1. General maintenance
(1) Clean the manipulator
Regularly clean the base and arm of the manipulator; High-pressure cleaning equipment can be used, but direct injection into the robot should be avoided; If the manipulator is protected by grease film, etc., remove it as required. (Strong solvents such as acetone should be avoided, plastic protection should be avoided, and non-conductive surfaces such as spraying equipment, hoses, etc., must be wiped with a wet or damp cloth to prevent static electricity.) Do not use a dry cloth. ）
(2) Cleaning and maintenance of hollow wrists
According to the actual situation, the hollow wrist needs to be cleaned frequently to avoid the accumulation of dust and particles, clean with pompoms, clean cloth, after the wrist is cleaned, a small amount of petroleum jelly or similar substances can be added to the surface of the wrist, it will be more convenient to clean in the future.
(3) Regular inspection
Check for oil leaks; Check whether the gear clearance is too large; Check the cables between the control cabinet, the purge unit, the process cabinet and the robot for damage.
(4) Inspection of fixing bolts
The fastening bolts and fixing clips that fix the manipulator to the foundation must be kept clean and not come into contact with corrosive liquids such as water, acid and alkali solutions. If the protective layer against corrosion, such as galvanized or paint, is damaged, the parts should be cleaned and coated with anti-corrosion paint.
2. Axle brake test
During operation, each shaft motor brake will wear normally. In order to determine if the brakes are working properly, a test must be carried out at this point.
Test Method: Check the brakes of each axle motor as described below.
(1) Run the manipulator shaft to the corresponding position, and the total weight of the manipulator and all loads at the position reach the maximum value (maximum static load);
(2) The motor is powered off;
(3) Check whether all shafts are maintained in the original position;
If the manipulator still does not change its position when the motor is powered off, the braking torque is sufficient. The gripper can also be moved manually to check if further protective measures are needed. When a mobile robot comes to an emergency stop, the brakes help to stop, so wear and tear may occur. Therefore, repeated tests are required during the service life of the machine to verify that the machine maintains its original capacity.
3. System lubrication and oiling
(1) Lubrication and lubrication of shaft auxiliary gears and gears
Make sure the robot and related systems are turned off and locked, squeeze a little (1 gram) of grease into each nozzle, and lubricate the grease nozzles of the secondary gear and each gear one by one, without injecting too much to avoid damaging the seal.
(2) Hollow wrist lubrication
Hollow wrist 10 lubrication points, only a few drops of lubricant (1 gram) per grease nozzle, do not inject too much lubricant to avoid damage to the wrist seal and internal sleeve.
4. Check the oil level in each gearbox
The position of the oil filling hole in each axis is different, which requires targeted inspection, and some need to be rotated and in a vertical state before opening the cover for inspection.
5. Maintenance interval (the time interval can be adjusted appropriately according to environmental conditions, robot operating hours and temperature)
(1) Normal maintenance frequency: 1 time/day;
(2) Axle brake test: 1 time/day;
(3) Lubrication of 3-shaft auxiliary gears and gears: 1 time/1000H;
(4) Lubrication of hollow wrist: 1 time/500H;
(5) The lubricating oil in each gearbox: the first time it is replaced every 1 year, and then every 5 years.
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