ABB機(jī)器人維修手冊

1、ABB機(jī)器人維修手冊o. o.i前言本手冊包含了一些維修得詳細(xì)說明指導(dǎo),包括電氣及機(jī)械、 閱讀者需要有：*熟練得技能*有電氣上得知識或*機(jī)械上得知識本手冊由以下兒局部組成1 平安2 相關(guān)信息3 機(jī)械手4 限制柜6附錄參考Ci傳廄耕那被畢Manipulator3HA朝眼i四弭朗m ,ReR 帆神伊p莓面Circuit Diagrams, Controller3HAC 5582-2Included in "Repair Manual, part T電路圖,限制柜3HAC 5 582-2 在“維修手冊2里面0.0.2產(chǎn)品文件這個文件包包含限制柜,機(jī)械手及硬件信息,有以下內(nèi)容The Inst

2、allation and Cominissiomiiff Manual contains The following iiiibnnatioii:安裝及試車手冊包含以下信息平安,維護(hù)相關(guān)信息拆箱現(xiàn)場安裝電氣連接開始安裝限制柜軟件系統(tǒng)結(jié)構(gòu)目錄校正模型定義信息維修手冊包含以下信息：平安,維護(hù)相關(guān)信息機(jī)械手得所有得維修工作詳細(xì)指導(dǎo)限制柜得所有得維修工作詳細(xì)指導(dǎo)The Maintenance Manual contains the following iiifbniiation:維護(hù)手冊包含以下信息：平安,維護(hù)相關(guān)信息維護(hù)方案表維護(hù)方案表中得各局部得詳細(xì)說明,如清潔,潤滑及檢查等通常分為機(jī)械手及限制柜

3、兩局部第一章：平安,維護(hù)1. 0. 1說明This chapter details safety infbnnation for service personnel i.e. personnel performing installation. repair and maintenance work.本章講述對于安裝及維護(hù)維修人員需要了解得平安信息由于前面專門有平安手冊,這里只作一些補(bǔ)充A danger of liigh voltase is associated with the following parts:注意以下元件得高壓危險 Be aware of stored electrica

4、l energy (DC link) in the controller.注意限制柜里面DC 1 ink儲存得能量 Units inside the controller, e.g. I/O modules； can be supplied with power from an external source.限制柜里面,如,I/O模塊,有可能由外部供電主開關(guān)電源 The power supply unit for the computer system (230 VAC)計(jì)算機(jī)系統(tǒng)得供電單元(2 3 0VAC) The rectifier unit (400-480 VAC and 700

5、VDC. Note: Capadtorsl)整流局部(400-480 VA C及70 0 VDC、注意:電容)驅(qū)動單元(7 0OVDC)輸出局部(1 15/2 3 0 VAC), The power supply unit for tools, or special power supply units for the machining pro- cess工裝得電源或一些其它特殊得電源 The external voltage connected to the control cabinet remains live even when the robot is disconnected f

6、rom the mains.當(dāng)機(jī)器人關(guān)電后注意外部到限制柜得供電線路仍然有電其它連接A danger of high volrage is associated with rhe tnaiupulator in:機(jī)械手里面得高壓危險電機(jī)得供電進(jìn)線(800 VDC左右) The user connections for tools or other parts of the installation (max. 230 VAC, see Installation and Commissioning Manual)連接到工裝或其它局部(最大23 0 VAC)1 .3. 4測試剎車During op

7、eration the holding brakes of each axis motor wear nonnally. A test may be performed to determine whether the brake can still perform its fiuiction.運(yùn)行得時候,軸電機(jī)得剎車都會正常磨損、所以要定期對剎車進(jìn)行檢查、The fiinction of each axis'motor holding brakes, may be checked as detailed below:具體檢查如下：J1. Run each manipulator ax

8、is to a position where the combined weight of the manipulator arm and any load is maximized (max. static load).運(yùn)行機(jī)械手得軸到最大得靜態(tài)負(fù)載位置、2. Switch the motor to the MOTORS OFF position with the Operating mode selector on the controller.用限制柜上得工作模式選擇開關(guān)將電機(jī)關(guān)掉檢查軸就是否維持原位置If the manipulator does not change position

9、 as the motors are switched off. then the brake function is adequate.如果電機(jī)關(guān)了后,機(jī)械手保持不動,說明剎車正常第三章機(jī)械手3. 0.1說明This chapter details all repair activities recommended for the manipulator, including for any external units of the manipulator本章詳細(xì)表達(dá)了機(jī)械手得維修,包括機(jī)械手得一些外部設(shè)備移除電纜保護(hù)殼The cable harness is located throug

10、hout the manipulator as shown in the figure below.電纜保護(hù)殼在機(jī)械手里面得位置如下列圖Connector at manipulator base, R1 .MP and R1.SMB2機(jī)械手底座急插頭Connectors at serial measurement board; R1.SMB1-3, R1.SMB46, R1.SMB1.7, R2.FB7 and R2.SMB. Battery connector X3 R1 .G and R2.G. Connectors at brake release unit X8? X9 and X10

11、.R1、$MB4®6. I、SMB 1、7, R2、*徜頭X8,X9及X10測量板上得插頭;R1A$MFB7 及 R2、SMB電池插頭X 3 R1、H2、FB2A Hl 及 R2、P頭:阪FB 3Connectors at motor 3; R2.FB3 and R2.MP3 and for signal lamp R2.H1 and R2.H2Connectors at cable harness separation; R2.M5/6電纜保拼粉成處得插頭;R2、Connectors at cable harness division, inside of upper arm tu

12、be; R3.FB5 and R3.MP5.Connectors at motor 5; R4.FB5 and R4.MP5.電纜保護(hù)殼別離處得插頭在上臂得管道里;R 3、FB5與R 3、MP5電機(jī) 5 得插頭;R4、FB5>&R4> MP5電機(jī)6得插頭;R3、FB6及R3、MP6后蓋板插頭Rl、MP插頭Rl、SMB地線接頭0 Velcro strap that secures the cable harness to the arm house保護(hù)尼龍帶 所需設(shè)備設(shè)備序列號注意電路圖3HAC13 3 4 7- 1在維修手冊2里面標(biāo)準(zhǔn)工具3IIAC 1 5 57 1 -1其

13、它工具或步驟見下面得詳細(xì)說明Removal, cableTlie procedure below details how to remove the cable harness, axes 1-4harness axes 14下面詳細(xì)表達(dá)如何移除電纜保護(hù)殼,軸14移除,電纜保護(hù)殼,軸1 一4在開始維修機(jī)械手之前需仔細(xì)閱讀下面幾條：一在機(jī)器人運(yùn)行后,電機(jī)與齒輪溫度都很高,注意燙傷 一關(guān)掉所有得電源、液壓源及氣壓源-當(dāng)移動一個部位時,做一些必要得舉措保證機(jī)械手不會倒 下來,如:當(dāng)撤除軸2得電機(jī)時,要固定低處得手臂電纜保護(hù)殼容易損壞,所以要小心,特別就是接頭處1. In od為了容易移除:請將機(jī)械手

14、運(yùn)行到如下杜置;袖2虧3可以稍為斜庖點(diǎn)以to Axis 1:0°2.3.Remove the rear cover plate on the manipu- 1擰開機(jī)械手得后蓋得螺栓,將后蓋撤除 Disconnect the earth cable.Shown in the figure Location com- plete cable harness on page 24!,斷開地線連接inificance位置見上圖4.Disconnect connectors R1.MP and R1.SMB.斷開插頭Rl、MP及Rl、SMB5.Pull the cable and conne

15、ctors up through the center of the frame.拉出電纜及插頭6.Disconnect all connectors at motor 1 and n斷開電機(jī)1與2得所有得插頭Specified in the figure Location com- U位置見上圖刀ess on page 24! Axis 2: 0 °軸6:不重要7仔細(xì)地翻開S MB蓋,電池及SMB單元見得電纜可以不斷開,這樣就不需再校正 注意不要讓蓋子得重量把電纜拉得太緊8.9.10盤,11.12.13.如果要徹底取下蓋子,必須斷開插頭Rl、G 這樣以后就必須要校正機(jī)器人Disco

16、nnect connectors R2.SMB, R1.SMB1-3-期橢笑.霄朋滁皆邱祖牛"SMB 4 . 6、 斷開 X 8 ,X 9 與 X I 0R2.SMB R1.SMB1-3 R1.SMD4-C«XR/GThis releases the cable harness from the frame.Unscrew the four screws securing the cable gland.松開4顆保護(hù)螺栓通過撤除尼龍帶及保護(hù)殼上得兩顆螺栓不同得機(jī)械手有不同得調(diào)節(jié)XX0200000118請選擇合/得來撤除調(diào)節(jié)盤Remove the bracket securi

17、ng the cables 浦我?guī)洸菲称奖Ｄ_!瓣得螺帽來嫩 from 撈輪罩 securing the clamp to theRemove the upper bracket securing the c弛性擰辯a僧袖再顧螺幅膜猊悄寫 慚醐裸問ws.Disconnect connector R2.M5/6 at the rear cable division point.OH/MP5覽保護(hù)殼MP6MP3MPShown in the figure Location complete cable harness on page 24!斷開后蓋電纜別離點(diǎn)得插頭R2、M5/6：5/位置見上圖Spec

18、ified in the figure Location complete cable harness on page 24!Disconnect all connectors at motor 3 and motor 4.斷開電機(jī)3與4得插頭15. Gently pull the cable harness out.輕輕地將電纜保護(hù)殼拉出14.位置見上圖Location of cableThe location of the cable harness, axes 5-6, is shown in the figure below,harness ax 5-6 軸5-6電纜保護(hù)殼得位置見下列

19、圖軸5.6電纜保護(hù)殼得位置XX020210G213Cable bracket, wrist unit電纜支架,腕節(jié)單元Cable bracket, upper arm tube電纜支架.上臂管里面Connectors at motor axis 5; R4.FB5 and R4.MP5C通出;R4c(J朕品剖n、u捋&§rm tube; R3.FB5 and R3.MP5品及 blchment, rear G軸5電機(jī)上臂管插頭R4、Connectors at cable harness divjgqQint; R2.M5/6電纜保護(hù)殼H Connectors at motor

20、, axis 6; R3.FB6 and R3.MP6別離點(diǎn)插頭:R2、M5/6軸6電機(jī)插頭:R3、FB6 及 R3、MP6移開軸5,6得電纜保護(hù)殼這里就是講移除上臂電纜得保護(hù)殼,而單獨(dú)得電纜從上臂管里面得連接點(diǎn)到軸5 電機(jī)得移除方法這里沒有表達(dá),但緊節(jié)著在后面會講到、在開始維修機(jī)械手之前需仔細(xì)閱讀下面幾條：一在機(jī)器人運(yùn)行后,電機(jī)與齒輪溫度都很高,注意燙傷關(guān)掉所有得電源、液壓源及氣壓源當(dāng)移動一個部位時,做一些必要得舉措保證機(jī)械手不會下來,如:當(dāng)撤除軸2得電機(jī)時,要固定低處得手臂電纜保護(hù)殼容易損壞,所以要小心,特別就是接頭處必須將軸5導(dǎo)向正確得方向來翻開軸6電機(jī)得蓋子1.Remove the c

21、oven wrist unit a nd the cover, up膨刑盅t抄腕節(jié)單元及上臂管里面A:蓋子,腕節(jié)單元B：蓋子,上臂管里面Specified in the figure Location of cable harness ax 5-6 on page 27!2.23.3Remove the cover of motor, axis 6 and disconnect all connectors beneath.移開軸6電機(jī)得蓋子并斷開所有得插頭 Loosen the cable bracket on top of the通過松開腕節(jié)單元頂端得3顆螺栓 mem screws.Two

22、 of the attachment screws are located visible at the rear attachment and the third is located at the bottom of the cable bracket, in the center.-位置見上圖» .Shown in the figure Location of cableB:電纜支架后得螺栓,2顆xx020COCO254 R Attarhmerit errewv rear cf來松開電纜支架C：電纜支架底部得螺栓 I顆' '有兩顆螺栓就是很容易瞧見得,還有一1顆

23、在電纜支架得底端中央處4.Pick out the cabling from motor, axis 6.4將電纜從軸6電機(jī)里面拉出來5.Loosen the cable bracket in the upper arm tube by unscrewing the hw screws on top of the tube.Shown in the figure Location of cable harness ax 5-6 on page 27!5松開上臂管頂部得兩顆螺栓來松開1位置見上圖電纜支架6.Disconnect the two connectors (R3.FB5 and R3.

24、MP5) in the tube.Shown in the figure Location of cable harness ax 5-6 on page 27!6斷開管子里面得兩個插頭R3、FB5與 位置見上圖R3、MP5 )7.8.Remove eventual cable straps from the harness.移開最后得電纜扎帶Remove the cable attachment, rear.Shown in the figure Location of cable8移開電纜夾,后面得弘位置見上圖2719.Disconnect connectors R2.M5/6 at th

25、e cable harness division point.Shown in the figure Location of cable harness ax 5-6 on page 27!9斷開電纜保護(hù)殼別離點(diǎn)得插頭R2、M5 /6 LI位置見上圖10.Gently pull the cable harness out.10輕輕地拉出保護(hù)殼 下而講如何撤除軸5得電纜1.Remove the complete wrist unitDetailed in Removal of complete wrist unit on page 47.1移除腕節(jié)單元如何移除在后面有表達(dá)2.Remove the

26、 cover of motor, axis 5.2移除軸5電機(jī)得蓋子3.Disconnect all connectors at motor, axis 5.3斷開軸5電機(jī)上所有得插頭4.Remove the cable gland cover at the cable exit by unscrewing its two attachment screws.4通過松開電纜密封蓋電纜出口處得兩顆螺栓移除電纜密封管5.Remove the cable, axis 5.5移除軸5得電纜3.1.2裝回電纜保護(hù)殼機(jī)械手電纜保護(hù)殼位置如下列圖:»0 202120210A Connector a

27、t manipulator base, R1.MP and R1 .SMB機(jī)械手底座得插頭,R1、MP與Rl、SMB電機(jī)1得插頭;R2、FBI及R2、MP1電機(jī)2得插頭;R2、FB2及R2、MP2D Connectors at senal measurement board; R1.SMB1-3, R1.SMB46, R1.SMB1.7, R2.FB7 and R2.SMB. Battery connector X3 R1 .G and R2.G. Connectors at brake release unit X85 X9 and X10.測量板上得插頭;R 1、SMB 1-3, Rl、S

28、MB4-6, Rl、SMB1、7, R2、FB7>KR2> SMB電池插頭X3 Rl、G及R2、G 剎車釋放單元得插頭X8,X9及X10E Connectors at motor 3; R2.FB3 and R2.MP3 and for signal lamp R2.H1 and R2.H2 電機(jī)3得插頭；R2、FB 3及R 2、MP3及信號燈插頭R2、H 1及R2、H2電機(jī)4得插頭;R2、FB4及R2、MP4G Connectors at cable harness separation; R2.M5/6電纜保護(hù)殼別離處得插頭;R2、M5/6H Connectors at cab

29、le harness division, inside of upper arm tube; R3.FB5 and R3.MP5. Connectors at motor 5; R4.FB5 and R4.MP5.電纜保護(hù)殼別離處得插頭在上臂得管道里；R3、FB5與R3、MP5電機(jī)5得插頭；R4、FB5及R4、MP 5電機(jī)6得插頭；R3、FB6及R3、MP6后蓋板插頭Rl、MP插頭Rl、SMB地線接頭0 Velcro strap that secures the cable harness to the arm house保護(hù)尼龍帶所需設(shè)備Cable harness, axes 1-43HAC

30、 1494MIRB 6600電纜保護(hù)殼,軸1 一4Cable harness, axes 1-43HAC 16331-1IRB 6650電纜保護(hù)殼,軸1-4Cable harness, axes 5-63HAC 14140-1電纜保護(hù)殼,軸5-6Cable harness, axis 53HAC 14139-1軸5電纜保護(hù)殼Circuit Diagram3HAC 13347-1Included in the Repair Manual, part 2.電路圖在維修手冊2里面Standard toolkit3HAC 15571-1The contents are defined in secti

31、on Standard toolkit on page 18!標(biāo)準(zhǔn)工具內(nèi)容見前面詳細(xì)表達(dá)其它工具或步驟見下面得詳細(xì)說明 裝回軸1.4得電纜保護(hù)殼下面詳細(xì)表達(dá)如何裝回軸14得電纜保護(hù)殼在開始維修機(jī)械手之前需仔細(xì)閱讀下面幾條：-在機(jī)器人運(yùn)行后,電機(jī)與齒輪溫度都很高,注意燙傷-關(guān)掉所有得電源、液壓源及氣壓源-當(dāng)移動一個部位時,做一些必要得舉措保證機(jī)械手不會倒 下來,如:當(dāng)撤除軸2得電機(jī)時,要固定低處得手臂 電纜保護(hù)殼容易損壞,所以要小心,特別就是接頭處1.為了更容易移馀,請將機(jī)械手運(yùn)行到如下位置A軸2-與3.可以稍為斜起板lightly to2.Pull the cable and connecto

32、rs down through the center of the frame.Make sure the cables are not twisted with each other or with eventual customer harnesses!Make a note of the correct positions of the connectors!2從結(jié)構(gòu)得中間放下電纜及插頭注意電纜不要互相攪在一起注意插頭得正確位置3.Reconnect connectors R1.MP and R1.SMB at the rear cover plate.Make a note of th

33、e correct positions of the connectors!3接上后蓋處得插頭Rl、MP與Rl、SMB4.Reconnect the earth cable.Shown in the figure Location of cable harness on page 30!4接上地線2位置見上圖5.Refit the rear cover plate on the manipulator with its attachment screws.5上好后蓋得螺栓6.Reconnect all connectors at motor 1 and motor 2.Specified in

34、 the figure Location of cable harness on page 30!6接好電機(jī)1與電機(jī)2得插頭位置見上圖7.Secure the gland plate with four attachment s歡聽俺哩愣尊瞧婿/cess.MP2MP1 /MP4CMQ 18.9.10.Reconnect connectors R2.SMB, R1.SMB1-3, R1接圓儀腕叫購旅整叫d溯fei_3,x& X9, X10.Reconnc臾1厄爬蛔&ee喊好如那么與Xi 0 如果Rl、G被斷開了,也請接好、 Secure the SMB cover with it

35、s attachment screws.用螺栓上好SMB蓋子 Secure the correct adapter plate to the harness with its two attachment screws.R2.SMB R1.SMB 1-3R1.SMB4.6R1.GI VFl WMTIWNote! Different manipulator versions are fitted with different plate versions. Make sure the correct one is used to avoid cable failure.1 0同得上好保護(hù)殼得調(diào)節(jié)

36、盤得兩顆螺栓m.,注意:不同得機(jī)械手有不15.Reconnect connector R2.M5/6 gently at the rear cable division point.Be careful not to bend the attachment plate when fastening the screws!Shown in the figure Location of cable harness on page 30!M6, 2 pcs.1 5接上后面得電纜別離點(diǎn)得插頭R2、注意上螺栓時,不要將附盤弄彎了M5 / 6位置見上圖M6,兩顆16.Secure the cable ha

37、rness to the arm house with a velcro strap.Shown in the figure Location of cable harness on page 30!1 6上好到手臂房得電纜保護(hù)殼得尼龍帶位置見上圖Reconnect all connectors at motor 3 and motor 4.14 接上電機(jī)3與電機(jī)4得所有插頭Specified in the figure Location of cable harness on page 30!F出位置見上圖調(diào)節(jié)盤,請選擇適宜得11.P ull the cable harness throug

38、h the lower arm.11將電纜保護(hù)殼穿過下臂12.Refit the bracket securing the cables insideFB3,FB|FB5/FB6the莪阿科骨上保護(hù)電纜得支架13.Refit the bracket securing the cables to the am h.褰回保護(hù)到手臂房得支架MP6志二/寶M 眠保護(hù)岫即帕哽！MP3幗始陷MP14.軸5 -6得電纜保護(hù)殼得位置如下列圖所示XXO1O2O3C145ACable bracket, wrist unit電纜支架,腕節(jié)單元BCable bracket, upper arm tube電纜支架,上臂

39、管C Connectors at motor axis 5; R4.FB5 and R4.MP5軸5電機(jī)插頭;R4、FB5與R4MP5D Connectors in upper arm tube; R3.FB5 and R3.MP5上臂管里得插頭;R3、FB5與R3、MP5F Cable attachment, rear電纜夾,后面得G Connectors at cable harness division point; R2.M5/6電纜保護(hù)殼別離點(diǎn)得插頭;R2、M5/6H Connectors at motor, axis 6; R3.FB6 and R3.MP6軸6電機(jī)插頭;R3、FB

40、6與R3、MP 6下面詳細(xì)表達(dá)如何裝回上臂電纜保護(hù)殼,而軸5那段單獨(dú)得到電機(jī)得電纜將緊接 著在后面講述在開始維修機(jī)械手之前需仔細(xì)閱讀下面幾條：-在機(jī)器人運(yùn)行后,電機(jī)與齒輪溫度都很高,注意燙傷-關(guān)掉所有得電源、液壓源及氣壓源一當(dāng)移動一個部位時,做一些必要得舉措保證機(jī)械手不會下來,如:當(dāng)撤除軸2得電機(jī)時,要固定低處得手臂 電纜保護(hù)殼容易損壞,所以要小心,特別就是接頭處 必須將軸5導(dǎo)向正確得方向來翻開軸6電機(jī)得蓋子4.R3、MP5連上,并用兩顆螺栓將電纜支 架裝到管上Place the cabling to motor, axis 6, correctly on the哦妤？T6祁1歐!窘刖憐潮9嘲

41、& 醐翻牌摑過神W攢端曝.孔穿赴至軸6得電機(jī).如驟電纜K 了,可以在這個區(qū)域*地纜打個環(huán),并用扎帶捆住、5.xx02DC000185Also shown in the figure Location ofFasten the cable bracket, wrist unit witht松任魅rpt%Qf tFjyiqgb|g cable harness axes 5-6 on page 33!at f 嗤虹支架底部得中央得兩顆螺栓XX020C000254,Df：電纜支架底部得 B: Attachment screws, rear of rqhlp hmrkpt螺栓1.嘲湖麻翻m蹄po

42、sitioned Axis 4: 0 degrees Axis 5: +90 decrees軸 6位置不重要2.Gently insert the cable harness from the rear into the upper arm.2輕輕地將電纜保護(hù)殼從后面插入到上臂3.Con nect the two connectors inside the upper arm tube, R3.FB5 and R3.MP5 and secure the cable bracket with the two attachment screws to the tube.Shown in the f

43、igure Location of cable harness axes 5-6 on page 33!3將上臂管里面得兩個插頭R3、FB5與位置見上圖元得蓋子得蓋子6. Reconnect the connectors to motor, axis 6 and refit the motor cover.重新連接到軸6電機(jī)得插頭并裝好電機(jī)蓋子7. Refit the cover, upper arm and the cover,切勰嬋上臂及腕節(jié)單元得蓋子Mqm刨魏裳衲晌g糜科雅蜿明成.不 the covers, and does not get- A: cover, wrist unit-

44、B: cover, upper arm tube8.Refit eventually removed cable straps to the harness.裝好保護(hù)殼得扎帶9.Refit the cable attachment, rear.Shown in the figure Location of cable harness axes 5-6 on page 33!10.裝好后面得電纜夾Reconnect connector R2.M5/6 gently at the rear cable division point with two screws. M6. Be careful n

45、ot to bend the attachment plate when fastening the screws!位置見上圖 Shown in the figure Location of cable harness axes 5-6 on page 33!用兩顆M 6螺栓將后面得電纜別離點(diǎn)位置見上圖得插頭連上、注意緊螺栓時,不要把附盤 弄彎了1.Reconnect all connectors at motor axis 5.1接好軸5電機(jī)得所有插頭2.Refit the cable gland cover at the cable exit with its two attachment

46、 screws.2用兩顆螺栓將電纜出口處得電纜密封蓋 裝好3.Refit the cover of motor, axis 5.3裝好軸5電機(jī)得蓋子4.Refit the complete wrist unit.Detailed in section Refitting of complete wrist unit on page 50.4f 裝好腕節(jié)單元如何裝腕節(jié)單元后面有表達(dá)F面表達(dá)如何裝回軸5得電纜當(dāng)進(jìn)行一次維護(hù)維修,安裝或保養(yǎng)過后,下面兒點(diǎn)很重要：所有得工具及其它不相關(guān)得物品都應(yīng)拿走,不要留在機(jī)械手上了 所有得正常得平安設(shè)備都正確地安裝了,如:TPU使能設(shè)備所有得人都應(yīng)站在平安范圍外一

47、特別關(guān)注前次維修產(chǎn)生得效果移除整個手臂系統(tǒng)整個手臂系統(tǒng)得定義就就是整個機(jī)械手除了基座及軸1變速箱、也就 就是上下臂,平衡設(shè)備及構(gòu)架,見下列圖X0O2X)3O：O224A Upper arm上臂BLower arm下臂CFrame構(gòu)架DGearbox, axis 1齒輪箱,軸1EBase attachment screws基座螺栓FBalancing device平衡設(shè)備GBlock for calibration校準(zhǔn)滑輪H Motor axis 1軸1電機(jī) 需要得設(shè)備將軸1齒輪箱得油排出Detailed in “Oil change, gearbox axis T in the Mainten

48、ance Manual.Detailed in section Removal of motor axis 1 on page 93.取下軸1電機(jī)4. Run the overhead crane to a position above the manipulator.將起重機(jī)運(yùn)行到機(jī)械手上方5. Fit the lifting device and adjust it as詳岫即椰華蝴L章節(jié)書、必須按6.Art. no. specified in Required equipment on det嗷押捏蛆史料并被脫調(diào)節(jié)位蟹驊 瀏殳備序列號前面已經(jīng)指出Make sure th嘲腳密嗽留瞄湖 H

49、ow to adjust the lift is described in the enclosed instruction to the lifting device!Fol I湘野進(jìn)相iii湛ions before continu-Shown in the figure Location of arm system on page 36!Remove the block for calibration from the bottom of the frame.Lifting device, manipulator3HAC15607-1 Instruction 3HAC 15971-2enc

50、losed!吊裝設(shè)備,機(jī)械手3HAC 1 5607-1說明書3HAC 159 7 1 -2Standard toolkit3HAC 15571-1 The contents are definedin section Standard toolkit on page 18!標(biāo)準(zhǔn)工具包3HAC 15571-1內(nèi)容見維護(hù)手冊其它一些特殊得工具會在以后得詳細(xì)步驟里面指出下面詳細(xì)表達(dá)如何升起及移除整個機(jī)械手系統(tǒng)在開始維修機(jī)械手之前需仔細(xì)閱讀下面幾條：-在機(jī)器人運(yùn)行后,電機(jī)與齒輪溫度都很高,注意燙傷 -關(guān)掉所有得電源、液壓源及氣壓源-當(dāng)移動一個部位時,做一些必要得舉措保證機(jī)械手不會倒下來,如：當(dāng)撤除軸2

51、得電機(jī)時,要固定低處得手臂 整個機(jī)械手重1300kg!提升工具一定要選足夠大得、 操作步驟見下頁Manually releasing the brakes is detailed in1. Make sure the manipulator is posi-t"確定和制呼瑚恤醐P酒佟幗"Manually releasing the brakes'1 in the 代is 0?稠獺哪僵,必須運(yùn)行tallation Manua,-如右圖所示、手動松開剎車見安裝手冊里得“手動松開剎車章節(jié),2. Drain the oil from gearbox axis 1.章節(jié)3.

52、Remove the motor axis 1.將構(gòu)架底部得校準(zhǔn)滑輪取下位置見上圖7. Remove the arm systeim from the base Shown in the figure Location of arm systemby unscrewing its 24 attachment on page 36! screws.松開基座上得24顆螺栓,將手臂 位置見上圖 系統(tǒng)取下8. Lift the arm system and secure it in a Make sure all hooks and attachments safe area.maintain in

53、correct position while lifting themanipulator!Always move the manipulator at very low speeds, making sure it does not tip.升起手臂系統(tǒng)并放到平安區(qū)域吊裝得時候確定所有吊鉤及附件都在得速度很正確位置！盡管移動機(jī)械手慢,但也一定不要傾斜裝回整個手臂系統(tǒng)整個手臂系統(tǒng)得定義就就是整個機(jī)械手除了基座及軸1變速箱、也就就 是上下臂,平衡設(shè)備及構(gòu)架,見下列圖A Upper arm上臂BLower arm下臂CFrame構(gòu)架D Gearbox, axis 1 齒輪箱,軸1EBase att

54、achment screws and washers (24 pcs)基座螺栓及墊圈(24套)FBalancing device平衡設(shè)備GBlock for calibration校準(zhǔn)滑輪HMotor axis 1軸1電機(jī)所需要設(shè)備Lifting device, manipulator3HAC 15607-1 I nstruction 3HAC 15971 -2enclosed!吊裝設(shè)備,機(jī)械手3 H AC 15607- 1 說明書3HAC1 5 97 1 -2Guide pins, M12x 130Used to guide the completearm system when refitting. Always use the guide pins in pairs!導(dǎo)針,M12x 1 30用于裝回機(jī)械手得時候引導(dǎo)機(jī)械手、 通常用一對、Standard toolkit3HAC 15571-1 The contents are defined insection Standard toolkit on page 18