CN-122008175-A - Linear module device and charging robot

CN122008175ACN 122008175 ACN122008175 ACN 122008175ACN-122008175-A

Abstract

The invention discloses a linear module device and a charging robot, which comprise a sliding rail mounting seat, an end cylinder, a linear driving assembly and a linear driving assembly, wherein the sliding rail mounting seat extends from a first end to a second end in a linear direction, a wiring channel extending from the first end to the second end is arranged in the sliding rail mounting seat, a sliding rail extending from the first end to the second end is arranged outside the sliding rail mounting seat, the end cylinder is sleeved on the sliding rail mounting seat, a sliding block assembled on the sliding rail is arranged in the end cylinder, and the linear driving assembly is used for driving the end cylinder to reciprocate along the sliding rail. The device adopts the hollow structural design, namely, the through wiring channel is arranged inside the sliding rail mounting seat and is used as a central cable channel, so that the cable of the tail end module can be arranged at the structural center of the linear module device, the wire harness is effectively guided and protected, the bias of the inner wire harness is avoided, the abrasion of an insulating layer and the exposure of copper wires caused by the scratch surface in continuous movement are prevented, the short circuit risk is further caused, the smooth movement is ensured, the electric wires are protected from being damaged, and the smooth movement and the electrical safety are considered.

Inventors

WEN HAOQUAN
ZHANG JIAHAO
LEI QUN
TANG XIUQING
HAN SHOULEI
CHEN TING
LI TIANYI
Ling Jiubao
LIAO SHILIANG
LIN WEI
HUANG BIN
LIN RONGYU

Assignees

广州市昊志机器人有限公司
广州市昊志机电股份有限公司

Dates

Publication Date: 20260512
Application Date: 20260206

Claims (10)

1. A linear modular device comprising: the sliding rail installation seat extends from a first end to a second end along a linear direction, a wiring channel extending from the first end to the second end is arranged inside the sliding rail installation seat, and a sliding rail extending from the first end to the second end is arranged outside the sliding rail installation seat; The end cylinder is sleeved on the sliding rail mounting seat, and a sliding block assembled on the sliding rail is arranged in the end cylinder; and the linear driving assembly is used for driving the end cylinder to reciprocate along the sliding rail.
2. The linear module device of claim 1, wherein the rail mount forms a notch above the routing channel, and the rail mount forms a wire-receiving slot through the notch.
3. The linear module device according to claim 2, wherein the sliding rail comprises a first sliding rail arranged on the outer side of the front part of the wire containing groove and a second sliding rail arranged on the outer side of the rear part of the wire containing groove, a first conveying plate is arranged on the outer side of the front part of the sliding rail mounting seat in the end cylinder, a second conveying plate is arranged on the outer side of the rear part of the sliding rail mounting seat, a first sliding block matched with the first sliding rail is arranged on the first conveying plate, and a second sliding block matched with the second sliding rail is arranged on the second conveying plate.
4. The linear module device according to claim 3, wherein the linear driving assembly comprises a screw rod arranged at the bottom of the sliding rail mounting seat and a screw rod nut assembled on the screw rod, a first fixing seat is arranged at the first end of the sliding rail mounting seat, a second fixing seat is arranged at the second end of the sliding rail mounting seat, a first wire passing hole communicated with the wire passing channel is formed in the first fixing seat, a second wire passing hole communicated with the wire passing channel is formed in the second fixing seat, two ends of the screw rod are installed on the first fixing seat and the second fixing seat through bearings, and the first conveying plate and the second conveying plate extend to two sides of the screw rod nut and are connected with the screw rod nut.
5. The linear module device according to claim 4, wherein the end barrel is sleeved on the sliding rail mounting seat by a second end, an end seat is arranged at the end part of the end barrel outside the second fixing seat, a spool passing sleeve is arranged on the end seat, and the spool passing sleeve extends into the wiring channel through the second wire passing hole.
6. The linear module device according to claim 4, wherein the first fixing base is provided with a wire binding assembly, the wire binding assembly comprises a wire binding base and a wire binding belt, the wire binding base is mounted on the first fixing base and extends into the wire channel through the first wire passing hole, a third wire passing hole is formed in the wire binding base, the wire binding base is provided with a wire passing separation part crossing the third wire passing hole, and the wire binding belt comprises a first wire binding belt used for binding a wire on one side of the wire passing separation part and a second wire binding belt used for binding the wire on the other side of the wire passing separation part.
7. The linear module device according to claim 4, wherein the first fixing seat extends to the lower side of the sliding rail mounting seat to form a motor mounting seat, a motor is arranged on the motor mounting seat, a driving gear is arranged at the output end of the motor, a driven gear is arranged at the end part of the screw rod, the driving gear is in transmission fit with the driven gear through an idler gear, and an encoder is arranged on the motor.
8. The linear module assembly of claim 4 wherein a rear cover is provided on a rear side of the first mount, the first mount being connected to the rear cover, the linear module assembly further comprising a pitch mechanism connected to the rear cover for adjusting a pitch angle of the rear cover.
9. The linear module device according to claim 8, wherein the pitching mechanism comprises a connecting disc, a linkage rod and a pitching adjusting assembly, the connecting disc is provided with a rear cover connecting seat extending downwards, the rear cover is hinged to the rear cover connecting seat through a pin shaft, the pitching adjusting assembly comprises a mounting plate, a screw rod perpendicular to the pin shaft and rotatably mounted to the mounting plate, a moving block assembled to the screw rod and an adjusting wheel arranged at the end of the screw rod, the mounting plate is connected to the connecting disc, one end of the linkage rod is hinged to the rear cover, the other end of the linkage rod is hinged to the moving block, a fourth wire passing hole is formed in the position, corresponding to the second wire passing hole, of the rear cover, a fifth wire passing hole is formed in the connecting disc, and a routing hose is arranged between the fifth wire passing hole and the fourth wire passing hole.
10. A charging robot comprising the linear module device according to any one of claims 1 to 9.

Description

Linear module device and charging robot Technical Field The invention is used in the field of robots, and particularly relates to a linear module device and a charging robot. Background In recent years, as the application scene of robots becomes more complex, the requirement for the degree of freedom is also increasing. In situations where the spatial layout is limited, the use of a low-axis robot (e.g., a four-axis structure) has generally been able to meet basic movement requirements because the movement path itself is not complex. However, with limited degrees of freedom, such robots often have difficulty achieving certain specific intended actions. If a general six-axis or seven-axis robot is directly selected to deal with the working conditions, the flexibility problem can be solved, but the equipment cost can be obviously increased, meanwhile, the marginal benefit is gradually decreased along with the increase of the number of axes, and the robot with low number of axes is possibly even inferior to the robot with low number of axes in the key performance indexes such as rigidity, repeated positioning precision and the like. Therefore, how to achieve the required exercise function with limited degrees of freedom and balance among speed, precision, cost and usability has become a key challenge in practical application. At present, most enterprises adopt a strategy of adding one to two auxiliary motion axes on the basis of a four-axis robot body structure. Through the limited enhancement mode, the inherent advantages of the low-axis number mechanism in the aspects of rigidity, precision and economy are reserved, and efficient and accurate adaptation to specific tasks is realized by means of specialized and customized shafting configuration, so that effective balance between comprehensive performance and specialized degree is achieved. However, in the prior art, the auxiliary movement shaft is limited by the arrangement of the internal transmission mechanism, so that the cable is exposed, and the insulation layer is easily worn and the copper wires are exposed due to the scratch of the surface in the continuous movement, thereby causing the risk of short circuit. In addition, the existing auxiliary motion shaft has single adjusting function, and cannot meet the adjusting and using requirements of multiple degrees of freedom under the compact design requirement. In view of the above, there is a need to solve the problems in the related art. Disclosure of Invention The invention aims to at least solve one of the technical problems in the prior art and provides a linear module device and a charging robot. The technical scheme adopted for solving the technical problems is as follows: in a first aspect, a linear modular apparatus includes: the sliding rail installation seat extends from a first end to a second end along a linear direction, a wiring channel extending from the first end to the second end is arranged inside the sliding rail installation seat, and a sliding rail extending from the first end to the second end is arranged outside the sliding rail installation seat; The end cylinder is sleeved on the sliding rail mounting seat, and a sliding block assembled on the sliding rail is arranged in the end cylinder; and the linear driving assembly is used for driving the end cylinder to reciprocate along the sliding rail. With reference to the first aspect, in certain implementation manners of the first aspect, the slide rail mounting seat is provided with a notch above the routing channel, and the slide rail mounting seat forms a wire containing groove through the notch. With reference to the first aspect and the foregoing implementation manner, in some implementation manners of the first aspect, the sliding rail includes a first sliding rail disposed on an outer side of a front portion of the slot and a second sliding rail disposed on an outer side of a rear portion of the slot, a first conveying plate is disposed on an outer side of a front portion of the sliding rail mounting seat inside the end cylinder, a second conveying plate is disposed on an outer side of a rear portion of the sliding rail mounting seat, the first conveying plate is provided with a first sliding block matched with the first sliding rail, and the second conveying plate is provided with a second sliding block matched with the second sliding rail. With reference to the first aspect and the foregoing implementation manner, in some implementation manners of the first aspect, the linear driving assembly includes a screw rod disposed at a bottom of the sliding rail mounting seat and a screw rod nut assembled on the screw rod, a first fixing seat is disposed at a first end of the sliding rail mounting seat, a second fixing seat is disposed at a second end of the sliding rail mounting seat, a first wire passing hole communicated with the wire passing channel is disposed at the first fixing seat, a second wire passing hole communicated with