A robot joint lubrication mechanism

Abstract

The utility model relates to robot joint technical field discloses a kind of robot joint lubricating mechanism, including lubricating component, lubricating component is used to lubrication, lubricating component includes outer joint, inner joint, oil reservoir, lubricating roller and oil pipe, inner joint is rotatably connected with outer joint, oil reservoir is fixedly connected with the inside of inner joint, lubricating roller is around and is arranged between outer joint and inner joint, oil pipe is around and is arrayed on oil reservoir, oil pipe is in close contact with lubricating roller, the end of inner joint is connected with cover plate by screw thread, cover plate is connected with micro pump by pipeline, the space between outer joint and inner joint is sealed by sealing ring, the space between outer joint and inner joint is sealed, avoid internal lubricating liquid overflow, the rotation of outer joint and the rotation cooperation between lubricating roller, change the small bearing inner steel ball contact surface of traditional, have greater friction, the service life of device is shortened Problem is improved.

Description

Technical Field

[0001] This utility model belongs to the field of robot joint technology, specifically, it relates to a robot joint lubrication mechanism. Background Technology

[0002] Joints are an important component of robots. The structure, load capacity, and sensing capabilities of joints directly affect the robot's system configuration and operational capabilities. The wiring method inside the joints is crucial to the robot system because it can improve the robot's protective performance, extend the lifespan of cables, and expand the application areas.

[0003] A document with publication number (CN218052691U) discloses a self-lubricating joint mechanism for robots, belonging to the field of robot joint technology. It includes a joint mounting device, a joint rotating rod, and a lubrication device. The joint rotating rod is rotatably mounted on top of the joint mounting device. This invention adds lubricating oil to the housing of the lubrication device. The lubricating oil is absorbed by an oil-absorbing cloth, making the cloth saturated with oil. The bottom of the cloth is in close contact with the pin, allowing the lubricating oil on the cloth to lubricate the pin during rotation. This eliminates the need for manual lubrication, saving time and effort. The semi-circular arc plate allows excess lubricating oil to fall into the plate during lubrication. The baffle plate ensures that the lubricating oil flows only towards the through hole, lubricating the connection between the through hole and the pin, reducing friction between them.

[0004] The aforementioned device uses a simple oil-absorbing cloth for basic lubrication, and it is an open environment. If there is too much lubricating oil, exceeding the device's capacity, it will cause the lubricating oil to overflow. Furthermore, the oil-absorbing cloth cannot adequately lubricate every part of the joint.

[0005] In view of this, this utility model is proposed. Utility Model Content

[0006] To solve the problem of joint lubrication technology, the basic concept of the technical solution adopted by this utility model is as follows: A robot joint lubrication mechanism includes a lubrication assembly for lubrication. The lubrication assembly includes an outer joint, an inner joint, an oil reservoir, a lubrication roller, and an oil delivery pipe. The inner joint is rotatably connected to the outer joint, and the oil reservoir is fixedly connected to the interior of the inner joint. The lubrication roller is arranged in a ring between the outer joint and the inner joint, and the oil delivery pipe is arranged in a ring and array on the oil reservoir, with the oil delivery pipe in close contact with the lubrication roller.

[0007] In a preferred embodiment of this utility model, the end of the inner joint is connected to a cover plate by a thread, the cover plate is connected to a micro pump by a pipe, and the other end of the micro pump is connected to a lubricating oil supply tank by a pipe.

[0008] In a preferred embodiment of this utility model, sealing rings are symmetrically arranged on the inner joint, each sealing ring is sleeved with the inner joint, and the sealing ring is in close contact with the inner wall of the outer joint.

[0009] In a preferred embodiment of the present invention, each of the lubrication rollers is rotatably connected to the inner joint, and each lubrication roller is in close contact with the inner wall of the outer joint.

[0010] In a preferred embodiment of this utility model, each of the oil delivery pipes is fixedly connected to the oil storage tank, and each oil delivery pipe is provided with an array of anti-backflow blocks, each anti-backflow block being fixedly connected to the inner wall of the oil delivery pipe.

[0011] In a preferred embodiment of the present invention, a ball is provided in the anti-backflow block at the end of each oil delivery pipe, the ball is rotatably connected to the anti-backflow block, and the ball is in close contact with the wall surface of the lubrication roller.

[0012] In a preferred embodiment of the present invention, the oil storage tank is provided with an array of temperature control modules, each of which is fixedly connected to the outer wall of the oil storage tank, and multiple grooves are provided around the temperature control modules.

[0013] In a preferred embodiment of this utility model, a detection module is fixedly connected to the end of the inner joint, and multiple detection ends are fixedly connected to the end of the detection module. Each detection end penetrates the inner joint and is set on the groove of the temperature control module.

[0014] Compared with the prior art, the present invention has the following advantages: 1. A robot joint lubrication mechanism that seals the space between the outer and inner joints using a sealing ring to prevent internal lubricant from leaking out.

[0015] 2. This robot joint lubrication mechanism, through the rotational cooperation between the outer joint and the lubrication roller, improves the traditional bearing's small internal steel ball contact area, which results in greater friction and shortens the device's service life.

[0016] 3. In this robot joint lubrication mechanism, the oil supply pipe passes through an internal anti-backflow block to prevent the lubricating oil from flowing back. If the supply of lubricating oil from the upper oil supply pipe is insufficient, the lubricating oil in the oil supply pipe will flow back, resulting in insufficient lubricating oil supply to the lubrication roller and slow supply next time.

[0017] 4. This robot joint lubrication mechanism pre-cools the oil reservoir before use through a temperature control module, pre-cooling the lubricant inside the oil reservoir. After pre-cooling, the lubricant has a lower operating temperature, which can more effectively remove the heat generated by friction between the outer and inner joints and the lubrication rollers, thereby improving the service life of the lubricant.

[0018] The specific embodiments of this utility model will be described in further detail below with reference to the accompanying drawings. Attached Figure Description

[0019] In the attached diagram: Figure 1 This is a three-dimensional schematic diagram of the present invention; Figure 2 This is a side view of the present invention; Figure 3 This is a schematic diagram of the internal joint structure of this utility model; Figure 4 This is a schematic diagram of the internal structure of the joint of this utility model. Figure 5 This is a cross-sectional schematic diagram of the oil delivery pipe of this utility model.

[0020] In the diagram: 1. Outer joint; 2. Inner joint; 21. Cover plate; 22. Micro pump; 23. Sealing ring; 24. Oil reservoir; 3. Detection module; 31. Detection end; 4. Lubrication roller; 41. Oil delivery pipe; 42. Anti-backflow block; 43. Ball; 5. Temperature control module. Detailed Implementation

[0021] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions in the embodiments will be clearly and completely described below with reference to the accompanying drawings. The following embodiments are used to illustrate this utility model.

[0022] Please see Figure 1-5 A robot joint lubrication mechanism includes a lubrication assembly for lubrication. The lubrication assembly includes an outer joint 1, an inner joint 2, an oil reservoir 24, a lubrication roller 4, and an oil delivery pipe 41. The inner joint 2 is rotatably connected to the outer joint 1. The oil reservoir 24 is fixedly connected to the interior of the inner joint 2. The lubrication roller 4 is arranged around the outer joint 1 and the inner joint 2. The oil delivery pipe 41 is arranged around and arrayed on the oil reservoir 24. The oil delivery pipe 41 is in close contact with the lubrication roller 4. Before use, fill the oil reservoir 24 of the inner joint 2 with an appropriate amount of lubricant. Then, as the outer joint 1 rotates, the outer joint 1 rubs against the lubricating roller 4, causing the lubricating roller 4 to rotate. During the rotation of the lubricating roller 4, an appropriate amount of lubricating oil is obtained from the oil supply pipe 41. The lubricating oil is added by itself during the rotation of the outer joint 1 and the lubricating roller 4. The sealed environment between the outer joint 1 and the inner joint 2 prevents the lubricating oil between the outer joint 1 and the inner joint 2 from overflowing, thus ensuring the continuous use of the device.

[0023] The inner joint 2 is connected to a cover plate 21 by a threaded connection at its end. The cover plate 21 is connected to a micro pump 22 by a pipe. The other end of the micro pump 22 is connected to a lubricating oil supply tank by a pipe. A sealing ring 23 is symmetrically arranged on the inner joint 2. Each sealing ring 23 is sleeved with the inner joint 2 and is in close contact with the inner wall of the outer joint 1. Each lubricating roller 4 is rotatably connected to the inner joint 2 and is in close contact with the inner wall of the outer joint 1. Each oil delivery pipe 41 is fixedly connected to the oil storage cylinder 24. Each oil delivery pipe 41 is provided with an array of anti-backflow blocks 42. Each anti-backflow block 42 is fixedly connected to the inner wall of the oil delivery pipe 41. A ball 43 is provided in the anti-backflow block 42 at the end of each oil delivery pipe 41. The ball 43 is rotatably connected to the anti-backflow block 42 and is in close contact with the wall of the lubricating roller 4. The lubricating oil supply tank connected by the micro pump 22 delivers the lubricating oil through the pipeline to the oil storage tank 24, and applies a certain pressure to the lubricating oil in the oil storage tank 24. The sealing ring 23 seals the space between the outer joint 1 and the inner joint 2, thus preventing the internal lubricating fluid from overflowing. During the rotation of the outer joint 1, the inner wall of the outer joint 1 comes into contact with the lubrication roller 4 and generates friction, thereby causing the lubrication roller 4 to rotate. During the rotation, the lubrication roller 4 comes into contact with the ball 43, and the ball 43 evenly spreads the lubricating oil inside the oil supply pipe 41 onto the lubrication roller 4. An appropriate amount of lubricating oil adheres to the lubrication roller 4, and the lubricating oil is evenly spread on the inner walls of the outer joint 1 and the inner joint 2 by the lubrication roller 4, thereby achieving lubrication during the relative rotation of the outer joint 1 and the inner joint 2. Furthermore, the rotation of the outer joint 1 and the rotational cooperation between the lubrication roller 4 change the traditional problem of small contact surface of steel balls inside the bearing, which has a large frictional force and shortens the service life of the device. When the oil supply pipe 41 passes through the internal anti-backflow block 42, it prevents the lubricating oil from flowing back, which would lead to insufficient lubricating oil. If the supply of lubricating oil in the upper oil supply pipe 41 is insufficient, the lubricating oil in the oil supply pipe 41 will flow back, resulting in insufficient lubricating oil supply to the lubricating roller 4 and slow supply next time. It is worth noting that the micro pump 22 includes a drive unit, a pump body, and a flexible piston disc. The pump body is fixedly mounted on the drive unit. The pump body includes an outlet seal, a pressure valve body, and a base. The pressure valve body is mounted on the base, and the outlet seal is mounted on the pressure valve body. The pressure valve body is equipped with a valve diaphragm, which has several valve chambers communicating with the base. The top surface of the pressure valve body has an outlet valve port communicating with the valve chambers, and a valve assembly is provided on the outlet valve port. The pressure valve body also has an inlet port communicating with the base, and the outlet... The cover is provided with a water outlet channel communicating with the water outlet valve port. A flexible piston disc is set in the pump body. An eccentric wheel is set on the drive device. A shaft is fixedly set between the middle of the flexible piston disc and the eccentric hole of the eccentric wheel. The above-mentioned utility model uses a piston to realize water inlet and outlet, avoiding plastic deformation and wear of the valve diaphragm, and effectively improving the service life of the diaphragm. The micro pump 22 has been fully disclosed in the prior art CN202521063946.2 A micro water pump motor, and will not be described in detail here.

[0024] The oil storage tank 24 is arrayed with temperature control modules 5. Each temperature control module 5 is fixedly connected to the outer wall of the oil storage tank 24, and multiple grooves are opened around the temperature control module 5. A detection module 3 is fixedly connected to the end of the inner joint 2. Multiple detection ends 31 are fixedly connected to the end of the detection module 3. Each detection end 31 penetrates the inner joint 2 and is set on the groove of the temperature control module 5. The temperature control module 5 pre-cools the oil reservoir 24 before use, and pre-cools the lubricant in the oil reservoir 24. After the lubricant is pre-cooled, the working temperature is lower, which can more fully remove the heat generated by the friction between the outer joint 1, the inner joint 2 and the lubrication roller 4, and improve the service life of the lubricant. It is worth noting that the temperature control module 5 adjusts its cooling based on the threshold at which the lubricating oil will not freeze. It is worth noting that the temperature control module 5 includes an upper cooling module and a lower cooling module that cooperate with each other. A conductor through hole is formed in the middle of the cooperation body of the upper cooling module and the lower cooling module. The diameter of the conductor through hole is smaller than the diameter of the conductor to be cooled. A circulating liquid cooling channel that is sealed and connected to each other is provided in the cooperation body of the upper cooling module and the lower cooling module and around the outer periphery of the conductor through hole. A first external liquid cooling port is provided on the upper cooling module and a second external liquid cooling port is provided on the lower cooling module. Both the first external liquid cooling port and the second external liquid cooling port are connected to the circulating liquid cooling channel. A first heat dissipation fin group is provided on the upper cooling module and a second heat dissipation fin group is provided on the lower cooling module. The above-mentioned utility model can be used in the field of high-voltage power equipment technology. The temperature control module 5 has been fully disclosed in the prior art 202520659187.X, a quick-installation device for cooling the fusion joint of high-voltage cable conductors, and will not be described again here. The temperature of the space between the inner joint 2 and the oil reservoir 24 is detected by the detection module 3 and the detection end 31, thereby controlling the internal temperature and avoiding excessive cooling of the lubricant due to excessively low temperature, which would cause a burden on the user.

[0025] Working principle: Before use, fill the oil reservoir 24 of the inner joint 2 with an appropriate amount of lubricant. Then, as the outer joint 1 rotates, friction occurs between the outer joint 1 and the lubrication roller 4. The lubrication roller 4 rotates due to this friction, and a measured amount of lubricant is obtained from the oil supply pipe 41 during its rotation. Lubricant is also added during the rotation of the outer joint 1 and the lubrication roller 4. The sealed environment between the outer joint 1 and the inner joint 2 prevents lubricant leakage, ensuring continuous operation of the device. The lubricant is supplied through a lubricant supply tank connected to the micro pump 22 via a pipe... The lubricating oil is delivered to the oil storage tank 24 and pressurized. A sealing ring 23 seals the space between the outer joint 1 and the inner joint 2, preventing lubricant leakage. During rotation of the outer joint 1, the inner wall of the outer joint 1 contacts and rubs against the lubricating roller 4, causing the lubricating roller 4 to rotate. As it rotates, the lubricating roller 4 contacts the ball 43, which evenly coats the lubricating oil from the oil delivery pipe 41 onto the lubricating roller 4. The lubricating roller 4 then has a suitable amount of lubricating oil adhering to it. The lubricating roller 4 evenly coats the inner walls of the outer joint 1 and the inner joint 2, thereby achieving lubrication during the relative rotation of the outer joint 1 and the inner joint 2. Furthermore, the rotation of the outer joint 1 in conjunction with the rotation of the lubricating roller 4 overcomes the problem of the traditional bearing having a small contact area of ​​steel balls, resulting in high friction and shortening the lifespan of the device. The oil supply pipe 41, through its internal anti-backflow block 42, allows lubricating oil to pass through while preventing backflow. In cases of insufficient lubrication from the upper oil supply pipe 41, backflow of lubricating oil within the pipe can lead to insufficient lubrication of the lubricating roller 4. If the lubricating oil supply is insufficient and the next supply is slow, the temperature control module 5 pre-cools the oil reservoir 24 before use. This pre-cools the lubricating fluid in the oil reservoir 24, resulting in a lower operating temperature. This allows the lubricating fluid to more effectively dissipate the heat generated by friction between the outer joint 1, the inner joint 2, and the lubrication roller 4, thus extending the service life of the lubricating oil. The detection module 3 and the detection end 31 detect the temperature of the space between the inner joint 2 and the oil reservoir 24, thereby controlling the internal temperature and preventing excessively low temperatures that could lead to over-cooling of the lubricating fluid and create a burden on the user.

[0026] It is understood that this utility model has been described through some embodiments, and those skilled in the art will recognize that various changes or equivalent substitutions can be made to these features and embodiments without departing from the spirit and scope of this utility model. Furthermore, under the teachings of this utility model, these features and embodiments can be modified to adapt to specific situations and materials without departing from the spirit and scope of this utility model. Therefore, this utility model is not limited to the specific embodiments disclosed herein, and all embodiments falling within the scope of the claims of this application are within the protection scope of this utility model.

Claims

1. A robot joint lubrication mechanism characterized by comprising: include: The lubrication assembly is used for lubrication. The lubrication assembly includes an outer joint (1), an inner joint (2), an oil reservoir (24), a lubrication roller (4), and an oil delivery pipe (41). The inner joint (2) is rotatably connected to the outer joint (1). The oil reservoir (24) is fixedly connected to the interior of the inner joint (2). The lubrication roller (4) is arranged around the outer joint (1) and the inner joint (2). The oil delivery pipe (41) is arranged around and arrayed on the oil reservoir (24). The oil delivery pipe (41) is in close contact with the lubrication roller (4).

2. The robotic joint lubrication mechanism of claim 1, wherein, The end of the inner joint (2) is connected to a cover plate (21) by a thread. The cover plate (21) is connected to a micro pump (22) by a pipe. The other end of the micro pump (22) is connected to a lubricating oil supply box by a pipe.

3. The robotic joint lubrication mechanism of claim 1, wherein, The inner joint (2) is symmetrically provided with sealing rings (23), each sealing ring (23) is sleeved with the inner joint (2), and the sealing ring (23) is in close contact with the inner wall of the outer joint (1).

4. The robotic joint lubrication mechanism of claim 1, wherein, Each of the lubrication rollers (4) is rotatably connected to the inner joint (2), and each lubrication roller (4) is in close contact with the inner wall of the outer joint (1).

5. The robotic joint lubrication mechanism of claim 1, wherein, Each of the oil delivery pipes (41) is fixedly connected to the oil storage tank (24), and each oil delivery pipe (41) is provided with an array of anti-backflow blocks (42), each anti-backflow block (42) being fixedly connected to the inner wall of the oil delivery pipe (41).

6. The robotic joint lubrication mechanism of claim 5, wherein, Each of the oil supply pipes (41) has a ball (43) in the anti-backflow block (42) at the end of the pipe. The ball (43) is rotatably connected to the anti-backflow block (42), and the ball (43) is in close contact with the wall of the lubrication roller (4).

7. The robotic joint lubrication mechanism of claim 1, wherein, Temperature control modules (5) are arranged in an array on the oil storage cylinder (24). Each temperature control module (5) is fixedly connected to the outer wall of the oil storage cylinder (24), and multiple grooves are opened around the temperature control module (5).

8. The robotic joint lubrication mechanism of claim 7, wherein, The end of the inner joint (2) is fixedly connected to a detection module (3), and the end of the detection module (3) is fixedly connected to multiple detection ends (31). Each detection end (31) penetrates the inner joint (2), and each detection end (31) is set on the groove of the temperature control module (5).

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