KUKA KR18 R1450-3 PP Operation and Maintenance Essentials

KUKA KR18 R1450-3 PP Operation and Maintenance Essentials

KUKA KR 18 R1450-3 PP is a six axis articulated arm robot in the KR AGILUS-3 ultra product family, article number 0000-501-264. It is designed for high cycle picking, handling, processing, and palletizing scenarios, with a rated load of 18 kg, a maximum load of 18.2 kg, a maximum arm span of 1451 mm, a workspace volume of 9.8 m ³, a pose repeatability accuracy of ± 0.03 mm, a body weight of approximately 96 kg, a protection level of IP67, and noise levels below 70 dB (A). Usually paired with KR C5 slim-2 M6/M7 control cabinets, the conversion name is KR C5: KR18R1450_3. The beat index is 163 cycles per minute, with a single cycle of 0.37 seconds, a stacking distance of 25 mm/305 mm/25 mm, and a load of 1 kg. The working environment temperature is 0 to 55 ° C, the storage and transportation temperature is -25 to 60 ° C, and the humidity level is 3K3, meeting the electrostatic requirements of IEC 61340-5-1 and ANSI/ESD S20.20. IP67 means that the body and wrist can prevent water from entering the electrical equipment space during normal operation, but water mist and corrosive additives may still cause rusting of uncoated parts, and anti-corrosion protection should be added if necessary. Corrosion is not a standard defined defect as long as it does not affect the protection level.

Mechanical structure and shaft configuration

The robotic arm is a six axis articulated arm motion system, made of light alloy casting. Each axis is equipped with a brake, and the motor and current carrying cable are arranged under the cover plate to prevent dust and moisture. The main components include an inline wrist, arm, link arm, turntable, and base. The inline wrist is composed of A4, A5, A6; The arm connects the wrist and the connecting rod arm, driven by an A3 motor; The connecting rod arm connects the arm and the turntable, with built-in A2 and A3 motors, and is connected to the turntable through the A2 gearbox; The turntable rotates A1 and is connected to the base through the A1 gearbox, driven by the A1 motor. There is interface A1 at the rear of the base, which is used to connect cables and energy supply systems. The cable group includes RDC, protection circuit, A1 to A6 motor cables, data cables, and internal energy supply system interfaces. Optional configurations include A1 axis restriction, brake release device, C271.5 booster frame, S220 booster frame kit, LLA assembly device, etc.

Axis motion range: A1 ± 170 °, A2-195 °/55 °, A3-100 °/150 °, A4 ± 200 °, A5 ± 120 °, A6 ± 355 °. Rated load speed: A1 260 °/s, A2 220 °/s, A3 225 °/s, A4 450 °/s, A5 380 °/s, A6 700 °/s. Zero calibration positions: A1 0 °, A2-90 °, A3 90 °, A4 0 °, A5 0 °, A6 0 °. The working envelope is referenced to the intersection of A4 and A5, with a maximum radius of approximately R1450.8 mm. If the robot is used in a non ground position or at a special tilt, the angle must be correctly configured; This document is mainly for ground installation, with the installation location on the ground, covering an area of 260 mm x 260 mm, hole diagram S220, color base gray aluminum RAL 9007, and moving parts signal white RAL 9003.

Load, flange and foundation load

Rated load 18 kg, maximum 18.2 kg. Additional loads: base rated/maximum 0 kg; turntable rated 0 kg, maximum 1 kg; linkage arm rated 0 kg, maximum 1 kg; arm rated 1 kg, maximum 2 kg. The total sum of all loads fixed to the robot shall not exceed the maximum total load. The center of gravity of the load is based on the A4 flange surface, with Lx, Ly, Lz representing the position, A, B, C representing the direction of the main inertia axis, and Ix, Iy, Iz representing the mass moment of inertia. It is necessary to verify the mass moment of inertia using KUKA Load and input the load data into the control cabinet. The load curve provides curves for 12 kg, 14 kg, 16 kg, 18 kg, etc. The farther the load, the smaller the allowable mass; Rated at 18 kg is to optimize dynamic performance, reduce center of gravity distance, and achieve up to 18.2 kg with favorable additional loads. Overloading can shorten lifespan and overload motors and gearboxes, and KUKA services must be consulted. To reduce vibration, the center of gravity shift of the end load should be minimized as much as possible.

The flange is ZH Arm KR18, with a pitch diameter of 40 mm, 7 M6 threads, a strength grade of 12.9, a minimum engagement depth of 7.5 mm and a maximum of 9 mm, and a positioning element of 6 H7. During operation, the flange load is approximately F (a) 312 N, F (r) 378 N, M (k) 93 Nm, and M (g) 62 Nm; During emergency stop, the torque is approximately F (a) 1154 N, F (r) 1106 N, M (k) 251 Nm, and M (g) 181 Nm. The tool must be calculated according to the actual load to ensure long-term bearing of these forces and moments. In terms of foundation load, during ground installation F(v normal) 925 N、F(v max) 1964 N、F(h normal) 460 N、F(h max) 1987 N、M(k normal) 489 Nm、M(k max) 1917 Nm、M(r normal) 275 Nm、M(r max) 530 Nm。 A1 and A2 additional loads are not included in the calculation of foundation loads, but must be included in the vertical force Fv. The foundation must withstand these loads for a long time, and incorrect dimensions may result in fracture failure.