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What key considerations should be observed during the scheduled inspection and maintenance of parallel (delta) robots?
Due to mechanical wear, vibration, and challenging operating environments (e.g., exposure to acids, alkalis, dust, high temperature, or high humidity), delta ("spider") robots may develop performance issues or component failures over time. To ensure consistent, safe, and reliable operation, regular inspection and preventive maintenance of all key components are essential.
| Inspection Item | Frequency | Inspection Points | Maintenance Actions |
|---|---|---|---|
| Active Arms | Every 6 months | 1. Check for impact damage or wear 2. Verify no excessive play in arm pitch motion 3. Listen for abnormal noise during movement |
1. Replace active arm if severely damaged 2. Tighten arm mounting bolts and gearbox fasteners if play is detected 3. Replace gearbox or motor if noise persists |
| Passive Arms | Every 3 months | 1. Check for play between spherical socket and ball joint 2. Inspect socket for wear 3. Confirm spring returns properly and maintains tension 4. Examine carbon fiber rods for impact or abrasion damage 5. Inspect plain bushings in spring linkage pins for excessive wear |
1. Replace worn spherical sockets 2. Adjust spring tension 3. Replace spring assembly if needed 4. Replace damaged passive arms 5. Replace worn bushings |
| Central Shaft & Universal Joints | Every 3 months | 1. Ensure bearings and bolts are intact and secure 2. Check for unintended end-effector rotation during linear motion 3. Verify smooth sliding and rotational movement 4. Confirm accurate rotation without unusual noise |
1. Retighten universal joint bolts and realign joint angles 2. Adjust or replace linear guide rods 3. Replace linear bearings 4. Secure central shaft couplings 5. Replace gearbox or motor if necessary |
| Moving Platform | Every 3 months | 1. Check for significant deformation 2. Ensure central shaft rotates smoothly 3. Verify central shaft axis remains perpendicular 4. Confirm keyless bushings are tight and seated flush against shaft shoulders 5. Inspect for end-effector wobble or play |
1. Replace moving platform if deformed 2. Preload bearings as needed 3. Re-adjust keyless bushings |
