随着技术的发展，各种机械设备被人们不断的研发并投入到使用中，而机械设备在使用的过程中或多或少的都会出现一些故障，这可能是因为保养做的不好而出现了故障，也有可能是机械本身的一些硬件出现了问题。做好机器人的保养可以在一定程度上降低机器人运行过程中出现故障的几率。

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、本体标准保养常规检查

1、 Standard maintenance and routine inspection of the body

1。本体清洁

1. Body cleaning

根据现场工作对安川机器人本体进行除尘清洁。

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

2。本体和6轴工具端固定检查

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

检查本体及工具是否固定良好。

Check if the body and tools are securely fastened.

3 .各轴限位挡块检查

3. Inspection of limit blocks for each axis

4。电缆状态检查

4. Cable status inspection

检查机器人信号电缆，动力电缆，用户电缆，本体电缆的使用状况与磨损情况。

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

5。密封状态检查检

5. Sealing state inspection

查本体齿轮箱，手腕等是否有漏油，渗油现象。

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

二、 功能测量

2、 Functional measurement

1。达温度检查

1. Temperature check

通过的红外线温度***确认马达在运转时的温度是否正常，并通过数值来比较各轴马达与标准值是否致。

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。噪音检查

2. Noise inspection

通过噪音检测仪来检查马达或减速箱在手动运行状态下是否有异常，从而作为检查部件状态的一个标准。

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。重复精度检查

3. Repetitive accuracy check

通过使用百分表来确认机器人的重复精度是否正常。

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

4。机械零位测量

4. Mechanical zero position measurement

检测机器人的当前零位位置与标准标定位置是否一致。

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

5。电机抱闸状态检查

5. Motor brake status check

检测打开电机抱闸电压值，测试各轴电机抱闸功能。

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

三、保养件更换

3、 Replacement of maintenance parts

1 .本体油品更换

1. Replacement of main oil products

机器人齿轮箱、平衡缸或连杆油品更换。

Robot gearbox, balance cylinder or connecting rod oil replacement.

2 .机器人SMB板检查及电池更换

2. Robot SMB board inspection and battery replacement

检查SMB板的固定连接是否正常，更换电池。

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

四、控制柜标准保养常规检查

4、 Standard maintenance routine inspection of control cabinet

1 .控制柜清洁

1. Control cabinet cleaning

对机器人控制柜外观清洁，控制柜内部进行除尘。

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检查

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

检查控制柜内所有部件的紧固状态。

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

3 .示教器清洁

3. Teaching pendant cleaning

示教器及电缆清洁与整理。

Cleaning and organizing teaching aids and cables.

4 .电路板指示灯状态

4. Status of circuit board indicator lights

检查控制柜内各电路板的状态灯，确认电路板的状态。

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

5 .控制柜内部电缆检查

5. Internal cable inspection of control cabinet

控制柜内所有电缆插头连接稳固，电缆整洁。

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

五、控制柜测量

5、 Control cabinet measurement

1 .电源电压测量

1. Power supply voltage measurement

测量机器人进线电压，驱动电压，电源模块电压，并通过示波器来采样各电压的

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

波形，从而对电压进行整体分析。

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

2 .回路检测

2. Safety circuit detection

检查回路（AS.GS.ES）的运行状态是否正常

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

3 .示教器功能检测

3. Teaching pendant function detection

检测所有按键有效性，急停回路是否正常，测试触摸屏和显示屏功能

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 .系统标定补偿值检侧

4. System calibration compensation value check side

检测机器人标定补偿值参数与出厂配置值是否一致

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

5 .系统备份和导入检测

5. System backup and import detection

检查机器人是否可以正常完成程序备份和重新导入功能

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

6 .硬盘空间检测

6. Hard disk space detection

优化机器人控制柜硬盘空间，确保运转空间正常

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

7 .湿度检查

7. Humidity inspection

通过对控制柜及环境湿度的检查，确保机器人在允许的使用内正常运转。

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

六、保养件更换

6、 Replacement of maintenance parts

1。驱动风扇单元更换驱动单元冷却风扇更换

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

2。防尘过滤网更换控制柜防尘过滤网更换

2. Dust filter replacement control cabinet dust filter replacement

3。辅助接触器触点更换控制柜辅助接触器常开和常闭触点更换

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

4 .保险丝更换

4. Replacement of fuses

控制柜保险丝更换

Replacement of control cabinet fuse

5 .电机上电指示灯更换

5. Replacement of motor power on indicator light

控制柜操作面板电机上电按钮内指示灯更换

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

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