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English
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Contents
1
1.1
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1.2
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1.3
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1.4
1.5
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2
2.1
2.2
2.3
2.4
2.5
2.6
2.7
2.8
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3
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1
SYSTEM DESCRIPTION
1.1 General
The KR 100 comp, KR 140 comp and KR 200
comp robots (Fig. 1--1) are six--axis industrial
robots
with
articulated
point--to--point and continuous--path controlled
tasks. Their main areas of application are
-- spot welding
-- handling
-- assembly
-- application of adhesives, sealants and preser-
vatives
-- machining
-- MIG/MAG welding
-- YAG laser beam welding.
The KR 100 comp, KR 140 comp and KR 200
comp robots, including their variants with arm
extensions, are designed for installation on the
floor.
The rated payloads and supplementary loads
(see Section 3 "Technical Data") can be moved at
maximum speed even with the arm fully extended.
All the main bodies of the principal moving
assemblies are made of cast light alloy. This
design concept has been optimized by means of
CAD and FEM with regard to cost--effective
10
Spez KR 100 comp, KR 140 comp, KR 200 comp de/en/fr
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24- -40
kinematics
for
all
lightweight construction and high torsional and
flexural rigidity. As a result, the robot has a high
natural frequency and is thus characterized by
good dynamic performance with high resistance
to vibration.
The joints and gears are virtually free from
backlash; all moving parts are covered. All the
axes are powered by brushless AC servomotors
of plug--in design, which require no maintenance
and offer reliable protection against overload.
The main axes are lifetime--lubricated, i.e. an oil
change is necessary after 20,000 operating hours
at the earliest.
All the robot components are of intentionally
simple and straightforward configuration; the
number of them has been minimized and they are
all readily accessible. The robot can also be
quickly replaced as a complete unit without any
major program corrections being required.
Overhead motion is possible.
These and numerous other design details make
the robots fast, reliable and easy to maintain, with
minimal maintenance requirements. They occupy
very little floor space and can be located very
close to the workpiece on account of the special
structural geometry. Like all KUKA robots, they
have an average service life of 10 to 15 years.
Each robot is equipped with a controller, whose
control and power electronics are integrated in a
common cabinet (see separate specification).
The controller is compact, user--friendly and easy
to service. It conforms to the safety requirements
specified in the EU machinery directive and the
relevant standards (including EN 775).
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.
05.2004.03
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