How to service MiR Precision Docking
Things you'll need
The following list depends on what maintenance you are carrying out. See the Maintenance plan for further instructions.
Low viscosity silicone or synthetic oil with Teflon additives, for example “TRI-17” spray
5.5 and 13 mm wrenches (or small adjustable wrench)
T10 and T25 Torx screwdriver
Flathead screwdriver
4 mm Hex screwdriver
Maintenance plan
The maintenance plan is made with an expectation of 300-600 dockings per day.
| Risk | Maintenance | Frequency |
|---|---|---|
Missing lubrication | Female docking unit lubrication: 1. Undock the robot from the precision docking station. 2. Push in the female docking unit using a Hex screwdriver until the unit clicks and bearing balls are visible. 3. Wipe the inside of the female docking unit with a soft microfiber cloth. 4. Spray deep inside the female docking units with a low viscosity silicone or synthetic oil with Teflon additives, for example “TRI-17” spray. 5. Release the female docking units by pressing the green push button. 6. Spray TRI-17 again when the bearing balls are not visible. | Every 10,000 dockings |
| Recalibration of coupling mechanism | Fit a calibration tool (fixed bar with two male couplings attached) to a rigid wall or structure, and adjust the calibration tool so it matches a robot which successfully docks. Subsequently, all robots can be checked against this docking tool. Even if no adjustment is needed, the couplings need to be retightened with 5.7 Nm. | Every 30,000 dockings |
Mechanical movement of mechanism and switches | 1. Check for vertical movement (up to 1 mm is acceptable) of the whole assembly. 2. Ensure that both switches are fully activated, but with some play. See instructions on how to adjust the switches in Adjustment of internal switches. | Every 30,000 dockings |
| Worn caster wheels | Replace caster wheels and do subsequent calibration of coupling mechanism. | Once per 12 months. Twice per 12 months if the floor is more abrasive than a smooth concrete floor. |
Pull back spring haven’t got enough force | Move actuator to back position. At this point it shall only be possible to move the mechanism cross bar 1-2 mm further back. | Every 30,000 dockings |
| Cable is preventing spring from pulling back mechanism | Visual inspection of cables. | Every 30,000 dockings |
| Loose screws | Retighten 2x1 cam screws (red circled) with 0.9 Nm + 2x2 switch screws (red circled) with 0.9 Nm + four switch holding plate screws (blue circled) with 1 Nm.
| Every 30,000 dockings |
| Missing lubrication in camdisc and actuator | Cam unit lubrication: 1. Unplug the power from the unit. 2. Remove the top cover. 3. Spray TRI-17 in the cam unit cover plate hole. 4. Wipe the overspray. 5. Tighten the top cover of the unit back. 6. Plug the cables back. | |
| Preventive | Visual inspection of metal burrs, dirt etc. Remove dirt. Mechanical burrs indicate a problem that needs to be repaired. | Every 30,000 dockings |
| Preventive | Retighten the screws for fixing the precision docking mechanism to the chassis. | Every 30,000 dockings |
| Preventive | Retighten the screws for fixing the male part to the walls. | As needed depending on wall structure. |
Figure 1.1. Adjustment of internal switches
Female unit switch adjustment
The female unit chassis contains two switches. The pictures below show the right female unit with a corresponding switch.
Each switch has two screws, which are used for position adjustment.
Step 1: Insert the bolt/male unit (RC5039) into the female unit.
Step 2: Slide a spacer or other object of aprox. 1 mm in thickness between the piston tip (check assembly drawing RC5081, item no. 2) and the switch roler (as in the image before).
Step 3: Hold the switch in place by pushing it up towards the piston. It is possible to push the switch from the back. The distance between piston and switch should be approx. 1 mm.
Step 4: Tighten ”screw 2” while still holding the spacer (or other 1 mm thickness object) in pressure between ”piston” and ”switch”.
Step 5: When ”screw 2” is tightened, remove the spacer and tighten "screw 1" without pressing the switch.
Step 6: Remove the bolt/male unit. The switch should be mounted correctly.
Step 7: To check if the switch is positioned correctly, insert the bolt/male unit again. You will hear a click from the switch. Check for a clearance between the roller and switch housing when the bolt/male is inserted. Use a screwdriver to check that there is a clearance between the roller and the switch housings (approx. 1 mm).
Step 8: Repeat with the other female unit.
Step 9: Put the female unit cover (RC5033) on and tighten it. It is required that the ”switch” is triggered when the bolt/male unit is inserted into the female unit, but without the ”switch” trigger lever pressed fully.
Motor console switch adjustment
The motor console also contains two ”switches”. They are placed on a switch holding plate. Between the switches, there is a C-profile (a part of the actuator). On the C-profile, there are two ”triggers”, which can be adjusted.
Adjusting switch 1 in the motor console
Step 1: Start by adjusting ”switch 1”.
Step 2: Connect the ”pushbutton” and ”motor” cables.
Step 3: Start the ”motor” by clicking the ”pushbutton”.
Step 4: Use the ”pushbutton” to move the actuator. The motor stops when one of the switches is activated.
Step 5: For switch adjustment, use ”adjustment screws”.
Step 6: ”Switch 1” should be adjusted to toggle (click) when the grove in cam is visible in ”cam-cutout” facing the same direction as the ”switch 1”, and the actuator is all the way to the left.
Step 7: Slide a spacer or other object of aprox. 1 mm - 1,5 mm in thickness, between the trigger and the switch roller.
Step 8: Push the ”trigger” together with the spacer towards the switch. The switch must be pressed fully to the end.
Step 9: Tighten ”screw 3”, and remove the spacer.
Adjusting switch 2 in the motor console
Step 1: Power the ”motor”, and click the ”pushbutton”.
Step 2: Use the ”pushbutton” to move the actuator. The motor stops when one of the switches is activated. Use a screwdriver to activate the opposite switch.
Step 3: Principle is the same as for ”switch 1”. Continue from step 5 in Adjusting switch 1 in the motor console.
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