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HSR JH605-1500 Operation & Maintenance Manual

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HSR-JH605-1500
机械操作维护手册
Mechanical Operation Maintenance Manual
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Summary of Contents for HSR JH605-1500

  • Page 1 HSR-JH605-1500 机械操作维护手册 Mechanical Operation Maintenance Manual...
  • Page 2 本说明书的更新事宜，由华数机器人有限公司授权并组织实施。未经本公司授权或书面许可， 任何单位和个人无权对本说明书内容进行修改或更正，本公司概不负责由此而造成的客户损失。 The update of this manual is authorized and organized by Huashu Robot Co., Ltd. Without the authorization or written permission of the company, no unit or individual has the right to modify or correct the content of this manual, and the company is not responsible for the customer losses caused thereby.

  • Page 3: Table Of Contents

    目录 Content 引言 Introduction ............................1 安全 Safety ............................3 机器人安全须知 Robot Safe Use Instructions ................3 1.1.1 调整、操作、保全等作业时的安全注意事项 Safety precautions during Adjustment, Operation, Preservation, etc......................3 1.1.2 机器人本体的安全对策 Security Countermeasures of Robot Body........ 7 机器人的转移、转让、变卖 Transport, Transfer or Sell the Robot ........13 机器人的废弃...
  • Page 4 电气连接 Electrical connections ....................45 2.7.1 本体与控制柜连接 Connection between the main body and the control cabinet ..46 2.7.2 本体接地 grounding......................47 2.7.3 信号线和气管 Signal line and trachea ................48 机器人外部走线管线包 Robot external wiring pipeline package ..........49 检修及维护 Overhaul and Maintenance ..................50 维修检验项目及周期...

  • Page 5: 引言 Introduction

    Thank you for purchasing Huashu Robot. 本说明书介绍了 HSR-JH605-1500 工业机器人的机械操作维护， 是用户快速学习和使用的基本说明 书。 This manual introduces the mechanical operation and maintenance of HSR-JH605-1500 industrial robot, which is a basic manual for users to learn and use quickly. 在使用机器人之前，请仔细阅读本手册及其他相关手册，务必理解并熟悉手册中所说明的内容。 Before using the robot, please read this manual and other relevant manuals carefully, and be sure to understand and familiarize yourself with the content described in the manual.
  • Page 6 HSR-JH605-1500-机械操作维护手册 HSR-JH605-1500- Mechanical Operation Maintenance Manual 表示处理有误时，会导致使用者死亡或者负重伤的情形。 It indicates that improper handling can cause death or serious injury to the user, and the risk is very high. 表示处理有误时，会导致使用者轻伤或发生财产损失的情形。 It indicates that improper handling will cause minor injury or property loss to the user.

  • Page 7: 安全 Safety

    HSR-JH605-1500-机械操作维护手册 HSR-JH605-1500- Mechanical Operation Maintenance Manual 1 安全 Safety 工业机器人符合现行安全技术规定。尽管如此，违规操作可能会造成人身伤害，机器人或其他设 备损坏。 The industrial robot complies with current safety technical regulations. Even though, operations against these regulations can result in personal injury, damage to the robot or other equipment. 只允许在机器人完好的状态下按规定且有安全意识地使用工业机器人。必须遵守本说明书使用机 器人，必须及时排除有安全隐患的故障。...
  • Page 8 HSR-JH605-1500-机械操作维护手册 HSR-JH605-1500- Mechanical Operation Maintenance Manual (3) 机器人处于自动模式时，不允许任何人员进入机器人运动所及范围。 When the robot is in Automatic Mode, no personnel should enter the robot's motion range. (4) 必须切断电源后，方可进入机器人的动作范围内进行作业，并且必须随身携带示教器，避免他人 误操作。 Must cut off power supply before operators enter the robot's motion range. The teaching device should also be carried with in case mis operation by others.
  • Page 9 HSR-JH605-1500-机械操作维护手册 HSR-JH605-1500- Mechanical Operation Maintenance Manual The robot is equipped with various self-diagnosis and abnormal detection functions, so it can stop safely after an abnormal occurs. Even so, accidents caused by robots still happen. 机器人事故以下列情况居多： Those conditions prevail in robot accidents: (1) 未确认机器人的动作范围内是否有人，就执行了自动运转。...
  • Page 10 HSR-JH605-1500-机械操作维护手册 HSR-JH605-1500- Mechanical Operation Maintenance Manual (4) 因噪声、故障、缺陷等原因导致异常动作。 Abnormal actions due to noise, failure, defects, etc. (5) 误操作。 Mis-operation. (6) 原想以低速再生执行动作，却执行了高速动作。 Has intended to perform the action at a low speed, but execute the high speed action. (7) 机器人搬运的工件掉落、散开。 The workpiece carried by the robot fall and fall apart.

  • Page 11: 机器人本体的安全对策 Security Countermeasures Of Robot Body

    HSR-JH605-1500-机械操作维护手册 HSR-JH605-1500- Mechanical Operation Maintenance Manual 机器人动作期间，请配置可立即按下紧急停止按钮的监视人（第三者），监视 安全状况。 During robot action, please configure a monitor (a third party) who can immediately press the Emergency Stop button to monitor the security situation. 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。 The robot must be operated in a condition that the Emergency Stop button can be pressed at any time during its action.
  • Page 12 HSR-JH605-1500-机械操作维护手册 HSR-JH605-1500- Mechanical Operation Maintenance Manual not allowed to be operated. 在末端执行器及机械臂上安装附带机器时，应严格遵守本书规定尺寸、数量的 螺栓，使用扭矩扳手按规定扭矩紧固。 When install the attached machine to the end effector or manipulator arm, please strictly comply with this manual and use bolt of the size and quantity exactly specified in this manual and tighten it with torque wrench at specified torque.
  • Page 13 HSR-JH605-1500-机械操作维护手册 HSR-JH605-1500- Mechanical Operation Maintenance Manual 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。 Supplying off-specification power, compressed air, welding cooling water is forbidden because this will affect the motion performance, cause abnormal action or dangerous situations like failures, damages, etc. 电磁波干扰虽与其种类或强度有关，但以当前的技术尚无完善对策。机器人操 作中、通电中等情况下，应遵守操作注意事项规定。由于电磁波、其它噪声以 及基板缺陷等原因，会导致所记录的数据丢失。 Although electromagnetic wave interference is related to its kind or intensity, there is no perfect countermeasure with current technology.
  • Page 14 HSR-JH605-1500-机械操作维护手册 HSR-JH605-1500- Mechanical Operation Maintenance Manual 产业用机器人手势法（示例） Industrial Robot Gestures (Sample) 1.接通 Power on 做出接通开关的动作。 Make a posture to switch on. 2.不行！断开 No! Power-off 右手高举，左右大力地挥动。 Raise your right hand high and wave it vigorously. 3.可以吗（确认） Is that OK? (to confirm) 右手向前高高地举起。...
  • Page 15 HSR-JH605-1500-机械操作维护手册 HSR-JH605-1500- Mechanical Operation Maintenance Manual 作业人员在作业中，也应随时保持逃生意识。 Operators should always be ready to escape from danger during operation. 必须确保在紧急情况下，可以立即逃生。 So they can escape from danger in case of emergency. 时刻注意机器人的动作，不得背向机器人进行作业。 Always focus on the action of robot and can't operate back to the robot.
  • Page 16 HSR-JH605-1500-机械操作维护手册 HSR-JH605-1500- Mechanical Operation Maintenance Manual 不需要使机器人动作和操作时，请切断电源后再执行作业。 When the robot is not required to move or act, please cut off power supply to continue the operation. 示教时，应先确认程序号码或步骤号码，再进行作业。 Before teaching, confirm the number of program or steps, then continue the operation.

  • Page 17: 机器人的转移、转让、变卖 Transport, Transfer Or Sell The Robot

    HSR-JH605-1500-机械操作维护手册 HSR-JH605-1500- Mechanical Operation Maintenance Manual After the teaching operation completed, should operate cleaning and make sure all tools have been taken. Oil pollution in operation area or left tools will cause accidents like slipping. 确保安全首先从整理整顿开始。 Ensure safety from cleaning up.

  • Page 18: 机器人的废弃 Discard Robot

    HSR-JH605-1500-机械操作维护手册 HSR-JH605-1500- Mechanical Operation Maintenance Manual 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。 When transport, transfer or sell the robot abroad, the client must take the responsibility to prepare operation and maintenance manuals in proper language and alter the display language, and make sure to comply with local regulations.
  • Page 19 HSR-JH605-1500-机械操作维护手册 HSR-JH605-1500- Mechanical Operation Maintenance Manual discard them directly without further decomposition. Or the hand or eyes may get injured by conductor, etc. 进行废弃作业时，请充分注意不要被夹伤、受伤。 Please pay full attention to avoiding clamping or injury during discarding operation. 废弃品应在安全状态下废弃。 The discarded article should be discarded in a safe condition.

  • Page 20: 基本说明 Basic Explanation

    2 基本说明 Basic Explanation 2.1 型号规格说明 Explanation of Type and Specification 公司机器人型号说明如下： Explanation of Type: HSR – X X X X X – X X X X / X X 机器人特性、特殊行业代号（首拼）： Robot characteristics, special industry code (first spelling) DM-打磨 polish，PT-喷涂 paint，ZZ-铸造 foundry ，...

  • Page 21: 机械系统的组成 Mechanical System Composition

    HSR-JH605-1500-机械操作维护手册 HSR-JH605-1500- Mechanical Operation Maintenance Manual 2.2 机械系统的组成 Mechanical System Composition 本节介绍华数机器人本体的组成部分。 This section focuses on the composition of Huashu robot. 机器人机械系统是指机械本体组成，机器人本体主要由底座、大臂、小臂、手腕等构成，其相关 关系见图 2.1 机器人系统组成图，详细细节图见图 2.1-2.7。 Robot mechanical system refers to the basic machine composition of the robot body, including pedestal, big arm, forearm, wrist, etc., see Diagram 2.1 for its system composition relations, See Figure 2.1-2.7 for...
  • Page 22 HSR-JH605-1500-机械操作维护手册 HSR-JH605-1500- Mechanical Operation Maintenance Manual 图 2-2 底座 Diagram 2.2 Pedestal 图 2.3 大臂 Diagram 2.3 Big arm 图 2-4 小臂 Diagram 2.4 Forearm - 18 -...
  • Page 23 HSR-JH605-1500-机械操作维护手册 HSR-JH605-1500- Mechanical Operation Maintenance Manual 图 2-5 手腕 Diagram 2.5 Wrist 图 2-6 末端法兰 Diagram 2.6 End flange 图 2.7 铭牌 Diagram 2.7 Data plate - 19 -...

  • Page 24: 机械性能参数 Mechanical Performance Parameter

    HSR-JH605-1500-机械操作维护手册 HSR-JH605-1500- Mechanical Operation Maintenance Manual 2.3 机械性能参数 Mechanical Performance Parameter 本节介绍机器人的性能参数，如机器人运动范围、速度、可达空间等。 This section introduces the performance parameters of the robot, such as motion range, speed, reachable space, etc. 2.3.1 相关性能参数 Performance Parameter 表 2-1 机器人性能参数 Table 2.1 Robot Performance Parameter 型号...

  • Page 25: 工作半径及运动范围 Working Radius And Motion Range

    Ground, upside-down and side mounted Assembly position installation 本体重量 185Kg weight 2.3.2 工作半径及运动范围 Working Radius and Motion Range 表 2.2 HSR-JH605-1500 单轴运动范围 Table 2.2 HSR-JH605 motion range for each joint 零点（°） HSR-JH605-1500 Zero （°） ±170° -175°/+60° +6°/ +270° ±180° -120°/+150°...
  • Page 26 HSR-JH605-1500-机械操作维护手册 HSR-JH605-1500- Mechanical Operation Maintenance Manual 图 2.8 HSR-JH605-1500 机器人工作空间 Diagram 2.8 HSR-JH605-1500 robot work space - 22 -...

  • Page 27: 搬运和存放 Handling And Storage

    This section introduces unpacking, handling and related precautions of the robot, and in principle, crane or forklift should be used for robot handling. During the transport and storage of HSR-JH605-C30 industrial robot, proper preventive measures should be taken; it should be transported and stored within the temperature range of -25℃...
  • Page 28 HSR-JH605-1500-机械操作维护手册 HSR-JH605-1500- Mechanical Operation Maintenance Manual 不要强制扳动、悬吊、骑坐机器人。 Don't wrench, suspend or sit on the robot. 图 2.9 包装示意图 Diagram 2.9 Packaging diagram - 24 -...
  • Page 29 HSR-JH605-1500-机械操作维护手册 HSR-JH605-1500- Mechanical Operation Maintenance Manual Robot Welding Machine Transport support frame tray 图 2.10 机器人状态示意图 Diagram 2.10 Robot states diagram 机器人在上电运动前应拆除运输支撑架。 The robot should dismantle the transport support frame before powering on the movement - 25 -...

  • Page 30: 搬运 Handling

    HSR-JH605-1500-机械操作维护手册 HSR-JH605-1500- Mechanical Operation Maintenance Manual 2.4.2 搬运 Handling 起吊重量约 185kg（不含外设、搬运固定夹具及托盘），请选用承重能力足够大 的叉车或起重机及足够强度的吊绳。 The lifting weight is about 185kg (excluding peripherals, handling fixtures and pallets), please choose a forklift or crane with a large enough load-bearing capacity and a lifting rope with sufficient strength.
  • Page 31 HSR-JH605-1500-机械操作维护手册 HSR-JH605-1500- Mechanical Operation Maintenance Manual When lift the robot, hold it with hands to ensure balance. Robot may fall due to unstable lifting can cause serious injury or major damage, it is very dangerous. 使用用搬运固定夹具搬运时使用完成后务必将其拆卸。 When using the carry-on fixture, be sure to disassemble it after use.
  • Page 32 HSR-JH605-1500-机械操作维护手册 HSR-JH605-1500- Mechanical Operation Maintenance Manual center of gravity tray M16 screw Spring washer Flat washer 图 2.11 搬运时机器人姿势 Diagram 2.11 Robot posture during handling 图 2.12 使用叉车搬运 Diagram 2.12 Handle by a forklift - 28 -...
  • Page 33 HSR-JH605-1500-机械操作维护手册 HSR-JH605-1500- Mechanical Operation Maintenance Manual 使用行车（起重机）搬运，先设置机器人姿势（同表 2.3），然后在机器人底座上安装 4 只吊环螺 栓（M12），用钢索起吊，应在钢索与机器人主体接触的部位套上橡胶软管等进行保护，并注意钢索 不能与电机及管线包接触，如图 2.13。吊装时注意机器人重心靠上或者不平倾覆问题。 When handling by a crane, first adjust the position of robot（Diagram 2.3）, then fix 4 eyebolts (M12) at the pedestal of the robot, and protect the connecting part of the tightwire and robot with rubber hoses and foam blocks;...

  • Page 34: 安装 Installation

    HSR-JH605-1500-机械操作维护手册 HSR-JH605-1500- Mechanical Operation Maintenance Manual 2.5 安装 Installation 本节介绍机器人的安装及其注意事项、机器人的安装示例、安装环境等。 The section introduces the installation and related notices, practices for installation, the installation environment, etc. 机器人使用设置安全围栏，否则可能发生人身伤害、设备损坏等事故。 Set safety fence for robot operation, or accidents like body injury, equipment damage may occur.

  • Page 35: 安全围栏 Safety Switch

    HSR-JH605-1500-机械操作维护手册 HSR-JH605-1500- Mechanical Operation Maintenance Manual 2.5.1 安全围栏 Safety Switch 应该遵守中华人民共和国国家标准 GB11291.2-2013 《机器人与机器人装备 工业机器人的安全要 求 第 2 部分：机器人系统与集成》中 5.4 机器人运动限制规定“机器人设备的设计和集成，应减少人 员可能暴露于危险中的情况”。5.4.2 建立安全防护空间和限定空间规定“应通过周边防护来建立安全 防护空间。建立安全防护空间应充分考虑机器的位置和布局以及安全防护空间内的危险”。5.5.2 干预 通道“需要手动高速方式的任务，提供的最小间隙应为 0.5m”。5.10 安全防护规定“当设计不能去除 危险或不能充分降低危险时，那么应应用安全防护。到危险区域的通道应被安全防护装置保护，如防 护装置和保护装置”。 It should comply with the National Standard of the People's Republic of China GB11291.2-2013 "Robots and Robot Equipment - Safety Requirements for Industrial Robots Part 2: Robot Systems and Integration"...
  • Page 36 HSR-JH605-1500-机械操作维护手册 HSR-JH605-1500- Mechanical Operation Maintenance Manual surrounding environment; (2) 安全围栏的出入口尽量少，有可能的情况下尽量只留一个，并设置带锁的安全门，防止无关人员 随意进入，造成人身伤害； The entrances and exits of the safety fence should be as few as possible, and only one should be left as much as possible if possible, and a locked safety door should be set up to prevent unrelated personnel from entering at will and causing personal injury;...
  • Page 37 HSR-JH605-1500-机械操作维护手册 HSR-JH605-1500- Mechanical Operation Maintenance Manual Robot motion range Electric control Welding Machine cabinet Locked door 图 2.15 安全范围 Diagram 2.15 Safe range - 33 -...

  • Page 38: 安装环境 Installation Environment

    HSR-JH605-1500-机械操作维护手册 HSR-JH605-1500- Mechanical Operation Maintenance Manual 2.5.2 安装环境 Installation Environment 机器人的安装对其功能的发挥十分重要，机器人安装环境如下： Installation environment is of great importance to robot performance, and the installation environment is as follows: (1) 安装面的平面度在 0.5mm 以内； Flatness deviation of installation surface subject to 0.5mm; (2) 环境温度 0°～45°；...

  • Page 39: 机器人安装及固定尺寸 Robot Installation And Fixing Dimension

    HSR-JH605-1500-机械操作维护手册 HSR-JH605-1500- Mechanical Operation Maintenance Manual 2.5.3 机器人安装及固定尺寸 Robot Installation and Fixing Dimension 图 2.16 机器人安装尺寸分布图 Diagram 2.16 Robot Installation and Fixing Dimension - 35 -...
  • Page 40 HSR-JH605-1500-机械操作维护手册 HSR-JH605-1500- Mechanical Operation Maintenance Manual 末端法兰安装尺寸，图 2.17 End flange installation dimension, see Diagram 2.17 附属设备安装区域 I，图 2.18 Installation area I for accessory equipment, see Diagram 2.18 附属设备安装区域 II，图 2.19 Installation area II for accessory equipment, see Diagram 2.19 附属设备安装区域Ⅲ，图 2.20 Installation area Ⅲ...
  • Page 41 HSR-JH605-1500-机械操作维护手册 HSR-JH605-1500- Mechanical Operation Maintenance Manual 图 2.18 附属设备安装区域 I Diagram 2.18 Installation area I for accessory equipment 图 2.19 附属设备安装区域Ⅱ Diagram 2.19 Installation area II for accessory equipment - 37 -...
  • Page 42 HSR-JH605-1500-机械操作维护手册 HSR-JH605-1500- Mechanical Operation Maintenance Manual 图 2.20 附属设备安装区域Ⅲ Diagram 2.20 Installation area Ⅲ for accessory equipment 图 2.21 机器人底座安装尺寸 Diagram 2.21 Installation dimension for robot pedestal - 38 -...

  • Page 43: 安装举例 Installation Practice

    HSR-JH605-1500-机械操作维护手册 HSR-JH605-1500- Mechanical Operation Maintenance Manual 图 2.22 附属设备安装区域Ⅳ Diagram 2.22 Installation area Ⅳ for accessory equipment 2.5.4 安装举例 Installation Practice 机器人的安装固定 Installation and fixing of robot 机器人加减速时，在底座的所有方向都会产生较大的反作用力。因此安装机器人时基座必须具有 足够的强度和刚度。 Robot acceleration or deceleration will generate a large reacting force in all directions of the pedestal. So the pedestal must possess sufficient intensity and rigidity during the robot installation.
  • Page 44 HSR-JH605-1500-机械操作维护手册 HSR-JH605-1500- Mechanical Operation Maintenance Manual 机器人安装于基座 install the robot on the baseboard M16 screw Spring washer Flat washer Robot Robot installation 图 2.23 机器人安装举例 Diagram 2.23 Installation practice for robot 机器人安装在安装座上，安装座应具有足够的强度，同时安装座与地面连接时地面应平整无凹凸 不平和龟裂。安装时应注意自身安全及机器人倾覆。 Install the robot on the installation seat, which should possess sufficient intensity, and the ground connecting the seat should be flat, without bumps or cracks.
  • Page 45 HSR-JH605-1500-机械操作维护手册 HSR-JH605-1500- Mechanical Operation Maintenance Manual 机器人倒挂安装 install the robot upside down Fall protection M16 screw 、Spring washer、Flat washer 图 2.24 机器人倒挂安装举例 Diagram 2.24 Practice for inverted installation 机器人倒挂或侧挂时除了采用螺钉固定，必要时增加定位销及防坠落架提高安全性。同时，机器 人在吊装、安装时严禁以小臂、手腕受力进行吊装搬运，机器人小臂、手腕受力过大会导致机器人损 坏。倒挂或侧挂安装在安装及拆卸时应注意人身安全，以防出现碰伤、压伤等事故。 During inverted or side-hanging installation, fix the robot with screws, add positioning bolt and fall prevention device if necessary to improve the safety.
  • Page 46 HSR-JH605-1500-机械操作维护手册 HSR-JH605-1500- Mechanical Operation Maintenance Manual During the installation or dismantling of side-hung or inverted robot, take care of personal safety so as to avoid any injury by hitting or pressing. 附属设备的安装 Installation of accessory equipment Wire feeder Wire feeder mounting...

  • Page 47: 机器人负荷允许值 Allowable Robot Load

    HSR-JH605-1500-机械操作维护手册 HSR-JH605-1500- Mechanical Operation Maintenance Manual and fixing dimensions; 若有不明处或需相关技术支持请用户联系我司。 Please contact us for any doubt or technical supports. 2.6 机器人负荷允许值 Allowable robot load 本节重点介绍机器人载荷。在选用机器人时若相关负载、转矩、惯量超过容许值请选用更大负载 机器人或咨询我司。 This section focuses on robot load. Where the relevant robot, torque, inertia exceeds the allowable value, please choose robot with larger load or consult our company.
  • Page 48 HSR-JH605-1500-机械操作维护手册 HSR-JH605-1500- Mechanical Operation Maintenance Manual 能下降、损坏等情况。用户负载超出该值使用时请与我司联系，我司可根据工况进行评估降低风险， 防止出现不必要的损失。 Note: the allowable carrying weight is the allowable rated load of the robot under the rated configuration; if the value is exceeded, the robot may suffer from performance degradation or damage, etc. Contact us when the user load exceeds that value, and we can evaluate and mitigate the risks according to the working condition, so as to prevent unnecessary losses.

  • Page 49: 电气连接 Electrical Connections

    HSR-JH605-1500-机械操作维护手册 HSR-JH605-1500- Mechanical Operation Maintenance Manual （4）机器人负载图 Robot load diagram HSR-JH610-1500 图 2.26 HSR-JH605-1500 机器人负荷图 Diagram 2.26 HSR-JH605-1500 robot work load diagram =√X 注：Z 向为末端法兰轴向方向；L 。 Note: Z direction is the axial direction of the end flange; L =√X 2.7 电气连接 Electrical connections 本节重点介绍机器人的电气连接准备工作，包括机器人本体与控制柜之间的连接，机器人本体接...

  • Page 50: 本体与控制柜连接 Connection Between The Main Body And The Control Cabinet

    HSR-JH605-1500-机械操作维护手册 HSR-JH605-1500- Mechanical Operation Maintenance Manual between the robot body and the control cabinet, the grounding of the robot body, the external I/O and trachea description of the robot, etc. 2.7.1 本体与控制柜连接 Connection between the main body and the control cabinet 机器人本体铭牌号务必与控制柜铭牌号匹配，铭牌号匹配错误将导致机器人精...

  • Page 51: 本体接地 Grounding

    HSR-JH605-1500-机械操作维护手册 HSR-JH605-1500- Mechanical Operation Maintenance Manual 2.7.2 本体接地 grounding 机器人底座位置有 M8 接地螺丝孔，用于连接地线接地端子。 There is an M8 grounding screw hole at the base of the robot for connecting the grounding terminal. 接通控制柜电源之前，请将本体可靠接地。尚未连接地线的情况下，有触电危 险。 Before turning on the power supply of the control cabinet, please reliably ground the main body.

  • Page 52: 信号线和气管 Signal Line And Trachea

    HSR-JH605-1500-机械操作维护手册 HSR-JH605-1500- Mechanical Operation Maintenance Manual 2.7.3 信号线和气管 Signal line and trachea 机器人提供了从底座通往小臂的电气信号和气管通路，用于供应末端执行机构的使用。 The robot provides an electrical signal from the base to the forearm and tracheal access for the use of the end-effector. 24 pin I/O plug 4 pin I/O plug Φ8 gas connector...

  • Page 53: 机器人外部走线管线包 Robot External Wiring Pipeline Package

    Figure 2.30 or consult our company, please refer to 2.5.3 Robot installation and fixed size for installation size, or design the installation size according to your own needs. 图 2.30 HSR-JH605-1500 机器人外部走线示意图 Diagram 2.30 Schematic diagram of robot external wiring - 49 -...

  • Page 54: 检修及维护 Overhaul And Maintenance

    HSR-JH605-1500-机械操作维护手册 HSR-JH605-1500- Mechanical Operation Maintenance Manual 3 检修及维护 Overhaul and Maintenance 本章介绍机器人的检修、维护，为客户对机器人的维护提供指导。 This section focuses on the overhaul and maintenance of the robot and provide guidance for clients. 为了使机器人能够长期保持较高的性能，必须进行维修检查。 In order to maintain the effective performance of the robot in the long term, maintenance and overhaul must be carried out.

  • Page 55: 维修检验项目及周期

    HSR-JH605-1500-机械操作维护手册 HSR-JH605-1500- Mechanical Operation Maintenance Manual 维修、检修、保养作业必须在确认周围安全、确保躲避危险所必须的通道和场 所的前提下安全地进行作业。 Repairing, overhaul and maintenance must be operated after confirming the surrounding safety, ensuring the necessary escape-way and shelter clear to escape from danger. 进行维修检修的人员必须是由接受过特殊指导教育或法律规定时间的教育，熟 知相关内容的人员担任。 Repairing and overhaul personnel must have received special instruction and education or be familiar with the relevant contents within the time specified by law.
  • Page 56 HSR-JH605-1500-机械操作维护手册 HSR-JH605-1500- Mechanical Operation Maintenance Manual 检修间隔 Overhaul Interval 检修处理内容 检修部位 方法 Overhaul 间隔 间隔 间隔 间隔 间隔 Overhaul Part Method 日常 Content Interval Interval Interval Interval Interval Daily 1000h 6000h 12000h 24000h 36000h 目测 零点是否丢失 Visual Check the 原点标记...

  • Page 57: 主要螺栓的检修 Overhaul Of Main Bolt

    HSR-JH605-1500-机械操作维护手册 HSR-JH605-1500- Mechanical Operation Maintenance Manual 检查皮带张紧力 同步带 手触 及摩擦程度 ● Synchronous Hand Check belt belt touch tension and friction 电池组*1 示教器显示报警 ● Battery Teaching device pack*1 display alarm 检测有无异常 （异响、 震动等） Check for any 各轴减速机 ● Each joint abnormality...

  • Page 58: 润滑油的检查及更换 Check And Replacement Of Lubricant

    HSR-JH605-1500-机械操作维护手册 HSR-JH605-1500- Mechanical Operation Maintenance Manual Check Part Check Part J4 轴马达安装用 机器人安装用 for robot installation for J4 joint motor installation J1 轴马达安装用 J5 轴马达安装用 for J1 joint motor installation for J5 joint motor installation J2 轴马达安装用 手腕部件安装用 for J2 joint motor installation for wrist part installation J3 轴马达安装用...

  • Page 59: 润滑油供给量 Lubricant Supply Amount

    HSR-JH605-1500-机械操作维护手册 HSR-JH605-1500- Mechanical Operation Maintenance Manual gun (with oil confirming and counting function) J1 轴油口位置，参考章节 3.3.4，图 3.1 J1 port position, refer to Chapter 3.3.4, see Diagram 3.1 J2 轴油口位置，参考章节 3.3.4，图 3.2 J2 port position, refer to Chapter 3.3.4, see Diagram 3.2 J3 轴油口位置，参考章节...

  • Page 60: 润滑油添加时机器人位姿 Robot Pose During Lubricant Addition

    HSR-JH605-1500-机械操作维护手册 HSR-JH605-1500- Mechanical Operation Maintenance Manual 急速上油会引起油 仓内压力上升，使 J1 轴减速机 850CC G1/4 密封圈开裂，而导 J1 joint reducer 致润滑油渗漏，供 油速度应控制在 40cc/10 秒以下。 机器人减速机 The oil supply speed 专用润滑脂 J2 轴减速机 550cc G1/4 robot reducer should be controlled J2 joint reducer lubricating below 40cc/10...
  • Page 61 HSR-JH605-1500-机械操作维护手册 HSR-JH605-1500- Mechanical Operation Maintenance Manual complemented by the following regulations. 混用不同油品可能导致减速机严重受损。加注减速机润滑油时，请勿混用不同 油品，说明中另有规定的除外。只能使用制造商指定油品类型。 Mixing different lubricant can cause serious damage to reducer. When fill lubricant to the reducer, do not mix different oil products, unless otherwise specified in the instructions. Use only the type of oil specified by the manufacturer.
  • Page 62 HSR-JH605-1500-机械操作维护手册 HSR-JH605-1500- Mechanical Operation Maintenance Manual be completely removed to prevent accidents caused by the workers' sliding. 减速机润滑油更换油口位置及步骤： Port position and steps to replace the reducer lubricant J1 轴油脂补充与更换（参考图 3.1） Joint J1 lubricant feed and replacement (refer to Diagram 3.1)
  • Page 63 HSR-JH605-1500-机械操作维护手册 HSR-JH605-1500- Mechanical Operation Maintenance Manual drained(the drained oil should be caught and collected in the waste oil tank),The injection pressure shall not exceed 0.03Mpa, and the factory air source shall not be directly used as the fuel gun power. If the amount of oil injected exceeds the amount of oil drained, the extra oil can be remove by moving joint J1 with the plug removed.
  • Page 64 HSR-JH605-1500-机械操作维护手册 HSR-JH605-1500- Mechanical Operation Maintenance Manual 压力不得超过 0.03Mpa，不能直接使用工厂气源作为油枪动力。若注油油量大于排油油量，可在 未安装堵头情况下运动 J2 轴排除多余油脂。 Use the oil gun to fill oil from the filling port, the amount of oil injected equals the amount of oil drained(the drained oil should be caught and collected in the waste oil tank),The injection pressure shall not exceed 0.03Mpa, and the factory air source shall not be directly used as the fuel gun...
  • Page 65 HSR-JH605-1500-机械操作维护手册 HSR-JH605-1500- Mechanical Operation Maintenance Manual 压力不得超过 0.03Mpa，不能直接使用工厂气源作为油枪动力。若注油油量大于排油油量，可在 未安装堵头情况下运动 J3 轴排除多余油脂。 Use the oil gun to fill oil from the filling port, the amount of oil injected equals the amount of oil drained(the drained oil should be caught and collected in the waste oil tank The injection pressure shall not exceed 0.03Mpa, and the factory air source shall not be directly used as the fuel gun...

  • Page 66: 电池更换 Replace Battery

    HSR-JH605-1500-机械操作维护手册 HSR-JH605-1500- Mechanical Operation Maintenance Manual Open the oil inlet plug of the residual pressure shaft in the grease tank to be released, and install a recovery bag under the oil outlet to prevent the outgoing grease from scattering. (2) 启动机器人，调入机器人跑单轴最大运动范围的单轴运动程序，使其在满载、100%速度的工况下...
  • Page 67 HSR-JH605-1500-机械操作维护手册 HSR-JH605-1500- Mechanical Operation Maintenance Manual doubt. 更换电池前请将机器人回零，防止更换电池后零点丢失。 To avoid zero loss, please return the robot to zero before replacing battery. 安装盖板时，注意不要挤压电缆。 Be care not to squeeze the cable when install the cover plate. Screw M4×10 Battery Battery seal plate 图...

  • Page 68: 零点校对 Zero Calibration

    This section focuses on the zero reference position in case of zero loss of robot, The robot has done the mechanical zero proofreading before it leaves the factory. In case the robot loses zero position due to fault, the robot needs to be re-calibrated to the mechanical zero. For zero calibration of standard robot HSR-JH605, Refer to Diagram 3.6.
  • Page 69 HSR-JH605-1500-机械操作维护手册 HSR-JH605-1500- Mechanical Operation Maintenance Manual J4 joint zero J5 joint zero J3 joint zero J6 joint zero J2 joint zero J1 joint zero 图 3.6 校零图 Diagram 3.6 zero calibration - 65 -...

  • Page 70: 故障处理 Failure Treatment

    HSR-JH605-1500-机械操作维护手册 HSR-JH605-1500- Mechanical Operation Maintenance Manual 4 故障处理 Failure Treatment 4.1 调查故障原因的方法 Methods to Investigate Reasons of Failure 机器人设计上必须达到即使发生异常情况， 也可以立即检测出异常， 并立即停止运行。 即便如此， 由于仍然处于危险状态下，绝对禁止继续运行。 The robot design must meet the following requirement: the abnormality can be detected immediately as it occurs and the robot is stopped. Even so, running is forbidden because the robot is still in danger.
  • Page 71 HSR-JH605-1500-机械操作维护手册 HSR-JH605-1500- Mechanical Operation Maintenance Manual contact security operator with prescribed training, and let them to investigate reason and repair. Besides, these content should be added into the operation regulations, and establish a complete system that can be effectively implemented. Or the accidents can occur.

  • Page 72: 故障现象和原因 Failure Phenomenon And Causes

    HSR-JH605-1500-机械操作维护手册 HSR-JH605-1500- Mechanical Operation Maintenance Manual 判明出现问题的部件后，按 4.3 所示方法进行处理。当弄不清原因，又不知道如何采取对策时， 请联系本公司服务部门。 After define the failure part, process it with methods in figure 4.3. When the cause is unclear and it is unclear how to take countermeasures, please contact our company's service department.

  • Page 73: 各个零部件的检查方法及处理方法 Check Method And Treatment For Each Part

    HSR-JH605-1500-机械操作维护手册 HSR-JH605-1500- Mechanical Operation Maintenance Manual [注 2]：动作时的振动现象。 [Note 2]: This phenomenon means vibration during action. [注 3]：停机时在停机位置周围反复晃动数次的现象。 [Note 3]:This phenomenon means repeated shaking at stop position. 4.3 各个零部件的检查方法及处理方法 Check Method and Treatment for Each Part 4.3.1 减速机 Reducer 减速机损坏时会产生振动、异常声音。此外，会妨碍正常运转，导致过载、偏差异常，出现异常...

  • Page 74: 电机 Motor

    HSR-JH605-1500-机械操作维护手册 HSR-JH605-1500- Mechanical Operation Maintenance Manual 请更换减速机。由于更换减速机比较复杂，需更换时请联系本公司服务部门。 Please replace the reducer. Due to the complexity of replacing reducer, please contact our company's service department if needed. 4.3.2 电机 Motor 电机异常时，会出现停机时晃动、运转时振动等动作异常现象。此外，还会出现异常发热和异常 声音等情况。由于出现的现象与减速机损坏时的现象相同，很难判定原因在哪里，因此，应同时进行 减速机和平衡缸部件的检查。 Abnormal motions like shaking when stopping or vibration during motion can be defined as motor abnormality.

  • Page 75: 附录 Appendix

    HSR-JH605-1500-机械操作维护手册 HSR-JH605-1500- Mechanical Operation Maintenance Manual 5 附录 Appendix 5.1 机器人备件目录 Spare parts of the robot 参考章节 名称 规格 编号 单位 数量 Referred Name Specification Unit Number chapter 编码器电池 encoder eve14505 个 battery 机器人减速机专用 减速机润滑脂 润滑脂 grease robot reducer lubricating grease 乐泰...
  • Page 76 HSR-JH605-1500-机械操作维护手册 HSR-JH605-1500- Mechanical Operation Maintenance Manual 螺钉安装及注意事项： Screw Installation and Precautions: (1) 安装前观察螺钉外观是否合格，按要求领取螺钉。 Obtain the screw as required and check their appearance before installation. 螺钉紧固时可在螺钉上做好标记区分紧固与未紧固的螺钉，紧固完成后在螺钉及紧固件上皆做上 标记，如下图。 When tighten the screws,make marks to distinguish the tightened and not-tightened screws. After tightening, mark both the screws and fastener, as shown in the below picture.

  • Page 77: 密封胶应用 Application Of Sealant

    HSR-JH605-1500-机械操作维护手册 HSR-JH605-1500- Mechanical Operation Maintenance Manual after it has been disassembled for 2 times. (4) 螺钉在拆卸使用多次后已出现螺钉螺纹损坏应废弃。 Discard the thread-damaged screw after repeated use (5) 用螺钉紧固零部件的过程中，如果出现螺钉被螺孔卡紧，无法继续打进的情况，为防止螺钉打滑 或拧断螺钉，必须将螺钉退出，换用另外一颗。 When fasten the parts with screws, if the screw get stuck in the hole and cannot move forward, to prevent the screw from slipping or breaking, must unplug this screw and use another one.
  • Page 78 HSR-JH605-1500-机械操作维护手册 HSR-JH605-1500- Mechanical Operation Maintenance Manual detergent. ③ 用气体吹干。 Blow dry the surface with gas. (2) 施加密封胶 Apply sealant ① 确保安装表面是干燥的（无残留的清洗剂，如果有，将其擦干或吹干）。 Make sure the mounting surface is dry and with no residual detergent (if any, wipe it out or dry it).
  • Page 79 中英官网：www.hsrobotics.cn 服务热线：400-9655-321/400-6007-826 佛山华数机器人有限公司 重庆华数机器人有限公司 广东省佛山市南海高新区桃园东路 60 号 重庆市北碚区水土云汉大道 5 号附 69 号 邮编：528234 邮编：400714 电话：400-9655-321 电话：400-6007-826 Email：huashu@hzncc.com Email：huashu@hzncc.com 网站：www.hsrobotics.cn 网站：www.hsrobotics.cn 苏州华数机器人有限公司 泉州华数机器人有限公司 苏州高新区科技城五台山路 116 号 16 幢 福建省泉州市经济技术开发区崇宏街 288 号 邮编：215000 邮编：362000 电话：400-9655-321 电话：400-9655-321 Email：suzhou@hzncc.com Email：quanzhou@hzncc. com 网站：www.hsrobotics.cn 网站：www.hsrobotics.cn 深圳华数机器人有限公司 东莞华数机器人有限公司...

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