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导轨和轴承

应该保持所有轴处的导轨和轴承清洁以及良好的润滑性能。如果机械手运行在充满灰尘的环境中,那么需要经常清理导轨。如果你发现任何金属碎片或粉末,那就可能表示润滑不 好。为了保证合适的润滑,拥有恰当的线性导向系统非常关键,大多数机械手拥有自动化的润滑系统以及需要定期替换的部件。

 

Guide should keep all the shaft and bearing cleaning and good lubrication performance. If the system is in a dusty environment, you need to often clean up the guide rail. If you find any pieces of metal or powder, it may be said lubrication is not good. To ensure proper lubrication, a proper linear guide system is critical, most of the manipulator with automatic lubricating system and needs regular replacement of parts.

 

 

机械手循环周期

保持机械手良好运行的要点之一是简单的观察和倾听,这样做能够暴露出机械手总体运行的许多信息。机械手通过具体动作工作,因此倾听任何不正常的声音,例如啸叫、咔嗒声等,这些表明轴承不能正常旋转或其它某个构件被粘住。机械手链接部分沿着装有动力电缆和真空软管的导轨运动,会发出正常的滴答声,但是这种声音平滑稳定。检查任何可以观察到的轴承,确保它们平稳旋转。 只需要检查并聆听某些磨损或需要调整的征兆,就可以大大有助于保持机械手最佳的运行状态。

 

Manipulator a good run is one of the main points of the simple look and listen, do it can expose the manipulator overall run a lot of information. Manipulator by the movements of the specific work, so listen to any abnormal sound, such as the noise, click the show that bearing not rotating properly or some other component is stuck. Manipulator links section along with the power cable and the vacuum hose guide rail movement, have a normal tick, but the sound smooth and stable. Check to see any bearing, ensure their smooth rotation. Only needs to be checked and listen to some signs of wear or need to adjust, the operation of the manipulator can greatly help to keep the best state.

 

 

驱动系统

如果机械手采用装配架-传动齿轮驱动,注意在运行过程中是否有任何迟疑或晃动发生。除了光滑平稳的动作之外的所有运动都可以表明驱动系统损坏或内部寄存了一些异物。 机械手推动向下运动时,快速检查装配梁和传动齿轮之间动作或齿隙的方法是推拖运动臂,感觉异常运动(来回动作不同)。然而由于正常的厂家公差精度非常高,因此本试验方法将会非常不精确。 如果你怀疑装配梁和传动齿轮可能有问题,较好的方法是使用量 程长的磁性表座。按照厂家说明书调整好齿隙后,检查轴的全部行程,保证装配梁和传动齿轮之间没有太紧的地方。 如果齿隙不能调整,那么装配架和传动齿轮可能出现磨损,需要替换。如果必需修补装配架和传动齿轮,那么最好同时替换两个构件从而保证长期性能。 至于靠传送带驱动的轴,密切注意传送带磨损落下的碎屑以及本身的损害。仔细检查滑轮,留意源自传送带材料的灰尘的迹象。确保传送带和传动滑轮以及槽轮的完全排列成行。方向偏离的传送带会非常快地磨损掉。只要是传送带驱动的系统,可按照厂家的说明书检查传送带本身的预加负荷。这些规范将告诉你:相对于滑轮,在传送带具体位置上的适宜误差量。

 

The mounting rack - if the manipulator driving gear drive, pay attention to in the process of running if there is any hesitation or shaking. Besides and smooth movements of all the sports that drive system damage or internal check some foreign body. Mechanical drive down movement, quick check assembly actions or backlash between beam and transmission gear method is evading movement of the arm, paraesthesia movement (back and forth movement). However due to the normal manufacturer tolerance precision is very high, so this test method will be very inaccurate. If you suspect assembly beam and transmission gear may have a problem, a better method is to use cheng long magnetic table. According to the manufacturer manual adjust backlash, check the shaft of the whole trip, ensure assembly beam and transmission.

 

 

气动系统
包括多轴向伺服驱动在内,只要有转腕和真空抓取动作,几乎所有机械手都会有气动功能。密切注意过滤调压阀单元的吸盘,其中积有水就表明通过系统的压缩气源湿度过大。少量水气的存在都可能传送到气动阀和致动器,造成氧化和内部污染,最终可能导致调压阀粘住或致动器断断续续的粘住或失效。如果吸盘配置自动除湿系统,吸盘上的污染或变色也表明水气在去除之前在增加。如果水聚集到吸盘中,即使时间很短,它也能进入系统,造成上述问题。 如果气动胶管有任何有形损坏,那么系统就可能会有泄漏。

  如果气压回路在正常操作压力下充满空气,并且在回路某处出现泄漏,那么你应该更容易发现明显的咝咝声,进而帮助你确定泄漏的位置。

 

including more than axial servo drive, as long as there is to turn the wrist and vacuum grasp motion, almost all will have the function of pneumatic manipulator. Pay close attention to the suction cups of filtration pressure regulating valve unit, in which the product is water suggests that through the system of compressed air humidity. The presence of a small amount of moisture is likely to be sent to the pneumatic valve and actuator, cause oxidation and internal contamination, could eventually lead to a pressure regulating valve sticking or actuator intermittent sticking or failure. If the suction cup configuration automatic dehumidification system, pollution or discoloration on the suction cup before also shows that the moisture removal is on the rise. If the water gathered in suction cups, even if the time is very short, it can also enter the system, the above problem. If there are any physical damage, pneumatic hose system may have a leak.

 

 

检查成型设备

标准配置的机械手通常都安装在成型设备的模板上。当设备快速运行时,来自成型设备的振动可能会传递到机械手上,并可导致损坏。 简单观察成型设备的运行情况,保证模具运动被调整到合理状态,减少晃动或振动次数,可以延长机械手的寿命。在高速运行情况下,振动频率可能会非常高,最好将机械手安装在独立于 成型设备的支承结构上。

 

Standard configuration of the manipulator are usually installed on the template of molding equipment. When the equipment running fast, from the vibration of the molding equipment may be passed to the mechanical hand, and can cause damage. Easy to observe the running situation of molding equipment, ensure the mold movement has been adjusted to the reasonable state, decrease The Times of shaking or vibration can extend the life of the manipulator. Under the condition of high speed running, the vibration frequency can be very high, it is best to manipulator installed on the supporting structure is independent of the molding equipment.

 

 

注意配线磨损

在检查机械手表面时,如果发现黑色颗粒或粉末,那么就表明机械手电路配线有磨损迹象。但是,即使你发现不了这些磨损信号,仔细察看所有电源、变压器或编码器电缆,配线路径的内外两侧也可,因为在生产循环期间,连续摩擦机械手的配线,或连接在电缆导轨上的配线,最终都会磨损并且失效。确保配线扎带的安全,以及电缆的合理安装。

 

On the surface inspection manipulator, if found black granule or powder, then manipulator circuit wiring signs of wear. But, even if you can't find these wear signals, carefully check all the power, transformer or encoder cables, wiring paths on both sides of inside and outside also can, because during the production cycle, continuous friction manipulator wiring, wiring or connected to the cable guide rail, eventually wear out and invalid. Ensure the safety of the wiring cable tie, and the reasonable installation of the cable.

 

 

检查润滑

机械手使用弹簧加载的润滑棒,除非有证据表明导轨润滑不充分,否则只需要一年替换一次。配置自动化润滑系统,可以顺着机械手运动连续进行润滑。但是如果有一些表面,机械手在其上不能正常运动,那么对这些区域进行手动润滑,或实现自动化系统润滑的定期程控动作进行润滑。如果你发现任何运动表面上出现锈斑、腐蚀或磨损,或者只是太干,都说明它们润滑不足。要始终参考机械手手册对金属部件进行合理的润滑。装配梁-传统齿轮系统通过润滑油存储单元进行自动化润滑,但 是需要每年进行更换。

 

Manipulator using spring-loaded lubrication, unless there is evidence that guide insufficient lubrication, otherwise only needs to replace once a year. Configure automatic lubrication system, can follow the manipulator movement for continuous lubrication. But if there is some surface, the manipulator on its can't normal movement, then manually lubrication for these areas, or automated lubrication system lubrication of program-controlled action on a regular basis. If you find any activity's rust spots, corrosion or wear and tear, or just too dry, suggests that they are lack of lubrication. Always refer to the manual manipulator for reasonable lubrication metal parts. Assembly beam - by oil storage unit on traditional gear system automatic lubrication, but is the need to be replaced every year.

 

 

真空抓手回路

真空应该接近瞬时形成,合适的控制器输入就应该相当于在抓取制品。如果你发现打开真空,接着出现输入光源,延迟时间超过2秒,那么就表明有真空管线泄露、有缺陷或者切换装置调节不当。通过外挂的主控制面板可以很容易进行测试。如果机械手配置数字真空切换单元,那么就可以快速自动微调抓取制品所需真空的最小阈值。该过程可以在机械手自动运行模式下运行时完成。在存储器里保存每个生产周期的设定参数,这可以在下一次生产变化时节约时间。数字式真空切换装置还有另外两种优势: 抓取阈值信号电子滤波器弥补了快速运动时真空吸盘上制品的振动。 制品释放阈值与抓取阈值不同,可进行程控,可保证在快速生产周期条件下得到合适的释放。

 

Vacuum should be close to the instantaneous formation, the appropriate controller input should be equivalent to the scraping of the products. If you find that open the vacuum, then appeared the input source, delay time more than 2 seconds, then have a vacuum pipeline leak, defective or improper adjustment switch device. Through the plugin master control panel can be easily tested. If manipulator configuration digital vacuum switch unit, automatic can quickly grab products the minimum threshold required for vacuum. The process can be completed in manipulator automatic operation mode. Keep in memory setting parameters of each production cycle, this can save time when the next production change. Digital vacuum switch device has two other advantages: grab threshold signal digital filter.

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