KUKA KR 3 D1200 Robot Operation and Maintenance

KUKA KR 3 D1200 high-speed sorting robot

Product positioning: Four axis Delta platform for high-speed picking and placing

KUKA KR 3 D1200 is a standard version of a four axis Delta parallel robot on the same platform as HM Sanitary. It is also designed for picking and packaging applications in the food, pharmaceutical, and consumer goods industries. It adopts a ceiling inversion method and is controlled by KR C5 micro. The system consists of a robotic arm, a controller smartPAD-2、 Composed of connecting cables, software, and optional accessories. The robotic arm consists of a base frame (with built-in A1-A3 motors and rear interface board), three upper arms (connected to the base and forearms through gear units, with each upper arm equipped with a spring assembly to fix two forearms), a moving platform (with built-in A4 motor and gearbox, carrying installation flanges), and electrical devices (RDC, protection circuit, A1-A4 motor and data cable).

The prohibited items are consistent with the HM version: do not use as a climbing aid, mechanical arm components must not come into direct contact with food, outdoor/explosive area/radioactive/underground operation is prohibited, transportation of personnel and animals is prohibited, and structural modifications (such as drilling) without KUKA permission are prohibited - structural modifications will result in the invalidation of warranty and liability claims.

Differences in core parameters compared to HM version

Parameter item KR 3 D1200 KR 3 D1200 HM

Workspace volume 0.387 m ³ -

Posture repeatability ± 0.05 mm ± 0.05 mm

Self weight approximately 105 kg, approximately 95 kg

Rated/maximum load 3 kg/6 kg 3 kg/6 kg

Maximum working diameter 1200 mm 1200 mm

Maximum working height 350 mm -

Protection level IP67 IP67 (A4 axis IP69K)

A4 axis speed 1091 °/s 840 °/s

A1-A3 speed 600 °/s 600 °/s

Maximum inertia of flange Iz 0.03 kgm ² 0.04 kgm ²

Material: Aluminum Alloy+Carbon Fiber Upper Arm/Forearm Stainless Steel

Default color RAL 2009 Orange/7035 Grey/9005 Black Stainless Steel Natural Color

The cleaning method prohibits high-pressure cleaning with a two-stage water wash of 0.7 MPa/2.5 MPa

The most noteworthy difference is that the A4 axis speed reaches 1091 °/s - higher than the HM version's 840 °/s. Coupled with the A1-A3 stroke of 109 °/+42 ° and the A4 stroke of ± 355 °, it performs more aggressively in the standard version beat assessment. The upper arm and forearm are made of aluminum alloy and carbon fiber structure, which greatly reduces the motion quality, which is the physical basis of high cycle time.

Cycle time - the direct basis for calculating the rhythm of sorting production lines

The document provides standardized cycle times for two typical pick and place trajectories (up throw translation drop format, in mm), programmed in DLIN with 0.3 mm approximation positioning (DLIN1) and DLIN endpoint complete stop (DLIN2):

Cycle 25-305-25 mm:

Load 0.1 kg: DLIN1=0.29 s, DLIN2=0.41 s

Load 1 kg: DLIN1=0.31 s, DLIN2=0.43 s

Load 3 kg: DLIN1=0.36 s, DLIN2=0.49 s

Cycle 90-400-90 mm:

Load 0.1 kg: DLIN1=0.36 s, DLIN2=0.50 s

Load 1 kg: DLIN1=0.39 s, DLIN2=0.50 s

Load 3 kg: DLIN1=0.46 s, DLIN2=0.58 s

Two engineering conclusions: using approximate positioning can obtain the fastest cycle time; According to the application (especially when it comes to workpiece characteristics), the picking and placing process may require additional pause time - visual triggering, vacuum suction cup establishment, release delay and other process waiting must be included in the beat calculation, and the values in the table cannot be directly copied.

Load, flange load, and foundation load

Key points of load planning: rated at 3 kg, maximum at 6 kg, no additional loads are allowed on the upper and lower arms and forearms; The maximum mass inertia of the flange plane Iz=0.03 kgm ²; The load inertia must be verified using KUKA Load, and the load data must be input into the controller - the controller takes into account the load in trajectory planning, and reducing the load does not necessarily result in lower flange force. The load curve corresponds to the maximum load-bearing capacity, exceeding which will shorten the robot's lifespan and overload the motor and gearbox. Such applications require prior consultation with KUKA services.

Installation flange specifications: hole distribution circle of 31.5 mm, screw grade A4-80, specification M5, 7 fastening threads, minimum screw depth of 4.5 mm, maximum screw depth of 6 mm, positioning element 5 H7.

Flange load (under rated load, without safety factor):

Condition F (a) F ®  M(k) M(g)

Running 513 N 365 N 26 Nm 17 Nm

Emergency stop 516 N 417 N 30 Nm 17 Nm

The operating value continues to appear in the normal trajectory, and the tool is checked according to fatigue strength; Emergency stop values rarely occur, static strength verification is sufficient.

Foundation load (including load and self weight inertia force):

Maximum normal value of load item

Vertical force F (v) 1649 N 1701 N

Horizontal force F (h) 567 N 649 N

Overturning moment M (k) 508 Nm 619 Nm

Torque M ®  112 Nm 231 Nm

The foundation design must be checked according to the maximum value. Compared with the HM version, the standard version has a greater vertical force (1701 N vs. 1552 N) and higher torque margin requirements (231 Nm vs. 187 Nm). When selecting the rack, the data of the two models cannot be mixed.