ABB機器人維修手冊0001

1、ABB 機器人維修手冊前言本手冊包含了一些維修的詳細說明指導(dǎo)，包括電氣及機械. 閱讀者需要有：*熟練的技能*有電氣上的知識或*機械上的知識 本手冊由以下幾局部組成1 平安2 相關(guān)信息3 機械手4 控制柜6附錄Circuit Diagrams: Manipulator 3HAC 13347-1 Included in "Repair Manual, part 2'電路圖,機械手3HAC 13347-1在“維修手冊2里面Circuit Diagrams, Controller 3HAC 5582*2 Included in "Repair Manual, part T

2、電路圖,控制柜3HAC 5582-2在“維修手冊2里面產(chǎn)品文件這個文件包包含控制柜，機械手及硬件信息，有以下內(nèi)容The Iiistallation and ConmiiSiSioniti呂 Manual contains the following information: 安裝及試車手冊包含以下信息平安,維護相關(guān)信息拆箱現(xiàn)場安裝電氣連接開始安裝控制柜軟件系統(tǒng)結(jié)構(gòu)目錄校正模型定義信息The Repair Manual contains the following infoiiiiauon:維修手冊包含以下信息：平安,維護相關(guān)信息機械手的所有的維修工作詳細指導(dǎo)控制柜的所有的維修工作詳細指導(dǎo)Tli

3、e Maintenance Manual eotitains rlie foliowitig infbnnation.維護手冊包含以下信息：平安,維護相關(guān)信息維護方案表 維護方案表中的各局部的詳細說明，如清潔,潤滑及檢查等通常分為機械手及控制柜兩局部第一章：平安,維護說明Tins, chapter details safety- mfbniiation for service personnel i.e. percumel perfoniiing uistal- hTian. repair and niaintenance work本章講述對于安裝及維護維修人員需要了解的平安信息由于前面專門有

4、平安手冊，這里只作一些補充A danger of high voltage is associated with the following parts:注意以下元件的高壓危險* Be aware of stored electrical energy (DC link) in the controller.注意控制柜里面DC link儲存的能量 Units inside the controller, e g. I/O modules, can be supplied with power from an external source.控制柜里面,如,1/0模塊,有可能由外部供電 The

5、mains supply/mains switch主開關(guān)+ The power unit電源 The power supply unit for the computer system (230 VAC) 計算機系統(tǒng)的供電單元(230VAC) The rectifier unit (400-480 VAC and 700 VDC. Note: Capacitors!) 整流局部(400-480 VAC及700VDC注意：電容) The drive unit (700 VDC)驅(qū)動單元(700VDC) The servi ce outlets (115/230 WC)輸出局部(115/230VA

6、C) The power supply unit for tools, ar special power supply units for the machimng process工裝的電源或一些其它特殊的電源 The external voltage connected to the control cabinet remains live even when the robot is disconnected from the mains,當機器人關(guān)電后注意外部到控制柜的供電線路仍然有電 Additional connections其它連接A danger of high vokaee i

7、s associated with the maiupulator in:機械手里面的高壓危險 The power supply foir the motors (up to 800 VDC)電機的供電進線(800 VDC左右) The user connections for tools or otheparts of the installation (max 230 VAC, see Installation and Commissioning Manual)連接到工裝或其它局部(最大230VAC)測試剎車EXiring operation the holding brakes of e

8、ach axis motor wear normally. A test may be performed to determine whether the brake can vill perform ftniction運行的時候，軸電機的剎車都會正常磨損所以要定期對剎車進行檢查The function of each aKi<>'motor holding biakes. may be checked detailed below: 具體檢查如下：1 Run each manipulator axis tod position wheEthe combined weig

9、ht of the manipulator arm and any load is maximized (max. static load).運行機械手的軸到最大的靜態(tài)負載位置2. Switch the motor to the MOTORS OFF position with the Operating mode selector on the controller用控制柜上的工作模式選擇開關(guān)將電機關(guān)掉3. Check that the axis maintains its position.檢查軸是否維持原位置If the manipulator does not ch a ngE pos

10、ition as the motors are switched off, then the brake function is adequate如果電機關(guān)了后，機械手保持不動，說明剎車正常第三章機械手說明Tins chapter details nil repair activities reconwiended for the manipulator, including for any exrenial mnts cf rhe manipulator.本章詳細表達了機械手的維修，包括機械手的一些外部設(shè)備3.1.1 Removal of cable harness移除電纜保護殼The ca

11、ble harness is located tlwoi)ahoiit the manipulator as shown m the figure below.電纜保護殼在機械手里面的位置如下列圖A Connector at manipulator base, R1 MP and R1.SMB 機械手底座的插頭，R1.MP和R1.SMBBGonnectors at motor 1; R2,FB1 and R2.MP1電機1的插頭;R2.FB1及R2.MP1C Connectors at motor 2; R2.FB2 and R2,MP2電機2的插頭;R2.FB2及R2.MP2D Connec

12、tors at serial measurement board; R1 .SMB 1-3, R1.SMB4-6, R1 .SMB1 7. R2.FB7 and R2 SMB Battery connector X3 RI G and R2.G. Connectors at brake release unit X8, X9 and X10.測量板上的插頭;R1.SMB1-3, R1.SMB4-6, R1.SMB1.7, R2.FB7 及 R2.SMB 電池插頭X3 R1.G及R2.G剎車釋放單元的插頭 X8,X9及X10E Connectors at motor 3; R2 F03 and

13、R2 MP3 and for signal lamp R2 H1 and R2.H2 電機3的插頭;R2.FB3及R2.MP3及信號燈插頭R2.H1及R2.H2F Connectors at motor 4 R2.FB4 日nd R2.MP4電機4的插頭;R2.FB4及R2.MP4G Connectors at cable harness separation; R2.M5/6電纜保護殼別離處的插頭；R2.M5/6H Connectors at cable harness division, inside of upper arm tube： R3.FB5and R3.MP5. Connect

14、ors at motor 5; R4 FB5 and R4.MP5.電纜保護殼別離處的插頭在上臂的管道里;R3.FB5和R3.MP5電機5的插頭;R4.FB5及R4.MP5J Connectors at motor 6; R3.FB6 and R3.MP6電機6的插頭;R3.FB6及R3.MP6KRear cover plate后蓋板LConnector RLMP插頭R1.MPMConnector R1.SMB插頭R1.SMBNConnection of earth cable地線接頭O Velcro strap that secures the cable h也rn巳to the arm h

15、ouse保護尼龍帶所需設(shè)備設(shè)備序列號注意電路圖 3HAC13347-1在維修手冊2里面標準工具3HAC15571-1其它工具或步驟見下面的詳細說明Removal, cable The procedure below details how to liemove the cable harness: axes 1-4. harness, axes 14下面詳細表達如何移除電纜保護殼,軸1-4移除,電纜保護殼,軸1-4A 在開始維修機械手之前需仔細閱讀下面幾條：在機器人運行后，電機和齒輪溫度都很高，注意燙傷 -關(guān)掉所有的電源、液壓源及氣壓源-當移動一個部位時，做一些必要的措施確保機械手不會倒 下來

16、，如：當撤除軸2的電機時，要固定低處的手臂 :f '電纜保護殼容易損壞，所以要小心，特別是接頭處1. In order to facilitate refitting of cable harness, Axes 2 and 3 may be tilted slightly to run the manipulator to the specified position: improve 日 ex ess.為了更容易移除，請將機械手運行到如下位置軸2和3可以稍為斜起點* Axis1：0 0* Axis2:0 0* Axis3:0 0* Axis4:0 0* Axis 5: +90 &q

17、uot;» Axis 6: no significan匚e ,丁壬亦軸6：不重要2.Remove the rear cover plate on the manipulator by unscrewing its attachment screws.擰開機械手的后蓋的螺栓，將后蓋撤除3.DisconnEct the earth cable.Shown in the figure Location complete cable harness on page 24!斷開地線連接|位置見上圖4.Disconnect connectors R1 MP and R1.SMB斷開插頭R1.MP

18、及R1.SMB5.Pull the cable and connectors up through the center of the frame拉出電纜及插頭6.Disconnect all connectors at motor 1 and motor 2Specified in the figure Locatfon complete cable harness on page 24!7斷開電機1和2的所有的插頭 仔細地翻開SMB蓋,電池及SMB單元位置見上圖見的電纜可以不斷開，這樣就不需再校正 注意不要讓蓋子的重量把電纜拉得太緊 如果要徹底取下蓋子，必須斷開插頭R1.G 這樣以后就必須

19、要校正機器人8 Disconnect connectors R2 SMB, Ri .SMB l- 3, R1 SMB4-6. Disconnect X8r X9 and X10斷開插頭 R2.SMB,R1.SMB1-3,R1.SMB4-6.斷開 X8,X9 和 X109 Unscrew the four screws securing the cable This releases the cable harness from glandthe frame.1011松開4顆保護螺栓這將從結(jié)構(gòu)上松開電纜保護殼通過撤除尼龍帶及保護殼上的兩顆螺栓 來撤除調(diào)節(jié)盤Remove the bracket s

20、ecuring the cables inside the lower arm by unscrewing the nuts from the stud bolts securing the damp to the lower arm.擰開下臂中保護螺栓的螺帽來撤除 電纜保護架不同的機械手有不同的調(diào)節(jié)盤 請選擇適宜的xxC1C0000142.*TTTfKXC icaoogi42 .wmf12 Remove the upper bracket securing the cables to the arm house by unscrewing its two attachment screws.

21、通過擰開上臂的兩顆螺栓撤除到手臂 房的電纜保護架13.Disconnect connector R2 M5/6 at the rear cable division pointShown in the figure Location complete cable harness on page 24!斷開后蓋電纜別離點的插頭R2.M5/6位置見上圖14Disconnect all connectors at motor 3 and motor 4Spec帀ed in the figure Location complete cable harness on page 24!斷開電機3和4的插頭

22、位置見上圖15.Gently pull the cable harness out輕輕地將電纜保護殼拉出Locati on of cableThe location of the cable harness, axes 5 -6, is shown in the figure below.軸5-6電纜保護殼的位置見下列圖軸5-6電纜保護殼的位置XGii020：-COC2i3ACable bracket, wrist unit電纜支架 腕節(jié)單元BCable bracket, upper arm tube 電纜支架 上臂管里面C. - -1 .1 . ：. . .1軸 5 電機插頭;R4.FB5

23、及 R4.MP5D匚二.1 I：；-| _ 上 臂管插頭R4.FB5 及 R4.MP5FCable attachment, rearG電三纜丿夾Connectors at cable harness division point; R2.M5/6 電纜保護殼別離點插頭；R2.m5/6H1廠丁_：十-軸 6 電機插頭;R3.FB6 及 R3.MP6移開軸5,6的電纜保護殼這里是講移除上臂電纜的保護殼，而單獨的電纜從上臂管里面的連接點到軸5電機的移除方法這里沒有表達，但緊節(jié)著在后面會講到.A在開始維修機械手之前需仔細閱讀下面幾條：在機器人運行后，電機和齒輪溫度都很高，注意燙傷-關(guān)掉所有的電源、液壓

24、源及氣壓源-當移動一個部位時，做一些必要的措施確保機械手不會倒下來，如：當撤除軸2的電機時，要固定低處的手臂電纜保護殼容易損壞，所以要小心，特別是接頭處必須將軸5導(dǎo)向正確的方向來翻開軸6電機的蓋子Remove the cover, wrist unit and the cover upper arm tube.移開蓋子，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XXD2000DQ2H A: cover, wrist unit B: cover, upper arm tube2 Remove the cover of motor, axis 6 日nd dlis- Specifi

25、ed in the figure Location of cable connect all connectors beneathharness ax 5-6 on page 27!2 移開軸6電機的蓋子并斷開所有的插頭位置見上圖3. Loosen the cable bracket on top of theShown in the figureof cable«xa20C<iCCC£4wrist unrt by unscrewing the three attach- Hamess ax 5-6 on page 27* ment screws.Two of the

26、 attachment screws are located visible at the rear attachment and the third is located at the bottom of the cable bracket, m the centx B: Atta匚hment screwsr rear of cable bracket, 2 pcs C: Attachment screw, bottom of cable bracket, 1 pc通過松開腕節(jié)單元頂端的3顆螺栓B:電纜支架后的螺栓,2顆來松開電纜支架C:電纜支架底部的螺栓,1顆有兩顆螺栓是很容易看見的，還有

27、一 顆在電纜支架的底端中心處4.Pick out the cabling from motor, axis 6.4將電纜從軸6電機里面拉出來5.Loosen the cab旭 bracket in the upper arm tube by unscrew ng the two screws on top of the tube.Shown in the figure Location of cable harness ax 5-6 on page 27!5松開上臂管頂部的兩顆螺栓來松開位置見上圖電纜支架6.Disconnect ttie two connectors (R3.FB5 and

28、R3.MP5) im the tube.Shown in the figure Location of cable harness ax 5*時 on page 2716斷開管子里面的兩個插頭R3.FB5和I位置見上圖|R3.MP5)7.Remove eventual cable straps from the harness-移開最后的電纜扎帶8.Remove the cable attachment, rearShown 泊 the figure Location of cable 血e&ss ax 5-£ on page 2718移開電纜夾，后面的位置見上圖9.Disc

29、onnect connectors R2.M5/6 at the cable harness division pantShown in the figure Location of cable harness ax 5-6 on page 27!9斷開電纜保護殼別離點的插頭R2.M5/6 位置見上圖10,Gently pull the cable harness out.10 輕輕地拉出保護殼F面講如何撤除軸5的電纜1.Remove the complete wrist unit.Detailed in Removal of coinpfete wnst unit on page 47.1移

30、除腕節(jié)單元如何移除在后面有表達2.Remove the cover of motor, axis 5.2移除軸5電機的蓋子3.Disconnect all connectors at motor, axis 5.1 3|斷開軸5電機上所有的插頭|4Remove 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的兩顆螺栓移除電纜密封管5.Remove the cable, axis 5.5移除軸5的電纜裝回電纜保護殼機械手電纜保護殼位置如下列圖HKAH3

31、2XO3O2-OM N1cBi7輒A Connector at manipulator base. R1 MP and R1 SMB機械手底座的插頭，R1.MP和R1.SMBB Connectors at motor 1; R2.FB1 and R2.MP1 電機1的插頭;R2.FB1及R2.MP1C Connectors at motor 2; R2.FB2 and R2 MP2 電機2的插頭;R2.FB2及R2.MP2D Connectors at serial measurement board; R1.SMB1-3, R1.SMB4-6. R1 SMB1.7.R2.FB7 and R2

32、 SMB Battery connector X3 R1.G and R2.G. Connectors at brake release unit X8, X9 and X10.測量板上的插頭;R1.SMB1-3, R1.SMB4-6, R1.SMB1.7, R2.FB7 及 R2.SMB 電池插頭X3 R1.G及R2.G剎車釋放單元的插頭 X8,X9及X10E Connectors at motor 3; R2.FB3 and R2.MP3 and for signal lamp R2.H1 and R2 H2電機3的插頭;R2.FB3及R2.MP3及信號燈插頭R2.H1及R2.H2F Co

33、nnectors at motor 4, R2.FB4 and R2 MP4電機4的插頭;R2.FB4及R2.MP4G Connectors at cable harness separation; R2.M5/6電纜保護殼別離處的插頭；R2.M5/6H Connectors at cable harness division, inside of upper arm tube: R3 FB5 and R3.MP5.Connectors at motor 5; R4 FB5 and R4.MP5.電纜保護殼別離處的插頭在上臂的管道里；R3.FB5和R3.MP5電機5的插頭;R4.FB5及R4.

34、MP5J Connectors at motor 0, R3 FB6 and R3MP6電機6的插頭;R3.FB6及R3.MP6KRear cover plate后蓋板LConnector R IMP插頭R1.MPMConnector R1 SMB插頭R1.SMBN Connection of earth cable地線接頭0 Velcro strap that secures the cable harness to the arm house保護尼龍帶所需設(shè)備Catie harness, axes 1-43HAC1d&d(MIRB 6600電纜保護殼，軸1-4Cable harne

35、ss, axes 1-43HAC 16331*1IRB 6650電纜保護殼，軸1-4Cable harness, axes 5-63HAC 14140-1電纜保護殼,軸5-6Cable harness, ixis 63HAC 14139-1軸5電纜保護殼Circuit Diagram3HAC 13347-1Included in the Repair Manual, part2.電路圖在維修手冊2里面Standard toolkit3HAC 15571-1The contents are defined in section Standard tooikrt on page 13!標準工具內(nèi)容

36、見前面詳細表達其它工具或步驟見下面的詳細說明裝回軸1-4的電纜保護殼 下面詳細表達如何裝回軸1-4的電纜保護殼A在開始維修機械手之前需仔細閱讀下面幾條：在機器人運行后，電機和齒輪溫度都很高，注意燙傷-關(guān)掉所有的電源、液壓源及氣壓源-當移動一個部位時，做一些必要的措施確保機械手不會倒下來，如：當撤除軸2的電機時，要固定低處的手臂 : '電纜保護殼容易損壞，所以要小心，特別是接頭處1 In order to facilitate refitting of cable harness, Axes 2 and 3 may be tilted slightly to run the manipu

37、lator to the specified position: improve access.2.為了更容易移除，請將機械手運行到如下位置Pull the cable and connectors down through the center of the frame軸2和3可以稍為斜起點Make sure the cables are not Uvisted with each other or with eventual customer harnesses!Make a note of the corect positions of the con ne ctors i2從結(jié)構(gòu)的中間

38、放下電纜及插頭注意電纜不要互相攪在起 注意插頭的正確位置3.Reconnect connectors R1 MP and R1.SMB at the rear cover plateMake a note of the corect positians of the connectors!3 接上后蓋處的插頭R1.MP和R1.SMB4.Reconnect the earth cable.Shown in the figure Location of cab(eharness on page 3014接上地線位置見上圖5.Refit the rear cover plate on the man

39、ipulator with its attachment screws.51上好后蓋的螺栓6.Reconnect all connectors at motor 1 and motor 2.Specified in the figure Location of cable harness on page 3016接好電機1和電機2的插頭位置見上圖7Secure the gilandl plate with four attachment 5匚rews from inside the SMB recess.KliCOOOOlil從SMB里面上好密封盤8 Reconnect connectors

40、R2.SMB, R1.SMB1-3, R1.SMB4-6. Reconnect X8f X9and X10.F?econnect R1I,G if it has been disconnected接好插頭 R2.SMB, R1.SMB1-3, R1.SMB4-6. 接好 X8,X9 和 X10.XS X9 X1D-R2.SMBR15MB3R1 .SMB4-E-X32QOCOC11S如果R1.G被斷開了 ,也請接好9.Secure the SMB cover with its attachment screws用螺栓上好SMB蓋子10Secure the correct adapter plat

41、e to the harness with its two attachment screwsNate! Different manipulator versions are fitted with different plate versions. Make sure the correct one is used to avoid cable failure.101上好保護殼的調(diào)節(jié)盤的兩顆螺栓注意：不同的機械手有不同的 調(diào)節(jié)盤,請選擇適宜的iikPull the cable harness through the lower arm.11將電纜保護殼穿過下臂12. Refit the br

42、acket secunng the cables inside the lower arm.>k31COODD142裝回下臂上保護電纜的支架13. Refit the bracket securing the cables to the arm houseMake suire not to twist the harness!裝回保護到手臂房的支架r1?QCCjC143確定保護殼沒有打攪14.Reconnect all connectors at motor 3 and motor 4.Specified in the figure Location of cable harness o

43、n page 30!14接上電機3和電機4的所有插頭位置見上圖I15.Reconnect connector R2 M5 6 gently at the rear cable division point.Be careful not to bend the attachment plate when fasleming the screws!Shown in the figure LocatJon of cableharness on page 3012 pcs.15接上后面的電纜別離點的插頭 R2.M5/6位置見上圖 注意上螺栓時,不要將附盤弄彎了M6, 兩顆16,Secure the c

44、able harness to the arm house with a velcro strap.Shown in the figureofcbleharness on page 30116上好到手臂房的電纜保護殼的尼龍帶位置見上圖軸5-6的電纜保護殼的位置如下列圖所示A Cable bracket, wrist unit電纜支架,腕節(jié)單元B Cable bracketr upper arm tube電纜支架,上臂管C Connectors at motor axis 5; R4.FB5 and R4.MP5軸5電機插頭;R4.FB5和R4MP5D Connectors in upper a

45、rm tube; R3.FB5 and R3.MP5 上臂管里的插頭；R3.FB5和R3.MP5F Cable attachment, rear電纜夾,后面的G Connectors at cable harness division point； R2.M5/6電纜保護殼別離點的插頭；R2.M5/6H Connectors at motor, axis 6： R3.FB6 and R3.MP6軸6電機插頭;R3.FB6和R3.MP6下面詳細表達如何裝回上臂電纜保護殼，而軸5那段單獨的到電機的電纜將緊接 著在后面講述A 在開始維修機械手之前需仔細閱讀下面幾條：在機器人運行后，電機和齒輪溫度都很

46、高，注意燙傷-關(guān)掉所有的電源、液壓源及氣壓源當移動一個部位時，做一些必要的措施確保機械手不會倒必須將軸5導(dǎo)向正確的方向來翻開軸6電機的蓋子下來，如：當撤除軸2的電機時，要固定低處的手臂電纜保護殼容易損壞，所以要小心，特別是接頭處 Axis 5： +90 degrees- 亠一' . J . i . ii. 軸 6位置不重要2.Gently insert the cable harness from the rear into the upper arm.2輕輕地將電纜保護殼從后面插入到上臂3.Connect the two connectors inside the upper arm

47、 tube. R3.FB5 and R3.MP5 and secure the cable bracket wiith the two attachment screws to the tubeShown in the figure Location of cable harness axes 5-6 on page 33!3將上臂管里面的兩個插頭R3.FB5和位置見上圖R3.MP5 連上,并用兩顆螺栓將電纜支架裝到管上In case of excess cablePlace the cabling to motor, axis 6, correctly on the upper arm an

48、d gently pull the connectors through the hole on top of wrist unit to motor, axis 6.裝好軸6的電纜,在上臂的正確位置， 輕輕地將插頭通過腕節(jié)單元頂端的 孔穿過至軸6的電機length: put a loop of cablle in this area with cable straps (A)P The cables are longer in order to fit different upper arm如果電纜長了，可以在這個區(qū)域 將電纜打個環(huán)，并用扎帶捆住Also shown in the figur

49、e Location of cable harness axes 5-6 on page 33!Fasten the cable bracket, wnst unit with three attachment screws, two of them visible at the rear attachment point and the third Seated on the bottom of the cable bracketr in the center.用三顆螺栓上緊電纜支架，腕節(jié)單元, 其中后面兩顆容易看見，第三顆位于 電纜支架底部的中心B:C:電纜支架后面的兩顆螺栓 電纜支架底部

50、的螺栓Reconnect the connectors to motor axis 6 and refit the motor cover.A: coverh wrist unit重新連接到軸6電機的插頭并裝好電機蓋子Refit the cover upper arm and the cover, wnst uniLMake sure the cabling is placed correctly when refitting the covers. and does not get jammed.裝好上臂及腕節(jié)單元的蓋子確定電纜裝正確的，另外,裝蓋子時，不 要有擠壓 B: coverr up

51、pearm tubeA:B:腕節(jié)單兀的蓋子 上臂管的蓋子8.Refit eventually removed cable straps to the harness.裝好保護殼的扎帶9.Refit the cabfe attachment fearShown in the figure Location of cable harness axes 5-6 on page 33!裝好后面的電纜夾位置見上圖10.Reconnect connector R2 M5/6 gently at the rear cable division point with two screws, M6. Be ca

52、reful not to bend the attachment plate when fastening the screws!Shown in the figureofcabieharness axes 5-6 on page 33!用兩顆M6螺栓將后面的電纜別離點位置見上圖的插頭連上注意緊螺栓時，不要把附盤弄彎了F面表達如何裝回軸5的電纜1.Reconnect all connectors at motorr sxis 5.1接好軸5電機的所有插頭ABCGDEA Upper anri2. Refit the cable glmnH cover at the cable exiit wit

53、h3.1.3 Removal of complete arm system移除整個手臂系統(tǒng)整個手臂系統(tǒng)的定義就是整個機械手除了基座及軸1變速箱.也就是上下臂,平衡設(shè)備及構(gòu)架，見下列圖2用兩顆螺栓將電纜出口處的電纜密封蓋裝好3.Refit the cover of motor, axis 5.3裝好軸5電機的蓋子4.Refit the complete wrist unitDetailed in section Refitting of complete wnst unit on page 504裝好腕節(jié)單兀如何裝腕節(jié)單兀后面有表達當進行一次維護維修,安裝或保養(yǎng)過后,下面幾點很重要：所有的工具及

54、其它不相關(guān)的物品都應(yīng)拿走,不要留在機械手上了所有的正常的平安設(shè)備都正確地安裝了,如:TPU使能設(shè)備-所有的人都應(yīng)站在平安范圍外-特別關(guān)注前次維修產(chǎn)生的效果its two atta匚hmERt screws上臂D Gearbox, axis 1齒輪箱，軸1EBase attachment screws基座螺栓FBalancing device平衡設(shè)備GBlock for calibration校準滑輪HMotor axis 1軸1電機需要的設(shè)備Lifting devicer manipulator3HAC 15607-1Instruction 3HAC 15971 -2 enclosed!吊裝設(shè)

55、備，機械手3HAC 15607-1說明書 3HAC15971-2Standard toolkit3HAC 15571-1The contents are defined in section Standard toolkit on page 18!標準工具包3HAC 15571-1內(nèi)容見維護手冊其它一些特殊的工具會在以后的詳細步驟里面指出F面詳細表達如何升起及移除整個機械手系統(tǒng)A 在開始維修機械手之前需仔細閱讀下面幾條：在機器人運行后，電機和齒輪溫度都很高，注意燙傷-關(guān)掉所有的電源、液壓源及氣壓源-當移動一個部位時，做一些必要的措施確保機械手不會倒下來，如：當撤除軸2的電機時，要固定低處的手臂 、二整個機械