- Acceptance is not only to confirm that "can move, lift, and clamp", but also to check whether it meets the requirementsTechnical protocols, site conditions and safe use requirements。
- Ten key categories:Appearance structure, installation and fixation, operating scope, compressed-air supply system, operation test, fixture safety, safety device, cycle time verification, operating feel, accompanying documentation。
- Load testing is requiredActual workpiece or equivalent load, overload acceptance is prohibited, and the focus is on whether the balance is stable.
- Safety devices and clamps shouldActual measurement item by item, not just look at the appearance; common non-conforming items should be dealt with in a closed loop before final acceptance.
Standardized acceptance of Pneumatic Industrial Manipulators can effectively reduce downtime, rework and safety risks after production, and is a key link in the delivery process of Pneumatic Industrial Manipulator. This article focuses on the on-site installation and delivery acceptance of the Pneumatic Industrial Manipulator, explaining ten types of items that customers should focus on on-site inspection, and attaches an acceptance checklist and suggestions for handling common non-conforming items.
01Check the appearance and structural integrity of the equipment
After the equipment arrives, inspect its packaging, transport condition, and external appearance. Check the columns, bases, cantilevers, joints, guide rails, overhead-mounting brackets, tooling, and other components for deformation, impact damage, cracks, paint loss, looseness, or other visible transport damage.
For a column-mounted Pneumatic Industrial Manipulator, verify column verticality, base flatness, and assembly of rotating components. For rail-mounted or overhead-mounted configurations, verify complete installation of the rail beams, hangers, connection plates, trolleys, and end stops. All structural components shall match the design drawings or technical plan; missing parts, field-drilled holes, and temporary welded reinforcement are not permitted.
02Check installation fixation and anchor bolts
After the on-site installation is completed, installation and fixation are the key points for acceptance. The base of the column should be reliably connected to the ground. The specification, quantity, burial depth or expansion fixation method of the anchor bolts should meet the design requirements; the bolts should be tightened in place, the gaskets, spring washers or anti-loosening measures should be complete, and the base should not be shaking, suspended or obviously uneven.
For rail-mounted, wall-mounted, and overhead-mounted equipment, also verify that the load-bearing steelwork meets structural requirements, connecting bolts are secure, rail joints are smooth, and end stops are reliable. Acceptance of custom handling equipment must cover both the equipment and its installation foundation and site support structure.
03Check the scope of work and key parameters
During acceptance, the operating radius, lifting stroke, rotation angle, covered work station, minimum pickup height and maximum placement height should be checked one by one according to the technical agreement. The equipment should be able to cover the actual pick-and-place points, and should not interfere with surrounding columns, guardrails, material racks, machine tools, and conveyor lines at the extreme operating positions.
Multi-joint Pneumatic Industrial Manipulators should check whether the rotation of each joint reaches the designed angle and whether the limits are correct; rail-type equipment should confirm the trolley's operating stroke, end limits and buffer devices. If the on-site workstation changes from the previous plan, the equipment coverage should be reviewed in time to avoid the situation of "can be lifted but cannot be reached, can be moved but cannot be placed accurately" after acceptance.
04Check air supply system and pneumatic components
When the Pneumatic Industrial Manipulator is delivered, the compressed-air supply system directly affects the balance, movement stability and clamp safety. It should be confirmed on site whether the air supply pressure, pipe diameter, and flow rate meet the equipment requirements. The compressed-air supply pressure shall be based on the equipment nameplate, instructions or debugging records.
Inspection items include: whether the air line is bent, worn, or aged; whether the joints are leaking; whether the valve group is sensitive; whether the filter pressure reducing valve is installed correctly; whether the pressure gauge display is stable; whether the oil-water separation and drainage functions are normal. The direction of the air line should avoid being pulled, squeezed or rubbed by moving parts, and pipe clamps, drag chains or protective sleeves should be installed at necessary locations.
05Conduct no-load, balanced and load running tests
The acceptance of the Pneumatic Industrial Manipulator must be subject to operational testing. In the no-load state, the handle, joint, cantilever or rail trolley should move smoothly without obvious jamming, impact, jitter and abnormal noise; there should be no obvious drift after the equipment stops operating.
The load test should be carried out using actual workpieces or equivalent loads, focusing on checking the entire process of lifting, lowering, translation, rotation, positioning and release. The equipment should be balanced within the rated load range, and the operator should not need to exert significant force to lift or push down. If there are phenomena such as floating, falling, rebound, and hysteresis, the balance system, air pressure, or control valve parameters should be readjusted.
06Focus on safety inspection of fixtures
The fixture is the part where the Pneumatic Industrial Manipulator is in direct contact with the workpiece, and it is also a link with high on-site safety risks. The clamp safety inspection should cover the gripping surface, positioning block, suction cup, clamping jaw, pressing mechanism, pin shaft, sensor and anti-separation structure.
During acceptance, the actual workpiece should be used to test the grasping and release: the clamp should be able to grasp stably without crushing, scratching or deforming the workpiece; the release action should be controllable and should not suddenly fall or get stuck. For vacuum gripping, cylinder clamping or internal support clamps, it should be confirmed whether the air loss protection, anti-drop mechanism, one-way valve, mechanical self-locking or alarm function is effective. When it comes to flipping, tilting or handling large-sized workpieces, special confirmation should be made of the center of gravity position and fixture anti-swing measures.
07Confirm safety devices, markings and protection
Emergency stop buttons, mechanical limits, pneumatic limits, brakes, buffers, anti-collision blocks, limit stops, safety pins and protective covers should be inspected one by one. The emergency stop should have an obvious location and reliable action. The equipment should stop dangerous actions after being pressed, and can be operated again after being reset.
The load identification, compressed-air supply pressure identification, operating direction identification, warning labels and nameplates on the equipment should be clear and complete. If there is a risk of personnel passage, equipment interference or pinch points within the movement range, warning signs or isolation measures should be added. It is not recommended to rely solely on the operator's experience for safety acceptance. Structural limits and protective measures should be used to reduce the risk of misoperation.
08Trial workpiece handling and cycle-time validation
On-site acceptance cannot be separated from the actual production cycle time. Typical workpieces should be selected, and continuous trial handling should be carried out according to the real process of picking up, moving, positioning, assembling, and placing parts. Focus on observing whether the equipment meets the cycle time requirements, whether the operator needs to frequently adjust his posture, whether the positioning of the workpiece is stable, and whether the fixture switching is convenient.
If the equipment is used for workpieces of multiple sizes, the largest, smallest, heaviest, and most difficult-to-grasp workpieces should be tested separately. For workstations with higher cycle time requirements, the time of a single handling action should be recorded and compared with the process cycle time. If the equipment operates normally but the operating path is too long, the rotation is limited, or the fixture adjustment is complicated, optimization suggestions should also be made in the acceptance record.
09Pay attention to the operating feel and abnormal phenomena
The value of the Pneumatic Industrial Manipulator lies in reducing the intensity of manual handling, and the operating feel is an important indicator for on-site acceptance. Qualified equipment should have a light, smooth, and controllable operating experience: there should be no obvious sticking, heaviness, recoil, drift, or sudden acceleration when pushing, lifting, rotating, and positioning.
Acceptance personnel should listen for abnormal noises from bearings, joints, cylinders, pulleys and valve groups, and observe whether the air hose is stretched and whether structural parts are abnormally shaking. If you find abnormal noise, air leakage, jitter or unstable positioning, you should first find out the cause. It is not advisable to sign for it directly without closing the problem.
10Confirmation of accompanying documentation and training records
Equipment delivery includes not only the equipment itself, but also materials and training. During acceptance, it should be confirmed whether the accompanying documentation is complete, including equipment instructions, certificates, main parts list, wear parts list, pneumatic schematic diagram, maintenance requirements, installation and commissioning records, training records and acceptance forms, etc.
On-site training should cover basic operations, daily inspections, compressed-air supply inspections, fixture use, emergency stop and reset, common fault judgment and safety precautions. After the training is completed, it is recommended that the equipment administrator, team leader and main operator jointly sign for confirmation to facilitate subsequent management and traceability.
11On-site acceptance checklist for Pneumatic Industrial Manipulator
| Acceptance Item | Inspection Details | Qualification standards |
|---|---|---|
| Appearance and Structure | Are the columns, bases, cantilevers, joints, tracks, and tooling units complete? | No deformation, cracks, missing parts, or obvious impact damage |
| Installation and fixation | Anchor bolts, connecting plates, hangers, track interfaces | Reliable fastening, no shaking or hanging |
| Operating Range | Working radius, stroke, rotation angle, covering station | Covers actual pick and place points without interference |
| Air supply system | Air pressure, air lines, joints, valve groups, filter pressure reducing valves | The pressure is stable, there is no air leakage, and the operation is normal. |
| No-load operation | Lift, drop, rotate, translate | Smooth, no jamming, no abnormal noise |
| Load operation | Rated load or actual workpiece handling | Balanced and stable, not falling or floating |
| Fixture function | Grab, release, position, prevent falling | Reliable grabbing, controllable release, no damage to the workpiece |
| safety device | Emergency stop, limit, brake, protection, identification | Effective actions and clear markings |
| cycle-time validation | Continuous handling, positioning, and placement time | Meet process rhythm and operation requirements |
| Random data | Instructions, certificates, drawings, training records, acceptance forms | Complete documents and complete signatures |
12Common non-conformities and handling suggestions
- The equipment drifts or falls during operation: Usually related to insufficient air pressure, improper adjustment of balance parameters, load changes or pneumatic component status. The actual workpiece weight should be rechecked and the balance system should be adjusted.
- Insufficient scope of work or interference: The size of the on-site workstation, the height of the pick-and-place point and the installation position of the equipment should be reviewed, and if necessary, the position of the column, limit angle, clamp length or operating path should be adjusted.
- The gripper is unstable: It may be caused by the surface condition of the workpiece, offset of the center of gravity, wear of the suction cup, insufficient clamping force or unreasonable positioning surface. The workpiece should be tried again and the anti-drop and loss-of-air protection functions should be confirmed.
- Air leakage or pressure fluctuation in the air supply system: The joints, pneumatic tubing, valve groups, filter pressure reducing valves and the compressed-air supply capacity of the on-site main pipeline should be checked to avoid slow movement or unstable load of the equipment during continuous operation.
- Incomplete safety signage, information or training: Such problems are easily overlooked, but they will affect subsequent management and definition of responsibilities. Documents, signs and training signature records should be completed before final acceptance.