Self-lubricating manipulator

Abstract

The utility model discloses a self-lubricating manipulator, which relates to the field of manipulators, and comprises a first mechanical arm, a rotating shaft is arranged at the side end of the first mechanical arm, a second mechanical arm is connected to the side end of the rotating shaft, an oil outlet hole is formed in the first mechanical arm, and an oil outlet hole is formed in the second mechanical arm. A lubricating oil pipe is arranged at the outer end of the first mechanical arm, a lubricating oil tank is connected to the side end of the first mechanical arm, and a push plate is slidably connected into the lubricating oil tank. By arranging the servo motor, the controller, the lubricating oil tank and the range finder, lubricating oil can be automatically added to the connecting joint of the first mechanical arm and the second mechanical arm after the first mechanical arm and the second mechanical arm run to a certain degree, so that the labor cost is reduced, the potential risk of manual operation is reduced, the mechanical arms do not need to stop running when the lubricating oil is added, and the working efficiency is improved. And the manipulator can work with higher efficiency, so that the overall production efficiency can be improved.

Description

Technical Field

[0001] The utility model relates to the technical field of manipulators, in particular to a self-lubricating manipulator. Background Art

[0002] A manipulator, also known as a robotic arm or an industrial robot, is an automation equipment commonly used in industrial automation and mechanical engineering. It is usually composed of multiple joints and actuators. It can simulate the movement of a human arm and complete various complex operating tasks. When the manipulator is in operation, in order to ensure that its joints are not damaged due to wear, it is necessary to add lubricating oil to its joints.

[0003] However, traditional robots generally add lubricating oil to the joints manually. Manual addition not only increases labor costs, but also the robot arm may rotate during addition, which poses a risk of pinching fingers. In addition, the robot arm needs to be stopped during the addition process, which will also affect the overall production efficiency of the production line.

[0004] In order to solve this technical problem, the utility model proposes a self-lubricating manipulator. Utility Model Content

[0005] The main purpose of the utility model is to provide a self-lubricating manipulator, which can effectively solve the problems mentioned in the background technology.

[0006] In order to achieve the above purpose, the technical solution adopted by the utility model is:

[0007] A self-lubricating manipulator comprises a first manipulator arm, a rotating shaft is provided at a side end of the first manipulator arm, a second manipulator arm is connected to a side end of the rotating shaft, an oil outlet is provided in the first manipulator arm, a lubricating oil pipe is provided at an outer end of the first manipulator arm, a lubricating oil tank is connected to a side end of the first manipulator arm, a push plate is slidably connected in the lubricating oil tank, a push plate is connected to a push tube at a side end of the push plate, a threaded ring is connected to a threaded rod in a threaded connection in the threaded ring, a servo motor is provided at a side end of the threaded rod, a support frame is connected to the outer end of the first manipulator arm, a rolling wheel is provided at a lower end of the support frame, a rangefinder is provided at a side end of the rolling wheel, and a controller is provided at an upper end of the servo motor.

[0008] Preferably, the second mechanical arm can rotate around the rotation axis relative to the first mechanical arm, and there is a gap between the first mechanical arm and the second mechanical arm.

[0009] Preferably, a one-way valve is provided in the first robotic arm, the side outlet of the one-way valve is connected to the oil outlet hole, the upper feed port of the one-way valve is connected to the lubricating oil pipe, and the side end of the lubricating oil tank is set as a conical port, which is connected to the lubricating oil pipe.

[0010] Preferably, sealing rings are provided at the four ends of the push plate, the sealing rings are slidably connected to the inner wall of the lubricating oil tank, and the threaded rod can be inserted into the push tube.

[0011] Preferably, the controller is connected to the servo motor via a wire, and the controller is connected to the rangefinder via a wire.

[0012] Preferably, a track ring is provided at the outer end of the second mechanical arm, the rolling wheel is rollingly connected in the track ring, a spring and a telescopic rod are connected between the rolling wheel and the support frame, and the telescopic rod is located in the spring.

[0013] Preferably, a refueling pipe is provided at the side end of the lubricating oil tank, a gate is provided in the refueling pipe, a protective box is connected to the side end of the lubricating oil tank, the controller is connected to the upper end of the protective box, and the servo motor is located in the protective box.

[0014] Preferably, a baffle is connected to the outer end of the threaded ring, a presser is provided at the side end of the lubricating oil tank, the baffle can be connected to the presser, a flashing light is provided at the upper end of the lubricating oil tank, and the presser is connected to the flashing light through a wire.

[0015] Compared with the prior art, the utility model has the following beneficial effects:

[0016] In the utility model, by providing a servo motor, a controller, a lubricating oil tank and a rangefinder, lubricating oil can be added to the joints of the first mechanical arm and the second mechanical arm after they have operated to a certain extent. Specifically, when the second mechanical arm operates, the rolling wheel rolls at its outer end, and the rangefinder counts the moving distance generated by the rotation of the second mechanical arm according to the number of rolling circles of the rolling wheel, so as to judge the operation time between the first mechanical arm and the second mechanical arm. When the rangefinder reaches the set value, it transmits the information to the controller, and the controller controls the servo motor to drive the threaded rod and the threaded ring to move the push plate into the lubricating oil tank, so that the lubricating oil is discharged from the oil outlet through the lubricating oil pipe to the joint of the first mechanical arm and the second mechanical arm, so as to replenish the lubricating oil. The device can automatically add lubricating oil to the joints of the mechanical arms, which not only reduces labor costs and reduces potential risks of manual operation, but also does not need to stop the operation of the mechanical arm when adding lubricating oil, so that the mechanical arm can work with higher efficiency, thereby improving the overall production efficiency.

[0017] In the utility model, a presser and a flashing light are provided, and the baffle follows the threaded ring and gradually moves toward the end of the lubricating oil tank. When the lubricating oil in the lubricating oil tank is about to be consumed, the baffle at this time will be able to squeeze the presser. The pressing of the presser can trigger the flashing light to flash an alarm, thereby reminding the staff to add lubricating oil to the lubricating oil tank in time to avoid the situation where the lubricating oil is completely consumed and the lubricating oil cannot be added to the joints of the first robotic arm and the second robotic arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a schematic diagram of the overall structure of a self-lubricating manipulator of the utility model;

[0019] Figure 2 This is a schematic diagram of the oil outlet position of a self-lubricating manipulator of the utility model;

[0020] Figure 3 This is a schematic diagram of the rolling wheel structure of a self-lubricating manipulator of the utility model;

[0021] Figure 4 This is a schematic diagram of the cross-sectional structure of a lubricating oil tank of a self-lubricating manipulator of the utility model;

[0022] Figure 5 This is a schematic diagram of the position of a presser of a self-lubricating manipulator of the utility model.

[0023] In the figure: 1. first mechanical arm; 2. rotating shaft; 3. second mechanical arm; 4. oil outlet; 5. lubricating oil pipe; 6. lubricating oil tank; 7. push plate; 8. push pipe; 9. threaded ring; 10. threaded rod; 11. servo motor; 12. support frame; 13. rolling wheel; 14. rangefinder; 15. controller; 16. one-way valve; 17. track ring; 18. spring; 19. telescopic rod; 20. refueling pipe; 21. protective box; 22. baffle; 23. presser; 24. flashing light. DETAILED DESCRIPTION

[0024] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is further described below in conjunction with specific implementation methods.

[0025] like Figure 1-5 As shown, a self-lubricating manipulator includes a first manipulator arm 1, a rotating shaft 2 is provided at the side end of the first manipulator arm 1, a second manipulator arm 3 is connected to the side end of the rotating shaft 2, the second manipulator arm 3 can rotate around the rotating shaft 2 relative to the first manipulator arm 1, and there is a gap between the first manipulator arm 1 and the second manipulator arm 3, and the gap is used for adding lubricating oil, so that the first manipulator arm 1 and the second manipulator arm 3 can rotate more conveniently.

[0026] An oil outlet hole 4 is opened in the first robotic arm 1, a lubricating oil pipe 5 is arranged at the outer end of the first robotic arm 1, a one-way valve 16 is arranged in the first robotic arm 1, a side outlet of the one-way valve 16 is connected with the oil outlet hole 4, and an upper feed port of the one-way valve 16 is connected with the lubricating oil pipe 5. The one-way valve 16 can prevent the lubricating oil discharged from the oil outlet hole 4 from flowing back into the lubricating oil pipe 5.

[0027] The side end of the first robotic arm 1 is connected to a lubricating oil tank 6, which is filled with lubricating oil. The side end of the lubricating oil tank 6 is provided with a tapered opening, which is connected to the lubricating oil pipe 5, so that the lubricating oil in the lubricating oil tank 6 can enter the lubricating oil pipe 5. The side end of the lubricating oil tank 6 is provided with a filling pipe 20, and a gate is provided in the filling pipe 20. The filling pipe 20 is used to add lubricating oil to the lubricating oil tank 6.

[0028] A push plate 7 is slidably connected to the lubricating oil tank 6. The push plate 7 can only move but not rotate in the lubricating oil tank 6. Sealing rings are provided at the four ends of the push plate 7. The sealing rings are slidably connected to the inner wall of the lubricating oil tank 6 to prevent the lubricating oil from overflowing from the gap between the push plate 7 and the lubricating oil tank 6. A push tube 8 is connected to the side end of the push plate 7. A threaded ring 9 is connected to the side end of the push tube 8. A threaded rod 10 is threadedly connected to the threaded ring 9. The threaded rod 10 can be inserted into the push tube 8. A servo motor 11 is provided at the side end of the threaded rod 10. When the servo motor 11 is started, it will drive the threaded rod 10 to rotate. The rotation of the threaded rod 10 and the action of the threaded ring 9 will drive the push tube 8 and the push plate 7 to move, so that the lubricating oil in the lubricating oil tank 6 can be squeezed into the lubricating oil pipe 5.

[0029] The outer end of the first mechanical arm 1 is connected to a support frame 12, a rolling wheel 13 is arranged at the lower end of the support frame 12, and a rangefinder 14 is arranged at the side end of the rolling wheel 13. The rangefinder 14 can detect the number of rolling circles of the rolling wheel 13, so as to calculate the rolling distance of the rolling wheel 13. The outer end of the second mechanical arm 3 is provided with a track ring 17, and the rolling wheel 13 is connected in a rolling manner in the track ring 17. The track ring 17 is used to constrain the rolling wheel 13 so that it can rotate smoothly. A spring 18 and a telescopic rod 19 are connected between the rolling wheel 13 and the support frame 12. The telescopic rod 19 is located in the spring 18. The spring 18 provides thrust for the rolling wheel 13 to make the rolling wheel 13 can be tightly attached to the outer end of the second robotic arm 3 to avoid relative sliding between the two. The telescopic rod 19 is used to support and lock the rolling wheel 13 to prevent it from tilting and rolling. A controller 15 is arranged on the upper end of the servo motor 11. The controller 15 is connected to the servo motor 11 through a wire. The controller 15 is connected to the rangefinder 14 through a wire. After receiving the signal from the rangefinder 14, the controller 15 can start the servo motor 11. A protective box 21 is connected to the side end of the lubricating oil tank 6. The controller 15 is connected to the upper end of the protective box 21. The servo motor 11 is located in the protective box 21. The protective box 21 is used to protect the equipment inside it.

[0030] A baffle 22 is connected to the outer end of the threaded ring 9, and a presser 23 is provided at the side end of the lubricating oil tank 6. The baffle 22 can be connected to the presser 23. A flashing light 24 is provided at the upper end of the lubricating oil tank 6. The presser 23 and the flashing light 24 are connected by a wire. When the baffle 22 squeezes the presser 23, the presser 23 will be able to trigger the flashing light 24 to flash as an alarm.

[0031] The above shows and describes the basic principle and main features of the utility model and the advantages of the utility model. Those skilled in the art should understand that the utility model is not limited by the above embodiments. The above embodiments and descriptions are only for explaining the principle of the utility model. Without departing from the spirit and scope of the utility model, the utility model may have various changes and improvements, which fall within the scope of the utility model to be protected. The scope of protection claimed by the utility model is defined by the attached claims and their equivalents.

Claims

1. A self-lubricating manipulator, comprising a first manipulator arm (1), characterized in that: A rotating shaft (2) is arranged at the side end of the first mechanical arm (1), and the side end of the rotating shaft (2) is connected to the second mechanical arm (3). An oil outlet hole (4) is opened in the first mechanical arm (1), and a lubricating oil pipe (5) is arranged at the outer end of the first mechanical arm (1). The side end of the first mechanical arm (1) is connected to a lubricating oil tank (6), and a push plate (7) is slidably connected inside the lubricating oil tank (6). The side end of the push plate (7) is connected to a push tube (8), and the side end of the push tube (8) is connected to a threaded ring (9). The threaded ring (9) is internally threaded with a threaded rod (10), and a servo motor (11) is arranged at the side end of the threaded rod (10). The outer end of the first mechanical arm (1) is connected to a support frame (12), and a rolling wheel (13) is arranged at the lower end of the support frame (12). A distance meter (14) is arranged at the side end of the rolling wheel (13), and a controller (15) is arranged at the upper end of the servo motor (11).

2. A self-lubricating manipulator according to claim 1, characterized in that: The second mechanical arm (3) is rotatable around the rotation axis (2) relative to the first mechanical arm (1), and there is a gap between the first mechanical arm (1) and the second mechanical arm (3).

3. A self-lubricating manipulator according to claim 1, characterized in that: A one-way valve (16) is arranged in the first mechanical arm (1), the side outlet of the one-way valve (16) is connected to the oil outlet hole (4), the upper feed port of the one-way valve (16) is connected to the lubricating oil pipe (5), and the side end of the lubricating oil tank (6) is arranged as a conical port, which is connected to the lubricating oil pipe (5).

4. A self-lubricating manipulator according to claim 1, characterized in that: The four ends of the push plate (7) are provided with sealing rings, which are slidably connected to the inner wall of the lubricating oil tank (6), and the threaded rod (10) can be inserted into the push tube (8).

5. The self-lubricating manipulator according to claim 1, characterized in that: The controller (15) is connected to the servo motor (11) via a wire, and the controller (15) is connected to the distance meter (14) via a wire.

6. A self-lubricating manipulator according to claim 1, characterized in that: A track ring (17) is provided at the outer end of the second mechanical arm (3), the rolling wheel (13) is rollingly connected inside the track ring (17), a spring (18) and a telescopic rod (19) are connected between the rolling wheel (13) and the support frame (12), and the telescopic rod (19) is located inside the spring (18).

7. The self-lubricating manipulator according to claim 1, characterized in that: A refueling pipe (20) is provided at the side end of the lubricating oil tank (6), a gate is provided inside the refueling pipe (20), a protection box (21) is connected to the side end of the lubricating oil tank (6), the controller (15) is connected to the upper end of the protection box (21), and the servo motor (11) is located inside the protection box (21).

8. The self-lubricating manipulator according to claim 1, characterized in that: The outer end of the threaded ring (9) is connected to a baffle (22), the side end of the lubricating oil tank (6) is provided with a presser (23), the baffle (22) can be connected to the presser (23), the upper end of the lubricating oil tank (6) is provided with a flashing light (24), and the presser (23) and the flashing light (24) are connected via a wire.

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