Oil injection robot for trolley hub

Abstract

The utility model relates to an oil injection robot for trolley hubs, the oil injection robot is located on one side of a track, a trolley moves on the track, and the trolley moves on the track through a plurality of trolley hubs. The oil injection robot comprises a diffuse reflection sensor, a visual detection module and a mechanical arm module, and the diffuse reflection sensor is close to the track or arranged on the track; the diffuse reflection sensor is in communication connection with the electrical control cabinet, the electrical control cabinet is connected with the visual detection module and the mechanical arm control cabinet, and the mechanical arm control cabinet is connected with the mechanical arm module; the mechanical arm module is connected with the high-pressure oil injection pump, and a control valve is arranged between the mechanical arm module and the high-pressure oil injection pump. The mechanical arm module comprises an oil injection gun capable of injecting oil into an oil injection hole of the trolley hub. The electrical control cabinet comprises a PLC, and the PLC can be used for unifying signal receiving and transmitting, data processing or electrical control and the like.

Description

Technical Field

[0001] The utility model relates to the fields of metallurgy and engineering machinery, and in particular to an oiling robot for a trolley wheel hub. Background Art

[0002] A trolley is a vehicle that travels on tracks. Trolleys are mainly used in railway and highway construction, metallurgy, chemical industry, construction and other industries to process and handle various materials, such as ores. Since the trolley needs to operate at high temperatures during metallurgical production, it must be able to withstand extreme temperatures. And it needs to carry a large amount of materials, so it must have sufficient structural strength and stability to ensure safety and reliability in high temperature environments. In addition, pollutants such as exhaust gas and dust are generated during the metallurgical production process. In order to ensure its normal operation and extend its service life in such a hot and dusty harsh environment, the wheel bearings need to be lubricated and maintained regularly.

[0003] The current oiling method is still mainly manual, and the oiling method used is relatively complicated, mainly divided into the following steps: preparing tools and materials, safety measures, locating the oiling hole in the wheel hub, starting oiling, ending oiling, recording maintenance information, etc. The specific implementation method is: prepare suitable lubricating oil and oiling tools, such as oil guns, oil pots, etc.; wear appropriate protective equipment, such as work clothes, gloves, goggles, etc. to ensure safety; find the oiling hole in the wheel hub of the trolley that needs to be oiled, and ensure that the trolley is in a stable state for oiling operations; use an oil gun or oil pot to slowly inject an appropriate amount of lubricating oil; after the oiling is completed, pull the oil gun or oil pot out of the oiling hole; finally, record the time, place, brand and model of the lubricating oil used, etc. for subsequent maintenance tracking. This traditional manual oiling method is not only inefficient, but also due to the influence of human factors, the accuracy and uniformity of oiling are often difficult to guarantee. In addition, due to the harsh working environment of the trolley wheel hub, the manual oiling method also has a series of safety hazards, and manual records are prone to errors or omissions, which is not convenient for subsequent maintenance management and tracking. Utility Model Content

[0004] In view of the above technical problems in the related art, the utility model proposes an oiling robot for a trolley wheel hub, which can overcome the above deficiencies in the prior art.

[0005] In order to achieve the above technical objectives, the technical solution of the utility model is implemented as follows:

[0006] A lubrication robot for a trolley wheel hub, the lubrication robot is located on one side of a track, and the trolley on the track can move on the track through a plurality of trolley wheel hubs. The lubrication robot comprises a diffuse reflection sensor, a visual detection module, and a mechanical arm module, the diffuse reflection sensor is adjacent to the track or is arranged on the track;

[0007] The diffuse reflection sensor is communicatively connected with the electrical control cabinet, the electrical control cabinet is connected with the visual detection module and the robotic arm control cabinet, the robotic arm control cabinet is connected with the robotic arm module; the robotic arm module is connected with the high-pressure oil injection pump and a control valve is provided between the two, the electrical control cabinet is connected with the control valve;

[0008] The robot arm module includes a grease gun capable of injecting oil into the oil injection hole of the trolley wheel hub;

[0009] The electrical control cabinet includes a PLC, which can be used for signal reception and transmission, data processing or electrical control, etc.

[0010] Preferably, the visual inspection module, the robotic arm module, and the high-pressure oil injection pump are arranged in sequence from left to right.

[0011] Preferably, an electronic fence is provided on one side of the track, and the visual inspection module, the robotic arm module, the control valve, and the high-pressure oil injection pump are preferably all enclosed between the track and the electronic fence.

[0012] Preferably, the electronic fence is in a U-shape.

[0013] Preferably, the robotic arm control cabinet and the electrical control cabinet are preferably located outside the electronic fence.

[0014] Preferably, the visual inspection module includes a visual inspection module bracket, a ring-shaped light source is provided on one side of the visual inspection module bracket, and a high-definition industrial camera is movably connected to the other side of the visual inspection module bracket through a visual adjustment bracket, and the high-definition industrial camera is aligned with the ring-shaped light source.

[0015] Preferably, a light source controller is also provided on the visual inspection module bracket, and the light source controller is connected to the annular light source.

[0016] Preferably, the bottom of the visual inspection module bracket is fixed to the ground by a plurality of corresponding anchors and bolts.

[0017] Preferably, the robotic arm module includes a robotic arm base, a robotic arm is provided on the robotic arm base, an oil gun fixing bracket is provided on the robotic arm, and the oil injection gun is arranged at the lower part of the oil gun fixing bracket; the oil injection gun includes a hose and an oil gun tip, and a high-strength spring is provided on the hose; an oil inlet connected to the oil injection gun is provided on the oil gun fixing bracket, and the oil inlet is connected to the high-pressure oil injection pump and the control valve is provided between the two.

[0018] Preferably, the oil filling hole of the trolley wheel hub is funnel-shaped to correspond to the oil filling gun, and an oil bead that can be pushed open by the tip of the oil gun is provided in the middle of the oil filling hole.

[0019] Preferably, the communication connection between the various components of the oil injection robot can preferably adopt ModbusTCP as the main method and serial port communication as the auxiliary method.

[0020] Preferably, the electrical control cabinet may specifically include structures such as a PLC, an industrial computer, and a display screen. The communication method between the diffuse reflection sensor, the ring light source, and the PLC may be a serial port; the industrial computer may control the SDK of a high-definition industrial camera to collect images; the industrial computer and the PLC preferably communicate via ModbusTCP; and the communication method between the PLC and the robotic arm module is preferably ModbusTCP.

[0021] The beneficial effects of this design are as follows: This product has a simple structure, convenient maintenance, simple and fast operation, safety and reliability. The use of a trolley hub oiling robot has the advantages of intelligence and automation. This technology can improve the accuracy and efficiency of oiling through intelligent visual algorithms and flexible control of the robotic arm. In addition, the hub oiling robot can work continuously and uninterruptedly, greatly reducing the time required for oiling and improving overall production efficiency.

[0022] This product can greatly reduce the labor intensity of manual labor and improve the safety level. The wheel hub oiling robot reduces the physical burden of workers and avoids the heavy work of oiling workers in harsh conditions such as high temperature and dust. At the same time, it avoids safety accidents of oiling workers during the oiling process, reduces the occurrence of work-related accidents, and improves the safety of the workplace.

[0023] This product can ensure accurate oil control, reduce oil injection costs, and is more environmentally friendly and clean. The oil injection robot can accurately control the amount of oil injection, avoid the problems of oil waste and insufficient oil injection caused by manual oil injection, ensure the cleanliness of the working environment, and thus reduce the company's oil injection costs. And the appropriate amount of oil injection can also provide conditions for the lubrication of the wheel hub bearing to the greatest extent.

[0024] This product has the advantages of simple operation and easy use. After the oil filling robot is debugged, only simple training is needed for the workers to operate it. The oil filling workers only need to conduct regular inspections on the oil filling robot to avoid unexpected situations.

[0025] This product has the advantages of consistency, repeatability and strong adaptability. The oiling robot will perform each task according to the established procedures, and each oiling can maintain consistent operating standards, ensuring the repeatability of lubrication work. In addition, the oiling robot can be adjusted and optimized according to different working environments and requirements.

[0026] This product can increase the service life of the equipment. Through accurate lubrication, it can effectively increase the service life of the trolley and reduce equipment failures caused by improper lubrication. The wheel hub oiling robot only needs regular maintenance.

[0027] This product can accurately record the oil filling data. Each time the oil filling robot fills the oil, it will record the amount of oil, time, location, type of oil, etc. This effectively avoids recording wrong data after manual oil filling, which leads to subsequent maintenance difficulties. In addition, each clear and accurate oil filling data can be further analyzed. The analysis results can provide scientific decision-making basis for relevant departments and continuously improve and optimize the oil filling robot.

[0028] This product can reduce enterprise costs to the greatest extent possible. The wheel hub oiling robot only uses a high-definition industrial camera and a flexible design in some positions, which can greatly improve the success rate of oiling. And the use of a mechanical arm to control the oiling gun can avoid the use of other mechanical equipment and improve the flexibility of the oiling robot.

[0029] This product can automatically complete the oiling process of high-temperature wheel hubs. The main way to achieve this is: a high-definition industrial camera and intelligent visual algorithm are used to identify the oiling hole in the wheel hub of the trolley, and the identification result is transferred to the robotic arm. The robotic arm is further controlled to insert the oiling gun into the oiling hole to complete the oiling process.

[0030] This product improves vehicle maintenance efficiency, reduces the tediousness of manual operation, and improves the accuracy and uniformity of oil injection, thereby increasing the service life and safety of the trolley. It can also avoid oil waste by accurately controlling the amount of oil injection, which is beneficial to environmental protection. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The utility model is further described in detail below with reference to the accompanying drawings.

[0032] Figure 1 This is a layout diagram of the trolley wheel hub robot described in the present utility model.

[0033] Figure 2 This is the visual detection module described in the utility model.

[0034] Figure 3 It is the oil filling hole described in the utility model.

[0035] Figure 4 It is the oil filling hole described in the utility model.

[0036] Among them: 1. Track; 2. Trolley wheel hub; 3. Diffuse reflection sensor; 4. Visual detection module; 4-1. Visual detection module bracket; 4-2. Ring light source; 4-3. Anchor; 4-4. Visual adjustment bracket; 4-5. High-definition industrial camera; 4-6. Light source controller; 5. Robotic arm module; 5-1. Oil inlet; 5-2. Robotic arm; 5-3. Oil gun fixing bracket; 5-4. Hose; 5-5. High-strength spring; 5-6. Oil gun tip; 6. Robotic arm control cabinet; 7. Electrical control cabinet; 8. Control valve; 9. High-pressure oil injection pump; 10. Electronic fence. DETAILED DESCRIPTION

[0037] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments.

[0038] like Figure 1-4 As shown, in order to facilitate understanding of the above technical solution of the present invention, the above technical solution of the present invention is described in detail below through specific usage methods.

[0039] In specific use, the oiling robot for the wheel hub of a trolley of the utility model is located on one side of a track 1, a trolley moves on the track 1, and the trolley moves on the track 1 through a plurality of trolley wheel hubs 2. The oiling robot includes a diffuse reflection sensor 3, a visual detection module 4, and a mechanical arm module 5, and the diffuse reflection sensor 3 is adjacent to the track 1 or is arranged on the track 1;

[0040] The diffuse reflection sensor 3 is connected to the electrical control cabinet 7 for communication, the electrical control cabinet 7 is connected to the visual detection module 4 and the robotic arm control cabinet 6, the robotic arm control cabinet 6 is connected to the robotic arm module 5; the robotic arm module 5 is connected to the high-pressure oil injection pump 9, and a control valve 8 is provided between the two, the electrical control cabinet 7 is connected to the control valve 8;

[0041] The robot arm module 5 includes a grease gun capable of injecting oil into the oil injection hole of the trolley wheel hub 2;

[0042] The electrical control cabinet 7 includes a PLC, which can be used for unified signal reception and transmission, data processing or electrical control, etc.

[0043] In a specific embodiment, the visual inspection module 4, the robotic arm module 5, and the high-pressure oil injection pump 9 are arranged in sequence from left to right.

[0044] In a specific embodiment, an electronic fence 10 is provided on one side of the track 1 , and the visual inspection module 4 , the robotic arm module 5 , the control valve 8 , and the high-pressure oil injection pump 9 are preferably all enclosed between the track 1 and the electronic fence 10 .

[0045] In a specific embodiment, the electronic fence 10 is preferably in a U-shape.

[0046] In a specific embodiment, the robotic arm control cabinet 6 and the electrical control cabinet 7 are preferably located outside the electronic fence 10 .

[0047] In a specific embodiment, the visual inspection module 4 includes a visual inspection module bracket 4-1, a ring-shaped light source 4-2 is provided on one side of the visual inspection module bracket 4-1, and a high-definition industrial camera 4-5 is movably connected to the other side of the visual inspection module bracket 4-1 through a visual adjustment bracket 4-4, and the high-definition industrial camera 4-5 is aligned with the ring-shaped light source 4-2.

[0048] In a specific embodiment, a light source controller 4-6 is also provided on the visual detection module bracket 4-1, and the light source controller 4-6 is connected to the annular light source 4-2.

[0049] In a specific embodiment, the bottom of the visual inspection module bracket 4-1 is fixed to the ground through a plurality of corresponding feet 4-3 and bolts.

[0050] In a specific embodiment, the robot module 5 includes a robot base, a robot 5-2 is provided on the robot base, an oil gun fixing bracket 5-3 is provided on the robot arm 5-2, and the oil injection gun is arranged at the lower part of the oil gun fixing bracket 5-3; the oil injection gun includes a hose 5-4 and an oil gun tip 5-6, and a high-strength spring 5-5 is sleeved on the hose 5-4; the oil gun fixing bracket 5-3 is provided with an oil inlet 5-1 connected to the oil injection gun, and the oil inlet 5-1 is connected to the high-pressure oil injection pump 9 and the control valve 8 is provided between the two.

[0051] In a specific embodiment, the oil filling hole of the trolley wheel hub 2 is funnel-shaped to correspond to the oil filling gun, and an oil bead is provided in the middle of the oil filling hole which can be pushed open by the oil gun tip 5-6.

[0052] In a specific embodiment, the communication connection between the various components of the oil injection robot can preferably use ModbusTCP as the main method and serial port communication as the auxiliary method.

[0053] In a specific embodiment, the electrical control cabinet 7 may specifically include structures such as a PLC, an industrial computer, and a display screen. Among them, the diffuse reflection sensor 3, the annular light source 4-2 and the PLC may communicate via a serial port; the industrial computer may control the SDK of the high-definition industrial camera 4-5 to collect images; the industrial computer and the PLC preferably communicate via ModbusTCP; the communication method between the PLC and the robotic arm module 5 is preferably via ModbusTCP communication.

[0054] Specific working principle: Figure 1 As shown, firstly, a relatively stable side is selected at the track 1 for the trolley to move, and the oil injection robot is placed in this area. In order to avoid safety accidents caused by workers mistakenly entering the working area during work, an electronic fence 10 can be used to surround the visual inspection module 4, the robot arm module 5, the control valve 8, the high-pressure oil injection pump 9, etc. At this time, the moving direction of the trolley wheel hub 2 is as shown. Figure 1 The middle arrow points to the right, and the diffuse reflection sensor 3 can be installed on the track 1 to detect the trolley wheel hub 2.

[0055] The visual inspection module 4 can be installed on the left side of the electronic fence 10 and fixed with bolts and anchors 4-3 to prevent vibration from causing unnecessary displacement of the visual inspection module 4 and causing visual recognition errors. The robotic arm module 5 can be placed on the right side of the visual inspection module. When the visual inspection is completed, the robotic arm 5-2 will insert the grease gun into the grease hole in the trolley wheel hub 2 to complete the grease. The high-pressure grease pump 9 and the control valve 8 provide grease power and control for the grease gun. The robotic arm control cabinet 6 and the electrical control cabinet 7 can be placed outside the electronic fence to facilitate workers' inspection and operation.

[0056] Specific control process: In the preliminary preparation work, the annular light source 4-2, the foot 4-3, the visual adjustment bracket 4-4, the high-definition industrial camera 4-5, and the light source controller 4-6 need to be installed into the 4-1 visual detection module bracket 4-1 to complete the assembly of the visual detection module 4. Among them, the annular light source 4-2 can be used to supplement the brightness of the high-definition industrial camera 4-5, the light source controller 4-6 is used to adjust the brightness of the annular light, and the foot 4-3 and the visual adjustment bracket 4-4 are used to adjust the height and direction of the high-definition industrial camera 4-5. In addition, in the robot module 5, the robot 5-2 can be provided with the oil gun fixing bracket 5-3 through a flange, and the oil gun can include a corresponding matching installation hose 5-4, a high-strength spring 5-5 and an oil gun tip 5-6. During the oil filling process, the high-pressure oil will flow through the hose 5-4 through the oil inlet 5-1, and then push the top ball through the oil gun tip 5-6 to inject into the trolley wheel hub 2.

[0057] When the oil filling robot is running, the trolley moves on the track 1. When the diffuse reflection sensor 3 detects the trolley wheel hub 2, the diffuse reflection sensor 3 transmits the signal to the electrical control cabinet 7, and the electrical control cabinet 7 controls the annular light source 4-2 to turn on through its PLC. After the annular light source 4-2 is turned on, the high-definition industrial camera 4-5 is turned on with a delay of 0.1s to start visual recognition, and identify the center coordinates and forward speed of the oil filling hole of the trolley wheel hub 2. After the visual algorithm recognition of the oil filling hole speed is completed, the high-definition industrial camera 4-5 and the annular light source 4-2 are turned off, and the visual algorithm recognition result is transmitted to the PLC. After receiving the visual algorithm recognition result, the PLC determines whether it is a uniform motion.

[0058] When the PLC recognition result is uniform motion, the signal is transmitted to the robot arm module 5. The robot arm module 5 first adjusts the posture of the robot arm 5-2 to be consistent with the oil filling hole. When the oil filling hole moves to the specified position, the robot arm 5-2 starts the follow-up control algorithm, follows the movement of the oil filling hole and inserts the oil gun into the oil filling hole. When the visual recognition result is non-uniform motion, the PLC does not transmit the signal to the robot arm module 5 and does not perform the oiling action.

[0059] When the oiling gun is inserted into the oiling hole, the robot module 5 will feedback the signal to the PLC, and the PLC will start oiling. In this process, the robot module 5 controls the robot 5-2 to always follow the oiling hole until the oiling is completed; after the oiling is completed, the robot module 5 controls the robot 5-2 to immediately move to the initial position, waiting for the next trolley wheel hub 2 to move to trigger the diffuse reflection sensor 3.

[0060] Among them, the visual recognition algorithm collects images through the SDK of the high-definition industrial camera 4-5. Each image collected will record the image and the time of image collection. The visual recognition algorithm identifies the oil filling hole in the image. Since the trolley wheel hub 2 moves on the track 1, the depth is relatively fixed. According to the fixed depth, the three-dimensional coordinates of the oil filling hole relative to the high-definition industrial camera 4-5 can be calculated. The moving speed of the oil filling hole is calculated through the three-dimensional coordinates of the oil filling hole and the timestamp of each image. When the calculation result is stable, the three-dimensional coordinates of the oil filling hole in the last frame, the timestamp at the end of the algorithm, and the calculated speed of the oil filling hole are transmitted to the PLC. The PLC recognition result is uniform motion, and these three values ​​are passed to the robot module 5. In order to avoid delays caused by communication, after the robot module 5 obtains the data, it is necessary to calculate the timestamp to calculate the specific position of the oil filling hole during this period of time. Then, the robot module 5 first adjusts the posture of the grease gun of the robot 5-2 to be the same as the grease hole through the obtained value, and then starts the follow-up control algorithm of the robot 5-2, follows the grease gun and inserts it into the grease hole. When the grease gun is inserted into the grease hole, it immediately transmits a signal to the PLC, and the PLC opens the control valve to start grease injection. The robot module 5 will not wait for the control valve 8 to open, but will follow according to the set time, and the follow-up time is 3s. If the control valve 8 is not opened in the first 2s of 3s, the grease robot assumes that the control valve 8 fails to open, and the grease robot may therefore sound an alarm.

[0061] In addition, in order to improve the success rate of oil injection, the oil injection robot can further improve the oil injection gun and the oil injection hole. For example, the oil injection hole is improved to a funnel shape with an oil bead installed in the middle. When the oil injection gun is inserted into the oil injection hole, the oil bead will be pushed open to form a passage. Figure 3 The improvement of the grease gun can be to install a spring, a grease hose and other devices at the front end of the grease gun, such as Figure 4 As shown. Even if the insertion is too deep or slightly crooked, the oil filling can still be completed. That is, the visual algorithm recognizes that the depth value of the oil filling hole is deviated, and the recognition result is slightly larger or smaller, and the oil filling gun can still be successfully inserted into the oil filling hole.

[0062] During the operation of the oil filling robot, if the electronic fence 10 is opened, the electrical control cabinet 7 and the robot arm control cabinet 6 can cooperate to instruct the interruption of the operation and instruct the robot arm module 5 to return to the initial position, and the entire oil filling robot will be in an emergency stop state. It is necessary to manually close the electronic fence and cancel the emergency stop or reset the robot state in the software.

[0063] In summary, this product adopts the above unique design, with simple product structure, convenient maintenance, simple and fast operation, safe and reliable. The use of the trolley wheel hub oiling robot has the advantages of intelligence and automation. This technology can improve the accuracy and efficiency of oiling through intelligent visual algorithms and flexible control of the robotic arm. And the hub oiling robot can work continuously and uninterruptedly, greatly reducing the time required for oiling and improving the overall production efficiency.

[0064] In the description of the present invention, it is necessary to understand that the indicated orientation or positional relationship is based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

Claims

1. An oiling robot for a trolley wheel hub, the oiling robot being located on one side of a track (1), a trolley moving on the track (1), the trolley moving on the track (1) through a plurality of trolley wheel hubs (2), characterized in that: The oil injection robot comprises a diffuse reflection sensor (3), a visual detection module (4), and a mechanical arm module (5); the diffuse reflection sensor (3) is adjacent to the track (1) or is arranged on the track (1); The diffuse reflection sensor (3) is communicatively connected to an electrical control cabinet (7), the electrical control cabinet (7) is connected to the visual detection module (4) and the robotic arm control cabinet (6), the robotic arm control cabinet (6) is connected to the robotic arm module (5); the robotic arm module (5) is connected to a high-pressure oil injection pump (9) and a control valve (8) is provided between the two, and the electrical control cabinet (7) is connected to the control valve (8); The robot arm module (5) comprises an oiling gun capable of injecting oil into the oiling hole of the trolley wheel hub (2); The electrical control cabinet (7) comprises a PLC, and the PLC is used for signal reception and transmission, data processing or electrical control.

2. The oil injection robot according to claim 1, characterized in that: The visual inspection module (4), the mechanical arm module (5), and the high-pressure oil injection pump (9) are arranged in sequence from left to right.

3. The oil injection robot according to claim 2, characterized in that: An electronic fence (10) is provided on one side of the track (1), and the visual detection module (4), the mechanical arm module (5), the control valve (8), and the high-pressure oil injection pump (9) are all enclosed between the track (1) and the electronic fence (10).

4. The oil injection robot according to claim 3, characterized in that: The electronic fence (10) is in a U-shape.

5. The oil injection robot according to claim 3, characterized in that: The mechanical arm control cabinet (6) and the electrical control cabinet (7) are located outside the electronic fence (10).

6. The oil injection robot according to claim 1, characterized in that: The visual inspection module (4) comprises a visual inspection module bracket (4-1), a side surface of the visual inspection module bracket (4-1) is provided with an annular light source (4-2), and the other side surface of the visual inspection module bracket (4-1) is movably connected to a high-definition industrial camera (4-5) via a visual adjustment bracket (4-4), and the high-definition industrial camera (4-5) is aligned with the annular light source (4-2).

7. The oil injection robot according to claim 6, characterized in that: The visual detection module bracket (4-1) is also provided with a light source controller (4-6), and the light source controller (4-6) is connected to the annular light source (4-2).

8. The oil injection robot according to claim 6, characterized in that: The bottom of the visual detection module bracket (4-1) is fixed to the ground via a plurality of corresponding footings (4-3) and bolts.

9. The oil injection robot according to claim 1, characterized in that: The robot arm module (5) comprises a robot arm base, a robot arm (5-2) is arranged on the robot arm base, an oil gun fixing bracket (5-3) is arranged on the robot arm (5-2), and the oil injection gun is arranged at the lower part of the oil gun fixing bracket (5-3); the oil injection gun comprises a hose (5-4) and an oil gun tip (5-6), and a high-strength spring 5-5 is sleeved on the hose (5-4); an oil inlet (5-1) connected to the oil injection gun is arranged on the oil gun fixing bracket (5-3), and the oil inlet (5-1) is connected to the high-pressure oil injection pump (9), and the control valve (8) is arranged between the two.

10. The oil injection robot according to claim 9, characterized in that: The oil filling hole of the trolley wheel hub (2) is funnel-shaped and corresponds to the oil filling gun, and an oil bead is arranged in the middle of the oil filling hole and can be pushed open by the oil gun tip (5-6).

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