Robot oiling device and method

Abstract

The present invention belongs to the technical field of intelligent robot production and maintenance, and particularly relates to a robot oiling device and method. The robot oiling device comprises a base and a shell arranged on the base, wherein an inlet buffer chamber, a plurality of oiling chambers and at least one outlet buffer chamber are arranged in sequence in the horizontal direction in the shell, and an oil inlet is arranged on the side of the shell close to the inlet buffer chamber; the inlet buffer chamber, the oiling chamber and the outlet buffer chamber are all open-top structures with gradually decreasing heights, and an oil outlet is arranged at the bottom of each chamber, and each oil outlet is connected to a valve and an oiling pipe. The present invention has a simple overall structure, saves costs, is environmentally friendly and pollution-free, is suitable for mass production, and multiple joints of multiple robots can be oiled at the same time, with high oil change efficiency and convenient operation.

Description

Technical Field

[0001] The invention belongs to the technical field of intelligent robot production and maintenance, and in particular relates to a robot oiling device and method. Background Art

[0002] At present, each joint of the most widely used articulated industrial robot has a reducer mechanism. As an important component of industrial robots, the quality of the reducer will directly affect the reliability of the entire robot. During the research and development, production, and maintenance of intelligent robots, it is necessary to conduct reliability tests on the reducer and monitor the wear of each joint transmission mechanism by regularly testing the iron powder content of the lubricating grease in the reducer.

[0003] During the development, production, and maintenance of intelligent robots, the reducer is used for a long time and the lubricating grease in the reducer needs to be refilled several times. At present, the amount of oil injection for each robot model is different, and the amount of oil injection for each joint of the same robot is also different. This process is generally done by manually setting the oil amount on the electronic operation screen of the oil injection machine. It is a full manual operation, time-consuming and labor-intensive. Once the oil injection amount is entered incorrectly, it will cause production hazards to the intelligent robot. Summary of the invention

[0004] In view of the above problems, the purpose of the present invention is to provide a robot oiling device and method to solve the problem that the oil amount of the joint reducer of the intelligent robot is set through a manual electronic operation screen, the manual operation is time-consuming and labor-intensive, and once the oiling amount is entered incorrectly, it will cause production risks to the intelligent robot.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions:

[0006] An embodiment of the present invention provides a robot oil injection device, comprising a base and a shell arranged on the base, wherein an inlet buffer chamber, a plurality of oil injection chambers and at least one outlet buffer chamber are sequentially arranged in the shell in a horizontal direction, and an oil inlet is arranged on one side of the shell close to the inlet buffer chamber;

[0007] The inlet buffer chamber, the oil filling chamber and the outlet buffer chamber are all open-top structures with gradually decreasing heights. An oil outlet is provided at the bottom of each chamber, and each oil outlet is connected to a valve and an oil filling pipe.

[0008] The heights of the multiple groups of oil filling chambers decrease in sequence along the direction approaching the outlet buffer chamber; the multiple groups of oil filling chambers are used to fill oil for multiple robots respectively.

[0009] In a possible implementation, each group of the oil filling chambers includes a plurality of oil chambers with equal volumes, and each oil chamber is used to fill oil for each joint of a robot.

[0010] In a possible implementation, the housing includes a lower shell and an upper shell, wherein the lower shell is disposed on the base, and the lower shell is divided into the inlet buffer chamber, multiple groups of oil filling chambers and at least one outlet buffer chamber by multiple partitions; the bottom of the lower shell is provided with the oil outlet;

[0011] The upper shell is sealed and connected to the top of the lower shell, and the oil inlet is arranged on the upper shell.

[0012] In a possible implementation, the lower shell and the upper shell are both made of transparent plastic.

[0013] In a possible implementation, a plurality of oil outlet channels are provided on the base, the plurality of oil outlet channels correspond one-to-one to the oil outlets, and the valve and the oil filling pipe are connected to the bottom of the base.

[0014] Another embodiment of the present invention provides an oil injection method using the robot oil injection device, the oil injection method comprising the following steps:

[0015] 1) Open the valve at the bottom of the last outlet buffer chamber to maintain the exhaust state;

[0016] 2) Close the valves at the bottom of the inlet buffer chamber and multiple groups of oil filling chambers;

[0017] 3) Connect the oil filling pipes at the bottom of multiple groups of oil filling chambers to the joint oil filling ports of multiple robots respectively;

[0018] 4) Inject lubricating oil into the housing from the oil inlet, and fill the inlet buffer chamber and each oil chamber with lubricating oil in turn;

[0019] 5) Close the valve at the bottom of the last outlet buffer chamber;

[0020] 6) Open all joint exhaust ports of each robot;

[0021] 7) Open the valve at the bottom of each oil chamber, add compressed air from the oil inlet, and inject the lubricating oil in each oil chamber into each joint of the robot;

[0022] 8) After the oil filling is completed, seal all joint exhaust ports and joint oil filling ports of each robot with screw plugs and return the system to its original position.

[0023] In one possible implementation, in step 3), each group of oil filling chambers includes a plurality of oil chambers, and the oil filling pipe at the bottom of each oil chamber is connected to the joint oil filling port of the corresponding robot.

[0024] The advantages and beneficial effects of the present invention are: a robot oiling device provided by the present invention integrates the functions of oil extraction and oiling, has a simple overall structure, saves costs, is environmentally friendly and pollution-free, is suitable for mass production, and multiple joints of multiple robots can be oiled at the same time, with high oil change efficiency and easy operation; it does not require electricity and can operate even in power outages, which can significantly reduce the labor intensity of oil change operators.

[0025] The housing of the invention is provided with a gradient oil cavity, so that automatic quantitative oil filling is realized, the problem of misoperation will not occur, and the production efficiency is improved.

[0026] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained by the structures particularly pointed out in the written description and the accompanying drawings.

[0027] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0029] Figure 1 It is an isometric diagram of a robot oiling device of the present invention;

[0030] Figure 2 It is a cross-sectional view of a robot oiling device of the present invention;

[0031] Figure 3 This is a schematic diagram of the use of a robot oiling device of the present invention;

[0032] Figure 4 for Figure 3 A local enlarged view of point A;

[0033] Figure 5 for Figure 3 A partial enlarged view of point B;

[0034] In the figure: 1 is a robot oil filling device, 101 is a base, 102 is a lower shell, 103 is an upper shell, 104 is an oil inlet, 105 is a partition, 106 is an oil outlet, 107 is an inlet buffer chamber, 108 is a first oil chamber, 109-1015 are second to eighth oil chambers, 1016 is a first outlet buffer chamber, 1017 is a second outlet buffer chamber, 2 is a first robot, 3 is a second robot, 301 is a first oil filling hole of the second robot, 302 is a first exhaust hole of the second robot, 303 is a second oil filling hole of the second robot, 304 is a second exhaust hole of the second robot, 4 is a third robot, 5 is a fourth robot, 501 is a first oil filling hole of the fourth robot, 502 is a first exhaust hole of the fourth robot, 503 is a second oil filling hole of the fourth robot, and 504 is a second exhaust hole of the fourth robot. DETAILED DESCRIPTION

[0035] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0036] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0037] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0038] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0039] An embodiment of the present invention provides a robot oiling device, which can realize simultaneous oiling of multiple joints of multiple robots, with high oil changing efficiency and convenient operation. Figure 1 , Figure 2 As shown, the robot oil filling device includes a base 101 and a shell arranged on the base 101, an inlet buffer chamber 107, a plurality of oil filling chambers and at least one outlet buffer chamber are arranged in the shell in sequence along the horizontal direction, and an oil inlet 104 is arranged on one side of the shell close to the inlet buffer chamber 107; the inlet buffer chamber 107, the oil filling chamber and the outlet buffer chamber are all open-top structures and the heights gradually decrease, and an oil outlet 106 is arranged at the bottom of each chamber, and each oil outlet is connected with a valve and an oil filling pipe.

[0040] In an embodiment of the present invention, the heights of the multiple groups of oil filling chambers decrease in sequence along the direction close to the outlet buffer chamber; the multiple groups of oil filling chambers are used to fill oil for multiple robots respectively, thereby improving work efficiency.

[0041] In an embodiment of the present invention, each group of oil filling chambers includes a plurality of oil chambers of equal volume, each oil chamber is respectively filled with oil for the n-th joints of a plurality of robots through an oil filling pipe, and each oil filling pipe is a transparent oil pipe.

[0042] Specifically, the housing includes a lower shell 102 and an upper shell 103, wherein the lower shell 102 is arranged on the base 101, and a plurality of partitions 105 are arranged inside the lower shell 102, which are divided into an inlet buffer chamber 107, a plurality of oil filling chambers and at least one outlet buffer chamber by using the different spacing and heights between the plurality of partitions 105; an oil outlet 106 is arranged at the bottom of the lower shell 102; the upper shell 103 is sealed and connected to the top of the lower shell 102, and the oil inlet 104 is arranged on the upper shell 103. A plurality of oil outlet channels are arranged on the base 101, and the plurality of oil outlet channels correspond to the oil outlets 106 one by one, and the valve and the oil filling pipe are connected to the bottom of the base 101.

[0043] Furthermore, the lower shell 102 and the upper shell 103 are both made of transparent plastic, such as high temperature resistant polycarbonate PC, so as to observe the oil filling amount in each chamber.

[0044] In this embodiment, four groups of oil filling chambers are provided in the housing, each group of oil filling chambers includes two oil chambers, a total of eight oil chambers, namely: the first to eighth oil chambers 108 to 1015. Two outlet buffer chambers are provided at the rear side of the four groups of oil filling chambers, namely the first outlet buffer chamber 1016 and the second outlet buffer chamber 1017. During operation, lubricating oil is injected into the housing from the oil inlet 104, and the lubricating oil sequentially fills the inlet buffer chamber 107, the first to eighth oil chambers 108 to 1015, and the first outlet buffer chamber 1016, and the oil outlet 106 at the bottom of the second outlet buffer chamber 1017 can be exhausted.

[0045] The present invention provides a robot oiling device that integrates the functions of oil extraction and oiling, has a simple overall structure, saves costs, and is environmentally friendly and pollution-free; a gradient oil chamber is arranged in the shell of the present invention to achieve automatic quantitative oiling, and there will be no problem of misoperation, thereby improving production efficiency. The present invention is suitable for batch production, and multiple joints of multiple robots can be oiled at the same time, with high oil change efficiency and convenient operation; it does not require electricity and can operate even in power outages, which can significantly reduce the labor intensity of oil change operators.

[0046] Another embodiment of the present invention provides an oil injection method, which uses the robot oil injection device in any of the above embodiments to inject oil into the joints of multiple robots, and the oil injection method includes the following steps:

[0047] 1) Open the valve at the bottom of the last outlet buffer chamber to maintain the exhaust state;

[0048] 2) Close the valves at the bottom of the inlet buffer chamber 107 and multiple groups of oil filling chambers;

[0049] 3) Connect the oil filling pipes at the bottom of multiple groups of oil filling chambers to the joint oil filling ports of multiple robots respectively;

[0050] Specifically, each group of oil filling chambers includes a plurality of oil chambers, and the oil filling pipes at the bottom of each oil chamber are respectively connected to the n-th joint oil filling ports of the plurality of robots;

[0051] 4) Inject lubricating oil into the housing from the oil inlet 104, and fill the inlet buffer chamber 107 and each oil chamber with lubricating oil in turn;

[0052] 5) Close the valve at the bottom of the last outlet buffer chamber;

[0053] 6) Open all joint exhaust ports of each robot;

[0054] 7) Open the valve at the bottom of each oil chamber, add compressed air from the oil inlet 104, and inject the lubricating oil in each oil chamber into each joint of the robot;

[0055] 8) After the oil filling is completed, seal all joint exhaust ports and joint oil filling ports of each robot with screw plugs and return the system to its original position.

[0056] Example

[0057] See also Figures 3 to 5As shown, in this embodiment, the robot oil filling device 1 respectively fills the first robot 2, the second robot 3, the third robot 4 and the fourth robot 5 with oil through four groups of oil filling chambers. Each robot has two joints, and each joint includes an oil filling hole and an exhaust hole. The oil filling hole is at the low position of the corresponding robot joint, and the exhaust hole is at the high position of the robot joint. Specifically, the first group of oil filling chambers includes the first oil chamber 108 and the second oil chamber 109; the second group of oil filling chambers includes the third oil chamber 1010 and the fourth oil chamber 1011; the third group of oil filling chambers includes the fifth oil chamber 1012 and the sixth oil chamber 1013; the fourth group of oil filling chambers includes the seventh oil chamber 1014 and the eighth oil chamber 1015. The outlet buffer chamber includes the first outlet buffer chamber 1016 and the second outlet buffer chamber 1017. Each robot can be the same model or different models. The model of the first robot 2 and the second robot 3 in this embodiment is SR10AL, and the model of the third robot 4 and the fourth robot 5 is SR10C. The second robot 3 comprises a second robot first oil filling hole 301, a second robot first exhaust hole 302, a second robot second oil filling hole 303, and a second robot second exhaust hole 304. The fourth robot 5 comprises a fourth robot first oil filling hole 501, a fourth robot first exhaust hole 502, a fourth robot second oil filling hole 503, and a fourth robot second exhaust hole 504.

[0058] The specific pipe connections are:

[0059] In the first group of oil filling chambers: the first oil chamber 108 is connected to the first joint oil filling port of the first robot 2 through an independent outlet oil pipe; the second oil chamber 109 is connected to the first joint oil filling port of the second robot 3 through an independent outlet oil pipe.

[0060] In the second group of oil filling chambers: the third oil chamber 1010 and the fourth oil chamber 1011 are connected to the second joint oil filling ports of the first robot 2 and the second robot 3 respectively through independent outlet oil pipes.

[0061] In the third group of oil filling chambers: the fifth oil chamber 1012 and the sixth oil chamber 1013 are connected to the first joint oil filling ports of the third robot 4 and the fourth robot 5 respectively through independent outlet oil pipes.

[0062] In the fourth group of oil filling chambers: the seventh oil chamber 1014 and the eighth oil chamber 1015 are connected to the second joint oil filling ports of the third robot 4 and the fourth robot 5 respectively through independent outlet oil pipes.

[0063] The method for oiling four robots using the robot oiling device 1 comprises the following steps:

[0064] The bottom outlet airtight switch of the second outlet buffer chamber 1017 is opened to enter the exhaust state; the valves at the bottom of the other chambers are closed;

[0065] Connect the oil filling pipes at the bottom of each oil chamber to the corresponding joint oil filling ports of each robot;

[0066] Slowly inject lubricating oil from the oil inlet 104 to ensure that the eight semi-enclosed oil chambers with upward openings in the four groups of oil filling chambers are filled;

[0067] Open all joint exhaust ports of all robots; open the valves at the bottom of all oil chambers;

[0068] Slowly add compressed air from the oil inlet 104 to allow the lubricating oil in each oil chamber to flow into the corresponding joint of the robot;

[0069] After the oil filling is completed, all joint exhaust ports of all robots are sealed airtight with screw plugs, and all joint oil filling ports of all robots are sealed airtight with screw plugs;

[0070] The system is back in place.

[0071] The oil filling method provided in this embodiment solves the problem that the joint reducer of the intelligent robot is set with the oil volume through the manual electronic operation screen, the manual operation is time-consuming and laborious, and once the oil filling volume is input incorrectly, it will cause production hidden dangers to the intelligent robot. The present invention is suitable for batch production, and multiple joints of multiple robots are oiled at the same time, with high oil change efficiency and convenient operation; it does not require electricity and can operate even in power outages, which can significantly reduce the labor intensity of oil change operators.

[0072] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A robot oiling device, characterized in that: The invention comprises a base (101) and a shell arranged on the base (101), wherein an inlet buffer chamber (107), a plurality of oil injection chambers and at least one outlet buffer chamber are arranged in sequence in the horizontal direction in the shell, and an oil inlet (104) is arranged on one side of the shell close to the inlet buffer chamber (107); The inlet buffer chamber (107), the oil injection chamber and the outlet buffer chamber are all open-top structures with gradually decreasing heights. The bottom of each chamber is provided with an oil outlet (106), and each oil outlet is connected to a valve and an oil injection pipe. The heights of the multiple groups of oil filling chambers decrease in sequence along the direction close to the outlet buffer chamber; the multiple groups of oil filling chambers are used to fill oil for multiple robots respectively; Each group of the oil filling chambers includes a plurality of oil chambers of equal volume, and each oil chamber is used to fill oil for each joint of a robot; The housing comprises a lower shell (102) and an upper shell (103), wherein the lower shell (102) is arranged on the base (101), and the lower shell (102) is divided into the inlet buffer chamber (107), a plurality of oil injection chambers and at least one outlet buffer chamber by a plurality of partitions (105); the bottom of the lower shell (102) is provided with the oil outlet (106); The upper shell (103) is sealed and connected to the top of the lower shell (102), and the oil inlet (104) is arranged on the upper shell (103).

2. The robot oiling device according to claim 1, characterized in that: The lower shell (102) and the upper shell (103) are both made of transparent plastic.

3. The robot oiling device according to claim 2, characterized in that: The base (101) is provided with a plurality of oil outlet channels, the plurality of oil outlet channels correspond one-to-one to the oil outlet ports (106), and the valve and the oil filling pipe are connected to the bottom of the base (101).

4. A method for oiling a robot using the oiling device of claim 3, characterized in that: The oil injection method comprises the following steps: 1) Open the valve at the bottom of the last outlet buffer chamber to maintain the exhaust state; 2) closing the valves at the bottom of the inlet buffer chamber (107) and multiple groups of oil filling chambers; 3) Connect the oil filling pipes at the bottom of multiple groups of oil filling chambers to the joint oil filling ports of multiple robots respectively; 4) injecting lubricating oil into the housing through the oil inlet (104), and filling the inlet buffer chamber (107) and each oil chamber with lubricating oil in turn; 5) Close the valve at the bottom of the last outlet buffer chamber; 6) Open all joint exhaust ports of each robot; 7) Open the valve at the bottom of each oil chamber and add compressed air from the oil inlet (104) to allow the lubricating oil in each oil chamber to be injected into each joint of the robot; 8) After the oil filling is completed, seal all joint exhaust ports and joint oil filling ports of each robot with screw plugs and return the system to its original position.

5. The oil injection method according to claim 4, characterized in that: In step 3), each group of oil filling chambers includes a plurality of oil chambers, and the oil filling pipe at the bottom of each oil chamber is connected to the joint oil filling port of the corresponding robot.

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