五章 保养与维修
Chapter 5 Maintenance and Repair
用户保养及维修内容
User maintenance and repair content
机器人本体的保养与维修的内容
The content of the maintenance and repair of the robot body
电缆状态，信号电缆，动力电缆，用户电缆，本体电缆。
Cable Status, Signal Cable, Power Cable, User Cable, Body Cable.
各轴关节状态，漏油，渗油。
The state of the joints of each axis, oil leakage, oil leakage.
机器手臂各轴功能。
The functions of each axis of the robot arm.
机器手臂各轴电机状态 ，接线牢固，状态平稳。
The motor status of each axis of the robot arm is firmly wired and the state is stable.
各关节更换润滑油。
Replace the lubricating oil at each joint.
机器手臂固定状态。
The robot arm is in a fixed state.
控制柜保养与维修内容
Control cabinet maintenance and repair content
机器人软件检查与备份，冷启动安装软件，用户资料备份。
Robot software check and backup, cold start installation software, user data backup.
机器人系统参数检查。
Robot system parameter check.
机器人编码器电池。
Robot encoder battery.
机器人控制电压。
The robot controls the voltage.
外部设备保养与维修内容1)送丝组件的检查与维护2)工作枪的检查与维护
焊机/切割机电源的检查与维护
变位机(翻转平台)的检查与维护
Inspection and maintenance of positioners (flipping platforms).
日常检查与维护
Routine inspection and maintenance
日常检查。
Daily check-ups.
以下检查每日在控制柜接入电源断开的情况下进行。1)检查上次作业后各关节(轴)零点归位情况是否异常。2)检查各关节(轴)密封情况，是否有漏渗油情况。
The following checks are carried out daily when the control cabinet is connected to the power supply and disconnected. 1) Check whether the zero point homing of each joint (axis) is abnormal after the last operation. 2) Check the sealing of each joint (shaft) and whether there is oil leakage.
检查本体、控制柜及外部设备的外露线缆、气管、水管是否有破损、变位、及明显的磨损。
Inspect the exposed cables, air pipes, and water pipes of the body, control cabinet, and external equipment for damage, displacement, and obvious wear.
检查工作枪的复位状况及其电线缆状态。
Check the reset status of the working gun and the status of its electrical cables.
检查机器人工作场所是否有异物。
Check the robot's workplace for foreign objects.
检查工装平台上是否有异物。
Check the tooling platform for foreign objects.
以下检查每日在开机的情况下进行。人员在安全区域进行操作。
The following checks are performed daily with the device turned on. Personnel operate in a secure area.
机器人回零位操作。如之前检查出某关节(轴)机器人零位出现误差，此时可重新定零位。
The robot returns to zero operation. If it is found that there is an error in the zero position of a joint (axis) robot before, the zero position can be re-determined at this time.
运行机器人运行测试小程序，仔细检查各关节(轴)运行声音是否正常。
Run the robot to run the test applet, and carefully check whether the sound of each joint (axis) is normal.
检查机器人外部设备如送丝机、工作枪、外设电源等是否有异常。
Check whether there is any abnormality in the external equipment of the robot, such as wire feeder, work gun, peripheral power supply, etc.
检查各设备按钮工作状态是否正常。(急停按钮最多 2 次/月)。
打开控制柜，查看运行测试小程序时各轴伺服驱动器负载情况。
Open the control cabinet and check the load of the servo drives on each axis when running the test applet.
维护。
Maintenance.
清理机器人、控制柜及外部设备表面的灰尘和污渍。注意不得使用对油漆有腐蚀性的液体。
Clean dust and stains from the surface of robots, control cabinets, and external devices. Be careful not to use liquids that are corrosive to paint.
及时更换失效的易耗件，如焊枪导电咀、保护咀、送丝软管、导丝管等等。
Replace failed consumables in a timely manner, such as welding torch contact tips, protective tips, wire feeding hoses, inner wire tubes, etc.
对于工作过程中磕碰坏的外部油漆和钣金件及时处理。
Deal with the exterior paint and sheet metal parts that are bumped and damaged during the work process.
每月不少于 2 次检查各关节螺钉和外部设备、部件的螺钉状态，确保螺钉处于锁紧状态。
机器人每运行满 4000 小时后必须对各轴减速机进行补充润滑油/脂。如发生渗漏油封情况应及时补充。
机器人每运行满 15000 小时后必须对各轴减速机进行更换润滑油/脂。
维修
Maintenance
维修的范围。
Scope of repairs.
以下部位的维修只限于本公司专业工作人员进行操作。1)各轴减速机更换与维修。
手腕部减速机维修
Wrist reducer repair
小臂更换
Forearm replacement
小臂固定座更换
Forearm holder replacement
大臂更换
Boom replacement
转座更换
Transposition replacement
固定座更换
Holder replacement
本体电缆更换
Body cable replacement
以下部位的维修不限于本公司专业人员进行操作，用户可以自行操作。1)焊枪头、防撞器、电缆。
送丝机、送丝软管、导丝管、丝盘架组件。
Wire feeders, wire feed hoses, inner wires, spool holder assemblies.
外部钣金件。
Exterior sheet metal parts.
同步带及同步轮。
Timing belts and wheels.
控制柜外部电缆更换。
External cable replacement in the control cabinet.
各关节(轴)补充润滑油/脂。
示教器、伺服电机驱动器、开关电源、控制系统主机、变压器等控制柜的电气设备的更换。
Replacement of electrical equipment of control cabinets such as teach pendants, servo motor drives, switching power supplies, control system hosts, transformers, etc.
用于记忆编码器位置的电池(位于固定座电器集成板的内侧)的更换。
Replacement of the battery used to memorize the position of the encoder (located on the inside of the integrated board of the fixture appliance).
易耗品目录
Consumables catalog
以下物品本厂在出厂前在机器人上已有安装，部分物品另已赠送样品，用户接收机器人以后不再由本公司以任何方式提供。
焊枪保护套/咀
焊枪导电咀
Torch contact tip
焊枪分流器
Torch shunts
焊枪导丝管
Welding torch inner wire
焊枪绝缘套
Welding torch insulating sleeve
查检连接杆
Inspect the connecting rods
等离子割枪喷嘴/割咀
氩弧焊枪钨针钨棒
TIG welding torch tungsten needle tungsten rod
氩弧焊枪陶瓷咀
Argon welding torch ceramic nozzle
氩弧焊枪导流件
TIG welding torch deflector
氩弧焊枪垫圈
TIG welding gun washers
各种工作部吸盘
Suction cups for various work sections
各型号、各种类保险丝
Various types and types of fuses
各型常规拆缷螺钉螺栓
Various types of conventional dismantling screws and bolts
各规格单根电线
A single wire of each specification
各种规格继电器、断路器、接触器等标准气元件
Various specifications of relays, circuit breakers, contactors and other standard gas components
以下易损部件由本公司供货(保修期以外收费供货，保期内酌情收费或不收费) 1)气保焊枪头
The following vulnerable parts are supplied by the company (charged outside the warranty period, and charged or not charged during the warranty period) 1) Gas shielded welding torch head
水冷普通焊枪头
Water-cooled torch heads
焊丝盘到送丝机之间的送丝软管
Wire feeding hose between the wire spool and the wire feeder
防撞焊枪
Anti-collision welding gun
外置防撞器
External bumper
送丝机
Wire feeder
等离子割枪
Plasma cutting gun
氩弧焊枪
TIG welding guns
小臂侧封板
Forearm side sealing plate
机器人控制电缆，包括本体电缆和控制柜电缆
Robot control cables, including body cables and control cabinet cables
示教器及电缆
Teach pendant and cables
伺服驱动器
Servo drives
系统控制模块：主机、I/O 接口模块。
伺服电机
Servo motor
更换部件
Replacement parts
警示 | 所有部件的更换必须是在机器人控制柜接入电源完全断开的前提下开展，否则有触电和机器意外动 作造成人身伤害的可能。 |
工作枪更换
Work gun replacement
气保焊枪更换
Gas shielded welding torch replacement
确认机器人控制柜电源已经断开，机器人已经回零位；
Confirm that the power supply of the robot control cabinet has been disconnected, and the robot has returned to the zero position;
将送丝机一端用于固定焊枪电缆的螺钉拆下；
Remove the screw at one end of the wire feeder that is used to hold the torch cable;
将固定正极线的螺钉松开；
Loosen the screws that hold the positive wire in place;
拔下焊枪电缆上的气管；
Unplug the tubing from the torch cable;
解开端子包扎套外的扎带，拉出焊枪电缆信号线端子，将焊枪电缆信号线连接端子拔开，将气管接头从焊枪电缆连接铜头上拆下；
将焊枪电缆连接铜头从送丝机一端拔下；
Unplug the welding torch cable connection copper head from one end of the wire feeder;
将机器人腕部锁焊枪的螺钉拆下；
Remove the screws of the robot wrist lock welding gun;
将整根焊枪从机器人内取出；
Remove the entire welding torch from the robot;
将新的焊枪从机器手腕部装入，同时将焊枪电缆及信号线穿过小臂固定座中间孔；
Load the new welding torch from the wrist of the machine, and at the same time pass the welding torch cable and signal cable through the middle hole of the forearm holder;
将焊枪用螺钉锁牢在机器人腕部；
Lock the welding torch firmly on the robot's wrist with screws;
将焊枪连接铜头插入送丝机连接头内，调好气管孔方向；
Insert the copper head of the welding torch into the connector of the wire feeder, and adjust the direction of the trachea hole;
将用于固定焊枪电缆的螺钉锁牢；
Lock the screws used to secure the torch cable;
将固定正极线的螺钉锁紧；
Lock the screws that hold the positive wire tight;
将原气管接头上的密封带残余部分清理干净,缠上新的密封带，将气管接头锁紧在焊枪连接铜头上；
Clean the remnants of the sealing belt on the original gas pipe joint, wrap the new sealing belt, and lock the air pipe joint on the copper head of the welding torch connection;
将之前拔下的气管插入到气管接头内；
Insert the previously removed trachea into the tracheal joint;
水冷焊枪更换
Water-cooled torch replacement
将水冷枪头上的冷水管和热水管分别拔下，并作好标记；
Unplug the cold water pipe and hot water pipe on the water cooling nozzle head respectively and mark them;
2)剩余步骤同 3.3.1.1
2) The remaining steps are the same as in 3.3.1.1
氩弧焊枪更换
TIG torch replacement
拆下氩弧焊枪锁紧块上块；
Remove the upper block of the argon arc welding torch locking block;
拆开氩弧焊枪电缆另一端的所有接头及固定在机器人本体上的所有固定点；
Disassemble all joints at the other end of the TIG welding torch cable and all fixing points fixed on the robot body;
将氩弧焊枪电缆从氩弧焊枪安装支架的管内抽出；
Extract the TIG torch cable from the pipe of the TIG torch mounting bracket;
将新的氩弧焊枪电缆穿过氩弧焊枪安装支架的管内，注意氩弧焊焊枪头在机器人腕部一侧；
Thread the new TIG torch cable through the tube of the TIG torch mounting bracket, and note that the TIG torch head is on the side of the robot's wrist;
将氩弧焊焊枪枪头调整好位置，用氩弧焊枪锁紧块上块固定在氩弧焊枪锁紧下块内；
The position of the head of the argon arc welding torch is adjusted, and the upper block of the argon arc welding torch locking block is fixed in the lower block of the argon arc welding torch locking;
将氩弧焊枪安装支架另一侧的电缆固定在机器人本体上，注意留足机器人动作时所需的冗余长度；
Fix the cable on the other side of the argon arc welding torch mounting bracket on the robot body, and pay attention to the redundant length required for the robot to move;
将氩弧焊枪相关的接头重新连接好。
Reconnect the joints associated with the TIG welding gun.
等离子切割枪更换
Plasma cutting gun replacement
等离子切割枪所使用的电缆支架和枪头锁紧块同氩弧焊枪，其更换步骤同 3.3.1.3。
The cable holder and head locking block used in the plasma cutting gun are the same as those of the TIG welding gun, and their replacement steps are the same as those in 3.3.1.3.