ABB IRB 640 - Axis 6; Dismounting the tilt housing

Repairs Axis 6
Product Manual IRB 640 39
7 Axis 6
7.1 Dismounting the tilt housing
Refer to foldout no. 7
Dismounting:
1. Remove the drive unit axis 6 as described in Chapter 7.2, Replacing motor/gear axis 6
2. Attach a hoist to the tilt housing.
3. Dismount the upper rod in the front as described in Chapter 5.1, Replacing upper and
lower rod.
4. Remove covers <15> and <16> on both sides by deformation or push the covers from
inside with thickest possible 16 mm tool. If the covers are not deformed they can be
reused.
5. Unscrew KM-nuts <14>.
6. Mount tool 3HAC 2486-1 and pull out the shaft <9> on both sides.
7. Lift the tilt housing away.
Mounting:
9. Mount the sealings <10> in the tilt housing. Use tool 3HAC 0905-1.
10. Mount the bearings <11> in the tilt housing. Use tool 3HAC 3437-1.
11. Apply a little grease in the hole for the shafts. Apply grease also to both the shafts.
12. Insert shaft <9> on the same side as the balancing unit (left side of robot as seen from
behind).
13.
Position the distance piece 3HAC 2984-1 between the upper arm and the tilt housing on
the left side of the upper arm, seen from behind. Press the shaft <9> into position using
tool 3HAC 3409-1 (max. pressing force 6 tons).
14.
Remove the distance piece and fit the KM nuts <14>. Tighten to a torque of 90 Nm. Use
Loctite 243.
15.
Position shaft no. 2 in the hole and put the tool over the shaft. To set the distance between
the tilt housing and the upper arm, put two wedges 3HAC 2347-1 in the gap. This is
important so that the pressing force is applied over the tilt housing and the mounted
bearing. Then press the shaft into position (max. pressing force 6 tons).