Yamaha - Robot fault judgment tips

At present, industrial robots have been widely used in automobile and auto parts manufacturing, mechanical processing, electronic and electrical occupations, rubber and plastics industry, food industry, wood and furniture manufacturing industry. In industrial production, industrial robots such as welding robots, installation robots, spraying robots and handling robots have been widely used.

Yamaha - Robot fault judgment tips

There are more and more robots in the company, worried about the problem of robots? How can you plan ahead? How to simplify the solution? Here are some tips and a breakdown of common problems.

Don't be nervous when the robot has a problem during the operation, if the fault is not caused by the controller, then the cause of the problem must be the damage to the machine parts. In order to deal with the problem in a concise way, the problem should be analyzed. And the need to find out which part is causing the problem. Please follow the steps below for a brief review and protection:

Step 1: Which axis presents the problem?

First, check which axis is causing the problem. If it is difficult to detect the fault, check whether there are any of the following machine abnormalities that may be present.

(1) Is there a part announcing noise?

(2) Are there any parts that are overheating?

(3) Are there any parts that are loose or have recoil?

Step 2: Which part is damaged?

If an abnormal shaft is detected, see which part is causing the problem. There are many possible causes for the same phenomenon.

Note:

1) Overload – This phenomenon occurs when the load exceeds the additional motor load. Specifically, a thermal relay that triggers the coil protector.

2) Noise during operation – the phenomenon is vibration during operation.

3) Shake on Abort – The phenomenon is that the robot wobbles when it is aborted.

4) Irregular trembling – The phenomenon is that there is a sporadic tremor when the robot is not moving.

Step 3: Deal with the defective partsAfter checking the faulty parts, perform the relevant repair process according to the "Diagnosis and Treatment of Primary Component Defects".

Diagnosis and treatment of primary component defects

The main parts of industrial robots include reduction gears, braking equipment, motors, encoders, etc., and reduction gears are the most common problems in the parts and components, followed by brake equipment, motors and encoders.

When the reduction gear is damaged, it will vibrate or announce abnormal movements. In this case, it can cause overloads and abnormal deviations that disrupt normal operation. Sometimes it can also cause overheating. The robot may not be able to move at all, or it may be misaligned. These causes may be caused by damage to the reduction gear spindle (S, H, V) or wrist shaft (R2, B, R1). How do I know if the spindle or wrist shaft is damaged?

A detailed diagnosis of the diagnosis is required in several steps:

(1) When the robot is operating, check whether the reduction gear is vibrating, abnormal movement or overheating.

(2) Check whether the reduction gear is loose and worn. Pull the brake release switch of the S axis to the direction of *** [open], swing *** a mechanical arm according to the direction of the front and back, and then check whether there is any abnormality with your hands.

(3) Check whether the peripheral equipment has been connected with the robot before the abnormal phenomenon occurs. (Damage to the reduction gear may be caused by the joint.) ）

(4) Shake the end performer (such as welding torch and hand equipment, etc.) back and forth to see if the reduction gear is loose.

(5) Close the motor, open the brake release switch together, and check whether the shaft can be rotated by hand. If not, it means that the reduction gear is not in good condition.

(6) Check whether the peripheral equipment has been connected with the robot before the abnormal phenomenon occurs. (Damage to the reduction gear may be caused by the joint.) ）

According to this process, after the diagnosis is confirmed, it can be confirmed whether it is the main shaft or the wrist axis damage, and when the damage is confirmed, the needle will treat it accordingly. If the spindle needs to replace the reduction gear, a crane is required to lift and suspend the robot arm. In addition to replacing the reduction gear, the wrist shaft can also replace the entire mechanical wrist part, which is a fast and reliable solution in replacing the whole mechanical wrist part, because the replacement of the reduction gear requires time and some necessary equipment. Please consult our service department if you have any difficulties.

Compared with the replacement of reduction gears, the replacement of braking equipment and motors is much simpler, and it is worth noting that when diagnosing and replacing braking equipment, it is necessary to pay attention to safety. When the motor is closed, go through the open and closed brake release switch to see if the brake sound can be heard during operation. If you can't hear it, the brake line is broken. When performing an open, closed operation of the brake release switch, be careful that the robotic arm falls off. The brake release switch is located on the control panel of the controller door. Check out the damage and aging and replace the new parts in time.

Yamaha - Robot fault judgment tips

Sections viewed

Contact

working hours