kuka各版本随机文档 接口与设计用 kr_6_15 ro_me_03_13_en

1、ROBOTKR6,15tallation, Connection, Exchangee CopyrightKUKA 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 be operable in the controller. T

2、he 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 we are not able to guarantee tot

3、al conformity. The information in thisdocumentation is checked on a regular basis, however, and necessary corrections will be incorporated Subject to technical alterations without an effect on the function.ubsequent editions.Length of documentation: 36 pages PD InterleafRo/Me/03/13 en107.97.01Conten

4、ts1GENERAL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .32PRINCIPAL LOADS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .43.4MOUNTING VARIANTS . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5、 . . . . . . . . .Variant 1 (391.816- 08.003) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Variant 2 (391.816- 08.002) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Variant 3 (391.816- 08.001) . . . .

6、. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Wall- mounting variant . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6681013TALLING AND CONNECTING THE ROBOT . . . . . . . . . . . . . . . . .Floo

7、r- mounted robots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Ceiling- mounted robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Wall- mounted robots . . . . . . . . . . . . . . . .

8、. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .14141720EXCHANGE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Exchanging floor- mounted robots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9、. . . . . . .Exchanging ceiling- mounted robots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .27273033Exchanging wall- mounted robots. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Ro/Me/03/13 en207.97.01Valid forKR 6/2 KR 15/21GENE

10、RALThe Doc. Module ”Safety, General” and the robot Doc. Module ”Repair, General” are to be observed!With all work involving the connection of the robot (and of the control cabinet),the control cabinet Doc. Module ”Initial Start- up” must be observed.Before anytallation and exchange work is started,

11、any attached tools or additional equipment thatwould hinder thetallation and exchange work must be dismounted.The fork lift truck, lifting tackle and crane must be suitable for handling the robot. For weight of robot see robot Doc. Module ”Technical Data”.The description of thetallation and exchange

12、 operations is subdivided into job steps with numbersin brackets appearing before them. The text which immediately follows these steps must also be read if it is specially marked by NOTE, CAUTION or a warning triangle, as many of these marked texts refer to the preceding job step.Example:(8) Lower t

13、he robot slowly without tilting it.The robot must be lowered vertically downwards until both locating pare free.Some of the specially marked texts refer exclusively to everything that follows - until the is expressly revoked or the work is completed at the end of a section.tructionExample:Turn mawit

14、ch on the robot control cabinet to ”OFF” and secure it with a pad-lock to prevent unauthorized persons from switching it on again.Ro/Me/03/13 en307.97.010o1CAUTION!2PRINCIPAL LOADSForces occur during operation of the robot which must be safely transmitted to the floor, ceiling or the hinged steel ba

15、se. The forces that have to be taken into account are specified in Fig. 1 for floor- and ceiling- mounted robots and in Fig. 2 for wall- mounted robots. Both drawings with their specifications can be used as a basis for more extensive static investigations.MkFvFhMrKR 6/2KR 15/2Fv =Fh = Mk = Nmvertic

16、al force horizontal force tilting momentFvmax=3500 N2600 N3800 N4100 NFhmax = Mkmax =3400 Nm 4800Mr =turning moment about axis 1Mrmax=3200 Nm 3200 NmTotal mass = robot+ total loadfor type205 kg +16 kgKR 6/2Fig. 1Principal loads acting on floor (orceiling) dueto robot and total load222 kg +25 kgKR 15

17、/2Ro/Me/03/13 en407.97.01XMkFhFvView XMrKR 6/2KR 15/2Fv =Fh = Mk = Nmvertical force horizontal force tilting momentFvmax=5000 N1000 N7000 N1000 NFhmax = Mkmax =2800 Nm 3700Mr =turning moment about axis 1Mrmax=3200 Nm 3500 NmTotal mass = robot+ total loadfor type205 kg +16 kgFig. 2 KPRrin6c/2ipal loa

18、ds acting on the mounting base due to robot and total load222 kg +for ”wall2”5inksgtallation positionKR 15/2Ro/Me/03/13 en507.97.013MOUNTING VARIANTSThe robot can betalled on the floor, the ceiling or the wall.There are three mounting variations fortalling the robot on the floor or on the ceiling:G

19、GGVariant 1 (391.816- 08.003), see Section 3.1Variant 2 (391.816- 08.002), see Section 3.2Variant 3 (391.816- 08.001), see Section 3.3Fortallation of the robot on the wall see Section 3.4.If the robot is to betalled on the floor, being directly mounted on a concrete base, all pertinentconstruction s

20、pecifications must be observed concerning the grade of concrete (? B25 according to DIN 1045) and the load- bearing capacity of the ground when preparing the concrete foundation. Itmust be ensured that the surface of the foundation is level and sufficiently smooth. The dowels mustbeerted with great

21、care to ensure that the forces occurring during the operation of the robot (Fig. 1)are transmitted safely to the ground.3.1Variant 1 (391.816- 08.003)Characteristic features:-For floor- mounted robots only.Robottalled directly on the concrete foundation.Robot fastened by means of three undercut dowe

22、ls.Accessory: ”floor mounting kit”(1)Mark a hole pattern as per Figure 2 on the foundation or set down the robot in the intended tallation position on the foundation.(2)The intendedtallation position of the robot, i.e. the correct orientation in relation to theworking envelope (Fig. 2/1), must be ta

23、ken into account when marking the position of the boreholes.(3)Drill three dowel holes (Fig. 3/6) in accordance with Figure 2 or through the fastening bore- holes of the robot; minimum depth in concrete 190 mm.(4)Prepare undercuts (Fig. 3/4) with special tool in accordance with appropriate work tion

24、s.ert compression springs (5). ert three undercut dowels (3).Set robot down.truc-(5)(6)(7)(8)Screw on hexagon nuts (2) together with washers and tighten hexagon nuts with torque wrench in diagonally opposite sequence, increasing the tightening torque to the specifiedvalueeveral stages (MA = 115 or 1

25、35 Nm).NOTEThe tightening torque for the hexagon nuts is 115 Nm for initialtallation (with the plas-tic dowel ring) or 135 Nm with subsequenttallation (without the plastic dowel ring).When tightening the hexagon nuts (2), the base frame must not be distorted. The test dimension (1) of 8 3 mm for che

26、cking the undercut dowels must be reached.Retorque hexagon nuts (2) after 100 operating hours.Ro/Me/03/13 en607.97.01CAUTION!CAUTION!1frontFig. 3Hole pattern for variant 11MA= 115/135 Nm2Test dimension 8 3 mm345233x1,56Fig. 4Robottallation, variant 1tallation of the robot is now finished. The robot

27、is ready for connection (see Section 4.1).Ro/Me/03/13 en707.97.012501901433.2Variant 2 (391.816- 08.002)Characteristic features:-For floor- and ceiling- mounted robots.Robottalled on a steel structure prepared by the customer (or on a linear unit of series KL 250).Robot fastened by means of three M2

28、0x55 ISO 4017 hexagon bolts.Retorque three hexagon bolts M20x55 ISO 4017 after 100 operating hours.Accessory: ”frame mounting kit”(1)Prepare mounting surfaces (Fig. 5/1) on steel structure in accordance with Figure 5.NOTEThe maximum permissible difference in level between the individual mounting sur

29、faces(1) is 0.5 mm.(2)Drill three holes for holding- down bolts (Fig. 6/3) and two holes for the locating p as shown in Figure 6.(1, 2)NOTEThe intendedtallation position of the robot, i.e. the correct orientation in relation to theworking envelope (Fig. 3/1), must be taken into account when drilling

30、 the holes.(3)ert locating p(Fig. 6/1, 2) and fasten each one with an M8x55 Allen screw (1) together with lock washer.NOTEThe position of the locating pin relation to the working envelope is important:Looking forwards (4) from the robot towards the working envelope - the robot arm points in this dir

31、ection when A1 is in its zero position - , then the sword pin (2) must be on the right and the round pin (1) on the left.Ro/Me/03/13 en807.97.01CAUTION!1Center A 1120front120min.90(170)Fig. 5Mounting surfaces for variant 2ARz 1044.5Section A- A12H7 A (2x)3xM20f1 A B11(68)4(30)Center A1front3120min.

32、18max. 6(170)min.902 | 232(12H7)BAFig. 6Robottallation, variant 2talled. The procedure forThe steel foundation is now ready for the robot to betalling the robotis describedection 4.1 for floor- mounted robots,ection 4.2 for ceiling- mounted robots.Ro/Me/03/13 en907.97.01f 12 H7 (2x)M20 (3x)389.77.15

33、404 ? 0.05min.180202(90)min.180337.53.3Variant 3 (391.816- 08.001)Characteristic features:-For floor- mounted robots only.Robottalled with an intermediate plate (Fig. 7/1) on the concrete foundation.Intermediate plate fastened to robot with three M20x55 hexagon bolts (4) and to concrete founda- tion

34、 with three undercut dowels (3).Retorque three hexagon bolts M20x55 ISO 4017 (4) after 100 operating hours.-Easy removal andtallation with optimum repeatability of thetallation position.Considerable differences in level of the foundation can be bridged.Accessory: ”mounting base kit”23Center A1front4

35、156Fig. 7Intermediate plate for variant 3(1)Place intermediate plate (Fig. 7/1) onto foundation in accordance with the intended tion position of the robot.talla-NOTEThe position of the locating pin relation to the working envelope is important:Looking forwards (5) from the robot towards the working

36、envelope - the robot arm points in this direction when A1 is in its zero position - , then the sword pin (6) must be on the right and the round pin (2) on the left.Ro/Me/03/13 en1007.97.01CAUTION!510.9Center A 1front18174228 2Fig. 8Robottallation, variant 3(2)Drill three dowel holes (Fig. 9/1) in ac

37、cordance with Figure 8 or through the boreholes of the intermediate plate; minimum depth in concrete 190 mm.(3)Prepare undercuts (Fig. 9/3) with special tool in accordance with appropriate work tions.ert compression springs (2). ert three undercut dowels (4).Align intermediate plate (7) horizontally

38、 by means of shims (8).truc-(4)(5)(6)(7)Screw on hexagon nuts (5) together with washers and tighten hexagon nuts with torque wrench in diagonally opposite sequence, increasing the tightening torque MA to the specified value everal stages (MA = 115 Nm or 135 Nm).The tightening torque for the hexagon

39、nuts is 115 Nm for initialtallation (with the plas-NOTEtic dowel ring) or 135 Nm with subsequenttallation (without the plastic dowel ring).When tightening the hexagon nuts (5), the intermediate plate must not be dis- torted; if necessary, it must be re- aligned with shims. The test dimension (6) of

40、8 3 mm for checking the undercut dowels must be reached.Ro/Me/03/13 en1107.97.01534.3364232332CAUTION!56Te s td7i- m e n- s i o n 8 348321.51Fig. 9Dowel boreholes for variant 3The robot is now ready to betalled in accordance with Section 4.1.Ro/Me/03/13 en1207.97.011431902503.4Wall- mounting variant

41、The robot is preferably placed on a hinged steel base (Fig. 10/2), provided by the customer, and fastened by three hexagon bolts (1). Itstallation position, as with the other mountingpositions, is determined by two locating p, enabling it to be exchanged in a repeatablemanner. The robot is moved int

42、o its working position by swivelling and securing the steel base.Thetallation of the robot may vary: The hinged steel base for the robot is either mountedon a shelf (Fig. 10, left) or directly onto the wall (right).21on shelfon wall12Hexagon bolt 3x Hinged steel base(provided by the customer)Fig. 10

43、Walltallation of the robot using a hinged steelbaseRo/Me/03/13 en1307.97.0144.1TALLING AND CONNECTING THE ROBOTFloor- mounted robotsSection 1 of this Doc. Module is to be observed.This description only applies to robots with mounting variant 2 (Section 3.2) or 3 (Section 3.3).The procedure fortallin

44、g the robot (whether for the first time or as an exchange) is as follows:(1)Check that both locating p fitted securely.(Fig. 11/2) and their fastening screws (1) are undamaged andDamaged locating pmust be replaced by new ones.12Fig. 11Locating pThe robot must be in the transport position (Fig. 12)*.

45、A1A2A3A4A5A60-55+ 700+ 90anyL* Angle specifications refer to the mechanical zero of the axis concerned.Dimension L 980 mmfor KR 6/2:for KR 15/2:980 mmFig. 12Transport position, floor- mounted robotRo/Me/03/13 en1407.97.011313CAUTION!(2)Raise robot with fork lift truck or lifting tackle attached to t

46、hree apertures on the rotating col- umn.For reasons of safety, it is imperative for the lifting tackle to be attached to the ro- bot at the specified points. Risk of injury!The transport served.tructions in the robot Doc. Module ”Repair, General” must be ob-(3)Lower robot (Fig. 13/3) vertically onto

47、 intermediate plate (5) or steel structure. If lifting tackle is used, particular care must be taken to ensure exact vertical positioning in order to avoiddamaging the locating por the dowels during this operation.As the robot is lowered, the boreholes (2) must be aligned as accurately as pos-sible

48、with the two locating p(1). If this operation is carried out inaccurately, itis more likely that parts will be damaged.(4)ert three M20x55 ISO 4017 hexagon bolts (4) together with lock washers and tighten them with a torque wrench in diagonally opposite sequence, increasing the tightening torque to

49、thespecified valueeveral stages (MA = 370 Nm).Retorque three hexagon bolts M20x55 ISO 4017 (4) after 100 operating hours.34215Fig. 13talling the robot on the floorRo/Me/03/13 en1507.97.01CAUTION!CAUTION!NOTEThe robot is fastened with three hexagon nuts and lock washers in the case of mountingvariant

50、 1 (391.816- 08.003); the tightening torque is 135 Nm for subsequent without the plastic ring of the dowels.tallation(5)(6)Remove lifting tackle.Connect ground conductor and connecting cables.Before performing the next step, it must be ensured that it is not possible for any- one to be injured withi

51、n the range of the slowly moving robot.The robot may only be moved at manual traversing speed with all applicablesafety rules and regulations being observed.(7)Put robot into operation and move it into a suitable position to additional equipment.tall end- effector (tool) andTurn mawitch on the robot

52、 control cabinet to ”OFF” and secure it with a pad-lock to prevent unauthorized persons from switching it on again.(8)(9)(10)tall end- effector (tool) and additional equipment.Connect all other cables which have been removed. Put robot into operation.Ro/Me/03/13 en1607.97.010o14.2Ceiling- mounted robotSection 1 of this Doc. Module is to be observed.This description only applies to robots with mounting variant 2 (Section 3.2).For tallation on the ceiling, the robot can be picked up off the floor by means of a fork lift truck and turnover fi