KUKA KR QUANTEC PA series heavy-duty palletizing robot

KUKA KR QUANTEC PA series heavy-duty palletizing robot

The KUKA KR QUANTEC PA series is a medium to high load robot designed for palletizing, handling, food processing, and low-temperature environments. The common models in this series include KR 120 R3200 PA, KR 180 R3200 PA, KR 240 R3200 PA, and are derived from HO and Arctic models. HO type is aimed at the food related industry, using special gear oil and higher rust prevention protection; The Arctic model is designed for the low-temperature freezing industry, with an operating temperature range of -30 ° C to 10 ° C, and is equipped with low-temperature adapted electrical equipment and RDCool. For on-site engineers, mastering transportation posture, foundation fixation, oil change cycle, balance cylinder pressure inspection, motor replacement, and troubleshooting are key to ensuring stable operation of the production line.

Quick search for model and basic data

KR QUANTEC PA adopts a 5-axis articulated arm motion system, which can control up to 4 axes. The main differences between different models are rated load and cycle time. KR 120 R3200 PA has a rated load of 120 kg, a maximum arm span of 3195 mm, a body weight of approximately 1075 kg, a pose repeatability accuracy of ± 0.06 mm, a protection level of IP65, and a noise level below 75 dB (A). The controller can be selected as KR C4 or KR C5 M6/M7. KR 180 R3200 PA has a rated load of 180 kg, a weight of approximately 1093 kg, and approximately 27.6 cycles per minute. KR 240 R3200 PA has a rated load of 240 kg, a weight of approximately 1103 kg, and approximately 25.6 cycles per minute. All three workspaces have a volume of 77.9 m ³ and are installed on the ground, with a permissible inclination angle of ± 5 °.

In terms of axis data, A1 has a motion range of ± 185 °, A2 is -140 °/-5 °, A3 is 0 °/155 °, and A4 to A6 are ± 350 °. The rated load speed of KR 120 is approximately A1 124 °/s, A2 115 °/s, A3 112 °/s, A4-A5 217 °/s, A6 242 °/s; the speed of KR 180 and KR 240 is slightly lower. The zero calibration positions are A1-20 °, A2-120 °, A3 120 °, A4-A5 90 °, A6 0 °. The load center of gravity and inertia must be input into the controller, otherwise trajectory planning and dynamic performance will deviate from expectations.

The HO type and arc type have similar data to the standard type, but differ in oil and sealing materials. The Arctic type must use gear oil suitable for low temperatures and consider preheating when starting at low temperatures. When replacing RDC, only RDCool must be installed, otherwise abnormal driving performance and malfunctions may occur.

Safety logic and homework prerequisites

KR QUANTEC PA belongs to incomplete machinery and must be integrated into a complete system and meet the EU Machinery Directive before it can be put into operation. The system integrator is responsible for risk assessment, implementation of safety functions, CE labeling, and complete system operation manuals. The danger zone consists of a workspace and a stopping distance, where the stopping distance is equal to the reaction distance plus the braking distance. The safety protection device must be located outside the danger zone, but the robot stopping process may still be completed within the danger zone.

The manual operation mode is divided into T1 and T2. T1 is the manual slow debugging mode, with a speed not exceeding 250 mm/s, suitable for jogging, teaching, programming, and program verification. T2 is a manual quick debugging mode that allows for speeds exceeding 250 mm/s, but is only used for testing that requires speeds higher than T1. Teaching and programming are not allowed under T2. When multiple people enter a safe area, each person must be equipped with an enabling device, and everyone must be able to see the robot unobstructed and maintain mutual visibility. Automatic mode requires all safety protection devices to function properly, with no one in the hazardous area, or to meet the EN ISO 10218 cooperation requirements.

When maintaining and repairing, priority should be given to working outside of hazardous areas. When it is necessary to enter a dangerous area, the robot should be turned off and locked with a tag, and if necessary, it should be done under T1. The emergency stop device must remain effective. If the security function is temporarily disabled, it must be restored immediately after the work is completed. After the robot controller is turned off, some components may still carry a voltage of 50V to 780V for several minutes, and must wait for discharge and comply with ESD regulations. For controllers with transformers, the transformer should be disconnected before operation. The balance cylinder belongs to pressure equipment, and the pressure status must be confirmed before operation and operated by professional personnel.

Key points of transportation and installation

The robot must be placed in the transport position before transportation. The transport poses of KR QUANTEC PA are A1 0 °, A2-140 °, A3 150 °, A4-A5 80 °, A6 0 °. Vibration and impact should be avoided during transport until the robot is securely fixed. When transporting by forklift, the forks are inserted into the base forklift slot, with a minimum load capacity of about 2.0 tons. When using transport lifting equipment, connect the M16 lifting ring and slings G1, G2, G3. The slings must be arranged according to the diagram to prevent the robot from overturning or being damaged. It is prohibited to use cranes to lift robots in other ways.