What should be paid attention to when installing and debugging the two-section single arm of three-axis servo manipulator?

Matters needing attention in installation and debugging of three-axis servo manipulator (two arms and one arm)

First, preparation before installation

Check whether the models, accessories, servo motors, reducers, cylinders, sensors and cables are complete and in good condition.

Check the levelness, strength and bolt specifications of the installation base surface (machine tool/frame) to avoid vibration and deformation.

Plan the direction of gas path and circuit, reserve travel and safe distance to prevent interference.

Safety circuits such as grounding, emergency stop, safety door/safety grating shall be confirmed in place first.

Second, the mechanical installation points

Horizontal and vertical

After installation, the main arm, cross beam and base shall be calibrated with a level to ensure the verticality of X/Y/Z three axes.

Poor synchronization and parallelism of double-jointed arms will lead to jamming, abnormal sound and increased wear.

drive disk assembly

Guide rail and slide block shall be clean and lubricated, and preloaded as required.

The gap between synchronous belt/rack and pinion/screw is reasonable, and it is not loose or tight.

Cylinder and fixture

Double-arm telescopic cylinder is installed firmly, and the limit buffer is adjusted in place.

The gas path of the fixture is airtight, smooth and anti-loose.

All fasteners

Key bolts (motor seat, joint and base) shall be locked according to the torque and treated as anti-loosing.

Three, electrical wiring points

The servo driver, motor and encoder wires shall be connected in strict accordance with the drawings, and the shielding layer shall be reliably grounded.

The power line and the signal line are routed separately to avoid interference.

Limit switch, origin switch, emergency stop and alarm signal are correctly wired, and their polarities are not reversed.

The voltage of air valve island and fixture solenoid valve is matched and the insurance is complete.

Four, manual debugging (key)

Release the brake first, and make sure that there is no jamming or abnormal sound on the manual moving arm.

Inching axis by axis to confirm that the direction, travel and soft limit are consistent with the hard limit.

Double arm telescopic synchronous inspection, no deviation, no strength.

The origin returned to normal, and repeated positioning was stable.

The gas path pressure is normal, the clamp is reliable, and the anti-falling/anti-falling mechanism is effective.

V. Parameters and program debugging

Servo parameters:

Set the electronic gear ratio, pulse direction and acceleration and deceleration time.

Overload, overcurrent and positioning error protection are reasonable.

Speed and acceleration:

Try running from light to high step by step to avoid shock, jitter and step loss.

Action sequence:

Pick-up-out-down-put-back, each section is verified separately.

Linkage with machine tool/injection molding machine:

Signal interlocking (mold opening in place, ejection, manipulator allowed, safety door) must be reliable.

Six, safety and trial operation

The emergency stop can stop immediately at any position, and the power-off brake is effective.

Set the soft limit to ensure that it will not hit the machine, the door or the mold.

No-load → slow speed → full speed → load run gradually, and run continuously for more than 2 hours.

Inspection: temperature rise, noise, vibration, positioning accuracy, air leakage, looseness and alarm.

Seven, acceptance points

Repeated positioning accuracy, grasping stability and beat meet the requirements.

No oil leakage, no abnormal heating, no alarm and no interference.

Training operators: manual/automatic, origin, emergency stop, fault reset and daily maintenance.