A modular robot seventh axis base

Abstract

The present invention discloses a modular robot seventh-axis base, which relates to the field of mechanical engineering technology. The modular robot seventh-axis base comprises a sliding seventh axis, the surface of the sliding seventh axis is fixedly connected with a sliding track, the surface of the sliding track is slidably connected with a driving slider, the interior of the driving slider is provided with an adjusting mechanism for facilitating the installation of the driving slider on the surface of the sliding track, the interior of the driving slider is provided with a lubrication mechanism for facilitating the sliding of the driving slider in the sliding track, the interior of the sliding seventh axis is provided with a cleaning mechanism for centrally collecting impurities in the sliding track, and the sliding track and the driving slider are used in coordination, and the fixed state of the track slider in the sliding track is controlled, and the connection state of the sliding track and the driving slider is controlled. The characteristics of quick installation and disassembly of the driving slider can significantly reduce the setting and maintenance time of the robot system and improve production efficiency.

Description

Technical Field

[0001] The invention relates to the technical field of mechanical engineering, and in particular to a seventh-axis base of a modular robot. Background Art

[0002] As the requirements for automation in industrial production continue to increase, robots are being used more and more widely in various fields. With the continuous development of industrial production, higher requirements are placed on the robot's workspace, flexibility, and production efficiency. In some complex working environments, such as narrow spaces or when obstacles need to be crossed, the seventh axis can help the robot better adapt and complete tasks. As an extension axis of the robot, the robot's seventh axis can increase the robot's workspace and flexibility. By increasing the robot's workspace and flexibility, the seventh axis can enable the robot to complete more tasks in the same time, thereby improving production efficiency.

[0003] There are still many inconveniences in the use of current equipment;

[0004] The specific defects are as follows:

[0005] First, the traditional robot seventh-axis base and slide rail slider design is relatively complicated. The existing slider disassembly and installation process requires a flange to install the slider inside the track, which takes a lot of time and effort. This will lead to difficulties in repairing and replacing parts, increasing downtime and costs. In addition, there is a lack of standardization between the robot seventh-axis slide rails and sliders of different manufacturers or different models, so their compatibility is poor, which will require a lot of customization work when replacing parts, increasing complexity and cost.

[0006] Secondly, when the robot is running for a long time, the ball and the slider will continue to rub against each other, causing the lubricating oil to be gradually consumed. If the lubricating oil is not replenished in time, there will be a problem of insufficient lubrication. Without the lubricating effect of the lubricating oil, the friction between the ball and the slide rail will increase, causing increased wear, which will shorten the service life of the slider and ball and increase the cost of maintenance and replacement.

[0007] Therefore, the present invention proposes a modular robot seventh-axis base to make up for and improve the deficiencies of the prior art. Summary of the invention

[0008] 1. Technical issues to be resolved

[0009] In view of the deficiencies in the prior art, the present invention provides a modular robot seventh-axis base, which solves the problems in the above background technology that the slider is difficult to install and disassemble and the balls inside the slider are difficult to oil.

[0010] (II) Technical solution

[0011] To achieve the above objectives, the present invention is implemented through the following technical solutions: a modular robot seventh axis base, comprising a sliding seventh axis, a sliding track is fixedly connected to the surface of the sliding seventh axis, a driving slider is slidably connected to the surface of the sliding track, an adjusting mechanism is provided inside the driving slider to facilitate the installation of the driving slider on the surface of the sliding track, a lubrication mechanism is provided inside the driving slider to facilitate the sliding of the driving slider inside the sliding track, and a cleaning mechanism is provided inside the sliding seventh axis to centrally collect impurities inside the sliding track;

[0012] The adjustment mechanism includes a track slider that adjusts the fixed state of the slider on the surface of the sliding track;

[0013] The lubrication mechanism includes a sliding piston for adjusting and driving the sliding state inside the slider;

[0014] The cleaning mechanism comprises a cleaning push block for cleaning impurities inside the sliding track.

[0015] Preferably, the adjusting mechanism includes a pushing slide, the pushing slide is slidably connected to the inside of the driving slide, the track slide is slidably connected to the inside of the driving slide, the track slide extends to the inside of the sliding track, the pushing slide is fixedly connected with a No. 1 spring between the track slide and the track slide, the driving slide is slidably connected to two transverse push plates, the transverse push plate is fixedly connected to the pushing slide, the surface of the transverse push plate is fixedly connected with a guide push shaft, the guide push shaft is slidably connected to the inside of the driving slide, the driving slide is fixedly connected with two No. 2 springs, the No. 2 spring is fixedly connected to the transverse push plate, the driving slide is internally rotatably connected with two rotating push plates, the surfaces of the transverse push plate and the track slide are provided with card surface grooves, and the two sides of the rotating push plate are respectively slidably connected to the inside of the card surface grooves on the surface of the transverse push plate and the track slide.

[0016] Preferably, the track slider is internally slidably connected with a slide rail ball, and the slide rail ball inside the track slider is in contact with the surface of the sliding track.

[0017] Preferably, the lubrication mechanism includes two power push rods, both of which are slidably connected to the inside of a driving slider, a No. 3 spring is fixedly connected to the inside of the driving slider, the No. 3 spring is fixedly connected to the power push rod, a power push block is fixedly connected to the surface of the power push rod, an oil storage tank is provided inside the driving slider, two side push blocks are fixedly connected to the inside of the driving slider, the side push blocks are fixedly connected to the power push rod, a bottom slider is slidably connected to the inside of the driving slider, a No. 4 spring is fixedly connected to the inside of the driving slider, the No. 4 spring is fixedly connected to the bottom slider, an extension slider is slidably connected to the inside of the bottom slider, a compression spring is fixedly connected to the inside of the extension slider and the compression spring is fixedly connected, the sliding piston is slidably connected to the inside of the driving slider, and the sliding piston is fixedly connected to the bottom slider.

[0018] Preferably, the thickness of the side push block and the power push block is half of the thickness of the extension slider, and the surfaces of the side push block and the extension slider are both provided with inclined surfaces, and the inclined surfaces of the side push block are in contact with the inclined surfaces of the extension slider.

[0019] Preferably, the extension slider is located inside the sliding path of the power push block, and the side push block is located inside the sliding path of the extension slider.

[0020] Preferably, an inclined surface is provided at one end of the power push rod, and the inclined surface portion of the power push rod is located inside the sliding path of the track slider.

[0021] Preferably, the cleaning mechanism includes an inclined push block, the inner sliding seventh shaft is slidably connected with an outer sliding shaft, the cleaning push block is fixedly connected to the surface of the driving slider and the two ends of the sliding track, the inclined push block is sleeved on the surface of the outer sliding shaft, the inner sliding shaft is slidably connected with the inner sliding shaft, the inner side of the outer sliding shaft is fixedly connected with a No. 5 spring, the No. 5 spring and the inner sliding shaft are fixedly connected, the surface of the inclined push block is fixedly connected with a limited sliding rod, and the limited sliding rod is L-shaped, the inner sliding seventh shaft is slidably connected with a limited stopper, the inner side of the sliding seventh shaft is fixedly connected with a return spring, the return spring and the limit stopper are fixedly connected, the surface of the inner sliding shaft is fixedly connected with a limited sleeve shaft, the inner side of the sliding seventh shaft is fixedly connected with a No. 6 spring, the No. 6 spring and the limit sleeve shaft are fixedly connected, and the sliding seventh shaft The inner sliding connection is provided with a cleaning push shaft, the inner fixed connection of the sliding seventh shaft is provided with a No. 7 spring, the No. 7 spring is fixedly connected to the cleaning push shaft, the inner rotation connection of the sliding seventh shaft is provided with a power shaft, the surface of the power shaft is provided with an adjusting groove, the inner fixed connection of the cleaning push shaft is provided with an outer spring, the inner sliding connection of the cleaning push shaft is provided with a pushing outer shaft, the outer spring is fixedly connected to the pushing outer shaft, the pushing outer shaft extends to the inside of the adjusting groove on the surface of the power shaft, one end of the inner sliding shaft is fixedly connected with a sliding middle shaft, the inner sliding connection of the sliding middle shaft is provided with a pushing inner shaft, the inner fixed connection of the sliding middle shaft is provided with an inner spring, the inner spring is fixedly connected to the pushing inner shaft, the inner wall of the power shaft is provided with a power groove, the inner fixed connection of the sliding seventh shaft is provided with a No. 8 spring, the No. 8 spring is fixedly connected to the sliding middle shaft.

[0022] Preferably, the adjustment groove and the power groove on the surface of the power shaft are both composed of a straight groove and an inclined groove, and the depth of the inclined groove on the surface of the power shaft is greater than the depth of the straight groove.

[0023] (III) Beneficial effects

[0024] The modular robot seventh axis base provided by the present invention has the following beneficial effects:

[0025] 1. By using the sliding track in conjunction with the driving slider, and by controlling the fixed state of the track slider inside the sliding track, the connection state of the sliding track and the driving slider is controlled, which solves the problem of the driving slider being difficult to install and disassemble on the surface of the sliding track. The fast installation and disassembly feature of the driving slider can significantly reduce the setup and maintenance time of the robot system. Without cumbersome tools and complicated steps, operators can complete tasks more efficiently and improve production efficiency. It also allows the seventh-axis slide slider to be easily added or removed to adapt to different application requirements. The robot can be flexibly configured according to the requirements of specific tasks, which increases the scalability and adaptability of the system.

[0026] 2. Through the coordinated use of the adjustment mechanism and the lubrication mechanism, the lubricating oil inside the oil outlet groove is pushed through the oil groove to the sliding point of the ball of the track slider, and then the ball inside the track slider is lubricated, which solves the problem that the ball inside the slider is not easy to be oiled. The ball inside the slider is automatically oiled every time the slider is installed or disassembled, which can ensure that the ball is fully lubricated each time it is used, thereby ensuring the smooth operation and service life of the slider, and because the automatic oiling can ensure the lubrication effect, it can reduce the wear and failure of the slider caused by insufficient lubrication, thereby reducing maintenance costs.

[0027] 3. By driving the slider in conjunction with the lubrication mechanism, the power shaft is driven to rotate through the power groove bevel groove. The power shaft rotates through the power shaft surface adjustment groove to push the cleaning push shaft to slide downward, thereby pushing the impurities inside the waste groove into the waste collection box inside the sliding track, solving the problem of impurities easily accumulating inside the sliding track and affecting the sliding of the driving slider. Through centralized cleaning and collection, it can ensure that the impurities inside the track are thoroughly cleaned, avoiding omissions and incomplete cleaning, ensuring the cleaning quality, and by cleaning the impurities inside the sliding track, it can reduce the friction and resistance of the robot during operation, thereby improving the operation stability of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0029] Figure 2 It is a schematic diagram of the internal structure of the present invention;

[0030] Figure 3 For the present invention Figure 2 A partial enlarged view of middle A;

[0031] Figure 4 It is a schematic diagram of the overall structure of the regulating mechanism of the present invention;

[0032] Figure 5 For the present invention Figure 4 A partial enlarged view of B in the middle;

[0033] Figure 6 It is a schematic diagram of the overall structure of the lubrication mechanism of the present invention;

[0034] Figure 7 For the present invention Figure 6 A partial enlarged view of middle C;

[0035] Figure 8 It is a schematic diagram of the internal structure of the lubrication mechanism of the present invention;

[0036] Fig. 9 For the present invention Figure 8A partial enlarged view of D in the middle;

[0037] Fig.10 It is a schematic diagram of the overall structure of the cleaning mechanism of the present invention;

[0038] Fig.11 For the present invention Fig. 9 A partial enlarged view of E in the middle;

[0039] Fig.12 It is a schematic diagram of the internal structure of the cleaning mechanism of the present invention.

[0040] The numbers in the figure represent:

[0041] 1. Slide the seventh axis; 2. Slide the track; 3. Drive the slider;

[0042] 4. Adjustment mechanism; 411. Pushing slide plate; 412. Track slide block; 413. No. 1 spring; 414. Rotating push plate; 415. Horizontal push plate; 416. Guide push shaft; 417. No. 2 spring;

[0043] 5. Lubrication mechanism; 511. Power push rod; 512. No. 3 spring; 513. Side push block; 514. Bottom slide block; 515. No. 4 spring; 516. Compression spring; 517. Extension slide block; 518. Power push block; 519. Sliding piston;

[0044] 6. Cleaning mechanism; 611. Inclined push block; 612. Outer sliding shaft; 613. Cleaning push block; 614. Limiting slide rod; 615. No. 5 spring; 616. Inner sliding shaft; 617. Limiting sleeve shaft; 618. No. 6 spring; 619. Limiting block; 6110. Restoring spring; 6111. Power shaft; 6112. Cleaning push shaft; 6113. No. 7 spring; 6114. Outer spring; 6115. Sliding middle shaft; 6116. Pushing inner shaft; 6117. Inner spring; 6118. No. 8 spring; 6119. Pushing outer shaft. DETAILED DESCRIPTION

[0045] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0046] refer to Figures 1 to 12A modular robot seventh axis base according to a preferred embodiment of the present invention will be described in detail below. A modular robot seventh axis base includes a sliding seventh axis 1, a sliding track 2 is fixedly connected to the surface of the sliding seventh axis 1, a driving slider 3 is slidably connected to the surface of the sliding track 2, an adjusting mechanism 4 is provided inside the driving slider 3 to facilitate the driving slider 3 to be installed on the surface of the sliding track 2, a lubrication mechanism 5 is provided inside the driving slider 3 to facilitate the driving slider 3 to slide inside the sliding track 2, and a cleaning mechanism 6 is provided inside the sliding seventh axis 1 to collect impurities inside the sliding track 2;

[0047] The adjustment mechanism 4 includes a track slider 412 for adjusting and driving the slider 3 to be fixed on the surface of the sliding track 2;

[0048] The lubrication mechanism 5 includes a sliding piston 519 for adjusting and driving the sliding block 3 to slide internally;

[0049] The cleaning mechanism 6 includes a cleaning push block 613 for cleaning impurities inside the sliding track 2.

[0050] like Figure 3 , Figure 4 and Figure 5 As shown, Figure 3 In the embodiment, the adjusting mechanism 4 includes a push slide 411, the push slide 411 is slidably connected to the inside of the driving slide 3, the track slide 412 is slidably connected to the inside of the driving slide 3, and the track slide 412 extends to the inside of the sliding track 2, such as Figure 5 In the embodiment, a spring 413 is fixedly connected between the push slide 411 and the track slide 412, and two transverse push plates 415 are connected to the internal sliding of the driving slide 3. The transverse push plates 415 are fixedly connected to the push slide 411, and the surfaces of the transverse push plates 415 are fixedly connected with guide push shafts 416. The push slide 411 slides downward under the action of manual pressing, and the transverse push plates 415 slide downward along the inner wall of the driving slide 3 under the push of the push slide 411. The guide push shafts 416 slide inside the driving slide 3 under the push of the transverse push plates 415, thereby limiting the downward sliding of the transverse push plates 415. Figure 5In the embodiment, the guide push shaft 416 is slidably connected to the inside of the driving slider 3, and the inside of the driving slider 3 is fixedly connected with two No. 2 springs 417, and the No. 2 springs 417 are fixedly connected to the transverse push plate 415, and the inside of the driving slider 3 is rotatably connected with two rotating push plates 414. The surfaces of the transverse push plate 415 and the track slider 412 are provided with card surface grooves, and the two sides of the rotating push plate 414 are respectively slidably connected to the inside of the card surface grooves on the surfaces of the transverse push plate 415 and the track slider 412. The transverse push plate 415 slides downward, and the card surface groove on the surface of the transverse push plate 415 pushes one side of the rotating push plate 414 to rotate downward, thereby pushing the rotating push plate 41 The side away from the horizontal push plate 415 is lifted upward, and the rotating push plates 414 on both sides give an upward force to the groove of the track slider 412, pushing the track slider 412 to slide upward and shrink to the inside of the driving slider 3, thereby driving the track slider 412 to separate from the inside of the sliding track 2, thereby releasing the connection state between the sliding track 2 and the driving slider 3, so that the driving slider 3 can be directly removed from the surface of the sliding track 2, and by controlling the fixed state of the track slider 412 inside the sliding track 2, the connection state between the sliding track 2 and the driving slider 3 is controlled, thereby facilitating the removal and installation of the driving slider 3 on the surface of the sliding track 2.

[0051] like Figure 6 , Figure 7 , Figure 8 and Fig. 9 As shown, Figure 7 and Figure 8In the embodiment, the lubrication mechanism 5 includes two power push rods 511, both of which are slidably connected to the inside of the driving slider 3, one end of the power push rod 511 is provided with an inclined surface, the inclined surface part of the power push rod 511 is located inside the sliding path of the track slider 412, the inside of the driving slider 3 is fixedly connected with a No. 3 spring 512, the No. 3 spring 512 and the power push rod 511 are fixedly connected, the surface of the power push rod 511 is fixedly connected with a power push block 518, the inside of the driving slider 3 is provided with an oil storage tank, and one end of the oil storage tank is provided with a one-way valve opened outwards, the inside of the driving slider 3 is provided with an oil outlet tank, and one end of the oil outlet tank is provided with a one-way valve opened outwards, the inside of the driving slider 3 is provided with two side push blocks 513, the side push blocks 513 and the power push rod 511 are fixedly connected, the inside of the driving slider 3 is slidably connected with a bottom slider 514, and the inside of the driving slider 3 is fixedly connected with a No. 4 spring 515 The fourth spring 515 is fixedly connected to the bottom slider 514, and the bottom slider 514 is slidably connected with an extended slider 517 inside. The track slider 412 contacts the power push rod 511 during the process of sliding upward under the push of the rotating push plate 414. Since one side of the power push rod 511 is set as an inclined surface, the track slider 412 slides upward by giving an upward thrust to the inclined surface of the power push rod 511, thereby pushing the power push rod 511 to slide to both sides inside the driving slider 3, and then giving a thrust to the extended slider 517 through the power push block 518 on the lower surface of the power push rod 511, thereby pushing the bottom slider 514 to slide to the left. The fourth spring 515 is compressed under the push of the bottom slider 514, and the sliding piston 519 slides to the left under the drive of the bottom slider 514, and then the lubricating oil in the oil storage tank is led to the inside of the oil outlet tank of the driving slider 3 through the one-way valve inside the oil storage tank. Figure 7In the embodiment, the bottom slider 514 is fixedly connected with a compression spring 516, the extension slider 517 is fixedly connected with the compression spring 516, the sliding piston 519 is slidably connected to the inside of the driving slider 3, the sliding piston 519 is fixedly connected with the bottom slider 514, an oil groove is provided inside the track slider 412, the inclined surface of the extension slider 517 is pressed against the inclined surface of the side push block 513 under the push of the power push block 518, the extension slider 517 slides downward inside the bottom slider 514 under the push of the side push block 513, and the compression spring 516 is pushed inside the bottom slider 514 under the push of the extension slider 517. Compression, when the oil groove of the track slider 412 is aligned with the oil outlet groove of the driving slider 3, the extension slider 517 is completely retracted to the inside of the bottom slider 514 under the push of the side push block 513, and the extension slider 517 loses the thrust given by the power push block 518. The bottom slider 514 slides to the right under the push of the No. 4 spring 515, and then pushes the sliding piston 519 fixedly connected to the surface of the bottom slider 514 to slide to the right, thereby pushing the lubricating oil in the oil outlet groove inside the driving slider 3 through the oil groove of the track slider 412 to the sliding position of the ball of the track slider 412, thereby lubricating the ball inside the track slider 412.

[0052] like Fig. 9 , Fig.10 , Fig.11 and Fig.12 As shown, Fig.10 In the embodiment, the cleaning mechanism 6 includes an inclined push block 611, the inner rotation connection of the sliding seventh shaft 1 is connected to a power shaft 6111, and the inner sliding connection of the sliding seventh shaft 1 is connected to an outer sliding shaft 612. Fig. 9 In the embodiment, the cleaning push block 613 is fixedly connected to the surface of the driving slider 3 and the two ends of the sliding track 2, and the inclined push block 611 is sleeved on the surface of the outer sliding shaft 612. Fig.11In the embodiment, the inner sliding shaft 616 is slidably connected to the inner sliding shaft 612, and the inner sliding shaft 612 is fixedly connected with a No. 5 spring 615, and the No. 5 spring 615 is fixedly connected to the inner sliding shaft 616. The surface of the inclined push block 611 is fixedly connected to the limit slide bar 614, and the limit slide bar 614 is L-shaped. The inner sliding seventh shaft 1 is slidably connected to the limit stopper 619, and the inner sliding seventh shaft 1 is fixedly connected with a return spring 6110, and the return spring 6110 is fixedly connected to the limit stopper 619. The surface of the inner sliding shaft 616 is fixedly connected to the limit sleeve shaft 617, and the inner sliding seventh shaft 1 is fixedly connected with a No. 6 spring 618, and the No. 6 spring 618 is fixedly connected to the limit sleeve shaft 617. The slider 3 is driven to slide to the left on the surface of the sliding track 2 by manual pushing, and the slider 3 is driven to slide through the surface cleaning push block 613 to remove impurities inside the sliding track 2. The mass is pushed to one side of the sliding seventh axis 1, driving the sliding block 3 to be provided with a sliding platform on the surface of the sliding block 3. The process of driving the sliding block 3 to slide to the left drives the surface platform of the sliding block 3 to contact the inclined surface of the inclined surface pushing block 611, giving the inclined surface pushing block 611 a downward thrust, thereby pushing the outer sliding shaft 612 to slide downward on the surface of the inner sliding shaft 616 and driving the limiting sliding rod 614 to slide downward. The fifth spring 615 is compressed under the push of the outer sliding shaft 612. At the same time, the limiting sliding rod 614 contacts the internal inclined surface of the limiting block 619. The limiting sliding rod 614 slides downward and pushes the limiting block 619 to slide to the left, thereby disengaging from the sliding path of the limiting sleeve shaft 617. The restoring spring 6110 is compressed under the push of the limiting block 619. The inner sliding shaft 616 loses the restriction of the limiting block 619 on the limiting sleeve shaft 617. The inner sliding shaft 616 slides downward under the push of the fifth spring 615. Fig.12 In the embodiment, one end of the inner sliding shaft 616 is fixedly connected with a sliding middle shaft 6115, and the inner sliding shaft 6115 is slidably connected with a pushing inner shaft 6116. The inner sliding shaft 6115 is fixedly connected with an inner spring 6117, and the inner spring 6117 is fixedly connected to the pushing inner shaft 6116. A power groove is provided on the inner wall of the power shaft 6111, and the inner sliding seventh shaft 1 is fixedly connected with an eighth spring 6118, and the eighth spring 6118 is fixedly connected to the sliding middle shaft 6115. The pushing inner shaft 6116 slides downward under the drive of the inner sliding shaft 616, and then a downward thrust is given to the power groove of the power shaft 6111 by pushing the inner shaft 6116, thereby driving the power shaft 6111 to rotate. Fig.11In the embodiment, the interior of the sliding seventh shaft 1 is slidably connected with a cleaning push shaft 6112, the interior of the sliding seventh shaft 1 is fixedly connected with a No. 7 spring 6113, the No. 7 spring 6113 and the cleaning push shaft 6112 are fixedly connected, an adjustment groove is provided on the surface of the power shaft 6111, the interior of the cleaning push shaft 6112 is fixedly connected with an outer spring 6114, the interior of the cleaning push shaft 6112 is slidably connected with a pushing outer shaft 6119, the outer spring 6114 and the pushing outer shaft 6119 are fixedly connected, the pushing outer shaft 6119 extends to the inside of the adjustment groove on the surface of the power shaft 6111, the power shaft 6111 rotates through the adjustment groove on the surface of the power shaft 6111 to push the cleaning push shaft 6112 to slide downward and then extend to the inside of the waste groove formed by the two cleaning push blocks 613, and then push the impurities inside the waste groove formed by the two cleaning push blocks 613 into the inside of the waste collection box inside the sliding track 2, and then the impurities inside the sliding track 2 are collected centrally.

[0053] The following is the entire working process and working principle of the above embodiment:

[0054] Initially: the inner track slider 412 of the driving slider 3 is located inside the sliding groove on the surface of the sliding track 2, the two sides of the rotating push plate 414 are located inside the internal card surface grooves of the lateral push plate 415 and the track slider 412, the No. 1 spring 413 and the No. 2 spring 417 are in an uncompressed state, the power push block 518 is located on the side of the extension slider 517 away from the side push block 513, the No. 3 spring 512 and the No. 4 spring 515 are in an uncompressed state, the limit stop block 619 is located below the limit sleeve shaft 617, the return spring 6110 and the No. 6 spring 618 are in an uncompressed state, the push outer shaft 6119 is located inside the adjustment groove on the surface of the power shaft 6111, and the push inner shaft 6116 is located inside the power groove on the inner wall of the power shaft 6111.

[0055] During operation: when the driving slider 3 is installed on the surface of the sliding track 2 or the driving slider 3 and the sliding track 2 surface are removed, the slide plate 411 is pushed downward by manual pressing. Since the transverse push plate 415 is fixedly connected to the pushing slide plate 411, the No. 2 spring 417 is compressed under the push of the transverse push plate 415, and the transverse push plate 415 is pushed downward by pushing the slide plate 411. Since the guide push shaft 416 is fixedly connected to the transverse push plate 415, the guide push shaft 416 slides inside the driving slider 3 under the push of the transverse push plate 415, thereby providing a limit for the downward sliding of the transverse push plate 415 to prevent the transverse push plate 415 from deviating. The transverse push plate 415 slides downward. Since one side of the rotating push plate 414 is rotatably connected to the inside of the transverse push plate 415, the rotating push plate 414 rotates downward under the push of the transverse push plate 415, and then pushes the rotating push plate 414 away from the side of the transverse push plate 415 to lift upward. One side 414 is rotatably connected to the inside of the track slider 412, and the rotating push plate 414 rotates to push the track slider 412 to slide upward. The No. 1 spring 413 is compressed under the push of the track slider 412, and the track slider 412 is pushed to slide by rotating the push plate 414 and then retracted to the inside of the driving slider 3. By controlling the fixed state of the track slider 412 inside the sliding track 2, the connection state of the sliding track 2 and the driving slider 3 is controlled, which solves the problem that the driving slider 3 is difficult to install and disassemble on the surface of the sliding track 2. The fast installation and disassembly feature of the driving slider 3 can significantly reduce the setup and maintenance time of the robot system. Without cumbersome tools and complicated steps, operators can complete tasks more efficiently and improve production efficiency. It also allows the seventh-axis slide slider to be easily added or removed to meet different application requirements. The robot can be flexibly configured according to the requirements of specific tasks, which increases the scalability and adaptability of the system.

[0056] Furthermore, the track slider 412 slides under the push of the sliding plate 411, and the track slider 412 pushes the power push rod 511 to slide during the sliding process. Since the surface of the power push rod 511 is fixedly connected with a power push block 518, the power push block 518 gives a thrust to the extension slider 517 under the push of the power push rod 511, thereby pushing the bottom slider 514 to slide to both sides, thereby driving the sliding piston 519 to slide to both sides through the bottom slider 514. Since an oil storage tank is provided inside the driving slider 3, and a one-way valve opening outward is provided at one end of the oil storage tank, and an oil outlet tank is provided inside the driving slider 3, and a one-way valve opening outward is provided at one end of the oil outlet tank, during the sliding piston 519 sliding to both sides driven by the bottom slider 514, the lubricating oil in the oil storage tank is introduced into the oil outlet tank inside the driving slider 3. An oil through groove is provided inside the track slider 412. When the oil through groove of the track slider 412 is aligned with the oil outlet groove of the driving slider 3, the inclined surface of the extension slider 517 fits with the inclined surface of the side push block 513. The extended slider 517 is pushed by the side push block 513, and the compression spring 516 is compressed under the push of the extended slider 517. The extended slider 517 extends to the inside of the bottom slider 514. The extended slider 517 does not contact the power push block 518. The bottom slider 514 loses the restriction of the power push block 518, and the bottom slider 514 slides under the push of the No. 4 spring 515, thereby pushing the sliding piston 519 to slide. Since the inside of the oil outlet groove is full of lubricating oil, the lubricating oil inside the oil outlet groove is pushed through the oil groove to the sliding position of the ball of the track slider 412, and then the balls inside the track slider 412 are lubricated, which solves the problem that the balls inside the slider are not easy to be oiled. The balls inside the driving slider 3 are automatically oiled each time the driving slider 3 is installed or disassembled, which can ensure that the balls are fully lubricated each time they are used, thereby ensuring the smooth operation and service life of the slider, and since the automatic oiling can ensure the lubrication effect, the wear and failure of the slider caused by insufficient lubrication can be reduced, thereby reducing maintenance costs.

[0057] Furthermore, during the operation of the robot, various impurities such as dust, oil, metal shavings, etc. will inevitably accumulate inside the track. These impurities will affect the robot's motion accuracy and stability, and even cause the robot to malfunction. The slider 3 is driven to slide on the surface of the sliding track 2 by manual pushing, and the slider 3 is driven to slide through the surface cleaning push block 613 to push the impurities inside the sliding track 2 to one side of the sliding seventh axis 1. The surface of the slider 3 is provided with a sliding platform, and the surface platform of the slider 3 is driven to contact the inclined surface of the inclined push block 611, and the outer sliding axis 612 slides under the push of the inclined push block 611 given by the surface platform of the driving slider 3, the inner sliding shaft 616 is in a fixed state under the restriction of the limit block 619, the outer sliding shaft 612 slides, and the inner sliding shaft 616 extends to the inside of the outer sliding shaft 612. The fifth spring 615 is compressed under the push of the outer sliding shaft 612. When the cleaning push block 613 on the surface of the driving slider 3 is aligned with the cleaning push block 613 on the side of the sliding seventh axis 1, the impurities inside the sliding track 2 are located inside the waste groove formed by the two cleaning push blocks 613. At the same time, the limit slide bar 6 By pushing the limit stopper 619 to slide, the limit stopper 619 releases the restriction on the inner sliding shaft 616 through the limit sleeve shaft 617. The inner sliding shaft 616 slides downward under the push of the No. 5 spring 615, thereby driving the sliding middle shaft 6115 to slide downward. Since the inner shaft 6116 inside the sliding middle shaft 6115 is slidably connected to the power groove on the inner wall of the power shaft 6111, the inner shaft 6116 is pushed to slide downward, and then the power shaft 6111 is driven to rotate through the inclined groove of the power groove. The power shaft 6111 rotates through the power shaft The 6111 surface adjustment groove pushes the cleaning push shaft 6112 to slide downward, thereby pushing the impurities inside the waste groove into the waste collection box inside the sliding track 2, solving the problem that impurities are easily accumulated inside the sliding track 2, thereby affecting the sliding of the slider 3. Through centralized cleaning and collection, it can be ensured that the impurities inside the track are thoroughly cleaned, avoiding omissions and incomplete cleaning, ensuring the cleaning quality, and by cleaning the impurities inside the sliding track 2, the friction and resistance of the robot during operation can be reduced, thereby improving the operation stability of the robot.

[0058] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A modular robot seventh axis base, comprising a sliding seventh axis (1), a sliding track (2) being fixedly connected to the surface of the sliding seventh axis (1), a driving slider (3) being slidably connected to the surface of the sliding track (2), characterized in that: The driving slider (3) is provided with an adjustment mechanism (4) inside to facilitate the installation of the driving slider (3) on the surface of the sliding track (2); the driving slider (3) is provided with a lubrication mechanism (5) inside to facilitate the sliding of the driving slider (3) inside the sliding track (2); the seventh sliding shaft (1) is provided with a cleaning mechanism (6) inside to centrally collect impurities inside the sliding track (2); The adjusting mechanism (4) comprises a pushing slide (411), the pushing slide (411) is slidably connected to the inside of the driving slider (3), the inside of the driving slider (3) is slidably connected to a track slider (412), the track slider (412) extends to the inside of the sliding track (2), a first spring (413) is fixedly connected between the pushing slide (411) and the track slider (412), the inside of the driving slider (3) is slidably connected to two transverse push plates (415), the transverse push plates (415) are fixedly connected to the pushing slide (411), and the surface of the transverse push plates (415) Both are fixedly connected with a guide push shaft (416), and the guide push shaft (416) is slidably connected to the inside of the driving slider (3), and the inside of the driving slider (3) is fixedly connected with two No. 2 springs (417), and the No. 2 springs (417) are fixedly connected to the transverse push plate (415), and the inside of the driving slider (3) is rotatably connected with two rotating push plates (414), and the surfaces of the transverse push plate (415) and the track slider (412) are provided with a card surface groove, and the two sides of the rotating push plate (414) are respectively slidably connected to the inside of the card surface grooves on the surfaces of the transverse push plate (415) and the track slider (412); The lubrication mechanism (5) comprises two power push rods (511), both of which are slidably connected to the interior of a driving slider (3), a No. 3 spring (512) is fixedly connected to the interior of the driving slider (3), the No. 3 spring (512) and the power push rod (511) are fixedly connected, a power push block (518) is fixedly connected to the surface of the power push rod (511), an oil storage tank is provided inside the driving slider (3), two side push blocks (513) are fixedly connected to the interior of the driving slider (3), the side push blocks (513) and the power push rod (511) are fixedly connected, and the driving slider The interior of the slider (3) is slidably connected to a bottom slider (514), the interior of the driving slider (3) is fixedly connected to a No. 4 spring (515), the No. 4 spring (515) and the bottom slider (514) are fixedly connected, the interior of the bottom slider (514) is slidably connected to an extension slider (517), the interior of the bottom slider (514) is fixedly connected to a compression spring (516), the extension slider (517) and the compression spring (516) are fixedly connected, the interior of the driving slider (3) is slidably connected to a sliding piston (519), the sliding piston (519) and the bottom slider (514) are fixedly connected; The cleaning mechanism (6) comprises an inclined push block (611), the interior of the sliding seventh shaft (1) is slidably connected to an outer sliding shaft (612), the surface of the driving slider (3) and both ends of the sliding track (2) are fixedly connected to cleaning push blocks (613), the inclined push block (611) is sleeved on the surface of the outer sliding shaft (612), the interior of the outer sliding shaft (612) is slidably connected to an inner sliding shaft (616), the interior of the outer sliding shaft (612) is fixedly connected to a No. 5 spring (615), the No. 5 spring (615) and the inner sliding shaft (616) are fixedly connected, and the surface of the inclined push block (611) is fixedly connected to The limiting slide bar (614) is L-shaped, the internal sliding connection of the seventh sliding shaft (1) is connected to the limiting block (619), the internal fixed connection of the seventh sliding shaft (1) is provided with a restoring spring (6110), the restoring spring (6110) and the limiting block (619) are fixedly connected, the surface of the inner sliding shaft (616) is fixedly connected to the limiting sleeve shaft (617), the internal fixed connection of the seventh sliding shaft (1) is provided with a sixth spring (618), the sixth spring (618) and the limiting sleeve shaft (617) are fixedly connected, the internal sliding connection of the seventh sliding shaft (1) is provided with a cleaning push shaft (617), and the cleaning push shaft (617) is fixedly connected to the cleaning push shaft (617). 112), the interior of the sliding seventh shaft (1) is fixedly connected with a seventh spring (6113), the seventh spring (6113) is fixedly connected to the cleaning push shaft (6112), the interior of the sliding seventh shaft (1) is rotatably connected with a power shaft (6111), the surface of the power shaft (6111) is provided with an adjustment groove, the interior of the cleaning push shaft (6112) is fixedly connected with an outer spring (6114), the interior of the cleaning push shaft (6112) is slidably connected with a push outer shaft (6119), the outer spring (6114) is fixedly connected to the push outer shaft (6119), the push outer shaft (6119) extends To the inside of the adjustment groove on the surface of the power shaft (6111), one end of the inner sliding shaft (616) is fixedly connected to a sliding middle shaft (6115), the inside of the sliding middle shaft (6115) is slidingly connected to a pushing inner shaft (6116), the inside of the sliding middle shaft (6115) is fixedly connected to an inner spring (6117), the inner spring (6117) and the pushing inner shaft (6116) are fixedly connected, the inner wall of the power shaft (6111) is provided with a power groove, the inside of the sliding seventh shaft (1) is fixedly connected to an eighth spring (6118), and the eighth spring (6118) and the sliding middle shaft (6115) are fixedly connected.

2. A modular robot seventh axis base according to claim 1, characterized in that: The track slider (412) is slidably connected to a slide rail ball inside, and the slide rail ball inside the track slider (412) is in contact with the surface of the slide rail (2).

3. The seventh axis base of a modular robot according to claim 1, characterized in that: The thickness of the side push block (513) and the power push block (518) is half the thickness of the extension slider (517). The surfaces of the side push block (513) and the extension slider (517) are both provided with inclined surfaces, and the inclined surface of the side push block (513) fits the inclined surface of the extension slider (517).

4. The seventh axis base of a modular robot according to claim 1, characterized in that: The extension slider (517) is located inside the sliding path of the power push block (518), and the side push block (513) is located inside the sliding path of the extension slider (517).

5. The seventh axis base of a modular robot according to claim 1, characterized in that: One end of the power push rod (511) is provided with an inclined surface, and the inclined surface portion of the power push rod (511) is located inside the sliding path of the track slider (412).

6. The seventh axis base of a modular robot according to claim 1, characterized in that: The adjustment groove and the power groove on the surface of the power shaft (6111) are both composed of a straight slide groove and an inclined groove, and the depth of the inclined groove on the surface of the power shaft (6111) is greater than the depth of the straight slide groove.

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