6-8
176183-1CD
HW1483638
6
Disassembly and Reassembly of Speed Reducer
6.3 Disassembly and Reassembly of U-Axis Speed Reducer
MH5S
(II)
/MH5F
6.3
Disassembly and Reassembly of U-Axis Speed Reducer
• Refer to
Fig. 6-3 “Disassembly & Reassembly of the U-Axis Speed
.
Disassembly
1. Turn OFF the DX100/DX200/FS100 power supply.
2. Connect the backup batteries with the R-, B- and T-axes motors. After
disconnect all the cables connected to the internal wiring harness,
remove the internal wiring harness to the L-arm side. (Refer to
.)
3. Unscrew the hexagon socket button head screws
and remove the
cover
4. Remove the timing belt
Reassembly of L- and U-Axis Timing Belts”
Because the U-arm cannot keep its posture without the timing belt
,
be sure to support the U-arm before removing the timing belt
.
5. Unscrew the GT-SA bolts
. Then remove the housing
, the wave
generator
, the bearings
and the pulley
with the removal tap.
6. Unscrew the hexagon socket head cap screw
from the removed
wave generator
and remove the pulley
and the housing
.
7. Unscrew the GT-SA bolts
. Then remove the circular spline
with
the removal tap.
8. Unscrew the GT-SA bolts
. Then remove the housing
with the
removal tap. Because the casing and the L-arm are detached without
the housing
, be sure to support the U-arm before removing the
housing
.
9. Remove the bearing
, the oil seal
and the hexagon socket head
cap screws
. Then remove the
flex spline
.
10. Remove the bearing
and the oil seal
.
11. Remove old sealing from each parts.
Reassembly
1. Mount the
flex spline
on the casing. At this time, apply Harmonic
Grease SK-1A to the inside wall of the flex spline
in thickness of
5mm or so.
2. Attach the conical spring washers to the hexagon socket head cap
screws
and apply ThreeBond 1206C to the thread parts. Then
tighten them with the tightening torque shown in
Speed Reducer Parts Checklist”
.
3. Press fit the bearings
into the casing. Apply ThreeBond 1206C to
the outside walls of the bearings
and LOCTITE 638 to the
matching face with the casing. Smooth the surplus sealing or
adhesive with a spatula. However, be careful not to spread the sealing
inside the bearings
. (When replace the speed reducer, replace
the bearings
too.)
4. Press fit the oil seal
into the casing. (Before the press fit, remove
the sealing adhering to the casing so that the sealing does not adhere
to the oil seal when press fit into the bearing.) Align the oil seal side
with the casing side.
5. Put the housing
through the L-arm and the bearing
and connect
the casing with the L-arm.
14
13
15
15
15
6
9
3
16
8
7
3
8
9
4
1
4
11
11
11
17
18
5
2
10
19
2
2
5
10 17
10 17
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