Robotic complex based on KUKA KR 700 PA

I. Requirements for PR: 1) Compliance of the design and technological parameters of the PR (carrying capacity, speed of movement of working bodies, positioning error, size of the working area, type of control system) to their functional purpose. The volume of operations performed by PR and the pace of their execution, combined with the costs of acquiring and implementing PR, should ensure the economic efficiency of the application of PR. 2) Matching the number of degrees of mobility of the robot to the minimum number required to perform the required volume of operations. 3) Compliance of the manipulation capabilities of robots with the loading scheme and the service area of the machines. 4) Simplicity and multiplicity of the changeover cycle. Reliability and low cost of operation. High utilization rate of the robot. 5) Ensuring safety requirements. II. Requirements for machine tools: 1) Providing an automatic cycle of processing parts. 2) Ensuring the shape and location of the working area, allowing them to be serviced with the help of robots. 3) Automatic fencing of the working area.  III. Requirements for auxiliary equipment: 1) The overall dimensions of the auxiliary devices should allow them to dock with the main equipment and the robot. 2) Devices must have sensors that allow monitoring the presence of parts, the correctness of its position, the device for clamping parts by a robot and other parameters, as well as their binding to the general electrical circuit of the RTK in order to increase its reliability as a whole. 3) Reliably grip the part, its rational movement, oriented piece delivery, transportation and placement in containers. 4) It is necessary to take into account the possibility of interfacing transport devices with workshop and general plant means of transporting parts. IV. Requirements for machined parts: 1) Parts should be able to be grouped according to structural and technological characteristics, in order to ensure the use of a group form of organization of the production process, typification of TP processing, and the use of the same main and auxiliary equipment. 2) Clearly defined bases and orientation signs, allowing them to be transported and stored in an indicative form using standardized equipment. 3) Homogeneous in shape and arrangement of the surface for basing and gripping, which allows without additional alignment to install the part in the working area of the machine, where a  wide-purpose one can be used for basing and fixing the part. Selection of PR and technological equipment for the current technological process: 1) For servicing the machine during the processing of the part, preference is given to the spatial type of PR; 2) The nominal load capacity of the PR should be 900 kg. Based on these requirements, the choice of PR was made: Robot KUKA KR 700 PA