SCHUNK VERO-S NSR 138, Translation Of Original Operating Manual

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Technical data
5.2 Calculation of Permissible Transport Load
The robot coupling is limited to a maximum permissible torque at
the coupling interface. The dynamic load when using the robot
system for handling results in acceleration and deceleration forces
that have to be taken into consideration for the transport load.
To operate the robot coupling with dynamic handling, it is
essential for the maximum acceleration of the machine to be
known.
The acceleration has an effect even in the case of an abrupt
deceleration, e.g. when the emergency stop switch is actuated.
Inclusion of the acceleration values is of crucial importance for
the operational safety of the robot coupling and the entire robot
and palletizing system. If it is not taken into account, this can
result in accidents and damage to the clamping system.
Calculation example to determine permissible transport load.
Missing information or specifications can be requested from the
manufacturer.
Maximum permissible torque for NSR 138:
M = 1500 Nm
Legend
M Torque Nm
F Force N
I Effective lever length from the coupling interface between the robot
coupling and pallet coupling to the center of gravity of the load m
m Mass kg
g Acceleration due to gravity m / s
2
m
total
m
pallet coupling
+ m
clamping pallet
+ m
transport load
kg
a maximum acceleration of robot arm m / s
2
Determination of formula values:
m
pallet coupling, type: PKL 138 (aluminum)
= 3.8 kg
m
clamping pallet, type: PAL A 399 x 399 (aluminum)
= 16 kg
m
Transport load
= 400 kg (example value)
I = 220 mm = 0.22 m (example value)
15 01.00 | NSR 138 / PKL 138 | VERO-S Robot Coupling for Pallet Handling | en |
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