Industrial robots are increasingly used in the manufacturing industry. They are mainly used in relatively harsh conditions, or where the work intensity and durability are required to be high. The failure rate of the brand robot is relatively low and it is widely recognized. However, even if the thermal design of industrial machines is more standardized and complete, the degree of integration is higher and the failure rate is lower, regular inspections and preventive maintenance are still required on a regular basis. The common robots are: series articulated robots, rectangular coordinate robots, Delta parallel robots, scara robots, automatic guided cars, etc. The maintenance in this paper is mainly directed at articulated robots.
First, the maintenance of industrial robot body
1, ordinary maintenance
1) Cleaning robot
Clean the base and arm of the robot regularly; use high-pressure cleaning equipment, but avoid spraying directly to the robot; if the robot has grease film and other protection, remove it as required. (You should avoid the use of strong solvents such as acetone, avoid plastic protection, and prevent the generation of static electricity. Wet or wet cloths must be used to wipe non-conductive surfaces, such as spraying equipment, hoses, etc. Do not use a dry cloth.)
2) Cleaning and maintenance of hollow wrists
According to the actual situation, the hollow wrist should be cleaned as often as necessary to avoid the accumulation of dust and particulates. It can be cleaned with a lint-free cloth. After the wrists are cleaned, a small amount of petroleum jelly or the like can be added to the wrist surface, which will be more convenient for cleaning later.
3) Periodic inspection
Check for oil leaks; check for excessive gear clearance; check the cables between control cabinet, purge unit, process cabinet, and robot arm for damage.
4) Inspection of fixing bolts
The fastening bolts and retaining clips that secure the robot to the foundation must be kept clean and free from contact with corrosive liquids such as water and acid and alkali solutions. This can avoid fasteners; if the corrosion protection layer such as galvanized layer or paint is damaged, the relevant parts need to be cleaned and coated with anti-corrosion paint.
2, shaft braking test
Each axis motor brake wears out during operation. In order to determine if the brake is working properly, it must be tested at this time.
Test method: Check the brake of each axis motor as described below.
1) Run the manipulator axis to the corresponding position where the total weight of the robot arm and all loads reaches the maximum value (maximum static load);
2) Motor power off;
3) Check if all axes are maintained as they were.
If the robot does not change its position when the motor is de-energized, the braking torque is sufficient. You can also manually move the robot to check if further protection measures are required. When the mobile robot stops in an emergency, the brakes will help stop and wear may occur. Therefore, repeated tests are required during the service life of the machine to verify that the machine maintains its original capabilities.
3, system lubrication and refueling
1) Lubrication of shaft pinion gears and gears
Make sure that the robot and related systems are closed and in a locked state. A small amount (1 g) of grease is squeezed into each nozzle. Lubricate the pinion grease fittings and gear grease fittings one by one. Do not inject too much to prevent damage to the seal.
2) Hollow wrist lubrication refueling
For the 10 lubrication points of the hollow wrist, only a few drops of lubricant (1 gram) is required for each grease injection nozzle. Do not inject excessive lubricant and avoid damaging the wrist seal and internal sleeve.
4, check the oil level in each gear box
The positions of the oil filling holes in the shafts are different, and they need to be checked for actions. Some of them need to be turned vertically and then opened for inspection.
5, maintenance cycle (time interval can be adjusted according to environmental conditions, the number of hours and temperature of the robot to adjust)
1) Ordinary maintenance frequency: 1 time/day;
2) Shaft braking test: 1 time/day;
3) Lubricate the 3-axis auxiliary gear and gear: 1 time/1000H;
4) Lubricated hollow wrist: 1/500H;
5) Lubricants in each gearbox: The first one-year replacement will be replaced every five years thereafter.
Second, the maintenance of the system control cabinet
1, maintenance content
1) Check the controller cooling
Do not cover the controller with plastic or other materials; allow sufficient clearance (>120 mm) behind and on the sides of the controller; prohibit the controller from coming close to the heat source; prohibit the controller from placing debris on the top of the controller; Multiple cooling fans do not work; avoid blockage of fan inlets or outlets; avoid excessive dirt on the air filter cloth; the front door must remain closed when no work is performed in the controller.
2) Cleaning the teach pendant
The teach pendant should be cleaned at an appropriate frequency from the actual need; although the panel paint film can withstand the corrosion of most solvents, it should still avoid exposure to strong solvents such as acetone; the teach pendant should be removed and placed in a clean place when not in use place.
3) Cleaning the controller
The inside of the controller should be cleaned at appropriate intervals according to environmental conditions, such as once a year; special attention must be paid to the cooling fan and inlet/outlet port cleaning. Use a dusting brush for cleaning, and use a vacuum cleaner to remove dust from the brush. Do not use a vacuum cleaner to clean the parts directly, otherwise it will cause electrostatic discharge and damage the parts. Before cleaning the inside of the controller, be sure to cut off!
4) Cleaning or replacing filter cloth
Clean the filter cloth in 30-40 °C water with detergent, clean the filter cloth 3-4 times. Do not wring the filter cloth and place it on a flat surface to dry. The filter cloth can also be blown clean with clean compressed air.
5) Regularly change the battery
The measurement system battery is a one-time battery (non-rechargeable battery); a message appears in the message log when the battery is replaced. The battery power can be maintained for approximately 1800 hours after this message appears. (It is recommended to replace the battery when the above message appears.) The battery operates only when the control cabinet is "off." The battery life is about 7000 hours.
If the control cabinet controls the CBS unit in addition to the control robot, or in the case of an 8-axis robot, the battery life is half as described above (using 2 SMU units).
6) Check cooler
The cooling circuit adopts a maintenance-free closed system design. The components of the external air circuit must be inspected and cleaned periodically as required. When the ambient humidity is high, check whether the drain outlet is regularly drained.
2. Maintenance frequency (The time interval can be adjusted according to the environmental conditions, the number of robot operation hours and the temperature)
1) General maintenance: 1 time/day;
2) Clean/replace filter cloth: 1 time/500H;
3) Replacement of measurement system battery: 2 times / 7000H;
4) Replacement of computer fan unit and replacement of servo fan unit: 1/50000H;
5) Check the cooler; 1 time/month.
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