© Robotics - 1 Feb.

2008-

IRB 140 presentation

 IRB140 – Small and powerful

 The smallest 6 axis robot

in the ABB robot range
 Outstanding motion
technology and excellent
path accuracy, as well as
being highly robust
 A multi purpose robot
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 A powerful 6 axis robot
Supplementary load
on wrist 0.5 kg

70 mm
Supplementary
load on upper
80 mm
arm 1 kg

6 kg

Payload 6 kg
Reach 0.81 m
Pos. repeatability 0.03 mm
Turbo variant available
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 IRB 140T – turbo

 Cycle-times are considerably

reduced
 Reductions between 15-20 % are
possible using pure axis 1 and 2
movements.
 Well suited for packing
applications and guided operations
together with PickMaster.
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 Top 5 sales arguments

 Very short cycle times

 Very reliable due to robust design
 Outstanding accuracy with
TrueMove 2nd generation
 Can be mounted at any angle
 Built for real life
 Unique protection variants for a
small robot
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 Very short cycle times

 Precise dynamic model for

serial robot Competition
 Advanced servo control  Sometimes higher axis speed
 On-line optimization of robot but lower acceleration and
speed and acceleration deceleration, which means
longer cycle times.
 Outstanding in short and
medium movements
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 Very reliable due to rubust design

 Rigid structure+fast brakes Competition

+collision detection software =  Less collision resistant due to
High collision resistance
weaker structures
 Spur gears for high accuracy
 Compact gears – less robust
 Fully integrated cable harness
 Media integrated up to upper arm
 Less collision resistant due to
(IO, air, power) less accurate dynamic model
 MTBF 204,000 h for manipulator
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 Outstanding Accuracy
 Rigid steel structure, hardly Competition
affected by thermal expansion  Less accurate dynamic models.
 Speed dependant path accuracy –
 TrueMove 2nd generation
need for adjustments and
technology ensures leading modifications
accuracy for path, position and  Aluminium and plastic structures
speed which are less rigid
 Crucial in all applications with
demand on precision
 Backlash eliminators (axis 1, 2
and 3) secure the path following
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 Accuracy test made at 1,000 mm/s

PathXY: mc6(red/green), decbuf (blue/black)

Without TrueMove
360 and QuickMove

350

340

330
y [mm]

With 2nd
320 generationTrueMove
and QuickMove
310

300

290

518 520 522 524 526 528 530

x[mm]
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 Can be mounted at any angle

 IRB 140 has a long reach backwards and forwards

 IRB 140 can be mounted in any angle
 No limitation on axis 1 when wall mounted
 Easily positioned in the robot cell or inside a machine
 Full work area regardless of mounting position
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 Designed for Real Life

 Maximum payload, wrist load,

and arm load at the same time
 Built to work with max.
payload and full speed
continuously in process
Competition
applications
 Increased arm load reduces
payload capacity
 Cannot work continuously with
max payload and speed
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 Unique protection for a small robot
 FoundryPlus - protection for harsh environments
 Wash – protection for food industry
 Clean room protection (Clean Room 10 FS/ 4 ISO)
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 FoundryPlus

 Completely fulfills the IP67

standard.
 It withstands lubricants and cooling
liquids
 It continues to function flawlessly
even when completely covered
with sand
 It withstands aluminum spits and
splashing as well as fluid
aluminum
 It is washable with hot steam
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 Wash

 Needed in the food industry where all

equipment has to be thoroughly washed
daily
 Painted with two component epoxy paint
 Chemical nickel-plated turning disc to
increase the resistance against corrosion
 IP 67
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 Clean room
 Demand from the pharmaceutical industry,
solar cell manufacturing, electronics
industry, etc
 IP67
 Clean Room 10 FS/ 4 ISO
 FS 10 =Max. 10 particles larger than 0.5
microns are allowed per cubic feet of air

The only robot on the market

both Clean room (10)
and steam washable (IP67)
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 Protections vs competition

ABB Fanuc Motoman Kuka

IRB 140 LR Mate 200iC HP5 KR5

IP-class IP67 IP65 Wrist IP67 IP40

Protection FoundryPlus Waterproof - Dust and water-
Clean room 10 Clean room 100 spray resistant
Wash
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 Main applications

Other
Dispense/coating Welding (laser and arc)

Assembly

Material handling/Machine tending

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 IRB 140 in the Metal Fabrication

 Material handling between operations

 Laser welding
 Arc welding
 Inspection
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Inspection of final parts

 IRB 140 in the Consumer industry

 Picking
 Packing
 Material Handling

Handling small bottles of snaps

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Packing of cheese
 IRB 140 in Consumer Electronics

 Laser welding
 High speed and high accuracy
 Clean room 10
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 IRB 140 in the Plastics industry
 Loading/Unloading
 6 kg load capacity for double gripper
 6 axes for high accessibility
 Mounting on top of small Injection Moulding Machine
 Material Handling
 Assembly
 Deburring
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 IRB 140 in Foundries

 Die Spraying
 Extraction
 Mounting at
any angle
 6kg payload unique Flexible cell solution by partner Evolut
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 IRB 140 and its competitors

ABB Fanuc Motoman Kuka

IRB 140 LR Mate 200iC HP5 KR5

Payload 6 kg 5 kg 5 kg 5 kg
Reach 810 mm 700 mm 701 mm 855 mm
Repeat- 0.03 0.02 0.03 0.03
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ability
 Strongest Robot in Class

High moment of inertia capability.

Important in applications with large work
objects and reorientations of the wrist,
e.g press brake tending

0,5

0,4
ABB IRB 140
0,3
Fanuc LR Mate
200iC
0,2
Motoman HP5

0,1 Kuka KR5 sixx

0
Max inertia (kgm2) Max inertia (kgm2)
axis 4,5 axis 6
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 IRB140 - Summary
6 kg load capacity
plus supplementary
0.5 kg on wrist and Small size,
1 kg on upper arm large working range
6 axis
Small, robust and powerful,
suitable for a variety of
applications
Floor, wall and
inverted mounted
- at any angle

Low noise level Foundry Plus

- IP 67
- Wash
Clean room 10
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