Regal Robotics Maintenance Guide
1. Preface
This document introduces the inspection and maintenance method of regal robotics robots. Be sure to
read and understand this and the safety section thoroughly before doing anything, and follow all safety
rules. In addition, please refer to the relevant manual if necessary. In particular, don't do anything until
you fully understand the content of this document. Regal robotics shall not be liable for any accident or
damage caused by the maloperations of the user.
2. Matters need attention
Before the maintenance and operation of our robot, please pay attention to the following matters to
ensure safety.
CAUTION
Be sure to disconnect the controller power and external power before starting the inspection. Set up a
"inspection and maintenance" eye-catching signs, the external power switch lock or hang signs to
prevent the operation of personnel or other unexpected turn on the power, to avoid the occurrence of
unpredictable electric shock and other accidents.
If grease replacement and other operations need to change the joint angle, first turn on the motor power.
The robot's arm should then be adjusted to the desired position, taking care not to approach the arm and
be pinched. After adjusting the robot to the specified posture, disconnect the controller power and
external power again, lock the external power switch, hang up the "check and maintenance" sign, and
then start the operation.
When checked immediately after stopping continuous operation, part of the arm may become hot
due to ambient temperature. Touching this part with bare hands will cause burns. Please operate after
confirming the temperature drops.
3. Maintenance inspection items
The maintenance and inspection of the robot mainly includes daily inspection, regular inspection
(5000 hours, 10000 hours and 15000 hours) and overhaul.
This manual describes maintenance and inspection items, as well as inspection and adjustment
methods. These projects are important for robots to function in a stable environment for long
periods of time. Therefore, it is important to perform the following maintenance and inspections.
Daily
check
5000
hours
10000
hours
15000
hours
Appearance
○
○
○
○
Movement and abnormal noise
○
○
○
○
Positioning accuracy
○
○
○
○
Gear grease supplement
○
○
○
Grease replenishment of gearbox
○
○
○
Examination period & items
Grease replacement of reducer
○
Battery pack replacement
○
Retighten
○
Overhaul (including all above)
20000
hours
○
4. Details of routine inspections
Please implement the following routine inspection items for our robots.
NO. Item
Content inspection
Operations
1
Is there any
damage to the
robot?
Check all parts of the robot for damage Remove interference, etc.
caused by interference, especially the
wrist joint.
2
Are cables and Check hose and cable connection with Readjust fixture to eliminate
hoses abnormal? tools for local bending, distortion and error cause.
damage.
Check that the axes are moving
smoothly.
3
4
Is the robot
moving
abnormally?
Does the
positioning
accuracy
change?
Check for abnormal noise and
vibration.
Check lubrication status.
Check the internal of the drive
system for any abnormal
phenomena.
Check for overshoot.
If the problem is caused by the
increase of the tooth clearance,
please contact our company.
Check whether the last reproduced
motion is all positioned in the same
exact position.
Check the internal of the
drive system for any abnormal
phenomena.
Check whether the stop position is
uneven.
If the problem is caused by the
increase of the tooth clearance,
please contact our company.
If the above abnormal conditions cannot be solved through inspection and mechanical error
elimination, please contact our company to check and adjust the control system.
5. Grease replenishment and replacement of gears
Be sure to disconnect the controller power supply and external power supply before replenishing or
replacing the grease. Set a “check and maintain” caution symbol, lock or hang the external power
switch to prevent the operator from accidentally turning on the power.
Before replenishing or replacing grease, be sure to remove the plug from the discharge port.
Otherwise, the internal pressure of the replenishing grease may damage the seal or cause grease to
penetrate into the motor.
When replenishing or replacing grease, please do not add too much according to the prescribed
amount of supplement.
Use a manual grease gun to replenish or replace grease.
If you need to use an air pump grease gun, please use a similar model to ZM-45 (produced by
Zhengmao Company, pressure ratio is 50:1). Use the regulator to adjust the air supply pressure to
less than 0.26 MPa (2.5 kgf/cm2). (If you are not using the above-mentioned air pump grease gun,
please contact Regal robotics.)
Do not connect the long grease discharge pipe directly to the discharge port during grease
replenishment. Due to the filling pressure, if the grease is not discharged smoothly, the internal
pressure will rise, which may cause seal damage or grease backflow, resulting in grease leakage.
Prior to grease replenishment, follow the precautions for the latest grease Material Safety Data Sheet
(MSDS).
When replenishing or replacing grease, prepare a container and a rag to handle the grease flowing
from the inlet and outlet.
The used grease is industrial waste related to waste disposal and cleaning methods (commonly
known as waste disposal and cleaning methods). Therefore, please follow the local rules and
regulations.
When loading and unloading the plug, use the following size hexagon wrench or torque wrench
attached to the hexagon rod
Plug
M5
M6
R1/4
Width[mm]
4
3
6
Grease draining & replenishing steps:
⚫
Move the robot to put the arm in the zero position and turn off the power.
⚫
Unscrew the plug on the drain port.
⚫
Unscrew the plug on the injection port and screw it into the grease nipple.
⚫
Replenish new grease from the injection port.
⚫
Unscrew the grease nipple on the injection port, use a rag to remove the grease around the
injection port, and wrap the plug with a sealing tape for 3 turns and a half, and screw it into
the injection port.
⚫
Before installing the plug at the drain port, turn the axis for a few minutes to allow excess
grease to drain from the drain port.
⚫
Wipe the grease around the drain port with a rag, wrap the plug three times and a half with a
sealing tape, and screw it into the drain port
RGL10-1440-W
Gearbox model
Recommended
lubricant brand
Lubricant volume
J1
40E-121
Petrofer
450CC
J2
40E-121
Petrofer
420CC
J3
20E-121
Petrofer
300CC
J4
32-50-U-III
J5
20-80-U-III
J6
N/A
Mobil
80CC
RGL06-2000 (2022)
Gearbox model
Recommended
lubricant brand
Lubricant volume
J1
125N-121
Petrofer
850CC
J2
125N-121
Petrofer
800CC
J3
42N-126
Mobil
410CC
J4
32-50
J5
LHG-20-80-U-I
Mobil
Decided by user
J6
N/A
Mobil
80CC
RGL06-2000 (2021)
Gearbox model
Recommended
lubricant brand
Lubricant volume
J1
65E-121
Petrofer
450CC
J2
65E-121
Petrofer
420CC
J3
35E-121
Petrofer
300CC
J4
32-50-U-III
J5
20-80-U-III
J6
N/A
Mobil
80CC
RGL06-930
Gearbox model
Recommended
lubricant brand
Lubricant volume
J1
HS-32-80-C-SP178-A
Mobil
Decided by user
J2
M25-110-NS
Mobil
80CC
J3
HS-25-100-S-C-SP46-A
Mobil
Decided by user
J4
HS-25-50-C-H-SP216-A
Mobil
40CC
J5
HD-17-80-S-C-SP217-A
Mobil
Decided by user
J6
CS-17-80-C-C-SP191-A
Mobil
Decided by user
RGL10-1440
Gearbox model
Recommended
lubricant brand
Lubricant volume
J1
40E-121
Petrofer
450CC
J2
40E-121
Petrofer
420CC
J3
20E-121
Petrofer
300CC
J4
32-50-U-III
J5
20-80-U-III
J6
20-80-U-I
Mobil
Decided by user
RGL20-1840 (NEW)
Gearbox model
Recommended
lubricant brand
Lubricant volume
J1
125N-161
Petrofer
850CC
J2
125N-161
Petrofer
800CC
J3
42N-126
Petrofer
410CC
J4
SMRV-10C-27
J5
HS-25-80-C-H-SP47-A
J6
CS-25-80-C-C-SP207-A
Mobil
Decided by user
6. Replacement of Battery Pack
Warning: WARNING
⚫
When replacing the battery, be sure to disconnect the controller power supply and
external power supply. Set a “check and maintain” caution symbol, lock or hang
the external power switch to prevent the operator or others from accidentally
turning on the power to avoid accidents such as unpredictable electric shock.
⚫
Only use the battery specified by our company
⚫
Do not recharge, heat, change, or disassemble the battery.
⚫
Do not discard the battery in water or fire.
⚫
Do not short the battery positive and negative electrode.
⚫
Dispose of the used batteries in accordance with local rules and regulations.
Operating Steps:
⚫
Be sure to return the robot to zero coordinates before replacing the battery.
⚫
Turn off the controller's controller power, then unscrew the battery holder's
mounting bolts and remove the battery holder. Be careful not to damage the
cables when disassembling.
⚫
Unplug the battery connector, remove the screws that secure the battery, and
remove the battery.
⚫
Put the new battery in the battery holder, secure it with screws, and insert the
battery connector. Install the battery holder to its original position.
⚫
Turn on the controller and re-record the J1-J6 axis zero position on the teach
pendant. (You can move the robot after recording the zero position, otherwise the
zero position will be lost).
7. Retighten
Check each bolt or nut for looseness. If necessary, tighten the bolts and nuts firmly.
Among the items that need to be retightened, the following items are the most
important.
•
•
•
•
•
•
Servo motor fixing bolts
J5/J6 motor mounting plate fixing bolts
Reducer fixing bolts
Tool fixing bolts
Base fixing bolts
Cover fixing bolts
Screw torque standards (N*m)
Screws size
Fe-based
M3
1.4
M4
4.8
M5
10
M6
16.5
M8
40
M10
82
M12
120
M14
180
Al-based
1.4
2.8
6
10
24.5
50
82
130