When the stretching robot stops running, a quick way to check the rack-and-pinion clearance is to push and pull the robot to see if there is any abnormality in its movement. However, since the tolerances of the robots are usually very tight, this detection may be very inaccurate.
Almost every stretching manipulator, even a multi-axis servo-driven manipulator, has a pneumatic system as long as the manipulator has a wrist-rotation or vacuum-loading action. In this regard, pay attention to the water bowl in the filter regulator. The water in the bowl indicates that the humidity of the air in the workshop is too large. Even a small amount of water may cause oxidation or pollution of the pneumatic valve and the actuator, causing the valve to stick or the actuator to occur. Intermittent failure failure.
Although some water bowls are equipped with an automatic dehumidification system, stains in the bowl may indicate that moisture accumulation has occurred prior to moisture removal. Even if the accumulation of moisture is short, moisture can enter the system, causing the above problems. If any mechanical damage to the pneumatic tube is found, there may be a leak in the system. If the pneumatic circuit is at normal operating pressure, the gas leak will give a noticeable click, which helps determine the location of the leak.
There is also a check of the drive system. If the robot is using a rack and pinion drive, be aware of any blockage or drag during operation. Any unsmooth and unquiet operation indicates that the robot drive system is damaged or foreign objects have entered the system.
For belt-driven tensile manipulator bearings, pay close attention to belt debris and the wear of the belt itself, such as seeing if there is debris on the belt around the pulley. Also, make sure that the belt is in the same line as the pulley because the belt that is out of direction will wear more quickly. When working with the belt drive system, always check the preload of the belt itself and compare it with the values ??provided by the manufacturer. This comparison will give you an idea of ??how much deviation the belt makes relative to a certain position of the pulley.