kuka各版本随机文档接口与设计用kr_180paro_me_01_29_en_h

1、ROBOT(V)KR 180 PATechnical DataManipulatorRo/Me/01/29 01.01.02 en1 of 18e Copyright KUKA Roboter GmbHThis documentation or excerpts therefrom may not be reproduced or disclosed to third parties without the express permission of the publishers. Other functions not described in this documentation may

2、be operable in the controller. The user has no claim to these functions, however, in the case of a replacement or service work.We have checked the content of this documentation for conformity with the hardware and software described. Nevertheless, discrepancies cannot be precluded, for which reason

3、we are not able to guarantee total conformity. The information in this documentation is checked on a regular basis, however, and necessary corrections will be incorporated ubsequent editions.Subject to technical alterations without an effect on the function.PD InterleafRo/Me/01/29 01.01.02 en2 of 18

4、Contents1General .52Principal data. . . . . 7Ro/Me/01/29 01.01.02 en3 of 18Technical DataRo/Me/01/29 01.01.02 en4 of 18Valid for(V)KR 180 PA1GeneralThe robot KR 180 PA is a four-axis industrial robot for for all palletizing tasks.The main areas of application are:tallation on the floor. It is suitab

5、le-palletizing, handling anddepalletizing.Figure 1 shows the robot system, comprising the manipulator (= robot), control cabinet and connecting cables.Ro/Me/01/29 01.01.02 en5 of 18Using the robot for purposes other than those mentioned above is considered contrary to its designated use (see Doc. Mo

6、dule “Safety, General”).12374651 Wrist2 Arm3 Link arm4 Rotating column567Base frame Connecting cables Control cabinet (seeseparate documentation)Fig. 1 Principal robot componentsRo/Me/01/29 01.01.02 en6 of 18Technical Data2Principal dataTypeKR 180 PANumber of axesLoad limits4see following table and

7、Fig. 2Max. total loadSuppl. loadPayloadPFig. 2 Load distributionAxis datasee the following table.All specifications in the “Rangeof motion” column arereferred to the mechanical zero of the robot axis concerned.Ro/Me/01/29 01.01.02 en7 of 18Robot typeKR 180 PARated payload kg180Suppl. load, arm kg50S

8、uppl. load, rotating column kg250Max. total distributed load kg480Technical DataKR 180 PAD Wrist, rated payload 180 kgAxisRange of motion software limitedSpeed1851105/s+90to-392105/s3+71* to-109*95/s270300/s6* Maximum value, referred to the link arm, depending on the position of axis 2Axis 3+-Axis 1

9、-+-+Axis 6Axis 2-Fig. 3Robot axes and their possible motionsRepeatability0.35 mmMounting positionFloorPrincipal dimensionssee Fig. 5Working envelopeThe shape and dimensions of the working envelope may be noted from Fig. 5.Ro/Me/01/29 01.01.02 en8 of 18approx. 72.7 m3The reference point is the inters

10、ection of the mounting flange face with axis 6.Volume of working envelopeLoad center of gravity Psee Fig. 4.DIN/ISO1 mounting flange (Fig. 7). The mounting flange is depicted with axis 6 in its zero position. The symbol indicates the position of the locating element (bushing). M10 screws of grade 10

11、.9 are to be used for attaching payloads. The grip length of the screws in the flange must be at least 1.5 x nominal diameter.Mounting flangeDepth of engagement: min. 12 mm / max. 14 mm1 DIN/ISO 9409-1-A160 bWeightKR 180 PA1240 kgPrincipal dynamic loadssee Fig. 8Drive systemElectromechanical, with t

12、ransistor-controlled AC servomotorstalled motor capacity13.2 kWProtection classification of the electric partsIP 65ready for operation, with connecting cables plugged in (according to EN 60529)Ambient temperatureduring operation:283 K to 318 K (+10 C to +45 C),during storage/transportation:233 K to

13、333 K (-40 C to +60 C).Other temperature limits available on request.Sound level 75 dB (A) outside the working envelope.Zero adjustmentFor zero adjustment with the electronic probe (accessory) when the tool is mounted, the latter must be designed to allow sufficientspace fortallation and removal of

14、the probe (Fig. 9).ColorBase (stationary): black (RAL 9005) Moving parts: orange (RAL 2003).Platessee Fig. 10 to Fig. 21Ro/Me/01/29 01.01.02 en9 of 18Robot flange coordinate system-ZPermissible mass inertia at the design point (Lxy = 100 mm, Lz = 300 mm) 90 kgm2.CAUTION:The mass inertia must be calc

15、ulated using KUKA Load.It is imperative for the load data to be entered in the controller!Lxy =L x2 + Ly2+Y+XLz-Y-XLoad center of gravity PLxyLx+ZLyLxy (mm)130 kg140 kg150 kg160 kg200170 kg180 kg100Lz (mm)+Z100200300400500600700Fig. 4Load center of gravity P and loading curves for KR 180 PARo/Me/01/

16、29 01.01.02 en10 of 18The values determined here are necessary for planning the robot application.For commissioning the robot, additional input data are required in accordance with the KUKA software documentation.With reference to Fig. 4:These loading curves correspond to the maximum load capacity!

17、The values of the payload and the principal moment of inertia must be checked in all cases. Exceeding this capacity will reduce the service life of the robot and generally overload the motors and the gears; in any such case KUKA must be consulted beforehand.Technical DataY-109 *Interference radiusLo

18、ad center of gravity* Maximum value, referred to the link arm, depending on the position of axis 2- -185R = 3200NOTE: The supplementary load center of gravity must be located as close as possible to rotational axis 3 and to line a in Fig. 6.The reference point for the working envelope is the inter-

19、section of the mounting flange face with axis 6.View Y see Fig. 6.+185Fig. 5 Principal dimensions and working envelope (software values) for KR 180 PARo/Me/01/29 01.01.02 en11 of 18+71 *View Yfrom Fig. 5a M12 (4x) 18 deepInterference contour for supplementary loadSupport brackets for suppl. load (2x

20、) Interference contour for supplementary loadFig. 6Attachment holes for supplementary loadM10 fastening screws, grade 10.9Depth of engagement:min. 12 mm,max. 14 mmcA 10View from below1 Gauge cartridge A 61Fig. 7DIN/ISO mounting flange for wrist (180 kg)Ro/Me/01/29 01.01.02 en12 of 18160Technical Dat

21、aFvMkFhMrFv Fh Mk Mr=Vertical force Horizontal force Tilting momentTilting moment aboutaxis 1Fvmax Fhmax Mkmax Mrmax=24 000 N18 000 N49 000 Nm38 000 NmTotal mass =robot+total loadfor type1240 kg+480 kgKR 180 PAFig. 8 Principal loads acting on floor due to robot and total loadRo/Me/01/29 01.01.02 en1

22、3 of 18Fig. 9Electronic probe,tallation on A 61712342345678910101110Fig. 10Plates on robot (see also Fig. 11 to Fig. 21)Ro/Me/01/29 01.01.02 en14 of 18105R272Technical Data2x1Fig. 11 Warning sign, fiber composite material2Fig. 12High voltage warning sign4x on all motors.3Fig. 13Hot surface warning s

23、ignOn all motors.4Fig. 14 Drive motor rating plateRo/Me/01/29 01.01.02 en15 of 18.Artikel-Nr. 00-109-364D/GB/F5Fig. 15 Fasteningtructions on the wrist6Fig. 16 Warning sign, counterbalancing system2x7Fig. 17tructions for safeguarding agat toppling of A 2, A 3Ro/Me/01/29 01.01.02 en16 of 18ACHTUNG!WAR

24、NING!ATTENTION!Vor dem Entfernen des Motors Roboterachse gegen Kippen sichern!Only remove motor when robot axis is secured!Avant dmontage du moteur bloquer laxe concern!Artikel-Nr. 00-109-364 D/GB/FACHTUNG!CAUTION!ATTENTION!Muttern nicht lsen - Sicherheitsvorschriften und Montageanleitung beachten!D

25、o not slacken nuts - observe safety regula- tions and assemblytructions!Ne pas desserrer les crous - Respectez les consignes de scurit et lestructions de montage!Artikel-Nr. 00-109-364 D/GB/FM10 Qualitt 10.9min. 12 mm max. 14 mmmin. 15 mmM10 quality 10.9min. 12 mm max. 14 mmmin. 15 mmM10 qualit 10.9min. 12 mm max. 14 mmmin. 15 mmArtikel-Nr. 00-103-796Technical Data8Fig. 18Robot identification plate (example)9Fig. 19 Ref