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CMA Dishmachines GR Series Maintenance Manual

Industrial robot
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GR 6160
Industrial Robot
工业机器人
6 axis GR series
6 轴 GR 系列
Mechanical useand maintenance manual
机械使用维护手册
The first edition
第一版
CMA (WuHu) Robotics CO.,LTD
希美埃（芜湖）机器人技术有限公司

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Summary of Contents for CMA Dishmachines GR Series

  • Page 1 GR 6160 Industrial Robot 工业机器人 6 axis GR series 6 轴 GR 系列 Mechanical useand maintenance manual 机械使用维护手册 The first edition 第一版 CMA (WuHu) Robotics CO.,LTD 希美埃（芜湖）机器人技术有限公司...
  • Page 2 CMA（WuHu）Robotics co., Ltd 希美埃（芜湖）机器人技术有限公司 CMA(WuHu) Robotics co., ltd is a Joint-Venture company specialized for painting robots. In 2015, it is established by Anhui Efort Intelligent Equipment co., Ltd and Italy CMA Robotics spa. The company is located in National Robots Industry Park-Wuhu City.
  • Page 3 Anhui Efort Intelligent Equipment co., Ltdis one of the first enterprises engaged in the development and application of industry robots in China.It is established in 2007, Efort has experienced an eight-year continued development, currently has been an advanced manufacturer of national Robots.The company has leaded some important scientific and technological projects of national class, and has accumulated fruitful achievements in robot industry field.

  • Page 4: Table Of Contents

    CMA (WuHu) Robotics CO., LTD 希美埃（芜湖）机器人技术有限公司 目 录 CHAPTER 1-SAFETY ........................1 第一章安全 ............................1 1.1 F ......................1 OR SAFE USE OF THE ROBOT 1.1 机器人安全使用须知 ........................1 1.1.1 Precautions when performing adjustment, operation or maintenance ........1 进行调整、操作、保全等作业时的安全注意事项 1.1.1 .............
  • Page 5 CMA (WuHu) Robotics CO., LTD 希美埃（芜湖）机器人技术有限公司 第三章检修及维护 ........................27 3.1 P ....................... 27 REVENTIVE INSPECTION 3.1 预防性维护 ..........................27 3.1.1 Daily inspection ........................28 日常检查 3.1.1 ..........................28 3.1.2 Quarterly inspection ......................28 每季度检查 3.1.2 .......................... 28 3.1.3 Annual inspection ........................29 每年检查...
  • Page 6 CMA (WuHu) Robotics CO., LTD 希美埃（芜湖）机器人技术有限公司 4.4.2 Replace the motor........................49 更换马达 4.4.2 ..........................49 4.4.3Sealant Application ........................ 64 密封胶应用 4.4.3 ........................... 64 4.5 P ....................65 IPELINE MAINTENANCE PACKAGE 4.5 本体管线包的维护 ........................65 4.6 M ........................66 AINTENANCE AREA 4.6 机器人维护和使用区域...

  • Page 8: Chapter 1-Safety

    CMA (WuHu) Robotics CO., LTD 希美埃（芜湖）机器人技术有限公司 Chapter 1-Safety 第一章安全 1.1 For safe use of the robot 1.1 机器人安全使用须知 Read this section carefully prior to installation, operation, maintenance, or inspection and use equipment correctly. Use the robot only after fully understanding the equipment, all safety points, and comments/suggestions.
  • Page 9 CMA (WuHu) Robotics CO., LTD 希美埃（芜湖）机器人技术有限公司 wear overalls, helmets, safety glasses and safety shoes. 1）作业人员须经过工业机器人操作专业培训，须穿戴工作服、安全帽、安全鞋等。 2). Make sure there is no one in the robot work area when the power is turned ON. Take off gloves when operating,save the data on a regular basis; Please confirm that the axial limited block be intactand effective.
  • Page 10 CMA (WuHu) Robotics CO., LTD 希美埃（芜湖）机器人技术有限公司 如此，因机器人造成的事故仍然时有发生。 Robot accidents that occurred in the past were mostly due to the following situations: 机器人事故以下列情况居多： 1、Auto operation started without confirming there were no workers within the robot operating area. 2、People being within the robot operating area when the robot was in auto operationmode and the robot unexpectedly started.
  • Page 11 CMA (WuHu) Robotics CO., LTD 希美埃（芜湖）机器人技术有限公司 7) Work-piece being handled by the robot is dropped or thrown. 8) Work-piece is suddenly released during a stop waiting for interlocking. 9) Adjacent or rear robots started operation unexpectedly. 1）低速动作突然变成高速动作。 2）其他作业人员执行了操作。 3）因周边设备等发生异常和程序错误，启动了不同的程序。 4）因噪声、故障、缺陷等原因导致异常动作。 5）误操作。...

  • Page 12: Safety Measures For Robot

    CMA (WuHu) Robotics CO., LTD 希美埃（芜湖）机器人技术有限公司 监视安全状况。 During the robot movement, should be immediately press the emergency stop button for homework. 机器人动作期间，应以可立即按下紧急停止按钮的态势进行作业。 In order to comply with these principles, must fully understand the above notice, and actually 为了遵守这些原则，必须充分理解后述注意事项，并切实遵行。 1.1.2 Safety measures for robot 1.1.2 机器人本体的安全对策...
  • Page 13 CMA (WuHu) Robotics CO., LTD 希美埃（芜湖）机器人技术有限公司 attention to the stopper blocks mounted on the moving tip of thearticulations. The arm may fall under its own weight when motors are removed or brakes arereleased. Therefore take action to prevent dropping and check that conditions are safe beforestarting work. 机器人主体为多关节的机械臂结构，动作中的各关节角度不断变化。...
  • Page 14 CMA (WuHu) Robotics CO., LTD 希美埃（芜湖）机器人技术有限公司 The motors in this robot have built-in brakes to hold the robot arm in position. As such, when amotor is removed without supporting the arm properly, the arm may drop or move forward orbackward. PROPERLY SUPPROT THE ARM BEFORE REMOVING THE MOTOR.
  • Page 15 CMA (WuHu) Robotics CO., LTD 希美埃（芜湖）机器人技术有限公司 Use specified bolt sizes and number. Tighten them to specified torque with a torque wrenchwhen fitting equipment onto the end effecter flange or arms. Use clean rust-free bolts. When transportation it should be fixed on the end executor and accessory machine or remove the end executor and auxiliary machines.
  • Page 16 CMA (WuHu) Robotics CO., LTD 希美埃（芜湖）机器人技术有限公司 specification may affect the robotperformance and cause abnormal behavior, errors, or damage, resulting in dangerous situations. Never use unspecified resources. 严禁供应规格外的电力、压缩空气、焊接冷却水，会影响机器人的动作性 能，引起异常动作或故障、损坏等危险情况发生。 It is not possible to eliminate electromagnetic interference completely using the technologyavailable today although the extent of its elimination depends on the type and strength of theinterference concerned.
  • Page 17 CMA (WuHu) Robotics CO., LTD 希美埃（芜湖）机器人技术有限公司 Keep a safe place (escape route) in mind at all times to quickly escape on an emergency. 作业人员在作业中，也应随时保持逃生意识。必须确保在紧急情况下，可 以立即逃生。 Pay attention to the robot’s movement at all times and never work with your back toward therobot. An operator may not notice the start of robot if he/she is not facing it resulting in anaccident.
  • Page 18 CMA (WuHu) Robotics CO., LTD 希美埃（芜湖）机器人技术有限公司 发现有异常时，应立即按下紧急停止按钮。 必须彻底贯彻执行此规定。 Prepare an appropriate working code and checklists for start up of the robot, how to operateit and what actions to take in an emergency. Proceed with operation according to the workingcode. Accidents are likely to occur due to forgetfulness and error of operators if relying onmemory alone.

  • Page 19: Movement, Alienation And Selling Of The Robot

    CMA (WuHu) Robotics CO., LTD 希美埃（芜湖）机器人技术有限公司 Check robot movement at a low speed using the check go/back function and the velocityoverride function after completing teaching. Accidents due to collision are likely to occur if aprogram containing a mistake is run at a 100% of full speed in the playback mode.

  • Page 20: Abandon The Robot

    CMA (WuHu) Robotics CO., LTD 希美埃（芜湖）机器人技术有限公司 附属文件类移交给新的使用者。 转移、转让、变卖到国外时，客户必须负责准备适当语言的操作维修保养 说明书，修改显示语言，并保证符合当地法律规定。 新使用者由于没有阅读使用说明书而进行错误操作或不安全作业，会导致 事故发生。 When the robot is moved, transferred or sold (either in the country or overseas) by the user,whatever was agreed upon at the time of the robot’s initial sale inclusive of the safety relateditems is not transferable to the new owner unless a special agreement has been concluded.
  • Page 21 CMA (WuHu) Robotics CO., LTD 希美埃（芜湖）机器人技术有限公司 Do not disassemble wire harnesses or manipulator wiring further than disconnecting wiring fromconnectors or terminal blocks. Disassembled pieces, e.g. conductors, etc., may cause injury tohands or eyes. 电缆线、外部接线从连接器、接线盒拆除后，请勿作进一步分解再废弃。 否则可能因导体等导致手或眼受伤 。 Use extreme care when scrapping so as to avoid accidents and injury such as pinching hands orfingers.

  • Page 22: Chapter 2-Basic Specifications

    CMA (WuHu) Robotics CO., LTD 希美埃（芜湖）机器人技术有限公司 Chapter 2-Basic specifications 第二章基本说明 2.1 Robot model and nameplate details 2.1 型号规格说明 The robot model is stated below： 机器人型号说明如下： □ □□□ □□ □□□ Additional features 附加功能 Robot ontology model, ST standard edition, HW for hollow arm, omit on behalf of the standard version.

  • Page 23: Mechanical System

    CMA (WuHu) Robotics CO., LTD 希美埃（芜湖）机器人技术有限公司 GR6160 robot nameplate GR6160 机器人铭 牌 GR6160 robot nameplate 2.2 Mechanical system 2.2 机械系统组成 Robot mechanical system refers to the machinery of ontology, ontology consists of the base station, the big arm, forearm, forearm extended part, wrist components and ontology of package parts, a total of six motor can drive the six joints movement for different forms of exercise.Figure 2.1 marks each part of the robot and the movement joints.

  • Page 24: The Mechanical Performance Parameters

    CMA (WuHu) Robotics CO., LTD 希美埃（芜湖）机器人技术有限公司 Forearm parts Forearm stretch 小臂部件 小臂加长 The big arm 大臂 Wrist parts 手腕部件 Ontology pipeline package 本体管线包 The base components 底座部件 Fig 2.1Robot mechanical system diagram 图 2.1 机器人机械系统组成图 2.3 The mechanical performance parameters 2.3 机械性能参数...
  • Page 25 CMA (WuHu) Robotics CO., LTD 希美埃（芜湖）机器人技术有限公司 1)The robot working space Reference GB （GB/T 12643）industrial robot vocabulary, define the working space for robot wrist when motion reference point (J4 axis and J5 axis intersection of) a collection of all points can achieve. 1）...

  • Page 26: The Performance Parameters Of The Robot

    CMA (WuHu) Robotics CO., LTD 希美埃（芜湖）机器人技术有限公司 degree of inconsistency. 5） 重复定位精度 参考国标工业机器人性能测试方法（GB/T 12642） ，定义重复定位精度是指机器人 对同一指令位姿，从同一方向重复响应 N 次后，实到位置和姿态散布的不一致程度。 2.3.2 The performance parameters of the robot 2.3.2 机器人性能参数 Robot performance parametersof the table as shown in table 2.1 GR6160 robot performance parameters of the table 机器人性能参数表如表...
  • Page 27 CMA (WuHu) Robotics CO., LTD 希美埃（芜湖）机器人技术有限公司 地面安装、支架安装 Protection grade IP65( Dust-proof, drip-proof） 防护等级 IP65(防尘、防滴） Repeat positioning accuracy ±0.15mm 重复定位精度 Robot mass 600kg 本体重量 2）The robot working space diagram as shown in figure 2.2 2)机器人工作空间图如图 2.2 Fig 2.2 the robot working space 图...
  • Page 28 CMA (WuHu) Robotics CO., LTD 希美埃（芜湖）机器人技术有限公司 3）J1-axis adjustable stopper (option) 3）J1 轴可变范围图 Mounting the standard stopper and the additional stopper (option) of the same shape as that of the standard stopper makes it possible to adjust the operating angle of the J1 axis in steps of 30°...

  • Page 29: Home Position Adjustment

    CMA (WuHu) Robotics CO., LTD 希美埃（芜湖）机器人技术有限公司 2.4 Home position adjustment 2.4 零点校对 The home position adjustment is an operation to adjust the reference configuration of the robot, in order to link the angle of each axis with encoder value.The purpose of the operation is to get the count value of the encoder corresponding to the home position.
  • Page 30 CMA (WuHu) Robotics CO., LTD 希美埃（芜湖）机器人技术有限公司 professional engineers 1）软件零点标定 需要采用激光跟踪仪建立机器人各关节坐标系，进行系统编码器读数置零，软件 标定较为复杂，需要由本公司专业人员进行操作。 2) Mechanical zero revision(The dial calibration) Labelled zero block scale line turn to completely align the zero point. 2）机械零点校订(对线标定) 将零标块刻线转动到完全对齐状态即零点。...

  • Page 31: Mechanicalhome Position Adjustmentof All Axes

    CMA (WuHu) Robotics CO., LTD 希美埃（芜湖）机器人技术有限公司 2.4.2 Mechanicalhome position adjustmentof all axes 2.4.2 各轴机械零点校对 Home position of J2 J2 轴零点标定处 Home position of J4 J4 轴零点标定处 Home position of J1 J1 轴零点标定处 Fig 2.6 Home position of J1/J2/J4 图 2.6 J1/J2/J4 零点标定处 Home position of J6 J6 轴零点标定处...

  • Page 32: Allowable Wrist Load

    CMA (WuHu) Robotics CO., LTD 希美埃（芜湖）机器人技术有限公司 2.5 Allowable wrist load 2.5 手腕部分负荷允许值 A load fixed to the tip of the robot wrist is regulated by the allowable pay load mass, allowablestatic load torque, and allowable moment ofinertia.Furthermore, the allowable load torque varies with the actual load inertia moment.Strictly keep the wrist load within each allowable value.

  • Page 33: Allowable Maximum Inertia Moment

    CMA (WuHu) Robotics CO., LTD 希美埃（芜湖）机器人技术有限公司 2.5.3 Allowable maximum inertia moment 2.5.3 容许最大惯性矩 Table 2.4 Allowable maximum inertia moment 表 2.4 容许最大惯性矩 Allowable inertia moment 容许惯性矩 Robot Model 机器人型号 Around J4 axis Around J5 axis Around J6 axis J4 轴转动 J5 轴转动...

  • Page 34: Chapter3-Inspection And Maintenance

    CMA (WuHu) Robotics CO., LTD 希美埃（芜湖）机器人技术有限公司 Chapter3-Inspection and maintenance 第三章检修及维护 The inspection should be performed in order to maintain the high performance of the robot for an extended period of time. The inspection includes daily inspection and periodical inspection. According to the basic inspection periods shown in following tables, personnel who are engaged in the inspection must create and implement the inspection program.

  • Page 35: Daily Inspection

    CMA (WuHu) Robotics CO., LTD 希美埃（芜湖）机器人技术有限公司 3.1.1 Daily inspection 3.1.1 日常检查 Table 3.1 Daily inspection Items Inspection Item Inspection method Abnormal noise Check by hearing for any abnormal noise Transmission mechanism Visual check for any vibration or shaking Visual check of the ventin the back of the control boxfor Ventilation effectiveness Visual check of cables for integrity ,damage Related to internal wirings...

  • Page 36: Annual Inspection

    CMA (WuHu) Robotics CO., LTD 希美埃（芜湖）机器人技术有限公司 表 3.2 季度检查表 序号 检查项目 检查点 控制单元电缆 检查示教器电缆是否存在不恰当扭曲 控制单元的通风单元 如果通风单元脏了，切断电源，清理通风单元 检查机械单元插座是否损坏， 弯曲是否异常， 检查马达 机械单元中的电缆 连接器和航插是否连接可靠 各部件的清洁和检修 检查部件是否存在问题，并处理 外部主要螺钉的紧固 上紧末端执行器螺钉、外部主要螺钉 3.1.3 inspection Annual 3.1.3 每年检查 Table 3.3 Annual inspection Items inspection Item Inspection method Parts Visual check of the parts for damage and clean and fix or clean if necessary External fixing bolts...

  • Page 37: Inspection On Major Bolts

    CMA (WuHu) Robotics CO., LTD 希美埃（芜湖）机器人技术有限公司 while refastening. Recommended torque is shown in the appendix below. 注释： 1）关于清洁部位，主要是机械手腕油封处，清洁切屑和飞溅物。 2） 关于紧固部位， 应紧固末端执行器安装螺钉、 机器人本体安装螺钉、 因检修等而拆卸的螺钉。 应紧固露出于机器人外部的所有螺钉。有关安装力矩，请参阅附录的螺钉拧紧力矩表。并涂相 应的紧固胶或者密封胶。 3.2 Inspection on major bolts 3.2 主要螺栓的检修 Table 3.5 Inspection Items of bolts Main function of the bolts Main function of the bolts Fix the whole robot Fix the motor of J5...

  • Page 38: Inspection Of Grease

    CMA (WuHu) Robotics CO., LTD 希美埃（芜湖）机器人技术有限公司 3.3 Inspection of grease 3.3 润滑油的检查 It is recommended to perform examination of density of steel dust in the greaseat Every 5,000operating hours or every 1 year(In case of material handling application, every 2,500 hours or every half year).If the measurement result exceeds this value, please contact our service center for grease replacement or reduction gear replacement.
  • Page 39 CMA (WuHu) Robotics CO., LTD 希美埃（芜湖）机器人技术有限公司 检修时，如果必要数量以上的润滑油流出了机体外时，请使用润滑油枪对 流出部分进行补充。此时，所使用的润滑油枪的喷嘴直径应为φ17ｍｍ以 下。补充的润滑油量比流出量更多时，可能会导致润滑油渗漏或机器人动 作时的轨迹不良等，应加以注意。 A grease gun that has a capacity to measure the lubrication amount is recommended. If agrease gun like this cannot be prepared, please measure the weight of the grease canbefore/after the lubrication work to confirm the amount.

  • Page 40: Grease Replacement

    CMA (WuHu) Robotics CO., LTD 希美埃（芜湖）机器人技术有限公司 3.4 Grease replacement 3.4 更换润滑油 3.4.1 Lubricationamount 3.4.1 润滑油供油量 Applicable grease and lubrication in the reducers, gear boxes, and wrist according to the following procedure every 20,000 operating hours or every 4 years(If the application type is material handling, every 10,000 operating hours or every 2 years).Table 3.6 shows the grease and Lubricationamount.

  • Page 41: Robot Orientation Of Lubricate Grease

    CMA (WuHu) Robotics CO., LTD 希美埃（芜湖）机器人技术有限公司 3.4.2 Robot orientation of lubricate grease 3.4.2 润滑的空间方位 It is recommend replacing or lubricating grease with the orientation list in the following table. 对于润滑油更换或补充操作，建议使用下面给出的方位。 Table 3.7 Robot orientation of lubricate grease Replacement Robot orientation point unbending J1-axisreducer...

  • Page 42: 3Procedure Of Grease Replacement In Reducer Of J1,J2,J3,J4 And Gear Box Of Motor Base

    CMA (WuHu) Robotics CO., LTD 希美埃（芜湖）机器人技术有限公司 3.4.3Procedure of grease replacement in reducer of J1,J2,J3,J4 and gear box of motor base 3.4.3 J1/J2/J3/J4 轴减速机、马达座齿轮箱的润滑油更换步骤 1) Move robot for lubrication to orientation according to table 3.7. 2) Turn off the power supply. 3) Remove the inner hexagon bolts in lubrication ports.(M10X1), see fig.3.1-3.3。...
  • Page 43 CMA (WuHu) Robotics CO., LTD 希美埃（芜湖）机器人技术有限公司 5）通过手腕体（J5/J6 轴）润滑油供油口提供新的润滑油脂，直至新的润滑油从排油口 流出。 6）将内六角螺塞装到手腕体（J5/J6 轴）润滑油供油口上。 7）将内六角螺塞装到手腕连接体（J5/J6 轴）润滑油排油口上。 Lubricate disobedient to the accurate requirement may result in Immediate rise of grease pressure, damage of seal and grease leak. To avoid this,please obey the following requirement while lubricating.
  • Page 44 CMA (WuHu) Robotics CO., LTD 希美埃（芜湖）机器人技术有限公司 润滑油重量的变化，对润滑油的加油量进行确认 。 如果供油没有达到要求的量，可用供气用精密调节器挤出腔中气体再进行供油， （2） 气压应使用调节器控制在最大0.025MPa以下。 仅使用指定类型的润滑油。如果使用了指定类型之外的其它润滑油，可能会损坏 （3） 减速机或导致其它问题。 供油后安装内六角螺塞时注意涂螺纹密封胶，以免在进出油口处漏油 （4） 为了避免因滑倒导致的意外，应将地面和机器人上的多余润滑油彻底清除。 （5） 供油后，按照3.4.5项的步骤释放润滑油腔内残压后再安装内六角螺塞，注意缠绕 （6） 密封胶带，以免油脂供排油口处泄漏。 J2 axis gear grease for port J2 轴减速机供脂口 J2 axis gear grease discharge port J2 轴减速机排脂口 J1 轴减速机排脂口 J1 axis gear grease discharge port J1 轴减速机供脂口...
  • Page 45 CMA (WuHu) Robotics CO., LTD 希美埃（芜湖）机器人技术有限公司 Gearbox and motor mount J4 axis gear grease discharge port 马达座齿轮箱及 J4 轴减速机排脂口 口 Gearbox and motor mount J4 axis reducer for fat mouth J3axis gear grease discharge port 马达座齿轮箱及 J3 轴减速机排脂口 J4 轴减速机供脂口 J3axis gear grease for port J3 轴减速机供脂口...

  • Page 46: 5Residual Pressure Release Lubricant Chamber

    CMA (WuHu) Robotics CO., LTD 希美埃（芜湖）机器人技术有限公司 Note: Required tools Lubricants gun (with fuel supply check counting function) Oil Joints [M10x1] (1piece) Oil hose [φ8x1m] (1) Precision gas regulator (1) (MAX0.2MPa, you can fine-tune the scale 0.01MPa) Gas source Weight (weight measurement lubricants) Thread Sealant 注释：所需工具...
  • Page 47 CMA (WuHu) Robotics CO., LTD 希美埃（芜湖）机器人技术有限公司 围内， J4 轴及 J5/J6 轴在 30°范围内反复动作 20 分钟以上， 速度控制在低速运动状态。 ± Cannot perform the action due to the situation around, should take the robot run the same frequency (for example, takes only half of the cases, the axis Angle should take the robot run 2 times), after the end of the action, would be installed on the oil discharge port sealing plug (thread sealant coating).

  • Page 48: Chapter 4-Maintenance

    CMA (WuHu) Robotics CO., LTD 希美埃（芜湖）机器人技术有限公司 Chapter 4-Maintenance 第四章 故障处理 4.1 Investigate the cause of the failure method 4.1 调查故障原因的方法 Robot design must achieve even if an exception occurs, also can detect the abnormal immediately, and immediately stop running.Even so, the risk is still in the state, is absolutely forbidden to continue running.
  • Page 49 CMA (WuHu) Robotics CO., LTD 希美埃（芜湖）机器人技术有限公司 failure to identify and repair. In addition, these elements should be placed in the job requirements, and establish overall security system can effectively perform. Otherwise, it will cause an accident. 尤其是 2)3)4)的情况，肯定会再次发生故障。而且，在复杂的系统中，即使老练的 工程师也经常不能轻易找到故障原因。因此，在出现故障时，请勿继续运转，应立即联 系接受过规定培训的保全作业人员，由其实施故障原因的查明和修理。此外，应将这些 内容放入作业规定中，并建立可以切实执行的安整体系。否则，会导致事故发生。...

  • Page 50: The Fault And The Reason

    CMA (WuHu) Robotics CO., LTD 希美埃（芜湖）机器人技术有限公司 2）第 2 步哪一个部件有损坏情况 判明发生异常的轴后，应调查哪一个部件是导致异常发生的原因。一种现象可能是 由多个部件导致的。故障现象和原因如下页表格所示。 3）Step 3 :issue processing components Ascertain problems member after processing by the method as shown in 4.3. The user can deal with some problems, but the problem is difficult to deal with, please contact our service department.

  • Page 51: Checkingand Processing Method Of Every Parts And Components

    CMA (WuHu) Robotics CO., LTD 希美埃（芜湖）机器人技术有限公司 表 4.1 故障现象和原因 故障说明 减速机 马达 原因部件 过载[注１] ○ ○ 位置偏差 ○ ○ 发生异响 ○ ○ 运动时振动[注２] ○ ○ 停止时晃动[注 3] ○ 轴自然掉落 ○ ○ 异常发热 ○ ○ 误动作、失控 ○ [注 1]：负载超出马达额定规格范围时出现的现象。 [注 2]：动作时的振动现象。 [注...

  • Page 52: 2Motor

    CMA (WuHu) Robotics CO., LTD 希美埃（芜湖）机器人技术有限公司 Check reducer temperature: temperature is normally run up 10 ° basic judgment reducer has been damaged. 1）检查方法 检查润滑油中铁粉量： 润滑油中的铁粉量增加浓度约在 1000ppm 以上时则有内部破 损的可能性。 （每运转 5，000 小时或毎隔 1 年（<装卸用途时则为每运转 2，500 小时或 每隔半年） ，请测量减速机的润滑油铁粉浓度。超出标准值时，有必要更换润滑油或减 速机，请联系本公司服务中心。 ） 检查减速机温度：温度较通常运转上升 10°时基本可判断减速机已损坏。 2) Processing method Please replace the reducer.When change due to the speed reducer is complicated, need to change please relate this company service.

  • Page 53: Replaceparts

    CMA (WuHu) Robotics CO., LTD 希美埃（芜湖）机器人技术有限公司 1）检查方法 检查有无异常声音､异常发热现象。 2）处理方法 参照“4.4.2 更换马达”的说明，更换马达。 4.4replaceparts 4.4 更换零部件 When transporting and replacing the assembly parts, pay attention to the weight of components. 搬运和组装更换零部件时，注意各零部件重量。 Table 4.2 Main part weight The motor weight The robot model The wrist unit weight J1/J2 J4/J5/J6...

  • Page 54: Replace The Wrist Parts

    CMA (WuHu) Robotics CO., LTD 希美埃（芜湖）机器人技术有限公司 游标卡尺 150mm 十字形螺丝刀大、中、小 一字形螺丝刀大、中、小 内六角扳手套件 M3～M16 扭矩扳手 三抓拉马 吊环螺钉 M8～M16 紫铜棒 注油枪 4.4.1 Replace the wrist parts 4.4.1 更换手腕部件 Disassembly 1) Removed from manipulator wrist manipulator and artifacts such as load. 2) Remove the wrist part (4) screws and cooperate with the gasket (2) and (3).(note that this process with a crane or other lifting device to lift the wrist part) 3) Will leave robot manipulator wrist part translation.
  • Page 55 CMA (WuHu) Robotics CO., LTD 希美埃（芜湖）机器人技术有限公司 tighten the wrist, with a torque spanner adjustable torque was 73.5 ± 3.43 Nm. 5) Apply lubricating oil. 6) Perform checking operations. 装配 1）除去安装面杂质，用工具刮掉敷在配合面的平面胶，用清洗剂将配合面清洗干 净。 2）在安装法兰面上涂 THREEBOND1110F 平面密封胶。 3）吊起手腕部件，使手腕部件保持水平，慢慢移动靠近连接部分，缓慢转动手腕 部件完成与 J5/J6 轴花键的配合。 4）待装配法兰面贴合后，转动手腕部件安装螺钉2、垫圈3上紧手腕件，用可调扭 力扳手打扭矩为73.5± 3.43Nm。 5）施加润滑油。...

  • Page 56: Replace The Motor

    CMA (WuHu) Robotics CO., LTD 希美埃（芜湖）机器人技术有限公司 3：弹簧垫圈 6 GB/T93-1987 4：手腕部件 4.4.2 Replace the motor 4.4.2 更换马达 No fixed mechanical arm to dismantle the motor and mechanical arm is likely to fall, or move.Please first fixed mechanical arm, and then remove the motor.
  • Page 57 CMA (WuHu) Robotics CO., LTD 希美埃（芜湖）机器人技术有限公司 Applying pressure on motor encoder connectors is prohibited.Larger pressure can damage the connector.If you need touch just stop after motor, should confirm that the motor is a high temperature state, careful operation. 禁止对马达的编码器连接器施力。施加较大压力会损坏连接器。如需触摸 刚刚停止后的马达，应确认马达为非高温状态，小心操作。 (1 ) Change the J1 axis motor （1）更换...
  • Page 58 CMA (WuHu) Robotics CO., LTD 希美埃（芜湖）机器人技术有限公司 surface. 5) To install the motor set screw (2) (coated in thread sealant LOCTITE 577) and washer (3). 6) Install the J1 shaft connection cable of the motor. 7) Proofreading operation. 装配 1）除去马达法兰面杂质，确保干净。 2）将齿轮（4）安装到 J1 轴马达上。 3）用螺钉（6）...
  • Page 59 CMA (WuHu) Robotics CO., LTD 希美埃（芜湖）机器人技术有限公司 Table 4.4 Replacing J1 axis motor parts list Torque （Nm） Name Specification Quantity Sealant 1：Motor 140201025 2：Socket head cap screws M12*30 GB/T70.1-2000，12.9 LOCTI 128.4± 6.37 magnitude TE 577 3：Spring washer 12 GB/T93-1987 4：J1 axis input gear 5：Spring washer 8 GB/T93-1987 6：Socket head cap screws M8*75...
  • Page 60 CMA (WuHu) Robotics CO., LTD 希美埃（芜湖）机器人技术有限公司 2）切断电源，拆卸马达（1）的连接线缆。 3）拆除马达法兰盘上的安装螺钉（2）和垫圈（3） 。 4）水平拉出马达（1） ，同时小心不要损坏齿轮的表面 5）拆除螺钉（7）和垫圈（6） ，然后拆除输入齿轮（5） 。 6）拆除马达法兰端面密封圈（4） 。 Assembly 1) Remove the motor flange surface impurities, ensure clean. 2) Install the sealing ring (4) to the J2 shaft base. 3) With screw (7) and washer (6) the input gear (5) is installed on the motor (1) the input shaft.
  • Page 61 CMA (WuHu) Robotics CO., LTD 希美埃（芜湖）机器人技术有限公司 Figure 4.3 Replacing J2 axis motor 图 4.3 更换 J2 轴马达 Table 4.5 Replace the J2 axis motor parts list Name Standard Quantity Seal Gum Torque(N.M) 1：Motor 140201025 2：Hexagon socket head cap GB/T70.1-2000，12.9 LOCTITE 128.4±...
  • Page 62 CMA (WuHu) Robotics CO., LTD 希美埃（芜湖）机器人技术有限公司 Fig.4.4 J2 motor replacement Pose 图 4.4 J2 马达更换位姿 (3）J3 axis motor replacement （3）更换 J3 轴马达 Disassembly 1）The motor is placed in an appropriate location, with a sling hanging from it； 2）Power dump； 3）Removing the motor (1) of the connection cable； 4）...
  • Page 63 CMA (WuHu) Robotics CO., LTD 希美埃（芜湖）机器人技术有限公司 4）移去马达安装螺钉（2）和垫圈（3） ，取出马达 O 型密封圈（7） 。 5）水平拉出马达（1） ，同时小心不要损坏齿轮的表面。 6）移去螺钉（6）和垫圈（5） ，然后拆卸输入齿轮（4） 。 Assembly 1）Remove the motor flange surface impurities, ensuring clean； 2）Install the O- ring seal（7） ； 3）With washer (5) and screws (6) fixed input gear； 4）Horizontally mounted motor（1）...
  • Page 64 CMA (WuHu) Robotics CO., LTD 希美埃（芜湖）机器人技术有限公司 Fig.4.5 J3 axis motor replacement 图 4.5 更换 J3 轴马达 Table 4.6 Replace the J3 axis motor parts list Name Standard Quantity Torque(N.M) 1：Motor 140201115 2 ： Hexagon socket head cap GB/T70.1-2000，12.9 73.5± 3.43 screws M10*25 3：Spring washer 10 GB/T93-1987...
  • Page 65 CMA (WuHu) Robotics CO., LTD 希美埃（芜湖）机器人技术有限公司 member axis； 2）Power dump； 3）Removing the motor (1) of the connection cable； 4）Remove the motor mounting board screws (7) and spring washers (8)； 5）Pull motor (1)，At the same time, be careful not to damage the surface of the gear； 6）Loosen the screw (2) and spring washers (3), remove 4/5shaft mounting board and the gear (11) 拆卸（J4、J5 轴马达）...
  • Page 66 CMA (WuHu) Robotics CO., LTD 希美埃（芜湖）机器人技术有限公司 2）对于马达（1） ，将轴承以及弹性挡圈安装到位，然后将轴承齿轮连接体与安装 板配合，安装 O 型密封圈。 3）安装马达（1） （安装面涂平面密封胶 THREEBOND 1110F）与电机安装板组件， 同时应小心不要损坏齿轮表面。安装时，确保 O 型密封圈（4） （6）位于规定的 位置。此外应保证马达（1）的方向正确。 4）安装马达安装螺钉（7）(螺纹处涂螺纹密封胶 LOCTITE 577)和垫圈（8） 。 5）将连接线缆安装到马达（1）上。 6）施加润滑油。 7）执行校对操作。 Note: the replacement steps of the J4/J5 motors are basically the same, the replacement and spare partslist see below chart 注：J4/J5 马达更换步骤基本相同，更换图及零部件清单见下图表所示。...
  • Page 67 CMA (WuHu) Robotics CO., LTD 希美埃（芜湖）机器人技术有限公司 6：O ring seal 87.5*2.65 GB/T3452.1-1992 7 ： Hexagon socket head cap screws GB/T70.1-2000 37.2± 1.86 M8*25 8：Spring washer 8 GB/T93-1987 9: A type shaft circlip 30 GB/T894.1-1987 10：Deep groove ball bearing 61906 GB/T276-1994 11：4-axis input gear 12：Spring washer 5 GB/T93-1987 13：Hexagon socket head cap screws...
  • Page 68 CMA (WuHu) Robotics CO., LTD 希美埃（芜湖）机器人技术有限公司 3： Hexagon socket head cap screws M5*20 GB/T70.1-2000 9.01± 0.49 4：O ring seal 53*2.65 GB/T3452.1-1992 5：5-axis mounting plate 6：O ring seal 87.5*2.65 GB/T3452.1-1992 7： Hexagon socket head cap screws M8*25 GB/T70.1-2000 37.2± 1.86 8：Spring washer 8 GB/T93-1987 9: A type shaft circlip 30 GB/T894.1-1987...
  • Page 69 CMA (WuHu) Robotics CO., LTD 希美埃（芜湖）机器人技术有限公司 2）切断电源。 3）拆卸马达（1）的连接线缆。 4）移去电机安装板的安装螺钉（6）和垫圈（7） 。 5）拉出马达（1） ，同时小心不要损坏齿轮的表面。 6）移去螺钉（2）和垫圈（3） ，拆卸齿轮（9）及安装板（5） 。 Assembly 1）Remove the motor flange and mounting plates impurities, ensuring clean; 2）For motor (1), correctly installed rubber O-ring (4) and install the fixed gear (5)； 3）Horizontally mounted motor（1）and mounting board(5)（Flat top coat sealant ）...
  • Page 70 CMA (WuHu) Robotics CO., LTD 希美埃（芜湖）机器人技术有限公司 6）施加润滑油。 7）执行校对操作。 Fig.4.8 J6 axis motor replacement 图 4.8 更换 J6 轴马达 Table 4.9 Replace the J6 axis motor parts list Name Standard Quantity Torque(N.M) 1：Motor 140201042 2 ： Hexagon socket head cap GB/T70.1-2000 37.2±...

  • Page 71: 3Sealant Application

    CMA (WuHu) Robotics CO., LTD 希美埃（芜湖）机器人技术有限公司 4.4.3Sealant Application 4.4.3 密封胶应用 1）Surfaces to be sealed for cleaning and drying （1） the surfaces to be sealed by blowing gas, dust removal. （2） In order to seal the mounting surface degreasing, use a cloth dampened with a cleaning agent or direct spray cleaners.

  • Page 72: Pipeline Maintenance Package

    CMA (WuHu) Robotics CO., LTD 希美埃（芜湖）机器人技术有限公司 为了防止灰尘落在施加密封胶的部分， 在密封胶应用后， 应尽快安装零部件。 注意，不要接触施加的密封胶。如果不小心擦除了密封胶，应重新施加。 安装完零部件后，用螺钉和垫圈快速固定它，使匹配表面完全贴合。 施加密封胶之前，不要上润滑油，这是因为，润滑油可能会泄漏。应在安装 了减速机后等待至少 1 小时后再添加润滑油。 Table 4.10 sealant Model Name Specifications Model Thread Sealant LOCTITE577 Screw fastening plastic THREEBOND1374 Plane sealant THREEBOND1110F Cleaner THREEBOND6602T 表 4.10 密封胶型号 名称 规格型号 螺纹密封胶 LOCTITE577 螺纹紧固胶...

  • Page 73: Maintenance Area

    CMA (WuHu) Robotics CO., LTD 希美埃（芜湖）机器人技术有限公司 the situation of the corrugated pipe rupture or is going to broken, in the work of the robot, this kind of situation is not allowed. If the above situation, we'd better change the corrugated tube early (can be replaced without production), replace the steps of: (1) identify the pipes toreplace all the cables in the package, loosen the cable joint or the joint;...
  • Page 74 CMA (WuHu) Robotics CO., LTD 希美埃（芜湖）机器人技术有限公司 (2) Security carpet or photoelectric switch should be set on the floor, so that when operators come into the scope of the robot's motion , the buzzer and photoelectric switch sounds alarm to allow the robot stop movement, in order to ensure the safety of the operator.
  • Page 75 CMA (WuHu) Robotics CO., LTD 希美埃（芜湖）机器人技术有限公司 Fig 4.9 maintenance area 图 4.9 维护及使用区域...

  • Page 76: Chapter 5-Handling And Installation

    CMA (WuHu) Robotics CO., LTD 希美埃（芜湖）机器人技术有限公司 Chapter 5-Handling and installation 第五章搬运及安装 5.1 Handling Robot 5.1 机器人搬运 5.1.1Handling Precautions 5.1.1 搬运注意事项 The following content is the robotic handling operations precautions. Please be aware of the following, the security operation： 下述内容是机器人搬运作业中的注意事项。请充分了解以下内容后，安全作业： Robots and handling operations must be carried out by personnel with control devices linked to the lifting operation, forklifts and other job qualifications.

  • Page 77: Transportmethod

    CMA (WuHu) Robotics CO., LTD 希美埃（芜湖）机器人技术有限公司 When handling and installation operations, should be taken to avoid damage to the wiring. In addition, after the end of the device is mounted, it should be taken stamped shields and other protective measures to avoid workers, forklifts and other damage to the wiring.

  • Page 78: Installation

    CMA (WuHu) Robotics CO., LTD 希美埃（芜湖）机器人技术有限公司 5.2 Installation 5.2 安装 5.2.1External Interface Dimensions 5.2.1 外部接口尺寸图 In figure 5.3 shows the robot base installation size, load is given in figure 5.4 5.5 installed flange size, figure 5.6 -5.9 is part of the installation size chart for external accessories.
  • Page 79 CMA (WuHu) Robotics CO., LTD 希美埃（芜湖）机器人技术有限公司 Fig 5.4 end load mounting flange dimensions (一) 图 5.4 末端负载安装法兰尺寸（一） Fig 5.5 end load mounting flange dimensions (二) 图 5.5 末端负载安装法兰尺寸（二）...
  • Page 80 CMA (WuHu) Robotics CO., LTD 希美埃（芜湖）机器人技术有限公司 2-M8 through 6-M8 depth12 Fig 5.6 the base part of J2 shaft assembly base on external dimensiondrawing 图 5.6 底座部分 J2 轴基座上安装外部件尺寸图 4-M8 depth16 Fig 5.7 big arms are installed on the external size chart 图...
  • Page 81 CMA (WuHu) Robotics CO., LTD 希美埃（芜湖）机器人技术有限公司 10-M8 depth8 Bottom barrier Fig 5.8 motor block installed on the external size chart 图 5.8 电机座上安装外部件尺寸图 Fig 5.9 lower lever installed on the external dimension drawing 图 5.9 小臂杆上安装外部件尺寸图 Fig 5.10 forearm extension rod is installed on the external size chart 图...
  • Page 82 CMA (WuHu) Robotics CO., LTD 希美埃（芜湖）机器人技术有限公司 Table 5.1External interface size table External Interface size robot As shown in FIG. Remark Robot base size Figure 5.3 robot base size End load mounting flange dimensions Figure 5.4、5.5 End load mounting flange dimensions The base part of J2 shaft assembly base Figure 5.6 External mounting dimensions...

  • Page 83: Installation Specifications And Environmental Conditions

    CMA (WuHu) Robotics CO., LTD 希美埃（芜湖）机器人技术有限公司 2） 机器人手腕末端法兰是参考国家标准的标准接口， 此处接口机器人本身只提供接口尺寸。 （请 用户自行联系末端连接件如焊钳厂家进行相关连接） 3）机器人管线包对于机器人本身只提供马达电缆线和编码器线管线包，水气管部分、应用部分 等请用户根据应用方案进行设计装配或另付费由我方提供。 5.3 Installation specifications and environmental conditions 5.3 安装规范及环境条件 Table 5.2 Installation Specification Specification pressure 0.49-0.69MPA pressure Airflow Maximum peak：150N1/min Weight machines About600KG Gas copies Non-corrosive gases Vibration Less than0.5G，4.9m/s 表...

  • Page 84: Appendix

    CMA (WuHu) Robotics CO., LTD 希美埃（芜湖）机器人技术有限公司 相对湿度 40%～90％（40℃） ≤93％（40 ℃） 大气压力 86kPa～106kPa NOTE: For a robot to be used, if there is a strong environment of use vibration, dust a lot, cutting oil splash, or other object, please contact your service personnel robot sets or other means to protect the robot parts.

  • Page 85: B Spare Parts Listb 备件清单

    CMA (WuHu) Robotics CO., LTD 希美埃（芜湖）机器人技术有限公司 B Spare parts list B 备件清单 Table 1 Motor Name Model Specifications Number of single Remark 10900018806 J1 axis motor 10900018807 J2 axis motor 10900018808 J3 axis motor J4, J5 ,J6axis 10900018809 motor 表 1 马达 名称...
  • Page 86 CMA (WuHu) Robotics CO., LTD 希美埃（芜湖）机器人技术有限公司 Table 3Gear Name Drawing No. Number of Use the site single J1axis motor gear SN60AL107AA0 The base unit J2axis motor gear SN65AE107AA0 The base unit J3axis motor gear SN60AN107AA0 Arm parts J4axis motor gear ER16LA-C20-03-04A Arm parts J5axis motor gear...
  • Page 87 CMA (WuHu) Robotics CO., LTD 希美埃（芜湖）机器人技术有限公司 Table 6 Reducer Name Model Specifications Number of Use the site single J1axis Reducer 10800000005 The base unit J2 axis Reducer 10800000006 The base unit J3 axis Reducer 10800000007 Arm parts J4 axis Reducer 10800000008 Arm parts J5 axis Reducer...
  • Page 88 希美埃（芜湖）机器人技术有限公司 CMA (WuHu) Robotics CO.,LTD 中国安徽省芜湖市 鸠江经济开发区万春东路 96 号 No.96,East Wanchun Road,Jiujiang Zone, Wuhu, Anhui,China 电话(TEL)：+86（0）553-5670660 全国免费服务热线：400-052-8877 WWW.CMAROBOTICS.COM...

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