Robot Design; Installation - Kuka KR 100 comp Spezifikation

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 axes (A 1 to A 3) and
wrist axes (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.
05.2004.03 Spez KR 100 comp, KR 140 comp, KR 200 comp de/en/fr

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 C 20/25
DIN 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)
will be safely transmitted to the ground.
Figure 1- -7 could also be used as a basis for
more extensive static investigations.
according to
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