors and see if it works smoothly.

If not, it may help to adjust the axle screw tension, and look at the gear meshing.

Print all parts. 

Have all hardware ready.

Parts:

•  N20 Geared Motor
• ToolChanger Small gear (x2)

 Press on a "ToolChanger Small gear.stl" on each axle

make sure you align the gears as in picture

(look for the dots on the gears)

Parts:

•       ToolChanger bottom
•       ToolChanger Top
•       Big gear L
•       Big gear R
•       Ring (x2) Big gear skims
•       Limit Switch
•       M3 Nuts (x2)



Parts

• Esp32 wemos
• Motor drivers
• Bec
• prototype pcb 50x70
• 28AWG wires

Power:
XT30 Gnd      ------------------BECin-----MotorDriver1-----MotorDriver2 
XT30 Positive ------Switch------BECin-----MotorDriver1-----MotorDriver2 
BECout Gnd    ------Wemos Gnd-----angled dupont pin 1------Resistor(220ohm)---Pwr_Led Gnd
BECout 5v     ------Wemos VCC-----angled dupont pin 2------Pwr_Led Positive

IO26-------int1 (MotorDriver1) For Rover motor 1
IO25-------int2 (MotorDriver1) For Rover motor 1
IO32-------int3 (MotorDriver1) For Rover motor 2
IO32-------int4 (MotorDriver1) For Rover motor 2
IO23-------int1 (MotorDriver2) For tool changer
IO16-------int2 (MotorDriver2) For tool changer

IO4--------angled dupont pin 4
IO5--------angled dupont pin 5
IO?--------angled dupont pin 3

This instruction is not totaly complete!

If someone making this. I will update/make better instruction if wished for.

Wire diagram drawings and more detailed instruction will be updated if someone dont understand my wonder schematics above :D

If any questions, just ask. pm or comment :)

Please make tools and mods for this! Would be awesome!