A great deal of care has been put into the design of Clansman Manipulators to ensure that every aspect of maintenance is as simple and fast as possible.
Manipulator maintenance may be divided into three areas: Mechanical, Hydraulic and Electrical.
The mechanical design of the machine is robust and simple. No special techniques are used to assemble the machine, and we consider that all mechanical maintenance of the machine can easily be handled by any fitter with a reasonable amount of experience.
All the main pins in the machine have 24mm tapped holes to help extraction
This will normally speed up maintenance if the maintenance team had access to a hollow jack in order to make best use of the extraction holes. Other than this, no special tools or instructions are needed.
In order to be able to make small and smooth movements, it is necessary that hydraulic servo valves are used for the 3 main motions (vertical horizontal and the main rotation, or slew). These are very reliable devices when the cleanliness of the oil is maintained, and the pressure and return filters keep the oil clean to a very high level. This does mean of course that when any maintenance is carried out on the hydraulic system, some care is needed to prevent contamination from entering the system.
All the electric control functions are grouped onto a single control card. Similarly, all the circuitry for the force feedback is grouped onto a single 'force-feedback card'. The control card has diagnostic facilities which permit electricians or fitters to select any signal in the system so that its level may be measured without the use of any other equipment. No electronic engineers are required. This allows for example, potentiometer signals to be viewed and compared with those levels measured when the machine was commissioned and which were entered into the manual.
Although servo valves are used, it is very easy to tell if they are operating correctly, using the built-in diagnostic system and following simple tests which are described in the CDL Maintenance Manual.
All of the other motions of the machine are of the standard on/off type, with a manually adjusted flow control to set the speed, and a pressure relief valve for safety.
The fact that the force feedback is electric greatly simplifies the hydraulic system.
The two cards have no customer adjustments and are not intended to be maintainable by the customer. They are arranged in such a way as to allow them to be changed for a spare unit in a matter of minutes.
The potentiometers are also arranged for rapid replacement. Every single wire in the system is numbered and crimped and a special effort has been made to make sure that an absolute minimum number of connections have been used.
A great deal of care has been put into the design of the machine to ensure that every aspect of maintenance has been made as simple and as fast as possible.