A load containment floor track for a robot

Abstract

The application discloses a load closed ground rail for robots, which comprises a magnetic shielding shell arranged on a working ground, the magnetic shielding shell is provided with an opening, and a guide channel is formed in the opening. A magnetic guide cover plate is arranged on the magnetic shielding shell to close the opening and form a sealed sliding groove with the guide channel. A driven sliding block for bearing and connecting an external robot is arranged on the side of the magnetic guide cover plate away from the sliding groove. A driving sliding block is arranged in the sliding groove and magnetically coupled with the driven sliding block to generate a magnetic attraction force on the driven sliding block. A transmission module is arranged in the magnetic shielding shell to drive the driving sliding block to move along the length direction of the sliding groove. The application realizes non-contact magnetic transmission between the driving sliding block and the driven sliding block, the transmission components are closed in the sliding groove, external pollutants are effectively isolated, and the operation stability and reliability of the ground rail are improved.

Description

Technical Field

[0001] This invention relates to the field of robot guide rail technology, and more specifically to a load-sealed ground rail for robots. Background Technology

[0002] In the field of industrial robot-assisted production, robots are widely used in complex work scenarios such as handling, welding, painting, and assembly. To enable robots to operate flexibly within a large space, they are usually equipped with mobile tracks (also known as walking axes or seventh axes) so that the robot can move along a preset straight trajectory, thereby expanding its operating range.

[0003] Traditional robot track systems often employ open transmission structures, typically including rack and pinion drives, ball screw drives, or synchronous belt drives, paired with linear guides as load-bearing and guiding elements. In these structures, transmission components (such as racks, screws, and guides) and the moving slide are exposed to the workshop environment. However, in actual production, the work site is commonly contaminated with metal dust, welding spatter, cutting fluid, oil mist, and cleaning chemicals. These contaminants easily penetrate the clearances of the transmission mechanism, adhering to the guide slide or meshing surfaces, leading to the following problems: First, contaminants mixed with lubricating media form an abrasive paste, which significantly accelerates the wear of guide rails, gears, and lead screws, shortening the lifespan of the equipment's precision maintenance. Second, the accumulation of particulate matter increases sliding resistance, causing motion jamming or crawling, directly affecting the repeatability of the robot's end-effector positioning. Third, to maintain normal operation, frequent cleaning and lubrication maintenance are required, which not only increases downtime but also raises labor maintenance costs. In particular, open-type ground rails are difficult to meet the requirements for use in sealed environments (such as clean rooms or explosion-proof areas).

[0004] To address the aforementioned pollution issues, some existing solutions employ accordion-style protective covers or telescopic sheet metal guards to cover the guide rail area. While these protective methods can block large particles of debris to some extent, they have significant limitations: the protective covers are prone to fatigue damage during repeated expansion and contraction, and they cannot provide a complete seal, allowing fine dust to still seep in through gaps; furthermore, the installation of the protective covers occupies additional space and limits the convenience of real-time observation and maintenance of the transmission components' operating status.

[0005] Therefore, how to achieve efficient and stable transmission while ensuring complete sealing and isolation of the transmission system, and at the same time take into account structural compactness and long-term operational reliability, has become a technical problem that urgently needs to be solved in this field. Summary of the Invention

[0006] The main objective of this application is to provide a load-sealed ground rail for robots, which solves the technical problems of poor sealing performance of robot ground rails in the prior art, making them susceptible to external contaminants and resulting in poor operational stability.

[0007] According to the present invention, a robot load-sealed track is provided, comprising a magnetic shielding shell disposed on a working surface, the magnetic shielding shell having an opening and a guide channel communicating with the opening; the magnetic shielding shell is provided with a magnetically conductive cover plate for transmitting magnetic fields and not being magnetically attracted itself to close the opening, and forming a sealed groove with the guide channel; a driven slider for supporting and connecting an external robot is provided on the side of the magnetically conductive cover plate opposite to the groove; an active slider is provided in the groove and magnetically coupled to the driven slider to generate a magnetic attraction force on the driven slider; a transmission module is provided in the magnetic shielding shell to drive the active slider to move along the length direction of the groove.

[0008] Furthermore, the driven slider includes a movable block slidably disposed on the magnetic cover plate, the movable block being guided by a guide groove formed on the magnetic cover plate; and the cross-section of the movable block and the cross-section of the guide groove are both rectangular, so that the movable block can be taken out or put in perpendicular to the magnetic cover plate; the movable block is provided with a fixed seat for mounting the robot, and the fixed seat is provided with a plurality of support balls that contact the magnetic cover plate.

[0009] Furthermore, the active slider includes a magnetic block that is slidably disposed in the groove and in contact with the bottom surface of the magnetic cover plate. The magnetic block drives the moving block through magnetic coupling. The magnetic block is provided with an elastic lifting component for connecting to the transmission module. The elastic lifting component is used to apply an elastic force to the magnetic block to make its top surface press against the bottom surface of the magnetic cover plate.

[0010] Furthermore, the elastic lifting assembly includes a guide seat connected to the transmission module. The guide seat is provided with auxiliary balls and a mounting cavity. A slide rod is vertically inserted through the mounting cavity. The bottom end of the slide rod extends into the mounting cavity and is connected to a limiting seat. The top end of the slide rod extends above the guide seat and is connected to the magnetic block. A vertical spring is sleeved on the outside of the slide rod between the guide seat and the magnetic block.

[0011] Furthermore, the transmission module includes a support seat disposed within the magnetic shielding shell, the top of the support seat contacting the auxiliary ball bearings, and the support seat having a strip groove in which a synchronous rack is installed; each end of the support seat has a main synchronous pulley, the main synchronous pulley being rotatably disposed within the magnetic shielding shell, and one of the main synchronous pulleys being connected to a drive motor disposed outside the magnetic shielding shell, the two main synchronous pulleys being connected by a synchronous belt to form a meshing channel between the synchronous rack and the synchronous belt, a driven synchronous pulley being fitted within the meshing channel, the driven synchronous pulley moving along the length direction of the synchronous rack as the synchronous belt rotates, and the driven synchronous pulley being rotatably mounted on the guide seat.

[0012] Furthermore, the robot's load-enclosed ground track also includes a calibration and positioning module. The calibration and positioning module includes a position sensor located at the end of the guide channel and a limiting block located in the guide groove. The position sensor is used to detect the position of the magnetic block, and the limiting block abuts against the moving block to limit its movement limit.

[0013] Furthermore, the position sensor is configured such that when it detects that the magnetic block has reached a preset position, the moving block comes into contact with the limiting block.

[0014] Furthermore, the robot's load-sealed track also includes a self-lubricating unit, which includes a piston and a reservoir. The piston is triggered by the movement of the guide seat to squeeze the lubricating oil in the reservoir onto the timing belt.

[0015] Furthermore, the piston portion includes a sealing shell disposed near the end of the bearing seat. A guide rod is slidably inserted inside the sealing shell. One end of the guide rod is connected to a pressure seat disposed opposite to the guide seat. A horizontal spring sleeved outside the guide rod is provided between the pressure seat and the sealing shell. The other end of the guide rod extends into the sealing shell and is connected to a piston. The piston can be moved toward the end of the bearing seat by the movement of the guide seat, thereby generating compressed gas.

[0016] Furthermore, the liquid storage section includes an upper oil chamber located within the bearing seat. The upper oil chamber is connected to the sealing shell via a pressure inlet hole. The upper oil chamber has several oil outlet holes that are opposite to the synchronous belt. The oil outlet holes drip oil outward under pressure. The upper oil chamber is also connected to an oil filler nozzle located outside the magnetic shield.

[0017] Compared with the prior art, the beneficial effects of the present invention are: In the robot load-sealed track described in this invention, a magnetic shield is provided, and a magnetically conductive cover plate is provided at the opening of the magnetic shield to seal the guide channel and form a sealed groove. A driven slider is provided on the side of the magnetically conductive cover plate away from the groove, while an active slider is provided inside the groove. The active slider and the driven slider are connected by magnetic coupling to form a non-contact transmission.

[0018] This design ensures that: since the active slider is completely located within the sealed groove, it is physically isolated from the guide channel and the internal space of the magnetic shield. Contaminants such as dust, debris, and liquids from the external environment cannot enter the groove, thus effectively preventing external contaminants from corroding and wearing the transmission module and the active slider; at the same time, the driven slider is located outside the groove and is used to support the robot. It only needs to be driven by magnetic coupling with the magnetic cover plate, without the need to open mechanical connection holes or transmission grooves that penetrate the groove. Therefore, the groove always remains sealed.

[0019] Based on the above structure, when the transmission module drives the active slider to move along the length of the chute, the active slider drives the driven slider to move synchronously through magnetic coupling. This enables the robot to move smoothly under the condition of complete isolation from external contaminants, significantly improving the operational stability, reliability and service life of the ground rail, and reducing the maintenance frequency. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the internal structure of a robot load-enclosed ground track provided in an embodiment of this application; Figure 2 A schematic diagram of the external structure of a robot load-enclosed ground track provided in an embodiment of this application; Figure 3 for Figure 1 The enlarged view of part A shows the structure of the driven slider; Figure 4 This is a schematic diagram of the installation of the self-lubricating unit of the robot load-sealed ground rail according to an embodiment of this application; Figure 5 for Figure 4 A partially enlarged view of section B shows the structure of the self-lubricating unit; Figure 6 This is a schematic diagram of the filler nozzle of the robot's load-sealed rail according to an embodiment of this application.

[0021] Reference numerals: 10. Magnetic shield; 11. Guide channel; 12. Slide groove; 20. Magnetic cover plate; 21. Guide groove; 30. Driven slider; 31. Moving block; 32. Fixed seat; 33. Support ball; 40. Active slider; 41. Magnetic block; 42. Elastic lifting assembly; 421. Guide seat; 4211. Mounting cavity; 422. Auxiliary ball; 423. Slide rod; 424. Limit seat; 425. Vertical spring; 50. Transmission module; 51. Bearing seat; 511. Strip groove 52. Synchronous rack; 53. Main synchronous pulley; 54. Drive motor; 55. Synchronous belt; 56. Driven synchronous pulley; 57. Meshing channel; 60. Calibration and positioning module; 61. Position sensor; 62. Limit block; 70. Self-lubricating unit; 71. Piston section; 711. Sealing shell; 712. Guide rod; 713. Pressure seat; 714. Horizontal spring; 715. Piston; 72. Liquid reservoir; 721. Upper oil chamber; 722. Pressure inlet; 723. Oil outlet; 724. Oil filler nozzle. Detailed Implementation

[0022] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.

[0023] like Figure 1 and Figure 2 As shown, this application embodiment provides a robot load-sealed ground rail, which includes a magnetic shield 10, a magnetic guide plate 20, a driven slider 30, an active slider 40, and a transmission module 50. The magnetic shield 10 is disposed on the working surface to isolate magnetic forces and serves as the base of the entire device. The magnetic shield 10 is an elongated shell structure with an opening at the top, and a guide channel 11 communicating with the opening is formed inside. The magnetic guide plate 20 is disposed on the magnetic shield 10. The magnetic guide plate 20 is made of a material that is not attracted by magnetic forces but can transmit magnetic fields, such as austenitic stainless steel. It is fixed and covers the opening of the magnetic shield 10, thereby sealing the opening. The magnetic guide plate 20 and the guide channel 11 together form a sealed groove 12, which physically isolates the inside of the groove 12 from the external environment.

[0024] On the side of the magnetic cover plate 20 opposite to the slide groove 12 (i.e., the upper side), a driven slider 30 is provided for supporting and connecting an external robot. Inside the slide groove 12, an active slider 40 is provided, magnetically coupled to the driven slider 30. The active slider 40 has a powerful permanent magnet embedded inside, which can generate a strong magnetic attraction force on the driven slider 30 (made of ferromagnetic material), thereby realizing non-contact force transmission. The magnetic shield 10 has a transmission module 50 inside, which is connected to the active slider 40 and is used to drive the active slider 40 to move along the length of the slide groove 12.

[0025] According to this embodiment, the robot uses a load-sealed track to completely encapsulate the core motion components, such as the active slider 40 and the transmission module 50, within a sealed groove 12 formed by a magnetic shield 10 and a magnetically conductive cover plate 20. The robot then uses a magnetic field to penetrate the magnetically conductive cover plate 20 to drive the external driven slider 30. This "internal movement, external following" non-contact transmission structure physically isolates the robot from dust, debris, and liquids commonly found in the external production environment, solving the problems of motion jamming, accelerated wear, and frequent maintenance caused by contaminants entering the transmission mechanism in traditional track systems.

[0026] In practical applications, the robot's overall motion on the enclosed track is as follows: The transmission module 50 acts as a power source, driving the active slider 40 to move smoothly along the guide channel 11 within the sealed groove 12. The magnetic lines of force generated by the active slider 40 pass through the non-magnetic magnetic cover plate 20 and act on the external driven slider 30. Due to the strong magnetic attraction, the driven slider 30 is "locked" at the position corresponding to the active slider 40 and moves synchronously with it, thereby enabling the robot mounted on it to achieve precise displacement.

[0027] In one embodiment, such as Figure 3As shown, the driven slider 30 mentioned above includes a movable block 31 slidably disposed on the magnetic cover plate 20. The movable block 31 is guided by a guide groove 21 formed on the magnetic cover plate 20. In a preferred embodiment, both the cross-section of the guide groove 21 and the cross-section of the movable block 31 are rectangular, and the opening width of the guide groove 21 is greater than its bottom width. This structure allows the movable block 31 to be directly removed or installed in a direction perpendicular to the magnetic cover plate 20, enabling quick assembly and disassembly of the driven slider 30 at any position. The movable block 31 is provided with a fixing seat 32 for fixing and installing the robot. The bottom surface of the fixing seat 32 is provided with several support balls 33 that directly contact the top surface of the magnetic cover plate 20. These support balls 33 convert surface contact sliding friction into rolling friction, significantly reducing motion resistance and supporting the robot's load. The beneficial effects of this structure are as follows: the rectangular moving block 31, in conjunction with the guide groove 21, not only provides excellent anti-overturning moment capability, but also allows the moving block 31 to easily switch between guided movement and upward extraction states, greatly facilitating the robot's online installation and offline maintenance, eliminating the need for laborious sliding in and out from the end of the ground rail. Simultaneously, the supporting ball bearings 33, while ensuring load-bearing capacity, allow the driven slider 30 to smoothly and easily follow the active slider 40 even under heavy loads.

[0028] The above-described active slider 40 will be further illustrated by example, such as... Figure 3 As shown, the active slider 40 includes a magnetic block 41 slidably disposed within the slide groove 12. The top surface of the magnetic block 41 contacts the bottom surface of the magnetic guide cover plate 20, driving the external moving block 31 through magnetic coupling. The magnetic block 41 is provided with an elastic lifting assembly 42 for connection with the transmission module 50. The elastic lifting assembly 42 continuously applies an upward elastic force to the magnetic block 41 to ensure that its top surface is always tightly pressed against the bottom surface of the magnetic guide cover plate 20.

[0029] In a more specific embodiment, such as Figure 3As shown, the elastic lifting assembly 42 includes a guide seat 421 connected to the transmission module 50. An auxiliary ball bearing 422 is provided at the bottom of the guide seat 421 to support its movement. An installation cavity 4211 is formed inside the guide seat 421. A slide rod 423 vertically passes through the guide seat 421 and extends into the installation cavity 4211. A limiting seat 424 is connected to the bottom end of the slide rod 423 within the installation cavity 4211 to prevent the slide rod 423 from dislodging. The top end of the slide rod 423 extends above the guide seat 421 and is fixedly connected to the bottom surface of the magnetic block 41. A vertical spring 425 is fitted around the slide rod 423. This vertical spring 425 is compressed between the top surface of the guide seat 421 and the bottom surface of the magnetic block 41, and its restoring force always pushes the magnetic block 41 upwards. The beneficial effects of this elastic floating design are: it can automatically compensate for the minor wear and tear generated by the magnetic block 41 during long-term sliding, eliminate any gaps that may occur between the magnetic block 41 and the magnetic guide cover plate 20, ensure a constant magnetic coupling strength, and avoid magnetic attenuation or jumping during movement caused by gaps, thereby ensuring the smoothness and accuracy of the driven slider 30's movement. Furthermore, the flexible connection between the guide seat 421 and the magnetic block 41 also reduces the risk of jamming caused by uneven ground or installation errors.

[0030] In one embodiment, such as Figures 1 to 3As shown, the aforementioned transmission module 50 specifically includes a support seat 51 disposed inside the magnetic shielding shell 10. The support seat 51 is a rigid platform extending along the length of the ground rail, and its top surface is the rolling plane of the auxiliary ball bearing 422 at the bottom of the guide seat 421. The support seat 51 is provided with a strip groove 511 along its length, and a synchronous rack 52 is fixedly installed in the strip groove 511. Near each end of the support seat 51, there is a main synchronous pulley 53, and both main synchronous pulleys 53 are rotatably mounted on a rotating shaft inside the magnetic shielding shell 10. One of the main synchronous pulleys 53 is connected to the output shaft of the drive motor 54 disposed outside the magnetic shielding shell 10. A synchronous belt 55 is sleeved and tensioned between the two main synchronous pulleys 53. The inner teeth of the synchronous belt 55 mesh with the main synchronous pulleys 53. The tooth surface of the synchronous rack 52 is opposite to the inner tooth surface of the synchronous belt 55, and a meshing channel 57 is formed between them. At least one driven synchronous pulley 56 is installed within the meshing channel 57. This driven synchronous pulley 56 meshes simultaneously with the outer teeth of the synchronous belt 55 and the synchronous rack 52. The driven synchronous pulley 56 is rotatably mounted on the guide seat 421 via bearings. When the drive motor 54 operates, it drives the main synchronous pulley 53 to rotate, thereby driving the synchronous belt 55 to rotate. The moving synchronous belt 55, through its inner teeth, pushes the driven synchronous pulley 56, causing it to roll on the fixed synchronous rack 52, thus driving the entire guide seat 421 and the connected magnetic block 41 to perform precise linear motion along the guide rail direction. The beneficial effect of this "synchronous belt-driven gear-rack" composite transmission method is that it combines the high-speed stability of synchronous belt transmission with the high rigidity and high positioning accuracy of gear and rack transmission, avoiding the elastic deformation and vibration problems common in long-distance synchronous belt transmissions. It is very suitable for applications such as robot tracks that require long strokes, high precision, and frequent starts and stops.

[0031] In one embodiment, such as Figure 1 As shown, the robot's load-sealed track also includes a calibration and positioning module 60. This module includes a position sensor 61 located near its end within the guide channel 11, and a limiting block 62 located within the guide groove 21 of the magnetic cover plate 20. The position sensor 61 detects the arrival position of the magnetic block 41; for example, it can be a non-contact proximity switch or photoelectric sensor. The limiting block 62 is fixed at a specific position in the guide groove 21. When the moving block 31 moves to this position, it abuts against the limiting block 62, thus limiting its further forward movement.

[0032] As a preferred implementation, the installation position of the position sensor 61 and the setting position of the limiting block 62 are mutually calibrated. Specifically, it is configured such that when the position sensor 61 detects that the magnetic block 41 has reached a predefined preset position, the external moving block 31 exactly contacts the limiting block 62 in the guide groove 21. The synergistic effect of this configuration is that it achieves precise "zeroing" calibration of the inner and outer sliders (i.e., the active slider 40 and the driven slider 30) in space. During maintenance or initial installation, it is only necessary to control the active slider 40 to move to trigger the position sensor 61. At this time, the limiting block 62 in the guide groove 21 provides a rigid, physical installation reference point for the driven slider 30. The operator only needs to place the moving block 31 into the guide groove 21 and push it until it abuts against the limiting block 62 to immediately complete the accurate position matching of the inner and outer sliders, without the need for complex repeated adjustments, greatly improving calibration efficiency and positioning reliability.

[0033] In one embodiment, such as Figures 4 to 6 As shown, the robot's load-sealed track also includes a self-lubricating unit 70. This self-lubricating unit 70 consists of a piston section 71 and a reservoir section 72. The piston section 71 is configured to be triggered by the movement of the guide seat 421, thereby generating pressure to squeeze the lubricating oil stored in the reservoir section 72 onto the timing belt 55, achieving automatic lubrication.

[0034] More specifically, such as Figure 5 and Figure 6 As shown, the piston section 71 includes a sealing shell 711 disposed near the end of the support seat 51. A guide rod 712 slidably passes horizontally through the sealing shell 711. One end of the guide rod 712 is connected to a pressure seat 713, which is positioned opposite the guide seat 421 in the movement path. A horizontal spring 714 is provided between the pressure seat 713 and the outer wall of the sealing shell 711, sleeved on the outside of the guide rod 712. The other end of the guide rod 712 extends into the interior of the sealing shell 711 and is connected to a piston 715. When the guide seat 421 moves to the end of the ground rail and contacts and pushes the pressure seat 713, it overcomes the elastic force of the horizontal spring 714, driving the guide rod 712 and the piston 715 to move toward the interior of the sealing shell 711 (i.e., toward the end of the support seat 51), thereby generating compressed gas within the sealing shell 711.

[0035] The liquid reservoir 72 includes a closed upper oil chamber 721 located inside the support 51. This upper oil chamber 721 is connected to the air chamber inside the sealing shell 711 via a pressure inlet 722. The bottom of the upper oil chamber 721 has several oil outlet holes 723 facing the lower synchronous belt 55. These outlet holes 723 are typically made of elastic material or have internal one-way valves, and are normally closed, only dripping oil when pressurized. The upper oil chamber 721 is also connected to a filler nozzle 724 located outside the magnetic shield 10. The advantage of using the self-lubricating unit 70 is that it cleverly utilizes the inevitable movement of the guide seat 421 at the end of its stroke as a trigger source, eliminating the need for an independent electrically controlled oil pump, resulting in a simpler and more reliable structure. Whenever the guide seat 421 runs to the end of the ground rail, it automatically performs a "squeeze oiling" cycle to provide continuous and quantitative lubrication to the synchronous belt 55 and the synchronous pulley 56, which greatly reduces the frequency and workload of manual maintenance and ensures that the transmission system is in good lubrication condition for a long time.

[0036] Furthermore, it should be noted that in some optional embodiments, the magnetic block 41 in the above embodiments can also be replaced with an electromagnet, so that the magnetic force can be flexibly adjusted or the coupling can be temporarily disconnected under certain working conditions to meet the needs of special scenarios such as emergency stop or manual separation. In addition to using fasteners for pressing, the sealing method of the magnetic shield 10 and the magnetic cover 20 can also include adding sealing gaskets or applying sealant to enhance the airtightness of the slide groove 12 and meet higher protection requirements in humid or water-sprayed environments. The supporting ball bearings 33 can be replaced with rollers or crossed rollers according to the load-bearing capacity requirements.

[0037] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A robot with a load-sealed ground track, characterized in that, The system includes a magnetic shield set on the working surface, the magnetic shield having an opening and a guide channel forming therein; the magnetic shield is provided with a magnetically conductive cover plate for transmitting magnetic fields and not being magnetically attracted itself to close the opening, forming a sealed groove with the guide channel; a driven slider for supporting and connecting an external robot is provided on the side of the magnetically conductive cover plate opposite to the groove; an active slider is provided in the groove and magnetically coupled to the driven slider to generate a magnetic attraction force on the driven slider; a transmission module is provided in the magnetic shield to drive the active slider to move along the length direction of the groove.

2. The robot load-sealed ground track according to claim 1, characterized in that, The driven slider includes a movable block slidably disposed on the magnetic cover plate. The movable block is guided by a guide groove formed on the magnetic cover plate. The cross-section of the movable block and the cross-section of the guide groove are both rectangular, so that the movable block can be taken out or put in perpendicular to the magnetic cover plate. The movable block is provided with a fixed seat for mounting the robot. The fixed seat is provided with a plurality of support balls that contact the magnetic cover plate.

3. The robot load-sealed track according to claim 2, characterized in that, The active slider includes a magnetic block that slides within the groove and contacts the bottom surface of the magnetic cover plate. The magnetic block drives the moving block through magnetic coupling. The magnetic block is provided with an elastic lifting component for connection to the transmission module. The elastic lifting component is used to apply an elastic force to the magnetic block so that its top surface presses against the bottom surface of the magnetic cover plate.

4. The robot load-sealed track according to claim 3, characterized in that, The elastic lifting assembly includes a guide seat connected to the transmission module. The guide seat is provided with auxiliary balls and a mounting cavity. A slide rod is vertically inserted through the mounting cavity. The bottom end of the slide rod extends into the mounting cavity and is connected to a limiting seat. The top end of the slide rod extends above the guide seat and is connected to the magnetic block. A vertical spring is sleeved on the outside of the slide rod between the guide seat and the magnetic block.

5. The robot load-sealed ground track according to claim 4, characterized in that, The transmission module includes a support seat disposed within the magnetic shielding shell. The top of the support seat contacts the auxiliary ball bearings, and the support seat has a strip groove in which a synchronous rack is installed. Each end of the support seat has a main synchronous pulley, which is rotatably disposed within the magnetic shielding shell. One of the main synchronous pulleys is connected to a drive motor disposed outside the magnetic shielding shell. The two main synchronous pulleys are connected by a synchronous belt to form a meshing channel between the synchronous rack and the synchronous belt. A driven synchronous pulley is fitted within the meshing channel, so that the driven synchronous pulley moves along the length of the synchronous rack as the synchronous belt rotates. The driven synchronous pulley is rotatably mounted on the guide seat.

6. The robot load-sealed ground track according to claim 2, characterized in that, It also includes a calibration and positioning module, which includes a position sensor located at the end of the guide channel and a limiting block located in the guide groove. The position sensor is used to detect the position of the magnetic block, and the limiting block abuts against the moving block to limit its movement limit.

7. The robot load-sealed ground track according to claim 6, characterized in that, The position sensor is configured such that when it detects that the magnetic block has reached a preset position, the moving block comes into contact with the limiting block.

8. The robot load-sealed track according to claim 5, characterized in that, It also includes a self-lubricating unit, which includes a piston and a reservoir. The piston is triggered by the movement of the guide seat to squeeze the lubricating oil in the reservoir onto the timing belt.

9. The robot load-sealed track according to claim 8, characterized in that, The piston portion includes a sealing shell disposed near the end of the bearing seat. A guide rod is slidably inserted inside the sealing shell. One end of the guide rod is connected to a pressure seat disposed opposite to the guide seat. A horizontal spring is provided between the pressure seat and the sealing shell and sleeved on the outside of the guide rod. The other end of the guide rod extends into the sealing shell and is connected to a piston. The movement of the guide seat allows the piston to move toward the end of the bearing seat, thereby generating compressed gas.

10. The robot load-sealed ground track according to claim 9, characterized in that, The liquid storage section includes an upper oil chamber located within the bearing seat. The upper oil chamber is connected to the sealing shell via a pressure inlet hole. The upper oil chamber has several oil outlet holes that are opposite to the synchronous belt. The oil outlet holes drip oil outward under pressure. The upper oil chamber is also connected to an oil filler located outside the magnetic shield.

Images