Article catalogue:
- 1 、How does the palletizing manipulator bought by Taobao work?
- 2 、What are the matters needing attention in the use of palletizing manipulator
- 3 、Common faults and repair methods of manipulator
- 4 、The characteristics of palletizing manipulator palletizing
How does the palletizing manipulator bought by Taobao work?
1. Read the instruction manual before operating the palletizing manipulator bought by Taobao, and then operate it later.
2. Check whether the parts of the palletizing manipulator are loose or fall off from time to time during normal use.
3. Make sure to prevent failure in the use of the palletizing manipulator, thus affecting the operation of the production line.
What are the matters needing attention in the use of palletizing manipulator
Matters needing attention can consult the palletizer manufacturer, which can better help us to understand the palletizer equipment.
Common faults and repair methods of manipulator
1. Speak before you do it.
For faulty electrical equipment, should not rush to start, should first inquire about the fault before and after the process and fault phenomena. For unfamiliar equipment, we should first be familiar with the circuit principle and structural characteristics, and abide by the corresponding rules. Before disassembly, you should be fully familiar with the function, location, connection mode of each electrical component and the relationship with other surrounding devices. In the absence of assembly drawings, you should draw sketches and mark them at the same time.
2. First outside and then inside
Should first check whether the equipment has obvious cracks, defects, understand its maintenance history, service life, etc., and then check the machine. The peripheral fault factors should be eliminated before demolition, and it can only be disassembled after the fault in the machine, otherwise, blind disassembly may make the equipment worse and worse.
3. Machinery before electricity
Electrical inspection is carried out only after it has been determined that the mechanical parts are fault-free. When checking the circuit fault, we should use the testing instrument to find the fault location, and then check the operation relationship between the line and the machinery after confirming the non-contact fault, so as to avoid misjudgment.
4. Static and then dynamic
When the equipment is not powered on, judge the quality of the electrical equipment buttons, contactors, thermal relays and fuses, so as to determine the location of the fault. Power-on test, listen to its sound, test parameters, judge the fault, and finally carry out maintenance. For example, when the motor is out of phase, if the measured three-phase voltage value can not be distinguished, we should listen to its sound and measure each relative ground voltage separately to determine which phase defect.
5. Clean first and then repair
For heavily polluted electrical equipment, first clean its buttons, connection points and contact points, and check whether the external control keys are out of order. Many faults are caused by dirt and conductive dust, which are often eliminated once cleaned.
6. Power supply before equipment
The failure rate of the power supply part accounts for a high proportion of the whole fault equipment, so overhauling the power supply first can often get twice the result with half the effort.
7. Universal before special
Failures caused by the quality of assembly parts or other equipment failures generally account for about 50% of the common failures. The special faults of electrical equipment are mostly soft faults, which depend on experience and instruments for side measurement and maintenance. For example, there is a 0.5kW motor because it cannot carry a load, so some people think it is a load fault. According to experience, put on thickening gloves, grasp along the rotation direction of the motor, and catch it, which is the problem of the motor itself.
8. Outside first, then inside.
Don’t rush to replace the damaged electrical parts, and then consider replacing the damaged electrical parts when you confirm that the peripheral circuit is working properly.
9. Direct current first and then AC
When overhauling, the static working point of DC circuit must be checked first, and then the dynamic working point of AC circuit must be checked.
10. Debug after failure
For the electrical equipment with both debugging and fault, the fault should be removed first, and then debugged, and the debugging must be carried out under the premise of normal electrical circuit.
II. Inspection methods and operation practice
1. Intuitive method
The visual method is a method to check and judge the fault by means of seeing, smelling and listening according to the external performance of the electrical fault.
(1) check steps
① investigation: ask the operator and the person present of the fault, including the external performance of the fault, the approximate location of the fault, and the environment when the fault occurs. If there is no abnormal gas, open fire, whether the heat source is close to electrical appliances, whether there is corrosive gas intrusion, whether there is water leakage, whether someone has repaired, the contents of the repair, and so on.
② preliminary inspection: according to the investigation, see if there is any damage to the exterior of the electrical appliance, whether the connection is open or loose, whether the insulation is charred, whether the fuse indicator of the spiral fuse jumps out, whether the electrical appliance has water and oil dirt, whether the switch position is correct, etc.
③ commissioning: through the preliminary inspection, it is confirmed that the fault will not further expand and cause personal and equipment accidents, you can further commissioning inspection, during the commissioning should pay attention to whether there is serious fire jump, abnormal smell, abnormal sound and other phenomena, once found should immediately stop, cut off the power supply. Pay attention to check whether the temperature rise of the appliance and the action program of the appliance meet the requirements of the schematic diagram of the electrical equipment, so as to find the fault location.
(2) Inspection method
① observation sparks: electrical contacts will produce sparks when closing, breaking the circuit or wire ends are loose, so you can check electrical faults according to the presence and size of sparks. For example, when sparks are found between the normally fastened wires and screws, the thread ends are loose or have poor contact. When the electrical contacts close or break the circuit, the fire jump means that the circuit is open, and if there is no fire jump, the circuit is impassable. When the main contact of the contactor that controls the motor has sparks in two phases and no sparks in one phase, it indicates that the contact of one phase without sparks is bad or the circuit of this phase is open; the sparks of two phases in the three phases are larger than normal, and the other is smaller than normal, it can be preliminarily judged as motor interphase short circuit or grounding; three-phase sparks are larger than normal, which may be caused by motor overload or mechanical part stuck. In the auxiliary circuit, when the contactor coil circuit is electrified, the armature does not attract and close, so it is necessary to distinguish whether the circuit is broken or the mechanical part of the contactor is stuck. You can press the start button, for example, there is a slight spark when the button is normally open when the closed position is opened, indicating that the circuit path is fault in the mechanical part of the contactor; if there is no spark between the contacts, the circuit is open.
② action procedures: the action procedures of electrical appliances should meet the requirements of electrical instructions and drawings. If the electrical appliance on a circuit acts too early, too late or does not act, it means that the circuit or electrical appliance is faulty.
In addition, the fault can be judged according to the analysis of sound, temperature, pressure, smell and so on. By using the intuitive method, not only the simple faults can be determined, but also the more complex faults can be reduced to a smaller range.
two。 Measuring voltage method
The voltage measurement method measures the voltage and current values of each point according to the power supply mode of the electrical appliance and compares them with the normal value.
① step-by-step measurement method (shown in figure 1): when the stroke switch SQ in the circuit and the normally open contact KA of the intermediate relay are closed, press the start button SB1, the contactor KMl does not close, indicating that the circuit is faulty. First of all, the voltage of An and B is measured, and the normal value is 380V. Then press the start button, connect the black test bar to point B, move the red test bar label forward in turn, and measure the voltage of each point of label 2, 11, 9, 7, 5, 3, 1 respectively.
Figure 1
In maintenance practice, according to the fault situation, it is not necessary to measure point by point, but more than several labeled test points, such as B and 11, B and 3 and so on.
② sectional measurement method: when the contact is closed, the voltage drop of the wire between the electrical appliances is close to zero. When using electrical appliances, all kinds of resistors and coils, the voltage drop is equal to or close to the applied voltage. According to this characteristic, it is more convenient to check the circuit fault by using the sectional measurement method, as shown in figure 2, when pressing the button SBl, if the contactor KM1 does not pull in, press the button SB1, the voltage of the An and B points on the first side is 380V, and the contactor does not close means that the circuit is open.
③ point measurement method: if the voltage of the auxiliary circuit is 220V and the zero wire is grounded, the point measurement method can be used to check the circuit fault (as shown in figure 3).
3. Resistance measuring method
① step-by-step measurement method: make sure that the stroke switch SQ (figure 4) and the intermediate relay contact KA in the circuit are closed, press the start button SBl, and the contactor KM1 does not absorb, indicating that the circuit is faulty. When checking, disconnect the power supply first, and measure the An and B two-point resistance (note, always press the button SB1 when measuring). If the resistance is infinite, the circuit is open.
② sectional measurement method: first cut off the power supply, press the start button SB1 (figure 5), two test bars segment by segment or focus on testing the resistance of two adjacent labels (except for 2-11 points). If the resistance between the two points is very large, it means that the contact contact is poor or the wire is open. For example, when the resistance between 1-3 points is very large, it means that the contact contact of the stroke switch is poor.
These two methods are suitable for electrical equipment with large distribution distance of switches and electrical appliances.
4. Comparison, replacement of components, step by step open circuit (or access) method
① comparison method: compare the test data with the drawings and the normal parameters recorded at ordinary times to judge the fault. For appliances with no data and no usual records, they can be compared with intact appliances of the same type.
When the electrical components in the circuit belong to the same control property or multiple elements jointly control the same equipment, the fault can be judged by the action of other similar or the same power supply components. For example, asynchronous motor forward and reverse control circuit, if the forward contactor KM1 does not pull in, can be manipulated and reversed to see whether the contactor KM2 suction, such as suction, then it is proved that the KM1 circuit itself is faulty.
② set conversion element method: when the cause of the fault of some circuits is difficult to determine or the inspection time is too long, but in order to ensure the utilization rate of electrical equipment, the experiment of components with good performance of the same phase can be replaced to confirm whether the fault is caused by the electrical appliance.
When using the replacement element method, it should be noted that when the original electrical appliance is removed, it should be carefully checked to see if it has been damaged. Only when the damage is definitely caused by the electrical appliance itself, can it be replaced with a new electrical appliance, so as to avoid damage to the new components again.
③ step-by-step open circuit (or access) method: when multiple branches are connected in parallel and more complex circuits are short-circuited or grounded, there is generally obvious external performance, such as smoke, sparks and so on. When the circuit inside the motor or the circuit with a shield is short-circuited or grounded, it is difficult to find other external phenomena except fuses. This situation can be checked by step-by-step open circuit (or access) method.
Step by step open circuit method: if you encounter a short circuit or ground fault that is difficult to check, you can replace the melt and disconnect the multi-branch parallel circuit gradually or emphatically all the way from the circuit, and then power-on test, if the fuse is no longer fused, the fault is on the circuit that has just been disconnected. Then the branch is divided into several sections and connected to the circuit one by one. When connected to a certain section of the circuit, the fuse fuses again, and the fault lies in this section of the circuit and some electrical components. This method is simple, but it is easy to burn down the electrical components that are not seriously damaged.
B, step-by-step access method: when a short circuit or ground fault occurs in the circuit, put on a new fuse to connect each branch to the power supply step by step or focus on it, and re-test it. When it is connected to a certain section, the fuse fuses again, and the fault lies in the circuit just connected and the electrical components it contains.
5. Forced closure method
When eliminating electrical faults, after intuitive inspection, the fault point is not found and the hands do not have a proper instrument to measure. An insulation rod can be used to forcibly press the relays, contactors, electromagnets, etc., so that the normally open contacts are closed, and then observe various phenomena in the electrical or mechanical parts, such as the motor never turns, the corresponding part of the equipment never moves to normal operation, and so on.
① check for faults in a circuit: in the asynchronous motor control circuit (figure 3), if the starting button SB1 is pressed and the contactor KM1 is not sucked in, a thin insulated rod or a well insulated screwdriver (note that the hand cannot touch the metal part) can be used to quickly press and release from the middle hole of the contactor arc extinguishing cover (small contactors use two insulation rods to align the contact brackets on both sides) and then release quickly:
A, the motor starts, the contactor is no longer released, indicating that the start button SB1 contact is bad.
B. when the motor is forced to close, the motor does not rotate but has a buzzing sound. When it is released, there are sparks on all three contacts and the brightness is uniform. The reason is that the motor overload or the thermal relay FR normally closed in the auxiliary circuit jumps.
C, when the motor is forced to close, the motor operates normally, and the motor stops after it is loosened, and the contactor also jumps away, generally the fuse FU in the auxiliary circuit is fused or stopped, and the start button contact is bad.
D. when the motor is forced to close, there is a buzzing sound, and when the contactor is released, there are only two sparks in the main contact of the contactor. It shows that the main circuit of the motor is open in one phase. The contact of the main contact of the contactor is poor.
② checks the faults of the multi-branch automatic control circuit: in the multi-branch automatic control step-down starting circuit (figure 6), when starting, the series resistance R on the stator winding limits the starting current. When the motor rises to a certain value, the time relay KT acts, the normally open contact is closed, the KM2 circuit is turned on, the starting resistance R is automatically shorted, and the motor runs normally. If you press the start button SB1, the contactor does not pull in, you can force the KM1 to close, release it to see if the KM1 is kept in the pull-in position, and whether the motor starts at the moment of forced closure. If the KM1 is released with the release of the insulation rod, but the motor rotates, the fault lies in the stop button SB2 thermal relay FR contact or the KM1 itself. If the motor does not run, the fault lies in the fuse of the main circuit, the power supply has no voltage and so on. If the KMI is no longer released, the motor is running normally and the fault lies in the self-locking contacts of the start buttons SBl and KM1.
Figure 6
When the start button SB1,KM1 is pressed, the time relay KT does not pull in. The fault lies in the time relay coil circuit or its mechanical part. If the time relay sucks in, but the KM2 does not, you can use a small screwdriver to press the fretting switch lever on the KT and pay attention to the sound of the switch movement. if there is a sound and the motor is running normally, it means that the microswitch is not assembled correctly.
6. Short connection method
The faults of equipment circuits or electrical appliances can be divided into six categories: short circuit, overload, open circuit, grounding, wiring errors, electromagnetic and mechanical faults of electrical appliances. Among all kinds of faults, most of them are open circuit faults. It includes wire open circuit, false connection, loose, poor contact, virtual welding, false welding, fuse fuse and so on. In addition to using resistance method and voltage method to check this kind of fault, there is a more simple and reliable method, which is short connection method. The method is to use a well-insulated wire to short-circuit the suspected open-circuit part. if it is short-connected to a certain place, the circuit will work back to normal, indicating that the circuit is broken.
① local short connection method (figure 7): when determining that the stroke switch SQ in the circuit and the normally open contact KA of the intermediate relay are closed, press the start button SB1, and the contactor KM1 does not close, indicating that the circuit is faulty. When checking, you can first measure the voltage at two points An and B. if the voltage is normal, hold down the button SB1 and connect 1-3, 3-5, 7-9, 9-11 and Bmur2 respectively. When it is short to a certain point, the contactor sucks in, indicating that the fault lies between these two points.
② length-short connection: length-short connection is a method used to check for faults by shorting two or more contacts or segments at a time. This not only saves time, but also makes up for some defects of the local short connection method. For example, if the two contacts SQ and KA are in poor contact at the same time or the wire is broken (figure 8), the result of checking the circuit fault by the short connection method may be misjudged. However, the 1-11 can be shorted at one time by using the long-short connection method, such as the contactor KM1 is closed after the short connection, which shows that there must be an open place on the 1-11 circuit, and then check with the local short connection method, the phenomenon of misjudgment will not occur.
Figure 7, figure 8.
The above inspection methods should be learned and used actively and abide by the rules and regulations of safe operation.
The cause of the continuously burnt components should be found out and then replaced; the voltage drop of the wire should be taken into account when measuring the voltage; the hand should not leave the power switch when testing, and the insurance should use the same amount or slightly less than the rated current; when measuring, pay attention to the selection of the gear of the measuring instrument.
The characteristics of palletizing manipulator palletizing
The ability of the palletizing manipulator is higher than that of ordinary mechanical palletizing and manpower. The structure is very simple, so the failure rate is low, easy to maintain and repair. The main components are few parts and accessories, so the maintenance cost is very low. The palletizing manipulator can be set in a narrow space and can be used effectively. All control can be operated on the control cabinet screen, the operation is very simple. Strong versatility: the palletizing and unpalletizing of different goods can be completed by changing the grip of the manipulator, which relatively reduces the purchase cost of customers.
This equipment is suitable for chemical, beverage, food, beer, plastic and other automatic production enterprises; it is suitable for all kinds of cartons, bags, cans, beer boxes and other shapes of packaging. There are only two points that need to be located in the manipulator palletizing program, one is the starting point and the other is the placement point. The tracks between these two points are all controlled by the computer, and the computer itself will find the most reasonable track to move these two points. so the programming method is extremely simple. However, the robot hands of other manufacturers must set 5 to 6 passing points from the starting point to the placement point, and the robot hand must move through these points, which leads to the complexity and difficulty of programming methods.
At present, there are a number of palletizing manipulator manufacturers in China, and the emergence of these enterprises has greatly reduced the price of imported products and promoted the wide application of palletizing manipulators. however, there is still a certain gap between the performance of the products of these enterprises and the imported products, at the same time, the control systems of the products of many enterprises are purchased from abroad, which is restricted by foreign countries.
At present, many domestic enterprises that do motion control or numerical control system have also seen this market, and some enterprises have launched their own palletizing manipulator control system, and have made certain achievements in the market, such as Jinan Lingkang numerical Control Technology Co., Ltd. They apply the motion control and numerical control technology to the control of the palletizing manipulator to replace the imported system, and the performance of the system is much better than that of the system developed by PLC.
While we see that various domestic machinery manufacturers and CNC manufacturers continue to make efforts to launch products, we should also see our shortcomings. Also hope that they can continue to work hard to make a better mechanical and control system, together to make our palletizing manipulator better performance!
This is the end of the introduction of common questions about palletizing manipulators and the design of intelligent palletizing manipulators. I wonder if you have found the information you need? If you want to know more about this, remember to collect and follow this site.