104010004 - Active Front Wheel retrofit package

Material needed - Retrofit procedure

The Active Front Wheel retrofit package can be installed only on robots that have been build from 2023 and onwards.

 

The material needed for installing the Active Front Wheel retrofit package is:

• Torque wrench able to reach 102 NM
• 19 mm socket
• 10 mm wrench
• Loctite 243

Due to the weight of some parts, FarmDroid recommends to get the help from a second person.

 

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Retrofit procedure

STEP 1

Move the robot on a solid and flat area. A concrete floor would be ideal for this purpose.

STEP 2

To lift the front part of the robot, place two wooden block of the same height under the lifting beam and raise the hitch in the main HMI page.

The robot should be lifted until the front wheel can barely rotate above the ground.

STEP 3

Release the safety wire from the front bracket and leave it on the ground.

STEP 4

In this step it is important to get help from one additional person, in order to bear the weight of the front wheel assembly.

Remove the two bolts which hold the front wheel assembly from the main frame of the robot.

STEP 5

Remove the locking pin and the bushing

STEP 6

With the help of an additional person, remove the whole front wheel assembly from its slot and move it out of the working area, so it does not interfere with the next steps.

STEP 7

Take the wire harness included in the kit from its small plug end:

1. Route it into the opening on the back side of the robot, between the two rear gusset plates
2. Pull the harness from the opening just by the front wheel anchoring point
3. Take the harness and route in back into the frame, so that it comes out of the opening between the two front gusset plates. It must come out of the opening where the cables which connect the active trailers are located.
   See last picture to the right.

 

STEP 8

Now place the shaft into the Active Front Wheel assembly

STEP 9

With the help of another person, lift the Active Front Wheel assembly and place it into its slot in the main frame.

Remember to place the black plastic shim in the bottom part of the assembly, as shown in the pictures below.

Use some Loctite 243 on the threads of the two M12 bolts (use a 19mm socket wrench), then tighten them at 102 NM of torque.

STEP 10

Place the new locking pin to block the lateral movement of the assembly.

Please note that there should not be any bushing in the hole.

STEP 11

Connects the Active Front Wheel wire harness to:

• the main harness of the robot
• to the front wheel actuator, then secure it with a zip tie to the front gusset plate

STEP 12

Now install the new safety wire by securing each end in the winding mechanism (white arrow).

Once you have secured the safety wires at both end and placed it on the perimeter of the robot, tighten it up by rotating the winding mechanism with a 10 mm spanner until the metal plate lays in between the two lines on the safety wire switch (yellow arrow).

STEP 13

Now you can lower the front part of the robot by decreasing the hitch % in the HMI main page. Once the robot is on the ground, remove the wooden blocks.

STEP 14

Contact your local FarmDroid distributor to activate the Active Front Wheel in the HMI menu.