Truss robot with lubricating function and using method

Abstract

The invention belongs to the technical field of truss robots, and particularly relates to a truss robot with a lubricating function and a using method.The truss robot comprises a truss mounting plate and a mechanical arm assembled on the side wall of the truss mounting plate, the side wall of the truss mounting plate is fixedly connected with a sliding rail, and the side wall of the truss mounting plate is fixedly connected with a sliding block; the sliding block is in sliding connection with the sliding rail, the side wall of the sliding block is fixedly connected with a supporting plate, the supporting plate is in a U shape, three rolling shafts are arranged in the supporting plate, the three rolling shafts are located on the outer side of the sliding rail and distributed in a U shape, and linkage assemblies are arranged among the rolling shafts; a support plate is fixedly connected to the top face of the supporting plate, a rotation driving assembly is arranged on the lower side of the support plate, and a lubricating liquid spraying assembly is arranged on the side wall of the supporting plate. Intermittent lubrication of the sliding rail sliding block on the truss can be achieved, and efficient lubrication can be completed without a driving facility.

Description

Technical Field

[0001] This invention belongs to the field of gantry robot technology, specifically relating to a gantry robot with lubrication function and its usage method. Background Technology

[0002] In the field of industrial automation, gantry robots have become one of the core pieces of equipment in various production lines due to their efficient handling and assembly capabilities. The operating accuracy and service life of a gantry robot directly depend on the fit between the slider and the guide rail, and lubrication is a key factor affecting this fit. Traditional gantry robots often use automatic lubrication systems for their guide rails, which use spring pressure to make the felt slightly contact with the surface of the roller guide rail, utilizing the grease that seeps out of the felt to achieve lubrication.

[0003] However, the above-mentioned lubrication methods require manual intervention and control, and cannot achieve fully automated adaptation. Furthermore, the grease application is not uniform, and the slide rail cross-section is mostly non-planar. Traditional roller coating methods cannot cover the concave areas of the slide rail, resulting in incomplete lubrication and thus affecting the lubrication effect. In addition, when gantry robots are running in a workshop environment, airborne impurities and debris generated during production can easily adhere to the surface of the slide rails. As the slider and the slide rail slide relative to each other, these impurities will aggravate the friction and wear between them, severely shorten the service life of the slide rails and sliders, and even affect the operating accuracy of the gantry robot, which will have an adverse impact on production efficiency and equipment maintenance costs. Summary of the Invention

[0004] The purpose of this invention is to provide a gantry robot with lubrication function and a method of using it, which can achieve intermittent lubrication of the slide rail slider on the gantry and complete efficient lubrication without the need for drive facilities.

[0005] The specific technical solution adopted by this invention is as follows: A truss robot with lubrication function includes a truss mounting plate and a manipulator mounted on the side wall of the truss mounting plate. A slide rail is fixedly connected to the side wall of the truss mounting plate, and a slider is fixedly connected to the side wall of the truss mounting plate. The slider is slidably connected to the slide rail, and a support plate is fixedly connected to the side wall of the slider. The support plate is U-shaped, and three rollers are arranged inside the support plate. The three rollers are located outside the slide rail and are distributed in a U-shape. A linkage component is arranged between the rollers. A bracket plate is fixedly connected to the top surface of the support plate, a self-rotation drive assembly is provided on the lower side of the bracket plate, and a lubricant spraying assembly is provided on the side wall of the support plate.

[0006] Furthermore, the linkage component includes rotating shafts fixedly connected to both ends of the roller. The other ends of the lower rotating shaft on the front roller and the rear rotating shaft on the rear roller are rotatably connected to the support plate. Bevel gears are fixedly connected to the side walls of two adjacent rotating shafts, and the two adjacent bevel gears mesh with each other.

[0007] Furthermore, the self-rotating drive assembly includes a rack fixedly connected to the side wall of the truss mounting plate, a pinion meshing with the front side of the rack, the pinion being rotatably connected to the support plate via a pin shaft, a large gear meshing with the front side of the pinion, a drive shaft fixedly connected to the side wall of the large gear, the drive shaft being rotatably connected to the support plate, and the bottom end of the drive shaft penetrating the support plate and being fixedly connected to the rotating shaft on the front roller.

[0008] Furthermore, the lubricant spraying assembly includes a distribution pipe fixedly connected to the side wall of the support plate, and multiple nozzles fixedly connected to the side wall of the distribution pipe, all of which face the slide rail side. An oil reservoir is fixedly installed on the rear side wall of the truss mounting plate, and a pressurized oil injection assembly is provided between the oil reservoir and the distribution pipe.

[0009] Furthermore, the pressurized oil injection assembly includes a pressure cylinder fixedly connected to the top surface of the support plate, a piston slidably connected inside the pressure cylinder, a push rod fixedly connected to the side wall of the piston, the other end of the push rod passing through the pressure cylinder and fixedly connected to a pressure plate, a spring sleeved on the side wall of the push rod between the pressure plate and the pressure cylinder, a guide pipe fixedly connected to the side wall of the diversion pipe, the other end of the guide pipe communicating with the pressure cylinder, an injection pipe fixedly connected to the side wall of the pressure cylinder, an oil supply pipe fixedly connected to the side wall of the oil storage tank, and a control valve provided between the oil supply pipe and the injection pipe.

[0010] Furthermore, the control valve includes a valve body, the oil supply pipe and the injection pipe are both connected to the valve body, a valve stem is rotatably connected inside the valve body, a valve core is fixedly connected to the side wall of the valve stem, one end of the valve stem passes through the valve body and is fixedly connected to a control handle, a torsion spring is sleeved between the valve stem and the control handle and the valve body, an air inlet pipe is fixedly connected to the side wall of the valve body, and the valve core blocks one of the oil supply pipe or the air inlet pipe in the valve body.

[0011] Furthermore, the top end of the pin passes through the bracket plate and is fixedly connected to a first cam, which abuts against the pressure plate.

[0012] Furthermore, two one-way valves are installed on the side wall of the pressure cylinder, and the guide pipe and injection pipe are respectively connected to the one-way valves.

[0013] Furthermore, a second cam is fixedly connected to the top of the drive shaft through the bracket plate, and the side of the second cam abuts against the control handle.

[0014] A method for using a gantry robot with lubrication function, the method comprising the following steps: S1: When the manipulator of the gantry robot is running, the slider slides along the slide rail on the gantry mounting plate, causing the support plate to move synchronously. At the same time, the pinion meshes with the rack and rotates around the pinion. The pinion drives the large gear to rotate synchronously. The large gear drives the roller to rotate through the transmission shaft. Through the meshing of the bevel gear on the rotating shaft, it drives the three rollers to rotate synchronously, which is used to apply lubricating oil to the surface of the slide rail. S2: The pin drives the first cam to rotate, and the first cam pushes the pressure plate to drive the piston to reciprocate in the pressure cylinder. At this time, when the air inlet pipe and the injection pipe are connected, the air entering the pressure cylinder can be squeezed and sprayed out from the nozzle. S3: When the oil supply pipe and the injection pipe are connected, the lubricating fluid in the pressure cylinder can be squeezed and sprayed out from the nozzle. S4: During this process, the large gear is in a slow rotation state. When the large gear drives the second cam to rotate and pushes the control handle to rotate, the control handle drives the valve core to rotate, thereby changing the connection state of the intake pipe, oil supply pipe and injection pipe.

[0015] The technical effects achieved by this invention are as follows: The present invention discloses a gantry robot with lubrication function and its usage method. By controlling the valve, the robot achieves alternating operation of lubricant spraying and gas cleaning. When lubrication is not required, gas is sprayed through the air inlet pipe to clean impurities such as lint and debris from the slide rail surface. This avoids impurities from aggravating friction, extends the service life of the slide rail and slider, eliminates the need for an additional cleaning mechanism, simplifies the equipment structure, and reduces maintenance costs.

[0016] The present invention discloses a gantry robot with lubrication function and its usage method. When the slider moves, the meshing of the pinion and the rack generates rotational force, which drives the roller to rotate and the cam to move through gear transmission. No additional motors, cylinders or other drive components are required, which reduces equipment energy consumption and manufacturing costs. Moreover, the power generation is synchronized with the slider movement, which is suitable for the dynamic operation requirements of the robot. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 This is a schematic diagram of the rear view structure of the present invention; Figure 3 This is a schematic diagram of the slider of the present invention; Figure 4 This is a schematic diagram of the structure of the support plate of the present invention; Figure 5 This is a side view of the support plate of the present invention; Figure 6 This is a schematic diagram of the disassembled structure of the pressurized oil injection component of the present invention; Figure 7 This is the present invention. Figure 4 Enlarged view of point A in the image; Figure 8 This is a schematic diagram of the internal structure of the control valve of the present invention; Figure 9 This is a schematic diagram of the oil inlet trajectory of the control valve of the present invention; Figure 10 This is a schematic diagram of the air intake trajectory of the control valve of the present invention.

[0018] The attached diagram lists the components represented by each number as follows: 1. Truss mounting plate; 2. Robotic arm; 3. Slider; 4. Support plate; 5. Roller; 6. Rotating shaft; 7. Bevel gear; 8. Slide rail; 9. Drive shaft; 10. Large gear; 11. Small gear; 12. Rack; 13. Support plate; 14. Diverter pipe; 15. Nozzle; 16. Guide pipe; 17. Pressure cylinder; 18. Piston; 19. Push rod; 20. Pressure plate; 21. Spring; 22. Injection pipe; 23. Oil supply pipe; 24. Valve body; 25. Check valve; 26. Valve stem; 27. Control handle; 28. Torsion spring; 29. ​​Air inlet pipe; 30. Oil reservoir; 31. Valve core; 32. First cam; 33. Second cam. Detailed Implementation

[0019] To make the objectives and advantages of this invention clearer, the invention will be specifically described below with reference to embodiments. It should be understood that the following text is merely used to describe one or more specific embodiments of the invention and does not strictly limit the scope of protection specifically claimed by the invention.

[0020] Example 1: like Figures 1-10 As shown, a gantry robot with lubrication function includes a gantry mounting plate 1 and a manipulator 2 mounted on the side wall of the gantry mounting plate 1. A slide rail 8 is fixedly connected to the side wall of the gantry mounting plate 1, and a slider 3 is fixedly connected to the side wall of the gantry mounting plate 1. The slider 3 is slidably connected to the slide rail 8. A support plate 4 is fixedly connected to the side wall of the slider 3. The support plate 4 is U-shaped and has three rollers 5 inside. The three rollers 5 are located outside the slide rail 8 and are distributed in a U-shape. A linkage component is provided between the rollers 5. A bracket plate 13 is fixedly connected to the top surface of the support plate 4. A self-rotation drive assembly is provided on the lower side of the bracket plate 13, and a lubricant spraying assembly is provided on the side wall of the support plate 4.

[0021] like Figure 3 and Figure 4 As shown, the linkage assembly includes rotating shafts 6 fixedly connected to both ends of the roller 5. The other ends of the lower rotating shaft 6 on the front roller 5 and the rear rotating shaft 6 on the rear roller 5 are rotatably connected to the support plate 4. Bevel gears 7 are fixedly connected to the side walls of two adjacent rotating shafts 6, and the two adjacent bevel gears 7 mesh with each other.

[0022] The shape of the roller 5 can be customized according to the cross-sectional shape of the slide rail 8 to meet the lubrication requirements of slide rails 8 of different specifications, ensure uniform contact with the surface of the slide rail 8, and reduce lubrication dead zones. In addition, the surface material of the roller 5 can be made of felt material, which can not only lubricate but also absorb excess lubricant.

[0023] like Figure 1 and Figure 4 As shown, the self-rotating drive assembly includes a rack 12 fixedly connected to the side wall of the truss mounting plate 1. A pinion 11 meshes with the front of the rack 12, and the pinion 11 is rotatably connected to the support plate 4 via a pin. A large gear 10 meshes with the front of the pinion 11, and a drive shaft 9 is fixedly connected to the side wall of the large gear 10. The drive shaft 9 is rotatably connected to the support plate 4, and its bottom end passes through the support plate 4 and is fixedly connected to the rotating shaft 6 on the front roller 5. When the slider 3 moves the support plate 4, the pinion 11 meshes with the rack 12 to generate rotational force. No additional motor or other drive facilities are required, achieving autonomous power generation. The meshing of the pinion 11 with the large gear 10 utilizes the gear ratio characteristics to amplify the rotational torque, ensuring that the drive shaft 9 can drive the roller 5 to rotate stably. This results in high transmission efficiency and a reliable structure, reducing equipment energy consumption and maintenance costs.

[0024] like Figures 3-4 As shown, the lubricant spraying assembly includes a diversion pipe 14 fixedly connected to the side wall of the support plate 4. Multiple nozzles 15 are fixedly connected to the side wall of the diversion pipe 14, and all nozzles 15 face the slide rail 8. An oil reservoir 30 is fixedly installed on the rear side wall of the truss mounting plate 1. A pressurized oil injection assembly is provided between the oil reservoir 30 and the diversion pipe 14.

[0025] The lubricating oil or gas sprayed from the nozzle 15 is atomized, which can achieve all-round coverage of the lubricant. Through the connection of the pressurized oil injection component, it can provide stable pressure for the delivery of lubricant, ensuring that the lubricant is evenly sprayed on the surface of the slide rail 8. Compared with the traditional felt seepage method, the spraying range is wider, the lubrication is more uniform, and it can be adapted to the non-planar structure of the slide rail 8.

[0026] like Figures 3-6 As shown, the pressurized oil injection assembly includes a pressure cylinder 17 fixedly connected to the top surface of the support plate 13. A piston 18 is slidably connected inside the pressure cylinder 17. A push rod 19 is fixedly connected to the side wall of the piston 18. The other end of the push rod 19 passes through the pressure cylinder 17 and is fixedly connected to a pressure plate 20. A spring 21 is sleeved on the side wall of the push rod 19 between the pressure plate 20 and the pressure cylinder 17. A guide pipe 16 is fixedly connected to the side wall of the diversion pipe 14. The other end of the guide pipe 16 is connected to the pressure cylinder 17. An injection pipe 22 is fixedly connected to the side wall of the pressure cylinder 17. An oil supply pipe 23 is fixedly connected to the side wall of the oil storage tank 30. A control valve is provided between the oil supply pipe 23 and the injection pipe 22.

[0027] In this embodiment, the pressure cylinder 17 provides space for storing and pressurizing lubricating fluid or gas. The piston 18 slides within the pressure cylinder 17, and is compressed and released through the linkage of the push rod 19 and the pressure plate 20. The spring 21 provides the resetting force for the piston 18, ensuring that the pressure cylinder 17 can achieve intermittent pressurization and avoiding waste caused by continuous spraying of lubricating fluid. This structure is similar to that of a traditional air pump.

[0028] like Figures 7-10 As shown, the control valve includes a valve body 24. Both the oil supply pipe 23 and the injection pipe 22 are connected to the valve body 24. A valve stem 26 is rotatably connected inside the valve body 24. A valve core 31 is fixedly connected to the side wall of the valve stem 26. One end of the valve stem 26 passes through the valve body 24 and is fixedly connected to a control handle 27. A torsion spring 28 is sleeved between the control handle 27 and the valve body 24. An air inlet pipe 29 is fixedly connected to the side wall of the valve body 24. The valve core 31 blocks either the oil supply pipe 23 or the air inlet pipe 29 in the valve body 24.

[0029] The valve stem 26 drives the valve core 31 to rotate, which can realize the alternating opening and closing of the oil supply pipe 23 and the air inlet pipe 29. The torsion spring 28 provides the valve core 31 with a reset force to ensure the stability of the switching state. The air inlet pipe 29 can be connected to compressed gas to blow air to clean the surface of the slide rail 8 when no lubricant is sprayed, realizing the integration of lubrication and cleaning functions without the need for an additional cleaning mechanism, thus simplifying the equipment structure.

[0030] Secondly, the diameter of the large gear 10 is larger than that of the small gear 11. Therefore, the small gear 11 drives the large gear 10 to rotate slowly. For example, when the small gear 11 drives the piston 18 to perform ten reciprocating motions to blow air, the large gear 10 controls the oil supply pipe 23 to connect with the injection pipe 22 to inject oil once or twice. In this way, on the one hand, it can meet the lubrication needs on the slide rail 8. In actual use, the tooth ratio of the large gear 10 and the small gear 11 can also be changed according to the needs to control the oil injection time. On the other hand, intermittent oil injection can effectively avoid excessive lubricant adhering to the slide rail 8, which would cause oil dripping.

[0031] like Figure 7 As shown, the top of the pin shaft passes through the bracket plate 13 and is fixedly connected to the first cam 32, which abuts against the pressure plate 20. The first cam 32 rotates synchronously with the pinion 11. The first cam 32 abuts against the pressure plate 20. The eccentric structure of the cam converts the rotational motion into the reciprocating linear motion of the pressure plate 20, thereby driving the piston 18 to slide back and forth in the pressure cylinder 17, realizing the intermittent pressurized delivery of lubricating fluid. No additional power is needed to drive the piston 18 to move. The structure is ingenious and the transmission is efficient, ensuring that the lubricating fluid spraying and the movement of the slider 3 are synchronized.

[0032] like Figure 6As shown, two one-way valves 25 are installed on the side wall of the pressure cylinder 17, and the guide pipe 16 and the injection pipe 22 are respectively connected to the one-way valves 25.

[0033] Specifically, two one-way valves 25 are installed at the connection between the guide pipe 16 and the injection pipe 22 and the pressure cylinder 17, respectively. These valves can strictly limit the flow direction of the lubricant, prevent the lubricant from flowing back to the oil reservoir 30 when the pressure cylinder 17 is pressurized, or prevent the lubricant in the diversion pipe 14 from flowing back to the pressure cylinder 17, ensure stable oil circuit pressure, and ensure that the lubricant can be continuously and evenly sprayed from the nozzle 15, thereby improving the stability of the lubrication effect.

[0034] like Figure 7 As shown, the top of the drive shaft 9 passes through the bracket plate 13 and is fixedly connected to the second cam 33, and the side of the second cam 33 abuts against the control handle 27.

[0035] Specifically, as the large gear 10 rotates synchronously, the second cam 33 abuts against the control handle 27. The rotation of the second cam 33 drives the control handle 27 to rotate the valve stem 26, thereby switching the valve core 31 of the control valve and alternately connecting the oil supply pipe 23 and the air intake pipe 29. This structure converts the rotational force of the transmission shaft 9 into the switching power of the control valve without manual intervention, realizing the automatic alternation of lubricant spraying and gas cleaning, adapting to the dynamic process of the slider 3 movement, and improving the automation level of the equipment.

[0036] Example 2: A method for using a gantry robot with lubrication function, the method comprising the following steps: S1: When the manipulator 2 of the gantry robot is running, the slider 3 slides along the slide rail 8 on the gantry mounting plate 1, driving the support plate 4 to move synchronously. At the same time, the pinion 11 meshes with the rack 12 and rotates around the pinion. The pinion 11 drives the large gear 10 to rotate synchronously. The large gear 10 drives the roller 5 to rotate through the transmission shaft 9. Through the bevel gear 7 on the rotating shaft 6, it drives the three rollers 5 to rotate synchronously, which is used to apply lubricating oil to the surface of the slide rail 8. S2: The pin drives the first cam 32 to rotate, and the first cam 32 pushes the pressure plate 20 to drive the piston 18 to reciprocate in the pressure cylinder 17. At this time, when the air inlet pipe 29 and the injection pipe 22 are in a connected state, the air entering the pressure cylinder 17 can be squeezed and sprayed out from the nozzle 15. S3: When the oil supply pipe 23 and the injection pipe 22 are in a connected state, the lubricating fluid that can enter the pressure cylinder 17 can be squeezed and sprayed out from the nozzle 15. S4: During this process, the large gear 10 is in a slow rotation state. When the large gear 10 drives the second cam 33 to rotate and pushes the control handle 27 to rotate, the control handle 27 drives the valve core 31 to rotate, thereby changing the connection state of the intake pipe 29, the oil supply pipe 23 and the injection pipe 22.

[0037] Specifically, the second cam 33 rotates with the large gear 10, and the protruding end of the second cam 33 pushes the control handle 27 to rotate. The control handle 27 drives the valve stem 26 and the valve core 31 to rotate, so that the oil supply pipe 23 is open and the air intake pipe 29 is blocked. At this time, the pressure cylinder 17 draws in and sprays lubricating fluid. When the protruding end of the second cam 33 disengages from the control handle 27, the torsion spring 28 resets and drives the valve core 31 to rotate, blocking the oil supply pipe 23 and opening the air intake pipe 29. Compressed gas enters the valve body 24 through the air intake pipe 29, and is then transported to the diversion pipe 14 through the injection pipe 22 and the guide pipe 16. Air is blown onto the surface of the slide rail 8 by the nozzle 15 to clean the attached impurities.

[0038] The above description is merely a preferred embodiment of the present invention. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention. Structures, devices, and operating methods not specifically described or explained in this invention are implemented according to conventional methods in the art unless otherwise specified or limited.

Claims

1. A gantry robot with lubrication function, comprising a gantry mounting plate (1) and a manipulator (2) mounted on the side wall of the gantry mounting plate (1), wherein a slide rail (8) is fixedly connected to the side wall of the gantry mounting plate (1), and a slider (3) is fixedly connected to the side wall of the gantry mounting plate (1), wherein the slider (3) is slidably connected to the slide rail (8), characterized in that: The slider (3) is fixedly connected to a support plate (4) on its side wall. The support plate (4) is U-shaped and has three rollers (5) inside. The three rollers (5) are located outside the slide rail (8) in a U-shape and are connected by a linkage component. The top surface of the support plate (4) is fixedly connected to the bracket plate (13), the lower side of the bracket plate (13) is provided with a self-rotation drive assembly, and the side wall of the support plate (4) is provided with a lubricant spraying assembly.

2. A gantry robot with lubrication function according to claim 1, characterized in that: The linkage component includes a rotating shaft (6) fixedly connected to both ends of the roller (5). The other end of the lower rotating shaft (6) on the front roller (5) and the rear rotating shaft (6) on the rear roller (5) are rotatably connected to the support plate (4). The side walls of two adjacent rotating shafts (6) are fixedly connected to bevel gears (7), and the two adjacent bevel gears (7) mesh with each other.

3. A gantry robot with lubrication function according to claim 2, characterized in that: The self-rotating drive assembly includes a rack (12) fixedly connected to the side wall of the truss mounting plate (1). A pinion (11) meshes with the front side of the rack (12). The pinion (11) is rotatably connected to the support plate (4) via a pin. A large gear (10) meshes with the front side of the pinion (11). A drive shaft (9) is fixedly connected to the side wall of the large gear (10). The drive shaft (9) is rotatably connected to the support plate (4). The bottom end of the drive shaft (9) passes through the support plate (4) and is fixedly connected to the rotating shaft (6) on the front roller (5).

4. A gantry robot with lubrication function according to claim 3, characterized in that: The lubricant spraying assembly includes a diversion pipe (14) fixedly connected to the side wall of the support plate (4). Multiple nozzles (15) are fixedly connected to the side wall of the diversion pipe (14). All nozzles (15) face the slide rail (8). An oil storage tank (30) is fixedly installed on the rear side wall of the truss mounting plate (1). A pressurized oil injection assembly is provided between the oil storage tank (30) and the diversion pipe (14).

5. A gantry robot with lubrication function according to claim 4, characterized in that: The pressurized oil injection assembly includes a pressure cylinder (17) fixedly connected to the top surface of the support plate (13), a piston (18) slidably connected inside the pressure cylinder (17), a push rod (19) fixedly connected to the side wall of the piston (18), the other end of the push rod (19) passing through the pressure cylinder (17) and fixedly connected to a pressure plate (20), a spring (21) sleeved on the side wall of the push rod (19) between the pressure plate (20) and the pressure cylinder (17), a guide pipe (16) fixedly connected to the side wall of the diversion pipe (14), the other end of the guide pipe (16) communicating with the pressure cylinder (17), an injection pipe (22) fixedly connected to the side wall of the pressure cylinder (17), an oil supply pipe (23) fixedly connected to the side wall of the oil storage tank (30), and a control valve provided between the oil supply pipe (23) and the injection pipe (22).

6. A gantry robot with lubrication function according to claim 5, characterized in that: The control valve includes a valve body (24), the oil supply pipe (23) and the injection pipe (22) are both connected to the valve body (24), a valve stem (26) is rotatably connected inside the valve body (24), a valve core (31) is fixedly connected to the side wall of the valve stem (26), one end of the valve stem (26) passes through the valve body (24) and is fixedly connected to a control handle (27), a torsion spring (28) is sleeved between the control handle (27) and the valve body (24) on the valve stem (26), an air inlet pipe (29) is fixedly connected to the side wall of the valve body (24), and the valve core (31) blocks one of the oil supply pipe (23) or the air inlet pipe (29) in the valve body (24).

7. A gantry robot with lubrication function according to claim 5, characterized in that: The top of the pin passes through the bracket plate (13) and is fixedly connected to the first cam (32), which abuts against the pressure plate (20).

8. A gantry robot with lubrication function according to claim 5, characterized in that: Two check valves (25) are installed on the side wall of the pressure cylinder (17), and the guide pipe (16) and the injection pipe (22) are respectively connected to the check valves (25).

9. A gantry robot with lubrication function according to claim 6, characterized in that: The top of the drive shaft (9) passes through the bracket plate (13) and is fixedly connected to the second cam (33), the side of the second cam (33) abutting against the control handle (27).

10. A method of using a gantry robot with lubrication function, as described in any one of claims 1-9, characterized in that: The method includes the following steps: S1: When the manipulator (2) of the gantry robot is running, the slider (3) slides along the slide rail (8) on the gantry mounting plate (1), driving the support plate (4) to move synchronously. At the same time, the pinion (11) meshes with the rack (12) and rotates around the pinion. The pinion (11) drives the large gear (10) to rotate synchronously. The large gear (10) drives the roller (5) to rotate through the transmission shaft (9). Through the bevel gear (7) on the rotating shaft (6), it drives the three rollers (5) to rotate synchronously, which is used to apply lubricating oil to the surface of the slide rail (8). S2: The pin drives the first cam (32) to rotate, and the first cam (32) pushes the pressure plate (20) to drive the piston (18) to reciprocate in the pressure cylinder (17). At this time, when the air inlet pipe (29) and the injection pipe (22) are in a connected state, the air entering the pressure cylinder (17) can be squeezed and sprayed out from the nozzle (15). S3: When the oil supply pipe (23) and the injection pipe (22) are in a connected state, the lubricating fluid entering the pressure cylinder (17) is squeezed and sprayed out from the nozzle (15); S4: During this process, the large gear (10) is in a slow rotation state. When the large gear (10) drives the second cam (33) to rotate and push the control handle (27) to rotate, the control handle (27) drives the valve core (31) to rotate, thereby changing the connection state of the intake pipe (29), the oil supply pipe (23) and the injection pipe (22).

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