Industrial drilling robot rolling bearing and its fault diagnosis method
By incorporating a lubrication chamber and monitoring sensors into the rolling bearings of industrial drilling robots, the problem of uneven lubricant distribution caused by wear debris is solved, thereby extending the lifespan of the rolling bearings and enabling timely fault detection, thus ensuring stable mechanical operation.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- CHONGQING UNIV
- Filing Date
- 2026-04-27
- Publication Date
- 2026-06-23
AI Technical Summary
In industrial drilling robots, rolling bearings are prone to generating wear debris during high-speed rotation, leading to uneven distribution of lubricating oil, affecting bearing life, making it difficult to detect faults in a timely manner, and affecting the stability of mechanical operation.
An industrial drilling robot rolling bearing was designed, comprising an inner ring, an outer ring, rolling elements, a cage, and a lubrication system. A lubrication cavity and an absorbent sponge are provided to improve lubrication conditions. A monitoring sensor is placed at the oil outlet to collect data in real time and realize fault diagnosis.
It effectively reduces wear debris on the rolling elements, improves bearing life, and ensures the normal operation of machinery by timely identifying faults through real-time monitoring.
Smart Images
Figure CN122258104A_ABST
Abstract
Description
Technical Field
[0001] This invention belongs to the field of rolling bearing technology, specifically a rolling bearing for an industrial drilling robot and a method for diagnosing its faults. Background Technology
[0002] Industrial robots are high-tech equipment that integrates advanced technologies from various disciplines. They can effectively reduce the intensity of human labor, improve the manufacturing environment, and increase production efficiency. They are a powerful means to achieve industrial automation and informatization and play an extremely important role in the field of intelligent manufacturing.
[0003] Rolling bearings are required in industrial drilling robots, such as in couplings, to ensure their normal operation. However, in actual use, high-speed rotation can easily lead to wear debris inside the rolling bearings. The continuous accumulation of this wear debris affects the rotation of the rolling elements and disrupts the lubrication conditions of the contact gaps between the rolling elements. In addition, the centrifugal force generated by high-speed rotation makes it difficult for the lubricating oil inside the rolling bearing to be evenly distributed, thus affecting the normal operation of the rolling bearing. This may result in increased rotational noise and mechanical vibration, ultimately affecting the service life of the rolling bearing.
[0004] Furthermore, since rolling bearings are usually installed inside the robot's body, it is difficult for the robot to detect abnormal working conditions of the rolling bearings in a timely manner during normal operation. Problems with the internal lubrication of the rolling bearings and other malfunctions may only be confirmed after a machining accident and complete disassembly. This is not conducive to ensuring the normal operation of industrial drilling robots. Summary of the Invention
[0005] To overcome the shortcomings of existing technologies and solve the aforementioned technical problems, this invention proposes a rolling bearing for an industrial drilling robot and a fault diagnosis method thereon.
[0006] The technical solution adopted by this invention to solve its technical problem is as follows: This invention proposes a rolling bearing for an industrial drilling robot, including an inner ring, an outer ring, rolling elements, a cage, and a lubrication system. The inner ring and the outer ring are nested together, and the cage is slidably embedded in a rolling groove provided between the inner ring and the outer ring. The rolling elements are slidably nested in a limiting groove provided on the cage, and the rolling elements are in contact with the inner walls of the corresponding rolling grooves of the inner ring and the outer ring. The closing plates provided on the upper and lower sides of the cage are slidably connected to the openings on the upper and lower sides of the rolling groove.
[0007] The lubrication system includes a lubrication cavity, which is annular and disposed within the inner wall of a limiting groove; an annular absorbent sponge is disposed inside the lubrication cavity, and the absorbent sponge absorbs lubricating oil.
[0008] The outer ring sidewall is provided with an oil inlet and an oil outlet, which are respectively connected to the internal rolling groove. The bottom of the retainer is provided with a through groove on the upper part of the sealing plate.
[0009] Preferably, the lubrication cavity includes an upper lubrication section and a lower recovery section. An intercepting net is provided at the opening of the recovery section at the bottom of the limiting groove to separate debris and impurities in the lubricating oil flowing into the absorption sponge in the recovery section.
[0010] Preferably, a supplementary hole is provided on the side wall of the lubrication part near the oil inlet hole, and the supplementary hole communicates with the lubrication cavity inside the lubrication part.
[0011] Preferably, the extrusion plate is uniformly disposed in the absorbent sponge inside the lubrication part. The extrusion plate has an arc-shaped plate structure, and a guide plate is disposed near the part of the extrusion plate close to the rolling element. The guide groove disposed on the surface of the extrusion plate extends to the conical end of the guide plate.
[0012] Preferably, the absorbent sponge in the lubrication section is provided with a guide tube, which has an annular structure and extends from the lubrication section to the recovery section, and the sidewall of the guide tube is uniformly provided with through holes.
[0013] Preferably, an absorbent bladder is provided in the gap between the extrusion plates. The absorbent bladder is connected to the guide tube and is connected to the absorbent sponge of the lubrication part through a conical liquid outlet.
[0014] Preferably, the surface of the interceptor net is uniformly provided with limiting grooves, and the cross-section of the limiting grooves is conical.
[0015] Preferably, a metal frame is provided in the side wall of the limiting groove, and a counterweight ball is provided on the metal frame near the top opening of the limiting groove.
[0016] A method for diagnosing rolling bearing faults in an industrial drilling robot, the method comprising the following steps:
[0017] S1, Development of diagnostic criteria: Select industrial drilling robots of the same type and their equipped rolling bearings as test objects in advance. Install monitoring sensors on the discharge pipeline connected to the oil outlet. Collect the health status of the rolling bearings and the benchmark values of oil temperature and debris amount under different levels of fault status and different fault types through no-load and full-load tests. Develop early warning thresholds for oil temperature and debris amount, and develop a diagnostic table involving fault level and fault type.
[0018] S2, Real-time Data Acquisition: During the actual operation of the drilling robot, the oil temperature, debris amount and robot working parameters inside the rolling bearing are collected in real time through the oil inlet and outlet pipes connected to the outer ring of the rolling bearing by the monitoring sensor.
[0019] S3, Data Comparison and Analysis: When the real-time monitoring data meets the warning threshold, it indicates that the rolling bearing is in normal working condition, so the monitoring sensor continues to collect data; if the real-time monitoring data reaches the range of the warning threshold, an alarm is issued and the sampling frequency is increased. At the same time, the monitoring sensor needs to be calibrated to ensure data reliability.
[0020] S4, Fault Identification: For abnormal data that reaches the warning threshold, compare and analyze it with the corresponding parameters of different fault levels and fault types in the diagnostic table to preliminarily determine the specific fault level and fault type of the rolling bearing, generate a diagnostic report and handling suggestions and send them to the maintenance personnel. The maintenance personnel will then determine whether disassembly is necessary and verify the fault situation.
[0021] The beneficial effects of this invention are as follows:
[0022] The present invention discloses an industrial drilling robot rolling bearing and its fault diagnosis method. By setting a lubrication cavity in the inner wall of the cage of the rolling bearing, the lubrication conditions during the rotation of the rolling element are improved. At the same time, the machining debris generated in the contact gap during the rotation of the rolling element is recycled, thereby reducing the wear of the rolling element and the inner and outer rings and other components in contact, and improving the normal service life of the rolling bearing.
[0023] Furthermore, monitoring sensors are installed on the pipeline connected to the oil outlet of the outer ring of the rolling bearing to periodically collect and monitor the temperature of the lubricating oil inside the rolling bearing and the amount of debris. This provides data for identifying the working condition of the rolling bearing, and facilitates maintenance personnel to promptly determine the fault level and type and take corresponding measures after a fault occurs, effectively ensuring the normal operation of the industrial drilling robot. Attached Figure Description
[0024] The invention will now be further described with reference to the accompanying drawings.
[0025] Figure 1 This is a perspective view of the rolling bearing in this invention;
[0026] Figure 2 This is a cross-sectional view of the rolling bearing in this invention;
[0027] Figure 3 yes Figure 2 A magnified view of a section at point A in the middle;
[0028] Figure 4 yes Figure 2 A magnified view of a section at point B in the middle;
[0029] Figure 5 yes Figure 3 A magnified view of a section at point C;
[0030] Figure 6 This is a schematic diagram of the cage and rolling elements in this invention.
[0031] Figure 7 This is a perspective view of the extrusion plate in this invention;
[0032] Figure 8 This is a partial cross-sectional view of the interception net in this invention;
[0033] Figure 9 yes Figure 8 A magnified view of a section at point D;
[0034] Figure 10 This is a flowchart of the fault diagnosis method in this invention.
[0035] In the diagram: Inner ring 1, Outer ring 2, Oil inlet 21, Oil outlet 22, Rolling element 3, Cage 4, Limiting groove 41, Sealing plate 42, Through groove 43, Lubrication cavity 5, Absorbing sponge 51, Lubrication section 52, Replenishment hole 521, Recovery section 53, Interception net 54, Limiting groove 541, Metal skeleton 542, Counterweight ball 543, Extrusion plate 55, Guide plate 551, Guide groove 552, Guide pipe 553, Absorbing bladder 554, Liquid outlet 555, Rolling groove 6. Detailed Implementation
[0036] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.
[0037] Example 1:
[0038] As shown in the attached diagram of the instruction manual. Figures 1-9As shown, an industrial drilling robot rolling bearing includes an inner ring 1, an outer ring 2, rolling elements 3, a cage 4, and a lubrication system. The inner ring 1 and the outer ring 2 are nested together, and the cage 4 is slidably embedded in a rolling groove 6 provided between the inner ring 1 and the outer ring 2. The rolling elements 3 are slidably nested in a limiting groove 41 provided on the cage 4, and the rolling elements 3 are in contact with the inner walls of the corresponding rolling grooves 6 of the inner ring 1 and the outer ring 2. The closing plates 42 provided on the upper and lower sides of the cage 4 are slidably connected to the openings on the upper and lower sides of the rolling groove 6. This allows the interior of the rolling groove 6 to be in a nearly closed environment, reducing the loss of lubricating oil from the interior of the rolling groove 6 during operation and improving the utilization efficiency of the lubricating oil.
[0039] The lubrication system includes a lubrication cavity 5, which is annular and disposed in the inner wall of the limiting groove 41. The limiting groove 41 and the rolling element 3 are in clearance fit, which maintains the limiting position while facilitating the rotation of the rolling element 3. An annular absorbent sponge 51 is disposed inside the lubrication cavity 5, which absorbs lubricating oil.
[0040] The outer ring 2 has an oil inlet 21 and an oil outlet 22 on its side wall. On one hand, they are connected to the internal rolling groove 6, and on the other hand, they are connected to the external oil supply pipeline through a hose. The oil supply pipeline includes an input pipeline and a discharge pipeline with a hose structure, which are connected to the oil inlet 21 and the oil outlet 22, respectively. When the lubricating oil needs to be replenished or replaced, the oil pump connected to the oil supply pipeline can be started to fill the internal rolling groove 6 with lubricating oil purified from the outside. After flushing the internal area and removing debris, the lubricating oil flows out to the outside through the oil outlet 22 at the bottom. The lubricating oil is filtered, purified, and the debris and impurities are separated. After this process is continued for a period of time, the lubricating oil that may have deteriorated due to the presence of mechanical impurities can be replaced with new lubricating oil. Then the oil inlet 21 and the oil outlet 22 can be sealed. This can improve the internal lubrication conditions without disassembling the rolling bearing.
[0041] Depending on the installation conditions, if permitted, the oil inlet 21 and oil outlet 22 can be kept connected to the oil pipeline during the operation of the drilling robot to circulate, purify, and replace the internal lubricating oil in real time; if the installation does not permit, the oil inlet 21 and oil outlet 22 can be kept closed during the operation of the drilling robot, and then opened and connected to the oil pipeline during regular maintenance to replace and purify the lubricating oil.
[0042] Furthermore, a through groove 43 is provided at the bottom of the retainer 4 above the sealing plate 42, which allows the lubricating oil in the areas near the inner ring 1 and the outer ring 2 on both sides of the rolling groove 6 to flow smoothly and avoid the lubricating oil accumulating in local areas and affecting the lubrication effect. Moreover, the through groove 43 is located above the bottom sealing plate 42, so when the oil outlet 22 and the discharge pipe need to discharge the internal lubricating oil, the lubricating oil in the area near the inner ring 1 can be smoothly discharged from the through groove 43, so that the lubricating oil in the area inside the rolling groove 6 can be fully discharged.
[0043] Specific workflow: For important rotating structures inside industrial drilling robots, such as couplings, rolling bearings need to be installed to ensure the normal operation of the drilling robot. However, in actual use, high-speed operation can easily lead to uneven distribution of lubricating oil inside the rolling bearing. The deterioration of lubrication conditions can easily lead to wear debris being generated during the high-speed rotation of the rolling element 3. The continuous accumulation of these wear debris further affects the rotation of the rolling element 3 and damages the lubrication conditions of the contact gap of the rolling element 3, thereby affecting the normal operation of the rolling bearing. This may result in increased rotational noise and mechanical vibration, ultimately affecting the service life of the rolling bearing.
[0044] Therefore, the rolling bearing of this application has a lubrication cavity 5 on the inner wall of the cage 4 to improve the lubrication conditions during the rotation of the rolling element 3, and at the same time to recover the machining debris generated in the contact gap during the rotation of the rolling element 3, thereby reducing the wear on the rolling element 3 and the inner ring 1, outer ring 2 and other components in contact, and improving the normal service life of the rolling bearing; specifically, during use, the rolling bearing is installed in a predetermined position, and during this process, the shaft component in the drilling robot is embedded in the inner ring 1. In this way, during the drive rotation, the inner ring 1 rotates relative to the outer ring 2, and the rolling element 3 in the middle can reduce the friction generated by the rotation between the inner ring 1 and the outer ring 2, thereby making the rotation operation smoother;
[0045] To ensure proper lubrication, lubricating oil needs to be pre-filled into the rolling groove 6 so that the contact gaps between the rolling element 3 and the cage 4, inner ring 1, and outer ring 2 are covered with an oil film, thus facilitating smoother rotation. In this application, an absorbent sponge 51 is placed in the lubrication cavity 5 inside the limiting groove 41 of the cage 4. The absorbent properties of the sponge 51 cause the injected lubricating oil to be drawn into its interior, confining some of the lubricating oil within the lubrication cavity 5. Furthermore, the vibrations during high-speed operation cause the drawn-in lubricating oil to permeate outwards into the contact gaps between the rolling element 3 and the inner wall of the limiting groove 41, ensuring a continuous oil film is applied to the inner wall of the limiting groove 41 during contact with the rolling element 3, maintaining a uniform distribution of lubricating oil on the surface during rolling operation.
[0046] Furthermore, as the machining debris generated during the operation of the rolling element 3 adheres to the surface, this machining debris moves with the rotation of the rolling element 3 to the gap between the rolling element 3 and the inner wall of the limiting groove 41. Because the gap corresponding to the opening of the lubrication cavity 5 is relatively large and the resistance is small, the machining impurities entering the gap area will accumulate at the opening of the lubrication cavity 5 and then enter the lubrication cavity 5 for collection. This prevents these machining impurities from continuously adhering to the surface of the rolling element 3 and being pressured in the contact gap, which would cause scratches and wear on the surface of the rolling element 3 or other components in the contact gap, affecting the normal operation of the rolling bearing.
[0047] Furthermore, in order to diagnose possible faults during the normal operation of rolling bearings, this application can also arrange monitoring sensors on the discharge pipeline connected to the oil outlet hole 22 on the outer ring of the rolling bearing to periodically collect and monitor the temperature of the lubricating oil inside the rolling bearing and the amount of debris, thereby providing data for identifying the working condition of the rolling bearing. After a fault occurs, it is convenient for maintenance personnel to promptly determine the fault level and type and take corresponding handling measures, which effectively ensures the normal operation of industrial drilling robots.
[0048] Example 2:
[0049] Based on Embodiment 1, the lubrication cavity 5 includes an upper lubrication section 52 and a lower recovery section 53. An intercepting net 54 is provided at the opening of the recovery section 53 located at the bottom of the limiting groove 41 to separate debris and impurities in the lubricating oil flowing into the recovery section 53 to absorb the sponge 51. The retainer 4 can be a segmented structure, with the lubrication section 52 and the recovery section 53 belonging to the upper and lower sections respectively, with the middle position of the lubrication cavity 5 as the boundary. They can be connected by fasteners or welding, or the rolling element 3 can be pre-embedded and then the upper and lower sections can be connected, which also facilitates the installation of the rolling element 3.
[0050] A supplementary hole 521 is provided on the side wall of the lubrication part 52 near the oil inlet hole 21. The supplementary hole 521 communicates with the lubrication cavity 5 inside the lubrication part 52.
[0051] Specific workflow: Based on the specific workflow in Example 1, due to gravity, the lubricating oil and debris on the surface of the rolling element 3 easily enter the lubrication cavity 5 in the bottom area. Therefore, the top of the lubrication cavity 5 is set as the lubrication part 52. The distance between the absorbent sponge 51 in the lubrication part 52 and the surface of the rolling element 3 is small. Due to gravity and the vibration generated during the operation of the industrial drilling robot, the lubricating oil absorbed by the absorbent sponge 51 is forced to penetrate downward and act on the surface of the rolling element 3 on the lower side.
[0052] As the rolling element 3 loses lubricating oil during rotation, it drips downwards due to gravity. The bottom lubrication chamber 5 is set as a recovery section 53, and the distance between the absorbent sponge 51 in the recovery section 53 and the rolling element 3 is large. In this way, when the lubricating oil enters the lubrication chamber 5 under the action of gravity, the intercepting net 54 set in the opening of the recovery section 53 can separate the processing debris in the dripping lubricating oil. The purified lubricating oil is then absorbed by the absorbent sponge 51 on the lower side. Because the absorbent sponge 51 is a loose and porous material, the lubricating oil absorbed by the absorbent sponge 51 in the bottom recovery section 53 is slowly replenished to the top lubrication section 52 under the action of capillary action, ensuring continuous lubrication of the intermediate rolling element 3.
[0053] Furthermore, during the replenishment of lubricating oil, because the replenishment hole 521 is directly opposite to and close to the inner opening of the oil inlet hole 21, some of the lubricating oil replenished from the oil inlet hole 21 flows directly from the replenishment hole 521 into the absorbent sponge 51 of the lubrication part 52. It is then replenished into the absorbent sponge 51, enabling it to continuously lubricate the rolling elements 3 inside the rolling bearing during the operation of the drilling robot.
[0054] Example 3:
[0055] Based on Embodiment 2, an extrusion plate 55 is uniformly arranged in the absorbent sponge 51 inside the lubrication section 52. The extrusion plate 55 has an arc-shaped plate structure and is made of a high-density metal material. This allows it to better compress the softer absorbent sponge 51 under the centrifugal force of rotation. A guide plate 551 is arranged near the rolling element 3 on the extrusion plate 55. The guide plate 551 has a triangular shape, and the acute angled end at the bottom is close to and points towards the surface of the rolling element 3, but does not make contact. The guide groove 552 on the surface of the extrusion plate 55 extends to the conical end of the guide plate 551. A guide tube 553 is arranged inside the absorbent sponge 51 of the lubrication section 52. The guide tube 553 has an annular hose structure and extends from the lubrication section 52 to the recovery section 53. Through holes are arranged on the side wall of the guide tube 553. The through holes are mainly distributed on the guide tube 553 at the top of the lubrication section 52 and the bottom of the recovery section 53.
[0056] Specific workflow: Based on the specific workflow in Example 2, since the cage 4 is slidably connected to the inner ring 1, when the drilling robot starts and drives the inner ring 1 to rotate, the friction causes the cage 4 to rotate. When closed, the cage 4 will decelerate and stop under the friction. In this repeated rotation process, the arc-shaped extrusion plate 55 inside the absorbent sponge 51 tends to shift outward due to centrifugal force, thereby squeezing the absorbent sponge 51 on the outside and causing the lubricating oil in it to flow down the guide groove 552 on the surface of the extrusion plate 55 to the bottom guide plate 551. The part of the guide plate 551 near the rolling element 3 has a conical structure, so the flowing lubricating oil can easily drip down from the conical end and then cover the bottom surface of the rolling element 3, thus achieving effective lubrication of the surface of the rolling element 3.
[0057] Furthermore, by setting a guide tube 553 with a thin tube structure, the annular guide tube 553 establishes a flow channel between the absorbent sponge 51 of the bottom recovery section 53 and the absorbent sponge 51 of the top lubrication section 52. In this way, when the absorbent sponge 51 of the top lubrication section 52 discharges lubricating oil due to the squeezing action, the capillary action causes the lubricating oil in the absorbent sponge 51 at the bottom to enter the guide tube 553, and then flow downward to replenish the top lubrication section 52, realizing the circulation and timely replenishment of lubricating oil, and improving the continuous lubrication effect on the rolling element 3.
[0058] Furthermore, an absorbent bladder 554 can be provided in the gap between the extrusion plates 55. The absorbent bladder 554 is an elliptical, elastic, hollow structure. The absorbent bladder 554 is connected to the guide tube 553, and the absorbent bladder 554 is connected to the inside of the absorbent sponge 51 of the lubrication part 52 through the conical liquid outlet 555. The absorbent bladder 554 is located in the gap area between the extrusion plates 55. During the high-speed operation of the rolling bearing, the centrifugal force causes the extrusion plates 55 to move and squeeze the absorbent bladder 554 in the gap area, causing it to be deformed under pressure and releasing the internal lubricating oil. The small end of the conical liquid outlet 555 points outward and the large end points inward, which makes it easier for the lubricating oil inside the absorbent bladder 554 to flow out and replenish the inside of the absorbent sponge 51. Subsequently, the negative pressure under the elastic deformation recovery of the absorbent bladder 554 causes the connected guide tube 553 to draw out the collected lubricating oil from the bottom recovery part 53 and make it rise to replenish the inside of the absorbent bladder 554. Under subsequent extrusion, it is guided into the inside of the absorbent sponge 51, thus realizing the recycling of lubricating oil.
[0059] Example 4:
[0060] Based on Embodiment 3, the surface of the interception net 54 is uniformly provided with limiting grooves 541, and the cross-section of the limiting grooves 541 is conical; a metal frame 542 is provided in the side wall of the limiting grooves 541, and a counterweight ball 543 is provided on the metal frame 542 near the top opening of the limiting grooves 541; the interception net 54 is made of elastic material, and can be made of metal or non-metal material suitable for lubricating oil immersion conditions; the metal frame 542 is a mesh structure, and both the metal frame 542 and the counterweight ball 543 are made of rigid metal material;
[0061] Specific workflow: Based on the specific workflow in Example 3, the limiting grooves 541 are uniformly arranged on the interception net 54, so that the cross-section of the interception net 54 presents a continuous W shape, which expands the effective working area of the interception net 54. This allows the lubricating oil that has accumulated downwards into the lubrication cavity 5 inside the recovery section 53 due to gravity to enter the limiting grooves 541 on the surface of the interception net 54 after contacting the interception net 54, thereby expanding the contact area between the lubricating oil and the interception net 54 and improving the purification and filtration efficiency of the lubricating oil.
[0062] This allows mechanical impurities to accumulate in the recessed limiting grooves 541, concentrating and limiting them to prevent them from spreading across the entire surface of the interception net 54 and thus affecting the overall passability of the interception net 54.
[0063] As the rolling bearing rotates at high speed, inertia and vibration cause the inner walls on both sides of the limiting groove 541 to begin to swing. The metal skeleton 542 with a mesh structure drives the entire side wall of the limiting groove 541 to swing under the action of external force. The counterweight ball 543 at the top further drives the metal skeleton 542 to swing due to rotational inertia and squeezes the lubricating oil rich in impurities in the middle, causing some of the lubricating oil to be squeezed out, which improves the separation efficiency of lubricating oil and mechanical impurities. Moreover, squeezing and vibrating the mechanical impurities can also reduce the area they occupy, so that they are squeezed and remain stably inside the limiting groove 541, which is convenient for subsequent centralized cleaning.
[0064] Example 5:
[0065] Based on the above embodiments, as shown in the accompanying drawings of the specification. Figure 10 As shown, a fault diagnosis method for rolling bearings in industrial drilling robots is disclosed. This method is used to diagnose the aforementioned rolling bearings in industrial drilling robots. The specific steps of the fault diagnosis method are as follows:
[0066] S1, Development of diagnostic criteria: Select rolling bearings of the same type as those provided in this application and their associated industrial drilling robots as test objects. Install monitoring sensors on the discharge pipeline connected to the oil outlet 22. Collect the health status of the rolling bearings and the baseline values of oil temperature and debris quantity under different levels of fault conditions and different fault types through no-load and full-load tests. Develop early warning thresholds for oil temperature and debris quantity, and develop a diagnostic table involving fault level and fault type.
[0067] Monitoring sensors include temperature sensors and chemical particle counters. The fault classification of rolling bearings is generally three levels, including:
[0068] Level 1 (Minor Abnormality): Only requires enhanced monitoring and optimized lubrication; no shutdown is necessary.
[0069] Level 2 (General Fault): Requires shutdown for inspection and partial maintenance;
[0070] Level 3 (Severe Fault): The machine must be stopped immediately, the bearing replaced, and the fault prevented from escalating.
[0071] The types of failures typically include normal bearing wear, slippage wear of rolling elements 3, breakage of rolling elements 3, and six points of rolling grooves. Depending on the severity, they belong to different levels mentioned above. In the preliminary experiment, characteristic values of oil temperature and debris amount corresponding to these different types of failures are collected and recorded, and finally summarized and recorded in the diagnostic table.
[0072] S2, Real-time data acquisition: During the actual operation of the drilling robot, the oil temperature, debris amount and robot working parameters inside the rolling bearing are collected in real time through the oil inlet 21 and oil outlet 22 connected pipeline on the outer ring 2 of the rolling bearing by the monitoring sensor.
[0073] S3, Data Comparison and Analysis: When the real-time monitoring data meets the warning threshold, it indicates that the rolling bearing is in normal working condition, so the monitoring sensor continues to collect data; if the real-time monitoring data reaches the range of the warning threshold, an alarm is issued and the sampling frequency is increased. At the same time, the monitoring sensor needs to be calibrated to ensure data reliability.
[0074] S4, Fault Identification: For abnormal data that reaches the warning threshold, compare and analyze it with the corresponding parameters of different fault levels and fault types in the diagnostic table to preliminarily determine the specific fault level and fault type of the rolling bearing, generate a diagnostic report and handling suggestions and send them to the maintenance personnel. The maintenance personnel will then determine whether disassembly is necessary and verify the fault situation.
[0075] The aforementioned fault identification process can be driven by the intelligent processing system configured on the industrial drilling robot, or it can be carried out routinely by maintenance personnel.
[0076] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of the present invention is defined by the appended claims and their equivalents.
Claims
1. A rolling bearing for an industrial drilling robot, comprising an inner ring (1), an outer ring (2), rolling elements (3), a cage (4), and a lubrication system, characterized in that: The inner ring (1) and the outer ring (2) are nested together, and the cage (4) is slidably embedded in the rolling groove (6) provided between the inner ring (1) and the outer ring (2). The rolling element (3) is slidably nested in the limiting groove (41) provided on the cage (4), and the rolling element (3) is in contact with the inner wall of the corresponding rolling groove (6) of the inner ring (1) and the outer ring (2). The closing plates (42) provided on the upper and lower sides of the cage (4) are slidably connected to the openings on the upper and lower sides of the rolling groove (6). The lubrication system includes a lubrication chamber (5), which is annular and disposed in the inner wall of the limiting groove (41); an annular absorbent sponge (51) is disposed inside the lubrication chamber (5), and the absorbent sponge (51) absorbs lubricating oil. The outer ring (2) sidewall is provided with an oil inlet hole (21) and an oil outlet hole (22), which are respectively connected to the internal rolling groove (6). The bottom of the retainer (4) is provided with a through groove (43) on the upper side of the closed plate (42).
2. The rolling bearing for an industrial drilling robot according to claim 1, characterized in that: The lubrication chamber (5) includes an upper lubrication section (52) and a lower recovery section (53). An intercepting net (54) is provided at the opening of the recovery section (53) located at the bottom of the limiting groove (41) to separate debris and impurities in the lubricating oil flowing to the absorption sponge (51) in the recovery section (53).
3. The rolling bearing for an industrial drilling robot according to claim 2, characterized in that: A supplementary hole (521) is provided on the side wall of the lubrication part (52) near the oil inlet hole (21), and the supplementary hole (521) communicates with the lubrication cavity (5) inside the lubrication part (52).
4. The rolling bearing for an industrial drilling robot according to claim 3, characterized in that: The lubrication part (52) has a uniformly arranged extrusion plate (55) in the absorbent sponge (51). The extrusion plate (55) has an arc-shaped plate structure, and a guide plate (551) is provided on the part of the extrusion plate (55) near the rolling element (3). The guide groove (552) provided on the surface of the extrusion plate (55) extends to the conical end of the guide plate (551).
5. The rolling bearing for an industrial drilling robot according to claim 4, characterized in that: The absorbent sponge (51) of the lubrication part (52) is provided with a guide tube (553). The guide tube (553) has an annular structure and extends from the lubrication part (52) to the recovery part (53). A through hole is provided on the side wall of the guide tube (553).
6. The rolling bearing for an industrial drilling robot according to claim 5, characterized in that: An absorbent bladder (554) is provided in the gap between the extrusion plates (55). The elastic absorbent bladder (554) is connected to the guide tube (553), and the absorbent bladder (554) is connected to the inside of the absorbent sponge (51) of the lubrication part (52) through the conical liquid outlet (555).
7. The rolling bearing for an industrial drilling robot according to claim 6, characterized in that: The surface of the interception net (54) is uniformly provided with limiting grooves (541), and the cross section of the limiting grooves (541) is conical.
8. The rolling bearing for an industrial drilling robot according to claim 7, characterized in that: A metal frame (542) is provided in the side wall of the limiting groove (541), and a counterweight ball (543) is provided on the metal frame (542) near the top opening of the limiting groove (541).
9. A method for diagnosing faults in rolling bearings of an industrial drilling robot, the method being used to diagnose the rolling bearings of an industrial drilling robot as described in any one of claims 1-8, characterized in that, The specific steps of the fault diagnosis method are as follows: S1, Formulation of diagnostic criteria: Select the same type of industrial drilling robot and the equipped rolling bearing as the test object in advance. Install monitoring sensors on the discharge pipeline connected to the oil outlet (22). Collect the health status of the rolling bearing and the benchmark values of oil temperature and debris under different levels of fault status and different fault types through no-load and full-load tests. Formulate the warning thresholds of oil temperature and debris. At the same time, formulate a diagnostic table involving fault level and fault type. S2, Real-time data acquisition: During the actual operation of the drilling robot, the oil temperature, debris amount and robot working parameters of the lubricating oil inside the rolling bearing are collected in real time through the oil inlet (21) and oil outlet (22) connected pipelines on the outer ring (2) of the rolling bearing by the monitoring sensor. S3, Data Comparison and Analysis: When the real-time monitoring data meets the warning threshold, it indicates that the rolling bearing is in normal working condition, so the monitoring sensor continues to collect data; if the real-time monitoring data reaches the range of the warning threshold, an alarm is issued and the sampling frequency is increased. At the same time, the monitoring sensor needs to be calibrated to ensure data reliability. S4, Fault Identification: For abnormal data that reaches the warning threshold, compare and analyze it with the corresponding parameters of different fault levels and fault types in the diagnostic table to preliminarily determine the specific fault level and fault type of the rolling bearing, generate a diagnostic report and handling suggestions and send them to the maintenance personnel. The maintenance personnel will then determine whether disassembly is necessary and verify the fault situation.