nachi机器人培训资料.pdf
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1、 1st edition First time to use robotFirst time to use robotRobot SchoolAX standard courseSection#1:Industrial RobotSection#2:Bases of NACHI ROBOTSection#3:Carry and InstallationSection#4:Caution for tool designpage 2Section#1Industrial RobotFirst time to use robotpage 3Industrial robot historyIndust
2、rial robot historyDiffusion of industrial robotIn 1960s,industrial robot was presented in the industrial news paper in USA.Diffused to industrial market.In Japan.Imported from USA 1967,and quickly diffused in Japanese industrial market because-Master dangerous task instead of worker-Compensate the l
3、ack of worker-Prevent from high wages in 1973 and 1979 oil shock-Accelerated by the advanced control technologypage 4NACHI ROBOThistoryNACHI ROBOThistory19701980199020001994Concept:Compact and save spaceSA series2001Concept:Module conceptEasy maintenanceSH series1987Concept:high productionhigh relia
4、bility8608 seriesManufacture industrial robot UNIMAN series1969Electric industrial robot first in Japan8600 series1980Concept:fast&fineSF series1998First time to use robotpage 5Section#2Bases of NACHI ROBOTpage 6How to read the type(1)How to read the type(1)S H 1 6 6 T-0 3-A X 1 0-5000Robot(manipula
5、tor)series nameSG seriesSC seriesSH seriesFirst time to use robotpage 7How to read the type(2)How to read the type(2)S H 1 6 6 T-0 3-A X 1 0-5000Rated payload of robotunit:KGBigger size for heavier payloadpage 8How to read the type(3)How to read the type(3)S H 1 6 6 T-0 3-A X 1 0-5000Robot supplemen
6、t typeT:table mount typeL:Long arm typeand or so SH166-03floor mountSH166T-03table mountSH166L-03Long armFirst time to use robotpage 9How to read the type(4)How to read the type(4)S H 1 6 6 T-0 3-A X 1 0-5000Robot version(Sample)SH166-03:Inline wrist typeSH166-04:Offset wrist typeMotor type and wris
7、t specification differs depending on this version number.Basically,program is not compatible.page 10How to read the type(5)How to read the type(5)S H 1 6 6 T-0 3-A X 1 0-5000Controller series nameAX 10-*Type Cabinet type Robot series harness 0 direct 1 connectortransformer0 no 1 exist language 0 Jap
8、anese 1 English First time to use robotpage 11How to read basic specification(1)How to read basic specification(1)項目仕様型式SF133-02SF166-02SF200-02構造関節形自由度6駆動方式AC 方式旋回2.62 rad前後1.40 1.15 rad腕上下2.72 2.18 rad回転6.28 rad曲2.36 rad2.18 rad最 大 動 作 範 囲手首回転6.28 rad旋回2.27 rad/s1.83 rad/s1.66 rad/s前後2.27 rad/s1.8
9、3 rad/s1.48 rad/s腕上下2.27 rad/s1.83 rad/s1.48 rad/s回転3.94 rad/s2.62 rad/s1.92 rad/s曲3.94 rad/s2.62 rad/s1.92 rad/s最 大 速 度手首回転5.32 rad/s3.67 rad/s3.14 rad/sOperating areaSpeedBasic constructionRobot typepage 12How to read basic specification(2)How to read basic specification(2)手首部133 kg166 kg200 kg第上部
10、 25 kg可搬質量 部軸上部 45 kg回転735 Nm921 Nm1274 Nm曲735 Nm921 Nm1274 Nm手首回転392 Nm461 Nm 686 Nm位置繰返精度0.3 mm0.5 mm周囲温度0 45 設置条件床置本体質量1280kg1330 kgPayloadWrist torqueRepeatabilityAmbient temperatureRobot weight!CAUTION!Carry the robot in proper method referring the maintenance manual.Otherwise,serious trouble i
11、ncluding death may happen.First time to use robotpage 13Operating areaOperating areaOperating area of SH166-03Operating area written inbasic specification sheetindicates the locus ofthis position called“point A”.When tool is attached,the area becomes much wider.page 14Name of parts(SH series)Name of
12、 parts(SH series)First time to use robotpage 15軸 名動 作J 1腕 旋 回J 2腕 前 後J 3腕 上 下J 4手 首 回 転 J 5手 首 曲 J 6手 首 回 転 Axis name and its movementAxis name and its movementPress axisoperating keyPress axisoperating keySwingingaxismovementForward and backwardUp and downWrist rotating 2Wrist rotating 1Wrist bendi
13、ngpage 16Section#3Carry and InstallationFirst time to use robotpage 17Carry the robot:Floor mount typeCarry the robot:Floor mount typeReferring the robot maintenance manual,carry and install robot by proper method.Check Point1.After installation,remove the J2 axis fixing bracket.2.Protect arm where
14、the wire contacts arm directly.(rubber cover and or so)3.Refer the robot maintenance manual for the proper wire quantity,length and thickness.(notes)Robot COG should be located in center before carrying the robot.page 18Carry the robot:Table mount typeCarry the robot:Table mount typeCheck Point1.Aft
15、er installation,remove the standing bracket and wiring bracket.2.Protect arm where the wire contacts arm directly.(rubber cover and or so)3.Refer the robot maintenance manual for the proper wire quantity,length and thickness.First time to use robotpage 19Installation of robot Installation of robot S
16、ize of installation parts(SH166)page 20Cautions for installation(1)Cautions for installation(1)Check Point(1)Flatness of four mounting plates should be within 1.0 mm.(2)Clearance of four mounting plates should be within 1.0 mm+/-0.5 mm.First time to use robotpage 21Cautions for installation(2)Cautio
17、ns for installation(2)Check Point(3)If pre-described two specifications were difficult,use the following jack bolt to contact four point equally.!CAUTION!If four mounting points do not contact to the floor equally,tool position may be unstable while playback and lifetime of swing base may be shorten
18、ed.Please refer to the“Installation manual”section 2 for detail.page 22Safety fence(1)Safety fence(1)Installation of safety fence(sample)Safety fence(robot surrounding fence)must be installed to protect operators.Otherwise robot may hit the operator and serious injuring may happen.Signboard such asT
19、eaching-keep outPlaybacking-keep outSignboard such asTeaching-keep outPlaybacking-keep outEquip safety plug on the door.Equip safety plug on the door.Brushing pass and climb over is never permitted.Removable type is NG also.Brushing pass and climb over is never permitted.Removable type is NG also.AX
20、 controllerWelding controllerSafety fenceLimit switchmanipulatorFirst time to use robotpage 23Safety fence(2)Safety fence(2)Point(1)Make the safety fence preventing from brushing pass or climbing over by operator.Removable type fence is NG also.(2)Install the door to get in the safety fence and equi
21、p the safety plug.By pulling out this plug can only permit person to open the door.5678TBEX1SFP1SFP2安全基板Safety plug connection to AX controller(redundant circuit)Sequence boardSafety plugpage 24Limitation of operating rangeLimitation of operating range3 ways to limit the operating range1.Software li
22、mitSoftware defines the operating range byencoder data.2.Electrical limit switchLimit switch is installed in J1,J2,J3 axis endto shut down the power circuit when hit this.3.Mechanical stopperLimit the operating range by mechanical stopper.Please refer to the“Installation manual”section 2 for detail.
23、First time to use robotpage 25Section#4Caution for tool designpage 26Limitation of tool payloadLimitation of tool payloadTool payload is limited by 3 specifications those are weight,torque and inertia.Please comply these specifications when designing the tool.Permitted torque map of tool payloadPerm
24、itted inertia map of tool payloadFirst time to use robotpage 27Rated payload weightRated payload weightTool payload weight must not be over the rated weight.Following value indicates the sample of SH-03 plementFor material handling application,tool weight isgripper weight+work piece weight.If work p
25、iece shape and weight varies much,register tool constant for each.But when they are similar,plural tool constants may not be necessary.Robot typeRated weight of payloadpage 28Payload torquePayload torqueTool payload torque must not be over the rated torque.Torque is determined by the weight and COG
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