Following arm lubricating system of mechanical arm

Abstract

The invention belongs to the technical field of mechanical arm maintenance, and discloses a follow-up arm lubricating system of a mechanical arm. Comprising a mechanical arm cross beam, mechanical arm bodies are rotationally connected to the two ends of the mechanical arm cross beam through bearings, and the lubricating module is used for evenly adding lubricating oil to the bearings between the mechanical arm cross beam and the mechanical arm bodies and arranged on the outer side of the mechanical arm cross beam. By arranging the lubricating module, when a bearing at the joint of the mechanical arm needs to be lubricated, lubricating oil is conveyed into an annular pipe through an external lubricating oil pump, the annular pipe is filled with the lubricating oil, an electromagnetic valve is started, the lubricating oil is injected into a ball of the bearing through an oil outlet pipe, a first connecting pipe and a second connecting pipe, and the bearing is lubricated; the multiple second connecting pipes are arranged to inject the lubricating oil at the same time, the purpose of evenly adding the lubricating oil is achieved, and the problem that at present, even lubrication is difficult due to the fact that the lubricating oil is added only at a single position is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical arm lubrication, and more particularly to an arm-mounted lubrication system for a mechanical arm. Background Art

[0002] In the field of industrial automation, the robotic arm is a core executive component, and its operating accuracy and life are directly related to production efficiency and cost control. Traditional lubrication methods mostly use manual regular refueling or fixed centralized lubrication systems, but there are significant limitations. Manual operation relies on experience, and irregular refueling cycles can easily lead to insufficient or excessive lubrication, causing wear of the robotic arm joints, reduced positioning accuracy, and even equipment shutdown.

[0003] Therefore, there is currently a special lubrication system for automatic lubrication of the robotic arm joints, but the current lubrication system cannot evenly add lubricating oil to the robotic arm joints. Currently, when adding lubricating oil, lubricating oil is usually added to the internal bearings somewhere in the robotic arm joints, resulting in other locations not being lubricated in time, affecting the overall performance of the bearings. Summary of the Invention

[0004] The present invention aims to solve the problem in the background art that the current lubrication system cannot evenly add lubricating oil to the joints of a robotic arm, and proposes an arm-mounted lubrication system for the robotic arm.

[0005] To achieve the above-mentioned object, the present invention provides the following technical solution: a lubrication system for a robotic arm, comprising a robotic arm crossbeam, both ends of which are rotatably connected to a robotic arm body via bearings, and further comprising: A lubrication module is used to evenly add lubricating oil to the bearings between the crossbeam and the body of the robotic arm. The lubrication module is arranged on the outside of the crossbeam of the robotic arm. The annular sheet is arranged on the outer ring of the bearing. A monitoring module is arranged on the annular sheet. The monitoring module is used to monitor the lubrication performance of the bearing.

[0006] Furthermore, the lubrication module includes an annular tube arranged on the outside of the robotic arm beam, the annular tube is connected and fixedly connected to a connecting pipe, one end of the connecting pipe is connected to an external lubricating oil pump, and the annular tube is evenly connected and fixedly connected to multiple oil outlet pipes, and each of the oil outlet pipes is provided with an electromagnetic valve.

[0007] Furthermore, the annular sheet includes a conical annular sheet, a first annular sheet and a second annular sheet, the first annular sheet and the second annular sheet are both arranged on the outer wall of the bearing outer ring, a plurality of first connecting plates are fixed on the robotic arm crossbeam, and a spring is fixed between the first connecting plate and the second annular sheet.

[0008] Furthermore, the annular sheet also includes a circular arc sheet, and multiple injection pipes are fixedly connected between the circular arc sheet and the conical circular ring sheet. The injection pipe includes a first connecting pipe and a second connecting pipe. The first connecting pipe is opposite to the corresponding oil outlet pipe, and the second connecting pipe is opposite to the ball of the bearing.

[0009] Furthermore, the monitoring module includes a plurality of temperature sensors and vibration sensors, and the plurality of temperature sensors and vibration sensors are evenly mounted on the annular sheet, and protective covers are provided on the outer sides of the temperature sensors and vibration sensors.

[0010] Furthermore, a moving module for driving the annular tube to move is provided on the crossbeam of the robotic arm, and the moving module includes two connecting columns fixedly connected to the annular tube, and one end of the two connecting columns is fixedly connected to a sliding plate. An arc-shaped plate is fixedly connected to the crossbeam of the robotic arm, and the sliding plate is slidably connected to the arc-shaped plate. A rack is fixedly connected to the arc-shaped plate, and a motor is installed on the sliding plate through a mounting plate, and the output shaft of the motor is fixedly connected to a gear meshing with the rack.

[0011] Furthermore, the annular tube is provided with a connecting module for connecting the oil outlet pipe and the first connecting pipe, the connecting module includes an electric push rod installed on the annular tube through a mounting plate, the output end of the electric push rod is fixedly connected to a second connecting plate, the second connecting plate is fixedly connected to an annular plate, the annular plate is rotatably connected to the annular tube, a plurality of connecting rods are rotatably connected to the annular plate, one end of the connecting rod is rotatably connected to a third connecting plate, the third connecting plate is fixedly connected to a moving tube, the moving tube is slidably connected to the inner wall of the oil outlet pipe, the inner wall of the moving tube is fixedly connected to an annular block, the annular block is fixedly connected to a sealing ring, and one end of the first connecting tube is provided with a sealing groove adapted to the sealing ring.

[0012] Furthermore, the lubrication module, the movement module and the connection module are all controlled by the main controller. The data monitored by the monitoring module will be transmitted to the main controller, and the main controller will control the corresponding module by analyzing and judging the data.

[0013] The technical effects and advantages of the arm lubrication system of the present invention are as follows: (1) By setting up a lubrication module, when it is necessary to lubricate the bearings at the joints of the robotic arm, the lubricating oil is transported to the annular tube through an external lubricating oil pump, so that the annular tube is filled with lubricating oil. The solenoid valve is opened to allow the lubricating oil to be injected into the ball of the bearing through the oil outlet pipe, the first connecting pipe and the second connecting pipe to lubricate the bearing. By setting up multiple second connecting pipes to inject lubricating oil at the same time, the purpose of evenly adding lubricating oil is achieved, which solves the problem of difficult even lubrication caused by adding lubricating oil at only a single location.

[0014] (2) By setting up a connection module, when it is necessary to lubricate another bearing, the electric push rod is started to drive the second connecting plate and the annular plate to rotate. The annular plate drives the third connecting plate and the moving tube to move through the connecting rod, so that the moving tube leaves the corresponding first connecting tube. The motor is started to drive the gear to rotate, so that the gear moves on the rack, thereby driving the sliding plate and the annular tube to move toward another annular sheet. After moving into place, the electric push rod is used to make the moving tube sleeved on the outside of the corresponding first connecting tube, and the lubricating oil pump is turned on to carry out the lubrication process. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 Schematic cross-sectional view of the crossbeam of the robotic arm in the present invention; Figure 3 For the present invention Figure 1 A in the middle is an enlarged schematic diagram; Figure 4 For the present invention Figure 2 The enlarged schematic diagram of point B in the middle; Figure 5 For the present invention Figure 1 The enlarged schematic diagram of point C in the middle; Figure 6 For the present invention Figure 2 The enlarged schematic diagram of point D in the middle; Figure 7 For the present invention Figure 6 The enlarged schematic diagram at E in the middle; Figure 8 It is a schematic diagram of the system module structure in the present invention.

[0016] In the picture: 1. Robotic arm crossbeam; 2. Annular tube; 3. Connecting tube; 4. Oil outlet pipe; 5. Solenoid valve; 6. Annular sheet; 601. Conical annular sheet; 602. First annular sheet; 603. Second annular sheet; 604. Annular arc sheet; 7. First connecting plate; 8. Spring; 9. Injection tube; 901. First connecting tube; 902. Second connecting tube; 10. Temperature sensor; 11. Vibration sensor; 12. Protective cover; 13. Connecting column; 14. Sliding plate; 15. Arc plate; 16. Rack; 17. Motor; 18. Gear; 19. Electric push rod; 20. Second connecting plate; 21. Annular plate; 22. Connecting rod; 23. Third connecting plate; 24. Moving tube; 25. Annular block; 26. Sealing ring; 27. Sealing groove. DETAILED DESCRIPTION

[0017] The following will provide a clear and complete description of the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0018] Reference Figures 1-8 A lubrication system for a robotic arm includes a robotic arm crossbeam 1, both ends of which are rotatably connected to a robotic arm body via bearings, and further includes: A lubrication module is used to evenly add lubricating oil to the bearings between the manipulator crossbeam 1 and the manipulator body. The lubrication module is arranged on the outside of the manipulator crossbeam 1. The annular sheet 6 is provided on the outer ring of the bearing and is provided with a monitoring module for monitoring the lubrication performance of the bearing; During use, the lubrication performance of the bearings at the joints of the robotic arm is monitored in real time through the monitoring module. Since the annular sheet 6 is arranged on the outer ring of the bearing, data such as the heat and vibration of the bearing will be transmitted to the monitoring module through the annular sheet 6. When the monitoring data shows that lubrication is needed, lubricating oil is evenly added to the bearings at the joints of the robotic arm for lubrication through the lubrication module.

[0019] Reference Figure 1 、 Figure 2 and Figure 3 The lubrication module includes an annular tube 2 arranged on the outside of the robotic arm crossbeam 1, and a connecting tube 3 is connected and fixed to the annular tube 2. One end of the connecting tube 3 is connected to an external lubricating oil pump. A plurality of oil outlet pipes 4 are evenly connected and fixed to the annular tube 2, and each oil outlet pipe 4 is provided with an electromagnetic valve 5; when the bearing needs to be lubricated, the external lubricating oil pump is started, and the lubricating oil pump delivers the lubricating oil to the annular tube 2 until the annular tube 2 is filled with lubricating oil. At the same time, all the electromagnetic valves 5 are opened, and the lubricating oil will be discharged from multiple oil outlet pipes 4 at the same time and evenly added to the bearing, which solves the problem that the bearing is difficult to be evenly lubricated due to adding lubricating oil in only a single position.

[0020] Reference Figure 4 The annular sheet 6 includes a conical annular sheet 601, a first annular sheet 602 and a second annular sheet 603. The first annular sheet 602 and the second annular sheet 603 are both arranged on the outer wall of the outer ring of the bearing. A plurality of first connecting plates 7 are fixedly connected to the robotic arm beam 1. A spring 8 is fixedly connected between the first connecting plate 7 and the second annular sheet 603. By arranging the spring 8, the first annular sheet 602 and the second annular sheet 603 are tightly fitted on the outer ring of the bearing, so that the heat and vibration of the bearing can be fully transferred to the annular sheet 6 through the first annular sheet 602 and the second annular sheet 603.

[0021] Reference Figure 3 and Figure 4 The annular sheet 6 also includes a circular arc-shaped sheet 604. A plurality of injection pipes 9 are fixedly connected between the circular arc-shaped sheet 604 and the conical circular annular sheet 601. The injection pipe 9 includes a first connecting pipe 901 and a second connecting pipe 902. The first connecting pipe 901 is directly opposite to the corresponding oil outlet pipe 4, and the second connecting pipe 902 is directly opposite to the ball of the bearing. In the process of discharging lubricating oil from the annular tube 2, the lubricating oil enters the injection pipe 9 through the oil outlet pipe 4 and the first connecting pipe 901, and is finally injected into the roller of the bearing through the second connecting pipe 902 to lubricate the bearing. By setting the injection pipe 9, the lubricating oil can be accurately injected into the bearing to avoid waste. By setting the circular arc-shaped sheet 604, the lubricating oil injected into the bearing can be prevented from being thrown out.

[0022] Reference Figure 2 and Figure 4 The monitoring module includes multiple temperature sensors 10 and vibration sensors 11, which are evenly installed on the annular sheet 6. A protective cover 12 is provided on the outside of the temperature sensor 10 and the vibration sensor 11; the heat and vibration of the outer ring of the bearing can be transferred to the conical annular sheet 601 through the first annular sheet 602 and the second annular sheet 603. The temperature sensor 10 can monitor the temperature of the conical annular sheet 601 in real time, and the vibration sensor 11 can monitor the vibration of the conical annular sheet 601 in real time. When the temperature and vibration reach the threshold, the bearing needs to be lubricated. By setting the protective cover 12, the lubricating oil or dust can be prevented from interfering with the sensor. By setting the annular sheet 6, the temperature and vibration conditions of the bearing (i.e., the lubrication conditions) can be reflected immediately, and the addition of lubricating oil can be assisted through the injection pipe 9 and the annular arc sheet 604.

[0023] Reference Figure 1 and Figure 5 , a moving module for driving the annular tube 2 to move is provided on the robot arm crossbeam 1, and the moving module includes two connecting columns 13 fixed to the annular tube 2, and one end of the two connecting columns 13 is fixed with a sliding plate 14, and an arc plate 15 is fixed to the robot arm crossbeam 1, and the sliding plate 14 is slidably connected to the arc plate 15, and a rack 16 is fixed on the arc plate 15. A motor 17 is installed on the sliding plate 14 through a mounting plate, and the output shaft of the motor 17 is fixed with a gear 18 that meshes with the rack 16; when it is necessary to lubricate the bearing on the other side of the annular tube 2, the motor 17 is started, and the motor 17 drives the gear 18 to rotate, and the gear 18 moves on the rack 16, thereby driving the sliding plate 14 and the annular tube 2 to move on the arc plate 15 until they move to the annular sheet 6 on the other side, and lubricating oil is evenly added to the bearing through an external lubricating oil pump.

[0024] Reference Figure 3、 Figure 6 and Figure 7 , a connecting module for connecting the oil outlet pipe 4 and the first connecting pipe 901 is provided on the annular pipe 2, and the connecting module includes an electric push rod 19 installed on the annular pipe 2 through a mounting plate, and the output end of the electric push rod 19 is fixedly connected to a second connecting plate 20, and an annular plate 21 is fixedly connected to the second connecting plate 20, and the annular plate 21 is rotatably connected to the annular pipe 2, and a plurality of connecting rods 22 are rotatably connected to the annular plate 21, and one end of the connecting rod 22 is rotatably connected to the third connecting plate 23, and a moving pipe 24 is fixedly connected to the third connecting plate 23, and the moving pipe 24 is slidably connected to the inner wall of the oil outlet pipe 4, and an annular block 25 is fixedly connected to the inner wall of the moving pipe 24, and a sealing ring 26 is fixedly connected to the annular block 25. One end of the first connecting pipe 901 is provided with The sealing groove 27 is adapted to the sealing ring 26; when it is necessary to connect the oil outlet pipe 4 with the first connecting pipe 901, the electric push rod 19 is started, and the electric push rod 19 drives the second connecting plate 20 to move. The second connecting plate 20 drives the annular plate 21 to rotate on the annular pipe 2, and the annular plate 21 drives the third connecting plate 23 and the movable pipe 24 to move through the connecting rod 22, so that the movable pipe 24 moves toward the corresponding first connecting pipe 901. The movable pipe 24 is sleeved on the outside of the first connecting pipe 901, and the sealing ring 26 falls into the sealing groove 27 to achieve sealing, and the lubricating oil can be started. When it is necessary to disconnect the oil outlet pipe 4 from the first connecting pipe 901 to allow the annular pipe 2 to move, starting the electric push rod 19 can drive the movable pipe 24 away from the first connecting pipe 901.

[0025] Reference Figure 8 The lubrication module, mobile module and connection module are all controlled by the main controller. The data monitored by the monitoring module will be transmitted to the main controller, and the main controller will control the corresponding module by analyzing and judging the data; when the monitoring module detects that the temperature and vibration data reach the threshold, the main controller can drive the lubrication module to add lubricating oil for lubrication. When the bearing on the other side needs to be lubricated, the lubrication module can reach the other side for lubrication operation through the cooperation of the connection module and the mobile module.

[0026] Working principle: When in use, the lubrication performance of the bearings at the joints of the robotic arm is monitored in real time through the monitoring module. Since the annular sheet 6 is set on the outer ring of the bearing, the heat and vibration data of the bearing will be transmitted to the monitoring module through the annular sheet 6. When the monitoring data shows that lubrication is needed, the lubrication module evenly adds lubricating oil to the bearings at the joints of the robotic arm for lubrication. When the bearing needs to be lubricated, the external lubricating oil pump is started, and the lubricating oil pump delivers the lubricating oil to the annular pipe 2 until the annular pipe 2 is full of lubricating oil. At the same time, all the solenoid valves 5 are opened, and the lubricating oil is discharged from multiple oil outlet pipes 4 at the same time and evenly added to the bearing, solving the problem of difficult uniform lubrication of the bearing caused by adding lubricating oil at only a single location. By providing the spring 8, the first annular sheet 602 and the second annular sheet 603 are tightly fitted on the outer ring of the bearing, so that the heat and vibration of the bearing can be fully transferred to the annular sheet 6 through the first annular sheet 602 and the second annular sheet 603; During the process of discharging the lubricating oil from the annular pipe 2, the lubricating oil enters the injection pipe 9 through the oil outlet pipe 4 and the first connecting pipe 901, and is finally injected into the roller of the bearing through the second connecting pipe 902 to lubricate the bearing. By providing the injection pipe 9, the lubricating oil can be accurately injected into the bearing to avoid waste. By providing the circular arc-shaped thin sheet 604, the lubricating oil injected into the bearing can be prevented from being thrown out. The heat and vibration of the bearing outer ring can be transferred to the conical annular sheet 601 through the first annular sheet 602 and the second annular sheet 603. The temperature sensor 10 can monitor the temperature of the conical annular sheet 601 in real time, and the vibration sensor 11 can monitor the vibration of the conical annular sheet 601 in real time. When the temperature and vibration reach the threshold, the bearing needs to be lubricated. The protective cover 12 can prevent lubricating oil or dust from interfering with the sensor. The annular sheet 6 can not only reflect the temperature and vibration of the bearing (i.e., the lubrication condition) in real time, but also assist in the addition of lubricating oil through the injection pipe 9 and the annular arc sheet 604. When the annular tube 2 needs to lubricate the bearing on the other side, the motor 17 is started, and the motor 17 drives the gear 18 to rotate. The gear 18 moves on the rack 16, thereby driving the sliding plate 14 and the annular tube 2 to move on the curved plate 15 until they move to the annular sheet 6 on the other side. Lubricating oil is evenly added to the bearing through an external lubricating oil pump; When it is necessary to connect the oil outlet pipe 4 with the first connecting pipe 901, the electric push rod 19 is started, and the electric push rod 19 drives the second connecting plate 20 to move. The second connecting plate 20 drives the annular plate 21 to rotate on the annular pipe 2. The annular plate 21 drives the third connecting plate 23 and the movable pipe 24 to move through the connecting rod 22, so that the movable pipe 24 moves toward the corresponding first connecting pipe 901. The movable pipe 24 is sleeved on the outside of the first connecting pipe 901, and the sealing ring 26 falls into the sealing groove 27 to achieve sealing, and the lubricating oil can be transported. When it is necessary to disconnect the oil outlet pipe 4 from the first connecting pipe 901 to allow the annular pipe 2 to move, the electric push rod 19 is started to drive the movable pipe 24 away from the first connecting pipe 901; When the monitoring module detects that the temperature and vibration data reach the threshold, the main controller can drive the lubrication module to add lubricating oil for lubrication. When the bearing on the other side needs to be lubricated, the lubrication module can reach the other side for lubrication operation through the cooperation of the connecting module and the moving module.

[0027] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

[0028] Finally: The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A lubrication system for a robotic arm, comprising a robotic arm crossbeam (1), both ends of which are rotatably connected to a robotic arm body via bearings, characterized in that: Also includes: A lubrication module, used for evenly adding lubricating oil to the bearings between the robot arm crossbeam (1) and the robot arm body, the lubrication module being arranged on the outside of the robot arm crossbeam (1); The annular sheet (6) is arranged on the outer ring of the bearing, and a monitoring module is arranged on the annular sheet (6), and the monitoring module is used to monitor the lubrication performance of the bearing.

2. The arm lubrication system of the robot arm according to claim 1, characterized in that: The lubrication module comprises an annular tube (2) arranged outside the mechanical arm crossbeam (1); a connecting tube (3) is connected and fixedly connected to the annular tube (2); one end of the connecting tube (3) is connected to an external lubricating oil pump; a plurality of oil outlet pipes (4) are evenly connected and fixedly connected to the annular tube (2); and each of the oil outlet pipes (4) is provided with a solenoid valve (5).

3. The arm lubrication system of the robot arm according to claim 2, characterized in that: The annular sheet (6) includes a conical annular sheet (601), a first annular sheet (602) and a second annular sheet (603), wherein the first annular sheet (602) and the second annular sheet (603) are both arranged on the outer wall of the bearing outer ring, a plurality of first connecting plates (7) are fixedly connected to the mechanical arm crossbeam (1), and a spring (8) is fixedly connected between the first connecting plate (7) and the second annular sheet (603).

4. The arm lubrication system of the robot arm according to claim 3, characterized in that: The annular sheet (6) further comprises an annular arc-shaped sheet (604), and a plurality of injection pipes (9) are fixedly connected between the annular arc-shaped sheet (604) and the conical annular sheet (601). The injection pipes (9) comprise a first connecting pipe (901) and a second connecting pipe (902), wherein the first connecting pipe (901) is directly opposite to the corresponding oil outlet pipe (4), and the second connecting pipe (902) is directly opposite to the ball of the bearing.

5. The arm lubrication system of the robot arm according to claim 4, characterized in that: The monitoring module comprises a plurality of temperature sensors (10) and vibration sensors (11), wherein the plurality of temperature sensors (10) and vibration sensors (11) are evenly mounted on an annular sheet (6), and protective covers (12) are provided on the outsides of the temperature sensors (10) and vibration sensors (11).

6. The arm lubrication system of the robot arm according to claim 5, characterized in that: The robot arm cross beam (1) is provided with a moving module for driving the annular tube (2) to move, and the moving module includes two connecting columns (13) fixedly connected to the annular tube (2), one end of the two connecting columns (13) is fixedly connected to a sliding plate (14), an arc plate (15) is fixedly connected to the robot arm cross beam (1), the sliding plate (14) is slidably connected to the arc plate (15), a rack (16) is fixedly connected to the arc plate (15), a motor (17) is installed on the sliding plate (14) through a mounting plate, and an output shaft of the motor (17) is fixedly connected to a gear (18) meshing with the rack (16).

7. The arm lubrication system of the robot arm according to claim 6, characterized in that: The annular tube (2) is provided with a connection module for connecting the oil outlet pipe (4) and the first connecting pipe (901), and the connection module includes an electric push rod (19) mounted on the annular tube (2) through a mounting plate, the output end of the electric push rod (19) is fixedly connected to a second connecting plate (20), the second connecting plate (20) is fixedly connected to an annular plate (21), the annular plate (21) is rotatably connected to the annular tube (2), a plurality of connecting rods (22) are rotatably connected to the annular plate (21), one end of each connecting rod (22) is rotatably connected to a third connecting plate (23), the third connecting plate (23) is fixedly connected to a moving tube (24), the moving tube (24) is slidably connected to the inner wall of the oil outlet pipe (4), the inner wall of the moving tube (24) is fixedly connected to an annular block (25), the annular block (25) is fixedly connected to a sealing ring (26), and one end of each first connecting pipe (901) is provided with a sealing groove (27) adapted to the sealing ring (26).

8. The arm lubrication system of the robot arm according to claim 7, characterized in that: The lubrication module, the moving module and the connecting module are all controlled by the main controller. The data monitored by the monitoring module will be transmitted to the main controller, and the main controller will control the corresponding module by analyzing and judging the data.

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