Fig. 3-3: Main assemblies of the KR 30, 60 JET ROBOT
1 In-line wrist 4 Rotating column
2 Arm 5 Link arm
3 Electrical installations
In-line wrist The robot (>>> Fig. 3-3 ) is fitted with a 3-axis in-line wrist (1). The in-line wrist contains axes 4, 5 and 6. For attaching end effectors (tools), the in-line wrist has a mounting flange.
Arm The arm (2) is the link between the in-line wrist and the link arm. It houses the motors of the wrist axes A 4, A 5 and A 6. The drive for the arm comes from motor A 3 via the gear unit between the arm and the link arm. The maximum permissible swivel angle is mechanically limited by a stop for each direction, plus and minus. The accompanying plastic buffers are attached to the arm.
The arm also houses the motor of axis 3.
Link arm The link arm (5) is the assembly located between the arm and the rotating column. It consists of the link arm body and the gear units and bearings for axes 2 and 3.
Rotating column The rotating column (4) forms the interface with the carriage of the axis module. It is screwed to the carriage. The rotating column also supports the link arm. On both sides of the rotating column there are four holes for the fastening screws of the fork slots or the transport frame. The robot junction boxes for the robot’s electrical equipment are also mounted on the rotating column.
Electrical installations The electrical installations assembly comprises the entire cabling for the control and supply of the motors. The electrical installations are described in the operating instructions, in Chapter . Depending on the controller, the manipulator is equipped with electrical installations (cable set) for KR C2 or KR C4.
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