Robot Design; Installation - Kuka KR 150-2 Spécifications Du Produit

The connecting cables between the robot and the
controller contain all the relevant energy supply
and signal lines. The cable connections on the
robot are of the plug--in type, as too are the energy
and fluid supply lines for the operation of end
effectors ("integrated energy supply for axis 1"
accessory). These lines are permanently installed
inside main axis 1 of the robot and can be routed
along the downstream axes to the end effector
with the aid of system interfaces if required.

1.2 Robot design

The robot consists of a fixed base frame, on which
the rotating column turns about a vertical axis
together with the link arm, arm and wrist (Fig.
1--1).
The wrist (Fig. 1--2) is provided with a mounting
flange for the attachment of end effectors (e.g.
grippers, welding tools).
The possible movements of the robot axes are
depicted in Figure 1--3.
The payload and the dead weight of the articulated
components are statically compensated to a large
extent by a closed counterbalancing system,
which assists axis 2. By retrofitting a conversion
kit (accessory), the effect can be varied
depending on the payload and supplementary
load of the particular application and on the
installation position of the robot.
The positions of the main and wrist axes (A 1 to
A 3 and A 4 to A 6) are sensed by means of a
cyclically absolute position sensing system
featuring a resolver for each axis.
Each axis is driven by a transistor--controlled,
low--inertia AC servomotor. The brake and
resolver are space--efficiently integrated into the
motor unit.
The working range of the robot is limited by means
of software limit switches on all axes. The working
ranges of axes 1, 2, 3 and 5 are mechanically
limited by end stops with a buffer function.
Mechanical stops for the application--specific
limitation of the respective working ranges of axes
1 to 3 are available as the "working range
limitation" accessory.
The in--line wrist variant "F" is available for
operating conditions involving greater mechanical
and thermal stress. It is more extensively sealed
and is fitted with corrosion--resistant components.
Shorter maintenance intervals are required to
maintain the higher stress rating.
With "F" variant robots, the arm is pressurized. It
is operated with an internal pressure of 0.1 bar.
In cleanroom environments, the variant KR 180
L130--2 CR with in--line wrist IW 130 CR is used.
16 Spez KR 150--2, 180--2, 210--2, 240--2, KR 240--2 C, 270--2 de/en/fr
This variant has been extensively modified to
achieve a substantially reduced level of particle
emission compared with the standard version.
The robot is additionally fitted with corrosion--
resistant components.

1.3 Installation

There are several possible methods of installing
the robot:
-- Variant 1
This variant is available with bedplates,
locating pins, anchors and bolts as the
"mounting base kit" accessory.
The robot is mounted together with four
bedplates (Fig. 1--4) on the prepared shop
floor. Its position of installation is fixed by
means of two locating pins, enabling it to be
exchanged in a repeatable manner. The robot
is fastened to the bedplates with eight bolts.
Each of the bedplates is fastened to the shop
floor with three anchor bolts before the robot is
mounted on them.
-- Variant 2
This variant is available with locating pins and
bolts as the "machine base mounting kit"
accessory.
The robot is placed on a prepared steel
construction and fastened with eight bolts (Fig.
1--5). Its position of installation is fixed by
means of two locating pins, enabling it to be
exchanged in a repeatable manner.
-- Variant 3
This variant is available with a booster frame,
locating pins, chemical anchors and bolts as
the "booster frame" accessory.
The booster frame is fastened to the prepared
shop floor by means of 16 chemical anchors
(Fig. 1--6). The robot is fastened to the booster
frame with eight bolts. Its position of
installation is fixed by means of two locating
pins, enabling it to be exchanged in a
repeatable manner.
IMPORTANT with regard to variants 1 and 3:
When preparing the foundation, the pertinent
construction specifications regarding the
grade of concrete (≥ B 25 according to DIN
1045:1988 or C20/25 according to DIN EN
206- -1:2001/DIN 1045- -2:2001) and the load
bearing capacity of the ground must be
observed. It must be ensured that the surface
of the foundation is level and sufficiently
smooth.
The insertion of the chemical anchors must be
carried out with great care to ensure that the
forces occurring during operation (Fig. 1- -7)
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