The document describes the Peitian Robot AIR10-1420A Manipulator, an industrial robot designed for intelligent equipment manufacturing. This manual provides comprehensive information for safe installation, operation, and maintenance of the robot.
Function Description:
The AIR10-1420A is a 6-DOF (Degrees of Freedom) tandem industrial robot, also known as a robot body or manipulator. Its primary function is to grab or move objects, such as tools or workpieces, within an industrial setting. It consists of three swing axes and three rotating axes, allowing for versatile movement and manipulation. The robot operates as part of a larger system, typically including a control cabinet, a teach pendant, and connecting cables.
Important Technical Specifications:
- Model: AIR10-1420A
- Type: 6-DOF articulated robot
- Control Axes: 6 axes (J1, J2, J3, J4, J5, J6)
- Mounting Mode: Ground mounting and upside-down mounting
- Range (Upper/Lower Limit):
- J1: -170° to +170° (can extend to -180° to +180° if mechanical limit is removed)
- J2: -85° to +150°
- J3: -95° to +170°
- J4: -195° to +195°
- J5: -135° to +135°
- J6: -360° to +360°
- Max. Speed:
- J1, J2, J3: 200°/s
- J4, J5: 370°/s
- J6: 600°/s
- Transport Capacity:
- Drive Mode: Electrical servo drive with AC servo motor
- Repeated Positioning Accuracy: ±0.02mm
- Robot Weight: 160kg
- Max. Load: 22kg (10kg + 12kg)
- Noise: 70dB
- IP Rating: IP54 (wrist IP67)
- Ambient Temperature: 0°C to 45°C (storage: -25°C to 55°C, or 70°C for less than 24h)
- Humidity: Not more than 95% at constant temperature without condensation
- Allowable Altitude: Not more than 1000m above sea level (derated from 1000m to 4000m)
- Vibration Limit: Frequency 22Hz, amplitude 0.15mm
- Flange Interface:
- Orientation circle diameter: 31.5mm or 63mm
- Reference circle diameter of screw hole: 50mm
- Screw Grade: 12.9
- Screw Diameter: M6
- Screw Number: 4
- Dowel: 6mm
- Screw Standard: GB/T 70.1-2000
- Allowable Torque:
- J4: Less than 22Nm
- J5: Less than 22Nm
- J6: Less than 9.8Nm
- Allowable Moment of Inertia:
- J4: Less than 0.63kgm²
- J5: 0.63kgm²
- J6: 0.15kgm²
- Elbow Load Interface:
- External device weight: Not more than 12 Kg
- Centroid position: Inside 135mm x 66mm area
- Distance between Centroid and installing face: Not more than 60mm
- Screw depth: Not more than 10mm
Usage Features:
The robot is designed for integration into intelligent equipment manufacturing systems. It requires careful installation and operation, with specific safety precautions outlined in the manual.
- System Integration: The manipulator is most efficient when fitted with an end effector and integrated with peripheral equipment and a control system.
- Safety Barriers: Safety barriers and safety doors are essential around the system to prevent personnel from entering the motion range during operation. Interlock switches and safety latches should be used to stop the manipulator if the safety door is opened.
- Emergency Stop: Emergency stop buttons must be readily accessible to operators. The control device can connect to external emergency stop buttons.
- Operating Modes: Programming and maintenance personnel ("Programmers" and "Maintenance Engineers") can operate within safety barriers, while "Operators" are restricted to outside the barriers.
- Low-Speed Operation: During initial use or demonstration, the manipulator should be operated at low speeds, gradually increasing to check for abnormalities.
- Calibration: The robot requires recalibration in specific situations, such as motor replacement, encoder battery replacement, loose encoder wires, strong collisions, or replacement of the control cabinet/system. Calibration involves aligning each axis to a zero point (J3 at 90°, others at 0°). For rough positioning accuracy, a calibration block is used, while high path positioning accuracy requires special equipment and company consultation.
- Accessories: The manipulator supports various accessories, including mechanical grabbers, hydraulic or pneumatic suction cups, welding torches, infrared devices, visual devices, and cutting-off machines. These can be attached directly to the flange or indirectly.
- Cable Management: The manual provides detailed instructions for connecting the manipulator to the control cabinet via a single cable and for fixing external cables on the forearm, upper arm, and shoulder to prevent interference and damage.
Maintenance Features:
The manual emphasizes preventive maintenance to ensure maximum operating system use and reduce downtime.
- Scheduled Maintenance: Daily inspections and regular maintenance are crucial, with recommended intervals provided in tables.
- Daily: Check for abnormal vibration, sound, motor heating, positioning accuracy changes, and consistency of peripheral equipment actions.
- First Maintenance (320 hours/1 month): Inspect cables and cable sheaths for damage, tighten main external bolts, clean all parts, check end actuator cable, and inspect synchronous belt and limit rubber blocks.
- Regular Maintenance (960 hours/3 months): Clean control cabinet vents and the operator's exterior.
- 1920 hours/6 months: Re-check cable/sheath damage and synchronous belt wear.
- 3840 hours/1 year: Repeat 320-hour checks, plus replace timing belt and check J1 axis limit rubber block.
- 7860 hours/2 years: Replace battery.
- 11520 hours/3 years: Replace timing belt.
- 15360 hours/4 years: Replace internal cable (requires company consultation).
- 19200 hours/5 years: Overhaul of operator (requires company consultation).
- Cleaning: Regular cleaning of the robot is recommended every 960 hours or 3 months. This involves adjusting the robot to a calibration state, turning off power sources, and cleaning with a vacuum cleaner or cloth. Water jets, compressed air, solvents, or removal of operator protection are forbidden.
- Cable Maintenance: External cables should be checked every 1920 hours or 6 months for wear, damage, and secure connections. Internal cables also require inspection for abrasion, damage, and grease levels.
- Grease Replacement: Internal grease for J1, J2, and J3 axis reducers should be replaced every 11520 hours or 3 years. Specific grease models and quantities are provided. The process involves operating the robot to a specific attitude, placing a waste oil collection tank, removing plugs, injecting new grease slowly (less than 8g/s and 0.3MPa pressure), and releasing internal pressure.
- Battery Replacement: The encoder battery, which saves position data, should be replaced every 7860 hours or 2 years. This involves adjusting the robot to a calibration state, turning off power, removing the electrical installation board and battery box, replacing the battery, and then calibrating and testing the operator.
- Synchronous Belt Replacement: The J5 axis synchronous belt needs replacement every 11520 hours or 3 years. This involves operating the robot to a specific attitude, turning off power, removing covers, loosening and removing screws, replacing the belt, adjusting tension, and then calibrating the J5 axis.
- Troubleshooting: The manual includes a comprehensive section on common faults and handling, covering issues like vibration, abnormal noise, shaking, motor overheating, grease leakage, and position offset, along with possible causes and solutions. For complex issues or parts replacement, contacting the company's service department is advised.
- Storage: For long-term storage, the robot should be placed in the handling posture on a horizontal plane, disconnected from power, covered with protective packaging, and cleaned regularly. Upon reuse after storage, a full check according to installation preparation is required.
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