Vertically Articulated Robot TVM Series
Vertical articulated Robot TVM series - Overview
Shibaura Machine's vertical articulated robot TVM series achieves high inertia and strong payload capabilities up to 20 kg, while at the same time the robot body has a reduced weight.
In addition to three variations in arm lengths, the operating range can be further expanded by mounting the robot on an optional linear actuator.
The Robot TVM series, in combination with its function-rich controller and software solutions such as programming-support PC software and 3D vision bin-picking package, is applicable to a wide range of automation needs and contribute to efficiency, and cost and labor saving.
Specifications
| Models | TVM900 | TVM1200 | TVM1500 | |
|---|---|---|---|---|
| Arm Length | Total | 900 mm | 1,200 mm | 1,500 mm |
| 1st Arm | 450 mm | 600 mm | 750 mm | |
| 2nd Arm | 450 mm | 600 mm | 750 mm | |
| Reach | 1,142 mm | 1,432 mm | 1,726 mm | |
| Working Envelope | Axis 1 | ±170 deg | ±170 deg | ±170 deg |
| Axis 2 | -80 ~ +170 deg | -80 ~ +170 deg | -80 ~ +170 deg | |
| Axis 3 | -60 ~ +170 deg | -60 ~ +170 deg | -60 ~ +170 deg | |
| Axis 4 | ±190 deg | ±190 deg | ±190 deg | |
| Axis 5 | ±120 deg | ±120 deg | ±120 deg | |
| Axis 6 | ±360 deg | ±360 deg | ±360 deg | |
| Maximum Speed | Axis 1 | 223 deg/s | 223 deg/s | 223 deg/s |
| Axis 2 | 191 deg/s | 191 deg/s | 165 deg/s | |
| Axis 3 | 270 deg/s | 270 deg/s | 270 deg/s | |
| Axis 4 | 412 deg/s | 412 deg/s | 412 deg/s | |
| Axis 5 | 336 deg/s | 336 deg/s | 336 deg/s | |
| Axis 6 | 720 deg/s | 720 deg/s | 720 deg/s | |
| Composite | 8.7 m/s | 10.7 m/s | 12.0 m/s | |
| Maximum Load Mass | 20 kg（rated：5 kg） | 15 kg（rated：5 kg） | 10 kg（rated：5 kg） | |
| Allowable moment of inertia *1 | Axis 4 | 1.8 kg·m2 | 1.8 kg·m2 | 1.8 kg·m2 |
| Axis 5 | 1.8 kg·m2 | 1.8 kg·m2 | 1.8 kg·m2 | |
| Axis 6 | 0.3 kg·m2 | 0.3 kg·m2 | 0.3 kg·m2 | |
| Positioning repeatability*2 | X-Y-Z | ±0.05 mm | ±0.05 mm | ±0.05 mm |
| Hand wiring*3 | 8 inputs and 8 outputs | 8 inputs and 8 outputs | 8 inputs and 8 outputs | |
| Hand pneumatic joint*4 | φ6×4 pieces | φ6×4 pieces | φ6×4 pieces | |
| Robot controller cable | 5 m | 5 m | 5 m | |
| Power Supply | 6.9 kVA | 6.9 kVA | 6.9 kVA | |
| Mass | 122 kg | 125 kg | 131 kg | |
| Connectable controller |
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*1 : Speed and acceleration rates are limited depending on motion patterns, load mass and load offset values.
*2 : Positioning repeatable accuracy in one-direction movement, when the environmental temperature and robot temperature are constant.
It is not the absolute positioning accuracy.
The specification value may be exceeded depending on moving pattern, load mass and offset amount. Trajectory accuracy is not
guaranteed.
*3：Hand wiring cable can be offered (additional option). Please contact us for more details.
*4：Pneumatic joints for hand are provided on the base. Pipes are to be provided by the customer.