Industrial robot manipulator with automatic lubrication structure

Abstract

The present invention relates to the field of manipulator technology, and in particular to an industrial robot manipulator with an automatic lubrication structure, comprising an oil storage tank fixedly mounted on a manipulator arm, a mounting shell fixedly connected to the bottom of the oil storage tank, a manipulator assembly arranged in the mounting shell, and a lubrication assembly arranged in the oil storage tank; the present invention utilizes a motor to drive the tooth plate to rise, and combines piston plate two to drive piston plate one to slightly descend, so as to control a small amount of lubricating grease to be injected into the oil delivery cavity of the tooth plate, and accurately distributes it to the tooth grooves and the limiting slide grooves through multiple oil outlet holes, thereby achieving an efficient self-lubricating effect, and ensuring the continuity of lubrication and the purity of the grease by adding small amounts multiple times; and through the cooperation of the arc sealing plate and the arc grooves on both sides, not only the leakage of grease is effectively prevented, but also the accumulated grease can be extracted and discharged, and in addition, the piston plate three is synchronously pushed to reciprocate, so as to further enhance the lubrication of the gear and the tooth plate by the grease, and assist in the extraction and discharge of the grease.

Description

Technical Field

[0001] The invention relates to the technical field of manipulators, in particular to an industrial robot manipulator with an automatic lubrication structure. Background Art

[0002] A manipulator is an automatic device that can imitate certain movements and functions of human hands and arms and is used to grab, move objects or operate tools according to a fixed program. It can be programmed to complete various expected operations, and has the advantages of both human and mechanical machines in structure and performance. The manipulator is the earliest industrial robot and also the earliest modern robot. It can replace heavy human labor to realize mechanization and automation of production and is widely used in machinery manufacturing, metallurgy, electronics, light industry and other departments.

[0003] For example, in the prior art, there is a mechanical arm with a self-lubricating mechanism with a publication number of CN116945228A. During use, the mechanical arm rotates the extrusion sheet on the driving gear to squeeze the end of the piston handle, and releases a large amount of lubricating oil in the oil box through the oil guide pipe. Although it can lubricate the transmission structure inside the mounting shell, the large amount of injection method causes a large amount of new grease to mix with the old grease before contacting the gear, resulting in the new grease being unable to quickly and accurately contact the gear and other transmission parts, making it difficult to ensure the efficient lubrication effect of the new grease on the transmission parts.

[0004] In view of the above technical defects, a solution is now proposed. Summary of the invention

[0005] The purpose of the present invention is to provide an industrial robot manipulator with an automatic lubrication structure to solve the technical defects mentioned above. The structure is to use a motor to drive the tooth plate to rise, and combine with the piston plate two to drive the piston plate one to slightly descend, so as to control a small amount of lubricating grease to be injected into the oil delivery cavity of the tooth plate, and accurately distribute it to the tooth groove and the limit slide groove through multiple oil outlet holes to achieve efficient self-lubrication effect; and through the method of adding small amounts multiple times, the continuity of lubrication and the purity of grease are effectively ensured; and through the cooperation of the arc sealing plate and the arc grooves on both sides, not only the leakage of grease through the give way groove is effectively prevented, but also the grease can be extracted and discharged when it accumulates, which is convenient for recovery. In addition, the piston plate three is synchronously pushed to reciprocate, which further enhances the lubrication of the gears and tooth plates by grease, and at the same time assists the grease extraction to ensure the external discharge effect.

[0006] The object of the present invention can be achieved by the following technical solution: an industrial robot manipulator with an automatic lubrication structure comprises an oil storage tank fixedly mounted on a manipulator arm, a mounting shell is fixedly connected to the bottom of the oil storage tank, a manipulator assembly is arranged in the mounting shell, and a lubrication assembly is arranged in the oil storage tank;

[0007] The manipulator assembly includes two groups of clamping gears symmetrically mounted inside the mounting shell, mechanical claws are symmetrically arranged on both sides of the mounting shell, a support rod 1 hinged to the corresponding mechanical claw is fixedly connected to the clamping gear, a support rod 2 arranged parallel to the support rod 1 is hinged between the mechanical claw and the mounting shell, a clearance groove for the corresponding support rod 1 to pass through is opened on the mounting shell, and a toothed plate meshing with the two groups of clamping gears is slidably connected inside the mounting shell;

[0008] The lubrication assembly includes a piston plate 1 slidably connected in an oil storage tank, and a telescopic sleeve rod 1 is symmetrically fixedly connected between the top of the piston plate 1 and the oil storage tank, an air cavity seat is fixedly connected to the top of the oil storage tank, a piston plate 2 is slidably connected inside the air cavity seat and cooperates with a tooth plate to drive the piston plate 1 to slide, and a telescopic tube extending into the mounting shell is fixedly connected to the bottom of the oil storage tank.

[0009] Preferably, limit slots are symmetrically provided on both sides of the tooth plate, and a limit slider which is slidably connected to the corresponding limit slot is fixedly connected to the inner wall of the mounting shell, and a motor is bolted to the outer wall of the mounting shell, and the output shaft head of the motor extends through the mounting shell and is fixedly connected to a driving gear, and the driving gear and the tooth plate are meshed with each other.

[0010] Preferably, an oil delivery cavity is opened inside the tooth plate, the free end of the telescopic tube extends into the oil delivery cavity, a plurality of oil outlet holes 1 connected to the oil delivery cavity are opened on the tooth groove side of the tooth plate, and a plurality of oil outlet holes 2 connected to the oil delivery cavity are opened on one side of the limiting slide groove.

[0011] Preferably, a push rod is fixedly connected to the top of the tooth plate, and the free end of the push rod movably penetrates into the interior of the air cavity seat and is fixedly connected to the second piston plate, the air cavity seat is provided with an air inlet hole connected to the outside of the oil storage tank, and the air cavity seat is provided with an air outlet hole connected to the inside of the oil storage tank, and a one-way valve 1 is installed in each of the air inlet hole and the air outlet hole.

[0012] Preferably, an arc groove 1 is provided on the side of the give way groove located on the side of the support rod 1 close to the support rod 2, and an arc groove 2 is provided on the side of the give way groove located on the side of the support rod 1 away from the support rod 2. An arc sealing plate is fixedly connected to the support rod 1 and is slidably connected to the corresponding arc groove 1 and arc groove 2.

[0013] Preferably, an oil suction cavity is defined between the arc-shaped grooves, an oil suction port connected to the interior of the mounting shell is defined on one side of the oil suction cavity, and an oil drain pipe is fixedly connected to one side of the oil suction cavity away from the oil suction port.

[0014] Preferably, a connecting rod is fixedly connected to the bottom of the tooth plate, and the end of the connecting rod extends into the oil suction chamber through the oil suction port and is slidably connected to a plugging sleeve, a tension spring is fixedly connected between the plugging sleeve and the end of the connecting rod, and a one-way valve 2 is installed on the oil drain pipe.

[0015] Preferably, a piston plate three is slidably connected to the interior of the mounting shell on the side of the driving gear away from the clamping gear, and the piston plate three is slidably connected to the tooth plate, a telescopic sleeve rod two is symmetrically fixedly connected between the side of the piston plate three away from the driving gear and the mounting shell, an air groove connected to the interior of the mounting shell is provided on the side of the arc groove two away from the yield groove, and the end of the air groove is located on the side of the piston plate three away from the driving gear.

[0016] Preferably, an oil filling port is fixedly connected to one side of the bottom of the oil storage tank, and a mounting groove connected to the oil filling port and the telescopic tube is provided on one side of the oil storage tank. An L-shaped control plate is slidably connected in the mounting groove, and a connecting port 1 and a connecting port 2 are provided on the L-shaped control plate, and the connecting port 1 and the connecting port 2 are respectively adapted to the telescopic tube and the oil filling port, an adjusting screw threadedly connected to the L-shaped control plate is rotatably connected to the oil storage tank, and an air intake valve is installed on the outer wall of the oil storage tank and on the top of the piston plate 1.

[0017] The beneficial effects of the present invention are as follows:

[0018] When the present invention is in use, the gear plate is driven to rise by the motor, and the two sets of mechanical claws are driven to move relative to each other. At the same time, the piston plate is driven to slide inside the air cavity seat by means of the push rod, and the gas in the air cavity seat is pushed into the oil storage tank, and then the piston plate is pushed to perform a slight downward movement, and a small amount of lubricating grease in the oil storage tank is controlled to be injected into the oil delivery cavity inside the gear plate, and then the lubricating grease is directly and accurately distributed to the tooth grooves and the limiting slide grooves of the gear plate through a plurality of oil outlet holes 1 and 2, so that the meshing of the gear plate and the gear, and the sliding of the limiting slide groove and the limiting slide block are automatically realized. Efficient self-lubrication treatment is performed, thereby effectively avoiding the problem in the prior art that the lubricating grease cannot quickly contact with the gear after entering the installation housing, and it is difficult to quickly play a lubricating effect; and the continuity and purity of the lubricating effect of the lubricating grease are ensured by the method of adding small amounts and multiple times, and the problem of mixing the new lubricating grease with the old lubricating grease before contacting the gear plate is effectively prevented, thereby reducing the lubricating effect of the new lubricating grease;

[0019] The present invention also cooperates with the arc-shaped sealing plate, the arc-shaped groove one and the arc-shaped groove two, which can not only effectively avoid the problem of leakage of the lubricating grease in the installation shell through the give way groove; when too much grease accumulates in the installation shell, the arc-shaped sealing plate slides in the arc-shaped groove one to extract the excessive accumulated lubricating grease into the oil suction chamber, and safely discharge it through the oil discharge pipe, so as to facilitate the recycling of the old lubricating grease; at the same time, the arc-shaped sealing plate slides in the arc-shaped groove two, cooperates with the corresponding air groove, drives the piston plate three to reciprocate in the installation shell, and can squeeze the lubricating grease in the installation shell toward the oil suction chamber. On the one hand, it improves the contact between the lubricating grease and the gear and the tooth plate, and further improves the lubrication effect. On the other hand, it assists the arc-shaped sealing plate to cooperate with the arc-shaped groove one to effectively extract the lubricating grease, thereby ensuring the external discharge effect of the lubricating grease. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The present invention will be further described below in conjunction with the accompanying drawings;

[0021] Figure 1 It is a schematic diagram of the structure of the present invention;

[0022] Figure 2 is a schematic diagram of the installation of the manipulator assembly of the present invention located in the installation housing;

[0023] Figure 3 It is a structural schematic diagram of the installation housing of the present invention;

[0024] Figure 4 It is a structural schematic diagram of the robot assembly of the present invention;

[0025] Figure 5 It is a structural schematic diagram of an L-shaped control panel of the present invention;

[0026] Figure 6 It is a structural schematic diagram of the tooth plate of the present invention;

[0027] Figure 7 It is a schematic structural diagram of the plugging sleeve of the present invention;

[0028] Figure 8 It is a schematic structural diagram of the lubrication assembly of the present invention.

[0029] Legend:

[0030] 1. Oil storage tank; 11. Oil filling port; 12. L-shaped control panel; 13. Connecting port 1; 14. Connecting port 2; 15. Adjusting screw; 16. Inlet valve;

[0031] 2. Install the housing; 21. Make way groove; 22. Limit slider; 23. Motor; 24. Drive gear; 25. Arc groove 1; 26. Arc groove 2; 27. Oil suction chamber; 28. Oil suction port; 29. ​​Oil drain pipe; 210. One-way valve 2; 211. Piston plate 3; 212. Telescopic sleeve rod 2; 213. Air groove;

[0032] 3. Manipulator assembly; 31. Clamping gear; 32. Mechanical claw; 33. Support rod 1; 34. Support rod 2; 35. Tooth plate; 36. Limiting slide; 37. Oil delivery cavity; 38. Oil outlet hole 1; 39. Oil outlet hole 2; 310. Arc sealing plate; 311. Connecting rod; 312. Blocking sleeve; 313. Tension spring;

[0033] 4. Lubrication assembly; 41. Piston plate 1; 42. Telescopic sleeve 1; 43. Air chamber seat; 44. Piston plate 2; 45. Telescopic tube; 46. Push rod; 47. Air inlet; 48. Air outlet; 49. One-way valve 1. DETAILED DESCRIPTION

[0034] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0035] Embodiment 1: The problem in the prior art that a large amount of new grease is mixed with the old grease before contacting the gear, thereby reducing the lubrication effect of the new grease on the transmission parts, can be solved by the following solution;

[0036] See also Figure 1-Figure 6 and Figure 8 As shown, the industrial robot manipulator with an automatic lubrication structure in this embodiment includes an oil storage tank 1 fixedly mounted on the manipulator arm for storing lubricating grease, a mounting shell 2 is fixedly connected to the bottom of the oil storage tank 1, a manipulator assembly 3 is arranged in the mounting shell 2, and a lubrication assembly 4 is arranged in the oil storage tank 1 for quantitatively delivering lubricating grease to the transmission components in the manipulator assembly 3;

[0037] The manipulator assembly 3 includes two sets of clamping gears 31 symmetrically mounted inside the mounting housing 2. Through the relative rotation of the two sets of clamping gears 31, the corresponding support rods 1 33 and 2 34 are matched to drive the two sets of mechanical claws 32 to move relative to each other, so as to achieve the clamping action of the material. The mechanical claws 32 are symmetrically arranged on both sides of the mounting housing 2. The clamping gears 31 are fixedly connected with support rods 1 33 hinged to the corresponding mechanical claws 32. The mechanical claws 32 and the mounting housing 2 are hinged with support rods 2 34 arranged parallel to the support rods 1 33.

[0038] By setting the support rod 2 34 to cooperate with the support rod 1 33, the mechanical claw 32 can maintain a stable structure when grasping an object, reduce the shaking caused by uneven force, and thus improve the stability and reliability of the grasping operation. The mounting shell 2 is provided with a clearance groove 21 for the corresponding support rod 1 33 to pass through, so that the end of the support rod 1 33 is passed through the outside of the mounting shell 2, thereby controlling the movement of the mechanical claw 32. The interior of the mounting shell 2 is slidably connected with a tooth plate 35 that meshes with two sets of clamping gears 31 at the same time. Both sides of the tooth plate 35 are provided with tooth grooves that mesh with the corresponding clamping gears 31. The lifting movement of the tooth plate 35 drives the clamping gears 31 on both sides to rotate, thereby realizing the clamping and discharge actions of the mechanical claws 32 on both sides of the material;

[0039] The lubrication assembly 4 includes a piston plate 41 slidably connected to the oil storage tank 1. The lubricating grease in the oil storage tank 1 is located below the piston plate 41. The downward movement of the piston plate 41 realizes the extrusion and delivery effect of the lubricating grease. A telescopic sleeve rod 42 is symmetrically fixedly connected between the top of the piston plate 41 and the oil storage tank 1. The telescopic sleeve rod 42 is used to increase the sliding stability of the piston plate 41 in the oil storage tank 1.

[0040] An air cavity seat 43 is fixedly connected to the top of the oil storage tank 1, which is used to continuously inject air into the oil storage tank 1, thereby promoting the movement of the piston plate 1 41. The inside of the air cavity seat 43 is slidably connected to a piston plate 2 44 which cooperates with the tooth plate 35 to drive the piston plate 1 41 to slide. The piston plate 2 44 is used to discharge the gas in the air cavity seat 43 into the oil storage tank 1. The bottom of the oil storage tank 1 is fixedly connected to a telescopic tube 45 extending into the mounting shell 2, which is used to transport lubricating grease to the mounting shell 2, while avoiding interference with the lifting and lowering movement of the tooth plate 35.

[0041] Limiting grooves 36 are symmetrically provided on both sides of the tooth plate 35. A limiting slider 22 slidably connected to the corresponding limiting grooves 36 is fixedly connected on the inner side wall of the mounting shell 2. The limiting grooves 36 cooperate with the limiting slider 22 to realize the sliding installation of the tooth plate 35 in the mounting shell 2, and drive the clamping gears 31 on both sides to rotate effectively relative to each other. A motor 23 is bolted to the outer side wall of the mounting shell 2, and the output shaft head of the motor 23 extends through the mounting shell 2 and is fixedly connected to the driving gear 24. The driving gear 24 and the tooth plate 35 are meshed with each other. The tooth groove on the tooth plate 35 close to the driving gear 24 is longer, which is used for the meshing connection between the tooth plate 35 and the driving gear 24. The motor 23 drives the driving gear 24 to rotate forward and reverse, and the driving gear 24 meshes with the tooth plate 35 and drives it to perform lifting movements.

[0042] An oil delivery chamber 37 is provided inside the tooth plate 35 for storing the new lubricating grease injected into the mounting housing 2 for a short period of time, which can effectively prevent the new lubricating grease from mixing with the old lubricating grease before contacting the tooth plate 35 and the gear, thereby causing the problem of low lubricating effect of the new lubricating grease. The free end of the telescopic tube 45 extends into the oil delivery chamber 37, and a plurality of oil outlet holes 38 connected to the oil delivery chamber 37 are provided on the tooth groove side of the tooth plate 35, and a plurality of oil outlet holes 39 connected to the oil delivery chamber 37 are provided on one side of the limiting slide groove 36;

[0043] The piston plate 2 44 slides inside the air cavity seat 43, pushing the gas in the air cavity seat 43 into the oil storage tank 1, and then pushing the piston plate 1 41 to perform a slight downward movement, and then pushing the lubricating grease in the oil storage tank 1 to be injected into the oil delivery cavity 37 inside the tooth plate 35 through the telescopic tube 45 in small quantities, and then through a plurality of oil outlet holes 1 38 and oil outlet holes 2 39, the lubricating grease is directly and accurately distributed to the tooth grooves and the limiting slide grooves 36 of the tooth plate 35, thereby automatically realizing the new lubricating grease to perform efficient self-lubricating treatment on the meshing of the tooth plate 35 with the clamping gear 31, the meshing of the tooth plate 35 with the driving gear 24, and the sliding of the limiting slide groove 36 and the limiting slider 22, effectively avoiding the problem that the new lubricating grease cannot quickly contact the gears after entering the installation shell 2, and it is difficult to quickly achieve the lubrication effect.

[0044] A push rod 46 is fixedly connected to the top of the tooth plate 35, and the free end of the push rod 46 is movable and penetrates into the interior of the air cavity seat 43 and is fixedly connected to the second piston plate 44. The push rod 46 is set so that during the rising process of the tooth plate 35, the push rod 46 synchronously drives the second piston plate 44 to move upward, thereby synchronously realizing the oil injection and lubrication operation. In addition, the volume of the air cavity seat 43 is set to be small. After all the gas in the air cavity seat 43 is discharged, it can only push the first piston plate 41 to perform a short distance downward movement. The tooth plate 35 is used to drive each clamping action of the mechanical claw 32 to realize a one-time oil injection and lubrication operation, so as to achieve the purpose of adding a small amount of oil multiple times, thereby ensuring the continuity and purity of the lubrication discharge of the new lubricating grease, and effectively preventing the discharged new lubricating grease from mixing with the old lubricating grease before contacting the tooth plate 35.

[0045] An air inlet hole 47 connected to the outside of the oil storage tank 1 is provided on the air cavity seat 43. When the tooth plate 35 drives the piston plate 2 44 to move downward, external gas is extracted through the air inlet hole 47. An air outlet hole 48 connected to the inside of the oil storage tank 1 is provided on the air cavity seat 43. When the tooth plate 35 drives the piston plate 2 44 to move upward, the extracted gas is discharged into the oil storage tank 1 through the air outlet hole 48. A one-way valve 49 is installed in each of the air inlet hole 47 and the air outlet hole 48. The one-way valve 49 can effectively ensure that when the piston plate 2 44 moves, the external gas is extracted and intermittently injected into the oil storage tank 1.

[0046] An arc groove 1 25 is provided on the give way groove 21 on the side of the support rod 1 33 close to the support rod 2 34, and an arc groove 26 is provided on the side of the give way groove 21 on the support rod 1 33 away from the support rod 2 34. An arc sealing plate 310 is fixedly connected to the support rod 1 33 and is slidably connected to the corresponding arc groove 1 25 and the arc groove 2 26. The arc sealing plate 310 on the support rod 1 33 cooperates with the arc groove 1 25 and the arc groove 26 on both sides of the give way groove 21 to achieve a blocking effect on the give way groove 21 during the deflection of the support rod 1 33, thereby avoiding excessive accumulation of lubricating grease in the installation shell 2 and the problem of leakage through the give way groove 21. A sealing layer is provided on the outer side of the arc sealing plate 310 to increase the sealing effect between the arc sealing plate 310 and the arc groove.

[0047] An oil filling port 11 is fixedly connected to one side of the bottom of the oil storage tank 1, and is used to add new lubricating grease to the inside of the oil storage tank 1. A mounting groove connected to the oil filling port 11 and the telescopic tube 45 is provided on one side of the oil storage tank 1. An L-shaped control board 12 is slidably connected in the mounting groove. The L-shaped control board 12 and the mounting groove are sealed and slidably connected. A connecting port 13 and a connecting port 2 14 are provided on the L-shaped control board 12. The connecting port 13 and the connecting port 2 14 are respectively adapted to the telescopic tube 45 and the oil filling port 11.

[0048] The L-shaped control board 12 slides in the mounting groove. When the connecting port 13 is connected to the telescopic tube 45, the connecting port 2 14 is misaligned with the oil filling port 11. The L-shaped control board 12 blocks the oil filling port 11, and only achieves the effect of quantitative oil injection and lubrication into the mounting housing 2. When the connecting port 2 14 is connected to the oil filling port 11, the connecting port 1 13 is misaligned with the telescopic tube 45. The L-shaped control board 12 blocks the telescopic tube 45, and only achieves the effect of oil injection into the oil storage tank 1. An adjusting screw 15 which is rotatably connected to the oil tank 1 and is threadedly connected to the L-shaped control plate 12 is used to realize the communication between the connecting port 13 and the telescopic tube 45 or the connecting port 2 14 and the oil filling port 11 by rotating the adjusting screw 15. An air intake valve 16 is installed on the outer wall of the oil storage tank 1 and on the top of the piston plate 1 41. When filling oil into the oil storage tank 1, the air intake valve 16 needs to be opened to facilitate the lubricating grease to enter the oil storage tank 1 and push the piston plate 1 41 to move upward.

[0049] Embodiment 2: The problem that the old grease inside the installation housing is difficult to discharge and continues to accumulate and cause leakage can be solved by the following solution;

[0050] See also Figure 2-Figure 4 and Figure 7As shown, in this embodiment, an arc groove 1 25 is provided on the side of the give way groove 21 located at the support rod 1 33 close to the support rod 2 34, and an arc groove 26 is provided on the side of the give way groove 21 located at the support rod 1 33 away from the support rod 2 34. An arc sealing plate 310 is fixedly connected to the support rod 1 33 and is slidably connected to the corresponding arc groove 1 25 and the arc groove 2 26. The negative pressure state inside the corresponding arc groove is achieved through the sealed sliding of the arc sealing plate 310 and the arc grooves on both sides.

[0051] An oil suction chamber 27 is provided between the arc grooves 25, and an oil suction port 28 connected to the interior of the mounting shell 2 is provided on one side of the oil suction chamber 27. An oil discharge pipe 29 is fixedly connected to the side of the oil suction chamber 27 away from the oil suction port 28. When the interior of the mounting shell 2 is filled with too much grease, as the tooth plate 35 moves downward, the arc sealing plate 310 is driven by the support rod 33 to move away from each other in the corresponding arc groove 25, so that a negative pressure state is formed inside the two groups of arc grooves 25. Excessive grease in the mounting shell 2 is sucked into the oil suction chamber 27 through the oil suction port 28 to avoid leakage of excessive grease in the mounting shell 2. As the tooth plate 35 rises again, the support rod 33 drives the arc sealing plate 310 to move relatively in the corresponding arc groove 25, squeezes the grease in the oil suction chamber 27, and discharges it through the oil discharge pipe 29 for recycling and reuse.

[0052] The bottom of the tooth plate 35 is fixedly connected with a connecting rod 311, and the end of the connecting rod 311 extends into the oil suction chamber 27 through the oil suction port 28 and is slidably connected with a plugging sleeve 312, and a tension spring 313 is fixedly connected between the plugging sleeve 312 and the end of the connecting rod 311. The connecting rod 311, the plugging sleeve 312 and the tension spring 313 arranged at the bottom of the tooth plate 35 can perform one-way plugging and sealing on the oil suction port 28 to prevent part of the grease from flowing back into the mounting shell 2 when the arc sealing plate 310 moves relatively in the corresponding arc groove 1 25 to discharge oil, and during the oil discharge process, as the tooth plate 35 rises, the tension spring 313 is further stretched, which can enhance the plugging and sealing effect of the plugging sleeve 312 on the oil suction port 28, and a one-way valve 210 is installed on the oil discharge pipe 29 to prevent the grease in the oil discharge pipe 29 from being drawn back when the grease in the mounting shell 2 is extracted.

[0053] A piston plate 3 211 is slidably connected to the inside of the mounting housing 2 at a side of the driving gear 24 away from the clamping gear 31, and the piston plate 3 211 is slidably connected to the tooth plate 35. A telescopic sleeve rod 212 is symmetrically fixedly connected between the side of the piston plate 3 211 away from the driving gear 24 and the mounting housing 2. An air groove 213 connected to the inside of the mounting housing 2 is provided on the side of the arc groove 26 away from the yielding groove 21, and the end of the air groove 213 is located on the side of the piston plate 3 211 away from the driving gear 24.

[0054] When the tooth plate 35 rises, the support rod 1 33 drives the arc sealing plate 310 to move away from each other in the corresponding arc groove 26, so that the interiors of the two groups of arc grooves 26 are both in a negative pressure state, and the gas above the piston plate 3 211 in the mounting shell 2 is extracted through the gas groove 213, forcing the piston plate 3 211 to move upward. When the tooth plate 35 descends, the arc sealing plate 310 moves relatively in the corresponding arc groove 26, and the extracted gas is discharged back into the mounting shell 2 again, pushing the piston plate 3 211 to reset. Through the reciprocating lifting and lowering motion of the piston plate 3 211, the lubricating grease in the mounting shell 2 is pushed to move toward the oil suction chamber 27, which not only improves the contact between the lubricating grease and the gear and the tooth plate 35, and further improves the lubrication effect, but also assists the arc sealing plate 310 to cooperate with the arc groove 1 25 to effectively extract the lubricating grease, thereby ensuring the external discharge effect of the lubricating grease.

[0055] Example 3: Please refer to Figure 1-Figure 8 As shown, the present invention also provides a method for using an industrial robot manipulator with an automatic lubrication structure, comprising the following steps:

[0056] S1: Rotate the adjusting screw 15 to drive the L-shaped control plate 12 to slide in the installation groove, so that the second connecting port 14 is connected with the oil filling port 11, and the air intake valve 16 is opened, and lubricating grease is injected into the oil storage tank 1 through the oil filling port 11, and the piston plate 1 41 is pushed to move upward. After the oil filling is completed, the adjusting screw 15 is rotated in the opposite direction to separate the second connecting port 14 from the oil filling port 11, and the connecting port 1 13 is connected with the telescopic tube 45, and the air intake valve 16 is closed;

[0057] S2: The motor 23 drives the driving gear 24 to rotate forward, and the driving gear 24 engages the toothed plate 35 and drives it to move upward. During the upward movement of the toothed plate 35, the clamping gears 31 on both sides are driven to rotate, and the mechanical claws 32 on both sides are driven to move relative to each other by means of the support rod 1 33 and the support rod 2 34 to complete the clamping action;

[0058] S3: During the rising process of the tooth plate 35, the piston plate 2 44 is driven to slide inside the air cavity seat 43 through the push rod 46. As the piston plate 2 44 rises, the gas in the air cavity seat 43 is pushed into the oil storage tank 1 through the air outlet hole 48, and then the piston plate 1 41 is pushed to perform a slight downward movement, pushing a small amount of lubricating grease in the oil storage tank 1 to be injected into the oil delivery cavity 37 inside the tooth plate 35 through the telescopic tube 45, and then directly discharged into the tooth groove part and the limit slide groove 36 of the tooth plate 35 through a plurality of oil outlet holes 1 38 and oil outlet holes 2 39, so as to perform efficient self-lubrication treatment on the meshing of the tooth plate 35 and the gear, and the sliding of the limit slide groove 36 and the limit slider 22;

[0059] S4: The motor 23 drives the driving gear 24 to rotate in the opposite direction, and the driving gear 24 engages with the tooth plate 35 to drive it to move downward, and cooperates with the clamping gear 31 to drive the mechanical claws 32 on both sides to move away from each other, completing the material discharge action, and repeating the above steps. When the installation shell 2 is filled with too much lubricating grease, as the tooth plate 35 moves downward, the arc-shaped sealing plate 310 is driven to move away in the corresponding arc-shaped groove 25 by the support rod 1 33, so that a negative pressure state is formed inside the two groups of arc-shaped grooves 1 25, and the plugging sleeve 312 is forced to separate from the oil suction port 28, and the excess lubricating grease in the installation shell 2 is sucked into the oil suction chamber 27, so as to avoid leakage caused by excessive lubricating grease in the installation shell 2;

[0060] S5: As the tooth plate 35 rises again, the support rod 1 33 drives the arc sealing plate 310 to move relative to the corresponding arc groove 1 25, squeezes the lubricating grease in the oil suction chamber 27, and discharges it through the oil discharge pipe 29 for recycling. In this process, the arc sealing plate 310 moves away from each other in the corresponding arc groove 26, so that the interiors of the two groups of arc grooves 26 are both in a negative pressure state, and drives the piston plate 3 211 to move upward through the air groove 213. Through the relative and separate movements of the mechanical claws 32, the arc sealing plate 310 reciprocates in the corresponding arc groove 26, and then drives the piston plate 3 211 to reciprocate and rise, so that the lubricating grease in the mounting shell 2 can be squeezed toward the oil suction chamber 27 to ensure the lubricating grease discharge effect.

[0061] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. An industrial robot manipulator with an automatic lubrication structure, comprising an oil storage tank (1) fixedly mounted on a manipulator arm, wherein a mounting housing (2) is fixedly connected to the bottom of the oil storage tank (1), characterized in that: A manipulator assembly (3) is arranged in the installation housing (2), and a lubrication assembly (4) is arranged in the oil storage tank (1); The manipulator assembly (3) comprises two groups of clamping gears (31) symmetrically mounted and rotatably mounted inside a mounting housing (2); mechanical claws (32) are symmetrically arranged on both sides of the mounting housing (2); a support rod (33) hinged to the corresponding mechanical claw (32) is fixedly connected to the clamping gear (31); a support rod (34) parallel to the support rod (33) is hinged between the mechanical claw (32) and the mounting housing (2); a clearance groove (21) for the corresponding support rod (33) to pass through is provided on the mounting housing (2); and a toothed plate (35) simultaneously meshing with the two groups of clamping gears (31) is slidably connected inside the mounting housing (2); The lubrication assembly (4) comprises a piston plate (41) slidably connected in the oil storage tank (1), and a telescopic sleeve rod (42) is symmetrically fixedly connected between the top of the piston plate (41) and the oil storage tank (1), the top of the oil storage tank (1) is fixedly connected to an air cavity seat (43), the inside of the air cavity seat (43) is slidably connected to a piston plate (44) that cooperates with a tooth plate (35) to drive the piston plate (41) to slide, and the bottom of the oil storage tank (1) is fixedly connected to a telescopic tube (45) extending into the mounting shell (2); The giving way groove (21) is provided with an arc-shaped groove (25) on the side of the supporting rod (33) close to the supporting rod (34), and the giving way groove (21) is provided with an arc-shaped groove (26) on the side of the supporting rod (33) away from the supporting rod (34). The supporting rod (33) is fixedly connected with an arc-shaped sealing plate (310) which is slidably connected with the corresponding arc-shaped groove (25) and the arc-shaped groove (26); An oil suction chamber (27) is provided between the arc-shaped grooves (25), an oil suction port (28) communicating with the interior of the mounting housing (2) is provided on one side of the oil suction chamber (27), and an oil discharge pipe (29) is fixedly connected to the side of the oil suction chamber (27) away from the oil suction port (28); A connecting rod (311) is fixedly connected to the bottom of the tooth plate (35), and an end of the connecting rod (311) extends into the oil suction chamber (27) through the oil suction port (28) and is slidably connected to a plugging sleeve (312), a tension spring (313) is fixedly connected between the plugging sleeve (312) and the end of the connecting rod (311), and a one-way valve (210) is installed on the oil discharge pipe (29); A piston plate three (211) is slidably connected to the interior of the installation shell (2) at a side of the driving gear (24) away from the clamping gear (31), and the piston plate three (211) is slidably connected to the tooth plate (35). A telescopic sleeve rod two (212) is symmetrically fixedly connected between the side of the piston plate three (211) away from the driving gear (24) and the installation shell (2). An air groove (213) communicating with the interior of the installation shell (2) is provided on the side of the arc groove two (26) away from the yield groove (21), and the end of the air groove (213) is located on the side of the piston plate three (211) away from the driving gear (24).

2. The industrial robot manipulator with automatic lubrication structure according to claim 1, characterized in that: The tooth plate (35) has symmetrically arranged limit slide grooves (36) on both sides, and a limit slide block (22) slidably connected to the corresponding limit slide groove (36) is fixedly connected to the inner wall of the mounting shell (2), and a motor (23) is bolted to the outer wall of the mounting shell (2), and the output shaft head of the motor (23) extends through the mounting shell (2) and is fixedly connected to a driving gear (24), and the driving gear (24) and the tooth plate (35) are meshed with each other.

3. The industrial robot manipulator with automatic lubrication structure according to claim 2, characterized in that: An oil delivery chamber (37) is provided inside the tooth plate (35), the free end of the telescopic tube (45) extends into the oil delivery chamber (37), a plurality of first oil outlet holes (38) communicating with the oil delivery chamber (37) are provided on the tooth groove side of the tooth plate (35), and a plurality of second oil outlet holes (39) communicating with the oil delivery chamber (37) are provided on one side of the limiting sliding groove (36).

4. The industrial robot manipulator with automatic lubrication structure according to claim 1, characterized in that: A push rod (46) is fixedly connected to the top of the tooth plate (35), and the free end of the push rod (46) is movably inserted into the interior of the air cavity seat (43) and is fixedly connected to the second piston plate (44). The air cavity seat (43) is provided with an air inlet (47) connected to the outside of the oil storage tank (1), and the air cavity seat (43) is provided with an air outlet (48) connected to the inside of the oil storage tank (1). Both the air inlet (47) and the air outlet (48) are provided with a one-way valve (49).

5. The industrial robot manipulator with automatic lubrication structure according to claim 1, characterized in that: An oil filling port (11) is fixedly connected to one side of the bottom of the oil storage tank (1), a mounting groove connected to the oil filling port (11) and the telescopic tube (45) is provided on one side of the oil storage tank (1), an L-shaped control plate (12) is slidably connected in the mounting groove, a connecting port 1 (13) and a connecting port 2 (14) are provided on the L-shaped control plate (12), the connecting port 1 (13) and the connecting port 2 (14) are respectively matched with the telescopic tube (45) and the oil filling port (11), an adjusting screw (15) threadedly connected to the L-shaped control plate (12) is rotatably connected to the oil storage tank (1), and an air intake valve (16) is installed on the outer wall of the oil storage tank (1) and located on the top of the piston plate 1 (41).

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