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    KUKA KR 360-3 (Six-Axis Industrial Robot For Wheel Assembly System)

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    thanh_cdt01
    The KUKA KR 360-3 six-axis industrial robot is used in a wheel assembly system. It has six axes of movement and is controlled by a KR C4 controller. Matrox Iris GT smart cameras use machine vision to locate wheel rims and feed position data to the PLC. The robots assemble wheels by picking up bolts and rims and screwing them onto car bodies on the conveyor in 54 seconds. Ongoing research focuses on improving robot welding, assembly, and human-robot collaboration capabilities.

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    KUKA KR 360-3 (Six-Axis Industrial Robot For Wheel Assembly System)

    Uploaded by

    thanh_cdt01
    215 views21 pages
    The KUKA KR 360-3 six-axis industrial robot is used in a wheel assembly system. It has six axes of movement and is controlled by a KR C4 controller. Matrox Iris GT smart cameras use machine vision to locate wheel rims and feed position data to the PLC. The robots assemble wheels by picking up bolts and rims and screwing them onto car bodies on the conveyor in 54 seconds. Ongoing research focuses on improving robot welding, assembly, and human-robot collaboration capabilities.

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    KUKA KR 360-3 (Six-Axis Industrial Robot for Wheel Assembly System)

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    KUKA KR 360-3 (Six-Axis Industrial Robot for Wheel Assembly System)

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    The KUKA KR 360-3 six-axis industrial robot is used in a wheel assembly system. It has six axes of movement and is controlled by a KR C4 controller. Matrox Iris GT smart cameras use machine vision to locate wheel rims and feed position data to the PLC. The robots assemble wheels by picking up bolts and rims and screwing them onto car bodies on the conveyor in 54 seconds. Ongoing research focuses on improving robot welding, assembly, and human-robot collaboration capabilities.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    215 views21 pages

    KUKA KR 360-3 (Six-Axis Industrial Robot For Wheel Assembly System)

    Uploaded by

    thanh_cdt01
    The KUKA KR 360-3 six-axis industrial robot is used in a wheel assembly system. It has six axes of movement and is controlled by a KR C4 controller. Matrox Iris GT smart cameras use machine vision to locate wheel rims and feed position data to the PLC. The robots assemble wheels by picking up bolts and rims and screwing them onto car bodies on the conveyor in 54 seconds. Ongoing research focuses on improving robot welding, assembly, and human-robot collaboration capabilities.

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    KUKA KR 360-3

    SIX-AXIS INDUSTRIAL ROBOT


    FOR WHEEL ASSEMBLY SYSTEM
    Components of the System
    • Driven by 3 servomotor, installed at the rear end of the arm via drive
    shafts
    • Made up of light alloy and iron casting
    • Has 6 axes
    • Axis 1: located at the base of a robot – allows it to rotate from left to
    right
    • Axis 2: helps the lower arm of a robot to extend forward and backward
    • Axis 3: allows the upper arm of a robot to raise and lower
    • Axis 4: rotates the upper arm of a robot in a circular movement –also
    known as wrist roll
    • Axis 5: permits the wrist of the robot’s arm to raise and lower
    • Axis 6: allows the wrist of the robot’s arm to rotate freely in a circular
    motion
    • Uses KR C4 (controller) to integrate robot control, PLC control,
    motion control and safety control.
    • Displayed on smart PAD teach pendant (interface), which have eight
    log keys for separate control of axis and is multilingual
    • KUKA.PLC mxAutomation (software) allows external controller with
    embedded PLC to command the robot which requires simple
    programming
    • Modifications of software can be implemented at any time with
    mxA-based operator control
    • Matrox Iris GT combines the integration of a smart camera with the
    programmability of a PC-based machine vision system
    • Powered by Intel Atom Processor with Windows XP Embedded OS –
    supports keyboard and mouse
    • Supported by the Matrox Imaging Library (MIL) – features
    interactive software and programing functions – for image capture,
    processing, and analysing
    Block Diagram of the System
    Input Controller Actuator Process

    • Bolts and rims • KR C4 • KUKA KR 360 - 3 •Pick up the bolts and rims

    Feedback Sensor (Matrox GT) – IR sensor

    Feedback Sensor (Matrox GT) – IR sensor

    •The rim is mounted to the


    wheel hub
    • Assembling the rims to the wheel
    hub with given bolt and rim • KUKA KR 360 - 3 • KR C4

    Output Process Actuator Controller


    Functionality and the Interface
    Used
    • Two of the Kuka robots – situated at each side of a car body –
    gathers wheel bolts and rims – screw them onto the car
    • Robots are synchronized with the conveyor – follows the car’s
    movement during assembly
    • Each robot has a Matrox Iris GT smart camera – it locates the rim’s
    centre point and calculate its positon (x, y, z coordinates)
    • It checks whether the rim design located matches the rim that is
    expected by PLC
    • Entire process takes only 54 seconds
    • The image processing system is developed with Matrox Design
    Assistant (Integrated Development Environment [IDE]) – lets users
    to create a flowchart using C++ for machine vision applications
    • The project is then executed on the camera and monitored from
    web-based HMI on PC
    • Image processing are triggered by a command from network link –
    contains data about the measurement and the expected rim type.
    • Modal Finders are used to locate the bolts and rim design –
    calculates the position and orientation based on data collected
    • TCP/IP connection – communication between cameras and PLC
    Advantages and Disadvantages
    of the System
    (compared to ABB IRB 6600)
    KUKA KR 360 - 3 ABB IRB 6600
    KUKA KR 360-3 Specification ABB IRB 6600
    -185° to +185° Working Range Axis 1 -180° to +180°
    -130° to +20° Working Range Axis 2 -75° to +85°
    -100° to +144° Working Range Axis 3 -180° to +60°
    -350° to +350° Working Range Axis 4 -300° to +300°
    -120° to +120° Working Range Axis 5 -125° to +125°
    -350° to +350° Working Range Axis 6 -300° to +300°
    2375kg Weight 1700kg
    360kg Payload (max) 225kg
    75dB Noise Level (max) 73dB
    10 – 55°C Operating Temperature 5 – 52°C
    ±0.08mm Positions Repeatability (ISO test) ±0.1mm
    Bold = Advantage
    State of Research and
    Development
    • Even till this day, the research towards improving the system is
    ongoing in many different sectors.
    • Current ongoing R&D: Robot Hemming, Bonding/Sealing, Laser
    Hybrid Welding, KUKA Hybrid Welding, Laser Cutting, Laser
    Welding, Magnetarc Welding, Assembly, Spot Welding, Friction
    Welding, Arc Welding, Submerged Arc Welding, Soldering, Roller
    Seam Welding, Plasma Welding, Laser Brazing, Human-Robot-
    Collaboration, Friction Stir Welding, and Sensitive Assembly
    • KUKA Systems will continue to do R&D in order to create systems
    that are adaptable, energy and resource-effective, fast and efficient
    – which would be the industry of the future

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