Precautions for daily maintenance of manipulator - DENSO robot

As a traditional manufacturing enterprise, the use of manipulators to change the mode of production is the only way to reduce the dependence of enterprises on employment, reduce production costs, and achieve sustainable development. However, many enterprises lack daily maintenance awareness and professional knowledge after the introduction of manipulators, resulting in varying degrees of damage to manipulators and an increase in operating costs.

Precautions for daily maintenance of manipulator - DENSO robot

Precautions for daily maintenance of manipulator - DENSO robot

1. Guide rails and bearings

Clean guides and bearings at all shafts and outstanding slip performance should be insisted upon. If the robot is operating in a dusty environment, the guide rails need to be cleaned frequently. If you find any metal chips or powders, it may be a sign that the smoothness is not good. In order to ensure the right smoothness, it is important to have the right linear guide system, and most robots have an automatic smooth system and components that need to be replaced at regular intervals.

2. Manipulator cycle cycle

One of the keys to maintaining the excellent operation of the robot is simple investigation and listening, which can reveal a lot of information about the overall operation of the robot. The manipulator is operated in detail, so it listens for any abnormal sounds, such as whistling, clicking, etc., which indicate that the bearing cannot rotate properly or that some other component is sticky. The link part of the robot moves along the guide rails equipped with power cables and vacuum hoses, and produces a normal ticking sound, but this sound is smooth and stable.

Look at any bearings that can be investigated to make sure they rotate smoothly. Just looking at and listening for certain signs of wear or adjustment can go a long way towards maintaining the optimal operating condition of the gripper.

3. Drive system

If the manipulator is driven by a device frame-transmission gear, pay attention to whether there is any hesitation or shaking during operation. With the exception of smooth and smooth movements, all movements can indicate damage to the drive system or the presence of some foreign objects inside. When the manipulator is advancing downward, the way to quickly see the action or tooth gap between the device beam and the transmission gear is to push and drag the motion arm, and feel abnormal movement (back and forth action is different). However, because the normal manufacturer's tolerance accuracy is very high, this test method will be very inaccurate.

If you suspect that there may be a problem with the device beam and transmission gear, it is better to use a magnetic gauge with a long range. After adjusting the backlash according to the manufacturer's manual, check the full stroke of the shaft to ensure that there is no too tight place between the device beam and the transmission gear. If backlash cannot be adjusted, the device frame and transmission gears may be worn out and need to be replaced. If it is necessary to repair the device frame and transmission gears, it is better to replace both components at the same time to ensure long-term performance.

For belt-driven axes, keep an eye out for debris from belt wear and tear and damage to yourself. Look closely at the pulleys and keep an eye out for traces of dust from conveyor belt data. Make sure the conveyor belts and drive pulleys and sheaves are fully lined up. Belts that are out of direction wear out very quickly.

As long as it is a conveyor belt driven system, you can check the preload of the conveyor belt itself according to the manufacturer's instructions. These specifications will tell you how much error is appropriate in the detailed position of the conveyor belt relative to the pulley.

4. Pneumatic system

Including multi-axial servo drives, almost all manipulators will have pneumatic functions as long as there is a wrist rotation and vacuum gripping action. Pay close attention to the suction cups of the filter regulator unit, where water accumulates to indicate excessive humidity in the compressed air supply through the system. The presence of small amounts of moisture can be transferred to pneumatic valves and actuators, causing oxidation and internal contamination that can eventually lead to the regulator sticking or the actuator sticking or failing.

If the suction cups are equipped with an active dehumidification system, contamination or discoloration on the suction cups is also a sign that moisture is increasing before removal.

If water collects in the suction cup, it can enter the system, even if the time is short, causing the above problems. If you are aware of any physical damage to the pneumatic hose, there may be leaks in the system.

If the air pressure circuit is overflowing with air at normal operating pressure and there is a leak somewhere in the circuit, then it should be easier for you to spot a noticeable sizzling sound to help you identify the location of the leak.

5. Check the molding equipment

The standard equipment of the robot is generally installed on the template of the molding equipment. When the equipment is running at a high speed, the oscillations from the molding equipment can be transmitted to the robot and can cause damage. A simple investigation of the operation of the molding equipment can ensure that the mold movement is adjusted to a reasonable state, reduce the number of shaking or oscillation, and extend the life of the robot.

In the case of high-speed operation, the oscillation frequency may be very high, so it is better to install the robot on the supporting structure that is independent of the molding equipment.

6. Pay attention to wiring wear

When looking at the appearance of the manipulator, if black particles or powder are found, then it is indicated that there are signs of wear and tear in the wiring of the manipulator circuit. However, even if you can't spot these wear signs, take a closer look at all power supply, transformer, or encoder cables, both sides of the wiring path, because friction of the wiring of the robot or connection to the cable guide during the production cycle will eventually wear out and fail. Ensure the safety of the wiring cable tie and the proper installation of the cable.

7. Check the smooth

The gripper uses spring-loaded smooth rods, which only need to be replaced once a year unless there is evidence that the rails are not sufficiently smooth. Equipped with an automatic smoothing system, it can be smoothed one after another along the movement of the manipulator. However, if there are some appearances on which the manipulator cannot move normally, then these areas are manually smoothed, or the timed program-controlled action to achieve the smoothness of the automation system is smoothed.

If you notice rust, corrosion, or wear on any sports surface, or just too dry, it's a sign that they're not smooth enough. Always refer to the manipulator manual for a reasonable smoothing of metal parts. The device beam-conventional gear system is automatically smoothed by a smooth oil storage unit, but it needs to be replaced every year.

8. Vacuum gripper circuit

The vacuum should be formed nearly instantaneously, and the appropriate controller input should be equivalent to grabbing the product. If you notice that the vacuum is turned on and the input light source is presented, with a delay of more than 2 seconds, then it is a sign that the vacuum line is leaking, defective, or that the switching device is not properly adjusted. The main control panel is easy to quiz. If the robot is equipped with a digital vacuum switching unit, it is possible to quickly and actively fine-tune the small threshold of vacuum required to grip the part. This process can be completed when the robot is running in active mode. The set parameters of each production cycle are stored in the memory, which saves time when the production changes.

The digital vacuum changer has two other advantages: The electronic filter for the gripping threshold signal compensates for the oscillation of the product on the vacuum gripper during rapid movement. The product release threshold, which is different from the gripping threshold, can be programmed to ensure proper release under fast cycle times.

Precautions for daily maintenance of manipulator - DENSO robot

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