adept technology Quattro s650H, Руководство пользователя

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Chapter 7: Technical Specifications
7.6 Robot Mounting Frame, Quattro s650H Robot
NOTE: The example frame provided here was not designed to meet USDA
standards. While most mechanical specifications are the same, you will have to
make adjustments to comply with USDA requirements.
NOTE: The design of the Quattro HS robot mounting bolts and seals requires fairly
tight tolerances for the robot mounting holes in the frame. These should be 17.25 ±
0.75 mm (0.68 ± 0.03 in.) in diameter.
The Adept Quattro robot is designed to be mounted above the work area, suspended on a user-
supplied frame. The frame must be adequately stiff to hold the robot rigidly in place while the
robot platform moves around the workspace. You can either use the design provided or design
a custom support frame. See Mounting Frame on page 29. The drawings for the sample frame
are provided here, starting with Figure 7-11.
If you choose to design a custom frame, it must meet the following specifications:
Frame natural frequencies for stable robot operations:
l
Frequency > 25 Hz (> 40 Hz for aggressive moves or heavy payloads)
l
Mounting surfaces for the robot flanges must be within 0.75 mm of a flat plane.
For Quattro H robots only: If the flanges are not within this tolerance, they should be shimmed.
CAUTION: Failure to mount the robot within 0.75 mm of
a flat plane will result in inconsistent robot motions.
CAUTION: Shimming the frame for a Quattro s650HS
robot will result in failure of the robot to comply with
USDA requirements.
The AIB must be removable from the top of the frame, and the inner and outer arm travel
envelopes must be considered. See Figure 7-9.
The following are drawings of a frame suitable for supporting the Adept Quattro robot. This
frame allows the robot to be either lowered from above or lifted up from underneath the frame
for installation.
NOTE: This frame is designed to have the robot mounted to the underside of the
frame mounting tabs.
Adept Quattro User's Guide, Rev E
Page 122 of 180