Daily maintenance and maintenance methods of three-axis servo manipulator with two sections and one arm

Here is a routine maintenance method of three-axis servo manipulator (two-section single arm), which is practical on site and can be directly followed, with all the key points:

I. Daily check (before starting/after stopping each shift)

Appearance and structure

Check whether the arm, bracket and connector are loose, deformed and cracked.

Whether the expansion and contraction of the double-jointed arm is smooth, without jamming, abnormal sound and deviation.

Gas path system

Check the trachea and connector for air leakage, aging and flattening.

The air pressure is normal (generally 0.5 ~ 0.7 MPa), and the filter drains water.

Clamping/loosening of the fixture is reliable, and no parts are dropped and the clamp is not tight.

security apparatus/device/equipment

The emergency stop button is effective, and it stops as soon as it is pressed.

Limit switch, origin switch and anti-collision sensor are free from looseness and damage.

Security door/grating signal is normal.

Electrical and cable

Servo motor wire, encoder wire and power wire are free from pulling, peeling and loosening.

There is no excessive bending and wear of cables in the towing chain.

The driver has no alarm and overheating odor.

Second, the weekly maintenance (once a week)

Guide rail, slider

Clean the dust and oil, and check the lubrication state.

Fill grease as required to ensure smooth sliding and no abnormal sound.

drive disk assembly

Tension check of synchronous belt, no looseness, no tooth jumping and no wear.

The gear/rack/lead screw is clean and lubricated, and the clearance is normal.

Double-arm telescopic mechanism has no movement and excessive gap.

Fastener retightening

The mounting bolts of base, joint, motor base and cylinder are all re-tightened.

Locking inspection of fixture, sucker and fixture screws.

Lubrication and cleaning

Clean the dust of cooling fan of electric control cabinet and servo driver.

Clean up the iron filings, dust and oil stains in the towing chain.

Three, monthly maintenance (once a month)

Accuracy check

Check the accuracy of three-axis repeated positioning and whether there is drift.

Check the parallelism and synchronization of telescopic double-jointed arm.

Motor and reducer

The temperature of the servo motor is normal, and there is no abnormal noise and vibration.

Whether there is oil leakage or abnormal noise in the reducer, change/replenish the oil as required.

Gas path element

Cleaning and maintenance of filters, oil foggers and pressure reducing valves.

The solenoid valve is sensitive and free from jamming.

Program and parameters

Backup manipulator program and servo parameters.

Check whether the soft limit and travel setting are reasonable.

Fourth, quarterly/semi-annual maintenance

Full lubrication

Guide rails, sliders, bearings and joints are all re-lubricated according to specifications.

Cable depth inspection

Focus on inspection of towing chain bends, joints and shielding layers.

Mechanical clearance detection

Clearance adjustment of synchronous belt, gear, screw and coupling.

Whole machine load test

Run continuously for more than 2 hours, and observe the temperature rise, vibration and accuracy.

V. Key points for attention

It is forbidden to run without oil, and the guide rail will be directly strained and scrapped due to lack of oil.

Double-jointed arm is the easiest to accumulate dust and get stuck, so it must be cleaned and lubricated.

If abnormal sound, vibration, inaccurate positioning and air leakage are found, stop the machine immediately for investigation.

Maintenance records should be kept in files, which is convenient for tracing the cause of failure.