Self-lubricating robot joint motor

Abstract

The invention provides a self-lubricating robot joint motor which comprises a lubricating assembly, and the lubricating assembly comprises a machine shell, a screw, a rear cover, a mounting hole, a bearing seat, a bearing outer ring, a rolling body and a rotating speed sensor. Through the design that the intelligent lubrication control module is combined with the temperature sensor and the rotating speed sensor, lubricating oil can be automatically supplemented and adjusted, the maintenance cost is greatly reduced, the downtime is greatly shortened, the use efficiency of the robot is improved, and the problem that lubrication is not timely is solved; a lubricating system is integrated in the motor, so that the increase of the overall size and weight caused by external lubricating equipment is effectively avoided, the lightweight of the robot is facilitated, and the cost and the complexity are reduced; sealing structures are arranged at multiple key parts of the motor, so that leakage of lubricating oil is effectively prevented, external dust, moisture and other impurities are prevented from entering the motor, the reliability and the working efficiency of the motor are improved, and normal operation of the robot is guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of robotic joint motors, and particularly to a self-lubricating robotic joint motor. Background Art

[0002] In modern intelligent manufacturing and automation scenarios, robots undertake key tasks, and joint motors, as key driving components for their operation, play a crucial role. It continuously outputs power to support the robot in completing various actions, and its performance has a significant impact on the robot: high-precision speed control and fast response ensure motion accuracy, stable power output maintains stable operation, and durability determines the service life of the robot. Any performance shortcoming may lead to operation errors, safety accidents, or cost increases. However, traditional robotic joint motors have many deficiencies in lubrication.

[0003] On the one hand, the commonly used method of regularly manually adding lubricating oil is not only cumbersome to operate and requires professional personnel for maintenance, but also difficult to ensure continuous and effective lubrication during long-term continuous operation of the robot, and it is easy to have the situation of untimely lubrication; On the other hand, the existence of an external lubrication system increases the overall volume and weight of the motor, which is not conducive to the lightweight design of the robot, and at the same time increases the cost and complexity; In addition, since the robot works in various complex environments, the conventional lubrication method is easily interfered by external factors such as dust and moisture, resulting in a decline in lubrication effect, which further aggravates the wear of internal components of the motor, reduces the reliability and working efficiency of the motor, and may even cause failures in severe cases, affecting the normal operation of the robot; Therefore, a self-lubricating robotic joint motor is proposed. Summary of the Invention

[0004] In view of this, the present invention hopes to provide a self-lubricating robotic joint motor to solve or alleviate the technical problems existing in the prior art, and at least provide a beneficial option.

[0005] The technical solution of the embodiment of the present invention is realized as follows: A self-lubricating robotic joint motor includes a lubrication component, and the lubrication component includes a housing, a screw, a rear cover, a mounting hole, a bearing seat, an outer bearing ring, rolling elements, an inner bearing ring, a rotating shaft, an oil inlet pipe, an oil storage box, an oil transfer pump, an oil transfer pipe, and an intelligent lubrication control module; The rear part of the inner side wall of the casing is fixedly connected with a rear cover by a plurality of screws. Installation holes are provided at the center of the rear surface of the rear cover and the center of the front surface of the casing. Bearing seats are fixedly connected to the inner side walls of the two installation holes. The middle parts of the inner side walls of the two bearing seats are fixedly connected with outer bearing rings. The inner side walls of the two outer bearing rings are rotatably connected with inner bearing rings through a plurality of rolling elements. The inner side walls of the two inner bearing rings are fixedly connected with a rotating shaft. Oil inlet pipes communicate with the lower parts of the adjacent sides of the two bearing seats. An oil storage box is fixedly connected to the inner front wall of the casing near the outside of the bearing seat. An oil pump is installed at the lower part of the rear surface of the oil storage box. The oil outlet end of the oil pump communicates with an oil delivery pipe. The oil inlet ends of the two oil inlet pipes are communicated with the oil outlet end of the oil delivery pipe. An intelligent lubrication control module is installed on one side of the front surface of the rear cover. The input end of the oil pump is electrically connected to the output end of the intelligent lubrication control module.

[0006] Further preferably, a temperature sensor and a speed sensor are respectively installed on both sides of the center of the adjacent sides of the two bearing seats. The output ends of the temperature sensor and the speed sensor are electrically connected to the input end of the intelligent lubrication control module. Oil outlet pipes communicate with the upper parts of the adjacent sides of the two bearing seats. A return oil pipe communicates with the upper part of the rear surface of the oil storage box. The oil outlet ends of the two oil outlet pipes are communicated with the oil inlet end of the return oil pipe.

[0007] Further preferably, first limiting rings are arranged on the outer sides of the adjacent sides of the inner side walls of the two bearing seats. The adjacent sides of the two outer bearing rings are respectively attached to the opposite sides of the two first limiting rings. Sealing covers are sleeved on the outer sides of the opposite sides of the two bearing seats. Second limiting rings are arranged on the outer sides of the opposite sides of the inner side walls of the two sealing covers. The opposite sides of the two outer bearing rings are respectively attached to the adjacent sides of the two second limiting rings. The adjacent sides of the two sealing covers are respectively fixedly connected to the outside of the center of the rear surface of the rear cover and the outside of the center of the front surface of the casing by a plurality of hexagon socket head cap screws.

[0008] Further preferably, first sealing holes are provided at the centers of the opposite sides of the two sealing covers. First sealing rings are installed on the inner side walls of the two first sealing holes. The inner side walls of the two first sealing rings are respectively rotatably connected to the front and rear parts of the outer side wall of the rotating shaft.

[0009] Further preferably, a first sealing groove is provided on the outer side wall of the rotating shaft near the inside of the first sealing ring. A first sealing ring is arranged in the middle of the inner side wall of the first sealing ring. The outer side wall of the first sealing ring is rotatably connected to the inner side wall of the first sealing groove.

[0010] Further preferably, a rotor is installed in the middle of the outer side wall of the rotating shaft, and a stator is fixedly connected to the middle of the inner side wall of the housing.

[0011] Further preferably, second sealing holes are respectively formed at the centers of the adjacent sides of the two bearing seats, second sealing rings are installed on the inner side walls of the two second sealing holes, and the inner side walls of the two second sealing rings are respectively rotatably connected to the front and rear parts of the outer side wall of the rotating shaft close to the stator.

[0012] Further preferably, a second sealing groove is formed on the inner side of the outer side wall of the rotating shaft close to the second sealing ring, a second sealing ring is arranged in the middle of the inner side wall of the second sealing ring, and the outer side wall of the second sealing ring is rotatably connected to the inner side wall of the second sealing groove.

[0013] Further preferably, annular sealing grooves are respectively formed in the middle of the inner side walls of the first sealing hole and the second sealing hole, limiting sealing rings are respectively arranged in the middle of the outer side walls of the first sealing ring and the second sealing ring, and the outer side walls of the limiting sealing rings are fitted and connected to the inner side walls of the annular sealing grooves.

[0014] Further preferably, a fuel filling pipe is communicated with the top of the oil storage box, the top of the fuel filling pipe penetrates through the front part of the inner side wall of the housing, and a plug is threadedly connected to the top of the inner side wall of the fuel filling pipe.

[0015] Due to the adoption of the above technical solutions in the embodiments of the present invention, the following advantages are achieved: 1. Through the design of the intelligent lubrication control module combined with the temperature sensor and the rotation speed sensor, the present invention can automatically supplement and adjust the lubricating oil, without frequent manual maintenance, greatly reducing the maintenance cost and downtime, not only improving the use efficiency of the robot, but also avoiding the problem of untimely lubrication; 2. By integrating the lubrication system inside the motor, the present invention does not require an external lubrication system. Compared with traditional motors, it effectively avoids the increase in the overall volume and weight caused by external lubrication equipment, is beneficial to the lightweight of the robot, and reduces the cost and complexity; 3. By providing a sealing structure at multiple key parts of the motor, the present invention effectively prevents the leakage of lubricating oil, while blocking the entry of external dust, moisture and other impurities into the motor, reducing the wear of internal components of the motor, improving the reliability and working efficiency of the motor, reducing the probability of failure, ensuring the normal operation of the robot, and enhancing the adaptability of the motor to various harsh environments.

[0016] The above summary is only for the purpose of the specification and is not intended to be limiting in any way. In addition to the above-described illustrative aspects, embodiments and features, further aspects, embodiments and features of the present invention will be readily apparent by reference to the drawings and the following detailed description. Brief Description of the Drawings

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0018] Figure 1 It is a structural diagram of a perspective view of the present invention; Figure 2 It is a structural diagram of another perspective view of the present invention; Figure 3 It is a structural diagram of the overall sectional view of the present invention; Figure 4 It is a structural diagram of the rear cover and bearing seat of the present invention; Figure 5 For the present invention Figure 4 It is a structural diagram of another perspective view; Figure 6 It is a structural diagram of the rotating shaft and the sealing cover of the present invention; Figure 7 For the present invention Figure 6 It is a structural diagram of another perspective view; Figure 8 For the present invention Figure 3 It is an enlarged view of area A of

[0019] Reference numerals: 1. Lubrication assembly; 11. Machine housing; 12. Screw; 13. Rear cover; 14. Mounting hole; 15. Bearing seat; 16. Bearing outer ring; 17. Rolling element; 18. Bearing inner ring; 19. Rotating shaft; 20. First limiting ring; 21. Oil inlet pipe; 22. Oil storage box; 23. Oil transfer pump; 24. Oil transfer pipe; 25. Intelligent lubrication control module; 26. Temperature sensor; 27. Rotation speed sensor; 28. Oil outlet pipe; 29. Oil return pipe; 30. Sealing cover; 31. Second limiting ring; 33. Hexagon socket head screw; 34. First sealing hole; 35. First sealing ring; 36. First sealing groove; 37. First sealing ring; 38. Rotor; 39. Stator; 40. Second sealing hole; 41. Second sealing ring; 42. Second sealing groove; 43. Second sealing ring; 44. Annular sealing groove; 45. Limiting sealing ring; 46. Oil filling pipe; 47. Plug. Detailed Embodiments

[0020] In the following text, only some exemplary embodiments are briefly described. As those skilled in the art can recognize, the described embodiments can be modified in various different ways without departing from the spirit or scope of the present invention. Therefore, the drawings and the description are considered to be exemplary in nature rather than restrictive.

[0021] The embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0022] Embodiment 1 As Figures 1 - 8 shown, the embodiment of the present invention provides a self-lubricating robot joint motor, including a lubrication assembly 1. The lubrication assembly 1 includes a housing 11, screws 12, a rear cover 13, mounting holes 14, a bearing seat 15, an outer bearing ring 16, rolling elements 17, an inner bearing ring 18, a rotating shaft 19, an oil inlet pipe 21, an oil storage box 22, an oil transfer pump 23, an oil transfer pipe 24, and an intelligent lubrication control module 25; The rear part of the inner side wall of the housing 11 is fixedly connected with a rear cover 13 through a plurality of screws 12. Mounting holes 14 are provided at the center of the rear surface of the rear cover 13 and the center of the front surface of the housing 11. The inner side walls of the two mounting holes 14 are fixedly connected with bearing seats 15. The middle parts of the inner side walls of the two bearing seats 15 are fixedly connected with outer bearing rings 16. The inner side walls of the two outer bearing rings 16 are rotatably connected with inner bearing rings 18 through a plurality of rolling elements 17. The inner side walls of the two inner bearing rings 18 are fixedly connected with a rotating shaft 19. The lower parts of the two bearing seats 15 close to each other are communicated with an oil inlet pipe 21. The oil storage box 22 is fixedly connected to the inner front wall of the housing 11 close to the outside of the bearing seat 15. An oil transfer pump 23 is installed at the lower part of the rear surface of the oil storage box 22. The oil outlet end of the oil transfer pump 23 is communicated with an oil transfer pipe 24. The oil inlet ends of the two oil inlet pipes 21 are communicated with the oil outlet end of the oil transfer pipe 24. An intelligent lubrication control module 25 is installed on one side of the front surface of the rear cover 13. The input end of the oil transfer pump 23 is electrically connected to the output end of the intelligent lubrication control module 25; Among them, the rolling elements 17 are ball bearings or cylindrical rollers, corresponding to form a deep groove ball bearing or cylindrical roller bearing structure. The material of the rolling elements 17 is GCr15 bearing steel, and the surface hardness is HRC60 - 65 to ensure the load-bearing capacity and wear resistance; Among them, the oil storage box 22 is located on the inner front wall of the housing 11 close to the outside of the bearing seat 15, and provides lubricating oil for the bearing through the oil transfer pump 23, the oil transfer pipe 24, and the oil inlet pipe 21. The position design of the oil storage box 22 is convenient for the transportation and distribution of the lubricating oil. The function of the oil transfer pump 23 is to provide power to transport the lubricating oil from the oil storage box 22 to the bearing part. Before use, an appropriate amount of lubricating oil needs to be injected into the oil storage box 22, and the oil level needs to be checked regularly to ensure the normal operation of the lubrication system; Among them, the intelligent lubrication control module 25 is installed on one side of the front surface of the rear cover 13. The intelligent lubrication control module 25 is built-in with a microprocessor and a storage unit, and a lubrication strategy algorithm is preset (such as dynamically adjusting the oil supply frequency according to the temperature-rotation speed two-dimensional coordinate system). It can receive the real-time temperature signal (unit: °C) of the temperature sensor 26 and the real-time rotation speed signal (unit: rpm) of the rotation speed sensor 27, and adjust the start-stop frequency and operation duration of the oil transfer pump 23 through the PID control algorithm to achieve precise supply of lubricating oil. This intelligent control method can automatically adjust the supply amount of lubricating oil according to the actual operating conditions of the motor to achieve precise lubrication. For example, when the temperature rises or the rotation speed changes, the intelligent lubrication control module 25 can correspondingly increase or decrease the output power of the oil transfer pump 23 to ensure that the bearing is properly lubricated. Through the coordinated work of each component, the stable operation and efficient lubrication of the motor are achieved, and at the same time, it has intelligent monitoring and control functions, improving the reliability and service life of the motor.

[0023] In one embodiment, specifically: temperature sensors 26 and rotation speed sensors 27 are respectively installed on both sides of the center of the adjacent sides of the two bearing seats 15. The output ends of the temperature sensor 26 and the rotation speed sensor 27 are electrically connected to the input end of the intelligent lubrication control module 25; Among them, the temperature sensor 26 uses a three-wire Pt100 platinum resistance with a linearity of ±0.1% FS and a temperature drift of ≤0.001% / °C; the rotation speed sensor 27 uses a Hall effect sensor with an output signal of 5V square wave, a resolution of 1 pulse / rotation, and the signal is transmitted to the intelligent lubrication control module 25 through a shielded twisted pair wire with an impedance matching of 50Ω and an anti-interference ability of ≥100mV; the temperature sensor 26 and the rotation speed sensor 27 are installed on both sides of the center of the adjacent sides of the bearing seat 15. They can monitor the temperature of the bearing and the rotation speed of the rotating shaft 19 in real time and transmit this data to the intelligent lubrication control module 25. The temperature sensor 26 can be of types such as thermistor or thermocouple, and the rotation speed sensor 27 can be selected from Hall sensors or photoelectric sensors, etc.; The upper parts of the adjacent sides of the two bearing seats 15 are both communicated with an oil outlet pipe 28, and the upper part of the rear surface of the oil storage box 22 is communicated with an oil return pipe 29. The oil outlet ends of the two oil outlet pipes 28 are both communicated with the oil inlet end of the oil return pipe 29; when the lubricating oil enters the bearing seat 15 through the oil inlet pipe 21 to lubricate the bearing, the excess lubricating oil will flow out from the oil outlet pipe 28. Since the oil outlet ends of the two oil outlet pipes 28 are both connected to the oil inlet end of the oil return pipe 29, the flowing lubricating oil will flow back to the oil storage box 22 along the oil return pipe 29, thereby improving the utilization rate of the lubricating oil, reducing the waste of the lubricating oil, and reducing the maintenance cost of the long-term operation of the motor.

[0024] In one embodiment, specifically: on the outer sides of the inner side walls of the two bearing seats 15 close to each other, first limiting rings 20 are provided. On the sides of the two bearing outer rings 16 close to each other, they are respectively adhesively connected to the sides of the two first limiting rings 20 away from each other. On the outer sides of the outer side walls of the two bearing seats 15 away from each other, sealing covers 30 are sleeved. On the outer sides of the inner side walls of the two sealing covers 30 away from each other, second limiting rings 31 are provided. On the sides of the two bearing outer rings 16 away from each other, they are respectively adhesively connected to the sides of the two second limiting rings 31 close to each other. The sides of the two sealing covers 30 close to each other are respectively fixedly connected to the outer sides of the center of the rear surface of the rear cover 13 and the outer sides of the center of the front surface of the machine shell 11 through a plurality of socket head cap screws 33. Through the close fit connection between the second limiting rings 31 on the outer sides of the inner side walls of the two sealing covers 30 away from each other and the sides of the bearing outer rings 16 away from each other, this structural design can effectively limit the axial displacement of the bearing outer rings 16, ensure that the positions of the bearings remain stable during the operation of the motor, and thus maintain the normal operation accuracy of the motor. At the same time, the two sealing covers 30 are respectively fixedly connected to the outer sides of the center of the rear surface of the rear cover 13 and the outer sides of the center of the front surface of the machine shell 11 through a plurality of socket head cap screws 33. This connection method not only ensures the firm installation of the sealing covers 30, making them not loosen due to vibration and other factors during the operation of the motor, but also is convenient for installation and disassembly. During the maintenance of the motor, the sealing covers 30 can be easily opened to inspect and repair components such as bearings. For example, after the long-term operation of the robot joint motor, if it is necessary to supplement the grease of the bearings or check the wear condition of the bearings, just unscrew the socket head cap screws 33 to easily remove the sealing covers 30, and the operation is convenient and efficient. In addition, the good sealing performance of the sealing covers 30 can also prevent external dust, moisture and other impurities from entering the inside of the bearing seats 15, protect the bearings and other related components from pollution and corrosion, further improve the reliability and service life of the motor, and ensure the stable operation of the motor in a complex working environment.

[0025] In one embodiment, specifically: at the center of the remote sides of the two sealing covers 30, first sealing holes 34 are respectively formed. On the inner sidewalls of the two first sealing holes 34, first sealing rings 35 are installed. The inner sidewalls of the two first sealing rings 35 are respectively rotatably connected to the front and rear outer sidewalls of the rotating shaft 19. Among them, the first sealing holes 34 are formed at the centers of the remote sides of the sealing covers 30, and their positions are designed to be adapted to the rotating shaft 19 to ensure the effectiveness of sealing. The first sealing rings 35 installed on the inner sidewalls of the first sealing holes 34 have their inner sidewalls rotatably connected to the front and rear outer sidewalls of the rotating shaft 19. When the motor operates, the rotating shaft 19 rotates at a high speed. The first sealing rings 35 should not only closely fit with the rotating shaft 19 during its rotation to prevent lubricating oil from leaking from the gap between the rotating shaft 19 and the sealing cover 30, but also reduce the resistance to the rotation of the rotating shaft 19 to avoid affecting the operating efficiency of the motor. During the frequent start, stop, and variable-speed operation of the robot joint motor, the first sealing rings 35 always maintain good sealing performance, effectively avoiding the leakage of lubricating oil. This not only ensures that there is enough lubricating oil inside the motor to maintain the normal lubrication of components such as bearings, but also prevents the lubricating oil from leaking outside the motor, polluting the working environment or affecting the normal operation of other components.

[0026] In one embodiment, specifically: on the outer sidewall of the rotating shaft 19 near the inner side of the first sealing ring 35, a first sealing groove 36 is formed. In the middle of the inner sidewall of the first sealing ring 35, a first sealing ring 37 is provided. The outer sidewall of the first sealing ring 37 is rotatably connected to the inner sidewall of the first sealing groove 36. Under the action of vibration and centrifugal force generated by the high-speed operation of the robot joint motor, through the tight fit between the first sealing ring 37 and the first sealing groove 36, it can be ensured that the first sealing ring 35 always closely fits on the rotating shaft 19, maintaining a good sealing state. Compared with the traditional simple fitting sealing structure, this design with a sealing groove and a sealing ring greatly improves the reliability and stability of sealing, thereby better preventing the leakage of lubricating oil, ensuring the normal operation of the lubrication system inside the motor, reducing the risk of motor failure caused by lubricating oil leakage, extending the service life of the motor, and ensuring that the robot joint motor can work stably under various complex working conditions.

[0027] In one embodiment, specifically: a rotor 38 is installed in the middle of the outer sidewall of the rotating shaft 19, and a stator 39 is fixedly connected to the middle of the inner sidewall of the housing 11; among them, the rotor 38 adopts a surface-mounted permanent magnet structure, the permanent magnet material is NdFeB-35SH, the remanence density is 1.2T, and the coercive force is 1100kA / m; the stator 39 adopts a distributed winding, the slot fill factor is ≥75%, the diameter of the enameled wire is 0.8 - 1.0mm, and the insulation class is F (temperature resistance 155°C); when the motor is powered on, the stator 39 will generate a rotating magnetic field. According to the principle of electromagnetic induction, this magnetic field will act on the rotor 38, causing the rotor 38 to rotate following the magnetic field, and then driving the rotating shaft 19 to rotate. This layout method ensures stable and efficient power output of the motor. Since the rotor 38 and the stator 39 are in the central position inside the motor, the force on the motor can be made more uniform during operation, reducing vibration and energy loss caused by problems such as eccentricity.

[0028] In one embodiment, specifically: second sealing holes 40 are respectively opened at the centers of the closer sides of the two bearing seats 15. Second sealing rings 41 are installed on the inner sidewalls of the two second sealing holes 40. The inner sidewalls of the two second sealing rings 41 are respectively rotatably connected to the outer sidewall of the rotating shaft 19 near the front and rear of the stator 39. Through the sealing of the second sealing holes 40 inside the two bearing seats 15 at the connection between the bearing seats 15 and the rotating shaft 19, the leakage of lubricating oil from the parts of the bearing seats 15 and the rotating shaft 19 near the stator 39 is effectively prevented, ensuring the sealing of the lubrication system inside the motor, guaranteeing a good lubrication environment for the bearings. At the same time, it avoids external dust, impurities and other pollutants from entering the area inside the motor near the stator 39, preventing these foreign objects from affecting the electromagnetic performance and normal operation of the motor.

[0029] In one embodiment, specifically: a second sealing groove 42 is opened on the outer sidewall of the rotating shaft 19 near the inner side of the second sealing ring 41. A second sealing ring 43 is arranged in the middle of the inner sidewall of the second sealing ring 41. The outer sidewall of the second sealing ring 43 is rotatably connected to the inner sidewall of the second sealing groove 42; through the sealing cooperation of the second sealing ring 43 and the second sealing groove 42, the leakage of lubricating oil is avoided, thereby ensuring the cleanliness inside the motor, preventing the lubricating oil from contaminating the electromagnetic system of the motor or causing wear of other components. At the same time, it also prevents external dust, moisture and other impurities from entering the motor, ensuring the normal operation and stable performance of the motor, extending the service life of the motor, and ensuring the reliable operation of the robot joint motor under various complex environments and working conditions.

[0030] In one embodiment, specifically: annular sealing grooves 44 are provided in the middle of the inner side walls of the first sealing hole 34 and the second sealing hole 40, and limiting sealing rings 45 are provided in the middle of the outer side walls of the first sealing ring 35 and the second sealing ring 41. The outer side wall of the limiting sealing ring 45 is fitted and connected to the inner side wall of the annular sealing groove 44. The annular sealing grooves 44 in the middle of the inner side walls of the first sealing hole 34 and the second sealing hole 40 provide precise positioning and limiting spaces for the limiting sealing rings 45, thereby effectively preventing the first sealing ring 35 and the second sealing ring 41 from being displaced or falling off due to the vibration and rotation of the motor during the operation of the motor.

[0031] In one embodiment, specifically: a fuel filling pipe 46 is connected to the top of the oil storage box 22. The top of the fuel filling pipe 46 penetrates through the front part of the inner side wall of the machine housing 11. A plug 47 is threadedly connected to the top of the inner side wall of the fuel filling pipe 46. When the amount of lubricating oil in the oil storage box 22 decreases or needs to be replaced, the operator can conveniently replenish new lubricating oil into the oil storage box 22 through the fuel filling pipe 46, and the plug 47 threadedly connected to the top of the inner side wall of the fuel filling pipe 46 plays a sealing role usually, preventing dust, impurities, etc. from entering the oil storage box 22 through the fuel filling pipe 46 and polluting the lubricating oil.

[0032] Embodiment Two This embodiment provides a working process of a self-lubricating robot joint motor, and the specific steps are as follows: Step 1: During the operation of the motor, the temperature sensors 26 and the speed sensors 27 installed on both sides at the center of the side close to the bearing seat 15 continuously work. The temperature sensors 26 continuously monitor the temperature change of the bearing part, and the speed sensors 27 accurately measure the speed of the rotating shaft 19. Step 2: The temperature sensors 26 and the speed sensors 27 transmit the collected temperature and speed data to the intelligent lubrication control module 25 on one side of the front surface of the rear cover 13 in real time. The intelligent lubrication control module 25 analyzes and judges these data according to the preset programs and algorithms. For example, when the temperature rises to a certain threshold or the speed shows abnormal fluctuations, the intelligent lubrication control module 25 determines that lubrication operation is required. Step 3: Once the intelligent lubrication control module 25 issues a lubrication instruction, its output end will send a start signal to the oil pump 23 at the lower part of the rear surface of the oil storage box 22. After the oil pump 23 is started, the lubricating oil in the oil storage box 22 is pumped out and conveyed through the oil delivery pipe 24 connected to the oil outlet end. The oil delivery pipe 24 conveys the lubricating oil to the two oil inlet pipes 21 connected to the lower part of the side close to the bearing seat 15 respectively, and then the lubricating oil flows into the bearing part in the bearing seat 15. Step 4. When the lubricating oil has completed its lubricating function at the bearing part and there is too much lubricating oil at the bearing part, it flows out through the oil outlet pipe 28 connected to the upper part of the closer side of the two bearing seats 15, and finally returns to the oil storage box 22 through the oil return pipe 29 connected to the upper part of the front surface of the oil storage box 22, realizing the recycling of the lubricating oil, improving the utilization efficiency of the lubricating oil, and reducing waste; Step 5. During the entire working process, the sealing cover 30 sleeved on the outer side walls of the two bearing seats 15 at the farther side plays a key sealing role. The second limiting ring 31 on the outer side of the inner side wall of the sealing cover 30 at the farther side ensures the stable position of the outer ring 16 of the bearing and prevents its displacement; the first sealing ring 35 installed in the first sealing hole 34 opened at the center of the farther side of the sealing cover 30 is rotationally connected to the front and rear outer side walls of the rotating shaft 19 on its inner side wall, and the first sealing groove 36 opened on the outer side wall of the rotating shaft 19 near the inner side of the first sealing ring 35 is rotationally connected to the first sealing ring 37 in the middle of the inner side wall of the first sealing ring 35, further enhancing the sealing effect, preventing the leakage of the lubricating oil and the intrusion of external impurities. At the same time, the second sealing ring 41 in the second sealing hole 40 opened at the center of the closer side of the two bearing seats 15 and its related sealing structure also provide a reliable sealing guarantee at the front and rear positions of the rotating shaft 19 close to the stator 39, ensuring the stability of the internal environment of the motor and maintaining the normal and efficient operation of the motor; among them, both the first sealing ring 35 and the second sealing ring 41 are made of fluororubber (FKM) material, with a Shore hardness of 70±5HA, the internal diameter has a fit tolerance of H8 / f7 with the rotating shaft 19, and the external diameter has a fit tolerance of H7 / js6 with the sealing hole (34 / 40) to ensure the dynamic sealing effect.

[0033] Through the above working process, the self-lubricating robot joint motor of the present invention can automatically and accurately perform lubrication operations according to the actual operating conditions, effectively solving many problems in the lubrication of traditional robot joint motors and improving the performance and reliability of the motor.

[0034] Embodiment 3 This embodiment provides an actual application of a self-lubricating robot joint motor in an industrial environment, specifically providing key points for regular maintenance operations and fault handling methods to further improve the reliability and service life of the equipment.

[0035] Regular maintenance operations include lubricating oil replacement, sealing structure inspection, and sensor calibration; The replacement cycle of the lubricating oil is set according to the operating conditions of the motor. For example: Conventional working conditions (such as an ordinary workshop environment): Check the quality of the lubricating oil every 500 hours of operation or every quarter, and the replacement cycle is once a year; Severe working conditions (such as high dust, humid or high-temperature environment): Check every 300 hours of operation or every month, and the replacement cycle is once every six months; The specific operation steps for lubricant replenishment or replacement are as follows: Unscrew the plug 47 at the top of the fuel pipe 46, and check the oil level in the oil storage box 22 through the oil level observation window. If it is lower than the lowest scale line, lubricant needs to be replenished; If lubricant needs to be replaced, first drain the old oil through the return oil pipe 29, clean the inside of the oil storage box 22 with a cleaner, and then inject new lubricant to the highest scale line.

[0036] The specific method for checking the sealing structure is as follows: Check whether the connecting screws (hexagon socket head cap screws 33) of the sealing cover 30 and the machine housing 11 / rear cover 13 are loose every quarter. If loose, tighten them according to the specified torque (refer to the robot manufacturer's manual); Remove the sealing cover 30 every year to check the wear of the first sealing ring 35 and the second sealing ring 41: If cracks, deformation or hardening appear on the surface of the sealing ring, replace the sealing ring of the same model in time; Check whether there are impurities in the first sealing groove 36 and the second sealing groove 42, clean them with a clean rag and apply a small amount of grease.

[0037] The specific method for sensor calibration is as follows: Calibrate the temperature sensor 26 and the rotational speed sensor 27 every year using a standard calibration device. Among them, the temperature sensor 26 tests the output signals at different temperature points in a standard constant temperature box to ensure that the error from the reading value of the intelligent lubrication control module 2 does not exceed ±2°C; the rotational speed sensor 27 inputs a standard rotational speed signal through a rotational speed calibrator to verify that the error between the module reading value and the actual value does not exceed ±1%.

[0038] The troubleshooting and handling methods for common faults include: Troubleshooting and handling of lubricant leakage fault: If oil stains are found outside the motor, first check whether there is looseness at the connection between the sealing cover and the machine housing / rear cover, tighten the screws and observe whether the leakage situation improves; if it still leaks, remove the sealing cover to check the wear of the sealing ring, and replace the sealing ring when it is severely worn; at the same time, check whether the interfaces of the inlet pipe 21 and the delivery pipe 24 are loose, and use tools to refix the interfaces to ensure the tight connection of the oil circuit; Troubleshooting and handling of abnormal increase in bearing temperature fault: When the temperature sensor feedbacks that the bearing temperature exceeds the preset threshold, first check the oil level in the oil storage box through the fuel pipe. If the oil quantity is insufficient or the oil quality deteriorates, replenish or replace the lubricant in time; if the oil quantity is normal, manually test whether the oil transfer pump 23 can pump oil normally. If there is abnormal noise in the pump body or no oil output, replace the oil transfer pump; if none of the above is abnormal, use a multimeter to detect whether the signal transmission of the temperature sensor is stable, and replace the sensor when the signal is abnormal; Troubleshooting and Handling of Abnormal Noises during Motor Operation: If abnormal noises occur during operation, first remove the sealing cover to check whether there are cracks or wear on the outer ring 16 and rolling elements 17 of the bearing. If damaged, the bearing assembly needs to be replaced as a whole; if the bearing is normal, check whether the first sealing ring 35 rubs against the rotating shaft 19 due to too tight installation, and adjust the installation position of the sealing ring to reduce the contact pressure; in addition, use a laser alignment instrument to detect the coaxiality of the rotor 38 and the stator 39. If the eccentricity exceeds the allowable range, the installation position of the motor needs to be recalibrated to ensure the stable operation of the electromagnetic system; Troubleshooting and Handling of Intelligent Lubrication Failure: If the system fails to automatically trigger the lubrication action, first check whether the power cord of the intelligent lubrication control module 25 is loose or short-circuited, and replace the damaged power components; if the power supply is normal, check whether the connection cable between the sensor and the module has fallen off, and re-plug or replace the cable to restore signal transmission; if there is no hardware failure, try to restart the module or rewrite the control program through the upper computer to repair possible program abnormalities.

[0039] For the self-lubricating robot joint motor provided by the present invention, in high-temperature scenarios such as metallurgy and casting, the lubricating oil can be replaced with high-temperature-resistant synthetic oil (such as silicone-based grease), and the monitoring frequency of the temperature sensor can be increased (such as once every 10 minutes). When the temperature exceeds the preset threshold (such as 80 °C), the intelligent lubrication control module 25 automatically triggers the high-frequency lubrication mode (oil supply once per hour); For the self-lubricating robot joint motor provided by the present invention, in high-dust scenarios such as mines and cement plants, an additional dust-proof sealing ring can be added at the connection between the sealing cover 30 and the bearing seat 15, and the dust on the surface of the motor and the heat dissipation holes can be cleaned regularly (once a week) with compressed air to prevent dust accumulation from affecting the sealing performance; For the self-lubricating robot joint motor provided by the present invention, by connecting the intelligent lubrication control module 25 to the factory IIoT system, data such as the temperature, speed, and lubricating oil volume of the motor can be uploaded in real time. Through cloud algorithms, the remaining life of the bearing can be predicted, and maintenance reminders can be triggered in advance to achieve "preventive maintenance", avoid downtime losses caused by sudden failures, and improve the intelligent management level of industrial production.

[0040] This embodiment further demonstrates the advantages of the self-lubricating robot joint motor provided by the present invention in terms of intelligent maintenance and adaptability to complex environments by standardizing the maintenance process, providing troubleshooting solutions, and expanding industrial application scenarios, ensuring the long-term stable operation of the robot joint motor under various working conditions, and reducing the operation and maintenance costs and safety risks in industrial production.

[0041] As described above, it is only the specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention can easily think of various changes or substitutions, and these should all be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims described above.

Claims

1. A self-lubricating robot joint motor, characterized in that: The invention comprises a lubrication assembly (1), wherein the lubrication assembly (1) comprises a housing (11), screws (12), a rear cover (13), a mounting hole (14), a bearing seat (15), a bearing outer ring (16), a rolling element (17), a bearing inner ring (18), a rotating shaft (19), an oil inlet pipe (21), an oil storage box (22), an oil delivery pump (23), an oil delivery pipe (24), and an intelligent lubrication control module (25); The rear portion of the inner wall of the housing (11) is fixedly connected to a rear cover (13) via a plurality of screws (12); a mounting hole (14) is provided at the center of the rear surface of the rear cover (13) and the center of the front surface of the housing (11); the inner walls of the two mounting holes (14) are fixedly connected to bearing seats (15); the middle portions of the inner walls of the two bearing seats (15) are fixedly connected to bearing outer rings (16); the inner walls of the two bearing outer rings (16) are rotatably connected to bearing inner rings (18) via a plurality of rolling bodies (17); the inner walls of the two bearing inner rings (18) are fixedly connected to rotating shafts (19); and the two The lower parts of the adjacent sides of the bearing seats (15) are both connected to an oil inlet pipe (21); an inner front wall of the housing (11) is fixedly connected to an outer side of the bearing seat (15); an oil storage box (22) is installed at the lower part of the rear surface of the oil storage box (22); an oil pump (23) is installed at the lower part of the rear surface of the oil storage box (22); an oil outlet end of the oil pump (23) is connected to an oil pipe (24); the oil inlet ends of the two oil inlet pipes (21) are both connected to the oil outlet end of the oil pipe (24); an intelligent lubrication control module (25) is installed at one side of the front surface of the rear cover (13); and the input end of the oil pump (23) is electrically connected to the output end of the intelligent lubrication control module (25).

2. The self-lubricating robot joint motor according to claim 1, characterized in that: A temperature sensor (26) and a speed sensor (27) are respectively installed on both sides of the center of the adjacent side of the two bearing seats (15), and the output ends of the temperature sensor (26) and the speed sensor (27) are electrically connected to the input end of the intelligent lubrication control module (25). The upper parts of the adjacent sides of the two bearing seats (15) are connected to an oil outlet pipe (28), and the upper part of the rear surface of the oil storage box (22) is connected to an oil return pipe (29), and the oil outlet ends of the two oil outlet pipes (28) are connected to the oil inlet end of the oil return pipe (29).

3. The self-lubricating robot joint motor according to claim 1, characterized in that: A first limiting ring (20) is provided on the outer side of the inner side walls of the two bearing seats (15) that are close to each other, and the closer sides of the two bearing outer rings (16) are respectively fitted and connected to the farther sides of the two first limiting rings (20). A sealing cover (30) is provided on the farther sides of the outer side walls of the two bearing seats (15). A second limiting ring (31) is provided on the outer side of the farther sides of the inner side walls of the two sealing covers (30). The farther sides of the two bearing outer rings (16) are respectively fitted and connected to the closer sides of the two second limiting rings (31). The closer sides of the two sealing covers (30) are respectively fixedly connected to the outer side of the center of the rear surface of the rear cover (13) and the outer side of the center of the front surface of the housing (11) by a plurality of hexagonal screws (33).

4. The self-lubricating robot joint motor according to claim 3, characterized in that: A first sealing hole (34) is provided at the center of a side away from each other of the two sealing covers (30), and a first sealing ring (35) is installed on the inner side walls of the two first sealing holes (34). The inner side walls of the two first sealing rings (35) are rotatably connected to the front and rear parts of the outer side wall of the rotating shaft (19), respectively.

5. The self-lubricating robot joint motor according to claim 4, characterized in that: A first sealing groove (36) is provided on the outer wall of the rotating shaft (19) near the inner side of the first sealing ring (35), a first sealing ring (37) is provided in the middle of the inner wall of the first sealing ring (35), and the outer wall of the first sealing ring (37) is rotatably connected to the inner wall of the first sealing groove (36).

6. The self-lubricating robot joint motor according to claim 4, characterized in that: A rotor (38) is installed in the middle of the outer wall of the rotating shaft (19), and a stator (39) is fixedly connected in the middle of the inner wall of the casing (11).

7. The self-lubricating robot joint motor according to claim 6, characterized in that: A second sealing hole (40) is provided at the center of one side adjacent to each other of the two bearing seats (15), and a second sealing ring (41) is installed on the inner side walls of the two second sealing holes (40). The inner side walls of the two second sealing rings (41) are rotatably connected to the outer side wall of the rotating shaft (19) close to the front and rear of the stator (39), respectively.

8. The self-lubricating robot joint motor according to claim 7, characterized in that: A second sealing groove (42) is provided on the outer wall of the rotating shaft (19) near the inner side of the second sealing ring (41), a second sealing ring (43) is provided in the middle of the inner wall of the second sealing ring (41), and the outer wall of the second sealing ring (43) is rotatably connected to the inner wall of the second sealing groove (42).

9. The self-lubricating robot joint motor according to claim 7, characterized in that: An annular sealing groove (44) is provided in the middle of the inner side wall of each of the first sealing hole (34) and the second sealing hole (40), and a limiting sealing ring (45) is provided in the middle of the outer side wall of each of the first sealing ring (35) and the second sealing ring (41), and the outer side wall of the limiting sealing ring (45) is closely connected to the inner side wall of the annular sealing groove (44).

10. The self-lubricating robot joint motor according to claim 1, characterized in that: The top of the oil storage box (22) is connected to a refueling pipe (46), the top of the refueling pipe (46) passes through the front part of the inner wall of the casing (11), and a plug (47) is threadedly connected to the top of the inner wall of the refueling pipe (46).

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