General Information

The GreyT Elevator (Cascade) is compatible with any gearbox that has 1/2" hex output and mounting holes that are inline and 1/2" to 1" pitch from the output.

Extra mounting holes can be easily added through the use of 1" x 1" x 0.090" Aluminum Angle, or any other Aluminum Angle.

WCP Single Stage Gearbox

The WCP Single Stage Gearbox Front Plate has a 2x2 grid of tapped holes and clearance holes that can be used for mounting. In the image below, the holes marked in green are tapped and the holes marked in orange are clearance for #10-32.

The next generation of the GreyT Elevator is here! The GreyT Elevator can be used to lift objects high above the robot without extending the reach or center of gravity outside the robot the way an arm does. It can also lift the robot as well!

Notable features

• Single chain lifting for reduced weight

• Dual motor options

• Kraken X60 support

• Bearings on all surfaces

• Configurable to be as tall or wide as needed

• Minimal plates, making the assembly much simpler and more robust

• Stackable stages, allowing for 3+ stage elevator assembly

• Simplified assembly with new Cascade Pulley Blocks

Extended Configurations

The tables below list possible unloaded speeds for the GreyT Elevator (Cascade). All unloaded speed units listed below are in in/s.

Light Lifting Ratios

The following ratio options are recommended for light lifting applications, meaning a maximum of 45 lbs. If you are using this elevator for climbing, check the Heavy Lifting Ratios for more options.

Single Stage Gearbox with the Kraken X60/Vortex/Neo

The Single Stage Gearbox is the simplest option when choosing how to power your GreyT Elevator. The simplicity of the gearbox allows you to swap between 3 ratios by replacing the pinion on the motor.

Heavy Lifting Ratios

The following ratio options are recommended for heavy lifting applications, meaning a maximum of ~155 lbs. This should be enough for a fully weighted robot, including bumpers and battery. If you plan on lifting any more than that, you will have to adjust the ratio of the gearboxes.

Single Stage Gearbox with Kraken X60/Vortex/Neo

This option requires the use of a planetary gearbox to increase the gear ratio to something capable of lifting up to 155 lbs. If you're lifting something less than the maximum weight, the ratio can be adjusted down by changing the planetary gear ratio.

Tubing Cut Guide

The overall length for these tubes is for the elevator represented in the CAD model. This can be changed to fit the requirements of any design.

Ensure that when cutting tubes, the distance from the last hole to the end of the tube is the same as the images in the following sections. Usually this means that the tube length must be in 1/2” increments. This distance is required for the bearing blocks and tube plugs to fit properly.

Carriage

The length of the Carriage Horizontal Tubes determines the overall width of the Elevator. If you modify the length of this tube, you must modify all other Horizontal Tubes and Cross Tubes by the same amount.

The length of the Carriage Vertical tubes do not affect the length of the other Vertical Tubes. However, it will affect the amount of travel your elevator has.

1st Stage

If you modified the length of the Carriage Horizontal Tubes, make sure to adjust the length of the 1st Stage Horizontal Tubes by the same amount.

When assembled, the top of the 1st Stage must sit 1" above the top of the stage it sits within. This means that the length of the 1st Stage Vertical Tubes is dependent on the number of stages your elevator has. If you are building a 2 Stage Elevator, the 1st Stage Vertical Tubes will be 1" longer than the Elevator Mast Vertical Tube. If you are building an Elevator with 3 or more stages, the 1st Stage Vertical Tubes will be the same length as the Vertical Tubes of the stage it sits within.

Extra Stage

If you modified the length of the Carriage Horizontal Tubes, make sure to adjust the length of the Extra Stage Horizontal Tube and Extra Stage Cross Tube by the same amount.

The Extra Stage Vertical Tubes must be 2" longer than the Vertical Tubes of the stage it sits within. This difference in length is to account for the 2" height of the Extra Stage Cross Tube.

Elevator Mast

If you modified the length of the Carriage Horizontal Tubes, make sure to adjust the length of the Elevator Mast Cross Tube by the same amount.

The Elevator Mast Base Tube can any length greater than the Elevator Mast Cross Tube.

Hex Shaft Cut Guide

Unlike previous GreyT Elevators, the newest version does not require any hex shaft to be cut. However if you are using the ratchet plates, two of the 3-1/2" long standoffs will require a #9 hole drilled 0.625" from one end.

Assembly Instructions

The following shows the General Assembly Instructions for the Inline Clamping Bearing Block.

Step 1

Slide all the appropriate bearings onto the Dowel Pin.

Step 2

Slide the assembly from Step 1 into the Clamping Block. The bearing should fit in the slots on the block. The dowel pin will be constrained by the Shoulder Bolts installed in Step 3.

Step 3

Bolt the bearing and spacer stack-up to the block as shown in the images below.

Elevator Configurations

Side by Side Max Extension Comparison

The heights shown below are for the existing elevator presented in the CAD models. Modifying the lengths of the tubes will result in your elevator having a different max height.

All dimensions are in inches.

GreyT Elevator (Cascade, Single Stage) (WCP-0583)

GreyT Elevator (Cascade, Extra Stage) (WCP-0589)

GreyT Elevator (Cascade, First Stage)

GreyT Elevator (Cascade, Extra Stage)

Base Height

The heights shown in the image below are for the elevator represented in the CAD model. The only limits on the height of the elevator are the lengths of the tubing sold, which is 59".

Maximum Extension Height

The heights shown below are for the existing elevator presented in the CAD models. Modifying the lengths of the tubes will result in your elevator having a different max height.

All dimensions are in inches.

Elevator Width Limitations

Key Assembly Instructions

The following pages cover the basic assembly instructions for the GreyT Elevator.

All holes used in this guide must be drilled clearance for #10-32 before assembly.

1 Stage

The Cascade Pulley Blocks can all be assembled before the rest of the elevator. If you are assembling a 1 Stage Elevator, this section can be omitted. Four Cascade Pulley Blocks are required for all extra stages.

Step 1

Assemble the pulley, bushings, and spacer as shown in the image below.

Step 2

Slide the assembly from step 1 into the Cascade Pulley Block as shown in the image below. When the #10-32 x 1-3/4"L bolt is fully tightened, make sure the Pulley spins freely in the assembly.

• They already have some of the parts on hand, such as aluminum tubing

• Want to purchase spare parts

• Add additional stages

Step 1

Assemble the Elevator Mast Vertical Tube with an aluminum tube plug and appropriate plastic tube plug sleeve. The tube plug can be installed using #10-32 x 3/8”L bolts.

Repeat this step for both Elevator Mast Vertical Tubes.

Step 2

Bolt the assembled vertical tubes for the mast to the Elevator Base Tube. The bottom face of the tube should be drilled to 3/8”, providing adequate clearance so the #10-32 x 3/8”L bolts can be installed inside the tube.

Step 3

Attach the Elevator Mast Cross Tube to the Elevator Mast Vertical Tubes using four #10-32 bolts and 2” long spacers. While the tube can be lower, it is recommended to mount it as high as possible to increase the strength of the elevator mast.

Step 4

Drill the holes marked in green on one of the Centered Bearing Plates to be clearance for #10-32. Once that is done, press the 1/2" Rounded Hex Bearings into both plates. Install both plates as shown in the image below using two #10-32 x 1-1/2"L bolts.

Step 1

Assemble the Carriage Horizontal Tube with aluminum tube plugs and appropriate plastic tube plug sleeves. The tube plugs can be installed using #10-32 x 3/8"L bolts.

Repeat this step for both Carriage Horizontal Tubes.

Step 2

Bolt the Carriage Vertical Tubes to the assembled Carriage Horizontal Tubes using the #10-32 x 1 1/2"L bolts When assembled, the #10-32 x 1 1/2"L bolts will sit inside the Elevator Clamping Block.

Step 3

Mount both Chain Attachment Brackets to the bottom Carriage Horizontal Tube in the orientation shown below. The brackets will be installed using six #10-32 x 2-1/2"L bolts and #10-32 nuts.

Step 1

Slide the carriage assembly into the 1st stage assembly from the front. It may help with installation to lift the carriage up from the bottom and angle it forward a bit. Slide the carriage down and return it to a vertical position.

Once in, the front/back bearings in the carriage and the 1st stage should both be on the same side.

Step 2

Bolt the 3/4" OD Radial Bearings into the Bearing Blocks on the backside of the carriage as indicated in green.

At this point, the elevator carriage should be able to move smoothly up/down, and a small amount of wiggle left/right and front/back is to be expected. This ensures the elevator will not bind.

This is the last section required for the GreyT Elevator Single Stage assembly.

Step 1

For this step, all stages will have to be lifted out of the way in order to complete. Once you have access to the Bottom Tube of the Elevator Mast Assembly, bolt the Gearbox Angle Bracket to the bottom of the tube using #10-32 x 3/8"L bolts. The top face of the tube should be drilled to 3/8” so the #10-32 x 3/8”L bolts can be installed easily inside the tube.

Step 2

Drill the holes marked in green on the Centered Bearing Plates to be clearance for #10-32. Once that is done, press the 1/2" Rounded Hex Bearing into the plate. Install the Single Stage Gearbox and Centered Bearing Plate in the way shown in the image below.

Step 3

Slide the 22T Sprockets, 1/2" Hex Acetal Spacers, and Clamping Shaft Collars onto the shafts.

Step 4

The chain tensioner can go in one of the two spots indicated in the image below in green circles.

Step 5

After the tensioner has been added, bolt through the #25H Chain and Chain Attachment Brackets using #4-40 bolts and nuts. Two additional 1/8" roll pins may be added as well. This will help reduce the load on the #4-40 bolts.

Key Assembly Instructions

The following pages cover the basic assembly instructions for the GreyT Elevator.

All holes used in this guide must be drilled clearance for #10-32 before assembly.

2 Stage

3+ Stages

The images below show the assembled 2nd Stage. The number of stages you plan on assembling will affect the final appearance of your 1st Stage.

Step 1

Before assembling the 1st Stage Horizontal Tubes, drill the threaded holes on the Aluminum Tube Plugs that are marked in green. Both sides must be drilled. Then, assemble both 1st Stage Horizontal Tubes as shown in the image below.

Step 2

Bolt the 1st Stage Vertical Tubes to the assembled 1st Stage Horizontal Tubes. The top holes in the vertical tube must be drilled clearance for #10-32 bolts with the outside face drilled to 3/8", similar to how the Elevator Base Tube is done. When assembled, the heads of the #10-32 x 3/8"L bolts will sit inside the 1st Stage Vertical Tube.

Step 3

Mount both Chain Attachment Brackets to the bottom 1st Stage Horizontal Tube in the orientation shown below. The brackets will be installed using six #10-32 x 2-1/2"L bolts and #10-32 nuts.

Step 1

Assemble the Elevator Mast Vertical Tube with an aluminum tube plug and appropriate plastic tube plug sleeve. The tube plug can be installed using #10-32 x 3/8”L bolts.

Repeat this step for both Elevator Mast Vertical Tubes.

Step 2

Bolt the assembled vertical tubes for the mast to the Elevator Base Tube. The bottom face of the tube should be drilled to 3/8”, providing adequate clearance so the #10-32 x 3/8”L bolts can be installed inside the tube.

Step 3

Install the Clamping Bearing Blocks as shown in the image below. The Bearing Blocks use 1/2” hole spacing.

Repeat this step for both sides of the Elevator Mast.

Step 4

Attach the Elevator Mast Cross Tube to the Elevator Mast Vertical Tubes using four #10-32 bolts and 2” long spacers. While the tube can be lower, it is recommended to mount it as high as possible to increase the strength of the elevator mast.

Step 5

Drill the holes marked in green on one of the Centered Bearing Plates to be clearance for #10-32. Once that is done, press the 1/2" Rounded Hex Bearings into both plates. Install both plates as shown in the image below using two #10-32 x 1-1/2"L bolts.

Step 1

Assemble the Carriage Horizontal Tube with aluminum tube plugs and appropriate plastic tube plug sleeves. The tube plugs can be installed using #10-32 x 3/8"L bolts.

Repeat this step for both Carriage Horizontal Tubes.

Step 2

Bolt the Carriage Vertical Tubes to the assembled Carriage Horizontal Tubes using the #10-32 x 1 1/2"L bolts When assembled, the #10-32 x 1 1/2"L bolts will sit inside the Elevator Clamping Block.

Step 3

The bushings should be a slip or a light press fit into the vertical carriage tube. Install the bearings into the plates before installing the plates onto the carriage.

Use four #10-32 x 3"L bolts to attach the 1/2" Hex Ratchet Plates onto the carriage assembly.

Assembly Prep

Tools required for assembly:

• Allen keys

  • 1/8"

  • 5/32"

• 3/8" Wrench

• Scissors

• Drill

• #9 Drill Bit

Optional tools that may be needed:

• Arbor press

• Deadblow hammer

• Needle Nose Pliers

Key Assembly Instructions

The following pages cover the basic assembly instructions for the GreyT Elevator.

All holes used in this guide must be drilled clearance for #10-32 before assembly.

Key Assembly Steps

This is the last section required for the GreyT Elevator assembly.

Step 1

Lift all the stages out of the way for this step. Once you have access to the Bottom Tube of the Elevator Mast Assembly, bolt the Gearbox Angle Bracket to the bottom of the tube using #10-32 x 3/8"L bolts. The top face of the tube should be drilled to 3/8” so the #10-32 x 3/8”L bolts can be installed easily inside the tube.

Step 2

Drill the holes on the Centered Bearing Plates to be clearance for #10-32. Once that is done, press the 1/2" Rounded Hex Bearing into the plate. Install the Single Stage Gearbox and Centered Bearing Plate as shown below.

Step 3

Slide the 22T Sprockets, 1/2" Hex Acetal Spacers, and Clamping Shaft Collars onto the shafts.

Step 4

The chain tensioner can go in one of the two spots indicated in the image below in green circles.

Step 5

After the tensioner has been added, bolt through the #25H Chain and Chain Attachment Brackets using #4-40 bolts and nuts. Two additional 1/8" roll pins may be added as well. This will help reduce the load on the #4-40 bolts.

Step 6

Install the 3-1/2" L Tapped Standoff in the way shown in the image below. Do this step for both sides of the carriage.

Step 7

Follow the image below for running the rope.

The beginning of the rope can be looped around the shaft on the carriage, but the other end must be ran through the drilled hole. This ensures that only one end is being tensioned.

Step 7B

A few wraps of string are recommended before the string begins to get tight. Tension string to desired level.

Step 8

Center the Rope Clamp Plates on the 1st Stage rope. Match drill the holes through the plates and the Elevator Mast Cross Tube. The Rope Clamp Plates should go over the rope run that is closest to the tube.

Q: How square do the tubes need to be?

A: They don’t need to be perfectly square, but we recommend making sure they are as SQUARE as possible. Use a metal chop saw or mill to cut these tubes.

Q: What tubing can be used?

A: Any 2"x1" material can be used. The kit is designed to use 1/16" wall material. If other material is used, different sleeves may be needed to adapt to that wall thickness.

Step 1

Before assembling the Extra Stage Horizontal Tube, drill the threaded holes on the Aluminum Tube Plugs marked in green. Both sides must be drilled. Then, assemble the Extra Stage Horizontal Tube as shown in the image below.

Step 2

Assemble the Extra Stage Cross Tube as shown in the image below. Make sure not to crush the tube when tightening the #10-32 x 1-1/4"L bolts.

Step 3

Bolt the Extra Stage Vertical Tubes to the assembled Extra Stage Horizontal Tube. When assembled, the heads of the #10-32 x 1-1/2"L bolts will sit inside the Elevator Block.

Step 4

Attach the assembled Extra Stage Cross Tube to the Extra Stage using four #10-32 x 5"L Bolts and 2-1/2"L Spacers. While it can be lower, it is recommended to mount it as high as possible to increase the strength of the Extra Stage.

Step 5

Mount both Chain Attachment Brackets to the bottom Extra Stage Horizontal Tube in the orientation shown below. The brackets will be installed using six #10-32 x 2-1/2"L bolts and #10-32 nuts.

Step 1

Slide the carriage assembly into the 1st stage assembly from the front. It may help with installation to lift the carriage up from the bottom and angle it forward a bit. Slide the carriage down and return it to a vertical position.

Once in, the front/back bearings in the carriage and the 1st stage should both be on the same side.

Step 2

Bolt the 3/4" OD Radial Bearings into the Bearing Blocks on the backside of the carriage as indicated in green.

At this point, the elevator carriage should be able to move smoothly up/down, and a small amount of wiggle left/right and front/back is to be expected. This ensures the elevator will not bind.

Step 3

Slide the assembly from Step 2 into the Elevator Mast Assembly from the front. It may help with installation to lift the assembly up from the bottom and angle it forward a bit. Slide that assembly down while returning it to a vertical position.

Step 4

Bolt the 3/4" OD Radial Bearings into the Bearing Blocks on the backside of the carriage as indicated in green.

At this point, the 1st stage should be able to move smoothly up/down, and a small amount of wiggle left/right and front/back is to be expected. This ensures the elevator will not bind.

Manual Updates

Product Updates

First Time Assembly

1. Loctite all bolts, unless using locknuts

2. Grease all gears

   1. We recommend a dry grease or white lithium for all hex bore gears

3. Tighten all bolts and ensure there are no gaps in the assembly

4. Check that gears mesh correctly and everything spins smoothly

General Maintenance

1. Check for excessive wear in gears

2. Reapply grease

3. Verify that everything still spins and moves smoothly

4. Check tension of string and chain regularly

5. Check for frayed and damaged rope.

Yearly Maintenance

1. Disassemble gearbox

2. Replace all gears, if aluminum gears were used

3. Replace rope

4. Clean all components

5. Inspect all components for wear or damage

   1. Pay particularly close attention to the bearings for the bearing blocks

6. Reassemble with new bolts with loctite and grease all gears

The following section contains recommended instructions for mounting the GreyT Elevator to an example Swerve X drivebase, as shown in the image below.

Step 1

Assemble the Elevator Mounting Tube with an aluminum tube plug and appropriate plastic tube plug sleeve. The tube plug can be installed using #10-32 x 3/8”L bolts.

The 60 Degree Gussets can be installed with either bolts or rivets.

Repeat this step for both Elevator Mounting Tubes.

Step 2

Install the Assembled Elevator Mounting Tube from Step 1 as shown in the image below. Bolt both ends using three #10-32 x 3/8"L bolts on either end.

Repeat this step for both Elevator Mounting Tubes.

Step 3

Install the Assembled GreyT Elevator in the way shown in the image below. Use four #10-32 x 3-1/2"L bolts to attach the Elevator Base Tube to the drive rails.

Step 4

Install the Elevator Mast Angle Support in the way shown in the image below. Either bolts or rivets can be used to install the tube to the 60 Degree Gussets.

Repeat this step for both Elevator Mast Angle Supports.

Step 5

For the last two steps, the Elevator must be lifted up above where the Elevator Mast Angle Support and Elevator Mast Vertical Tube meet.

Once the Elevator has been lifted high enough, drill 4 #9 holes through both the Elevator Mast Angle Support and Elevator Mast Vertical Tube.

Repeat this step for both sides of the Elevator.

Step 6

Bolt the Elevator Mast Vertical Tube and Elevator Mast Angle Support together using four #10-32 x 2-1/4"L bolts.

Repeat this step for both sides of the Elevator.