received by the International Bureau on 07 June 2019 (07.06.2019)

1 . System for interconnecting oil-lubricated kinematic modules, 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) to a closed circuit of an oil between interconnected kinematic modules (1), and 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 connection of the oil fills comprises an oil pump (3).

3. The system of interconnecting the oil-lubricated kinematic modules, mainly the industrial robot’s transmission or bearing modules according to claim 2, characterized by the fact that the pump (3) is attached to oil pushing to the upper kinematic module (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 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).

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) 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.

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) is located in an immobile part of the industrial robot.

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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 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).

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 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).

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 includes at least one diagnostic element (5) attached to an evaluation unit (6).

10. The system of interconnecting the oil-lubricated kinematic modules, mainly the industrial robot’s transmission or bearing modules according to claim 9, characterized by the fact that the diagnostic element (5) is the temperature sensor for the oil or pressure sensor for the oil or also the sensor of oil contamination.

11. The system of interconnecting the oil-lubricated kinematic modules, mainly the industrial robot’s transmission or bearing modules according to claim 9 or 10, characterized by the fact that the evaluation unit (6) is attached to the control system of the industrial robot.

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 the element (7) to add additives to the oil.

13. The system of interconnecting the oil-lubricated kinematic modules, mainly the industrial robot’s transmission or bearing modules according to claim 12, characterized by the fact that the element (7) to add additives to the oil is attached and controlled by the evaluation unit (6).

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 - 13,

19 characterized by the fact that all the oil charges of the kinematic modules (1) of the industrial robot are interconnected.

15. The system of interconnecting the oil-lubricated kinematic modules, mainly the industrial robot’s transmission or bearing modules according to any of claims 1 - 14, 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.

16. The system of interconnecting the oil-lubricated kinematic modules, mainly the industrial robot’s transmission or bearing modules according to any of claims 1 - 14, characterized by the fact that it is located on an outer part of the industrial robot’s structure.

17. The system of interconnecting the oil-lubricated kinematic modules, mainly the industrial robot’s transmission or bearing modules according to any of claims 1 - 14, 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.

18. The system of interconnecting the oil-lubricated kinematic modules, mainly the industrial robot’s transmission or bearing modules according to any of claims 1 - 17, characterized by the fact that it includes an oil tank (9) into which the line (2) from the lowest kinematic module (1) enters.

19. The system of interconnecting the oil-lubricated kinematic modules, mainly the industrial robot’s transmission or bearing modules according to claim 18, characterized by the fact that the filtration device (4) is engaged into the separated circuit with the oil tank (9).

20. The system of interconnecting the oil-lubricated kinematic modules, mainly the industrial robot’s transmission or bearing modules according to any of claims 7 - 19, 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

20 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).

21. The system of interconnecting the oil-lubricated kinematic modules, mainly the industrial robot’s transmission or bearing modules according to any of claims 1 - 20, characterized by the fact that the filtration device (4) includes a suction filter (12) for coarse mechanic impurities

22. The system of interconnecting the oil-lubricated kinematic modules, mainly the industrial robot’s transmission or bearing modules according to any of claims 1 - 21, characterized by the fact that it is fitted with a compensator (14) to balance pressure changes in the oil circuit.

23. The system of interconnecting the oil-lubricated kinematic modules, mainly the industrial robot’s transmission or bearing modules according to any of claims 1 - 22, characterized by the fact that there is the serial interconnection of at least two oil charges of the kinematic modules (1).

24. The system of interconnecting the oil-lubricated kinematic modules, mainly the industrial robot’s transmission or bearing modules according to any of claims 1 - 23, characterized by the fact that 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).

25. The system of interconnecting the oil-lubricated kinematic modules, mainly the industrial robot’s transmission or bearing modules according to any of claims 1 - 24, characterized by the fact that there is an element for oil heating or an element for oil cooling to achieve its required viscosity.

26. The industrial robot including the system based on any of claims 1 to 25.

27. 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.

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28. Method of lubrication of kinematic modules, mainly the industrial robot’s transmission or bearing modules according to the claim 27, characterized by the fact that 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. 29. Method of lubrication of kinematic modules, mainly the industrial robot’s transmission or bearing modules according to the claim 27 or 28, characterized by the fact that 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).

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