讲义德国kuka机器人

1、01/20061mp2_tool_payload_en.pptEach robot is designed for : a rated payload on the robot wrist, with a specified load center distance, a specified principal moment of inertia of the load and a supplementary load on the robot (arm)With this rated payload, the robot executes motions in its entire work

2、 envelope with standard accelerationsand velocities.The permissible robot payload must not be exceeded!Loads on the robot01/20062mp2_tool_payload_en.pptIf the robot is overloaded, the wear on the robot is increased. This causes premature failures and reduces the service life of the robot.Overloading

3、 the robot may even mean that the robot can no longer be operated safely.If the static holding torque is exceeded, the robot can no longer be operated safely as the axes may sag!Loads on the robotUse of incorrect load data nullifies all warranty obligations on the part of KUKA Roboter GmbH.01/20063m

4、p2_tool_payload_en.pptLoad distribution: example KR 16 max. 10 kgvariable max. 20kg max. 16 kgSupplementary load, armPayloadSupplementary load,link arm *)Supplementary load,rotating columnTotal load = payload + supplementary load = max. 46 kg*) Calculation with KUKA Load; from KUKA homepage download

5、 software KUKA.LOAD available01/20064mp2_tool_payload_en.pptLx = load center distance in direction of X axisLy = load center distance in direction of Y axisLz = load center distance in direction of Z axisLxy = load center distance in wrist flange planeLoad center distance designationsLxy = Lx + Ly01

6、/20065mp2_tool_payload_en.pptKR 16 - standard payload diagramCaution: The mass inertia must be verified using KUKA Load. It is imperative for the load data to be entered in the controller!Permissible mass inertia at design point 0.36 kgm(Lxy=120 mm,Lz=150 mm)01/20066mp2_tool_payload_en.pptPayload da

7、taThe value -1 is used as the default setting; this corresponds to the load specified in the machine datum01/20067mp2_tool_payload_en.pptPayload dataCaution: The load data must be entered for every geometrically calibrated tool.In order to optimize use of the available maximum moments of acceleratio

8、n of the robot axes, it is necessary to enter the load data of the tool that is being used.01/20068mp2_tool_payload_en.pptIn addition to the load on the robot wrist, the robot can also move a load mounted on the arm, link arm or rotating column, using the standard dynamic values.This can be a weldin

9、g transformer or a terminal box with valve manifold, for example.A value for the permissible supplementary load is specified by KUKA for each robot. The supplementary load must not be exceeded, as there is otherwise a risk of the axes sagging, as in the case of exceeding the permissible load on the

10、wrist. Exceeding the permissible supplementary load generally increases wear and reduces the service life of the robot.Supplementary load on the robot01/20069mp2_tool_payload_en.pptSupplementary load, arm / link arm / rotating column: example KR 16The distances Lx, Ly, Lz of the supplementary load r

11、efer to the origin of the Robroot coordinate system01/200610mp2_tool_payload_en.pptSupplementary load, arm / link arm / rotating columnThe value -1 is used as the default setting; this corresponds to the supplementary load specified in the machine datum01/200611mp2_tool_payload_en.pptSupplementary load, ar