WO2017183013A2

WO2017183013A2 - Sliding bearing arrangement with solid lubricant

Info

Publication number: WO2017183013A2
Application number: PCT/IB2017/053504
Authority: WO
Inventors: Michael Döring
Original assignee: Revobotik Gmbh
Priority date: 2016-04-22
Filing date: 2017-06-13
Publication date: 2017-10-26
Also published as: WO2017183013A3; DE102016107542A1

Abstract

The invention relates to a sliding bearing arrangement having at least two sliding partners that can move relative to one another, and comprising a solid lubricant element, wherein at least one of the sliding partners can move relative to the solid lubricant element and wherein means are provided to force the solid lubricant element against the at least one sliding partner that can move relative to the solid lubricant element.

Description

Gleitlageranordnung mit Festkörperschmierstoff The invention relates to a slide bearing assembly for the storage of relatively moving components, which meets high demands on force load and rotational speed. Here it is a requirement to dispense with liquid or pasty lubricant in order to avoid contamination of the storage, adjacent components and products and to be able to do without relubrication as possible. In addition, the solid lubricants used should be suitable for contact with food.

Already known are cylindrical or general ceramic bearings, e.g. Ceramic bearing in combination with elastic material for damping of impacts and compensation of tolerances, ceramic bearing with embedded solid lubricant, bearing with ceramic coating.

In robots, especially delta robots, spherical plain bearings are usually used in dry running. Usually, metallic balls are used which interact with a softer sliding partner, which usually consists of plastic. Spherical plain bearings are also known in robots which use ceramic balls, as it were in combination with plastics or other sliding partners having a significantly lower hardness (for example a material hardness of less than 900 HV).

The bearings used here have a low load capacity against forces and sliding speeds. But both are equally important for High-speed applications, as the joint loads increase with increasing robot speed, bearing forces generally square, sliding speeds usually linear. Also problematic in the prior art is the simultaneous fulfillment of requirements for suitability for contact and mixing with food. High load bearing materials are generally unsuitable for this purpose. Most plain bearings were designed for cylindrical operation. Again, mostly metallic waves and mostly softer sliding partners are used for dry running. This is especially true for the food contact applications. The plastic sliding bearings used have the disadvantage that the load capacity decreases with the sliding speed and thus can not be present at the same time high forces and high sliding speeds.

Also, the sliding partner previously referred to as softer may consist of a combination of a solid state lubricant (e.g., PTFE) and an open cell material (e.g., metal, ceramic) or open-pore material (e.g., tissue).

The design of a sliding partner of a metallic material in combination with a softer, mostly plastic-based mating body is relatively easy to manufacture, however, has the disadvantage that the plastic heats up especially at high loads and high effective speeds and thus quickly wears , The same applies to the production or coatings of other thermally sensitive solid lubricants.

As can be seen in the prior art, the execution of a cylindrical bearing or a cylindrical bearing assembly made of ceramic materials as it is problematic, since tolerances and deformations can lead to unfavorable loading of the ceramic bearing part. In general, plain bearing combinations with ceramic materials without additional lubricant have the disadvantage that the coefficient of friction in dry running assumes high values. This problem has already been addressed in the prior art, using solid lubricants, which are usually not suitable for contact with food (eg graphite).

The object of the invention is to provide a sliding bearing assembly in which the above-mentioned disadvantages are at least partially eliminated.

The object is achieved by a sliding bearing assembly according to claim 1. Advantageous developments are defined in the dependent claims.

According to the invention, a sliding bearing arrangement with at least two sliding partners, which are movable relative to one another, is thus provided, having a solid lubricant element, wherein at least one of the sliding partners is movable relative to the solid lubricant element and wherein means are provided for the solid lubricant element against the at least one of the solid lubricant element to press movable sliding partner.

In the invention, therefore, a solid lubrication is realized, in which a solid lubricant element is pressed onto the at least one moving sliding partner. By this pressing permanently solid lubricant from the solid lubricant element is abraded and provided for lubrication of the sliding partners or their surfaces rubbing against each other. The sliding bearing arrangement can be carried out so maintenance-free, because it is permanently and evenly lubricated by the pressing of solid lubricant. The sliding bearing assembly according to the invention can thus be operated in dry running, ie without lubrication with liquid or pasty substances. Thus, the invention comprises the separate supply of a solid lubricant, which is supplied either directly to a sliding surface or in the interior of a sliding bearing assembly so that the sliding surface is wetted with the solid lubricant.

This means that at least 90% of the operating load can be absorbed by the sliding partners. The solid lubricant element does not or does not contribute significantly to absorbing the operating load. As an operating load, an external load acting on the slide bearing assembly is described that does not serve the internal function of the slide bearing assembly (the internal function is, for example, the cohesion of the bearing).

As a solid lubricant, the material polytetrafluoroethylene (PTFE) is preferred because of its suitability for use in food processing and its good sliding properties.

Each sliding partner comprises a sliding surface which is designed to slide on a sliding surface of another sliding partner during operation.

The relative to each other and relative to the solid lubricant element movable sliding partner can be rotatably movable and / or be pivotally movable. Thus, according to the invention, it may in particular be a rotary bearing arrangement or a pivot bearing arrangement.

Furthermore, a sliding partner may comprise a portion or a separate element that is not slidably configured. This may be, for example, a shaft or a shaft section on which the sliding surface is arranged. The solid lubricant element is an element that provides lubricant in the form of abrasion caused by friction of the solid lubricant element on a surface. The means may comprise: a feed device which is designed to receive the solid lubricant element, wherein the at least one sliding partner rotatable relative to the solid lubricant element is movable relative to the feed device. The sliding partners can at least partially define a space in which the solid lubricant element is at least partially disposed and which is suitable for collecting solid lubricant abrasion.

The solid lubricant element can be arranged at least partially in one of the sliding partners and configured to deliver solid lubricant abrasion directly to a sliding surface of another sliding partner.

At least one of the sliding partners may be an outer sliding partner and be formed as an outer bearing ring.

The feed device can be rigidly connected to the outer sliding partner and / or to a bearing housing.

One of the sliding partners can be an inner sliding partner and have a spherical sliding element.

The inner sliding partner may have a shaft portion that is rotatable relative to the outer sliding partner. The solid lubricant element is advantageously a food-compatible element, so does not affect the quality and compatibility of food. One of the sliding partners can be designed geometrically deformable in order to avoid a radial strain of the sliding bearing assembly - with minimal operating clearance and at the same time maximum contact of the sliding surfaces to each other.

The sliding bearing arrangement may further comprise provisions for sealing the Gleitla- geranordnung against leakage of solid lubricant.

The sliding bearing arrangement can be designed to be used in a robot, in particular in a parallel kinematic system, in particular in delta robots.

Such robots find particular application in food processing.

At least one of the sliding partners may have a sliding surface which is provided with a surface structure which promotes the wetting with solid lubricant. Such a structure comprises in particular in the bearing gap leading grooves.

Specifically, the slide bearing assembly may comprise two pairs of sliding partners, each pair each having a sliding partner having a spherical sliding member, and wherein the pairs of sliding bearings are braced against each other. A further development of the invention comprises a slide bearing arrangement in which at least one sliding partner, preferably all sliding partners, consist of ceramic materials or of other materials with a surface hardness of> 900 HV and which is operated in dry operation.

According to a further advantageous embodiment of the invention, one of the sliding partners is designed geometrically deformable in order to avoid a radial strain that could lead to failure of the bearing. Preferably, this sliding partner may be the annular outer sliding partner. To achieve such elasticity, the opening of the annular element is proposed. In addition, it is proposed to form the receptacle of the annular element in such a way that the deformation of the annular element is permitted (for example by a slight clearance fit).

However, this can also be achieved by other measures, e.g. by an increased operating clearance, provided that the reduced surface contact between the sliding partners is acceptable. Ceramic or comparable bearing materials offer the possibility of reducing this wear and at the same time keeping the friction losses low when the solid-state lubrication designed according to the invention is used. The solid lubricant element may be made of a different material than the at least two sliding partners on their contact surface.

At least one sliding partner may consist of ceramic materials with a surface hardness greater than 900HV. The slide bearing assembly may be suitable for use in forearms of delta robots, with two forearms each with two spherical bearings are clamped with tools. It is particularly advantageous if materials are selected for the sliding partners and the solid lubricant of the sliding bearing arrangement which are approved for use in the food, animal feed or pharmaceutical industries, ie are compatible with foods, feedstuffs and / or pharmaceuticals. Then, wetting or mixing with the product or product surface to be processed during operation of the slide bearing assembly can be tolerated.

In the sliding bearing assembly according to the invention, at least 90% of the operating load can be absorbed by the sliding partners. This means that the solid lubricant element contributes only insignificantly to absorb the operating load. This results from the fact that the solid lubricant element does not form a running surface of one or more sliding partners.

Thus, by the invention or the developments of the invention, a sliding bearing arrangement is provided, which enables low-pollution and low-maintenance operation in dry running, can be carried out with low backlash, has a low coefficient of friction and at the same time high loads due to bearing forces and high sliding speeds can endure.

The invention will be described in more detail with reference to embodiments and the drawing. In the drawing shows

1 shows a first embodiment of the invention,

2 shows a second embodiment of the invention,

3 shows a third embodiment of the invention,

4 shows a fourth embodiment of the invention,

5 shows a detail of the embodiment of FIG. 4,

6 a rotation by a form element, 7 a rotation in axial alignment,

8 an anti-rotation lock on the outer sliding partner,

9 shows an anti-rotation using a formula element of the bearing housing,

10 shows a measure for game reduction,

11 is a disc or annular solid lubricant element,

12 a chamfer on the outer bearing ring,

13 shows a supply of the solid lubricant laterally to the outer sliding partner,

Heine axial supply of solid lubricant into the contact surface between the sliding partners and

Fig. 15 is a radial feed of the solid lubricant in the contact surface between the sliding partners. For all embodiments and variants of the invention is that at least one of the sliding, preferably both, made of ceramic material or at least of other materials with a surface hardness greater than 900 HV. The sliding partners are operated in dry running. As a solid lubricant element 8 or solid lubricant in particular PTFE is used, which is also considered food compatible. The solid lubricant element 8 is thus an element which provides lubricant due to abrasion.

Because the plain bearings described preferably allow rotational movements, the term "movable" in the following especially the variant "rotatably moveable". But also pivotally movable arrangements are included.

Fig. 1 shows a sliding bearing assembly according to the first embodiment of the invention for a cylindrical bearing assembly. There are two pairs of sliding partners 1; 2, 3 present, in each case as an outer sliding an outer bearing ring 1, which is fixedly mounted on the bearing housing 6, and as an inner sliding partner in each case a portion of the shaft 2. The inner sliding partner 2 also includes a Section that is not sliding with respect to the outer sliding partner 1. The solid lubricant element 8 is pressed by means 4 against the inner sliding partner, so the shaft 2. The space 7, in which the solid lubricant element 8 is located at least partially, is defined by the sliding partners and by the bearing housing 6, which surrounds at least the sliding partners. The means 4 comprise a feed device, which is arranged centrally with respect to the two outer bearing rings 1 and is rigidly connected to the bearing housing 6. The means 4 are designed to exert a force Fz on the solid lubricant element 8, so that the solid lubricant element 8 is permanently pressed against the shaft 2. Due to the friction during the rotation of the shaft 2, abrasion is produced on the solid lubricant element 8, which collects in the space 7, wets the sliding surfaces of the sliding partners and thus ensures their permanent lubrication. To provide the force Fz, the means 4 may have a spring element, which acts in a radial direction relative to the sliding partner 2, that is to say the shaft 2 or its axis of rotation.

2 shows a cylindrical sliding bearing arrangement according to the second embodiment of the invention. This sliding bearing arrangement comprises two pairs of sliding partners 1, 3. The sliding bearing arrangement acts with respect to that of FIG. 1 angle-compensating and is thus less susceptible to tension within the sliding bearing assembly. The inner sliding partners here have spherical sliding elements 3, which are arranged on the shaft 2 at a predetermined axial distance from each other. The means 4 are configured similarly to the first embodiment, but they are each arranged in the outer bearing rings 1 and give the lubricant directly to the sliding surface of the sliding part 3 from.

By forces Fv, which act axially to the shaft 2 and whose axis of rotation on the outer sliding partner, the sliding partners are held axially in position to each other. The arrangement of the means can be used in the same way in a spherical arrangement according to FIG. 3 or FIG. 4.

Fig. 3 shows a third embodiment of the invention, a spherical Gleitla- geranordnung in which the inner sliding partner 3 is spherical and the outer sliding partner is formed by two bearing rings 1. The inner sliding partner 3 is seated on the shaft 2. The space 7 is bounded by the two bearing rings 1, the spherical inner sliding partner 3 and the bearing housing 6. The solid lubricant element 8 is fed into the space 7 between the two bearing rings 1, directly on the sliding surface of the inner sliding partner 3. The forces Fv and Fz act as previously described.

Fig. 4 shows as a fourth embodiment schematically a e.g. Sliding bearing arrangement used in delta robots for the lower arms (without forearm bracing and sketch of the lower arms, which are connected to the outer bearing mountings of bearing ring 1). Here, the arrangement shown in Fig. 3 with double inner sliding element is carried out with separate supply of each of a solid lubricant element 8 for each pair of sliding partners. Again, the solid lubricant element 8 is fed directly to the sliding surface of the inner Gleit- partners 3 in the space 7 between the bearing ring 1 and the bearing housing 6. The forces Fv and Fz act in turn as previously described.

The slide bearing arrangement according to FIG. 4 has as a particularly preferred field of application robots, in particular parallel robots and in particular delta robots. These robots achieve high travel speeds and have a performance-critical point, in particular at the spherical joints. Especially at high speeds and in the ratio of large moving masses or resulting high joint forces due to a low load capacity of the bearings, the maximum achievable speed can not be achieved or is associated with premature wear of the bearings. FIG. 5 shows by way of example a possibility for allowing a deformability of the annular sliding partner 1. As a result, a radial tension of the slide bearing assembly can be avoided, which could lead to failure of the bearing. The left-hand illustration shows in simplified form the bearing arrangement of FIG. 4, the right-hand illustration shows the sectional view AA. Here, the outer sliding partner, so here the bearing ring 1, separated at a point 5, so that it can deform geometrically during operation. This point 5 can at the same time include or form the feed device 4. This is not illustrated in FIG. 5. Preferably, the bearing ring 1 is installed so that a securing element is used to prevent rotation.

All embodiments may include provisions for sealing the slide bearing against leakage of solid lubricant to the outside of the slide bearing assembly.

Also, in all embodiments at least one of the sliding partners may have a sliding surface which is provided with a surface structure which promotes wetting with solid lubricant, in particular grooves leading into the bearing gap.

In the embodiment with two hard sliding partners and separate solid-state lubrication can further advantageously one of the hard sliding partners 1, 2, 3 are designed so that it can accommodate mainly disturbing thermal deformations. Since the sliding partners preferably, but not exclusively, run against each other without play, compensation should be made elsewhere. This can have the consequence that prevails between the outer sliding partner 1 and the bearing housing 6 game or a frictional connection. Since turning the outer sliding partner (bearing ring) 1 relative to the bearing housing 6 in operation is not desirable (this would lead to unwanted abrasion and failure of storage), a rotation can be provided. This rotation can be introduced at the point 5 or at any other location. The rotation should be as simple as possible, since the storage is often used per robot application and not interfere with the disassembly of the storage. The latter means that without zus. Tool, the rotation should be solved during disassembly. In Fig. 6, this rotation is performed by a securing element 9, for example a bolt or other form of element which projects radially into the separated ring point 5 on the outer sliding (bearing ring) 1 so that no angular rotation between the outer sliding ( Bearing ring) 1 and the bearing housing 6 can adjust. Here, the mold element itself is introduced radially to the outer sliding partner (bearing ring) 1 (see right figure).

Another preferred embodiment is the introduction of the securing element 9 in axial alignment between the outer sliding partner (bearing ring) 1 and the bearing housing, see. In this way, a significantly larger contact area can be achieved with the same cross-sectional area of the securing element, since the securing element can be executed over the entire width of the bearing.

In FIG. 8, this anti-twist device 9 is embodied by an additional form element on the outer sliding partner (bearing ring) 1, which overlaps the bearing housing 6 in such a form-fitting manner that no rotation can take place between the outer sliding partner (bearing ring) 1 and the bearing housing 6. This feature has the advantage that no additional component must be provided, the bearing is removable and, as in FIG. 7, there is a large contact surface between the outer sliding partner (bearing ring) 1 and the bearing housing 6. If the shape of the outer sliding partner (bearing ring) 1 should be kept as simple as possible, which is particularly interesting in a realization of ceramic, the reverse expression using a shaped element of the bearing housing 6 can be provided as anti-rotation 9. This is shown in FIG. 9.

In conjunction with FIG. 10, a measure for reducing the play between outer sliding partner (bearing ring) 1 and bearing housing 6 will be described. Since the outer sliding partner (bearing ring) 1 should be interchangeable and the thermal expansion of the sliding is not included between outer sliding partner (bearing ring) 1 and inner sliding partner (bearing ball) 3 when heated, can, preferably between the outer sliding (bearing ring) 1 and the Bearing housing 6, a compensation of these deformations are added. Here the requirements can be as follows:

no reduction in the load capacity of the overall storage,

high residual stiffness of the overall storage,

Play arms or play-free design.

In the simplest case, a clearance between the outer sliding partner (bearing ring) 1 and the bearing housing 6 is selected such that at a given heating no distortion of storage, ie between outer sliding (bearing ring) 1 and inner sliding (bearing ball) 3 may arise. Consequently, a game is provided, but this can be disturbing in robot operation and due to the changing load directions in robot operation can lead to micro-movements between outer sliding (bearing ring) 1 and bearing housing 6. This can adversely affect the fit between the outer sliding partner (bearing ring) 1 and bearing housing 6 by wear and even wear foreign abrasion in the storage, which can lead to failure of storage. For this reason, one or more elastic members 12 between outer sliding partner (bearing ring) 1 and bearing housing 6 are proposed to prevent this. Here, on the one hand, one or more rings made of a soft elastically deformable material are proposed (eg rubber, silicone, PTFE), the Insertion of the outer sliding partner (bearing ring) 1 are deformed and cause a tension of the game between outer sliding partner (bearing ring) 1 and bearing housing 6. This can be done for example by an inserted in the bearing housing 6 circumferential groove 13, in which an O-ring is used. Furthermore, this elastic ring could also be achieved by, for example, metallic materials (possibly also carbon) are used. In this case, according to the invention, this ring can also consist of deformable partial elements which are positioned on the circumference. In addition to a soft, elastically easily deformable material, harder materials (eg metallic material, carbon materials) can be used to form a similarly elastic ring or segments (in analogy to a metal bellows). The shape must be adapted to the stiffness requirement.

In the following, an embodiment of the lubricant supply is proposed.

In Fig. 11 is exemplified for a spherical bearing means of a disc or annular element of solid lubricant 7, which has at least in its outer regions in contact with the inner or outer sliding and is fixed in the bearing housing 6, the lubrication produced. Since there is no relative movement between the outer sliding partner (bearing ring) 1 and the bearing housing 6, such will be present between the element 8 and the inner sliding partner and lead to abrasion of solid lubricant. This abrasion should be performed for the appropriate lubrication in the sliding contact between the two hard sliding partners 1 and 3. For this purpose, it is advantageous if a pivoting movement is present in such a way that particles of solid lubricant on the ball are taken along solely by this pivoting movement and are carried in the sliding contact between the outer sliding partner (bearing ring) 1 and the inner sliding partner (bearing ball) 3. For this purpose, the smallest possible distance between the contact surface between the outer sliding partner (bearing ring) 1 and the inner sliding partner (bearing ball) 3 and between the inner sliding partner (bearing). gerkugel) 3 and the solid lubricant element 8 proposed, which is designed so that during operation at least a covering of the abraded on the ball friction surface between the outer sliding partner (bearing ring) 1 and the inner sliding partner (bearing ball) 3 and the inner sliding partner (bearing ball). 3 and the solid lubricant element 8 is enabled.

Advantageously, the feed is selected from a solid lubricant with very good lubricating properties. In this case, for example, PTFE can be used or corresponding other solid lubricants. If a solid-state lubricant with a creeping, ie, material that is not significantly elastic over the exposure time of a load, high lubricant entry into the contact surface between the outer sliding partner (bearing ring) 1 and the inner sliding partner (bearing ball) 3 can be realized even with small pivoting angles become. For this purpose, the solid lubricant element 8 has an outer diameter, which is only slightly smaller than the smallest inner diameter of the inner sliding partner (bearing ring) 3, compared with the outer sliding partner 3. Thus, a high coverage of the surface of one of the sliding partners with the surface of the sliding contact in contact therewith Solid lubricant element reaches, but also due to the creeping behavior of the solid lubricant a seal between the solid lubricant element 8 and the outer sliding 1. This can be achieved by deformation of the solid lubricant and Festkörperschmierstoffabrieb a lubricant pressure into the contact surface of the sliding. Abrasion is thereby not squeezed out of storage or carried, but passed into the contact surface. This behavior can be further improved if there are 1 form elements on the outer sliding partner (bearing ring), which support the line into the contact surface. In Fig. 12, by way of example, a chamfer is proposed which causes an inner space 11 in which, on the one hand, lubricant collects, but is pressed in by the tapering gap and the established lubricant pressure. In addition, the load due to lubricant pressure on the Sealing between the outer sliding partner (bearing ring) 1 and the solid lubricant element 8 is reduced, which improves the function of the seal. As a result, a higher pressure can be built up following, which improves the function of the lubricant supply.

An expression with a similar improved lubrication mechanism by a (creepable) solid lubricant can be achieved in one embodiment according to FIG. 13. For this purpose, the annular solid lubricant element 8 is laterally axially pressed against the outer sliding partner (bearing ring) 1 that a lubricant pressure in the contact surface of the sliding is achieved by the plastic deformation of the solid lubricant element 8 and the abrasion due to the relative movement to the inner sliding partner. In turn, it is particularly advantageous if at least on the outer sliding partner a molding element is provided which guides the deforming solid lubricant element and its abrasion into the contact zone.

Another possibility of feeding solid lubricant into the contact surface between the sliding partners is shown in FIG. 14. At the outer sliding partner 1 is a mold element 14 in such a way that a portion of the contact surface of the sliding on the inner sliding partner 2 is accessible. In this section of the contact surface, a solid lubricant element 8 is pressed by means of a feed device 4 on the surface of the inner sliding partner 2 axially to the outer sliding partner 1 (and inner sliding partner 2). The relative movement between the inner sliding partner 2 and the outer sliding partner 1 and a relative movement between the solid lubricant element 8 and the inner sliding partner 2 produces abrasion on the solid lubricant element, which is carried directly into the contact surface of the sliding partners. This especially if there is a significant rotational movement of the storage. Yet another possibility of feeding solid lubricant into the contact surface between the sliding partners is shown in FIG. Here is the Feeding the solid lubricant 8 by means of feed device 4 similar to FIG. 4 in the radial direction to the outer sliding partner (and inner sliding partner 2), but through the contact surface. LIST OF REFERENCE NUMBERS

1 outer sliding partner, especially bearing ring

2 inner sliding partner, especially bearing shaft

3 inner sliding partner, especially bearing ball

4 pressing means, feeding device

5 split ring point

6 bearing housing

7 space (lubricating space)

8 solid lubricant element

9 securing element, anti-twist device

11 gap

12 elastic element (s)

13 (circumferential) groove

14 mold element

A-A cutting line

Fz radial contact force

Fv axial force

Claims

claims

1. Sliding bearing arrangement with at least two sliding partners (1, 2, 3) which are movable relative to one another, comprising a solid lubricant element (8), wherein at least one of the sliding partners is movable relative to the solid lubricant element (8) and wherein means (4) are provided for pressing the solid lubricant element (8) against the at least one sliding partner (1, 2, 3) which is movable relative to the solid lubricant element (8).

2. Slide bearing assembly according to claim 1, wherein the means (4) comprises: a feed device (4) which is adapted to receive the solid lubricant element, wherein the at least one to the solid lubricant element (8) rotatable sliding partner (1, 2, 3) relative to the Feeding device (4) is movable borrowed.

3. Sliding bearing arrangement according to one of the preceding claims, wherein the sliding partners at least partially define a space (7) in which the solid lubricant element (8) is at least partially arranged and which for collecting Festkörperschmierstoffabrieb and for returning the Festkörperschmierstoffabriebs on at least one of the sliding partners (1 ; 2, 3) is suitable.

4 slide bearing assembly according to one of the preceding claims, wherein the solid lubricant element (8) is at least partially disposed in one of the sliding partner (1) and configured to give Festkörperschmierstoffabrieb directly to a sliding surface of another sliding partner (2, 3).

5. Sliding bearing arrangement according to one of the preceding claims, wherein one of the sliding partners (1) is an outer sliding partner and is formed as an outer bearing ring (1).

6. Sliding bearing arrangement according to one of the preceding claims, wherein the feed device (4) with an outer sliding partner (1) and / or with a bearing housing (6) of the slide bearing assembly is rigidly connected.

7. Sliding bearing arrangement according to one of the preceding claims, wherein at least one of the sliding partners is made geometrically deformable.

8. Slide bearing assembly according to one of the preceding claims, further comprising: provisions for sealing the slide bearing assembly against leakage of solid lubricant to the outside of the slide bearing assembly.

9. Sliding bearing arrangement according to one of the preceding claims, wherein at least one of the sliding partners (1, 2, 3) has a sliding surface, which is provided with a surface structure which favors the wetting with solid lubricant, especially in the bearing gap leading grooves.

10. Sliding bearing arrangement according to one of the preceding claims, wherein at least one of the sliding partners is made of ceramic materials.

11. Sliding bearing arrangement according to one of the preceding claims, wherein each sliding partner (1; 2, 3) comprises a sliding surface which is designed to slide during operation on a sliding surface of the respective other sliding partner and wherein the relative to each other and relative to the solid lubricant element (8) movable sliding partner (1, 2, 3) to be rotatably movable and / or pivotally movable.

12. Sliding bearing arrangement according to one of the preceding claims, wherein the solid lubricant element (8) is made of a different material than the at least two sliding partners (1, 2, 3) on their contact surface.

13. Sliding bearing arrangement according to one of the preceding claims, wherein at least one sliding partner made of ceramic materials having a surface hardness greater than 900HV.

14. Sliding bearing arrangement according to one of the preceding claims, for use in forearms of delta robots, wherein in each case two lower arms, each with two spherical bearings are braced with aids.

15. Sliding bearing arrangement according to one of the preceding claims, wherein the sliding partner and the solid lubricant are suitable for use in the food or pharmaceutical industry, such that wetting or mixing with the product or product surface to be processed is possible.

16. Sliding bearing arrangement according to one of the preceding claims, wherein at least 90% of the operating load are absorbed by the sliding partners.

17. Sliding bearing arrangement according to one of the preceding claims, wherein an anti-rotation device (9) is provided, which prevents there is a rotation between the outer sliding partner (1) and a bearing housing (6).

18. Sliding bearing arrangement according to one of the claims, wherein the means (4) are configured to supply the solid lubricant (8) through an opening in the contact surface between the inner and outer sliding partners in such a way that the supply takes place radially to the outer sliding partner.

19. Sliding bearing arrangement according to one of the claims, wherein the means (4) are configured to supply the solid lubricant (8) through an opening in the contact surface between the inner and outer sliding partners in such a way that the supply takes place axially to the outer sliding partner.