Industrial robots are used more and more in the manufacturing industry. They are mainly used in harsh conditions or occasions with high requirements for work intensity and sustainability. The failure rate of brand robots is low, so it has been widely recognized.
But even though the design of industrial robot is more standard and perfect, the integration degree is higher and the failure rate is lower, regular inspection and preventive maintenance should be carried out regularly. The common robots are: series joint robot, Cartesian coordinate robot, delta parallel robot, SCARA robot, automatic guided car, etc. the maintenance in this paper is mainly aimed at joint robot.
1、 Maintenance of industrial robot body
1. General maintenance
1) Cleaning manipulator
Clean the base and arm of the manipulator regularly; high pressure cleaning equipment can be used, but direct spraying to the manipulator should be avoided; if the manipulator is protected by grease film, remove it as required. (strong solvents such as acetone should be avoided and plastic protection should be avoided. In order to prevent static electricity, non-conductive surfaces, such as spraying equipment and hose, must be wiped with wet or damp cloth. Do not use dry cloth.)
2) Cleaning and maintenance of hollow wrist
According to the actual situation, the hollow wrist needs to be cleaned regularly to avoid dust and particulate matter accumulation. It can not be cleaned with fluffy balls and clean cloth. After the wrist is cleaned, a small amount of Vaseline or similar substances can be added to the wrist surface, which will be more convenient for cleaning in the future.
3) Regular inspection
Check whether there is oil leakage; check whether the gear clearance is too large; check whether the cable between the control cabinet, purging unit, process cabinet and manipulator is damaged.
4) Inspection of fixing bolts
The fastening bolts and clamps for fixing the manipulator on the foundation must be kept clean and shall not contact with corrosive liquids such as water, acid-base solution, etc. If the corrosion protection such as zinc coating or coating is damaged, clean the relevant parts and apply anti-corrosion coating.
2. Axle brake test
During operation, the motor brake of each axle will wear normally. In order to determine whether the brake is working properly, a test must be carried out at this time. Test method: check the brake of each shaft motor as described below.
1) Run the manipulator axis to the corresponding position, where the total weight and all loads of the manipulator reach the maximum value (maximum static load);
2) The motor is powered off;
3) Check that all shafts are maintained in their original position;
If the manipulator does not change its position when the motor is powered off, the braking torque is sufficient. The manipulator can also be moved manually to check if further protection measures are needed. When the mobile robot stops in an emergency, the brake will help to stop, so wear may occur. Therefore, repeated tests are required during the service life of the machine to verify whether the machine maintains its original capacity.
3. System lubrication
1) Shaft gear and gear lubrication
Make sure that the robot and related systems are closed and locked. Squeeze a little (1g) of grease into each nozzle. Lubricate the grease nipple of the pair gear and each gear grease nozzle one by one. Do not inject too much to avoid damaging the seal.
2) Grease the hollow wrist
There are 10 lubrication points on the hollow wrist. Only a few drops of lubricant (1g) are needed for each grease injection nozzle. Do not inject excessive lubricant to avoid damaging the wrist seal and internal sleeve.
4. Check the oil level in each gearbox
The positions of the oil filling holes on each axis are different, so targeted inspection is needed. Some need to be in a vertical state after rotation and then open the cover for inspection