Don't be nervous about the problem of the robot during the work process, 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 as quickly and easily as possible, 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?
(1) Are there any parts that make 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?
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 oscillation during operation.
3) Shake when stopping – The phenomenon is that the robot wobbles when it stops.
4) Irregular trembling – The phenomenon is that there is a sporadic tremor when the robot is not moving.
Step 3: Dispose of the defective partAfter checking the defective part, the repair process is carried out according to the "Identification and Treatment of the Defective Component of the Primary Part".
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.
A few steps of detailed diagnosis are required:
(1) When the robot is working, check whether the reduction gear has any sensation, abnormal sound or overheating.
(2) Check whether the reduction gear is loose and worn. Turn the brake release switch of the S axis to the direction of [on], swing the *** mechanical arm in the direction of 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 articulation.) ）
(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 is clear that the reduction gear is not in good condition.
(6) Check whether the peripheral equipment has been connected to the robot before the abnormal phenomenon occurs. (Damage to the reduction gear may be caused by articulation.) ）
After following this process, it can be confirmed whether it is the main shaft or the wrist shaft that is damaged, and when the damage is confirmed, the needle will treat it accordingly. For example, if the spindle needs to replace the reduction gear, a crane is required to raise and suspend the robot robotic arm. In addition to replacing the reduction gear, the wrist shaft can also replace the entire mechanical wrist part, and it is a quick and reliable processing scheme to replace the mechanical wrist part of the whole machine, due to the need to replace the reduction gear at the moment 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, it means that the brake line is broken. When performing an open and closed operation of the brake release switch, be careful of the robotic arm falling. 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.
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