润滑科技信息平台

专利摘要

工业机器人不同轴上的至少两个运动模块(1)的含油量通过油路(2)连接到相互连接的运动模块(1)之间的油的闭合回路。在优选的布置中,该系统包括用于推动上部安装的运动模块(1)中的油的泵(3),以及用于过滤循环回路中的油的过滤装置(4)。油箱 (9)。该系统还可包括至少一个诊断元件(5),例如连接到评估单元(6)的油温传感器或油压传感器或油污染传感器。评估单元 (6) 可以与工业机器人控制系统互连,从而根据各个运动模块 (1) 的实际负载来控制和规划油耗。通过这种布置,您可以实现运动模块(1)的油与另一个运动模块(1)的油共享循环循环,而油通过过滤装置(4)通过使用泵 (3)。 ......

基本信息

专利类型:
发明专利
申请/专利号:
EP2018839538
申请日期:
2018-12-07
专利申请人:
分类号:
B25J19/00
发明/设计人:
ILECKO, LUBOMÍR
权利要求: 1. System for interconnecting oil-lubricated kinematic modules of an industrial robot, mainly those transmission or bearing modules of an industrial robot where each kinematic module (1) comprises an oil-filled box intended for lubricating or cooling the moving parts of the kinematic module (1), whereas the kinematic modules (1) are located in different axes of the industrial robot, characterized by the fact that the oil content of at least two kinematic modules (1) is connected by an oil line (2) so as to form a closed oil circuit between interconnected kinematic modules (1), that the system comprises an oil pump (3) and that the system includes a filtration device (4).2. The system of interconnecting the oil-lubricated kinematic modules, mainly the industrial robot's transmission or bearing modules according to claim 1, characterized by the fact that the pump (3) is attached to oil pushing to the upper kinematic module (1).3. The system of interconnecting the oil-lubricated kinematic modules, mainly the industrial robot's transmission or bearing modules according claim 1 or 2, characterized by the fact that the box of kinematic module (1) is fitted with the inlet of the oil line (2) and outlet of the oil line (2); the outlet of the oil line (2) is preferably located in the lower part of the kinematic module box (1).4. The system of interconnecting the oil-lubricated kinematic modules, mainly the industrial robot's transmission or bearing modules according to any of claims 1 to 3, characterized by the fact that the filtration device (4) includes a replaceable filtration element (8) and a bypass pressure valve; preferably it also includes a pressure sensor to measure a permeability of the filter, the filtration device (4) includes a suction filter (12) for coarse mechanic impurities and the filtration device (4) is located in an immobile part of the industrial robot.5. The system of interconnecting the oil-lubricated kinematic modules, mainly the industrial robot's transmission or bearing modules according to any of claims 1 to 4, characterized by the fact that the filtration device (4) is located within an operating range of the end arm of the industrial robot; the industrial robot is preferably fitted with an extension for service action on the filtration device (4).6. The system of interconnecting the oil-lubricated kinematic modules, mainly the industrial robot's transmission or bearing modules according to any of claims 1 to 5, characterized by the fact that the filtration device (4) includes at least two filtration elements (8) which are engaged in separated bypass branches to achieve possibility of connecting the flow of filtered oil via one filtration element (8).7. The system of interconnecting the oil-lubricated kinematic modules, mainly the industrial robot's transmission or bearing modules according to any of claims 1 to 6, characterized by the fact that it includes at least one diagnostic element (5) attached to an evaluation unit (6), the system includes an element (7) to add additives to the oil, the element (7) to add additives to the oil is attached and controlled by the evaluation unit (6), the diagnostic element (5) is the temperature sensor for the oil or pressure sensor for the oil or also the sensor of oil contamination and the evaluation unit (6) is attached to the control system of the industrial robot.8. The system of interconnecting the oil-lubricated kinematic modules, mainly the industrial robot's transmission or bearing modules according to any of claims 1 to 7, characterized by the fact that it is fitted with a compensator (14) to balance pressure changes in the oil circuit and all the oil charges of the kinematic modules (1) of the industrial robot are interconnected.9. The system of interconnecting the oil-lubricated kinematic modules, mainly the industrial robot's transmission or bearing modules according to any of claims 1 to 8, characterized by the fact that it is at least partially integrated into the inner part of the industrial robot's structure; preferable line (2) passes within the inside of the industrial robot's arms, or the system is located on an outer part of the industrial robot's structure.10. The system of interconnecting the oil-lubricated kinematic modules, mainly the industrial robot's transmission or bearing modules according to any of claims 1 to 9, characterized by the fact that there are oil charges of three kinematic modules (1) of the six-axis industrial robot for axes 4, 5 and 6 interconnected, whereas the pump (3) and the filtration device (4) are located inside or outside of the industrial robot's structure.11. The system of interconnecting the oil-lubricated kinematic modules, mainly the industrial robot's transmission or bearing modules according to any of claims 1 to 10, characterized by the fact that it includes an oil tank (9) into which the line (2) from the lowest kinematic module (1) enters, and the filtration device (4) is engaged into the separated circuit with the oil tank (9).12. The system of interconnecting the oil-lubricated kinematic modules, mainly the industrial robot's transmission or bearing modules according to any of claims 1 to 11, characterized by the fact that it includes a reservoir with the new oil (10) with the volume corresponding at least with the overall volume of interconnected oil charges of kinematic modules (1); it also includes a discharge vessel (11) of used oil with the volume corresponding at least with the value according to the overall volume of interconnected oil charges of kinematic modules (1), whereas the reservoir (10) with the new oil and the discharge vessel (11) are engaged in the oil circulation of interconnected kinematic modules (1) through the valves controlled by the evaluation unit (6).13. The system of interconnecting the oil-lubricated kinematic modules, mainly the industrial robot's transmission or bearing modules according to any of claims 1 to 12, characterized by the fact that there is the serial interconnection of at least two oil charges of the kinematic modules (1) or interconnection of at least two oil charges of the kinematic modules (1) is parallel, whereas the line (2) leading to one kinematic module (1) is engaged to the circuit via three-way valve (13).14. The system of interconnecting the oil-lubricated kinematic modules, mainly the industrial robot's transmission or bearing modules according to any of claims 1 to 13, characterized by the fact that there is an element for oil heating or an element for oil cooling to achieve its required viscosity.15. A method of lubrication of kinematic modules, mainly industrial robot's transmission or bearing modules where the kinematic module (1) comprises an oil-filled box intended for lubricating or cooling the moving parts of the kinematic module (1), whereas the kinematic modules (1) are located in different axes of the industrial robot, characterized by the fact that an oil of the kinematic module (1) with a separated pump (3) is being pushed through a filtration device (4) during an operation of the industrial robot, the oil of one kinematic module (1) circulates in a shared circuit with the oil coming from another kinematic module (1) while the industrial robot is being operated, and flow of the oil through the pump (3) changes into the level of achievement of dynamic effect of impurity flush in the kinematic module (1).