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S2-08

S2-08

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Published by: nguyễn ngọc ánh on Feb 21, 2012
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07/04/2013

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Ch 8: Vận hành robot công nghiệp ậ g g ệp

© C.B. Pham

Source: kuka robot & abb robot

8-1

8.1. History y

1985 1996 1998 1999
© C.B. Pham

• First joint arm robot without parallelogram

• First WINDOWS@real-time PC based robot controller

• First long range robot with 7 m reachable space long-range • First heavy duty robot with 350 kg payload

• First diagnosis via internet for robots

Source: kuka robot & abb robot

8-2

8.1. History y
IR 600 IR 100 IR 300 KR 6-350 6 350

1980

1990

2000

IR 200

IR 400

IR 700

© C.B. Pham

Source: kuka robot & abb robot

8-3

8.1. History y

Lower Payload (V)KR 6/2 (V)KR 15/2

Medium Payload (V)KR 30/2 (V)KR 30 L15/2 (V)KR 45/2

High Payload (V)KR 125/2 (V)KR 150/2 (V)KR 200/2

Heavy Payload (V)KR 350/2 (V)KR 350L280/2 (V)KR 350L240/2

Special Series (V)KR 60P/1 (V)KR 100P/1 (V)KR 100PA/1 (V)KR 160PA/1

© C.B. Pham

Source: kuka robot & abb robot

8-4

8.1. History y
Application Automotive Industry

Spot S t welding ldi

Handling H dli

Assembly A bl

Fitting Fitti

Application General Industry

Handling
© C.B. Pham

g Loading

Palletizing g

Adaptation
8-5

Source: kuka robot & abb robot

8.1. History y
Wall mounting: (V)KR 6/2 (V)KR 15/2 (V)KR 30/2 (V)KR 30L15/2 (V)KR 125 W/2

Floor mounting: (V)KR 6/2 (V)KR 15/2 ( ) (V)KR 15 L2/2 (V)KR 30/2 (V)KR 30 L15/2 (V)KR 45/2 (V)KR 125/2 (V)KR 150/2, 200/2 (V)KR 350/2 KL 250 KL 1500 250,
© C.B. Pham Source: kuka robot & abb robot

Ceiling mounting: (V)KR 6/2 (V)KR 15/2 (V)KR 15 L2/2 (V)KR 30/2 (V)KR 30 L15/2 (V)KR 45/2 (V)KR 125/2 (V)KR 150/2, 200/2 (V)KR 350/2 KL 250, KL 1500
8-6

8.2. Safety y
• Although the robot system is designed and engineered according to state of the art technologies and actual safety regulations there can be a threat to life or physical condition or damage on material assets if the system is used improper.

The robot is always stronger than you!

The robot system must only be used in an technical faultless and unobjectionable condition. The basic Th b i regulation f i d i l robots i the EN 775 E l i for industrial b is h 775, European S d d f Standard for industrial robots.

© C.B. Pham

Source: kuka robot & abb robot

8-7

Safety solutions y
•E Emergency stop – IEC 204-1, 10 7 t 204 1 10.7 • Operating mode – ISO 10218 (EN 775), 3.2.17 Auto Manual < 250 mm/s Manual 100% • Enabling device (Dead mans grip) – ISO 11161, 3.4 • Hold-to-run – ISO 10218 (EN 775), 3.2.7 • Li iti th workspace Limiting the k Software Hardware • Safeguard – ISO 10218 (EN 775), 6.4.3 • Interlock – ISO 10218 (EN 775), 3.2.8
© C.B. Pham Source: kuka robot & abb robot 8-8

Safety solutions y
• Emergency stop

© C.B. Pham

Source: kuka robot & abb robot

8-9

Safety solutions y
• Operating mode Auto Manual < 250 mm/s Manual 100%

© C.B. Pham

Source: kuka robot & abb robot

8-10

Safety solutions y
• Enabling device (Dead mans grip)

© C.B. Pham

Source: kuka robot & abb robot

8-11

Safety solutions y
• Hold-to-run

© C.B. Pham

Source: kuka robot & abb robot

8-12

Safety solutions y
• Limiting the workspace Software Hardware

© C.B. Pham

Source: kuka robot & abb robot

8-13

Safety solutions y
• Limiting the workspace Software Hardware

axis 1

axis 2

© C.B. Pham

Source: kuka robot & abb robot

8-14

8.3. Robot system y

Robot Controller (e.g. KR C1) (

KUKA Robot (e.g. KR 200/2)
© C.B. Pham

KUKA Control Panel (KCP)
8-15

Source: kuka robot & abb robot

8.3. Robot system y

© C.B. Pham

Source: kuka robot & abb robot

8-16

8.3. Robot system y

© C.B. Pham

Source: kuka robot & abb robot

8-17

8.3. Robot system y

© C.B. Pham

Source: kuka robot & abb robot

8-18

8.3. Robot system y

© C.B. Pham

Source: kuka robot & abb robot

8-19

8.3. Robot system y

© C.B. Pham

Source: kuka robot & abb robot

8-20

Control cabinet

© C.B. Pham

Source: kuka robot & abb robot

8-21

Inside IRC5 Single cabinet controller g

© C.B. Pham

Source: kuka robot & abb robot

8-22

IRC5 FlexPendant

© C.B. Pham

Source: kuka robot & abb robot

8-23

KUKA vs. ABB
KUKA compromise p ABB optimise p

© C.B. Pham

Source: kuka robot & abb robot

8-24

8.4. Operation – coordinate systems p y
• Joint jogging Jo t jogg g Every robot axis can be moved on it‘s own in positive and negative direction. • WORLD coordinate system A stationary, rectangle coordinate system, with the origin in the robot basement basement. • TOOL coordinate system A stationary, rectangle coordinate system, with th origin at t ti t l di t t ith the i i t the tool tip. • BASE coordinate system A rectangle coordinate system, with the origin at the workpiece. p
© C.B. Pham Source: kuka robot & abb robot 8-25

Define Tool coordinate system y

© C.B. Pham

Source: kuka robot & abb robot

8-26

Define Tool coordinate system y

© C.B. Pham

Source: kuka robot & abb robot

8-27

Define Tool coordinate system y
Why do we need tool measuring?

© C.B. Pham

Source: kuka robot & abb robot

8-28

Define Tool coordinate system y

© C.B. Pham

Source: kuka robot & abb robot

8-29

Define Tool coordinate system y

© C.B. Pham

Source: kuka robot & abb robot

8-30

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