隨著技術的發展，各種機械設備被人們不斷的研發并投入到使用中，而機械設備在使用的過程中或多或少的都會出現一些故障，這可能是因為保養做的不好而出現了故障，也有可能是機械本身的一些硬件出現了問題。做好機器人的保養可以在一定程度上降低機器人運行過程中出現故障的幾率。

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、本體標準保養常規檢查

1、 Standard maintenance and routine inspection of the body

1。本體清潔

1. Body cleaning

根據現場工作對安川機器人本體進行除塵清潔。

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。電纜狀態檢查

4. Cable status inspection

檢查機器人信號電纜，動力電纜，用戶電纜，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。密封狀態檢查檢

5. Sealing state inspection

查本體齒輪箱，手腕等是否有漏油，滲油現象。

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

二、 功能測量

2、 Functional measurement

1。達溫度檢查

1. Temperature check

通過的紅外線溫度***確認馬達在運轉時的溫度是否正常，并通過數值來比較各軸馬達與標準值是否致。

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

通過噪音檢測儀來檢查馬達或減速箱在手動運行狀態下是否有異常，從而作為檢查部件狀態的一個標準。

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。重復精度檢查

3. Repetitive accuracy check

通過使用百分表來確認機器人的重復精度是否正常。

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

4。機械零位測量

4. Mechanical zero position measurement

檢測機器人的當前零位位置與標準標定位置是否一致。

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

5。電機抱閘狀態檢查

5. Motor brake status check

檢測打開電機抱閘電壓值，測試各軸電機抱閘功能。

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

三、保養件更換

3、 Replacement of maintenance parts

1 .本體油品更換

1. Replacement of main oil products

機器人齒輪箱、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、控制柜標準保養常規檢查

4、 Standard maintenance routine inspection of control cabinet

1 .控制柜清潔

1. Control cabinet cleaning

對機器人控制柜外觀清潔，控制柜內部進行除塵。

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

檢查控制柜內所有部件的緊固狀態。

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

4. Status of circuit board indicator lights

檢查控制柜內各電路板的狀態燈，確認電路板的狀態。

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

5 .控制柜內部電纜檢查

5. Internal cable inspection of control cabinet

控制柜內所有電纜插頭連接穩固，電纜整潔。

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

五、控制柜測量

5、 Control cabinet measurement

1 .電源電壓測量

1. Power supply voltage measurement

測量機器人進線電壓，驅動電壓，電源模塊電壓，并通過示波器來采樣各電壓的

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

波形，從而對電壓進行整體分析。

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

2 .回路檢測

2. Safety circuit detection

檢查回路（AS.GS.ES）的運行狀態是否正常

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

3 .示教器功能檢測

3. Teaching pendant function detection

檢測所有按鍵有效性，急停回路是否正常，測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 .系統標定補償值檢側

4. System calibration compensation value check side

檢測機器人標定補償值參數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 .系統備份和導入檢測

5. System backup and import detection

檢查機器人是否可以正常完成程序備份和重新導入功能

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

6 .硬盤空間檢測

6. Hard disk space detection

優化機器人控制柜硬盤空間，確保運轉空間正常

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

7 .濕度檢查

7. Humidity inspection

通過對控制柜及環境濕度的檢查，確保機器人在允許的使用內正常運轉。

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

六、保養件更換

6、 Replacement of maintenance parts

1。驅動風扇單元更換驅動單元冷卻風扇更換

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

2。防塵過濾網更換控制柜防塵過濾網更換

2. Dust filter replacement control cabinet dust filter replacement

3。輔助接觸器觸點更換控制柜輔助接觸器常開和常閉觸點更換

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

4 .保險絲更換

4. Replacement of fuses

控制柜保險絲更換

Replacement of control cabinet fuse

5 .電機上電指示燈更換

5. Replacement of motor power on indicator light

控制柜操作面板電機上電按鈕內指示燈更換

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

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