Common faults and treatment methods of manipulators | Robot Manipulator Arm

Common faults and treatment methods of manipulators | Robot Manipulator Arm

(1) The reasons for the failure of the tool when the tool is dropped may include:

(1) The tool clamp is not tight and the tool is dropped. The reason may be that the pressure of the clamping claw spring is too small; or the nut behind the spring is loose; or the tool is overweight; or the mechanical arm clamping lock does not work.

(2) The tool cannot be loosened after clamping. The reason may be that the spring of the loose lock is too tight and the jaws cannot be retracted: the nut should be loosened so that the maximum load does not exceed the rated value.

(3) Tool drop during tool exchange. The headstock does not return to the tool change point or the tool change point drifts when the tool is changed. If the robot does not reach the position when the tool is grasped, it will start to pull the tool, which will cause the tool to be dropped during tool change. At this time, the headstock should be moved again to return to the position of the tool change point and reset the tool change point.

(2) The manipulator fails to reach out to complete the action of pulling the tool from the spindle and the tool magazine. The possible causes of the failure are:

(1) "Knife release" sensor switch fails. During the tool change process, the completion signal of each action is sent by the sensor switch, and the next action can only be performed after the previous action is completed. The third step is "spindle tool release". If the sensor switch does not send a signal, the manipulator will not move when "pulling the tool". Check the two induction switches, the signal is normal.

(2) "Knife loosening" solenoid valve malfunctions The "knife loosening" of the spindle is completed by connecting the solenoid valve to the hydraulic cylinder. If the solenoid valve fails, the hydraulic cylinder does not enter the oil, and the tool cannot be "loose". Check that the "knife loosening" solenoid valve of the spindle operates normally.

(3) The "knife loosening" hydraulic cylinder does not move due to insufficient hydraulic system pressure or oil leakage, or the stroke is not in place. Check the tool magazine loosening hydraulic cylinder, which is operating normally and the stroke is in place; open the back cover of the spindle box (Figure 8-2) , Check the spindle tool release hydraulic cylinder, and found that it has reached the tool release position, the oil pressure is also normal, and the hydraulic cylinder has no oil leakage.

(4) There is a problem with the manipulator system, and the condition of “pulling the knife” cannot be established. The reason may be: there is a problem with the motor control circuit. Check that the motor control circuit system is normal.

(5) There is a problem with the spindle system. The schematic diagram of the spindle structure is shown in Figure 8-2. The tool is tightened by the disc spring through the pull rod and the spring clamp to tighten the pull stud at the end of the tool handle; when the knife is released, the piston rod of the hydraulic cylinder presses the ejector rod, and the ejector rod pushes the pull rod through the hollow screw, which makes the spring clamp head. Loosen the pull stud of the tool, on the other hand, push the pull stud to make the tool move to the right and become "loose" in the taper hole of the spindle.
Robot Manipulator Arm