The structure of the robot with a straight tandem structure is simplified, as shown in the figure below. The six-axis straight tandem robot has six joint axes from A1 to A6, during which A1, A4, and A6 are rotary axes, and other A2, A3, and A5 are swing axes.
The robot motion system attaches great importance to the control of the end node of the robot motion chain, that is, the control of the posture and position of the thing installed at the end of the six axes of the robot is completed through the control of the six joint axis viewpoints, and the control process touches the knowledge of robot kinematics, which is not within the content scale of this series of articles.
Like other robots, the body of the KUKA six-axis straight tandem robot can be divided into wrists, small arms, large arms, turntables, bases, balance bars and other components. About KUKA industrial robots, only robots with a load of more than 60KG are equipped with a balance cylinder, the function of the balance cylinder is to reduce the load pressure of the boom motor, and the robot body equipped with the balance cylinder is necessary to be installed in accordance with the device method indicated on the robot body, for example, you can't use a robot equipped with a balance cylinder on the ground device to carry out the ceiling upside down device, otherwise the robot will not be able to operate normally.
The division of each part of the robot body.
1. Wrist
The six-axis straight tandem robot has a 3-axis wrist, which includes axis 4, axis 5, and axis 6. The shaft 6 motor is directly installed on the manipulator inside the small arm. The motor directly drives the manipulator, and on shafts 4 and 5, a motor installed on the back of the forearm is driven by a connecting shaft. The robot wrist has an articulation flange for retrofitting things. When the robot wrist fails and needs to be repaired and replaced, KUKA asks the customer to replace the entire wrist, and does not allow the user to disassemble and replace the axis 4, axis 5, and axis 6 by himself.
2. Forearm
The small arm is a link between the robot's wrist and the big arm. It is used to fix the motors of hand shaft 4 and shaft 5. The small arm is driven by a shaft 3 motor. The permissible large swing angle is mechanically constrained by a positive and negative block respectively. The belonging buffer is installed on the small arm. There is a threaded device hole on the lower arm with 4 for fixing additional loads.
3. Balance cylinder
The balance cylinder is a set of components between the turntable and the boom, and the torque added around the shaft 2 is minimized when the robot is stopped and in motion, and the balance bar uses a closed hydropneumatic system to accomplish this purpose. The system consists of two pressure reservoirs, a hydraulic cylinder with piping, a pressure gauge and a rupture disc that acts as a safety element to prevent overload. Disassembling and disassembling the balance cylinder by faulty methods may cause serious injury to the operator, and it is not recommended that ordinary users disassemble and repair the balance cylinder by themselves.
4. Electrical interface
It mainly includes the motor cable and data cable connection interface between the robot body and the control, the control signal interface of the robot end effector, and the compressed air pipeline interface.
5. Base
The base is the base of the robot. It is fastened with bolts with the foundation. The protective hose of the electrical equipment is fixed to the base. In addition, the interface to the motor and data cables and the energy chain system are mounted on the base.
6. Turntable
Turntable fixes axes A1 and A2. The turntable performs the rotational motion of axis 1. The turntable is bolted to the base by the transmission of shaft 1 and is driven by a motor on the turntable. The boom is also supported in the turntable.
7. Big arm
The boom is a component that sits between the turntable and the arm. In order to achieve different job scales, KUKA robots are usually offered with three small arms of different lengths combined with large arms. There is a threaded device hole with 4 for fixing additional loads on the boom.
Robot users usually pay attention to the performance parameters of the robot, such as the work scale, load capacity, repeatability and IP protection level, which all depend on the robot itself. In addition, regarding the robot body, it is also necessary to pay attention to the components of the body, the device method, the layout scale of the base device hole, the layout scale of the six-axis flange device hole, the movement scale of each axis and the maximum moving speed under the rated load of each axis.
|
More on that
|
Inspection and repair of KUKA robots in hazardous environments
The vast majority of robots in operation now consist of six joints with a simple "output" for interacting with the workpiece. Applications range from pick-and-place operations, to moving cameras and other viewing devices, to performing precision assembly tasks that touch collaborative parts. This is certainly far ...
|
|
KUKA KR 210 R2700-2 maintenance precautions
1. Power supply in front of the device
The problem rate of the power supply is very high in the programming of the KUKA robot in the whole problematic device, so it is easy to overhaul the power supply first.
2. First the general and then the special
Faults caused by the quality of assemblies or other equipment faults generally account for the common ...
|
|
Precautions for long-term robot downtime – KUKA robots
1. Acknowledgment before booting
1.1 There may be water stains on the site after 5S cleaning, please check whether the inside and outside of the controller and the robot body are boring to prevent the formation of a short circuit.
1.2 Determine whether the input voltage of the control cabinet is correct before powering on. R-30iA、R-30iB、R-30iB PLUS ...
|
|
KUKA robot circuit board repair method
KUKA robot circuit board repair, for the equipment that has not undergone the function of the online test, some test instruments also provide a less formal but more useful treatment: because the power supply of the test instrument to the robot circuit board can also be applied to the corresponding power supply and ground of the equipment through the test clip.
|
|
Features of submerged arc welding of welding robots – KUKA robots
1. High production efficiency
This is because the extension length of the wire is small when KUKA robots perform submerged arc welding, so a large welding current can be selected. For example, when electrode arc welding uses electrode welding, the current range is 250 - 350A, while submerged arc welding is usually 600? 850A， ...
|
|
KUKA robot backup and restore method
When a backup is required:
1. System failure;
2. Hardware collapse.
Significance of backup:
1. Save the procedures made at that time;
2. The user can prevent misoperation and deletion of the program;
3. Let the system work from scratch to prevent secondary commissioning or equipment. ...
|
|
Parameter settings for KUKA robots and Siemens touch screens
How to clean up common problems with infrared touch screen
1. Double-click is not very active
Open the infrared screen to adjust its activity and reduce the activity.
2. Under what conditions will drift occur
Because the operating principle of the infrared screen is to rely on infrared rays...
|
|
The "four families" of industrial robots - KUKA robots
Industrial robots are the star products of industrial automation, and the 30 billion ontology space is expected to leverage trillions of automation to transform shopping malls. The body space is about 30 billion yuan: the essence of automation is the automation of the process, and the ultimate policy is to improve the total factor yield. Multi-axis industrial robot is an automated ...
|
|
Robot motor control principle – KUKA robots
Motion control is closely related to robots. Robots in industrial applications need to move themselves through actuators composed of multiple motors to perform their mission or to grasp tools through a robot arm.
The motion control system of the robot is usually composed of a motor controller, a motor drive, ...
|
|
3D modeling and mounting of KUKA six-axis robots
3D modeling of KUKA six-axis robots
1. Modeling of chassis box and servo motor. There are mainly box bases, small electric boxes, rotating arm motors, etc.
2. Modeling of large arm structures. There are mainly drive arm seats, large hands ...
|
|
Analysis of KUKA robot control systems
1. Underlying manipulators
As the center of the control system, the applicability of the underlying controller is crucial to the whole system. Its function directly affects the reliability of the control system, the speed of data processing and real-time data collection. The working environment of mobile robots is harsh, and there are many sources of disturbance. Thus...
|
|
KUKA robots require joint drive motors
1. Rapidity
The time between the motor obtaining the command signal and the completion of the required working condition of the command should be short. The shorter the time of echoing the command signal, the higher the sensitivity of the electric servo system, and the better the fast response function.
|
|
The reason why the MOS tube was burned by a servo motor drive is a KUKA robot
Once the phenomenon of the robot servo motor drive burning MOS tube is started, the external stable wire of the drive will be burned, and the equipment cannot be operated. When the repairer checked, he found that a power tube had been damaged, but because there was no material, he couldn't figure out the effect of the tube.
|
|
KUKA robot partial learning operation steps
Perform "bias learning" with loads. The difference from the first zero calibration is stored.
1. Place the robot in the pre-zero calibration position
2. In the main menu, select the zero calibration > EMD > with load correction > > deviation ...
|
|
KUKA robot resolver-to-digital converter
KUKA robot resolver-to-digital converters (RDCs) are used to collect motor orientation data. Up to 8 resolvers can be connected to the RDC. In addition, the temperature of the motor is measured and analyzed. EDS is used to store non-volatile data in RDC bins.
...
|
|
KUKA robot MFC3+DSE card 00-117-336 is faulty
Disadvantage 1: When loading software components, the control system is stuck.
Causes: The MFC device cannot be initialized, MFC3 is not properly plugged in, and the PCI bus on the motherboard is defective.
Solution: Remove the PC card, boot the PC, check the MFC3 slot, and replace the control system PC.
...
|
|
KUKA robot force error and control compensation
The production of high-end equipment shows the concave and convex of a country's comprehensive national strength. At present, China is vigorously developing a series of major projects such as high-speed rail technology, large aircraft projects, nuclear energy projects, aerospace projects, etc., and has made remarkable achievements. These items all have the same characteristic, which is the relative accuracy ...
|
|
Introduction to Robot Control and Perception Systems – KUKA Robots
The robot control system is the brain of the robot and the primary element that determines the function and function of the robot. The control system is to retract the command signal from the drive system and the implementation organization according to the input program, and control it.
Control system
...
|
|
What does the KUKA robot preventive maintenance cover?
What does a routine preventive maintenance check for a KUKA robot consist of?
back-up controller memory;
Monitor the robot at regular intervals, inspect the robot, wires and cables;
check the brake equipment;
Check the machine ...
|
|
KUKA Industrial Robot Fault Diagnosis and Maintenance Method
Don't panic when there is a problem with the robot during the operation, if the problem is not caused by the controller, then the cause of the problem must be the damage to the machine parts. In order to deal with the problem as quickly as possible and in the simplest possible way, the problem should be analysed. And the need to find out which part is the lead ...
|
|
Contact
working hours
