Yamaha robot fault judgment method

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 transfer robots have been widely selected.

There are more and more robots in the company, worried about the problem of robots? How can you plan ahead? How do you make it simpler? Here are some tips and a common analysis of the drawbacks.

Yamaha robot fault judgment method

When the robot has a defect in the process of operation, it is not serious, assuming that the shortcoming is not caused by the controller, then the cause of the shortcoming must be the damage to the machine parts. In order to deal with the shortcomings in a concise way, the shortcomings should be analyzed. And the need to find out which part is causing the shortcoming. Please follow the steps below for brief inspection and maintenance:

Step 1: What is the problem with the shaft?

First, check which shaft is causing the defect. Suppose it is difficult to detect the shortcomings and check for any of the following machine anomalies that may occur.

(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?

Suppose an abnormal shaft is detected and which part is causing the problem. There are many possible causes for the same phenomenon.

Pay attention:

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

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

3) Shaking on Interruption – The phenomenon is that the robot wobbles when it is intermittent.

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

Step 3: After dealing with the defective parts, and after the defective parts are investigated, the relevant repair process is carried out according to the "diagnosis and treatment of the defects of the primary parts".

Diagnosis and treatment of primary component defects

The main parts of industrial robots include reduction gears, braking equipment, motors, encoders, etc., and the shortcomings of the parts are often reduced gears, followed by brake equipment, motors and encoders.

When the reduction gear is damaged, oscillation occurs or abnormal dynamics are announced. In this case, it can cause overloads and abnormal breaches that disrupt normal operation. Sometimes it can also cause overheating. The robot may not move at all, or it may have an azimuth deviation error. 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 the wrist shaft is damaged?

A few steps are required to confirm the diagnosis:

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

(2) Check whether the reduction gear is loose and worn. Pull the brake release switch of the S axis in the direction of *** [on], swing *** a 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 device has been connected to the robot before the abnormal phenomenon occurs. (Damage to the reduction gear may be caused by the connection.) ）

(4) Shake the end actuator (such as welding torch and hand equipment, etc.) back and forth to check whether the reduction gear is loose.

(5) Turn off the motor, turn on the brake release switch together, and check whether the shaft can be rotated by hand. The assumption that it does not spell out the poor condition of the reduction gear.

(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 the connection.) ）

After following this process, it is possible to confirm whether the main shaft or the wrist shaft is damaged, and when the direction of the damage is confirmed, the needle will make a corresponding treatment plan. 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 the replacement of the whole mechanical wrist part is a quick and reliable processing plan, 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 turned off, check whether the brake sound can be heard during operation by turning on and off the brake release switch. Suppose it is not audible to clarify the broken brake line. When opening and closing the brake release switch, be careful that the robot arm falls off. The brake release switch is located on the control panel of the controller box door. Check for damage and deterioration and replace new parts in a timely manner.

Yamaha robot fault judgment method

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