Totally-closed transfer ground rail for robot

Abstract

The invention discloses a totally-closed transfer ground rail for a robot. The totally-closed transfer ground rail comprises a totally-closed ground rail assembly and a sliding table for bearing the robot. Sliding rails are arranged on the two sides of the closed type ground rail assembly. The sliding table comprises a bearing platform, a first sliding frame and a second sliding frame, the first sliding frame and the second sliding frame move along the sliding rails; a strip-shaped notch is formed in the width side of the closed ground rail assembly. A drag chain system connected with the power supply end of the robot is arranged in a ground rail internal area of the ground rail body assembly. A driving mechanism and a cable bracket are arranged at the bottom of the bearing platform, the cable bracket is located on the side, close to the strip-shaped notch, of the bearing platform and extends to the inner area of the ground rail through the strip-shaped notch, and a cable of the drag chain system penetrates through the cable bracket to be electrically connected with the robot. A drag chain system is hidden in the inner area of the sliding table to avoid damage, the cable bracket and the strip-shaped notches enable cables to be always in a protected state when the cables move along with the sliding table, the cables are arranged in the bracket in order, and winding and pulling are avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of transfer floor tracks, and more particularly to a fully enclosed transfer floor track for robots. Background Art

[0002] In the arena of industrial automation, the floor track system serves as a crucial infrastructure for robots and various mobile platforms. The quality of its design and function directly determines the smoothness of the production process and the lifespan of the equipment. The floor track system not only provides a stable moving path for the robot, ensuring its precise operation within a defined range, but also serves as the core channel for complex cable layouts. The role of the drag chain cannot be underestimated. The drag chain, as a bridge that can move synchronously with the mobile device, is responsible for effectively managing and protecting various cables such as power lines, control lines, and data transmission lines when the robot moves along the floor track. Its presence enables the cables to be protected from mechanical stresses such as stretching and twisting during the movement of the device, thus ensuring the stability of signal transmission and the continuity of power supply. Without the reasonable layout and proper protection of the drag chain, during the movement of the robot, the cables will quickly wear out due to frequent pulling and friction, resulting in signal transmission interruption and frequent equipment failures in the lightest case, and even potential safety accidents in the worst case, bringing immeasurable losses to industrial production.

[0003] The patent CN215488609U discloses a closed anti-step mobile platform floor track, whose structure includes key components such as a frame, a guide rail, a slider, a moving plate, a drag chain groove plate, and a drag chain. Although the protection of the drag chain is considered in the design, and a protective sheet metal is set in the drag chain groove plate to resist external pressure, in order to protect the drag chain from accidental damage such as being stepped on to a certain extent. However, this protection measure has obvious limitations.

[0004] The patent CN213796476U discloses an extra-long closed floor track, which adopts a segmented connection design method and is equipped with advanced components such as a sealing plate, a slider, a displacement sensor, a moving skateboard mechanism, and a servo motor. This design performs excellently in extending the length of the floor track and expanding the moving range of the robot. At the same time, the closed setting improves the sealing performance of the floor track to a certain extent, enabling it to adapt to working environments with more dust. However, it is not difficult to find through in-depth analysis of its structure that there are still potential hazards in the protection of the drag chain.

[0005] The patent of CN221953314U discloses a fixed connection structure for a fully enclosed ground rail slider of a robot. The highlight lies in the ingenious combination of the robot ground rail body, the moving workbench, the connecting plate, the L-shaped splicing plate and the slider. This design effectively reduces the risk of equipment deformation by dispersing the gravity of the moving workbench on the ground rail body, and at the same time reserves space for the installation and replacement of lubricating copper pipes, reflecting the humanization and practicability of the design. However, its protection for the drag chain still needs to be strengthened. Cables such as drag chains are still located in the side space, lacking the isolation protection of an enclosed area.

[0006] In summary, although the existing ground rail technologies have their own characteristics in structural design and aim to solve application problems in different scenarios, they all have common defects in the key link of drag chain protection. Specifically, cables such as drag chains are located in the open side space rather than an enclosed area. This layout exposes many disadvantages in practical applications. In a harsh industrial environment, foreign object intrusion becomes normal. For example, in a machining workshop, foreign objects such as metal chips and coolant are likely to enter the drag chain operation area through side gaps; in a logistics and warehousing site, debris from falling goods may also damage the drag chain. These foreign objects may cause the drag chain to get stuck, accelerate wear, and even break the internal cables, directly triggering equipment failures and causing production interruptions. In addition, frequent maintenance and repair not only increase labor and material costs, but may also lead to more serious equipment damage and production delays due to untimely repair. Summary of the Invention

[0007] The purpose of the present invention is to provide a fully enclosed transfer ground rail for a robot, aiming to solve the problems of being vulnerable to external interference, poor safety and insufficient stability in the existing transfer technology, and improving the operation reliability and safety of the transfer equipment to meet the diverse needs of modern industrial production.

[0008] The technical solution adopted by the present invention to solve the above technical problems is: a fully enclosed transfer ground rail for a robot, which

[0009] comprises a closed ground rail assembly and a slide table for carrying the robot;

[0010] Sliding rails are provided on both sides of the closed ground rail assembly. The slide table includes a carrying platform, a first sliding frame and a second sliding frame respectively arranged on both sides of the carrying platform; the first sliding frame and the second sliding frame move along the sliding rails;

[0011] A strip-shaped notch is provided on one side of the width of the closed ground rail assembly; a drag chain system for connecting the power supply end of the robot is arranged in the internal area of the ground rail of the ground rail body assembly;

[0012] A driving mechanism and a cable bracket are provided at the bottom of the bearing platform. The cable bracket is located on one side of the bearing platform close to the strip-shaped notch and extends into the inner area of the ground rail through the strip-shaped notch. The cable of the drag chain system passes through the cable bracket and is electrically connected to the robot.

[0013] The preferred technical solution adopted by the present invention to solve the above technical problems is: the enclosed ground rail assembly includes a ground rail body, an L-shaped support beam, a U-shaped edge sealing body, and an L-shaped pedal;

[0014] The ground rail body includes a first wall and a second wall that are parallel to each other. A first slide rail is provided on the outer side of the top of the first wall, and a second slide rail is provided on the outer side of the top of the second wall; each support beam is arranged on the ground rail body in parallel and at intervals, and the vertical arm of each support beam is fixedly connected to the inner side surface of the second wall, and the horizontal arm extends horizontally from the top end of the vertical arm towards the first wall;

[0015] The edge sealing body is buckled on the top of the first wall to cover the first slide rail, and a first gap is formed between its outer groove wall and the first slide rail; the horizontal plate of the pedal is laid on the horizontal arms of each support beam and extends above the edge sealing body, and a strip-shaped notch is formed between the horizontal plate and the top wall of the edge sealing body; the vertical plate of the pedal is bent downward from the outer edge of the horizontal plate and extends to the outside of the second wall, and a second gap is formed between the vertical plate and the second slide rail;

[0016] A sliding arm that extends downward and then bends inward is provided at the bottom of each sliding frame. The sliding arms are respectively inserted into the first gap and the second gap and form a sliding fit with the corresponding slide rails.

[0017] The preferred technical solution adopted by the present invention to solve the above technical problems is: a driving motor is provided below the bearing platform. The output end of the driving motor extends towards the first wall direction, and a transmission gear is provided at the output end of the motor;

[0018] A rack that extends along the length direction of the ground rail is provided on the inner side of the first wall. The gear and the rack cooperate to move the sliding table on the enclosed ground rail assembly.

[0019] The preferred technical solution adopted by the present invention to solve the above technical problems is: the cable bracket includes a horizontal portion and an inclined portion. The horizontal portion passes horizontally through the strip-shaped notch from the outside of the enclosed ground rail assembly, and the inclined portion inclines downward towards the inner area of the ground rail.

[0020] The preferred technical solution adopted by the present invention to solve the above technical problems is: a plurality of triangular support feet are provided on the outer sides of the first wall and the second wall. The triangular support feet include a bottom wall and two relatively arranged triangular walls, and an adjusting component for adjusting the installation height is provided on the bottom wall.

[0021] The preferred technical solution adopted by the present invention to solve the above technical problems is as follows: An electric motor mounting bracket is provided below the bearing platform, and the driving electric motor is mounted below the electric motor mounting bracket;

[0022] The electric motor mounting bracket extends inward from the side of the bearing platform close to the first wall and is spaced apart from the bottom of the bearing platform by a certain distance. When the sliding table moves, the bearing platform is located above the pedal, and the electric motor mounting bracket and the driving electric motor are located below the pedal.

[0023] The preferred technical solution adopted by the present invention to solve the above technical problems is as follows: A reducer with a circular cross-section is provided at the output end of the driving electric motor. A reducer mounting plate is provided below the bearing platform. The reducer mounting plate is provided with an elliptical hole with the long axis in the vertical direction, and the reducer is located within the elliptical hole.

[0024] The preferred technical solution adopted by the present invention to solve the above technical problems is as follows: An inclined surface is provided below one end of the transverse arm of the support beam close to the first wall, and the inclined surface slopes towards the first wall.

[0025] The preferred technical solution adopted by the present invention to solve the above technical problems is as follows: The ground rail body includes multiple connecting beams connecting the first wall and the second wall; Triangular reinforcing bodies are provided at the corners of the connecting beams with respect to the first wall or the second wall.

[0026] The preferred technical solution adopted by the present invention to solve the above technical problems is as follows: The inclined inner surface of the triangular reinforcing body includes a first slope section and a second slope section from top to bottom, and the slope of the first slope section is less than that of the second slope section.

[0027] The preferred technical solution adopted by the present invention to solve the above technical problems is as follows: A square wire duct is provided inside the triangular reinforcing body, and the top corners of the square wire duct are close to the junction of the first slope section and the second slope section.

[0028] Compared with the prior art, the advantages of the present invention are as follows: The enclosed ground rail assembly hides the drag chain system in its internal area, effectively preventing foreign matters such as dust, oil stains, and metal debris in the industrial environment from entering the drag chain system, and reducing the occurrence probability of equipment failures. The cable bracket keeps the cables in a protected state at all times when the cables move with the sliding table, avoiding friction and damage with external objects. The cables are neatly arranged in the bracket, avoiding entanglement and pulling. Through the strip-shaped notch, the cables hidden in the internal area of the ground rail can move with the movement of the sliding table, ensuring the stability of power and signal transmission during the movement of the robot, ensuring that the equipment can operate stably for a long time, and reducing the equipment maintenance cost and downtime. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The present invention will be further described in detail below in conjunction with the accompanying drawings and preferred embodiments. However, those skilled in the art will appreciate that these drawings are only drawn for the purpose of explaining the preferred embodiments and should not be construed as limiting the scope of the present invention. In addition, unless otherwise specified, the drawings only schematically show the composition or structure of the described object and may include exaggerated displays, and the drawings are not necessarily drawn to scale.

[0030] Figure 1 It is a three-dimensional structure of a fully enclosed transfer ground rail for a robot Figure 1 ;

[0031] Figure 2 It is a three-dimensional structure diagram of a fully enclosed transfer ground rail for a robot;

[0032] Figure 3 It is a decomposition of a fully enclosed transfer ground rail for a robot Figure 1 ;

[0033] Figure 4 It is a part of a fully enclosed transfer ground rail for a robot Figure 1 ;

[0034] Figure 5 It is a decomposition of a fully enclosed transfer ground rail for a robot Figure 2 ;

[0035] Figure 6 It is a part of a fully enclosed transfer ground rail for a robot Figure 2 ;

[0036] Figure 7 It is a part of a fully enclosed transfer ground rail for a robot Figure 3 ;

[0037] Figure 8 It is a decomposition of a fully enclosed transfer ground rail for a robot Figure 3 ;

[0038] Figure 9 It is a part of a fully enclosed transfer ground rail for a robot Figure 4 ;

[0039] Figure 10 It is a decomposition of a fully enclosed transfer ground rail for a robot Figure 4 ;

[0040] Figure 11 It is a part of a fully enclosed transfer ground rail for a robot Figure 5 ;

[0041] Figure 12 It is a decomposition of a fully enclosed transfer ground rail for a robot Figure 5 。 Detailed implementation manners

[0042] The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Those skilled in the art will appreciate that these descriptions are only descriptive and exemplary, and should not be construed as limiting the scope of protection of the present invention.

[0043] It should be noted that: Similar reference numerals represent similar items in the following drawings. Therefore, once an item is defined in one drawing, it will not be further defined and explained in subsequent drawings.

[0044] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "upper", "lower", "front", "rear", "left", "right", "inner", "outer", etc. is based on the orientation or positional relationship when the product of the present invention is placed in its usual position during use. There may be a situation inconsistent with the orientation of the drawings. It is only for the convenience of describing the present invention based on the same reference and simplifying the description, rather than indicating or implying that the device or component referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present invention. The terms "first" and "second" are only for the convenience of description and have no other directional meaning, and should not be used as a limitation to the present invention.

[0045] As Figure 1 shown, the present invention provides a fully enclosed transfer floor track for a robot, including a closed floor track assembly 100 and a slide table 200 for carrying a robot 400. In an automotive parts processing production line, this fully enclosed transfer floor track system for a robot is used for material handling and processing operations between different workstations of the robot. The length of the floor track is customized according to the layout of the production line to ensure that the robot can cover all the work areas that need to be reached.

[0046] As Figures 1 - 3 shown, slide rails are provided on both sides of the closed floor track assembly 100. The slide table 200 includes a carrying platform 21, a first sliding frame 22 and a second sliding frame 23 respectively arranged on both sides of the carrying platform 21. The first sliding frame 22 and the second sliding frame 23 move along the slide rails. A strip-shaped notch K is provided on one side of the width of the closed floor track assembly 100. A drag chain system 300 for connecting the power supply end of the robot is provided in the internal area of the floor track of the floor track body 11 assembly. A driving mechanism and a cable bracket 24 are provided at the bottom of the carrying platform 21. The cable bracket 24 is located on the side of the carrying platform 21 close to the strip-shaped notch and extends into the internal area of the floor track through the strip-shaped notch K. The cables of the drag chain system 300 pass through the cable bracket 24 and are electrically connected to the robot.

[0047] As Figure 3 shown, the closed floor track assembly 100 hides the drag chain system 300 in its internal area, effectively preventing foreign matters such as dust, oil stains, and metal debris in the industrial environment from entering the drag chain system 300, and reducing the probability of equipment failures.

[0048] The drag chain system 300 is made of high-strength engineering plastics, has good flexibility and anti-wear performance. The cables inside the drag chain system 300 pass through the cable bracket 24 and are electrically connected to the robot. The cable bracket 24 keeps the cables in a protected state all the time when the cables move with the sliding table 200, avoiding friction and damage with external objects. The cables are neatly arranged in the bracket, avoiding entanglement and pulling. And through the strip-shaped notch K, the cables hidden in the inner area of the ground rail can move with the movement of the sliding table 200, ensuring the stability of power and signal transmission during the movement of the robot, guaranteeing that the equipment can operate stably for a long time, and reducing the equipment maintenance cost and downtime.

[0049] As Figures 3 - 5 shown, the enclosed ground rail assembly 100 includes a ground rail body 11, an L-shaped support beam 12, a U-shaped edge sealing body 13 and an L-shaped pedal 14.

[0050] The ground rail body 11 includes a first wall 1 and a second wall 2 that are parallel to each other. On the outer side of the top of the first wall 1, a first slide rail 3 is provided, and on the outer side of the top of the second wall 2, a second slide rail 4 is provided. Each support beam 12 is arranged on the ground rail body 11 in parallel and at intervals. The vertical arm 12a of each support beam 12 is fixedly connected to the inner side surface of the second wall 2, and the transverse arm 12b extends horizontally from the top end of the vertical arm 12a towards the first wall 1.

[0051] The edge sealing body 13 is buckled on the top of the first wall 1 to wrap the first slide rail 3 inside, and a first gap with a lower opening is formed between its outer groove wall 13a and the first slide rail 3. The edge sealing body 13 closes the first side of the ground rail, protects the first slide rail 3 inside, and avoids the influence of external objects on the first slide rail 3. And the first gap provides an installation space for the sliding frame to cooperate with the slide rail.

[0052] The horizontal plate 14a of the pedal 14 is laid on the transverse arm 12b of each support beam 12 and extends above the edge sealing body 13. A strip-shaped notch K is formed between the horizontal plate 14a and the top wall of the edge sealing body 13. The vertical plate 14b of the pedal 14 is bent downward from the outer edge of the horizontal plate 14a and extends to the outside of the second wall 2. A second gap with a lower opening is formed between the vertical plate 14b and the second slide rail 4. The pedal 14 wraps the second slide rail 4 on the other side, and the formed gap with a lower opening provides an installation space for the sliding frame to cooperate with the slide rail.

[0053] Through such a setting, the entire enclosed ground rail assembly 100 is completely in a closed state except for the first and second gaps and the strip-shaped notch K. And except for the lower openings, the other sides of the first and second gaps are also in a closed state, and the overall does not affect the dust and foreign object prevention ability of the ground rail. The strip-shaped notch K is laterally open, but there is also shielding above it, and the width of the entire strip-shaped notch K is small, which has little impact on the huge ground rail system.

[0054] Preferably, the pedal 14 is composed of multiple pedal 14 units, and each pedal 14 unit spans at least three support beams 12, thereby ensuring the safety of stepping on the ground rail plane.

[0055] As Figures 4 - 7 shown, in order to cooperate with the enclosed ground rail assembly 100, sliding arms 7 extending downward and then bent inward are provided at the bottom of each sliding frame. The sliding arms 7 penetrate into the gaps from the openings of the first and second gaps from bottom to top, and then are respectively disposed in the first gap and the second gap and form a sliding fit with the corresponding slide rails.

[0056] As Figure 4 、 6 、9, and 12 shown, a slider 8 is provided on one side of the sliding arm 7 facing the side wall of the ground rail body 11. The slider 8 is provided with a chute f, and the slide rail is embedded in the chute f, realizing hoisting while achieving sliding connection, and further realizing the connection between the sliding table 200 and the ground rail main body.

[0057] As Figures 1 - 2 shown, three mutually separated first sliding frames 22 or second sliding frames 23 are provided on each side of the sliding table 200, thereby ensuring the stability of the entire sliding table 200.

[0058] As Figure 2 shown, a brush mounting strip q is provided at the front end of the carrying platform 21 for mounting a brush, and the brush cleans the ground rail while the sliding table moves.

[0059] As Figure 6 、 9 shown, a driving motor 60 is provided below the carrying platform 21. The output end of the driving motor 60 extends towards the first wall 1, and a transmission gear 5 is provided at the output end of the motor. The driving motor 60 adopts a high-performance servo motor, which can provide precise speed and position control. The driving motor 60 is hidden below the pedal 14, which can avoid the risk of external collision and reduce the running noise at the same time.

[0060] As Figure 6 shown, a rack 9 extending along the length direction of the ground rail is provided on the inner side of the first wall 1. The gear and the rack 9 cooperate to enable the sliding table 200 to move on the enclosed ground rail assembly 100. The rack 9 is made of high-strength alloy steel and its surface is hardened, having good wear resistance. The transmission gear 5 and the rack 9 cooperate with high transmission precision, which can realize the smooth movement of the sliding table 200 on the enclosed ground rail assembly 100, with accurate positioning, meeting the precise transfer requirements of industrial robots.

[0061] A motor mounting bracket M is provided below the carrying platform 21, and the driving motor 60 is installed below the motor mounting bracket M. The motor mounting bracket M extends inward from the side of the carrying platform 21 close to the first wall 1 and is spaced apart from the bottom of the carrying platform 21 by a gap distance. When the sliding table 200 moves, the carrying platform 21 is located above the pedal 14, and the motor mounting bracket M and the driving motor 60 are located below the pedal 14, which means that the sliding table 200 can move back and forth unobstructedly on the enclosed ground rail on the full pedal 14.

[0062] As Figure 6 shown, a reducer 61 with a circular cross-section is provided at the output end of the driving motor 60. A reducer mounting plate N is provided below the carrying platform 21. The reducer mounting plate N is provided with an elliptical hole t with a long axis in the vertical direction, and the reducer 61 is located within the elliptical hole. The elliptical hole design can compensate for the vertical installation error, ensure a constant meshing clearance between the gear and the rack 9, and reduce wear.

[0063] As Figure 1 、 9 shown, the cable bracket 24 includes a transverse portion 24a and an inclined portion 24b. The transverse portion 24a horizontally passes through the strip-shaped notch K from the outside of the enclosed ground rail assembly 100, and the inclined portion 24b slopes downward toward the inner region of the ground rail. The inclined portion 24b is designed to reduce the bending stress of the cable, extend the service life, and at the same time improve the channel shielding performance. The cable bracket 24 and the strip-shaped notch K form a sealed channel to prevent foreign objects from entering the inner part of the ground rail.

[0064] As Figure 8 、 10 shown, an inclined surface h is provided below one end of the transverse arm 12b of the support beam 12 close to the first wall 1. The inclined surface h slopes in the direction of the first wall 1, increasing the space for avoiding the cable bracket 24.

[0065] As Figure 12 shown, the ground rail body 11 includes a plurality of connecting beams 9 connecting the first wall 1 and the second wall 2. Triangular strengthening bodies G are provided at the corners of the connecting beams 9 with respect to the first wall 1 or the second wall 2. The inclined inner surface of the triangular strengthening body D includes a first slope section Y1 and a second slope section Y2 from top to bottom. The slope of the first slope section Y1 is less than that of the second slope section Y2. The double-slope strengthening body reduces the material usage while ensuring the structural strength. At the same time, the triangular strengthening body also provides a shielding area for complex settings such as wire routing in the inner region of the ground rail. Preferably, a square wire conduit J is provided inside the triangular strengthening body, and the top corners of the square wire conduit J are close to the junction of the first slope section Y1 and the second slope section Y2. This setting further strengthens the support strength of the triangular strengthening body while realizing wire routing.

[0066] As Figure 10 、 11As shown in the figure, a plurality of triangular support feet Z are provided on the outer sides of the first wall 1 and the second wall 2. The triangular support feet Z include a bottom wall and two oppositely arranged triangular walls Z1, and an adjusting component for adjusting the installation height is provided on the bottom wall Z2. The triangular support feet Z can enhance the support stability of the ground rail and can adapt to uneven ground. The adjusting component includes a bolt V1, an adjusting nut V2 and a gasket V3. By rotating the adjusting nut, the protruding length of the screw can be adjusted, so as to change the installation height of the ground rail body 11, adapt to different ground conditions, and ensure the level and stability of the ground rail. The adjusting bolt makes the horizontality error of the ground rail installation ≤ 0.5°.

[0067] In this embodiment, the structural design of the ground rail body 11 assembly is reasonable. Components such as the support beam 12, the edge sealing body 13 and the pedal 14 together constitute a stable load-bearing framework. It can bear the weight of the robot and the workpiece, ensure that the deformation of the ground rail is extremely small under heavy loads, and guarantee the smoothness and safety of the robot operation. Each component adopts a modular design, which is convenient and fast to install. The height adjustment function of the triangular support feet Z adapts to different ground conditions and simplifies the installation process. The reasonable layout of the cable bracket 24 makes the cable connection simple and orderly, reduces the installation time and potential trouble of faults, and improves the overall installation efficiency of the equipment. This fully enclosed robot transfer ground rail system is not only applicable to the automotive parts processing industry, but also can be widely applied to many fields such as electronic manufacturing, machining, logistics warehousing, etc., to meet the requirements of different industries for robot transfer and automated production, and has good market promotion prospects and application value.

[0068] A fully enclosed robot transfer ground rail provided by the present invention has been introduced. In this article, specific examples are used to elaborate on the principle and implementation manner of the present invention. The description of the above embodiments is only used to help understand the present invention and its core idea. It should be pointed out that for those of ordinary skill in the art in this technical field, without departing from the principle of the present invention, several improvements and modifications can still be made to the present invention, and these improvements and modifications also fall within the protection scope of the claims of the present invention.

Claims

1. A fully enclosed robot transfer rail, characterized in that: It includes a closed ground rail assembly and a slide for carrying a robot; Slide rails are arranged on both sides of the closed floor rail assembly, and the slide platform includes a bearing platform, a first sliding frame and a second sliding frame respectively arranged on both sides of the bearing platform; the first sliding frame and the second sliding frame move along the slide rails; A strip-shaped notch is provided on one side of the width of the closed floor rail assembly; a drag chain system connected to the power supply end of the robot is provided in the inner area of ​​the floor rail of the floor rail body assembly; A driving mechanism and a cable bracket are provided at the bottom of the carrying platform. The cable bracket is located on one side of the carrying platform close to the strip-shaped gap and extends to the inner area of ​​the ground rail through the strip-shaped gap. The cables of the drag chain system pass through the cable bracket and are electrically connected to the robot.

2. A robot fully enclosed transfer rail according to claim 1, characterized in that: The closed floor rail assembly comprises a floor rail body, an L-shaped support beam, a U-shaped edge sealing body and an L-shaped pedal; The ground rail body comprises a first wall and a second wall which are parallel to each other, a first slide rail is arranged on the outer side of the top of the first wall, and a second slide rail is arranged on the outer side of the top of the second wall; each support beam is arranged on the ground rail body in parallel and at intervals, a vertical arm of each support beam is fixedly connected to the inner side of the second wall, and a horizontal arm extends horizontally from the top of the vertical arm toward the first wall; The edge sealing body is buckled on the top of the first wall to cover the first slide rail inside and a first gap is formed between the outer groove wall and the first slide rail; the horizontal plate of the pedal is laid on the transverse arms of each support beam and extends to the top of the edge sealing body, and the strip-shaped gap is formed between the horizontal plate and the top wall of the edge sealing body; the vertical plate of the pedal is bent downward from the outer edge of the horizontal plate and extends to the outside of the second wall, and a second gap is formed between the vertical plate and the second slide rail; A sliding arm extending downward and then bending inward is provided at the bottom of each sliding frame. The sliding arm is respectively inserted into the first gap and the second gap and forms a sliding fit with the corresponding sliding rail.

3. A robot fully enclosed transfer rail according to claim 2, characterized in that: A driving motor is provided below the carrying platform, the output end of the driving motor extends toward the first wall, and a transmission gear is provided at the output end of the motor; A rack extending along the length direction of the floor rail is provided on the inner side of the first wall, and the gear and the rack cooperate to enable the slide to move on the closed floor rail assembly.

4. A robot fully enclosed transfer rail according to claim 2, characterized in that: The cable bracket comprises a transverse portion and an inclined portion, wherein the transverse portion passes horizontally through the strip-shaped notch from the outside of the closed floor rail assembly, and the inclined portion is inclined downward toward the inner area of ​​the floor rail; A plurality of triangular support legs are disposed on the outer sides of the first wall and the second wall. The triangular support legs include a bottom wall and two triangular walls that are disposed opposite to each other. An adjustment component for adjusting the installation height is disposed on the bottom wall.

5. A robot fully enclosed transfer ground rail according to claim 3, characterized in that: A motor mounting frame is provided below the carrying platform, and the driving motor is installed below the motor mounting frame; The motor mounting frame extends inward from a side of the bearing platform close to the first wall and is separated from the bottom of the bearing platform by a space; when the slide moves, the bearing platform is located above the pedal, and the motor mounting frame and the drive motor are located below the pedal.

6. A robot fully enclosed transfer rail according to claim 3, characterized in that: The output end of the driving motor is provided with a reducer with a circular cross-section, a reducer mounting plate is provided under the bearing platform, the reducer mounting plate is provided with an elliptical hole with a long axis in the vertical direction, and the reducer is located in the elliptical hole.

7. A robot fully enclosed transfer rail according to claim 2, characterized in that: An inclined surface is provided below one end of the transverse arm of the support beam close to the first wall, and the inclined surface is inclined toward the first wall.

8. A robot fully enclosed transfer ground rail according to claim 2, characterized in that: The ground rail body comprises a plurality of connecting beams connecting the first wall and the second wall; a triangular reinforcement body is provided at the corner between the connecting beam and the first wall or the second wall.

9. A robot fully enclosed transfer rail according to claim 8, characterized in that: The inclined inner side surface of the triangular reinforcement body includes a first slope segment and a second slope segment from top to bottom, and the slope of the first slope segment is smaller than that of the second slope segment.

10. A robot fully enclosed transfer rail according to claim 9, characterized in that: A square wiring tube is provided inside the triangular reinforcement body, and the top corner of the square wiring tube is close to the junction of the first slope section and the second slope section.

Images