KUKA机器人_KR30-3各轴分解图以及保养

?KUKARoboterGmbH2005/SMKR30-309.05.00enPage1of140ROBOTKR30-3KR60-3KR30HAKR60HASeminarworkbookofMechanicalServicingIssued:September2005Copyright?Copyright2005KUKARoboterGmbHZugspitzstra?e140D-86165AugsburgThisdocumentationorexcerptstherefrommaynotbereproducedordisclosedtothirdpartieswithouttheexpresspermissionofthepublishers.Otherfunctionsnotdescribedinthisdocumentationmaybeoperableinthecontroller.Theuserhasnoclaimstothesefunctions,however,inthecaseofareplacementorservicework.Wehavecheckedthecontentofthisdocumentationforconformitywiththehardwareandsoftwaredescribed.Nevertheless,discrepanciescannotbeprecluded,forwhichreasonwearenotabletoguaranteetotalconformity.Theinformationinthisdocumentationischeckedonaregularbasis,however,andnecessarycorrectionswillbeincorporatedinsubsequenteditions.Subjecttotechnicalalterationswithoutaneffectonthefunction.KUKARoboterGmbHacceptsnoliabilitywhatsoeverforanyerrorsintechnicalinformationcommunicatedorallyorinwritinginthetrainingcoursesorcontainedinthedocumentation.Norwillliabilitybeacceptedforanyresultantdamageorconsequentialdamage.Responsibleforthistrainingdocumentation:CollegeDevelopment(WSC-IC)Page2of140?KUKARoboterGmbH2005/SMKR30-309.05.00enCopyrightContents?KUKARoboterGmbH2005/SMKR30-309.05.00enPage3of140Contents1.OverviewRobot.............................................................................52.Disassembly..................................................................................92.1.Wrist.......................................................................................92.2.Arm.......................................................................................132.3.Linkarm...............................................................................212.4.Rotatingcolumn...................................................................272.5.Baseunit..............................................................................352.6.Energysupply......................................................................372.7.Axismonitoring.....................................................................513.Assembly.....................................................................................553.1.Baseunit..............................................................................553.2.Rotatingcolumn...................................................................573.3.Linkarm...............................................................................633.4.Arm.......................................................................................693.5.Wrist.....................................................................................753.6.Energysupply......................................................................813.7.Axismonitoring.....................................................................954.Maintenance................................................................................994.1.Wristaxes............................................................................994.2.Basicaxes..........................................................................1095.Exercises...................................................................................1136.Tighteningtorquestable............................................................139OverviewRobot?KUKARoboterGmbH2005/SMKR30-309.05.00enPage5of1401.OverviewRobotOverviewRobotPage6of140?KUKARoboterGmbH2005/SMKR30-309.05.00enOverviewRobot?KUKARoboterGmbH2005/SMKR30-309.05.00enPage7of140I25.10.2005ICollegeIMWI1KUKARoboterGmbH,Hery-Park3000,D-86368Gersthofen,Tel.:[phone],Fax:[phone],:+49(0)821/4533-1906,Fax:[phone],!I25.10.2005ICollegeIMWI2KUKARoboterGmbH,Hery-Park3000,D-86368Gersthofen,Tel.:[phone],Fax:[phone],(M6x100/12.9).WristdisassemblyDisassembly?KUKARoboterGmbH2005/SMKR30-309.05.00enPage11of140I25.10.2005ICollegeIMWI3KUKARoboterGmbH,Hery-Park3000,D-86368Gersthofen,Tel.:[phone],Fax:[phone],!Mindthecontactsurfaceofthewristonthearmandalsothewristdriveshaft.I25.10.2005ICollegeIMWI4KUKARoboterGmbH,Hery-Park3000,D-86368Gersthofen,Tel.:[phone],Fax:[phone],