Detailed steps for replacing the robot wrist of KUKA robot KR QUANTEC-2

1 A6

2 A5 motor

3 A4 Motor

4 A3 Motor

5 A2 Motor

6 A1 Motor

7 R Box

To disassemble the A4 motor and A5 motor, the following steps are the same.

1. Undo the plugs XM4 and XP4 from the socket on the device and remove them.

2. Unscrew the four hexagon socket head bolts M8x25-8.8-A2K on the A4 motor.

3. Release the A4 motor and pull it out together with the A4 connecting shaft; do not pull it out crookedly.

4. Lower the A4 motor and A4 connecting shaft.

1 Forearm

2 Hexagon socket bolt M8x25-8.8-A2K

3 A5 motor

4-plug XM5

5 Plug XP5

6 Plug XM4

7 Plug XP4

8 A4 Motor

5. Pull the A4 connecting shaft off the motor shaft.

6. Remove the compression spring and washer from the motor shaft.

1 A5 motor

2 A4 motor

3 Motor shaft with involute gear

4 Compression spring

5 A4 Connecting shaft

7. If the motor is not to be reinstalled, dispose of it professionally or treat it to prevent rust and store it.

Disassembling the Robot Wrist

Fasten the sling to the robot wrist and the crane.

2. Move the crane until the crane bears the weight of the robot wrist.

3. Unscrew motor connectors XM6 and XP6 from the plate and remove them.

4. Unscrew the four hexagon socket head bolts M6x12-8.8-A2K on the plate.

5. Unfasten the motor connectors XM6 and XP6 and any purge air lines from the rear of the plate and remove them.

1 board

2 Plug XP6

3 Hexagon socket bolt M6x12-8.8-A2K

4 Purge Air (Foundry only)

5-plug XM6

6. Unscrew 20 hexagon socket head bolts M10x200-10.9 from the robot wrist.

7. Carefully release the robot wrist from the robot arm and pull the robot wrist out with a crane. Pull it out without tilting. The gap between the robot arm and the robot wrist must be the same at all points around the circumference. Move the crane while pulling it out.

1 Plug XM6

2 Plug XP6

3 Robotic wrist

4 Suspenders

5 Hexagon socket bolt M10x200-10.9

6 Robotic Arm

8. Lower the robot wrist onto a suitable pad and remove the harness.

Removing the A6 motor

1. Loosen and remove the four hexagon socket head cap screws M8x30-8.8-A2K on the A6 motor.

2. Unscrew and remove the motor of A6.

1 Robotic wrist

2 Hexagon socket bolt M8x30-8.8-A2K

3 A6 motor

4 Plug XP6

5-plug XM6

3. If the motor is not to be reinstalled, dispose of it professionally or treat it to prevent rust and store it.

Preparing the new robot wrist

1. If necessary, remove the rust protection from the new robot wrist.

2. Clean all teeth before installation and apply a small amount of grease Microlube GL 261.

Apply all over.

Installing the A6 motor

1. Arrange the motor connectors XM6 and XP6 so that they are tilted and located at the bottom left after the motor is inserted.

2. Install the A6 motor into the robot wrist; do not install it askew and make sure it is properly fixed (engaged).

3. Install 4 hexagon socket head cap screws M8x30-8.8-A2K. Increase the tightening torque gradually to the specified value in several steps.

4. Mark the bolts with bolt reinforcing paint.

Installing the Robot Wrist

Fasten the sling on the robot wrist.

Lift the robot wrist with a crane, transport it to the installation site and ensure that axes 4 and 5 are in the zero position.

3. Insert the robot wrist into the robot arm, while threading the motor cable into the robot arm and making sure it does not get tangled around the connecting shaft. Do not tilt and move the crane at the same time during insertion. The gap between the robot arm and the robot wrist must be the same at all points around the circumference.

4. Push the motor connectors XM6 and XP6 through the openings in the robot arm and connect to the back of the board.

5. Insert 20 new hexagon socket head bolts M10x200-10.9 into the robot wrist.

6. Use a torque wrench to tighten the 20 hexagon socket head cap bolts M10x200-10.9 alternately. Increase the tightening torque gradually to the specified value in several steps.

7. Remove the sling.

8. Fix the plate to the robot arm with four hexagon socket head bolts M6x12-8.8-A2K.

9. Connect the connectors XM6 and XP6 and any purge air lines to the front of the plate. Note the pinning and coding of the connectors. When installing the connectors, twist them until you feel them snap into the coding (locked to rotate).

Installing the A5 motor

The following steps are the same for both A4 and A5 motors.

1. If installing a new motor, remove the rust protection from the new motor before installation.

2. Clean the gears on the A5 connecting shaft and the A5 motor shaft and check them for wear. In the event of damage and/or wear, the A5 connecting shaft must be replaced.

3. Grease the teeth on the A5 connecting shaft with a little Microlube GL 261, but make sure to grease all over.

4. Install the compression spring onto the A5 motor shaft. If there were washers on the motor shaft when the motor was disassembled, they must not be reinstalled when the new motor is installed but must be discarded.

5. Install the A5 connecting shaft onto the A5 motor shaft.

6. The bearing surfaces (A5 motor and robot arm) must be grease- and dust-free.

7. Arrange the device sockets XM5 and XP5 so that they are located on the lower side after the A5 motor is installed in the robot arm.

8. Lift the A5 motor and install it into the robot arm; do not install it askew and make sure that the connecting shaft in the robot wrist is correctly fixed (engaged).

9. Install four hexagon socket head cap bolts M8x25-8.8-A2K.

10. Use a torque wrench to tighten the four hexagon socket head bolts M8x25-8.8-A2K diagonally and staggered. Increase the tightening torque gradually to the specified value in several steps.

11. Connect the XM5 and XP5 plugs to the device sockets. Note the pinning and coding of the plugs. When installing the plugs, twist them until you feel them snap into the coding (without twisting).

Review editor: Liu Qing