Linear module device and charging robot

Abstract

The invention discloses a linear module device and a charging robot, the linear module device comprises a slide rail mounting seat, the slide rail mounting 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 in the slide rail mounting seat, and a slide rail extending from the first end to the second end is arranged outside the slide rail mounting seat; the sliding rail mounting seat is sleeved with the end cylinder, 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. The device adopts a hollow structure design, that is, a through wiring channel is arranged in the slide rail mounting seat to serve as a central cable channel, so that a cable of a tail end module can be arranged in the structure center of the linear module device, a wire harness is effectively guided and protected, internal wire harness offset is avoided, and the service life of the linear module device is prolonged. The short circuit risk caused by insulating layer abrasion and copper wire exposure due to surface scratching in continuous movement is prevented, the movement smoothness is ensured, the wire is protected from being damaged, and the movement smoothness and the electrical safety are both considered.

Description

Technical Field

[0001] This invention relates to the field of robotics, and in particular to a linear module device and a charging robot. Background Technology

[0002] In recent years, as robot applications have become increasingly complex, the requirements for degrees of freedom have also increased. In situations with limited space, where the motion paths themselves are not complex, low-axis robots (such as four-axis structures) can usually meet basic motion requirements. However, with limited degrees of freedom, these robots often struggle to achieve certain specific desired actions. Directly using general-purpose six-axis or seven-axis robots to handle such situations can solve the flexibility problem, but it significantly increases equipment costs; moreover, as the number of axes increases, the marginal benefit gradually decreases, and in key performance indicators such as rigidity and repeatability, they may even be inferior to low-axis robots. Therefore, how to achieve the required motion functions with limited degrees of freedom, while balancing speed, accuracy, cost, and ease of use, has become a key challenge in practical applications.

[0003] Currently, the strategy adopted by most companies is to add one or two auxiliary motion axes to the basic structure of a four-axis robot. This "limited enhancement" approach retains the inherent advantages of low-axis mechanisms in terms of rigidity, precision, and economy, while leveraging specialized and customized axis configurations to achieve efficient and precise adaptation to specific tasks, thus achieving an effective balance between overall performance and specialization.

[0004] However, in the existing technology, due to the limitations of the internal transmission mechanism arrangement, the auxiliary motion shaft has exposed cables, which makes it easy for the insulation layer to wear off and the copper wires to be exposed due to scratching the surface during continuous movement, thus causing a short circuit risk.

[0005] Furthermore, the existing auxiliary motion axis adjustment functions are limited and cannot meet the requirements for multi-degree-of-freedom adjustment under compact design requirements.

[0006] In summary, the problems existing in the relevant technologies urgently need to be solved. Summary of the Invention

[0007] The purpose of this invention is to at least solve one of the technical problems existing in the prior art, and to provide a linear module device and a charging robot.

[0008] The technical solution adopted by this invention to solve its technical problem is: In a first aspect, a linear module device includes: A slide rail mounting base extends from a first end to a second end in a straight line. The slide rail mounting base has a wiring channel extending from the first end to the second end inside, and a slide rail extending from the first end to the second end is provided on the outside of the slide rail mounting base. An end tube is fitted onto the slide rail mounting base, and a slider that is assembled into the slide rail is provided inside the end tube; A linear drive assembly is used to drive the end cylinder to reciprocate along the slide rail.

[0009] In conjunction with the first aspect, in some implementations of the first aspect, the slide rail mounting base has a notch above the cable routing channel, and the slide rail mounting base forms a cable receiving groove through the notch.

[0010] In combination with the first aspect and the above-described implementations, in some implementations of the first aspect, the slide rail includes a first slide rail disposed on the outer side of the front portion of the wire groove and a second slide rail disposed on the outer side of the rear portion of the wire groove. Inside the end cylinder, a first conveying plate is provided on the outer side of the front portion of the slide rail mounting base, and a second conveying plate is provided on the outer side of the rear portion of the slide rail mounting base. The first conveying plate is provided with a first slider that cooperates with the first slide rail, and the second conveying plate is provided with a second slider that cooperates with the second slide rail.

[0011] In conjunction with the first aspect and the above-described implementations, in some implementations of the first aspect, the linear drive assembly includes a lead screw disposed at the bottom of the slide rail mounting base and a lead screw nut assembled on the lead screw. A first fixed seat is provided at the first end of the slide rail mounting base, and a second fixed seat is provided at the second end of the slide rail mounting base. The first fixed seat is provided with a first wire-passing hole communicating with the wire-passing channel, and the second fixed seat is provided with a second wire-passing hole communicating with the wire-passing channel. Both ends of the lead screw are mounted on the first fixed seat and the second fixed seat via bearings. The first conveying plate and the second conveying plate extend to both sides of the lead screw nut and are connected to the lead screw nut.

[0012] In combination with the first aspect and the above-mentioned implementation methods, in some implementation methods of the first aspect, the end cylinder is fitted onto the slide rail mounting base by the second end, and the end of the end cylinder is provided with an end seat outside the second fixed base. The end seat is provided with a wire guide sleeve, and the wire guide sleeve extends through the second wire guide hole and into the interior of the wiring channel.

[0013] In combination with the first aspect and the above-described implementations, in some implementations of the first aspect, the first fixing base is provided with a wire tying assembly, the wire tying assembly includes a wire tying seat and a wire tying strap, the wire tying seat is installed on the first fixing base and extends through the first wire through hole into the interior of the wiring channel, the wire tying seat is provided with a third wire through hole, the wire tying seat is provided with a wiring separation member that crosses the third wire through hole, and the wire tying strap includes a first wire tying strap for bundling cables on one side of the wiring separation member and a second wire tying strap for bundling cables on the other side of the wiring separation member.

[0014] In combination with the first aspect and the above-described implementations, in some implementations of the first aspect, the first fixed seat extends downward toward the slide rail mounting seat to form a motor mounting seat, the motor mounting seat is provided with a motor, the output end of the motor is provided with a drive gear, the end of the lead screw is provided with a driven gear, the drive gear and the driven gear are engaged by an idler gear transmission, and the motor is provided with an encoder.

[0015] In combination with the first aspect and the above-described implementations, in some implementations of the first aspect, a rear cover is provided on the rear side of the first fixing seat, the first fixing seat is connected to the rear cover, and the linear module device further includes a pitch mechanism connected to the rear cover and used to adjust the pitch angle of the rear cover.

[0016] In conjunction with the first aspect and the above-described implementations, in some implementations of the first aspect, the pitch mechanism includes a connecting plate, a linkage rod, and a pitch adjustment assembly. The connecting plate has a downwardly extending rear cover connecting seat, and the rear cover is hinged to the rear cover connecting seat via a pin. The pitch adjustment assembly includes a mounting plate, a screw rotatably mounted on the mounting plate perpendicular to the pin, a moving block assembled on the screw, and an adjusting wheel disposed at the end of the screw. The mounting plate is connected to the connecting plate. One end of the linkage rod is hinged to the rear cover, and the other end is hinged to the moving block. The rear cover has a fourth cable passage hole at a position corresponding to the second cable passage hole. The connecting plate has a fifth cable passage hole, and a flexible cable routing tube is provided between the fifth cable passage hole and the fourth cable passage hole.

[0017] In a second aspect, a charging robot includes the linear module device described in any implementation of the first aspect.

[0018] One of the above technical solutions has at least one of the following advantages or beneficial effects: The technical solution of the present invention can be used in scenarios such as robot plugging and unplugging operations and linear push-out tasks. The end cylinder is located at the end of the device and is used for the installation of the end module (e.g., a charging head). The slide rail mounting base is used to provide guidance and support for the end cylinder, so that the end cylinder can reciprocate along the slide rail under the drive of the linear drive component, achieving stable linear motion. To meet the requirement of wire harness concealment, the device adopts a hollow structure design, that is, a through-type wiring channel is set inside the slide rail mounting base as a central cable channel, so that the cable of the end module can be arranged at the structural center of the linear module device, effectively guiding and protecting the wire harness, avoiding internal wire harness offset, and preventing insulation layer wear and copper wire exposure due to surface scraping during continuous movement, thereby preventing short circuit risks. The technical solution of the present invention ensures smooth movement and protects the wires from damage, balancing smooth movement and electrical safety.

[0019] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0020] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which: Figure 1 This is a schematic diagram of an embodiment of the present invention; Figure 2 This is a schematic cross-sectional view of an embodiment of the present invention; Figure 3 This is a schematic cross-sectional view of a linear mechanism according to an embodiment of the present invention; Figure 4 yes Figure 3 Cross-sectional view at point AA; Figure 5 This is an isometric view of a linear mechanism according to an embodiment of the present invention; Figure 6 This is a cross-sectional view of the end tube according to an embodiment of the present invention; Figure 7 This is a schematic diagram of a wire tie holder structure according to an embodiment of the present invention; Figure 8 This is a schematic diagram of a wire-tying assembly structure according to an embodiment of the present invention; Figure 9 This is a cross-sectional view of the pitch mechanism according to an embodiment of the present invention; Figure 10 This is an isometric view of the pitching mechanism according to an embodiment of the present invention. Detailed Implementation

[0021] This section will describe in detail specific embodiments of the present invention. Preferred embodiments of the present invention are shown in the accompanying drawings. The purpose of the drawings is to supplement the textual description with graphics, so that people can intuitively and vividly understand each technical feature and overall technical solution of the present invention, but they should not be construed as limiting the scope of protection of the present invention.

[0022] In this invention, when directions (up, down, left, right, front, and back) are described, it is only for the purpose of describing the technical solution of this invention, and does not indicate or imply that the technical features referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation of this invention.

[0023] In this invention, "several" means one or more, "multiple" means two or more, "greater than," "less than," "exceeding," etc., are understood to exclude the stated number; "above," "below," "within," etc., are understood to include the stated number. In the description of this invention, the terms "first" and "second" are used only to distinguish technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the order of the indicated technical features.

[0024] In this invention, unless otherwise explicitly defined, the terms "setting," "installing," and "connecting" should be interpreted broadly. For example, they can refer to a direct connection or an indirect connection through an intermediate medium; a fixed connection, a detachable connection, or an integrally formed connection; a mechanical connection, an electrical connection, or a connection capable of mutual communication; or the internal connection of two components or the interaction between two components. Those skilled in the art can reasonably determine the specific meaning of the above terms in this invention based on the specific content of the technical solution.

[0025] See Figures 1-6 This invention provides a linear module device, including a linear mechanism 100. The linear mechanism 100 includes a slide rail mounting base 101, an end cylinder 102, and a linear drive assembly. The slide rail mounting base 101 extends from a first end 101a to a second end 101b along a linear direction. The slide rail mounting base 101 has a wiring channel 103 extending from the first end 101a to the second end 101b inside. The slide rail mounting base 101 has a slide rail 104 extending from the first end 101a to the second end 101b outside. The end cylinder 102 is cylindrical and is fitted onto the slide rail mounting base 101. The slide rail mounting base 101 extends into the inner cavity of the end cylinder 102 along its length. The end cylinder 102 has a slider 105 assembled to the slide rail 104 inside. The linear drive assembly drives the end cylinder 102 to reciprocate along the slide rail 104.

[0026] See Figures 1-6The technical solution of this invention can be used in scenarios such as robot plugging and unplugging operations and linear push-out tasks. The end cylinder 102 is located at the end of the device and is used for the installation of the end module (e.g., a charging head). The slide rail mounting base 101 provides guidance and support for the end cylinder 102, allowing it to reciprocate along the slide rail 104 under the drive of the linear drive assembly, achieving stable linear motion. To meet the requirement of wire harness concealment, this device adopts a hollow structure design, that is, a through-type cable routing channel 103 is set inside the slide rail mounting base 101 as a central cable channel, allowing the cable of the end module to be arranged at the structural center of the linear module device, effectively guiding and protecting the wire harness, avoiding internal wire harness offset, and preventing insulation layer wear and copper wire exposure due to surface scraping during continuous movement, thus preventing short circuit risks. The technical solution of this invention ensures smooth movement and protects the wires from damage, balancing smooth movement and electrical safety.

[0027] In some embodiments, see Figure 4 , Figure 5 When the linear drive assembly drives the end cylinder 102 to move, the internal cable reciprocates accordingly. The slide rail mounting base 101 has a notch 106 above the cable routing channel 103. The slide rail mounting base 101 forms a cable receiving groove through the notch 106 at the top. The cable receiving groove structure increases the internal space of the entire cable routing channel 103, allowing the cable to have room to move. In particular, when the end cylinder 102 retracts along the slide rail mounting base 101 under the drive of the linear drive assembly, it helps to bend and store the wire.

[0028] Further, see Figure 4 The slide rail mounting base 101 has a rectangular cross-section. The slide rail mounting base 101 has a cable routing channel 103 extending along the length direction inside. The top end face of the slide rail mounting base 101 has a notch 106. The slide rail 104 includes a first slide rail disposed on the outer side of the front part of the cable receiving groove and a second slide rail disposed on the outer side of the rear part of the cable receiving groove. In other words, the first slide rail and the second slide rail are mirror images disposed on the front and rear end faces of the slide rail mounting base 101. The end cylinder 102 has a first conveying plate 107 disposed on the outer side of the front part of the slide rail mounting base 101 and a second conveying plate 108 disposed on the outer side of the rear part of the slide rail mounting base 101. The first conveying plate 107 and the second conveying plate 108 are symmetrically arranged on both sides of the slide rail mounting base 101. The first conveying plate 107 has a first slider that cooperates with the first slide rail, and the second conveying plate 108 has a second slider that cooperates with the second slide rail.

[0029] Among them, see Figure 2 , Figure 3 , Figure 4The linear drive assembly includes a lead screw 109 disposed at the bottom of the slide rail mounting base 101 and a lead screw nut 110 assembled on the lead screw 109. The first end 101a of the slide rail mounting base 101 is provided with a first fixed seat 111, and the second end 101b of the slide rail mounting base 101 is provided with a second fixed seat 112. The first fixed seat 111 is provided with a first wire passage hole communicating with the wire routing channel 103, and the second fixed seat 112 is provided with a second wire passage hole 113 communicating with the wire routing channel 103. The two ends of the lead screw 109 are mounted on the first fixed seat 111 and the second fixed seat 112 by bearings. The first conveying plate 107 and the second conveying plate 108 extend to both sides of the lead screw nut 110 and are connected to the lead screw nut 110.

[0030] In this embodiment, the linear drive assembly employs a lead screw and nut 110 mechanism, which further drives the end cylinder 102 to reciprocate via the first conveyor plate 107 and the second conveyor plate 108. Regarding stroke limiting: when the lead screw and nut 110 moves to contact the end face of the first fixed seat 111, it stops moving; similarly, it stops moving in the opposite direction when it contacts the second fixed seat 112. Both ends employ hard limiting methods to achieve mechanical hard limiting, precisely controlling the reciprocating motion range and ensuring safe and reliable stroke.

[0031] The transmission layout of the device adopts a combination design of symmetrical double guide rails and bottom lead screw 109, rather than the concept of offset layout. The conveyor plates are distributed on both sides and connected to the end cylinder 102. Under the premise of ensuring that the middle area achieves a large-size hollow, this layout can make the most of the space, move smoothly in a limited space, and effectively avoid interference, fully meeting the structural requirements.

[0032] The lead screw 109 can be a trapezoidal lead screw. The use of a trapezoidal lead screw brings mechanical gain, which can generate a large linear thrust with a small input torque, while also providing smooth transmission, low operating noise, and a self-locking function. Based on overall structural and cost considerations, this self-locking feature can replace the motor brake, further simplifying the system.

[0033] In some embodiments, see Figure 1 , Figure 2 , Figure 6 The end tube 102 is fitted onto the slide rail mounting base 101 via the second end 101b. An end seat 113 is located on the outer side of the second fixed base 112 at the end of the end tube 102. The end seat 113 has a modular interface and a radial locking position. During connection, simply insert and gently tap the pin; radial locking completes the connection. This facilitates quick connection and replacement of different end modules. After locking, a rubber ring can be added for coverage, maintaining a neat appearance while also facilitating subsequent replacement and maintenance, reflecting a good modular design concept.

[0034] The end seat 113 is provided with a wire guide sleeve 114, which extends through the second wire guide hole 113 and into the wiring channel 103. The wire guide sleeve 114 can guide the cable route and prevent the cable from falling into the gap between the end cylinder 102 and the second fixed seat 112 during the linear extension and retraction movement of the device, thereby preventing the wire from being crushed or jammed due to obstruction.

[0035] In some embodiments, see Figure 3 , Figure 5 , Figure 7 , Figure 8 When the end tube 102 extends, to prevent the cable from being pulled from behind, the first fixed seat 111 is provided with a cable tying assembly. The cable tying assembly includes a cable tying seat 115 and a cable tying strap. The cable tying seat 115 is installed on the first fixed seat 111 and extends through the first cable passage hole into the cable routing channel 103. The tail of the cable tying seat 115 is provided with a flange and is connected to the first fixed seat 111 by fasteners on the flange. The cable tying seat 115 is provided with a third cable passage hole 116 inside, forming a hollow cylindrical shape. The cable tying seat 115 is provided with a cable routing separator 117 that passes through the third cable passage hole 116. When leading the cable, the cable needs to pass through the upper and lower sides of the cable routing separator 117. The cable tying strap includes a first cable tying strap 118 for binding the cable on one side of the cable routing separator 117 and a second cable tying strap 119 for binding the cable on the other side of the cable routing separator 117. In use, the cable passes through the cable routing separator 117 from above and below, and is secured by the first cable tie 118 and the second cable tie 119 along the extension and retraction direction of the end tube 102 from both sides of the cable routing separator 117, thereby limiting the displacement of the cable and preventing it from being stretched. The cable tying assembly not only binds the cable when it passes through the middle, but also prevents it from pulling on the following cable during straight back-and-forth movement.

[0036] When installing the linear module device, the end tube 102 of the device should be extended to its maximum stroke before being fixed to ensure that the cable can be bent and stored in an orderly manner during the movement, and to avoid affecting normal use due to pulling, thus taking into account both the reliability of movement and the safety of the wires.

[0037] The lead screw 109 can be driven by a motor; in some embodiments, see [reference needed]. Figure 2 , Figure 3 , Figure 5The first fixed seat 111 extends downwards towards the slide rail mounting seat 101 to form a motor mounting seat. A motor 120 is mounted on the motor mounting seat. The output end of the motor 120 has a driving gear 121, and the end of the lead screw 109 has a driven gear 122. The driving gear 121 and driven gear 122 are driven and engaged by an idler gear 133. The driving gear 121, driven gear 122, and idler gear 133 form a gear set. The gear set adopts a "two small, one large" layout design, meaning two small gears (driving gear 121 and driven gear 122) are paired with a large idler gear 133. Compared with synchronous belt drives, this gear transmission method has advantages such as compact structure, small space occupation, no need for subsequent tension adjustment, and long service life, making it more suitable for module operation. The combination of two small and one large gears allows for the selection of gears with smaller pitch circles while still meeting center distance requirements, thus saving space. Furthermore, the large idler gear 133 effectively improves meshing conditions, ensuring smooth and reliable gear transmission during high-frequency meshing and extending overall service life. An oil filling hole is located in the middle of the gear set, allowing for direct lubrication via a replaceable grease nipple. This improves the wear resistance of the metal gears, reduces operating noise, and fully meets the lubrication needs during both commissioning and long-term maintenance.

[0038] To optimize space utilization, motor 120 adopts a flat design with the driver located externally. The motor 120 body is a frameless torque motor structure, with the stator mounted inside the motor housing and the rotor mounted on the motor shaft. One end of the bearing is supported by slots in the motor mounting bracket, while the other end is supported by the motor housing. The entire motor 120 is positioned and mounted on the motor mounting bracket using pin sleeves. Motor 120 is equipped with an encoder, supporting power-off position memory and rapid power-on start-up.

[0039] In some embodiments, see Figure 1 , Figure 2 , Figure 9 , Figure 10 The linear module device also includes a pitch mechanism 200. In this embodiment, while retaining the linear motion capability, a pitch degree of freedom is added, thereby enabling key attitude adjustments on a low-axis robot body. Specifically, a rear cover 124 is provided on the rear side of the first fixed base 111, and the first fixed base 111 is connected to the rear cover 124. The linear module device also includes a pitch mechanism 200 connected to the rear cover 124 and used to adjust the pitch angle of the rear cover 124. In other words, the pitch mechanism 200 achieves the pitch adjustment function through angular movement.

[0040] Further, see Figure 1 , Figure 2 , Figure 9 , Figure 10The pitch mechanism 200 includes a connecting plate 201, a linkage rod 202, and a pitch adjustment assembly. The connecting plate 201 is used to connect the entire device to the robot. The connecting plate 201 has a downwardly extending rear cover connecting seat 203. The rear cover 124 is hinged to the lower end of the rear cover connecting seat 203 via a pin 204 and has rotational freedom. The linear mechanism 100 can adjust the pitch angle around the pin 204. The pitch adjustment assembly includes a mounting plate 205, a screw 206 rotatably mounted on the mounting plate 205 perpendicular to the pin 204, a moving block 207 assembled on the screw 206, and an adjusting wheel 208 disposed at the end of the screw 206. The mounting plate 205 is connected to the connecting plate 201. One end of the linkage rod 202 is hinged to the rear cover 124, and the other end is hinged to the moving block 207.

[0041] In use, the screw 206 can be directly rotated by manually or by driving the adjusting wheel 208 via the motor 120. During rotation, the screw 206 drives the moving block 207, thus converting rotational motion into linear motion. The mounting plate 205 has a square groove inside to guide the moving block 207 to slide up and down along it, limiting the rotational freedom of the moving block 207 and ensuring it always maintains linear motion. Two straight grooves are also designed on the left and right sides of the mounting plate 205 to accommodate the movement of the threaded supports 209 mounted on both sides of the moving block 207. These straight grooves also serve as a mechanical angle limiting structure for the pitch mechanism 200: when the outer surface of the threaded support 209 contacts the edge of the straight groove, the movement is stopped. In this embodiment, a linkage rod 202 structure is used to achieve the conversion from linear motion to angular motion. When the moving block 207 moves upward, the linkage rod 202 is driven to move backward by the moving block 207, pushing the rear cover 124 to swing around its fixed fulcrum with the rear cover connecting seat 203, thereby reducing the pitch angle; conversely, when the moving block 207 moves downward, it pushes the rear cover 124 to swing in the opposite direction, increasing the pitch angle.

[0042] See Figure 9 , Figure 10 The rear cover 124 has a fourth cable passage 125 at the position corresponding to the second cable passage 113, and the connecting plate 201 has a fifth cable passage 210. A flexible cable routing hose 211 is provided between the fifth cable passage 210 and the fourth cable passage 125. The flexible cable routing hose 211 connects the connecting plate 201 and the rear cover 124 between the linear mechanism 100 and the pitch mechanism 200, and its upper and lower ends are fastened with clamps. This design ensures sealing performance to prevent the entry of foreign objects, and can also be adjusted to change the required pitch angle.

[0043] In some embodiments, a fine-pitch screw is selected for the screw 206, which combines economy and convenience of manual fine-tuning, making it a preferred option. Furthermore, since the equivalent friction angle of the triangular thread is greater than the thread helix angle, it inherently possesses self-locking properties; to further ensure positional stability, a clamping block is added to restrict the rotation of the adjusting wheel 208, achieving double locking. The bottom of the rear cover connecting seat 203 adopts a curved design, which helps to shorten the axial distance, thereby reducing the overall structural length.

[0044] In this embodiment, the pitch mechanism 200 is adjusted to be located at the rear end. By rotating the fine-tooth screw, the moving fast motion is driven, allowing the push rod to drive the rear cover 124 to change different angles. Furthermore, the pitch plate is designed with a bend, which helps to shorten the axial distance.

[0045] Embodiments of the present invention also provide a charging robot, including the linear module device in any of the above embodiments. It features a large hollow structure, supporting internal cable arrangement and dynamic containment, and is equipped with a cable harness fixing mechanism to resist rear-end pulling; it also integrates functions such as power-off position memory, manual reset in case of abnormalities, adjustable pitch angle, and self-locking. The overall structure is compact, and under the premise of simple control and controllable cost, it can efficiently complete specific motion tasks, improving the adaptability of low-degree-of-freedom systems such as four-axis robots to complex working conditions.

[0046] In the description of this specification, references to terms such as "example," "embodiment," or "some embodiments" indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0047] Of course, the present invention is not limited to the above-described embodiments. Those skilled in the art can make equivalent modifications or substitutions without departing from the spirit of the present invention, and these equivalent modifications or substitutions are all included within the scope defined by the claims of this application.

Claims

1. A linear module device, characterized in that, include: A slide rail mounting base extends from a first end to a second end in a straight line. The slide rail mounting base has a wiring channel extending from the first end to the second end inside, and a slide rail extending from the first end to the second end is provided on the outside of the slide rail mounting base. An end tube is fitted onto the slide rail mounting base, and a slider that is assembled into the slide rail is provided inside the end tube; A linear drive assembly is used to drive the end cylinder to reciprocate along the slide rail.

2. The linear module device according to claim 1, characterized in that, The slide rail mounting base has a notch above the cable routing channel, and the slide rail mounting base forms a cable receiving groove through the notch.

3. The linear module device according to claim 2, characterized in that, The slide rail includes a first slide rail disposed on the outer side of the front part of the wire groove and a second slide rail disposed on the outer side of the rear part of the wire groove. Inside the end cylinder, a first conveying plate is provided on the outer side of the front part of the slide rail mounting base, and a second conveying plate is provided on the outer side of the rear part of the slide rail mounting base. The first conveying plate is provided with a first slider that cooperates with the first slide rail, and the second conveying plate is provided with a second slider that cooperates with the second slide rail.

4. The linear module device according to claim 3, characterized in that, The linear drive assembly includes a lead screw disposed at the bottom of the slide rail mounting base and a lead screw nut assembled on the lead screw. The first end of the slide rail mounting base is provided with a first fixed seat, and the second end of the slide rail mounting base is provided with a second fixed seat. The first fixed seat is provided with a first wire-passing hole communicating with the wire-passing channel, and the second fixed seat is provided with a second wire-passing hole communicating with the wire-passing channel. The two ends of the lead screw are mounted on the first fixed seat and the second fixed seat through bearings. The first conveying plate and the second conveying plate extend to both sides of the lead screw nut and are connected to the lead screw nut.

5. The linear module device according to claim 4, characterized in that, The end tube is fitted onto the slide rail mounting base at its second end. The end of the end tube has an end seat on the outside of the second fixed base. The end seat has a wire guide sleeve, which extends through the second wire guide hole and into the wiring channel.

6. The linear module device according to claim 4, characterized in that, The first fixing base is provided with a wire tying assembly, which includes a wire tying seat and a wire tying tape. The wire tying seat is installed on the first fixing base and extends through the first wire through hole into the inside of the wiring channel. The wire tying seat is provided with a third wire through hole. The wire tying seat is provided with a wiring divider component that passes through the third wire through hole. The wire tying tape includes a first wire tying tape for bundling cables on one side of the wiring divider component and a second wire tying tape for bundling cables on the other side of the wiring divider component.

7. The linear module device according to claim 4, characterized in that, The first fixed base extends downwards from the slide rail mounting base to form a motor mounting base. A motor is mounted on the motor mounting base. The output end of the motor is provided with a drive gear, and the end of the lead screw is provided with a driven gear. The drive gear and the driven gear are engaged by an idler gear transmission. The motor is provided with an encoder.

8. The linear module device according to claim 4, characterized in that, The first fixing seat has a rear cover on its rear side, and the first fixing seat is connected to the rear cover. The linear module device also includes a pitch mechanism connected to the rear cover and used to adjust the pitch angle of the rear cover.

9. The linear module device according to claim 8, characterized in that, The pitch mechanism includes a connecting plate, a linkage rod, and a pitch adjustment assembly. The connecting plate has a downwardly extending rear cover connecting seat, and the rear cover is hinged to the rear cover connecting seat by a pin. The pitch adjustment assembly includes a mounting plate, a screw rotatably mounted on the mounting plate perpendicular to the pin, a moving block assembled on the screw, and an adjusting wheel disposed at the end of the screw. The mounting plate is connected to the connecting plate. One end of the linkage rod is hinged to the rear cover, and the other end is hinged to the moving block. The rear cover has a fourth cable passage hole at the position corresponding to the second cable passage hole. The connecting plate has a fifth cable passage hole, and a flexible cable is provided between the fifth cable passage hole and the fourth cable passage hole.

10. A charging robot, characterized in that, The linear module device includes any one of claims 1 to 9.

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