Denso robot fault analysis and maintenance

Don't panic when the robot has a problem during operation, if the problem 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 the most concise way possible, the problem should be dissected. And the need to find out which part is causing the problem. Please follow the steps below for a brief review and protection:

Denso robot fault analysis and maintenance

Denso robot fault analysis and maintenance

Step 1: Which axis presents the problem?

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

(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?

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 oscillation during operation.

3) Swing on Abort – The phenomenon is that a wobble is generated when the robot is aborted.

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

Step 3: Handle the defective partsAfter the defective parts are identified, the repair process is carried out according to the "Identification and Treatment of Defects of the Primary Parts".

Diagnosis and treatment of primary component problems

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 oscillate or emit abnormal movements. In this case, it can cause overload and abnormal breaches 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 to confirm whether it is the main shaft or wrist shaft damage?

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

(1) When the robot is operating, check whether the reduction gear is sensational, abnormal or overheated.

(2) Check whether the reduction gear is loose and worn. Turn the brake release switch of the S-axis to the position of [on], swing the first robotic 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 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 at the same time, and check whether the shaft can be rotated by hand. If not, it is clear that the reduction gear is not in good shape.

(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.) )

After confirming the diagnosis according to this process, it is possible to confirm whether the main shaft or wrist axis is damaged, and when the direction of 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, which is a quick and reliable treatment solution in the replacement of the whole mechanical wrist part, because the replacement of the reduction gear requires 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, 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.

Denso robot fault analysis and maintenance

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