8
Disassembly and Reassembly of Wrist Unit
8-1
HW1485471
HW1485471
8
Disassembly and Reassembly of Wrist Unit
• Refer to
fig. 8-1 “Disassembly and Reassembly of Wrist Unit”
.
Disassembly
1. Make the wrist a 90
°
), and then, turn OFF the power supply
of the YRC1000.
2. Unscrew the GT-SA bolts
, and then remove the cover
.
3. Unscrew the magic screws
and remove the B nut
.
4. Remove the gear
. (Be sure not to lose the shim
).
5. Unscrew the hexagon socket head cap screws
, and remove the
wrist unit
from the speed reducer
by using the tapped holes on
the wrist base
.
Reassembly
1. Apply sealing bond ThreeBond 1206C to the contact surface of the
wrist unit
and the speed reducer
, and then mount the wrist unit
on the speed reducer
. At this time, mount the wrist unit
on
the speed reducer
with the gear
not mounted to the wrist unit
.
2. Tighten the hexagon socket head cap screws
with the tightening
torque shown in
table 8-1 “Wrist Unit Parts Checklist”
3. Mount the retaining ring
and bearing
on the gear
.
4. Mount the gear
and shim
on the wrist unit
.
5. Measure the backlash in the gear
and adjust the shim. Use a
small micrometer and determine the number of shims so that the
backlash is 0.05 mm to 0.1 mm in the gear pitch diameter.
6. Tighten the B nut
with the tightening torque shown in
7. Apply LOCTITE 243 to the thread part of the magic screws
, and
then tighten them with the tightening torque shown in
8. Apply ThreeBond 1206C to the mounting surface of the cover
.
Mount the cover
by using the GT-SA bolts
, and tighten them
with the tightening torque shown in
9. Turn ON the power supply of the YRC1000.
NOTE
Refer to
chapter 2 “Notes for Maintenance”
Remove old sealing from each part before starting assem-
bling.
6
5
7
8
9
10
3
1
4
2
1
4
1
4
1
4
9
1
3
12
11
9
9
10
1
9
8
7
5
5
6
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