隨著技術(shù)的發(fā)展，各種機(jī)械設(shè)備被人們不斷的研發(fā)并投入到使用中，而機(jī)械設(shè)備在使用的過(guò)程中或多或少的都會(huì)出現(xiàn)一些故障，這可能是因?yàn)楸ｐB(yǎng)做的不好而出現(xiàn)了故障，也有可能是機(jī)械本身的一些硬件出現(xiàn)了問(wèn)題。做好機(jī)器人的保養(yǎng)可以在一定程度上降低機(jī)器人運(yùn)行過(guò)程中出現(xiàn)故障的幾率。

With the development of technology, various mechanical equipment is constantly researched and developed by people and put into use. During the use of mechanical equipment, some faults may occur to a greater or lesser extent, which may be due to poor maintenance or hardware problems of the machinery itself. Proper maintenance of robots can to some extent reduce the probability of malfunctions during operation.

一、本體標(biāo)準(zhǔn)保養(yǎng)常規(guī)檢查

1、 Standard maintenance and routine inspection of the body

1。本體清潔

1. Body cleaning

根據(jù)現(xiàn)場(chǎng)工作對(duì)安川機(jī)器人本體進(jìn)行除塵清潔。

Dust removal and cleaning of the Yaskawa robot body based on on-site work.

2。本體和6軸工具端固定檢查

2. Inspection of body and 6-axis tool end fixation

檢查本體及工具是否固定良好。

Check if the body and tools are securely fastened.

3 .各軸限位擋塊檢查

3. Inspection of limit blocks for each axis

4。電纜狀態(tài)檢查

4. Cable status inspection

檢查機(jī)器人信號(hào)電纜，動(dòng)力電纜，用戶(hù)電纜，本體電纜的使用狀況與磨損情況。

Check the usage and wear of robot signal cables, power cables, user cables, and body cables.

5。密封狀態(tài)檢查檢

5. Sealing state inspection

查本體齒輪箱，手腕等是否有漏油，滲油現(xiàn)象。

Check if there is any oil leakage or seepage in the main gearbox, wrist, etc.

二、 功能測(cè)量

2、 Functional measurement

1。達(dá)溫度檢查

1. Temperature check

通過(guò)的紅外線(xiàn)溫度***確認(rèn)馬達(dá)在運(yùn)轉(zhuǎn)時(shí)的溫度是否正常，并通過(guò)數(shù)值來(lái)比較各軸馬達(dá)與標(biāo)準(zhǔn)值是否致。

Confirm whether the temperature of the motor during operation is normal through professional infrared temperature * * *, and compare the temperature of each axis motor with the standard value through numerical values.

2。噪音檢查

2. Noise inspection

通過(guò)噪音檢測(cè)儀來(lái)檢查馬達(dá)或減速箱在手動(dòng)運(yùn)行狀態(tài)下是否有異常，從而作為檢查部件狀態(tài)的一個(gè)標(biāo)準(zhǔn)。

Using a noise detector to check for any abnormalities in the motor or gearbox during manual operation serves as a standard for checking the condition of components.

3。重復(fù)精度檢查

3. Repetitive accuracy check

通過(guò)使用百分表來(lái)確認(rèn)機(jī)器人的重復(fù)精度是否正常。

Confirm whether the repetitive accuracy of the robot is normal by using a dial gauge.

4。機(jī)械零位測(cè)量

4. Mechanical zero position measurement

檢測(cè)機(jī)器人的當(dāng)前零位位置與標(biāo)準(zhǔn)標(biāo)定位置是否一致。

Check if the current zero position of the robot is consistent with the standard calibration position.

5。電機(jī)抱閘狀態(tài)檢查

5. Motor brake status check

檢測(cè)打開(kāi)電機(jī)抱閘電壓值，測(cè)試各軸電機(jī)抱閘功能。

Check the voltage value of the open motor brake and test the brake function of each axis motor.

三、保養(yǎng)件更換

3、 Replacement of maintenance parts

1 .本體油品更換

1. Replacement of main oil products

機(jī)器人齒輪箱、平衡缸或連桿油品更換。

Robot gearbox, balance cylinder or connecting rod oil replacement.

2 .機(jī)器人SMB板檢查及電池更換

2. Robot SMB board inspection and battery replacement

檢查SMB板的固定連接是否正常，更換電池。

Check if the fixed connection of the SMB board is normal and replace the battery.

四、控制柜標(biāo)準(zhǔn)保養(yǎng)常規(guī)檢查

4、 Standard maintenance routine inspection of control cabinet

1 .控制柜清潔

1. Control cabinet cleaning

對(duì)機(jī)器人控制柜外觀清潔，控制柜內(nèi)部進(jìn)行除塵。

Clean the appearance of the robot control cabinet and perform dust removal inside the control cabinet.

2 .控制柜各部件牢固性檢查

2. Check the firmness of each component of the control cabinet

檢查控制柜內(nèi)所有部件的緊固狀態(tài)。

Check the fastening status of all components inside the control cabinet.

3 .示教器清潔

3. Teaching pendant cleaning

示教器及電纜清潔與整理。

Cleaning and organizing teaching aids and cables.

4 .電路板指示燈狀態(tài)

4. Status of circuit board indicator lights

檢查控制柜內(nèi)各電路板的狀態(tài)燈，確認(rèn)電路板的狀態(tài)。

Check the status lights of each circuit board in the control cabinet and confirm the status of the circuit board.

5 .控制柜內(nèi)部電纜檢查

5. Internal cable inspection of control cabinet

控制柜內(nèi)所有電纜插頭連接穩(wěn)固，電纜整潔。

All cable plugs in the control cabinet are securely connected and the cables are clean.

五、控制柜測(cè)量

5、 Control cabinet measurement

1 .電源電壓測(cè)量

1. Power supply voltage measurement

測(cè)量機(jī)器人進(jìn)線(xiàn)電壓，驅(qū)動(dòng)電壓，電源模塊電壓，并通過(guò)示波器來(lái)采樣各電壓的

Measure the voltage of the robot's incoming line, driving voltage, and power module voltage, and sample each voltage through an oscilloscope

波形，從而對(duì)電壓進(jìn)行整體分析。

The waveform is used to conduct an overall analysis of the voltage.

2 .回路檢測(cè)

2. Safety circuit detection

檢查回路（AS.GS.ES）的運(yùn)行狀態(tài)是否正常

Check if the operation status of the safety circuit (AS. GS. ES) is normal

3 .示教器功能檢測(cè)

3. Teaching pendant function detection

檢測(cè)所有按鍵有效性，急?；芈肥欠裾?，測(cè)試觸摸屏和顯示屏功能

Check the effectiveness of all buttons, check if the emergency stop circuit is normal, and test the functionality of the touch screen and display screen

4 .系統(tǒng)標(biāo)定補(bǔ)償值檢側(cè)

4. System calibration compensation value check side

檢測(cè)機(jī)器人標(biāo)定補(bǔ)償值參數(shù)與出廠配置值是否一致

Check if the calibration compensation value parameters of the robot are consistent with the factory configuration values

5 .系統(tǒng)備份和導(dǎo)入檢測(cè)

5. System backup and import detection

檢查機(jī)器人是否可以正常完成程序備份和重新導(dǎo)入功能

Check if the robot can complete program backup and re import functions normally

6 .硬盤(pán)空間檢測(cè)

6. Hard disk space detection

優(yōu)化機(jī)器人控制柜硬盤(pán)空間，確保運(yùn)轉(zhuǎn)空間正常

Optimize the hard disk space of the robot control cabinet to ensure normal operation space

7 .濕度檢查

7. Humidity inspection

通過(guò)對(duì)控制柜及環(huán)境濕度的檢查，確保機(jī)器人在允許的使用內(nèi)正常運(yùn)轉(zhuǎn)。

By checking the control cabinet and environmental humidity, ensure that the robot operates normally within the allowed range of use.

六、保養(yǎng)件更換

6、 Replacement of maintenance parts

1。驅(qū)動(dòng)風(fēng)扇單元更換驅(qū)動(dòng)單元冷卻風(fēng)扇更換

1. Replace the drive fan unit and replace the cooling fan of the drive unit

2。防塵過(guò)濾網(wǎng)更換控制柜防塵過(guò)濾網(wǎng)更換

2. Dust filter replacement control cabinet dust filter replacement

3。輔助接觸器觸點(diǎn)更換控制柜輔助接觸器常開(kāi)和常閉觸點(diǎn)更換

3. Auxiliary contactor contact replacement control cabinet auxiliary contactor normally open and normally closed contact replacement

4 .保險(xiǎn)絲更換

4. Replacement of fuses

控制柜保險(xiǎn)絲更換

Replacement of control cabinet fuse

5 .電機(jī)上電指示燈更換

5. Replacement of motor power on indicator light

控制柜操作面板電機(jī)上電按鈕內(nèi)指示燈更換

Replace the indicator light inside the motor power button on the control cabinet operation panel

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