CN112476483B - Lubrication system and method for robot - Google Patents

Abstract

The invention discloses a lubrication system and a lubrication method for a robot, which comprise a manipulator, wherein the manipulator is arranged on a support platform, a walking shaft is arranged below the support platform, the walking shaft comprises a ground rail, the upper end of the ground rail is connected with a slide way, the bottom of the support platform is provided with a matched slide table, the slide table is in sliding connection with the slide way, and the bottom of the support platform is also provided with a walking driving mechanism for driving a support platform to move along the ground rail; a lubricating system is also arranged on the supporting platform; the support table is further connected with an oil film thickness sensor, the oil film thickness sensor is arranged above the slide way, the oil film thickness sensor is connected with a controller, and the controller is further connected with the lifting motor, the air cylinder and the traveling motor and is used for controlling. The device has simple structure and ingenious design, and can effectively solve the problem that the existing device is not easy to control the oil outlet speed and the oil outlet quantity of oil liquid; the quantitative oil taking and dropping actions can be automatically realized, manual operation is not needed, time and labor are saved, and the problem of lubrication lag in the prior art can be effectively solved.

Description

Lubrication system and method for robot

Technical Field

The invention relates to the technical field of robots, in particular to a lubrication system and a lubrication method for a robot.

Background

In general, an industrial robot has six controllable axes in a normal state, but when the robot is used in the field of manufacturing technology, a seventh axis (walking axis) is sometimes used in order to realize multi-station start or subsequent movement on an assembly line or a transfer line, or to expand the working radius of the robot and expand the range of use of the robot. The slide rail of the walking shaft is subjected to high-speed and high-pressure friction in a reciprocating manner in the working process, and effective lubrication is a very important maintenance means for ensuring the normal work of the slide rail.

The lubricating device on the existing market is of a large variety and quantity, but the lubricating device still has some problems in the using process, for example, the patent with the prior patent publication number of CN209012751U discloses an oiling lubricating device, the device applies pressure to the whole box surface, and then oil can be ensured to completely overflow, but the loaded area of the oiling mode is large, the oil outlet speed and the oil outlet quantity of the oil are not easy to control, excessive overflow of the lubricating oil easily occurs, the cost is wasted, and the environment is easily polluted. In addition, when lubrication maintenance is carried out, lubricating oil is generally manually dripped manually at regular intervals, maintenance is carried out by observing the condition of the oil film on the surface of the sliding rail through naked eyes, the condition of the real thickness of the oil film is difficult to obtain in the mode, the problem of lubrication lag is likely to occur, the sliding rail cannot be effectively lubricated in time, great abrasion is caused, and the manual lubrication mode wastes time and labor.

Disclosure of Invention

In order to solve the problems in the prior art, a lubrication system and a method for a robot are provided.

The technical scheme adopted by the invention for solving the technical problems is as follows:

the invention provides a lubricating system for a robot, which comprises a manipulator, wherein the manipulator is arranged on a support table, a walking shaft is arranged below the support table, the walking shaft comprises a ground rail, the upper end of the ground rail is connected with a slide way, the bottom of the support table is provided with a sliding table matched with the slide way, the sliding table is connected with the slide way in a sliding manner, and the bottom of the support table is also provided with a walking driving mechanism for driving the support table to move along the ground rail; the lubricating system is further arranged on the supporting table and comprises an oil tank for storing lubricating oil, a vertical lead screw is arranged in the oil tank and is connected with the oil tank in a relatively rotating mode, the top of the lead screw is connected with a lifting motor, a nut is connected to the lead screw in a matching mode and is connected with a cross rod, a vertically arranged guide rail is further connected to the inner wall of the oil tank, the cross rod is connected with the guide rail in a sliding mode, an oil cup is eccentrically hinged to one end of the cross rod, a vertical plate is arranged on one side of the oil cup, an inclined portion is arranged at the top end of the vertical plate, and the oil cup is in contact with the outer wall of the vertical plate and slides up and down along the vertical plate; an extrusion container is arranged on one side of the vertical plate and fixedly connected in the oil tank, a spray head is connected to the bottom of the extrusion container, and the spray head is arranged above the slide way; a sliding groove is formed in the inner wall of the extrusion cylinder, a piston is movably connected in the extrusion cylinder in a matched mode, a boss is arranged on the side wall of the piston, and the boss is inserted into the sliding groove in a sealing mode and moves up and down along the sliding groove; the piston is provided with a first hole which is communicated up and down; a rotary table is arranged above the piston, the rotary table is in relative rotation connection with the piston, and the bottom surface of the rotary table is attached to the top surface of the piston; the turntable is provided with a second hole, and the position of the second hole is arranged corresponding to the position of the first hole; the top of the rotary table is connected with a vertical shaft, the top of the vertical shaft is connected with a bearing, and an air cylinder is connected above the bearing; the surface of the vertical shaft is provided with a guide groove which is arranged in a surrounding manner; the guide groove is internally provided with a column head in a matching way, the column head moves along the guide groove relatively, and the column head is connected to the wall of the oil tank.

Preferably, the walking driving mechanism comprises a walking motor, the walking motor is connected with the supporting table, a gear is connected to a shaft of the walking motor, a rack is arranged on the ground rail along the length direction, and the gear is meshed with the rack.

Preferably, the supporting table is further connected with an oil film thickness sensor, the oil film thickness sensor is arranged above the slide way, the oil film thickness sensor is connected with a controller, and the controller is further connected with the lifting motor, the cylinder and the traveling motor and is used for controlling the lifting motor, the cylinder and the traveling motor.

Preferably, a lifting motor driving module is arranged in the controller, and the lifting motor driving module is electrically connected with the lifting motor; the oil film thickness sensor is also provided with an air cylinder driving module, a processing and analyzing module and a walking motor driving module, wherein the air cylinder driving module is electrically connected with the air cylinder, and the processing and analyzing module is connected with the oil film thickness sensor and used for receiving and processing data measured by the oil film thickness sensor; the walking motor driving module is connected with the walking motor.

Preferably, the number of the bosses is 2, and the bosses are symmetrically arranged.

The invention also provides a lubrication method for the robot, which comprises the following steps:

the method comprises the following steps: adding lubricating oil into the oil tank, and setting the upper end surface of the extrusion container as the maximum limit scale mark of the lubricating oil in the oil tank; setting the initial state, wherein the first hole is communicated with the second hole;

step two: when the slideway needs to be lubricated, the lifting motor is started, the lifting motor rotates to drive the screw rod to rotate, the nut drives the cross rod and the oil cup to upwards slide along the outer wall of the vertical plate under the limiting action of the guide rail, when the bottom end of the oil cup reaches the bottom end of the inclined part, the oil cup can incline and lean against the surface of the inclined part due to the eccentric hinge joint of the oil cup and the cross rod, in the process, lubricating oil in the oil cup can be poured out of the oil cup and quantitatively into the extrusion cylinder, and the lubricating oil flows into a space below the piston of the extrusion cylinder through the second hole and the first hole;

step three: the cylinder is started, the cylinder drives the vertical shaft to move downwards, in the downward moving process of the vertical shaft, the column cap is matched in the guide groove, relative motion is generated between the guide groove and the column cap, the vertical shaft rotates to drive the rotary table to rotate, the side wall of the piston is provided with the boss, the limiting effect is achieved, the rotary table and the piston rotate relatively, the first hole and the second hole form dislocation, sealing is formed between the rotary table and the piston, and at the moment, when the piston moves downwards again, lubricating oil in the extrusion cylinder can be pushed to be sprayed out from the spray head and fall onto the slide way, and quantitative lubricating oil dripping is achieved;

step four: the walking driving mechanism is started, the sliding table slides left and right along the slide way, and the dropped lubricating oil is uniformly coated along the slide way in the sliding process to finish the lubrication.

Preferably, the method also comprises the step of detecting the thickness of the oil film of the slideway, and the steps are as follows:

s1, presetting a minimum threshold value of oil film thickness in the controller as H;

s2, the oil film thickness sensor transmits the measured data to the processing and analyzing module at intervals of T, the processing and analyzing module obtains the measured oil film thickness of H and compares the value of H with H, when H is smaller than H, the controller controls the lifting motor to start through the lifting motor driving module, the process of the second step is repeated, and the action of filling oil into the extrusion cylinder is automatically completed;

s3, controlling the cylinder to start through the cylinder driving module by the controller, repeating the three steps, and automatically finishing the action of quantitatively dripping oil to the slide way;

and S4, finally, the controller controls the walking motor to start through the walking motor driving module, and the process of the step four is repeated to automatically finish the action of uniformly coating.

Compared with the prior art, the invention has the beneficial effects that:

1. according to the invention, the oil cup is arranged in the oil tank, and the movement of the oil cup is realized by utilizing the screw rod and nut mechanism, so that the oil taking action is completed; the oil cup is eccentrically hinged at the end part of the cross rod, the top end of the vertical plate is provided with an inclined part, when the bottom end of the oil cup reaches the bottom end of the inclined part, the oil cup can incline and lean against the surface of the inclined part due to eccentric arrangement, in the process, lubricating oil in the oil cup can be poured out of the oil cup and quantitatively poured into the extrusion cylinder, and because the inclination degree of each time is the same, the oil amount poured into the extrusion cylinder every time is the same, so that the purpose of quantitatively taking the oil is realized; the piston and the rotary table which are matched are arranged in the extrusion cylinder, the first hole is formed in the piston, the second hole is formed in the rotary table, and when the first hole is communicated with the second hole, lubricating oil can fall into the bottom of the extrusion cylinder; the guide groove is formed in the surface of the vertical shaft, in the downward moving process of the vertical shaft, the column cap is matched in the guide groove, relative motion is generated between the guide groove and the column cap, the vertical shaft rotates to drive the rotary table to rotate, the limiting effect is achieved due to the fact that the boss is arranged on the side wall of the piston, the rotary table and the piston rotate relatively, the first hole and the second hole are staggered, sealing is formed between the rotary table and the piston, at the moment, when the piston moves downward again, lubricating oil in the extrusion cylinder can be pushed to be sprayed out from the spray head and fall onto the slide way, quantitative lubricating oil dripping is achieved, and the oil outlet speed is convenient to control due to the fact that the area of the piston is small; the device has simple structure and ingenious design, and can effectively solve the problems that the loading area of the existing device in an oiling mode is large, and the oil outlet speed of oil liquid is difficult to control; the oil cup is matched with the vertical plate, so that quantitative oil taking and dripping can be realized, and the lubricating oil quantity at each time can be conveniently controlled.

2. According to the invention, the controller and the oil film thickness sensor are arranged, the oil film thickness on the surface of the slideway can be detected by the oil film thickness sensor, when the value of the oil film thickness H is smaller than the preset threshold value H, quantitative oil taking and dropping actions can be automatically realized, manual operation is not needed, time and labor are saved, and the problem of lubrication lag in the prior art can be effectively solved.

Drawings

The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

FIG. 1 is a schematic diagram of the present invention.

Fig. 2 is a front view of the invention of fig. 1.

Fig. 3 is an enlarged schematic view of the structure of the lubrication system.

FIG. 4 is a cross-sectional view of the container in cooperation with the piston and the rotating disk.

Fig. 5 is a top view of the container.

Fig. 6 is a top view of the turntable.

Fig. 7 is a top view of the piston.

Fig. 8 is a schematic structural view of the travel drive mechanism.

Fig. 9 is a control connection diagram of the present invention.

Description of reference numerals:

1, a mechanical arm; 2, a ground rail; 3, a slideway; 4, a sliding table; 5, supporting the table; 6 lubricating the system; 7 gears; 8 rack bars; 9 a walking motor;

61 oil tank; 62 a lead screw; 63 a nut; 64 cross bars; 65 a guide rail; 651 a strip groove; 66 oil cups; 67 vertical plates; 671 an inclined part; 68 a squeeze tube; 681 slide groove; 69 a piston; 691 a first aperture; 692 boss; 70, a rotating disc; 701 a second hole; 71 a vertical axis; 711 guide groove; 72 column heads; 721 a stent; 73 bearings; 74 air cylinders; 75 a lifting motor; 76 oil outlet pipes; 77 a spray head; 78 an inner shaft; 79 a controller; 80 oil film thickness sensor.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.

Example one

As shown in fig. 1 to 8, the present embodiment provides a lubrication system for a robot, including a robot arm 1, the robot arm 1 being mounted on a support base 5, a walking shaft is arranged below the supporting platform 5, the walking shaft comprises a ground rail 2, the ground rail 2 is arranged on the ground through an expansion bolt, the upper end of the ground rail 2 is connected with a slide way 3, the slide way 3 is horizontally arranged, the surface is smoothened, the bottom of the supporting platform 5 is provided with a sliding table 4 matched with the slide way 3, the sliding table 4 is connected with the slide way 3 in a sliding way, the bottom of the supporting platform 5 is also provided with a walking driving mechanism for driving the supporting platform 5 to move along the ground rail 2, this travel driving mechanism includes walking motor 9, and walking motor 9 links to each other with brace table 5, and the epaxial gear 7 that is connected with of walking motor 9 is provided with rack 8 along length direction on the ground rail 2, and gear 7 meshes with rack 8 mutually, and walking motor 9 drive brace table 5 passes through slip table 4 and slides along 3 surfaces of slide.

Still be provided with lubricating system on the brace table 5, lubricating system is including the oil tank 61 that is used for storing lubricating oil, oil tank 61 fixed connection is on brace table 5 surface, be provided with vertical lead screw 62 in the oil tank 61, lead screw 62 rotates with oil tank 61 relatively and is connected, lead screw 62's top is connected with elevator motor 75, elevator motor 75 sets up the top at oil tank 61, the cooperation is connected with nut 63 on the lead screw 62, nut 63 is connected with horizontal pole 64, still be connected with the guided way 65 of vertical setting on the oil tank 61 inner wall, horizontal pole 64 and guided way 65 sliding connection, particularly, bar groove 651 has been seted up to guided way 65, horizontal pole 64 passes this bar groove 651, and can slide from top to bottom along bar groove 651.

One end of the cross rod 64 is eccentrically hinged with an oil cup 66, one side of the oil cup 66 is provided with a vertical plate 67, the top end of the vertical plate 67 is provided with an inclined part 671, and the oil cup 66 is in contact with the outer wall of the vertical plate 67 and slides up and down along the vertical plate 67; an extrusion cylinder 68 is arranged on one side of the vertical plate 67, the extrusion cylinder 68 is fixedly connected in the oil tank 61, the top end of the extrusion cylinder 68 is slightly lower than the top end of the inclined part 671, an oil outlet pipe 76 is connected to the bottom of the extrusion cylinder 68, a spray head 77 is connected to the bottom of the oil outlet pipe 76, the spray head 77 is arranged above the slide way 3, and the extrusion cylinder 68 and the oil outlet pipe 76 are arranged in a syringe shape; a sliding groove 681 is formed in the inner wall of the extrusion cylinder 68, a piston 69 is movably connected in the extrusion cylinder 68 in a matching manner, a boss 692 is arranged on the side wall of the piston 69, the boss 692 is hermetically inserted into the sliding groove 681 and moves up and down along the sliding groove 681, and the piston 69 is arranged to push lubricating oil to be sprayed out of the spray head 77; the piston 69 is provided with a first hole 691 which is vertically through; a rotary disc 70 is arranged above the piston 69, the rotary disc 70 is in relative rotation connection with the piston 69, and the bottom surface of the rotary disc 70 is attached to the top surface of the piston 69; specifically, an inner shaft 78 is connected between the piston 69 and the turntable 70, and the piston and the turntable can rotate relatively through the inner shaft 78; the turntable 70 is provided with a second hole 701, and the position of the second hole 701 corresponds to the position of the first hole 691; the top of the turntable 70 is connected with a vertical shaft 71, the top of the vertical shaft 71 is connected with a bearing 73, an air cylinder 74 is connected above the bearing 73, the vertical shaft 71 is connected with the outer ring of the bearing 73, and the air cylinder 74 is connected with the inner ring of the bearing 73; the vertical shaft 71 is provided with a guide groove 711 on the surface, the guide groove 711 is arranged in a surrounding manner, a column head 72 is arranged in the guide groove 711 in a matching manner, the column head 72 moves relatively along the guide groove 711, the column head 72 is connected to the wall of the oil tank 61, and the column head 72 can be connected to the top wall of the oil tank 61 through an L-shaped support 721.

In order to improve stability, the number of the bosses 692 is provided with 2, and are symmetrically arranged.

The present embodiment also proposes a lubrication method for a robot, comprising the steps of:

the method comprises the following steps: adding lubricating oil into the oil tank 61, and setting the upper end surface of the extrusion cylinder 68 as the maximum limit scale mark of the lubricating oil in the oil tank 61; in the initial state, the first hole 691 communicates with the second hole 701;

step two: when the slideway 3 needs to be lubricated, the lifting motor 75 is started, the lifting motor 75 rotates to drive the lead screw 62 to rotate, the nut 63 drives the cross rod 64 and the oil cup 66 to slide upwards along the outer wall of the vertical plate 67 under the limiting action of the guide rail 65, when the bottom end of the oil cup 66 reaches the bottom end of the inclined part 671, the oil cup 66 can incline and lean against the surface of the inclined part 671 due to the eccentric hinge joint of the oil cup 66 and the cross rod 64, in the process, the lubricating oil in the oil cup 66 can be poured out of the oil cup 66 and quantitatively poured into the extrusion cylinder 68, and the lubricating oil flows into the space below the piston 69 of the extrusion cylinder 68 through the second hole 701 and the first hole 691;

step three: starting the air cylinder 74, wherein the air cylinder 74 drives the vertical shaft 71 to move downwards, in the downward moving process of the vertical shaft 71, the guide groove 711 is matched with the column head 72, the guide groove 711 and the column head 72 generate relative motion, and the column head 72 is fixed, so that the vertical shaft 71 rotates, the vertical shaft 71 rotates to drive the turntable 70 to rotate, the side wall of the piston 69 is provided with a boss 692 to play a limiting role, the turntable 70 and the piston 69 rotate relatively, the first hole 691 and the second hole 701 are staggered, the first hole 691 and the second hole 701 are not communicated any more, the turntable 70 and the piston 69 form a seal, and at the moment, when the piston 69 moves downwards again, the lubricating oil in the extrusion cylinder 68 is pushed to be sprayed from the spray head 77 and fall onto the slide way 3, and quantitative lubricating oil dripping is realized;

step four: the walking driving mechanism is started, the sliding table 4 slides left and right along the slide rail 3, and the dropped lubricating oil is uniformly coated along the slide rail 3 in the sliding process to finish the lubrication.

Therefore, the oil cup 66 is arranged in the oil tank 61, and the screw rod 62 and the nut 63 are used for realizing the movement of the oil cup 66 so as to finish the oil taking action; the oil cup 66 is eccentrically hinged at the end part of the cross rod 64, the top end of the vertical plate 67 is provided with an inclined part 671, when the bottom end of the oil cup 66 reaches the bottom end of the inclined part 671, due to the eccentric arrangement, the oil cup 66 can incline and lean on the surface of the inclined part 671, in the process, the lubricating oil in the oil cup 66 can be poured out of the oil cup 66 and quantitatively poured into the extrusion cylinder 68, and due to the fact that the inclination degree of each time is the same, the amount of the oil poured into the extrusion cylinder 68 at each time is the same, and the purpose of quantitatively taking the oil is achieved; by arranging the piston 69 and the rotary table 70 which are matched in the extrusion cylinder 68, arranging the first hole 691 on the piston 69 and the second hole 701 on the rotary table 70, when the first hole 691 is communicated with the second hole 701, the lubricating oil can fall into the bottom of the extrusion cylinder 68; through the guide groove 711 arranged on the surface of the vertical shaft 71, in the downward moving process of the vertical shaft 71, as the column head 72 is matched in the guide groove 711, relative motion is generated between the guide groove 711 and the column head 72, the vertical shaft 71 rotates to drive the rotary disc 70 to rotate, and as the boss 692 is arranged on the side wall of the piston 69, a limiting effect is achieved, the rotary disc 70 and the piston 69 rotate relatively, the first hole 691 and the second hole 701 are staggered, and sealing is formed between the rotary disc 70 and the piston 69, at the moment, when the piston 69 moves downward again, lubricating oil in the extrusion cylinder 68 is pushed to be sprayed out from the spray head 77 and drop onto the slide way 3, so that quantitative lubricating oil dropping is realized, and the oil discharging speed is convenient to control due to the small area of the piston 69; the device has simple structure and ingenious design, and can effectively solve the problems that the loading area of the existing device in an oiling mode is large, and the oil outlet speed of oil liquid is difficult to control; the oil cup 66 and the vertical plate 67 are matched, so that quantitative oil taking and dripping can be realized, and the amount of oil lubricated each time can be controlled conveniently.

Example two

As shown in fig. 9, in addition to the first embodiment, an oil film thickness sensor 80 is connected to the support table 5, the oil film thickness sensor 80 is disposed above the slide rail 3, the controller 79 is connected to the oil film thickness sensor 80, and the controller 79 is connected to and controls the lift motor 75, the cylinder 74, and the travel motor 9. The oil film thickness sensor 80 can be a photoelectric oil film thickness sensor 80, and other types of sensors in the prior art can be adopted, and the sensors can be selected according to actual conditions.

A lifting motor driving module is arranged in the controller 79 and is electrically connected with the lifting motor 75; the device is also provided with a cylinder driving module, a processing and analyzing module and a walking motor 9 driving module, wherein the cylinder driving module is electrically connected with the cylinder 74, and the processing and analyzing module is connected with the oil film thickness sensor 80 and used for receiving and processing data measured by the oil film thickness sensor 80; the walking motor 9 driving module is connected with the walking motor 9.

The embodiment also provides a lubrication method for the robot, which further comprises the step of detecting the thickness of an oil film of the slideway 3, and the steps are as follows:

s1, presetting the minimum threshold value of the oil film thickness in the controller 79 as H;

s2, the oil film thickness sensor 80 transmits the measured data to the processing and analyzing module at intervals of T, the processing and analyzing module obtains the measured oil film thickness H, compares the value of H with H, when H is smaller than H, the controller 79 controls the lifting motor 75 to start through the lifting motor driving module, the process of the second step of the embodiment is repeated, and the action of oiling the extrusion cylinder 68 is automatically completed; namely, the lifting motor 75 rotates to drive the lead screw 62 to rotate, under the limiting action of the guide rail 65, the nut 63 drives the cross rod 64 and the oil cup 66 to slide upwards along the outer wall of the vertical plate 67, when the bottom end of the oil cup 66 reaches the bottom end of the inclined part 671, as the oil cup 66 is eccentrically hinged with the cross rod 64, the oil cup 66 can incline and lean against the surface of the inclined part 671, in the process, the lubricating oil in the oil cup 66 can be poured out of the oil cup 66 and quantitatively poured into the extrusion cylinder 68, and the lubricating oil flows into the space below the piston 69 of the extrusion cylinder 68 through the second hole 701 and the first hole 691;

s3, the controller 79 controls the air cylinder 74 to start through the air cylinder driving module, the process of the step three in the first embodiment is repeated, and the action of quantitatively dripping oil to the slide way 3 is automatically finished; that is, the cylinder 74 drives the vertical shaft 71 to move downwards, in the downward moving process of the vertical shaft 71, the column head 72 is matched in the guide groove 711, the guide groove 711 and the column head 72 generate relative movement, and the column head 72 is fixed, so the vertical shaft 71 rotates, the vertical shaft 71 rotates to drive the turntable 70 to rotate, the side wall of the piston 69 is provided with the boss 692 to play a limiting role, the turntable 70 and the piston 69 rotate relatively, the first hole 691 and the second hole 701 are staggered, the first hole 691 and the second hole 701 are not communicated, the turntable 70 and the piston 69 form a seal, and at the moment, when the piston 69 moves downwards again, the lubricating oil in the extrusion cylinder 68 is pushed to be sprayed from the spray head 77 and fall onto the slide way 3, so that quantitative lubricating oil dripping is realized;

s4, finally, the controller 79 controls the walking motor 9 to start through the walking motor 9 driving module, and repeats the process of the step four of the first embodiment to automatically finish the action of uniform smearing; that is, the walking motor 9 drives the sliding table 4 to slide left and right along the slideway 3, and the dropped lubricating oil is uniformly coated along the slideway 3 in the sliding process to finish the lubrication.

T is expressed in hours, and H are expressed in millimeters.

In this embodiment, by arranging the controller 79 and the oil film thickness sensor 80, the oil film thickness on the surface of the slide 3 can be detected by the oil film thickness sensor 80, and when the value of the oil film thickness H is smaller than a preset threshold H, quantitative oil taking and dropping actions can be automatically realized, manual operation is not needed, time and labor are saved, and the problem of lubrication lag occurring in the prior art can be effectively solved.

While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims (7)

1. A lubricating system for a robot comprises a manipulator, wherein the manipulator is arranged on a support table, a walking shaft is arranged below the support table and comprises a ground rail, the upper end of the ground rail is connected with a slide way, the bottom of the support table is provided with a sliding table matched with the slide way, the sliding table is connected with the slide way in a sliding manner, and the bottom of the support table is also provided with a walking driving mechanism for driving the support table to move along the ground rail; the lubricating device is characterized in that a lubricating system is further arranged on the supporting table and comprises an oil tank for storing lubricating oil, a vertical lead screw is arranged in the oil tank and is connected with the oil tank in a relatively rotating mode, the top of the lead screw is connected with a lifting motor, the lead screw is connected with a nut in a matching mode, the nut is connected with a cross rod, a guide rail which is vertically arranged is further connected onto the inner wall of the oil tank, the cross rod is connected with the guide rail in a sliding mode, an oil cup is eccentrically hinged to one end of the cross rod, a vertical plate is arranged on one side of the oil cup, an inclined portion is arranged at the top end of the vertical plate, and the oil cup is in contact with the outer wall of the vertical plate and slides up and down along the vertical plate; an extrusion container is arranged on one side of the vertical plate and fixedly connected in the oil tank, a spray head is connected to the bottom of the extrusion container, and the spray head is arranged above the slide way; a sliding groove is formed in the inner wall of the extrusion cylinder, a piston is movably connected in the extrusion cylinder in a matched mode, a boss is arranged on the side wall of the piston, and the boss is inserted into the sliding groove in a sealing mode and moves up and down along the sliding groove; the piston is provided with a first hole which is communicated up and down; a rotary table is arranged above the piston, the rotary table is in relative rotation connection with the piston, and the bottom surface of the rotary table is attached to the top surface of the piston; the turntable is provided with a second hole, and the position of the second hole is arranged corresponding to the position of the first hole; the top of the rotary table is connected with a vertical shaft, the top of the vertical shaft is connected with a bearing, and an air cylinder is connected above the bearing; the surface of the vertical shaft is provided with a guide groove which is arranged in a surrounding manner; the guide groove is internally provided with a column head in a matching way, the column head moves along the guide groove relatively, and the column head is connected to the wall of the oil tank.

2. The lubrication system for a robot according to claim 1, wherein the walking driving mechanism comprises a walking motor, the walking motor is connected with the support platform, a gear is connected to a shaft of the walking motor, a rack is arranged on the ground rail along the length direction, and the gear is meshed with the rack.

3. The lubrication system for a robot according to claim 2, wherein an oil film thickness sensor is further connected to the support table, the oil film thickness sensor is disposed above the slide, and a controller is connected to the oil film thickness sensor, and the controller is further connected to the lifting motor, the cylinder, and the traveling motor and performs control.

4. The lubrication system for a robot according to claim 3, wherein a lift motor driving module is disposed in the controller, and the lift motor driving module is electrically connected to the lift motor; the oil film thickness sensor is also provided with an air cylinder driving module, a processing and analyzing module and a walking motor driving module, wherein the air cylinder driving module is electrically connected with the air cylinder, and the processing and analyzing module is connected with the oil film thickness sensor and used for receiving and processing data measured by the oil film thickness sensor; the walking motor driving module is connected with the walking motor.

5. A lubrication system for a robot according to claim 1, wherein said bosses are provided in 2 numbers and arranged symmetrically.

6. A lubrication method for a robot, characterized in that a lubrication system for a robot according to any of claims 1-5 is used, comprising the steps of:

the method comprises the following steps: adding lubricating oil into the oil tank, and setting the upper end surface of the extrusion container as the maximum limit scale mark of the lubricating oil in the oil tank; setting the initial state, wherein the first hole is communicated with the second hole;

step two: when the slideway needs to be lubricated, the lifting motor is started, the lifting motor rotates to drive the screw rod to rotate, the nut drives the cross rod and the oil cup to upwards slide along the outer wall of the vertical plate under the limiting action of the guide rail, when the bottom end of the oil cup reaches the bottom end of the inclined part, the oil cup can incline and lean against the surface of the inclined part due to the eccentric hinge joint of the oil cup and the cross rod, in the process, lubricating oil in the oil cup can be poured out of the oil cup and quantitatively into the extrusion cylinder, and the lubricating oil flows into a space below the piston of the extrusion cylinder through the second hole and the first hole;

step three: the cylinder is started, the cylinder drives the vertical shaft to move downwards, in the downward moving process of the vertical shaft, the column cap is matched in the guide groove, relative motion is generated between the guide groove and the column cap, the vertical shaft rotates to drive the rotary table to rotate, the side wall of the piston is provided with the boss, the limiting effect is achieved, the rotary table and the piston rotate relatively, the first hole and the second hole form dislocation, sealing is formed between the rotary table and the piston, and at the moment, when the piston moves downwards again, lubricating oil in the extrusion cylinder can be pushed to be sprayed out from the spray head and fall onto the slide way, and quantitative lubricating oil dripping is achieved;

step four: the walking driving mechanism is started, the sliding table slides left and right along the slide way, and the dropped lubricating oil is uniformly coated along the slide way in the sliding process to finish the lubrication.

7. The lubrication method for a robot according to claim 6, further comprising detecting a thickness of an oil film of the slide, the steps of:

s1, presetting a minimum threshold value of oil film thickness in the controller as H;

s2, the oil film thickness sensor transmits the measured data to the processing and analyzing module at intervals of T, the processing and analyzing module obtains the measured oil film thickness of H and compares the value of H with H, when H is smaller than H, the controller controls the lifting motor to start through the lifting motor driving module, the process of the second step is repeated, and the action of filling oil into the extrusion cylinder is automatically completed;

s3, controlling the cylinder to start through the cylinder driving module by the controller, repeating the three steps, and automatically finishing the action of quantitatively dripping oil to the slide way;

and S4, finally, the controller controls the walking motor to start through the walking motor driving module, and the process of the step four is repeated to automatically finish the action of uniformly coating.

Images