Rail type three-axis mechanical arm

Abstract

The utility model relates to a rail type three-axis mechanical arm which comprises two X-axis sliding table modules, a Y-axis sliding table module is arranged between sliding blocks of the two X-axis sliding table modules, a first Z-axis telescopic rod is arranged at the bottom of a sliding block of the Y-axis sliding table module, a spray head is installed at the bottom of the first Z-axis telescopic rod, a water pump is fixedly connected to the X-axis sliding table modules, and a first Z-axis telescopic rod is installed at the bottom of the first Z-axis telescopic rod. The water pump is connected with the input end of the nozzle through a conduit. The device has the beneficial effects that the occupied space of the device during use can be reduced, and a worker can conveniently spray pesticide or water to crops in the planting layer.

Description

Technical Field

[0001] This utility model relates to the field of agricultural machinery technology, specifically to a track-type three-axis robotic arm. Background Technology

[0002] In the field of agricultural production, industrial robotic arms are widely used. They can take over and perform many tasks that originally required manual labor, greatly reducing the physical labor burden of agricultural workers, improving work efficiency, and reducing the health risks that may result from repetitive labor.

[0003] Among various industrial robotic arms, three-axis robotic arms are widely used due to their flexibility and versatility. However, current three-axis robotic arms have some design limitations, mainly in their large size and weight, requiring relatively large spaces for installation and use. This design feature restricts their application in space-constrained environments. Utility Model Content

[0004] This utility model addresses the shortcomings of existing technologies by providing a track-type three-axis robotic arm that reduces the space occupied by the device during use, making it convenient for workers to spray pesticides or water on crops in the planting layer.

[0005] This utility model is achieved through the following technical solution: a track-type three-axis robotic arm is provided, including two X-axis slide modules, a Y-axis slide module is arranged between the sliders of the two X-axis slide modules, a first Z-axis telescopic rod is arranged at the bottom of the slider of the Y-axis slide module, a nozzle is installed at the bottom of the first Z-axis telescopic rod, a water pump is fixedly connected to the X-axis slide module, and the water pump is connected to the input end of the nozzle through a conduit.

[0006] In use, this invention employs two X-axis slide modules, with a Y-axis slide module positioned between the sliders of the two X-axis slide modules. A first Z-axis telescopic rod is located at the bottom of the slider of the Y-axis slide module, and a nozzle is mounted at the bottom of the first Z-axis telescopic rod. A water pump is fixed to the X-axis slide module, and the water pump is connected to the nozzle input end via a conduit. During use, the device needs to be installed on the support of the planting layer, with the nozzle facing the crops. The X-axis slide module drives the Y-axis slide module and the first Z-axis telescopic rod to move laterally, and then the Y-axis slide module drives the first Z-axis telescopic rod to move longitudinally, thereby changing the horizontal position of the nozzle. The first Z-axis telescopic rod is then extended or retracted to adjust the vertical height of the nozzle. The water pump is then activated to deliver material to the nozzle, which enters through the conduit and is then sprayed out. This reduces the space occupied by the device during use, making it convenient for workers to spray pesticides or water onto crops in the planting layer.

[0007] Preferably, a connecting block is fixedly connected to the bottom of the first Z-axis telescopic rod. The nozzle is mounted on the bottom of the first Z-axis telescopic rod via the connecting block. The connecting block has a connecting hole adapted to the guide tube, and the guide tube communicates with the nozzle input end through the connecting hole. By fixing the connecting block to the bottom of the first Z-axis telescopic rod, mounting the nozzle on the bottom of the first Z-axis telescopic rod via the connecting block, and having a connecting hole adapted to the guide tube, the guide tube communicates with the nozzle input end through the connecting hole. The connecting block and the connecting hole facilitate the connection between the guide tube and the nozzle input end.

[0008] Preferably, two first Z-axis telescopic rods are provided at the bottom of the slider of the Y-axis slide module, and the two first Z-axis telescopic rods are distributed along the length direction of the X-axis slide module. By providing two first Z-axis telescopic rods at the bottom of the slider of the Y-axis slide module and distributing them along the length direction of the X-axis slide module, the spraying area of ​​the device on crops can be increased during use.

[0009] Preferably, the bottom of the slider of the Y-axis slide module is further provided with a second Z-axis telescopic rod, and a mechanical gripper is installed at the bottom of the second Z-axis telescopic rod. By providing a second Z-axis telescopic rod at the bottom of the slider of the Y-axis slide module, and installing a mechanical gripper at the bottom of the second Z-axis telescopic rod, the second Z-axis telescopic rod and the mechanical gripper can facilitate workers to clamp and remove crops from the planting layer.

[0010] Preferably, both the first Z-axis telescopic rod and the second Z-axis telescopic rod include a rectangular tube fixedly connected to the bottom of the slider of the Y-axis slide module. A slide rod is provided inside the rectangular tube, and a threaded hole is opened at the top of the slide rod. A threaded rod is provided inside the threaded hole, and a drive mechanism for rotating the threaded rod is provided at the bottom of the slider of the Y-axis slide module. Both the first and second Z-axis telescopic rods include a rectangular tube fixed to the bottom of the slider of the Y-axis slide module. A slide rod is installed inside the rectangular tube, and a threaded hole is opened at the top of the slide rod. A threaded rod is installed in the threaded hole. A drive mechanism is provided at the bottom of the slider of the Y-axis slide module to rotate the threaded rod. When the device is in use, the drive mechanism drives the threaded rod to rotate, causing the threaded rod to rotate in the threaded hole inside the slide rod. At this time, because the slide rod is located inside the rectangular tube, the slide rod will not rotate with the threaded rod, but will move away from the Y-axis slide module under the drive of the threaded rod. This allows the first and second Z-axis telescopic rods to extend, thereby adjusting the vertical height of the nozzle and the mechanical gripper, making it convenient for workers to spray and clamp the crops in the planting layer.

[0011] Preferably, a baffle plate that closes circumferentially around the nozzle is fixed to the bottom of the connecting block. By fixing a baffle plate that closes circumferentially around the nozzle to the bottom of the connecting block, the baffle plate can prevent liquid from splashing outwards when the nozzle sprays liquid.

[0012] Preferably, the X-axis slide module includes a slide rod, a guide rail, a lead screw, and a slider. Support plates are fixed to both ends of the guide rail. The lead screw is located between the two support plates and is rotatably connected to the support plates. The slider is sleeved on the guide rail and the lead screw. A rotary motor is installed on the inner side wall of one of the support plates. A first gear is fixed to the shaft of the rotary motor. A second gear that meshes with the first gear is fixed to the outer side wall of the lead screw. The X-axis slide module includes a slide rod, a guide rail, a lead screw, and a slider. Support plates are fixed to both ends of the guide rail. The lead screw is located between the two support plates and rotatably connected to them. The slider is fitted onto the guide rail and the lead screw. A rotary motor is mounted on the inner wall of one of the support plates. A first gear is fixed to the shaft of the rotary motor, and a second gear meshing with the first gear is fixed to the outer wall of the lead screw. In use, the rotary motor's shaft is driven to rotate, causing the first gear to rotate, which in turn causes the second gear to rotate, thus rotating the lead screw on the support plate. Because the slider is fitted onto the guide rail, and the guide rail is fixed to the support plate, the slider does not rotate with the lead screw but moves along the guide rail under the drive of the lead screw, thereby causing the Y-axis slide module to move laterally.

[0013] Preferably, the Y-axis slide module also includes a slide rod, a guide rail, a lead screw, and a slider. The two ends of the guide rail are respectively fixed to the sliders of the two X-axis slide modules. The lead screw is located between the sliders of the two X-axis slide modules and is rotatably connected to the sliders of the two X-axis slide modules. The slider is sleeved on the guide rail and the lead screw. A rotary motor is installed on the inner side wall of the slider of one of the X-axis slide modules. A first gear is fixedly connected to the rotating shaft of the rotary motor. A second gear that meshes with the first gear is fixedly connected to the outer side wall of the lead screw. The Y-axis slide module also includes a slide rod, a guide rail, a lead screw, and a slider. The two ends of the guide rail are fixed to the sliders of the two X-axis slide modules respectively. The lead screw is located between the sliders of the two X-axis slide modules and is rotatably connected to the sliders of the two X-axis slide modules. The slider is sleeved on the guide rail and the lead screw. A rotary motor is installed on the inner wall of the slider of one X-axis slide module. A first gear is fixedly connected to the shaft of the rotary motor, and a second gear meshing with the first gear is fixedly connected to the outer wall of the lead screw. In use, the device drives the rotary motor to rotate, causing the first gear to rotate, which in turn causes the second gear to rotate, thereby rotating the lead screw on the slider of the X-axis slide module. Since the slider is sleeved on the guide rail, and the guide rail is fixed to the slider of the X-axis slide module, the slider does not rotate with the lead screw but moves on the guide rail under the drive of the lead screw, thereby causing the first Z-axis telescopic rod and the second Z-axis telescopic rod to move longitudinally.

[0014] Preferably, a fixing block is fixedly connected to the bottom of the second Z-axis telescopic rod, and the mechanical claw is mounted on the bottom of the second Z-axis telescopic rod via the fixing block. By fixing the bottom of the second Z-axis telescopic rod with a fixing block, the stability between the mechanical claw and the second Z-axis telescopic rod can be improved during use.

[0015] Preferably, the water pump is configured as a peristaltic pump. By configuring the water pump as a peristaltic pump, high-precision flow control can be achieved for the liquid delivered to the nozzle.

[0016] The beneficial effects of this utility model are as follows: By setting two X-axis slide modules, a Y-axis slide module is set between the sliders of the two X-axis slide modules. A first Z-axis telescopic rod is set at the bottom of the slider of the Y-axis slide module, and a nozzle is installed at the bottom of the first Z-axis telescopic rod. A water pump is fixed on the X-axis slide module, and the water pump is connected to the input end of the nozzle through a conduit. When using the device, it needs to be installed on the support of the planting layer, with the nozzle facing the direction of the crops. The X-axis slide module drives the Y-axis slide module and the first Z-axis telescopic rod to move laterally, and then the Y-axis slide module drives the first Z-axis telescopic rod to move longitudinally, thereby changing the horizontal position of the nozzle. Then, by controlling the extension or retraction of the first Z-axis telescopic rod, the vertical height of the nozzle is adjusted. Then, the water pump is started to deliver material to the nozzle, so that the material enters the nozzle through the conduit and is sprayed out from the nozzle. This can reduce the space occupied by the device when in use, making it convenient for workers to spray pesticides or water on the crops in the planting layer. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the structure of this utility model;

[0018] Figure 2 for Figure 1 Schematic diagram of part A in the middle;

[0019] Figure 3 for Figure 1 Schematic diagram of Part B in the middle section;

[0020] Figure 4 for Figure 3 Structural perspective view;

[0021] Figure 5 for Figure 1 Side view of the C section structure;

[0022] Figure 6 for Figure 2 Rear view of section D of the structure;

[0023] Figure 7 for Figure 5 Structural perspective view;

[0024] Figure 8 for Figure 7 Structural perspective view;

[0025] Figure 9 for Figure 6 Structural perspective view;

[0026] Figure 10 for Figure 9 Structural perspective view;

[0027] Figure 11 This is a schematic diagram of the first Z-axis telescopic rod structure;

[0028] Figure 12 for Figure 11 Structural perspective view;

[0029] As shown in the figure:

[0030] 1. Support plate, 2. Water baffle, 3. First Z-axis telescopic rod, 4. Y-axis slide module, 5. Second Z-axis telescopic rod, 6. Mechanical claw, 7. Conduit, 8. Water pump, 9. Slide rod, 10. Connecting block, 11. Slider, 12. Lead screw, 13. Rectangular tube, 14. Guide rail, 15. Connecting hole, 16. Rotary motor, 17. Drive mechanism, 18. Threaded hole, 19. Threaded rod, 20. Second gear, 21. First gear, 22. X-axis slide module, 23. Nozzle. Detailed Implementation

[0031] To clearly illustrate the technical features of this solution, the following detailed implementation method will be used to explain the solution.

[0032] like Figures 1-12 The track-type three-axis robotic arm of this utility model includes two X-axis slide modules 22. A Y-axis slide module 4 is arranged between the sliders 11 of the two X-axis slide modules 22. A first Z-axis telescopic rod 3 is arranged at the bottom of the slider 11 of the Y-axis slide module 4. A nozzle 23 is installed at the bottom of the first Z-axis telescopic rod 3. A water pump 8 is fixedly connected to the X-axis slide module 22. The water pump 8 is connected to the input end of the nozzle 23 through a conduit 7.

[0033] A connecting block 10 is fixed to the bottom of the first Z-axis telescopic rod 3. The nozzle 23 is installed at the bottom of the first Z-axis telescopic rod 3 through the connecting block 10. A connecting hole 15 adapted to the guide tube 7 is provided on the connecting block 10. The guide tube 7 is connected to the input end of the nozzle 23 through the connecting hole 15. The connecting block 10 and the connecting hole 15 facilitate the connection between the guide tube 7 and the input end of the nozzle 23. By setting two first Z-axis telescopic rods 3 at the bottom of the slider 11 of the Y-axis slide module 4, and distributing the two first Z-axis telescopic rods 3 along the length direction of the X-axis slide module 22, the spraying area of ​​crops can be increased during use. A second Z-axis telescopic rod 5 is also set at the bottom of the slider 11 of the Y-axis slide module 4, and a mechanical claw 6 is installed at the bottom of the second Z-axis telescopic rod 5. The second Z-axis telescopic rod 5 and the mechanical claw 6 facilitate the workers to clamp and remove crops in the planting layer. Both the first Z-axis telescopic rod 3 and the second Z-axis telescopic rod 5 include a rectangular tube 13 fixedly connected to the bottom of the slider 11 of the Y-axis slide module 4. A slide rod 9 is provided inside the rectangular tube 13. A threaded hole 18 is opened at the top of the slide rod 9, and a threaded rod 19 is provided inside the threaded hole 18. A drive mechanism 17 is provided at the bottom of the slider 11 of the Y-axis slide module 4 to rotate the threaded rod 19. When the device is in use, the drive mechanism 17 drives the threaded rod 19 to rotate, so that the threaded rod 19 rotates in the threaded hole 18 inside the slide rod 9. At this time, because the slide rod 9 is located inside the rectangular tube 13, the slide rod 9 will not rotate with the threaded rod 19, but will move away from the Y-axis slide module 4 under the drive of the threaded rod 19, so as to extend the first Z-axis telescopic rod 3 and the second Z-axis telescopic rod 5, thereby adjusting the vertical height of the nozzle 23 and the mechanical claw 6, so as to facilitate the workers to spray and clamp the crops in the planting layer. By fixing a baffle plate 2 that closes circumferentially around the nozzle 23 to the bottom of the connecting block 10, the baffle plate 2 can prevent the liquid from splashing outward when the nozzle 23 sprays liquid. The X-axis slide module 22 includes a slide rod 9, a guide rail 14, a lead screw 12, and a slider 11. Support plates 1 are fixed to both ends of the guide rail 14. The lead screw 12 is located between the two support plates 1 and is rotatably connected to the support plates 1. The slider 11 is sleeved on the guide rail 14 and the lead screw 12. A rotary motor 16 is installed on the inner side wall of one of the support plates 1. A first gear 21 is fixed to the shaft of the rotary motor 16. A second gear 20 that meshes with the first gear 21 is fixed to the outer side wall of the lead screw 12. When the device is in use... The rotating shaft of the drive motor 16 is rotated, which drives the first gear 21 to rotate, thereby causing the second gear 20 to rotate with the first gear 21. This causes the lead screw 12 to rotate on the support plate 1. At this time, since the slider 11 is sleeved on the guide rail 14 and the guide rail 14 is fixed to the support plate 1, the slider 11 will not rotate with the lead screw 12, but will move on the guide rail 14 under the drive of the lead screw 12, thereby driving the Y-axis slide module 4 to move laterally.The Y-axis slide module 4 also includes a slide rod 9, a guide rail 14, a lead screw 12, and a slider 11. The two ends of the guide rail 14 are fixed to the sliders 11 of the two X-axis slide modules 22, respectively. The lead screw 12 is located between the sliders 11 of the two X-axis slide modules 22 and is rotatably connected to the sliders 11 of the two X-axis slide modules 22. The slider 11 is sleeved on the guide rail 14 and the lead screw 12. A rotary motor 16 is installed on the inner wall of the slider 11 of one X-axis slide module 22. A first gear 21 is fixedly connected to the shaft of the rotary motor 16, and a second gear 20 that meshes with the first gear 21 is fixedly connected to the outer wall of the lead screw 12. In use, the device rotates by driving the shaft of the rotating motor 16, which in turn rotates the first gear 21. This causes the second gear 20 to rotate along with the first gear 21, thereby rotating the lead screw 12 on the slider 11 of the X-axis slide module 22. Since the slider 11 is mounted on the guide rail 14 and the guide rail 14 is fixed to the slider 11 of the X-axis slide module 22, the slider 11 does not rotate with the lead screw 12. Instead, it moves along the guide rail 14 under the drive of the lead screw 12, thus driving the first Z-axis telescopic rod 3 and the second Z-axis telescopic rod 5 to move longitudinally. A fixing block is fixed to the bottom of the second Z-axis telescopic rod 5, and the mechanical claw 6 is mounted on the bottom of the second Z-axis telescopic rod 5 via the fixing block. The fixing block improves the stability between the mechanical claw 6 and the second Z-axis telescopic rod 5 during use. By setting the water pump 8 as a peristaltic pump, the peristaltic pump can achieve high-precision flow control of the liquid delivered to the nozzle 23. The conduit 7 is a flexible hose, which prevents blockage when the water pump 8 delivers viscous or solid-particle-containing media into the nozzle 23. The hose also has better bending and twisting properties, allowing it to adapt to the complex movements of the triaxial guide rail 14. The drive mechanism 17 is a worm gear reducer fixed to the bottom of the slider 11 of the Y-axis slide module 4. The outer wall of the threaded rod 19 is fixed to the inner hole of the worm gear reducer. By starting the worm gear reducer, the motor inside the reducer drives the worm to rotate, which in turn drives the worm to rotate, thereby causing the threaded rod 19 to rotate in the threaded hole 18 within the slide rail 9. The worm gear reducer, the rotating motor 16, and the peristaltic pump are all electrically connected to the control console. The control console allows operators to precisely control the worm gear reducer, the rotating motor 16, and the peristaltic pump, and to perform X, Y, and Z axis movements and spraying operations. A camera adapted to the robotic gripper 6 is mounted on the fixed block. The camera is electrically connected to the control console, allowing workers to easily locate the crops and achieve precise grasping. The control console is equipped with a human-machine interface module. When in use, the human-machine interface module displays a main control interface, which includes two operation modes: robotic gripper 6 control and spraying operation. Users can select either mode to achieve independent control of the three-axis machine.The control interface for the robotic gripper 6 displays real-time status information for the robotic gripper 9, including key parameters such as its precise position and gripping status. Users can configure the motion parameters of the robotic gripper 9, including setting its motion trajectory and dynamic characteristics to meet diverse operational needs. In addition to the preset path planning for the robotic gripper 6, users can also dynamically adjust the motion path of the robotic gripper 6 through the control interface. Furthermore, users can issue specific control commands to achieve precise gripping and releasing operations on the robotic gripper 6. By clicking the "Execute" button on the touchscreen, the robotic gripper 6 will automatically move to the designated position according to the preset command and perform the gripping or releasing operation. During the execution phase, the status and work progress of the robotic gripper 6 can be monitored using real-time image stream data provided by the camera (OpenMV). If it is necessary to adjust the work parameters or pause the operation, the system allows users to intervene immediately. If an abnormal situation or emergency is detected, the user must immediately activate the emergency stop button to interrupt all ongoing mechanical movements. In the spraying operation interface, the system will display the real-time status information of the spraying device, including key parameters such as precise position and working status. Users can configure the spraying device's motion parameters, preset its trajectory and dynamic characteristics to adapt to different operational needs. Users can dynamically adjust the spraying device's path and issue control commands through the control interface for precise spraying operation. Clicking the "Execute" button on the touchscreen will automatically move the spraying device to the set position and execute the spraying task. During execution, the system allows users to adjust operating parameters or pause operation in real time to ensure accuracy and flexibility. The peristaltic pump, as the core component of the spraying system, is responsible for precisely controlling the liquid flow rate, achieving precise spraying at fixed points, times, and quantities, adapting to different spraying needs and environmental changes. If any abnormality or emergency is detected during operation, the user can immediately press the emergency stop button to quickly interrupt all ongoing mechanical movement, ensuring operational safety. The peristaltic pump will also stop working immediately to prevent further liquid outflow, avoiding potential safety risks and resource waste. Through this design, the spraying interface not only provides efficient operational control but also ensures the safety and reliability of the operation process.

[0034] Combined with appendix Figure 1-12The method of using this utility model is as follows: First, the outer wall of the support plate 1 needs to be fixed to the support of the planting layer, so that the device can be installed on the support of the planting layer and the nozzle 23 is facing the crops of the planting layer. Then, the rotating shaft of the rotating motor 16 on the inner wall of one of the support plates 1 is driven to rotate, which drives the first gear 21 to rotate, so that the second gear 20 rotates with the first gear 21, thereby driving the lead screw 12 to rotate on the support plate 1. At this time, because the slider 11 is sleeved on the guide rail 14 and the guide rail 14 is fixed to the support plate 1, the slider 11 will not rotate with the lead screw 12, but will move on the guide rail 14 under the drive of the lead screw 12, thereby driving the Y-axis slide module 4 to move laterally. Then, the rotating shaft of the rotating motor 16 on the inner wall of the slider 11 of one of the X-axis slide modules 22 is rotated, driving the first gear 21 to rotate, thereby causing the second gear 20 to rotate with the first gear 21. This drives the lead screw 12 to rotate on the slider 11 of the X-axis slide module 22. At this time, because the slider 11 is sleeved on the guide rail 14, and the guide rail 14 is fixed to the slider 11 of the X-axis slide module 22, the slider 11 will not rotate with the lead screw 12, but will move on the guide rail 14 under the drive of the lead screw 12. This drives the first Z-axis telescopic rod 3 and the second Z-axis telescopic rod 5 to move longitudinally, thereby changing the horizontal position of the first Z-axis telescopic rod 3 and the second Z-axis telescopic rod 5. When the staff needs to adjust the planting layer... When spraying pesticides or water on crops, an electrical signal needs to be sent from the control console to the first Z-axis telescopic rod 3 to start the worm gear reducer inside the first Z-axis telescopic rod 3. The motor inside the worm gear reducer drives the worm to rotate, which in turn drives the worm gear inside the worm gear reducer to rotate. This causes the threaded rod 19 to rotate in the threaded hole 18 inside the slide rod 9. At this time, because the slide rod 9 is located inside the rectangular tube 13, the slide rod 9 will not rotate with the threaded rod 19, but will move away from the Y-axis slide module 4 under the drive of the threaded rod 19. This causes the first Z-axis telescopic rod 3 to extend, adjust the vertical height of the nozzle 23, and then start the water pump 8 through the control console. The water pump 8 delivers material into the nozzle 23 through the conduit 7, and the material flows from the nozzle 23 into the slide rod 3. When nozzle 23 sprays out, and the worker needs to remove the crops from the planting layer, an electrical signal is sent from the control panel to the second Z-axis telescopic rod 5. This activates the worm gear reducer inside the second Z-axis telescopic rod 5, causing the motor inside the worm gear reducer to rotate, which in turn drives the worm gear inside the worm gear reducer to rotate. This causes the threaded rod 19 to rotate in the threaded hole 18 inside the slide rod 9. At this time, because the slide rod 9 is located inside the rectangular tube 13, the slide rod 9 does not rotate with the threaded rod 19, but moves away from the Y-axis slide module 4 under the drive of the threaded rod 19. This causes the second Z-axis telescopic rod 5 to extend, adjusting the vertical height of the mechanical claw 6. Then, the mechanical claw 6 is driven to clamp the crops.Then, the control console reverses the rotation of motor 16 and the worm gear reducer inside the second Z-axis telescopic rod 5, thereby removing the crops from the planting layer.

[0035] Of course, the above description is not limited to the examples above. Technical features of this utility model not described can be implemented by or using existing technology, and will not be repeated here. The above embodiments and drawings are only used to illustrate the technical solution of this utility model and are not intended to limit this utility model. This utility model has been described in detail with reference to preferred embodiments. Those skilled in the art should understand that any changes, modifications, additions or substitutions made by those skilled in the art within the scope of this utility model do not depart from the spirit of this utility model and should also fall within the protection scope of the claims of this utility model.

Claims

1. A track-type three-axis robotic arm, characterized in that: It includes two X-axis slide modules (22), and a Y-axis slide module (4) is provided between the sliders (11) of the two X-axis slide modules (22). A first Z-axis telescopic rod (3) is provided at the bottom of the slider (11) of the Y-axis slide module (4). A nozzle (23) is installed at the bottom of the first Z-axis telescopic rod (3). A water pump (8) is fixed on the X-axis slide module (22), and the water pump (8) is connected to the input end of the nozzle (23) through a conduit (7).

2. The track-type three-axis robotic arm according to claim 1, characterized in that: A connecting block (10) is fixedly connected to the bottom of the first Z-axis telescopic rod (3). The nozzle (23) is installed at the bottom of the first Z-axis telescopic rod (3) through the connecting block (10). A connecting hole (15) adapted to the guide tube (7) is opened on the connecting block (10). The guide tube (7) is connected to the input end of the nozzle (23) through the connecting hole (15).

3. The track-type three-axis robotic arm according to claim 1, characterized in that: Two of the first Z-axis telescopic rods (3) are provided at the bottom of the slider (11) of the Y-axis slide module (4), and the two first Z-axis telescopic rods (3) are distributed along the length direction of the X-axis slide module (22).

4. The track-type three-axis robotic arm according to claim 1, characterized in that: The bottom of the slider (11) of the Y-axis slide module (4) is also provided with a second Z-axis telescopic rod (5), and a mechanical claw (6) is installed at the bottom of the second Z-axis telescopic rod (5).

5. The track-type three-axis robotic arm according to claim 4, characterized in that: The first Z-axis telescopic rod (3) and the second Z-axis telescopic rod (5) both include a rectangular tube (13) fixed to the bottom of the slider (11) of the Y-axis slide module (4). A slide rod (9) is provided inside the rectangular tube (13). A threaded hole (18) is opened at the top of the slide rod (9). A threaded rod (19) is provided inside the threaded hole (18). A drive mechanism (17) for rotating the threaded rod (19) is provided at the bottom of the slider (11) of the Y-axis slide module (4).

6. The track-type three-axis robotic arm according to claim 2, characterized in that: The bottom of the connecting block (10) is fixed with a baffle plate (2) that closes around the nozzle (23).

7. The track-type three-axis robotic arm according to claim 4, characterized in that: The X-axis slide module (22) includes a slide rod (9), a guide rail (14), a lead screw (12), and a slider (11). The two ends of the guide rail (14) are fixedly connected to support plates (1). The lead screw (12) is located between the two support plates (1) and is rotatably connected to the support plates (1). The slider (11) is sleeved on the guide rail (14) and the lead screw (12). A rotating motor (16) is installed on the inner side wall of one of the support plates (1). A first gear (21) is fixedly connected to the rotating shaft of the rotating motor (16). A second gear (20) that meshes with the first gear (21) is fixedly connected to the outer side wall of the lead screw (12).

8. The track-type three-axis robotic arm according to claim 4, characterized in that: The Y-axis slide module (4) also includes a slide rod (9), a guide rail (14), a lead screw (12) and a slider (11). The two ends of the guide rail (14) are fixed to the sliders (11) of the two X-axis slide modules (22) respectively. The lead screw (12) is located between the sliders (11) of the two X-axis slide modules (22) and is rotatably connected to the sliders (11) of the two X-axis slide modules (22). The slider (11) is sleeved on the guide rail (14) and the lead screw (12). A rotating motor (16) is installed on the inner side wall of the slider (11) of one of the X-axis slide modules (22). A first gear (21) is fixed on the rotating shaft of the rotating motor (16). A second gear (20) that meshes with the first gear (21) is fixed on the outer side wall of the lead screw (12).

9. The track-type three-axis robotic arm according to claim 4, characterized in that: A fixing block is fixed to the bottom of the second Z-axis telescopic rod (5), and the mechanical claw (6) is installed at the bottom of the second Z-axis telescopic rod (5) through the fixing block.

10. The track-type three-axis robotic arm according to claim 4, characterized in that: The water pump (8) is configured as a peristaltic pump.

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